CN204443156U - A kind of fruit picking robot end effector driven based on air pressure - Google Patents

Abstract

The utility model discloses a kind of fruit picking robot end effector driven based on air pressure, belong to agriculture fruits and vegetables automation picking end effector development technique field.The utility model comprises pneumatic translation clamp assemblies and pneumatic rotor assembly, described pneumatic translation clamp assemblies is used for ensureing that concave-sphere type holding finger can carry out the opposing of translation and move toward one another under the driving of double-acting cylinder, realizes the clamping of fruit and the operation that unclasps; Pneumatic rotor assembly is used for by installing the swivelling tool-holder with pneumatic actuation on the finger of side, and after two fingers hold citrusfruit tightly, blade thorny finger gabarit can carry out the rotation of about 270 degree thus cut off carpopodium.The utility model has that structure is simple, light, the free of contamination advantage of highly versatile, component.

Description

A kind of fruit picking robot end effector driven based on air pressure

Technical field

The utility model relates to a kind of fruit picking robot end effector driven based on air pressure, belongs to agriculture fruits and vegetables automation picking end effector development technique field.

Background technology

Usually, end effector is arranged on job task mechanical arm tail end wrist joint cooperatively completed to target, wherein mechanical arm action determines position and the attitude of operation, end effector is after arrival setting, work is carried out according to the operation action of self, no matter industrial circle and or Agriculture pick robot field, the realization of the success rate of the operation of end effector and efficiency all extreme influence robot allomeric function.

In recent years, the autonomous harvesting technology in agriculture and forestry field has become research and development focus, wherein the correlation technique of fruit picking robot has obtained many achievements at home and abroad, but major part rests on laboratory development more, also there is very large gap apart from practical commercialization.Its one of the main reasons is the manufacture claim of end effector higher, requires to include: 1) end effector is carry out in the process of plucking can not damaged fruit; 2) picking efficiency is high with harvesting success rate; 3) cost of end effector is low, and users can be made to accept; 4) in the intelligentized complexity reducing control system of guarantee simultaneously, the picking process being beneficial to peasant's operation and robot complete machine controls; 5) require that mechanism is while guarantee exquisite (raising keeps away barrier ability), its reliability, intensity want high; 6) improve versatility, make a kind of end effector pluck various fruits.

So far, the mode realizing plucking mainly contains two kinds, the first is that design corresponding mechanism is first carried out clamping to fruit and held, recycle rotation in carpal two vertical direction to simulate the action that people breaks stubborn carpopodium, the object of its operation requires that carpopodium is easy to be separated with fruit branch, need strictly to control well the size of power of clamping fruit simultaneously, otherwise very easily damage fruit.The second utilizes sucker to be sucked by fruit, and pulled between holding finger, carpopodium interrupts by recycling scissors or other modes, this method needs the position having detected carpopodium, and the attitude of end effector will be adjusted accurately, thus add the difficulty of Systematical control and the complexity of mechanism.The people such as Peter P. Ling devise a kind of end-effector (Peter P. Ling of 4 fingers, Sensing and the end effector for a robotic tomato harvester [R] .ASer, No.043088.), this end-effector is primarily of digital linear stepper motor, 4 fingers and attractor composition.Finger utilizes hawser and muscle tendon to make it bend, and utilizes torsion spring to make it stretch; Adopt digital linear driving stepper motor muscle tendon, enhance controllability and the accuracy of end-effector motion; In the selection of finger, have selected light and that hardness is good material, but its fatigue durability not very desirable.Should consider quality and fatigue resistance again, to reach more preferably effect, it makes high expensive owing to have employed digital linear stepper motor in addition, have impact on practical and commercialization to a great extent.

Utility model content

The purpose of this utility model is to provide a kind of without the need to controlling chucking power and plucking attitude, again reliability and durability, control fruit picking robot end effector simple, that overall weight is light, with low cost.

For solving the problems of the technologies described above, overcome the defect that prior art exists, the utility model provides a kind of fruit picking robot end effector driven based on air pressure.The utility model adopts following technical scheme: a kind of fruit picking robot end effector driven based on air pressure, it is characterized in that, comprise pneumatic translation clamp assemblies and pneumatic rotor assembly, described pneumatic translation clamp assemblies comprises substrate, double-acting cylinder I, cylinder top flat, rear tooth bar connecting plate, rear tooth bar, rear rail block, rear rail bar, front tooth bar, fromer rail block, leading rail bar, front tooth bar connecting plate, front stiffener, the right hand refers to frame plate, the right hand refers to, rear stiffener, left hand refers to frame plate, left hand refers to, described pneumatic rotor assembly comprises double-acting cylinder II, cylinder jacking block, Timing Belt connecting plate, linear slider, line slideway, Timing Belt briquetting, arc tooth synchronous belt, front circle-arc tooth synchronizing wheel, rear circle-arc tooth synchronizing wheel, rear synchronous wheel shaft, Timing Belt tensioning shaft, regulating wheel, knife rest connecting plate, knife rest bending plate, blade, pushing broach.

