Shear-holding linkage structure and picking device capable of shearing stems

Abstract

The utility model discloses a shearing and holding linkage structure and a picking device capable of shearing and holding stems, and belongs to the technical field of picking equipment. According to the shearing linkage structure, the shearing piece, the clamping piece, the first pulling piece, the second pulling piece and the separating piece are arranged, after the second pulling piece drives the clamping piece to clamp an object, the separating piece can enable the first pulling piece and the second pulling piece to move in a staggered mode, and the second pulling piece keeps driving the clamping piece to clamp the object; and the first pulling piece continuously moves to drive the shearing piece to shear an object, so that a clamping and shearing linkage structure is formed, the clamping piece can stably clamp the object, fruits are not prone to falling off, meanwhile, the number of needed parts is small, the structure is simple, and the effects of being easy and convenient to install, practical, low in cost and convenient to produce and manufacture can be achieved. Meanwhile, the picking device can shear and clamp the fruit stems by means of a single driving mechanism, can adapt to the fruit stems with different thicknesses, and is not prone to damaging surrounding fruits and plants.

Description

Technical Field

[0001] The utility model relates to a shearing and holding linkage structure and a picking device capable of shearing and holding a stem, belonging to the technical field of picking equipment. Background Art

[0002] Strawberries are a kind of high-value crops. At present, the greenhouse cultivation method of elevated cultivation has gradually become the mainstream cultivation method due to factors such as high-density planting and convenient management. For strawberries planted in this mode, when the fruits are ripe, they will automatically droop, which also provides favorable conditions for the operation of picking robots or picking devices based on robotic arms. Therefore, it is particularly necessary to innovate and improve the picking device capable of shearing and holding the stem.

[0003] The existing strawberry picking grippers are divided into split grippers and integrated grippers.

[0004] The split picking device (reference can be made to CN219330092U, CN111108911B) first cuts the strawberries and then drops them into the separately arranged receiving tray. Its picking structure is relatively large, and it is inconvenient to operate in the dense growth environment of strawberries; moreover, because the fruits of strawberries are juicy and the appearance is soft and easy to be bruised, the strawberries will be damaged during the process of dropping and receiving, and they will also be damaged again when transferred from the receiving tray to the fruit box, resulting in economic losses.

[0005] The shearing and holding integrated picking device (reference can be made to CN108575320A, CN116326347A, CN209768252U) installs the cutting blade at the clamping end, and by adjusting the blade to protrude a specific distance from the clamping surface, the purpose of cutting first and then quickly clamping is achieved. This method has poor adaptability to the thickness of the fruit stems at the cutting position: the fruit stems that are thicker than the set specific distance cannot be cut, and those that are smaller than the specific distance are cut in advance, resulting in the dropping of the fruits.

[0006] Therefore, the existing shearing and holding integrated picking devices have problems such as unstable clamping and easy dropping for crops such as strawberries, and they also have complex structures, are easy to be damaged, have relatively high manufacturing costs. At the same time, the device has a relatively large volume, is easy to damage strawberries, and there is also a risk of bumping, hitting, and pressing the leaves and stems of other adjacent fruits.

[0007] The information disclosed in this background art is only used to understand the background of the concept of the utility model, so it may include information that does not constitute the prior art. Summary of the Utility Model

[0008] In view of the above problem or one of the above problems, an object of the utility model is to provide a shearing linkage structure and a picking device capable of shearing stems, by arranging a shearing member, a clamping member, a first pulling member, a second pulling member, and a separating member. When the second pulling member drives the clamping member to clamp the object, the separating member can make the first pulling member and the second pulling member shift, so that the second pulling member keeps driving the clamping member to clamp the object, and the first pulling member continues to move, driving the shearing member to cut the object, thereby forming a clamping and cutting linkage structure, so that the clamping member can clamp stably and the fruit is not easy to fall. At the same time, the number of parts required is small and the structure is simple. Therefore, it can achieve the effect of easy installation, practicality, low cost, and easy production and manufacturing. At the same time, the appearance size and volume are small, and it is not easy to damage surrounding objects.

[0009] In response to the above problem or one of the above problems, the second purpose of the utility model is to provide a picking device that can rely on a single drive mechanism to shear and clamp fruit stalks, and can adapt to fruit stalks of different thicknesses. At the same time, due to the use of a linkage structure, the clamping parts can clamp the fruit stably and it is not easy to drop the fruit. It has a simple structure, is easy to install, has low cost, is light in weight, and has small dimensions. It is not easy to damage surrounding fruits and plants while efficiently picking.

[0010] To achieve one of the above purposes, the first technical solution of the utility model is:

[0011] A shearing and holding linkage structure, comprising a shearing member capable of shearing an object, a clamping member capable of clamping an object, a first pulling member for driving the shearing member to move, a second pulling member for driving the clamping member to move, and a separating member for engaging and disengaging the first pulling member and the second pulling member;

[0012] The shearing member is fixedly connected to the first pulling member, and the clamping member is fixedly connected to the second pulling member;

[0013] The first pulling member and the second pulling member are connected by a separating member to form a linkage and dislocation structure;

[0014] When the second pulling member drives the clamping member to clamp the object, the separating member can make the first pulling member and the second pulling member shift, so that the second pulling member keeps driving the clamping member to clamp the object, and the first pulling member continues to move to drive the shearing member to cut the object.

