CN208370306U - A kind of fruit picker and fruit picking robot - Google Patents

Abstract

The utility model discloses a kind of fruit picker and fruit picking robot, which includes: picking rack, picking mechanism, picking transmission mechanism, the axis direction reciprocating motion that picking transmission mechanism is used to drive picking sleeve along picking sleeve；Picking captures mechanism and can move in bar sliding slot, adjust the distance between bar and picking ratch, first lip shape rib and the second lip shape rib are fixed on picking sleeve and bar, convenient for fruit to be fixed on to the top of the first lip shape rib and the second lip shape rib, the picking sleeve of picking transmission mechanism driving picking mechanism moves back and forth in the axial direction, picking sleeve drives picking cutter to move back and forth along picking ratch, the blade push rod of picking cutter is moved along waveform cam, the limb of fruit lower part is sheared, complete picking movement, multiple picking sleeves work at the same time, each picking sleeve is equipped with multiple picking cutters, realize high-volume fruit picking.

Description

A kind of fruit picker and fruit picking robot

Technical field

The utility model category picking fruit field, more particularly, to a kind of fruit picker and fruit picking machine People.

Background technique

Production of fruit big country of China and the largest fruit in the world country of consumption.The rapid development of fruit-growing industry improves The market demand of Machinery for orchard.Labour used in picking operation accounts for 33%~50% of labour used in entire production process, mesh The fruit picking overwhelming majority in preceding China is still based on manually picking.It is more complicated to pick operation, it is seasonal very strong, if using Artificial picking, not only low efficiency, the amount of labour are big, but also be easy to cause the damage of fruit, if manpower cannot not enough be picked in time Also result in economic loss.With the development of robot technology, it is expected to solve manpower shortage, reduces worker's labour by force Degree, the labour risk for improving worker's labour comfort level, reducing worker, furthermore also improve the economic benefit of orchard worker, thus mention Height picking mechanization of operation degree has important meaning.

Current fruit picking robot or the picking for laying particular emphasis on single fruit, or the protection to fruit is laid particular emphasis on, it adopts It is lower to pluck inconvenience, picking efficiency.

Therefore, it is necessary to provide a kind of picker for capableing of efficiently a large amount of fruit-pickings.

Utility model content

The purpose of this utility model is the particular surroundings for fruit picking operation, provide it is a kind of can it is automatic, efficiently, picking The device of fruit.

To achieve the goals above, the utility model proposes a kind of fruit picker, comprising:

Rack is picked, the picking machine is provided with bar sliding slot and crank pit parallel to each other, the inside of the crank pit Face has been equidistantly positioned multiple crankshafts；

Picking mechanism, the picking mechanism include multiple picking ratch and multiple picking sleeves, the multiple picking ratch For semicircle mast, waveform cam, the end of the multiple picking ratch are vertically equipped on the semi-cylindrical of the semicircle mast The side of the picking rack is successively correspondingly arranged in the position of the multiple crankshaft, and the semi-cylindrical is vertical； The barrel of the multiple picking sleeve in the axial direction is equipped with opening, and the multiple picking sleeve is sheathed on the multiple picking tooth Bar surface, and the waveform cam is arranged at the opening, the upper section of the opening is equipped with multiple picking cutters, described The blade push rod of multiple picking cutters is set on the waveform cam；

Transmission mechanism is picked, the picking transmission mechanism includes multiple cranks, crank parallel connection connecting rod, multiple bush connecting rods, Described crank one end is connect with the crankshaft, and the other end is connect with the crank parallel connection connecting rod, described bush connecting rod one end With the picking sleeve connection, the other end is connect with the crank parallel connection connecting rod, and the picking transmission mechanism is described for driving The axis direction that sleeve is picked along the picking sleeve moves back and forth；

Picking captures mechanism, and it includes multiple bars that the picking, which captures mechanism, and the multiple bar equidistant vertical is set to On the slide bar, the slide bar is set in the bar sliding slot, and the multiple picking ratch and multiple picking sleeves are parallel simultaneously It is arranged in a staggered manner, the picking captures mechanism and can move along the bar sliding slot.

Another aspect according to the present utility model provides a kind of fruit picking robot, the fruit picking robot packet Include: lifting device, the lifting device include fine tuning elevating mechanism and fast lifting mechanism, described to be set to the fast lifting At the top of mechanism；Above-mentioned picker, the picker are set at the top of the fine tuning elevating mechanism；Hand steered cart, it is described Hand steered cart is set to the fast lifting mechanism bottom；Fruit transmission module, fruit transmission module one end are connected to institute Picker is stated, the other end passes through the fast lifting device, is connected at the top of the hand steered cart；Fruit branch separation module, institute State the middle part that fruit branch separation module is set to the fruit transmission module.

Beneficial effect provided by the utility model is:

1, picking captures mechanism and can move in bar sliding slot, the distance between adjustment bar and picking ratch, and first Lip shape rib and the second lip shape rib are fixed on picking sleeve and bar, convenient for fruit is fixed on the first lip shape rib and the The picking sleeve of the top of two lip shape ribs, picking transmission mechanism driving picking mechanism moves back and forth in the axial direction, and then adopts Plucking sleeve drives picking cutter to move back and forth along picking ratch, and the blade push rod for picking cutter is moved along waveform cam, so that Picking cutter on two superposition blade blade when and the when of being staggered and be aligned, the limb of fruit lower part is sheared, is cut The fruit cut rolls into the duct frame of picking cutter side, completes picking movement, and multiple picking sleeves are worked at the same time, each adopted Sleeve is plucked equipped with multiple picking cutters, realizes that high-volume is picked.

2, multiple pickings are set right above picking mechanism and dredge bar, when fruit picking mechanism is inserted into tree from fruit tree lower end In hat, multiple pickings are dredged bar and can be supported on biggish limb on picking cutter, and fruit is adopted being exposed at as far as possible On off-hook structure, and it is by the first lip shape rib and the second lip shape rib that fruit is fixed therebetween, make the tree of fruit lower end Branch comes into full contact with picking cutter, improves picking efficiency, and prevent Cutting Tool Damage fruit.

3, fruit picking frame is arranged on the support movable stand of the picking mechanism above fine tuning lifting platform, is moved by bar Dynamic push rod one end is connect with the bar that picking captures mechanism, the arc of the other end and the bar translating cam on insertion fine tuning hoistable platform In shape slot, picking mechanism driving device drives picking to capture mechanism edge for driving picking mechanism support movable stand to move horizontally Bar sliding slot is mobile, contacts the first lip shape rib of bar with the second lip shape rib for picking sleeve close, will be on branch Fruit is fixed, convenient for improving the efficiency of picking fruit.

