CN110612815B

CN110612815B - Orange picking machine

Info

Publication number: CN110612815B
Application number: CN201911051570.2A
Authority: CN
Inventors: 李艳洁; 寇英涛; 汪云燕; 李世明; 张琦
Original assignee: Beijing Forestry University
Current assignee: Beijing Forestry University
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2024-05-24
Anticipated expiration: 2039-10-31
Also published as: CN110612815A

Abstract

The invention discloses a citrus picking machine, and belongs to the field of agricultural mechanical equipment. The invention comprises a car body, a lifting table arranged on the car body, a telescopic rod and a driving motor, wherein the telescopic rod is arranged on the lifting table, and the invention also comprises a clamping baffle, a rotary shearing knife and a housing. The cover shell can prevent the winding and the obstruction between the disordered branches and the shearing knife in the upper body process and can better reach the high place. Meanwhile, the fruit peduncles can be effectively fixed, and the fruit peduncles can be conveniently sheared and picked.

Description

Orange picking machine

Technical Field

The invention relates to a picking tool in agricultural appliances, in particular to a citrus picking machine.

Background

In the process of picking fruits such as citrus, oranges and apples, fruits at higher positions are often encountered, and in order to facilitate picking, a plurality of picking tools are appeared in the market. In the practical application process, as the head of the picking tool is provided with the scissors and is huge, the head of the picking tool can encounter the blockage of disordered branches in the ascending process, and even causes the winding of the scissors and the branches, thereby blocking the ascending efficiency of the picking tool. Meanwhile, in the picking process, a clamping device is arranged to ensure the stability of fruits in the shearing process so as to achieve a better shearing effect. The clamping mechanism is required to be provided with a brake cable and a hand brake, so that the operation is complicated. It is therefore an urgent requirement to design a picking machine that facilitates picking fruits at high altitudes.

Disclosure of Invention

The invention aims to solve the technical problems that: provides a citrus picking machine which is convenient to extend to a high place and is used for picking rapidly.

The technical scheme for solving the technical problems is as follows: the utility model provides a citrus picking machine, includes the automobile body, locates elevating platform, telescopic link, the driving motor on the automobile body, the telescopic link sets up on the elevating platform, its characterized in that: the utility model also comprises a clamping baffle, a rotary shearing knife and a housing. The housing is a U-shaped sweeping body and comprises a spherical surface part positioned at the upper part and sector parts positioned at two sides; the clamping baffle and the rotary shearing knife are arranged in the housing and are fixedly connected with two sides of the upper end of the telescopic rod respectively; the lower side of the clamping baffle is provided with a clamping rotating shaft, the end part of the clamping rotating shaft is connected with the lower end of the sector part, the clamping rotating shaft is sleeved with a torsion spring, the two ends of the torsion spring are respectively connected with the clamping baffle and the sector part, and the torsion spring is used for keeping the housing at one side of the clamping baffle; the rotary shearing knife comprises a fixed seat, a blade shaft, a blade, a locking rod and a barbed piece. The fixed seat is fixedly connected with the telescopic rod, a mounting hole which is parallel to the axial direction of the telescopic rod is formed in the fixed seat and used for mounting a blade shaft, the blade is mounted on the blade shaft and positioned at the upper part of the clamping baffle, the locking rods are symmetrically arranged at two sides of the blade shaft, the barbed blade is positioned at the lower part of the blade and fixedly connected with the upper end of the fixed seat, and the barbed blade and the blade form a shearing mechanism; the middle part of the spherical surface part is provided with a sliding groove along the rotating direction of the housing, the position of the spherical surface part corresponding to the locking rods is provided with a limiting groove, the central line of the limiting groove coincides with the sliding groove, and the two locking rods are positioned at two sides of the sliding groove; the blade shaft is connected with a rotating shaft of the driving motor, and a net bag is arranged on the left side of the housing.

Preferably, the locking rod is provided with one, and the blade shaft is arranged in the mounting hole of the fixing seat through a one-way bearing.

