Shearing mechanism for picking robot

Abstract

The utility model relates to a picking device, and discloses a shearing mechanism for a picking robot, which comprises an accommodating shell, the left side of the outer part of the accommodating shell is fixedly connected with a fixed ring I, the rear side of the fixed ring I is fixedly connected with a connecting frame, and the rear side of the connecting frame is rotatably connected with a power assembly; the right side of the power assembly is rotationally connected with a pulling frame, the right side of the pulling frame is fixedly connected with a cable, the other side of the cable is fixedly connected with a cutting knife, the cable is sleeved with a spring, the right side of the containing shell is slidably connected with a sliding rod, and the right side of the sliding rod is fixedly connected with a sleeving pipe. A baffle is fixedly connected to the rear side of the sleeving pipe, a fixing shaft is fixedly connected to the bottom of the left end of the rear side of the baffle, and a fixing plate is fixedly connected to the bottom of the right end of the rear side of the baffle. According to the utility model, the device can be used under the condition that the device is not electrified, so that the device can adapt to more scenes.

Description

Technical Field

[0001] The utility model relates to a picking device, in particular to a shearing mechanism for a picking robot. Background Art

[0002] The harvesting robot can use the shearing mechanism to harvest various vegetables, such as greens, tomatoes, peppers, etc. The shearing mechanism can accurately cut the stems or leaves of the plant to ensure that the plant will not be damaged during the harvesting process, and the harvesting task can be completed quickly and efficiently. In the garden or gardening scene, the harvesting robot can use the shearing mechanism to prune flowers, shrubs and trees. The shearing mechanism can accurately cut off the branches and leaves according to the growth conditions and pruning requirements of the flowers, maintaining the healthy growth and beautiful shape of the plants.

[0003] After searching: Chinese patent announcement number: CN205865150U, it is related to a picking device, disclosing an automatic picking device with simple operation, high picking efficiency, and low damage to the neem tree, which includes a rod and a picking part located at the top of the rod. The utility model provides a method of using the rod to the picking position to perform a shearing action, which is simple to operate, high picking efficiency, and low damage to the neem tree. In addition, the picking device described in the utility model is also provided with a rotating device, which can adjust the shearing mechanism at any time to adjust the shearing angle after reaching the predetermined position, so as to achieve more flexible shearing.

[0004] The above patent embodiment records that "the picking device is also provided with a rotating device, and the rotating device can adjust the shearing angle of the shearing mechanism at any time after reaching the predetermined position to achieve more flexible cutting." The above embodiment records that by using a rotating device, the angle of the shearing mechanism can be adjusted after reaching the predetermined position to achieve more flexible cutting. However, it does not take into account that the device uses a motor to achieve the above function. When used in an outdoor scene where electricity cannot be supplied, the device will not be usable. Therefore, in response to the above-mentioned deficiencies, a new type of shearing mechanism for a picking robot is proposed. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes a shearing mechanism for a picking robot, aiming to improve the problem in the prior art that the device must be powered on before it can be used.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A shearing mechanism for a picking robot comprises a containing shell, a fixing ring 1 is fixedly connected to the outer left side of the containing shell, a connecting frame is fixedly connected to the rear side of the fixing ring 1, a power assembly is rotatably connected to the rear side of the connecting frame, a pulling frame is rotatably connected to the right side of the power assembly, a cable is fixedly connected to the right side of the pulling frame, a cutting knife is fixedly connected to the other side of the cable, a spring is sleeved on the outer side of the cable, a sliding rod is slidably connected to the right side of the containing shell, a sleeve tube is fixedly connected to the right side of the sliding rod, a baffle is fixedly connected to the rear side of the sleeve tube, a fixed shaft is fixedly connected to the bottom left end of the rear side of the baffle, a fixing plate is fixedly connected to the bottom right end of the rear side of the baffle, a protective cover is fixedly connected to the rear side of the fixing ring 1, and a fixing ring 2 is fixedly connected to the outer right side of the containing shell.

[0008] Furthermore, the power assembly includes a handle 1, the front side of the handle 1 is rotatably connected to the inside of the rear side of the connecting frame, and the right side of the handle 1 is rotatably connected to the inside of the left side of the pulling frame.

[0009] Furthermore, a cavity is provided inside the containing shell, a limiting plate is slidably connected inside the cavity, a threaded groove is provided inside the sliding rod, a threaded rod is rotatably connected inside the containing shell, and a handle 2 is fixedly connected to the left top end of the threaded rod.

[0010] Furthermore, one end of the spring is fixedly connected to the right side of the cutting knife, and the other end of the spring is fixedly connected to the left side of the fixing plate.

[0011] Furthermore, the outside of the cable is slidably connected to the inside of the protective cover, and the middle part of the cutting knife is rotationally connected to the outside of the fixed shaft.

[0012] Furthermore, the outside of the protective cover is fixedly connected to the inside of the rear side of the second fixing ring, and one side of the cable passes through the middle of the fixing plate and extends outward.

[0013] Furthermore, the external thread of the threaded rod is connected to the inside of the threaded groove, and the left top end of the threaded rod penetrates the left inner wall of the cavity and extends outward.

