CN208370297U - Prepositioning vibration falling layered picking machine - Google Patents

Abstract

The utility model provides a prepositioning shakes layering picking machine has solved among the prior art winter jujube and has picked the problem that the degree of difficulty is big, inefficiency. The picking machine comprises a rack, wherein a parallel four-bar forward-extending mechanism is arranged on the rack and is driven by a first motor arranged on the rack; the wide-tooth shaking and falling mechanism is arranged on the parallel four-bar forward extending mechanism and is driven by a second motor arranged on the rack to vibrate so as to shake and fall fruits; the layered pre-positioning mechanism is arranged on the layered pre-positioning mechanism; the distance measuring mechanism is arranged at the front end of the rack and used for detecting the distance between the distance measuring mechanism and the trunk; the sector unfolding and collecting mechanism is arranged below the wide-tooth vibration falling mechanism; one end of the roller shaft baffle plate conveying mechanism is positioned at the lower end opening of the sector unfolding and collecting mechanism; and the threaded roller grading mechanism is arranged on one side of the roller shaft baffle conveying mechanism and is used for grading the conveyed fruits.

Description

Pre-determined bit vibration falls layering picking machine

Technical field

The utility model relates to picking fruit technical field, particularly relate to that a kind of structure is simple, pre-determined bit easy to use Vibration falls layering picking machine.

Background technique

Picking fruit is the work taken time and effort, and heavy workload, work difficulty is high, in picking process, not only To picking efficiency requirement with higher, and fruit cannot be damaged, reduce the quality of picking, therefore, the cost of picking fruit It is higher always.

In modern planting industry, the type of fruit is varied, and every kind of fruit all has the characteristics that oneself, picking process It is not quite similar, such as winter jujube, fruit thin skin matter is crisp, and surface is easily damaged, it is not easy to storage and long-distance transport, so for maximum The good fruit of the holding of limit, winter jujube picking is always based on manually picking.

China's winter jujube picking mechanical that began one's study from 1970 is turned into industry, develops gasbag-type fruit picker, hand electric is adopted Fruit device and mechanical-vibration type fruit picker with walking tractor matching.The above two actually or manual work auxiliary machine Tool, although being made preferably at the protection injury-free aspect of winter jujube, its efficiency is still too low.After 1980, China starts to grind Study carefully and manufacture cutting-type device for picking, winter jujube picking gradually develops to auxiliaryization picking using scissors picking from artificial.Such as long handle Scissors picking, it is time-consuming and laborious although the damage to fruit is also small.It is for example hydraulic that more auxiliary tools are developed after this Beta pruning hoistable platform, for improving operating position, in order to pick operation.Once China also used air blowing type winter jujube to pick, but Since its air-flow is unstable, easy damaged fruit branch fruit, although separating effect is preferable, pick it is ineffective, so soon by It eliminates.

Domestic most important Softening is manually to pick at present, minimum to the extent of the destruction of winter jujube, picking station spirit It is quick higher.But picked compared to mechanical work, not only labour cost is huge for artificial picking, nor is applicable in large-scale plantation High-strength working, therefore mechanical work winter jujube picking mainly have cutting type and collision type two types.The operator of cutting type Formula is to separate winter jujube with fruit tree branch or carpopodium cutting.The working method of collision type be crash element directly collide fruit branch or It beats traction fruit branch vibration and falls winter jujube.

For foreign study, at the beginning of the research of fruit picking mechanical starts from 1940, mainly headed by Europe and North America Western Modern industrialized country more early carry out research in this respect.At that time mechanical work picking working efficiency generally compared with It is low, and the damage ratio picked is higher, is not suitable for the winter jujube that picking has the characteristics that easy damaged and requires serviceability rate high.Nineteen sixty Mid-term, American Studies go out hydraulic lifting platform cart, use as auxiliary picker, so that picking efficiency is greatly improved, But but to the picking requirement of large-scale plantation.It is American-European by the picking of winter jujube mechanical work and fruit tree since later period nineteen sixty Cultivate and trimming combine, such as in order to be suitble to do mechanization operation go to modify it is tree-like.A variety of cutting types are occurred within 1970 The picking of winter jujube mechanical work, such as long-handle scissors etc..The orchard planting landform of part jujube tree is similar to the winter of Shandong Zhanhua area Jujube plantation on the Machinery for orchard that undulating topography, many use on level land and is not suitable for.

