Picking, clamping and shearing device driven by motor

Abstract

The utility model provides a picking, clamping and shearing device driven by a motor, and belongs to the technical field of fruit picking equipment. The picking clamp-shear device driven by the motor comprises a mounting frame, a picking clamp motor, a picking shear motor, a straight arm cylinder, a picking clamp and picking shears, a connecting rod seat is fixed to the rear end of the straight arm cylinder, an upper connecting rod capable of sliding front and back is arranged between the connecting rod seat and a picking shear mounting seat in a penetrating mode, and a lower connecting rod capable of sliding front and back is arranged between the connecting rod seat and the picking clamp mounting seat in a penetrating mode. A picking clamp small connecting rod is eccentrically hinged to the picking clamp steering disc and hinged to the rear end of the lower connecting rod, a picking shear small connecting rod is eccentrically hinged to the picking shear steering disc and hinged to the rear end of the upper connecting rod, and the picking shear is mounted on the picking shear mounting seat and connected with the upper connecting rod. The picking clamp is mounted on the picking clamp mounting seat and is connected with the lower connecting rod. The clamping scissors are arranged in an up-and-down structure and operate independently, fruit stems can still be clamped after the clamping scissors are cut off, and when fruits are picked, the fruits can be prevented from falling off, and damage to the fruits is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of fruit picking equipment and relates to a picking, clamping and shearing device driven by a motor. Background Art

[0002] Currently, most fruits are picked manually, which is labor-intensive and has high labor costs. Therefore, various picking machines have appeared on the market. Picking robots are installed on the picking equipment. The fruit is clamped by the picker at the end of the robot, and then the scissors are driven to cut the fruit stalk. Due to the different sizes of fruits, mechanical clamps or claws can easily squeeze and damage the fruits when grabbing them, resulting in poor quality of the fruits. Utility Model Content

[0003] The purpose of the utility model is to solve the above problems in the existing technology and propose a motor-driven picking clamping and shearing device. The picking scissors and the picking clamps are independent structures, which are driven by their own motors respectively. The upper and lower structures of the clamping and shearing are arranged to first clamp the fruit stalk and then cut the fruit stalk, which can avoid the fruit from falling and reduce the damage to the fruit.

[0004] The purpose of the utility model can be achieved through the following technical solutions: a motor-driven picking clamp and shearing device, comprising a mounting frame, a picking clamp motor, a picking shear motor, a straight arm tube, a picking clamp, and a picking scissors, characterized in that the picking clamp motor and the picking shear motor are both fixed on the mounting frame, and the mounting frame is also fixed with a first right-angle reducer and a second right-angle reducer, the output shaft of the picking clamp motor is dynamically connected to the input shaft of the first right-angle reducer, a synchronously rotating picking clamp steering disc is fixed on the output shaft of the first right-angle reducer, the output shaft of the picking shear motor is dynamically connected to the input shaft of the second right-angle reducer, and a synchronously rotating picking shear is fixed on the output shaft of the second right-angle reducer A steering disc and a straight arm tube are fixed at the front end of the mounting frame, a connecting rod seat is fixed at the rear end of the straight arm tube, a picking shear mounting seat and a picking clamp mounting seat which are pressed against each other are fixed at the front end of the straight arm tube, an upper connecting rod which can slide back and forth is passed between the connecting rod seat and the picking shear mounting seat, a lower connecting rod which can slide back and forth is passed between the connecting rod seat and the picking clamp mounting seat, a small picking clamp connecting rod is eccentrically hingedly provided on the picking clamp steering disc, and the small picking clamp connecting rod is hinged to the rear end of the lower connecting rod, a small picking shear connecting rod is eccentrically hingedly provided on the picking shear steering disc, and the small picking shear connecting rod is hinged to the rear end of the upper connecting rod, the picking scissors are mounted on the picking shear mounting seat and connected to the upper connecting rod, and the picking clamp is mounted on the picking clamp mounting seat and connected to the lower connecting rod.

[0005] Furthermore, the picking shears mounting seat and the picking clamp mounting seat are both concave.

[0006] Furthermore, the picking shears include a shear pin seat fixed at the front end of the upper connecting rod, and a left blade and a right blade respectively rotatably connected to both sides of the picking shears mounting seat. Both the left blade and the right blade are provided with a strip sliding hole, and the pin on the shear pin seat passes through the two strip sliding holes at the same time.

[0007] Furthermore, as another solution, the picking shears include a shear pin seat fixed at the front end of the upper connecting rod, a left blade and a right blade, an elliptical hole is respectively opened at the outer end of the left blade and the right blade, and a limit pin is inserted into the elliptical hole on both sides of the picking shears mounting seat, a circular hole is opened on the left blade and the right blade, and the pin on the shear pin seat passes through the two circular holes at the same time.

