CN111820005A

CN111820005A - Picking end effector with picking head capable of being replaced conveniently

Info

Publication number: CN111820005A
Application number: CN202010841029.8A
Authority: CN
Inventors: 杨庆华; 袁宇浩; 喻捷基; 毛传波; 毛芸生; 杜立敏; 金圣权; 王志恒
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2020-08-20
Filing date: 2020-08-20
Publication date: 2020-10-27

Abstract

The invention discloses a picking end effector with a picking head capable of being replaced conveniently, which comprises the picking head, an end effector main body and a plurality of buffer layers, wherein the end effector main body comprises a negative pressure shell and a buffer cavity shell, a buffer cavity is arranged in the buffer cavity shell, a fruit dropping opening communicated with the buffer cavity is arranged at the bottom of the buffer cavity shell, a concave buffer surface is arranged in the buffer cavity shell at the rear side of the fruit dropping opening, and a buffer cavity buffer surface is arranged on the lower end surface in the inner part of the buffer cavity shell at the front side of the fruit dropping opening; one end of the negative pressure shell is fixedly connected with the buffer cavity shell, the other end of the negative pressure shell is provided with an end effector thread, the picking head is sleeved with a picking head thread matched with the end effector thread, and the picking head is connected with the negative pressure shell through the thread. The invention is capable of picking different fruits with large diameter range difference, and not only saves time and labor, but also greatly reduces picking cost by replacing the picking head of the end effector.

Description

Picking end effector with picking head capable of being replaced conveniently

Technical Field

The invention relates to the field of intelligent picking, in particular to a picking end effector with a picking head capable of being replaced conveniently.

Background

At present, most of domestic fruit picking still needs to be finished manually. The manual picking mode has lower labor efficiency and longer labor consumption, and for picking fruits with shorter seasons, the manual picking mode is usually not as long as finishing picking all the fruits. And for some fruits growing at a high position, picking workers can pick the fruits only by climbing the escalator, so that certain dangers are realized. In addition, manual picking requires a large amount of labor, but as a large amount of labor is transferred to urban factories and population is gradually aged, available labor is gradually reduced, the price of picking employees is increased year by year, fruit picking costs are increased, and the demand for automated fruit picking equipment is also increased.

In the field of fruit picking automation, the current researches on picking end effectors mainly include an auxiliary manual type, a vibration impact type and a manipulator grasping type. The auxiliary manual picking robot provides a lifting platform moving in three degrees of freedom in space for workers, and the workers stand on the lifting platform to pick. The traditional processes of manually picking, climbing ladders, transferring ladders and the like are omitted, the picking efficiency is greatly improved, and the picking machine still depends on manual work. Vibration impact type picking robot directly vibrates and impacts the fruit trees, so that the fruits fall off and are collected. The mode has great damage to fruits, which is not beneficial to preservation and affects sale due to damaged fruit. The manipulator grasping type is the choice of most of the current researches, and adopts the end structure imitating human fingers to grasp the target fruit in a way imitating human picking. Two main picking modes are adopted for separating target fruits from fruit stalks, one mode is that the fruits are directly picked by twisting and drawing after being gripped by a manipulator; the other is to cut the fruit stalks by an additional blade, laser or electrified metal wire. The mode is very close to a manual picking mode, so that nondestructive picking can be well realized, but the picking steps are also complicated due to the fact that fruit grabbing needs to be accurately positioned, so that the picking efficiency is low, and the mode is the largest factor limiting the practicability of the picking machine.

Domestic invention patent application No. CN201580075405.4 discloses an end effector for robotic harvesting, which specifically discloses an end effector comprising a vacuum generating subsystem and a connection to the vacuum generating subsystem. The end effector has: a first tube having a first diameter; and a second tube having a second diameter smaller than the first diameter so that the second tube is fitted inside the first tube. The invention greatly improves the picking efficiency by a suction picking mode.