Preferably, double-acting cylinder I is fixedly installed on substrate by air cylinder support, and the piston rod of double-acting cylinder I and cylinder top flat adopt nut to be fixedly connected.

Preferably, rear stiffener, left hand refer to frame plate, left hand refers to, cylinder top flat, rear tooth bar connecting plate, rear tooth bar and rear rail bar are an integrated member by thread connection, and front tooth bar, leading rail bar, front tooth bar connecting plate, front stiffener, the right hand refer to that frame plate and the right hand refer to that by thread connection be another integrated member.

Preferably, left hand refers to that the shape referred to the right hand is ball impression shape, the spherical-concave-surface that left hand refers to inner side glueds joint and is fixed with left hand and refers to rubber layer, the spherical-concave-surface that the right hand refers to inner side glueds joint be fixed with the right hand and refer to rubber layer.

Preferably, front tooth bar and rear tooth bar are by gear couplings, and gear internal is provided with the gear shaft be meshed, and is provided with flat key and connects between gear with gear shaft.

Preferably, substrate is also provided with bearing block, bearing block inside is provided with two deep groove ball bearings, is used for the rotation of gentle support gear shaft.

Preferably, substrate is also fixedly installed mechanical arm connecting plate, mechanical arm connecting plate has the screwed hole and screw clearance holes that connect with mechanical arm wrist, be used for facilitating later stage end effector to assemble with docking of mechanical arm.

Preferably, double-acting cylinder II is fixedly installed on rear tooth bar connecting plate, the piston rod of double-acting cylinder II is fixedly connected by tightening nut and cylinder jacking block, cylinder jacking block, Timing Belt connecting plate and linear slider are fixed together by screw thread, and rear synchronous wheel shaft and Timing Belt tensioning shaft are fixedly installed respectively and refer to leftward on frame plate.

Preferably, Timing Belt briquetting is connected by attachment screw with Timing Belt connecting plate; By the attachment screw screwing Timing Belt briquetting and Timing Belt connecting plate, arc tooth synchronous belt is fastened, prevent arc tooth synchronous belt relative synchronization band connecting plate from skidding.

Preferably, front circle-arc tooth synchronizing wheel is fixedly connected by cruciform slot screw and knife rest connecting plate, knife rest bending plate has strip hole, make the overlapped connecting length of itself and knife rest connecting plate adjustable, namely the radius of turn of blade is adjustable, expands the scope of plucking fruit size so to a certain extent.

Preferably, pushing broach adopts cruciform slot screw to be fixedly installed on knife rest bending plate, and pushing broach arranges holding screws by blade pressing on knife rest bending plate by two, and blade comprises one in front and one in back two panels blade.

The beneficial effect that the utility model reaches: (1) all power drives from air pressure, components and parts are lightweight, pollution-free, be swift in motion, movement range and active force all facilitate type selecting and setting, coordinate with finger inner rubber elastic layer, can save the travel position switch of the higher force snesor of multiple cost and the control blade anglec of rotation, simplify control structure, reduce cost and control difficulty; The open and close movement mode and two of (2) two finger straight lines is pointed and is rotated compared with open-close ways, more reliable in structure, ensure that blade is not collided with finger in the process of this folding; (3) without the need to judging the relative position detecting carpopodium and end effector, as long as fruit enters among two fingers, after two fingers are held tightly, carpopodium can be cut off by rotating blade the present invention; (4) structural strength is high, and holistic cost is cheap, and it is convenient to control; (5) highly versatile, not only can pluck oranges and tangerines, also can pluck the spherical fruit of multiple types.

Accompanying drawing explanation

Fig. 1 is the overall structure schematic diagram of a kind of fruit picking robot end effector based on air pressure driving of the present utility model.

Fig. 2 is gear shaft and the rack linear guide frame schematic diagram of a kind of fruit picking robot end effector based on air pressure driving of the present utility model.

Fig. 3 is the pneumatic rotor assembly straight-line guidance breast piece structural representation of a kind of fruit picking robot end effector based on air pressure driving of the present utility model.

