CN115104429A - Apple stem picking and removing integrated device - Google Patents

Abstract

The invention discloses an apple stem picking and removing integrated device, which is characterized in that: the device comprises a flexible clamping device, an induction positioning device, a shearing device and a fruit collecting device, wherein the flexible clamping device, the induction positioning device, the shearing device and the fruit collecting device are arranged at the front end of a harvesting manipulator, the induction positioning device for positioning the position of a fruit handle is arranged at the front end of a clamping cover plate of the flexible clamping device, and the induction positioning device is positioned in the inner area of a flexible clamping paw; the whole shearing device is obliquely arranged on the clamping cover plate, so that the front ends of the scissors of the shearing device can extend into the fruit pits to shear the fruit stalks; the top setting of fruit collection device is in the bottom of flexible centre gripping hand claw and the top of fruit collection device can follow flexible centre gripping hand claw and enlarge or reduce. The device can finish the actions of trimming the fruit stems and shortening the fruit stems at one time, saves manual secondary trimming of the apple fruit stems, saves time and labor for picking, has high automation level, reduces the damage risk in subsequent apple conveying, and is convenient for transportation and storage of apples.

Description

An integrated device for picking apples and removing handles

technical field

The invention relates to the technical field of intelligent harvesting equipment, in particular to equipment for automatically harvesting fruits by machinery, in particular to an integrated device for picking apples and removing handles installed at the front end of a harvesting manipulator.

Background technique

When harvesting apples mechanically, it is necessary to manually cut the fruit stalks into the apple fruit pit, so that the apples will not scratch other apples during the subsequent transportation to the fruit basket or packaging and transportation, so as to reduce unnecessary Apple's economic loss. The prior art cannot realize the integration of cutting off the stalk and shortening the stalk into the fruit sump, which requires fruit farmers to invest a lot of labor for secondary pruning of the stalk, which is time-consuming and labor-intensive, and is not conducive to mechanized apple harvesting.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problems existing in the prior art, and to provide an integrated device for apple picking and removing handles installed at the front end of the picking manipulator.

The purpose of this invention is to solve by the following technical solutions:

An integrated device for picking apples and removing handles, characterized in that the device comprises a flexible clamping device, an induction positioning device, a shearing device and a fruit collection device installed at the front end of a harvesting manipulator, wherein an induction device for locating the position of the fruit stem is provided. The positioning device is arranged at the front end of the clamping cover plate of the flexible clamping device, and the sensing positioning device is located in the inner area of the flexible clamping gripper; The fruit stalk can be cut into the fruit pit; the top of the fruit collecting device is arranged at the bottom of the flexible gripping claw, and the top of the fruit collecting device can follow the flexible gripping claw to expand or shrink.

The flexible clamping device is installed at the driving end of the direction changing device, and the tail end of the direction changing device is installed at the front end of the harvesting manipulator, so that the plane formed by the flexible clamping device can be perpendicular to the stalk of the apple.

The direction changing device includes a regulating plate, a direction changing sealing plate, a steering steering gear, and a connecting block, wherein the direction changing sealing plate is used for fixedly installing the steering steering gear and connecting the regulating plate, and the regulating plate is installed at the front end of the harvesting manipulator. The steering output end of the machine is provided with a connecting block and the connecting block is fixed on the rear end of the clamping cover plate.

The flexible clamping device includes a flexible clamping gripper, a gripping cover plate, and a gripper driving mechanism. The gripper driving mechanism is fixedly installed on the gripping cover, and the gripper driving mechanism drives the two flexible grippers synchronously through a positioning transmission mechanism. The holding claws are close to each other to clamp the apples or away from each other to release the apples, and the two flexible clamping claws are installed on the clamping cover plate through the positioning transmission mechanism.

