CN107231888A - Anistree picking machine - Google Patents

Abstract

The invention discloses an octagonal picking machine, which includes a crawler crawling device; also includes a screw slider lifting device arranged at the upper end of the crawler crawler device, a chassis turning device arranged at the upper end of the screw slider lifting device, and a chassis turning device arranged at the upper end of the crawler crawling device The lifting arm at the upper end, the picking rotating device arranged on the upper end of the lifting arm, the scissors manipulator arranged on the picking rotating device for cutting, the connecting end surface of the lifting arm and the picking rotating device is provided with a picking supporting platform, and the picking supporting platform A camera scanning positioning device is also arranged on the top. The present invention carries out picking through the linkage of crawler crawling device, lead screw slider lifting device, chassis rotating device, lifting arm, picking rotating device and scissors manipulator, which can improve work efficiency, protect the environment, ensure personnel safety, and realize high-altitude picking and stability. High reliability.

Description

Octagon Picker

technical field

The invention relates to the field of picking machines, in particular to an octagonal picking machine.

Background technique

Star anise is a famous seasoning spice and also used for medicine. Its peel, seeds and leaves are important raw materials for the manufacture of cosmetics, mulled wine, beer and food industry. Generally, star anise grows on tree trunks as high as 5 to 10 meters, and it is usually harvested manually by climbing trees. Because of the particularity of the growing environment of star anise and the harshness of picking, as well as the picking methods: high risk factor for high-altitude operations, traditional picking methods, low degree of mechanization, high work intensity, and low efficiency; Shaking and impact picking machinery. However, the working methods of these devices not only cause great damage to the integrity of fruit tree branches and star anise, but also are not suitable for high-altitude operations, and are not stable and reliable enough.

In recent years, more advanced and practical star anise harvesting machinery and equipment have emerged in my country, such as orchard intelligent operation machinery, automatic pickers, pneumatic pruning and picking machines, etc., but in general, my country's star anise harvesting machinery still has single functions, Poor stability, low reliability, low efficiency and other practical defects and deficiencies make it impossible for fruit farmers to generally accept and apply these scientific research equipment.

Since star anise is not suitable for long-term accumulation and storage, in order to ensure the freshness and original flavor of star anise, it is best to harvest star anise under sunny conditions, and the fresh fruits picked should be processed in time, which requires more work efficiency and working hours for workers. high.

Contents of the invention

The object of the present invention is to provide a picking manipulator, which can improve work efficiency, protect the environment, ensure personnel safety, realize high-altitude picking, and have high stability and reliability.

In order to achieve this purpose, a kind of octagonal picking machine is provided, including a crawler crawler; also includes a screw slider lifting device arranged on the upper end of the crawler crawler, a chassis turning device arranged on the upper end of the screw slider lifting device, arranged on The lifting arm at the upper end of the chassis slewing device, the picking rotating device arranged at the upper end of the lifting arm, the scissors manipulator arranged on the picking rotating device for cutting, the connecting end of the lifting arm and the picking rotating device is provided with a picking support platform, the The picking support platform is also provided with a camera scanning positioning device.

Preferably, the lifting arm includes a base, a mechanical arm movably connected to the base at one end, a first hydraulic cylinder movably connected to the base at one end, and a second hydraulic cylinder movably connected to the base at one end, wherein the mechanical arm includes a movable The connected lower mechanical arm and the upper mechanical arm; the opposite end of the first hydraulic cylinder and the base is connected through a steel rope to the opposite end of the upper mechanical arm connected with the lower mechanical arm, and the second hydraulic cylinder The opposite end that is movably connected with the base is movably connected with the lower mechanical arm, and the upper end of the connecting position of the lower mechanical arm and the upper mechanical arm is provided with a supporting structure for supporting the steel rope, and there is also a gap between the lower mechanical arm and the upper mechanical arm. A third hydraulic cylinder movably connected with the lower mechanical arm and the upper mechanical arm is provided.

Preferably, the picking rotating device includes a picking basin, a picking rotating device gear arranged at the lower end of the picking basin, a picking rotating device pinion meshing with the picking rotating device gear, and a picking rotating device connected to the picking rotating device pinion.

Preferably, the scissors manipulator includes a lead screw, a scissors structure arranged at the upper end of the lead screw and connected with the slider of the lead screw, a scissor manipulator lifting motor connected with the bottom of the lead screw, a sliding motor arranged at the lower end of the lead screw and connected with the slider of the lead screw. The large gear of the scissors manipulator connected with the barrel, the rotating motor of the scissors manipulator engaged with the large gear of the scissors manipulator through a pinion of the scissors manipulator.

