A pliers and shears synchronous picking manipulator

Abstract

The present invention relates to a pliers and scissors synchronous picking manipulator, comprising a rod, a cutter head assembly and a handle assembly; the cutter head assembly is mounted on the top of the rod, and the handle assembly is mounted on the bottom of the rod, and the cutter head assembly is driven to move by the handle assembly through a pull wire; the characteristic is that the cutter head assembly comprises a fixed cutter and a movable cutter, and a fixed clamp and a movable clamp; the movable cutter and the movable clamp are separated on both sides of the fixed cutter, and are positioned by a rotating shaft to form a scissors fork structure; and the fixed clamp is riveted to the fixed cutter and is on the same side as the movable clamp to cooperate to form a clamping action; one end of the pull wire is fastened to the movable handle in the handle assembly, and the other end is fastened to the knife arm after passing through the clamp arm, a synchronous spring is arranged between the knife arm and the clamp arm, and a reset spring is arranged between the clamp arm and the handle of the fixed cutter, so as to form a clamping and shearing synchronous different-stroke structure, which has the characteristics of convenient operation and continuous picking action.

Description

Technical field:

[0001] The invention relates to a pliers and shears synchronous picking manipulator, in particular to a picking manipulator which can not only act synchronously with the pliers and shears, but also has a different stroke to facilitate the cutter to further cut off the fruit stem or branch, and can clamp the fruit stem while cutting. Background technology:

[0002] Patent application No. 201120467410.9 discloses a fruit picker, including a long pole with a cutter at the top, a clamp at the top of the long pole, and a handle for controlling the cutter and the clamp at the bottom of the long pole. The handle has a fixed handle and two movable handles, which can clamp the fruit while cutting off the fruit stem, thus preventing the fruit from falling directly to the ground and smashing or hitting people after being cut. In this technology, the cutter and the clamp need to be moved twice, which is troublesome to operate and leads to low efficiency, and no mechanism for maintaining the clamping state is provided.

[0003] Patent application No. 201710099582.7 discloses a lychee fruit picking rod, which is also a double-action structure for clamping and shearing. The only difference between the two is the direction of shearing.

[0004] How to overcome the shortcomings of the prior art and design a solution that is convenient to operate and has high efficiency has become the research object of the present invention. Summary of the invention:

[0005] The purpose of the present invention is to design a clamp on one side of a cutter, which is synchronized with the cutter and can complete clamping and cutting in one action.

[0006] The technical solution of the present invention is implemented as follows: a pliers and shears synchronous picking manipulator, comprising a rod, a cutter head assembly, and a handle assembly; the cutter head assembly is installed at the top of the rod, and the handle assembly is installed at the bottom of the rod, and the handle assembly drives the cutter head assembly to move through a pull wire; it is characterized in that the cutter head assembly includes a fixed cutter and a movable cutter, and a fixed clamp and a movable clamp; the movable cutter and the movable clamp are separated on both sides of the fixed cutter, and are positioned on the fixed cutter through the same rotating shaft, forming a scissors fork structure that can rotate and swing around the rotating shaft; the fixed clamp is riveted to the fixed cutter, and is connected to the movable clamp. The clamps are on the same side and cooperate to form a clamping action; the cutter head assembly is directly locked to the top of the rod with the help of the handle of the fixed cutter; the movable cutter and the movable clamp are respectively connected with a knife arm and a clamp arm; the handle assembly includes a fixed handle and a movable handle, the movable handle is positioned on the fixed handle through a rotating shaft, and the fixed handle is locked to the bottom end of the rod; the movable handle has a short crank, one end of the pull wire is fastened to the short crank, and the other end passes through the clamp arm and is fastened to the knife arm, a synchronization spring is arranged between the knife arm and the clamp arm, and a reset spring is arranged between the clamp arm and the handle of the fixed cutter.

[0007] A trigger and a trigger spring are also provided between the fixed handle and the movable handle in the handle assembly; the trigger shaft is positioned on the movable handle, and the trigger spring is in contact between the trigger and the fixed handle, maintaining a tendency for the ratchet at the other end of the trigger to always contact the ratchet wheel processed on the side of the fixed handle.

