CN111837636A

CN111837636A - Mechanical claw device of picking shaddock with adjustable

Info

Publication number: CN111837636A
Application number: CN202010773794.0A
Authority: CN
Inventors: 张少杰
Original assignee: Hangzhou Dehaas Electronic Technology Co ltd
Current assignee: Hangzhou Dehaas Electronic Technology Co ltd
Priority date: 2020-08-04
Filing date: 2020-08-04
Publication date: 2020-10-30

Abstract

The invention discloses an adjustable mechanical claw device for picking pomelos, which comprises a box body, wherein a cavity is arranged in the box body, a clamping box penetrating through the inner wall of the upper side of the cavity is arranged on the left side of the cavity, the clamping box is connected with the inner wall of the upper side of the cavity in a sliding manner, and a clamping cavity is arranged in the clamping box.

Description

Mechanical claw device of picking shaddock with adjustable

Technical Field

The invention relates to the technical field of picking equipment, in particular to an adjustable mechanical claw device for picking pomelos.

Background

The existing fruit picking is generally carried out manually, the efficiency is not high, the human resources are greatly wasted, most picking machines only have a clamping function or only have clamping and conveying, the problem that the current need to be overcome is that a series of effective fruits are conveyed, and the repeated use of the picking device also needs to be considered. The current shaddock picking instrument can not realize a series of effective and cyclic fruit picking functions. The present invention sets forth a device that solves the above problems.

Disclosure of Invention

The technical problem is as follows: whether can with the fruit centre gripping and carry the effect that directly influences the picking, current shaddock picking instrument can't realize effectual a series of endless function of picking the fruit.

1. In order to solve the problems, the present embodiment designs an adjustable mechanical claw device for picking pomelo, which comprises a box body, wherein a cavity is arranged in the box body, a clamping box penetrating through the inner wall of the upper side of the cavity is arranged on the left side of the cavity, the clamping box is connected with the inner wall of the upper side of the cavity in a sliding manner, a clamping cavity is arranged in the clamping box, a clamping device for grabbing pomelo is arranged in the clamping cavity, a handle shearing device for shearing fruit handle is arranged on the upper side of the clamping box, a supporting column is arranged in the cavity and fixed on the lower side of the clamping box, an upwardly extending cable cavity is arranged in the supporting column, a shaft which is rotatably connected with the front and rear inner walls of the cavity and is positioned on the lower side of the supporting column is arranged in the cavity, the shaft is fixedly connected with a gear, and a sliding table which, the sliding table is connected with two racks which are positioned on the left side and the right side of the gear and are mutually fixed, a spring is arranged between the rack on the left side and the inner wall on the left side of the cavity, a linking shaft which is rotatably connected with the inner wall of the cavity is arranged on the lower side of the gear, a linking wheel is fixedly connected with the linking shaft, a chute is arranged on the inner wall of the cavity and positioned on the left side of the linking shaft, the chute is connected with a column in a sliding manner, the column is rotatably connected with a moving wheel, the moving wheel is rotatably connected with a pressure rod which is slidably connected with the inner wall of the lower side of the clamping cavity, a motor is fixedly arranged on the inner wall of the lower side of the cavity and positioned on the left side of the column, the motor is rotatably connected with a motor shaft, the motor shaft is fixedly arranged with a motor wheel, the inner, a plate is fixed on the lower side of the clamping box of the conveying wheel, the plate is connected with four clamping plates which extend leftwards and are symmetrical leftwards and rightwards in a sliding way, a sliding plate is fixed on the rear side of the plate and positioned between the upper clamping plate and the lower clamping plate, the sliding plate is connected with a transverse groove in a sliding way, the transverse groove is connected with the left inner wall and the right inner wall of the cavity in a sliding way, the back side of the clamping plate is connected with a top plate in a sliding way, a main spring is arranged between the top plate and the clamping plate, an inclined plane block is fixed on the inner wall of the rear side of the cavity, the inclined plane block is connected with the top plate in a sliding way, the conveyor belt at the lower side is fixedly connected with a connecting shaft which is connected with the lower side of the plate in a rotating way, a fruit box is fixed on the inner wall of the right side of the cavity, three fruit containing cavities with different sizes are arranged in the fruit box, and a transmission device for transmitting the clamping device and the shearing handle device is arranged in the cavity.

