CN207589540U

CN207589540U - Lift scissors and fruit picking robot

Info

Publication number: CN207589540U
Application number: CN201721756950.2U
Authority: CN
Inventors: 王立宗; 李玉华; 范吉军; 方昊
Original assignee: Wuhan Polytechnic University
Current assignee: Wuhan Polytechnic University
Priority date: 2017-12-15
Filing date: 2017-12-15
Publication date: 2018-07-10
Anticipated expiration: 2027-12-15

Abstract

The utility model discloses a kind of lifting scissors and fruit picking robot, the lifting scissors to include：Support movable stand；Hydraulic pump and hydraulic pump mounting bracket；Vertical lifting mechanism；Horizontal mobile mechanism, horizontal mobile mechanism includes horizontal shifting platform, movable stand and hydraulic cylinder, and horizontal shifting platform is fixed at the top of elevating lever, and movable stand is slidedly arranged at the top of horizontal shifting platform, hydraulic cylinder one end is connected to horizontal shifting platform, and the other end is connected to movable stand.The lifting scissors can accurately adjust horizontal position and vertical position.

Description

Lift scissors and fruit picking robot

Technical field

The utility model belongs to agricultural mechanical field field, more particularly, to a kind of lifting scissors and fruit picking Device people.

Background technology

Production of fruit big country of China and the largest fruit in the world country of consumption.The rapid development of fruit-growing industry improves The market demand of Machinery for orchard.Labour used in picking operation accounts for 33%~50% of labour used in entire production process, mesh The fruit picking overwhelming majority in preceding China is still based on manually picking.It is more complicated to pick operation, it is seasonal very strong, if using Artificial picking, not only efficiency is low, the amount of labour is big, but also be easy to cause the damage of fruit, if human hand cannot not enough be picked in time Also result in economic loss.With the development of robot technology, it is expected to solve manpower shortage, reduces worker's labour by force Degree, the labour danger for improving worker's labour comfort level, reducing worker, also improve the economic benefit of orchard worker in addition, thus carry Height picking mechanization of operation degree has important meaning.

Existing fruit picking robot cannot adjust the height of robot acquisition cutter in time according to the height of fruit, no The position of cutter can be adjusted according to the high precision of fruit, cutter is caused to damage fruit, picking is inconvenient, picking efficiency It is relatively low, it is unfavorable for the popularization of fruit picking robot.

Therefore, it is necessary to develop a kind of lifting scissors and fruit picking that can accurately adjust horizontal position and vertical height Robot.

The information for being disclosed in the utility model background technology part is merely intended to deepen the general background to the utility model The understanding of technology, and be not construed as recognizing or imply in any form the information form by those skilled in the art public affairs The prior art known.

Utility model content

The purpose of this utility model is to provide a kind of lifting scissors and fruit picking robot, which can be accurate Adjust horizontal position and vertical position.

To achieve these goals, one side according to the present utility model provides a kind of lifting scissors and includes：

Support movable stand；

Hydraulic pump and hydraulic pump mounting bracket, the hydraulic pump mounting bracket are arranged on the support movable stand, the hydraulic pressure Pump is arranged on the hydraulic pump mounting bracket；

Vertical lifting mechanism, the vertical lifting mechanism include driving tapered gear shaft, first bevel gear axis, second bevel gear Axis and elevating lever, one end of the driving tapered gear shaft are connected to the output terminal of the hydraulic pump, the first bevel gear axis One end is engaged in one end of the driving tapered gear shaft, and the second bevel gear axis is engaged in the another of the first bevel gear axis End, one end of the elevating lever are engaged in one end of the second bevel gear axis, and the driving tapered gear shaft rotation can drive The elevating lever rises or falls；

Horizontal mobile mechanism, the horizontal mobile mechanism include horizontal shifting platform, movable stand and hydraulic cylinder, the level Mobile platform is fixed at the top of the elevating lever, and the movable stand is slidedly arranged at the top of the horizontal shifting platform, the hydraulic cylinder One end is connected to the horizontal shifting platform, and the other end is connected to the movable stand.

Another aspect according to the present utility model provides a kind of fruit picking robot, the fruit picking robot packet It includes：

Fast lifting module；

Lifting scissors in claim 1-8 described in any one, the lifting scissors are set to the fast lifting mould At the top of block；

Module is picked, the picking module is set at the top of the movable stand；

Hand steered cart, the hand steered cart are set to the fast lifting device bottom；

Fruit transmission module, described fruit transmission module one end are connected to the picking module, and the other end passes through described fast Fast lifting gear is connected at the top of the hand steered cart.

The beneficial effects of the utility model are：Pass through vertical lifting mechanism driving tapered gear shaft, first bevel gear axis, The setting of two bevel gear shafts and elevating lever is driven the lifting of control elevating lever, the accurate vertical side of control by multiple bevel gear shafts To position；By the setting of horizontal mobile mechanism hydraulic cylinder, the position of horizontal direction is accurately quickly adjusted by hydraulic control.

Other features and advantages of the utility model will be described in detail in subsequent specific embodiment part.

Description of the drawings

The utility model illustrative embodiments are described in more detail in conjunction with the accompanying drawings, the utility model it is upper It states and other purposes, feature and advantage will be apparent, wherein, in the utility model illustrative embodiments, phase Same reference label typically represents same parts.

