CN112042384A

CN112042384A - Oranges and tangerines fruit picking machine

Info

Publication number: CN112042384A
Application number: CN202010917932.8A
Authority: CN
Inventors: 翁水珍; 朱一成; 张炳连; 陈建国
Original assignee: Agricultural And Rural Bureau Of Kecheng District Quzhou City
Current assignee: Agricultural And Rural Bureau Of Kecheng District Quzhou City
Priority date: 2020-09-03
Filing date: 2020-09-03
Publication date: 2020-12-08

Abstract

The invention discloses an orange picker, which comprises a collecting box, a traveling mechanism, a buffer mechanism, an auxiliary support mechanism and a picking mechanism, wherein the traveling mechanism comprises a flat car, a gravity sensor, a seat, an installation frame, a protection plate, a sun shield and a reflector, and one side of the top of the flat car is connected with the seat through a screw. The seat of the travelling mechanism can be arranged so that the head of the seat can be placed above the headrest, and the function of reducing the fatigue of the neck of the seat is realized; the arrangement of the mounting rack, the protective plate, the sun shield and the reflector in the travelling mechanism prevents branches from impacting the head of an operator when the vehicle is reversed; the buffering mechanism can eliminate the falling potential energy of the oranges, so that the oranges are prevented from being damaged; the auxiliary supporting mechanism can be used for carrying out auxiliary supporting on the picking mechanism, the labor intensity of workers is reduced, the shearing part is located on the inner side due to the arrangement of the picking device in the picking mechanism, the citrus is prevented from being in contact with the citrus, and the citrus damage is prevented.

Description

Oranges and tangerines fruit picking machine

Technical Field

The invention relates to the technical field of orange picking equipment, in particular to an orange picker.

Background

Fruits generally grow on higher fruit trees, and the fruits are usually picked by climbing trees when being harvested, so that the fruit picking machine is very troublesome and unsafe, and picking personnel are easy to fall off from the fruit trees after getting on the trees, thereby causing serious damage to bodies. In order to improve picking efficiency and improve the working safety of picking personnel, the research and development and production of fruit picking robots are urgent.

Chinese patent publication No. CN1095925A discloses a self-propelled automatic fruit picking machine, which comprises a machine seat board, and a driver seat is fixed above the machine seat board. Has the advantages that: the self-propelled automatic fruit picking machine is provided with the engine, the traveling wheel set and other mechanisms to form a locomotive system, so that the fruit picking machine can automatically travel; the rotary lifting device arranged on the fruit picking machine drives the rotary platform to rotate through the work of the rotary motor, so that the rotary function of the fruit picking machine is realized, and the lifting function of the automatic grabbing mechanism can be realized through the hydraulic pump, the inner and outer telescopic rods, the outer telescopic rod and the connecting shaft of the fixed base; the automatic grabbing mechanism of the fruit picking machine is used for referencing the brake principle of a bicycle, and the opening and closing of the fruit picking clamping jaw are controlled by adjusting the movable rod, so that the purpose of automatically picking up, picking and picking fruits is achieved. However, this device has the following disadvantages: 1. there is not protector behind the driver's seat, and does not have the back vision device yet, then in picking work again, the branch of fruit tree hits operating personnel's head easily.

In addition, the existing high branch fruit shears and three-jaw picking machines are easy to damage the fruit skins because the scissor parts are exposed outside; the fruit branch can be damaged to the plucker of string bag tensile formula, seriously influences the output of fruit the next year, and the fruit falls and causes the collision between the fruit in the string bag, causes the fruit damage.

All the above-mentioned picking devices need the operation of operator's head up, can cause neck fatigue for a long time, even impaired.

Disclosure of Invention

The invention aims to solve the problems and provide a citrus picker.

