Safflower picking end effector based on 3RRR parallel mechanism

Abstract

The utility model discloses a safflower picking end effector based on a 3RRR parallel mechanism. The safflower picking end effector comprises the 3RRR parallel mechanism, a filament shaping and positioning assembly and an annular cutting mechanism. The 3RRR parallel mechanism comprises a movable platform, the axes of a first-stage revolute pair, a second-stage revolute pair and a third-stage revolute pair of the mechanism intersect at a fixed point, and the movable platform has three degrees of freedom of rotating around the fixed point in the posture adjusting process; the filament shaping and positioning assembly plays roles in collecting and shaping filament clusters and positioning filament cutting positions; the annular cutting mechanism is sleeved with the filament cluster to achieve annular sliding cutting. The 3RRR parallel mechanism realizes the space attitude adjustment of the filament shaping and positioning assembly and the annular cutting mechanism, and improves the adaptability of the end effector to the inclined attitude safflower picking; the filament shaping and positioning assembly gathers and shapes filament clusters, the annular cutting mechanism conducts annular sliding cutting at the filament cluster cutting position, and the filament harvesting residual rate and the cutting breakage rate are reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to safflower picking equipment technical field, specifically the utility model relates to a kind of safflower picking end effector based on 3RRR parallel mechanism. BACKGROUND

[0002] Safflower belongs to annual herbaceous plant of safflower genus of compositae, and its filament has extremely important economic value;During the safflower picking process, the filament needs to be separated from the fruit ball junction, and the filament is collected.

[0003] A safflower includes stem, branch, filament, fruit ball and the like, and the posture of safflower differs greatly in unstructured environment. Usually, a safflower has multiple branches, and the number of fruit balls is 10-36. The corolla of safflower is umbrella-shaped at the top of fruit ball, and the average diameter of corolla is about 35 mm. The diameter of fruit ball ranges from 18 mm to 36 mm. The end effector is a crucial component in the process of safflower mechanization picking. For the process of picking safflower in multiple postures, most of the current safflower picking end effectors have the problems of poor picking effect, such as difficult adjustment of posture, difficult folding of safflower, high breaking rate of picking, and low picking rate.

[0004] In the existing public literature, the patent with the patent publication number CN117480942A discloses a safflower picking mechanical arm based on five degrees of freedom. The patent adopts a Delta mechanical arm to install a picking mechanism at the end, and uses a micro electric push rod to match a picking head ball joint bearing to realize the deflection in two directions, which can adjust the posture to a certain extent. However, the adjustment angle and direction are limited, and the posture adjustment has certain limitations. In addition, the picking head adopts the mode of rotating the blade counterclockwise by 90° to cut the safflower filament root. During the cutting process, the filament can be separated from the fruit ball due to the shearing force of the blade on one side. However, the cutting effect will be affected to a certain extent.

[0005] Therefore, it is hoped that the safflower picking end effector has the functions of flexible adjustment of posture, folding of corolla, positioning of cutting position, and ring-shaped sliding cutting, and has the characteristics of convenient cutting, high picking rate, low shearing and breaking rate, and compact structure to adapt to the picking of safflower in inclined posture. SUMMARY

[0006] The utility model provides a kind of safflower picking end effector based on 3RRR parallel mechanism for the above problems.

[0007] The utility model provides the following technical scheme: a kind of safflower picking end effector based on 3RRR parallel mechanism, including 3RRR parallel mechanism, filament shaping positioning assembly, ring-shaped cutting mechanism;The 3RRR parallel mechanism is connected with the ring-shaped cutting mechanism, and the filament shaping positioning assembly is installed and arranged on the upper and lower sides of the middle part of the ring-shaped cutting mechanism.

[0008] The 3RRR parallel mechanism comprises a driving part, a static platform, a branch chain assembly, and a moving platform; the driving part is arranged above the static platform, the branch chain assembly is arranged below the static platform, and the moving platform is arranged below the branch chain assembly.

[0009] The driving part comprises a driving assembly C, a driving assembly B, a driving assembly A, a connecting plate A, a connecting assembly A, a flange bearing A, a flange bearing B, a flange bearing C, a flange bearing D, a flange bearing E, a key, a cover A, and a fixed check ring.

[0010] The driving assembly C comprises a gear shaft C, a pinion C, a stepping motor C, and a check ring C; the driving assembly B comprises a gear shaft B, a pinion B, a stepping motor B, and a check ring B; and the driving assembly A comprises a gear shaft A, a pinion A, a stepping motor A, and a check ring A.

