Shearing mechanism and fruit picker with same

Abstract

The invention provides a shearing mechanism and a fruit picker with the same. The shearing mechanism comprises a rack structure and a position adjusting structure, the adjusting end of the position adjusting structure is in driving connection with the rack structure, and the adjusting end is movably arranged; the first cutter body and the second cutter body are both arranged on the rack structure, and the first cutter body and the second cutter body are oppositely arranged; any one of the first cutter body and the second cutter body is movably arranged in the direction close to or away from the other cutter body so as to move to a shearing position where a first blade part of the first cutter body is in contact with a second blade part of the second cutter body or an avoiding position where the first blade part is in avoiding with the second blade part; a grabbing space is formed between at least part of the first cutter body and at least part of the second cutter body. By means of the technical scheme, the technical problem that in the prior art, a fruit picker is low in operation efficiency can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of shearing mechanisms, in particular to a shearing mechanism and a fruit picker having the same. Background Art

[0002] At present, the application of fruit pickers has improved the efficiency of fruit harvesting and reduced the manpower burden.

[0003] However, existing fruit picking end effectors have poor adaptability to fruit picking. The cylindrical end effector is affected by the surface roughness of the fruit and the size of the fruit, so its adsorption effect on the fruit is not stable, which has a great impact on the picking efficiency. The bionic finger end effector needs to drag and twist the fruit during the picking process. Due to the delicate nature of some fruits, the actuator is likely to damage the fruit skin during the picking process, thus affecting its quality and subsequent storage. The clamping end effector applies greater stress to the fruit during the picking process, which can easily cause bruises to the fruit. In addition, this type of end effector occupies a large volume, which is inefficient and inconvenient during reciprocating picking operations, affecting the collection efficiency of fruit picking. Summary of the invention

[0004] The main purpose of the present invention is to provide a shearing mechanism and a fruit picker having the same, so as to solve the technical problem of low operating efficiency of the fruit picker in the prior art.

[0005] In order to achieve the above object, according to one aspect of the present invention, a shearing mechanism is provided, comprising:

[0006] A frame structure and a position adjustment structure, wherein an adjustment end of the position adjustment structure is drivingly connected to the frame structure, and the adjustment end is movably arranged;

[0007] The first blade body and the second blade body are both arranged on the frame structure, and the first blade body is arranged opposite to the second blade body; either the first blade body or the second blade body is movably arranged in a direction close to or away from the other, so as to move to a shearing position where the first blade portion of the first blade body contacts the second blade portion of the second blade body, or to a avoiding position where the first blade portion and the second blade portion avoid each other;

[0008] A gripping space is formed between at least a portion of the first blade body and at least a portion of the second blade body.

[0009] Furthermore, the shearing mechanism also includes:

[0010] A driving structure is arranged on the frame structure, the driving structure comprises a main driving member, a first driving assembly and a second driving assembly, the first driving assembly is connected to the first blade body, and the second driving assembly is connected to the second blade body;

[0011] The driving end of the main driving member is movably arranged, and the first driving assembly and the second driving assembly are both drivingly connected to the driving end of the main driving member.

[0012] Furthermore, the shearing mechanism also includes:

[0013] A first transmission shaft and a second transmission shaft, one of the first transmission shaft and the second transmission shaft is drivingly connected to the driving end of the main driving member, the first transmission shaft is provided with a first transmission gear, and the second transmission shaft is provided with a second transmission gear meshing with the first transmission gear; the first transmission shaft is connected to the first drive assembly, and the second transmission shaft is connected to the second drive assembly; the first drive assembly and the second drive assembly are both connecting rod structures.

[0014] Further, the shearing mechanism further comprises a first synchronous pulley, a second synchronous pulley and a synchronous belt, wherein the first synchronous pulley is arranged on one of the first transmission shaft and the second transmission shaft, the second synchronous pulley is arranged on the driving end of the main driving member, and the synchronous belt is wound around the first synchronous pulley and the second synchronous pulley; and / or,

[0015] There are at least two first transmission gears and at least two second transmission gears, and the at least two first transmission gears and the at least two second transmission gears are arranged in one-to-one correspondence.

[0016] Further, the frame structure includes a first frame part and a second frame part connected to each other, the first frame part is drivingly connected to the adjustment end, and the second frame part is located on a side of the first frame part away from the position adjustment structure; wherein the first blade body and the second blade body are both rotatably connected to the second frame part, and the first transmission shaft and the second transmission shaft are both arranged on the first frame part; and / or,

[0017] There are at least two first drive assemblies and at least two second drive assemblies, and the at least two first drive assemblies and the at least two second drive assemblies are arranged in a one-to-one correspondence; one of the at least two first drive assemblies is connected to one end of the first transmission shaft, and the other is connected to the other end of the first transmission shaft, and one of the at least two second drive assemblies is connected to one end of the second transmission shaft, and the other is connected to the other end of the second transmission shaft.

[0018] Furthermore, the first blade body comprises a first rocker portion and a first shearing portion connected to each other, the first shearing portion is located on a side of the first rocker portion away from the driving structure; the first driving assembly is drivingly connected to the first rocker portion, and the frame structure is rotatably connected to the first rocker portion; wherein the first shearing portion comprises a first connecting plate, a first cutting plate and a second connecting plate connected in sequence, the first connecting plate and the second connecting plate being arranged opposite to each other; there are at least two first rocker portions, one of the at least two first rocker portions is connected to the first connecting plate, and the other is connected to the second connecting plate; at least part of the first blade portion is arranged on the first cutting plate; and / or,

[0019] The second blade body includes a second rocker portion and a second shearing portion that are connected to each other, and the second shearing portion is located on a side of the second rocker portion away from the driving structure; the second driving assembly is drivingly connected to the second rocker portion, and the frame structure is rotatably connected to the second rocker portion; wherein the second shearing portion includes a third connecting plate, a second cutting plate and a fourth connecting plate that are connected in sequence, and the third connecting plate is arranged opposite to the fourth connecting plate; there are at least two second rocker portions, and one of the at least two second rocker portions is connected to the third connecting plate, and the other is connected to the fourth connecting plate; at least part of the second blade portion is arranged on the second cutting plate.

