CN209693471U - A kind of biting connecions dragon fruit picker - Google Patents

Abstract

This patent discloses a kind of biting connecions dragon fruit pickers, including clamping device, induction mechanism, cutting mechanism and controller；The clamping device includes two retaining paws, clamping rack and the first driving mechanism, concave arc clamping face is equipped on two retaining paws, one end of two retaining paws is set in rotary manner in clamping rack and two retaining paws are distributed in the opposite mode of concave arc clamping face, and first driving mechanism is installed in the clamping rack and for driving two retaining paws to carry out towards or away from rotation；The alternative artificial use plucking shears of this patent is picked, and it is time saving and energy saving to pick, and automatization level is high；And can be cut by picking requirement and stay certain mesophyll, facilitate the transport and storage of dragon fruit；The damage to flue fruits can be reduced in picking process simultaneously.

Description

A kind of biting connecions dragon fruit picker

Technical field

This patent belongs to fruit picking technical field, and in particular to a kind of biting connecions dragon fruit picker.

Background technique

The dragon fruit of Chinese market is 53.3 ten thousand tons mainly from Vietnam, import volume in 2017, and continuous 5 years more than 500,000 Ton.But Chinese dragon fruit cultivated area was sharply expanded in recent years, and according to incompletely statistics, national dragon fruit cultivated area is more than 60 Ten thousand mu, Guangxi cultivated area accounts for about the 40% of national total area, the followed by ground such as Guangdong, Guizhou, Yunnan, Hainan.Chinese dragon fruit Collecting season is annual 5-December.With flourishing for Chinese dragon fruit plantation industry, it is current for reducing harvest operation expense One of urgent problem to be solved in Production of fruit industry.In addition guarantee fruit timely collecting, and influence the important of fruit quality One of factor, not only influence work as batch fruit yield, quality and storage property, to the nutrient accumulation of tree body, bud differentiation and under A batch of yield also has apparent influence.

Dragon fruit need to be cut when picking fruit and stay certain mesophyll, to facilitate the transport and storage of dragon fruit.Tradition Dragon fruit picking, to hold fruit by an artificial hand after, fruit is connect with branch using cutter with another hand Position is cut off or is cut, such Softening, very time-consuming and laborious.But up to the present, and there are no flue fruit picking machines Tool equipment can come into operation, and still manually to be picked using plucking shears, automatization level is still lower in each application base.As now There is a kind of dragon fruit picker (201810265669.1) clamping hand to be closed simultaneously, blade can cut off carpopodium, and not Consider dragon fruit blade position, holds rear direct shearing and be easy to clip to fruit to cause fruit to damage and accidentally pluck sky It plucks.Therefore need it is a kind of it is alternative it is artificial using plucking shears picking, can accurately search out dragon fruit blade and sheared with And the dragon fruit picker for staying certain mesophyll can be cut.

Summary of the invention

The technical problem to be solved is that provide a kind of biting connecions dragon fruit in view of the above shortcomings of the prior art for this patent Picker, the alternative artificial use plucking shears of this biting connecions dragon fruit picker are picked, and time saving and energy saving, Automated water is picked Flat height；And can accurately search out dragon fruit blade and be sheared, the damage to fruit is reduced in shear history；Energy simultaneously It is cut by picking requirement and stays certain mesophyll, facilitate the transport and storage of dragon fruit.