The invention realizes the purpose through the following technical scheme:

a citrus picker comprises a collecting box, and further comprises a travelling mechanism, a buffer mechanism, an auxiliary support mechanism and a picking mechanism, wherein the travelling mechanism comprises a flat car, a gravity sensor, a seat, an installation frame, a protection plate, a sun shield and a reflector, one side of the top of the flat car is connected with the seat through screws, an inclined headrest is arranged at the top of the back of the seat, the installation frame is connected to the outer side of the seat through screws, the protection plate is connected to one side of the installation frame and located above the headrest through screws, the sun shield is connected to the top of the installation frame through screws, and the reflector is connected to the other side of the sun shield through a rotating joint; the damping mechanism comprises a fixed platform, a rotating seat, a supporting plate, a foam layer, a first rubber pad and a rubber tube, the fixed platform is connected to the other side of the top of the flat car through a bolt, the auxiliary supporting mechanism is fixedly connected to one side, close to the seat, of the top of the fixed platform, an inclined plane is arranged at the top of the fixed platform, the rubber tube is connected to the center of the top of the inclined plane through a bolt, one end of the rubber tube is connected with the picking mechanism through a telescopic tube, the bottom of the inclined plane is connected with the rotating seat through a bolt, the supporting plate is connected to the rotating seat through a pin shaft, the supporting plate is of an L-shaped structure, and the foam layer and the first rubber pad are sequentially bonded to the inner side of the supporting plate, the auxiliary supporting mechanism comprises a fixed plate, a vertical plate, a traction rope and a fixed ring, the fixed plate is connected to the fixed platform through a bolt, one end of the fixed plate, which is close to the seat, is connected with the fixed ring through a rotating joint, the vertical plate is welded at both ends of the top of one side of the fixed plate, which is far away from the seat, and the traction rope is fixedly connected between the vertical plates at the top part, the central position of the traction rope is connected with the picking mechanism through a hook, the fixed ring can support one end of a telescopic rod, and then the other end of the telescopic rod is pulled through the traction rope, so that the function of supporting the picking mechanism in an auxiliary manner is realized, the labor intensity is reduced, the picking mechanism comprises a telescopic rod, a control handle, a connecting ring and a picking device, the telescopic rod is fixedly connected to the inner side of the fixed ring, the outer side of the telescopic rod is connected with the connecting ring through a screw, the connecting ring is connected below the traction rope in a hanging manner, the lower end of the telescopic rod is connected with the control handle with a power supply through a bolt, the picking device is fixedly connected above the telescopic rod and comprises a lantern ring, a first shearing knife and a second shearing knife, the lantern ring is connected to one side of the top of the telescopic rod through a bolt, and a, the lantern ring is inboard to be seted up flutedly, and this recess internal rotation is connected with first shearing sword with the sword is sheared to the second, first shearing sword with the shearing portion that the sword was sheared to the second is located the recess inboard, and is driven by micro motor or miniature electronic jar, lantern ring below through stretch-draw pipe with the rubber tube upper end is connected, the collecting box is placed fixed station front and back portion, and is located the buffer gear below sets up like this and can cut the sword through micro motor or miniature electronic jar drive first shearing sword and second and rotate for cut the sword under the sword combined action at first shearing sword and second, realized the function of picking, because first shearing sword and second are sheared the sword and all are located the recess inboard, prevented with the oranges and tangerines contact, and then prevent the oranges and tangerines damage.

Preferably, the platform truck top is embedded with the gravity inductor, just the gravity inductor is located the seat with between the fixed station, set up like this and can realize the removal of whole device through gravity-feed tank.

Preferably, the lens of the reflector is a convex lens, so that the observation visual angle is increased.

Preferably, buffer gear is including fixing fixed axle, the rotation plate of rotation connection in this fixed axle outside in fixed station place ahead and rear bond at the rubber pad two at rotation plate top, articulate the extension spring of rotation plate one end and fixed the dead lever of the extension spring other end, the rubber pad is two is located the rotation plate is kept away from the one end top of extension spring sets up like this and makes oranges and tangerines fall on rubber pad two, because the buffering of rubber pad two, reduces the potential energy of oranges and tangerines to under the effect of oranges and tangerines, the rotation plate rotates, and then makes the rotation plate send oranges and tangerines to the collecting box bottom, prevents oranges and tangerines and collecting box collision, then makes the rotation plate reset through.

Preferably, the baffle plate perpendicular to the inclined plane is welded on the inclined plane of the fixed table, so that the rolling direction of the citrus on the fixed table can be controlled.

Preferably, the cutting slope of the fixed table is provided with a guide groove for limiting the rolling direction of the oranges, so that the rolling direction of the oranges on the fixed table can be controlled.

