Eggplant picking end execution device and picking robot applying same

Abstract

The utility model discloses an eggplant picking end executive device and a picking robot using the same, and relates to the technical field of agricultural picking, the device comprises: a housing, the interior of which is hollow to form a mounting chamber; the conveying unit is arranged in the mounting chamber; the two conveying assemblies are in transmission connection, and each conveying assembly is provided with a rotatable conveying belt; an opening communicated with the mounting cavity is formed in the position, corresponding to the position between the two conveying belts, of the shell, and a material guiding channel is formed between the two conveying belts; one end of the material guide channel extends to the end part of the shell and forms a feeding hole, and the other end forms a blanking hole; the clamping assembly is arranged in a space formed by encircling each conveying belt; the clamping assembly is provided with a plurality of telescopic clamping parts arranged in the conveying direction of the conveying belt. The cutting unit is arranged on the shell, is arranged above the material guide channel in a crossing manner and is arranged close to the feeding hole; the cutting unit is provided with a rotatable saw blade. And the conveying unit and the clamping assembly are fused together, so that the picking efficiency is effectively improved.

Description

Technical Field

[0001] This application generally relates to the technical field of agricultural picking, and specifically relates to an end effector for eggplant picking and a picking robot applying the device. Background Art

[0002] With the development of agricultural technology, large-scale production has become a trend. For example, after the long eggplant in our country is produced in greenhouses, the planting range spreads across many provinces and cities in the country, the output increases year by year, and both the annual output and the annual export volume rank among the top in the world. The long eggplant planted in greenhouses usually adopts an intermittent cyclic picking method, which has a long picking cycle, resulting in long manual working hours, high labor intensity, and easy damage to the long eggplant, which is not conducive to improving production efficiency and product quality. With the increasing shortage of rural labor, it is imperative to adopt advanced and efficient picking equipment.

[0003] At present, the existing end effectors for picking mainly use mechanical claws to shear and clamp fruits, and cooperate with common industrial robotic arms to achieve picking and transfer movements. However, this picking method requires the robotic arm to perform a large number of cyclic actions with many steps, resulting in low picking efficiency. Therefore, we propose an end effector for eggplant picking and a picking robot applying the device to solve the above problems. Summary of the Utility Model

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an end effector for eggplant picking that can effectively improve the picking efficiency and a picking robot applying the device.

[0005] In a first aspect, this application provides an end effector for eggplant picking, including:

[0006] A housing, the interior of the housing is hollow to form an installation chamber;

[0007] A conveying unit, the conveying unit is arranged in the installation chamber; the conveying unit includes: two sets of conveying components connected in transmission, each set of the conveying components has a rotatable conveyor belt; the housing is provided with an opening communicating with the installation chamber corresponding to the position between the two conveyor belts, and a material guiding channel is formed between the two conveyor belts; one end of the material guiding channel extends to the end of the housing to form a feeding port, and the other end forms a discharging port;

[0008] A clamping assembly, the clamping assembly is arranged in the space formed by the surrounding of each conveyor belt; each clamping assembly has a plurality of telescopic clamping parts arranged along the extending direction of the material guiding channel; the clamping parts of the two clamping assemblies are arranged correspondingly, and are used for squeezing the corresponding conveyor belt when picking eggplants, so as to clamp the eggplant rhizome;

[0009] A cutting unit is arranged on the shell, straddling the material guiding channel and arranged close to the material feeding port; the cutting unit has a rotatable saw blade for cutting the root position of the eggplant.

[0010] According to the technical solution provided in the embodiment of the present application, the conveying assembly further includes:

[0011] A first driving wheel, the first driving wheel is disposed in the installation chamber and is rotatably connected to the inner wall of the installation chamber;

[0012] a first driven wheel, the first driven wheel being disposed in the installation chamber and rotatably connected to an inner wall of the installation chamber;

[0013] The corresponding conveyor belt is wound between the first driving wheel and the first driven wheel.

[0014] According to the technical solution provided in the embodiment of the present application, the conveying unit further includes:

[0015] A first driving member, wherein the first driving member is arranged on the housing; a driving end of the first driving member is connected to a first driving wheel of any one of the conveying assemblies through a first transmission group, so as to drive the conveying belt to rotate.

