CN210694996U - Intelligent controllable picking shears with one movable fruit - Google Patents
Intelligent controllable picking shears with one movable fruit Download PDFInfo
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- CN210694996U CN210694996U CN201921750143.9U CN201921750143U CN210694996U CN 210694996 U CN210694996 U CN 210694996U CN 201921750143 U CN201921750143 U CN 201921750143U CN 210694996 U CN210694996 U CN 210694996U
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 42
- 238000010008 shearing Methods 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 239000004020 conductor Substances 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 8
- 230000001960 triggered effect Effects 0.000 description 5
- 241000675108 Citrus tangerina Species 0.000 description 3
- 241000132456 Haplocarpha Species 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 230000005012 migration Effects 0.000 description 3
- 238000013508 migration Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 240000008574 Capsicum frutescens Species 0.000 description 1
- 235000002568 Capsicum frutescens Nutrition 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model discloses a controllable plucking of intelligence is cut once fruit moves belongs to the technical field of fruit picking equipment. The hand-held electric hand-held scissors comprise a pistol-shaped shell frame, a control system, a transmission mechanism and occluding scissors. The utility model can intelligently judge whether the human body is in a dangerous state or not and stop the action or not through the matching of the anti-miscut protection circuit, the singlechip and the execution circuit in the control system, thereby preventing the human body from being miscut and ensuring the use safety; through the cooperation of the shearing identification circuit, the singlechip, the execution circuit, drive mechanism, the interlock scissors among the control system, realize that micro-gap switch touches once just to carry out the intelligent picking mode that a fruit that once shears moves, satisfy the complicated changeable semi-automatization of picking the requirement of fruit and pick, avoid invalid shearing, effectively alleviate picking workman's working strength, alleviate hand fatigue, improve and pick efficiency, have simple structure, flexible operation, convenient to use, safe and reliable, stability is high, low cost's advantage.
Description
Technical Field
The utility model belongs to the technical field of fruit picking equipment, concretely relates to one kind fruit is controllable to be plucked and is cut with moving intelligence, is applicable to the batch of most fruits such as oranges and tangerines and picks, also can be used to the branch and leaf pruning of thinner fruit tree.
Background
With the revolution of labor mode of industrial and agricultural production, picking modes of fruits such as oranges gradually change in order to relieve labor intensity of manual picking, and picking is started by using some picking tools. The current fruit picker of picking fruits such as high-rise oranges and tangerines is mostly the stock and picks the fruit string bag, picks the fruit picker of fruits such as lower oranges and tangerines mainly have following several: (1) directly utilizing a mechanical arm with visual identification for picking hot peppers; (2) a mechanical device for sucking and collecting apples by means of suction force; (3) the electric cutting machine for cutting the thick branches can also be used as a fruit picker, but the electric cutting machine is expensive, and is used for picking fruits such as oranges at present. Although the picking tool at the present stage can relieve the labor intensity of manual picking to a certain extent and greatly facilitate manual picking, for some varieties of fruits such as oranges and the like, the fruits mainly grow in hills or mountainous areas, the ground has slopes and infrastructure and other conditions are poor, and the application range of the traditional fruit picker is greatly limited due to the reasons of difficulty in transportation, inconvenience in placement and the like.
The current situation analysis of fruit picking machines at home and abroad shows that: the adoption of agricultural robots and intelligent automatic picking machines is a trend of future development, and at present, a large amount of experimental research and technical exploration are carried out by scholars and experts, but the technical problem still exists in practical application, and the market demand cannot be met. The analysis reasons are as follows: (1) the test conditions of the picking machine are single and ideal, and the actual growth environment of the fruits is complex and changeable, so that the designed automatic picking machine cannot realize accurate picking; (2) the cultivation mode, the planting mode and the production environment of the fruits have large difference, and the harvesting difficulty of an automatic picking machine is increased; (3) the variety of fruits is various, the difference of the fruit trees in high and low flourishing is obvious, fruit growers excessively pursue yield and economic benefit, close planting agriculture is adopted, and the operation space of a picking machine is not reserved. Therefore, the intelligent automatic picking equipment is difficult to meet the complex and variable picking requirements of fruits, and fruit growers really need the semi-automatic picking equipment which is simple in structure, flexible to operate and convenient to use, can improve the picking efficiency and reduce the picking cost.