Other features and advantages of the utility model will then part of the detailed description can be specified.

Detailed description of the invention

The utility model is more fully described below with reference to accompanying drawings.Although showing the preferred of the utility model in attached drawing Embodiment, however, it is to be appreciated that may be realized in various forms the utility model without should be by embodiments set forth herein It is limited.On the contrary, thesing embodiments are provided so that the utility model is more thorough and complete, and can be practical by this Novel range is completely communicated to those skilled in the art.

Fig. 1 shows the structural schematic diagram according to the fruit picker in the utility model one embodiment.

Fig. 2 shows according to the structural schematic diagram for picking transmission mechanism in the utility model one embodiment.

Fig. 3 shows the structural schematic diagram according to the picking rack in the utility model one embodiment.

Fig. 4 shows the structural schematic diagram according to the picking mechanism in the utility model one embodiment.

Fig. 5 shows the structural schematic diagram according to the picking sleeve in the utility model one embodiment.

Fig. 6 shows the structural schematic diagram according to the picking ratch in the utility model one embodiment.

Fig. 7 shows the structural schematic diagram according to the second lip shape rib in the utility model one embodiment.

Fig. 8 shows the structural schematic diagram according to the picking cutter in the utility model one embodiment.

Fig. 9 shows the structural schematic diagram according to the bar in the utility model one embodiment.

Figure 10 shows the structural schematic diagram that mechanism is captured according to the picking in the utility model one embodiment.

Figure 11 shows the structural schematic diagram that bar is blocked according to the branch in the utility model one embodiment.

Figure 12 shows the structural schematic diagram according to the duct frame in the utility model one embodiment.

Figure 13 shows the mounting structure schematic diagram according to the duct frame in the utility model one embodiment.

Figure 14 shows the structural schematic diagram according to the fine tuning hoistable platform in the utility model one embodiment.

Figure 15 shows the schematic diagram of the fruit picking robot of another embodiment according to the present utility model.

Figure 16 shows the schematic diagram of the lifting device of another embodiment according to the present utility model.

Figure 17 shows the schematic diagrams of the fast lifting mechanism of another embodiment according to the present utility model.

Figure 18 shows the schematic diagram of the fine tuning elevating mechanism of another embodiment according to the present utility model.

Figure 19 shows the schematic diagram of the vertical lifting mechanism of another embodiment according to the present utility model.

Figure 20 shows the schematic diagram of the horizontal mobile mechanism of another embodiment according to the present utility model.

Figure 21 shows the schematic diagram of the fruit branch separator of another embodiment according to the present utility model.

Figure 22 shows the fruit transmission device and fruit branch separator of another embodiment according to the present utility model Schematic diagram.

Figure 23 shows the schematic diagram of the fruit transmission device of another embodiment according to the present utility model.

Figure 24 shows the scheme of installation of the wriggling solenoid valve of another embodiment according to the present utility model.

Figure 25 shows the schematic diagram of the wriggling solenoid valve of another embodiment according to the present utility model.

Figure 26 shows the schematic diagram of the cutter of another embodiment according to the present utility model.

Specific embodiment

The preferred embodiment of the utility model is more fully described below with reference to accompanying drawings.Although showing this reality in attached drawing With novel preferred embodiment, however, it is to be appreciated that may be realized in various forms the utility model, without that should be illustrated here Embodiment limited.On the contrary, thesing embodiments are provided so that the utility model is more thorough and complete, and can incite somebody to action The scope of the utility model is completely communicated to those skilled in the art.

The embodiments of the present invention provide a kind of fruit picker, comprising:

Rack is picked, picking machine is provided with bar sliding slot and crank pit parallel to each other, and the medial surface of crank pit is equidistant It is provided with multiple crankshafts；Picking mechanism, picking mechanism include multiple picking ratch and multiple picking sleeves, multiple picking teeth Bar is semicircle mast, is vertically equipped with waveform cam on the semi-cylindrical of semicircle mast, the ends of multiple picking ratch successively with The position of multiple crankshafts is correspondingly arranged in the side of picking rack, and semi-cylindrical is vertical；Multiple picking sleeves are along axis The barrel in direction is equipped with opening, and multiple picking sleeves are sheathed on multiple picking ratch surfaces, and waveform cam is set to opening Place, the upper section of opening are equipped with multiple picking cutters, and the blade push rod of multiple picking cutters is set on waveform cam；Picking Transmission mechanism, picking transmission mechanism include multiple cranks, crank parallel connection connecting rod, multiple bush connecting rods, and crank one end and crank turn Axis connection, the other end are connect with crank parallel connection connecting rod, and bush connecting rod one end and picking sleeve connection, the other end is in parallel with crank to be connected Bar connection, picking transmission mechanism is for driving picking sleeve to move back and forth in the axial direction；Picking captures mechanism, picks trap Structure includes multiple bars, and multiple bar equidistant verticals are set on slide bar, and slide bar is set in bar sliding slot, multiple picking ratch Parallel with multiple picking sleeves and be arranged in a staggered manner, picking captures mechanism and can move along bar sliding slot.

Specifically, fruit picker is symmetrically arranged two groups, and two groups of pickers can be movable relatively.

After fruit picker is adjusted to fruit tree proper height, picking rack is inserted into fruit tree low side branch, is picked The bar translating cam captured on bar mobile putter and fine tuning hoistable platform in mechanism cooperates, so that picker is mobile, It picks capture mechanism simultaneously to slide in bar sliding slot, so that the opposite picking sleeve of bar does the movement for clamping fruit, the first lip Shape rib and the second lip shape rib are mutually close, fruit are fixed on the first lip shape rib and the second lip shape rib, so that water The lower end branch of fruit is sufficiently with picking tool contact, and the crank that movement mechanism is picked in driving rotates, and crank parallel connection connecting rod makes it Remaining crank is identical as by driving crank-motion state, and crank rotation drives the picking sleeve of picking mechanism back and forth to transport along picking ratch It is dynamic, blade push rod and the relative motion of waveform cam of cutter are picked, so that the knife-blade of two superpositions on picking cutter When and the when of being staggered and be aligned, picking cutter cuts off the lower end branch of fruit, and fruit is tumbled to duct frame, and it is dynamic to complete picking Make.

