CN111788936A

CN111788936A - Synchronous picking manipulator of pincers scissors

Info

Publication number: CN111788936A
Application number: CN201910275532.9A
Authority: CN
Inventors: 罗敏峰; 颜斌; 曾绍锋; 林烟锹; 陈艺盛; 龙光洪
Original assignee: Fujian University of Technology
Current assignee: Fujian University of Technology
Priority date: 2019-04-08
Filing date: 2019-04-08
Publication date: 2020-10-20

Abstract

The invention relates to a synchronous picking manipulator of a pair of pliers and scissors, which comprises a rod piece, a tool bit assembly and a handle assembly; the cutter head assembly is arranged at the top of the rod piece, the handle assembly is arranged at the bottom end of the rod piece, and the handle assembly drives the cutter head assembly to move through a pull wire; the method is characterized in that: the cutter head component comprises a fixed cutter, a movable cutter, a fixed clamp and a movable clamp; the movable cutter and the movable clamp are separately arranged on two sides of the fixed cutter and positioned through a rotating shaft to form a scissor fork structure; the fixed clamp is riveted on the fixed cutter and is positioned at the same side with the movable clamp to form clamping action in a matching way; one end of the pull wire is fixedly tied on the movable handle in the handle assembly, the other end of the pull wire penetrates through the clamp arm and then is fixedly tied on the cutter arm, a synchronous spring is arranged between the cutter arm and the clamp arm, a reset spring is arranged between the clamp arm and the cutter handle of the fixed cutter, a synchronous and asynchronous structure for clamping and shearing is formed, and the pull wire picking machine has the advantages of being convenient to operate and continuous in picking action.

Description

Synchronous picking manipulator of pincers scissors

The technical field is as follows:

the invention relates to a synchronous picking manipulator of a pair of pliers, in particular to a picking manipulator which can synchronously act as well as has different strokes so that a cutter can further cut fruit pedicles or branches conveniently, and can clamp the fruit pedicles while cutting.

Background art:

patent application No. 201120467410.9 discloses a fruit picker, is equipped with the stock of cutter including its top, and the clamp is still equipped with on the top of stock, and the control is equipped with to the bottom of stock the handle of cutter and clamp, this handle are equipped with a fixed grab handle and two activity grab handles, can carry fruit on one side, and the fruit stalk is cut off on one side, has avoided fruit owing to cut off the back directly to fall to pound on the ground or pound the phenomenon of people to take place. In the technology, the cutter and the clamp need to act twice, the operation is troublesome, the efficiency is low, and mechanisms such as how to keep a clamping state are not provided.

Patent application No. 201710099582.7 discloses a litchi fruit picking rod, which is also a double-action structure for clamping and shearing, and the direction of the cutting is different between the two.

How to overcome the defects of the prior art and design a scheme with convenient operation and high efficiency, which becomes the object of the research of the invention.

The invention content is as follows:

the invention aims to design a clamp on one side of a cutter, which is a synchronous picking manipulator of a clamp shear, wherein the clamp and the cutter are synchronous and have different strokes, and clamping and shearing are finished by one-time action.

The technical scheme of the invention is realized as follows: a synchronous picking manipulator of a pair of pliers comprises a rod piece, a cutter head assembly and a handle assembly; the cutter head assembly is arranged at the top of the rod piece, the handle assembly is arranged at the bottom end of the rod piece, and the handle assembly drives the cutter head assembly to move through a pull wire; the method is characterized in that: the cutter head component comprises a fixed cutter, a movable cutter, a fixed clamp and a movable clamp; the movable cutter and the movable clamp are separately arranged on two sides of the fixed cutter and are positioned on the fixed cutter through the same rotating shaft to form a scissor fork structure capable of rotating and swinging around the rotating shaft; the fixed clamp is riveted on the fixed cutter and is positioned on the same side with the movable clamp to form clamping action in a matching way; the cutter head assembly is directly locked at the top end of the rod piece by virtue of a cutter handle for fixing the cutter; the movable cutter and the movable clamp are respectively connected with a cutter arm and a clamp arm; the handle assembly comprises a fixed handle and a movable handle, the movable handle is positioned on the fixed handle through a rotating shaft, and the fixed handle is locked at the bottom end of the rod piece; the movable handle is provided with a short crank, one end of the stay wire is fixedly tied on the short crank, the other end of the stay wire penetrates through the clamp arm and then is fixedly tied on the cutter arm, a synchronous spring is arranged between the cutter arm and the clamp arm, and a reset spring is arranged between the clamp arm and the cutter handle for fixing the cutter.