Preferably, the lower end of the blade shaft is provided with a locking indication through hole or a poking rod, and the length direction of the through hole or the poking rod is perpendicular to the connecting line of the two locking rods and coincides with the slipping groove up and down so as to indicate the position of the locking rod.

Preferably, a hose is arranged at the lower part of the net bag, a fruit basket is arranged on the lifting table, and the end part of the hose is positioned in the fruit basket.

More preferably, the side edges of the barbed sheets are serrated; or, the side surface of the barbed sheet is provided with uniformly distributed spines or thin cut sheets.

More preferably, the spike or thin cut is curved downwardly.

Preferably, the edge parts of the clamping baffle plate and the cover shell are provided with limiting devices for limiting the opening angle between the cover shell and the clamping baffle plate.

Better, the thorn piece is perpendicular with the centre gripping pivot, the fixing base is equipped with the locating plate, be equipped with down the permanent magnet on the locating plate, the locating plate is perpendicular with the thorn piece, the upper end of blade axle is equipped with the location strip parallel with the thorn piece, location strip lower part is equipped with the upper permanent magnet that coincides from top to bottom with lower permanent magnet position, upper and lower permanent magnet opposite face polarity is different in order to guarantee that blade and thorn piece are in the cross position through the appeal of both.

Better, the edge of elevating platform is equipped with adjusts the fixing base, it locates the edge of elevating platform to adjust the fixing base, it is used for pegging graft the telescopic link to adjust the fixing base to be equipped with the regulation hole, it is equipped with the locking screw that communicates with the regulation hole to adjust the fixing base, and the inside butterfly bolt that is equipped with of locking screw is used for locking the telescopic link.

The use method of the citrus picking machine comprises the following steps:

Step 1, rotating a blade shaft to enable a connecting line of two locking rods to be parallel to a slipping groove, pushing a housing to the middle part until the middle part of a spherical part is located at the highest position, enabling the locking rods to enter the inside of a limiting groove through the slipping groove, and then rotating the blade shaft to enable the connecting line of the two locking rods to be perpendicular to the slipping groove, and locking the housing;

Step 2, adjusting the length of the telescopic rod, and extending the telescopic rod into the position of a fruit at the high position of the fruit tree;

Step3, starting the driving motor in a click mode, and when the connecting line of the two locking rods is parallel to the slipping groove, the locking rods slip into the slipping groove, and the housing deviates to one side under the acting force of the torsion spring and opens an angle with the clamping baffle plate;

Step 4, due to the mutual adsorption acting force of the upper permanent magnet and the lower permanent magnet, the blades and the hooking sheets are in a crossed state, the positions of the telescopic rods are adjusted, the stem parts of the fruits are positioned in the included angles between the blades and the hooking sheets, the fruits are attached to the clamping baffle plates, and then the stem parts of the fruits are hooked by the hooking sheets to fix the fruits;

and 5, starting a driving motor, cutting off the stem part of the fruit by rotating the blade, and retracting the telescopic rod after picking.

The beneficial effects of the invention are as follows:

1. the cover is arranged, so that the shearing device at the end part of the telescopic rod can be conveniently extended to a high place, and fruits at the high place can be conveniently picked;

2. The thorn piece is provided with the sharp thorn or the thin slice, so that the stem part of the fruit can be conveniently fixed and sheared;

3. The semi-automatic control mode is adopted for picking, so that the physical strength is saved.

Drawings

Figure 1 is a schematic diagram of one embodiment of the present invention,

Figure 2 is a schematic view of a barbed sheet according to one embodiment of the present invention,

Figure 3 is a bottom view of the housing of one embodiment of the present invention,

Figure 4 is a cut-away view of an end of one embodiment of the invention,

Figure 5 is a schematic view of a rotary shearing blade according to an embodiment of the present invention,

Fig. 6 is a schematic diagram of an embodiment of the present invention in operation.