Preferably, the lower part for picking rack is equipped with crank driving device, and crank driving device is connect with crank.

Specifically, crank driving device drives a crank in multiple cranks to rotate, and is closed by multiple cranks and crank Joining connecting rod connection, realizes that remaining crank is identical as by driving crank-motion state, crank rotation drives bush connecting rod reciprocally swinging, So that picking sleeve moves reciprocatingly relative to picking ratch.

Preferably, the upper surface of multiple bars is equipped with fixed plate, and fixed plate is equipped with inclined to picking cutter First lip shape rib.Fixed plate be used to for the first lip shape rib being fixed on the second consistent position of lip shape rib height, and protect The first lip shape rib is held to picking tool orientation inclination.

Preferably, multiple picking sleeves are equipped with to the inclined second lip shape rib of the first lip shape rib.First Lip shape rib and the second lip shape rib formation splayed are symmetrical, so that the distance between the first lip shape rib and the second lip shape rib Less than picking the distance between sleeve and bar, when picker rises, the first lip shape rib and the second lip shape rib are first connect Contact fruit, by adjusting bar and picking the distance between sleeve, by the fruit on branch be fixed on the first lip shape rib and Upper surface between second lip shape rib prevents picking tool contact fruit, damaged fruit.

Specifically, the first lip shape rib is identical as the structure size of the second lip shape rib, is made of rubber material.

Preferably, picking rack is equipped with multiple pickings and dredges bar, and multiple pickings dredge bar and are set to picking set Right above cylinder.Picker is inserted into the branch of bottom end, and is gradually increasing, and picking is dredged bar and adopted for biggish limb to be supported on It plucks on ratch, is being exposed at fruit between the first lip shape rib and the second lip shape rib as far as possible, avoids compared with bough pressure Firmly pick sleeve；The surface that bar is located at picking sleeve is dredged in picking, and after the limb of fruit is sheared, picking is dredged bar and is conducive to Fruit is tumbled to the duct frame of bar side.

Preferably, further include duct frame, duct frame be it is U-shaped, pipeline construction is placed in the rear side and gear of picking cutter Between bar.

Specifically, two duct frames are superimposed in parallel between the rear side and bar for being fixed on picking cutter.Duct frame is for solid Determine fruit transmission device, convenient for the fruits transport under picking to ground, prevent fruit from directly falling, loses fruit.

Specifically, the downside of multiple railings is equipped with duct frame fixing axle, and the downside of multiple picking ratch is solid equipped with duct frame Determine hole.

Specifically, picking ratch and bar in picking rack since pipeline construction is placed in the downside of picking ratch and bar On installation site it is parallel, but height is different, thus duct frame it is U-shaped both ends length it is different so that duct frame is mounted on picking When on the downside of ratch and bar, U-shaped symmetrical configuration；The U-shaped minimum point of duct frame is equipped with duct frame folding rotary shaft, by duct frame Symmetrically be divided into two parts, for when the railing that is connect with duct frame and picking ratch relative motion and spacing change when, duct frame The property of can adapt to is centered on duct frame folding rotary shaft to two lateral bends.

U-shaped two side pole of duct frame is long different, and the long boom end of duct frame is equipped with duct frame fixed rotating shaft hole, and duct frame is solid Determine shaft hole and connect with pipeline fixing axle by pin shaft, the quarter butt end of duct frame is equipped with duct frame fixed pin shaft, and duct frame is solid Rationed marketing axis and the cooperation of duct frame fixation hole are fixed.

Preferably, the downside for picking sleeve is equipped with duct frame mounting groove, duct frame one end and duct frame mounting groove Interior picking ratch connection, the other end are connect with the downside of multiple bars.

Specifically, duct frame mounting groove avoids interfering when picking sleeve and moving back and forth along picking ratch.Duct frame It is set to the downside of picking ratch and bar, since picking ratch is parallel with installation site of the bar in picking rack but high Degree is different, so the both ends length difference that duct frame is U-shaped, U-shaped when so that duct frame being mounted on the downside of picking ratch and bar Symmetrical configuration.

Preferably, picking rack has picking rack support base, and the downside of bar is equipped with bar mobile putter. Picking rack support base is fixed on rack is picked above fine tuning hoistable platform, and bar mobile putter one end and picking capture mechanism Bar connection, the other end connect with the bar translating cam on fine tuning hoistable platform.

It preferably, further include fine tuning hoistable platform and picking mechanism driving device, fine tuning hoistable platform is equipped with Picking mechanism supports movable stand, and picking mechanism driving device is for driving picking mechanism support movable stand to move horizontally, picking machine Erection is placed on picking mechanism support movable stand, bar translating cam is provided on hoistable platform, bar translating cam is equipped with Arc groove.

Preferably, the downside that picking captures mechanism is equipped with bar mobile putter, and bar mobile putter is inserted into bar In the arc groove of translating cam, picking captures mechanism and can arcuately slot slide.

Specifically, fine tuning platform driving device drives hydraulic pump by control hydraulic pump motor, and manipulation control lock makes two The mobile hydraulic cylinder of the symmetrically arranged picker in side is mobile simultaneously, so that in picker insertion fruit tree bottom end branch, both ends When picker moves, picking captures bar translating cam on bar mobile putter and fine tuning hoistable platform in mechanism and cooperates, Slide bar in bar sliding slot, bar is close in picking ratch.

Preferably, the end of multiple bars is equipped with the branch vertical with bar and blocks bar.

Specifically, the end of multiple bars is equipped with railing spring reset axis axis, and branch railing is turned by railing spring reset Axis is installed vertically on the end of bar, for intercepting the branch near bar end, fruit is made to be exposed at picker as far as possible On, it is convenient for picking.

Embodiment 1

Fig. 1 shows the structural schematic diagram according to the fruit picker in the utility model one embodiment, Fig. 2 shows According to the structural schematic diagram of the picking transmission mechanism in the utility model one embodiment, Fig. 3 shows practical new according to this The structural schematic diagram of picking rack in type one embodiment, Fig. 4 are shown according to adopting in the utility model one embodiment The structural schematic diagram of off-hook structure, Fig. 5 show the structural schematic diagram according to the picking sleeve in the utility model one embodiment, Fig. 6 shows the structural schematic diagram according to the picking ratch in the utility model one embodiment, and Fig. 7 shows practical according to this The structural schematic diagram of the second lip shape rib in novel one embodiment, Fig. 8 are shown according to the utility model one embodiment In picking cutter structural schematic diagram, Fig. 9 shows the structural representation according to the bar in the utility model one embodiment Figure, Figure 10 show the structural schematic diagram that mechanism is captured according to the picking in the utility model one embodiment, and Figure 11 is shown The structural schematic diagram of bar is blocked according to the branch in the utility model one embodiment, Figure 12 is shown according to the utility model one The structural schematic diagram of duct frame in embodiment, Figure 13 show the peace according to the duct frame in the utility model one embodiment Assembling structure schematic diagram, Figure 14 show the structural schematic diagram according to the fine tuning hoistable platform in the utility model one embodiment.

