CN208891232U - Apple picking - Google Patents

Abstract

A kind of apple picking, it include moveable mobile handcart, mobile handcart is equipped with rotation lifting picking mechanism and circulation packaging collecting mechanism, pass through buffering positioner connection between rotation lifting picking mechanism and circulation packaging collecting mechanism, rotation lifting picking mechanism includes the control device for pivoting being connected and lifting picker, and circulation packaging collecting mechanism includes foam web bag mouth opener.The utility model it is structurally reasonable, compact; by being picked automatically instead of artificial picking; it solves the problems, such as the picking of apple difficulty, improves the picking efficiency of apple, safe operation is stablized; protection fruit is injury-free and ensures apple freshness; it can be packed after picking with bagging, eliminate manually from picking to packing and the pipelined process transported, reduce labor intensity; using effect is good, is suitable for promoting.

Description

Apple picking

Technical field

The utility model relates to fruit picking technical field more particularly to a kind of fruit picking equipment, specifically a kind of apples Fruit picking machine.

Background technique

At present when apple garden is picked, the artificial workpeople for picking apple holds fruit basket and picks manually, excessively high Fruit also uses ladder, and the apple that hand is taken off will also be knocked down in basket, and manual steps process is cumbersome.It is examined on the spot by orchard It examines, discovery has following problem:

(1) workpeople plucks apple using hand getting, and number frequently be easy to cause hand wound and arm fatigue and legs and feet not It is suitable.

(2) different height of apple development, workpeople solves to be to use ladder to the Softening of peak apple, very inconvenient Also it can not guarantee safety.

(3) apple that hand is plucked is piled into the quality that fruit basket has damaged apple, hand haulage and packaging and joint sealing it is a series of Flow path efficiency is low, and labour is big.

Using artificial picking, not only low efficiency, the amount of labour is big, and when picking needs to use ladder, and the soil bumps in orchard are not Flat degree cannot ensure artificial picking safety, while artificial new line fruit-picking also has injury to the cervical vertebra of worker for a long time, Trunk can be inevitably touched when hand getting picks fruit, picking of the ladder stay on trunk is risky, for above problem, needs A kind of completely new seed harvester is wanted, daily picking job requirement is met.

Utility model content

The utility model will solve the above-mentioned problems of the prior art, provide a kind of apple picking, solve to pass at present System picking efficiency is low, the problem of cannot packing, and meets the needs of fast and safely picking.

The utility model solves the technical solution of its technical problem use: this apple picking includes moveable Mobile handcart, mobile handcart be equipped with rotation lifting picking mechanism and circulation packaging collecting mechanism, rotation lifting picking mechanism and By buffering positioner connection between circulation packaging collecting mechanism, rotation lifting picking mechanism includes the rotation control being connected Device processed and lifting picker, control device for pivoting includes the first rotating bar for being rotatably connected on mobile handcart tail end vertically, First rotating bar bottom end synchronizes the second rotating bar being rotatably connected in front of the first rotating bar vertically, the second rotating bar top It is fixed with rotating disc, the fixed plate for rotating upwardly and downwardly adjustable angle is rotatably connected on rotating disc.After being arranged in this way, in order to make to go up and down Picker or so to angle adjustable, when operator operate the first rotating bar when, the second rotating bar and rotating disc exist therewith The rotating effect of lifting picker is realized in rotation, and fixed plate rotates upwardly and downwardly adjustable angle, makes to go up and down picker with one Fixed front and back inclination angle ability adapts to more picking situations and environment.

Lifting picker includes the lifting support of automatic lifting, and lifting support top is fixed with device for picking and identification apple The camera of fruit, camera are fixed on device for picking straight line rear, and device for picking is made of the bite film that upper and lower two panels is rotatablely connected, stings Piece is closed to be arc chip architecture and be engaged end in tipped.The different height of apple tree is cultivated according to orchard worker, lifting support can be with Device for picking is sent to and is positioned close to the position of apple and height, apple exact height position by camera, apple enters picking After in the bite film of device, bite film rotates pinch off carpopodium, realizes picking function.