To realize the above-mentioned technical purpose, the technical solution that this patent is taken are as follows:

A kind of biting connecions dragon fruit picker, including clamping device, induction mechanism, cutting mechanism and controller；

The clamping device includes two retaining paws, clamping rack and the first driving mechanism, on two retaining paws Equipped with concave arc clamping face, one end of two retaining paws is set in rotary manner in clamping rack and two retaining paws It is distributed in the mode that concave arc clamping face is opposite, first driving mechanism is installed in the clamping rack and for driving two Retaining paw is carried out towards or away from rotation；

The induction mechanism includes two induction brackets, induction rack and the second driving mechanism, in two induction brackets Equipped with cancave cambered surface, one end of two induction brackets is set in rotary manner in induction rack and two induction brackets are with recessed The opposite mode of cambered surface is distributed, and second driving mechanism is installed in the induction rack and for driving two induction brackets It carries out towards or away from rotation, the cancave cambered surface of two induction brackets is equipped with idler wheel and first pressure sensor and two induction branch Frame is connected by extension spring, and the top of two induction bracket cancave cambered surfaces is equipped with second pressure sensor；

The cutting mechanism include two engaging tooths and two third driving mechanisms, symmetrical and inclined point of two engaging tooths Cloth is mounted on third driving mechanism on the two sides of induction bracket, each induction bracket, and two third driving mechanisms are for dividing Not Qu Dong two engaging tooths be flipped up engagement or downwardly turn over separation, two engaging tooths be flipped up after can level engagement In the top certain distance of induction bracket, downwardly turning over after separation can symmetrical and inclined two sides positioned at induction bracket；

The induction mechanism is located at the extending direction and retaining paw length of clamping device top and induction bracket length Extending direction is vertical, and the side of the clamping rack is connected with straight line driving mechanism, and the straight line driving mechanism is for driving sense Mechanism is answered to move along the direction far from clamping device；

The first pressure sensor, second pressure sensor, the first driving mechanism, the second driving mechanism, third driving Mechanism and straight line driving mechanism are electrically connected with controller.

As the further improved technical solution of this patent, the clamping rack includes that clamping bottom plate and clamping are covered, described First driving mechanism is installed on the clamping bottom plate and the first driving mechanism is connected with one end of push rod, the push rod other end Left and right side be hinged with first connecting rod, two first connecting rods are hinged with two retaining paws respectively and two clampings One end of gripper is hinged with clamping bottom plate, and first driving mechanism is linearly mobile to make to push away for driving push rod Bar drives two retaining paws to carry out towards or away from rotation, and the clamping cover is fixedly connected with clamping bottom plate and the first driving machine Structure, push rod and first connecting rod are respectively positioned between clamping cover and clamping bottom plate.

As the further improved technical solution of this patent, two limits being parallel to each other are additionally provided on the clamping bottom plate Rectangular recess is formed between protrusion and two retention beads, the push rod is located in rectangular recess and push rod can be in rectangular recess Along linear slide.

As the further improved technical solution of this patent, first driving mechanism uses electric pushrod, described electronic The driving end of push rod and one end of push rod connect, and the electric pushrod and controller are electrically connected.

As the further improved technical solution of this patent, the induction rack includes that induction bottom plate and induction are covered, described Induction bottom plate is fixedly connected with induction cover, and second driving mechanism uses driving motor, and the driving motor is installed on described Induction cover is above and the output shaft of driving motor protrudes into the induction cover and is connected with first gear group, and the first gear group is logical It crosses gear shaft to be rotatably connected on the induction bottom plate, hinged in the first gear group there are two the second companies Bar, each second connecting rod is hinged with one end of an induction bracket, and each induction bracket passes through third connecting rod and induction Bottom plate is hinged, and the driving motor is used to drive two second connecting rod rotations to make two second connecting rods by first gear group Two induction brackets are driven to carry out towards or away from rotation, the driving motor and controller are electrically connected.

As the further improved technical solution of this patent, the induction bracket includes camber section, straight type section and L-type section, The camber section, straight type section and L-type section are sequentially connected and are integrated mechanism, and the camber section is equipped with cancave cambered surface, and the cancave cambered surface is set There are multiple idler wheels and first pressure sensor, the top of the camber section of the induction bracket is equipped with second pressure sensor, the L Type section is hinged with second connecting rod and third connecting rod respectively；

The straight type section of one induction bracket is connect with the straight type section of another induction bracket by extension spring.

