CN208891232U

CN208891232U - apple picker

Info

Publication number: CN208891232U
Application number: CN201821245158.5U
Authority: CN
Inventors: 娄岳海; 黄明钧; 黄磊; 盛静芳; 黄楷瑞
Original assignee: Zhejiang Institute of Mechanical and Electrical Engineering Co Ltd
Current assignee: Quzhou Zhongheng Agriculture Technology Co ltd
Priority date: 2018-08-03
Filing date: 2018-08-03
Publication date: 2019-05-24
Anticipated expiration: 2028-08-03

Abstract

An apple picking machine includes a movable mobile cart, the mobile cart is provided with a rotating lifting picking mechanism and a circulating packaging collecting mechanism, and the rotating lifting picking mechanism and the circulating packaging collecting mechanism are connected by a buffer card position device. The lifting and picking mechanism includes a connected rotation control device and a lifting and picking device, and the circulating packaging collecting mechanism includes a foam net opening device. The structure of the utility model is reasonable and compact, and the problem that apples are difficult to pick is solved by automatic picking instead of manual picking, the picking efficiency of apples is improved, the operation is safe and stable, the fruits are protected from damage and the freshness of the apples is ensured, and bagging can be carried out after picking. Packaging, eliminating the manual assembly line process from picking to packaging and transportation, reducing labor intensity, good use effect, and suitable for promotion.

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

1. An apple picking machine, comprising a movable mobile cart (1), the mobile cart (1) is provided with a rotating lift picking mechanism and a circulating packaging collecting mechanism, between the rotating lifting picking mechanism and the circulating packaging collecting mechanism; It is connected through a buffer card position device, and is characterized in that: the rotating lifting and picking mechanism includes a connected rotating control device and a lifting picking device, and the rotating control device includes a first rotating vertically connected to the rear end of the mobile cart (1). A rotating rod (2), the bottom end of the first rotating rod (2) is connected with a second rotating rod (3) located in front of the first rotating rod (2) synchronously and vertically rotating, and the second rotating rod (3) ) a rotating plate (4) is fixed on the top, and the rotating plate (4) is rotatably connected with a fixed plate (5) with an adjustable rotation angle up and down;

The lifting and picking device includes a lifting bracket (6) that is automatically lifted, the top of the lifting bracket (6) is fixed with a picker and a camera (7) for identifying apples, and the camera (7) is fixed on the straight line behind the picker, The picker is composed of two upper and lower occlusal pieces (8) that are rotatably connected, and the occlusal pieces (8) have an arc-shaped piece structure and the occlusal ends are pointed;

The buffer clamping device includes a vertically arranged buffer pipe (9), the top of the buffer pipe (9) is connected below the outlet of the picker through a funnel structure, and the buffer pipe (9) goes from top to bottom along the pipeline. Blocking rods (10) are staggered at the lower intervals, the bottom outlet end of the buffer pipe (9) is connected with a connecting pipe (11) for transverse transmission, and a set of circumferentially uniformly arranged connecting pipes (11) are rotatably connected below the connecting pipe (11). the clamping plate (12), the clamping plate (12) extends into the connecting pipe (11) and the rotating surface is located on the path of the apple passing through;

The circulating packaging collection mechanism includes a foam net opening device, and a fixing frame (13) is arranged on the foam net opening device, and the inner bottom of the fixing frame (13) is rotatably connected with a holding claw (14) for holding a single apple. , the outlet end of the connecting pipe (11) passes through the fixing frame (13) and is matched with the facing claws (14). The supporting claws (14) are located at the middle bottom of the front and rear side hook groups, and the hook groups are composed of a set of evenly spaced force-rotating hook claws (15). To the bottom, a mouth opening channel is formed by hooking the front and rear sides of the foam net and pulling down the mouth gradually, and a movable electrofusion pen (16) is provided on the mobile cart (1). 16) The front end is the cutting part of the hot melt cutting foam net, and the cutting part extends between the hook groups and is located above the support claw (14).

2. The apple picking machine according to claim 1, characterized in that: the bottom of the mobile cart (1) is provided with a horizontally horizontal quadrilateral support (17), and the quadrilateral support (17) is a connecting rod rotationally connected A deformed structure is formed, and the first rotating rod (2) and the second rotating rod (3) are respectively fixedly connected to the center of the front and rear connecting rods of the quadrilateral bracket (17).

3. The apple picking machine according to claim 1, characterized in that: the moving cart (1) is provided with a horizontal plate (18) sleeved on the second rotating rod (3), and the rotating plate ( 4) A group of rolling parts are arranged on the circumference of the bottom, the bottom ends of the rolling parts are connected with first balls (19) in rolling connection, and the bottom ends of the first balls (19) are in rolling fit with the surface of the horizontal plate (18).

4. The apple picking machine according to claim 1, characterized in that: the front end of the fixed plate (5) is connected to the rotating plate (4) through hinge rotation, and the mobile cart (1) is provided with a lift A top rod (20) is connected, the top of the top rod (20) is rollingly connected with a second ball (21), and the top of the second ball (21) is pressed against the bottom surface of the rear end of the fixing plate (5).

5. The apple picking machine according to claim 1 or 4, characterized in that: the lifting bracket (6) is formed by superimposing an X-shaped link structure, and the bottom ends of the lifting bracket (6) are respectively connected by sliding blocks. On the fixing plate (5), the sliding blocks are connected by positive and negative screw rods (22), and the sliding blocks are respectively connected to the reverse threads on both sides of the positive and negative screw rods (22). A motor is connected to the tail end of the positive and negative thread screw (22).

6. The apple picking machine according to claim 1, characterized in that: the top of the lifting bracket (6) is provided with an inclined part that is inclined upward, the picker is located at the front end of the inclined part, and the camera (7) is fixed on the On the inclined portion, a steering gear (23) for controlling the rotation angle is respectively connected to the engaging piece (8).

7. The apple picking machine according to claim 1, characterized in that: the front and rear sides of the fixing frame (13) are provided with a transmission chain (25) symmetrically arranged in a figure of eight, and the hook group is fixed on the transmission chain (25). 25), the hook (15) is rotatably connected to the transmission chain (25) through the torsion spring (24), and the hook (15) on the fixing frame (13) close to the pawl (14) travels on the path With stop lever.

8. The apple picking machine according to claim 7, characterized in that: the hooks (15) of the hook group are arranged in pairs on the left and right, and hooks (15) of the same height on the transmission chain (25) on the front and rear sides ) are staggered from each other.

9. The apple picking machine according to claim 7 or 8, wherein the mobile cart (1) is rotatably connected with a rotating roller (26) for winding the foam net, and the transmission chain (25) is in the middle The top is provided with a pair of clamping rollers (27) that clamp the foam web.

10. The apple picking machine according to claim 1, characterized in that: a collection box (28) controlled by a PLC is movably connected to the mobile cart (1), and the collection box (28) is located at the holding claw (14). ), the rotating lift picking mechanism and the circulating packaging collecting mechanism are both connected to the PLC.