Disclosure of Invention
The utility model aims at providing an intelligent controllable picking shears with one fruit and one movement aiming at the defects existing in the prior art. The utility model discloses can realize that the micro-gap switch touches once just to carry out the intelligent mode of picking that moves of a fruit of once shearing, can satisfy the complicated changeable semi-automatization of picking the requirement of fruit and pick, can avoid invalid shearing, effectively alleviate the working strength who picks the workman, alleviate hand fatigue, can improve again and pick efficiency, still have simple structure simultaneously, the flexible operation, high durability and convenient use, safety and reliability, stability is high, low cost's advantage, can effectively prevent the mistake and cut the human body, can be in the stable operation under moist environment such as southern hills.
The purpose of the utility model can be realized by the following technical measures:
the utility model discloses an intelligent controllable picking scissors with one movement, which comprises a pistol-shaped shell frame, a control system arranged in the inner cavity of the handle section of the shell frame, a transmission mechanism arranged in the inner cavity of the top of the shell frame, and an extended occluding scissors arranged at the front end of the top of the shell frame;
the occluding scissors are composed of a lower blade fixed at the front end of the top of the shell frame and an upper blade hinged with the lower blade at the middle part, and the tail end of the upper blade is of a semi-circular arc surface structure (convenient to swing in a swing groove of a guide rod); the transmission mechanism comprises a steering engine, a sliding block (the sliding block is eccentrically arranged and can push a guide rod to horizontally and linearly move when rotating) fixed on the outer end face of a steering engine steering wheel in an eccentric mode, the inner end of the guide rod is used for clamping and embedding the sliding block, the outer end of the guide rod is used for clamping and embedding the tail end of the blade, and a guide rod base which is arranged on the inner wall of the shell frame in a vertically sliding mode in a clamping and embedding mode and is used for the guide rod to; the guide rod is of a three-section type combined structure with a flat plate layer in the middle and bosses extending from the center of two end faces, a vertical sliding groove is formed in one boss, and a swinging groove is formed in the other boss; the guide rod base is of a cuboid structure with one end provided with an open type rectangular section clamping groove and two outer sides provided with clamping strips (the left side and the right side of the flat plate layer can be translated and stretched along the length direction of the rectangular section clamping groove);
the control system comprises a power supply connector, a single chip microcomputer, an anti-error-shearing protection circuit, a shearing identification circuit and an execution circuit, wherein the anti-error-shearing protection circuit is connected between an I/O port of the single chip microcomputer and GND; the anti-miscutting protection circuit comprises a 7.4V metal conductor arranged at a handle of a shell frame, a 10K omega protection resistor and a 300K omega divider resistor which are connected to a cutter head in a parallel mode, and a single chip microcomputer PA3 port (a PA3 pin is selected because an ADC function is required at an I/O port of the single chip microcomputer at the other end of the 10K omega protection resistor) connected to the other end of the divider resistor, and a GND (a voltage value at the cutter head measured by the single chip microcomputer according to a PA3 port is 0, and whether the single chip microcomputer is in a normal safe operation state is intelligently judged; the shearing identification circuit comprises a microswitch KEY arranged on the side surface of the end head of the lower blade, a GND (ground) connected to one end of the microswitch, a single chip microcomputer PA0 port and a VCC3.3V end which are connected to the other end of the microswitch KEY in parallel (when the microswitch KEY touches a fruit branch handle and is triggered, a low level signal is transmitted to the single chip microcomputer through the shearing identification circuit, and the single chip microcomputer sends a shearing signal to an execution circuit after receiving the low level signal); the execution circuit comprises a steering engine, GND (ground) connected with three pins of the steering engine, a single chip microcomputer PA1 port (a PA1 pin is selected for use because an I/O port of the single chip microcomputer needs to generate PWM (pulse width modulation) waves) and a VCC7.4V port (the single chip microcomputer sends a shearing signal to the execution circuit after receiving a low level signal, the servo motor in the steering engine is controlled by the execution circuit to rotate for a certain angle, and the interlocking scissors are driven by a transmission mechanism to be opened and closed to execute a shearing task).