As shown in figs. 1 to 14, embodiment provides a kind of fruit picker, comprising:

Rack 11 is picked, picking rack 11 is equipped with bar sliding slot 112 and crank pit 110 parallel to each other, crank pit 110 Medial surface has been equidistantly positioned multiple crankshafts 111；Picking mechanism 18, picking mechanism 18 include multiple 181 Hes of picking ratch Multiple picking sleeves 182, multiple picking ratch 181 are semicircle mast, and it is convex that the semi-cylindrical of semicircle mast is vertically equipped with waveform The end of wheel 1812, multiple picking ratch 181 is equipped with picking ratch fixed mounting 1813, picks ratch fixed mounting 1813 The side of picking rack 11 is successively correspondingly arranged in the position of multiple crankshafts 111, and semi-cylindrical is vertical；Multiple pickings The barrel of sleeve 182 in the axial direction is equipped with opening, and multiple picking sleeves 182 are sheathed on multiple 181 surfaces of picking ratch, and wave Shape wave cam 1812 is arranged at the opening, and the upper section of opening is equipped with multiple picking cutters 185, passes through blade securing screw 186 On the cutter fixing threaded hole 1822 for the upper section that multiple picking cutters 185 are fixed on opening, picking cutter 185 includes two folded The blade push rod 18525 of the cutter 1851 and bottom knife 1852 added, multiple picking cutters 185 is set to waveform cam 1812 On；Transmission mechanism is picked, picking transmission mechanism includes multiple cranks 12, crank parallel connection connecting rod 13, multiple bush connecting rods 14, crank 12 one end are connect with crankshaft 111, and the other end is connect with crank parallel connection connecting rod 13, the end surface of multiple picking sleeves 182 Equipped with connecting rod fixation hole 1823,14 one end of bush connecting rod is connect with the connecting rod fixation hole 1823 of multiple picking sleeves 182, the other end It is connect with crank parallel connection connecting rod 13, picking transmission mechanism is used to drive the picking sleeve 182 along the axis side of picking sleeve 182 To reciprocating motion, picking captures mechanism, and it includes multiple bars 172 that picking, which captures mechanism 17, multiple 172 equidistant vertical of bar settings In on slide bar 174, slide bar 174 is set in bar sliding slot 112, and multiple picking ratch 181 are parallel with picking sleeve 182 and are staggered Setting, picking capture mechanism and can move along bar sliding slot 112.The end of multiple picking ratch 181 is equipped with picking ratch and fixes Mounting base 1813, multiple picking ratch 181 are fixedly connected by picking ratch fixed mounting 1813 with picking rack 11, multiple It picks the end adjacent with ratch fixed mounting is picked of sleeve 182 and is equipped with picking ratch fixing seat escape groove 1824.

The lower part for picking rack 11 is equipped with crank driving device 19, and crank driving device 19 and one of crank 12 connect It connects, other crankshafts 12 are connect with crank parallel connection connecting rod 13, and then realize synchronous rotary.

The upper surface of multiple bars 172 is equipped with fixed plate 175, and fixed plate 175 is equipped with to picking cutter 185 inclined the One lip shape rib 171；Multiple picking sleeves 182 are equipped with to the inclined second lip shape rib 183 of the first lip shape rib 171；It adopts Off-hook frame 11 is equipped with multiple pickings and dredges bar 15, and multiple pickings are dredged bar 15 and are arranged in parallel in right above picking mechanism 18.The Two lip shape ribs 181 are made of rubber rib 1831 and lip shape rib fixed hole 1831, and the second lip shape rib 183 passes through side lip Second lip shape rib 181 is fixed on the lip shape rib fixed hole 1831 of the second lip shape rib 181 by fixed screw 184.

Fruit picker further includes duct frame 16, duct frame 16 be it is U-shaped, duct frame 16 is set to picking cutter 185 Between rear side and bar 172.The downside of multiple picking sleeves 182 is equipped with duct frame mounting groove 1821,16 one end of duct frame and pipe Picking ratch 181 in road frame mounting groove 1821 connects, and the other end is connect with the downside of bar 172.

The lower part for picking rack 11 is equipped with picking rack support base 113, and the downside of bar 172 is equipped with bar mobile putter 173。

It further include fine tuning hoistable platform 244 and picking mechanism driving device 243, fine tuning hoistable platform 244 is equipped with picking Mechanism supports movable stand 242, picking mechanism driving device 243 are adopted for driving picking mechanism support movable stand 242 to move horizontally Plucking mechanism driving device 243 is fluid pressure drive device, and picking rack 11 is set to picking mechanism by picking rack support base 113 It supports on movable stand 242, bar translating cam 1531 is provided on fine tuning hoistable platform 244, is set on bar translating cam 1531 There is arc groove, bar mobile putter 173 is inserted into arc groove, and can arcuately slot be slided.

The end of multiple bars 172 is equipped with the railing spring reset axis 1722 vertical with bar 172, and branch railing 1723 is logical The connection of railing spring reset shaft 1722 is crossed, the end of multiple bars 172 is installed vertically on；The downside of multiple railings is equipped with pipeline Frame fixing axle 1721, the downside of multiple picking ratch are equipped with duct frame fixation hole 1811, and U-shaped two side pole of duct frame 16 is long not Together, the long boom end of duct frame 16 is equipped with duct frame fixed rotating shaft hole 161, and 16 fixed rotating shaft hole 161 of duct frame is fixed with pipeline Axis 1721 is connected by pin shaft, and the quarter butt end of duct frame 16 is equipped with duct frame fixed pin shaft 163, duct frame fixed pin shaft 163 Cooperate with duct frame fixation hole 1811 and fix, the U-shaped minimum point of duct frame 16 is equipped with duct frame folding rotary shaft 162, by duct frame 16 are divided into two parts, are convenient for duct frame 16 to two lateral bends.