[0011] The central upper end of the static platform is arranged in cooperation with the flange bearing E, the gear shaft C, the gear shaft B, and the gear shaft A pass through the flange bearing E in sequence in the order of gear shaft A-gear shaft B-gear shaft C to form a first-stage rotating pair rotating on the same axis, the flange bearing A is fixedly arranged on the upper end of the gear shaft B in a sleeved manner, the flange bearing D is arranged in cooperation with the lower end of the gear shaft B, the flange bearing C is fixedly arranged on the lower end of the gear shaft A in a sleeved manner, and the flange bearing B is fixedly arranged on the upper end of the gear shaft A in a sleeved manner, so as to separate the gear shaft B from the gear shaft A.

[0012] The output shafts of the stepping motor C, the stepping motor B, and the stepping motor A are fixedly arranged in a sleeved manner with the pinion C, the pinion B, and the pinion A respectively and are arranged in a clamping groove position on the upper end of the static platform; the installation effect is that the pinion C is engaged with the gear shaft C, the pinion B is engaged with the gear shaft B, and the pinion A is engaged with the gear shaft A.

[0013] The static platform is connected with the connecting plate A through the connecting assembly A, and the cover A is fixedly arranged above the static platform to prevent foreign matter interference.

[0014] The branch chain assembly comprises a branch chain group A, a branch chain group B, a branch chain group C, a pin shaft, a check ring D, a gasket, and a flange bearing.

[0015] The branch chain group A is composed of the main driven branch chain A and the driven branch chain A, the branch chain group B is composed of the main driven branch chain B and the driven branch chain B, and the branch chain group C is composed of the main driven branch chain C and the driven branch chain C; the upper end of the main driven branch chain A is fixedly installed on the lower end of the gear shaft A by the key and the check ring A, the upper end of the main driven branch chain B is fixedly installed on the lower end of the gear shaft B by the key and the check ring B, and the upper end of the main driven branch chain C is fixedly installed on the lower end of the gear shaft C by the key and the check ring C.

[0016] The flange bearings are respectively installed on the outer side of the lower part of the main driven branch chain A, the main driven branch chain B and the main driven branch chain C; the flange bearings are respectively installed on the inner side of the upper part and the inner side of the lower part of the driven branch chain A, the driven branch chain B and the driven branch chain C; the main driven branch chain C and the driven branch chain C, the main driven branch chain B and the driven branch chain B, and the main driven branch chain A and the driven branch chain A are connected by the pin shaft to form three groups of rotary pairs, and the three groups of rotary pairs constitute the second level rotary pair; the pin shaft is constrained by the washer and the check ring D on both sides.

[0017] The three lugs on the movable platform are installed on the outer side of the flange bearings, and the driven branch chain A, the driven branch chain B and the driven branch chain C are connected by the pin shaft to form three groups of rotary pairs, and the three groups of rotary pairs constitute the third level rotary pair; the pin shaft is constrained by the washer and the check ring D on both sides.

[0018] The annular cutting mechanism comprises an upper slide, a middle slide, a cutting edge group, a lower slide, a driving gear, a driven gear, a cutting motor support, a cutting motor, a cutting motor shell, a connecting plate B, a connecting assembly B and a shell B.

[0019] The connecting plate B is fixedly connected with the movable platform, the upper slide is fixedly connected with the connecting plate B through the connecting assembly B, one side of the middle slide is fixedly connected with the driven gear, the middle slide is concentrically matched with the upper slide, the cutting edge group is installed and arranged between the middle slide and the lower slide, the lower slide is concentrically matched with the middle slide, and the lower slide is fixedly connected with the upper slide.

[0020] The cutting motor is fixedly installed on one side of the upper slide through the cutting motor support, the driving gear is fixedly connected with the cutting motor, and the driving gear is engaged with the driven gear; the annular cutting mechanism and the cutting motor are respectively covered by the shell B and the cutting motor shell to prevent foreign matters from entering and causing interference.

[0021] The flower filament shaping and positioning assembly is a split structure including a negative pressure pipeline and a popsicle cylinder assembly.

