CN209914505U - Fruit picking executor with two shears - Google Patents

Abstract

The utility model discloses a fruit picking actuator with one device and two shears, which comprises a bracket. The front end of the bracket is provided with a fruit clamping device and a fruit stalk shearing device. The fruit stalk shearing device can clamp the fruit in the fruit clamping device. The stalk above the fruit is cut, and the front end of the bracket is also provided with a stalk trimming device. The trimming knife below the position, the fruit stem trimming device further comprises a trimming knife driving device installed at the front end of the bracket to be able to drive the trimming knife to cut off the stem of the fruit. The utility model has a simple structure, can cut the fruit stalk and shorten the length of the fruit stalk during the fruit picking process, avoids damage to other fruits when the fruits are stacked and stored, and also reduces the workload of workers .

Description

Fruit picking executor with two shears

technical field

The utility model relates to a fruit picking tool, in particular to a fruit picking actuator with one device and two shears.

Background technique

In recent years, with the deepening of the reform of my country's rural economic system and the development of the market economy, fruit production has increased significantly year by year, and the fruit industry occupies an important position in the national economy. According to the data of the National Bureau of Statistics: in 2014, the total output of fruit in my country increased to 261.4224 million tons, an increase of 4.2% over the same period of the previous year; the total output of apples was 40.9232 million tons, an increase of 3.1% year-on-year, accounting for 15.65% of the total domestic fruit output in the same period; The total output of citrus was 34.9266 million tons, an increase of 5.2% year-on-year, accounting for 13.36% of the total domestic fruit output in the same period; the output of pears was 17.9644 million tons, a year-on-year increase of 3.8%, accounting for 6.87% of the total domestic fruit output during the same period. From the planting of fruits to the marketing and sales, the most time-consuming and laborious part of the picking operation. Fruits such as apples, oranges and pears grow high and must be picked with the aid of tools.

Common picking tools include a telescopic arm, the top end of the telescopic arm is provided with a picking end effector, the picking end effector includes a bracket, and the front end of the bracket is equipped with a fruit holding device and a fruit stalk shearing device. The cutting device can cut the fruit stem above the fruit in the fruit holding device. However, after the fruit is picked in this way, the stalk is usually long. When the fruits are piled together, the excessively long stalk will not only occupy the storage space, but also cause damage to the peel of other fruits and affect the quality of the fruit. However, if the length of the fruit stalk is trimmed manually after the fruit is picked, it will increase the workload of the workers.

Utility model content

Aiming at the above-mentioned deficiencies of the prior art, the technical problem to be solved by this utility model is: how to provide a fruit picking actuator that trims the length of the stalk while picking the fruit and reduces the workload of workers.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present utility model:

A fruit picking actuator with one device and two shears, comprising a bracket, the front end of the bracket is provided with a fruit clamping device and a fruit stalk shearing device, and the fruit stalk shearing device can clamp the fruit stalk above the fruit in the fruit clamping device. For shearing, the front end of the bracket is also provided with a stalk trimming device, and the stalk trimming device includes a trimming knife located above the fruit gripping position of the fruit clamping device and below the stalk shearing position of the fruit stalk shearing device. , the fruit stem trimming device further includes a trimming knife driving device installed at the front end of the bracket to be able to drive the trimming knife to cut off the fruit stem of the fruit.

In the utility model, when using, the fruit on the branch is first clamped by the fruit clamping device, then the fruit stem is cut by the fruit stem cutting device, and finally the excessively long stem is cut by the fruit stem trimming device. The stalk is trimmed to shorten the length of the stalk, avoid damage to other fruits when the fruits are stacked and stored, and also reduce the workload of workers.

As an optimization, the fruit holding device includes two oppositely arranged holding blocks, a holding space for holding the fruit is formed between the two holding blocks, and the fruit holding device also includes a fixed connection between the two holding blocks. A clamping block driving device on the bracket, the clamping block driving device has a driving arm which is respectively fixedly connected with the two clamping blocks and can drive the two clamping blocks to move in opposite or opposite directions for clamping the fruit . Through the control of two clamping blocks, it is suitable for clamping fruits of different sizes.

As an optimization, two of the clamping blocks are respectively provided with circular arc-shaped grooves on the opposite side surfaces, and the two circular arc-shaped grooves are arranged along the opposite directions of the two clamping blocks. The diameter of the groove is larger than the diameter of the fruit to be picked, and the groove depth of the arc-shaped groove is smaller than the radius of the fruit to be picked. Since most of the fruits have an irregular spherical structure, the circular-arc clamping surface can better fit the shape of the fruits and prevent the fruits from falling.

