Fruit picking and shearing device

Abstract

The utility model relates to the field of agricultural tools, and particularly discloses a fruit picking and shearing device which comprises a tool rest, two tool arms are installed on the two sides of the tool rest through driving assemblies, one ends of the tool arms are rotationally connected, the tool arms are provided with receding openings and cutting edges, and non-return parts protruding outwards are arranged between the receding openings and the cutting edges. And the visual camera is mounted on the knife rest through a connecting plate. According to the fruit pruning knife, the receding opening is formed in the knife arm, the knife edge and the receding opening are separately arranged, a fruit body can smoothly penetrate through an area defined by the receding opening without damage, so that positioning preparation is made for cutting of the knife edge, the non-return part is arranged between the knife edge and the receding opening, a branch can be fixed when the knife edge is used for pruning, and the fruit pruning knife is convenient to use and high in practicability. In addition, during shearing, a labor-saving lever structure with large torque is formed at the cutting edge through the driving assembly, the structural strength is higher, and the cutting edge can better exert force.

Description

Technical Field

[0001] The utility model belongs to the field of agricultural tools, in particular to a fruit picking and shearing device. Background Art

[0002] The shearing device is a core component of a fruit picking machine or a fruit picking robot. It is mainly used to locate the position of the fruit, quickly and accurately locate and shear the part where the fruit is connected to the branch through the shearing device, so that the fruit falls into the collection bag for collection. The mechanical structure of the device is required to have high durability and not damage the surface of the fruit during operation.

[0003] The patent document with application number "2022222444885" discloses a high-altitude fruit picking pruning device, including a main rod, a pull ring is provided at one end of the main rod, a sliding slot is provided at one end of the upper surface of the main rod away from the pull ring, and a limited block is fixedly connected to the upper surface of the main rod at one end of the sliding slot close to the pull ring. Through the cooperation of the first side rod, the first type button, the second side rod, etc., the rhombus formed by the first side rod, the second side rod, the third side rod and the fourth side rod can be extended in the direction of the main rod, which not only successfully realizes the extension of the net bag into the dense fruit trees, but also conveniently utilizes the mutual approach of the blades provided on the first side rod, the second side rod, the third side rod and the fourth side rod to cut the branches above the fruit. However, the rhombus shearing structure in the reference document not only has a low structural strength during shearing, but also is easy to slip between the blade and the branch and is not easy to cut the branch during cutting, and the fruit is easy to collide with the blade when passing through the area surrounded by the four side rods, thereby cutting the outer skin of the fruit.

[0004] The disclosure of the above background technology content is only used to assist in understanding the utility model concept and technical solution of the utility model. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Utility Model Content

[0005] The utility model aims to provide a fruit picking and shearing device, so as to overcome the defects of the existing fruit shears, such as low structural strength, easy slipping of the blade and easy damage to the surface of the fruit.

[0006] To achieve the above-mentioned purpose, the utility model provides a fruit picking and shearing device, including a knife rack, a knife arm and a driving assembly, wherein there are two knife arms, one end of the two knife arms are rotatably connected, and the other ends of the knife arms are respectively connected to the two sides of the knife rack through the driving assembly, and the driving assembly can drive the other ends of the two knife arms to approach or separate from each other, a yield opening is provided on one side of the knife arm, and a blade is provided at a position close to one end of the knife arm, the yield openings and the blades of the two knife arms are relative to each other, and a non-return portion is provided between the blade and the yield opening, and the end of the non-return portion extends outward from the blade.

[0007] Preferably, in the above technical solution, the shape of the clearance opening is an arc shape.

[0008] Preferably, in the above technical solution, a secondary edge is provided at the end of the anti-return portion, and the direction of the secondary edge is toward the cutting edge.

[0009] Preferably, in the above technical solution, the angle between the secondary edge and the blade is less than 90 degrees.

[0010] Preferably, the above technical solution further comprises a connecting plate, the middle portion of which is fixedly connected to the tool holder, and two ends of the connecting plate extend respectively to the top of the tool holder and the bottom of the tool holder.

[0011] Preferably, the above technical solution further includes a visual camera, the number of which is two, and the two visual cameras are respectively installed at both ends of the connecting plate, and the shooting direction of the visual camera is toward the yield opening.

[0012] Preferably, in the above technical solution, weight-reducing holes are provided on the connecting plate.

[0013] Preferably, in the above technical solution, the driving assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the other end of the knife arm, the other end of the first connecting rod is rotatably connected to the knife holder, one end of the second connecting rod is rotatably connected to the knife arm and is located between one end of the first connecting rod and the yield opening, the other end of the second connecting rod is rotatably connected to the knife holder, and the distance between the other end of the second connecting rod and the connecting plate is greater than the distance between the other end of the first connecting rod and the connecting plate; both ends of at least one of the first connecting rods can be telescopic.

[0014] Preferably, in the above technical solution, the distance between the two ends of the first connecting rod is greater than the distance between the two ends of the second connecting rod.