Fig. 1 shows the schematic diagram of the lifting scissors of an embodiment according to the present utility model.

Fig. 2 shows the schematic diagrams of the vertical lifting mechanism of an embodiment according to the present utility model.

Fig. 3 shows the schematic diagram of the horizontal mobile mechanism of an embodiment according to the present utility model.

Fig. 4 shows the schematic diagram of the fruit picking robot of one embodiment according to the present utility model.

Fig. 5 shows the schematic diagram of the picking module of one embodiment according to the present utility model.

Fig. 6 shows the schematic diagram of the picking sleeve transmission mechanism of one embodiment according to the present utility model.

Fig. 7 shows the schematic diagram of the picking rack of one embodiment according to the present utility model.

Fig. 8 shows the picking sleeve of one embodiment according to the present utility model and the schematic diagram of cutter.

Fig. 9 shows the schematic diagram of the picking sleeve of one embodiment according to the present utility model.

Figure 10 shows the schematic diagram of the picking ratch of one embodiment according to the present utility model.

Figure 11 shows the schematic diagram of the picking module of one embodiment according to the present utility model.

Figure 12 shows the schematic diagram of the lifting gear of one embodiment according to the present utility model.

Figure 13 shows the schematic diagram of the fast lifting mechanism of one embodiment according to the present utility model.

Figure 14 shows the schematic diagram of the fruit branch separator of one embodiment according to the present utility model.

Figure 15 shows the fruit transmission device of one embodiment according to the present utility model and showing for fruit branch separator Meaning property structure chart.

Figure 16 shows the schematic diagram of the fruit transmission device of one embodiment according to the present utility model.

Figure 17 shows the scheme of installation of the wriggling solenoid valve of one embodiment according to the present utility model.

Figure 18 shows the schematic diagram of the wriggling solenoid valve of one embodiment according to the present utility model.

Figure 19 shows the schematic diagram of the cutter of one embodiment according to the present utility model.

Reference sign：

21st, hydraulic pump motor；22nd, hydraulic oil container；23rd, hydraulic pump；24th, movable stand is supported；242nd, movable stand；243rd, hydraulic pressure Cylinder；244th, horizontal shifting platform；246th, it lifts and stablizes telescopic rod；2452nd, driving tapered gear shaft；2451st, first bevel gear axis； 2455th, second bevel gear axis；2454th, elevating screw；2453rd, elevating screw sleeve；

1st, module is picked；2nd, fine tuning elevating mechanism；3rd, fast lifting mechanism；4th, fruit branch separator；5th, robot chassis； 11st, rack is picked；12nd, crank；13rd, crank parallel connection connecting rod；14th, bush connecting rod；15th, bar is dredged in picking；16th, duct frame；17th, shelves Bar；18th, ratch is picked；31st, upper support frame；32nd, upper slide bar；33rd, the first scissors connecting rod；34th, lower bracing frame；35th, screw thread slide bar； 36th, drop shot；37th, thread slider；111st, crankshaft；112nd, lever sliding slot；182nd, sleeve is picked；183rd, the second lips； 185th, cutter；1821st, duct frame mounting groove；1812nd, waveform cam；1723rd, branch blocks bar；1531st, lever translating cam； 171st, branch steps up bar；

41st, import；42nd, rotary unit；43rd, power unit；44th, it exports；45th, sieve plate；46th, coaming plate；47th, fixed frame；6、 Fruit transmission mechanism；7th, pipeline creeping mechanism；61st, three-way pipeline 61, three-way pipeline；62nd, horizontal pipeline；63rd, connecting pipe； 64th, wide opening pipeline；65th, fixed baffle；66th, outlet conduit；71st, wriggling solenoid valve；711st, coil；712nd, valve seat；713rd, upper cunning Block；714th, resetting spring；715th, upper valve rod；716th, upper valve head；717th, lower valve rod；718th, connecting rod shaft is interlocked；719th, it interlocks Bar；720th, lower valve head；721st, upper valve inhales iron；722nd, sliding block；

1851st, cutter；1852nd, bottom knife；1853rd, resetting spring；1854th, blade axis pin mounting hole；1856th, picking knife Frame.

Specific embodiment

The preferred embodiment of the utility model is described in more detail below.Although the following describe the utility model Preferred embodiment, however, it is to be appreciated that may be realized in various forms the utility model without the implementation that should be illustrated here Mode is limited.On the contrary, these embodiments are provided so that the utility model is more thorough and complete, and can be by this The range of utility model is completely communicated to those skilled in the art.

One side according to the present utility model provides a kind of lifting scissors and includes as shown in Figure 1-Figure 3：

Support movable stand 24；Hydraulic pump 23 and hydraulic pump mounting bracket, hydraulic pump mounting bracket are arranged on support movable stand 24, Hydraulic pump 23 is arranged on hydraulic pump mounting bracket；Vertical lifting mechanism, vertical lifting mechanism include driving tapered gear shaft 2452, the One bevel gear shaft 2451, second bevel gear axis 2455 and elevating lever, one end of driving tapered gear shaft 2452 are connected to hydraulic pump 23 Output terminal, one end of first bevel gear axis 2451 is engaged in one end of driving tapered gear shaft 2452, second bevel gear axis 2455 The other end of first bevel gear axis 2451 is engaged in, one end of elevating lever is engaged in one end of second bevel gear axis 2455, actively The rotation of bevel gear shaft 2452 can drive elevating lever to rise or fall；Horizontal mobile mechanism, horizontal mobile mechanism include horizontal move Moving platform 244, movable stand 242 and hydraulic cylinder 243, horizontal shifting platform 244 are fixed at the top of elevating lever, and the cunning of movable stand 242 is set In 244 top of horizontal shifting platform, 243 one end of hydraulic cylinder is connected to horizontal shifting platform 244, and the other end is connected to movable stand 242。