Current foreign countries are based on picking robot to the research of winter jujube picking mechanical.Latter stage in 1970, with science and technology It rapidly develops, the western countries headed by the U.S. begin one's study various agricultural robots.Picking robot is mainly by manipulator, end Hold the big system composition of actuator, visual identifying system and running gear etc. four.Although picking robot flexibility ratio and operational readiness are got over Come it is higher, if but winter jujube quantity is more, the small and mellow and full, spacial distribution density of individual is big using picking robot, picking efficiency is bright It is aobvious not high.

Income is picked in winter jujube production operation accounts for about the 40% of entire workload.And winter jujube picking operation is winter jujube production A most time-consuming most laborious link in chain, high and medium are picked due to cannot directly contact, it is necessary to by climbing aid It completes, to increase picking difficulty and risk.Meanwhile the following process of product and storage are mainly by picking operation quality Quality influence, to finally influence the market price and economic benefit, how low cost, the picking winter jujube of high quality is production Link must be paid attention to and consider the problems of.

Since picking has high complexity, the operation of domestic winter jujube picking at present is entirely to have been manually done.With people The aging of mouth and the continuous reduction of agricultural production labour, agriculture production cost are also being continuously improved.Therefore, for winter jujube The development of mechanization skill picked technology, research and development winter jujube picking mechanical are of great significance.

In recent years, the related industry of winter jujube develops very rapid, demand cumulative year after year, traditional artificial picking is already It is not applicable, therefore the picking of winter jujube mechanical work has become inevitable trend.According to the survey, the universality of winter jujube picking machine is not Height, there is presently no the winter jujube picking mechanicals really for large-scale production, so the winter jujube picking machine market demand is huge.

Utility model content

The utility model proposes a kind of vibrations of pre-determined bit to fall layering picking machine, solves winter jujube picking difficulty in the prior art Greatly, the problem of low efficiency.

The technical solution of the utility model is achieved in that pre-determined bit vibration falls layering picking machine, comprising:

Rack, the rack are equipped with parallel four-bar extension mechanism, and parallel four-bar extension mechanism is by being set to rack On first motor driving, realize extension and retreat；

Kuan Chizhenluo mechanism is set in parallel four-bar extension mechanism, with the extension of parallel four-bar extension mechanism The synchronization action with retrogressing, the Kuan Chizhenluo mechanism are vibrated by the second motor driven being set in rack, for by fruit Vibration is fallen；

It is layered pre-locating mechanism, parallel four-bar extension mechanism is set on the layering pre-locating mechanism, and described point The height of layer pre-locating mechanism is adjustable, to change the height of the parallel four-bar extension mechanism and Kuan Chizhenluo mechanism；

Ranging mechanism, the ranging mechanism are installed on the front end of the rack, for detecting the distance between trunk；

Collecting mechanism is unfolded in covering of the fan, is set to the lower section of the Kuan Chizhenluo mechanism, and the fruit for falling to vibration is received Collection；

Roll shaft baffle transport mechanism, one end is located at the lower ending opening of covering of the fan expansion collecting mechanism, for that will receive The fruit of collection is transmitted；

Thread drum classification mechanism is set to the side of the roll shaft baffle transport mechanism, for the fruit to transmission into Row classification.

As a preferred embodiment, parallel four-bar extension mechanism includes lower supporting plate, the lower supporting plate It is horizontally placed in the rack, four rocking bars, the hinge joint of four rocking bars and lower supporting plate is hinged on the lower supporting plate For rectangle, rocking bar equal length described in four, rocking bar upper end described in four is hinged with horizontal upper backup pad, the width tooth Zhen Luo mechanism is installed on the upper backup pad；

It is realized and is connected by shaft between two rocking bars at rear, the worm gear of its rotation of driving is fixed in the shaft, The worm gear is driven by vertically extending worm drive, the worm screw by the first motor.