As the further improved technical solution of this patent, it is equipped with along its length in the middle part of a line of the L-type section One end of the strip groove of extension, the second connecting rod and third connecting rod is respectively positioned in the strip groove of the L-type section and and strip groove Hingedly.

As the further improved technical solution of this patent, the third driving mechanism uses rotating electric machine, the rotation Motor is installed in the L-type section of the induction bracket and is located on the outside of induction bracket, and the output shaft of the rotating electric machine is connected with Second gear group, the second gear group is rotatably connected in the induction bracket by gear shaft, described Second gear group is connected with engaging lug, the end vertical connection of the engaging lug and engaging tooth, the electric rotating by connecting shaft Machine is used to be drivingly connected ear rotation by second gear group to make engaging lug that engaging tooth be driven to be flipped up to induction bracket Square certain distance is downwardly turned over to the two sides of induction bracket, and the rotating electric machine and controller are electrically connected.

As the further improved technical solution of this patent, the straight line driving mechanism uses electric pushrod, described electronic Push rod is connect by fixed frame with clamping rack, and the driving end of the electric pushrod passes through the sense of support frame and the induction mechanism Rack lower surface is answered to connect, the electric pushrod is used to that induction mechanism to be driven to move along the direction far from clamping device, the electricity Dynamic push rod and controller are electrically connected.

As the further improved technical solution of this patent, the controller is installed in the clamping rack, the folder The concave arc clamping face for holding gripper is equipped with cushion.

This patent has the beneficial effect that

(1) this patent is picked compared to traditional artificial using plucking shears, and it is time saving and energy saving to pick, and automatization level is high.

(2) induction mechanism of this patent, can be along the side perpendicular to dragon fruit blade under the promotion of straight line driving mechanism To mobile at petiole, arrive to blade stopping, capable of accurately searching out dragon fruit blade, and can by change connecting shaft with connect The distance between tie point and engaging tooth of ear are flipped up the spacing between induction bracket afterwards to set engaging tooth, thus It more accurately determines off-position, the damage to flue fruits is reduced in shear history.

(3) it is located at certain distance above induction bracket when the engaging tooth of this patent is flipped up engagement, in dragon fruit at last It when fruit is bitten broken, can bite in dragon fruit blade, make the fruit picked with part mesophyll, be conducive to the transport of dragon fruit And storage, more meet the picking requirement of dragon fruit.

(4) cushion on the retaining paw of this patent can have buffer protection function, induction bracket to flue fruits On idler wheel with the rolling friction of flue fruits and induction bracket bracket compared with flue fruits directly contact, further subtract The damage to flue fruits is lacked.

Detailed description of the invention

Fig. 1 is the overall structure diagram of this patent.

Fig. 2 is the clamping device structural schematic diagram of this patent.

Fig. 3 is the induction mechanism and cutting mechanism structural schematic diagram of this patent.

Fig. 4 is that two engaging tooths of the cutting mechanism of this patent are flipped up the structural schematic diagram of engagement.

Fig. 5 is this patent usage state diagram.

Specific embodiment

Specific implementation of the patent mode is further illustrated below according to Fig. 1 to Fig. 5:

A kind of biting connecions dragon fruit picker, including clamping device, induction mechanism, cutting mechanism and controller 26.

Referring to Fig. 1 and Fig. 2, the clamping device includes two retaining paws 1, clamps rack 2 and the first driving mechanism 6, It is equipped with concave arc clamping face on two retaining paws 1, cushion, one end of two retaining paws 1 are equipped on concave arc clamping face It is set in rotary manner in clamping rack 2 and two retaining paws 1 is distributed in the opposite mode of concave arc clamping face, it is described First driving mechanism 6 is installed in the clamping rack 2 and for driving two retaining paws 1 to carry out towards or away from rotation.