Buffering positioner includes the separator tube being vertically arranged, and separator tube top is connected to device for picking by funnel structure Outlet lower section, separator tube is interior, and along pipeline, interleaved is equipped with countercheck rod from top to bottom, and separator tube outlet at bottom end is connected with transverse direction The connecting tube of transmission, connecting tube rotated down are connected with the block board equipped with the arrangement of one group of even circumferential, and block board extends to company In adapter tube and plane of rotation is located on apple route via；Apple is about fallen down from two meters of height after picking, due under gravity Terminal-velocity degree is fast, if directly whereabouts apple can be damaged, separator tube is linked together by funnel structure and device for picking, and is buffered Pipe is using the plastic material of elastic lightweight, its advantage is that fatigue strength is high, ageing-resistant performance is good, can recycle and bear apple whereabouts Impact dynamics, staggered countercheck rod can carry out reduction of speed to the apple of whereabouts up and down in separator tube, in this way after apple falls, After multiple buffer function, apple speed slows down, and ensure that fruit body is complete, and last apple is rolled down in connecting tube and incited somebody to action Its claw for being oriented to caudal end egress；Block board in connecting tube, which successively rotates, to be accomplished to control apple and is individually oriented to according to falling order Claw covers foam web for subsequent apple and prepares.

Circulation packaging collecting mechanism includes foam web bag mouth opener, and foam web bag mouth opener is equipped with fixed frame, fixed Lower rotation is connected with the claw for holding single apple in frame, and connecting tube outlet end passes through fixed frame and cooperates face claw, fixed Frame go forward rear side be equipped with splayed configuration setting cycle rotation hook pawl group, claw be located at front and back side hook pawl group central bottom, hook pawl The hook pawl for the Forced rotation that group is arranged by one group of uniform intervals forms, and front and back side, which hooks, to be formed from top to bottom between pawl group by hook pawl hooks Side and the channel of dehiscing gradually dehisced firmly is pulled down before and after foam web, and mobile handcart is equipped with moveable electric smelting pen, before electric smelting pen End is the cutting part of hot melt cutting foam web, and cutting part extend into hook to be located above claw between pawl group.When apple is by buffering Speed-down action is later on claw, and side hooks pawl group and rotates simultaneously before and after starting motor driven, foam web from dehisce channel roof into Enter, hook pawl and catch on foam web front and rear sides respectively and pull down, gradually increases in downdraw process since front and back side hooks pawl relative distance Add, be gradually open between foam web until fully opening and covering on the apple of claw, electric smelting pen is opened after apple puts on foam web Mobile and cutting part using front end begin for the foam web cutting above apple, electric smelting pen is sequentially advanced, cuts, retracts, just It is a square motion process for cutting foam web, cutting finishes, and hooks pawl and continues to move and rotated retraction by external force, hooks at this time Pawl is completed to unclamp foam web work.

Mobile handcart bottom is equipped with horizontal horizontal quadrangle bracket, four sides as a further improvement of the utility model, Shape bracket is that link rotatable connects to form distressed structure, and the first rotating bar and the second rotating bar are respectively fixedly connected in quadrangle branch Before and after frame on end link center.Quadrangle bracket is the deformability that has of rotation connection, quadrangle after the rotation of the first rotating bar Deformation of timbering is at parallelogram, and the second rotating bar also rotates synchronously therewith in this process, when operator operates first When rotating bar, by the change for the quadrangle bracket being attached thereto, make the turn disc angle on vehicle, and we control four Side shape bracket rotates turntable within the scope of 0-180 ° of angle, guarantees that adjustable angular range is big as far as possible, also solves and adopt Existing " dead point " problem, realizes the rotating effect of lifting picker during plucking.