In the utility model, the cross section of the vertical chute of the guide rod is matched with that of the slide block (the slide block can slide smoothly in the vertical chute while rotating, and the vertical chute and the guide rod are pushed to move horizontally); the cross section of the swing groove of the guide rod is rectangular, the width of the swing groove is matched with the diameter of the semi-arc surface at the tail end of the upper blade (because the upper blade does not need to swing in the vertical direction), and the length of the swing groove is larger than the diameter of the semi-arc surface at the tail end of the upper blade (because the upper blade needs to swing back and forth around the hinged shaft in the horizontal direction, a certain swing gap is needed).
The utility model discloses in the cross section of the rectangular section draw-in groove of guide arm base and the cross section phase-match of the dull and stereotyped layer of guide arm, the degree of depth of rectangular section draw-in groove is greater than the unilateral width that exposes of dull and stereotyped layer (the left and right sides on dull and stereotyped layer is flexible along the degree of depth direction of rectangular section draw-in groove when following guide arm horizontal migration).
The utility model discloses in be provided with the inner uncovered, be the base groove of cuboid inner chamber (be convenient for install the guide arm base) on the inner wall of the shell frame top guide arm mounted position left and right sides, processing have on the both sides inner face in base groove with card strip assorted vertical draw-in groove (be convenient for install the horizontal location when the guide arm base).
The utility model discloses in the model of singlechip is STM32F103C8T 6.
The model of the steering engine in the utility model is LD-2701.
The utility model discloses the theory of operation as follows:
the utility model can intelligently judge whether the device is in a normal safe operation state or not and whether the device stops operating or not through the matching of the anti-miscut protection circuit, the singlechip and the execution circuit, thereby preventing the miscut of the human body and ensuring the use safety of the device; the utility model discloses a cut identification circuit, singlechip, execution circuit's cooperation, can transmit the low level signal when micro-gap switch KEY is triggered by fruit branch for the singlechip, send shear signal after the singlechip receives the low level signal and give execution circuit, servo motor in the control steering wheel has rotated certain angle and has carried out the shearing task: the servo motor drives the steering engine rudder disc which is vertically placed to rotate by a certain angle, the rotation of the sliding block is converted into the horizontal linear motion of the guide rod through the sine motion principle of the crank connecting rod consisting of the sliding block and the guide rod, the horizontal linear motion of the guide rod is converted into the hinged reciprocating shearing swing of the upper blade relative to the lower blade, and the opening and closing of the scissors are realized. The utility model discloses can realize that micro-gap switch touches once just to carry out the intelligent mode of picking that moves of a fruit of once shearing, can satisfy the complicated changeable semi-automatization of picking the requirement of fruit and pick, can avoid invalid shearing, effectively alleviate the working strength who picks the workman, alleviate hand fatigue, can improve again and pick efficiency, simple structure has simultaneously, the flexible operation, high durability and convenient use, safety and reliability, stability is high, low cost's advantage, can effectively prevent the mistake and cut the human body, can be in the stable operation under moist environment such as southern hills.
More specifically say, with power connection and outside portable power source intercommunication back, hold the handle section of shell frame, through preventing mistake and cut the comparison of burning program in protection circuit's the incoming signal of telecommunication and the singlechip, real-time supervision judges whether be normal safe operating condition: if the human body runs into the tool bit of the interlock scissors at this moment, because the casing handle section held by the human hand sets up a 7.4V metallic conductor, the human body is a resistance of 400K omega-900K omega, connect a 7.4V power in other words, human body and divider resistance constitute a return circuit between 7.4V and GND, there is a voltage value in the tool bit department to record at the PA3 mouth of singlechip this moment, judge that it is dangerous operation, carry out the protection procedure-the singlechip sends protection signal and gives execution circuit, the servo motor stall in the control steering wheel, then drive mechanism and interlock scissors stop motion, do not cut, and then prevent the mistake and cut the human body, ensure the utility model discloses a safe in utilization. If the human body does not touch the cutter head part of the occluding scissors, namely the voltage value at the cutter head part is measured at a PA3 port of the single chip microcomputer at the moment and is 0, the normal and safe operation state is judged, a shearing identification program is executed, when a microswitch KEY arranged on the side surface of the end head of the lower blade touches the fruit branch handle part, the microswitch KEY is transmitted to the single chip microcomputer through a shearing identification circuit when being triggered, the single chip microcomputer sends a shearing signal to an execution circuit after receiving the low level signal, and a servo motor in a steering engine is controlled by the execution circuit to rotate by a certain angle to execute a shearing task: servo motor drives the vertical steering wheel and rotates certain angle promptly, fix the slider on steering wheel outer end face also can rotate thereupon with eccentric mode, because the slider block inlay simultaneously in the vertical spout of guide arm, so one edge steering wheel's center is rotated, promote vertical spout on one side and carry out horizontal rectilinear movement, then dull and stereotyped layer in the guide arm also can be along the rectangular cross section draw-in groove degree of depth direction horizontal migration of guide arm base, the reciprocal swing of certain angle is done along the articulated shaft to the drive upper slitter, and relative lower blade interlock each other and cut open the carpopodium. Thus, the utility model discloses a mode that micro-gap switch touching once carried out once shearing realizes that one fruit is controllable to be picked that moves.