A trigger and a trigger spring are arranged between the fixed handle and the movable handle in the handle assembly; the trigger shaft is positioned on the movable handle, the trigger spring is abutted between the trigger and the fixed handle, and the trend that the ratchet at the other end of the trigger is always abutted on the ratchet machined on the side face of the fixed handle is kept.

The pull wire is a brake pull wire and is provided with a protective sleeve and a steel wire, one end of the protective sleeve props against the fixed handle of the handle component, and the other end of the protective sleeve props against the cutter handle of the fixed cutter; one end of the steel wire is tied and fixed on the short crank of the movable handle, and the other end of the steel wire penetrates through the forceps arm and then is tied and fixed on the cutter arm; the protective sleeve is positioned on the rod piece by means of a plurality of line cards, and the rod piece is of a telescopic structure.

The cutter handle of the fixed cutter is fixedly locked on a joint seat, the joint seat is fixedly locked at the top end of the rod piece through a fastening bolt, and the cutter head assembly is allowed to swing left and right by loosening the fastening bolt so as to adjust the included angle between the cutter head assembly and the rod piece.

The top end of the rod piece is fixedly sleeved with a connecting seat, and the connecting seat is provided with a pair of shaft lugs; the joint seat is locked on the pair of the shaft lugs through fastening bolts and can be adjusted within a range of 270 degrees.

The meshing parts of the fixed clamp and the movable clamp are provided with meshing teeth; the occlusion part of the fixed clamp is not higher than the height of the fixed cutter edge.

And one side of the movable clamp towards the movable cutter is provided with a stop pin which is abutted against the back of the movable cutter.

The invention has the characteristics of reasonable design, simple structure, convenient operation and continuous action; the synchronous action of the pliers and the shears is realized by skillfully using a double-spring structure with synchronous elasticity and reset elasticity, the swinging strokes are different, the clamping and the shearing are not interfered with each other, the picking action is coherent and smooth, and the efficiency is high; the angle adjustment of the cutter head component is assisted, and the requirements of fruits or pruning in various growth states can be met.

Description of the drawings:

the invention is further illustrated with reference to the following specific figures:

FIG. 1 is a schematic view of a synchronous picking manipulator with pliers and scissors

FIG. 2 is a partial schematic view of a cutter head assembly

FIG. 3 is an enlarged partial schematic view of a cutter head assembly

FIG. 4 is a partial enlarged view of the handle assembly

Wherein

Fastener 1-rod 11-large tube 12-small tube 13-cam

2-tool bit assembly 21-fixed cutter 211-tool shank 22-movable cutter

221-knife arm 23-fixed jaw 231-meshing tooth 24-movable jaw

241-clamp arm 242-stop pin 25-synchronous spring 26-return spring

3-handle component 31-fixed handle 311-ratchet 32-movable handle

321-short crank 33-trigger 331-ratchet 34-trigger spring

4-stay wire 41-protective sleeve 42-steel wire 43-wire clip

5-rotating shaft 51-fastening bolt 6-joint seat 7-connecting seat

71-axle ear

The specific implementation mode is as follows:

referring to fig. 1 to 4, the synchronous picking manipulator of the pincers and scissors comprises a rod member 1, a cutter head component 2, a handle component 3 and a pull wire 4; the cutter head component 2 is arranged at the top of the rod piece 1, the handle component 3 is arranged at the bottom end of the rod piece 1, and the handle component 3 drives the cutter head component 2 to move through the pull wire 4 to complete picking or pruning.

The cutter head component 2 comprises a fixed cutter 21, a movable cutter 22, a fixed jaw 23 and a movable jaw 24; the movable cutter 22 and the movable clamp 24 are separately arranged on two sides of the fixed cutter 21 and are positioned on the fixed cutter 21 through the same rotating shaft 5 to form a scissor fork structure capable of rotating and swinging around the rotating shaft; the fixed jaw 23 is riveted on the fixed cutter 21 and is positioned at the same side with the movable jaw 24 to form clamping action in a matching way; more specifically, the engaging parts of the fixed jaw 23 and the movable jaw 24 are provided with engaging teeth 231, and the engaging part of the fixed jaw 23 is not higher than the height of the cutting edge of the fixed cutter 21, so that the engaging part is prevented from influencing the cutting of the cutting edge during clamping, or the engaging part is prevented from making the cutting edge of the fixed cutter overhead, and the cutting is changed into branches.