Specifically, the utility model passes through vertical lifting mechanism driving tapered gear shaft, first bevel gear axis, second bevel gear The setting of axis and elevating lever is driven the lifting of control elevating lever, the accurate position for controlling vertical direction by multiple bevel gear shafts； By the setting of horizontal mobile mechanism hydraulic cylinder, horizontal direction position is accurately quickly adjusted by hydraulic control, provides one kind The accurate lifting scissors for adjusting horizontal position and vertical height.

Specifically, it is rotated by hydraulic pump drive driving tapered gear shaft, driving tapered gear shaft further drives the first cone tooth Wheel shaft, second bevel gear shaft rotation are moved, and then drive elevating lever, by the flank profil quantity and bevel gear shaft that rationally set bevel gear shaft It is direct, realize the adjustable height that elevating lever is accurately controlled by hydraulic pump drive.

Specifically, by the setting of horizontal mobile mechanism, movable stand is slidedly arranged on horizontal shifting platform, Driven by Hydraulic Cylinder movement Frame moves on horizontal shifting platform, realizes the adjusting of horizontal position.

Specifically, movable stand can be driven to be moved back and forth on horizontal shifting platform by hydraulic cylinder, pacified on movable stand Dress picking cutter or picking units are the reciprocating motion of controllable fruit picking cutter, accurate and quick.

Preferably, first bevel gear axis 2451, second bevel gear axis 2455 and elevating lever are two, two first Bevel gear shaft 2451 is engaged in the bevel gear of 2452 both sides of driving tapered gear shaft respectively, and two second bevel gear axis 2455 are nibbled respectively Together in the other end of two first bevel gear axis 2451, two elevating levers are engaged in the another of two second bevel gear axis respectively End.

Preferably, horizontal mobile mechanism is two, is respectively arranged at the top of two elevating levers.

Specifically, two first bevel gear axis, second bevel gear shaft rotation is driven to move by a driving tapered gear shaft, and then The lifting of two elevating levers is controlled, adjusts the vertical height of two horizontal mobile mechanisms, improves the processing speed of lifting scissors, The energy has been saved, has improved the working efficiency of equipment.

Preferably, vertical lifting mechanism further includes the stable telescopic rod 246 of lifting, lifts and stablizes telescopic rod 246 1 End is connected to support movable stand 24, and the other end is connected to horizontal shifting platform.

Preferably, it is multiple to lift stable telescopic rod 246.

Specifically, it can be multiple to lift stable telescopic rod, and the more preferably stable telescopic rod of lifting is a for 3-5, passes through liter The setting that drop stablizes telescopic rod is improved the standard the enabling capabilities of mobile mechanism, prevents elevating lever and bevel gear shaft from bearing excessive pressure Power causes and lifts scissors transmission failure, lifts stable telescopic rod and elevating lever rising and decline is followed to make the operation of lifting scissors more For stabilization.

It is highly preferred that it is 3 that telescopic rod is stablized in lifting.

Preferably, the installation direction of first bevel gear axis 2451 is perpendicular to driving tapered gear shaft 2452, the second cone The installation direction of gear shaft 2455 is perpendicular to first bevel gear axis 2451, and the installation direction of elevating lever is perpendicular to second bevel gear axis 2455, setting in this way realizes the adjusting of driving direction, while orthogonal set-up mode makes active conical tooth It is mutually supported between wheel shaft, first bevel gear axis, second bevel gear axis and elevating lever, makes vertical lifting mechanism more firm, prevented Only stress is excessive causes component in vertical lifting mechanism to be subjected to displacement, and causes failure.

Preferably, hydraulic pump motor 21 and hydraulic oil container 22, hydraulic pump motor 21 and hydraulic oil container 22 are further included It is arranged on support movable stand 24.

Preferably, elevating lever includes elevating lever and includes elevating screw 2454 and elevating screw sleeve 2453, lifting 2454 one end of screw is engaged in second bevel gear axis 2455, and the other end is connected to elevating screw sleeve 2453, elevating screw sleeve 2453 are connected to horizontal shifting platform.

Specifically, using elevating screw and the screw thread up-down mode of elevating screw sleeve, elevating screw and elevating screw set The connection relation of cylinder is more stable, and the enabling capabilities for making lifting scissors are stronger.

Fast lifting module；Above-mentioned lifting scissors, lifting scissors are set to fast lifting module top；Module is picked, is adopted Module is plucked to be set at the top of movable stand；Hand steered cart, hand steered cart are set to fast lifting device bottom；Fruit transmission module, Fruit transmission module one end is connected to picking module, and the other end passes through fast lifting device, is connected at the top of hand steered cart.

Preferably, fruit branch separation module is further included, fruit branch separation module is set to the middle part of fruit transmission module.

