A semi-automatic high-altitude fruit picking machine

Abstract

The utility model discloses a kind of semi-automatic high-altitude fruit picking machines, belong to agricultural machinery technical field.It includes picking head, telescopic link, battery box, control switch, collection net and collection basket, picking head is connected with the one end of telescopic link, the other end of telescopic link is equipped with handle, telescopic link side surface close to handle one end is fixed with battery box, the inside of battery box is equipped with battery, the side surface of battery box is connected with control switch.The utility model utilizes electromagnetic principle, adopts big moment rudder to replace traditional manual operation, to reduce energy consumption and improve control efficiency, realize automation control.The utility model adopts American special alloy material quality to replace traditional raw material, optimizes production process, not only ensure product quality, while reducing product weight, improve performance;Standardization of assembly component, it is convenient to replace quickly, improves maintenance efficiency.The utility model increases auxiliary device conveying pipeline and basket, facilitate the picking of fruit grower long time, improve picking efficiency.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, specifically a semi-automatic aerial fruit picking machine. Background Technology

[0002] In recent years, with the rapid growth of my country's economy and the continuous increase in urbanization, people's demand for material and cultural life has been rising, leading to a geometric increase in demand for vegetables and fruits, especially small and medium-sized fruits. To address this, my country has developed aerial cultivation technology, which is now used in strawberry cultivation. During the annual harvest season, farmers face a busy harvesting schedule. Simultaneously, due to the vigorous development of agritourism, strawberry cultivation has formed a three-dimensional planting model. In practice, however, the labor intensity for farmers is high, production efficiency is low, and some supports are too high, posing a safety risk of falls from ladders or trees during harvesting, all of which could potentially harm their health.

[0003] Aerial strawberry cultivation has been promoted and applied in many regions across the country, becoming an important industry for promoting rural revitalization and agricultural modernization. However, the structure and layout of aerial strawberry trellises are relatively complex, making them unsuitable for large-scale mechanized harvesting. Farmers still rely on manual harvesting, supplemented by other simple auxiliary equipment, such as mechanical picking poles and net-type pickers. These devices are mostly manual mechanical aids.

[0004] Existing mechanical auxiliary tools have many drawbacks, such as... Figure 12 The device shown uses a manual handle to drive a wire, which in turn drives a cutting mechanism to cut strawberry stems. While it automatically clamps broken strawberry stems, it still suffers from the fatigue and inefficiency caused by manual pushing. (Attached) Figure 13 The improved design features a longitudinally structured telescopic rod and blades. The harvesting height is adjusted using a telescopic metal rod, and a harvesting head made of transparent acrylic tubing is included. The blades are driven by a motor connected to a steel cable, and a central spring helps the blades quickly return to their original position. This improvement significantly reduces the labor intensity of single-person operation and greatly increases harvesting efficiency. However, the design also has some shortcomings: the front harvesting head is relatively heavy, and the motor power is limited, resulting in overall flexibility that still needs improvement.

[0005] In conclusion, most hand tools have significant drawbacks in terms of weight, structure, and practicality, and cannot provide convenience in the actual operation of harvesting fruits at heights. Given the fragility and easy fall of strawberries, it is imperative to develop an innovative device that can effectively improve harvesting efficiency and reduce the labor intensity of fruit farmers. Utility Model Content

[0006] To address the aforementioned problems, this utility model provides a semi-automatic aerial fruit harvester. It proposes an innovative structure for this aerial fruit harvester, aiming to assist aerial fruit harvesting operations through the development of a small machine or apparatus. The design concept prioritizes simplicity, flexibility, ease of use, cost savings, and improved economic efficiency, while ensuring it meets the relevant requirements of modern agricultural production technology.

[0007] This utility model is achieved through the following technical solution:

[0008] A semi-automatic aerial fruit picking machine includes a picking head, a telescopic rod, a battery box, a control switch, a collection net, and a collection basket. The picking head is connected to one end of the telescopic rod, and the other end of the telescopic rod is provided with a handle. The battery box is fixed to the side of the telescopic rod near the handle. The battery box contains a battery, and the control switch is connected to the side of the battery box.