[0022] The negative pressure pipeline is connected with the upper end of the popsicle cylinder A part, and the shoulder of the lower end of the popsicle cylinder A part is fixedly connected with the upper end of the upper slide in a concentric mode, the upper end of the popsicle cylinder B part is fixedly connected with the lower end of the lower slide in a concentric mode, and the lower end of the popsicle cylinder A part is not in contact with the upper end of the popsicle cylinder B part, so that a gap is formed between the two parts, and the gap provides an annular cutting activity space for the cutting edge group.

[0023] The 3RRR parallel mechanism has the advantages that the compact structure can flexibly adjust the spatial posture of the flower filament shaping and positioning assembly and the annular cutting mechanism to adapt to the inclined posture of safflower picking, the annular cutting mechanism can slide and cut the flower filaments in a ring shape, the cut part is closed during the cutting process, the flower filament cutting damage rate is reduced, and the picking rate is improved, the flower filament shaping and positioning assembly has a split structure design, the corolla can be folded and the cutting position can be positioned through the negative pressure pipeline in combination with the popsicle cylinder A part and the popsicle cylinder B part, appropriate cutting conditions are achieved, the success rate of safflower picking in an inclined posture is improved, and the safflower picking has important significance. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 A whole schematic view of a safflower picking end effector based on a 3RRR parallel mechanism is provided in the utility model;

[0025] Figure 2 A posture adjustment schematic view of a safflower picking end effector based on a 3RRR parallel mechanism is provided in the utility model;

[0026] Figure 3 A 3RRR parallel mechanism structure schematic view is provided in the utility model;

[0027] Figure 4 A 3RRR parallel mechanism partial mechanism sectional view is provided in the utility model;

[0028] Figure 5 A 3RRR parallel mechanism partial mechanism exploded view is provided in the utility model;

[0029] Figure 6 A branch structure schematic view is provided in the utility model;

[0030] Figure 7 A flower filament shaping and positioning assembly-annular cutting mechanism schematic view is provided in the utility model;

[0031] Figure 8 An upper slide structure schematic view is provided in the utility model;

[0032] Figure 9 The lower slide structure schematic view is provided for the utility model;

[0033] Figure 10 The annular cutting mechanism cutting edge group opening schematic view is provided for the utility model;

[0034] Figure 11 The annular cutting mechanism cutting edge group opening schematic view is provided for the utility model;

[0035] The figure mark is: 1.3RRR parallel mechanism, 101. driving part, 10101. driving assembly C, 1010101. gear shaft C, 1010102. pinion C, 1010103. step motor C, 1010104. check ring C, 10102. driving assembly B, 1010201. gear shaft B, 1010202. pinion B, 1010203. step motor B, 1010204. check ring B, 10103. driving assembly A, 1010301. gear shaft A, 1010302. pinion A, 1010303. step motor A, 1010304. check ring A, 10104. connecting plate A, 10105. connecting assembly A, 10106. flange bearing E, 10107. flange bearing A, 10108. flange bearing B, 10109. flange bearing C, 10110. flange bearing D, 10111. key, 10112. cover shell A, 10113. fixed check ring, 102. static platform, 103. branch chain assembly, 10301. branch chain group C, 1030101. driving branch chain C, 1030102. driven branch chain C, 10302. branch chain group B, 1030201. driving branch chain B, 1030202. driven branch chain B, 10303. branch chain group A, 1030301. driving branch chain A, 1030302. driven branch chain A, 10304. pin shaft, 10305. check ring D, 10306. washer, 10307. flange bearing, 104. dynamic platform, 105. first level rotary pair, 106. second level rotary pair, 107. third level rotary pair, 2. flower silk shaping positioning assembly, 201. negative pressure pipeline, 202. ice cream cylinder assembly, 20201. ice cream cylinder A part, 20202. ice cream cylinder B part, 3. annular cutting mechanism, 301. upper slide, 302. middle slide, 303. cutting edge group, 304. lower slide, 305. driving gear, 306. driven gear, 307. cutting motor support, 308. cutting motor, 309. cutting motor cover shell, 310. connecting plate B, 311. connecting assembly B, 312. cover shell B. DETAILED DESCRIPTION

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0037] like Figure 1 The figure shows an overall schematic diagram of a safflower picking end effector based on a 3RRR parallel mechanism according to an embodiment of the present invention.

