Grape picking end executing mechanism

Abstract

A grape picking end executing mechanism comprises a machine frame, and a clamping device, a shearing device and a controller are installed on the machine frame. The clamping device comprises a first mounting plate, a first driver, a transmission block, a mounting seat, a swing arm assembly and a clamping jaw; a pressure sensor is mounted on the inner side surface of the clamping jaw, and the pressure sensor and the first driver are electrically connected with the controller; and the shearing device comprises a second mounting plate, a second driver and a movable cutter. According to the embodiment of the utility model, the two clamping jaws of the clamping device are provided with the clamping grooves and can surround the clamping jaws to a certain extent, so that the contact area between the clamping jaws and grape clusters is increased, the grape clusters can be stably fixed by applying smaller clamping force to the clamping jaws, and the situation that fruit grains fall off and are damaged due to the fact that the clamping jaws apply too large force is avoided; and the pressure sensor is arranged on the clamping jaw, when the contact pressure of the grape clusters and the clamping jaw reaches a set threshold value, the controller controls the first driver to stop running, and the situation that the contact pressure is further increased, and consequently the grape clusters fall off and are damaged is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and particularly relates to an end effector for grape picking. Background Art

[0002] In modern agriculture, grapes are a common vine plant, and their fruits are in the form of cluster fruits, consisting of grape stalks and grape clusters. Grape clusters are large in volume and weight, so special attention needs to be paid during the picking process. However, the existing grape picking technologies and equipment have the following main problems and disadvantages in practical applications:

[0003] Firstly, current picking devices usually pick grapes by clamping the grape stalks. However, due to the large size and heavy weight of grape clusters, the clusters will shake when the grape stalks are clamped. This shaking not only causes the dropping of grape berries during the picking process, but also affects the picking efficiency and stability.

[0004] Secondly, grape berries are relatively fragile, and there are interaction forces and relative movements between the berries. If the existing clamping devices are changed to clamp grape clusters, it is often impossible to effectively avoid damaging the berries. Improper clamping will cause the berries to be damaged, further affecting the quality and market value of the grapes. Content of the Utility Model

[0005] Aiming at the deficiencies in the related technologies, the utility model provides an end effector for grape picking to solve the problems that current grape picking devices are prone to causing the dropping and damage of grape berries.

[0006] The utility model provides an end effector for grape picking, which includes a frame. A clamping device, a shearing device and a controller are installed on the frame, and the shearing device is located above the clamping device;

[0007] The clamping device includes a first mounting plate, a first driver, a transmission block, a mounting seat, a swing arm assembly and a clamping jaw;

[0008] The mounting seat and the first driver are respectively installed at the front end and the rear end of the first mounting plate;

[0009] There are two swing arm assemblies, and the rear ends of the two swing arm assemblies are respectively hinged to the mounting seat;

[0010] There are two clamping jaws, which are respectively installed at the front ends of the two swing arm assemblies. The front and rear ends of the clamping jaws are bent inward to form a clamping groove;

[0011] Both sides of the transmission block are connected to the two swing arm assemblies through connecting rods;

[0012] When the first driver pushes and pulls the transmission block to move back and forth, the transmission block drives the two swing arm assemblies to open or close through the two connecting rods;

[0013] When the two swing arm assemblies are closed, the two sides of the grape cluster enter the clamping grooves of the corresponding clamping jaws respectively, so as to enable the two clamping jaws to clamp and fix the grape cluster.

[0014] A pressure sensor is installed on the inner surface of the clamping jaw. The pressure sensor and the first driver are both electrically connected to the controller.

[0015] The shearing device includes a second mounting plate, a second driver, and a moving cutter.

[0016] The second driver is installed at the rear end of the second mounting plate.

[0017] The moving cutter is slidably installed on the second mounting plate and is located on the front side of the second mounting plate.

[0018] The second driver is connected to the moving cutter to drive the moving cutter to move back and forth.

[0019] When the two clamping jaws clamp the grape cluster, the grape stalk is located behind the moving cutter, so as to enable the second driver to drive the moving cutter to move backward and cut off the grape stalk.

[0020] In some embodiments, the swing arm assembly includes a primary swing arm and a secondary swing arm.

