CN113099846A

CN113099846A - Manual-automatic integrated high-altitude fruit picking device

Info

Publication number: CN113099846A
Application number: CN202110534061.6A
Authority: CN
Inventors: 何勇; 周晓莉; 邢彪
Original assignee: Southeast University
Current assignee: Southeast University
Priority date: 2021-05-17
Filing date: 2021-05-17
Publication date: 2021-07-13
Anticipated expiration: 2041-05-17
Also published as: CN113099846B

Abstract

The invention discloses a manual-automatic integrated high-altitude fruit picker which comprises an AGV trolley, wherein a rotating piece is arranged on the AGV trolley, an expansion piece is arranged on the rotating piece in a rotating mode, a first adjusting piece used for angle adjustment is arranged on the rotating piece, a second adjusting piece is arranged on the expansion piece, a shearing piece is arranged on the expansion piece, and an elastic conveying pipe is arranged below the second adjusting piece; the extensible member includes first expansion bracket, and the slip is equipped with the second expansion bracket on the first expansion bracket, and the slip is equipped with the third expansion bracket on the second expansion bracket. The picking device has the functions of multi-angle adjustment and multi-direction adjustment operation, is high in flexibility, convenient to pick and position, high in picking efficiency, capable of reducing the labor intensity of workers and improving the picking efficiency, and capable of solving the problem that equipment cannot work when a motor is damaged in a standby manual mode, ensuring that the picking device can be operated normally manually, reducing the influence on picking and ensuring the normal operation of picking work.

Description

Manual-automatic integrated high-altitude fruit picking device

Technical Field

The invention relates to a picking device, in particular to a manual-automatic integrated high-altitude fruit picking device.

Background

The fruit picking machine aims at the practical conditions that the picking workload is large, the time is short and the like in the fruit ripening season and the current picking work mainly depends on the manpower background, the fruit rot can be increased when the picking work is not in time, and the fruit growing at the branch and the higher growth height (such as durian) is inconvenient to pick. Although more patents exist on the prior high-altitude fruit picker, the prior high-altitude fruit picker still has some defects.

Patent CN 109041782 a discloses a semi-automatic high-altitude fruit picking device, which can conveniently control the cutting state through a handheld device composed of a supporting device, a gripping device and a control device, but the height and weight of picked fruits are limited; patent CN 211152805U has designed an automatic high altitude fruit picking machine, realizes the unmanned of picking through actuating mechanism, control mechanism, actuating mechanism, nevertheless lacks the protection of falling to the ground of shearing fruit, does not consider the problem how to carry out picking work when the automatics trouble.

Disclosure of Invention

The invention aims to provide a manual-automatic integrated high-altitude fruit picker, in an automatic mode, an AGV trolley travels under a fixed route, a camera detects ripe fruits, the AGV trolley stops near fruit trees needing to be picked, a first motor drives an expansion piece to rotate, thereby controlling the shearing part to rotate, adjusting the telescopic part to stretch and further adjusting the shearing height of the shearing part by the second motor, adjusting the inclination angle of the telescopic part by the third motor through the screw rod and the Y-shaped bracket, driving the second slide block to slide on the second guide rail by the fourth motor, enabling the adjusting rod to push the shearing part to rotate, the cutting angle is further adjusted, after the first cutter and the second cutter are aligned with fruit stems, the fifth motor drives the third sliding block to move, the elastic piece is stretched, the first cutter and the second cutter are matched to cut the fruit stems, and the fruits fall into the AGV along the elastic conveying pipe to finish cutting;

in a manual mode, the telescopic piece, the second adjusting piece and the shearing piece are controlled to move by rotating the handle, the first fixing rod, the second fixing rod, the third fixing rod and the fourth fixing rod, the limiting pin and the limiting block are matched for limiting, the first cutter and the second cutter are aligned to the fruit stem and shear the fruit stem, and the fruit falls into the AGV along the elastic conveying pipe to finish manual cutting;