Embodiment

As shown in Fig. 1-Figure 19, which includes：

Robot chassis 5；Lifting gear, lifting gear are arranged on 5 top of robot chassis；Module 1 is picked, picks module 1 is arranged at the top of lifting gear；Fruit transmission device, one end of fruit transmission device are connected to 1 bottom of picking module, the other end It is communicated in fruit branch separator；Fruit branch separator 4, fruit branch separator 4 are arranged on 5 top of robot chassis；Wherein, it picks Module includes picking rack 11, picking ratch 18, picking sleeve 182, picking sleeve transmission mechanism, cutter 185, picks rack 11 It is arranged at the top of lifting gear, picking ratch 18 is vertically installed in picking rack 11, and picking sleeve 182 is sheathed on picking ratch 18, picking sleeve transmission mechanism one end is fixed on picking 11 other end of rack and is fixed on picking sleeve 182, picks sleeve driver Structure can drive picking sleeve 182 to be moved back and forth along the axis direction of picking ratch 18, and one end of cutter 185 passes through picking sleeve 182 connection picking ratch 18.

Specifically, the utility model drives robot displacement, more preferably robot tray bottom by robot chassis 5 Universal wheel and locating rod can be set, play the role of firm robot, by lifting gear drive picking module 1 rise and under Drop；By picking 1 fruit-picking of module, the fruit after picking is delivered to machine by fruit transmission device and fruit branch separator 4 5 top of device people chassis.Picking module 1 drives picking sleeve 182 reciprocal fortune in the axial direction by picking sleeve transmission mechanism Dynamic, and then picking ratch 18 is driven to move, cutter 185 realizes cutting to branch, the fruit after cutting by picking ratch 18 Fruit transmission device is fallen into be recycled, can rapid picking fruit, while substantially increase picking efficiency.

Preferably, picking rack 11 is rectangular slab, and lever parallel to each other is equipped with along the long side direction of rectangular slab Sliding slot 112 and crank pit, the medial surface of crank pit have been equidistantly positioned multiple crankshafts 111.

It is multiple to pick ratch 18, and picking ratch 18 is semicircle mast, and semicircle mast is equipped with the wave perpendicular to semi-cylindrical Shape wave cam 1812, multiple picking ratch 18 are corresponding with the position of multiple crankshafts 111 successively, pick the semicolumn of ratch 18 Face is vertically arranged at the broadside surfaces of rectangular slab.

It is multiple to pick sleeve 182, and the barrel of multiple picking sleeves 182 in the axial direction is equipped with opening, picks sleeve 182 Multiple picking ratch 18 are sheathed on, and waveform cam 1812 is set to opening, one end of cutter 185 passes through opening to be connected to Waveform cam 1812.

Sleeve transmission mechanism is picked, picking sleeve transmission mechanism includes crank 12, crank parallel connection connecting rod 13, bush connecting rod 14,12 one end crankshaft 111 of crank connects, and the other end is connect with crank parallel connection connecting rod 13,14 one end of bush connecting rod and picking Sleeve 182 connects, and the other end is connect with crank parallel connection connecting rod 13.

Preferably, picking module further includes：Picking captures mechanism, and picking captures mechanism and includes multiple levers 17, Multiple 17 equidistant parallels of lever are set on lever slide bar, lever slide bar with multiple picking 18 parallel equidistants of ratch from being staggered, if It is placed in lever sliding slot 112, picking captures picking machine framework and can be moved along lever sliding slot 112.

Preferably, 17 top of lever is provided with the first lips, and 182 top of picking sleeve is provided with the second lips 183。

It is highly preferred that 1 lower part of picking rack is equipped with crank driving device, crank driving device is connect with crank 12.

It is highly preferred that the rack side surface of multiple 111 upsides of crankshaft is equipped with multiple pickings and dredges bar 15.

It is highly preferred that the downside of picking sleeve 182 is equipped with duct frame mounting groove 1821,16 one end of duct frame is set to pipeline Picking ratch 18 in frame mounting groove 1821, the other end are set to the downside of multiple levers 17.

It is highly preferred that picking rack 11 divides into organic frame support base 113, the downside of lever 17 is equipped with lever mobile putter.

It is highly preferred that bar 1723 is blocked in the end of multiple levers 17 equipped with the branch vertical with lever.

Specifically, picking captures mechanism and is moved along lever sliding slot, and lever can adjust and pick the distance between ratch, First lip and the second lip are fixed on picking sleeve and lever, convenient for fruit is fixed on the first lip and the second lip Top, the picking sleeve of picking transmission mechanism driving picking mechanism moves back and forth in the axial direction, and then picks sleeve drive and adopt It plucks cutter to move back and forth along picking ratch, the blade push rod for picking cutter is moved along wave cam so that two on picking cutter During the knife-blade of a superposition and the when of being staggered and be aligned, the limb of fruit lower part is sheared, the fruit under being sheared rolls into In the duct frame for picking cutter side, completion picking action, multiple picking sleeves work at the same time, and each sleeve of picking is equipped with more A picking cutter realizes that high-volume is picked.Bar is dredged by being arranged above multiple pickings in picking mechanism, when fruit picking mould Block insertion be inserted into tree crown from fruit tree lower end, it is multiple picking dredge bar larger limb can be supported on picking cutter it On, fruit is being exposed between the first lip and the second lip as far as possible, so that the branch and picking knife of fruit lower end Tool comes into full contact with, and improves picking efficiency, and prevent Cutting Tool Damage fruit.Fruit picking module is arranged on fine tuning lifting platform Side, the lever for capturing mechanism with picking by lever mobile putter one end are connect, the other end and the bar being inserted on subtle lifting platform In the arc groove of translating cam, subtle hoistable platform driving device drives subtle hoistable platform to move horizontally, and then drives picking It captures mechanism to move along sliding slot, realizes that lever and picking sleeve are close, the first lip is contacted and fixed with the second lip with fruit.