When fruit picker carries out picking operation, after picker is adjusted to proper height, manipulation picking mechanism is driven Dynamic device 243, driving picking mechanism support picking mechanism 18 fixed on movable stand 242 to move horizontally, picking mechanism 18 are inserted Enter in the branch of fruit tree bottom end, when two groups of 18 relative motions of picking mechanism, on bar mobile putter 173 and fine tuning hoistable platform 244 Bar translating cam 2411 cooperates, and when so that picking mechanism 18 is mobile, picking captures mechanism 17 and slides in bar sliding slot 112, So that the opposite picking sleeve 182 of bar 172 does the movement for clamping fruit, the first lip shape rib 171 and 181 phase of the second lip shape rib It is close, fruit is fixed on the first lip shape rib 171 and the second lip shape rib 181, so that the lower end branch of fruit is abundant With picking cutter 185 contact, driving picking transmission mechanism crank 12 rotate, crank parallel connection connecting rod 13 make remaining crank 12 with Identical by 12 motion state of driving crank, the rotation of crank 12 drives the picking sleeve 182 of picking mechanism 18 past along picking ratch 181 Blade push rod 18525 and 1812 relative motion of waveform cam of cutter 185 are picked in multiple movement, so that on picking cutter 185 Two superposition cutters 1852 and bottom knife 1851 blade when and the when of being staggered and be aligned, picking cutter 185 will be under fruit Branch cutting is held, fruit tumbles to duct frame 16, fruit transmission mechanism is provided in duct frame 16, is transported to ground for fruit Picking movement is completed in face.

Embodiment 2

As described in Fig. 1 to Figure 26, the fruit picking robot of the embodiment includes:

Robot chassis 5；Lifting device, lifting device setting is at 5 top of robot chassis；Fruit picker 1, fruit Picker 1 is arranged at the top of lifting device；One end of fruit transmission device, fruit transmission device is connected to fruit picker 1 bottom, the other end are connected to fruit branch separator；Fruit branch separator 4, the setting of fruit branch separator 4 are pushed up on robot chassis 5 Portion；Wherein, fruit picker includes picking rack 11, picking mechanism 18, picking transmission mechanism, picking cutter 185, picking machine Frame 11 is arranged at the top of lifting device, and picking mechanism 18 is vertically installed in picking rack 11, and picking sleeve 182 is sheathed on picking tooth Bar 181, picking transmission mechanism one end are fixed on picking 11 other end of rack and are fixed on picking sleeve 182, pick sleeve driver Structure can drive picking sleeve 182 to move back and forth along the axis direction of picking ratch 181, pick the blade push rod of cutter 185 18525 are cooperatively connected with the waveform cam 1812 on picking ratch 181.

Specifically, robot displacement is driven by robot chassis 5, more preferably robot tray bottom can be set ten thousand To wheel and locating rod, play the role of firm robot, drives fruit picker 1 to rise and decline by lifting device；It is logical 1 fruit-picking of fruit picker is crossed, the fruit after picking is delivered to machine by fruit transmission device and fruit branch separator 4 5 top of people chassis.Fruit picker 1 drives the picking sleeve 182 of picking mechanism 18 in picking tooth by picking transmission mechanism It is moved back and forth on the axial direction of bar 181, picking cutter 185 realizes the cutting to branch by picking ratch 181, after cutting Fruit falls into fruit transmission device and is recycled, can rapid picking fruit, while substantially increasing picking efficiency.

Preferably, fruit picking rack 11 is rectangular slab, is equipped with along the longitudinal direction of rectangular slab parallel to each other Lever sliding slot 112 and crank pit 110, the medial surface of crank pit 110 have been equidistantly positioned multiple crankshafts 111；

Pick ratch 181 be it is multiple, picking ratch 181 is semicircle mast, and semicircle mast is equipped with perpendicular to semi-cylindrical Waveform cam 1812, multiple picking ratch 181 are successively corresponding with the position of multiple crankshafts 111, and the half of picking ratch 181 Cylindrical surface is vertically arranged at the broadside surfaces of rectangular slab；

Pick sleeve 182 be it is multiple, multiple picking sleeves 182 barrels in the axial direction are equipped with opening, pick sleeve 182 Multiple picking ratch 181 are sheathed on, and waveform cam 1812 is arranged at the opening, one end of picking cutter 185 passes through opening It is connected to waveform cam 1812；Sleeve transmission mechanism is picked, picking sleeve transmission mechanism includes crank 12, crank parallel connection connecting rod 13, bush connecting rod 14, the connection of 12 one end crankshaft 111 of crank, the other end are connect with crank parallel connection connecting rod 13, bush connecting rod 14 One end is connect with picking sleeve 182, and the other end is connect with crank parallel connection connecting rod 13.

Preferably, picker further include: picking captures mechanism, and it includes multiple levers 17 that picking, which captures mechanism, Multiple 17 equidistant parallels of lever are set on slide bar 174, and slide bar 174, from being staggered, is arranged with multiple 181 parallel equidistants of picking ratch In in lever sliding slot 112, picking captures mechanism and can move along lever sliding slot 112.

Preferably, it is provided with the first lips at the top of lever 17, picks and is provided with the second lips at the top of sleeve 182 183。

It is highly preferred that picking 1 lower part of rack is equipped with crank driving device 19, crank driving device 19 is connect with crank 12.

It is highly preferred that the rack side surface of multiple 111 upsides of crankshaft is equipped with multiple pickings and dredges bar 15.

It is highly preferred that the downside of picking sleeve 182 is equipped with duct frame mounting groove 1821,16 one end of duct frame is set to pipeline Picking ratch 181 in frame mounting groove 1821, the other end are set to the downside of multiple levers 17.

It is highly preferred that picking rack 11 divides into organic frame support base 113, the downside of lever 17 is equipped with lever mobile putter 173。

It is highly preferred that the end of multiple levers 17, which is equipped with the branch vertical with lever, blocks bar 1723.

Preferably, lifting device includes: fast lifting mechanism 3, fine tuning elevating mechanism 2；Wherein, rapid elevator Structure 3 includes lower bracing frame 34, upper support frame 31, the first scissors connecting rod 33, the second scissors connecting rod, fine tuning elevating mechanism mounting platform 24, thread slider 37 and screw thread slide bar 35；Wherein, the first scissors connecting rod 33 and the second scissors connecting rod are set to 34 liang of lower bracing frame Side, the setting of fine tuning elevating mechanism mounting platform 24 are arranged in lower bracing frame 34 in 31 top of upper support frame, thread slider 37, spiral shell The threaded one end of line slide bar 35 is connected to thread slider 37；Fine tuning elevating mechanism is arranged in fine tuning elevating mechanism mounting platform 24 On.