Domestic invention patent application No. CN201910418059.5 discloses an end effector for robot harvesting, which specifically discloses an end effector comprising an air inlet, a vacuum suction port connected with a vacuum generating system, and a fruit drop outlet at the lower end. The fruit picking device utilizes the annular air flow generated in the buffer cavity to generate upward lifting force on the fruits to resist the action of free falling bodies when the fruits fall down after being picked, reduces the probability that the falling parabola of the fruits is too long in the horizontal direction and collides with the extending part at the rear end to damage the rear wall, and reduces the fruit damage caused in the picking falling process.

Although the picking head of the picking end effector adopts the design that the size of the picking opening can be adjusted in a self-adaptive manner within a certain range, the self-adaptive adjustment range is not large, and is generally only suitable for the possible size difference of fruits of the same kind and the same variety, and the self-adaptive adjustment range is not enough for the fruits of different kinds or different varieties.

In order to further improve the applicability of the device to different types of fruits, a picking end effector with a picking head capable of being replaced conveniently is designed, and the picking end effector has better adaptability to the picking of different types or different varieties of fruits. The picking head structure of the end effector is separated from the end effector to be used as an independent part and adopts uniform threaded connection, so that the picking head of the end effector can be simply detached and replaced, and meanwhile, the cleaning work of a negative pressure cavity is facilitated. Through the multiple picking heads with different picking openings and the same threaded connection structure, the end effector can select the picking head with the proper picking opening size according to the different types of picked fruits, and the picking success rate is improved.

Disclosure of Invention

The invention aims to solve the problem that a picking end effector with a picking head capable of being replaced conveniently is provided, so that fruits of different types or different varieties of the same type can be picked, and meanwhile, the picking end effector has better adaptability when the fruits of the same type and the same variety have larger difference, can better buffer the picking of the fruits and ensure the picking quality of the fruits.

The invention realizes the purpose through the following technical scheme: a picking end effector with a picking head capable of being replaced conveniently comprises the picking head, an end effector main body and multiple buffer layers, wherein the end effector main body comprises a negative pressure shell and a buffer cavity shell, a buffer cavity is arranged inside the buffer cavity shell, a fruit dropping opening communicated with the buffer cavity is formed in the bottom of the buffer cavity shell, a concave buffer surface is arranged inside the buffer cavity shell behind the fruit dropping opening, a buffer cavity buffer surface is arranged on the lower end surface of the inner part of the buffer cavity shell on the front side of the fruit dropping opening, the buffer cavity shell on the front end of the buffer cavity is connected with one end of the negative pressure shell, and a fruit dropping door for opening and closing the fruit dropping opening and a fruit dropping door driver for driving the fruit dropping door to move are arranged on the lower part of the buffer cavity shell; the vacuum picking head is characterized in that the vacuum shell is tubular, one end of the vacuum shell is fixedly connected with the buffer cavity shell, the other end of the vacuum shell is provided with an end effector thread for connecting a picking head, the picking head is integrally hollow and tubular, the picking head is sleeved with a picking head thread matched with the end effector thread, and the picking head and the vacuum shell are in threaded connection through the end effector thread and the picking head thread; a straight tube buffer layer is arranged in the hollow tube of the picking head and fixed on the inner wall of the picking head, the front end of the straight tube buffer layer is flush with the front end of the picking head, and the rear end of the straight tube buffer layer is abutted against the inner wall of the buffer cavity shell; the negative pressure shell is provided with an air exhaust opening, a negative pressure cavity is formed between the negative pressure shell and the picking head, the air exhaust opening is communicated with the negative pressure cavity, and the air exhaust opening is connected with an external air exhaust device through an air exhaust pipe.

Furthermore, the negative pressure shell and the buffer cavity shell are connected into a whole, the negative pressure shell and the buffer cavity shell are communicated with each other except the air vent, and other joints are sealed under the action of the partition wall.