[0020] Furthermore, the position adjustment structure includes:

[0021] Main body;

[0022] The adjustment drive member and the first reduction assembly are both arranged on the main body; the driving end of the adjustment drive member is movably arranged; the first reduction assembly includes a second wheel body and a driving part connected to each other, and the driving part forms the adjustment end;

[0023] The driving end of the adjustment driving member is the first wheel body, the second wheel body is drivingly connected to the first wheel body, and the diameter of the second wheel body is greater than the diameter of the first wheel body.

[0024] Further, the position adjustment structure further includes a second reduction assembly, the second reduction assembly includes a third wheel body and a fourth wheel body connected to each other, the third wheel body is drivingly connected to the first wheel body, and the fourth wheel body is drivingly connected to the second wheel body; wherein the diameter of the third wheel body is greater than the diameter of the first wheel body, and the diameter of the second wheel body is greater than the diameter of the fourth wheel body; and / or,

[0025] The adjustment end is a shaft structure, and the shaft structure is rotatably arranged.

[0026] Further, when any one of the first blade body and the second blade body is in the avoidance position, the angle between the extension direction of the first blade body and the extension direction of the second blade body is A, 90°≤A≤180°; and / or,

[0027] Any one of the first blade body and the second blade body has a grasping position, and when any one of the first blade body and the second blade body is in the grasping position, the angle between the extension direction of the first blade body and the extension direction of the second blade body is B, 30°≤B<90°; and / or,

[0028] The shearing mechanism also includes a camera, which is arranged on the frame structure and faces the position between the first knife body and the second knife body.

[0029] According to another aspect of the present invention, there is provided a fruit picker, comprising: the shearing mechanism provided above.

[0030] The application of the technical solution of the present invention can firstly improve the shearing efficiency. The setting of the position adjustment structure enables the first blade body and the second blade body to flexibly adjust their positions, so as to quickly and accurately align the object to be sheared, reduce the adjustment time, and improve the efficiency of continuous picking. In addition, the first blade body and the second blade body can move in the direction of approaching or moving away from each other, which can not only quickly realize the shearing action, but also quickly adjust to the avoidance position when not shearing, so as to avoid collision with the subsequent object to be sheared, and further improve the operation efficiency. Secondly, such a setting can reduce the damage to the object to be sheared. The first blade part and the second blade part are precisely in contact at the shearing position, and the fruit handle can be sheared at a fixed point, avoiding the damage to the fruit body caused by the traditional grasping or vibration method. At the same time, by controlling the angle between the first blade body and the second blade body, the size of the grasping space can be adjusted. Before shearing, the object to be sheared can be placed in the grasping space to avoid unnecessary damage to the surface of the object to be sheared by the first blade part and the second blade part, thereby ensuring the integrity and commodity value of the object to be sheared. At the same time, the position of the object to be sheared can also be stably controlled to ensure the shearing efficiency. Thirdly, the gripping space between the first blade and the second blade can adapt to objects to be cut of different sizes and shapes. By adjusting the relative positions of the blades, the mechanism can effectively handle all kinds of fruits from small berries to large fruits, thereby improving versatility and adaptability. Therefore, the technical problem of low operating efficiency of fruit pickers in the prior art can be solved through the technical solution of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0032] Figure 1 It shows a schematic structural diagram of a shearing mechanism provided according to the first embodiment of the present invention;

[0033] Figure 2 A partial structural schematic diagram of a shearing mechanism provided according to the first embodiment of the present invention is shown;

[0034] Figure 3 It shows a schematic structural diagram of a first blade body and a second blade body of a shearing mechanism provided according to the first embodiment of the present invention;

[0035] Figure 4 It shows a schematic structural diagram of the shearing mechanism provided in the first embodiment of the present invention in the avoidance position;

[0036] Figure 5 It shows a schematic structural diagram of the shearing mechanism provided in the first embodiment of the present invention in the grabbing position;

[0037] Figure 6A schematic structural diagram of a shearing mechanism provided in a shearing position according to a first embodiment of the present invention is shown.

[0038] The above drawings include the following reference numerals:

[0039] 10. Frame structure;

[0040] 11. first frame part; 12. second frame part; 13. first frame side plate; 14. second frame side plate; 15. third frame side plate;

[0041] 20. Position adjustment structure;

[0042] 21. Main body;

[0043] 22. adjusting driving member; 221. first wheel body;

[0044] 23. First reduction assembly; 231. Second wheel body; 232. Driving unit;

[0045] 24, second reduction assembly; 241, third wheel body; 242, fourth wheel body; 243, rotating shaft; 244, bearing seat;

[0046] 30. First blade body;

[0047] 31. a first rocker portion;

[0048] 32, first shearing portion; 321, first connecting plate; 322, first cutting plate; 323, second connecting plate;

[0049] 301, first blade;

[0050] 40. Second blade body;

[0051] 41. Second rocker section;

[0052] 42, second shearing portion; 421, third connecting plate; 422, second cutting plate; 423, fourth connecting plate;

[0053] 401, second edge;

[0054] 50. Main drive parts;

[0055] 61. First driving assembly; 611. First crank; 612. First connecting rod;

[0056] 62. Second driving assembly; 621. Second crank; 622. Second connecting rod;

[0057] 71. First transmission shaft;

[0058] 72. Second transmission shaft;

[0059] 81. First transmission gear;

[0060] 82. Second transmission gear;

[0061] 91. first synchronous pulley; 92. second synchronous pulley; 93. synchronous belt;

[0062] 100. Camera. DETAILED DESCRIPTION

[0063] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0064] like Figures 1 to 6 As shown, the first embodiment of the present invention provides a shearing mechanism, which includes a frame structure 10 and a position adjustment structure 20, wherein the adjustment end of the position adjustment structure 20 is drivingly connected to the frame structure 10, and the adjustment end is movably arranged. The shearing mechanism also includes a first blade body 30 and a second blade body 40, wherein the first blade body 30 and the second blade body 40 are both arranged on the frame structure 10, and the first blade body 30 and the second blade body 40 are arranged opposite to each other; any one of the first blade body 30 and the second blade body 40 is movably arranged in a direction close to or away from the other, so as to move to a shearing position where the first blade portion 301 of the first blade body 30 and the second blade portion 401 of the second blade body 40 are in contact with each other, or to a avoiding position where the first blade portion 301 and the second blade portion 401 avoid each other. Wherein, a gripping space is formed between at least a portion of the first blade body 30 and at least a portion of the second blade body 40.