[0021] The primary swing arm is divided into a front arm portion and a rear arm portion in the front-rear direction. The rear arm portion is bent outward relative to the front arm portion. There are two secondary swing arms. The rear ends of the two secondary swing arms are both hinged to the mounting seat, and the front ends of the two secondary swing arms are both hinged to the rear arm portion, so as to enable the rear arm portion, the mounting seat, and the two secondary swing arms to form a parallelogram linkage mechanism.

[0022] The clamping jaw is installed on the front arm portion. The middle of one secondary swing arm is hinged to the mounting seat, and its rear end is connected to the connecting rod.

[0023] In some embodiments, the clamping jaw is hinged to the swing arm assembly, and a return torsion spring is installed at the hinge.

[0024] In some embodiments, a rubber pad is installed on the inner surface of the clamping jaw.

[0025] In some embodiments, the clamping device further includes a lead screw. The lead screw is arranged in the front-rear direction. The front end of the lead screw passes through the transmission block and is threadedly connected to the threaded hole provided in the transmission block. The rear end of the lead screw is connected to the first driver. The first driver is a driving motor, so that the transmission block can be driven to move back and forth by driving the rotation of the lead screw.

[0026] In some embodiments, the shearing device further includes a fixed cutter. The fixed cutter is installed at the front end of the second mounting plate, so as to enable the moving cutter and the fixed cutter to clamp and cut off the grape stalk.

[0027] In some of these embodiments, the cutting edge of the fixed cutter faces forward and is V-shaped.

[0028] In some of these embodiments, the moving cutter includes a cutter bar and a blade;

[0029] The blade is hinged in a mounting groove provided at the front end of the cutter bar, and a return torsion spring is installed at the hinge. The elastic force of the return torsion spring pushes the blade against the inner wall on the front side of the mounting groove to make the blade horizontally arranged.

[0030] In some of these embodiments, the moving cutter is slidably installed in a guide groove provided on the second mounting plate. A guide rod is connected to the rear end of the moving cutter. The rear end of the guide rod extends through a through hole provided at the rear end of the guide groove and is connected to a second driver;

[0031] A compression spring is sleeved on the guide rod, and the two ends of the compression spring respectively abut against the rear end of the guide groove and the rear end of the moving cutter.

[0032] In some of these embodiments, the second driver is a drive motor. A driving bevel gear installed on its output shaft meshes with a driven bevel gear installed on the second mounting plate. A winch is installed on the driven bevel gear, and a cable is wound around the winch. The cable is connected to the rear end of the guide rod.

[0033] Based on the above technical solutions, clamping grooves are provided on both clamping jaws of the clamping device in the embodiments of the present utility model. Thus, when clamping a grape cluster, it can embrace the grape cluster to a certain extent, increasing the contact area between the clamping jaws and the grape cluster, enabling the clamping jaws to stably fix the grape cluster with a smaller clamping force, and to a certain extent avoiding the problem that excessive force applied by the clamping jaws causes the fruit grains to fall off and be damaged. Moreover, a pressure sensor is configured on the clamping jaws. When the pressure at which the grape cluster contacts the clamping jaws reaches a set threshold, the controller controls the first driver to stop operating, avoiding further increase in the contact pressure that causes the fruit grains to fall off and be damaged while ensuring the stable clamping of the grape cluster, and solving the problem that the current grape picking device easily causes the fruit grains to fall off and be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present utility model and constitute a part of this application. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0035] Figure 1 is a schematic structural diagram of the end effector of the grape picking device of the present utility model;

[0036] Figure 2 is a schematic structural diagram of the clamping device in the end effector of the grape picking device of the present utility model;

[0037] Figure 3This is a schematic structural diagram of the shearing device in the end effector for grape picking of the present utility model.

[0038] In the figure:

[0039] 1. Frame;

[0040] 2. Clamping device; 21. First mounting plate; 22. First driver; 23. Transmission block; 24. Mounting seat; 25. Swing arm assembly; 251. Primary swing arm; 251A. Forearm part; 251B. Rear arm part; 252. Secondary swing arm; 26. Claw; 27. Clamping groove; 28. Link; 29. Pressure sensor; 20. Lead screw;

[0041] 3. Shearing device; 31. Second mounting plate; 32. Second driver; 33. Moving cutter; 331. Tool bar; 332. Blade; 333. Mounting groove; 34. Fixed cutter; 35. Guide groove; 36. Guide rod; 37. Compression spring; 38. Active bevel gear; 39. Driven bevel gear; 30. Winch;

[0042] 4. Return torsion spring; 5. Rubber pad; 6. Rope. Specific embodiments

[0043] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0044] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "horizontal", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present utility model.