[0038] A safflower harvesting end effector based on a 3RRR parallel mechanism includes a 3RRR parallel mechanism 1, a filament shaping and positioning component 2, and an annular cutting mechanism 3. The 3RRR parallel mechanism 1 is connected to the annular cutting mechanism 3. The filament shaping and positioning component 2 is installed on the upper and lower sides of the middle part of the annular cutting mechanism 3. The 3RRR parallel mechanism 1 is in its initial assembly state without any attitude adjustment, which is the original assembly state without any attitude adjustment through the drive part 101 and the branch assembly 103. In this state, the rotation center axes of the first-stage rotary joint 105, the second-stage rotary joint 106, and the third-stage rotary joint 107 converge at a fixed point O after assembly calibration.

[0039] like Figure 2 The diagram shows an embodiment of the present invention: a safflower picking end effector attitude adjustment based on a 3RRR parallel mechanism.

[0040] During the attitude adjustment process, the rotation center axes of the first-stage rotary joint 105, the second-stage rotary joint 106, and the third-stage rotary joint 107 always intersect at a certain point O. The specific implementation is as follows: the driving part 101 of the 3RRR parallel mechanism 1 drives the branch assembly 103, thereby adjusting the spatial attitude of the annular cutting mechanism 3 fixedly connected to the moving platform 104. The ice cream cone assembly 202 of the filigree shaping and positioning assembly 2 gathers the filigree and positions the cutting position. The annular cutting mechanism 3 fits into the red flower filigree to perform the cutting filigree cluster action. The cut filigree is sucked away by the negative pressure pipe 201.

[0041] like Figure 3 , 4 As shown in Figure 5, a schematic diagram of the 3RRR parallel mechanism structure of an embodiment of this utility model is provided.

[0042] The 3RRR parallel mechanism 1 includes a drive part 101, a stationary platform 102, a branch assembly 103, and a moving platform 104; the drive part 101 is installed above the stationary platform 102, the branch assembly 103 is installed below the stationary platform 102, and the moving platform 104 is installed below the branch assembly 103.

[0043] The driving part 101 includes driving assembly C10101, driving assembly B10102, driving assembly A10103, connecting plate A10104, connecting assembly A10105, flange bearing E10106, flange bearing A10107, flange bearing B10108, flange bearing C10109, flange bearing D10110, key 10111, cover A10112 and fixed retainer 10113.

[0044] The driving assembly C10101 includes gear shaft C1010101, pinion C1010102, stepping motor C1010103 and retainer C1010104; the driving assembly B10102 includes gear shaft B1010201, pinion B1010202, stepping motor B1010203 and retainer B1010204, and the driving assembly A10103 includes gear shaft A1010301, pinion A1010302, stepping motor A1010303 and retainer A1010304.

[0045] The central upper end of the static platform 102 is installed in cooperation with the flange bearing E10106, the gear shaft C1010101, the gear shaft B1010201 and the gear shaft A1010301 pass through the flange bearing E10106 in the order of gear shaft A1010301-gear shaft B1010201-gear shaft C1010101 to form a coaxial first-stage rotating pair 105; wherein the flange bearing A10107 is fixedly installed on the upper end of the gear shaft B1010201, the flange bearing D10110 is fixedly installed on the lower end of the gear shaft B1010201 to separate the gear shaft C1010101 from the gear shaft B1010201, the flange bearing B10108 is fixedly installed on the upper end of the gear shaft A1010301, and the flange bearing C10109 is fixedly installed on the lower end of the gear shaft A1010301 to separate the gear shaft B1010201 from the gear shaft A1010301; the shaft shoulder of the gear shaft A1010301 contacts the flange bearing E10106 to constrain axial movement, and the fixed retainer 10113 is fixedly connected with the gear shaft A1010301 below the static platform 102 to constrain axial movement.

[0046] The output shafts of the stepper motor C1010103, the stepper motor B1010203 and the stepper motor A1010303 are respectively sleeved and fixed with the pinion C1010102, the pinion B1010202 and the pinion A1010302, and are installed in the end clamping groove position of the static platform 102; the installation effect is that the pinion C1010102 is engaged with the gear shaft C1010101, the pinion B1010202 is engaged with the gear shaft B1010201, and the pinion A1010302 is engaged with the gear shaft A1010301.

[0047] The static platform 102 is connected with the connecting plate A10104 through the connecting assembly A10105, and the cover A10112 is fixed above the static platform 102 to prevent foreign matter interference.

[0048] The branch chain assembly 103 includes a branch chain group C10301, a branch chain group B10302, a branch chain group A10303, a pin shaft 10304, a check ring D10305, a washer 10306 and a flange bearing 10307.