[0065] The shearing mechanism provided in the first embodiment of the present invention can firstly improve the shearing efficiency. The setting of the position adjustment structure 20 enables the first blade body 30 and the second blade body 40 to flexibly adjust their positions, so as to quickly and accurately align with the object to be sheared, reduce the adjustment time, and improve the efficiency of continuous picking. In addition, the first blade body 30 and the second blade body 40 can move in a direction close to or away from each other, which can not only quickly realize the shearing action, but also quickly adjust to the avoidance position when not shearing, so as to avoid collision with subsequent objects to be sheared, thereby further improving the operating efficiency. Secondly, such a setting can reduce damage to the object to be sheared. The first blade portion 301 and the second blade portion 401 are in precise contact at the shearing position, and can perform fixed-point shearing on the fruit handle, thereby avoiding damage to the fruit body caused by traditional grasping or vibration methods. At the same time, by controlling the angle between the first blade body 30 and the second blade body 40, the size of the gripping space can be adjusted. Before shearing, the object to be sheared can be placed in the gripping space to avoid unnecessary damage to the surface of the object to be sheared by the first blade portion 301 and the second blade portion 401, thereby ensuring the integrity and commercial value of the object to be sheared. At the same time, the position of the object to be sheared can also be stably controlled to ensure shearing efficiency. Thirdly, the gripping space between the first blade body 30 and the second blade body 40 can adapt to objects to be sheared of different sizes and shapes. By adjusting the relative positions of the blade bodies, the mechanism can effectively handle various types of fruits from small berries to large fruits, thereby improving versatility and adaptability. Therefore, the shearing mechanism provided in this embodiment can solve the technical problem of low operating efficiency of fruit pickers in the prior art.

[0066] It should be noted that the gripping space is used to accommodate the object to be sheared, so that the object to be sheared is between at least a portion of the first blade body 30 and at least a portion of the second blade body 40 before any one of the first blade body 30 and the second blade body 40 reaches the shearing position. This pre-positioning method reduces the shaking of the fruit and unnecessary position adjustment, making the shearing process faster and smoother, thereby significantly improving the picking efficiency. At the same time, it also ensures that the first blade body 30 and the second blade body 40 can accurately align with the fruit stalk during shearing, thereby avoiding errors in the shearing position. Such a setting imitates the skeletal movement of animals during biting movements, effectively improving the accuracy and efficiency of shearing.

[0067] Specifically, the object to be sheared is a fruit. Specifically, the object to be sheared is a fruit with a spherical canopy growth characteristic.

[0068] Specifically, the first blade 30 and the second blade 40 are of the same size. This symmetrical design can ensure that during the shearing process, the two blades exert a uniform force on the fruit handle, reducing deflection during shearing and unnecessary damage to the fruit. At the same time, the symmetry of the blades improves the coordination of the entire device, making the power transmission between the blades more balanced under different posture adjustments, enhancing the stability of the device and the smoothness of operation.

[0069] Specifically, the first blade body 30 is located above the second blade body 40. In this way, the vertical maneuverability during fruit picking is optimized, so that the device can more flexibly adapt to fruits of different heights.

[0070] Specifically, the shearing mechanism also includes a driving structure, which is arranged on the frame structure 10, and the driving structure includes a main driving member 50, a first driving assembly 61 and a second driving assembly 62, wherein the first driving assembly 61 is connected to the first blade body 30, and the second driving assembly 62 is connected to the second blade body 40. Among them, the driving end of the main driving member 50 can be movably arranged, and the first driving assembly 61 and the second driving assembly 62 are both drivingly connected to the driving end of the main driving member 50. With such a structural arrangement, precise control of the first blade body 30 and the second blade body 40 is achieved. The main driving member 50 serves as the power source of the entire driving system. Through the movable arrangement of the driving end, the power can be flexibly transmitted to the first blade body 30 and the second blade body 40, ensuring the precise execution of the shearing action and efficient power transmission. This design method avoids the deviation of the blade position caused by uneven power transmission during the fruit picking process, and improves the accuracy and efficiency of picking.

[0071] Specifically, the first blade 30 and the second blade 40 are both movably arranged. Specifically, the first blade 30 and the second blade 40 operate synchronously. Such a structural arrangement ensures that both can contact the fruit stem simultaneously and accurately when in the shearing position, avoiding the deflection of the fruit stem or the shaking of the fruit caused by unilateral shearing, thereby improving the efficiency and accuracy of shearing. This synchronization mechanism is particularly important for a fast and continuous picking process, because it reduces the time for adjustment and positioning, making the picking action smoother and more efficient.

[0072] Specifically, the main driving member 50 is a first motor.

[0073] Specifically, the shearing mechanism also includes a first transmission shaft 71 and a second transmission shaft 72, one of the first transmission shaft 71 and the second transmission shaft 72 is drivingly connected to the driving end of the main driving member 50, the first transmission shaft 71 is provided with a first synchronous wheel, and the second transmission shaft 72 is provided with a second synchronous wheel drivingly connected to the first synchronous wheel; the first transmission shaft 71 is connected to the first driving assembly 61, and the second transmission shaft 72 is connected to the second driving assembly 62. With such a structural arrangement, uniform distribution and precise control of force are achieved. The driving connection between the first synchronous wheel and the second synchronous wheel ensures the smoothness and synchronization of power transmission, so that the first blade 30 and the second blade 40 can maintain a relatively stable and synchronous state during movement, avoiding fruit damage and equipment wear caused by excessive force on one side.

[0074] Specifically, the shearing mechanism further includes a first transmission shaft 71 and a second transmission shaft 72, one of the first transmission shaft 71 and the second transmission shaft 72 is drivingly connected to the driving end of the main driving member 50, the first transmission shaft 71 is provided with a first transmission gear 81, and the second transmission shaft 72 is provided with a second transmission gear 82 meshing with the first transmission gear 81; the first transmission shaft 71 is connected to the first driving assembly 61, and the second transmission shaft 72 is connected to the second driving assembly 62. With such a structural arrangement, uniform distribution and precise control of force are achieved. The meshing of the first transmission gear 81 and the second transmission gear 82 ensures the smoothness and synchronization of power transmission, so that the first blade 30 and the second blade 40 can maintain a relatively stable and synchronous state during the movement, avoiding fruit damage and equipment wear caused by excessive force on one side. At the same time, the high-precision characteristics of the gear transmission make the blade position adjustment more precise, which can adapt to fruits of different sizes and maturity, and improve the flexibility and adaptability of picking.