Mobile handcart, which is equipped with, as a further improvement of the utility model, covers the level board in the second rotating bar, turns Moving plate lower circumference is arranged with one group of rolled portion, and rolled portion bottom end, which rolls, is connected with the first ball, the first ball bottom end and level Plate surface rolls cooperation.If being unable to satisfy the requirement of stable structure in view of rotating disc fully relies on the support of the second rotating bar, It is played a supporting role by the first ball of rolled portion to rotating disc after level board is added, and the first ball is to roll, rotation Disk rotates rolling by the first ball on level board, and rotating effect is still guaranteed.

Front edge of board is fixed as a further improvement of the utility model, to be rotatably connected on rotating disc by hinge, it is mobile Cart is equipped with lifting and is connected with mandril, rolls at the top of mandril and is connected with the second ball, presses against fixed plate at the top of the second ball On tail end bottom surface.Hinge connection makes fixed front edge of board rotation, presses against on fixed plate tail end bottom surface at the top of mandril by ball, when Fixed plate can rotate within the scope of 30-45 ° when mandril is gone up and down, and making to go up and down has adjusting anteversion and retroversion while picker is able to rotate The ability at angle, this mechanism have many advantages, such as to turn to flexible, compact-sized, not detent, adapts to the picking situations of more complexity, the Contact of the point with face between two balls and fixed plate, reduce contact area and also the second ball be it is rotatable, subtract significantly Lack parts depreciation, extends part service life.

Lifting support is superimposed by X-type link mechanism and is formed as a further improvement of the utility model, lifting support bottom end It is slidably connected in fixed plate, is connected between sliding block by positive and negative tooth screw rod, sliding block is connected to positive and negative by sliding block respectively On the reverse thread of tooth screw rod two sides, positive and negative tooth screw rod tail end is connected with motor.Positive and negative tooth screw rod is driven to rotate by motor, this When sliding block in fixed plate towards or away from sliding, thus make lifting support realize raising and lowering function.

The rake tilted upward, device for picking position are equipped at the top of lifting support as a further improvement of the utility model, In rake front end, camera is fixed on rake, and the steering engine of control rotational angle is connected separately on bite film.Device for picking Being arranged upward with camera shooting head tilt can observe from below and close, and after reducing the interference of branch around, device for picking is close to apple Fruit is easier, and camera identifies that apple is more acurrate, improves picking efficiency；And device for picking is mutually stung by the bite film of 1/4 arc of two panels It closes, the gap between upper and lower bite film either bites apple or apple falls and can meet the requirements, in steering engine control The rotational angle of lower bite film realizes the purpose for cutting carpopodium.

Supporting plate is fixed on mobile handcart as a further improvement of the utility model, supporting plate support is in separator tube and company Take over junction bottom.In view of separator tube and connecting tube junction are the biggish regions of apple falling impacts, use for a long time Afterwards, junction is easily damaged, and supporting plate can play the role of bracing reinforcement, is protected junction, is prolonged the service life.

As a further improvement of the utility model, fixed frame go forward rear side be equipped with the symmetrically arranged transmission chain of splayed configuration, It hooks pawl group to be fixed on transmission chain, hooks pawl and be rotatably connected on transmission chain by torsional spring, close to the hook pawl row of claw on fixed frame Bar is equipped with through route.It hooks pawl group and drives the rotation for realizing itself by transmission chain, each hook pawl installs torsional spring additional and rotated Cooperation hooks the bar that pawl encounters bottom after the foam web that hook pawl pulls down encases apple, hooks pawl stress and in torsional spring twisting force Rotation retracts, and unclamps foam web at this time, hooks pawl and pops up under the effect of torsion spring again after bar, recycles bagging movement of dehiscing.

The hook pawl or so for hooking pawl group as a further improvement of the utility model, is arranged in pairs, transmission chain described in the side of front and back Upper level hook pawl mutually staggers setting.Hooking pawl or so and being arranged in pairs to hold while catch in side of foam web or so makes Foam web is dehisced bigger more regular, and not ipsilateral hook pawl, which mutually staggers setting, to reduce accounting for for structure with tight space and structure Use space.