The positioning transmission mechanism includes a driving gear, a driven gear and a connecting rod. The output end of the gripper driving mechanism drives the driving gear to rotate by clamping the driving shaft, and the driving gear is meshed with the driven gear, and the driving gear is fixedly connected. The front end of the rod is connected to the tail end of a flexible clamping claw through a clamping pin, and the front end of the connecting rod fixedly connected to the driven gear is connected to the tail end of another flexible clamping claw through a clamping pin; the described The clamping cover plate is also provided with two connecting rods for restricting the positions of the two flexible clamping claws. The pin-holding shaft is connected to the rear of the corresponding flexible gripper.

The clamping surface of the flexible clamping claw is a concave arc clamping surface, and a clamping force sensor is arranged on the concave arc clamping surface, and the sensing signal of the clamping force sensor can be associated with the claw driving mechanism.

The induction positioning device includes a V-shaped guide positioning rod, a tactile sensor and a fruit stem position sensor. The V-shaped guide positioning rod is arranged at the front end of the clamping cover plate to limit the fruit stem to be located in the V-shaped area formed by the V-shaped guide positioning rod. Inside, the tactile sensor arranged on the bottom surface of the front part of the V-shaped guide positioning rod is used to locate the upper edge of the fruit pit along the direction of the fruit stalk, and the fruit stalk position sensor arranged at the inner tip of the V-shaped guide positioning rod can be perpendicular to the fruit stalk. The orientation of the stem is sensed within a set distance to determine the position of the stem.

The shearing device is set on the clamping cover plate with an overall inclination of 20° to 40°; the shearing device includes a handle-removing driving mechanism, a shearing support plate, a large nut, a screw rod, an L-shaped plate, a slide rail, Drive slider, shear slider, scissors positioning plate, scissors, fixed rod, force transmission cable, the drive mechanism to remove the handle is fixedly installed at the tail of the shearing support plate, and the tail end of the slide rail is fixedly installed in the front of the shearing support plate The screw at the output end of the shank-removing drive mechanism is threadedly connected with the large nut, and the shank-removing driving mechanism can drive the large nut to travel along the setting direction of the slide rail through the rotation of the screw, and the large nut is fixedly arranged on the L-shaped plate and the L The pattern plate is fixedly arranged on the driving slider, the driving slider is embedded on the sliding rail and can travel along the setting direction of the sliding rail; the central axis of the scissors is fixed on the scissors positioning plate and one of the handles of the scissors is also fixed on the On the scissors positioning plate, the inner side of the tail end of the other handle of the scissors is connected with one end of the force transmission cable, and the other end of the transmission force cable bypasses the fixing rod located in the inner cavity of the scissors handle and is fixedly connected to the L-shaped plate , the scissors positioning plate is fixedly arranged on the shearing slider, the shearing slider is embedded on the sliding rail and can travel along the setting direction of the sliding rail, and the handle-removing drive mechanism drives the L-shaped plate to approach the handle-removing drive through the screw During the mechanism, the L-shaped plate drives the tail end of the free handle of the scissors to approach the fixed rod through the force transmission cable, and the scissors move away from the handle-removing driving mechanism along the setting direction of the slide rail, and the blades of the scissors gradually extend into the fruit depression and gradually. The shearing shank is closed; the shearing device further includes a return spring, a sliding rail top block, and a limit sealing plate, the front end of the sliding rail is provided with a sliding rail top block, and the sliding rail inside the sliding rail top block is provided on the sliding rail There is a return spring connected to the shearing slide block. After the shearing slide block squeezes the return spring, the shearing slide block can be returned to its position under the action of the return spring, and the return spring is provided with a limit sealing plate.

The clamping cover plate is provided with a plurality of supporting columns that can be lifted and lowered, and the tops of the supporting columns are abutted against the bottom of the shearing support plate of the shearing device and/or the bottom of the slide rail.

The fruit collecting device includes a collecting hose, and the collecting hose is a negative pressure fruit dropping channel.