The implication marked in figure: 1-substrate, 2-mechanical arm connecting plate, 3-air cylinder support, 4-double-acting cylinder I, tooth bar after 5-, 6-cylinder top flat, 7-gear, tooth bar connecting plate after 8-, 9-flat key, 10-gear shaft, 11-double-acting cylinder II, tooth bar before 12-, tooth bar connecting plate before 13-, stiffener before 14-, the 15-right hand refers to frame plate, the 16-right hand refers to, the 17-right hand refers to rubber layer, 18-pushing broach, 19-blade, 20-holding screw, 21-left hand refers to, 22-knife rest bending plate, 23-knife rest connecting plate, 24-soket head cap screw, 25-cruciform slot screw, circle-arc tooth synchronizing wheel before 26-, 27-arc tooth synchronous belt, 28-Timing Belt tensioning shaft, 29-regulating wheel, 30-line slideway, 31-left hand refers to frame plate, 32-Timing Belt connecting plate, 33-Timing Belt briquetting, circle-arc tooth synchronizing wheel after 34-, synchronous wheel shaft after 35-, 36-linear slider, 37-cylinder jacking block, 38-rear rail block, 39-rear rail bar, 40-deep groove ball bearing, 41-bearing block, stiffener after 42-, 43-left hand refers to rubber layer, 44-fromer rail block, the leading rail bar of 45-.

Embodiment

Below in conjunction with accompanying drawing, the utility model is further described.Following examples only for clearly the technical solution of the utility model being described, and can not limit protection domain of the present utility model with this.

As shown in Figure 1 be a kind of overall structure schematic diagram of fruit picking robot end effector driven based on air pressure of the present utility model, the utility model comprises pneumatic translation clamp assemblies and pneumatic rotor assembly, described pneumatic translation clamp assemblies comprises substrate 1, double-acting cylinder I4, cylinder top flat 6, rear tooth bar connecting plate 8, rear tooth bar 5, rear rail block 38, rear rail bar 39, front tooth bar 12, fromer rail block 44, leading rail bar 45, front tooth bar connecting plate 13, front stiffener 14, the right hand refers to frame plate 15, the right hand refers to 16, rear stiffener 42, left hand refers to frame plate 31, left hand refers to 21, described pneumatic rotor assembly comprises double-acting cylinder II11, cylinder jacking block 37, Timing Belt connecting plate 32, linear slider 36, line slideway 30, Timing Belt briquetting 33, arc tooth synchronous belt 27, front circle-arc tooth synchronizing wheel 26, rear circle-arc tooth synchronizing wheel 34, rear synchronous wheel shaft 35, Timing Belt tensioning shaft 28, regulating wheel 29, knife rest connecting plate 23, knife rest bending plate 22, blade 19, pushing broach 18.

Double-acting cylinder I4 is fixedly installed on described substrate 1 by air cylinder support 3, and piston rod and the cylinder top flat 6 of double-acting cylinder I4 adopt nut to be fixedly connected; Rear stiffener 42, left hand refer to frame plate 31, left hand refers to 21, cylinder top flat 6, rear tooth bar connecting plate 8, rear tooth bar 5 are an integrated member with rear rail bar 39 by thread connection, and front tooth bar 12, leading rail bar 45, front tooth bar connecting plate 13, front stiffener 14, the right hand refer to that frame plate 15 and the right hand refer to that 16 is another integrated member by thread connection; Left hand refers to the right hand, 21 refer to that the shape of 16 is ball impression shape, and left hand refers to the spherical-concave-surface inside 21 glueds joint be fixed with left hand and refer to rubber layer 43, and the right hand refers to the spherical-concave-surface inside 16 glueds joint and is fixed with the right hand and refers to rubber layer 17; Substrate 1 is also fixedly installed mechanical arm connecting plate 2, mechanical arm connecting plate 2 has the screwed hole and screw clearance holes that connect with mechanical arm wrist, be used for facilitating later stage end effector to assemble with docking of mechanical arm.

As shown in Figure 2 be a kind of pneumatic rotor assembly straight-line guidance breast piece structural representation of fruit picking robot end effector driven based on air pressure of the present utility model, front tooth bar 12 is connected by gear 7 with rear tooth bar 5, gear 7 inside is provided with the gear shaft 10 be meshed, and is provided with flat key 9 and connects between gear 7 with gear shaft 10; Substrate 1 is also provided with bearing block 41, and bearing block 41 inside is provided with two deep groove ball bearings 40, is used for the rotation of gentle support gear shaft 10.