In the figure:

321. Locking the indication through hole; 440. a limiting device; 140. adjusting the fixing seat; 370. a positioning strip; 371. an upper permanent magnet; 361. a lower permanent magnet; 360. a positioning plate; 350. hooking and puncturing sheets; 412. a limit groove; 411. a slipping groove; 340. a locking lever; 330. a blade; 320. a blade shaft; 310. a fixing seat; 210. clamping the rotating shaft; 420. a sector portion; 410. a spherical surface portion; 400. a housing; 300. a rotary shearing knife; 200. clamping the baffle; 130. a driving motor; 120. a telescopic rod; 110. a lifting table; 100. a vehicle body;

Detailed Description

In order to make the technical scheme and beneficial effects of the present invention clearer, the following further explain the embodiments of the present invention in detail.

As shown in fig. 1, the invention is a citrus picker, comprising a body 100, a lifting table 110 arranged on the body 100, a telescopic rod 120 and a driving motor 130, wherein the telescopic rod 120 is arranged on the lifting table 110, the driving motor 130 is arranged on the lifting table 110, and the citrus picker further comprises a clamping baffle 200, a rotary shearing blade 300 and a housing 400. In order to facilitate the carrying of the fruit and the movement of the invention, a vehicle body is provided. To facilitate the height adjustment, a lifting table 110 is provided, and a container for holding fruits is placed on the upper part of the lifting table if a basket is placed. So as to prevent the fruits from being damaged due to too great drop when the fruits at high positions fall.

In order to facilitate the carrying and installation of the telescopic rod 120, an adjusting fixing seat 140 is provided at the edge of the lifting platform 110. The adjusting fixing base 140 is disposed at the edge of the lifting platform 110. As shown in fig. 1, the adjusting fixing base 140 includes two parts that can rotate relatively, one part is fixedly connected or slidingly connected with the lifting platform, and the other part is provided with an adjusting hole for inserting the telescopic rod 120. The fixed connection is that the position of the adjusting fixing seat 140 cannot be changed, and when the sliding connection is set, the adjusting fixing seat 140 can slide at the edge, so that the position can be adjusted. Meanwhile, the two parts of the adjusting fixing seat 14 can be connected with each other by balls, so that the telescopic rod can be conveniently adjusted to all directions, and the action range of the telescopic rod is wider.

In order to fix the telescopic rod 120, the adjusting fixing seat 140 is provided with a locking screw hole communicated with the adjusting hole, and a butterfly bolt is arranged in the locking screw hole to lock the telescopic rod 120. In the use process, the lower part of the telescopic rod of the butterfly bolt can slide in the adjusting hole when being loosened, and the proper position can be found for locking. Because the telescopic link does not have with adjusting fixing base fixed connection, the telescopic link still can break away from adjusting fixing base, makes it use more convenient. Since the cutting of the fruit stalks is performed in the form of a rotary blade, a driving motor is provided. The driving motor can be arranged on the lifting table and is connected with the blade shaft through the flexible shaft to drive the blade to rotate. The flexible shaft has various forms, and the invention adopts a plastic flexible shaft to lighten the mass. Or the driving motor is arranged at the end part of the telescopic rod and is positioned at the lower part of the blade shaft. The rotating shaft of the driving motor is fixedly connected with the blade shaft or connected with the blade shaft 320 through a decelerator. Correspondingly, in order to realize the power supply of the driving motor, the driving motor can adopt a direct current motor, a storage battery is arranged on the lifting platform or the vehicle body, and then a switch is arranged to control the operation of the driving motor.

In order to achieve the diversion of the cluttered branches to enable the lifting rod to quickly rise to the high place, a housing 400 is provided. The housing 400 is a U-shaped swept volume, the housing 400 comprising a spherical portion 410 at the upper part and sector portions 420 at both sides. Because the spherical portion 410 of the housing is streamlined, and in particular, the periphery of the middle protrusion is circularly slid down, the winding of disordered branches is not caused, the branches are divided into the periphery in the rising process, and the resistance is reduced.