[0015] After continuous exploration and testing, the utility model provides a shearing member, a clamping member, a first pulling member, a second pulling member, and a separating member. When the second pulling member drives the clamping member to clamp the object, the separating member can make the first pulling member and the second pulling member shift, so that the second pulling member keeps driving the clamping member to clamp the object, and the first pulling member continues to move to drive the shearing member to cut the object, thereby forming a clamping and shearing linkage structure, so that the clamping member can clamp stably and is not easy to fall off. At the same time, the number of parts required is small and the structure is simple. Therefore, the utility model can achieve the effects of easy installation, practicality, low cost and easy production and manufacturing.

[0016] Furthermore, the structure of the utility model is small in size and volume, and is not easy to damage surrounding objects.

[0017] Furthermore, the object can be crops or fruit trees or other objects that need to be clamped and cut at the same time. The crops can be strawberries, cherries, dates, grapes, hawthorns or other crops.

[0018] As the preferred technical measures:

[0019] Either the first pulling member or the second pulling member is connected to a driving source;

[0020] The driving source can drive the first pulling member and the second pulling member to move simultaneously, and when the clamping member clamps the object, the first pulling member and the second pulling member are temporarily separated, and the driving source drives the first pulling member to continue to move.

[0021] As the preferred technical measures:

[0022] The shearing member comprises a shearing blade or two shearing blades or two rod-shaped cutters or two block-shaped cutters or conical cutters;

[0023] Or / and, the clamping member comprises a clamping body or two clamping sheets or two clamping blocks or two clamping bodies or two clamping rods;

[0024] Or / and, the first pulling member is an L-shaped structure or a rod-shaped structure or a hook-shaped structure or a sheet-shaped structure or an n-shaped structure;

[0025] Or / and, the second pulling member is an L-shaped structure, a rod-shaped structure, a hook-shaped structure, or a sheet-shaped structure;

[0026] Or / and, the separating member is a spring or a gas rod or a hydraulic rod or an elastic rubber; and the spring is a compression spring or a tension spring.

[0027] As the preferred technical measures:

[0028] The shearing piece includes at least two shearing blades; the clamping piece includes at least two clamping bodies; the two shearing blades and the two clamping bodies are connected in the housing 1 and the housing 2 through a fixed rotating shaft pin;

[0029] Or / and, the first pulling member is a shear pull rod;

[0030] Or / and, the second pulling member is a clamping pull rod;

[0031] Or / and, the separating member is a spring;

[0032] Or / and, the driving source is a driving mechanism, which is a rotary motor or a cylinder or a hydraulic cylinder or a linear motor with a ball screw structure, and it can provide a reciprocating telescopic linear motion and is fixed on the first housing and the second housing.

[0033] As a preferred technical measure:

[0034] The first housing is provided with a first sliding groove;

[0035] The shear pull rod is placed in the first housing and can slide along the first sliding groove of the first housing;

[0036] Or / and, the second housing is provided with a second sliding groove;

[0037] The clamping pull rod is placed in the second housing and can slide along the second sliding groove of the second housing;

[0038] Or / and, the bottom of the shear pull rod is provided with a mounting hole for fixedly connecting with the driving mechanism and reciprocating linearly along the first sliding groove of the first housing with the telescopic movement of the driving mechanism;

[0039] Or / and, the shear pull rod includes a flat long body and a flat short body; the flat short body is fixedly connected to the end of the flat long body to form an assembly space capable of accommodating the separating member and the clamping pull rod, and the flat short body is connected to one end of the clamping pull rod through a spring.

[0040] As a preferred technical measure:

[0041] The upper end of the first housing is provided with a first shaft hole so that the fixed rotating shaft is fixedly installed at the front end of the first housing;

[0042] Or / and, the middle parts of the two shear blades are respectively provided with second shaft holes so that the two shear blades are mirror - fitted and installed, and the two second shaft holes are concentric and can pass through the fixed rotating shaft;

[0043] The two shear blades are hinged to the first housing through the fixed rotating shaft and can rotate around the fixed rotating shaft;

[0044] Or / and, the middle parts of the two clamping bodies are respectively provided with third shaft holes so that the two clamping members are mirror - fitted and installed, and the two third shaft holes are concentric and can pass through the fixed rotating shaft;

[0045] The two clamping bodies are hinged to the first housing through the fixed rotating shaft and can rotate around the fixed rotating shaft.

[0046] As a preferred technical measure:

[0047] One end of the shearing pull rod is provided with a first shaft hole, and the first shaft hole is assembled and clamped with a first clamping shaft;

[0048] One end of the clamping pull rod is provided with a second shaft hole, and the second shaft hole is assembled and clamped with a second clamping shaft;

[0049] Both ends of the spring are respectively provided with pull rings, including a first pull ring and a second pull ring;

[0050] The first clamping shaft passes through the first pull ring of the spring, and the second clamping shaft passes through the second pull ring of the spring, so that the spring is in an initial tension state, so that one end of the shearing pull rod fits against the end of the clamping pull rod.

[0051] As a preferred technical measure:

[0052] Both lower ends of the two shearing blades are respectively provided with a first sliding groove hole; a first convex shaft is provided at the front end of the shearing pull rod, which can be inserted into the first sliding groove holes of the two shearing blades at the same time and can slide along the center line of the first sliding groove, so that the two shearing blades perform an opening and closing movement;

[0053] Or / and, both lower ends of the two clamping bodies are respectively provided with a second sliding groove hole; a second convex shaft is provided at the front end of the clamping pull rod, which can be inserted into the second sliding groove holes of the two clamping bodies at the same time and can slide along the center line of the second sliding groove, and the second sliding groove hole is an inclined long through hole, so that the two clamping bodies perform an opening and closing movement;

[0054] Or / and, the slope angle of the first sliding groove hole on the shearing blade is ∠A; the slope angle of the second sliding groove hole on the clamping body is ∠B; ∠A>∠B. Therefore, during the closing process of the picking device capable of shearing and clamping the stem, the clamping pull rod and the shearing pull rod are simultaneously pulled backward by the same distance under the condition of being pressed by the spring, and at least the two clamping bodies are always kept in contact with the target fruit stalk first and clamped.