Illustrate for pneumatic translation clamp assemblies corresponding structure selection and type selecting in concrete enforcement below: substrate 1 selects the thick aluminum alloy plate materials of 8mm (model 2A12) to process for blank material, processes the connecting hole of corresponding fromer rail block 44, rear rail block 39, air cylinder support 3, mechanical arm connecting plate 2 and deep groove ball bearing 40 according to drawing on substrate 1; In the actual enforcement that mechanical arm connecting plate 2 is connected with substrate 1, optional person adds a triangular reinforcing plate (mechanical arm connecting plate 2 has left corresponding connecting hole); Air cylinder support 3, cylinder top flat 6 select the bending after laser cutting blanking of the thick cold-reduced sheet of 2mm to make; Double-acting cylinder I4 selects model to be: MI_16x50_U_0_ (cylinder diameter 16mm, stroke 50mm, attached magnetite); Rear tooth bar 5 and front tooth bar 12 selection standard involute profile, major parameter is: modulus m=1.5, length L=90mm, thickness X=15mm; With standard involute gear 7 major parameter coordinated be: modulus m=1.5, transverse tooth thickness X=15mm, tooth number Z=24; Deep groove ball bearing 40 model is: 63800zz; Fromer rail block 44 and leading rail bar 45 select miniature linear slider line rail assembly (model MNG C7), rear rail block 38 and rear rail bar 39 select same model, wherein respective slide partial fixing on substrate 1, and track portion is separately fixed at the straight-line guidance function front tooth bar 12 and rear tooth bar 5 realizing tooth bar and move.Front tooth bar connecting plate 13, front stiffener 14, the right hand refer to frame plate 15 in addition, the right hand refers to 16, rear stiffener 42, left hand refer to that frame plate 31 and left hand refer to that 21 equal aluminium alloys (model 2A12) are blank material, under the prerequisite that proof strength requires, weight is as far as possible light, can refer to that rubber layer 43 and the right hand refer to that spongy layer is added to increase elasticity and pooling feature in rubber layer 17 inside in concrete enforcement leftward.

As shown in Figure 3 be a kind of pneumatic rotor assembly straight-line guidance breast piece structural representation of fruit picking robot end effector driven based on air pressure of the present utility model, double-acting cylinder II11 is fixedly installed on rear tooth bar connecting plate 8, the piston rod of double-acting cylinder II11 is fixedly connected by tightening nut and cylinder jacking block 37, cylinder jacking block 37, Timing Belt connecting plate 32 are fixed together by screw thread with linear slider 36, and rear synchronous wheel shaft 35 is fixedly installed respectively with Timing Belt tensioning shaft 28 and refers on frame plate 31 leftward; Timing Belt briquetting 33 is connected by attachment screw with Timing Belt connecting plate 32, being fastened by arc tooth synchronous belt 27, preventing arc tooth synchronous belt 27 relative synchronization band connecting plate 32 from skidding by screwing Timing Belt briquetting 33 with the attachment screw of Timing Belt connecting plate 32; Front circle-arc tooth synchronizing wheel 26 is fixedly connected by cruciform slot screw 25 and knife rest connecting plate 23, knife rest bending plate 22 has strip hole, make the overlapped connecting length of itself and knife rest connecting plate 23 adjustable, namely the radius of turn of blade is adjustable, expands the scope of plucking fruit size so to a certain extent; Pushing broach 18 adopts cruciform slot screw to be fixedly installed on described knife rest bending plate 22, and blade 19 is pressed on knife rest bending plate 22 by two row's holding screws 20 by pushing broach 18, and blade 19 comprises one in front and one in back two panels blade.

Illustrate for pneumatic rotor assembly corresponding structure selection and type selecting in concrete enforcement below: through experiment test and calculating, double-acting cylinder II11 still selects MI_16x50_U_0_ (cylinder diameter 16mm, stroke 50mm, attached magnetite); Linear slider 36, line slideway 30 select miniature linear slider line rail assembly (model MNG C7); Arc tooth synchronous belt 27, front circle-arc tooth synchronizing wheel 26 select circle-arc tooth (model HTD3M) with rear circle-arc tooth synchronizing wheel 34 profile of tooth; Regulating wheel 29 directly selects 3 models to be that the deep groove ball bearing 40 of MR148 is installed side by side in concrete enforcement; Knife rest connecting plate 23 and knife rest bending plate 22 all select the bending after laser cutting blanking of the thick cold-reduced sheet of 2mm to make; Utilize four cruciform slot screws knife rest bending plate 22 and pushing broach 18 to be fixed together, the fore-and-aft direction in conjunction with slot between inserts two panels high strength cemented carbide blade respectively, is fixed by blade jam-packed with two row's holding screws 20.