The cutter head component 2 is directly locked and fixed at the top end of the rod piece 1 by the aid of the cutter handle 211 of the fixed cutter 21; the movable cutter 22 and the movable jaw 24 are respectively connected with a cutter arm 221 and a clamp arm 241, and provide a force application part for the pull wire 4. In addition, the movable jaw 24 is provided with a stop pin 242 towards one side of the movable cutter 22, the stop pin 242 is abutted against the back of the movable cutter 22, the initial shearing action and the stroke are kept consistent, and after the movable jaw is clamped in place in the half process, the shearing is allowed to continue, namely the staggered shearing of the cutting edges of the movable cutter 22 and the fixed cutter 21 is realized.

The handle assembly 3 comprises a fixed handle 31 and a movable handle 32, the movable handle 32 is positioned on the fixed handle 31 through the rotating shaft 5, the fixed handle 31 is locked at the bottom end of the rod 1, and the movable handle 32 is provided with a short crank 321 to drive the pull wire 4 to move. Further, a trigger 33 and a trigger spring 34 are arranged between the fixed handle 31 and the movable handle 32; the trigger 33 is axially positioned on the movable handle 32, the trigger spring 34 is abutted between the trigger 33 and the fixed handle 31, and the ratchet 331 at the other end of the trigger 33 is always kept abutted against the ratchet 311 machined on the side surface of the fixed handle. Through the cooperation of ratchet 331 and ratchet 311 on the trigger, realize the locking of the whole journey position of activity hand (hold) 32, one can keep the clamping action all the time, and two make power too little when cuting, can continue again after the ventilation, avoid the too big hand of stroke to pinch the back stroke dynamics not enough.

One end of the stay wire 4 is fastened on a short crank 321 of the movable handle, the other end of the stay wire passes through the clamp arm 241 and then is fastened on the cutter arm 221, a synchronizing spring 25 is arranged between the cutter arm 221 and the clamp arm 241, and a return spring 26 is arranged between the clamp arm 241 and the cutter handle 211 for fixing the cutter. The synchronous spring 25 can not only enable the movable cutter 22 and the movable clamp 24 to have synchronous action and be driven by a connecting wire 4 to realize synchronous shearing and clamping, but also ensure that the movable cutter 22 and the movable clamp 24 have different swing strokes to avoid the clamp from influencing the shearing action; the synchronizing spring 25 is shorter than the return spring 26, and the two springs are required to maintain a certain swing stroke difference.

In this example, the pull wire 4 is a brake pull wire and is provided with a protecting sleeve 41 and a steel wire 42, the steel wire 42 passes through the protecting sleeve 41 and moves in a staggered manner to form a wire take-up action of the steel wire 42, so that the pull wire can be bent and wound in the whole process without influencing the action, and the matching of the telescopic rod piece is met. More specifically, one end of the sheath tube 41 abuts against the fixed handle 31, and the other end abuts against the handle 211 of the fixed cutter; one end of the steel wire 42 is tied and fixed on the short crank 321 of the movable handle, and the other end of the steel wire passes through the forceps arm 241 and then is tied and fixed on the cutter arm 221; the sheath tube 41 is positioned on the rod member 1 by means of a plurality of wire clamps 43, and the rod member 1 is of a telescopic structure, so that the sheath tube is convenient to store and carry outdoors. In the figure, the telescopic structure adopts a sliding nested structure of a large pipe 11 and a small pipe 12, and a cam fastener 13 is arranged on the telescopic end of the large pipe 11 and used for positioning the telescopic length. The large and small tubes are referred to herein as relative to the adjacent nesting, and for this purpose the rod members may be of a multi-segmented sleeve construction, such as two, three, etc.

Further, the knife handle 211 for fixing the cutter is fixedly locked on a joint seat 6, the joint seat 6 is fixedly locked at the top end of the rod piece 1 through a fastening bolt 51, the fastening bolt 51 is loosened to allow the knife head assembly 2 to swing left and right, and the included angle between the knife head assembly and the rod piece 1 is adjusted, so that the direction of a knife edge is adjusted according to the growth direction of picked fruits or branches. In order to improve the angle regulation and the assembly convenience, a connecting seat 7 is fixedly sleeved at the top end of the rod piece 1, and the connecting seat 7 is provided with a pair of shaft lugs 71; the joint base 6 is locked to a pair of lugs 71 by fastening bolts 51 and is adjustable within 270 degrees around the fastening bolts.