Referring to Fig. 1, specifically, the clamping rack 2 includes clamping bottom plate 2-1 and clamping cover 2-2.Referring to fig. 2, described One driving mechanism 6 is installed on the clamping bottom plate 2-1 and the first driving mechanism 6 is connected with one end of push rod 3, the push rod 3 The left and right side of the other end is hinged with first connecting rod 4, the other end of two first connecting rods 4 respectively with two clamping hands One end of pawl 1 is hingedly and the end of two retaining paws 1 is also hinged with clamping bottom plate 2-1, first connecting rod 4 and retaining paw 1 Articulated position is higher than retaining paw 1 and clamping bottom plate 2-1 articulated position.First driving mechanism 6 is for driving push rod 3 along straight Line direction is mobile to make push rod 3 and first connecting rod 4 that two retaining paws 1 be driven to carry out towards or away from rotation.The clamping Cover 2-2 is fixedly connected with clamping bottom plate 2-1 and the first driving mechanism 6, push rod 3 and first connecting rod 4 are respectively positioned on clamping cover 2-2 and folder (inside) is held between bottom plate 2-1.Two retention beads being parallel to each other 5 and two limits are additionally provided on the clamping bottom plate 2-1 Form rectangular recess between protrusion 5, the push rod 3 be located at that rectangular recess is interior and push rod 3 can in rectangular recess along linear slide, The purpose of two retention beads 5 is anti-throw-out lever 3 double swerve when movement.First driving mechanism 6 is using existing Common straight line executes structure, i.e. electric pushrod, one end of driving end (i.e. the promote-side) and push rod 3 of the electric pushrod in technology Connection, for pushing push rod 3 to move along a straight line.The electric pushrod and controller 26 are electrically connected.

Referring to Fig. 1, the induction mechanism includes two induction brackets 7, induction rack 8 and the second driving mechanism 13, and two Be equipped with cancave cambered surface in induction bracket 7, one end of two induction brackets 7 be set in rotary manner in induction rack 8 and Two induction brackets 7 are distributed in the opposite mode of cancave cambered surface, second driving mechanism 13 be installed in the induction rack 8 and For driving two induction brackets 7 to carry out towards or away from rotation, the cancave cambered surface of two induction brackets 7 is equipped with multiple idler wheels 9 With first pressure sensor 10 and two induction brackets 7 are connected by extension spring 11, and idler wheel 9 and first pressure sensor 10 can Positioned at sustained height.The top of two 7 cancave cambered surfaces of induction bracket is equipped with multiple second pressure sensors 12.

Referring to Fig. 3, the induction rack 8 includes induction bottom plate 8-1 and induction cover (induction cover is omitted in Fig. 3), the sense Bottom plate 8-1 is answered to be fixedly connected with and formed between the two accommodation space with induction cover, second driving mechanism 13 is using driving electricity Machine, the shell of the driving motor are installed on that the induction cover is upper and the output shaft of driving motor protrudes into the induction cover and connects First gear group 14(first gear group 14 is connected to be located in accommodation space), the first gear group 14 is by gear shaft with can The mode of rotation is connected on the induction bottom plate 8-1, and hinged in the first gear group 14 there are two second connecting rods 15, each Second connecting rod 15 is hinged with the end of an induction bracket 7, and each induction bracket 7 also passes through third connecting rod 16 and induction The end of bottom plate 8-1 is hinged, and driving motor is used to drive two operatings of second connecting rod 15 to make two by first gear group 14 A second connecting rod 15 drives two induction brackets 7 to carry out towards or away from rotation.Driving motor and controller 26 are electrically connected.

The structure of the first gear group 14 of the present embodiment as shown in figure 3, include pinion gear 14-1, the first gear wheel 14-2 and Second gear wheel 14-3, pinion gear 14-1, the first gear wheel 14-2 and the second gear wheel 14-3, which are rotated by gear shaft, to be connected In on induction bottom plate 8-1, the output shaft of the second driving mechanism 13 is connect with pinion gear 14-1, pinion gear 14-1 and the first gear wheel 14-2 engagement, the first gear wheel 14-2 is engaged with the second gear wheel 14-3, on the first gear wheel 14-2 and the second gear wheel 14-3 Each spinning is connected with second connecting rod 15, when the output shaft driving pinion 14-1 of the second driving mechanism 13 rotation, small tooth Taking turns 14-1 drives both the first gear wheel 14-2 and the second gear wheel 14-3 to reversely rotate, to realize two induction brackets 7 Towards or away from rotation.