[0016] According to the technical solution provided in the embodiment of the present application, the first transmission group includes:

[0017] a first bevel gear, the first bevel gear being disposed at a driving end of the first driving member;

[0018] A second bevel gear, the second bevel gear being connected to a connecting end of the first driving wheel of any one of the conveying assemblies;

[0019] The first bevel gear is meshed with the second bevel gear.

[0020] According to the technical solution provided in the embodiment of the present application, one of the first driving wheels is connected to a first transmission gear, and the other of the first driving wheels is connected to a second transmission gear;

[0021] The first transmission gear and the second transmission gear are meshingly connected.

[0022] According to the technical solution provided in the embodiment of the present application, the cutting unit includes:

[0023] A first bearing, wherein the inner ring of the first bearing is connected to the inner wall of the mounting chamber; the outer ring of the first bearing is mounted with the saw blade;

[0024] a third bevel gear, wherein the third bevel gear is arranged on the outer ring of the first bearing;

[0025] A second driving member, a fourth bevel gear is provided at the driving end of the second driving member; the fourth bevel gear is meshed and connected with the third bevel gear.

[0026] According to the technical solution provided by the embodiment of the present application, the clamping assembly includes:

[0027] A boss, the boss is arranged in the space formed by the surrounding of the corresponding conveyor belt;

[0028] A plurality of push plates, the push plates are arranged on the same side of the boss, and each push plate is connected to the boss through an elastic element;

[0029] Rollers, the number of the rollers is correspondingly arranged with the push plates, and the rollers are rotatably arranged on the side of the push plate away from the boss; the contact surface between the rollers and the corresponding conveyor belt forms the clamping part.

[0030] According to the technical solution provided by the embodiment of the present application, a plurality of groups of guiding assemblies are arranged on the inner wall of the installation cavity, each group of guiding assemblies includes two correspondingly arranged guiding grooves, and the extending direction of each guiding groove is perpendicular to the boss;

[0031] The two guiding grooves of the same group of guiding assemblies are respectively slidably connected with the two ends of the corresponding push plate.

[0032] In a second aspect, the present application provides a picking robot, including: a robotic arm and the above-mentioned eggplant picking end effector arranged at the end of the robotic arm.

[0033] It can be seen from the above technical solutions that the present application has at least the following beneficial effects:

[0034] The present application discloses an eggplant picking end effector, which includes: a housing, the interior of the housing is hollow to form an installation cavity; a conveying unit is arranged in the installation cavity, which includes two groups of conveying components connected in transmission, and each group of conveying components has a rotatable conveyor belt. An opening communicating with the installation cavity is provided at the position of the housing corresponding to between the two conveyor belts, and a material guiding channel is formed between the two conveyor belts; one end of the material guiding channel extends to the end of the housing to form a feeding port, and the other end forms a discharging port; further, a clamping assembly is arranged in the space formed by the surrounding of each conveyor belt, and each clamping assembly has a plurality of telescopic clamping parts arranged along the extending direction of the material guiding channel. The clamping parts of the two clamping assemblies are correspondingly arranged to squeeze the corresponding conveyor belt when picking eggplants, so as to clamp the position of the eggplant root; in addition, a cutting unit is also arranged on the housing, which straddles the material guiding channel and is close to the feeding port; and the cutting unit has a rotatable saw blade for cutting the position of the eggplant root.

[0035] The picking end effector in the prior art uses a separately established shearing mechanism, clamping mechanism, and transfer mechanism, and uses an industrial robotic arm to drive these mechanisms to repeatedly perform periodic actions with numerous steps, which affects the picking efficiency. In this application, the conveying unit and the clamping assembly are integrated. When the saw blade of the cutting unit cuts off the eggplant root, the clamping assembly can assist the conveyor belt to hold the eggplant root while conveying the picked eggplant to the designated position through the feeding port, guiding channel, and discharging port, eliminating some components, making the overall structure of the device simpler, reducing the execution actions to a certain extent, thereby effectively improving the picking efficiency. In addition, due to the reduction of the actions to be performed, the design of the control algorithm for the robotic arm can be made easier. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects, and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings.

[0037] Figure 1 It is a schematic diagram of the overall structure of the eggplant picking end effector.

[0038] Figure 2 It is an exploded view of the eggplant picking end effector.

[0039] Figure 3 It is an assembly drawing of the lower housing.

[0040] Figure 4 It is a top view of the upper housing.

[0041] Figure 5 It is a top view of the lower housing.