Preferably, fine tuning elevating mechanism includes hydraulic pump 23 and hydraulic pump mounting rack, vertical lifting mechanism, level Mobile mechanism；Wherein, 23 mounting rack of hydraulic pump is arranged on fine tuning elevating mechanism mounting platform 24, and hydraulic pump 23 is arranged hydraulic It pumps on mounting rack；Vertical lifting mechanism includes driving tapered gear shaft 2452, first bevel gear axis 2451, second bevel gear axis 2455 And elevating lever 245, one end of driving tapered gear shaft 2452 are connected to the output end of hydraulic pump 23, the one of first bevel gear axis 2451 End is engaged in one end of driving tapered gear shaft 2451, and second bevel gear axis 2455 is engaged in the another of first bevel gear axis 2451 End, one end of elevating lever 245 are engaged in one end of second bevel gear axis 2455, and the rotation of driving tapered gear shaft 2452 can drive liter Drop bar 245 rises or falls；Wherein, horizontal mobile mechanism includes fine tuning hoistable platform 244, picking mechanism support movable stand 242 And picking mechanism driving device 243, fine tuning hoistable platform 244 are fixed on 245 top of elevating lever, picking mechanism supports movable stand 242 are set to 244 top of fine tuning hoistable platform, and 243 one end of picking mechanism driving device is connected to fine tuning hoistable platform 244, another End is connected to picking mechanism support movable stand 242；

The setting of fruit picker 1 is at 242 top of picking mechanism support movable stand.

Preferably, it is provided with lever translating cam 1531 at the top of picking mechanism support movable stand 242, lever is mobile Cam 1531 is equipped with arc groove, and the lever mobile putter 173 for being set to picking transmission mechanism bottom is inserted into arc groove, and energy Enough arcuately slots slide.

It is highly preferred that the first scissors connecting rod 33 and the second scissors connecting rod respectively include the first scissors bar and the second scissors bar, One end of first scissors bar is articulated with one end of the second scissors bar.

It is highly preferred that lower bracing frame 34 includes a pair of lower support sliding rail, lower fixed link and drop shot 36, in lower support sliding rail Portion is provided with sliding slot, and the lower support sliding rail of a pair is respectively arranged at lower fixed link two sides, and the both ends of drop shot are respectively arranged at lower branch Support sliding rail；

Upper support frame 31 includes that sliding rail, upper fixed link and upper slide bar 32 are supported in a pair, is provided in the middle part of upper support sliding rail Sliding slot, support sliding rail is respectively arranged at fixed link two sides in a pair, and the both ends of upper slide bar 32 are respectively arranged at lower support sliding rail； First scissors connecting rod 33 and the second scissors connecting rod are set to 34 two sides of lower bracing frame, and 33 one end of the first scissors connecting rod is connected to downslide 36 other end of bar is connected to upper slide bar 32, and second scissors connecting rod one end is connected to lower fixed link, and the other end is connected to fixed link； Thread slider is arranged on drop shot 36, and the threaded one end of screw thread slide bar 35 is connected to thread slider 37.

It is highly preferred that being arranged in the middle part of the first scissors bar of the first scissors connecting rod 33 and the first scissors bar of the second scissors connecting rod There is locating pin, is provided with locating pin in the middle part of the second scissors bar of the first scissors connecting rod and the second scissors bar of the second scissors connecting rod.

It is highly preferred that the hinged place of the first scissors bar and the second scissors bar is provided with reinforcing rod.

It is highly preferred that further including driving device, driving device is arranged in lower bracing frame, and screw thread slide bar can be driven to revolve Turn, drives lower fixed link and drop shot close to each other or separate.

It is highly preferred that first bevel gear axis 2451, second bevel gear axis 2455 and elevating lever 245 are two, two first Bevel gear shaft 2451 is engaged in the bevel gear of 2455 two sides of driving tapered gear shaft respectively, and two second bevel gear axis 2455 are nibbled respectively Together in the other end of two first bevel gear axis 2451, two elevating levers 245 are engaged in two second bevel gear axis 2455 respectively The other end.

It is highly preferred that horizontal mobile mechanism is two, it is respectively arranged at the top of two elevating levers 245.

It is highly preferred that vertical lifting mechanism further includes going up and down stable telescopic rod 246, goes up and down and stablize 246 one end of telescopic rod company It is connected to picking mechanism support movable stand 242, the other end is connected to fine tuning elevating mechanism mounting platform 24.

It is highly preferred that it is multiple for going up and down stable telescopic rod 246.

It is highly preferred that the installation direction of first bevel gear axis 2451 is perpendicular to driving tapered gear shaft 2452, second bevel gear The installation direction of axis 2455 is perpendicular to first bevel gear axis 2451, and the installation direction of elevating lever 245 is perpendicular to second bevel gear axis 2455。

It is highly preferred that further including hydraulic pump motor 21 and hydraulic oil container 22, hydraulic pump motor 21 and hydraulic oil container 22 are arranged On fine tuning elevating mechanism mounting platform 24.

It is highly preferred that it includes elevating screw 2454 and elevating screw sleeve 2453 that elevating lever 245, which includes elevating lever 245, rise Drop 2454 one end of screw rod is engaged in second bevel gear axis 2455, and the other end is connected to elevating screw sleeve 2453, elevating screw set Cylinder 2453 is connected to horizontal shifting platform 244.

Specifically, by the setting of thread slider and screw thread slide bar, the rotation of screw thread slide bar is driven, drop shot is driven to pass through cunning Slot drives unfolding and folding for the first scissors connecting rod and the second scissors connecting rod close to or far from lower fixed link, has adjusted down Height between support frame and upper support frame realizes the lifting for quickly adjusting upper support frame；Pass through lower bracing frame, upper support Structure is simple while the setting of frame, the first scissors connecting rod and the second scissors connecting rod keeps fast lifting device firm, for ease of maintenaince The generation of failure can be efficiently avoided with maintenance.