Wherein, the clamping device comprises a moving shaft which is connected with the inner wall of the lower side of the clamping cavity in a sliding way, a C-shaped plate is fixed on the upper side of the moving shaft, a compression spring is arranged between the lower side of the C-shaped plate and the inner wall of the lower side of the clamping cavity, a fixed plate is fixed on the left side of the C-shaped plate, the fixed plate fixes the compression rod, a spring box is fixed on the upper side of the C-shaped plate, the spring box is communicated with the cable cavity, the inner wall of the cable cavity is connected with the spring plate in the spring box in a sliding way, a cable spring is arranged between the spring plate and the inner wall of the upper side of the C-shaped plate, a cable which penetrates through the inner wall of the upper side of the cable cavity and extends upwards is arranged in the cable cavity, the cable is connected with the joining shaft in a rotating way, the upper side, the inner rod is connected with the C-shaped plate in a rotating mode, one side, away from the inhaul cable, of the inner rod is provided with an outer rod parallel to the inner rod, the lower side of the outer rod is connected with the C-shaped plate in a rotating mode, the inner rod is connected with a connecting rod between the outer rods in a rotating mode, a net bag is arranged between the inner rod, and three claws are fixed to the upper side of the inner rod.

Wherein, cut the handle device including being fixed in the vice sword of centre gripping cavity upside inner wall, centre gripping case last fixed surface has the rotational pin, the rotational pin rotates and is connected with the main sword, main sword sliding connection vice sword, the centre gripping incasement is located centre gripping cavity right side is equipped with vice chamber, vice intracavity is equipped with vice cable, vice cable fixed connection is located the cable in the cable cavity, vice cable upside fixed connection the main sword right side, main sword right side with be equipped with vice spring between the vice intracavity front side inner wall.

Wherein, transmission include with the motor shaft rotates the belt of connecting, the axle left side is equipped with sliding connection the axis of rotation of cavity inner wall, the belt rotates to be connected the axis of rotation, the axis of rotation rotates and is connected with the switching-over belt, the switching-over belt rotates and connects the axle, the axis of rotation rotates and is connected with conveyor belt, left side conveying axle left side is equipped with sliding connection the countershaft of inner wall around the cavity, the countershaft rotates to be connected conveyor belt, centre gripping case downside just is located the support column left side is rotated and is connected with the power wheel, the support column right side is equipped with through connection the cable cavity with the perpendicular groove of cavity, perpendicular inslot is equipped with fixed connection the diaphragm that the cable just extended right, the diaphragm lower surface with be equipped with fixing spring between the perpendicular inslot downside inner wall.

Wherein, the fixed support frame that is equipped with of cavity left side inner wall, the support column left side just is located the support frame downside is fixed with the kicking block, the support column right side just is located erect the groove downside and be fixed with the arm-tie, the right side the rack upside is fixed with the piece of drawing, the inside slip chamber that is equipped with of depression bar, slip chamber sliding connection has the carriage release lever, the slip intracavity wall is located two card axles of carriage release lever downside sliding connection has the symmetry, the card axle with be equipped with extension spring between the slip intracavity wall.

The invention has the beneficial effects that: the invention changes the driving state according to the gravity action of the pomelo and the dynamic change of the spring force, can cut off the fruit handle while performing the clamping action, changes the state of the transportation clamping plate by utilizing the inclined plane block on the inner wall of the cavity after the pomelo is picked, controls the upper part and the lower part of the supporting column by the state of the inhaul cable, is driven by the same motor in the whole structure, and has simple mechanism but effective effect.

Drawings

For ease of illustration, the invention is described in detail by the following specific examples and figures.

FIG. 1 is a schematic diagram of the overall structure of an adjustable mechanical claw device for picking grapefruits according to the present invention;

FIG. 2 is a top view of the stem shearing device;

FIG. 3 is a left side view of the clamping plate;

fig. 4 is a schematic view of the internal structure of the strut.