[0042] Reference numerals in the figures: 1, conveyor belt; 2, guiding channel; 3, saw blade; 4, first driving wheel; 5, first driven wheel; 6, first driving member; 7, first bevel gear; 8, second bevel gear; 9, first transmission gear; 10, second transmission gear; 11, first bearing; 12, third bevel gear; 13, second driving member; 14, fourth bevel gear; 15, boss; 16, push plate; 17, elastic element; 18, roller; 19, guiding groove; 20, upper housing; 21, lower housing; 22, first bearing seat; 23, first through hole; 24, first support seat; 25, second support seat; 26, first screw; 27, second screw; 28, washer; 29, second bearing; 30, first card slot; 31, second card slot; 32, feeding port; 33, discharging port; 34, third bearing; 35, avoidance port. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention and not to limit the invention. In addition, it should be noted that for the sake of description, only the parts related to the invention are shown in the drawings.

[0044] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0045] In order to make the eggplant picking end effector provided by the embodiments of the present application clearer and easier to understand, the device will be introduced below in conjunction with the drawings. As Figure 1 shown, this figure is a schematic diagram of the overall structure of the eggplant picking end effector provided by the embodiments of the present application. The device includes:

[0046] A housing, the interior of the housing is hollow to form an installation chamber.

[0047] Among them, as Figure 2 shown, the housing includes an upper housing 20 and a lower housing 21, and the two can be connected by a second screw 27. Here, the number and model of the second screw 27 are not limited, as long as the upper housing 20 and the lower housing 21 can be connected. And, an installation chamber is formed hollow between the upper housing 20 and the lower housing 21.

[0048] A conveying unit, the conveying unit is arranged in the installation chamber; the conveying unit includes: two sets of conveying components connected in transmission, and each set of conveying components has a rotatable conveyor belt 1; the housing is provided with an opening communicating with the installation chamber at a position corresponding to between the two conveyor belts 1, and a material guiding channel 2 is formed between the two conveyor belts 1; one end of the material guiding channel 2 extends to the end of the housing to form a feeding port 32, and the other end forms a discharging port 33. Here, the friction coefficient of the outer surface of the conveyor belt 1 can be selected according to actual needs to ensure that the eggplant will not fall off when being clamped and cut. The upper housing 20 is provided with an avoidance opening 35 at a position corresponding to the material guiding channel 2 to prevent the root end position of the cut eggplant from rubbing against the inner wall of the upper housing 20 and hindering the normal conveyance of the eggplant.

[0049] It should be noted that, as Figure 2 shown, each set of conveying components further includes:

[0050] The first driving wheel 4 is arranged in the installation chamber and is rotationally connected to the inner wall of the installation chamber. Here, the first driving wheel 4 can be rotationally connected to the lower housing 21 through the second bearing 29. Moreover, a first bearing seat 22 is provided on the upper housing 21. The second bearing 29 is installed at the first bearing seat 22. The outer ring of the second bearing 29 is connected to the first bearing seat 22, and the inner ring of the second bearing 29 is connected to the first driving wheel 4, which is used to support the stable rotation of the first driving wheel 4. In addition, a first through hole 23 is opened on the upper housing 20, which is used to accommodate the corresponding first driving wheel 4 to extend out and be connected to the corresponding driving component.

[0051] The first driven wheel 5 is arranged in the installation chamber and is rotationally connected to the inner wall of the installation chamber. Here, taking the second screw 27 penetrating through the lower housing 21 as the support shaft, the first driven wheel 5 is sleeved on the second screw 27, and thus the rotational connection between the first driven wheel 5 and the housing can be realized.

[0052] A corresponding conveyor belt 1 is wound between the first driving wheel 4 and the first driven wheel 5. Among them, the first driving wheel 4 can directly obtain the driving force, so that the first driving wheel 4 rotates, and then drives the conveyor belt 1 to rotate, thereby driving the first driven wheel 5 to rotate.

[0053] In addition, as Figure 2 shown, the conveying unit further includes:

[0054] The first driving member 6 is arranged on the housing; the driving end of the first driving member 6 is in transmission connection with the first driving wheel 4 of any one of the conveying components through the first transmission group, which is used to drive the conveyor belt 1 to rotate. Here, the type of the first driving member 6 is, for example, a DC reduction motor. Moreover, a first support seat 24 is further provided on the upper housing 20, which is used to install and fix the first driving member 6.