As an optimization, a U-shaped frame is formed on the front end of the bracket, and the two clamping blocks are located inside the U-shaped frame and are arranged along the opposite directions of the two side arms of the U-shaped frame. The cutting drive device, the upper jaw cutter and the lower jaw cutter, the upper jaw cutter and the lower jaw cutter have a U-shaped structure as a whole. The shearing drive device includes two swinging side frames, and the two swinging side frames correspond to two of the U-shaped frame respectively. Side arm, one end of the swinging side frame is hingedly connected to its corresponding side arm through the hinge shaft I arranged along the opposite direction of the two side arms on the U-shaped frame, and the two ends of the upper jaw cutter and the lower jaw cutter pass through the hinge shaft II respectively. It is hingedly connected to the other end of the swinging side frames on both sides. The shearing drive device also includes a swinging cylinder I. The swinging cylinder I is installed on any one of the swinging side frames, and a connecting rod is respectively provided on the two parallel fingers of the swinging cylinder I. Ⅰ. One end of the connecting rod I is hingedly connected with the parallel fingers where it is located through the hinge axis III, and the ends of the two connecting rods I, which are far away from the hinge axis III, are respectively connected with the upper jaw cutter and the lower jaw cutter through the hinge axis IV. The hinge axis II, hinge axis III and hinge axis IV are arranged in parallel to each other. When the swing cylinder I reciprocates, the two connecting rods I can drive the upper jaw cutter and the lower jaw cutter to rotate in opposite or opposite directions. When the two parallel fingers are open to each other, the upper jaw cutter and the lower jaw cutter can rotate in opposite directions to realize the cutting of the fruit stem. The bracket is also fixedly connected with a limit block, and the limit block is extended with a Abutting on the upper jaw cutter to limit the upper jaw cutter, when the two parallel fingers of the swing cylinder I are close to each other, the upper jaw cutter abuts on the limit stop piece, when the upper jaw cutter When abutting on the limit stop piece, the upper jaw cutter is located behind the center of the clamping space along the projection perpendicular to the plane where the U-shaped frame is located, and the lower jaw cutter is located at the back of the center of the clamping space along the projection perpendicular to the plane where the U-shaped frame is located. The front of the center of the holding space. The two parallel fingers of the swing cylinder I are close to each other, the upper jaw cutter abuts on the limit stopper, and the upper jaw cutter is located behind the center of the clamping space along the projection perpendicular to the plane of the U bracket, and the lower jaw cutter is perpendicular to the plane. The projection on the plane where the U-shaped frame is located is located in front of the center of the clamping space, so that it is convenient to use the clamping space between the two clamping blocks to clamp the fruit. After the fruit is clamped by the two clamping blocks, the two parallel fingers on the swing cylinder I are driven to open, and the upper jaw cutter and the lower jaw cutter rotate in opposite directions. After the two clamping blocks hold the fruit, the upper jaw cutter is located above the clamping space and behind the fruit handle, and the lower jaw cutter is located below the clamping space. When the upper jaw cutter and the lower jaw cutter rotate, the upper jaw cutter first touches the If the stalk is not cut off, the upper jaw cutter will be blocked by the fruit stalk, and the reaction will exert a rotational force on the swing cylinder I, and the swing cylinder I will rotate to make the lower jaw cutter turn to The upper jaw cutter is used to cut the fruit stalk above the clamping space, and the fruit stalk is cut off.

As an optimization, the shear driving device also includes a swinging cylinder II and is installed on another piece of the swinging side frame. Two parallel fingers of the swinging cylinder II are respectively provided with a connecting rod II, and one end of the connecting rod II passes through a hinge. The axis V is hingedly connected with the parallel finger where it is located, and the ends of the two connecting rods II away from the hinge axis V are respectively hingedly connected to the upper jaw cutter and the lower jaw cutter through the hinge axis VI, and the hinge axis I and the hinge axis V. and the hinge shaft VI are arranged parallel to each other, and the swing cylinder I and the swing cylinder II can simultaneously drive the upper jaw cutter and the lower jaw cutter to rotate. The swinging cylinder I and the swinging cylinder II simultaneously drive the cutter to cut the stalk, which provides greater shearing force and is more conducive to cutting the stalk.

