CN209897668U - Car is picked to scalable little touching shear type fruit intelligence of remote control - Google Patents

Abstract

The utility model relates to the technical field of fruit picking, in particular to a remote control retractable micro-touch shear type intelligent fruit picking vehicle, which comprises a vehicle frame; the lower extreme of frame is installed respectively and is used for picking the front wheel that the car turned to and is used for driving the track actuating mechanism that the car removed of picking, still includes the arm mechanism of installing on the frame through the electronic gyration dish and installs the automatic mechanism that snatchs of touching that is used for fruit to snatch picking in arm mechanism upper end, with the below that the automatic mechanism that snatchs of touching that arm mechanism connects is provided with the protection casing that is used for fruit to accept, and the lower extreme of protection casing passes through the guiding tube and communicates with the collecting box of installing on the frame, the upper end of frame still is provided with the case of placing battery box and control panel and 24V battery, and the 24V battery is connected with the control panel. The utility model discloses a dolly supports and collects the fruit picking device, has practiced thrift the human cost, has simplified follow-up work.

Description

Car is picked to scalable little touching shear type fruit intelligence of remote control

Technical Field

The utility model relates to a technical field is picked to fruit, specifically is a car is picked to scalable little touching shear type fruit intelligence of remote control.

Background

Fruit, referring to juicy plant fruit whose main taste is sweet and sour, is edible. The fruit not only contains rich nutrition, but also can promote digestion.

The fruit picker on the market at home is still in the stage of picking controlled by hands. Although there are many remote-control fruit pickers at home and abroad, the covered picking processes are not popularized and applied because of high technical layer and low picking efficiency. Under the too miscellaneous background of quantity huge, the follow-up flow of picking at fruit, the utility model discloses more can agree with peasant household's demand, pick, pack, transport fruit automatically. Due to the characteristics of small volume, high efficiency and flexibility, the picking machine can solve the problems in the picking process and has good market prospect.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a car is picked to scalable little touching shear type fruit intelligence of remote control to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a remote control retractable micro-touch shear type intelligent fruit picking vehicle comprises a vehicle frame; the fruit picking machine is characterized in that a front wheel used for steering the picking vehicle and a track driving mechanism used for driving the picking vehicle to move are respectively installed at the lower end of the frame, the front wheel is rotatably connected with the frame through a front wheel shaft, the fruit picking machine further comprises a mechanical arm mechanism installed on the frame through an electric rotary disc and a touch automatic grabbing mechanism installed at the upper end of the mechanical arm mechanism and used for grabbing fruits for picking, a protective cover used for accepting fruits is arranged below the touch automatic grabbing mechanism connected with the mechanical arm mechanism, the lower end of the protective cover is communicated with a collecting box installed on the frame through a guide pipe, a control panel and a 24V storage battery are further arranged at the upper end of the frame and placed in a battery box, the 24V storage battery is electrically connected.

As a further aspect of the present invention: the crawler driving mechanism comprises a crawler, protection plates, driving wheels and thrust wheels, the protection plates are arranged in a triangular structure, the thrust wheels are provided with two parts and are respectively located at three corners of the protection plates with the driving wheels, the crawler is sleeved on the outer sides of the two thrust wheels and the driving wheels, and the driving wheels are connected with the three-stage speed reducing mechanism through rear driving shafts fixed with the driving wheels.

As a further aspect of the present invention: the three-stage speed reducing mechanism comprises a motor, a pinion and a front driving gear, the front driving gear and a middle gear fixed with the front driving gear are fixed on a middle gear shaft rotationally connected with the symmetric side plates, the pinion is fixed on a rear gear shaft rotationally connected with the symmetric side plates, the pinion is meshed with the middle gear, the driving gear is meshed with a gear fixed on a pulley shaft, and the pulley shaft is rotationally connected with a large pulley fixed on an output shaft of the motor through a belt by a small pulley fixed on the pulley shaft.

As a further aspect of the present invention: the rear gear shaft is rotatably connected with the rear driving shaft through the meshing action of the pinion and a bull gear fixed on the rear driving shaft.

As a further aspect of the present invention: the mechanical arm mechanism comprises three sections of small telescopic arms, an electric push rod A, an electric push rod B and an electric push rod C, wherein the three sections of small telescopic arms are rotatably connected through a movable arm joint shaft, the electric push rod A, the electric push rod B and the electric push rod C are used for driving the three sections of small telescopic arms to rotate, the three sections of small telescopic arms are respectively an upper telescopic arm, a middle telescopic arm and a lower telescopic arm from top to bottom, two ends of the electric push rod A are respectively hinged to one sides of the upper telescopic arm and the middle telescopic arm, two ends of the electric push rod B are respectively hinged to one sides of the middle telescopic arm and the lower telescopic arm, the electric push rod B and the electric push rod A are located on two sides of the middle telescopic arm, two ends of the electric push rod C are respectively hinged to the lower telescopic arm and a support frame rotatably connected with the lower end of the.