[0015] Preferably, in the above technical solution, the other end of the blade arm is bent toward the other side of the blade arm to form a bent arm, an angle is formed between the bent arm and the blade, and one end of the first connecting rod and one end of the second connecting rod are rotatably connected to the two ends of the bent arm respectively.

[0016] Compared with the existing technology, the utility model has the following beneficial effects:

[0017] 1. The fruit picking and shearing device in the utility model is provided with a clearance opening on the knife arm, and the blade and the clearance opening are separately provided, so that the fruit body can smoothly pass through the area enclosed by the clearance opening without damage, thereby preparing for the positioning of the blade for shearing. A non-return portion is provided between the blade and the clearance opening, which can fix the branches when the blade is pruning and prevent the branches from slipping along the blade. In addition, when shearing, the driving component forms a force-saving lever structure with a large torque at the blade, and the structural strength is higher, which can enable the blade to exert force better.

[0018] 2. The end of the non-return portion in the utility model is provided with a secondary edge and the angle between the secondary edge and the blade is less than 90 degrees, so that a gradually closed triangle area can be formed with the blade during pruning, making the cutting of branches smoother.

[0019] 3. A connecting plate is fixedly installed at one end of the tool holder in the utility model, and visual cameras are respectively installed at both ends of the connecting plate, which can achieve accurate control and positioning in height when the fruit body passes through the yielding opening, which is more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural diagram of a fruit picking and shearing device of the utility model.

[0021] Figure 2 This is a diagram of the structure of the blade arm.

[0022] Description of main reference numerals:

[0023] 100- knife holder;

[0024] 200- blade arm, 210- clearance opening, 220- blade, 230- stopper, 240- secondary blade, 250- bending arm;

[0025] 300-driving assembly, 310-first connecting rod, 320-second connecting rod;

[0026] 400-connecting plate, 410-weight-reducing hole;

[0027] 500-Vision Camera. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "top", "bottom", "top surface", "bottom surface", "inside", "outside", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is a description of the embodiments of the present invention based on its overall structure.

[0032] like Figure 1 to Figure 2 As shown, the fruit picking and shearing device in this embodiment includes: a knife holder 100, a knife arm 200, a yielding opening 210, a blade 220, a check portion 230, an auxiliary blade 240, a bending arm 250, a driving assembly 300, a first connecting rod 310, a second connecting rod 320, a connecting plate 400, a weight reduction hole 410, and a visual camera 500.

[0033] The tool holder 100 is a plate row structure, the middle part of the connecting plate 400 is fixedly connected to the tool holder 100 and the connecting plate 400 is perpendicular to the top and bottom surfaces of the tool holder 100, and the two ends of the connecting plate 400 extend to the top of the tool holder 100 and the bottom of the tool holder 100 respectively; there are two knife arms 200, one end of the two knife arms 200 is rotatably connected, and the other end of the knife arm 200 is connected to the two sides of the tool holder 100 through the driving assembly 300 respectively, a yielding opening 210 is opened on one side of the knife arm 200, and a blade 220 is arranged near one end of the knife arm 200. The positions of the position opening 210 and the blade 220 are opposite, and a non-return portion 230 is arranged between the blade 220 and the position opening 210, and the end of the non-return portion 230 extends outward from the blade 220 to form a protruding structure, and the other end of the knife arm 200 is bent toward the other side of the knife arm 200 to form a bending arm 250, and there is an angle greater than 90 degrees between the bending arm 250 and the blade 220, one end of the bending arm 250 is connected to one end of the position opening 210, and the other end of the bending arm 250 extends outward; the driving component 300 includes a first connecting rod 310 and a second connecting rod 320, and the two ends of the first connecting rod 310 are connected to each other. The distance between the two ends of the second connecting rod 320 is greater than the distance between the two ends of the second connecting rod 320, one end of the first connecting rod 310 is rotatably connected to the other end of the bending arm 250, the other end of the first connecting rod 310 is rotatably connected to the tool holder 100, one end of the second connecting rod 320 is rotatably connected to one end of the bending arm 250, the other end of the second connecting rod 320 is rotatably connected to the tool holder 100, the distance between the other end of the second connecting rod 320 and the connecting plate 400 is greater than the distance between the other end of the first connecting rod 310 and the connecting plate 400, and the distance between the rotation axes of the other ends of the two second connecting rods 320 is less than the distance between the two first The distance between the rotation axes of the other ends of the connecting rod 310; one of the first connecting rods 310 is an electric cylinder, and the two ends of the electric cylinder can be extended and retracted. When the two ends of the electric cylinder are extended and retracted, the other ends of the two knife arms 200 can be driven to approach or move away, so that the clearance openings 210 and the blades 220 on the two knife arms 200 can be closed or separated from each other; the clearance opening 210 is an arc-shaped structure. When the two knife arms 200 approach each other, the two arc-shaped clearance openings 210 can be closed to each other, thereby forming an annular hole, and the fruit body can pass through the hole during the pruning process, thereby positioning.