Preferably, fruit transmission device includes: fruit transmission mechanism 6, and fruit transmission mechanism 6 includes being sequentially connected Transmission pipeline, connecting pipe, wide opening pipeline 64 and outlet conduit 66, transmission pipeline is set in duct frame, transmits fruit Mechanism 6 is connected with picker；Pipeline creeping mechanism 7, pipeline creeping mechanism 7 include electromagnetism mounting plate 72 and are set to abampere Multiple wriggling solenoid valves 71 in loading board 72, multiple wriggling solenoid valves 71 are corresponding with the wide opening pipeline 64 of fruit transmission mechanism 6 to be set It sets, for driving fruit transmission mechanism 6.

Preferably, transmission pipeline includes three-way pipeline 61 and a pair of of horizontal pipeline 62, and three-way pipeline 61 includes two A input port and a delivery outlet, a pair of of horizontal pipeline 62 are respectively connected to two input ports, and horizontal pipeline 62 is set to picking 182 side of sleeve；Connecting pipe 63, one end of connecting pipe 63 are connected to delivery outlet, the other end and wide opening of connecting pipe 63 One end of pipeline 64 is connected；Wide opening pipeline 64, the other end of wide opening pipeline 4 are connected to one end of outlet conduit 66；Outlet Road 64, the other end of outlet conduit 64 are connected to the import of fruit branch separator 4；Fixed baffle 65, fixed baffle 65 and wide opening The side of pipeline 64 is fixedly connected；Wherein, a pair of of horizontal pipeline 62 is set in duct frame by buckle.

It is highly preferred that wide opening pipeline 64 include it is multiple be sequentially communicated heave section and vertical section, heave section and vertical section exist Substitute repeatedly under the driving of pipeline creeping mechanism.

It is highly preferred that wriggling solenoid valve 71 includes: valve seat 712, valve seat 712 includes bottom plate, is fixed on above bottom plate in parallel The starting stave of setting and the second riser, and it is set to the lower plate below bottom plate；Valve seat 712, valve seat include bottom plate, are fixed on Bottom plate both ends starting stave disposed in parallel and the second riser；Coil 711, coil 711 are set on bottom plate, perpendicular close to first Plate；The front of the second riser is arranged in upper valve rod 715, upper valve rod 715, passes through the second riser；Upper valve inhales iron 721, and upper valve inhales iron 721 are set to the rear of the second riser, adsorb upper valve rod 715；Upper valve head 716, upper valve head 716 are set to 715 front end of upper valve rod, It is correspondingly arranged with the recess section of wide opening pipeline 64.

It is connect with upper valve rod 715 by 714 property of reset spring bullet it is highly preferred that upper valve inhales iron 721.

It is highly preferred that upper valve, which inhales iron 721, is equipped with top shoe 713.

It is highly preferred that bottom plate, which is equipped with, interlocks connecting rod shaft 718.

It is highly preferred that wriggling solenoid valve 71 further include: lower valve rod 717, lower valve rod 717 is by interlocking connecting rod 719 and upper valve It inhales iron 721 to connect, lower valve rod 717 passes through lower plate, and lower valve rod 717 is equipped with sliding block；Interlock connecting rod 719, interlock connecting rod 719 with Interlock the rotation connection of connecting rod shaft 718, interlock connecting rod 719 and be equipped with upper hopper chute and gliding groove, upper hopper chute and gliding groove respectively with Top shoe 713 is connected with the sliding of sliding block 722；Lower valve head 720, lower Electrical heads are set to 717 front end of lower valve rod, with wide opening pipeline 65 section of heaving is correspondingly arranged.

Specifically, when wriggling solenoid valve 71 is powered, upper valve inhales the absorption upper valve rod 715 of iron 721, and valve head 716 leaves in drive The recess section of wide opening pipeline, under the action of interlocking connecting rod 719, lower valve head 720 is contacted with the section of heaving of wide opening pipeline, power-off When, under the action of reset spring 714, upper valve rod 715 is released, upper valve head 716 is close to recess section, by interlocking connecting rod 719 Under the action of, lower valve head 720 is separated with the section of heaving of wide opening pipeline, and driving wide opening pipeline heaves section and the progress of recess section repeatedly Substitute.

Specifically, power unit is connected with rotation axis, is uniformly fixedly installed multiple blades in rotation axis, power unit according to Blade rotation in sub-band turn turn and rotation axis, the fruit of picking enter on sieve plate from import, rotary unit rotation, branch Leaf meeting nature falls to the lower section of more horizontal stripes of sieve plate, and fruit continues to rotate, branches and leaves are fractureed with two adjacent blades, fruit It is real to be exported from outlet.

It is highly preferred that fruit branch separator 4 includes: sieve plate 45, sieve plate 45 includes more horizontal stripes；Coaming plate 46, coaming plate 46 are set It is placed on sieve plate 45, coaming plate 46 is equipped with import 41 and outlet 44；Rotary unit 42, rotary unit 42 are set in coaming plate 46 Portion is set to 45 side on sieve plate；Power unit 43, power unit 43 are set to 45 lower section of sieve plate, are connected with rotary unit 42；Its In, the outlet conduit of fruit transmission mechanism 6 is connected to the import 41 of fruit branch separator 6.

It is highly preferred that fruit branch separating mechanism further include: fixed frame 47, fixed frame 47 are set to 45 lower section of sieve plate, fruit branch point Structure 4 of disembarking is fixed on fast lifting mechanism 3 by fixed frame 47.

It is highly preferred that more horizontal stripes are arranged in the same direction, more horizontal stripes are successively away from the first distance.

It is highly preferred that first distance is 5cm.

It is highly preferred that rotary unit 42 includes: rotation axis, rotation axis is set at the center of sieve plate；Blade, multiple blades Uniformly it is set in rotation axis.

It is highly preferred that multiple blades are 2-4 blade.

It is highly preferred that power unit 43 and rotation axis connection.

It is highly preferred that power unit 43 is hydraulic motor.

It is highly preferred that sieve plate 45 is metal sieve plate, wooden sieve plate or plastics sieve plate.

It is highly preferred that import 41 is connected with fruit transmission mechanism 6.

Specifically, by the cooperation of rotary unit 43 and sieve plate 45, fruit and branches and leaves are automatically separated, improve the machine of picking Tool efficiency reduces the labor intensity of worker, improves the efficiency of fruit branch separation, reduces the labour risk of worker, avoid by branch Leaf scratches.