[0009] The harvesting head includes a harvesting ring, a V-shaped fruit stem retainer on the front side, a telescopic rod fixing seat on the rear side, servo motor mounting holes and collection net fixing holes on the left and right sides, an electrical wire hole in the center of the telescopic rod fixing seat, and support rod fixing threaded holes distributed around the electrical wire hole, a V-shaped groove blade at the lower end of the V-shaped fruit stem retainer, and a blade fixing hole below the V-shaped groove blade, a servo motor fixed to the side of the harvesting ring, a servo motor fixing link connected to the front of the servo motor, the servo motor fixing link being sequentially connected to a second link and a first link, the right end of the first link being connected to one end of a shearing blade, the other end of the shearing blade being connected to the blade fixing hole by screw A, a collection net below the harvesting ring, the upper end of the collection net being fixed in the collection net fixing hole by bolt B, the lower end of the collection net being connected to one end of a conveying pipe, the other end of the conveying pipe being connected to a collection basket, and the servo motor being electrically connected to the battery box via wires.

[0010] The telescopic rod includes a first telescopic rod, a second telescopic rod, and a telescopic rod fixing head connected in sequence. The left end of the telescopic rod fixing head is connected to the rear side of the telescopic rod fixing seat by bolt A. The right end of the telescopic rod fixing head is threaded to the left end of the second telescopic rod. The right end of the second telescopic rod is sleeved inside the first telescopic rod. A first connector is provided outside the connection point, and a second connector is provided outside the first connector. The right end of the first telescopic rod is connected to a handle.

[0011] The servo motor is fixed to the side of the picking ring by a servo motor mounting bracket. The servo motor is fixedly connected to the second servo motor mounting hole by bolts. The first servo motor mounting hole on the surface of the servo motor mounting bracket is fixedly connected to the servo motor mounting hole by bolts.

[0012] A wide-angle camera is also fixed above the picking circle.

[0013] The main structure of the shearing blade is a 90° right-angle blade, and the surface of the shearing blade is provided with a blade edge.

[0014] The second connecting rod is connected to the servo motor fixed connecting rod by screw B. The connection between the second connecting rod and the first connecting rod is connected by a bearing. The connection between the first connecting rod and the shear blade is rotatably connected. The servo motor fixed connecting rod, the second connecting rod, the first connecting rod and the shear blade form a crank-connecting rod mechanism.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. This utility model utilizes electromagnetic principles and employs a high-torque servo motor to replace traditional manual operation, thereby reducing energy consumption and improving control efficiency to achieve automated control.

[0017] 2. This utility model uses MITEK alloy material to replace traditional raw materials and optimizes the production process, which not only ensures product quality but also reduces product weight and improves performance; the standardized assembly parts facilitate quick replacement and improve maintenance efficiency.

[0018] 3. This utility model adds auxiliary devices such as conveying pipes and baskets, which facilitates fruit farmers' long-term harvesting and improves harvesting efficiency.

[0019] 4. This utility model is applicable to the harvesting of all fruit trees and fruits grown at high altitudes, such as strawberries, bayberries, and apricots. It is easy to operate and has a wide range of applications. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present utility model. Figure 1 ;

[0021] Figure 2 This utility model Figure 1 A schematic diagram of the structure in direction A;

[0022] Figure 3 This utility model Figure 1 Schematic diagram of the structure in the BB direction;

[0023] Figure 4 This utility model Figure 1 Schematic diagram of the structure in the CC direction;

[0024] Figure 5 This utility model Figure 1 Schematic diagram of the structure in the DD direction;

[0025] Figure 6 This utility model Figure 1 Schematic diagram of the structure in the EE direction;

[0026] Figure 7 This utility model Figure 1 Schematic diagram of the structure in the FF direction;

[0027] Figure 8 This is a schematic diagram of the structure of the present invention. Figure 2 ;

[0028] Figure 9 This is a schematic diagram of the servo motor mounting bracket of this utility model;

[0029] Figure 10 This is a schematic diagram of the structure of the picking ring of this utility model;

[0030] Figure 11 This is a schematic diagram of the harvesting head of this utility model;

[0031] Figure 12 This is a harvester structure in the prior art of this utility model;

[0032] Figure 13 This is the second structure of the harvester in the prior art of this utility model;

[0033] Figure 14 This is a simplified diagram of the shearing mechanism of this utility model;

[0034] Figure 15 This is a schematic diagram showing the extreme positions of the shear blade when it is closed and open.