[0008] The pull wire is a brake pull wire, which has a sheath tube and a steel wire. One end of the sheath tube abuts against the fixed handle of the handle assembly, and the other end abuts against the handle of the fixed cutter; one end of the steel wire is fastened to the short crank of the movable handle, and the other end is fastened to the knife arm after passing through the clamp arm; the sheath tube is positioned on the rod with the help of a plurality of wire clips, and the rod is a telescopic structure.

[0009] The handle of the fixed cutter is locked on a joint seat, and the joint seat is locked on the top of the rod through a fastening bolt. Loosening the fastening bolt allows the cutter head assembly to swing left and right to adjust the angle with the rod.

[0010] A connecting seat is sleeved on the top end of the rod, and the connecting seat has a pair of axial ears; the joint seat is locked on the pair of axial ears by fastening bolts and can be adjusted within a range of 270 degrees.

[0011] The engagement parts of the fixed clamp and the movable clamp are processed with engagement teeth; the engagement part of the fixed clamp is not higher than the height of the fixed cutter edge.

[0012] The movable clamp is provided with a stop pin on one side of the movable cutter, and the stop pin abuts against the back of the movable cutter.

[0013] The present invention has the characteristics of reasonable design, simple structure, convenient operation and continuous action. The double spring structure of synchronous elasticity and reset elasticity is cleverly used to realize the synchronous action of pliers and shears, while the swing strokes are different, the clamping and shearing do not interfere with each other, the picking action is continuous and smooth, and the efficiency is high. Assisted by the angle adjustment of the cutter head assembly, it can meet the needs of fruits or pruning in various growth states. Description of the drawings:

[0014] The present invention will be further described below in conjunction with specific illustrations:

[0015] Figure 1 Schematic diagram of the synchronous picking robot with pliers and shears

[0016] Figure 2 A partial schematic diagram of the cutter head assembly

[0017] Figure 3 A partial enlarged schematic diagram of the cutter head assembly

[0018] Figure 4 A partial enlarged diagram of the handlebar assembly

[0019] in

[0020] 1—rod 11—large tube 12—small tube 13—cam fastener

[0021] 2—cutter head assembly 21—fixed cutter 211—knife handle 22—movable cutter

[0022] 221—knife arm 23—fixed clamp 231—occlusal teeth 24—movable clamp

[0023] 241—clamp arm 242—stop pin 25—synchronous spring 26—reset spring

[0024] 3—handle assembly 31—fixed handle 311—ratchet 32—movable handle

[0025] 321 - short crank 33 - trigger 331 - ratchet 34 - trigger spring

[0026] 4—pull wire 41—sheath tube 42—steel wire 43—wire clamp

[0027] 5—rotating shaft 51—fastening bolt 6—joint seat 7—connecting seat

[0028] 71 - Axle ear Specific implementation method:

[0029] Reference Figures 1 to 4 The pliers and shears synchronous picking robot comprises a rod 1, a cutter head assembly 2, a handle assembly 3 and a pull wire 4; the cutter head assembly 2 is installed on the top of the rod 1, and the handle assembly 3 is installed on the bottom of the rod 1. The handle assembly 3 drives the cutter head assembly 2 to move through the pull wire 4 to complete the picking or pruning action.

[0030] The cutter head assembly 2 includes a fixed cutter 21 and a movable cutter 22, as well as a fixed clamp 23 and a movable clamp 24; the movable cutter 22 and the movable clamp 24 are separated on both sides of the fixed cutter 21, and are positioned on the fixed cutter 21 through the same rotating shaft 5, forming a scissor fork structure that can rotate and swing around the rotating shaft; and the fixed clamp 23 is riveted to the fixed cutter 21, and is on the same side as the movable clamp 24, and cooperates to form a clamping action; more specifically, the fixed clamp 23 and the movable clamp 24 have a biting tooth 231 processed at the biting part, and the biting part of the fixed clamp 23 is not higher than the height of the blade of the fixed cutter 21, so as to avoid the biting part affecting the shearing of the blade during clamping, or to avoid the biting part overhanging the blade of the fixed cutter, so that the shearing becomes a branch break.