Preferably, lifting gear includes：Fast lifting mechanism 3, fine tuning elevating mechanism 2.

Wherein, fast lifting mechanism 3 includes lower bracing frame 34, upper support frame 31, the first scissors connecting rod 33, the second scissors company Bar, fine tuning elevating mechanism mounting platform 24, thread slider 37 and screw thread slide bar 35；Wherein, it the first scissors connecting rod 33 and second cuts Frame connecting rod is set to 34 both sides of lower bracing frame, and fine tuning elevating mechanism mounting platform 24 is arranged on 31 top of upper support frame, and screw thread is slided Block 37 is arranged in lower bracing frame 34, and the threaded one end of screw thread slide bar 35 is connected to thread slider 37.

Fine tuning elevating mechanism is arranged on fine tuning elevating mechanism mounting platform 24.

Preferably, fine tuning elevating mechanism includes hydraulic pump 23 and hydraulic pump mounting bracket, vertical lifting mechanism, level Mobile mechanism；Wherein, 23 mounting bracket of hydraulic pump is arranged on fine tuning elevating mechanism mounting platform 24, and hydraulic pump 23 is arranged on hydraulic pressure It pumps on mounting bracket；Vertical lifting mechanism includes driving tapered gear shaft 2452, first bevel gear axis 2451, second bevel gear axis 2455 And elevating lever 245, one end of driving tapered gear shaft 2452 are connected to the output terminal of hydraulic pump 23, the one of first bevel gear axis 2451 End is engaged in one end of driving tapered gear shaft 2451, and second bevel gear axis 2455 is engaged in the another of first bevel gear axis 2451 End, one end of elevating lever 245 are engaged in one end of second bevel gear axis 2455, and the rotation of driving tapered gear shaft 2452 can drive liter Drop bar 245 rises or falls；Wherein, horizontal mobile mechanism includes horizontal shifting platform 244, movable stand 242 and hydraulic cylinder 243, Horizontal shifting platform 244 is fixed on 245 top of elevating lever, and movable stand 242 is slidedly arranged on 244 top of horizontal shifting platform, hydraulic cylinder 243 one end are connected to horizontal shifting platform 244, and the other end is connected to movable stand 242；Picking module 1 is arranged on movable stand 242 and pushes up Portion.

Preferably, 242 top of movable stand is provided with lever translating cam 1531, is set on lever translating cam 1531 There is arc groove, the lever mobile putter for being set to picking sleeve transmission mechanism bottom is inserted into arc groove, and being capable of arcuately slot It slides.

Specifically, picking sleeve transmission mechanism bottom is provided with branch and steps up bar 171, and branch steps up bar 171 and plugs In the arc groove of lever translating cam 1531, when picking sleeve transmission mechanism driving picking sleeve moves reciprocatingly, pass through To avoid picking sleeve and branch and mechanical equipment rigid Mechanical Contact can occur for the setting of arc groove.

It is highly preferred that the first scissors connecting rod 33 and the second scissors connecting rod respectively include the first scissors bar and the second scissors bar, One end of first scissors bar is articulated with one end of the second scissors bar.

It is highly preferred that lower bracing frame 34 includes a pair of lower support sliding rail, lower fixed link and drop shot 36, it is lower to support in sliding rail Portion is provided with sliding slot, and the lower support sliding rail of a pair is respectively arranged at lower state's fixed pole both sides, and the both ends of drop shot are respectively arranged at lower branch Support sliding rail；Upper support frame 31 includes support sliding rail, upper fixed link and upper slide bar 32 in a pair, and cunning is provided in the middle part of upper support sliding rail Slot, support sliding rail is respectively arranged at state's fixed pole both sides in a pair, and the both ends of upper slide bar 32 are respectively arranged at lower support sliding rail；The One scissors connecting rod 33 and the second scissors connecting rod are set to 34 both sides of lower bracing frame, and 33 one end of the first scissors connecting rod is connected to drop shot 36 other ends are connected to upper slide bar 32, and second scissors connecting rod one end is connected to lower fixed link, and the other end is connected to fixed link；Spiral shell Line sliding block is arranged on drop shot 36, and the threaded one end of screw thread slide bar 35 is connected to thread slider 37.

It is highly preferred that it is set in the middle part of the first scissors bar of the first scissors connecting rod 33 and the first scissors bar of the second scissors connecting rod There is locating pin, locating pin is provided in the middle part of the second scissors bar of the first scissors connecting rod and the second scissors bar of the second scissors connecting rod.

It is highly preferred that the hinged place of the first scissors bar and the second scissors bar is provided with bracing piece.

It is highly preferred that further including driving device, driving device is arranged in lower bracing frame, and screw thread slide bar can be driven to revolve Turn, drive lower fixed link and drop shot close to each other or separate.