the picker has multi-angle regulation and multi-direction regulation operation function, and the flexibility is strong, is convenient for pick the location, picks ware automatic mode and picks, picks efficiently, reduces staff's intensity of labour, improves and picks efficiency, and reserve manual mode, the unable problem of working of equipment when effectual solution motor damages guarantees to pick the ware and can manual normal operating, reduces the influence to picking, guarantees to pick the normal clear of work.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides a ware is picked to manual-automatic formula high altitude fruit, picks the ware and includes the AGV dolly, be equipped with the rotating member on the AGV dolly, rotate on the rotating member and be equipped with the extensible member, be equipped with the first regulating part that is used for angle modulation on the rotating member, be equipped with the second regulating part on the extensible member, be equipped with on the extensible member and cut the piece, the below of second regulating part is equipped with elastic conveying pipe.

The extensible member includes first expansion bracket, and the slip is equipped with the second expansion bracket on the first expansion bracket, and the slip is equipped with the third expansion bracket on the second expansion bracket, and the slip is equipped with the fourth expansion bracket on the third expansion bracket.

The shearing part comprises a rotating plate and a fifth motor, an eighth pulley is arranged on the rotating plate in a rotating mode, and a camera is arranged on the rotating plate in a rotating mode.

Further, the AGV dolly includes the railway carriage, is equipped with the handspike on the railway carriage, and the intercommunication is equipped with the blanking mouth on the railway carriage, and the below of railway carriage is rotated and is equipped with the universal wheel, and the below of railway carriage is equipped with the drive wheel, and the drive is passed through automobile body control system control drive to the drive wheel.

Further, the rotating part comprises a first gear, a bearing is arranged on the first gear in a rotating mode, a bottom plate is arranged on the bearing, a first motor is arranged on the bottom plate, a second gear is fixedly connected to an output shaft of the first motor, the second gear is in meshing transmission with the first gear, a first limiting hole is formed in the bottom plate in an array distribution mode, a handle is arranged on the bottom plate in a rotating mode, a guide rod is arranged on the handle, a limiting pin is arranged on the guide rod in a sliding mode, the limiting pin is sleeved on the guide rod, a third gear is arranged below the handle, the third gear is in meshing transmission with the first gear, the first gear is fixedly connected with a carriage, and the limiting pin is matched with the first limiting hole to limit the.

Further, first expansion bracket includes first expansion bracket main part, be equipped with the fixed pin in the first expansion bracket main part, array distribution has first spacer pin in the first expansion bracket main part, it is equipped with first pulley to rotate in the first expansion bracket main part, be equipped with first slide rail in the first expansion bracket main part, be equipped with the second motor in the first expansion bracket main part, be equipped with the fixed plate on the second motor, fixed plate and first expansion bracket main part fastening connection, be equipped with the spacing hole of second on the fixed plate, fastening connection has the second pulley on the output shaft of second motor, be equipped with first dead lever on the second pulley, the cover is equipped with the spacer pin on the first dead lever, spacer pin and the spacing hole cooperation of second, first expansion bracket main part rotates with the bottom plate to be connected.

Further, the second expansion bracket comprises a second expansion bracket main body, a first sliding groove is symmetrically distributed in the second expansion bracket main body, a second sliding rail is symmetrically distributed in the second expansion bracket main body, a second limiting pin is arranged in the second expansion bracket main body and is distributed in an array manner, a third pulley is arranged in the second expansion bracket main body in a rotating manner, a first limiting block is symmetrically distributed in the second expansion bracket main body, and the second expansion bracket is matched with the first expansion bracket in a sliding manner through the first sliding groove and the first sliding rail.

Furthermore, the third telescopic frame is the same as the second telescopic frame in structure, and the difference is that a first sliding groove in the third telescopic frame is in sliding fit with a second sliding rail in the second telescopic frame.