[0031] The cutter head assembly 2 is directly locked to the top of the rod 1 by means of the handle 211 of the fixed cutter 21; the movable cutter 22 and the movable clamp 24 are respectively connected with a cutter arm 221 and a clamp arm 241, which provide a force-applying part for the pull wire 4. In addition, the movable clamp 24 is provided with a stop pin 242 toward one side of the movable cutter 22, and the stop pin 242 abuts against the back of the movable cutter 22 to keep the initial shearing action and stroke consistent, and after the second half of the clamping is in place, the shearing is allowed to continue, that is, the staggered shearing of the movable cutter 22 and the fixed cutter 21.

[0032] The handle assembly 3 includes a fixed handle 31 and a movable handle 32. The movable handle 32 is positioned on the fixed handle 31 through a rotating shaft 5. The fixed handle 31 is locked at the bottom end of the rod 1, and the movable handle 32 has a short crank 321 to drive the pull wire 4 to move. Furthermore, a trigger 33 and a trigger spring 34 are also provided between the fixed handle 31 and the movable handle 32; the trigger 33 axis is positioned on the movable handle 32, and the trigger spring 34 abuts between the trigger 33 and the fixed handle 31, so as to keep the ratchet 331 at the other end of the trigger 33 always abutting against the ratchet 311 processed on the side of the fixed handle. Through the cooperation between the ratchet 331 on the trigger and the ratchet 311, the locking of the movable handle 32 in the whole range is realized, so that the clamping effect can be maintained all the time, and when the shearing force is too small, it can be continued after ventilation to avoid the insufficient force of the hand pinching in the later stage due to excessive stroke.

[0033] One end of the pull wire 4 is fastened to the short crank 321 of the movable handle, and the other end is fastened to the knife arm 221 after passing through the clamp arm 241. A synchronization spring 25 is arranged between the knife arm 221 and the clamp arm 241, and a return spring 26 is arranged between the clamp arm 241 and the knife handle 211 of the fixed cutter. The function of the synchronization spring 25 is to make the movable cutter 22 and the movable clamp 24 have synchronous action, driven by a wiring 4, to achieve synchronous shearing and clamping. The key is to keep the movable cutter 22 and the movable clamp 24 with different swing strokes to avoid the clamp affecting the shearing action; in addition, the synchronization spring 25 is shorter than the return spring 26, and the two only need to maintain a certain swing stroke difference.

[0034] In this example, the pull wire 4 is a brake pull wire, which has a sheath tube 41 and a steel wire 42. The steel wire 42 passes through the sheath tube 41. The staggered movement of the two forms a wire-retracting action of the steel wire 42, so that the pull wire can be bent and wound throughout the process without affecting the action, which satisfies the matching of the telescopic rod. More specifically, one end of the sheath tube 41 abuts against the fixed handle 31, and the other end abuts against the handle 211 of the fixed cutter; one end of the steel wire 42 is fastened to the short crank 321 of the movable handle, and the other end passes through the clamp arm 241 and is fastened to the knife arm 221; the sheath tube 41 is positioned on the rod 1 with the help of a plurality of wire clips 43. The rod 1 is a telescopic structure, which is convenient for collection and outdoor carrying. In this example, the telescopic structure adopts a sliding nested structure of a large tube 11 and a small tube 12, and a cam fastener 13 is provided on the telescopic end of the large tube 11 to position the telescopic length. The large tube and small tube mentioned here are only relative to the adjacent nested parts, so the rod can be a double-section, triple-section or other multi-section sleeve structure.

[0035] Furthermore, the handle 211 of the fixed cutter is locked on a joint seat 6, and the joint seat 6 is locked on the top of the rod 1 by a fastening bolt 51. Loosening the fastening bolt 51 allows the cutter head assembly 2 to swing left and right, and adjust the angle with the rod 1, so as to adjust the direction of the blade according to the growth direction of the fruit or branch to be picked. In order to improve the adjustment angle and facilitate assembly, a connecting seat 7 is sleeved on the top of the rod 1, and the connecting seat 7 has a pair of shaft ears 71; the joint seat 6 is locked on the pair of shaft ears 71 by the fastening bolt 51, and can be adjusted within a range of 270 degrees around the fastening bolt.