Further, the fruit mouth that falls is from last back taper that reduces gradually to the bore down, and the setting of the door that falls the fruit is at the upside that the fruit mouth falls in the back taper, and one side that falls the fruit mouth is provided with the horizontal inserted horizontal opening that supplies the door that falls the fruit, and the one end that falls the fruit door is passed stretch into the opening that falls inside behind the horizontal opening, the other end connection drive that falls the fruit door motion that falls the fruit door driver.

Furthermore, a horizontal baffle plate for supporting the fruit falling door is arranged at the lower end of the horizontal opening. The size of the horizontal opening is consistent with the size of the side face of the fruit drop door as much as possible so as to improve the air tightness, and the horizontal baffle plate provides vertical support for the translational motion of the fruit drop door so as to ensure that the fruit drop door is as straight as possible in the motion process.

Furthermore, the drop door driver is a linear motor or a linear cylinder which is fixed at the bottom of the buffer cavity shell and is horizontally arranged. The design that the linear reciprocating motion can be realized by adopting a stay wire spring to be matched with a common motor and the like can also be adopted.

Furthermore, the end effector thread is an internal thread arranged at one end of the negative pressure shell, the picking head thread is an external thread arranged at the rear end of the picking head, and the picking head thread and the end effector thread are connected through the thread and then are connected at the joint between the picking head and the negative pressure shell in a sealing manner.

Furthermore, the concave buffering surface and the buffering cavity buffering surface are made of polyethylene or polypropylene or polystyrene or polyurethane sponge materials.

Further, the straight tube buffer layer is made of polyethylene or polypropylene or polystyrene or polyurethane sponge material.

Furthermore, the air pumping opening is provided with a pair of air pumping openings which are arranged in bilateral symmetry. The bilateral symmetry is provided in order to make the forces from the suction hoses on the left and right sides as uniform as possible during movement of the end effector. The number of the air pipe openings 7 can be increased to increase the air flow and further improve the negative pressure adsorption force.

Furthermore, the picking head is designed with a plurality of picking heads with different calibers. The different bores of the picking heads refer to the whole inner diameter of the hollow tubular picking head, meanwhile, the linear buffer layers are also designed to be a plurality of in match with the picking heads, the sizes of the threads of the end effectors on the picking heads are all consistent, and the picking heads are conveniently connected with the end effectors in a matched mode.

The invention has the beneficial effects that:

1. according to the invention, in real time of picking different types of fruits with large diameter range difference, the end effector is more suitable for picking the improved fruits by replacing the picking head of the end effector, so that not only is time and labor saved, but also the picking cost is greatly reduced.

2. Compared with an integrated picking end effector, the detachable picking end effector of the picking head has stronger working adaptability and versatility.

3. According to the invention, the end effector is designed to be of a picking head separation type, so that the interior of the picking end effector is more conveniently cleaned, and the air passage blockage fault caused by the fact that the end effector sucks excessive sundries can be effectively solved.

4. According to the invention, the effective air inlet area can be reduced by arranging the straight pipe buffering surface on the inner side of the straight pipe, so that higher suction force is obtained on the premise of unchanged fan efficiency, the negative pressure utilization rate is improved, and the energy consumption is reduced.

5. According to the invention, the straight pipe buffering surface is arranged on the inner side of the straight pipe, so that the fruit can be prevented from colliding with the inner wall of the straight pipe due to vertical jolt in the transportation process of the fruit in the straight pipe, and the probability of fruit damage is reduced.

6. The straight pipe buffering surface arranged on the inner side of the straight pipe can provide a kinetic friction force opposite to the fruit moving direction, so that the speed of the fruit entering the buffering cavity is reduced, and the probability of collision damage with the inner wall of the buffering cavity is further reduced. 7. According to the fruit picking device, the air flow in the obliquely upward direction can be generated in the buffer cavity through the air exchange port arranged above the buffer cavity, so that the fruit picking device can generate an obliquely upward adsorption force on fruits in the buffer cavity.