It is highly preferred that first bevel gear axis 2451, second bevel gear axis 2455 and elevating lever 245 are two, two first Bevel gear shaft 2451 is engaged in the bevel gear of 2455 both sides of driving tapered gear shaft respectively, and two second bevel gear axis 2455 are nibbled respectively Together in the other end of two first bevel gear axis 2451, two elevating levers 245 are engaged in two second bevel gear axis 2455 respectively The other end.

It is highly preferred that horizontal mobile mechanism is two, it is respectively arranged at the top of two elevating levers 245.

It is highly preferred that vertical lifting mechanism, which further includes lifting, stablizes telescopic rod 246, lift and stablize 246 one end of telescopic rod company Movable stand 242 is connected to, the other end is connected to fine tuning elevating mechanism mounting platform 24.

It is highly preferred that it is multiple that telescopic rod 246 is stablized in lifting.

It is highly preferred that the installation direction of first bevel gear axis 2451 is perpendicular to driving tapered gear shaft 2452, second bevel gear The installation direction of axis 2455 is perpendicular to first bevel gear axis 2451, and the installation direction of elevating lever 245 is perpendicular to second bevel gear axis 2455。

It is highly preferred that further including hydraulic pump motor 21 and hydraulic oil container 22, hydraulic pump motor 21 and hydraulic oil container 22 are set On fine tuning elevating mechanism mounting platform 24.

It is highly preferred that elevating lever 245, which includes elevating lever 245, includes elevating screw 2454 and elevating screw sleeve 2453, rise 2454 one end of drop screw is engaged in second bevel gear axis 2455, and the other end is connected to elevating screw sleeve 2453, elevating screw set Cylinder 2453 is connected to horizontal shifting platform 244.

Specifically, by the setting of thread slider and screw thread slide bar, the slide bar rotation of driving screw thread drives the first scissors connecting rod And second scissors connecting rod unfold and fold, have adjusted the height between lower bracing frame and upper support frame, realize quick adjusting The lifting of upper support frame；Pass through vertical lifting mechanism driving tapered gear shaft, first bevel gear axis, second bevel gear axis and elevating lever Setting, pass through the lifting of multiple bevel gear shafts transmission control elevating lever, the accurate position for controlling vertical direction.

Specifically, by the setting of horizontal mobile mechanism hydraulic cylinder 243, level is accurately and fast adjusted by hydraulic control The position in direction.

Specifically, two first bevel gear axis 2451, second bevel gear axis are driven by a driving tapered gear shaft 2452 2455 rotations, and then the lifting of two elevating levers is controlled, the vertical height of two horizontal mobile mechanisms is adjusted, lifting is improved and cuts The processing speed of frame, has saved the energy, improves the working efficiency of equipment.

Specifically, by the setting of thread slider and screw thread slide bar, the slide bar rotation of driving screw thread drives drop shot to pass through cunning Slot drives unfolding and folding for the first scissors connecting rod and the second scissors connecting rod closer or far from lower fixed link, has adjusted down Height between supporting rack and upper support frame realizes the quick lifting for adjusting upper support frame；Pass through lower bracing frame, upper support The setting of frame, the first scissors connecting rod and the second scissors connecting rod is simple in structure while making fast lifting device firm, for ease of maintenaince The generation of failure can be efficiently avoided with safeguarding.

Preferably, fruit transmission device includes：

Fruit transmission mechanism 6, fruit transmission mechanism 6 include sequentially connected transmission pipeline, connecting pipe, wide opening pipeline 64 And outlet conduit 66, transmission pipeline is set in duct frame, and fruit transmission mechanism 6 is made to be connected with picking module；Pipeline wriggling machine Structure 7, pipeline creeping mechanism 7 includes electromagnetism installing plate 72 and the multiple wriggling solenoid valves 71 being set on electromagnetism installing plate 72, more The wide opening pipeline 64 of a wriggling solenoid valve 71 and fruit transmission mechanism 6 is correspondingly arranged, for driving fruit transmission mechanism 6.

Preferably, transmission pipeline includes three-way pipeline 61 and a pair of of horizontal pipeline 62, and three-way pipeline 61 includes two A input port and a delivery outlet, a pair of of horizontal pipeline 62 are respectively connected to two input ports, and horizontal pipeline 62 is set to picking 182 side of sleeve；

Connecting pipe 63, one end of connecting pipe 63 are connected to delivery outlet, the other end and the wide opening pipeline of connecting pipe 63 64 one end is connected；

Wide opening pipeline 64, the other end of wide opening pipeline 4 are connected to one end of outlet conduit 66；

Outlet conduit 64, the other end of outlet conduit 64 are connected to the import of fruit branch separator 4；

Fixed baffle 65, fixed baffle 65 are fixedly connected with the side of wide opening pipeline 64；

Wherein, a pair of of horizontal pipeline 62 is set to by buckle in duct frame.

It is highly preferred that wide opening pipeline 64 include it is multiple be sequentially communicated heave section and vertical section, heave section and vertical section exist Substitute repeatedly under the driving of pipeline creeping mechanism.

It is highly preferred that wriggling solenoid valve 71 includes：Valve seat 712, valve seat 712 include bottom plate, be fixed on it is parallel above bottom plate The starting stave of setting and the second riser and the lower plate being set to below bottom plate；Valve seat 712, valve seat include bottom plate, are fixed on The starting stave and the second riser that bottom plate both ends are arranged in parallel；Coil 711, coil 711 are set on bottom plate, perpendicular close to first Plate；Upper valve rod 715, upper valve rod 715 are arranged on the front of the second riser, across the second riser；Upper valve inhales iron 721, and upper valve inhales iron 721 are set to the rear of the second riser, adsorb upper valve rod 715；Upper valve head 716, upper valve head 716 are set to 715 front end of upper valve rod, It is correspondingly arranged with the recess section of wide opening pipeline 64.