The fourth expansion bracket comprises a fourth expansion bracket main body, a fourth pulley which is symmetrically distributed is arranged on the fourth expansion bracket main body in a rotating mode, a second sliding groove which is symmetrically distributed is formed in the fourth expansion bracket main body, a fifth pulley is arranged on the fourth expansion bracket main body in a rotating mode, a second limiting block which is symmetrically distributed is arranged on the fourth expansion bracket main body, the fourth expansion bracket is matched with a third expansion bracket in a sliding mode through a second sliding rail on the second sliding groove and the third expansion bracket, one end of a steel wire rope on the expansion part is fixed to the fixing pin, and the other end of the steel wire rope is fixedly connected with the second pulley.

Further, the first adjusting part comprises a first guide rail and a support plate, a first sliding block is arranged on the first guide rail, a Y-shaped support is arranged on the first sliding block in a rotating mode, the Y-shaped support is connected with the first expansion bracket body in a rotating mode, a third motor is arranged on the first guide rail, an output shaft of the third motor is connected with a lead screw in a fastening mode, the lead screw is in threaded fit with the first sliding block, a steering wheel is arranged on the lead screw in a rotating mode, a second fixed rod is arranged on the steering wheel, a limiting pin is sleeved on the second fixed rod, a third limiting hole is formed in the support plate, the limiting pin is matched with the third limiting hole, the support plate is connected with a bottom plate in a.

Further, the second adjusting part comprises a second guide rail and a fourth motor, a second sliding block is arranged on the second guide rail in a sliding mode, an adjusting rod is arranged on the second sliding block in a rotating mode, a sixth pulley is arranged on the adjusting rod in a rotating mode, a seventh pulley is fixedly connected to an output shaft of the fourth motor, a third fixing rod is arranged on the seventh pulley, a limiting pin is sleeved on the third fixing rod, a mounting plate is arranged on the fourth motor, a fourth limiting hole is formed in the mounting plate, the limiting pin is matched with the fourth limiting hole in a limiting mode and is limited, the mounting plate is fixedly connected with the first guide rail, the second guide rail is fixedly connected with the fourth expansion bracket main body, a steel wire rope is lapped on the fifth pulley, one end of the steel wire rope is fixedly connected with the seventh pulley, and.

Further, be equipped with the reference column on the rotor plate, it is equipped with the third slider to slide on the rotor plate, it is equipped with first connecting rod to rotate on the third slider, it is equipped with first cutter to rotate on the first connecting rod, first cutter rotates with the reference column to be connected, it is equipped with the second connecting rod to rotate on the third slider, it is equipped with the second cutter to rotate on the second connecting rod, the second cutter rotates with the reference column to be connected, be equipped with the elastic component on the first connecting rod, the one end and the first connecting rod fastening connection of elastic component, the other end and second connecting rod fastening connection, the rotor plate rotates with the fourth expansion bracket main part to be connected, the rotor plate rotates with the regulation pole to be connected, elasticity conveyer pipe and rotor plate fastening connection.

The wire rope is wound around the eighth pulley and the sixth pulley, one end of the wire rope is fixedly connected with the third sliding block, and the other end of the wire rope is fixedly connected with the ninth pulley.

The invention has the beneficial effects that:

1. the picking device has the functions of multi-angle adjustment and multi-direction adjustment operation, is high in flexibility, convenient to pick and position, high in picking efficiency, capable of reducing the labor intensity of workers and improving the picking efficiency, and capable of effectively solving the problem that equipment cannot work when a motor is damaged in a standby manual mode, ensuring that the picking device can be operated normally manually, reducing the influence on picking and ensuring the normal operation of picking work;

2. after the picking device cutter cuts fruit stems, the motor rotates reversely, the steel wire rope is loosened, the elastic piece drives the cutter to automatically open, the camera is used for detecting fruit maturity in an auxiliary mode, and the picking device is intelligent and convenient.

Drawings

The invention will be further described with reference to the accompanying drawings.