8. The fruit-bearing buffer chamber utilizes the airflow in the deceleration area in the buffer chamber to enable the fruit to generate an upward oblique force, further reduces the horizontal speed of the fruit and simultaneously slows down the free falling trend of the fruit, and achieves the buffer effect.

9. According to the invention, the concave buffer surface on the rear wall of the buffer cavity can occupy less volume than a common smooth flushing surface, and meanwhile, a better buffer effect is obtained, the tendency of free falling of fruits is reduced, and the collision and damage of the fruits are prevented.

10. According to the invention, the generation of vortex in the buffer cavity can be avoided to a certain extent through the concave buffer surface on the rear wall of the buffer cavity, so that the utilization rate of air flow is improved.

Drawings

Fig. 1 is a schematic view of the overall structure of a picking end effector with a picking head that can be changed and carried.

Fig. 2 is a cross-sectional view of a picking end effector of the present invention with the picking head portably replaced.

Fig. 3 is an isometric view of the picking end effector of the present invention with the picking head removed.

Fig. 4 is a right side view of the picking end effector of the present invention with the picking head removed.

Fig. 5 is a front view of the picking end effector of the present invention with the picking head removed.

Fig. 6 is an isometric view of a picking head of the present invention.

Fig. 7 is a front view of the picking head of the present invention.

In the figure, 1-picking head, 2-negative pressure shell, 3-straight tube buffer layer, 4-negative pressure cavity, 5-buffer cavity, 6-buffer cavity shell, 7-fruit falling port, 8-fruit falling gate, 9-fruit falling gate driver, 10-end executor thread, 11-picking head thread, 12-air pumping port, 13-horizontal baffle, 14-concave buffer surface, 15-buffer cavity buffer surface, 16-air exchange port and 17-isolation wall.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

as shown in figures 1-7, a picking end effector with a picking head capable of being changed in a portable way comprises a picking head 1 end effector main body, a straight tube buffer layer 3, a concave buffer layer 14 and a buffer surface 15, the end effector body comprises a negative pressure shell 2 and a buffer shell cavity 6, a buffer cavity 5 is arranged in the buffer cavity shell 6, a fruit dropping opening 7 communicated with the buffer cavity 5 is arranged at the bottom of the buffer cavity shell 6, a concave buffer surface 14 is arranged inside the buffer cavity shell 6 at the rear side of the fruit dropping opening 7, a buffer cavity buffer surface 15 is arranged on the lower end surface inside the buffer cavity shell 6 at the front side of the fruit dropping opening 7, the buffer cavity shell 6 at the front end of the buffer cavity 5 is connected with one end of the negative pressure shell 2, a fruit dropping door 8 for opening and closing the fruit dropping opening 7 and a fruit dropping door driver 9 for driving the fruit dropping door 8 to move are arranged at the lower part of the buffer cavity shell 6; the buffer cavity 6 is communicated with the negative pressure cavity 5 only through a ventilation opening 16, and the rest contact parts are all closed by a separation wall 17; the negative pressure shell 2 is tubular, one end of the negative pressure shell 2 is fixedly connected with the buffer cavity shell 6, the other end of the negative pressure shell 2 is provided with an end effector thread 10 used for connecting the picking head 1, the picking head 1 is integrally hollow tubular, the picking head 1 is sleeved with a picking head thread 11 matched with the end effector thread 10, and the picking head 1 and the negative pressure shell 2 are in threaded connection through the end effector thread 10 and the picking head thread 11; a straight tube buffer layer 3 is arranged in the hollow tube of the picking head 1, the straight tube buffer layer 3 is fixed on the inner wall of the picking head 1, the front end of the straight tube buffer layer 3 is flush with the front end of the picking head 1, and the rear end of the straight tube buffer layer 3 is abutted against the inner wall of the buffer cavity shell 6; the negative pressure shell 2 is provided with an air exhaust port 12, a negative pressure cavity 4 is formed between the negative pressure shell 2 and the picking head 1, the air exhaust port 12 is communicated with the negative pressure cavity 4, and the air exhaust port 12 is connected with an external air exhaust device through an air exhaust pipe.