The rotation for winding foam web is rotatably connected on mobile handcart as a further improvement of the utility model, Roller, transmission chain center top are equipped with the pinch roll that a pair clamps foam web.Rotating roller is for winding foam web, and foam web is from clamping Enter channel of dehiscing between roller, foam web is continually supplied in the case where hooking pawl and driving, and greatly promotes the packaging efficiency of foam web.

The mobile collecting box for being connected with PLC control, collecting box on mobile handcart as a further improvement of the utility model, Below claw, rotation lifting picking mechanism and circulation packaging collecting mechanism are connect with PLC.Collecting box is steeped for collecting The good apple of foam net cover, collecting box is removable so as to adjust the relative position between cabinet and claw, can move under PLC control Keep apple regularly arranged in the case, subsequent packages is facilitated to handle；PLC is collected with rotation lifting picking mechanism and circulation packaging respectively Mechanism connection makes its action that cooperates.

This picking method using apple picking, the steps include:

A: pushing under mobile handcart to apple tree, goes up and down the lifting support starting of picker, and camera identification is simultaneously accurate After positioning apple height, lifting support altitude location, the first rotating bar of rotation is to drive the second rotating bar, the second rotating bar band Turn Moving plate and fixed plate rotation realize that lifting picker turns to, adjust the angle the position for finally choosing picking apple；

B: the bite film of device for picking opens and apple is allowed to enter, and carpopodium is cut in bite film occlusion, and apple is dropped out from device for picking；

C: apple is fallen into separator tube, is rolled down in connecting tube by the deceleration of countercheck rod, and block board rotation once passes through One apple, apple are rolled on claw；

D: it hooks the rotation of pawl group and respectively catches on foam web side using hook pawl and pull down and dehisce, finally by foam net cover in apple On, electric smelting pen cuts off foam web, hooks pawl and retracts and unclamp foam web, claw overturning apple falls and collects；

E: it repeats above-mentioned movement and realizes circulation picking apple.

The utility model has the advantages that: the utility model it is structurally reasonable, compact, by being picked automatically instead of artificial Picking solves the problems, such as the picking of apple difficulty, improves the picking efficiency of apple, and safe operation is stablized, and protection fruit is injury-free And ensure apple freshness, it can be packed, be eliminated manually from picking to packing and the pipelined process transported with bagging after picking, Labor intensity is reduced, using effect is good, is suitable for promoting.

Detailed description of the invention

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

Fig. 2 is the structural schematic diagram of the utility model；

Fig. 3 is the right view of the utility model；

Fig. 4 is the structural schematic diagram of the utility model rotation lifting picking mechanism；

Fig. 5 is the right view of the utility model rotation lifting picking mechanism；

Fig. 6 is the structural schematic diagram of rotating disc and fixed plate part；

Fig. 7 is the cross-sectional view in the direction A-A in Fig. 5；

Fig. 8 is the structural schematic diagram of the utility model circulation packaging collecting mechanism；

Fig. 9 is the structural schematic diagram of the utility model foam web bag mouth opener；

Figure 10 is the main view of the utility model foam web bag mouth opener.

Description of symbols: mobile handcart 1, the first rotating bar 2, the second rotating bar 3, rotating disc 4, fixed plate 5, lifting branch Frame 6, camera 7, bite film 8, separator tube 9, countercheck rod 10, connecting tube 11, block board 12, fixed frame 13, claw 14 hook pawl 15, electric smelting pen 16, quadrangle bracket 17, level board 18, the first ball 19, mandril 20, the second ball 21, positive and negative tooth screw rod 22, Steering engine 23, torsional spring 24, transmission chain 25, rotating roller 26, pinch roll 27, collecting box 28.