The utility model discloses some useful technological effects as follows:
the utility model discloses can realize that the micro-gap switch touches once just to carry out the intelligent mode of picking that moves of a fruit of once shearing, can satisfy the complicated changeable semi-automatization of picking the requirement of fruit and pick, can avoid invalid shearing, effectively alleviate the working strength who picks the workman, alleviate hand fatigue, can improve again and pick efficiency, still have simple structure simultaneously, the flexible operation, high durability and convenient use, safety and reliability, stability is high, low cost's advantage, can effectively prevent the mistake and cut the human body, can be in the stable operation under moist environment such as southern hills.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a front view (partially cut away) of the present invention.
Fig. 3 is a top view of the present invention (with the top of the housing removed).
Fig. 4 is a perspective view of the tail end of the upper blade in the present invention.
Fig. 5 is a front view of the tail end of the upper blade of the present invention.
Fig. 6 is a sectional view a-a of fig. 5.
Fig. 7 is a schematic view of the guide bar structure of the present invention.
Fig. 8 is a cross-sectional view C-C of fig. 4.
Fig. 9 is a cross-sectional view E-E of fig. 4.
Fig. 10 is a schematic structural view of a guide rod base according to the present invention.
Fig. 11 is a top view of fig. 10.
Fig. 12 is a sectional view F-F of fig. 10.
Fig. 13 is a schematic diagram of the mechanism motion principle of the present invention.
Fig. 14 is a circuit diagram of the control system of the present invention.
The sequence numbers in the figures illustrate: 1. 1-1 parts of occluding scissors, 1-2 parts of lower blades, 1-2 parts of upper blades and 1-2-1 parts of tail ends of the upper blades; 2. the device comprises a transmission mechanism, 2-1 parts of a steering engine, 2-1-1 parts of a steering engine steering wheel, 2-1-2 parts of a servo motor, 2-2 parts of a sliding block, 2-3 parts of a guide rod, 2-3-1 parts of a vertical sliding groove, 2-3-2 parts of a swinging groove, 2-3-3 parts of a flat plate layer, 2-4 parts of a guide rod base, 2-4-1 parts of a rectangular section clamping groove, 2-4-2 parts of a clamping strip; 3. the device comprises a control device, 3-1, a power connector, 3-2, a single chip microcomputer, 4, a shell frame, 4-1, a base groove, 4-2, a vertical clamping groove, 5, a human body, 6, a tool bit, a KEY and a microswitch.