[0055] Or / and, the length of the first sliding groove hole on the shearing blade is L1, and the length of the second sliding groove hole on the clamping body is L2, L1>L2. Therefore, when the fruit stalk is relatively thin, even if the clamping member contacts the fruit stalk at the end of the stroke, it will not affect the closing of the shearing blade to reach the position of cutting the fruit stalk. Therefore, the device will not cut the fruit stalk first and fail to clamp it, resulting in the dropping of the target fruit, and will not be affected by the relatively thin fruit stalk, achieving the effect that the device has strong adaptability, stable clamping and not easy to drop the fruit.

[0056] To achieve one of the above purposes, the second technical solution of the present invention is:

[0057] A picking device capable of cutting and holding stems, comprising a cutting member capable of cutting an object, a clamping member capable of clamping an object, a first pulling member for driving the cutting member to move, a second pulling member for driving the clamping member to move, a separating member for making the first pulling member and the second pulling member engage and disengage, and a driving source capable of driving the first pulling member and the second pulling member to move;

[0058] The shearing member is fixedly connected to the first pulling member, and the clamping member is fixedly connected to the second pulling member;

[0059] The first pulling member and the second pulling member are connected by a separating member to form a linkage and dislocation structure;

[0060] The movable end of the driving source is fixedly connected to the end of the first pulling member, and can drive the first pulling member and the second pulling member to move simultaneously;

[0061] When the first pulling member drives the clamping member to clamp the object, the separating member can make the first pulling member and the second pulling member shift, so that the second pulling member keeps driving the clamping member to clamp the object, and driven by the driving source, the first pulling member can continue to move and drive the shearing member to cut the object.

[0062] As the preferred technical measures:

[0063] The shearing piece includes at least two shearing blades; the clamping piece includes at least two clamping bodies; the two shearing blades and the two clamping bodies are connected in the housing 1 and the housing 2 through a fixed rotating shaft pin;

[0064] The first pulling member is a shearing rod; the second pulling member is a clamping rod; and the separating member is a spring;

[0065] The driving source is a driving mechanism that can provide reciprocating telescopic linear motion and is fixed to the first shell and the second shell;

[0066] The driving mechanism can synchronously drive the shear blade and the clamping body to pick the crops;

[0067] After the clamping body clamps the fruit stem, the shear rod continues to slide backward, the clamping rod no longer slides backward, and the spring begins to stretch. The spring tension ensures that the fruit stem is always clamped and will not fall off. Because the spring can be stretched, the shear rod can continue to slide, so the two shear blades can continue to close until the shear blades are completely closed to cut the fruit stem.

[0068] The picking device of the utility model can achieve the shearing and clamping of fruit stems by a single driving mechanism, and can adapt to fruit stems of different thicknesses. At the same time, due to the adoption of a linkage structure, the clamping parts can clamp stably and the fruit is not easy to fall. Compared with the existing integrated picking device, the utility model has a simple structure, convenient installation, low cost, light weight, small size, and is not easy to damage surrounding fruits and plants while efficiently picking.

[0069] Furthermore, the picking device of the utility model can realize one picking action by performing a short-distance reciprocating motion through the driving mechanism, so the picking efficiency is high and the manufacturing cost is low.

[0070] Furthermore, the picking device has low requirements for material strength, and most parts can be made of lightweight materials such as aluminum or plastic, so it can achieve a light weight effect. At the same time, it can be flexibly used in a greenhouse planting environment with a light-load robotic arm to achieve a high efficiency effect.

[0071] Furthermore, the overall structure of the utility model can be in the shape of an elongated strip, which can well adapt to the complex growth environment of crops such as strawberries, and achieve the effect of not damaging the strawberries and strawberry plants when picking them deeply.

[0072] Compared with the existing technical solutions, the utility model has the following beneficial effects:

[0073] After continuous exploration and testing, the utility model provides a shearing member, a clamping member, a first pulling member, a second pulling member, and a separating member. When the second pulling member drives the clamping member to clamp the object, the separating member can make the first pulling member and the second pulling member shift, so that the second pulling member keeps driving the clamping member to clamp the object, and the first pulling member continues to move to drive the shearing member to cut the object, thereby forming a clamping and shearing linkage structure, so that the clamping member can clamp stably and is not easy to fall off. At the same time, the number of parts required is small and the structure is simple. Therefore, the utility model can achieve the effects of easy installation, practicality, low cost and easy production and manufacturing.

[0074] At the same time, the picking device of the utility model can rely on a single drive mechanism to achieve the shearing and clamping of fruit stems, and can adapt to fruit stems of different thicknesses. At the same time, due to the use of a linkage structure, the clamping parts can clamp stably and are not easy to drop fruits. Compared with the existing integrated picking device, the utility model has a simple structure, convenient installation, low cost, light weight, and small size. It is not easy to damage surrounding fruits and plants while efficiently picking.