Preferably, the scissors structure includes a fixed blade seat, an opening and closing blade attached to and movably connected to the fixed blade seat, a shearing rotary motor arranged on one side of the fixed blade seat, connected with the shearing rotary motor and passing through the fixed blade The spring shaft of the seat and the opening and closing blade, the torsion spring that is arranged on the spring shaft and connected with the opening and closing blade.

Preferably, the crawler crawler includes a base chassis, a set of synchronous pulleys symmetrically arranged on both sides of the base chassis, two synchronous crawlers respectively arranged on the sets of synchronous pulleys on both sides, arranged in the base chassis and Two motion control motors respectively connected to the synchronous pulley groups on both sides in one-to-one correspondence, and a diesel generator set respectively connected to the two motion control motors in the chassis of the base; the two motion control motors are symmetrically arranged on the base The seat chassis is connected with the corresponding synchronous pulley group through the coupling, the small bevel gear of the crawler crawler device and the large bevel gear of the crawler crawler device respectively.

Preferably, the screw slider lifting device includes a lifting device base whose lower end is connected to the crawler crawler, a lifting bracket and a lifting device motor arranged on the lifting device base, and a working platform connected to the upper end of the lifting bracket through a guide rail slider; One side of the lower end of the lifting bracket is rotatably connected to the base of the lifting device, and the other side of the lower end of the lifting bracket is in contact with the base of the lifting device through a moving slider; The plate is connected, and the lifting device hydraulic cylinder connected with the lifting bracket is also arranged on the base of the lifting device.

Preferably, the lifting bracket is composed of a set of symmetrically intersected movably connected vertical rods and the vertical rod groups are connected by a cross bar, wherein the vertical rod group is composed of two vertical rods and the connection points with the horizontal rods are two At the cross point between the vertical rods, one end of the lower end of the vertical rod group is rotatably connected to the base of the lifting device and the other end is in contact with the base of the lifting device through a moving slider. The upper ends of the vertical rod group are connected to the working platform through guide rail sliders. The cylinder is connected with the cross bar.

Preferably, the chassis turning device includes a chassis turning motor, a rotating disk connected to the chassis turning motor, a rocker fixed on the rotating disk, a rack connected to the rotating disk through the rocker, and a rack meshed with the rack. A spur gear and a rotary chassis arranged on the spur gear.

Preferably, a loading belt is provided at the lower end of the picking support platform to connect with the lower end of the picking basin.

Compared with the prior art, the present invention has the beneficial effects of:

The present invention carries out picking through the linkage of crawler crawling device, lead screw slider lifting device, chassis rotating device, lifting arm, picking rotating device and scissors manipulator, which can improve work efficiency, protect the environment, ensure personnel safety, and realize high-altitude picking and stability. High reliability. The lifting arm in the present invention is provided with three hydraulic cylinders to work in linkage, which can prevent accidents such as shaking and uneven force of the mechanical arm during work, and improves the safety performance of the mechanical equipment. The picking rotary device in the present invention controls the rotation angle of the picking disc installed on the large gear shaft through the meshing transmission of the large and small gears, which can improve the stability, speed and work efficiency of the transmission. The scissors manipulator in the present invention can effectively improve the accuracy of picking and cutting through the drive of the servo motor and the movement of the screw mandrel. In the present invention, the front and rear elevation angles of the crawler crawler are made to form an angle of 60° with the ground, which can better and more stably realize the functions of climbing up and down slopes and crossing various complex gullies. In the present invention, the screw slider lifting device coordinates the lifting operation through the screw rod and the hydraulic cylinder, which can improve the stability of the transmission, provide a large lifting force, and make the control simple. In the present invention, the chassis turning device realizes the 180° turning motion through the coordinated operation of the gears, so that the control is simple, the installation is convenient, and the turning movement is skillfully realized. In the present invention, the scanning and positioning device of the camera can effectively improve work efficiency and control precision, and improve the degree of automatic control.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the schematic diagram of lifting arm structure in the present invention;

Fig. 3 is the structural schematic diagram of picking rotary device among the present invention;

Fig. 4 is the structural representation of scissors manipulator among the present invention;

Fig. 5 is the structural representation of scissors structure among the present invention;

Fig. 6 is the structural representation of crawler crawler device in the present invention;

Fig. 7 is a structural schematic diagram of the screw slider lifting device in the present invention;

Fig. 8 is a structural schematic diagram of the chassis turning device in the present invention.

detailed description

Below in conjunction with embodiment, the present invention is described further, but does not constitute any restriction to the present invention, any limited number of modifications done in the scope of claims of the present invention is still within the scope of claims of the present invention.