[0008] Furthermore, the ends of the left blade and the right blade are arc-shaped.

[0009] Furthermore, the cutting edges of the left blade and the right blade are in the shape of an inwardly concave arc.

[0010] Furthermore, the picking clamp includes a clamp pin seat fixed at the front end of the lower connecting rod, and a left clamp and a right clamp respectively rotatably connected to the two sides of the picking clamp mounting seat. Both the left clamp and the right clamp are provided with two strip sliding holes, and the pin on the clamp pin seat passes through the two strip sliding holes at the same time.

[0011] Furthermore, as another solution, the picking clamp includes a clamp pin seat fixed at the front end of the lower connecting rod, a left clamp and a right clamp, the outer ends of the left clamp and the right clamp are respectively provided with an elliptical hole II, and both sides of the picking clamp mounting seat are provided with a limit pin II inserted into the elliptical hole II, and the left clamp and the right clamp are both provided with a circular hole II, and the pin on the clamp pin seat passes through the two circular holes II at the same time.

[0012] Furthermore, the clamping surfaces of the left clamp and the right clamp are covered with protruding pointed cones, and the vines or fruit stalks of the fruits can be firmly clamped by inserting the pointed cones.

[0013] Furthermore, a cover plate is buckled on the mounting frame.

[0014] Working principle of the picking clamp: the picking clamp motor drives the first right-angle reducer to operate, which drives the picking clamp steering wheel to generate rotational force. The picking clamp steering wheel drives the small connecting rod of the picking clamp to move. The small connecting rod of the picking clamp pulls the lower connecting rod to move forward and backward along the connecting rod seat and the picking clamp mounting seat. The lower connecting rod drives the picking clamp to move together through the clamp pin seat, so that the picking clamp makes an opening and closing movement, thereby realizing the clamping and releasing action of the picking clamp.

[0015] Working principle of picking shears: the picking shears motor drives the second right-angle reducer to operate, which drives the picking shears steering wheel to generate rotational force. The picking shears steering wheel drives the small connecting rod of the picking shears to move. The small connecting rod of the picking shears pulls the upper connecting rod to move forward and backward along the connecting rod seat and the picking shears mounting seat. The upper connecting rod drives the picking shears to move together through the shear pin seat, so that the picking shears can open and close, thereby realizing the cutting and opening actions of the picking shears.

[0016] Compared with the prior art, the motor-driven picking and shearing device has the following advantages:

[0017] 1. The picking scissors and picking clamps are independent structures, driven by their own motors respectively. They can be used separately or in combination to achieve synchronous cutting and grabbing actions.

[0018] 2. It has the characteristics of clamping first and then cutting. The upper and lower structures of the clamp and cutter are set up, and the fruit stalk can still be clamped after cutting. When picking fruits, it can prevent the fruits from falling and reduce fruit damage.

[0019] 3. The end of the picking scissors is arc-shaped and blunt-designed, which can effectively prevent damage to the human body and objects when in use. The blade is designed with an inward concave arc shape, which can prevent the cut objects from slipping when cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the picking, clamping and shearing device driven by the motor.

[0021] Figure 2 The diagram is a schematic diagram of the structure of the picking and clipping shearing device driven by the motor after the cover plate and the straight arm tube are removed.

[0022] Figure 3 It is a schematic diagram of the internal structure of the picking and shearing device driven by the motor.

[0023] Figure 4 It is a schematic diagram of the structure of the picking scissors according to the first embodiment.

[0024] Figure 5 It is a schematic diagram of the picking clamp structure of the first embodiment.

[0025] Figure 6 It is a structural schematic diagram of the picking scissors according to the second embodiment.

[0026] Figure 7 It is a schematic diagram of the picking clamp structure of the second embodiment.

[0027] In the figure, 1, mounting frame; 2, picking clamp motor; 3, picking shear motor; 4, straight arm tube; 5, picking clamp; 51, clamp pin seat; 52, left clamp; 53, right clamp; 54, strip sliding hole two; 55, elliptical hole two; 56, round hole two; 6, picking shears; 61, shear pin seat; 62, left blade; 63, right blade; 64, strip sliding hole one; 65, elliptical hole one; 66, round hole one; 7, first right-angle reducer; 8, second right-angle reducer; 9, picking clamp steering disc; 10, picking shear steering disc; 11, connecting rod seat; 12, picking shear mounting seat; 13, picking clamp mounting seat; 14, upper connecting rod; 15, lower connecting rod; 16, picking clamp small connecting rod; 17, picking shear small connecting rod; 18, cover plate; DETAILED DESCRIPTION

[0028] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0029] Embodiment 1

[0030] like Figure 1-3 As shown, the motor-driven picking clamp and shearing device includes a mounting frame 1, a picking clamp motor 2, a picking shear motor 3, a straight arm tube 4, a picking clamp 5, and a picking scissors 6. The picking clamp motor 2 and the picking shear motor 3 are both fixed on the mounting frame 1, and a first right-angle reducer 7 and a second right-angle reducer 8 are also fixed on the mounting frame 1. The output shaft of the picking clamp motor 2 is dynamically connected to the input shaft of the first right-angle reducer 7, and a synchronously rotating picking clamp steering wheel 9 is fixed to the output shaft of the first right-angle reducer 7. The output shaft of the picking shear motor 3 is dynamically connected to the input shaft of the second right-angle reducer 8, and a synchronously rotating picking shear steering wheel 10 is fixed to the output shaft of the second right-angle reducer 8.