The negative pressure shell 2 and the buffer cavity shell 6 are connected into a whole, the negative pressure shell 2 and the buffer cavity shell 6 are communicated except for the ventilation port 16, and the rest of the connection parts are sealed buffer cavity shells under the action of the separation wall 17.

The fruit mouth 7 that falls is from last back taper that reduces gradually to the bore down, and the setting of the door of falling fruit 8 is at the upside that the fruit mouth 7 falls in the back taper, and one side of the fruit mouth 7 that falls is provided with and supplies the horizontal male horizontal opening of the door of falling fruit 8, and the one end of the door of falling fruit 8 is passed stretch into the opening of falling fruit 7 inside behind the horizontal opening, the other end of the door of falling fruit 8 is connected the door driver 9 that falls fruit of 8 motion of drive.

The lower end of the horizontal opening is provided with a horizontal baffle 13 for supporting the fruit drop door 8, the size of the horizontal opening and the size of the side surface of the fruit drop door 8 are kept consistent as much as possible so as to improve the air tightness, and the horizontal baffle provides vertical support for the translational motion of the fruit drop door 8 so as to ensure that the fruit drop door 8 is as straight as possible in the motion process.

The drop door driver 9 is a linear motor or a linear cylinder which is fixed at the bottom of the buffer cavity shell 6 and is horizontally arranged, and can also adopt a design that a stay wire spring is matched with a common motor and the like to realize linear reciprocating motion.

The end effector thread 10 is an internal thread arranged at one end of the negative pressure shell 2, the picking head thread 11 is an external thread arranged at the rear end of the picking head 1, and the picking head thread 11 is in sealing connection with the end effector thread 10 at the joint between the picking head 1 and the negative pressure shell 2 after being in threaded connection. The relationship between the inner thread and the outer thread of the end effector thread 10 and the picking head thread 11 can be exchanged, and the thread can be freely selected according to the application scene and the aesthetic property of the device, but different picking heads needing to be replaced adopt the same thread.

The concave buffer surface 14 and the buffer cavity buffer surface 15 can be made of polyethylene, polypropylene, polystyrene, polyurethane sponge and other materials. The straight tube buffer layer 3 can be made of polyethylene, polypropylene, polystyrene, polyurethane sponge and other materials.

The air suction ports 12 are provided with a pair of air suction hoses which are arranged in a left-right symmetrical manner, and the left-right symmetrical manner is used for ensuring that the forces from the air suction hoses on the left side and the right side are consistent as much as possible when the end effector moves. The number of the air pipe openings 7 can be increased to increase the air flow and further improve the negative pressure adsorption force.

The picking head 1 is designed with a plurality of different calibers. The different calibers of the picking heads 1 refer to the integral inner diameter of the hollow tubular picking head 1, meanwhile, the linear buffer layers 3 are also designed to be a plurality of to be matched with the picking heads, the sizes of the threads of the end effectors on the picking heads 1 are all consistent, and the picking heads 1 are conveniently matched and connected with the main body of the end effectors.