Detailed Description
The utility model discloses the following further description of taking in conjunction with the figure:
as shown in fig. 1 to 14, the one-fruit-one-moving intelligent controllable picking scissors of the present invention comprises a pistol-shaped housing (4), a control system (3) installed in an inner cavity of a handle section of the housing, a transmission mechanism (2) installed in an inner cavity of a top of the housing, and an engagement scissors (1) installed at the front end of the top of the housing and extending outwards;
the occluding scissors (1) consist of a lower blade (1-1) fixed at the front end of the top of the shell frame (4) and an upper blade (1-2) hinged with the lower blade (1-1) at the middle part, and the tail end (1-2-1) of the upper blade is of a semi-circular arc structure (convenient to swing in a swing groove (2-3-2) of the guide rod (2-3); the transmission mechanism (2) comprises a steering engine (2-1), a sliding block (2-2) which is fixed on the outer end face of a steering engine steering wheel (2-1-1) in an eccentric mode, wherein the sliding block (2-2) is eccentrically arranged and can push a guide rod (2-3) to move horizontally and linearly when rotating, the inner end of the guide rod is used for clamping and embedding the sliding block (2-2), the outer end of the guide rod is used for clamping and embedding the tail end of a blade, and a guide rod base (2-4) which is arranged on the inner wall of the shell frame in a vertically sliding mode in a clamping and embedding mode and is used for the guide rod to move horizontally; the guide rod (2-3) is of a three-section type combined structure with a flat plate layer (2-3-3) in the middle and bosses extending from the center of two end faces, a vertical sliding groove (2-3-1) is formed in one boss, and a swinging groove (2-3-2) is formed in the other boss; the guide rod base (2-4) is of a cuboid structure (the left side and the right side of the flat plate layer (2-3-3) can be translated and stretched along the length direction of the rectangular section clamping groove (2-4-1) and one end of the guide rod base is provided with an open type rectangular section clamping groove (2-4-1) and two outer sides of the guide rod base are provided with clamping strips (2-4-2);
the control system (3) comprises a power supply connector (3-1), a single chip microcomputer (3-2), an anti-false-shear protection circuit, a shear identification circuit and an execution circuit, wherein the anti-false-shear protection circuit, the shear identification circuit and the execution circuit are connected between an I/O port of the single chip microcomputer and GND; the anti-miscut protection circuit comprises a 7.4V metal conductor arranged at a handle of a shell frame, a 10K omega protection resistor and a 300K omega divider resistor which are connected to a tool bit (6) in a parallel mode, and a single chip microcomputer PA3 port (the PA3 pin is selected because the I/O port of the single chip microcomputer needs an ADC function) connected to the other end of the 10K omega protection resistor, and a GND (the voltage value of the tool bit (6) measured by the single chip microcomputer according to a PA3 port is 0, and whether the voltage value is in a normal safe operation state is intelligently judged; the shearing identification circuit comprises a microswitch KEY arranged on the side surface of the end head of the lower blade (1-1), a GND connected to one end of the microswitch, and a single chip microcomputer PA0 port and a VCC3.3V end which are connected to the other end of the microswitch KEY in parallel (when the microswitch KEY touches a fruit branch handle and is triggered, a low level signal is transmitted to the single chip microcomputer through the shearing identification circuit, and the single chip microcomputer sends a shearing signal to an execution circuit after receiving the low level signal); the execution circuit comprises a steering engine (2-1), GND (ground) connected with three pins of the steering engine respectively, a port of a singlechip PA1 (because an I/O port of the singlechip at the position needs to generate PWM (pulse width modulation) waves, a PA1 pin is selected) and a port VCC7.4V (the singlechip receives a low level signal and then sends a shearing signal to the execution circuit, the execution circuit controls a servo motor (2-1-2) in the steering engine (2-1) to rotate for a certain angle, and a transmission mechanism (2) drives the meshing scissors (1) to open and close to execute a shearing task).
In the utility model, the cross section of the vertical sliding chute (2-3-1) of the guide rod (2-3) is matched with the cross section of the sliding block (2-2) (which is convenient for the sliding block (2-2) to slide smoothly in the vertical sliding chute (2-3-1) while rotating and pushes the vertical sliding chute (2-3-1) and the guide rod (2-3) to move horizontally); the cross section of the swing groove (2-3-2) of the guide rod (2-3) is rectangular, the width of the swing groove (2-3-2) is matched with the diameter of the semicircular arc surface of the tail end (1-2-1) of the upper blade (because the upper blade (1-2) does not need to swing in the vertical direction), and the length of the swing groove (2-3-2) is larger than the diameter of the semicircular arc surface of the tail end (1-2-1) of the upper blade (because the upper blade (1-2) needs to swing back and forth around a hinge shaft in the horizontal direction, a certain swing gap is needed).