[0045] The terms "first", "second", "third" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or more of such features.

[0046] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0047] As Figures 1 to 3 shown, in a schematic embodiment of the end effector for grape picking of the present utility model, the end effector for grape picking includes a frame 1, on which a clamping device 2, a shearing device 3, and a controller (not shown in the drawings) are installed. The shearing device 3 is located above the clamping device 2.

[0048] The clamping device 2 includes a first mounting plate 21, a first driver 22, a transmission block 23, a mounting seat 24, a swing arm assembly 25, and clamping jaws 26. The mounting seat 24 and the first driver 22 are respectively installed at the front end and the rear end of the first mounting plate 21. There are two swing arm assemblies 25, and the rear ends of the two swing arm assemblies 25 are respectively hinged to the mounting seat 24. There are two clamping jaws 26, which are respectively installed at the front ends of the two swing arm assemblies 25. The front and rear ends of the clamping jaws 26 are bent inward to form a clamping groove 27. The two sides of the transmission block 23 are respectively connected to the two swing arm assemblies 25 through connecting rods 28. When the first driver 22 pushes and pulls the transmission block 23 to move forward and backward, the transmission block 23 drives the two swing arm assemblies 25 to open or close through the two connecting rods 28. When the two swing arm assemblies 25 are closed, both sides of the grape cluster enter the clamping grooves 27 of the corresponding clamping jaws 26 respectively, so that the two clamping jaws 26 clamp and fix the grape cluster. A pressure sensor 29 is installed on the inner surface of the clamping jaws 26, and both the pressure sensor 29 and the first driver 22 are electrically connected to the controller.

[0049] The shearing device 3 includes a second mounting plate 31, a second driver 32, and a moving cutter 33. The second driver 32 is installed at the rear end of the second mounting plate 31. The moving cutter 33 is slidably installed on the second mounting plate 31 and is located on the front side of the second mounting plate 31. The second driver 32 is connected to the moving cutter 33 to drive the moving cutter 33 to move forward and backward. When the two clamping jaws 26 clamp the grape cluster, the grape stalk is located behind the moving cutter 33, so that the second driver 32 drives the moving cutter 33 to move backward and cut off the grape stalk.

[0050] The controller controls the first driver 22 to drive the transmission block 23 to move forward. The transmission block 23 respectively pushes two swing arm assemblies 25 through two connecting rods 28. The two swing arm assemblies 25 swing towards each other, causing the two swing arm assemblies 25 to close. The two clamping jaws 26 then move towards each other and respectively stick to the grape cluster from both sides, enabling the two clamping jaws 26 to clamp the grape cluster. At the same time, the pressure sensor 29 measures the pressure exerted by the clamping jaws 26 on the grape cluster. When the pressure reaches the set threshold, the controller controls the first driver 22 to stop operating. The two clamping jaws 26 remain in their current positions, and the clamping force exerted by both on the grape cluster can stably fix it, while not causing the fruit grains on the grape cluster to fall off or be damaged.

[0051] When the two clamping jaws 26 clamp the grape cluster, both sides of the grape cluster are located in the corresponding clamping grooves 27, enabling the two clamping jaws 26 to embrace the grape cluster to a certain extent. The clamping jaws 26 can contact the grape cluster over a larger area, so that even when applying a smaller clamping force to the grape cluster, sufficient friction can be generated to keep the grape cluster clamped stably.

[0052] There is a grape stalk above the grape cluster. When the grape cluster is clamped and fixed by the two clamping jaws 26, the moving cutter 33 is located in front of the grape stalk. At this time, the controller controls the second driver 32 to drive the moving cutter 33 to move backward, thereby cutting the grape stalk with the moving cutter 33 and picking the grape stalk from the grapevine.

[0053] The moving cutter 33 cuts the grape stalk by moving in the front-back direction, and the two clamping jaws 26 clamp the grape cluster from the left-right direction. The force application directions of the two are different, avoiding excessive force application in the same direction and increasing the force on the grape cluster, thereby preventing the fruit grains from falling off or being damaged.