Specific embodiment

The utility model is described in further detail with reference to the accompanying drawing:

Referring to attached drawing: this apple picking in the present embodiment includes moveable mobile handcart 1, mobile handcart 1 Be equipped with rotation lifting picking mechanism and circulation packaging collecting mechanism, rotation lifting picking mechanism and circulation packaging collecting mechanism it Between by buffering positioner connection, rotation lifting picking mechanism includes the control device for pivoting that is connected and lifting picking dress It sets, control device for pivoting includes the first rotating bar 2 for being rotatably connected on 1 tail end of mobile handcart vertically, and 2 bottom end of the first rotating bar is same Step is rotatably connected to the second rotating bar 3 positioned at 2 front of the first rotating bar vertically, is fixed with rotating disc at the top of the second rotating bar 3 4, the fixed plate 5 for rotating upwardly and downwardly adjustable angle is rotatably connected on rotating disc 4.

Lifting picker includes the lifting support 6 of automatic lifting, and 6 top of lifting support is fixed with device for picking and identification The camera 7 of apple, camera 7 are fixed on device for picking straight line rear, be rotatablely connected by upper and lower two panels 8 groups of bite film of device for picking At bite film 8 is arc chip architecture and occlusion end is in tipped.

Buffering positioner includes the separator tube 9 being vertically arranged, and is connected to picking by funnel structure at the top of separator tube 9 Device outlet lower section, separator tube 9 is interior, and along pipeline, interleaved is equipped with countercheck rod 10, the connection of 9 outlet at bottom end of separator tube from top to bottom There is the connecting tube 11 of cross drive, 11 rotated down of connecting tube is connected with the block board 12 equipped with the arrangement of one group of even circumferential, card Position plate 12 extends in connecting tube 11 and plane of rotation is located on apple route via.

Circulation packaging collecting mechanism includes foam web bag mouth opener, and foam web bag mouth opener is equipped with fixed frame 13, Gu Determine lower rotation in frame 13 and be connected with the claw 14 for holding single apple, 11 outlet end of connecting tube passes through fixed frame 13 and cooperates face Claw 14, fixed frame 13 go forward rear side be equipped with splayed configuration setting cycle rotation hook pawl group, claw 14 be located at front and back side hook pawl Group central bottom hooks the hook pawl 15 of Forced rotation that pawl group arrange by one group of uniform intervals and forms, between the hook pawl group of front and back side from Top to bottm, which is formed, to be caught on foam web front and back side by hook pawl 15 and pulls down the channel of dehiscing gradually dehisced, and mobile handcart 1 is equipped with can Mobile electric smelting pen 16,16 front end of electric smelting pen are the cutting part of hot melt cutting foam web, and cutting part extend into the meta position for hooking pawl group Above claw 14.

1 bottom of mobile handcart is equipped with horizontal horizontal quadrangle bracket 17, and quadrangle bracket 17 is that link rotatable connects shape At distressed structure, the first rotating bar 2 and the second rotating bar 3 are respectively fixedly connected at 17 front and back end link center of quadrangle bracket On.

Mobile handcart 1, which is equipped with, covers the level board 18 in the second rotating bar 3, and 4 lower circumference of rotating disc is arranged with one group Rolled portion, rolled portion bottom end, which rolls, is connected with the first ball 19, and 19 bottom end of the first ball and 18 surface scrolls of level board cooperate.

5 front end of fixed plate is rotatably connected on rotating disc 4 by hinge, and mobile handcart 1, which is equipped with lifting connection mandril, to be had 20, it rolls at the top of mandril 20 and is connected with the second ball 21, pressed against at the top of the second ball 21 on 5 tail end bottom surface of fixed plate.

Lifting support 6 is superimposed by X-type link mechanism and is formed, and 6 bottom end of lifting support passes through sliding block respectively and is slidably connected at admittedly It on fixed board 5, is connected between sliding block by positive and negative tooth screw rod 22, sliding block is connected to the reverse thread of positive and negative 22 two sides of tooth screw rod On, positive and negative 22 tail end of tooth screw rod is connected with motor.

The rake tilted upward is equipped at the top of lifting support 6, device for picking is located at rake front end, and camera 7 is fixed on On rake, the steering engine 23 of control rotational angle is connected separately on bite film 8.