Preferably, the included angle between the opening direction of the lantern ring and the axial direction of the telescopic rod is 40-50 degrees, so that the lantern ring is conveniently sleeved on the outer side of the citrus.

Preferably, the protection plate is a grid plate, a mesh plate or a grid plate, so that ventilation is guaranteed as far as possible on the premise of protection, and heatstroke of operators is prevented.

Preferably, the width of the road wheels below the flat car is 100-150mm, and the arrangement ensures that the whole device normally runs on the ground.

Preferably, the cushions are fixed to the upper portion of the seat and the headrest on the seat through hook-and-loop fasteners, and the comfort level of an operator is improved due to the arrangement.

Has the advantages that:

1. the device can place the head above the headrest, thereby realizing the function of reducing the fatigue of the neck;

2. the device can prevent the branches from impacting the head of an operator when backing a car through the arrangement of the mounting frame and the protection plate, and can observe the walking road condition through the reflector;

3. the device can enable the oranges to be firstly buffered by the foam layer and the rubber pad I, so that the falling potential energy of the oranges is reduced, then the oranges are buffered by the buffer assembly and finally fall into the collecting boxes for collection, when one collecting box is fully loaded, the supporting plate is rotated, so that the supporting plate rotates around the rotating seat, the rotating seat is further inclined towards the other collecting box, and the function of picking is not influenced when the collecting boxes are replaced;

4. the device can support the fixing ring through the fixing plate, the fixing ring supports one end of the telescopic rod, and then the other end of the telescopic rod is pulled through the traction rope, so that the function of supporting the picking mechanism in an auxiliary manner is realized, and the labor intensity is reduced;

5. this device can cut the sword rotation through the first sword of cuting of micro motor or miniature electronic jar drive and second for cut sword combined action under first sword and the second of cuting, realized the function of picking, because first sword of cuting is sheared with the second and the sword all is located the recess inboard, prevented with the oranges and tangerines contact, and then prevent the oranges and tangerines damage.

Additional features of the invention and advantages thereof will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of a citrus picker according to the present invention;

FIG. 2 is a top plan view of a citrus picker according to the present invention;

FIG. 3 is a left side view of a citrus picker according to the present invention;

FIG. 4 is a schematic structural view of an auxiliary support mechanism of a citrus picker according to the present invention;

FIG. 5 is a schematic view of a picking mechanism of a citrus picker according to the present invention;

FIG. 6 is a sectional view A-A of a picker mechanism of a citrus picker according to the present invention;

FIG. 7 is a schematic view of a first embodiment of a buffer mechanism of a citrus picker according to the invention;

fig. 8 is a schematic structural view of a second embodiment of a buffer mechanism of a citrus picker according to the invention.

The reference numerals are explained below:

1. a traveling mechanism; 2. a buffer mechanism; 3. an auxiliary support mechanism; 4. a picking mechanism; 5. a collection box; 101. flatbed vehicle; 102. a gravity sensor; 103. a seat; 104. a mounting frame; 105. a protection plate; 106. a sun visor; 107. a reflective mirror; 201. a fixed table; 202. a rotating seat; 203. a support plate; 204. a foam layer; 205. a first rubber pad; 206. a rotating plate; 207. a second rubber pad; 208. a tension spring; 209. a rubber tube; 301. a fixing plate; 302. a vertical plate; 303. a hauling rope; 304. a fixing ring; 401. a telescopic rod; 402. a control handle; 403. a connecting ring; 404. a picker; 4041. a collar; 4042. a first shearing knife; 4043. a second shearing knife.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Example 1