As a preferred embodiment, the Kuan Chizhenluo mechanism includes being articulated with table on the upper backup pad in parallel The left swing bar and right swing rod in face, the left swing bar and right swing rod extend forward and are equipped with left wide tooth and right wide tooth, the left wide tooth With right wide tooth for being inserted into fruit branch；

The upper surface of the upper backup pad is equipped with the cam between left swing bar and right swing rod, and the cam is in horizontal plane Interior rotation is also connected with reset spring between the left swing bar and right swing rod to drive the left swing bar and right swing rod to vibrate；

It is additionally provided with second motor on the lower surface of the lower supporting plate, passes through between second motor and cam Universal axis connection.

As a preferred embodiment, the layering pre-locating mechanism includes four gas being installed in the rack Cylinder, cylinder described in four is vertically arranged and support plays the lower supporting plate, and the height of the lower supporting plate is by the cylinder It adjusts.

As a preferred embodiment, the ranging mechanism is the infrared range-measurement system for being installed on the front end of rack.

As a preferred embodiment, the covering of the fan expansion collecting mechanism includes the left gear being meshed and right tooth The central axis of wheel, the left gear and right gear extends vertically, and the left covering of the fan of synchronous rotation is fixed on the left gear Bar is fixed with the right wing face bar of synchronous rotation on the right gear, and the left covering of the fan bar and right wing face bar are with vertical plane pair Claim setting and there is angle between vertical plane；

It further include the left covering of the fan auxiliary rod and right wing face auxiliary rod of fixed setting, the left covering of the fan auxiliary rod and right wing face are auxiliary It helps bar to be symmetrical arranged with vertical plane and there is angle between vertical plane；

Fan is equipped between the left covering of the fan auxiliary rod and left covering of the fan bar and between right wing face auxiliary rod and right wing face bar Face cloth, when the left covering of the fan bar and right wing face bar go to contact, the left covering of the fan auxiliary rod, left covering of the fan bar, right wing face auxiliary rod Accommodating chamber is surrounded between the bar of right wing face, for accepting the fruit fallen.

As a preferred embodiment, the roll shaft baffle transport mechanism includes being located at the accommodating chamber lower ending opening Funnel, further include the conveyer belt extending at the funnel, the conveyer belt is equipped with several baffles, and the conveyer belt moves When dynamic, fruit is delivered in the thread drum classification mechanism by the baffle.

As a preferred embodiment, the thread drum classification mechanism includes horizontally disposed roller, the rolling It is fixed with helical baffle in cylinder, polyethylene foams is coated on the helical baffle, when the roller rotates, the fruit Advance along the helical baffle；

The fruit is delivered to one end of the roller by the baffle, and several through-holes are provided on the roller, described logical The size in hole is gradually increased from described baffle one end to the other end；

Multiple buffering slideways are arranged side by side in the lower section of the roller.

After above-mentioned technical proposal, the beneficial effects of the utility model are: the picking machine of the utility model can solve The both hands of people are put, man power and material is saved, auxiliary people quickly collect winter jujube etc. in such a way that vibration is shaken off in harvest Fruit reduces the surface damage rate of fruit, while the fruit after collection is carried out size point so that improves fruit shakes off rate Grade maximizes and assists to be accomplished manually integrated work, guarantees that the high efficiency of classification is collected in picking.When work, first with layering The parallel four-bar of top extension mechanism and wide tooth vibration are fallen institutional adjustment to suitable height by pre-locating mechanism, then parallel four-bar Protract mechanism action, realizes the extension of Kuan Chizhenluo mechanism, Kuan Chizhenluo mechanism is extend into inside the fruit branch for covering with fruit, it Wide tooth vibration falls mechanism vibrations afterwards, realizes that the vibration of fruit is fallen, and falls on the covering of the fan that lower section has been opened naturally by the fruit that vibration is fallen and is unfolded In collecting mechanism, thread drum classification mechanism is transported under the action of roll shaft baffle transport mechanism later and carries out classification receipts Collection, whole process rapidly and efficiently, substantially increase the efficiency of picking.