As shown in Figure 1, the present invention provides a kind of octagonal picking machine, comprises crawler crawler device 1; The chassis rotary device 7, the lifting arm 2 that is arranged on the upper end of the chassis rotary device 7, the picking rotating device 3 that is arranged on the lifting arm 2 upper end, the scissors manipulator 4 that is arranged on the picking rotating device 3 for cutting, the lifting arm 2 and the A picking supporting platform 26 is arranged on the connecting end surface of the picking rotating device 3 , and a camera scanning positioning device 5 is also arranged on the picking supporting platform 26 . The lower end of the picking support platform 26 is also provided with a charging belt 8 to be connected with the lower end of the picking basin 31 .

In this embodiment, the crawler crawler 1 moves from one point to another for picking anise due to the operation of the octagonal picker. The leading screw slide block lifting device 6 is used for the upper end octagonal picking device to be initially probably promoted to the picking position. Chassis turning device 7 is used for carrying out 180 ° rotary motion of upper end octagonal picking device to carry out initial angular positioning of octagonal. The lifting arm 2 is used to control the lifting and lowering of the picking support platform 26 to meet the needs of picking. The picking rotating device 3 initially positions the picked anise through rotation, and the scissors manipulator 4 is used to accurately cut the star anise, so that the star anise falls off. into the picking rotary device 3 and then collected into the charging belt 8. The scissors manipulator 4 can be arranged inside the picking rotating device 3 . The scanning positioning device 5 of the camera is used to accurately locate the star anise and control the linkage of the lifting arm 2, the picking rotating device 3 and the scissor manipulator 4 by sending a signal to the background control system to pick the star anise.

As shown in Figure 2, the lifting arm 2 includes a base 27, a mechanical arm 25 movably connected to the base 27 at one end, a first hydraulic cylinder 21 movably connected to the base 27 at one end, and a second hydraulic cylinder 22 movably connected to the base 27 at one end, Wherein, the mechanical arm 25 includes a lower mechanical arm 251 and an upper mechanical arm 252 which are movably connected; The opposite end of the connection is connected, and the opposite end of the second hydraulic cylinder 22 is movably connected with the base 27 and the lower mechanical arm 251 is movably connected. As for the supporting structure, a third hydraulic cylinder 24 movably connected with the lower mechanical arm 251 and the upper mechanical arm 252 is also arranged between the lower mechanical arm 251 and the upper mechanical arm 252 .

In this embodiment, the second hydraulic cylinder 22 and the third hydraulic cylinder 24 work together to drive the mechanical arm 25 to realize telescopic and lifting functions; the function of the first hydraulic cylinder 21 is to control the tension of the steel rope 23 to control The stability of the mechanical arm 252 prevents accidents such as shaking and uneven stress when the mechanical arm is working, and improves the safety performance of the mechanical equipment.

As shown in Figure 3, picking rotating device 3 comprises picking basin 31, the picking rotating device gear 33 that is arranged on picking basin 31 lower ends, the picking rotating device pinion gear 32 that meshes with picking rotating device gear 33, and the picking rotating device small gear. The picking rotating motor 34 that gear 32 is connected, and picking rotating motor 34 is arranged on picking supporting platform 26 lower end and passes through picking supporting platform 26 and is connected with pinion 32.

In this embodiment, the picking rotary motor 43 is a servo motor for high-precision control. Picking rotary device pinion 32 and picking rotary device bull gear 33 are all helical gears. The picking rotary motor 43 drives the small helical gear to rotate through the shaft coupling, and controls the rotation angle of the picking disc through the meshing transmission of the large and small helical gears to complete the preliminary positioning of the octagon. Therefore, the control mode of the picking rotating device 3 is simple, the work efficiency is high, and the sensitivity is high.