[0034] In more detail, a secondary edge 240 is provided at the end of the backflow prevention portion 230, the direction of the secondary edge 240 is toward the blade 220, and the angle between the secondary edge 240 and the blade 220 is less than 90 degrees. When the two blade arms 200 are close to each other, a triangular area can be enclosed between the blade 220 and the secondary edge 240 to limit the branches, thereby preventing the cut branches from slipping and falling off between the blade 220.

[0035] In addition, there are two visual cameras 500 , which are respectively installed at two ends of the connecting plate 400 . The shooting direction of the visual cameras 500 is toward the yield opening 210 , and a weight reduction hole 410 is opened on the connecting plate 400 .

[0036] Next, the working principle of a fruit picking and shearing device in this embodiment is described in detail so that those skilled in the art can better understand the utility model:

[0037] When in use, the knife holder 100 in the shearing device is installed on the mechanical arm of the picking machine, and the position of the fruit is located by the visual camera 500, and then the two knife arms 200 open to each other to allow the fruit body to pass through the area between the two clearance openings 210, and then through the simultaneous monitoring of the two visual cameras 500, the pruning position of the blade 220 can be accurately located, and the mechanical arm of the picking machine pulls the knife holder 100 in the opposite direction of the blade 220, so that the branch can be stuck in the area enclosed by the two blades 220 and the check part 230, and at the same time, the electric cylinder also drives the two knife arms 200 to gradually close, so as to shear the branch, completing a complete set of actions. The check part 230 can prevent the blade 220 from sliding off the blade 220 when shearing the branch.

[0038] In summary, in this embodiment, a clearance opening 210 is provided on the blade arm 200, and the blade 220 is separately provided from the clearance opening 210, so that the fruit body can pass through the area enclosed by the clearance opening 210 smoothly without damage, thereby preparing for the positioning of the blade 220 for cutting. A check portion 230 is provided between the blade 220 and the clearance opening 210, which can fix the branches when the blade 220 is pruning and prevent the branches from slipping along the blade 220. Moreover, when shearing, the driving component 300 forms a force-saving lever structure with a large torque at the blade 220, and the structural strength is higher, so that the blade 220 can exert force better.

[0039] The foregoing descriptions of specific exemplary embodiments of the present invention are for the purpose of explanation and illustration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can make modifications, substitutions, variations and various selections and changes to the embodiments without creative contribution as needed after reading this specification without departing from the principles and purpose of the present invention, but they are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A fruit picking and shearing device, comprising a knife frame, a knife arm and a driving assembly, wherein the knife arms are two, one end of the two knife arms are rotatably connected, and the other end of the knife arm is respectively connected to the two sides of the knife frame through the driving assembly, and the driving assembly can drive the other ends of the two knife arms to move closer to or separate from each other, characterized in that: A clearance opening is provided on one side of the knife arm, and a blade is provided near one end of the knife arm. The clearance openings and the blades of the two knife arms are opposite to each other, and a non-return portion is provided between the blade and the clearance opening, and the end of the non-return portion extends outward from the blade.

2. The fruit picking and shearing device according to claim 1, characterized in that: The shape of the yielding opening is an arc shape.

3. The fruit picking and shearing device according to claim 1, characterized in that: A secondary edge is provided at the end of the anti-return portion, and the direction of the secondary edge faces the blade.

4. The fruit picking and shearing device according to claim 3, characterized in that: The angle between the secondary edge and the blade is less than 90 degrees.

5. The fruit picking and shearing device according to claim 1, characterized in that: It also includes a connecting plate, the middle part of which is fixedly connected to the tool holder, and two ends of the connecting plate extend respectively to the top of the tool holder and the bottom of the tool holder.

6. The fruit picking and shearing device according to claim 5, characterized in that: It also includes two visual cameras, which are respectively installed at two ends of the connecting plate, and the shooting direction of the visual cameras is toward the yield opening.

7. The fruit picking and shearing device according to claim 5, characterized in that: The connecting plate is provided with weight-reducing holes.

8. The fruit picking and shearing device according to claim 5, characterized in that: The driving assembly comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the other end of the knife arm, the other end of the first connecting rod is rotatably connected to the knife holder, one end of the second connecting rod is rotatably connected to the knife arm and is located between one end of the first connecting rod and the yield opening, the other end of the second connecting rod is rotatably connected to the knife holder, and the distance between the other end of the second connecting rod and the connecting plate is greater than the distance between the other end of the first connecting rod and the connecting plate; Both ends of at least one of the first connecting rods are telescopic.

9. The fruit picking and shearing device according to claim 8, characterized in that: A distance between two ends of the first connecting rod is greater than a distance between two ends of the second connecting rod.

10. The fruit picking and shearing device according to claim 9, characterized in that: The other end of the knife arm is bent toward the other side of the knife arm to form a curved arm, and an angle is formed between the curved arm and the blade. One end of the first connecting rod and one end of the second connecting rod are rotatably connected to the two ends of the curved arm respectively.

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