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

FIG. 2 is a schematic diagram of an AGV configuration according to the present invention;

FIG. 3 is a schematic view of the construction of the rotating member of the present invention;

FIG. 4 is a schematic view of a portion of the rotary member of the present invention;

FIG. 5 is a schematic view of a portion of the picker of the present invention;

FIG. 6 is a schematic view of a portion of the telescoping member of the present invention;

FIG. 7 is a schematic view of a portion of the telescoping member of the present invention;

FIG. 8 is a schematic view of a portion of the telescoping member of the present invention;

FIG. 9 is a schematic view of the wire rope winding structure on the telescoping member of the present invention.

FIG. 10 is a schematic view of a portion of the picker of the present invention;

FIG. 11 is a schematic view of a portion of the picker of the present invention;

FIG. 12 is a schematic view of a portion of the picker of the present invention;

FIG. 13 is a schematic view of a portion of the picker of the present invention;

FIG. 14 is a schematic view of a portion of the picker of the present invention;

FIG. 15 is a schematic view of a portion of the shear of the present invention;

FIG. 16 is a schematic view of a portion of the shear of the present invention.

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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model provides a ware is picked to manual-automatic formula high altitude fruit, picks the ware and includes AGV dolly 1 (be equipped with electromagnetism or optical automatic navigation dolly), as shown in fig. 1, be equipped with rotating member 2 on the AGV dolly 1, it is equipped with extensible member 3 to rotate on the rotating member 2, be equipped with the first regulating part 4 that is used for angle modulation on the rotating member 2, be equipped with second regulating part 5 on the extensible member 2, be equipped with on the extensible member 3 and cut piece 6, the below of second regulating part 5 is equipped with elastic conveying pipe 7.

The AGV comprises a carriage 11, as shown in FIG. 2, a hand push rod 12 is arranged on the carriage 11, a blanking port 13 is communicated with the carriage 11, a universal wheel 14 is rotatably arranged below the carriage 11, a driving wheel 15 is arranged below the carriage 11, and the driving wheel 15 is controlled and driven by a vehicle body control system.

The rotating member 2 includes a first gear 21, as shown in fig. 3 and 4, a bearing 22 is rotatably disposed on the first gear 21, a bottom plate 23 is disposed on the bearing 22, a first motor 24 is disposed on the bottom plate 23, an output shaft of the first motor 24 is fixedly connected with a second gear 25, the second gear 25 is in meshing transmission with the first gear 21, first limiting holes 26 are distributed on the bottom plate 23 in an array manner, a handle 271 is rotatably disposed on the bottom plate 23, a guide rod 272 is disposed on the handle 271, a limiting pin 28 is slidably disposed on the guide rod 272, the limiting pin 28 is sleeved on the guide rod 272, a third gear 29 is disposed below the handle 271, the third gear 29 is in meshing transmission with the first gear 21, the first gear 21 is fixedly connected with the compartment 11, and the limiting pin 28 is matched with the first limiting holes 26 and limits the rotation of the bottom plate 23.

The telescopic member 3 includes a first telescopic frame 31, and as shown in fig. 5, a second telescopic frame 32 is slidably disposed on the first telescopic frame 31, a third telescopic frame 34 is slidably disposed on the second telescopic frame 32, and a fourth telescopic frame 33 is slidably disposed on the third telescopic frame 34.

First expansion bracket 31 includes first expansion bracket main part 311, as shown in fig. 6, be equipped with fixed pin 312 on first expansion bracket main part 311, array distribution has first spacer pin 313 on the first expansion bracket main part 311, it is equipped with first pulley 314 to rotate on the first expansion bracket main part 311, be equipped with first slide rail 315 on the first expansion bracket main part 311, be equipped with second motor 316 on the first expansion bracket main part 311, be equipped with fixed plate 317 on the second motor 316, fixed plate 317 and first expansion bracket main part 311 fastening connection, be equipped with the spacing hole of second 318 on the fixed plate 317, fastening connection has second pulley 319 on the output shaft of second motor 316, be equipped with first dead lever 320 on the second pulley 319, the cover is equipped with spacer pin 28 on the first dead lever 320, spacer pin 28 cooperates with the spacing hole of second 318, first expansion bracket main part 311 rotates with bottom plate 23 and is connected.