[0035] In the diagram: 1. Handle; 2. Telescopic rod mounting base; 3. Bolt A; 4. Control switch; 5. Battery box; 6. Servo mounting link; 7. Battery; 8. First telescopic rod; 9. First connector; 10. Second connector; 11. Second telescopic rod; 12. Screw A; 13. Telescopic rod mounting head; 14. Wide-angle camera; 15. Shearing blade; 16. First link; 17. Harvesting ring; 18. Servo; 19. Servo mounting bracket; 20. Screw B; 21. Bearing; 22. Second link; 23. Bolt B; 24. Collection net; 25. Collection basket; 26. V-groove blade; 27. Wire hole; 28. Blade mounting hole; 29. ​​Collection net mounting hole; 30. Servo mounting hole; 31. First servo mounting hole; 32. Second servo mounting hole; 33. Blade edge; 34. Conveying pipe; 36. Support rod fixing threaded hole. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings:

[0037] As per the instruction manual Figure 1-11As shown, a semi-automatic aerial fruit picking machine includes a picking head, a telescopic rod, a battery box 5, a control switch 4, a collection net 24, and a collection basket 25. The picking head is connected to one end of the telescopic rod, and the other end of the telescopic rod is provided with a handle 1. The battery box 5 is fixed to the side of the telescopic rod near the handle 1. The battery box 5 contains a battery 7, and the control switch 4 is connected to the side of the battery box 5.

[0038] The harvesting head includes a harvesting ring 17. The front of the harvesting ring 17 has a V-shaped fruit stem retainer 35, and the rear has a telescopic rod fixing seat 2. The left and right sides both have servo motor mounting holes 30 and collection net fixing holes 29. The telescopic rod fixing seat 2 has a wire hole 27 in the middle, and support rod fixing threaded holes 36 are distributed around the wire hole 27. The lower end of the V-shaped fruit stem retainer 35 has a V-shaped groove blade 26, and below the V-shaped groove blade 26 is a blade fixing hole 28. A servo motor 18 is fixed to the side of the harvesting ring 17. The front of the servo motor 18 is connected to a servo motor fixing link 6. The servo motor fixing link 6 is connected to the second link 22 and the first link... The rods 16 are connected in sequence. The right end of the first connecting rod 16 is connected to one end of the shearing blade 15. The other end of the shearing blade 15 is connected to the blade fixing hole 28 by screw A12. A collection net 24 is provided below the picking ring 17. The upper end of the collection net 24 is fixed in the collection net fixing hole 29 by bolt B23. The lower end of the collection net 24 is connected to one end of the conveying pipe 34. The conveying pipe 34 is made of a telescopic flexible hose. The other end of the conveying pipe 34 is connected to the collection basket 25. The servo motor 18 is electrically connected to the battery box 5 by wires. The connecting wire enters the telescopic rod through the wire hole 27 and then exits to connect to the battery box 5.

[0039] The telescopic rod includes a first telescopic rod 8, a second telescopic rod 11, and a telescopic rod fixing head 13 connected in sequence. The left end of the telescopic rod fixing head 13 is connected to the rear side of the telescopic rod fixing seat 2 by bolt A3. The right end of the telescopic rod fixing head 13 is threadedly connected to the left end of the second telescopic rod 11. The right end of the second telescopic rod 11 is fitted inside the first telescopic rod 8. A first connector 9 is provided on the outside of the connection, and a second connector 10 is provided on the outside of the first connector 9. The right end of the first telescopic rod 8 is connected to the handle 1. The telescopic rod is designed with a thin rod fitted inside a thick rod and fastened by a locking nut with a tapered thread, thereby achieving the purpose of adjusting the length. This is the existing structure and will not be described in detail.