Parallel four-bar protracts mechanism by worm drive worm gear, and four rocking bars of worm-gear driven are rotated with hinge joint, thus real The extension of existing upper backup pad, and the self-locking performance of worm and gear can guarantee to protect after four parallel rocking bars protract in set station It is fixed to keep steady.

By universal shaft by the power transmission to cam of the second motor, cam drives left swing when rotating for Kuan Chizhenluo mechanism Bar and the vibration of right swing rod fall the fruit vibration in left wide tooth and right wide tooth, and the setting of reset spring can be realized left swing bar With the shake of right swing rod, the effect that vibration is fallen is improved.

Covering of the fan is unfolded collecting mechanism and left covering of the fan bar and right wing face bar may be implemented using the left gear and right gear of engagement It opens or closes, when left covering of the fan bar and right wing face bar turn to contact, left covering of the fan auxiliary rod, left covering of the fan bar, right wing face auxiliary Accommodating chamber, the entire tapered shape of accommodating chamber are defined between bar and right wing face bar, and the outer wall of accommodating chamber is Covering of the fan cloth can catch the fruit fallen using covering of the fan cloth in this way, prevent fruit from damaging, when not in use, can also be by left covering of the fan Bar and right wing face bar transfer back to initial position.

Fruit in funnel is sent to thread drum grader using the baffle on conveyer belt by roll shaft baffle transport mechanism Classification collection is carried out in structure.

The roller of thread drum classification mechanism can be realized the linear movement of fruit inside it when rotated, fruit along It can be avoided and be compromised when being coated with the helical baffle advance of polyethylene foams, and can be gradually from logical on roller It is fallen at hole, and be slipped to different stage along buffering slideway to have in the collecting box of protective device, realization divides fruit Grade.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property It puts, is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model；

Fig. 2 is the schematic view of the front view of the embodiment；

Fig. 3 is the overlooking structure diagram of the embodiment；

Fig. 4 is the structural schematic diagram of roll shaft baffle transport mechanism and thread drum classification mechanism；

Fig. 5 is the structural schematic diagram of parallel four-bar extension mechanism and Kuan Chizhenluo mechanism；

Fig. 6 is the structural schematic diagram that collecting mechanism is unfolded in covering of the fan；

Fig. 7 is the structural schematic diagram that covering of the fan is unfolded that collecting mechanism removes covering of the fan cloth；

In figure: 1- rack；2- first motor；The second motor of 3-；4- lower supporting plate；5- rocking bar；6- upper backup pad；7- turns Axis；8- worm gear；9- worm screw；10- left swing bar；The right swing rod of 11-；The left wide tooth of 12-；The right wide tooth of 13-；14- cam；15- universal shaft； 16- cylinder；17- infrared range-measurement system；18- left gear；19- right gear；The left covering of the fan bar of 20-；21- right wing face bar；The left covering of the fan of 22- is auxiliary Help bar；23- right wing face auxiliary rod；24- covering of the fan cloth；25- funnel；26- conveyer belt；27- baffle；28- roller；29- helical baffle； 30- through-hole；31- buffers slideway；32- reset spring.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts Every other embodiment obtained, fall within the protection scope of the utility model.

Embodiment:

As shown in Figure 1, Figure 2 and Figure 3, a kind of embodiment of layering picking machine, master are fallen for the utility model pre-determined bit vibration It is used to pick the fruit on fruit tree, under the premise of improving picking rate, can guarantee that fruit is not damaged.

The embodiment includes a rack first, and rack is equipped with multiple mechanisms, mainly include parallel four-bar extension mechanism, Kuan Chizhenluo mechanism, layering pre-locating mechanism, ranging mechanism, covering of the fan expansion collecting mechanism, roll shaft baffle transport mechanism and screw thread Rotary drum grader structure and multiple motors being used to provide power, mainly include first motor 2 and the second motor 3, below it is just every The structure of a mechanism is described in detail.