Referring to Fig. 3, the induction bracket 7 include camber section 7-1, straight type section 7-2 and L-type section 7-3, the camber section 7-1, Straight type section 7-2 and L-type section 7-3 is sequentially connected and is integrated mechanism, and cancave cambered surface, the cancave cambered surface are equipped on the inside of the camber section 7-1 Equipped with multiple idler wheels 9 and first pressure sensor 10, the top of the camber section 7-1 of the induction bracket 7 is equipped with multiple second pressures Force snesor 12, the L-type section 7-3 are hinged with second connecting rod 15 and third connecting rod 16 respectively.

The straight type section 7-2 of the induction bracket 7 of one of the present embodiment and straight type section 7-2 of another induction bracket 7 it Between connected by two extension springs 11.

Referring to fig. 4, the strip groove 7- extended along its length is equipped in the middle part of a line of the L-type section 7-3 of the present embodiment One end of 3-1, the second connecting rod 15 and third connecting rod 16 is respectively positioned in the strip groove 7-3-1 of the L-type section 7-3 and and bar shaped Slot 7-3-1 is hinged.

Referring to Fig. 3, the cutting mechanism includes two engaging tooths 17 and two third driving mechanisms 18, two engaging tooths 17 The symmetrical and inclined two sides (referring to Fig. 1) for being distributed in two induction brackets 7, table on the outside of the L-type section 7-3 of each induction bracket 7 Face is mounted on third driving mechanism 18, and two third driving mechanisms 18 are used to respectively drive two engaging tooths 17 to be flipped up and nibble Separation is closed or downwardly turns over, two engaging tooths 17 are flipped up the rear horizontal top certain distance for being engaged in induction bracket 7, Downwardly turn over the symmetrical and inclined two sides positioned at induction bracket 7 after separating.

Specifically, the third driving mechanism 18 uses rotating electric machine, and the casing of the rotating electric machine is installed on the sense It answers on the L-type section 7-3 of bracket 7 and is located at 7 outside of induction bracket, the output shaft of the rotating electric machine is connected with second gear group 19, (particularly, the second gear group 19 is rotatably connected in the induction bracket 7 by gear shaft Mounting plate 20 is connected on the straight type section 7-2 of induction bracket 7, second gear group 19 is rotatably connected by gear shaft It is connected on mounting plate 20, mounting plate 20 plays the purpose of support second gear group 19, and the output shaft of rotating electric machine is from mounting plate 20 preformed hole is stretched out and is connect with second gear group 19, for driving second gear group 19 to rotate), the second gear group 19 Engaging lug 22(shape is connected with referring to fig. 4 by connecting shaft 21), the engaging lug 22 is vertical with one end of engaging tooth 17 to be connect, Two rotating electric machines are used to drive two rotations of engaging lug 22 to make two by the second gear group 19 respectively connected Engaging lug 22 drives two engaging tooths 17 to be flipped up to 7 top certain distance of induction bracket respectively and engages or downwardly turn over Two sides and separation under to induction bracket 7, two engaging tooths 17 are flipped up mesh schematic representation and can be found in Fig. 4, downwardly turn over point From schematic diagram reference can be made to Fig. 3.Rotating electric machine and controller 26 are electrically connected.

Second gear group 19 in the present embodiment includes two gears, a pinion gear and a gear wheel, two gears It is rotatably connected on mounting plate 20 and two gear intermeshings, the output shaft of third driving mechanism 18 drives Dynamic pinion gear rotation, pinion gear drive gear wheel rotation, and gear wheel drives the rotation of engaging lug 22 to drive by connecting shaft 21 Engaging tooth 17 is flipped up or downwardly turns over.