[0075] Furthermore, the picking device of the utility model can realize one picking action by performing a short-distance reciprocating motion through the driving mechanism, so the picking efficiency is high and the manufacturing cost is low.

[0076] Furthermore, the picking device has low requirements for material strength, and most parts can be made of lightweight materials such as aluminum or plastic. Therefore, it can achieve the effect of light weight, and at the same time, it can be used flexibly with a light-load robotic arm in a greenhouse planting environment to achieve high efficiency.

[0077] Furthermore, the overall structure of the present utility model can be in a long strip shape, which can well adapt to the intricate growth environment of crops such as strawberries, and achieve the effect of not damaging strawberries and strawberry plants under the condition of deep picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 It is a schematic structural diagram of a cutting and holding linkage structure of the present utility model;

[0079] Figure 2 It is an exploded schematic diagram of a cutting and holding linkage structure of the present utility model;

[0080] Figure 3 It is Figure 1 a schematic structural diagram of the structure shown in FIG. converted by a certain angle;

[0081] Figure 4 It is a schematic structural diagram (without assembling the housing) of a cutting and holding linkage structure of the present utility model;

[0082] Figure 5 、 Figure 6 It is Figure 4 a schematic structural diagram of the structure shown in FIG. converted by a certain angle;

[0083] Figure 7 It is a schematic diagram of a cutting structure of the present utility model;

[0084] Figure 8 It is a schematic diagram of a clamping structure of the present utility model;

[0085] Figure 9 、 Figure 10 It is a schematic structural diagram of a picking device of the present utility model that can cut and hold the stem;

[0086] Figure 11 It is a schematic diagram of a cutting structure in the picking device of the present utility model;

[0087] Figure 12 It is a schematic diagram of a clamping structure in the picking device of the present utility model;

[0088] Figure 13 It is an internal schematic diagram of the state of clamping and breaking the fruit stalk during the operation of the picking device of the present utility model;

[0089] Figure 14 It is a front schematic diagram of the state of clamping and breaking the fruit stalk during the operation of the picking device of the present utility model;

[0090] Figure 15 This is a schematic diagram of the shearing blade of the present utility model for pinching off the fruit stalk.

[0091] Figure 16 This is a schematic diagram of the present utility model for clamping the fruit stalk.

[0092] Figure 17 This is a structural schematic diagram of the shearing blade of the present utility model.

[0093] Figure 18 This is a schematic diagram of the clamping body of the present utility model.

[0094] Explanation of reference numerals in the drawings:

[0095] 1. Outer shell one; 2. Shearing pull rod; 3. Clamping pull rod; 4. Clamping body; 5. Fixed rotating shaft; 6. Shearing blade; 7. Outer shell two; 8. Spring; 9. Driving mechanism; 11. Sliding groove one; 12. First pin connection hole; 21. Shaft hole one; 22. Convex shaft one; 23. Flat long body; 24. Flat short body; 25. Mounting hole; 31. Shaft hole two; 32. Convex shaft two; 61. Second pin connection hole; 62. Sliding groove hole one; 41. Third pin connection hole; 42. Sliding groove hole two; 81. Pulling ring one; 82. Pulling ring two; 71. Sliding groove two; 100. Stem; 101. Clamping shaft one; 102. Clamping shaft two. Detailed implementation manners

[0096] In order to make the purpose, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0097] On the contrary, the present utility model covers any alternatives, modifications, equivalent methods and solutions made within the spirit and scope of the present utility model as defined by the claims. Further, in order to enable the public to better understand the present utility model, in the following detailed description of the present utility model, some specific details are described in detail. Those skilled in the art can fully understand the present utility model without the description of these details.

[0098] It should be noted that when two elements are "fixedly connected" or "fixedly joined" or "slidingly connected", the two elements can be directly connected or there can also be an intermediate element. On the contrary, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "upper", "lower" and similar expressions used herein are only for the purpose of illustration.

[0099] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this utility model belongs. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this utility model. The term "or / and" as used herein includes any and all combinations of one or more of the related listed items.

[0100] As Figures 1-8 shown, a specific embodiment of the cutting and holding linkage structure of this utility model is as follows:

[0101] A cutting and holding linkage structure includes a cutting member capable of cutting an object, a holding member capable of clamping an object, a first pulling member for driving the cutting member to move, a second pulling member for driving the holding member to move, and a separating member for separating the first pulling member and the second pulling member;

[0102] The cutting member is fixedly connected to the first pulling member, and the holding member is fixedly connected to the second pulling member;

[0103] The first pulling member and the second pulling member are connected through the separating member to form a linkage and a misalignment structure;

[0104] After the second pulling member drives the holding member to clamp the object, the separating member can cause the first pulling member and the second pulling member to misalign, so that the second pulling member keeps driving the holding member to clamp the object, and the first pulling member continues to move to drive the cutting member to cut the object.

[0105] In this embodiment: the cutting member includes at least two cutting blades 6; the holding member includes at least two holding bodies 4; the two cutting blades 6 and the two holding bodies are pivotally connected in the outer shell one 1 and the outer shell two 7 through a fixed rotating shaft 5.

[0106] The first pulling member is a cutting pull rod 2; the second pulling member is a holding pull rod 3; the separating member is a spring 8; the driving source is a driving mechanism 9, which is a rotary motor or a cylinder or a hydraulic cylinder or a linear motor with a ball screw structure, or the like, which can provide a reciprocating telescopic linear motion and is fixed on the outer shell one 1 and the outer shell two 7.