Detailed Description

The invention will now be described in detail with reference to fig. 1-4, for ease of description, the orientations described below will now be defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The invention relates to an adjustable mechanical claw device for picking pomelo, which is mainly applied to the adjustable pomelo picking process, and the invention is further explained by combining the attached drawings of the invention: the invention relates to an adjustable mechanical claw device for picking pomelo, comprising a box body 11, wherein a cavity 12 is arranged in the box body 11, a clamping box 15 penetrating through the inner wall of the upper side of the cavity 12 is slidably arranged at the left side of the cavity 12, a clamping cavity 21 is arranged in the clamping box 15, a clamping device 901 for grabbing pomelo is arranged in the clamping cavity 21, a handle shearing device 902 for shearing fruit handle is arranged at the upper side of the clamping box 15, a supporting column 77 is arranged in the cavity 12 and fixed at the lower side of the clamping box 15, an upwardly extending cable cavity 32 is arranged in the supporting column 77, a shaft 55 which is rotatably connected with the front and rear inner walls of the cavity 12 and is positioned at the lower side of the supporting column 77 is arranged in the cavity 12, the shaft 55 is fixedly connected with a gear 53, a sliding table 57 which is fixedly connected with the inner wall, sliding table 57 has two racks 56 that are located the gear 53 left and right sides and reciprocal anchorage, the left side rack 56 with be equipped with spring 45 between the inner wall of cavity 12 left side, gear 53 downside is equipped with and rotates the connection linking axle 54 of cavity 12 inner wall, linking axle 54 fixedly connected with links up wheel 80, cavity 12 inner wall just is located linking axle 54 left side is equipped with spout 52, spout 52 sliding connection has post 51, post 51 rotates and is connected with removal wheel 50, it rotates and is connected with sliding connection to remove wheel 50 the depression bar 34 of centre gripping cavity 21 downside inner wall, cavity 12 downside inner wall just is located post 51 left side is fixed with motor 48, motor 48 rotates and is connected with motor shaft 49, motor shaft 49 is fixed with motor wheel 47, cavity 12 rear side inner wall rotates and is connected with and is located two conveying shafts 63 of centre gripping case 15 downside and symmetry, the conveying shaft 63 is fixed with a conveying wheel 64, the conveying wheels 64 are rotationally connected through a conveying belt 65, the conveying wheel 64 is positioned at the lower side of the clamping box 15 and is fixed with a plate 36, the plate 36 is slidably connected with four clamping plates 39 which extend leftwards and are bilaterally symmetrical, a sliding plate 76 is fixedly arranged at the rear side of the plate 36 and positioned between the upper clamping plate 39 and the lower clamping plate 39, the sliding plate 76 is slidably connected with a transverse groove 37, the transverse groove 37 is slidably connected with the left inner wall and the right inner wall of the cavity 12, the rear side of the clamping plate 39 is slidably connected with a top plate 75, a main spring 74 is arranged between the top plate 75 and the clamping plate 39, an inclined block 62 is fixedly arranged at the rear inner wall of the cavity 12, the inclined block 62 is slidably connected with the top plate 75, the conveying belt 65 is fixedly connected with a connecting shaft 46 at the lower side, the connecting shaft 46 is rotationally connected, three fruit containing cavities 79 with different sizes are arranged in the fruit box 59, and a transmission device 903 for transmitting the clamping device 901 and the handle shearing device 902 is arranged in the cavity 12.

According to an embodiment, the clamping device 901 is described in detail below, the clamping device 901 includes a moving shaft 13 slidably connected to a lower inner wall of the clamping cavity 21, a C-shaped plate 29 is fixed to an upper side of the moving shaft 13, a compression spring 31 is disposed between a lower side of the C-shaped plate 29 and the lower inner wall of the clamping cavity 21, a fixing plate 30 is fixed to a left side of the C-shaped plate 29, the pressing rod 34 is fixed to the fixing plate 30, a spring box 16 is fixed to an upper side of the C-shaped plate 29, the spring box 16 is connected to the cable cavity 32 in a penetrating manner, a spring plate 28 located in the spring box 16 is slidably connected to an inner wall of the cable cavity 32, a cable spring 81 is disposed between the spring plate 28 and the upper inner wall of the C-shaped plate 29, a cable 27 extending upward through the upper inner wall of the cable cavity 32 is disposed in the cable cavity 32, the cable 27 is, it is connected with about to join in marriage the rotation of 54 upside of axle about two mobile jib 24 of 27 bilateral symmetry of cable, interior pole 23 is kept away from one side of cable 27 is rotated and is connected with interior pole 23, interior pole 23 downside is rotated and is connected C shaped plate 29, interior pole 23 is kept away from one side of cable 27 be equipped with the outer pole 17 that interior pole 23 is parallel, outer pole 17 downside is rotated and is connected C shaped plate 29, interior pole 23 with it is connected with connecting rod 82 to rotate between the outer pole 17, be equipped with string bag 26 between interior pole 23, interior pole 23 upside is fixed with three claws 22, 27 downshifts of cable make the mobile jib 24 is rotatory, will interior pole 23 with cable 27 is to the centre removal, claw 22 also can be to the centre removal.