The utility model discloses in the cross section of the rectangular section draw-in groove (2-4-1) of guide arm base (2-4) and the cross section phase-match of dull and stereotyped layer (2-3-3) of guide arm (2-3), the degree of depth of rectangular section draw-in groove (2-4-1) is greater than the unilateral width that exposes of dull and stereotyped layer (2-3-3) (the left and right sides of dull and stereotyped layer (2-3-3) is flexible along the degree of depth direction of rectangular section draw-in groove (2-4-1) when guide arm (2-3) horizontal migration).
In the utility model, the inner walls of the left and right sides of the guide rod mounting position at the top of the shell frame are provided with a base groove (4-1) which is open at the inner end and is a cuboid inner cavity (convenient for mounting the guide rod base (2-4)), and the inner surfaces of the two sides of the base groove (4-1) are provided with vertical clamping grooves (4-2) matched with the clamping strips (2-4-2) (convenient for horizontal positioning when mounting the guide rod base (2-4)).
The utility model discloses in the model of singlechip (3-2) is STM32F103C8T 6.
The model of the steering engine (2-1) in the utility model is LD-2701.
The utility model discloses a concrete in service behavior as follows:
before the utility model is used, the power connector (3-1) is required to be communicated with an external mobile power supply. Then, the handle section of the shell frame (4) is held by hand, and whether the normal safe operation state is achieved or not is judged by comparing the input electric signal of the anti-miscut protection circuit with the burning program in the singlechip (3-2): if human body (5) touch tool bit (6) department of interlock scissors (1) this moment, because shell frame (4) the handle section that the people held sets up a 7.4V metallic conductor, human body (5) are 400K omega ~ 900K omega's resistance, be equivalent to connect a 7.4V power, human body (5) and divider resistance constitute a return circuit between 7.4V and GND, there is the voltage value in tool bit (6) department at PA3 mouth of singlechip this moment, judge that it is dangerous operation, carry out protection procedure-the singlechip sends protection signal to the execution circuit, servo motor (2-1-2) stall in the control steering wheel (2-1), then drive mechanism (2) and interlock scissors (1) stop the action, do not cut, and then prevent to cut human body (5) by mistake, ensure the utility model discloses a safe in utilization. If the human body (5) does not touch the cutter head (6) of the occluding scissors (1), namely the voltage value of the cutter head (6) measured at the PA3 port of the single chip microcomputer is 0, the normal and safe operation state is judged, a shearing recognition program is executed, when a microswitch KEY arranged on the side surface of the end head of the lower blade (1-1) touches the fruit branch handle part, the microswitch KEY is transmitted to the single chip microcomputer through a shearing recognition circuit when being triggered, the single chip microcomputer sends a shearing signal to an execution circuit after receiving the low level signal, and the execution circuit controls a servo motor (2-1-2) in a steering engine (2-1) to rotate by a certain angle to execute a shearing task: namely, the servo motor (2-1-2) drives the steering engine rudder disc (2-1-1) which is vertically placed to rotate for a certain angle, the sliding block (2-2) which is fixed on the outer end face of the steering engine rudder disc (2-1-1) in an eccentric mode can rotate along with the rotation, because the sliding block (2-2) is simultaneously clamped and embedded in the vertical sliding groove (2-3-1) of the guide rod (2-3), the sliding block (2-2) rotates along the center of the steering engine rudder disc (2-1-1) and pushes the vertical sliding groove (2-3-1) to horizontally and linearly move at the same time, the flat plate layer (2-3-3) in the guide rod (2-3) can also horizontally move along the depth direction of the rectangular section clamping groove (2-4-1) of the guide rod base (2-4), the upper blade (1-2) is driven to do reciprocating swing with a certain angle along the hinging shaft and is mutually occluded relative to the lower blade to cut off the fruit stalks. Thus, the utility model discloses a mode that micro-gap switch touching once carried out once shearing realizes that one fruit is controllable to be picked that moves.