Referring to Fig. 1, the induction mechanism is located at the extending direction and clamping hand of clamping device top and 7 length of induction bracket The extending direction of 1 length of pawl is vertical, and the side of the clamping rack 2 is connected with straight line driving mechanism 23, the straight line driving Structure 23 is used to that induction mechanism to be driven to move along the direction far from clamping device.

Referring to Fig. 1, the straight line driving mechanism 23 uses the common straight line driving mechanism of the prior art, i.e. electric pushrod, The electric pushrod is connect by fixed frame 24 with clamping rack 2, and the driving end (i.e. promote-side) of the electric pushrod passes through support frame 25 connect with 8 lower surface of induction rack of induction mechanism, which drives for pushing support frame 25 to move along a straight line Dynamic induction mechanism is moved along the direction far from clamping device.The electric pushrod and controller 26 are electrically connected.

First pressure sensor 10, second pressure sensor 12, first driving mechanism 6, the second driving machine of the present embodiment Structure 13, third driving mechanism 18 and straight line driving mechanism 23 are electrically connected with controller 26, and wherein electric connection figure is all made of The prior art.First pressure sensor 10, second pressure sensor 12, the first driving mechanism 6, the second driving mechanism 13, third Driving mechanism 18 and straight line driving mechanism 23 and controller 26 are respectively connected with power supply, and the specific installation site of power supply is not Limit.Controller 26 is installed in the clamping rack 2.

Electric pushrod used in the present embodiment use the common electric pushrod of the prior art, such as: including servo motor, The structures such as shaft coupling, nut, screw rod, cylinder barrel.Electric pushrod is a kind of straight line executing mechanism.

The clamping rack 2 of the biting connecions dragon fruit picker of the present embodiment is used to support whole device, can be by people Work hand-held is manipulated by automation equipment.If for example, being manipulated by automation equipment, in the present embodiment Picker can connect on the mechanical arm for having vision system, connect by clamping rack 2 with mechanical arm, just can be with External view system, mechanical arm are combined into complete, accurate, controllable intelligent seed harvester.It is slightly identified in visual identifying system Out after the spatial position of dragon fruit, information is transferred to computer control system, and computer control system controls manipulator motion, Picker is set to move to the suitable position of dragon fruit.Under the picker original state of the present embodiment, retaining paw 1 and induction Bracket 7 is in obvolvent state.After starting power supply, controller 26 controls the second driving mechanism 13 and the first driving mechanism 6 Work, the second reversion counterclockwise of driving mechanism 13, two induction brackets 7 of obvolvent is pulled open, the first driving mechanism 6(is electronic to be pushed away Bar) push rod 3 is elapsed upwards, retaining paw 1 is opened, retaining paw 1 is sent to 27 bottom of flue fruits by mechanical arm, by flue Fruits 27 are inserted in retaining paw 1 (as shown in Figure 5), and controller 26 controls the work of the first driving mechanism 6, the first driving mechanism 6 drive push rods 3 move down, and tighten retaining paw 1, obvolvent flue fruits 27.Then, the second driving machine in induction mechanism Structure 13(driving motor) it rotates forward clockwise, it drives the gear of first gear group 14 to do corresponding sports, two induction brackets 7 is received Tightly, if the first pressure sensor 10 on the inside of 7 cancave cambered surface of induction bracket is pressed onto flue fruits 27, controller can be transmitted a signal to 26, controller 26 controls the power-off stalling of the second driving mechanism 13, then controls straight line driving mechanism 23(electric pushrod) movement, pass through Support frame 25 drives the induction bracket 7 of induction mechanism to rise along flue fruits 27, at the same time, between two induction brackets 7 Extension spring 11 due to the restoring force of itself make two induction brackets 7 inwardly tighten, make induction bracket 7 paste flue fruits 27 Rise, in uphill process, idler wheel 9 rolls induction bracket 7 on flue fruits 27, and idler wheel 9 rolls on flue fruits 27 It moves compared with induction bracket 7 is slided directly on flue fruits 27, it is possible to reduce the damage to flue fruits 27.Induction branch (fire is searched out by 28 pressure of dragon fruit blade after rising certain altitude equipped with second pressure sensor 12 on the upside of frame 7 Imperial fruit blade 28), second pressure sensor 12 transmits a signal to controller 26, and controller 26 drives straight line driving mechanism 23 to stop Work, induction mechanism stop rising, third driving mechanism 18(rotating electric machine) it starts to work, drive second gear group 29 to act, So that two engaging tooths 17 is flipped up engagement, bite in the mesophyll of dragon fruit blade 28, finally bites dragon fruit blade 28 broken.By Positioned at the top certain distance of induction bracket 7 when engaging tooth 17 is flipped up engagement, therefore stung in flue fruits 27 at last When disconnected, it can bite in the mesophyll of dragon fruit blade 28, to cut the flue fruits 27 with a small pieces mesophyll.Above-mentioned control The control process of device 26 is all made of the prior art, is not belonging to the protection scope of this patent.