[0040] Servo motor 18 is fixed to the side of the picking ring 17 via servo motor mounting bracket 19. Servo motor 18 is fixedly connected to the second servo motor mounting hole 32 by bolts. The first servo motor mounting hole 31 and the servo motor mounting hole 30 on the surface of servo motor mounting bracket 19 are fixedly connected by bolts.

[0041] A wide-angle camera 14 is also fixed above the picking circle 17.

[0042] The main structure of the shearing blade 15 is a 90° right-angle blade, and the surface of the shearing blade 15 is provided with a blade edge 33.

[0043] The second link 22 is connected to the servo motor fixed link 6 by screw B20. The connection between the second link 22 and the first link 16 is connected by bearing 21. The connection between the first link 16 and the shear blade 15 is rotatably connected. The servo motor fixed link 6, the second link 22, the first link 16 and the shear blade 15 form a crank-connecting rod mechanism.

[0044] In addition, to make it easier for farmers to view the video transmission images via mobile phones, a convenient mobile phone holder can be designed on the telescopic pole. The phone can be mounted on the telescopic pole and is compatible with all models of mobile phones, making it very convenient to use.

[0045] The picking ring in this invention is made of 6061-T6 series magnesium-aluminum alloy. This material was chosen for its excellent processing properties, strong corrosion resistance, good toughness, resistance to deformation after processing, ease of coloring, and good oxidation resistance. The mechanical properties of this material are: tensile strength σb > 124 MPa, yield strength σs > 55.2 MPa, and elongation δ5 ≤ 25%. Given that strawberry fruit diameter is generally in the range of 20-50 mm, this design increases the inner diameter of the picking ring to 108 mm, enabling the simultaneous cutting of multiple smaller strawberries, significantly improving the efficiency of agricultural harvesting operations and effectively saving labor costs. This harvesting machine can be used not only for harvesting strawberries grown at height but also for harvesting various other fruits grown at height, such as bayberries and apricots. It is easy to operate and has a wide range of applications.

[0046] To reduce the weight of the picking ring, its thickness was set to 6 mm in this embodiment, while the ring height was optimized to 16 mm based on the cutting path of the scissors and the installation requirements of the right-hand rudder device. The height of the V-shaped port was also set to 30 mm, ensuring both the aesthetics of the picking ring and ease of operation.

[0047] In the structure, the servo motor 18 uses the M996R servo motor, which has a high-torque steering mechanism. Its main parameters are: under a 6V operating voltage, it can output approximately 1.1 Nm of torque, weighs 55 grams, and has a traction force of up to 11 kg / cm². Its detailed key technical parameters are shown in Table 1 below. Advanced nanotechnology is used to achieve PWM pulse width modulation, which can effectively control key parameters such as speed and amplitude to meet the equipment's requirements for high efficiency and low energy consumption.

[0048] Table 1. Servo Motor Technical Parameters

[0049] content parameter weight 55g size 40.7×19.7×42.9mm pull 9.4 kg / cm (4.8V), 11 kg / cm (6V) speed 0.17sec / 60degree(4.8v) 0.14sec / 60degree(6v) Operating voltage 4.8-7.2V Operating temperature 0℃-55℃ Gear material copper alloy Dead zone 5us

[0050] This embodiment of the invention uses a 24V 3Ah lithium-ion polymer battery pack, equipped with a battery protective cover, which can provide real-time protection against overcurrent, overcharge, discharge, short circuit, and abnormal temperature during battery operation. Specific parameters are detailed in Table 2.

[0051] Table 2 Battery Specifications

[0052] content parameter model 24V 3Ah lithium-ion polymer battery nominal voltage 24V nominal lifespan 1000 times Full charge voltage: ≈25.2V Operating voltage 16.5-25.2V battery cells 6 18650A battery cells size 71.7*55.3*37.2mm weight 280g Sustainable Current 4A Overcurrent protection value 8A Maximum charging current 3A

[0053] This invention utilizes a wide-angle LED camera equipped with autofocus (AP). This camera allows orchard staff to remotely monitor the fruit's growth location via smartphone; specific parameters are shown in Table 3.