[0049] The branch chain group A10303 is composed of a driving branch chain A1030301 and a driven branch chain A1030302, the branch chain group B10302 is composed of a driving branch chain B1030201 and a driven branch chain B1030202, and the branch chain group C10301 is composed of a driving branch chain C1030101 and a driven branch chain C1030102; the upper end of the driving branch chain C1030101 is fitted and installed at the lower end of the gear shaft C1010101 and is fixed by the key 10111 and the check ring C1010104, the upper end of the driving branch chain B1030201 is fitted and installed at the lower end of the gear shaft B1010201 and is fixed by the key 10111 and the check ring B1010204, and the upper end of the driving branch chain A1030301 is fitted and installed at the lower end of the gear shaft A1010301 and is fixed by the key 10111 and the check ring A1010304.

[0050] The flange bearings 10307 are respectively mounted and matched on the lower outer sides of the driving branch chains C1030101, B1030201 and A1030301, and the upper inner sides and lower inner sides of the driven branch chains C1030102, B1030202 and A1030302 are respectively mounted and matched with the flange bearings 10307; the driving branch chains C1030101, B1030201 and A1030301 and the driven branch chains C1030102, B1030202 and A1030302 are connected by the pin shafts 10304 to form three groups of rotary pairs, and the three groups of rotary pairs constitute the second level rotary pairs 106, and the pin shafts 10304 are constrained by the washers 10306 and the check rings D10305 on both sides.

[0051] The three lugs of the moving platform 104 are mounted and matched with the flange bearings 10307, and the driven branch chains A1030302, B1030202 and C1030102 and the three lugs of the moving platform 104 are connected by the pin shafts 10304 to form three groups of rotary pairs, and the three groups of rotary pairs constitute the third level rotary pairs 107, and the pin shafts 10304 are constrained by the washers 10306 and the check rings D10305 on both sides.

[0052] The 3RRR parallel mechanism 1 can be driven as follows for the purpose of posture adjustment: the driving assemblies A10103, B10102 and C10101 are driven separately, and the moving platform 104 rotates around an axis; the driving assemblies A10103, B10102 and C10101 are driven in pairs, and the moving platform 104 moves in a plane; compared with separate driving, driving in pairs can make the moving platform 104 reach more positions and postures, and expand the effective working space of the mechanism; the driving assemblies A10103, B10102 and C10101 are simultaneously driven, and the three degrees of freedom of the 3RRR parallel mechanism can be completely controlled, so that the moving platform 104 can realize arbitrary position and posture changes in the stroke range, and can realize complex trajectory motion in space; the 3RRR parallel mechanism 1 realizes multi-degree-of-freedom posture adjustment of the moving platform 104 through the above three driving modes, so as to drive the annular cutting mechanism 3 and the flower wire shaping and positioning assembly 2 to adapt to different inclination angles of safflower corolla.

[0053] As Figure 6 shown, an embodiment of the utility model provides a branch chain structure schematic diagram.

[0054] The shapes of the driven branch chain C1030102, the driven branch chain B1030202 and the driven branch chain A1030302 are circular arc shapes, and the circular arc angles are β, and the value range is 85°-90°; the fold plate included angle of the driving branch chain C1030101, the driving branch chain B1030201 and the driving branch chain A1030301 is α, and the value range is 45°-55°.

[0055] As shown in Figures 7-9 The embodiment of the utility model provides a flower silk shaping positioning assembly - annular cutting mechanism schematic view.

[0056] The annular cutting mechanism 3 includes an upper slide 301, a middle slide 302, a cutting edge group 303, a lower slide 304, a driving gear 305, a driven gear 306, a cutting motor support 307, a cutting motor 308, a cutting motor housing 309, a connecting plate B 310, a connecting assembly B 311 and a housing B 312.

[0057] The connecting plate B 310 is fixedly connected with the movable platform 104, the upper slide 301 is fixedly connected with the connecting plate B 310 through the connecting assembly B 311, the middle slide 302 is fixedly connected with the driven gear 306 as a movable slide on one side, the middle slide 302 is concentrically matched with the upper slide 301, the cutting edge group 303 is arranged between the middle slide 302 and the lower slide 304, the lower slide 304 is concentrically matched with the middle slide 302, and the lower slide 304 is fixedly connected with the upper slide 301; the cutting edge group 303 is composed of 12 sector cutters with an angle of 30°, and the annular groove of the upper slide 301, 12 arc grooves of the middle slide 302 and 12 straight grooves of the lower slide 304 jointly constrain the annular cutting movement of the cutting edge group 303.