[0107] In this embodiment: the outer shell one 1 is provided with a sliding groove one 11; the cutting pull rod 2 is placed in the outer shell one 1 and can slide along the sliding groove one 11 of the outer shell one 1;

[0108] The outer shell two 7 is provided with a sliding groove two 71; the holding pull rod 3 is placed in the outer shell two 7 and can slide along the sliding groove two 71 of the outer shell two 7.

[0109] The bottom of the cutting pull rod 2 is provided with a mounting hole 25 for fixedly connecting with the driving mechanism 9 and reciprocating linearly along the sliding groove one of the outer shell one 1 along with the telescopic motion of the driving mechanism 9.

[0110] The shear pull rod 2 includes a flat long body 23 and a flat short body 24; the flat short body 24 is fixedly connected to the end of the flat long body 23 to form an assembly space capable of accommodating a separating member and a clamping pull rod 3, and the flat short body 24 is connected to one end of the clamping pull rod 3 through a spring 8.

[0111] In this embodiment: a first shaft hole is provided at the upper end of the outer shell 1, so that the fixed rotating shaft 5 is fixedly installed at the front end of the outer shell 1;

[0112] Second shaft holes are respectively provided in the middle of the two shear blades 6, so that the two shear blades 6 are mirror - fitted and installed, and the two second shaft holes are concentric and can pass through the fixed rotating shaft 5;

[0113] The two shear blades 6 are hinged to the outer shell 1 through the fixed rotating shaft 5 and can rotate around the fixed rotating shaft 5;

[0114] Third shaft holes are respectively provided in the middle of the two clamping bodies 4, so that the two clamping members are mirror - fitted and installed, and the two third shaft holes are concentric and can pass through the fixed rotating shaft 5;

[0115] The two clamping bodies 4 are hinged to the outer shell 1 through the fixed rotating shaft 5 and can rotate around the fixed rotating shaft 5.

[0116] In this embodiment: a first shaft hole 21 is provided at one end of the shear pull rod 2, and the first shaft hole 21 is assembled and clamped with a first clamping shaft 101;

[0117] A second shaft hole 31 is provided at one end of the clamping pull rod 3, and the second shaft hole 31 is assembled and clamped with a second clamping shaft 102;

[0118] Rings are respectively provided at both ends of the spring 8, which include a first ring 81 and a second ring 82;

[0119] The first clamping shaft 101 passes through the first ring 81 of the spring 8, and the second clamping shaft 102 passes through the second ring 82 of the spring 8, so that the spring 8 is in an initial tension state, so that one end of the shear pull rod 2 is in contact with the end of the clamping pull rod 3.

[0120] In this embodiment: chute holes 62 are respectively provided at the lower ends of the two shear blades 6; a first protruding shaft 22 is provided at the front end of the shear pull rod 2, which can be inserted into the chute holes 62 of the two shear blades 6 at the same time and can slide along the center line of the first chute, so that the two shear blades 6 perform an opening and closing movement;

[0121] Chute holes 42 are respectively provided at the lower ends of the two clamping bodies 4; a second protruding shaft 32 is provided at the front end of the clamping pull rod 3, which can be inserted into the chute holes 42 of the two clamping bodies 4 at the same time and can slide along the center line of the second chute. The chute holes 42 are obliquely arranged long - strip through - holes, so that the two clamping bodies 4 perform an opening and closing movement;

[0122] Or / and, the slope angle of the first chute hole 62 on the cutting blade 6 is ∠A; the slope angle of the second chute hole 42 on the clamping body 4 is ∠B; ∠A > ∠B. Therefore, during the closing process of the picking device capable of shearing and clamping the stem, the clamping pull rod 3 and the cutting pull rod 2 are simultaneously pulled backward by the same distance under the pressing of the spring 8, and the at least two clamping bodies 4 always keep contacting and clamping the target fruit stem first.

[0123] Or / and, the length of the first chute hole 62 on the cutting blade 6 is L1, and the length of the second chute hole 42 on the clamping body 4 is L2, L1 > L2. Therefore, even when the clamping member contacts the fruit stem at the end of the stroke in the case of a thinner fruit stem, it will not affect the cutting blade 6 to complete the closing and reach the position of cutting the fruit stem. Thus, the device will not have the situation that the fruit stem is cut first and not clamped, resulting in the dropping of the target fruit, and will not be affected by the thinner fruit stem, achieving the effects of strong adaptability of the device and stable clamping without easy dropping of the fruit.

[0124] The first specific embodiment of the picking device of the present utility model:

[0125] A picking device capable of shearing and clamping the stem includes a cutting member capable of cutting an object, a clamping member capable of clamping an object, a first pulling member for driving the cutting member to move, a second pulling member for driving the clamping member to move, a separating member for separating the first pulling member and the second pulling member, and a driving source capable of driving the first pulling member and the second pulling member to move;

[0126] The cutting member is fixedly connected to the first pulling member, and the clamping member is fixedly connected to the second pulling member;

[0127] The first pulling member and the second pulling member are connected through the separating member to form a linkage and misalignment structure;

[0128] The movable end of the driving source is fixedly connected to the end of the first pulling member and can drive the first pulling member and the second pulling member to move simultaneously;

[0129] When the first pulling member drives the clamping member to clamp the object, the separating member can make the first pulling member and the second pulling member misalign, so that the second pulling member keeps driving the clamping member to clamp the object, and under the drive of the driving source, the first pulling member can continue to move to drive the cutting member to cut the object.