[0054] Table 3 Camera Technical Parameters

[0055] project parameter sensor CMOS resolution 720P focal length 3.6mm aperture F2.8 Storage format H.264 angle Horizontal 143°, Vertical 90° size 40x33x40

[0056] The main function of this cutting tool is to precisely cut the handle of fruit. To ensure the stability and reliability of the tool's rotation, two miniature support structures are specially designed to stabilize its axial rotation. The blade edge is designed with a concave structure, which ensures that the fruit is firmly held onto the handle during the cutting process, effectively achieving the cut. It also matches the V-shaped cut on the cutting ring, effectively preventing the cut branch from slipping off.

[0057] In the design of the drive unit, a crankshaft-type rocker mechanism was chosen to drive the cutter shaft. To adapt to the cutting needs of different fruits, the device can also be equipped with different shaped cutters as needed. The crankshaft is driven to rotate at a constant speed by a manipulator, using the tool as a rocker arm to achieve precise cutting of fruit tree branches. A simplified diagram of the shearing mechanism is attached. Figure 14 As shown.

[0058] This invention addresses the problems existing in the practical application of conventional electric ear pickers, such as heavy picking heads, insufficient motor power, and low energy transfer efficiency, by optimizing their structure. The picking ring is modified into a circular shape, with its inner diameter and thickness precisely set to accommodate the ear diameters of different fruit trees. To improve the device's assemblability and versatility, detailed design modifications were made to the front, sides, and back of the picking ring, such as creating V-shaped openings for mounting the cutting blades and providing a flat surface for mounting the steering wheel and camera. Considering space constraints and operational requirements, a large-angle LED camera with autofocus was selected to ensure clear image information even in complex environments. To enhance cutting force and transmission efficiency, a crankshaft rocker mechanism is introduced between the actuator and the cutting blades. This mechanism effectively converts rotational motion into linear motion, thereby transmitting greater torque to handle ear hardness of varying degrees.

[0059] The working process and principle of this utility model are as follows: The servo motor 18 is started by the control switch. The servo motor 18 drives the crank rocker mechanism to rotate, which in turn drives the shearing blade 15 to move, thereby cutting the stem of the fruit. The cut fruit falls into the collection net 24 and enters the collection basket 25 through the conveying pipe 34 for centralized collection.

[0060] This utility model of a high-altitude fruit harvester achieves efficient and accurate fruit harvesting through its unique harvesting ring design. Its working principle lies in the V-shaped opening at the front of the harvesting ring, specifically the V-shaped fruit stem retainer 35, which allows the fruit to be smoothly introduced into the cutting area. The cutting blade is cleverly fixed to the steering device on the right side of the cutting ring, ensuring the stability and accuracy of the cutting process. The harvesting end of the harvester is connected to the end of the receiving and releasing ring via a connector, forming a flexible and reliable harvesting mechanism. A telescopic component connects the extension rod to the power supply and control box, making operation more convenient and faster. A control switch on the handle box connects to the power and steering devices via wires, enabling remote control. A conveying pipe is designed below the harvesting ring, connected to the collection basket, ensuring that the harvested fruit is quickly collected. Orchard owners can easily complete the fruit harvesting work by simply pressing a button. This design not only improves harvesting efficiency but also reduces the labor intensity of orchard owners, possessing significant practical value.

[0061] The main features of this high-altitude fruit harvester lie in its innovative harvesting device design. Utilizing a double-layer structure and a telescopic design, the operator can flexibly adjust the device during operation to adapt to different heights and angles for fruit harvesting. To reduce the operator's physical burden, a secondary support structure is added, effectively distributing pressure on the shoulders and lower back, ensuring comfort and safety during extended operation. The cutting mechanism employs a high-torque electromagnetic steering motor instead of traditional manual operation. Continuous rotation of the crankshaft and rocker arm achieves automatic cutting of fruit stems, significantly improving cutting efficiency and the machine's automation level. For fruit collection, a conduit system is designed. By covering the collection ring with a flexible plastic conduit, the integrity and quality of the fruit are ensured as it slides into the collection basket. This device also significantly shortens the time from harvesting to collection, enabling the machine to operate continuously and efficiently, greatly improving overall harvesting efficiency.