Compared with the prior art, the present invention has the following advantages:

In the present invention, an inclined shearing device is arranged on the flat flexible clamping device, and in the process of picking apples, the induction positioning device can precisely locate the apple and its stem, and can accurately find the shearing position , so that the scissors can be inserted into the fruit depression to complete the cutting action of trimming the fruit stalk into the fruit depression. Or other apples will not be scratched during packaging and transportation, reducing unnecessary economic loss of apples; the device can replace manual apple picking, not only liberating the labor of fruit farmers who need to prune the fruit stems twice, but also pruning the fruit according to the orchard. Picking requires the stalk to be shortened to the fruit pit, which reduces the risk of damage in subsequent apple transportation, facilitates the transportation and storage of apples, saves time and effort, and has a high level of automation.

Description of drawings

Accompanying drawing 1 is the three-dimensional structure schematic diagram of apple picking and removing handle integrated device of the present invention;

Accompanying drawing 2 is the plane structure schematic diagram of the apple picking and removing handle integrated device of the present invention;

Accompanying drawing 3 is the top view of apple picking and removing handle integrated device of the present invention;

4 is a schematic diagram of the combined structure of the slide rail part and the clamping cover plate part of the present invention;

5 is a schematic structural diagram of the direction changing device of the present invention;

6 is a schematic diagram of the combined structure of the flexible clamping device and the induction positioning device of the present invention;

FIG. 7 is a schematic diagram of the use state of the integrated device for picking and removing handles for apples of the present invention.

Among them: 100—flexible clamping device; 10—flexible clamping gripper; 11—clamping force sensor; 12—clamping cover plate; 13—grip drive mechanism; 14—driving gear; 15—clamping drive shaft ; 16 - driven gear; 17 - connecting rod; 18 - clamping pin; 200 - induction positioning device; 20 - V-shaped guide positioning rod; 21 - tactile sensor; 22 - stem position sensor; 300 - shearing Device; 30—handle drive mechanism; 31—shearing support plate; 32—large nut; 33—screw; 34—L-shaped plate; 35—slide rail; 36—drive slider; 37—shear slider; 38 - scissors positioning plate; 39 - scissors; 310 - fixed rod; 311 - force cable; 312 - return spring; 313 - slide rail top block; 314 - limit sealing plate; 400 - fruit collection device; 40 - collection hose 500—direction changing device; 50—adjustment plate; 51—direction changing sealing plate; 52—steering steering gear; 53—connecting block; 600—support column.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and embodiments.

As shown in Figures 1-6: an integrated device for picking apples and removing handles, the device includes a flexible clamping device 100 installed at the front end of a harvesting manipulator, an induction positioning device 200, a shearing device 300, a fruit collecting device 400, a variable The direction device 500, wherein the flexible clamping device 100 is installed at the driving end of the direction changing device 500, and the tail end of the direction changing device 500 is installed at the front end of the harvesting manipulator, so that the plane formed by the flexible clamping device 100 can be perpendicular to the fruit of the apple. The orientation of the handle; the sensing positioning device 200 for locating the position of the fruit stem is arranged at the front end of the clamping cover plate 12 of the flexible clamping device 100 and the sensing positioning device 200 is located in the inner area of the flexible clamping claw 10; the whole cutting device 300 The front end of the scissors 39 of the shearing device 300 can extend into the fruit pocket to cut the fruit stem; the top end of the fruit collecting device 400 is arranged on the bottom of the flexible clamping claw 10 and the fruit is collected. The tip of the device 400 can expand or contract following the flexible gripper jaw 10 .

As shown in FIGS. 1 , 2 , 3 and 5 , the direction changing device 500 includes an adjusting plate 50 , a direction changing sealing plate 51 , a steering steering gear 52 and a connecting block 53 , wherein the direction changing sealing plate 51 is used to fix the steering gear 52 The adjusting plate 50 is connected with the adjusting plate 50 and the adjusting plate 50 is installed at the front end of the harvesting manipulator.