Claims (6)
1. The utility model provides a controllable plucking of intelligence of a fruit is moved is cut which characterized in that: the automatic gripping scissors comprise a pistol-shaped shell frame (4), a control system (3) arranged in an inner cavity of a handle section of the shell frame, a transmission mechanism (2) arranged in an inner cavity of the top of the shell frame, and gripping scissors (1) which are arranged at the front end of the top of the shell frame and extend outwards;
the occluding scissors (1) consists of a lower blade (1-1) fixed at the front end of the top of the shell frame (4) and an upper blade (1-2) hinged with the lower blade (1-1) at the middle part, and the tail end (1-2-1) of the upper blade is of a semi-circular arc surface structure;
the transmission mechanism (2) comprises a steering engine (2-1), a sliding block (2-2) fixed on the outer end face of a steering engine steering wheel (2-1-1) in an eccentric mode, a guide rod (2-3) with the inner end used for clamping and embedding the sliding block (2-2) and the outer end used for clamping and embedding the tail end of the blade, and a guide rod base (2-4) which is arranged on the inner wall of the shell frame in a vertically sliding mode in a clamping and embedding mode and used for enabling the guide rod to move horizontally and linearly; the guide rod (2-3) is of a three-section type combined structure with a flat plate layer (2-3-3) in the middle and bosses extending from the center of two end faces, a vertical sliding groove (2-3-1) is formed in one boss, and a swinging groove (2-3-2) is formed in the other boss; the guide rod base (2-4) is of a cuboid structure, one end of the guide rod base is provided with an open type rectangular section clamping groove (2-4-1), and the two outer sides of the guide rod base are provided with clamping strips (2-4-2);
the control system (3) comprises a power supply connector (3-1), a single chip microcomputer (3-2), an anti-false-shear protection circuit, a shear identification circuit and an execution circuit, wherein the anti-false-shear protection circuit, the shear identification circuit and the execution circuit are connected between an I/O port of the single chip microcomputer and GND; the anti-miscut protection circuit comprises a 7.4V metal conductor arranged at a handle of the shell frame, a 10K omega protection resistor and a 300K omega divider resistor which are connected to the cutter head (6) in parallel, a single chip microcomputer PA3 port connected to the other end of the 10K omega protection resistor, and a GND connected to the other end of the divider resistor; the shearing identification circuit comprises a microswitch KEY arranged on the side surface of the end head of the lower blade (1-1), a GND connected to one end of the microswitch, and a single chip microcomputer PA0 port and a VCC3.3V port which are connected to the other end of the microswitch KEY in a parallel mode; the execution circuit comprises a steering engine (2-1), GND (ground potential) connected with three pins of the steering engine respectively, and ports of a singlechip PA1 and a VCC7.4V end.
2. The intelligent controllable fruit-moving picking shears according to claim 1, wherein the intelligent controllable fruit-moving picking shears are characterized in that: the cross section of the vertical sliding groove (2-3-1) of the guide rod (2-3) is matched with that of the sliding block (2-2); the cross section of the swing groove (2-3-2) of the guide rod (2-3) is rectangular, the width of the swing groove (2-3-2) is matched with the diameter of the semicircular arc surface of the tail end (1-2-1) of the upper blade, and the length of the swing groove (2-3-2) is larger than the diameter of the semicircular arc surface of the tail end (1-2-1) of the upper blade.
3. The intelligent controllable fruit-moving picking shears according to claim 1, wherein the intelligent controllable fruit-moving picking shears are characterized in that: the cross section of the rectangular section clamping groove (2-4-1) of the guide rod base (2-4) is matched with the cross section of the flat plate layer (2-3-3) of the guide rod (2-3), and the depth of the rectangular section clamping groove (2-4-1) is larger than the single-side exposed width of the flat plate layer (2-3-3).
4. The intelligent controllable fruit-moving picking shears according to claim 1, wherein the intelligent controllable fruit-moving picking shears are characterized in that: the inner walls of the left side and the right side of the mounting position of the guide rod at the top of the shell frame are provided with base grooves (4-1) with inner ends open and in cuboid inner cavities, and the inner surfaces of the two sides of each base groove (4-1) are provided with vertical clamping grooves (4-2) matched with the clamping strips (2-4-2).
5. The intelligent controllable fruit-moving picking shears according to claim 1, wherein the intelligent controllable fruit-moving picking shears are characterized in that: the type of the single chip microcomputer (3-2) is STM32F103C8T 6.
6. The intelligent controllable fruit-moving picking shears according to claim 1, wherein the intelligent controllable fruit-moving picking shears are characterized in that: the model of the steering engine (2-1) is LD-2701.
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