[0054] In the above-mentioned exemplary embodiment, clamping grooves 27 are provided on both clamping jaws 26 of the clamping device 2 in the grape picking end effector. Thus, when clamping the grape cluster, it can embrace the grape cluster to a certain extent, increasing the contact area between the clamping jaws 26 and the grape cluster. The clamping jaws 26 can stably fix the grape cluster by applying a smaller clamping force, to a certain extent avoiding the fruit grains from falling and being damaged due to excessive force applied by the clamping jaws 26. Moreover, a pressure sensor 29 is configured on the clamping jaws 26. When the pressure between the grape cluster and the clamping jaws 26 reaches the set threshold, the controller controls the first driver 22 to stop operating. While ensuring the stable clamping of the grape cluster, it avoids further increase in the contact pressure leading to the fruit grains falling and being damaged, solving the problem that the current grape picking device is prone to causing the fruit grains to fall and be damaged.

[0055] In some embodiments, the swing arm assembly 25 includes a primary swing arm 251 and a secondary swing arm 252.

[0056] The first-level swing arm 251 is divided into a front arm part 251A and a rear arm part 251B from front to back. The rear arm part 251B is bent outward relative to the front arm part 251A. There are two second-level swing arms 252. The rear ends of the two second-level swing arms 252 are both hinged to the mounting seat 24, and the front ends of the two second-level swing arms 252 are both hinged to the rear arm part 251B, so as to form a parallelogram linkage mechanism with the rear arm part 251B, the mounting seat 24 and the two second-level swing arms 252.

[0057] The clamping jaw 26 is installed on the front arm part 251A. The middle part of one second-level swing arm 252 is hinged to the mounting seat 24, and its rear end is connected to the connecting rod 28.

[0058] When the two swing arm assemblies 25 open and close, the angle between the two clamping jaws 26 changes, so that when the two clamping jaws 26 clamp the grape cluster, the distance between one ends of the two clamping jaws 26 is significantly smaller than the distance between the other ends of the two clamping jaws 26. If the pressure sensor 29 is set at the end with a small distance, it will cause the problem that the other end cannot firmly clamp the grape cluster; if the pressure sensor 29 is set at the end with a large distance, it will cause the other end to over-clamp the grape cluster, resulting in the fruit grains falling or being damaged.

[0059] Since the rear part of the swing arm assembly 25 and the mounting seat 24 form a parallelogram linkage mechanism, when the two swing arm assemblies 25 swing synchronously, the front arm parts 251A of the two first-level swing arms 251 remain parallel, and the two clamping jaws 26 move parallelly, so as to avoid the change of the angle between the two clamping jaws 26 when the two swing arm assemblies 25 open and close, stably clamp the grape cluster, and avoid the fruit grains from falling or being damaged.

[0060] In some embodiments, the clamping jaw 26 is hinged to the swing arm assembly 25, and a return torsion spring 4 is installed at the hinge. The hinge enables the clamping jaw 26 to float along with the shape of the grape cluster when it contacts the grape cluster, ensuring full contact between the clamping jaw 26 and the grape cluster and stably clamping it. The return spring can make the clamping jaw 26 return to the initial state when the swing arm assembly 25 opens and stops clamping, keeping the clamping grooves 27 of the two clamping jaws 26 opposite, so that when clamping again, the grape cluster can be aligned and stably enter the clamping grooves 27.

[0061] In some embodiments, a rubber pad 5 is installed on the inner surface of the clamping jaw 26. The rubber pad 5 enables the clamping jaw 26 to be in flexible contact with the grape cluster, avoids the fruit grains from being damaged due to hard contact, and can also increase the friction force generated between the two, improving the stability of clamping and fixing.

[0062] In some embodiments, the clamping device 2 further includes a lead screw 20. The lead screw 20 is arranged in the front-rear direction. The front end of the lead screw 20 passes through the transmission block 23 and is threadedly connected to a threaded hole provided in the transmission block 23. The rear end of the lead screw 20 is connected to a first driver 22. The first driver 22 is a driving motor, and it realizes the forward and backward movement of the transmission block 23 by driving the lead screw 20 to rotate.

[0063] The lead screw 20 and the transmission block 23 form a lead screw mechanism. The first driver 22 converts the rotational motion into a linear motion through the lead screw mechanism to realize the forward and backward movement of the transmission block 23. The lead screw mechanism can accurately control the moving distance of the transmission block 23, thereby improving the accuracy when the two jaws 26 perform clamping, ensuring that the jaws 26 can stop at a position with appropriate clamping force, and the lead screw mechanism also has a self-locking ability, which is convenient for keeping the two jaws 26 clamping the grape cluster stably.