[0075] Specifically, the first transmission gear 81 and the second transmission gear 82 are both spur gear structures.

[0076] Specifically, the first drive assembly 61 and the second drive assembly 62 are both connecting rod structures. With such a structural setting, the motion transmitted by the main drive member 50 can be converted into a precise shearing action of the knife body. This structure not only has a fast response speed and can quickly adjust the position of the knife body to meet the needs of fruit picking, but also has high stability. Even in high-speed movement, the stability and shearing accuracy of the knife body can be maintained, reducing accidental damage during the picking process and improving the integrity rate and picking efficiency of the fruit.

[0077] Specifically, the first driving assembly 61 includes a first crank 611 and a first connecting rod 612 connected to each other, the first connecting rod 612 is drivingly connected to the first blade body 30, and the first crank 611 is connected to the first transmission shaft 71. The second driving assembly 62 includes a second crank 621 and a second connecting rod 622 connected to each other, the second connecting rod 622 is drivingly connected to the second blade body 40, and the second crank 621 is connected to the second transmission shaft 72.

[0078] In this embodiment, the shearing mechanism further includes a first synchronous pulley 91, a second synchronous pulley 92 and a synchronous belt 93, wherein the first synchronous pulley 91 is arranged on one of the first transmission shaft 71 and the second transmission shaft 72, the second synchronous pulley 92 is arranged on the driving end of the main driving member 50, and the synchronous belt 93 is wound around the first synchronous pulley 91 and the second synchronous pulley 92. With such a structural arrangement, the efficiency and synchronization of the transmission system are greatly improved. The high efficiency and low friction characteristics of the transmission by the synchronous belt 93 ensure the rapid and smooth transmission of power from the main driving member 50 to the first blade body 30 and the second blade body 40, reduce power loss, accelerate the shearing process, and have a significant effect on improving the efficiency and quality of fruit picking.

[0079] Specifically, the diameter of the first synchronous pulley 91 is greater than the diameter of the second synchronous pulley 92. With such a structural setting, the first synchronous pulley 91 with an increased diameter cooperates with the second synchronous pulley 92 with a smaller diameter, which can achieve deceleration in the process of power transmission from the main drive member 50 to the first blade body 30 and the second blade body 40, which not only improves the transmission efficiency, but also optimizes the torque distribution, ensuring that the blade body can obtain appropriate force during shearing, avoiding tearing of the fruit stalk or damage to the blade due to excessive torque, and at the same time ensuring the smoothness of shearing and the integrity of the fruit.

[0080] Specifically, there are at least two first transmission gears 81 and at least two second transmission gears 82, and the at least two first transmission gears 81 and the at least two second transmission gears 82 are arranged in one-to-one correspondence. With such a structural arrangement, the power of the main driving member 50 can be evenly distributed to the driving components corresponding to the first blade body 30 and the second blade body 40, respectively. This parallel transmission design improves the uniformity and stability of power transmission, reduces the risk of affecting the overall operation due to a single gear failure, and can also handle higher power requirements, ensuring the efficient shearing process.

[0081] Specifically, one of the at least two first transmission gears 81 is arranged at one end of the first transmission shaft 71, and the other is arranged at the other end of the first transmission shaft 71. One of the at least two second transmission gears 82 is arranged at one end of the second transmission shaft 72, and the other is arranged at the other end of the second transmission shaft 72. In this way, the balance and efficiency of power transmission are optimized. Each gear is responsible for driving the cutter body on one side, making the power transmission more uniform and reducing the possibility of mechanical wear and fruit damage caused by uneven force on one side. At the same time, this setting improves the redundancy of power transmission. Even if a single gear fails, the other gear can continue to work, ensuring the stable operation of the shearing mechanism.

[0082] Specifically, the frame structure 10 includes a first frame part 11 and a second frame part 12 connected to each other, the first frame part 11 is drivingly connected to the adjustment end, and the second frame part 12 is located on the side of the first frame part 11 away from the position adjustment structure 20; wherein the first blade 30 and the second blade 40 are both rotatably connected to the second frame part 12, and the first transmission shaft 71 and the second transmission shaft 72 are both arranged on the first frame part 11. The adoption of such a structural arrangement not only optimizes the spatial layout, so that the blade can be flexibly rotated on the second frame part 12, but also ensures an efficient driving connection between the position adjustment structure 20 and the first frame part 11. In addition, the arrangement of the second frame part 12 away from the position adjustment structure 20 further reduces mechanical interference, improves the freedom of the blade movement, and provides structural support for the precise cutting and efficient picking of fruits.

[0083] Specifically, there are at least two first drive assemblies 61 and at least two second drive assemblies 62, and the at least two first drive assemblies 61 and the at least two second drive assemblies 62 are arranged one by one; one of the at least two first drive assemblies 61 is connected to one end of the first transmission shaft 71, and the other is connected to the other end of the first transmission shaft 71; one of the at least two second drive assemblies 62 is connected to one end of the second transmission shaft 72, and the other is connected to the other end of the second transmission shaft 72. With such a structural setting, the four sets of connecting rod structures work together to balance the force on the blade during shearing, and can also more flexibly distribute and accurately control power to ensure the consistency and synchronization of each blade movement. It not only improves the response speed of the blade, but also enhances the load capacity of the entire shearing mechanism, so that the shearing mechanism can more stably and efficiently cope with high-density, high-load picking operations, while reducing the loss in power transmission and improving the overall energy utilization efficiency.