Supporting plate is fixed on mobile handcart 1, supporting plate support is in 11 junction bottom of separator tube 9 and connecting tube.

Fixed frame 13 goes forward rear side equipped with the symmetrically arranged transmission chain 25 of splayed configuration, and the hook pawl group is fixed on transmission chain 25 On, the hook pawl 15 is rotatably connected on transmission chain 25 by torsional spring 24, close to the hook pawl 15 of claw 14 on the fixed frame 13 Route is equipped with bar.

The hook pawl 15 or so for hooking pawl group is arranged in pairs, and level hook pawl 15 mutually staggers on transmission chain 25 described in the side of front and back Setting.

The rotating roller 26 for winding foam web is rotatably connected on mobile handcart 1,25 center top of transmission chain is equipped with one To the pinch roll 27 for clamping foam web.

The mobile collecting box 28 for being connected with PLC control on mobile handcart 1, collecting box 28 are located at 14 lower section of claw, and rotation rises Drop picking knot mechanism and circulation packaging collecting mechanism are connect with PLC.

This picking method using apple picking, the steps include:

A: pushing under mobile handcart 1 to apple tree, and the lifting support 6 for going up and down picker starts, and the identification of camera 7 is simultaneously quasi- After determining position apple height, 6 altitude location of lifting support, the first rotating bar 2 of rotation is to drive the second rotating bar 3, and second turn Lever 3 drives rotating disc 4 and fixed plate 5 to rotate, and realizes that lifting picker turns to, adjusts the angle and finally choose picking apple Position.

B: the bite film 8 of device for picking opens and apple is allowed to enter, and carpopodium is cut in the occlusion of bite film 8, and apple falls from device for picking Out.

C: apple is fallen into separator tube 9, is rolled down in connecting tube 11 by the deceleration of countercheck rod 10, the rotation of block board 12 one Secondary to pass through an apple, apple is rolled on claw 14.

D: it hooks the rotation of pawl group and respectively catches on foam web side using hook pawl 15 and pull down and dehisce, finally by foam net cover in apple On, electric smelting pen 16 cuts off foam web, hooks pawl (15) and retracts and unclamp foam web, claw 14 overturns apple and falls and collect.

E: it repeats above-mentioned movement and realizes circulation picking apple.

Although the utility model is shown and described by reference to preferred embodiment, this profession is common Technical staff is it is to be appreciated that within the scope of the claims, can make various variation in form and details.

Claims (10)

1. a kind of apple picking, includes moveable mobile handcart (1), mobile handcart (1) is equipped with rotation lifting picking Mechanism and circulation packaging collecting mechanism, pass through buffering positioner between rotation lifting picking mechanism and circulation packaging collecting mechanism Connection, it is characterized in that: the rotation lifting picking mechanism includes the control device for pivoting being connected and lifting picker, institute Stating control device for pivoting includes the first rotating bar (2) for being rotatably connected on mobile handcart (1) tail end vertically, first rotating bar (2) bottom end synchronizes the second rotating bar (3) being rotatably connected in front of the first rotating bar (2) vertically, second rotating bar (3) top is fixed with rotating disc (4), and the fixed plate (5) for rotating adjustable angle up and down is rotatably connected on the rotating disc (4)；

The lifting picker includes the lifting support (6) of automatic lifting, and lifting support (6) top is fixed with picking The camera (7) of device and identification apple, the camera (7) are fixed on device for picking straight line rear, and the device for picking is by upper and lower two Bite film (8) composition of piece rotation connection, the bite film (8) is arc chip architecture and occlusion end is in tipped；

The buffering positioner includes the separator tube (9) being vertically arranged, and is connected at the top of the separator tube (9) by funnel structure It connects below device for picking outlet, along pipeline, interleaved is equipped with countercheck rod (10) from top to bottom in the separator tube (9), described slow Washing pipe (9) outlet at bottom end is connected with the connecting tube (11) of cross drive, and connecting tube (11) rotated down, which is connected with, to be equipped with The block board (12) of one group of even circumferential arrangement, the block board (12) extends in connecting tube (11) and plane of rotation is located at apple On route via；