Operation principle of the present utility model is as follows: (1) clamps and unclasps fruit, after double-acting cylinder I4 passes into the gas of the operating air pressure of respective direction, piston rod can drive rear tooth bar 5 to make linear translational motion under the straight-line guidance effect of rear rail block 38, and namely left hand refers to 21 generation linear translational motions, gear 7 rotates simultaneously, front tooth bar 12 does the rectilinear motion contrary with rear tooth bar 5 direction simultaneously under the guide effect of fromer rail block 44, so final realization double-acting cylinder I4 drives left hand to refer to, with the right hand, 21 refer to that the straight line of 16 clamps and the holding function unclasping fruit, and rubber layer 43 and the right hand refer to that the elastic buffer of rubber layer 17 and the adjustability of working gas air pressure set the chucking power grasping fruit flexibly to utilize left hand to refer to, ensure the hold fruit of two fingers under the prerequisite not damaging fruit, the folding spacing of two fingers is determined by double-acting cylinder I4 piston action stroke, more succinct than the system of drive and control of electric machine travel position, (2) carpopodium is cut off, when double-acting cylinder II11 action, piston rod is under the linear slider 36 straight-line guidance effect with line slideway 30, rectilinear motion is passed to arc tooth synchronous belt 27, arc tooth synchronous belt 27 drives again front circle-arc tooth synchronizing wheel 26 to rotate with rear circle-arc tooth synchronizing wheel 34, thus finally make blade 19 refer to that 21 do pivotal cutting movement around left hand, realize the holding function of the cut-out carpopodium after two fingers clip fruit, the angle that wherein blade rotates can be determined by the actuating length of double-acting cylinder II11, thus the travel switch of required limiting rotation angle when eliminating motor-driven blade, blade rotates cut-out moment of torsion and can be determined by the pressure of the working gas of double-acting cylinder II11, and the mode comparing motor-driven cutting controls simpler, and the overall weight of drive system is lighter.

When utilizing a kind of fruit picking robot end effector driven based on air pressure that the utility model proposes to pluck, be specifically divided into four steps:

(1) first fruit picking robot catches fruit 3-D view by binocular vision sensor, the 3 d space coordinate position in the visual coordinate system of fruit is obtained through image acquisition and processing analysis, then calculated by robot industry control host computer and draw this position in robot coordinate system by Coordinate Conversion, and calculate that the corresponding robot joint angles of picking point is counter to be separated, by slave computer and each joint interlock of joint servo driving machine mechanical arm, drive the present invention to move to and pluck on location point, pneumatic translation clamp assemblies of the present invention is in and treats harvesting state in the process, that is: the piston rod of double-acting cylinder I4 keeps stretching out state, left hand refers to that 21 refer to 16 with the right hand to be in spacing maximum, ensure that fruit can enter smoothly,

(2) when objective fruit enter left hand refer to 21 and the right hand refer between 16 time, namely end effector arrives and specifies picking point, ventilation direction is changed by the solenoid directional control valve controlling double-acting cylinder I4, its piston rod is driven to bounce back, by rack and pinion transmission, left hand refers to the right hand, 21 refer to that 16 rapid translations in opposite directions clip fruit;

(3) piston rod controlling double-acting cylinder II11 starts action, through the guiding of linear slider line rail assembly and the transmission of Timing Belt and synchronizing wheel, the relative carpopodium of resulting belt knife section 19 rotates and is cut off, in the process, double-acting cylinder I4 keeps ventilation direction constant, and left hand refers to the right hand, 21 refer to that [16] keep clamp position;

(4) fruit picking robot drives the present invention to move to collector for fruits place, double-acting cylinder I4 ventilation direction changes, and left hand refers to the right hand, 21 refer to that 16 open, and fruit falls in collector for fruits immediately, so far, end effector completes all processes to a picking fruit.

The above is only preferred embodiment of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model know-why; can also make some improvement and distortion, these improve and distortion also should be considered as protection domain of the present utility model.