[0084] In this embodiment, the first blade body 30 includes a first rocker portion 31 and a first shearing portion 32 connected to each other, and the first shearing portion 32 is located on a side of the first rocker portion 31 away from the driving structure; the first driving assembly 61 is drivingly connected to the first rocker portion 31, and the frame structure 10 is rotatably connected to the first rocker portion 31; wherein the first shearing portion 32 includes a first connecting plate 321, a first cutting plate 322, and a second connecting plate 323 connected in sequence, and the first connecting plate 321 and the second connecting plate 323 are arranged opposite to each other; there are at least two first rocker portions 31, one of the at least two first rocker portions 31 is connected to the first connecting plate 321, and the other is connected to the second connecting plate 323; at least part of the first blade portion 301 is arranged on the first cutting plate 322. With such a structural arrangement, the first rocker portion 31 and the first shearing portion 32 are used as two independent but interconnected modules, which can significantly enhance the stability and flexibility during the shearing process. Through the driving connection between the first driving assembly 61 and the first rocker part 31, the motion trajectory of the knife body can be accurately controlled to ensure the smoothness and accuracy of the shearing action. The first shearing part 32 is located on the side of the first rocker part 31 away from the driving structure. Such a structural layout optimizes the power distribution and control. Through the rotatable connection between the frame structure 10 and the first rocker part 31, the power from the driving assembly can be evenly and efficiently transmitted to the shearing part, avoiding the loss and imbalance in the power transmission process, and ensuring that each shearing action is fully and accurately supported by the torque. The first shearing part 32 is composed of a first connecting plate 321, a first cutting plate 322 and a second connecting plate 323. Such a modular design not only simplifies the structure of the shearing part, but also improves the precision and efficiency of shearing. In particular, at least part of the first blade 301 is arranged on the first cutting plate 322, which can directly shear the fruit handle, reduce unnecessary contact, and avoid damage to the fruit. At the same time, the relative arrangement of the first connecting plate 321 and the second connecting plate 323 ensures the structural stability of the shearing part, making the shearing process more accurate. In addition, the first rocker parts 31 are provided with at least two, which improves the structural strength of the blade body and increases durability.

[0085] In this embodiment, the second blade body 40 includes a second rocker portion 41 and a second shearing portion 42 connected to each other, and the second shearing portion 42 is located on a side of the second rocker portion 41 away from the driving structure; the second driving assembly 62 is drivingly connected to the second rocker portion 41, and the frame structure 10 is rotatably connected to the second rocker portion 41; wherein the second shearing portion 42 includes a third connecting plate 421, a second cutting plate 422 and a fourth connecting plate 423 connected in sequence, and the third connecting plate 421 is arranged opposite to the fourth connecting plate 423; there are at least two second rocker portions 41, one of the at least two second rocker portions 41 is connected to the third connecting plate 421, and the other is connected to the fourth connecting plate 423; at least part of the second blade portion 401 is arranged on the second cutting plate 422. With such a structural arrangement, the second rocker portion 41 and the second shearing portion 42 are used as two independent but interconnected modules, which can significantly enhance the stability and flexibility during the shearing process. Through the driving connection between the second driving assembly 62 and the second rocker part 41, the motion trajectory of the knife body can be accurately controlled to ensure the smoothness and accuracy of the shearing action. The second shearing part 42 is located on the side of the second rocker part 41 away from the driving structure. Such a structural layout optimizes power distribution and control. Through the rotatable connection between the frame structure 10 and the second rocker part 41, the power from the driving assembly can be evenly and efficiently transmitted to the shearing part, avoiding the loss and imbalance in the power transmission process, and ensuring that each shearing action is fully and accurately supported by the torque. The second shearing part 42 is composed of the third connecting plate 421, the second cutting plate 422 and the fourth connecting plate 423. Such a modular design not only simplifies the structure of the shearing part, but also improves the precision and efficiency of shearing. In particular, at least part of the second blade 401 is arranged on the second cutting plate 422, which can directly cut the fruit handle, reduce unnecessary contact, and avoid damage to the fruit. At the same time, the relative arrangement of the third connecting plate 421 and the fourth connecting plate 423 ensures the structural stability of the shearing part, making the shearing process more accurate. In addition, at least two second rocker parts 41 are provided, which improves the structural strength of the blade body and increases durability.

[0086] Specifically, along the direction from the first connecting plate 321 to the second connecting plate 323, the width of the first blade body 30 is greater than or equal to 150 mm and less than or equal to 300 mm. Along the direction from the third connecting plate 421 to the fourth connecting plate 423, the width of the second blade body 40 is greater than or equal to 150 mm and less than or equal to 300 mm.

[0087] Specifically, the width of the first blade body 30 is 200 mm along the direction from the first connecting plate 321 to the second connecting plate 323. Specifically, the width of the second blade body 40 is 200 mm along the direction from the third connecting plate 421 to the fourth connecting plate 423. Specifically, both the first blade body 30 and the second blade body 40 are made of W18Cr4V (tungsten-based high-speed steel) which has the highest tungsten content among high-speed steels.

[0088] Specifically, at least two first rocker parts 31 are connected to each other and arranged around the grasping space. Specifically, the first connecting plate 321, the first cutting plate 322 and the second connecting plate 323 are arranged around the grasping space. At least two second rocker parts 41 are connected to each other and arranged around the grasping space. Specifically, the third connecting plate 421, the second cutting plate 422 and the fourth connecting plate 423 are arranged around the grasping space. With such a structural arrangement, the stability when grasping the fruit can be significantly enhanced and the possibility of fruit damage can be reduced.

[0089] Specifically, the first blade 301 includes a first blade segment, a second blade segment and a third blade segment connected in sequence, the first blade segment of the first blade 301 is arranged on the first connecting plate 321, the second blade segment of the first blade 301 is arranged on the first cutting plate 322, and the third blade segment of the first blade 301 is arranged on the second connecting plate 323. The second blade 401 includes a fourth blade segment, a fifth blade segment and a sixth blade segment connected in sequence, the fourth blade segment of the second blade 401 is arranged on the third connecting plate 421, the fifth blade segment of the second blade 401 is arranged on the second cutting plate 422, and the sixth blade segment of the second blade 401 is arranged on the fourth connecting plate 423. Such a structural setting provides greater flexibility and adaptability for shearing. Regardless of the direction of the fruit handle, the cutter can find the best shearing angle to ensure the efficiency and accuracy of the shearing action, reducing shearing failure or fruit damage caused by angle problems. And the blade structure surrounding the gripping space ensures that the shearing force can be evenly distributed on the fruit stem, avoiding the tearing of the fruit stem or damage to the fruit due to the shearing force concentrated at one point. This uniform force distribution not only improves the shearing efficiency, but also protects the integrity of the fruit and improves the quality of picking. The surrounding blade design improves the adaptability of the equipment to fruits of different sizes and shapes. Even those fruits with irregular shapes can be accurately positioned and sheared without the need for a complicated pre-positioning process, which simplifies the picking process and improves work efficiency.