The circulation packaging collecting mechanism includes foam web bag mouth opener, and the foam web bag mouth opener is equipped with fixed frame (13), the interior lower rotation of the fixed frame (13) is connected with the claw (14) for holding single apple, connecting tube (11) outlet End across fixed frame (13) cooperate face claw (14), the fixed frame (13) go forward rear side be equipped with splayed configuration setting circulation turn Dynamic hook pawl group, the claw (14) are located at front and back side and hook pawl group central bottom, and the hook pawl group is arranged by one group of uniform intervals Forced rotation hook pawl (15) composition, formed between hook pawl group described in the side of front and back from top to bottom and foam web caught on by hook pawl (15) Front and back side simultaneously pulls down the channel of dehiscing gradually dehisced, and the mobile handcart (1) is equipped with moveable electric smelting pen (16), the electricity Molten pen (16) front end is the cutting part of hot melt cutting foam web, and the cutting part extend into hook to be located on claw (14) between pawl group Side.

2. apple picking according to claim 1, it is characterized in that: the mobile handcart (1) bottom is equipped with horizontal horizontal Quadrangle bracket (17), the quadrangle bracket (17) be link rotatable connect to form distressed structure, first rotating bar (2) it is respectively fixedly connected on the end link center of quadrangle bracket (17) front and back with the second rotating bar (3).

3. apple picking according to claim 1 covers it is characterized in that: the mobile handcart (1) is equipped at second turn Level board (18) in lever (3), rotating disc (4) lower circumference are arranged with one group of rolled portion, the rolled portion bottom end rolling Dynamic to be connected with the first ball (19), the first ball (19) bottom end and level board (18) surface scrolls cooperate.

4. apple picking according to claim 1 connects it is characterized in that: the fixed plate (5) front end is rotated by hinge It connects on rotating disc (4), the mobile handcart (1) is equipped with lifting and is connected with mandril (20), rolls at the top of the mandril (20) It is connected with the second ball (21), is pressed against on fixed plate (5) tail end bottom surface at the top of second ball (21).

5. apple picking according to claim 1 or 4, it is characterized in that: the lifting support (6) is by X-type link mechanism Superposition is formed, and lifting support (6) bottom end passes through sliding block respectively and is slidably connected on fixed plate (5), is led between the sliding block Cross the connection of positive and negative tooth screw rod (22), the sliding block is connected on the reverse thread of positive and negative tooth screw rod (22) two sides, it is described just Anti- tooth screw rod (22) tail end is connected with motor.

6. apple picking according to claim 1 tilts upward it is characterized in that: being equipped at the top of the lifting support (6) Rake, the device for picking is located at rake front end, and the camera (7) is fixed on rake, on the bite film (8) It is connected separately with the steering engine (23) of control rotational angle.

7. apple picking according to claim 1, it is characterized in that: the fixed frame (13) is gone forward, rear side is equipped with splayed configuration Symmetrically arranged transmission chain (25), the hook pawl group are fixed on transmission chain (25), and the hook pawl (15) is turned by torsional spring (24) Dynamic to be connected on transmission chain (25), hook pawl (15) route on the fixed frame (13) close to claw (14) is equipped with gear Bar.

8. apple picking according to claim 7, it is characterized in that: hook pawl (15) left and right for hooking pawl group is set in pairs It sets, level hook pawl (15) mutually staggers setting on transmission chain described in the side of front and back (25).

9. apple picking according to claim 7 or 8, it is characterized in that: being rotatablely connected on the mobile handcart (1) useful In the rotating roller (26) of winding foam web, transmission chain (25) center top is equipped with the pinch roll that a pair clamps foam web (27)。

10. apple picking according to claim 1, it is characterized in that: movement is connected with PLC on the mobile handcart (1) The collecting box (28) of control, the collecting box (28) are located at below claw (14), the rotation lifting picking mechanism and circulation packet Dress collecting mechanism is connect with PLC.