As shown in figure 5, parallel four-bar extension mechanism includes lower supporting plate 4, the lower supporting plate 4 is horizontally placed on the machine On frame 1, it being hinged with four rocking bars 5 on the lower supporting plate 4, the hinge joint of four rocking bars 5 and lower supporting plate 4 is rectangle, four 5 equal length of rocking bar, 5 upper end of rocking bar described in four are hinged with horizontal upper backup pad 6, the Kuan Chizhenluo mechanism It is installed on the upper backup pad 6；Connection is realized by shaft 7 between two rocking bars 5 at rear, is fixed in the shaft 7 The worm gear 8 for driving it to rotate, the worm gear 8 are driven by vertically extending worm screw 9, and the worm screw 9 is driven by the first motor 2 It is dynamic.The main function of parallel four-bar extension mechanism is the extension and retrogressing for realizing Kuan Chizhenluo mechanism, is inserted into inside fruit branch Or extracted out inside fruit branch, it is fallen preferably to carry out the vibration of fruit.Its basic functional principle is: first motor 2 passes through snail Bar 9 drives worm gear 8 to rotate, and worm gear 8 drives two rocking bars 5 at rear to turn forward by shaft 7, so that four rocking bars 5 It turns forward, the extension of Kuan Chizhenluo mechanism is realized eventually by upper backup pad 6.

As shown in figure 5, Kuan Chizhenluo mechanism includes being articulated with left swing bar 10 and the right side of 6 upper surface of upper backup pad in parallel Swing rod 11, the left swing bar 10 and right swing rod 11 extend forward and are equipped with left wide tooth 12 and right wide tooth 13, left wide 12 He of tooth Right wide tooth 13 is for being inserted into fruit branch；The upper surface of the upper backup pad 6 is equipped between left swing bar 10 and right swing rod 11 Cam 14, the cam 14 rotate that the left swing bar 10 and right swing rod 1 is driven to vibrate in the horizontal plane, the left swing bar 10 Reset spring 32 is also connected between right swing rod 11；Second motor is additionally provided on the lower surface of the lower supporting plate 4 3, it is connected between second motor 3 and cam 14 by universal shaft 15.When Kuan Chizhenluo mechanism extension, universal shaft 15 is also sent out Raw inclination (as shown in Figure 2), so as to guarantee that the power of the second motor 3 can be smoothly transferred on cam 14.The mechanism Basic functional principle is: the second motor 3 drives cam 14 to rotate, and driving left swing bar 10 and right swing rod 11 shake when cam 14 rotates It is dynamic, the fruit vibration in left wide tooth 12 and right wide tooth 13 is fallen, and reset spring 32 can be realized left swing bar 10 and right swing rod 11 Shake, improve the effect that falls of vibration.

Layering pre-locating mechanism includes four cylinders 16 being installed in the rack 1, and cylinder 16 described in four is vertical It is arranged and support plays the lower supporting plate 4, the height of the lower supporting plate 4 is adjusted by the cylinder 1, by controlling cylinder 16 height, which can shake wide tooth, falls institutional adjustment to suitable height, is then inserted into the fruit in fruit branch to corresponding height Vibration is carried out in fact to fall.

Ranging mechanism is infrared range-measurement system 17, is installed on the front end of the rack 1, between detection and trunk away from From guaranteeing to keep certain safe distance between machine and fruit tree.