As an optimization, the side of the limiting block facing the clamping space has a limiting plane for blocking and limiting the upper jaw cutter, and the limiting plane is perpendicular to the plane where the U-shaped frame is located. When the two parallel fingers on the swing cylinder are close to each other, the upper jaw cutter abuts on the limit plane, and the force of the swing of the parallel fingers reacts on the swing cylinder to make the swing cylinder rotate. During the rotation of the swing cylinder, the There is a relative displacement of the upper jaw cutter on the plane perpendicular to the U-shaped frame, and the limiting plane will not hinder the displacement of the upper jaw cutter.

As an optimization, the dressing knife includes a knife handle hinged together by two centers and has a fork-shaped structure, the dressing knife driving device includes a swing cylinder III, and the ends of the two knife handles and located on the same side are respectively connected with the swing cylinder. The two parallel fingers of III are hingedly connected. The swinging cylinder III is able to drive the end of the two tool handles away from the swinging cylinder III to open and close. When the two parallel fingers of III are close to each other, the two blades are cut in contact with each other. When the two parallel fingers of the swing cylinder III are opened to each other, the two parallel fingers will turn to the rear, which can pull the knife handle backward, reducing the influence of the fruit clamping device on the fruit clamping process. When the swing cylinder III When the two parallel fingers of the knife are close to each other, the two parallel fingers will turn to the front, so that the handle of the knife is extended forward, and the blade is used to cut and trim the fruit handle.

To sum up, the beneficial effects of the present utility model are as follows: the present utility model has a simple structure, and can cut the stalk and shorten the length of the stalk during the fruit picking process, so as to avoid damage to the stalk when the fruits are stacked and stored. Other fruits cause harm while also reducing the workload of workers.

Description of drawings

In order to make the purpose, technical solutions and advantages of the utility model clearer, the utility model will be described in further detail below in conjunction with the accompanying drawings, wherein:

FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.

Detailed ways

The present utility model will be further described in detail below in conjunction with the accompanying drawings.

As shown in FIG. 1 , the fruit picking actuator with one device and two shears in this specific embodiment includes a bracket 1. The front end of the bracket 1 is equipped with a fruit clamping device and a fruit stem shearing device. The fruit stem shearing device is capable of In the fruit clamping device, the fruit stalk above the fruit is clamped for shearing, and the front end of the bracket 1 is also provided with a fruit stalk trimming device. The device cuts the trimming knife below the stalk of the fruit, and the stalk trimming device also includes a trimming knife driving device installed at the front end of the bracket 1 to drive the trimming knife to cut the stalk of the fruit.

In this specific embodiment, the fruit holding device includes two oppositely arranged holding blocks 2, a holding space for holding the fruit is formed between the two holding blocks 2, and the fruit holding device further includes A clamping block driving device 3 fixedly connected to the bracket 1, the clamping block driving device 3 is respectively fixedly connected with the two clamping blocks 2 and can drive the two clamping blocks 2 to move in opposite or opposite directions to Drive arm for gripping the fruit.

In this specific embodiment, two of the clamping blocks 2 are respectively provided with circular arc-shaped grooves 4 on opposite side surfaces, and the two circular arc-shaped grooves 4 are along the opposite directions of the two clamping blocks 2 The diameter of the notch of the arc-shaped groove 4 is larger than the diameter of the fruit to be picked, and the groove depth of the arc-shaped groove 4 is smaller than the radius of the fruit to be picked.