The second expansion bracket 32 includes a second expansion bracket main body 321, as shown in fig. 7, a first sliding groove 322 is symmetrically distributed on the second expansion bracket main body 321, a second sliding rail 323 is symmetrically distributed on the second expansion bracket main body 321, a second limit pin 324 is symmetrically distributed on the second expansion bracket main body 321, a third pulley 325 is rotatably distributed on the second expansion bracket main body 321, a first limit block 326 is symmetrically distributed on the second expansion bracket main body 321, and the second expansion bracket 32 is slidably connected to the first expansion bracket 31 through the cooperation of the first sliding groove 322 and the first sliding rail 315.

The third telescopic frame 34 has the same structure as the second telescopic frame 32, and is different in that a first sliding groove 322 on the third telescopic frame 34 is slidably engaged with a second sliding rail 323 on the second telescopic frame 32.

The fourth expansion bracket 33 includes a fourth expansion bracket main body 331, as shown in fig. 8, a fourth pulley 332 symmetrically distributed is rotatably disposed on the fourth expansion bracket main body 331, a second sliding slot 333 symmetrically distributed is disposed on the fourth expansion bracket main body 331, a fifth pulley 334 is rotatably disposed on the fourth expansion bracket main body 331, a second limiting block 335 symmetrically distributed is disposed on the fourth expansion bracket main body 331, and the fourth expansion bracket 33 is slidably connected to the third expansion bracket 34 through the second sliding slot 333 and a second sliding rail 323 on the third expansion bracket 34.

As shown in fig. 5 to 9, one end of the wire rope is fixed to the fixing pin 312, and the other end of the wire rope is tightly connected to the second pulley 319.

The first adjusting part 4 includes a first guide rail 41 and a support plate 42, as shown in fig. 10 and 11, a first slider 43 is disposed on the first guide rail 41, a Y-shaped bracket 44 is disposed on the first slider 43 in a rotating manner, the Y-shaped bracket 44 is rotatably connected to the first expansion bracket main body 311, a third motor 45 is disposed on the first guide rail 41, an output shaft of the third motor 45 is fixedly connected to a lead screw 46, the lead screw 46 is in threaded fit with the first slider 43, a steering wheel 47 is disposed on the lead screw 46 in a rotating manner, a second fixing rod 48 is disposed on the steering wheel 47, a limit pin 28 is sleeved on the second fixing rod 48, a third limit hole 49 is disposed on the support plate 42, the limit pin 28 is matched with the third limit hole 49, the support plate 42 is fixedly connected to the bottom plate 23, and the first guide rail 41.

The second adjusting member 5 includes a second guide rail 51 and a fourth motor 55, as shown in fig. 12 and 13, the second guide rail 51 is slidably provided with a second sliding block 52, the second sliding block 52 is rotatably provided with an adjusting rod 53, the adjusting rod 53 is rotatably provided with a sixth pulley 54, an output shaft of the fourth motor 55 is tightly connected with a seventh pulley 56, the seventh pulley 56 is provided with a third fixing rod 57, the third fixing rod 57 is sleeved with a limit pin 28, the fourth motor 55 is provided with a mounting plate 58, the mounting plate 58 is provided with a fourth limit hole 59, the limit pin 28 is matched with the fourth limit hole 59 for limiting, the mounting plate 58 is tightly connected with the first guide rail 41, the second guide rail 51 is tightly connected with a fourth expansion bracket main body 331, a steel wire rope is overlapped on the fifth pulley 334, one end of the steel wire rope is tightly connected with the seventh pulley 56, and the other end of the steel wire rope is tightly connected,