The specific working process of the invention is as follows: when the picking stage is carried out, the fruit dropping door 8 at the bottom of the end effector is closed under the driving of the fruit dropping door driver 9, the external air extractor starts to extract air subsequently, negative pressure is generated in the negative pressure cavity through the air extraction opening 12, and fruits are sucked into the end effector through the picking head 1 and are contacted with the straight pipe buffer layer 3, so that the first-stage extrusion friction buffering is realized; straight tube buffer layer 3 wraps up with certain pressure to the fruit surface to for the fruit provides with the reverse frictional force of direction of motion, reduced the speed of fruit, this collision damage that also can effectively reduce fruit and inner wall, straight tube buffer layer 3 can make effective air inlet area reduce simultaneously, has increased the adsorption affinity to the fruit, and promote the effect that negative pressure utilization ratio was in order to reach the reduction energy consumption. Because the suction force of the fruits in the end effector is larger than the friction force provided by the straight tube buffer layer 3, the fruits have certain initial speed when moving into the buffer cavity 5. When the external air extractor works, after the internal gas of the negative pressure cavity 4 is extracted by the air extraction opening 12, negative pressure is generated in the negative pressure cavity 4, and the gas in the buffer cavity 5 can only enter the negative pressure cavity 4 through the ventilation opening 16 due to the obstruction of the separation wall 17, so that unique air flow is formed. This gas flow can provide an ascending effort in the slant for the fruit that gets into in the cushion chamber 5 from the straight tube of picking head 1, can slow down the horizontal velocity of fruit on the horizontal direction, can slow down the speed of freely falling body on vertical direction to can effectively must prevent that the fruit from leading to the fact inevitable collision damage to the inner wall of cushion chamber 5 because of too big initial velocity in whereabouts process, this process has just realized the buffering of second level air current. After the fruit has passed through the second grade buffering, will fall on the terminal concave type buffering face 14 of cushion chamber 5, make the speed of fruit in the horizontal direction gradually reduce to the minimum with the slight collision of concave type buffering face 14 to slowly roll along concave type buffering face 14 and fall to falling fruit door 8 and go out, this process can prevent effectively that the fruit from leading to the fact unavoidable collision damage because of freely falling body and cushion chamber 5 bottom from strikeing the back, has realized tertiary collision buffering. At this point, the drop door 8 is opened under the control of the drop door driver 9, the fruit leaves the end effector and enters the collection system, and the drop door 8 is closed again to maintain the tightness inside the buffer chamber, and this completes the fruit picking process.

The yielding material that the straight tube buffer layer 3 adopted can provide the self-adaptation adjustment ability to a certain extent, but such self-adaptation adjustment range is not big, generally only is applicable to the size difference that the fruit of same kind and same variety probably exists, and in the real-time of picking different kinds of fruit that the diameter range difference is great, current picking end effector must change whole end effector, so not only consume a large amount of manpower and materials, still greatly increased picking cost. In fact, the size of the picking opening is adjusted only according to the size of the picking head of the picking end effector, so that the whole end effector does not need to be replaced, and only the picking head 1 and the negative pressure shell 2 are designed to be separable, and only the picking heads 1 of different models need to be replaced. In the design, the picking heads 1 with different calibers can be designed according to actual requirements, and the combination of the whole device can be completed only by screwing the picking head thread 11 of the picking head 1 with a proper model with the end effector thread 10 when in application.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that the conventional terms should be interpreted as having a meaning that is consistent with their meaning in the relevant art and this disclosure. The present disclosure is to be considered as an example of the invention and is not intended to limit the invention to the particular embodiments.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. Such as "horizontal" simply means that its orientation is more horizontal than "vertical," and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.