[0055] Specifically, as Figure 2 shown, the first transmission group includes:

[0056] The first bevel gear 7 is arranged at the driving end of the first driving member 6;

[0057] The second bevel gear 8 is connected to the connection end of the first driving wheel 4 of any one of the conveying components;

[0058] The first bevel gear 7 and the second bevel gear 8 are meshed.

[0059] Among them, the first bevel gear 7 and the driving end of the first driving member 6 are coaxially arranged, and the central axis of the second bevel gear 8 and the central axis of the first bevel gear 7 are vertically arranged, so as to convert the horizontal driving force of the first driving member 6 into a vertical driving force to drive the corresponding first driving wheel 4 to rotate.

[0060] Specifically, as Figure 2 shown, a third bearing 34 is installed on the upper housing 20. The inner ring end face of the third bearing 34 is connected to the second bevel gear 8, and the first driving wheel 4 is connected to the inner ring end face of the third bearing 34. The third bearing 34 is used to support the synchronous rotation of the second bevel gear 8 and the first driving wheel 4.

[0061] Furthermore, as Figure 3 shown, one first driving wheel 4 is connected to a first transmission gear 9, and the other first driving wheel 4 is connected to a second transmission gear 10; the first transmission gear 9 and the second transmission gear 10 are meshed and connected. Through the meshing connection of the first transmission gear 9 and the second transmission gear 10, the driving force of the first driving member 6 can drive the two conveyor belts 1 to rotate simultaneously.

[0062] Clamping assemblies are arranged in the space formed by the surrounding of each conveyor belt 1; each clamping assembly has a plurality of telescopic clamping parts arranged along the extending direction of the material guiding channel 2; the clamping parts of the two clamping assemblies are arranged correspondingly, and are used for squeezing the corresponding conveyor belt 1 when picking eggplants, so as to clamp the eggplant rhizomes.

[0063] Specifically, as Figure 3 shown, the clamping assembly includes:

[0064] A boss 15 is arranged in the space formed by the surrounding of the corresponding conveyor belt 1; here, the boss 15 can be formed by the part of the lower housing 21 inside the installation chamber protruding into the installation chamber. And, as Figure 1 shown, the side of the boss 15 away from the lower housing 21 is snap-connected to the first clamping groove 30 on the upper housing 20, improving the support stability of the boss 15.

[0065] A plurality of push plates 16 are arranged on the same side of the boss 15, and each push plate 16 is connected to the boss 15 through an elastic element 17; here, the push plates 16 are evenly distributed along the extending direction of the material guiding channel 2; the type of the elastic element 17 is, for example, a spring. Here, as Figure 3 shown, a plurality of second clamping grooves 31 are formed on the boss 15, which can accommodate and install the elastic element 17.

[0066] Rollers 18 are arranged corresponding to the push plates 16 in number, and the rollers 18 are rotatably arranged on the side of the push plates 16 away from the boss 15; the contact surface between the rollers 18 and the corresponding conveyor belt 1 forms a clamping part. Here, the rollers 18 are tangent to the corresponding push plates 16 and conveyor belts 1 respectively.

[0067] When the device is in an unused state, the elastic element 17 is in its natural state and the two conveyor belts 1 are close to each other; when the device is in a working state, the eggplant rootstocks between the two conveyor belts 1 will squeeze the corresponding rollers 18, and then push the corresponding push plates 16 to move towards the corresponding bosses 15, causing the elastic element 17 to deform. Its acting force acts on the conveyor belt 1 so that the two conveyor belts 1 can hold the position of the eggplant rootstock.

[0068] Furthermore, in order to ensure the stability of the movement of the push plate 16, a plurality of sets of guiding components are provided on the inner wall of the installation cavity in this application, such as Figure 5 shown, each set of guiding components includes two correspondingly arranged guiding grooves 19, and the extending direction of each guiding groove 19 is perpendicular to the boss 15;

[0069] The two guiding grooves 19 of the same set of guiding components are respectively slidably connected to the two ends of the corresponding push plate 16.

[0070] When the device is in a working state, the eggplant rootstocks between the two conveyor belts 1 will squeeze the corresponding rollers 18, and then push the corresponding push plates 16 to move along the corresponding guiding grooves 19.

[0071] Cutting unit, the cutting unit is arranged on the housing, straddling the material guiding channel 2 and being close to the feeding port 32; the cutting unit has a rotatable saw blade 3 for cutting the position of the eggplant rootstock.