The clamping baffle 200 and the rotary shearing blade 300 are disposed inside the housing 400, i.e., at the lower portion of the housing 400. Therefore, due to the protection of the cover, the clamping baffle 200 and the rotary shearing knife are not wound around the disordered tree branches. The clamping baffle 200 and the rotary shearing blade 300 are fixedly connected with two sides of the upper end of the telescopic rod 120 respectively.

The clamping baffle 200 is provided with a clamping rotating shaft 210 below, and the end part of the clamping rotating shaft 210 is connected with the lower end of the sector part 420. The clamping baffle 200 and the housing 400 form a hinge structure. In order to open one side of the housing at an angle to the clamping flap 200 after unlocking the housing, a torsion spring is sleeved on the clamping shaft 210. Both ends of the torsion spring are connected with the clamping baffle 200 and the sector part 420, respectively. Preferably, the side surface of the clamping baffle is fixedly connected with one end of the torsion spring, and the fan surface edge of the fan surface part on the same side is fixedly connected with the other end of the torsion spring. Under the action of the torsion spring, the included angle between the clamping baffle 200 and one side of the housing can be ensured to be in a stable state, and the housing can be restored to an open position after the locking rod is unlocked to the housing.

Preferably, in order to secure an opening angle between the cover case 400 and the clamping barrier 200, the clamping barrier 200 and the cover case 400 are provided at an edge portion thereof with a stopper 440. As shown in fig. 6, the limiting device 440 is a soft rope, the side surface of the clamping baffle is fixedly connected with one end of the soft rope, and the fan surface edge of the fan surface part on the same side is fixedly connected with the other end of the soft rope. The cord is used to define the opening angle between the cover 400 and the clamping flap 200, preventing the opening angle from being too large, resulting in the cover being folded over.

The rotary shearing blade 300 is used for shearing the stem of fruits, and comprises a fixed seat 310, a blade shaft 320, a blade 330, a locking rod 340 and a hooking blade 350.

As shown in fig. 5, the fixing base is a column, the length direction of the fixing base is parallel to the length direction of the telescopic rod, and the fixing base 310 is fixedly connected with the telescopic rod 120. The fixing base 310 is provided with a mounting hole axially parallel to the telescopic rod 120. The mounting hole is internally provided with or ends with a bearing, the inner ring of which is used for mounting the blade shaft 320. The blade 330 is mounted on the blade shaft 320 and the blade 330 is located at an upper portion of the clamping baffle 200. The hooking sheet 350 is located at the lower part of the blade and fixedly connected with the upper end of the fixing seat 310, and the hooking sheet 350 and the blade 330 form a shearing mechanism. As shown in fig. 5, the hooking pieces are sheet-shaped, and may be provided on one side facing the cover or on both sides.

Preferably, the sides of the barbed tabs 350 are serrated for better fruit stabilization. Or the sides of the hooking tab 350 are provided with uniformly distributed spikes or thin slices. The fixation is realized by the serrated edge or the spike piercing into the stem part of the fruit, and then the fruit is transferred to a blade for shearing. Further, the spike or thin cut piece is bent downward for better fruit protection while increasing the penetration effect.

Under normal conditions, the cover is reversed to one side of the clamping baffle, and one side of the cover, which is close to the clamping baffle, forms an included angle with the clamping baffle 200 for placing fruits. However, during ascent the cover needs to be on top to achieve backflow and reduce drag. Due to the torsion spring, a locking device is required to lock the cover on the upper part of the top end of the telescopic rod. A locking lever is provided at the upper part of the blade shaft based on this. The number of the locking rods can be one or two.

When two locking bars 340 are provided, the two locking bars 340 are symmetrically provided at both sides of the blade shaft 320. When the locking lever is provided with one, the locking lever 340 is provided at one side of the blade shaft end. Meanwhile, the blade shaft 320 is mounted inside the mounting hole of the fixing base 310 through a one-way bearing to prevent the rotation of the locking lever under the force of the torsion spring.