In the following, a stem cutting means 902 is described in detail according to an embodiment, the stem cutting means 902 includes a sub-blade 71 fixed to an upper inner wall of the grip cavity 21, a rotating pin 20 is fixed on the upper surface of the clamping box 15, the rotating pin 20 is rotatably connected with a main knife 70, the main knife 70 is connected with the auxiliary knife 71 in a sliding way, an auxiliary cavity 14 is arranged at the right side of the clamping cavity 21 in the clamping box 15, an auxiliary cable 18 is arranged in the auxiliary cavity 14, the auxiliary cable 18 is fixedly connected with a cable 27 in the cable cavity 32, the upper side of the auxiliary cable 18 is fixedly connected with the right side of the main knife 70, an auxiliary spring 73 is arranged between the right side of the main knife 70 and the inner wall of the front side of the auxiliary cavity 14, the cable cavity 32 moves downwards to enable the auxiliary cable 18 to move downwards, thereby causing the secondary spring 73 to contract, causing the primary knife 70 to rotate counterclockwise, and the primary knife 70 and the secondary knife 71 to cut the fruit stalks.

According to the embodiment, the transmission device 903 is described in detail below, the transmission device 903 includes a belt 83 rotatably connected to the motor shaft 49, the left side of the shaft 55 is provided with a rotating shaft 44 slidably connected to the inner wall of the cavity 12, the belt 83 is rotatably connected to the rotating shaft 44, the rotating shaft 44 is rotatably connected to a reversing belt 43, the reversing belt 43 is rotatably connected to the shaft 55, the rotating shaft 44 is rotatably connected to a conveying belt 38, the left side of the conveying shaft 63 is provided with an auxiliary shaft 35 slidably connected to the front and rear inner walls of the cavity 12, the auxiliary shaft 35 is rotatably connected to the conveying belt 38, the lower side of the clamping box 15 is rotatably connected to a power wheel 33 on the left side of the supporting column 77, the right side of the supporting column 77 is provided with a vertical groove 61 penetrating the cable cavity 32 and the cavity 12, the vertical groove 61 is provided with a horizontal plate 60 fixedly connected to, and a fixed spring 58 is arranged between the lower surface of the transverse plate 60 and the inner wall of the lower side of the vertical groove 61.

Beneficially, the fixed support frame 78 that is equipped with of cavity 12 left side inner wall, support column 77 left side just is located the support frame 78 downside is fixed with kicking block 40, support column 77 right side just is located erect groove 61 downside is fixed with arm-tie 42, the right side rack 56 upside is fixed with pulls 41, the inside slip chamber 66 that is equipped with of depression bar 34, slip chamber 66 sliding connection has carriage release lever 69, slip chamber 66 inner wall is located two card axles 68 of carriage release lever 69 downside sliding connection symmetry, card axle 68 with be equipped with extension spring 67 between the slip chamber 66 inner wall, it can drive to pull 41 down the arm-tie 42 moves down, arm-tie 42 makes support column 77 moves down, and the left side rack 56 moves up make kicking block 40 move up, kicking block 40 moves up makes the support column 77 moves up.

The following will describe in detail the use steps of an adjustable gripper device for picking grapefruits in the present disclosure with reference to fig. 1 to 4: initially, the motor 48 is in a closed state, the post 51 is located on the upper side of the slide groove 52, the lower surface of the clamping box 15 is fitted to the upper surface of the support bracket 78, the cable 27 and the secondary cable 18 are in a relaxed state, and the compression spring 31, the cable spring 81, the fixed spring 58 and the secondary spring 73 are in a relaxed state.