the cutting member 6 includes a rotating plate 61 and a fifth motor 81, as shown in fig. 12, 14, 15 and 16, the rotating plate 61 is rotatably provided with an eighth pulley 62, the rotating plate 61 is provided with a positioning post 63, the rotating plate 61 is rotatably provided with a camera 64, the rotating plate 61 is slidably provided with a third slider 65, the third slider 65 is rotatably provided with a first connecting rod 66, the first connecting rod 66 is rotatably provided with a first cutter 67, the first cutter 67 is rotatably connected with the positioning post 63, the third slider 65 is rotatably provided with a second connecting rod 68, the second connecting rod 68 is rotatably provided with a second cutter 69, the second cutter 69 is rotatably connected with the positioning post 63, the first connecting rod 66 is provided with an elastic member 661, one end of the elastic member 661 is fixedly connected with the first connecting rod 66, the other end is fixedly connected with the second connecting rod 68, the rotating plate 61 is rotatably connected with a fourth expansion bracket main body 331, the rotating plate 61 is rotatably connected with the adjusting rod 53, the elastic conveying pipe 7 is tightly connected with the rotating plate 61.

A connecting plate 82 is arranged on the fifth motor 81, a fifth limiting hole 83 is arranged on the connecting plate 82, a ninth pulley 84 is fixedly connected to an output shaft of the fifth motor 81, a fourth fixing rod 85 is arranged on the ninth pulley 84, a limiting pin 28 is sleeved on the fourth fixing rod 85, the limiting pin 28 is matched with the fifth limiting hole 83, the connecting plate 82 is fixedly connected with the supporting plate 42, the steel wire rope bypasses the eighth pulley 62 and the sixth pulley 54, one end of the steel wire rope is fixedly connected with the third sliding block 65, and the other end of the steel wire rope is fixedly connected with the ninth pulley 84.

When the automatic fruit stem shearing machine is used, in an automatic mode, the AGV trolley 1 travels under a fixed route, mature fruits are detected by the camera 64, the AGV trolley 1 stops near a fruit tree to be picked, the first motor 24 drives the extensible part 3 to rotate so as to control the shearing part 6 to rotate, the second motor 316 adjusts the extensible part 3 to extend and retract so as to adjust the shearing height of the shearing part 6, the third motor 45 adjusts the inclination angle of the extensible part 3 through the lead screw 46 and the Y-shaped bracket 44, the fourth motor 55 drives the second sliding block 52 to slide on the second guide rail 51 so as to enable the adjusting rod 53 to push the shearing part 6 to rotate so as to adjust the shearing angle, after the first cutter 67 and the second cutter 69 are aligned with fruit stems, the fifth motor 81 drives the third sliding block 65 to move so as to enable the elastic part 661 to stretch, the first cutter 67 and the second cutter 69 cooperate to shear the fruit stems, and the fruits fall into the AGV along the elastic conveying, completing cutting;

under the manual mode, the extensible member 3, the second adjusting member 5 and the shearing member 6 are controlled to move by rotating the handle 271, the first fixing rod 320, the second fixing rod 48, the third fixing rod 57 and the fourth fixing rod 85, the limiting pin 28 and the limiting block are matched for limiting, the first cutter 67 and the second cutter 69 aim at the fruit stem and shear the fruit stem, and the fruit falls into the AGV along the elastic conveying pipe 7 to complete manual cutting.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the 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.

Claims

1. A manual-automatic integrated high-altitude fruit picking device comprises an AGV trolley (1) and is characterized in that a rotating piece (2) is arranged on the AGV trolley (1), an extensible piece (3) is arranged on the rotating piece (2) in a rotating mode, a first adjusting piece (4) used for angle adjustment is arranged on the rotating piece (2), a second adjusting piece (5) is arranged on the extensible piece (3), a shearing piece (6) is arranged on the extensible piece (3), and an elastic conveying pipe (7) is arranged below the second adjusting piece (5);

the telescopic piece (3) comprises a first telescopic frame (31), a second telescopic frame (32) is arranged on the first telescopic frame (31) in a sliding mode, a third telescopic frame (34) is arranged on the second telescopic frame (32) in a sliding mode, and a fourth telescopic frame (33) is arranged on the third telescopic frame (34) in a sliding mode;

cut piece (6) including rotor plate (61) and fifth motor (81), rotate on rotor plate (61) and be equipped with eighth pulley (62), rotate on rotor plate (61) and be equipped with camera (64).