As shown in Figures 4-5, the scissors manipulator 4 includes a leading screw 42, a scissors structure 46 that is arranged on the upper end of the leading screw 42 and is connected with the slider of the leading screw 42, a scissors manipulator lifting motor 45 connected to the bottom of the leading screw 42, The scissors manipulator bull gear 43 that is arranged on leading screw 42 lower ends and is connected with the sliding bucket of lead screw 42, the scissors manipulator rotary motor 41 that meshes with scissors manipulator pinion 44 and scissors manipulator bull gear 43. The scissors structure 46 includes a fixed blade seat 462, an opening and closing blade 463 fitted and movably connected to the fixed blade seat 462, a shearing rotary motor 461 arranged on one side of the fixed blade seat 462, connected with the shearing rotary motor 461 and passing through The spring shaft 464 of the fixed blade seat 462 and the opening and closing blade 463, the torsion spring 465 that is arranged on the spring shaft 464 and is connected with the opening and closing blade 463, the scissors manipulator lifting motor 45 and the scissors manipulator rotating motor 41 are arranged on the picking support platform 26 .

In this embodiment, both the scissors manipulator pinion gear 44 and the scissors manipulator gear 43 are bevel gears, and the scissors manipulator rotating motor 41 and the scissors manipulator lifting motor 45 are both servo motors. The rotating motor 41 of the scissors manipulator drives the small bevel gear to rotate, and the rotation angle of the scissors manipulator 4 is controlled through the meshing transmission of the large and small bevel gears; and then the forward and reverse rotation of the lifting motor 45 of the scissors manipulator drives the screw rod 42 to realize forward and reverse rotation in the slide cylinder , the lift of the slider is controlled by the screw rod 42, and then the scissor structure 46 is driven to realize the function of rising and falling.

As shown in Figure 6, the crawler crawler device 1 includes a base chassis 18, a synchronous pulley group 11 symmetrically arranged on both sides of the base chassis 18, two synchronous crawler belts 12 respectively arranged on the synchronous pulley groups 11 on both sides, The two motion control motors 13 that are arranged in the base chassis 18 and are respectively connected to the synchronous pulley sets 11 on both sides one by one, and the diesel generator sets that are respectively connected to the two motion control motors 13 in the base chassis 18 17. Two motion control motors 13 are symmetrically arranged in the base chassis 18 and connected to the corresponding synchronous pulley group 11 through the coupling, the small bevel gear 15 of the crawler crawler device and the large bevel gear 16 of the crawler crawler respectively.

In this embodiment, the diesel generator set 17 is arranged in the middle of the base chassis 18 . The two motion control motors 13 are AC servo motors, and the two motion control motors 13 can be symmetrically arranged on the front end or the rear end of the base chassis 18 . The motion control motor 13 drives the rotation of the large bevel gear 16 of the crawler crawler through the meshing of the small bevel gear 15 of the crawler crawler, and then through the meshing transmission of the synchronous pulley set 11 and the synchronous crawler 12, the base chassis 18 realizes reciprocating motion; One of the motion control motors 13 rotates to realize the reversing function of the base chassis; the front and rear elevation angles of the crawler crawler device 1 are made to form an angle of 60° with the ground, which can better and more stably realize climbing up and down slopes and crossing various complex fields. The function of the ravine.

As shown in Figure 7, lead screw slider elevating device 6 comprises the elevating device base 69 that lower end is connected with crawler crawler device 1, is arranged on elevating device base 69 elevating bracket 63 and elevating device motor 66, through guide rail slide block 62 and The working platform 61 that the upper end of the lifting bracket 63 is connected; one side of the lower end of the lifting bracket 63 is rotatably connected with the lifting device base 69 and the other side of the lower end of the lifting bracket 63 is in contact with the lifting device base 69 by moving the sliding plate 65; the lifting device motor 66 passes through in turn The horizontal screw rod 67 and the horizontal screw slide block 64 are connected with the movable sliding plate 65, and the lifting device hydraulic cylinder 68 connected with the lifting bracket 63 is also arranged on the lifting device base 69.

Lifting bracket 63 is made up of one group of vertical rods that are movably connected in a symmetrical cross and is connected by a cross bar between the vertical rod groups, wherein, the vertical rod group is made up of two vertical rods and the connection point with the cross rod is between the two vertical rods. At the intersection point, one end of the lower end of the vertical rod group is rotatably connected to the lifting device base 69 and the other end is in contact with the lifting device base 69 through the moving slide plate 65. Hydraulic cylinder 68 is connected with cross bar.