[0058] The cutting motor 308 is fixedly installed on one side of the upper slide 301 through the cutting motor support 307, the driving gear 305 is fixedly connected with the cutting motor 308, and the driving gear 305 is engaged with the driven gear 306; the annular cutting mechanism 3 and the cutting motor 308 are respectively covered by the housing B 312 and the cutting motor housing 309 to prevent foreign matters from entering and causing interference.

[0059] The flower silk shaping positioning assembly 2 is a split structure including a negative pressure pipeline 201 and an ice cream cylinder assembly 202, and the ice cream cylinder assembly 202 includes an ice cream cylinder A part 20201 and an ice cream cylinder B part 20202.

[0060] The negative pressure pipeline 201 is connected with the upper end of the ice cream cylinder A part 20201, and the lower end shoulder of the ice cream cylinder A part 20201 is fixedly connected with the upper end of the upper slide 301 in a concentric mode, the upper end of the ice cream cylinder B part 20202 is fixedly connected with the lower end of the lower slide 304 in a concentric mode, and the lower end of the ice cream cylinder A part 20201 is not in contact with the upper end of the ice cream cylinder B part 20202, and a gap is formed between the two, which serves as an annular cutting active space of the cutting edge group 303, and the filament shaping and positioning assembly 2 can gather the corolla through the negative pressure pipeline 201 in combination with the ice cream cylinder assembly 202 to position the cutting position.

[0061] As shown in Figure 10 , an embodiment of the annular cutting mechanism cutting edge group closed cutting schematic view is provided.

[0062] The cutting closed specific embodiment is that the cutting motor 308 reversely drives the driving gear 305, the driving gear 305 drives the externally meshed driven gear teeth 306 to rotate in a positive direction, thereby driving the middle slide 302, and the cutting edge group 303 completes the closed cutting action of the cutting edge group 303 under the driving of the middle slide 302 and the constraint of the lower slide 304 and the upper slide 301; in the process of the annular sliding cutting of the cutting edge group 303, the filament is sleeved into the cutting range, and the cut part is isolated from the outside, and the cut filament is sucked away through the negative pressure pipeline 201, so that secondary cutting of the filament in the cutting process can be avoided.

[0063] As shown in Figure 11 , an embodiment of the annular cutting mechanism cutting edge group opening schematic view is provided.

[0064] The cutting open specific embodiment is that the cutting motor 308 drives the driving gear 305 to rotate in a positive direction, the driving gear 305 drives the externally meshed driven gear teeth 306 to rotate in a reverse direction, thereby driving the middle slide 302, and the cutting edge group 303 completes the opening action of the cutting edge group 303 under the driving of the middle slide 302 and the constraint of the lower slide 304 and the upper slide 301.

[0065] The above describes the utility model and its implementation mode, which is not restrictive, and the embodiment shown in the drawings is only one of the embodiments of the utility model, and the actual structure is not limited thereto. In general, if a person skilled in the art is inspired thereby, without departing from the creative purpose of the utility model, similar structural modes and embodiments are designed without creativity, which should belong to the protection scope of the utility model.

Claims

1. A 3RRR parallel mechanism based safflower picking end effector, comprising a 3RRR parallel mechanism (1), a filament shaping and positioning assembly (2), and a ring-shaped cutting mechanism (3); characterized in that: The 3RRR parallel mechanism (1) is connected with the ring cutting mechanism (3), the 3RRR parallel mechanism (1) includes a driving part (101), a static platform (102), a branch chain assembly (103) and a moving platform (104), the driving part (101) adopts a transmission structure that a step motor drives a pinion gear to mesh with a gear shaft, drives the branch chain assembly (103) linkage through the gear shaft, and realizes posture adjustment of an end effector; The flower silk shaping and positioning assembly (2) is a split structure, including a negative pressure pipeline (201) and a popsicle cylinder assembly (202), the flower silk shaping and positioning assembly (2) is installed and arranged on the upper and lower sides of the middle part of the ring cutting mechanism (3), the flower crown is gathered through the negative pressure pipeline (201) combined with the popsicle cylinder assembly (202), and the cutting position is positioned; The ring cutting mechanism (3) is provided with concentrically matched upper slide (301), middle slide (302) and lower slide (304), and a cutting edge group (303) composed of 12 30° sector cutters, the ring cutting mechanism (3) adopts a mode that a cutting motor drives a driving gear to mesh with a driven gear, drives the cutting edge group (303) to do ring sliding cutting movement; The above-mentioned 3RRR parallel mechanism (1), flower silk shaping and positioning assembly (2) and ring cutting mechanism (3) cooperate with each other, and realize efficient and low-loss picking of inclined posture safflower.