2. The manual-automatic integrated high-altitude fruit picker according to claim 1 is characterized in that the AGV trolley (1) comprises a trolley box (11), a hand push rod (12) is arranged on the trolley box (11), a blanking port (13) is communicated on the trolley box (11), universal wheels (14) are rotatably arranged below the trolley box (11), driving wheels (15) are arranged below the trolley box (11), and the driving wheels (15) are controlled and driven by a trolley body control system.

3. The manual-automatic integrated high-altitude fruit picker according to claim 2, wherein the rotating member (2) comprises a first gear (21), a bearing (22) is rotatably arranged on the first gear (21), a bottom plate (23) is arranged on the bearing (22), a first motor (24) is arranged on the bottom plate (23), an output shaft of the first motor (24) is fixedly connected with a second gear (25), the second gear (25) is in meshing transmission with the first gear (21), first limiting holes (26) are distributed on the bottom plate (23) in an array manner, a handle (271) is rotatably arranged on the bottom plate (23), a guide rod (272) is arranged on the handle (271), a limiting pin (28) is slidably arranged on the guide rod (272), the limiting pin (28) is sleeved on the guide rod (272), a third gear (29) is arranged below the handle (271), the third gear (29) is in meshing transmission with the first gear (21), the first gear (21) is fixedly connected with the compartment (11), and the limiting pin (28) is matched with the first limiting hole (26) and limits the rotation of the bottom plate (23).

4. The manual-automatic integrated high-altitude fruit picker according to claim 3, wherein the first telescopic frame (31) comprises a first telescopic frame main body (311), a fixed pin (312) is arranged on the first telescopic frame main body (311), first limit pins (313) are distributed on the first telescopic frame main body (311) in an array manner, a first pulley (314) is rotatably arranged on the first telescopic frame main body (311), a first slide rail (315) is arranged on the first telescopic frame main body (311), a second motor (316) is arranged on the first telescopic frame main body (311), a fixed plate (317) is arranged on the second motor (316), the fixed plate (317) is fixedly connected with the first telescopic frame main body (311), a second limit hole (318) is arranged on the fixed plate (317), a second pulley (319) is fixedly connected with an output shaft of the second motor (316), a first fixed rod (320) is arranged on the second pulley (319), the first fixing rod (320) is sleeved with a limiting pin (28), the limiting pin (28) is matched with the second limiting hole (318), and the first expansion bracket main body (311) is rotatably connected with the bottom plate (23).

5. The manual-automatic integrated high-altitude fruit picker according to claim 4, wherein the second expansion bracket (32) comprises a second expansion bracket main body (321), first sliding chutes (322) are symmetrically distributed on the second expansion bracket main body (321), second sliding rails (323) are symmetrically distributed on the second expansion bracket main body (321), second limit pins (324) are distributed in an array manner on the second expansion bracket main body (321), third pulleys (325) are rotatably distributed in an array manner on the second expansion bracket main body (321), first limit blocks (326) are symmetrically distributed on the second expansion bracket main body (321), and the second expansion bracket (32) is in sliding connection with the first expansion bracket (31) through the matching of the first sliding chutes (322) and the first sliding rails (315).

6. The manual-automatic integrated high-altitude fruit picker according to claim 5, wherein the third telescopic frame (34) is the same as the second telescopic frame (32) in structure, and is different from the first telescopic frame (34) in that a first sliding chute (322) is in sliding fit with a second sliding rail (323) on the second telescopic frame (32);

fourth expansion bracket (33) includes fourth expansion bracket main part (331), rotate fourth pulley (332) that are equipped with the symmetric distribution on fourth expansion bracket main part (331), be equipped with second spout (333) of symmetric distribution on fourth expansion bracket main part (331), it is equipped with fifth pulley (334) to rotate on fourth expansion bracket main part (331), be equipped with symmetric distribution's second stopper (335) on fourth expansion bracket main part (331), second slide rail (323) cooperation and third expansion bracket (34) sliding connection on fourth expansion bracket (33) through second spout (333) and third expansion bracket (34), wire rope one end on extensible member (3) is fixed on fixed pin (312), the other end and second pulley (319) fastening connection.