In this embodiment, when a fence is provided on the working platform 61, it can be fully enclosed or partially enclosed. The moving disk 65 moves along the guide rails provided on the lifting device base 69 . The lifting device motor 66 is an AC asynchronous motor, and the AC asynchronous motor drives the lead screw slider 64 to realize rotation in both forward and reverse directions. When the lead screw slider 64 slid to the left, the guide rail slider 62 at the lower end of the working platform 61 also moved to the left along the fixed guide rail to realize the rising function of the worktable; when the lead screw slider 64 slid to the right, the working platform 61 The guide rail slide block 62 at the lower end also moves smoothly to the right along the fixed guide rail, and then drives the working platform 61 to realize the function of descending. When the working platform 61 is working at a higher altitude, the lifting support 63 is driven by the lifting device hydraulic cylinder 68 and the lead screw slider 64 to realize lifting, which not only provides enough lifting force, but also ensures the stability of the work.

As shown in Figure 8, the chassis turning device 7 includes a chassis turning motor 71, a rotating disk 72 connected to the chassis turning motor 71, a rocker 73 fixed on the rotating disk 72, and connected to the rotating disk 72 through the rocking lever 73. The rack 74, the spur gear 76 meshed with the rack 74, the rotary chassis 75 arranged on the spur gear 76.

In this embodiment, the chassis turning motor 71 is a servo motor. The rotating disk 72 is driven by the servo motor to rotate, and the rack 74 is driven by the rocker 73 fixed on the rotating disk 72 to realize linear reciprocating motion, and finally the power is transferred to the rotary chassis 75 through the meshing spur gear 76 and the rack 74 Realize its 180° swivel motion.

The work flow of this embodiment: in the process of picking anise, the whole device is run under the star anise tree through the crawler crawler device 1, the screw slider lifting device 6 initially lifts the equipment at the upper end, and the chassis turning device 7 carries out Preliminary positioning of the octagon by rotation, precise positioning of the octagon by the scanning positioning device 5 of the camera and further determination of the height by controlling the lifting arm 2 by sending a signal to the background control system, and then rotating to the set angle through the picking rotation device 3 , to complete the further angular positioning of the octagonal, and then use the scissors manipulator 4 to precisely cut and pick the octagonal, through the positioning of each octagonal can achieve uninterrupted picking, thereby avoiding the danger of picking personnel climbing high, It can improve work efficiency, ensure personnel safety, realize high-altitude picking and have high stability and reliability.

The above are only preferred embodiments of the present invention, and it should be pointed out that for those skilled in the art, some modifications and improvements can be made without departing from the structure of the present invention, and these will not affect the effect and effect of the present invention. Patent utility.

Claims (10)

1. a kind of anistree picking machine, including crawler belt crawling device (1)；It is characterized in that：Also include being arranged at crawler belt crawling device (1) the screw slider lowering or hoisting gear (6) of upper end, be arranged at screw slider lowering or hoisting gear (6) upper end chassis slewing equipment (7), The lifting arm (2) of chassis slewing equipment (7) upper end is arranged at, the harvesting rotating device (3) of lifting arm (2) upper end is arranged at, sets The scissors manipulator (4) for being used to shear is placed on harvesting rotating device (3), and the lifting arm (2) is with plucking rotating device (3) even Contact surface is provided with harvesting support platform (26), the harvesting support platform (26) and is additionally provided with camera Scan orientation device (5)。

2. a kind of anistree picking machine according to claim 1, it is characterised in that：The lifting arm (2) include base (27), The first hydraulic cylinder (21) and one that mechanical arm (25) that one end is flexibly connected with base (27), one end are flexibly connected with base (27) The second hydraulic cylinder (22) being flexibly connected with base (27) is held, wherein, the mechanical arm (25) includes the lower machine of flexible connection Tool arm (251) and upper mechanical arm (252)；The first hydraulic cylinder (21) passes through with the opposite other end that base (27) is flexibly connected One steel cable (23) is connected with the opposite other end being connected with lower mechanical arm (251) of upper mechanical arm (252), the second hydraulic cylinder (22) opposite other end being flexibly connected with base (27) is flexibly connected with lower mechanical arm (251), the lower mechanical arm (251) and The upper end of upper mechanical arm (252) link position is provided with the supporting construction for supporting steel cable (23), the lower mechanical arm (251) The 3rd hydraulic cylinder being flexibly connected with lower mechanical arm (251) and upper mechanical arm (252) is additionally provided between upper mechanical arm (252) (24)。