2. The safflower picking end effector based on 3RRR parallel mechanism according to claim 1, characterized in that: The 3RRR parallel mechanism (1) includes a driving part (101), a static platform (102), a branch chain assembly (103) and a moving platform (104); The driving part (101) is installed and arranged above the static platform (102), the branch chain assembly (103) is installed and arranged below the static platform (102), and the moving platform (104) is installed below the branch chain assembly (103).

3. The safflower picking end effector based on 3RRR parallel mechanism according to claim 2, characterized in that: The driving part (101) of the 3RRR parallel mechanism (1) comprises a driving assembly C (10101), a driving assembly B (10102) and a driving assembly A (10103); the driving assembly C (10101) comprises a gear shaft C (1010101), a pinion C (1010102), a stepping motor C (1010103) and a check ring C (1010104), the driving assembly B (10102) comprises a gear shaft B (1010201), a pinion B (1010202), a stepping motor B (1010203) and a check ring B (1010204), and the driving assembly A (10103) comprises a gear shaft A (1010301), a pinion A (1010302), a stepping motor A (1010303) and a check ring A (1010304); the output shafts of the stepping motor C (1010103), the stepping motor B (1010203) and the stepping motor A (1010303) are respectively fixedly sleeved with the pinion C (1010102), the pinion B (1010202) and the pinion A (1010302) and then installed in the clamping groove position of the static platform (102); the pinion C (1010102) is engaged with the gear shaft C (1010101), the pinion B (1010202) is engaged with the gear shaft B (1010201), and the pinion A (1010302) is engaged with the gear shaft A (1010301); the gear shaft C (1010101), the gear shaft B (1010201) and the gear shaft A (1010301) are sequentially sleeved in the order of gear shaft A (1010301)-gear shaft B (1010201)-gear shaft C (1010101) to form a first-stage rotation pair (105) rotating on the same axis.

4. The safflower picking end effector based on 3RRR parallel mechanism according to claim 3, characterized in that: The driving part (101) of the 3RRR parallel mechanism (1) can be adjusted in the following modes for the purpose of posture adjustment: ① the driving assembly A (10103), the driving assembly B (10102) and the driving assembly C (10101) are respectively driven individually; ② the driving assembly A (10103), the driving assembly B (10102) and the driving assembly C (10101) are driven in pairs; and ③ the driving assembly A (10103), the driving assembly B (10102) and the driving assembly C (10101) are simultaneously driven.

5. The safflower picking end effector based on 3RRR parallel mechanism according to claim 3, characterized in that: The branch chain assembly (103) of the 3RRR parallel mechanism (1) comprises a branch chain group C (10301), a branch chain group B (10302), a branch chain group A (10303), a pin shaft (10304), a check ring D (10305), a washer (10306) and a flange bearing (10307); the branch chain group C (10301) is composed of a driving branch chain C (1030101) and a driven branch chain C (1030102), the branch chain group B (10302) is composed of a driving branch chain B (1030201) and a driven branch chain B (1030202), and the branch chain group A (10303) is composed of a driving branch chain A (1030301) and a driven branch chain A (1030302); the upper ends of the driving branch chain C (1030101), the driving branch chain B (1030201) and the driving branch chain A (1030301) are fixedly connected with the lower ends of the gear shaft C (1010101), the gear shaft B (1010201) and the gear shaft A (1010301) of the first-order rotating pair (105) respectively; the driven branch chain C (1030102), the driven branch chain B (1030202) and the driven branch chain A (1030302) are in the shape of a circular arc, the circular arc angle of which is β, and the value range of β is 85°-90°; the included angle of the driving branch chain C (1030101), the driving branch chain B (1030201) and the driving branch chain A (1030301) is α, and the value range of α is 45°-55°.