As shown in Figure 6 and Figure 7, covering of the fan expansion collecting mechanism includes the left gear 18 and right gear 19 being meshed, the left side The central axis of gear 18 and right gear 19 extends vertically, and the left covering of the fan bar of synchronous rotation is fixed on the left gear 18 20, be fixed on the right gear 19 the right wing face bar 21 of synchronous rotation, the left covering of the fan bar 20 and right wing face bar 21 with Vertical plane is symmetrical arranged and has angle between vertical plane；It further include that the left covering of the fan auxiliary rod 22 being fixedly installed and right wing face are auxiliary It helps bar 23, the left covering of the fan auxiliary rod 22 and right wing face auxiliary rod 23 to be symmetrical arranged with vertical plane and has between vertical plane Angle；Between the left covering of the fan auxiliary rod 22 and left covering of the fan bar 20 and between right wing face auxiliary rod 23 and right wing face bar 21 Equipped with covering of the fan cloth 24, when the left covering of the fan bar 20 and right wing face bar 21 go to contact, the left covering of the fan auxiliary rod 22, left covering of the fan bar 20, accommodating chamber is surrounded between right wing face auxiliary rod 23 and right wing face bar 21, for accepting the fruit fallen.Certainly, it is in design It need to guarantee that the openings of sizes of accommodating chamber is greater than the oscillating region of left wide tooth 12 and right wide tooth 13, it is complete with the fruit for guaranteeing that vibration is fallen It drops on covering of the fan cloth 24 entirely, guarantees that fruit is not damaged.It, can also be by left covering of the fan bar 20 and right wing face bar and after not using 21 transfer back to initial position.In addition the power of left gear 18 and right gear 19 can add motor realization.

As shown in figure 4, roll shaft baffle transport mechanism includes the funnel 25 positioned at the accommodating chamber lower ending opening, it further include stretching Entering the conveyer belt 26 at the funnel 25, the conveyer belt 26 is equipped with several baffles 27, when the conveyer belt 26 is mobile, Fruit is delivered in the thread drum classification mechanism by the baffle 27.

As shown in figure 4, thread drum classification mechanism includes horizontally disposed roller 28, spiral is fixed in the roller 28 Baffle 29 is coated with polyethylene foams on the helical baffle 29, and when the roller 28 rotates, the fruit is along the spiral shell Baffle 29 is revolved to advance；The fruit is delivered to one end of the roller 28 by the baffle 27, is provided on roller 28 several The size of through-hole 30, the through-hole 30 is gradually increased from described 27 one end of baffle to the other end；It can advance in this way in fruit The biggish fruit of volume is first sifted out, then sifts out small fruit by Cheng Zhong.It is also arranged side by side in the lower section of roller 28 multiple slow Slideway 31 is rushed, being slipped to different stage along buffering slideway 31 later has in the collecting box of protective device, and realization divides fruit Grade.

Finally, also pressure sensor can be arranged in corresponding position on left covering of the fan bar 20 and right wing face bar 21 in the embodiment (not shown), the pressure sensor enable to left covering of the fan bar 20 and right wing face bar 21 to contact to sending is electric afterwards to a certain degree Signal, the motor for driving left covering of the fan bar 20 and right wing face bar 21 to rotate by the electric signal that the pressure sensor issues.

The utility model pre-determined bit vibration fall layering picking machine structure it is simple, easy to use, fruit can be greatly improved Picking efficiency, while guaranteeing that fruit is not damaged, there is good practicability.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model Protection scope within.

Claims (8)

1. pre-determined bit vibration falls layering picking machine characterized by comprising

Rack, the rack are equipped with parallel four-bar extension mechanism, and parallel four-bar extension mechanism is by being set in rack First motor driving is realized extension and is retreated；

Kuan Chizhenluo mechanism is set in parallel four-bar extension mechanism, as the extension of parallel four-bar extension mechanism is with after It moves back and synchronization action, the Kuan Chizhenluo mechanism is vibrated by the second motor driven being set in rack, for falling fruit vibration；

It is layered pre-locating mechanism, parallel four-bar extension mechanism is set on the layering pre-locating mechanism, and the layering is pre- The height of positioning mechanism is adjustable, to change the height of the parallel four-bar extension mechanism and Kuan Chizhenluo mechanism；

Ranging mechanism, the ranging mechanism are installed on the front end of the rack, for detecting the distance between trunk；

Collecting mechanism is unfolded in covering of the fan, is set to the lower section of the Kuan Chizhenluo mechanism, and the fruit for falling to vibration is collected；

Roll shaft baffle transport mechanism, one end is located at the lower ending opening of covering of the fan expansion collecting mechanism, for what will be collected Fruit is transmitted；

Thread drum classification mechanism is set to the side of the roll shaft baffle transport mechanism, for dividing the fruit of transmission Grade.