As shown in fig. 1-7, a citrus picker, which comprises a collection box 5, a walking mechanism 1, a buffer mechanism 2, an auxiliary support mechanism 3 and a picking mechanism 4, wherein the walking mechanism 1 comprises a flat car 101, a gravity sensor 102, a seat 103, an installation frame 104, a protection plate 105, a sun shield 106 and a reflector 107, one side of the top of the flat car 101 is connected with the seat 103 through screws, an inclined headrest is arranged at the top of the back of the seat 103, the outer side of the seat 103 is connected with the installation frame 104 through screws, the protection plate 105 is connected to one side of the installation frame 104 and positioned above the headrest through screws, the top of the installation frame 104 is connected with the sun shield 106 through screws, and the other side of the sun shield 106 is connected with the reflector 107 through a rotating joint, so that the head can be placed above the; the buffer mechanism 2 comprises a fixed platform 201, a rotating seat 202, a supporting plate 203, a foam layer 204, a rubber pad I205 and a rubber tube 209, wherein the fixed platform 201 is connected to the other side of the top of the flat car 101 through bolts, an auxiliary supporting mechanism 3 is fixedly connected to one side of the top of the fixed platform 201 close to the seat 103, an inclined plane is arranged at the top of the fixed platform 201, the center of the top of the inclined plane is connected with the rubber tube 209 through bolts, one end of the rubber tube 209 is connected with the picking mechanism 4 through a telescopic tube, the bottom of the inclined plane is connected with the rotating seat 202 through bolts, the supporting plate 203 is connected to the rotating seat 202 through a pin shaft, the supporting plate 203 is of an L-shaped structure, and the foam layer 204 and the rubber pad I205 are sequentially bonded to the inner side of the supporting plate 203, the front and rear parts of the fixed platform 201 are respectively provided with a buffer mechanism for buffering potential energy of oranges, the arrangement can ensure that the oranges firstly pass through the buffer of the foam layer 204 and the rubber pad 205 to reduce the falling potential energy of the oranges, then pass through the buffer of the buffer component and finally fall into the collecting box 5 for collection, when one collecting box 5 is fully loaded, the supporting plate 203 is rotated to ensure that the supporting plate 203 rotates around the rotating seat 202, and further the rotating seat 202 inclines towards the other collecting box 5, so that the picking function is not influenced when the collecting box 5 is replaced, the auxiliary supporting mechanism 3 comprises a fixed plate 301, a vertical plate 302, a traction rope 303 and a fixed ring 304, the fixed plate 301 is connected on the fixed platform 201 through bolts, one end of the fixed plate 301 close to the seat 103 is connected with the fixed ring 304 through a rotating joint, the vertical plates 302 are welded at both ends of the top part of, the central position of the hauling rope 303 is connected with the picking mechanism 4 through a hook, the fixed ring 304 can be supported by the fixed plate 301 through the arrangement, the fixed ring 304 supports one end of the telescopic rod 401, then the other end of the telescopic rod 401 is pulled through the hauling rope 303, the function of supporting the picking mechanism 4 in an auxiliary manner is realized, the labor intensity is reduced, the picking mechanism 4 comprises a telescopic rod 401, a control handle 402, a connecting ring 403 and a picking device 404, the telescopic rod 401 is fixedly connected to the inner side of the fixed ring 304, the outer side of the telescopic rod 401 is connected with the connecting ring 403 through a screw, the connecting ring 403 is connected below the hauling rope 303 in a hanging manner, the lower end of the telescopic rod 401 is connected with the control handle 402 with a power supply through a bolt, the picking device 404 is fixedly connected above the telescopic rod 401 and comprises a lantern ring 4041, a first shearing knife 4042 and a second shearing knife 4043, the, the inner side of the lantern ring 4041 is provided with a groove, the groove is internally and rotatably connected with a first shearing knife 4042 and a second shearing knife 4043, the shearing parts of the first shearing knife 4042 and the second shearing knife 4043 are positioned at the inner side of the groove and are driven by a micro motor, the lower part of the lantern ring 4041 is connected with the upper end of the rubber tube 209 through a telescopic pipe, the collecting boxes 5 are placed at the front and rear parts of the fixed table 201 and are positioned below the buffer mechanism, the first shearing knife 4042 and the second shearing knife 4043 can be driven by the micro motor to rotate, so that the picking function is realized under the combined action of the first shearing knife 4042 and the second shearing knife 4043, because the first shearing knife 4042 and the second shearing knife 4043 are positioned at the inner side of the groove, the contact with oranges is prevented, the damage of the oranges is further prevented, the gravity inductor 102 is embedded at the top of the flat car 101, and the gravity inductor 102 is positioned between the seat 103 and the fixed table 201, so that the, the lens of the reflector 107 is a convex mirror, so that the arrangement increases the observation visual angle, the buffer mechanism comprises a fixed shaft fixed in front of and behind the fixed table 201, a rotating plate 206 rotatably connected to the outer side of the fixed shaft, a second rubber pad 207 adhered to the top of the rotating plate 206, a tension spring 208 hung at one end of the rotating plate 206 and a fixed rod fixing the other end of the tension spring 208, the second rubber pad 207 is positioned above one end of the rotating plate 206 far away from the tension spring 208, so that the oranges fall on the second rubber pad 207, the potential energy of the oranges is reduced due to the buffering of the second rubber pad 207, the rotating plate 206 rotates under the action of the oranges, the rotating plate 206 further sends the oranges to the bottom of the collecting box 5 to prevent the oranges from colliding with the collecting box 5, then the rotating plate 206 is reset through the tension spring 208, a baffle perpendicular to the inclined plane of the fixed table 201 is welded on, the contained angle of the opening direction of stating lantern ring 4041 and the axis direction of telescopic link 401 is 45 degrees, it makes things convenient for lantern ring 4041 cover in the oranges and tangerines outside to set up like this, guard plate 105 is the grid plate, mesh plate or grid plate, set up like this under the prerequisite that has the protection, guarantee as far as to ventilate, prevent operating personnel heatstroke, the walking wheel width of flatbed 101 below is 120mm, it has guaranteed that whole device normally traveles on the soil to set up like this, it is fixed with the cushion to paste through the magic on seat 103 top and the headrest on the seat 103, set up the comfort level that has increased operating personnel like this.