Accordingly, as shown in fig. 3 and 4, the middle part of the spherical surface part 410 is provided with a slip slot 411 along the rotation direction of the housing. The ball surface portion 410 is provided with a limit groove 412 corresponding to the position of the locking lever 340. The center line of the limit groove 412 coincides with the slip slot 411 and the two locking bars 340 are located at both sides of the slip slot 411. The limit groove 412 is rectangular and has one side perpendicular to the connecting line of the two locking bars. Meanwhile, the area of the limiting groove is larger than the area of a circle formed by rotating a periphery of the locking rod. As shown in fig. 3, when the connection line of the two locking bars is perpendicular to the slip slot 411, the locking state is maintained. When the blade shaft is turned, one of the lock levers pushes the housing, and the lock lever moves to a position of the slip groove. After the locking lever 340 moves to the position of the sliding slot 411, the locking slides inside the sliding slot 411 until sliding out of the sliding slot, thereby releasing the locking of the cover.

Preferably, in order to indicate whether the locking lever is in the unlocking position, a locking indication through hole 321 or a lever is provided at the lower end of the blade shaft 320. Preferably, a locking indication through hole is formed, and a radial through hole is formed at the lower end of the blade shaft to serve as the locking indication hole. The direction of the axis of the locking indicating hole is perpendicular to or parallel to the direction of the connecting line of the two locking rods. Or the axial lead direction of the locking indicating hole is perpendicular to or parallel to the direction of the connecting line of the axial lead of the locking rod and the blade shaft. The specific position of the locking bar may be adjusted by inserting a thin bar or by pulling a finger. If a deflector rod is provided, the deflector rod needs to be positioned at the lower part of the clamping baffle plate so as to prevent interference. When the length direction of the locking indication hole or the dial rod is perpendicular to the connection line of the two locking rods 340, it coincides with the slip slot 411 up and down. And thus can lock only the position of the lever. So as to facilitate locking or unlocking.

Preferably, the locking bars have a cross-sectional shape of a waist shape, and the middle portion thereof is straight, so that after one of the locking bars is inserted, the other locking bar can be accurately inserted into the sliding slot 411.

To better protect the fruit, a net or cloth bag is provided on the left side of the cover 400. Meanwhile, in order to better clamp fruits, the net bags are arranged in the cover shell, two sides of each net bag are fixedly connected with one side, away from the clamping baffle, of the center line of the inner side of the sector part, the cover shell cannot be blocked from being locked at the top, and clamping of the fruits can be achieved.

Preferably, the lower part of the net bag or the cloth bag is provided with a hose. Or the hose is directly connected with one side surface of the housing. The lifting table 110 is provided with a fruit basket. The end of the hose is positioned inside the fruit basket. At this time, the picked fruits are directly introduced into the basket through the hose.

Preferably, in order to maintain the hooking tab 350 in an open crossing state with the blade 330, so as to facilitate the shearing of the fruit stalks, the hooking tab 350 is perpendicular to the clamping shaft 210. The fixing base 310 is provided with a positioning plate 360, and the positioning plate 360 is perpendicular to the hooking sheet 350. The positioning plate 360 is provided with a lower permanent magnet 361. The upper end of the blade shaft 320 is provided with a positioning strip 370 parallel to the barbed blade 350, the lower part of the positioning strip 370 is provided with an upper permanent magnet 371 which is overlapped with the lower permanent magnet 361 up and down, the polarities of the opposite surfaces of the upper permanent magnet 371 and the lower permanent magnet 361 are different, and the upper permanent magnet 371 and the lower permanent magnet 361 are in an adsorption state, so that the blade 330 and the barbed blade 350 can be ensured to be in a crossed position.