As shown in FIGS. 1 , 2 , 3 , 5 and 6 , the flexible clamping device 100 includes a flexible clamping gripper 10 , a gripping cover 12 , and a gripper driving mechanism 13 . The gripping surface of the flexible gripping gripper 10 is The concave arc clamping surface is provided with a clamping force sensor 11, the sensing signal of the clamping force sensor 11 can be associated with the gripper drive mechanism 13; the gripper drive mechanism 13 is fixedly installed on the gripper cover On the plate 12 and the gripper driving mechanism 13 drives the two flexible gripping grippers 10 to move closer to each other to clamp the apples or away from each other to release the apples through the positioning transmission mechanism, and the two flexible gripping grippers 10 are installed on the gripper through the positioning transmission mechanism. on the cover plate 12. The above-mentioned positioning transmission mechanism includes a driving gear 14, a driven gear 16 and a connecting rod 17. The output end of the gripper driving mechanism 13 drives the driving gear 14 to rotate through the clamping drive shaft 15, and the driving gear 14 is meshed with the driven gear 16. The front end of the connecting rod 17 fixedly connected on the driving gear 14 is connected to the tail end of a flexible clamping claw 10 through the clamping pin 18 , and the front end of the connecting rod 17 fixedly connected on the driven gear 16 is connected through the clamping pin 18 The tail end of another flexible gripping gripper 10; the gripping cover plate 12 is also provided with two connecting rods 17 for limiting the position of the two flexible gripping grippers 10, and the tail ends of the two connecting rods 17 are respectively clamped The pin-holding shaft 18 is installed on the clamping cover plate 12 , and the front ends of the two connecting rods 17 are respectively connected to the rear part of the corresponding flexible clamping gripper 10 through the clamping pin shaft 18 .

As shown in Figures 1, 2, 3, 4, and 6, the induction positioning device 200 includes a V-shaped guide positioning rod 20, a tactile sensor 21 and a stalk position sensor 22, and the V-shaped guide positioning rod 20 is disposed on the clamping cover plate 12. The front end of the stalk is located in the V-shaped area formed by the V-shaped guiding and positioning rod 20 to limit the stalk, and the tactile sensor 21 arranged on the bottom surface of the front part of the V-shaped guiding and positioning rod 20 is used to locate the upper edge of the fruit pit along the direction of the stalk, The stalk position sensor 22 arranged at the inner tip of the V-shaped guide positioning rod 20 can sense the position of the fruit stalk within a set distance along the direction perpendicular to the fruit stalk; when in use, the V-shaped guide positioning rod 21 is in the harvesting machinery. The fruit stalk is found with the help of the visual sensor on the top of the apple. Since the tactile sensor 21 can transmit the signal to the controller of the harvesting machine in real time, the V-shaped guiding and positioning rod 20 can travel along the upper edge of the apple trough until the position of the fruit stalk. The sensor 22 senses the position of the fruit stalk and transmits it to the controller of the harvesting machine. The shearing device 300 starts and controls the scissors 39 to advance and extend into the fruit pit to cut off the protruding part of the fruit stalk.