6. The 3RRR parallel mechanism based safflower picking end-effector according to claim 5, characterized in that: In the branch chain assembly (103) of the 3RRR parallel mechanism (1), the flange bearings (10307) are respectively installed and matched on the outer sides of the lower parts of the driving branch chain C (1030101), the driving branch chain B (1030201) and the driving branch chain A (1030301); the flange bearings (10307) are respectively installed and matched on the inner sides of the upper parts and the inner sides of the lower parts of the driven branch chain C (1030102), the driven branch chain B (1030202) and the driven branch chain A (1030302); the driving branch chain C (1030101) and the driven branch chain C (1030102), the driving branch chain B (1030201) and the driven branch chain B (1030202), and the driving branch chain A (1030301) and the driven branch chain A (1030302) are connected by the pin shafts (10304) to form three groups of rotating pairs, and the three groups of rotating pairs constitute the second-order rotating pair (106); the pin shafts (10304) constrain the relative positions of the driving branch chains and the driven branch chains by the washers (10306) and the check ring D (10305) on both sides of the pin shafts (10304); three pin shafts (10304), six washers (10306) and six check rings D (10305) are required for connecting the second-order rotating pair (106).

7. The 3RRR parallel mechanism based safflower picking end-effector according to claim 6, characterized in that: The three lugs outside of the moving platform (104) of the 3RRR parallel mechanism (1) are provided with the flange bearing (10307); the driven branch chain C (1030102), the driven branch chain B (1030202) and the driven branch chain A (1030302) are connected with the three lugs of the moving platform (104) through the pin shaft (10304) to form three groups of rotary pairs, and the three groups of rotary pairs constitute the third level rotary pair (107); the pin shaft (10304) is constrained by the washer (10306) and the check ring D (10305) on both sides to constrain the relative position of the above-mentioned driven branch chain and the moving platform (104); the third level rotary pair (107) is connected by three pin shafts (10304), six washers (10306) and six check rings D (10305).

8. The 3RRR parallel mechanism based safflower picking end-effector according to claim 7, characterized in that: In the initial assembly state of the 3RRR parallel mechanism (1) without posture adjustment, and in the posture adjustment process, the rotation center axes of the first level rotary pair (105), the second level rotary pair (106) and the third level rotary pair (107) all intersect at a certain point O.

9. The 3RRR parallel mechanism based safflower picking end-effector according to claim 7, characterized in that: The annular cutting mechanism (3) comprises an upper slide (301), a middle slide (302), a cutting edge group (303), a lower slide (304), a driving gear (305), a driven gear (306), a cutting motor support (307), a cutting motor (308), a cutting motor shell (309), a connecting plate B (310), a connecting assembly B (311) and a shell B (312); the connecting plate B (310) is fixedly connected with the moving platform (104), the upper slide (301) is fixedly connected with the connecting plate B (310) through the connecting assembly B (311), one side of the middle slide (302) is fixedly connected with the driven gear (306), the middle slide (302) is concentrically matched with the upper slide (301), the cutting edge group (303) is arranged between the middle slide (302) and the lower slide (304), the lower slide (304) is concentrically matched with the middle slide (302), and the lower slide (304) is fixedly connected with the upper slide (301); the cutting motor (308) is fixedly installed on one side of the upper slide (301) through the cutting motor support (307), the driving gear (305) is fixedly connected with the cutting motor (308), the driving gear (305) is meshed with the driven gear (306), and the annular cutting mechanism (3) and the cutting motor (308) are respectively covered by the shell B (312) and the cutting motor shell (309); the cutting edge group (303) is composed of 12 sector cutters with an angle of 30°; the annular groove of the upper slide (301) and the 12 arc grooves of the middle slide (302) are matched with the 12 straight grooves of the lower slide (304) to jointly constrain the cutting edge group (303) to make annular sliding cutting motion.

10. The 3RRR parallel mechanism based safflower picking end-effector according to claim 9, characterized in that: The flower filament shaping and positioning assembly (2) is a split structure, comprising a negative pressure pipeline (201) and a ice cream cylinder assembly (202), the ice cream cylinder assembly (202) comprises an ice cream cylinder A part (20201) and an ice cream cylinder B part (20202); the lower end of the ice cream cylinder A part (20201) is not in contact with the upper end of the ice cream cylinder B part (20202), and a gap is formed between the two, which provides an annular cutting activity space for the cutting edge group (303); the negative pressure pipeline (201) is connected with the upper end of the ice cream cylinder A part (20201), the lower end shoulder of the ice cream cylinder A part (20201) is fixedly connected with the upper end of the upper slide (301) in a concentric mode, and the upper end of the ice cream cylinder B part (20202) is fixedly connected with the lower end of the lower slide (304) in a concentric mode.

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