Preferably, in order to facilitate the descent of the picking machine, one side of the housing is sealed by soft cloth or plastic sheets, or is connected with a hose. At this time, in the descending process, the resistance of the branches in the descending process is reduced due to the sealing effect of the soft cloth, the plastic sheet or the hose.

The application method of the invention comprises the following steps:

Step 1, rotating the blade shaft to enable the connecting line of the two locking rods 340 to be parallel to the sliding slot 411, pushing the housing 400 to the middle until the middle of the spherical surface part is located at the highest position, enabling the locking rods 340 to enter the inside of the limit groove 412 through the sliding slot 411, and then rotating the blade shaft to enable the connecting line of the two locking rods 340 to be perpendicular to the sliding slot 411, and locking the housing 400;

step 2, adjusting the length of the telescopic rod 120, and extending the telescopic rod 120 into the position of the fruit at the high position of the fruit tree;

Step 3, starting the driving motor 130 in a click mode, when the connecting line of the two locking rods 340 is parallel to the sliding slot 411, the locking rods 340 slide into the sliding slot 411, and under the action force of the torsion spring, the cover shell 400 is biased to one side and opens an angle with the clamping baffle 200;

Step 4, due to the mutual adsorption force of the upper permanent magnet and the lower permanent magnet, the blade 330 and the hooking blade 350 are in a crossed state, the position of the telescopic rod 120 is adjusted to enable the fruits to be attached to the clamping baffle 200, the stem parts of the fruits are positioned in the included angle between the blade 330 and the hooking blade 350, and the stem parts of the fruits are hooked by the hooking blade 350 to fix the fruits;

And 5, starting the driving motor 130, rotating the blade 330 to cut off the stem part of the fruit, and retracting the telescopic rod after picking.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and the related workers can make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but includes all equivalent changes and modifications in shape, construction, characteristics and spirit according to the scope of the claims.

Claims

1. The utility model provides a citrus picking machine, includes automobile body (100), locates elevating platform (110), telescopic link (120), driving motor (130) on automobile body (100), telescopic link (120) set up on elevating platform (110), its characterized in that:

The device also comprises a clamping baffle (200), a rotary shearing knife (300) and a housing (400);

The housing (400) is a U-shaped sweeping body, and the housing (400) comprises a spherical surface part (410) positioned at the upper part and sector parts (420) positioned at two sides;

The clamping baffle plate (200) and the rotary shearing knife (300) are arranged in the housing (400) and are fixedly connected with two sides of the upper end of the telescopic rod (120) respectively;

The lower side of the clamping baffle plate (200) is provided with a clamping rotating shaft (210), the end part of the clamping rotating shaft (210) is connected with the lower end of the sector part (420), the clamping rotating shaft (210) is sleeved with a torsion spring, two ends of the torsion spring are respectively connected with the clamping baffle plate (200) and the sector part (420), and the torsion spring is used for keeping the housing (400) at one side of the clamping baffle plate (200);

the rotary shearing blade (300) comprises a fixed seat (310), a blade shaft (320), a blade (330), a locking rod (340) and a barbed blade (350),

The fixed seat (310) is fixedly connected with the telescopic rod (120), the fixed seat (310) is provided with a mounting hole axially parallel to the telescopic rod (120) for mounting the blade shaft (320), the blade (330) is mounted on the blade shaft (320) and positioned at the upper part of the clamping baffle plate (200), the locking rods (340) are symmetrically arranged at two sides of the blade shaft (320), the barbed blade (350) is positioned at the lower part of the blade (330) and fixedly connected with the upper end of the fixed seat (310), and the barbed blade (350) and the blade (330) form a shearing mechanism;

The middle part of the spherical surface part (410) is provided with a sliding groove (411) along the rotating direction of the housing (400), the position of the spherical surface part (410) corresponding to the locking rod (340) is provided with a limiting groove (412), the central line of the limiting groove (412) coincides with the sliding groove (411), and the two locking rods (340) are positioned at two sides of the sliding groove (411);

the blade shaft (320) is connected with a rotating shaft of the driving motor (130), and a net bag is arranged on the left side of the housing (400);