[0062] In the description of this utility model, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "side", "top", "inner", "front", "center", "both ends", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0063] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of those features.

[0064] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0065] In summary, the above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of the present utility model. All equivalent variations and modifications made in accordance with the shape, structure, features and spirit described in the claims of the present utility model should be included within the scope of the claims of the present utility model.

Claims

1. A semi-automatic aerial fruit picking machine, characterized in that: The device includes a picking head, a telescopic rod, a battery box (5), a control switch (4), a collection net (24), and a collection basket (25). The picking head is connected to one end of the telescopic rod, and the other end of the telescopic rod is provided with a handle (1). The battery box (5) is fixed to the side of the telescopic rod near the handle (1). The battery box (5) contains a battery (7), and the side of the battery box (5) is connected to the control switch (4). The picking head includes a picking ring (17), the front side of which is provided with a V-shaped fruit stem clamp (35), and the rear side is provided with a telescopic rod fixing seat (2). The left and right sides are provided with servo motor mounting holes (30) and collection net fixing holes (29). The telescopic rod fixing seat (2) is provided with an electrical wire hole (27) in the middle. The electrical wire hole (27) is surrounded by support rod fixing thread holes (36). The lower end of the V-shaped fruit stem clamp (35) is provided with a V-shaped groove blade (26). Below the V-shaped groove blade (26) is a knife fixing hole (28). A servo motor (18) is fixed to the side of the picking ring (17). The front side of the servo motor (18) is connected to a servo motor fixing link (6). The servo motor fixing link (6) is connected to the second link (22) and the first link (16) in sequence. The right end of the first link (16) is connected to one end of the shearing blade (15). The other end of the shearing blade (15) is connected to the blade fixing hole (28) by screw A (12). A collection net (24) is provided below the picking ring (17). The upper end of the collection net (24) is fixed in the collection net fixing hole (29) by bolt B (23). The lower end of the collection net (24) is connected to one end of the conveying pipe (34). The other end of the conveying pipe (34) is connected to the collection basket (25). The servo motor (18) and the battery box (5) are electrically connected by wires.

2. The semi-automatic aerial fruit picking machine according to claim 1, characterized in that: The telescopic rod includes a first telescopic rod (8), a second telescopic rod (11), and a telescopic rod fixing head (13) connected in sequence. The left end of the telescopic rod fixing head (13) is connected to the rear side of the telescopic rod fixing seat (2) by bolt A (3). The right end of the telescopic rod fixing head (13) is threaded to the left end of the second telescopic rod (11). The right end of the second telescopic rod (11) is sleeved inside the first telescopic rod (8). A first connector (9) is provided outside the connection. A second connector (10) is provided outside the first connector (9). The right end of the first telescopic rod (8) is connected to the handle (1).

3. The semi-automatic aerial fruit picking machine according to claim 1, characterized in that: The servo motor (18) is fixed to the side of the picking ring (17) by the servo motor mounting bracket (19). The servo motor (18) is fixedly connected to the second servo motor mounting hole (32) by bolts. The first servo motor mounting hole (31) on the surface of the servo motor mounting bracket (19) is fixedly connected to the servo motor mounting hole (30) by bolts.

4. The semi-automatic aerial fruit picking machine according to claim 1, characterized in that: A wide-angle camera (14) is also fixed above the picking circle (17).

5. The semi-automatic aerial fruit picking machine according to claim 1, characterized in that: The main structure of the shearing blade (15) is a 90° right-angle blade, and the surface of the shearing blade (15) is provided with a blade edge (33).

6. The semi-automatic aerial fruit picking machine according to claim 1, characterized in that: The second connecting rod (22) is connected to the servo fixed connecting rod (6) by screw B (20). The connection between the second connecting rod (22) and the first connecting rod (16) is connected by bearing (21). The connection between the first connecting rod (16) and the shear blade (15) is rotatably connected. The servo fixed connecting rod (6), the second connecting rod (22), the first connecting rod (16) and the shear blade (15) form a crank-connecting rod mechanism.

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