Claims

1. The utility model provides a but picking end effector that picking head convenient change which characterized in that: comprises a picking head (1), a straight tube buffer layer (3), a concave buffer surface (14), a buffer surface (15) and an end effector body, the end effector comprises a negative pressure shell (2) and a buffer cavity shell (6), a buffer cavity (5) is arranged in the buffer cavity shell (6), a fruit dropping opening (7) communicated with the buffer cavity (5) is arranged at the bottom of the buffer cavity shell (6), a concave buffer surface (14) is arranged inside the buffer cavity shell (6) at the rear side of the fruit dropping opening (7), a buffer cavity buffer layer (15) is arranged on the lower end surface inside the buffer cavity shell (6) at the front side of the fruit dropping opening (7), the buffer cavity shell (6) at the front end of the buffer cavity (5) is connected with one end of the negative pressure shell (2), a fruit dropping door (8) for opening and closing the fruit dropping opening (7) and a fruit dropping door driver (9) for driving the fruit dropping door (8) to move are arranged at the lower part of the buffer cavity shell (6); the buffer cavity (6) is communicated with the negative pressure cavity (5) only through a ventilation port (16), and the rest contact parts are all sealed by a separation wall (17); the vacuum picking device is characterized in that the negative pressure shell (2) is tubular, one end of the negative pressure shell (2) is fixedly connected with the buffer cavity shell (6), the other end of the negative pressure shell (2) is provided with an end effector thread (10) used for being connected with the picking head (1), the picking head (1) is integrally hollow and tubular, the picking head (1) is sleeved with a picking head thread (11) matched with the end effector thread (10), and the picking head (1) and the negative pressure shell (2) are in threaded connection through the end effector thread (10) and the picking head thread (11); a straight tube buffer layer (3) is arranged in the hollow tube of the picking head (1), the straight tube buffer layer (3) is fixed on the inner wall of the picking head (1), the front end of the straight tube buffer layer (3) is flush with the front end of the picking head (1), and the rear end of the straight tube buffer layer (3) is abutted against the inner wall of the buffer cavity shell (6); the vacuum picking device is characterized in that an air suction opening (12) is formed in the negative pressure shell (2), a negative pressure cavity (4) is formed between the negative pressure shell (2) and the picking head (1), the air suction opening (12) is communicated with the negative pressure cavity (4), and the air suction opening (12) is connected with an external air suction device through an air suction pipe.

2. A picking head portably replaceable picking end effector according to claim 1, characterised in that: the negative pressure shell (2) and the buffer cavity shell (6) are connected into a whole, the negative pressure shell (2) and the buffer cavity shell (6) are communicated with each other except the ventilation port (16), and other joints are sealed under the action of the isolation wall (17).

3. A picking head portably replaceable picking end effector according to claim 1, characterised in that: fruit mouth (7) that falls is from last back taper that reduces gradually to the bore down, and the setting of the door of falling fruit (8) is at the upside of the back taper fruit mouth of falling (7), and one side of the mouth of falling fruit (7) is provided with the horizontal opening that supplies the door of falling fruit (8) level male, and the one end of the door of falling fruit (8) is passed stretch into the mouth of falling fruit (7) inside behind the horizontal opening, the other end of the door of falling fruit (8) is connected the drive and is fallen fruit door driver (9) of door of falling fruit (8) motion.

4. A picking head portably replaceable picking end effector according to claim 3, characterised in that: the lower end of the horizontal opening is provided with a horizontal baffle (13) for supporting the fruit falling door (8).

5. A picking head portably replaceable picking end effector according to claim 4, characterised in that: the drop fruit door driver (9) is a linear motor or a linear cylinder which is fixed at the bottom of the buffer cavity shell (6) and is horizontally arranged.

6. A picking head portably replaceable picking end effector according to claim 1, characterised in that: the end effector thread (10) is an internal thread arranged at one end of the negative pressure shell (2), the picking head thread (11) is an external thread arranged at the rear end of the picking head (1), and the picking head thread (11) is in sealing connection with the end effector thread (10) at the joint between the picking head (1) and the negative pressure shell (2) after being in threaded connection. The inner and outer thread relations of the end effector thread (10) and the picking head thread (11) can be exchanged, and can be freely selected according to the application scene and the aesthetic property of the device, but different picking heads needing to be replaced adopt the same thread.

7. A picking head portably replaceable picking end effector according to claim 1, characterised in that: the concave buffer surface (14) and the buffer cavity buffer surface (15) are made of polyethylene or polypropylene or polystyrene or polyurethane sponge materials.

8. A picking head portably replaceable picking end effector according to claim 1, characterised in that: the straight tube buffer layer (3) is made of polyethylene or polypropylene or polystyrene or polyurethane sponge material.

9. A picking head portably replaceable picking end effector according to claim 1, characterised in that: the air pumping opening (12) is provided with a pair of air pumping openings which are arranged in bilateral symmetry.