Example 2

As shown in fig. 8, embodiment 2 differs from embodiment 1 in that: the cutting slope of the fixed table 201 is provided with a guide groove for limiting the rolling direction of the oranges, so that the rolling direction of the oranges on the fixed table 201 can be controlled.

In the structure, when in use, firstly, a worker puts feet on the gravity sensor 102, the force is applied through the toes or the heels, the whole device moves forwards or backwards, different forces can be applied through the two feet to change the walking, the specific principle is the same as that of a gravity balance car, then the worker can operate the telescopic rod 401 to enable the lantern ring 4041 to be sleeved outside the citrus from the lower part of the citrus, then the micro motor drives the first shearing knife 4042 and the second shearing knife 4043 to rotate through controlling the control handle 402, the first shearing knife 4042 and the second shearing knife 4043 pick the citrus, at the moment, the citrus rolls into the rubber tube 209 in the telescopic tube, then rolls out from the rubber tube 209 until the citrus falls on the first rubber pad 205, then the citrus rolls onto the second rubber pad 207 along the first rubber pad 205, at the moment, the citrus drives the rotating plate 206 to rotate, the rotating plate 206 stretches the tension spring 208, so that the citrus fruit is fed inside the collection boxes 5 and then the tension spring 208 is retracted so that the rotating plate 206 is reset, and when one of the collection boxes 5 is filled, the supporting plate 203 is rotated so that the supporting plate 203 rotates around the rotating base 202, and further the rotating base 202 is inclined toward the other collection box 5, so that the function of not affecting picking when the collection box 5 is replaced is realized.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a oranges and tangerines fruit picker, includes collecting box (5), its characterized in that: the multifunctional baby carriage is characterized by further comprising a travelling mechanism (1), a buffering mechanism (2), an auxiliary supporting mechanism (3) and a picking mechanism (4), wherein the travelling mechanism (1) comprises a flat car (101), a gravity sensor (102), a seat (103), an installation frame (104), a protection plate (105), a sunshade plate (106) and a reflector (107), one side of the top of the flat car (101) is connected with the seat (103) through screws, an inclined headrest is arranged at the top of the backrest of the seat (103), the outer side of the seat (103) is connected with the installation frame (104) through screws, the protection plate (105) is connected to one side of the installation frame (104) and is positioned above the headrest through screws, the sunshade plate (106) is connected to the top of the installation frame (104) through screws, the other side of the sunshade plate (106) is connected, the buffer mechanism (2) comprises a fixed platform (201), a rotating seat (202), a support plate (203), a foam layer (204), a rubber pad (205) and a rubber tube (209), wherein the fixed platform (201) is connected to the other side of the top of the flat car (101) through bolts, one side, close to the seat (103), of the top of the fixed platform (201) is fixedly connected with the auxiliary support mechanism (3), an inclined plane is arranged at the top of the fixed platform (201), the rubber tube (209) is connected to the center of the top of the inclined plane through bolts, one end of the rubber tube (209) is connected with the picking mechanism (4) through a telescopic tube, the bottom of the inclined plane is connected with the rotating seat (202) through bolts, the support plate (203) is connected to the rotating seat (202) through a pin shaft, the support plate (203) is of an L-shaped structure, and the foam layer (204) and the rubber pad (205) are sequentially bonded to the, the front and rear parts of the fixed platform (201) are respectively provided with a