[0090] In this embodiment, the position adjustment structure 20 includes a main body 21, an adjustment drive 22 and a first deceleration assembly 23, and the adjustment drive 22 and the first deceleration assembly 23 are both arranged on the main body 21; the driving end of the adjustment drive 22 is movably arranged; the first deceleration assembly 23 includes a second wheel body 231 and a driving part 232 connected to each other, and the driving part 232 forms an adjustment end. Among them, the driving end of the adjustment drive 22 is the first wheel body 221, the second wheel body 231 is drivingly connected to the first wheel body 221, and the diameter of the second wheel body 231 is greater than the diameter of the first wheel body 221. With such a structural setting, the precise adjustment of the knife body posture is achieved. The driving end (first wheel body 221) of the adjustment drive 22 is movably arranged, and is matched with the second wheel body 231 with a larger diameter to be drivingly connected thereto, forming a preliminary deceleration effect. This design uses the diameter difference of the gear to achieve the deceleration amplification of the power, so that the shearing mechanism can adjust its posture more delicately to adapt to fruits of different heights and positions, thereby improving the accuracy and efficiency of picking. At the same time, the diameter difference optimizes the torque distribution and ensures stable operation of the actuator even when the load changes.

[0091] Specifically, the position adjustment structure 20 also includes a second deceleration assembly 24, which includes a third wheel body 241 and a fourth wheel body 242 connected to each other, the third wheel body 241 is drivingly connected to the first wheel body 221, and the fourth wheel body 242 is drivingly connected to the second wheel body 231; wherein the diameter of the third wheel body 241 is greater than the diameter of the first wheel body 221, and the diameter of the second wheel body 231 is greater than the diameter of the fourth wheel body 242. With such a structural setting, the second deceleration assembly 24 cooperates with the first deceleration assembly 23 to form a two-stage deceleration mechanism, further improving the flexibility and accuracy of power transmission. The diameter of the third wheel body 241 is greater than the first wheel body 221, and the diameter of the second wheel body 231 is greater than the fourth wheel body 242, forming a two-stage deceleration effect. This multi-stage deceleration mechanism can not only achieve a higher proportion of speed reduction, but also more accurately control the pitch angle of the shearing mechanism blade, ensuring that the blade can be sheared at the best position, thereby improving the success rate of picking. In addition, multi-stage deceleration can also effectively reduce the noise and vibration caused by high-speed operation and improve the operation quality of the equipment.

[0092] Specifically, the adjustment end is a shaft structure, and the shaft structure is rotatably arranged. With such a structural arrangement, the shaft structure, as a key part of connection and transmission, ensures that the shearing mechanism can quickly and continuously adjust its posture to adapt to the rapidly changing picking environment. This design not only simplifies the control logic of the actuator, but also reduces unnecessary pauses caused by posture adjustment, improves picking continuity and overall operating efficiency. The structural design of the shaft can also withstand greater torque, enhance the stability of the equipment under complex operating conditions, and reduce the risk of failure.

[0093] Specifically, the adjustment driving member 22 is a second motor.

[0094] Specifically, the second reduction assembly 24 also includes a rotating shaft 243, and the third wheel body 241 and the fourth wheel body 242 are both sleeved on the rotating shaft 243. The rotating shaft 243 is installed on the main body 21 through the bearing seat 244. The adoption of such a structural setting ensures the stability and durability of the wheel body when running at high speed. The bearing seat 244 can provide accurate axial positioning and radial support, reduce the vibration and noise when the wheel body is running, and extend the service life of the wheel body. In addition, by using the bearing seat 244, it is also convenient to maintain and replace the wheel body, reducing the maintenance cost of the equipment.

[0095] Specifically, the first wheel body 221, the second wheel body 231, the third wheel body 241 and the fourth wheel body 242 are all gear structures. Specifically, the first wheel body 221 and the fourth wheel body 242 are both left-handed gears, and the third wheel body 241 and the second wheel body 231 are both right-handed gears; or, the first wheel body 221, the second wheel body 231, the third wheel body 241 and the fourth wheel body 242 are all spur gear structures; or, the first wheel body 221, the second wheel body 231, the third wheel body 241 and the fourth wheel body 242 are all bevel gear structures. With such a structural setting, a variety of power transmission modes are provided, and the most suitable gear type can be selected according to specific needs (such as space limitations, torque requirements, etc.), thereby improving the efficiency and flexibility of power transmission.

[0096] Specifically, the third wheel body 241 is connected to the first wheel body 221 by a synchronous belt structure, and the fourth wheel body 242 is connected to the second wheel body 231 by a synchronous belt structure. In this way, a more stable and accurate power transmission is achieved, the energy loss in the power transmission process is reduced, and the transmission path is simplified, and the response speed of the device and the accuracy of posture adjustment are improved. The synchronous belt structure also has the advantages of low noise and simple maintenance, which improves the operating performance and user experience of the device.

[0097] like Figure 4 As shown, in this embodiment, when any one of the first blade body 30 and the second blade body 40 is in the avoidance position, the angle between the extension direction of the first blade body 30 and the extension direction of the second blade body 40 is A, 90°≤A≤180°. Such a structural setting ensures that the blade body can provide sufficient space when avoiding, avoids collision or mutual interference between the blade bodies, and improves the flexibility and safety of the shearing mechanism in complex environments. Especially in scenes with dense fruits or lush branches and leaves, the avoidance position design of the blade body can effectively reduce mechanical interference, ensure the continuous operation of the equipment, and improve the picking efficiency.

[0098] like Figure 5As shown, in this embodiment, any one of the first blade body 30 and the second blade body 40 has a grasping position. When any one of the first blade body 30 and the second blade body 40 is in the grasping position, the angle between the extension direction of the first blade body 30 and the extension direction of the second blade body 40 is B, and 30°≤B<90°. The use of such a structural setting ensures that the blade can accurately grasp and cut the fruit stalk without causing damage to the fruit itself. The smaller angle B can also separate the object to be cut from other surrounding objects, thereby improving the efficiency of cutting and the integrity rate of the fruit. This design is particularly important for small and tender fruits.

[0099] Specifically, when any one of the first blade body 30 and the second blade body 40 is in the grasping position, the object to be sheared is located in the grasping space, so as to separate the object to be sheared from other objects, thereby better completing the shearing of the object to be sheared.