As shown in Figures 1, 2, 3, and 4, the shearing device 300 includes a shank-removing driving mechanism 30, a shearing support plate 31, a large nut 32, a screw 33, an L-shaped plate 34, a slide rail 35, a driving slider 36, The shearing slider 37, the scissors positioning plate 38, the scissors 39, the fixing rod 310, the force transmission cable 311, the handle-removing driving mechanism 30 is fixedly installed on the tail of the shearing support plate 31, and the tail end of the slide rail 35 is fixedly installed on the shearing In the front part of the support plate 31, the screw rod 33 at the output end of the handle-removing drive mechanism 30 is threadedly connected with the large nut 32, and the handle-removing driving mechanism 30 can drive the large nut 32 to travel along the setting direction of the slide rail 35 through the rotation of the screw rod 33. The large nut 32 is fixedly arranged on the L-shaped plate 34 and the L-shaped plate 34 is fixedly arranged on the driving slider 36, the driving slider 36 is embedded on the sliding rail 35 and can travel along the setting direction of the sliding rail 35; scissors 39 The central axis of the scissors 39 is fixed on the scissors positioning plate 38 and one of the handles of the scissors 39 is also fixed on the scissors positioning plate 38. The other end of the force cable 311 bypasses the fixing rod 310 located in the inner cavity of the handle of the scissors 39 and is fixedly connected to the L-shaped plate 34 (only when the fixing rod 310 is located in the inner cavity of the handle of the scissors 39, the scissors 39 can transmit force. The pull of the cable 311 travels toward the V-shaped guide positioning rod 20), the scissors positioning plate 38 is fixedly arranged on the shearing slider 37, and the shearing slider 37 is embedded on the sliding rail 35 and can follow the setting direction of the sliding rail 35. When in use, when the handle-removing drive mechanism 30 drives the L-shaped plate 34 to approach the handle-removing drive mechanism 30 through the screw 33, the L-shaped plate 34 drives the tail end of the free handle of the scissors 39 to approach the fixed rod 310 through the force transmission cable 311 When the scissors 39 move away from the handle removal drive mechanism 30 along the setting direction of the slide rail 35, the blades of the scissors 39 gradually extend into the fruit pit and gradually close the cutting fruit handle. The shearing device 300 further includes a return spring 312 , a slide rail top block 313 , and a limit sealing plate 314 . The front end of the slide rail 35 is provided with a slide rail top block 313 and the slide rail 35 inside the slide rail top block 313 is provided with a connection The return spring 312 of the shearing slider 37, after the shearing slider 37 squeezes the return spring 312, can make the shearing slider 37 return under the action of the return spring 312, and the return spring 312 is provided with a limit sealing plate 314 . The above-mentioned shearing device 300 is inclined at 20°˜40° on the clamping cover plate 12 as a whole, so that the front end of the scissors 39 in the shearing device 300 can be inserted into the lower side of the V-shaped guide positioning rod 20 .

As shown in FIGS. 1 , 2 and 4 , the clamping cover plate 12 is provided with a plurality of supporting columns 600 that can be lifted and lowered. or the bottom of the slide rail 35.

As shown in Figures 1 and 2, the fruit collecting device 400 includes a collecting hose 40, and the collecting hose 40 is a negative pressure fruit dropping channel. The shearing device 300 cuts off the apple stalk, and the apple falls into the collection hose 40. The collection hose 40 is a negative pressure fruit drop channel, and a filter screen is arranged in the middle to realize the function of "collecting"; the negative pressure fruit drop channel A damper can also be added on the top to prevent the airflow from flowing from the direction of the fruit box to the fan, and only allow the airflow to flow into the fan from the direction of the fruit to be picked.

As shown in FIGS. 1-7 , when the integrated device for picking and removing handles for apples provided by the present invention is used, the integrated device for picking and removing handles for apples finds the apples with the help of the visual sensor on the harvesting machine, and then the manipulator of the harvesting machine finds the apples. The integrated device for picking and removing the handle of the apple is driven close to the apple, wherein the V-shaped guiding and positioning rod 21 finds the fruit stem with the help of the visual sensor on the harvesting machine, because the tactile sensor 21 can transmit the signal to the controller of the harvesting machine in real time , so that the V-shaped guide positioning rod 20 can travel along the upper edge of the apple's fruit pit until the stalk position sensor 22 senses the position of the stalk and transmits it to the controller of the harvesting machine; the controller sends out instructions: one is the flexibility The gripper drive mechanism 13 on the clamping device 100 drives the flexible gripper gripper 10 to grasp the apple; second, the handle removal drive mechanism 30 on the cutting device 300 is activated, and the handle removal drive mechanism 30 drives the L-shaped plate 34 through the screw 33 When approaching the handle removal drive mechanism 30, the L-shaped plate 34 drives the tail end of the free handle of the scissors 39 to approach the fixing rod 310 through the force transmission cable 311, and the scissors 39 move away from the handle removal drive mechanism 30 along the setting direction of the slide rail 35, The front end of the scissors 39 gradually crosses the V-shaped guide positioning rod 21 and extends into the fruit pit and gradually closes and cuts the fruit stalk, so as to realize that the scissors 39 extend into the fruit sump to complete the trimming of the fruit stalk to the fruit stalk. In the cutting action, the stalk is trimmed into the fruit depression below the surface of the apple; then the claw driving mechanism 13 drives the flexible gripping claw 10 to release the apple, and the apple falls into the fruit box through the fruit collecting device 400 . Then, the components on the cutting device 300 are returned to their positions, waiting for the next apple to be picked.