Claims

1. A synchronous picking manipulator of a pair of pliers comprises a rod piece (1), a tool bit assembly (2) and a handle assembly (3); the cutter head component (2) is arranged at the top of the rod piece (1), the handle component (3) is arranged at the bottom end of the rod piece (1), and the handle component (3) drives the cutter head component (2) to act through the pull wire (4); the method is characterized in that: the cutter head component (2) comprises a fixed cutter (21), a movable cutter (22), a fixed clamp (23) and a movable clamp (24); the movable cutter (22) and the movable clamp (24) are separately arranged on two sides of the fixed cutter (21) and are positioned on the fixed cutter (21) through the same rotating shaft (5), so that a scissor fork structure capable of rotating and swinging around the rotating shaft (5) is formed; the fixed clamp (23) is fixedly riveted on the fixed cutter (21) and is positioned at the same side with the movable clamp (24) to form clamping action in a matching way; the cutter head component (2) is directly locked and fixed at the top end of the rod piece (1) by means of a cutter handle (211) for fixing a cutter; the movable cutter (22) and the movable clamp (24) are respectively connected with a cutter arm (221) and a clamp arm (241); the handle assembly (3) comprises a fixed handle (31) and a movable handle (32), the movable handle (32) is positioned on the fixed handle (31) through a rotating shaft (5), and the fixed handle (31) is locked at the bottom end of the rod piece (1); the movable handle (32) is provided with a short crank (321), one end of the pull wire (4) is fixedly tied on the short crank (321), the other end of the pull wire penetrates through the clamp arm (241) and then is fixedly tied on the cutter arm (221), a synchronizing spring (25) is arranged between the cutter arm (221) and the clamp arm (241), and a return spring (26) is arranged between the clamp arm (241) and a cutter handle (211) for fixing a cutter.

2. The synchronous picking manipulator of claim 1, characterized in that: a trigger (33) and a trigger spring (34) are arranged between the fixed handle (31) and the movable handle (32) in the handle component (3); the axis of the trigger (33) is positioned on the movable handle (32), the trigger spring (34) is abutted between the trigger (33) and the fixed handle (31), and the trend that the ratchet (331) at the other end of the trigger (33) is always abutted on the ratchet (311) machined on the side surface of the fixed handle (31) is kept.

3. The synchronous picking manipulator of claim 1, characterized in that: the pull wire (4) is a brake pull wire and is provided with a protective sleeve (41) and a steel wire (42), one end of the protective sleeve (41) is abutted against a fixed handle (31) of the handle component (3), and the other end of the protective sleeve is abutted against a cutter handle (211) of the fixed cutter; one end of the steel wire (42) is tied and fixed on a short crank (321) of the movable handle, and the other end of the steel wire passes through the forceps arm (241) and then is tied and fixed on the cutter arm (221); the protective sleeve (41) is positioned on the rod piece (1) by means of a plurality of line cards (43), and the rod piece (1) is of a telescopic structure.

4. The synchronous picking manipulator of claim 1, characterized in that: a cutter handle (211) for fixing the cutter is fixedly locked on a joint seat (6), the joint seat (6) is fixedly locked at the top end of the rod piece (1) through a fastening bolt (51), and the cutter head assembly (2) is allowed to swing left and right by loosening the fastening bolt (51) so as to adjust the included angle between the cutter head assembly and the rod piece (1).

5. A tong-shear synchronous picking manipulator as claimed in claim 1 or 4, characterized in that: the top end of the rod piece (1) is fixedly sleeved with a connecting seat (7), and the connecting seat (7) is provided with a pair of shaft lugs (71); the joint seat (6) is locked on a pair of the shaft lugs (71) through fastening bolts (51) and can be adjusted within a range of 270 degrees.

6. The synchronous picking manipulator of claim 1, characterized in that: occlusion teeth (231) are processed at occlusion parts of the fixed jaw (23) and the movable jaw (24); the occlusion part of the fixed clamp (23) is not higher than the height of the knife edge of the fixed cutter (21).

7. A tong-shear synchronous picking manipulator as claimed in claim 1 or 6, which is characterized in that: the movable jaw (24) is provided with a stop pin (242) towards one side of the movable cutter (22), and the stop pin (242) is abutted against the back of the movable cutter (22).