[0130] As Figures 9-16 shown, the second specific embodiment of the picking device of the present utility model:

[0131] A picking device capable of shearing and clamping the stem in a shearing and clamping linkage includes: a first housing 1, a second housing 7, a cutting pull rod 2, a clamping pull rod 3, a spring 8, at least two cutting blades 6, at least two clamping bodies 4, a fixed rotating shaft 5, at least two clamping shafts, and a driving mechanism 9.

[0132] The first housing 1 is provided with a first sliding groove 11. The shearing pull rod 2 is placed in the first housing 1 and can slide along the first sliding groove 11 of the first housing 1. The second housing 7 is provided with a second sliding groove 71. The clamping pull rod 3 is placed in the second housing 7 and can slide along the second sliding groove 71 of the second housing 7.

[0133] A first shaft hole 21 is provided at the lower end of the shearing pull rod 2, so that the clamping shaft 101 can be fixedly installed on the shearing pull rod 2. A second shaft hole 31 is provided at the lower end of the clamping pull rod 3, so that the clamping shaft 102 can be fixedly installed on the clamping pull rod 3.

[0134] Both ends of the spring 8 are provided with a first pull ring 81 and a second pull ring 82. The clamping shaft 101 and the clamping shaft 102 respectively pass through the pull rings at both ends of the spring 8, so that the spring 8 is in an initial tension state, and one end of the shearing pull rod 2 is in close contact with the lower end of the clamping pull rod 3.

[0135] A first pin joint hole 12 is provided at the upper end of the first housing 1, so that the fixed rotating shaft 5 is fixedly installed at the front end of the first housing 1.

[0136] A second pin joint hole 61 is provided at the middle end of the at least two shearing blades 6. The two shearing blades 6 are mirror-symmetrically and fittingly installed, so that the two second pin joint holes 61 are concentric and can pass through the fixed rotating shaft 5.

[0137] The at least two shearing blades 6 are hinged to the first housing 1 through the fixed rotating shaft 5 and can rotate around the fixed rotating shaft 5.

[0138] A third pin joint hole 41 is provided at the middle end of the at least two clamping bodies 4. The two clamping members are mirror-symmetrically and fittingly installed, so that the two third pin joint holes 41 are concentric and can pass through the fixed rotating shaft 5.

[0139] The at least two clamping bodies 4 are hinged to the first housing 1 through the fixed rotating shaft 5 and can rotate around the fixed rotating shaft 5.

[0140] The lower ends of the at least two shearing blades 6 are provided with a first chute hole 62, and the first chute hole 62 is a long strip-shaped through hole.

[0141] A first protruding shaft 22 is provided at the front end of the shearing pull rod 2, which can be inserted into the first chute holes 62 of the at least two shearing blades 6 at the same time and can slide along the center line of the first chute hole 62, so that the at least two shearing blades 6 perform an opening and closing movement.

[0142] The lower ends of the at least two clamping bodies 4 are provided with a second chute hole 42, and the second chute hole 42 is a long strip-shaped through hole.

[0143] The front end of the clamping rod 3 is provided with a second protruding shaft 32, which can be inserted into the second slide slot holes 42 of the at least two clamping bodies 4 at the same time, and can slide along the center line of the second slide slot hole 42, so that the at least two clamping bodies 4 can perform opening and closing movements.

[0144] The driving mechanism 9 can provide reciprocating telescopic linear motion and is fixed on the housing 1 and the housing 2 7 .

[0145] The shearing rod 2 includes a flat long body 23 and a flat short body 24; the flat short body 24 is fixedly connected to the end of the flat long body 23 to form an assembly space capable of accommodating the separation piece and the clamping rod 3, and the flat short body 24 is connected to one end of the clamping rod 3 through a spring 8. A mounting hole 25 is provided at the bottom of the shearing rod 2, which is fixedly connected to the driving mechanism 9 and reciprocates linearly along the slide groove of the housing 1 as the driving mechanism 9 is extended and retracted.

[0146] A working principle of the picking device of the utility model:

[0147] When the picking device capable of cutting and holding stems of the utility model opens to prepare to clamp the target fruit, the raised shaft 1 22 at the front end of the shearing rod 2 and the raised shaft 2 32 at the front end of the clamping rod 3 are both located at the front end starting point of their respective slide slots and are concentrically located. When the driving mechanism 9 is pulled backward, it drives the shearing rod 2 to slide backward along the sliding slot 11 of the outer shell 1, and since the spring 8 tightens the clamping rod 3, the clamping rod 3 slides backward along the outer shell 2 7 at the same time as the shearing rod 2. At the same time, the raised shafts at the front ends of the shearing rod 2 and the clamping rod 3 slide along their respective slide slots respectively, driving the at least two shearing blades 6 and the at least two clamping bodies 4 to rotate around the fixed rotating shaft 5, so that the picking device capable of cutting and holding stems with shearing linkage performs a closing action.

[0148] The device can be picked by synchronously driving the shearing module and the clamping module through a driving mechanism 9; after the clamping body 4 clamps the fruit stem, the shearing rod 2 continues to slide backward, the clamping rod 3 no longer slides backward, and the spring 8 begins to stretch. The tension of the spring 8 ensures that the fruit stem is always clamped and will not fall off, and because the spring 8 can be stretched, the shearing rod 2 can continue to slide, so the at least two shearing blades 6 can continue to close until the shearing blades 6 are completely closed and reach the position of cutting the fruit stem. The fruit stem will not be unable to be completely cut due to being too thick, and the strawberry seedlings will not be pulled and damaged due to the uncut fruit stem. It can achieve the effects of strong adaptability, not easy to damage strawberries, and high safety.