The above embodiments are only to illustrate the technical idea of the present invention, and cannot limit the protection scope of the present invention. Any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls within the protection scope of the present invention. The technology not involved in the present invention can be realized by the existing technology.

Claims (10)

1. An integrated device for picking apples and removing handles, characterized in that: the device comprises a flexible clamping device (100), an induction positioning device (200), a shearing device (300) and a fruit collection device installed at the front end of a harvesting manipulator The device (400), wherein the sensing positioning device (200) for locating the position of the fruit stem is arranged at the front end of the clamping cover plate (12) of the flexible clamping device (100), and the sensing positioning device (200) is located on the flexible clamping hand The inner area of the claw (10); the shearing device (300) is integrally disposed obliquely on the clamping cover plate (12), so that the front end of the scissors (39) of the shearing device (300) can extend into the fruit depression to cut the fruit The handle; the top of the fruit collecting device (400) is arranged at the bottom of the flexible gripping claw (10) and the top of the fruit collecting device (400) can expand or shrink following the flexible gripping claw (10). 2. The integrated device for picking apples and removing handles according to claim 1, characterized in that: the flexible clamping device (100) is installed on the driving end of the direction changing device (500), and the direction changing device (500) The tail end is installed on the front end of the harvesting manipulator, so that the plane formed by the flexible clamping device (100) can be oriented perpendicular to the stalk of the apple. 3. The integrated device for picking apples and removing handles according to claim 2, characterized in that: the direction changing device (500) comprises an adjusting plate (50), a direction changing sealing plate (51), a steering steering gear (52) ), a connecting block (53), wherein the direction changing sealing plate (51) is used for the fixed installation of the steering steering gear (52) and the connection adjustment plate (50), and the adjustment plate (50) is installed at the front end of the harvesting manipulator, and the steering steering gear ( The steering output end of 52) is provided with a connecting block (53), and the connecting block (53) is fixed on the rear end of the clamping cover plate (12). 4. The integrated device for picking apples and removing handles according to any one of claims 1-3, wherein the flexible clamping device (100) comprises a flexible clamping claw (10), a clamping cover (100) 12) The gripper drive mechanism (13), the gripper drive mechanism (13) is fixedly installed on the clamping cover plate (12), and the gripper drive mechanism (13) drives the two flexible gripping grippers (13) synchronously through the positioning transmission mechanism. 10) The apples are clamped close to each other or released away from each other, and the two flexible clamping claws (10) are installed on the clamping cover plate (12) through a positioning transmission mechanism. 5. The integrated device for picking apples and removing handles according to claim 4, characterized in that: the positioning transmission mechanism comprises a driving gear (14), a driven gear (16) and a connecting rod (17), and the gripper drives The output end of the mechanism (13) drives the driving gear (14) to rotate by clamping the driving shaft (15), and the driving gear (14) is meshed with the driven gear (16). The front end of 17) is connected to the tail end of a flexible clamping claw (10) through the clamping pin (18), and the front end of the connecting rod (17) fixedly connected to the driven gear (16) passes through the clamping pin (18). ) is connected to the tail end of another flexible gripping claw (10); the gripping cover plate (12) is also provided with two connecting rods (17) for limiting the position of the two flexible gripping grippers (10), The rear ends of the two connecting rods (17) are respectively mounted on the clamping cover plate (12) through the clamping pins (18), and the front ends of the two connecting rods (17) are respectively connected to the corresponding flexible clips through the clamping pins (18). Hold the rear of the paw (10). 6. The integrated device for picking apples and removing handles according to claim 4, characterized in that: the clamping surface of the flexible clamping claw (10) is a concave arc clamping surface, and the concave arc clamping surface is provided with A clamping force sensor (11), the sensing signal of the clamping force sensor (11) can be associated with a gripper driving mechanism (13). 