[0064] In some embodiments, the cutting device 3 further includes a fixed cutter 34. The fixed cutter 34 is installed at the front end of the second mounting plate 31 for clamping and cutting the grape stalk by the moving cutter 33 and the fixed cutter 34.

[0065] After the grape cluster is clamped and fixed, under the drive of the second driver 32, the moving cutter 33 moves backward, and pushes the grape stalk towards the fixed cutter 34. The moving cutter 33 and the fixed cutter 34 clamp the grape stalk from the front and back and cut it from both the front and back sides, so as to cut the grape stalk more quickly, avoid pulling the grape cluster by the cutter due to unsmooth cutting, and further avoid the fruit grains from falling.

[0066] In some embodiments, the cutting edge of the fixed cutter 34 faces forward and is V-shaped. The V-shaped cutting edge of the fixed cutter 34 makes the force application angle to the grape cluster inclined, so that it is easier to cut the grape cluster and improves the cutting effect.

[0067] In some embodiments, the moving cutter 33 includes a cutter bar 331 and a blade 332.

[0068] The blade 332 is hinged in a mounting groove 333 provided at the front end of the cutter bar 331, and a return torsion spring 4 is installed at the hinge. The elastic force of the return torsion spring 4 pushes the blade 332 to be stuck on the inner wall of the front side of the mounting groove 333 to make the blade 332 arranged horizontally.

[0069] The grape bunch needs to move backward to enter the position between the two clamping jaws 26. During the movement of the grape bunch backward, the grape stem moves backward accordingly, contacts the front side of the blade 332, and pushes it to swing, so that the grape stem passes over the blade 332 and reaches its rear side. The blade 332 returns to the horizontal position under the elastic force of the reset torsion spring 4, so that when the movable cutter 33 moves backward, the blade on the rear side of the blade 332 can cut the grape stem, avoiding the movable cutter 33 from hindering the grape bunch from moving backward to enter the position between the two clamping jaws 26 for clamping.

[0070] In some embodiments, the movable cutter 33 is slidably mounted in the guide groove 35 provided on the second mounting plate 31, and the rear end of the movable cutter 33 is connected to a guide rod 36, and the rear end of the guide rod 36 extends through a through hole provided at the rear end of the guide groove 35 and is connected to the second driver 32;

[0071] A compression spring 37 is sleeved on the guide rod 36 , and two ends of the compression spring 37 are respectively pressed against the rear end of the guide groove 35 and the rear end of the movable cutter 33 .

[0072] The second driver 32 pulls the guide rod 36 backward, and the movable cutter 33 moves backward accordingly to cut the grape stems, and the compression spring 37 is compressed at this time. The driving force of the second driver 32 is eliminated, and the elastic force of the compression spring 37 pushes the movable cutter 33 forward, causing it to quickly reset so as to cut the next grape stem.

[0073] In some embodiments, the second driver 32 is a driving motor, and the active bevel gear 38 mounted on its output shaft is meshed with the driven bevel gear 39 mounted on the second mounting plate 31. The driven bevel gear 39 is mounted with a winch 30, and the winch 30 is wound with a cable 6, which is connected to the rear end of the guide rod 36.

[0074] The second driver 32 drives the winch 30 to rotate through the active bevel gear 38 and the driven bevel gear 39. When the winch 30 reels the cable 6, the cable 6 pulls the movable cutter 33 backward to cut the grape stems; when the second driver 32 stops, the compression spring 37 drives the movable cutter 33 to reset and pulls the cable 6 out of the winch 30 so that the cable 6 can be reeled in again to drive the movable cutter 33 to cut.

[0075] By changing the length and angle of the cable 6, movement in various directions can be achieved, and the movement path is freer. In addition, the cable 6 can increase the distance between the second driver 32 and the front structure, even if the second driver 32 with a larger weight is far away from the cutting implementation structure, the overall weight distribution of the equipment is more uniform, and the stability is improved. In addition, compared with other mechanical structures to achieve transmission, the driving of the moving cutter 33 through the cable 6 is lighter, so that the carrier carrying the equipment moves more smoothly in the orchard.