[0149] like Figures 17-18As shown, the chute holes on the at least two cutting blades 6 have a certain slope, with an angle of ∠A; the chute holes on the at least two clamping members have a certain slope, with an angle of ∠B; because ∠A > ∠B, during the closing process of the picking device capable of shearing and clamping the stem, the clamping pull rod 3 and the cutting pull rod 2 are simultaneously pulled backward by the same distance under the pressing of the spring 8, and the at least two clamping bodies 4 always preferentially contact and clamp the target fruit stalk. Further, when the clamping part extends a little more than the cutting part, a similar effect can also be achieved.

[0150] The length of the chute holes on the at least two cutting blades 6 is L1, and the length of the chute holes on the at least two clamping bodies 4 is L2, where L1 > L2. Therefore, even if the clamping member contacts the fruit stalk at the end of the stroke when the fruit stalk is relatively thin, it will not affect the closing of the cutting blades 6 to reach the position of cutting the fruit stalk. Thus, the device will not have the situation of cutting the fruit stalk first and then failing to clamp it, resulting in the dropping of the target fruit, and it will not be affected by the relatively thin fruit stalk, achieving the effects of strong adaptability of the device and stable clamping without easy dropping of the fruit.

[0151] The picking device of the present utility model capable of shearing and clamping the stem has extremely few parts and a simple structure, so it can achieve the effects of simple installation and low cost.

[0152] The picking device of the present utility model capable of shearing and clamping the stem can achieve a picking action by the short-distance reciprocating motion of the driving mechanism 9, that is, it can achieve the effects of high picking speed and high efficiency.

[0153] The picking device has low requirements for material strength, and most parts can be made of lightweight materials such as aluminum or plastic materials. Therefore, it can achieve the effect of light weight, and at the same time, it can be flexibly used in combination with a light-load robotic arm in a greenhouse planting environment, achieving the effect of high efficiency.

[0154] In the picking device of the present utility model capable of shearing and clamping the stem, the driving mechanism 9 can be far away from the cutting and clamping mechanism, and the overall structure can be strip-shaped, so it can well adapt to the intricate growth environment of strawberries and achieve the effect of not damaging strawberries and strawberry plants during in-depth picking.

[0155] In this application, the fixed or fixedly connected manner can be screwed or welded or riveted or inserted or connected through a third component, and those skilled in the art can select according to the actual situation.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still modify or equivalently replace the specific implementation manners of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A shear-holding linkage structure, characterized in that: It comprises a shearing member capable of shearing an object, a clamping member capable of clamping an object, a first pulling member for driving the shearing member to move, a second pulling member for driving the clamping member to move, and a separating member for engaging and disengaging the first pulling member and the second pulling member; The shearing member is fixedly connected to the first pulling member, and the clamping member is fixedly connected to the second pulling member; The first pulling member and the second pulling member are connected by a separating member to form a linkage and dislocation structure; When the second pulling member drives the clamping member to clamp the object, the separating member can make the first pulling member and the second pulling member shift, so that the second pulling member keeps driving the clamping member to clamp the object, and the first pulling member continues to move to drive the shearing member to cut the object.

2. A shear-holding linkage structure according to claim 1, characterized in that: Either the first pulling member or the second pulling member is connected to a driving source; The driving source can drive the first pulling member and the second pulling member to move simultaneously, and when the clamping member clamps the object, the first pulling member and the second pulling member are temporarily separated, and the driving source drives the first pulling member to continue to move.

3. A shear-holding linkage structure according to claim 1, characterized in that: The shearing member comprises a shearing blade or two shearing blades (6) or two rod-shaped cutters or two block-shaped cutters or conical cutters; Or / and, the clamping member comprises a clamping body or two clamping sheets or two clamping blocks or two clamping bodies (4) or two clamping rods; Or / and, the first pulling member is an L-shaped structure or a rod-shaped structure or a hook-shaped structure or a sheet-shaped structure or an n-shaped structure; Or / and, the second pulling member is an L-shaped structure, a rod-shaped structure, a hook-shaped structure, or a sheet-shaped structure; Or / and, the separation member is a spring (8) or a gas rod or a hydraulic rod or an elastic rubber; the spring (8) is a compression spring or a tension spring.

4. A shear-holding linkage structure as claimed in claim 2, characterized in that: The shearing piece comprises at least two shearing blades (6); the clamping piece comprises at least two clamping bodies (4); the two shearing blades (6) and the two clamping bodies are pin-connected in the first housing (1) and the second housing (7) via a fixed rotating shaft (5); Or / and, the first pulling member is a shearing pull rod (2); Or / and, the second pulling member is a clamping pull rod (3); Or / and, the separation member is a spring (8); Or / and, the driving source is a driving mechanism (9), which is a rotating motor or a cylinder or a hydraulic cylinder or a linear motor or having a ball screw structure, which can provide reciprocating telescopic linear motion and is fixed on the housing one (1) and the housing two (7).