[0072] Specifically, as Figure 1 and Figure 2 shown, the cutting unit includes:

[0073] The first bearing 11, the inner ring of the first bearing 11 is connected to the inner wall of the installation cavity; the outer ring of the first bearing 11 is installed with a saw blade 3 for cutting the position of the eggplant rootstock; here, the saw blade 3 is, for example, circular in shape. And the saw blade 3 is located at the lower end face of the outer ring of the first bearing 11.

[0074] The third bevel gear 12, the third bevel gear 12 is arranged on the outer ring of the first bearing 11;

[0075] The second driving member 13, the driving end of the second driving member 13 is provided with a fourth bevel gear 14; the fourth bevel gear 14 is meshed and connected with the third bevel gear 12. Here, the type of the second driving member 13 is, for example, a DC motor. And a second support seat 25 is also provided on the upper housing 20 for installing and fixing the second driving member 13. The fourth bevel gear 14 and the driving end of the second driving member 13 are coaxially arranged, and the central axis of the fourth bevel gear 14 and the central axis of the third bevel gear 12 are perpendicular to each other, which can convert the horizontal driving force of the second driving member 13 into a vertical driving force, so as to drive the saw blade 3 to rotate to cut off the eggplant rootstock.

[0076] In addition, as Figure 2 shown, the inner ring of the first bearing 11 can be connected to the upper housing 20 by the first screw 26. A washer 28 is sleeved on the first screw 26, and the washer 28 is located between the upper housing 20 and the lower end face of the outer ring of the first bearing 11. The saw blade 3 is clamped and fixed by using the space between the upper end face of the head of the first screw 26 and the washer 28. Also, since the third bevel gear 12 is connected to the first bearing 11, the position of the third bevel gear 12 can be adjusted by using a plurality of washers 28 so that the third bevel gear 12 and the fourth bevel gear 14 can be stably meshed.

[0077] This device is suitable for picking long eggplants and can also be applied to picking other root vegetables.

[0078] The specific working process of this device is as follows:

[0079] Start the first driving member 6 and the second driving member 13. At this time, the saw blade 3 is in a high-speed running state, and the two conveyor belts 1 rotate in opposite directions. Move the entire device close to the root of the eggplant to be picked, align the feeding port 32 with the end root of the eggplant at 3 - 4 cm, and then slowly move the entire device towards the eggplant. Use the saw blade 3 to cut the root of the eggplant, and the eggplant is separated from the eggplant seedling. At the same time, as the device moves, the conveyor belt 1 clamps the position of the root of the eggplant, and the elastic element 17 generates a deformation force, so that the conveyor belt 1 stably clamps the root of the eggplant. Further, as the conveyor belt 1 rotates, it drives the eggplant to move towards the discharging port 33 through the guiding channel 2. When the eggplant reaches the discharging port 33, since the diameter of the discharging port 33 is larger than the distance between the two conveyor belts 1, and under the gravity of the eggplant itself, the eggplant falls to the designated position. Move this device close to the root of the next eggplant to be picked, and repeat the above operation to perform the picking.

[0080] This application integrates the conveying unit and the clamping assembly. When the saw blade 3 of the cutting unit cuts off the root of the eggplant, the clamping assembly can assist the conveyor belt 1 to clamp the position of the root of the eggplant and at the same time convey the picked eggplant to the designated position through the feeding port 32, the guiding channel 2, and the discharging port 33, eliminating some components, making the structure of the entire device simpler, reducing the execution actions to a certain extent, thereby effectively improving the picking efficiency. In addition, due to the reduction of the execution actions, the design of the control algorithm for the robotic arm can be made easier.

[0081] In addition, the embodiment of this application also provides a picking robot, which includes: a robotic arm and the above-mentioned eggplant picking end effector arranged at the end of the robotic arm; this picking robot has the functions and advantages of the above-mentioned device, which will not be elaborated here in detail.

[0082] Here, the robotic arm is, for example, a truss-type robotic arm with a telescopic function, which can drive the above-mentioned device to move.

[0083] The above description is only a preferred embodiment of the present application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the present application that have similar functions.