7. The manual-automatic integrated high-altitude fruit picker according to claim 6, wherein the first adjusting part (4) comprises a first guide rail (41) and a support plate (42), a first sliding block (43) is arranged on the first guide rail (41), a Y-shaped bracket (44) is rotatably arranged on the first sliding block (43), the Y-shaped bracket (44) is rotatably connected with a first telescopic frame main body (311), a third motor (45) is arranged on the first guide rail (41), a screw rod (46) is fixedly connected with an output shaft of the third motor (45), the screw rod (46) is in threaded fit with the first sliding block (43), a steering wheel (47) is rotatably arranged on the screw rod (46), a second fixing rod (48) is arranged on the steering wheel (47), a limit pin (28) is sleeved on the second fixing rod (48), a third limit hole (49) is arranged on the support plate (42), and the limit pin (28) is matched with the third limit hole (49), the supporting plate (42) is fixedly connected with the bottom plate (23), and the first guide rail (41) is fixedly connected with the bottom plate (23).

8. The manual-automatic integrated high-altitude fruit picker according to claim 6, wherein the second adjusting part (5) comprises a second guide rail (51) and a fourth motor (55), the second guide rail (51) is slidably provided with a second sliding block (52), the second sliding block (52) is rotatably provided with an adjusting rod (53), the adjusting rod (53) is rotatably provided with a sixth pulley (54), an output shaft of the fourth motor (55) is fixedly connected with a seventh pulley (56), the seventh pulley (56) is provided with a third fixing rod (57), the third fixing rod (57) is sleeved with a limiting pin (28), the fourth motor (55) is provided with a mounting plate (58), the mounting plate (58) is provided with a fourth limiting hole (59), the limiting pin (28) is matched with the fourth limiting hole (59) for limiting, the mounting plate (58) is fixedly connected with the first guide rail (41), the second guide rail (51) is fixedly connected with a fourth expansion bracket main body (331), the steel wire rope is lapped on the fifth pulley (334), one end of the steel wire rope is fixedly connected with the seventh pulley (56), and the other end of the steel wire rope is fixedly connected with the second sliding block (52).

9. The manual-automatic integrated high-altitude fruit picker according to claim 7, wherein the rotating plate (61) is provided with a positioning column (63), the rotating plate (61) is provided with a third sliding block (65) in a sliding manner, the third sliding block (65) is provided with a first connecting rod (66) in a rotating manner, the first connecting rod (66) is provided with a first cutter (67) in a rotating manner, the first cutter (67) is rotatably connected with the positioning column (63), the third sliding block (65) is provided with a second connecting rod (68) in a rotating manner, the second connecting rod (68) is provided with a second cutter (69) in a rotating manner, the second cutter (69) is rotatably connected with the positioning column (63), the first connecting rod (66) is provided with an elastic member (661), one end of the elastic member (661) is fixedly connected with the first connecting rod (66), the other end of the elastic member is fixedly connected with the second connecting rod (68), the rotating plate (61) is rotatably connected with a fourth telescopic frame main body (331, the rotating plate (61) is rotationally connected with the adjusting rod (53), and the elastic conveying pipe (7) is tightly connected with the rotating plate (61);

be equipped with connecting plate (82) on fifth motor (81), be equipped with fifth spacing hole (83) on connecting plate (82), fastening connection has ninth pulley (84) on the output shaft of fifth motor (81), be equipped with fourth dead lever (85) on ninth pulley (84), the cover is equipped with spacer pin (28) on fourth dead lever (85), spacer pin (28) and the cooperation of fifth spacing hole (83), connecting plate (82) and backup pad (42) fastening connection, wire rope walks around eighth pulley (62) and sixth pulley (54), wire rope's one end and third slider (65) fastening connection, the other end and ninth pulley (84) fastening connection.