buffer mechanism for buffering the potential energy of oranges, the auxiliary supporting mechanism (3) comprises a fixed plate (301), a vertical plate (302), a traction rope (303) and a fixed ring (304), the fixed plate (301) is connected to the fixed platform (201) through bolts, one end, close to the seat (103), of the fixed plate (301) is connected with the fixed ring (304) through a rotating joint, the vertical plate (302) is welded at both ends of the top of one side, far away from the seat (103), of the fixed plate (301), the traction rope (303) is fixedly connected to the top between the vertical plates (302), the central position of the traction rope (303) is connected with the picking mechanism (4) through a hook, the picking mechanism (4) comprises a telescopic rod (401), a control handle (402), a connecting ring (403) and, the telescopic link (401) is fixedly connected to the inner side of the fixing ring (304), the outer side of the telescopic link (401) is connected with the connecting ring (403) through a screw, the connecting ring (403) is hung below the traction rope (303), the lower end of the telescopic link (401) is connected with a control handle (402) with a power supply through a bolt, the upper side of the telescopic link (401) is fixedly connected with the picking device (404), the picking device (404) comprises a lantern ring (4041), a first shearing knife (4042) and a second shearing knife (4043), the lantern ring (4041) is connected to one side of the top of the telescopic link (401) through a bolt, a certain included angle is formed between the opening direction of the lantern ring (4041) and the axial direction of the telescopic link (401), a groove is formed in the inner side of the lantern ring (4041), and the first shearing knife (4042) and the second shearing knife (4043) are, the first shearing knife (4042) and the shearing part of the second shearing knife (4043) are located on the inner side of the groove and driven by a micro motor or a micro electric cylinder, the lower portion of the lantern ring (4041) is connected with the upper end of the rubber pipe (209) through a telescopic pipe, and the collecting box (5) is placed on the front and rear portions of the fixed table (201) and located below the buffering mechanism.

2. A citrus picker according to claim 1, wherein: the gravity sensor (102) is embedded in the top of the flat car (101), and the gravity sensor (102) is located between the seat (103) and the fixed platform (201).

3. A citrus picker according to claim 1, wherein: the lens of the reflector (107) is a convex lens.

4. A citrus picker according to claim 1, wherein: buffer gear is including fixing fixed axle, rotation connection in the rotating plate (206) in this fixed axle outside fixed platform (201) the place ahead and rear, bond at rubber pad two (207) at rotating plate (206) top, articulate extension spring (208) and the fixed of extension spring (208) other end at rotating plate (206) one end, rubber pad two (207) are located rotating plate (206) is kept away from the one end top of extension spring (208).

5. A citrus picker according to claim 1 or 4, wherein: the inclined plane of the fixed table (201) is welded with a baffle plate vertical to the inclined plane.

6. A citrus picker according to claim 1 or 4, wherein: the cutting slope of the fixed table (201) is provided with a guide groove for limiting the rolling direction of the oranges.

7. A citrus picker according to claim 1, wherein: the included angle between the opening direction of the lantern ring (4041) and the axial direction of the telescopic rod (401) is 40-50 degrees.

8. A citrus picker according to claim 1, wherein: the protection plate (105) is a grid plate, a mesh plate or a grid plate.

9. A citrus picker according to claim 1, wherein: the width of the road wheels below the flat car (101) is 100-150 mm.

10. A citrus picker according to claim 1, wherein: cushions are fixed above the seat (103) and on a headrest on the seat (103) through magic tapes.