2. pre-determined bit vibration as described in claim 1 falls layering picking machine, it is characterised in that: the parallel four-bar extension mechanism packet Lower supporting plate is included, the lower supporting plate is horizontally placed in the rack, it is hinged with four rocking bars on the lower supporting plate, four The hinge joint of rocking bar and lower supporting plate is rectangle, and rocking bar equal length described in four, rocking bar upper end described in four is hinged with Horizontal upper backup pad, the Kuan Chizhenluo mechanism are installed on the upper backup pad；

It is realized and is connected by shaft between two rocking bars at rear, the worm gear of its rotation of driving is fixed in the shaft, it is described Worm gear is driven by vertically extending worm drive, the worm screw by the first motor.

3. pre-determined bit vibration as claimed in claim 2 falls layering picking machine, it is characterised in that: the Kuan Chizhenluo mechanism includes flat Row is articulated with the left swing bar and right swing rod of the upper backup pad upper surface, and the left swing bar and right swing rod extend forward and be equipped with a left side Wide tooth and right wide tooth, the left wide tooth and right wide tooth are for being inserted into fruit branch；

The upper surface of the upper backup pad is equipped with the cam between left swing bar and right swing rod, and the cam revolves in the horizontal plane Turn that the left swing bar and right swing rod is driven to vibrate, is also connected with reset spring between the left swing bar and right swing rod；

Second motor is additionally provided on the lower surface of the lower supporting plate, by universal between second motor and cam Axis connection.

4. pre-determined bit vibration as claimed in claim 3 falls layering picking machine, it is characterised in that: the layering pre-locating mechanism includes Four cylinders being installed in the rack, cylinder described in four is vertically arranged and support plays the lower supporting plate, described The height of lower supporting plate is adjusted by the cylinder.

5. pre-determined bit vibration as claimed in claim 4 falls layering picking machine, it is characterised in that: the ranging mechanism is is installed on State the infrared range-measurement system of front end of rack.

6. pre-determined bit vibration as claimed in claim 5 falls layering picking machine, it is characterised in that: collecting mechanism packet is unfolded in the covering of the fan Include the left gear and right gear being meshed, the central axis of the left gear and right gear extends vertically, fixed on the left gear There is the left covering of the fan bar of synchronous rotation, the right wing face bar of synchronous rotation, the left covering of the fan are fixed on the right gear Bar and right wing face bar are symmetrical arranged with vertical plane and have angle between vertical plane；

It further include the left covering of the fan auxiliary rod and right wing face auxiliary rod being fixedly installed, the left covering of the fan auxiliary rod and right wing face auxiliary rod It is symmetrical arranged with vertical plane and there is angle between vertical plane；

Covering of the fan is equipped between the left covering of the fan auxiliary rod and left covering of the fan bar and between right wing face auxiliary rod and right wing face bar Cloth, when the left covering of the fan bar and right wing face bar go to contact, the left covering of the fan auxiliary rod, left covering of the fan bar, right wing face auxiliary rod with Accommodating chamber is surrounded between the bar of right wing face, for accepting the fruit fallen.

7. pre-determined bit vibration as claimed in claim 6 falls layering picking machine, it is characterised in that: the roll shaft baffle transport mechanism packet The funnel positioned at the accommodating chamber lower ending opening is included, further includes the conveyer belt extending at the funnel, is set on the conveyer belt There is several baffles, when the conveyer belt is mobile, fruit is delivered in the thread drum classification mechanism by the baffle.

8. pre-determined bit vibration as claimed in claim 7 falls layering picking machine, it is characterised in that: the thread drum classification mechanism packet Horizontally disposed roller is included, helical baffle is fixed in the roller, is coated with polyethylene foams on the helical baffle, When the roller rotates, the fruit advances along the helical baffle；

The fruit is delivered to one end of the roller by the baffle, and several through-holes are provided on the roller, the through-hole Size is gradually increased from described baffle one end to the other end；

Multiple buffering slideways are arranged side by side in the lower section of the roller.