It is connect it is highly preferred that upper valve inhales iron 721 with upper valve rod 715 by 714 property of resetting spring bullet.

It is highly preferred that upper valve, which inhales iron 721, is equipped with top shoe 713.

It is highly preferred that bottom plate, which is equipped with, interlocks connecting rod shaft 718.

It is highly preferred that wriggling solenoid valve 71 further includes：

Lower valve rod 717, lower valve rod 717 are connect by interlocking connecting rod 719 and upper valve suction iron 721, and lower valve rod 717 passes through down Plate, lower valve rod 717 are equipped with sliding block；Connecting rod 719 is interlocked, connecting rod 719 is interlocked and is rotatably connected with interlocking connecting rod shaft 718, even Dynamic connecting rod 719 is equipped with upper hopper chute and gliding groove, and upper hopper chute and gliding groove slide phase with top shoe 713 and sliding block 722 respectively Even；Lower valve head 720, lower Electrical heads are set to 717 front end of lower valve rod, are correspondingly arranged with the section of heaving of wide opening pipeline 65.

Specifically, when wriggling solenoid valve 71 is powered, upper valve inhales the absorption upper valve rod 715 of iron 721, and valve head 716 leaves in drive The recess section of wide opening pipeline, under the action of interlocking connecting rod 719, lower valve head 720 is contacted with the section of heaving of wide opening pipeline, power-off When, under the action of resetting spring 714, upper valve rod 715 is released, upper valve head 716 is close to recess section, by interlocking connecting rod 719 Under the action of, lower valve head 720 is detached with the section of heaving of wide opening pipeline, and driving wide opening pipeline heaves section and the progress of recess section repeatedly Substitute.

Specifically, during wriggling solenoid valves, upper valve inhales iron absorption upper valve rod, and valve head leaves the recessed of wide opening pipeline in drive Section is fallen into, under the action of interlocking connecting rod, lower valve head is contacted with the section of heaving of wide opening pipeline, during power-off, in the work of resetting spring Under, upper valve rod is released, upper valve head is close to recess section, under the action of interlocking connecting rod, the drum of lower valve head and wide opening pipeline Section separation is played, heave section and the recess section of driving wide opening pipeline are substituted repeatedly.

Specifically, power unit is connected with rotation axis, is uniformly fixedly installed multiple blades in rotation axis, power unit according to Blade rotation in sub-band turn turn and rotation axis, the fruit of picking are entered from import on sieve plate, rotary unit rotation, branch Leaf meeting nature falls to the lower section of more horizontal stripes of sieve plate, and fruit continues to rotate, branches and leaves are fractureed with two adjacent blades, fruit It is real to be exported from outlet.

It is highly preferred that fruit branch separator 4 includes：

Sieve plate 45, sieve plate 45 include more horizontal stripes；Coaming plate 46, coaming plate 46 are set on sieve plate 45, coaming plate 46 be equipped with into Mouth 41 and outlet 44；Rotary unit 42, rotary unit 42 are set to inside coaming plate 46, are set to 45 side on sieve plate；Power unit 43, power unit 43 is set to 45 lower section of sieve plate, is connected with rotary unit 42；Wherein, the outlet conduit of fruit transmission mechanism 6 connects It is connected to the import 41 of fruit branch separator 6.

It is highly preferred that fruit branch separating mechanism further includes：

Fixed frame 47, fixed frame 47 are set to 45 lower section of sieve plate, and fruit branch separating mechanism 4 is fixed on quickly by fixed frame 47 On elevating mechanism 3.

It is highly preferred that more horizontal stripes are set in the same direction, more horizontal stripes are successively away from the first distance.

It is highly preferred that the first distance is 5cm.

It is highly preferred that rotary unit 42 includes：

Rotation axis, rotation axis are set at the center of sieve plate；

Blade, multiple blades are uniformly set in rotation axis.

It is highly preferred that multiple blades are 2-4 blade.

It is highly preferred that power unit 43 and rotation axis connection.

It is highly preferred that power unit 43 is hydraulic motor.

It is highly preferred that sieve plate 45 is metal sieve plate, wooden sieve plate or plastics sieve plate.

It is highly preferred that import 41 is connected with fruit transmission mechanism 6.

Specifically, by the cooperation of rotary unit 43 and sieve plate 45, fruit and branches and leaves are automatically separated, improve the machine of picking Tool efficiency reduces the labor intensity of worker, improves the efficiency of fruit branch separation, and the labour for reducing worker is dangerous, avoids by branch Leaf scratches.

Specifically, power unit 43 is connected with rotation axis, and multiple blades, power unit are uniformly fixedly installed in rotation axis 43 drive rotation to turn to enter on sieve plate 45 from import with the blade rotation in rotation axis, the fruit of picking successively, rotary unit 42 rotations, branches and leaves meeting nature fall to the lower section of more horizontal stripes of sieve plate, and fruit continues to rotate with two adjacent blades, by branch Leaf fractures, and fruit is exported from outlet 44.