[0014] Furthermore, the right side of the limiting plate is fixedly connected to the left bottom of the sliding rod.

[0015] The utility model has the following beneficial effects:

[0016] 1. In the utility model, through the cooperation of the containing shell, the fixing ring, the connecting frame, the handle, the pulling frame, the cable, the spring and other structures, the device can be used even when it is not powered on, thereby increasing the adaptability of the device to various scenarios.

[0017] 2. In the utility model, the length of the device can be adjusted through the cooperation of the fixing ring 2, the cavity, the threaded rod, the handle, the limit plate, the threaded groove and other structures, so that the device can pick fruits at different heights, thereby improving the flexibility of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional diagram of a shearing mechanism for a picking robot proposed in the utility model;

[0019] Figure 2 This is a schematic diagram of the sleeve pipe structure of a shearing mechanism for a picking robot proposed in the utility model;

[0020] Figure 3 This is a schematic diagram of the internal structure of a cavity of a shearing mechanism for a picking robot proposed by the utility model.

[0021] Legend:

[0022] 1. Containing shell; 2. Fixing ring 1; 3. Connecting frame; 4. Handle 1; 5. Pulling frame; 6. Cable; 7. Spring; 8. Cutting knife; 9. Sliding rod; 10. Inserting tube; 11. Fixed shaft; 12. Baffle; 13. Fixed plate; 14. Protective cover; 15. Fixing ring 2; 16. Cavity; 17. Threaded rod; 18. Handle 2; 19. Limiting plate; 20. Threaded groove. DETAILED DESCRIPTION

[0023] 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.

[0024] Reference Figure 1-Figure 2The utility model provides an embodiment of a shearing mechanism for a picking robot, comprising a containing shell 1, a fixing ring 2 is fixedly connected to the left side of the outside of the containing shell 1, a connecting frame 3 is fixedly connected to the rear side of the fixing ring 2, so that the fixing ring 2 can provide support for the connecting frame 3, the rear side of the connecting frame 3 is rotatably connected to a power assembly, so that the connecting frame 3 can limit the power assembly, and the right side of the power assembly is rotatably connected to a pulling frame 5, the power assembly comprises a handle 4, the front side of the handle 4 is rotatably connected to the rear side of the connecting frame 3, so that the connecting frame 3 can limit the handle 4, and the right side of the handle 4 is rotatably connected to the left side of the pulling frame 5, and then pulling the handle 4 can make the handle 4 drive the pulling frame 5 to move, the right side of the pulling frame 5 is fixedly connected to a cable 6, and then the pulling frame 5 will drive the cable 6 to move when it moves, and the other side of the cable 6 is fixedly connected to a cutting knife 8, so that the cable 6 will drive the cutting knife 8 to move when it moves.

[0025] To enable it to pick fruits, a spring 7 is sleeved on the outside of the cable 6, a sliding rod 9 is slidably connected to the right side of the accommodating shell 1, and a sleeve tube 10 is fixedly connected to the right side of the sliding rod 9, so that the sliding rod 9 can provide support for the sleeve tube 10, and a baffle 12 is fixedly connected to the rear side of the sleeve tube 10, and a fixed shaft 11 is fixedly connected to the bottom of the rear left end of the baffle 12, so that the baffle 12 can provide support for the fixed shaft 11, and a fixed plate 13 is fixedly connected to the bottom of the rear right end of the baffle 12, so that the baffle 12 can provide support for the fixed plate 13, one end of the spring 7 is fixedly connected to the right side of the cutting knife 8, and the other end of the spring 7 is fixedly connected to the left side of the fixed plate 13, so that the cutting knife 8 will compress the spring 7 when it moves, and a protective cover 14 is fixedly connected to the rear side of the fixing ring 1 2, and the outside of the protective cover 14 is fixedly connected to the rear inside of the fixing ring 2 15, so that the fixing ring 2 15 can provide support for the protective cover 14.

[0026] One side of the cable 6 passes through the middle of the fixing plate 13 and extends outward, so that the fixing plate 13 can provide support for the cable 6. The outside of the cable 6 is slidably connected to the inside of the protective cover 14, so that the protective cover 14 can protect the cable 6. The middle part of the cutting knife 8 is rotatably connected to the outside of the fixed shaft 11, so that the fixed shaft 11 can make the cutting knife 8 rotate more stably. The right side of the outside of the containing shell 1 is fixedly connected with a fixing ring 2 15, so that the containing shell 1 can provide support for the fixing ring 2 15.

[0027] like Figure 1 and Figure 3As shown: a cavity 16 is opened inside the accommodating shell 1, and the interior of the cavity 16 is slidably connected to a limit plate 19, so that the cavity 16 can make the limit plate 19 slide more stably, and the right side of the limit plate 19 is fixedly connected to the left bottom of the sliding rod 9, and then the movement of the sliding rod 9 will drive the limit plate 19 to move, and a threaded groove 20 is opened inside the sliding rod 9, and the external thread of the threaded rod 17 is connected to the inside of the threaded groove 20.