3. a kind of anistree picking machine according to claim 1, it is characterised in that：The harvesting rotating device (3) includes adopting Pluck basin (31), be arranged at the harvesting rotating device gear wheel (33) of harvesting basin (31) lower end, with plucking rotating device gear wheel (33) the harvesting rotating device little gear (32) of engagement, the harvesting electric rotating machine being connected with harvesting rotating device little gear (32) (34)。

4. a kind of anistree picking machine according to claim 1, it is characterised in that：The scissors manipulator (4) includes leading screw (42) scissor construction (46) for, being arranged at leading screw (42) upper end and being connected with the sliding block of leading screw (42) and leading screw (42) bottom The scissors manipulator lifting motor (45) of connection, it is arranged at leading screw (42) lower end and the scissors being connected with the cunning bucket of leading screw (42) Manipulator gear wheel (43), the scissor machine engaged by a scissors manipulator little gear (44) with scissors manipulator gear wheel (43) Tool hand electric rotating machine (41).

5. a kind of anistree picking machine according to claim 4, it is characterised in that：The scissor construction (46) includes fixing cutter Bar (462), the opening and closing blade (463) fitted and be flexibly connected with fixed blade bearing (462), it is arranged at fixed blade bearing (462) the shearing electric rotating machine (461) of side, with shearing electric rotating machine (461) be connected and pass through fixing blade bearing (462) and The spring shaft (464) of opening and closing blade (463), the torsion bullet for being arranged on spring shaft (464) and being connected with opening and closing blade (463) Spring (465).

6. a kind of anistree picking machine according to claim 1, it is characterised in that：The crawler belt crawling device (1) includes base Seat chassis (18), be symmetricly set in the synchronous pulley group (11) of base plate (18) both sides, be respectively arranged at both sides synchronous pulley Two in group (11) synchronous crawler belts (12), it is arranged in base plate (18) and the synchronous pulley group (11) with both sides respectively Two motion control motors (13) connecting one to one, be arranged in base plate (18) respectively with two motion control motors (13) diesel generator group (17) of connection；Two motion control motors (13) are symmetricly set in base plate (18) And shaft coupling, crawler belt crawling device bevel pinion (15) and crawler belt crawling device bevel gear wheel (16) and phase are passed sequentially through respectively Corresponding synchronous pulley group (11) connection.

7. a kind of anistree picking machine according to claim 1, it is characterised in that：Screw slider lowering or hoisting gear (6) bag Include the lowering or hoisting gear base (69) that lower end is connected with crawler belt crawling device (1), the lifting being arranged on lowering or hoisting gear base (69) Support (63) and lowering or hoisting gear motor (66), the workbench being connected by guide rail slide block (62) with lifting support (63) upper end (61)；Lifting support (63) the lower end side is rotatably connected and lifting support (63) lower end with lowering or hoisting gear base (69) Opposite side is contacted by mobile sliding plate (65) with lowering or hoisting gear base (69)；The lowering or hoisting gear motor (66) passes sequentially through water Flat screw mandrel (67) and horizontal screw lead sliding block (64) are connected with mobile sliding plate (65), are additionally provided with the lowering or hoisting gear base (69) The lowering or hoisting gear hydraulic cylinder (68) being connected with lifting support (63).

8. a kind of anistree picking machine according to claim 7, it is characterised in that：The lifting support (63) is symmetrical by one group Connected between the montant composition and montant group that intersect movable connection by a cross bar, wherein, montant group is made up of two montants And be the crosspoint between two montants with the tie point of cross bar, montant group lower end one end rotatably with lowering or hoisting gear base (69) Connect and the other end is contacted by mobile sliding plate (65) with lowering or hoisting gear base (69), montant group upper end passes through guide rail slide block (62) it is connected with workbench (61), lowering or hoisting gear hydraulic cylinder (68) is connected with cross bar.

9. a kind of anistree picking machine according to claim 1, it is characterised in that：The chassis slewing equipment (7) includes bottom Disk turning motor (71), the rotating circular disk (72) being connected with chassis turning motor (71), it is fixed on shaking on rotating circular disk (72) Bar (73), the rack (74) being connected by rocking bar (73) with rotating circular disk (72), the spur gear (76) engaged with rack (74), set The reversing chassis (75) being placed on spur gear (76).

10. a kind of anistree picking machine according to claim 1, it is characterised in that：Described harvesting support platform (26) lower end Filling band (8) is additionally provided with to be connected with harvesting basin (31) lower end.