The protection scope of this patent includes but is not limited to embodiment of above, and the protection scope of this patent is with claims Subject to, replacement, deformation, the improvement that those skilled in the art that any pair of this technology is made is readily apparent that each fall within this patent Protection scope.

Claims (10)

1. a kind of biting connecions dragon fruit picker, it is characterised in that: including clamping device, induction mechanism, cutting mechanism and control Device processed；

The clamping device includes two retaining paws, clamping rack and the first driving mechanism, is equipped on two retaining paws Concave arc clamping face, one end of two retaining paws is set in rotary manner in clamping rack and two retaining paws are with recessed The opposite mode of arc clamping face is distributed, and first driving mechanism is installed in the clamping rack and for driving two clampings Gripper is carried out towards or away from rotation；

The induction mechanism includes two induction brackets, induction rack and the second driving mechanism, is equipped in two induction brackets Cancave cambered surface, one end of two induction brackets is set in rotary manner in induction rack and two induction brackets are with cancave cambered surface Opposite mode is distributed, and second driving mechanism is installed in the induction rack and for driving two induction brackets to carry out Towards or away from rotation, the cancave cambered surface of two induction brackets is equipped with idler wheel and first pressure sensor and two induction brackets are logical The top of the connection of overstretching spring, two induction bracket cancave cambered surfaces is equipped with second pressure sensor；

The cutting mechanism includes two engaging tooths and two third driving mechanisms, and two engaging tooths are symmetrical and inclined are distributed in The two sides of induction bracket are mounted on third driving mechanism in each induction bracket, and two third driving mechanisms for driving respectively Dynamic two engaging tooths are flipped up engagement or downwardly turn over separation, and what two engaging tooths can be horizontal after being flipped up is engaged in sense The top certain distance for answering bracket, downwardly turning over can symmetrical and inclined two sides positioned at induction bracket after separation；

The induction mechanism is located above clamping device and the extension of the extending direction of induction bracket length and retaining paw length Direction is vertical, and the side of the clamping rack is connected with straight line driving mechanism, and the straight line driving mechanism is for driving induction machine Structure is moved along the direction far from clamping device；

The first pressure sensor, second pressure sensor, the first driving mechanism, the second driving mechanism, third driving mechanism It is electrically connected with controller with straight line driving mechanism.