When the shaddock lifting device works, the motor 48 is started, the belt 83 is rotated under the action of the motor 48, the belt 83 rotates the rotating shaft 44, the rotating shaft 44 drives the reversing belt 43, the reversing belt 43 rotates the shaft 55, the shaft 55 drives the gear 53 to rotate, the gear 53 enables the left side rack 56 to move upwards through meshing, the left side gear 53 jacks the jacking block 40 through the left side rack 56, the supporting column 77 is enabled to move upwards, the clamping box 15 also moves upwards, when the shaddock falls onto the net bag 26 in the clamping cavity 21, the compression spring 31 is enabled to contract under the action of gravity, the fixing plate 30 moves downwards to enable the pressing rod 34 to move downwards, the pressing rod 34 moves downwards to enable the pressing rod 51 to move downwards along the sliding groove 52, then the moving wheel 50 is meshed with the motor wheel 47 and the connecting wheel 80, the connecting shaft 54 rotates, the connecting shaft 54 pulls the inhaul cable 27 downwards under the action of, the cable spring 81 contracts, the spring plate 28 moves downwards, the main rod 24 rotates, the inner rod 23 closes with the outer rod 17, the claw 22 closes to clamp the pomelo, the auxiliary cable 18 moves downwards due to the downward movement of the cable 27, the auxiliary cable 18 pulls the main knife 70 to rotate, the auxiliary spring 73 contracts simultaneously, under the action of the main knife 70 and the auxiliary knife 71, the fruit stem is cut off, then the transverse plate 60 moves downwards due to the downward movement of the cable 27, the fixing spring 58 compresses simultaneously, the right rack 56 moves downwards along the inclined plane of the sliding table 57, the gear 53 is meshed with the right rack 56 at the moment, the right rack 56 moves downwards, the pull block 41 moves downwards simultaneously, the pull plate 42 moves downwards, the support column 77 moves downwards simultaneously, the clamping box 15 moves downwards, when the lower surface of the clamping box 15 falls on the support frame 78, the power wheel 33 is just meshed with the auxiliary shaft 35, the conveying belt 38 rotates due to the rotation of the reversing belt 43, the belt conveying 38, the power wheel 33 is meshed with the left conveying shaft 63 to enable the conveying shaft 63 to rotate, meanwhile, the conveying wheel 64 is driven to rotate, the conveying belt 65 is enabled to rotate through the conveying wheel 64, the conveying belt 65 enables the plate 36 and the conveying belt 65 to move simultaneously through the connecting shaft 46, the top plate 75 moves forwards under the action of the inclined plane block 62, the main spring 74 contracts, the clamping plate 39 jacks forwards to clamp the pomelo and then moves along the conveying belt 65 to the lower side of the right conveying shaft 63, when the pomelo moves to the lower side of the right conveying shaft 63, because the inclined plane block 62 and the inner wall of the cavity 12 are the same plane at the moment, the clamping plate 39 moves backwards under the action of the main spring 74, the pomelo falls into the fruit box 59 and falls into different fruit containing cavities 79 according to different diameters, when no pomelo exists in the claw 22, the C-shaped plate 29 moves upwards under the action of the compression spring 31 to enable the compression rod 34 to move upwards, meanwhile, the moving, so that the slide chamber 66 moves upward, the rack 56 moves upward along the slide table 57 by the spring 45, and the shaft 55 engages with the left rack 56, so that the support column 77 moves upward.

At the end, the grapefruit in the grapefruit containing cavity 79 is taken out, and the motor 48 is turned off.

In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.

Claims

1. The utility model provides a pick gripper device of shaddock with adjustable, includes the box, be equipped with the cavity in the box, the cavity left side is equipped with and runs through the centre gripping case of cavity upside inner wall, centre gripping case sliding connection the cavity upside inner wall, the centre gripping incasement is equipped with centre gripping cavity, its characterized in that: the utility model discloses a fruit picking device, including centre gripping cavity, centre gripping case, fixed in the cavity, the centre gripping case upside is equipped with the handle device that cuts that is used for cutting the fruit handle, the centre gripping case downside is equipped with the support column in and being fixed in the cavity, be equipped with the cable cavity that extends upwards in the support column, be equipped with in the cavity and rotate the axle that connects inner wall around the cavity and lie in the support column downside, axle fixedly connected with gear, be located in the cavity and be equipped with the slip table of fixed connection the cavity downside inner wall on the right side of the gear, slip table sliding connection has two racks that lie in the gear left and right sides and mutually fixed, is equipped with the spring between the left side rack and the cavity left side inner wall, the gear downside is equipped with the linking axle that rotates the cavity inner wall, linking axle fixedly connected with links up the wheel, the sliding groove is connected with a column in a sliding manner, the column is rotationally connected with a moving wheel, the moving wheel is rotationally connected with a pressure rod which is slidably connected with the inner wall of the lower side of the clamping cavity, the inner wall of the lower side of the cavity is fixedly provided with a motor which is rotationally connected with a motor shaft, the motor shaft is fixedly provided with a motor wheel, the inner wall of the rear side of the cavity is rotationally connected with two symmetrical conveying shafts which are positioned at the lower side of the clamping box, the conveying shafts are fixedly provided with conveying wheels which are rotationally connected through a conveying belt, the conveying wheels are positioned at the lower side of the clamping box and fixedly provided with a plate, the plate is slidably connected with four clamping plates which extend leftwards and are bilaterally symmetrical, a sliding plate is fixedly arranged at the rear side of the plate and positioned between the upper clamping plate and the lower clamping plate, the, the fruit box is characterized in that a top plate is slidably connected to the rear side of the clamping plate, a main spring is arranged between the top plate and the clamping plate, an inclined surface block is fixed to the inner wall of the rear side of the cavity and is slidably connected with the top plate and the lower side of the conveying belt fixedly connected with connecting shaft, the connecting shaft is rotatably connected with the lower side of the plate, a fruit box is fixed to the inner wall of the right side of the cavity, three fruit containing cavities different in size are arranged in the fruit box, and a transmission device used for transmitting the clamping device and the shearing handle device is arranged in the cavities.