Claims

1. An eggplant picking end effector, characterized in that: include: A housing, wherein the interior of the housing is hollow to form a mounting chamber; A conveying unit, the conveying unit being arranged in the installation chamber; the conveying unit comprising: two groups of conveying components connected by transmission, each group of the conveying components having a rotatable conveying belt (1); the shell is provided with an opening communicating with the installation chamber at a position corresponding to the position between the two conveying belts (1), and a material guide channel (2) is formed between the two conveying belts (1); one end of the material guide channel (2) extends to the end of the shell and forms a feed port (32), and the other end thereof forms a drop port (33); A clamping assembly, the clamping assembly being arranged in a space formed by each of the conveyor belts (1); each of the clamping assemblies has a plurality of retractable clamping parts arranged along the extension direction of the material guide channel (2); the clamping parts of the two clamping assemblies are arranged correspondingly, and are used to squeeze the corresponding conveyor belt (1) when picking eggplants, thereby clamping the eggplant rhizomes; A cutting unit, the cutting unit being arranged on the housing, straddling the material guide channel (2) and being arranged close to the material feed port (32); the cutting unit having a rotatable saw blade (3) for cutting the root of the eggplant; When the saw blade (3) of the cutting unit cuts off the eggplant rhizome, the clamping assembly assists the conveyor belt (1) in clamping the position of the eggplant rhizome while conveying the picked eggplant to a designated position via the feed port (32), the material guide channel (2) and the drop port (33).

2. The eggplant picking end effector according to claim 1, characterized in that: The conveying assembly also includes: A first driving wheel (4), the first driving wheel (4) being arranged in the installation chamber and rotatably connected to the inner wall of the installation chamber; a first driven wheel (5), the first driven wheel (5) being arranged in the installation chamber and rotatably connected to the inner wall of the installation chamber; The corresponding conveyor belt (1) is wound between the first driving wheel (4) and the first driven wheel (5).

3. The eggplant picking end effector according to claim 2, characterized in that: The conveying unit further comprises: A first driving member (6), the first driving member (6) being arranged on the housing; a driving end of the first driving member (6) being transmission-connected to a first driving wheel (4) of any one of the conveying assemblies via a first transmission group, for driving the conveying belt (1) to rotate.

4. The eggplant picking end effector according to claim 3, characterized in that: The first transmission group comprises: A first bevel gear (7), the first bevel gear (7) being arranged at a driving end of the first driving member (6); A second bevel gear (8), the second bevel gear (8) being connected to a connecting end of a first driving wheel (4) of any one of the conveying assemblies; The first bevel gear (7) is meshed with the second bevel gear (8).

5. The eggplant picking end effector according to claim 2, characterized in that: One of the first driving wheels (4) is connected to a first transmission gear (9), and the other of the first driving wheels (4) is connected to a second transmission gear (10); The first transmission gear (9) and the second transmission gear (10) are meshingly connected.

6. The eggplant picking end effector according to claim 1, characterized in that: The cutting unit comprises: a first bearing (11), wherein the inner ring of the first bearing (11) is connected to the inner wall of the mounting chamber; and the outer ring of the first bearing (11) is mounted with the saw blade (3); a third bevel gear (12), the third bevel gear (12) being arranged on an outer ring of the first bearing (11); A second driving member (13); a fourth bevel gear (14) is provided at a driving end of the second driving member (13); the fourth bevel gear (14) is meshingly connected with the third bevel gear (12).

7. The eggplant picking end effector according to claim 1, characterized in that: The clamping assembly comprises: A boss (15), the boss (15) being arranged in a space formed by surrounding the corresponding conveyor belt (1); A plurality of push plates (16), the push plates (16) being arranged on the same side of the boss (15), and each of the push plates (16) being connected to the boss (15) via an elastic element (17); Rollers (18), the number of which corresponds to the number of the push plates (16), and the rollers (18) are rotatably arranged on a side of the push plate (16) away from the boss (15); the contact surfaces of the rollers (18) and the corresponding conveyor belts (1) form the clamping portion.

8. The eggplant picking end effector according to claim 7, characterized in that: The inner wall of the installation chamber is provided with a plurality of groups of guide components, each group of the guide components comprises two correspondingly arranged guide grooves (19), and the extension direction of each guide groove (19) is arranged perpendicular to the boss (15); The two guide grooves (19) of the same group of guide assemblies are slidably connected to the two ends of the corresponding push plates (16).

9. A picking robot, characterized in that: include: A robotic arm and an eggplant picking end effector as described in any one of claims 1 to 8 arranged at the end of the robotic arm.

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