[0028] Therefore, when the threaded rod 17 rotates, the sliding rod 9 will be extended or retracted through the threaded groove 20. The left top end of the threaded rod 17 passes through the left inner wall of the cavity 16 and extends outward. The interior of the accommodating shell 1 is rotatably connected with the threaded rod 17, and the left top end of the threaded rod 17 is fixedly connected with the handle 2 18, so that rotating the handle 2 18 can make the handle 2 18 drive the threaded rod 17 to rotate.

[0029] Compared with some existing technologies, the above content enables the device to be used without power during use, thereby increasing the device's adaptability to scenarios and adjusting the length of the device, so that the device can pick fruits at different heights, thereby improving the device's flexibility.

[0030] Working principle: first, when the length of the device needs to be adjusted, the handle 18 can be turned to make the handle 18 drive the threaded rod 17 to rotate, and then the threaded rod 17 will slide in the cavity 16 with the cooperation of the thread groove 20 when rotating, so that the sliding rod 9 can slide out or retract from the cavity 16, and then the length of the device can be adjusted, and then the limit plate 19 can prevent the sliding rod 9 from sliding out too much and sliding out of the cavity 16, so as to improve the durability of the device, and then the sleeve tube 10 is placed at the bottom of the fruit to be picked, and then the handle 1 4 is pulled to make the handle 1 4 drive the pulling frame 5 to move, and then the pulling frame 5 will move when moving. The cable 6 is driven to move, and then the cable 6 can slide inside the protective cover 14, so that the protective cover 14 can protect the cable 6, and at this time the cable 6 will pull the cutting knife 8, so that the cutting knife 8 rotates outside the fixed shaft 11, so that the cutting knife 8 can pick the fruit, and at this time the cutting knife 8 will compress the spring 7. When the fruit picking is completed, the handle 4 is released, which will cause the cable 6 to drive the cutting knife 8 to reset under the resetting force, and then the cutting knife 8 can drive the cable 6 to reset, and then the cable 6 can drive the handle 4 to reset through the pulling frame 5, so that the device can be quickly put into next use, thereby improving the working efficiency of the device.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A shearing mechanism for a picking robot, comprising a housing (1), characterized in that: The left side of the exterior of the accommodating shell (1) is fixedly connected to a fixing ring (2), the rear side of the fixing ring (2) is fixedly connected to a connecting frame (3), the rear side of the connecting frame (3) is rotatably connected to a power assembly, the right side of the power assembly is rotatably connected to a pulling frame (5), the right side of the pulling frame (5) is fixedly connected to a cable (6), the other side of the cable (6) is fixedly connected to a cutting knife (8), the outer side of the cable (6) is sleeved with a spring (7), and the right side of the accommodating shell (1) is fixedly connected to a cable (6). A sliding rod (9) is slidably connected, a sleeve tube (10) is fixedly connected to the right side of the sliding rod (9), a baffle (12) is fixedly connected to the rear side of the sleeve tube (10), a fixed shaft (11) is fixedly connected to the bottom of the left rear end of the baffle (12), a fixed plate (13) is fixedly connected to the bottom of the right rear end of the baffle (12), a protective sleeve (14) is fixedly connected to the rear side of the fixing ring 1 (2), and a fixing ring 2 (15) is fixedly connected to the right side of the outside of the accommodating shell (1).

2. A shearing mechanism for a picking robot according to claim 1, characterized in that: The power assembly comprises a handle 1 (4), the front side of the handle 1 (4) is rotatably connected to the inside of the rear side of the connecting frame (3), and the right side of the handle 1 (4) is rotatably connected to the inside of the left side of the pulling frame (5).

3. The shearing mechanism for a picking robot according to claim 1, characterized in that: The interior of the containing shell (1) is provided with a cavity (16), the interior of the cavity (16) is slidably connected to a limit plate (19), the interior of the sliding rod (9) is provided with a threaded groove (20), the interior of the containing shell (1) is rotatably connected to a threaded rod (17), and the left top end of the threaded rod (17) is fixedly connected to a handle 2 (18).

4. The shearing mechanism for a picking robot according to claim 1, characterized in that: One end of the spring (7) is fixedly connected to the right side of the cutting knife (8), and the other end of the spring (7) is fixedly connected to the left side of the fixing plate (13).

5. The shearing mechanism for a picking robot according to claim 1, characterized in that: The outside of the cable (6) is slidably connected to the inside of the protective cover (14), and the middle of the cutting knife (8) is rotatably connected to the outside of the fixed shaft (11).

6. The shearing mechanism for a picking robot according to claim 1, characterized in that: The outside of the protective cover (14) is fixedly connected to the inside of the rear side of the second fixing ring (15), and one side of the cable (6) passes through the middle of the fixing plate (13) and extends outward.

7. The shearing mechanism for a picking robot according to claim 3, characterized in that: The external thread of the threaded rod (17) is connected to the inside of the threaded groove (20), and the left top end of the threaded rod (17) penetrates the left inner wall of the cavity (16) and extends outward.

8. The shearing mechanism for a picking robot according to claim 3, characterized in that: The right side of the limiting plate (19) is fixedly connected to the left bottom of the sliding rod (9).

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