[0076] Finally, it should be noted that the embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present invention or make equivalent replacements for some technical features. Without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A grape picking end actuator, characterized in that: It comprises a frame, on which a clamping device, a shearing device and a controller are installed, and the shearing device is located above the clamping device; The clamping device includes a first mounting plate, a first driver, a transmission block, a mounting seat, a swing arm assembly, and a clamping claw; The mounting seat and the first driver are mounted at the front end and the rear end of the first mounting plate respectively; There are two swing arm assemblies, and the rear ends of the two swing arm assemblies are hinged on the mounting seat; The clamping jaws are provided with two, which are respectively installed at the front ends of the two swing arm assemblies, and the front and rear ends of the clamping jaws are bent inwards to form a clamping groove; Both sides of the transmission block are respectively connected to the two swing arm assemblies through connecting rods; When the first driver pushes and pulls the transmission block to move forward and backward, the transmission block drives the two swing arm assemblies to open or close through the two connecting rods; When the two swing arm assemblies are closed, the two sides of the grape bunch enter the clamping grooves of the corresponding clamping claws respectively, so that the two clamping claws clamp and fix the grape bunch; A pressure sensor is installed on the inner surface of the clamping jaw, and the pressure sensor and the first driver are both electrically connected to the controller; The shearing device includes a second mounting plate, a second driver, and a movable cutter; The second driver is mounted on the rear end of the second mounting plate; The movable cutter is slidably mounted on the second mounting plate and is located at the front side of the second mounting plate; The second driver is connected to the movable cutter and is used to drive the movable cutter to move forward and backward; When the two clamping jaws clamp the grape bunch, the grape stem is located at the rear side of the movable cutter, so that the second driver drives the movable cutter to move backward and cut off the grape stem.

2. The grape picking end actuator according to claim 1, characterized in that: The swing arm assembly comprises a primary swing arm and a secondary swing arm; The primary swing arm is divided into a front arm portion and a rear arm portion front and rear, the rear arm portion is bent outward relative to the front arm portion, the secondary swing arm has two, the rear ends of the two secondary swing arms are hinged on the mounting seat, and the front ends of the two secondary swing arms are hinged on the rear arm portion, so that the rear arm portion, the mounting seat and the two secondary swing arms form a parallelogram linkage mechanism; The clamping claw is installed on the forearm part, the middle part of one of the secondary swing arms is hinged to the mounting seat, and the rear end thereof is connected to the connecting rod.

3. The grape picking end actuator according to claim 1, characterized in that: The clamping claw is hinged on the swing arm assembly, and a return torsion spring is installed at the hinge.

4. The grape picking end actuator according to claim 1, characterized in that: A rubber pad is installed on the inner surface of the clamping jaw.

5. The grape picking end actuator according to claim 1, characterized in that: The clamping device further includes a screw rod, which is arranged along the front-to-back direction. The front end of the screw rod passes through the transmission block and is threadedly connected to the threaded hole set in the transmission block. The rear end of the screw rod is connected to the first driver, which is a driving motor, so that it can realize the forward and backward movement of the transmission block by driving the screw rod to rotate.

6. The grape picking end actuator according to claim 1, characterized in that: The shearing device further comprises a fixed cutter, which is mounted at the front end of the second mounting plate and is used for the movable cutter and the fixed cutter to clamp and cut off the grape stems.

7. The grape picking end actuator according to claim 6, characterized in that: The blade of the fixed cutter faces forward and is V-shaped.

8. The grape picking end actuator according to claim 1, characterized in that: The movable cutter comprises a cutter bar and a blade; The blade is hinged in a mounting groove arranged at the front end of the blade rod, and a return torsion spring is installed at the hinge. The elastic force of the return torsion spring pushes the blade to be stuck on the inner wall of the front side of the mounting groove, so that the blade is arranged horizontally.

9. The grape picking end actuator according to claim 1, characterized in that: The movable cutter is slidably mounted in a guide groove provided on the second mounting plate, a guide rod is connected to the rear end of the movable cutter, a rear end of the guide rod extends through a through hole provided at the rear end of the guide groove, and is connected to the second driver; A compression spring is sleeved on the guide rod, and two ends of the compression spring are respectively pressed against the rear end of the guide groove and the rear end of the movable cutter.

10. The grape picking end actuator according to claim 9, characterized in that: The second driver is a driving motor, the active bevel gear mounted on the output shaft of the second driver is meshed with the driven bevel gear mounted on the second mounting plate, a winch is mounted on the driven bevel gear, a cable is wound around the winch, and the cable is connected to the rear end of the guide rod.

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