7. The integrated device for picking apples and removing handles according to any one of claims 1-3, characterized in that: the sensing positioning device (200) comprises a V-shaped guiding positioning rod (20), a tactile sensor (21) and The fruit stem position sensor (22), the V-shaped guide positioning rod (20) is arranged at the front end of the clamping cover plate (12) to limit the fruit stem to be located in the V-shaped area formed by the V-shaped guide positioning rod (20), and is arranged in the V-shaped area. The tactile sensor (21) on the bottom surface of the front part of the V-shaped guide and positioning rod (20) is used to locate the upper edge of the fruit pit along the direction of the fruit stalk, and the stalk position sensor is arranged at the inner tip of the V-shaped guide and positioning rod (20). (22) The position of the fruit stalk can be determined by induction within a set distance along the direction perpendicular to the fruit stalk. 8. The integrated device for picking apples and removing handles according to any one of claims 1-3, characterized in that: the shearing device (300) is disposed on the clamping cover plate (12) with an overall inclination of 20° to 40° above; the shearing device (300) includes a handle removal drive mechanism (30), a shearing support plate (31), a large nut (32), a screw (33), an L-shaped plate (34), a slide rail (35) ), drive slider (36), shear slider (37), scissors positioning plate (38), scissors (39), fixing rod (310), transmission cable (311), and the handle removal drive mechanism (30) is fixed Installed at the tail of the shearing support plate (31), the tail end of the slide rail (35) is fixedly installed at the front of the shearing support plate (31), and the screw (33) at the output end of the shank-removing drive mechanism (30) is connected with the large The nut (32) is threadedly connected and the handle removal drive mechanism (30) can drive the large nut (32) to travel along the setting direction of the slide rail (35) through the rotation of the screw rod (33), and the large nut (32) is fixedly arranged on the The L-shaped plate (34) and the L-shaped plate (34) are fixedly arranged on the driving slider (36), and the driving slider (36) is embedded on the sliding rail (35) and can be arranged along the sliding rail (35) The central axis of the scissors (39) is fixed on the scissors positioning plate (38) and one of the handles of the scissors (39) is also fixed on the scissors positioning plate (38), and the other handle of the scissors (39) The inner side of the rear end is connected with one end of the force transmission cable (311), and the other end of the force transmission cable (311) bypasses the fixing rod (310) located in the inner cavity of the handle of the scissors (39) and then connects with the L-shaped plate ( 34) Fixed connection, the scissors positioning plate (38) is fixedly arranged on the shearing slider (37), and the shearing slider (37) is embedded on the sliding rail (35) and can follow the setting direction of the sliding rail (35) When traveling, the handle-removing drive mechanism (30) drives the L-shaped plate (34) to approach the handle-removing drive mechanism (30) through the screw (33), and the L-shaped plate (34) drives the scissors (311) through the force transmission cable (311). When the tail end of the free handle of 39) approaches the fixed rod (310), the scissors (39) move away from the handle removal drive mechanism (30) along the setting direction of the slide rail (35), and the blades of the scissors (39) gradually extend into The cutting device (300) further includes a return spring (312), a sliding rail top block (313), a limit sealing plate (314), and the sliding rail (35) ) is provided with a slide rail top block (313) at the front end and a return spring (312) connected to the shear slider (37) is provided on the slide rail (35) inside the slide rail top block (313). (37) After squeezing the return spring (312), the shear slider (37) can be returned to the position under the action of the return spring (312). The return spring (312) is provided with a limit sealing plate (314) . 9 . The integrated device for picking apples and removing handles according to claim 8 , characterized in that: the clamping cover plate ( 12 ) is provided with a plurality of supporting columns ( 600 ) that can be lifted and lowered, and the supporting columns ( 600 ) The top of the shearing device (300) rests on the bottom of the shearing support plate (31) and/or the bottom of the sliding rail (35). 10. The integrated device for picking apples and removing handles according to any one of claims 1-3, characterized in that: the fruit collecting device (400) comprises a collecting hose (40), and the collecting hose collects a hose (40) is the negative pressure drop fruit channel.

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