It is highly preferred that cutter 185 includes：Knife rest 1856 is picked, blade axis pin mounting hole is equipped among picking knife rest 1856 1854。

Cutter 1851, the side of cutter 1851 are symmetrically provided with two rows of blade slots, and the axis of cutter 1851 is equipped with Laterally fixed sliding block and pin shaft hole, pin shaft hole are connect by axis pin with blade axis pin mounting hole.

Bottom knife 1852, bottom knife 1852 include bottom knife push rod and the upper knife edge for being set to bottom knife push rod two sides, The first sliding groove, spring fixing glue and second sliding slot are equipped on the axis of bottom knife push rod successively, laterally fixed sliding block is set to the In one sliding slot, axis pin is set in second sliding slot, resetting spring 1853 is equipped between spring fixing glue and axis pin, bottom knife can It is moved up and down along the first sliding groove and second sliding slot.

It is highly preferred that the both sides of blade axis pin mounting hole are arranged with and evade resetting spring 1853 and be buckled.

It is highly preferred that evading resetting spring buckle is equipped with resetting spring 1853, the steel wire of resetting spring 1853 is tightly attached to The both sides of cutter.

It is highly preferred that picking knife rest 1856 is halfround bar slice, the lower part of halfround bar slice is equipped with fold-type side, and the both ends on fold-type side are equipped with Fixing threaded hole is installed.

It is highly preferred that picking knife rest 1856 is set to by installing fixing threaded hole on picking sleeve 182.

It is highly preferred that cutter 1851 is ellipse.

It is highly preferred that blade slot is barb-shaped.

It is highly preferred that during spring relaxation, blade slot is staggered with upper knife edge, during spring compression, blade slot with upper knife edge simultaneously.

Each embodiment of the utility model is described above, above description is exemplary, and non-exclusive, and And it is also not necessarily limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for Many modifications and changes will be apparent from for those skilled in the art.

Claims

1. a kind of lifting scissors, which is characterized in that the lifting scissors includes：

Support movable stand；

Hydraulic pump and hydraulic pump mounting bracket, the hydraulic pump mounting bracket are arranged on the support movable stand, and the hydraulic pump is set It puts on the hydraulic pump mounting bracket；

Vertical lifting mechanism, the vertical lifting mechanism include driving tapered gear shaft, first bevel gear axis, second bevel gear axis and Elevating lever, one end of the driving tapered gear shaft are connected to the output terminal of the hydraulic pump, one end of the first bevel gear axis One end of the driving tapered gear shaft is engaged in, the second bevel gear axis is engaged in the other end of the first bevel gear axis, One end of the elevating lever is engaged in one end of the second bevel gear axis, and the driving tapered gear shaft rotation can drive described Elevating lever rises or falls；

Horizontal mobile mechanism, the horizontal mobile mechanism includes horizontal shifting platform, movable stand and hydraulic cylinder, described to move horizontally Platform is fixed at the top of the elevating lever, and the movable stand is slidedly arranged at the top of the horizontal shifting platform, described hydraulic cylinder one end The horizontal shifting platform is connected to, the other end is connected to the movable stand.

2. lifting scissors according to claim 1, which is characterized in that the first bevel gear axis, the second bevel gear Axis and the elevating lever are two, and two first bevel gear axis are engaged in the cone tooth of the driving tapered gear shaft both sides respectively Wheel, two second bevel gear axis are engaged in the other end of two first bevel gear axis, two elevating levers respectively It is engaged in the other end of described two second bevel gear axis respectively.

3. lifting scissors according to claim 2, which is characterized in that the horizontal mobile mechanism is two, is set respectively In the top of two elevating levers.

4. lifting scissors according to claim 2, which is characterized in that the vertical lifting mechanism further includes lifting stabilization and stretches Contracting bar, the lifting stablize telescopic rod one end and are connected to the support movable stand, and the other end is connected to the horizontal shifting platform.

5. lifting scissors according to claim 4, which is characterized in that it is multiple that telescopic rod is stablized in the lifting.

6. lifting scissors according to claim 1, which is characterized in that the installation direction of the first bevel gear axis perpendicular to The driving tapered gear shaft, the installation direction of the second bevel gear axis is perpendicular to the first bevel gear axis, the elevating lever Installation direction perpendicular to the second bevel gear axis.

7. lifting scissors according to claim 1, which is characterized in that hydraulic pump motor and hydraulic oil container are further included, it is described Hydraulic pump motor and hydraulic oil container are arranged on the support movable stand.

8. lifting scissors according to claim 1, which is characterized in that the elevating lever includes elevating lever and includes elevating screw And elevating screw sleeve, described elevating screw one end are engaged in the second bevel gear axis, the other end is connected to the lifting silk Rod sleeve, the elevating screw sleeve connection is in the horizontal shifting platform.

9. a kind of fruit picking robot, which is characterized in that the fruit picking robot includes：

Fast lifting module；

Lifting scissors in claim 1-8 described in any one, the lifting scissors are set to the fast lifting module top Portion；

Module is picked, the picking module is set at the top of the movable stand；

Fruit transmission module, described fruit transmission module one end are connected to the picking module, and the other end passes through the quick liter Falling unit is connected at the top of the hand steered cart.

10. fruit picking robot according to claim 9, which is characterized in that further include fruit branch separation module, the fruit Branch separation module is set to the end of the fruit transmission module.