In this specific embodiment, a U-shaped frame is formed protruding from the front end of the bracket 1, and the two clamping blocks 2 are located inside the U-shaped frame and are arranged along the opposite directions of the two side arms of the U-shaped frame. The shearing device includes a shearing drive device, an upper jaw cutter 5 and a lower jaw cutter 6. The upper jaw cutter 5 and the lower jaw cutter 6 are in a U-shaped structure as a whole. The shearing drive device includes two swinging side frames 7, two swinging The side frames 7 correspond to the two side arms of the U-shaped frame respectively, and one end of the swinging side frame 7 is hingedly connected to its corresponding side arm through the hinge shaft I arranged along the opposite direction of the two side arms on the U-shaped frame. 5 and the two ends of the lower jaw cutter 6 are hingedly connected to the other end of the swinging side frame 7 on both sides through the hinge shaft II, and the shearing drive device also includes a swinging cylinder I8, which is installed on any one of the swinging side frames 7. The two parallel fingers of the swing cylinder I8 are respectively provided with a connecting rod I9, one end of the connecting rod I9 is hingedly connected to the parallel finger where it is located through the hinge axis III, and the ends of the two connecting rods I9 away from the hinge axis III are respectively connected to the upper jaw. The knife 5 and the lower jaw cutter 6 are hingedly connected through the hinge shaft IV. The hinge shaft I, the hinge shaft II, the hinge shaft III and the hinge shaft IV are arranged in parallel with each other. When the swing cylinder I8 reciprocates, the two connecting rods I9 can drive the upper jaw cutter. The knife 5 and the lower jaw cutter 6 rotate in opposite or opposite directions. When the two parallel fingers of the swinging cylinder I8 are opened to each other, the upper jaw cutter 5 and the lower jaw cutter 6 can rotate in opposite directions to realize the stalk of the fruit. For cutting, the bracket 1 is also fixedly connected with a limit block 10, and the limit block 10 is extended with a limit block 11 for abutting on the upper jaw cutter 5 to limit the upper jaw cutter 5. When When the two parallel fingers of the swing cylinder I8 are close to each other, the upper jaw cutter 5 abuts on the limit stop piece 11, and when the upper jaw cutter 5 abuts on the limit stop piece 11, the upper jaw cutter 5 is perpendicular to the The projection on the plane where the U-shaped frame is located is located behind the center of the clamping space, and the lower jaw cutter 6 is located in front of the center of the clamping space along the projection perpendicular to the plane where the U-shaped frame is located.

In this specific embodiment, the shearing driving device further includes a swinging cylinder II and is installed on another piece of the swinging side frame 7, and two parallel fingers of the swinging cylinder II are respectively provided with a connecting rod II, and the connecting rod II is One end of the connecting rod II is hingedly connected with its parallel finger through the hinge axis V, and the ends of the two connecting rods II away from the hinge axis V are respectively connected with the upper jaw cutter 5 and the lower jaw cutter 6 by hinge axis VI. The shaft I, the hinge shaft V and the hinge shaft VI are arranged in parallel with each other, and the swing cylinder I8 and the swing cylinder II can simultaneously drive the upper jaw cutter 5 and the lower jaw cutter 6 to rotate.

In this specific embodiment, the side of the limiting block 11 facing the clamping space has a limiting plane for blocking and limiting the upper jaw cutter 5, and the limiting plane is perpendicular to the U-shaped the plane on which the rack is located.

In this specific embodiment, the dressing knife includes a knife handle 12 hinged together by two centers and has a fork-shaped structure, the dressing knife driving device includes a swing cylinder III13, and the ends of the two knife handles 12 are located on the same side. The parts are hingedly connected with the two parallel fingers of the swinging cylinder III13, the swinging cylinder III13 is capable of driving the two tool handles 12 away from the swinging cylinder III for opening and closing movement, and the ends of the two tool handles 12 away from the swinging cylinder III13 are fixed The blades 14 are connected, and when the two parallel fingers of the swinging cylinder III13 are brought together, the two blades 14 are in contact with each other.

In a specific implementation process, both the upper jaw cutter and the lower jaw cutter include a tool rest with a U-shaped structure as a whole, the tool rest includes a cutting part and a connecting part located at both ends of the cutting part, and the connecting part located at both ends of the cutting part They are hingedly connected to the two swinging side frames, respectively, and the cutting part is fixedly connected with a blade. When the upper jaw cutter and the lower jaw cutter are rotated in opposite directions, the blade in the upper jaw cutter can be connected to the other. The blades in the jaw cutter described above match.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described with reference to the preferred embodiments of the present invention, those of ordinary skill in the art should understand that, Various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims (7)

1. The utility model provides a executor is picked to two scissors of a fruit ware, includes the support, and fruit clamping device and carpopodium shearing mechanism are installed to the front end of support, and carpopodium shearing mechanism is sheared its characterized in that in order to can be to the carpopodium of centre gripping fruit top among the fruit clamping device: the front end of the support is also provided with a fruit stem trimming device, the fruit stem trimming device comprises a trimming knife which is positioned above the fruit clamping position of the fruit clamping device and below the fruit stem shearing position of the fruit shearing device for the fruit, and the fruit stem trimming device further comprises a trimming knife driving device which is arranged at the front end of the support and can drive the trimming knife to shear the fruit stem of the fruit.