The locking rod (340) is provided with one, and the blade shaft (320) is arranged in the mounting hole of the fixing seat (310) through a one-way bearing;

The lower end of the blade shaft (320) is provided with a locking indication through hole (321) or a shifting rod, and the length direction of the locking indication through hole (321) or the shifting rod is perpendicular to the connecting line of the two locking rods (340) and coincides with the sliding groove (411) up and down so as to indicate the position of the locking rods (340);

the lower part of the net bag is provided with a hose, the lifting table (110) is provided with a fruit basket, and the end part of the hose is positioned in the fruit basket;

The utility model discloses a knife blade, including fixed seat (371), fixed seat (310), hook thorn piece (350), fixed seat (310) are equipped with locating plate (360), be equipped with down permanent magnet (361) on locating plate (360), locating plate (360) are perpendicular with hook thorn piece (350), the upper end of blade axle (320) is equipped with location strip (370) parallel with hook thorn piece (350), location strip (370) lower part is equipped with upper permanent magnet (371) that coincide from top to bottom with lower permanent magnet (361) position, upper and lower permanent magnet (371, 361) opposite face polarity are different for guarantee blade (330) and hook thorn piece (350) are in the cross position through the appeal of both.

2. A citrus picker as in claim 1, wherein:

The side edge of the hooking sheet (350) is serrated;

Or alternatively, the first and second heat exchangers may be,

The sides of the barbed sheets (350) are provided with evenly distributed spikes or thin cut sheets.

3. A citrus picker as in claim 2, wherein:

The spike or thin slice is bent downward.

4. A citrus picker as in claim 3, wherein:

and a limiting device (440) is arranged at the edge parts of the clamping baffle plate (200) and the housing (400) and used for limiting the opening angle between the housing (400) and the clamping baffle plate (200).

5. A citrus picker as in claim 1, wherein:

The edge of elevating platform (110) is equipped with adjusts fixing base (140), the edge of elevating platform (110) is located to adjusting fixing base (140), adjusting fixing base (140) are equipped with the regulation hole and are used for pegging graft telescopic link (120), adjusting fixing base (140) are equipped with the locking screw that communicates with the regulation hole, and the inside butterfly bolt that is equipped with of locking screw is used for locking telescopic link (120).

6. A method for picking up citrus, which is characterized in that:

use of a citrus picker as in any one of claims 1-5, comprising the steps of:

Step 1, rotating a blade shaft to enable a connecting line of two locking rods (340) to be parallel to a slipping groove (411), pushing a housing (400) to the middle part until the middle part of a spherical part is located at the highest position, enabling the locking rods (340) to enter the limiting groove (412) through the slipping groove (411), and then rotating the blade shaft to enable the connecting line of the two locking rods (340) to be perpendicular to the slipping groove (411), and locking the housing (400);

step 2, adjusting the length of the telescopic rod (120), and extending the telescopic rod (120) into the position of a fruit at the high position of the fruit tree;

Step 3, starting the driving motor (130) in a click mode, and when the connecting line of the two locking rods (340) is parallel to the sliding groove (411), the locking rods (340) slide into the sliding groove (411), and the housing (400) deflects to one side under the acting force of the torsion spring and opens an angle with the clamping baffle plate (200);

Step 4, due to the mutual adsorption acting force of the upper permanent magnet and the lower permanent magnet, the blade (330) and the hooking sheet (350) are in a crossed state, the position of the telescopic rod (120) is adjusted, the stem part of the fruit is positioned in the included angle between the blade (330) and the hooking sheet (350), the fruit is attached to the clamping baffle (200), and then the stem part of the fruit is hooked by the hooking sheet (350) to fix the fruit;

And 5, starting a driving motor (130), cutting off the stem part of the fruit by rotating a blade (330), and retracting the telescopic rod (120) after picking.