[0100] Specifically, the shearing mechanism further includes a camera 100, which is arranged on the frame structure 10 and is arranged toward the position between the first blade body 30 and the second blade body 40. With such a structural arrangement, the position, shape and maturity information of the fruit can be captured in real time, providing accurate visual guidance for the shearing action. This design not only improves the accuracy of fruit recognition, but also optimizes the movement trajectory of the blade, ensures the accuracy of the shearing operation, reduces the accidental shearing of non-target objects, and improves the intelligence level of the entire picking process.

[0101] Specifically, the camera 100 is a binocular camera.

[0102] Specifically, the frame structure 10 includes a first frame side panel 13, a second frame side panel 14 and a third frame side panel 15 connected in sequence, the first frame side panel 13 and the third frame side panel 15 are arranged opposite to each other, the first frame side panel 13, the second frame side panel 14 and the third frame side panel 15 enclose an installation space, and at least part of the drive structure is located in the installation space. In this way, not only the internal space of the equipment is rationalized, making the overall structural layout more compact and miniaturized, but also the drive structure can be better protected, reducing the impact of external factors such as dust, water, collision, etc. on the drive structure, extending the service life of the equipment, but also facilitating the maintenance and replacement of the drive structure, and optimizing the operation and maintenance efficiency of the equipment.

[0103] Specifically, the working process of the shearing mechanism includes resetting the initial position (equivalent to the avoidance position), separating the fruit hanger (equivalent to the grasping position), and shearing the fruit handle (equivalent to the shearing position). The detailed working process is as follows: 1) The binocular camera locates the fruit coordinates in space and judges the maturity of the fruit by its color, and adjusts the driving member 22 to drive the first wheel body 221 to rotate, and the third wheel body 241 and the fourth wheel body 242 rotate synchronously and drive the second wheel body 231 and the driving part 232 to rotate to achieve two-stage deceleration, so that the frame structure 10 installed on the driving part 232 can adjust the picking pitch posture angle; 2) At this time, the main driving member 50 drives the second synchronous pulley 92 to rotate so that the first synchronous pulley 91 rotates synchronously, and two pairs of spur gears with the same number of teeth, module and pressure angle (equivalent to the first transmission gear 81 and the second transmission gear 82) are arranged on the first transmission shaft 71 and the second transmission shaft 72 respectively, which rotate synchronously and are hinged to the first transmission shaft The first crank 611 and the second crank 621 on the second transmission shaft 71 and the second transmission shaft 72 rotate at the same angle at the same time, driving the connecting rod and the rocker part to rotate synchronously, so that the angle between the first shearing part 32 and the second shearing part 42 installed at one end of the rocker part is 180°, and the initial position reset process is completed. At this time, the main driving member 50 drives the first crank 611 and the second crank 621 to continue to rotate, so that the angle between the first shearing part 32 and the second shearing part 42 is 60°, and the fruit hanging separation process is completed. At the same time, the main driving member 50 continues to drive the first crank 611 and the second crank 621 to continue to rotate, so that the angle between the first shearing part 32 and the frame and the angle between the second shearing part 42 and the frame are both 90°, and the fruit handle shearing process is completed. The main driving member 50 rotates in the opposite direction at this time so that the angle between the first shearing part 32 and the second shearing part 42 is 180°, returns to the initial position reset, and then performs the next picking.

[0104] A second embodiment of the present invention provides a fruit picker, which includes the shearing mechanism provided in the first embodiment.

[0105] The fruit picker provided by the second embodiment of the present invention can firstly improve the picking efficiency. The setting of the position adjustment structure 20 enables the first blade body 30 and the second blade body 40 to flexibly adjust their positions, so as to quickly and accurately align the fruit to be cut, reduce the adjustment time, and improve the efficiency of continuous picking. In addition, the first blade body 30 and the second blade body 40 can move in the direction of approaching or moving away from each other, which can not only quickly realize the cutting action, but also quickly adjust to the avoidance position when not cutting, so as to avoid collision with subsequent fruit to be cut, and further improve the operation efficiency. Secondly, such a setting can reduce the damage to the fruit to be cut. The first blade portion 301 and the second blade portion 401 are in precise contact at the cutting position, and can perform fixed-point cutting on the fruit handle, avoiding the damage to the fruit body caused by traditional grasping or vibration methods. At the same time, by controlling the angle between the first blade body 30 and the second blade body 40, the size of the gripping space can be adjusted. Before cutting, the fruit to be cut can be placed in the gripping space to avoid unnecessary damage to the surface of the fruit to be cut by the first blade portion 301 and the second blade portion 401, thereby ensuring the integrity and commercial value of the fruit to be cut. At the same time, the position of the fruit to be cut can also be stably controlled to ensure cutting efficiency. Again, the gripping space between the first blade body 30 and the second blade body 40 can adapt to fruits to be cut of different sizes and shapes. By adjusting the relative positions of the blade bodies, the mechanism can effectively handle various types of fruits from small berries to large fruits, thereby improving versatility and adaptability. Therefore, the fruit picker provided in this embodiment can solve the technical problem of low operating efficiency of fruit pickers in the prior art.

[0106] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the entire shearing mechanism has a large covering volume, and is equipped with a binocular vision camera to achieve precise positioning of the fruit in space and fruit maturity judgment, and can better adapt to and judge fruits of different sizes of outer contours and maturity levels, which can effectively improve the picking efficiency, and has a compact structure and flexible movement posture; a quadrilateral mechanism is adopted to achieve the output of multiple forces, which can improve the shearing stability and good picking continuity, and the overall structure is simple.

[0107] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0108] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0109] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0110] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0111] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A shearing mechanism, characterized in that: include: A frame structure (10) and a position adjustment structure (20), wherein an adjustment end of the position adjustment structure (20) is drivingly connected to the frame structure (10), and the adjustment end is movably arranged; The first blade body (30) and the second blade body (40) are both arranged on the frame structure (10), and the first blade body (30) and the second blade body (40) are arranged opposite to each other; either the first blade body (30) or the second blade body (40) is movably arranged in a direction approaching or moving away from the other, so as to move to a shearing position where a first blade portion (301) of the first blade body (30) and a second blade portion (401) of the second blade body (40) are in contact, or to a avoiding position where the first blade portion (301) and the second blade portion (401) avoid each other; A gripping space is formed between at least a portion of the first blade body (30) and at least a portion of the second blade body (40).