Claims

1. A pliers-scissors synchronous harvesting manipulator, comprising a rod (1), a cutter head assembly (2), and a handle assembly (3); the cutter head assembly (2) is mounted on the top of the rod (1), and the handle assembly (3) is mounted on the bottom of the rod (1), and the cutter head assembly (2) is driven to move by the handle assembly (3) through a pull wire (4); the characteristics are: The cutter head assembly (2) comprises a fixed cutter (21) and a movable cutter (22), and a fixed clamp (23) and a movable clamp (24); the movable cutter (22) and the movable clamp (24) are separated on both sides of the fixed cutter (21) and are positioned on the fixed cutter (21) via a same rotating shaft (5), forming a scissor fork structure capable of rotating and swinging around the rotating shaft (5); the fixed clamp (23) is riveted to the fixed cutter (21) and is on the same side as the movable clamp (24), cooperating to form a clamp. The cutter head assembly (2) is directly locked to the top of the rod (1) by means of a handle (211) of a fixed cutter; the movable cutter (22) and the movable clamp (24) are respectively connected with a cutter arm (221) and a clamp arm (241); the handle assembly (3) comprises a fixed handle (31) and a movable handle (32); the movable handle (32) is positioned on the fixed handle (31) through a rotating shaft (5); the fixed handle (31) is locked to the bottom of the rod (1); the movable handle (32) has a A short crank (321), one end of the pull wire (4) is fastened to the short crank (321), and the other end passes through the clamp arm (241) and is fastened to the knife arm (221); a synchronization spring (25) is provided between the knife arm (221) and the clamp arm (241), and a return spring (26) is provided between the clamp arm (241) and the knife handle (211) of the fixed cutter; the fixed clamp (23) and the movable clamp (24) have engaging teeth (231) at the engaging portion; the fixed clamp (23) The engaging portion is not higher than the height of the blade of the fixed cutter (21); the movable clamp (24) is provided with a stop pin (242) on the side facing the movable cutter (22), and the stop pin (242) is used to abut against the back of the movable cutter (22); the handle (211) of the fixed cutter is locked on a joint seat (6), and the joint seat (6) is locked on the top of the rod (1) by a fastening bolt (51); loosening the fastening bolt (51) allows the cutter head assembly (2) to swing left and right, thereby adjusting the angle between the cutter head assembly (2) and the rod (1).

2. A pliers-scissors synchronous picking manipulator according to claim 1, characterized in that: A trigger (33) and a trigger spring (34) are further provided between the fixed handle (31) and the movable handle (32) in the handle assembly (3); the trigger (33) axis is positioned on the movable handle (32), and the trigger spring (34) abuts between the trigger (33) and the fixed handle (31), so as to maintain a tendency for the ratchet (331) at the other end of the trigger (33) to always abut against a ratchet wheel (311) processed on the side of the fixed handle (31).

3. The synchronous picking robot with pliers and shears according to claim 1, characterized in that: The pull wire (4) is a brake pull wire, comprising a sheath tube (41) and a steel wire (42); one end of the sheath tube (41) abuts against a fixed handle (31) of the handle assembly (3), and the other end abuts against a knife handle (211) of a fixed cutter; one end of the steel wire (42) is fastened to a short crank (321) of a movable handle, and the other end passes through a clamp arm (241) and is fastened to a knife arm (221); the sheath tube (41) is positioned on a rod (1) by means of a plurality of wire clips (43), and the rod (1) is a telescopic structure.

4. The synchronous picking robot with pliers and shears according to claim 1, characterized in that: A connecting seat (7) is sleeved on the top end of the rod (1), and the connecting seat (7) has a pair of axial ears (71); the joint seat (6) is locked on the pair of axial ears (71) by means of fastening bolts (51) and can be adjusted within a range of 270 degrees.

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