Specifically, power unit 43 is connected with rotation axis, and multiple blades, power unit are uniformly fixedly installed in rotation axis 43 successively drive rotation to turn to enter on sieve plate 45 with the blade rotation in rotation axis, the fruit of picking from import, rotary unit 42 rotations, branches and leaves meeting nature fall to the lower section of more horizontal stripes of sieve plate, and fruit continues to rotate with two adjacent blades, by branch Leaf fractures, and fruit is exported from outlet 44.

It is highly preferred that picking cutter 185 includes: picking knife rest 1856, pick solid equipped with blade pin shaft among knife rest 1856 Determine hole 1854；

Cutter 1851, the side of cutter 1851 are symmetrically provided with two rows of blade slots, set on the center line of cutter 1851 There are fixed sliding block and pin shaft hole, pin shaft hole is connect by pin shaft with blade pin shaft fixation hole；Bottom knife 1852, bottom knife 1852 wrap Bottom knife push rod and the upper knife edge for being set to bottom knife push rod two sides are included, it is sliding that the center line of bottom knife push rod is successively arranged first Slot, spring fixing glue and second sliding slot, laterally fixed sliding block is set in first sliding groove, and pin shaft is set in second sliding slot, bullet Reset spring 1853 is equipped between spring fixing glue and pin shaft, bottom knife can be moved up and down along first sliding groove and second sliding slot.

It is highly preferred that the two sides of blade pin shaft fixation hole, which are symmetrically arranged with, evades the buckle of reset spring 1853.

It is highly preferred that evading reset spring buckle is equipped with reset spring 1853, the steel wire of reset spring 1853 is tightly attached to The two sides of cutter.

It is highly preferred that picking knife rest 1856 is halfround bar slice, the lower part of halfround bar slice is equipped with fold-type side, and the both ends on fold-type side are equipped with Fixing threaded hole is installed.

It is highly preferred that picking knife rest 1856 is set on picking sleeve 182 by installing fixing threaded hole.

It is highly preferred that blade slot is barb-shaped.

It is highly preferred that blade slot is staggered with upper knife edge when spring relaxation, when spring compression, blade slot and upper knife edge are simultaneously.

Each embodiment of the utility model is described above, above description is exemplary, and non-exclusive, and And it is also not necessarily limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for Many modifications and changes are obvious for those skilled in the art.

Claims (10)

1. a kind of fruit picker characterized by comprising

Rack is picked, the picking machine is provided with bar sliding slot and crank pit parallel to each other, the medial surface etc. of the crank pit Distance is provided with multiple crankshafts；

Picking mechanism, the picking mechanism include multiple picking ratch and multiple picking sleeves, and the multiple picking ratch is half Cylindrical bar is vertically equipped with waveform cam on the semi-cylindrical of the semicircle mast, and the end of the multiple picking ratch is successively The side of the picking rack is correspondingly arranged in the position of the multiple crankshaft, and the semi-cylindrical is vertical；It is described The barrel of multiple picking sleeves in the axial direction is equipped with opening, and the multiple picking sleeve is sheathed on the multiple picking ratch table Face, and the waveform cam is arranged at the opening, the upper section of the opening is equipped with multiple picking cutters, the multiple The blade push rod of picking cutter is set on the waveform cam；

Transmission mechanism is picked, the picking transmission mechanism includes multiple cranks, crank parallel connection connecting rod, multiple bush connecting rods, described Crank one end is connect with the crankshaft, and the other end is connect with the crank parallel connection connecting rod, described bush connecting rod one end and institute Picking sleeve connection is stated, the other end is connect with the crank parallel connection connecting rod, and the picking transmission mechanism is for driving the picking Sleeve is moved back and forth along the axis direction of the picking sleeve；

Picking captures mechanism, and it includes multiple bars that the picking, which captures mechanism, and the multiple bar equidistant vertical is set to slide bar On, the slide bar is set in the bar sliding slot, and the multiple picking ratch is parallel with multiple picking sleeves and is arranged in a staggered manner, The picking captures mechanism and can move along the bar sliding slot.

2. fruit picker according to claim 1, which is characterized in that driven equipped with crank the lower part of the picking rack Dynamic device, the crank driving device are connect with the crank.

3. fruit picker according to claim 1, which is characterized in that the upper surface of the multiple bar, which is equipped with, to be fixed Plate, the fixed plate are equipped with to the inclined first lip shape rib of picking cutter.

4. fruit picker according to claim 3, which is characterized in that the multiple picking sleeve is equipped with to described The inclined second lip shape rib of first lip shape rib.

5. fruit picker according to claim 1, which is characterized in that the picking rack is equipped with multiple pickings and dredges Guide rod, the multiple picking are dredged bar and are arranged in parallel in right above the picking mechanism.

6. fruit picker according to claim 1, which is characterized in that further include duct frame, the duct frame is U Type, the pipeline construction are placed between the rear side and the bar of the picking cutter.

7. fruit picker according to claim 6, which is characterized in that the downside of the multiple picking sleeve is equipped with pipe Road frame mounting groove, described duct frame one end are connect with the picking ratch in the duct frame mounting groove, the other end with it is described The downside of multiple bars connects.

8. fruit picker according to claim 1, which is characterized in that further include fine tuning hoistable platform and picking mechanism Driving device, the fine tuning hoistable platform are equipped with picking mechanism and support movable stand, and the picking mechanism driving device is for driving The picking mechanism support movable stand to be moved to move horizontally, the picking machine erection is placed on the picking mechanism support movable stand, Bar translating cam is provided on the hoistable platform, the bar translating cam is equipped with arc groove.

9. fruit picker according to claim 8, which is characterized in that the downside that the picking captures mechanism is equipped with gear Bar mobile putter, the bar mobile putter are inserted into the arc groove of the bar translating cam, and the picking captures mechanism energy Enough to slide along the arc groove, the end of the multiple bar is equipped with the branch vertical with the bar and blocks bar.

10. a kind of fruit picking robot, special using fruit picker according to claim 1 to 9 Sign is that the fruit picking robot includes:

Lifting device, the lifting device include fine tuning elevating mechanism and fast lifting mechanism, the fine tuning elevating mechanism setting At the top of the fast lifting mechanism；The fruit picker is set to fine tuning elevating mechanism top；

Hand steered cart, the hand steered cart are set to the fast lifting mechanism bottom；

Fruit transmission module, fruit transmission module one end are connected to the fruit picker, and the other end passes through described fast Fast elevating mechanism is connected at the top of the hand steered cart；

Fruit branch separation module, the fruit branch separation module are set to the middle part of the fruit transmission module.