2. The adjustable gripper apparatus for picking grapefruits according to claim 1, wherein: the clamping device comprises a moving shaft which is connected with the inner wall of the lower side of the clamping cavity in a sliding manner, a C-shaped plate is fixed on the upper side of the moving shaft, a compression spring is arranged between the lower side of the C-shaped plate and the inner wall of the lower side of the clamping cavity, a fixed plate is fixed on the left side of the C-shaped plate, a pressure rod is fixed on the fixed plate, a spring box is fixed on the upper side of the C-shaped plate, the spring box is communicated with the cable cavity, the inner wall of the cable cavity is connected with the spring plate in the spring box in a sliding manner, a cable spring is arranged between the spring plate and the inner wall of the upper side of the C-shaped plate, a cable which penetrates through the inner wall of the upper side of the cable cavity and extends upwards is arranged in the cable cavity, the cable is rotatably connected with the connecting shaft, the upper side of, the inner rod is connected with the C-shaped plate in a rotating mode, one side, away from the inhaul cable, of the inner rod is provided with an outer rod parallel to the inner rod, the lower side of the outer rod is connected with the C-shaped plate in a rotating mode, the inner rod is connected with a connecting rod between the outer rods in a rotating mode, a net bag is arranged between the inner rod, and three claws are fixed to the upper side of the inner rod.

3. The adjustable gripper apparatus for picking grapefruits according to claim 1, wherein: cut the handle device including being fixed in the vice sword of centre gripping cavity upside inner wall, centre gripping case last fixed surface has the rotating pin, the rotating pin rotates and is connected with the main sword, main sword sliding connection vice sword, the centre gripping incasement is located centre gripping cavity right side is equipped with vice chamber, vice intracavity is equipped with vice cable, vice cable fixed connection is located the cable in the cable cavity, vice cable upside fixed connection the main sword right side, the main sword right side with be equipped with vice spring between the vice chamber front side inner wall.

4. The adjustable gripper apparatus for picking grapefruits according to claim 1, wherein: transmission include with the motor shaft rotates the belt of connecting, the axle left side is equipped with sliding connection the axis of rotation of cavity inner wall, the belt rotates to be connected the axis of rotation, the axis of rotation rotates and is connected with the switching-over belt, the switching-over belt rotates and connects the axle, the axis of rotation rotates and is connected with conveyor belt, left side conveying axle left side is equipped with sliding connection the countershaft of inner wall around the cavity, the countershaft rotates to be connected conveyor belt, centre gripping case downside just is located the support column left side is rotated and is connected with the power wheel, the support column right side is equipped with through connection the cable cavity with the perpendicular groove of cavity, be equipped with fixed connection in the perpendicular inslot the diaphragm that the cable just extended right, the diaphragm lower surface with be equipped with fixing spring between the perpendicular inslot downside.

5. The adjustable gripper apparatus for picking grapefruits according to claim 1, wherein: the fixed support frame that is equipped with of cavity left side inner wall, the support column left side just is located the support frame downside is fixed with the kicking block, the support column right side just is located erect the groove downside and is fixed with the arm-tie, the right side the rack upside is fixed with the piece of drawing, the inside slip chamber that is equipped with of depression bar, slip chamber sliding connection has the carriage release lever, the slip intracavity wall is located two card axles of carriage release lever downside sliding connection has the symmetry, the card axle with be equipped with extension spring between the slip intracavity wall.