2. The fruit one-ware two-shear picking actuator of claim 1, wherein: fruit clamping device is formed with the centre gripping space that is used for carrying out the centre gripping to the fruit including two grip blocks that set up relatively between two grip blocks, fruit clamping device still includes fixed connection and is in grip block drive arrangement on the support, grip block drive arrangement have respectively with two grip block fixed connection and can drive two grip blocks towards relative or the driving arm that moves in the opposite direction of carrying out the centre gripping to the fruit mutually.

3. The fruit one-ware two-shear picking actuator of claim 2, wherein: two clamping blocks are respectively provided with an arc-shaped groove on the side face of one side opposite to the clamping blocks, the two arc-shaped grooves are arranged along the opposite direction of the two clamping blocks, the diameter of the opening of each arc-shaped groove is larger than that of a fruit to be picked, and the depth of each arc-shaped groove is smaller than the radius of the fruit to be picked.

4. The fruit one-ware two-shear picking actuator of claim 2, wherein: the fruit stem shearing device comprises a shearing driving device, an upper jaw cutter and a lower jaw cutter, the upper jaw cutter and the lower jaw cutter are integrally in a U-shaped structure, the shearing driving device comprises two swinging side frames, the two swinging side frames correspond to the two side arms of the U-shaped frame respectively, one end of each swinging side frame is hinged to the corresponding side arm through a hinge shaft I arranged in the opposite direction of the two side arms of the U-shaped frame, the two ends of the upper jaw cutter and the lower jaw cutter are hinged to the other end of each swinging side frame through a hinge shaft II respectively, the shearing driving device further comprises a swinging cylinder I, the swinging cylinder I is arranged on any one swinging side frame, a connecting rod I is arranged on two parallel fingers of the swinging cylinder I respectively, one end of a connecting rod I is hinged with a parallel finger where the connecting rod I is located through a hinge shaft III, one end of each connecting rod I, which is far away from the hinge shaft III, is hinged with an upper jaw cutter and a lower jaw cutter through a hinge shaft IV, the hinge shaft I, the hinge shaft II, the hinge shaft III and the hinge shaft IV are arranged in parallel, when a swing cylinder I works in a reciprocating mode, the two connecting rods I can drive the upper jaw cutter and the lower jaw cutter to rotate in opposite or opposite directions, when two parallel fingers of the swing cylinder I are opened, the upper jaw cutter and the lower jaw cutter can rotate towards opposite directions to shear a fruit handle, a limiting block is fixedly connected to a support, a limiting block piece used for abutting against the upper jaw cutter to limit the upper jaw cutter is arranged on the limiting block in an extending mode, when the two parallel fingers of the swing cylinder I are mutually closed, the upper jaw cutter abuts against the limiting block piece, when the upper jaw cutter abuts against the limiting baffle, the projection of the upper jaw cutter on the plane perpendicular to the U-shaped frame is located behind the center of the clamping space, and the projection of the lower jaw cutter on the plane perpendicular to the U-shaped frame is located in front of the center of the clamping space.

5. The fruit one-ware two-shear picking actuator of claim 4, wherein: the shearing driving device further comprises a swing cylinder II which is arranged on the other swing side frame, two parallel fingers of the swing cylinder II are respectively provided with a connecting rod II, one end of the connecting rod II is hinged with the parallel finger where the connecting rod II is located through a hinge shaft V, one end, far away from the hinge shaft V, of each of the two connecting rods II is hinged with the upper jaw cutter and the lower jaw cutter through a hinge shaft VI, the hinge shaft I, the hinge shaft V and the hinge shaft VI are arranged in parallel, and the swing cylinder I and the swing cylinder II can drive the upper jaw cutter and the lower jaw cutter to rotate simultaneously.

6. The fruit one-ware two-shear picking actuator of claim 4, wherein: one side of the limiting blocking piece, which faces the clamping space, is provided with a limiting plane used for blocking and limiting the maxilla cutter, and the limiting plane is perpendicular to the plane of the U-shaped frame.

7. The fruit one-ware two-shear picking actuator of claim 1, wherein: the utility model discloses a dressing tool, including the handle of a knife that is articulated together and is Y-shaped structure by two centers, dressing tool drive arrangement includes swing cylinder III, and two handles of a knife just lie in the tip with one side and indicate articulated connection with two parallels of swing cylinder III respectively, and swing cylinder III is with the one end that can drive two handles of a knife and keep away from swing cylinder III and is the motion that opens and shuts, and the one end difference fixedly connected with blade of swing cylinder III is just kept away from to two handles of a knife, and when two parallels of swing cylinder III indicate that to close together each other, two blades are each other to cut and.