Claims (11)

1., based on the fruit picking robot end effector that air pressure drives, it is characterized in that, comprise pneumatic translation clamp assemblies and pneumatic rotor assembly, described pneumatic translation clamp assemblies comprises substrate (1), double-acting cylinder I(4), cylinder top flat (6), rear tooth bar connecting plate (8), rear tooth bar (5), rear rail block (38), rear rail bar (39), front tooth bar (12), fromer rail block (44), leading rail bar (45), front tooth bar connecting plate (13), front stiffener (14), the right hand refers to frame plate (15), the right hand refers to (16), rear stiffener (42), left hand refers to frame plate (31), left hand refers to (21), and described pneumatic rotor assembly comprises double-acting cylinder II(11), cylinder jacking block (37), Timing Belt connecting plate (32), linear slider (36), line slideway (30), Timing Belt briquetting (33), arc tooth synchronous belt (27), front circle-arc tooth synchronizing wheel (26), rear circle-arc tooth synchronizing wheel (34), rear synchronous wheel shaft (35), Timing Belt tensioning shaft (28), regulating wheel (29), knife rest connecting plate (23), knife rest bending plate (22), blade (19), pushing broach (18).

2. a kind of fruit picking robot end effector driven based on air pressure according to claim 1, it is characterized in that, described double-acting cylinder I(4) be fixedly installed on described substrate (1) by air cylinder support (3), described double-acting cylinder I(4) piston rod and described cylinder top flat (6) adopt nut to be fixedly connected.

3. a kind of fruit picking robot end effector driven based on air pressure according to claim 2, it is characterized in that, described rear stiffener (42), described left hand refers to frame plate (31), described left hand refers to (21), described cylinder top flat (6), described rear tooth bar connecting plate (8), described rear tooth bar (5) and described rear rail bar (39) are an integrated member by thread connection, described front tooth bar (12), described leading rail bar (45), described front tooth bar connecting plate (13), described front stiffener (14), the described right hand refers to that frame plate (15) and the described right hand refer to that (16) are another integrated member by thread connection.

4. a kind of fruit picking robot end effector driven based on air pressure according to claim 3, it is characterized in that, described left hand refers to that (21) and the described right hand refer to that the shape of (16) is ball impression shape, the spherical-concave-surface that described left hand refers to (21) inner side glueds joint and is fixed with left hand and refers to rubber layer (43), the spherical-concave-surface that the described right hand refers to (16) inner side glueds joint and is fixed with the right hand and refers to rubber layer (17).

5. a kind of fruit picking robot end effector driven based on air pressure according to claim 4, it is characterized in that, described front tooth bar (12) is connected by gear (7) with described rear tooth bar (5), described gear (7) inside is provided with the gear shaft (10) be meshed, and is provided with flat key (9) and connects between described gear (7) with described gear shaft (10).

6. a kind of fruit picking robot end effector driven based on air pressure according to claim 1, it is characterized in that, described substrate (1) is also provided with bearing block (41), described bearing block (41) inside is provided with two deep groove ball bearings (40).

7. a kind of fruit picking robot end effector driven based on air pressure according to claim 1, it is characterized in that, described substrate (1) is also fixedly installed mechanical arm connecting plate (2), described mechanical arm connecting plate (2) has the screwed hole and screw clearance holes that connect with mechanical arm wrist.

8. a kind of fruit picking robot end effector driven based on air pressure according to claim 1, it is characterized in that, described double-acting cylinder II(11) be fixedly installed on described rear tooth bar connecting plate (8), described double-acting cylinder II(11) piston rod be fixedly connected by tightening nut and described cylinder jacking block (37), described cylinder jacking block (37), described Timing Belt connecting plate (32) and described linear slider (36) are fixed together by screw thread, described rear synchronous wheel shaft (35) and described Timing Belt tensioning shaft (28) are fixedly installed on described left hand respectively and refer on frame plate (31).

9. a kind of fruit picking robot end effector driven based on air pressure according to claim 8, it is characterized in that, described Timing Belt briquetting (33) is connected by attachment screw with described Timing Belt connecting plate (32).

10. a kind of fruit picking robot end effector driven based on air pressure according to claim 9, it is characterized in that, described front circle-arc tooth synchronizing wheel (26) is fixedly connected by cruciform slot screw (25) and described knife rest connecting plate (23), and described knife rest bending plate (22) has strip hole.

11. a kind of fruit picking robot end effectors driven based on air pressure according to claim 10, it is characterized in that, described pushing broach (18) adopts cruciform slot screw to be fixedly installed on described knife rest bending plate (22), described blade (19) is pressed on described knife rest bending plate (22) by two rows' holding screw (20) by described pushing broach (18), and described blade (19) comprises one in front and one in back two panels blade.