5. A shear-holding linkage structure as claimed in claim 4, characterized in that: The housing 1 (1) is provided with a sliding groove 1 (11); The shear pull rod (2) is placed in the housing (1) and can slide along the sliding groove (11) of the housing (1); Or / and, the second housing (7) is provided with a second sliding groove (71); The clamping rod (3) is placed in the second housing (7) and can slide along the second sliding groove (71) of the second housing (7); Or / and, the bottom of the shear rod (2) is provided with a mounting hole (25) for fixedly connecting with the driving mechanism (9) and reciprocatingly moving along the slide groove of the housing (1) along with the telescopic movement of the driving mechanism (9); Or / and, the shear rod (2) comprises a long and flat body (23) and a short and flat body (24); the short and flat body (24) is fixedly connected to the end of the long and flat body (23) to form an assembly space capable of accommodating the separation piece and the clamping rod (3); the short and flat body (24) is connected to one end of the clamping rod (3) via a spring (8).

6. A shear-holding linkage structure according to claim 5, characterized in that: The upper end of the housing 1 (1) is provided with a first shaft hole, so that the fixed rotating shaft (5) is fixedly mounted on the front end of the housing 1 (1); Or / and, the middle ends of the two shear blades (6) are respectively provided with a second axial hole, so that the two shear blades (6) are mounted in a mirror-image manner, and the two second axial holes are concentric and can pass through the fixed rotating shaft (5); The two shear blades (6) are hinged to the housing (1) via a fixed rotating shaft (5) and can rotate around the fixed rotating shaft (5); Or / and, the middle ends of the two clamping bodies (4) are respectively provided with a third axial hole, so that the two clamping members are mounted in a mirror-image manner, and the two third axial holes are concentric and can pass through the fixed rotating shaft (5); The two clamping bodies (4) are hinged to the housing (1) via a fixed rotating shaft (5) and can rotate around the fixed rotating shaft (5).

7. A shear-holding linkage structure according to claim 4, characterized in that: One end of the shear tie rod (2) is provided with an axial hole (21), and the axial hole (21) is assembled with a clamping shaft (101); One end of the clamping rod (3) is provided with a second shaft hole (31), and the second shaft hole (31) is assembled with a second clamping shaft (102); The spring (8) is provided with pull rings at both ends, including a pull ring 1 (81) and a pull ring 2 (82); The first clamping shaft (101) passes through the first pull ring (81) of the spring (8), and the second clamping shaft (102) passes through the second pull ring (82) of the spring (8), so that the spring (8) is in an initial tensioned state, so that one end of the shear rod (2) fits with the end of the clamping rod (3).

8. A shear-holding linkage structure as claimed in claim 4, characterized in that: The lower ends of the two shear blades (6) are respectively provided with a slide slot hole (62); the front end of the shear pull rod (2) is provided with a protruding shaft (22), which can be inserted into the slide slot holes (62) of the two shear blades (6) at the same time and can slide along the center line of the slide slot, so that the two shear blades (6) can perform opening and closing movements; Or / and, the lower ends of the two clamping bodies (4) are respectively provided with a second slide slot hole (42); the front end of the clamping pull rod (3) is provided with a second protruding shaft (32), which can be inserted into the second slide slot holes (42) of the two clamping bodies (4) at the same time and can slide along the center line of the second slide slot, and the second slide slot hole (42) is an obliquely arranged long strip through hole, so that the two clamping bodies (4) can perform opening and closing movements; Or / and, the slope angle of the first slide slot hole (62) on the shear blade (6) is ∠A; the slope angle of the second slide slot hole (42) on the clamping body (4) is ∠B; ∠A>∠B; Or / and, the length of the first slide slot hole (62) on the shear blade (6) is L1, the length of the second slide slot hole (42) on the clamping body (4) is L2, and L1>L2.

9. A picking device capable of cutting and holding stems, characterized in that: The utility model comprises a shearing member capable of cutting an object, a clamping member capable of clamping an object, a first pulling member for driving the shearing member to move, a second pulling member for driving the clamping member to move, a separating member for making the first pulling member and the second pulling member separate and engage, and a driving source capable of driving the first pulling member and the second pulling member to move; The shearing member is fixedly connected to the first pulling member, and the clamping member is fixedly connected to the second pulling member; The first pulling member and the second pulling member are connected by a separating member to form a linkage and dislocation structure; The movable end of the driving source is fixedly connected to the end of the first pulling member, and can drive the first pulling member and the second pulling member to move simultaneously; When the first pulling member drives the clamping member to clamp the object, the separating member can make the first pulling member and the second pulling member shift, so that the second pulling member keeps driving the clamping member to clamp the object, and driven by the driving source, the first pulling member can continue to move and drive the shearing member to cut the object.

10. A picking device capable of cutting and holding stems as claimed in claim 9, characterized in that: The shearing piece comprises at least two shearing blades (6); the clamping piece comprises at least two clamping bodies (4); the two shearing blades (6) and the two clamping bodies are pin-connected in the first housing (1) and the second housing (7) via a fixed rotating shaft (5); The first pulling member is a shearing pull rod (2); the second pulling member is a clamping pull rod (3); and the separating member is a spring (8); The driving source is a driving mechanism (9) which can provide reciprocating telescopic linear motion and is fixed on the first housing (1) and the second housing (7); The driving mechanism (9) can synchronously drive the shear blade (6) and the clamping body (4) to pick the crops; When the clamping body (4) clamps the fruit stem, the shearing rod (2) continues to slide backwards, the clamping rod (3) no longer slides backwards, and the spring (8) begins to stretch. The tension of the spring (8) ensures that the fruit stem is always clamped and will not fall off. Since the spring (8) can be stretched, the shearing rod (2) can continue to slide, so the two shearing blades (6) can continue to close until the shearing blades (6) are completely closed and reach the position of cutting the fruit stem.

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