[0031] The straight arm tube 4 is fixed at the front end of the mounting frame 1, and a connecting rod seat 11 is fixed to the rear end of the straight arm tube 4. A picking shear mounting seat 12 and a picking clamp mounting seat 13 which are pressed against each other are fixed to the front end of the straight arm tube 4. An upper connecting rod 14 which can slide back and forth is passed between the connecting rod seat 11 and the picking shear mounting seat 12, and a lower connecting rod 15 which can slide back and forth is passed between the connecting rod seat 11 and the picking clamp mounting seat 13. The picking clamp steering disc 9 is eccentrically hinged with a small picking clamp connecting rod 16, which is hinged to the rear end of the lower connecting rod 15. The picking shear steering disc 10 is eccentrically hinged with a small picking shear connecting rod 17, which is hinged to the rear end of the upper connecting rod 14. The picking shears 6 are mounted on the picking shear mounting seat 12 and connected to the upper connecting rod 14. The picking clamp 5 is mounted on the picking clamp mounting seat 13 and connected to the lower connecting rod 15.

[0032] like Figure 4As shown, the picking shears mounting seat 12 and the picking clamp mounting seat 13 are both concave, and the picking shears 6 include a shear pin seat 61 fixed to the front end of the upper connecting rod 14, and a left blade 62 and a right blade 63 rotatably connected to both sides of the picking shears mounting seat 12, and a strip sliding hole 64 is opened on the left blade 62 and the right blade 63, and the pin on the shear pin seat 61 passes through the two strip sliding holes 64 at the same time.

[0033] The ends of the left blade 62 and the right blade 63 are in arc shape, and the cutting edges of the left blade 62 and the right blade 63 are in concave arc shape.

[0034] like Figure 5 As shown, the picking clamp 5 includes a clamp pin seat 51 fixed to the front end of the lower connecting rod 15, and a left clamp 52 and a right clamp 53 which are rotatably connected to the two sides of the picking clamp mounting seat 13, respectively. The left clamp 52 and the right clamp 53 are both provided with two strip sliding holes 54, and the pin on the clamp pin seat 51 passes through the two strip sliding holes 54 at the same time.

[0035] The clamping surfaces of the left clamp 52 and the right clamp 53 are covered with protruding cone blocks. By inserting the cone blocks, the vines or fruit stalks of the fruits can be firmly clamped.

[0036] A cover plate 18 is buckled onto the mounting frame 1 to protect the moving parts on the mounting frame 1 and prevent them from being interfered with and stuck by branches.

[0037] Picking clamp working process: the picking clamp motor 2 drives the first right-angle reducer 7 to operate, driving the picking clamp steering wheel 9 to generate a rotational force, and the picking clamp steering wheel 9 drives the picking clamp small connecting rod 16 to move, and the picking clamp small connecting rod 16 pulls the lower connecting rod 15 to move forward and backward along the connecting rod seat 11 and the picking clamp mounting seat 13, and the lower connecting rod 15 drives the picking clamp 5 to work together through the clamp pin seat 51, so that the picking clamp 5 performs an opening and closing movement, thereby realizing the clamping and releasing actions of the picking clamp 5.

[0038] Picking shears working process: the picking shears motor 3 drives the second right-angle reducer 8 to operate, driving the picking shears steering wheel 10 to generate a rotational force, and the picking shears steering wheel 10 drives the picking shears small connecting rod 17 to move, and the picking shears small connecting rod 17 pulls the upper connecting rod 14 to move back and forth along the connecting rod seat 11 and the picking shears mounting seat 12, and the upper connecting rod 14 drives the picking shears 6 to move together through the shear pin seat 61, so that the picking shears 6 make an opening and closing movement, thereby realizing the shearing and opening actions of the picking shears 6.

[0039] Embodiment 2

[0040] like Figure 6As shown, the picking shears 6 include a shear pin seat 61 fixed to the front end of the upper connecting rod 14, a left blade 62 and a right blade 63, the outer ends of the left blade 62 and the right blade 63 are respectively provided with an elliptical hole 65, and both sides of the picking shear mounting seat 12 are provided with a limit pin inserted into the elliptical hole 65, and the left blade 62 and the right blade 64 are both provided with a circular hole 66, and the pin on the shear pin seat 61 passes through the two circular holes 66 at the same time.