2. biting connecions dragon fruit picker according to claim 1, it is characterised in that: the clamping rack includes clamping Bottom plate and clamping cover, first driving mechanism is installed on the clamping bottom plate and the first driving mechanism is connected with the one of push rod End, the left and right side of the push rod other end are hinged with first connecting rod, and two first connecting rods are clamped with two respectively Gripper is hingedly and one end of two retaining paws is hinged with clamping bottom plate, and first driving mechanism is for driving push rod along straight Line direction is mobile to make push rod that two retaining paws be driven to carry out towards or away from rotation, and the clamping cover and clamping bottom plate are solid Fixed connection and the first driving mechanism, push rod and first connecting rod are respectively positioned between clamping cover and clamping bottom plate.

3. biting connecions dragon fruit picker according to claim 2, it is characterised in that: be additionally provided on the clamping bottom plate Form rectangular recess between two retention beads being parallel to each other and two retention beads, the push rod be located in rectangular recess and Push rod can be in rectangular recess along linear slide.

4. biting connecions dragon fruit picker according to claim 3, it is characterised in that: first driving mechanism uses Electric pushrod, the driving end of the electric pushrod and one end of push rod connect, and the electric pushrod and controller are electrically connected.

5. biting connecions dragon fruit picker according to claim 1, it is characterised in that: the induction rack includes induction Bottom plate and induction cover, the induction bottom plate are fixedly connected with induction cover, and second driving mechanism uses driving motor, the drive Dynamic motor is installed on the induction cover above and the output shaft of driving motor protrudes into the induction cover and be connected with first gear group, The first gear group is rotatably connected on the induction bottom plate by gear shaft, in the first gear group Hinged there are two second connecting rods, and each second connecting rod is hinged with one end of an induction bracket, and each induction bracket is logical Cross third connecting rod and induction bottom plate be hinged, the driving motor be used to driving by first gear group the rotation of two second connecting rods from And making two second connecting rods that two induction brackets be driven to carry out towards or away from rotation, the driving motor electrically connects with controller It connects.

6. biting connecions dragon fruit picker according to claim 5, it is characterised in that:

The induction bracket includes camber section, straight type section and L-type section, and it is one that the camber section, straight type section and L-type section, which are sequentially connected, Body mechanism, the camber section are equipped with cancave cambered surface, and the cancave cambered surface is equipped with multiple idler wheels and first pressure sensor, the induction branch The top of the camber section of frame is equipped with second pressure sensor, and the L-type section is hinged with second connecting rod and third connecting rod respectively；

The straight type section of one induction bracket is connect with the straight type section of another induction bracket by extension spring.

7. biting connecions dragon fruit picker according to claim 6, it is characterised in that: in a line of the L-type section Portion is equipped with the strip groove that extends along its length, and one end of the second connecting rod and third connecting rod is respectively positioned on the L-type section It is in strip groove and hinged with strip groove.

8. biting connecions dragon fruit picker according to claim 6, which is characterized in that the third driving mechanism uses Rotating electric machine, the rotating electric machine are installed in the L-type section of the induction bracket and are located on the outside of induction bracket, the electric rotating The output shaft of machine is connected with second gear group, and the second gear group is rotatably connected to described by gear shaft In induction bracket, the second gear group is connected with engaging lug, the end vertical of the engaging lug and engaging tooth by connecting shaft Connection, the rotating electric machine are used to be drivingly connected ear rotation by second gear group to make engaging lug drive engaging tooth to turning over It goes to certain distance above induction bracket or downwardly turns over to the two sides of induction bracket, the rotating electric machine and controller are electrical Connection.

9. biting connecions dragon fruit picker according to claim 1, which is characterized in that the straight line driving mechanism uses Electric pushrod, the electric pushrod are connect by fixed frame with clamping rack, and the driving end of the electric pushrod passes through support frame It is connect with the induction rack lower surface of the induction mechanism, the electric pushrod is for driving induction mechanism along far from clamping device Direction it is mobile, the electric pushrod and controller are electrically connected.

10. biting connecions dragon fruit picker according to any one of claims 1 to 9, which is characterized in that the controller It is installed in the clamping rack, the concave arc clamping face of the retaining paw is equipped with cushion.