2. The shearing mechanism according to claim 1, characterized in that: The shearing mechanism also includes: A driving structure, arranged on the frame structure (10), comprising a main driving member (50), a first driving assembly (61) and a second driving assembly (62), wherein the first driving assembly (61) is connected to the first blade body (30), and the second driving assembly (62) is connected to the second blade body (40); The driving end of the main driving member (50) is movably arranged, and the first driving assembly (61) and the second driving assembly (62) are both drivingly connected to the driving end of the main driving member (50).

3. The shearing mechanism according to claim 2, characterized in that: The shearing mechanism also includes: A first transmission shaft (71) and a second transmission shaft (72), one of the first transmission shaft (71) and the second transmission shaft (72) is drivingly connected to the driving end of the main driving member (50), the first transmission shaft (71) is provided with a first transmission gear (81), and the second transmission shaft (72) is provided with a second transmission gear (82) meshing with the first transmission gear (81); the first transmission shaft (71) is connected to the first driving assembly (61), and the second transmission shaft (72) is connected to the second driving assembly (62); the first driving assembly (61) and the second driving assembly (62) are both connecting rod structures.

4. The shearing mechanism according to claim 3, characterized in that: The shearing mechanism further comprises a first synchronous pulley (91), a second synchronous pulley (92) and a synchronous belt (93), wherein the first synchronous pulley (91) is arranged on one of the first transmission shaft (71) and the second transmission shaft (72), the second synchronous pulley (92) is arranged on the driving end of the main driving member (50), and the synchronous belt (93) is wound around the first synchronous pulley (91) and the second synchronous pulley (92); and / or, There are at least two of the first transmission gears (81) and the second transmission gears (82), and the at least two first transmission gears (81) and the at least two second transmission gears (82) are arranged in a one-to-one correspondence.

5. The shearing mechanism according to claim 3, characterized in that: The frame structure (10) comprises a first frame part (11) and a second frame part (12) which are connected to each other, the first frame part (11) is drivingly connected to the adjustment end, and the second frame part (12) is located on a side of the first frame part (11) away from the position adjustment structure (20); wherein the first blade body (30) and the second blade body (40) are both rotatably connected to the second frame part (12), and the first transmission shaft (71) and the second transmission shaft (72) are both arranged on the first frame part (11); and / or, There are at least two of the first drive assembly (61) and the second drive assembly (62), and the at least two first drive assemblies (61) and the at least two second drive assemblies (62) are arranged in a one-to-one correspondence; one of the at least two first drive assemblies (61) is connected to one end of the first transmission shaft (71), and the other is connected to the other end of the first transmission shaft (71); and one of the at least two second drive assemblies (62) is connected to one end of the second transmission shaft (72), and the other is connected to the other end of the second transmission shaft (72).

6. The shearing mechanism according to claim 2, characterized in that: The first blade body (30) comprises a first rocking arm portion (31) and a first shearing portion (32) which are connected to each other, wherein the first shearing portion (32) is located on a side of the first rocking arm portion (31) away from the driving structure; the first driving assembly (61) is drivingly connected to the first rocking arm portion (31), and the frame structure (10) is rotatably connected to the first rocking arm portion (31); wherein the first shearing portion (32) comprises a first connecting plate (321), a first cutting plate (322) and a second connecting plate (323) which are connected in sequence, and the first connecting plate (321) is arranged opposite to the second connecting plate (323); there are at least two first rocking arm portions (31), one of the at least two first rocking arm portions (31) is connected to the first connecting plate (321), and the other is connected to the second connecting plate (323); at least part of the first blade portion (301) is arranged on the first cutting plate (322); and / or, The second blade body (40) comprises a second rocker portion (41) and a second shearing portion (42) which are connected to each other, and the second shearing portion (42) is located on a side of the second rocker portion (41) away from the driving structure; the second driving assembly (62) is drivingly connected to the second rocker portion (41), and the frame structure (10) is rotatably connected to the second rocker portion (41); wherein the second shearing portion (42) comprises a third connecting plate (421), a second cutting plate (422) and a fourth connecting plate (423) which are connected in sequence, and the third connecting plate (421) is arranged opposite to the fourth connecting plate (423); there are at least two second rocker portions (41), and one of the at least two second rocker portions (41) is connected to the third connecting plate (421), and the other is connected to the fourth connecting plate (423); at least part of the second blade portion (401) is arranged on the second cutting plate (422).

7. The shearing mechanism according to claim 1, characterized in that: The position adjustment structure (20) comprises: Main body (21); The adjusting driving member (22) and the first deceleration assembly (23) are both arranged on the main body (21); the driving end of the adjusting driving member (22) is movably arranged; the first deceleration assembly (23) comprises a second wheel body (231) and a driving part (232) which are connected to each other, and the driving part (232) forms the adjusting end; Wherein, the driving end of the adjustment driving member (22) is the first wheel body (221), the second wheel body (231) is drivingly connected to the first wheel body (221), and the diameter of the second wheel body (231) is greater than the diameter of the first wheel body (221).

8. The shearing mechanism according to claim 7, characterized in that: The position adjustment structure (20) further comprises a second deceleration assembly (24), the second deceleration assembly (24) comprising a third wheel body (241) and a fourth wheel body (242) connected to each other, the third wheel body (241) being drivingly connected to the first wheel body (221), and the fourth wheel body (242) being drivingly connected to the second wheel body (231); wherein the diameter of the third wheel body (241) is greater than the diameter of the first wheel body (221), and the diameter of the second wheel body (231) is greater than the diameter of the fourth wheel body (242); and / or, The adjustment end is a shaft structure, and the shaft structure is rotatably arranged.

9. The shearing mechanism according to claim 1, characterized in that: When any one of the first blade body (30) and the second blade body (40) is in the avoidance position, the angle between the extension direction of the first blade body (30) and the extension direction of the second blade body (40) is A, 90°≤A≤180°; and / or, Any one of the first blade body (30) and the second blade body (40) has a grasping position, and when any one of the first blade body (30) and the second blade body (40) is in the grasping position, an angle between an extension direction of the first blade body (30) and an extension direction of the second blade body (40) is B, and 30°≤B<90°; and / or, The shearing mechanism further comprises a camera (100), wherein the camera (100) is arranged on the frame structure (10) and is arranged toward a portion between the first knife body (30) and the second knife body (40).

10. A fruit picking device, characterized in that: include: The shearing mechanism according to any one of claims 1 to 9.

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