[0041] like Figure 7 As shown, the picking clamp 5 includes a clamp pin seat 51 fixed to the front end of the lower connecting rod 15, a left clamp 52 and a right clamp 53, and the outer ends of the left clamp 52 and the right clamp 53 are respectively provided with an elliptical hole 55, and the two sides of the picking clamp mounting seat 13 are provided with a limit pin 2 inserted into the elliptical hole 55, and the left clamp 52 and the right clamp 53 are both provided with a circular hole 56, and the pin on the clamp pin seat 51 passes through the two circular holes 56 at the same time.

[0042] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A motor-driven picking clamp shearing device, comprising a mounting frame, a picking clamp motor, a picking shearing motor, a straight arm tube, a picking clamp, and a picking shearing scissors, characterized in that: The picking clamp motor and the picking shear motor are both fixed on the mounting frame, and the first right-angle reducer and the second right-angle reducer are also fixed on the mounting frame, the output shaft of the picking clamp motor is dynamically connected to the input shaft of the first right-angle reducer, a synchronously rotating picking clamp steering disc is fixed on the output shaft of the first right-angle reducer, the output shaft of the picking shear motor is dynamically connected to the input shaft of the second right-angle reducer, a synchronously rotating picking shear steering disc is fixed on the output shaft of the second right-angle reducer, the straight arm tube is fixed to the front end of the mounting frame, the rear end of the straight arm tube is fixed with a connecting rod seat, and the front end of the straight arm tube is fixed with A picking shear mounting seat and a picking clamp mounting seat are pressed against each other up and down, an upper connecting rod which can slide back and forth is inserted between the connecting rod seat and the picking shear mounting seat, a lower connecting rod which can slide back and forth is inserted between the connecting rod seat and the picking clamp mounting seat, a small picking clamp connecting rod is eccentrically hinged on the picking clamp steering disc, and the small picking clamp connecting rod is hinged to the rear end of the lower connecting rod, a small picking shear connecting rod is eccentrically hinged on the picking shear steering disc, and the small picking shear connecting rod is hinged to the rear end of the upper connecting rod, the picking scissors are installed on the picking shear mounting seat and connected to the upper connecting rod, and the picking clamp is installed on the picking clamp mounting seat and connected to the lower connecting rod.

2. A motor-driven picking and clipping device according to claim 1, characterized in that: The picking shear mounting seat and the picking clamp mounting seat are both concave.

3. A motor-driven picking and clipping device according to claim 2, characterized in that: The picking scissors include a shear pin seat fixed on the front end of an upper connecting rod, a left blade and a right blade respectively rotatably connected to both sides of the picking scissors mounting seat, a strip sliding hole 1 is opened on the left blade and the right blade, and a pin on the shear pin seat passes through the two strip sliding holes 1 at the same time.

4. The motor-driven picking and clipping device according to claim 2, characterized in that: The picking scissors include a shear pin seat fixed at the front end of an upper connecting rod, a left blade and a right blade. The outer ends of the left blade and the right blade are respectively provided with an elliptical hole. Both sides of the picking scissors mounting seat are provided with a limit pin inserted into the elliptical hole. The left blade and the right blade are both provided with a circular hole. The pin on the shear pin seat passes through the two circular holes at the same time.

5. A motor-driven picking and clipping device according to claim 3 or 4, characterized in that: The ends of the left blade and the right blade are arc-shaped.

6. A motor-driven picking and clipping device according to claim 5, characterized in that: The cutting edges of the left blade and the right blade are in the shape of concave arcs.

7. The motor-driven picking and clipping device according to claim 1, characterized in that: The picking clamp comprises a clamp pin seat fixed at the front end of the lower connecting rod, a left clamp and a right clamp respectively rotatably connected to the two sides of the picking clamp mounting seat, two strip sliding holes are opened on the left clamp and the right clamp, and the pin on the clamp pin seat passes through the two strip sliding holes at the same time.

8. The motor-driven picking and clipping device according to claim 1, characterized in that: The picking clamp includes a clamp pin seat fixed at the front end of the lower connecting rod, a left clamp and a right clamp. The outer ends of the left clamp and the right clamp are respectively provided with two elliptical holes. The two sides of the picking clamp mounting seat are provided with two limit pins inserted into the two elliptical holes. The left clamp and the right clamp are both provided with two circular holes. The pin on the clamp pin seat passes through the two circular holes at the same time.

9. A motor-driven picking and clipping device according to claim 7 or 8, characterized in that: The clamping surfaces of the left clamp and the right clamp are covered with protruding pointed cone blocks.

10. The motor-driven picking and clipping device according to claim 1, characterized in that: A cover plate is buckled on the mounting frame.

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