As a further aspect of the present invention: the support frame is fixed on the electric rotary disc, and the upper end of the small telescopic arm positioned at the uppermost end is provided with a mechanical arm terminal joint connected with the touch automatic grabbing mechanism.

As a further aspect of the present invention: and the side end of the electric push rod A is provided with an auxiliary micro camera for determining the position of the fruit through imaging.

As a further aspect of the present invention: the automatic mechanism that snatchs of touching includes that three groups drive indicate and install in arm mechanism upper end and be used for making the drive indicate to drive fruit pivoted swivel mount, and three groups drive indicate to be circumferential row on the swivel mount.

As a further aspect of the present invention: the driving finger comprises a grabbing finger, a driving auxiliary finger and a driving main finger, the driving main finger is installed on the rotating frame and is rotationally connected with the grabbing finger through the driving auxiliary finger, a main miniature camera is installed on the driving finger, a micro-touch pressing sheet is arranged on the grabbing finger, and the driving finger further comprises an outer side protection plate, and the outer side protection plate is fixed on the rotating frame and is located between the two driving fingers.

As a further aspect of the present invention: the lower end of the collecting box is connected with a guide rail arranged on the frame in a sliding mode, a screw rod assembly used for pushing the collecting box to move is arranged at the side end of the collecting box, a wedge-shaped slide way used for sliding the collecting box is arranged at the end portion of the frame, and a counting sensor is arranged on the inner side of the collecting box.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model relates to a novelty, send the instruction to the control panel through the remote control ware, the control panel carries out signal transmission according to the instruction that sends, controls mechanical arm mechanism and touches automatic grabbing mechanism afterwards and snatchs work, need not the people and plucks the fruit on the spot, only can pluck fruit through remote control; the fruit picking speed is high, the efficiency is high, and the picking function of multiple fruits at one time can be realized; the utility model has the advantages that the trolley supports the picking device and collects the fruits, thereby saving the labor cost, simplifying the subsequent work, and effectively solving the problems that the prior picking vehicle has low picking efficiency due to high technical layer, less covered picking processes and can not be popularized and applied; the utility model utilizes the storage battery to provide power, after the target fruit is accurately positioned by the main micro camera on the intelligent vehicle, the mechanical arm is controlled to move and stretch to the position under the fruit, then the fruit is picked by the head grabbing mechanism, the picked fruit is guided into the collecting device of the intelligent vehicle through the guide tube, the machine is suitable for orchards with different landforms, and the fruit with fruit stalks, such as apples, pears, oranges and tangerines, can be picked; the fruit tree picking device is used in places with more fruit trees such as large orchards and planting bases, picking efficiency can be greatly improved, picking cost can be reduced, and the device is low in manufacturing cost, does not need a large amount of capital investment, has great economic benefit and can be popularized.

Drawings

Fig. 1 is a schematic structural diagram of a remote-control retractable micro-touch shear type intelligent fruit picking vehicle.

Fig. 2 is a bottom view of a remotely-controlled scalable micro-touch shear type intelligent fruit picking vehicle.

Fig. 3 is a top view of a remote-control scalable micro-touch shear type intelligent fruit picking vehicle.

Fig. 4 is a schematic structural diagram of a touch automatic grabbing mechanism in a remote-control scalable micro-touch shear type fruit intelligent picking vehicle.

Fig. 5 is a schematic structural diagram of a mechanical arm mechanism in a remote-control retractable micro-touch shear type intelligent fruit picking vehicle.

Fig. 6 is a schematic structural diagram of a three-stage speed reduction mechanism in a remote-control retractable micro-touch shear type intelligent fruit picking vehicle.

Fig. 7 is a schematic structural diagram of a track driving mechanism in a remote-control retractable micro-touch shear type intelligent fruit picking vehicle.

Fig. 8 is a circuit diagram of a control system of a remote control retractable micro-touch shear type intelligent fruit picking vehicle self-walking frame.

Fig. 9 is a circuit diagram of a mechanical arm control system of a remote-control retractable micro-touch shear type fruit intelligent picking vehicle.

In the figure: 1-front wheel, 2-frame, 3-collection box, 4-guide tube, 5-protective cover, 6-grasping finger, 7-outside guard plate, 8-rotating frame, 9-small telescopic arm, 10-electric push rod A, 11-movable arm joint shaft, 12-movable connecting shaft, 13-electric rotary disk, 14-battery box, 15-crawler belt, 16-protection plate, 17-rear gear shaft, 18-pinion gear, 19-bull gear, 20-middle gear shaft, 21-rear driving shaft, 22-front driving gear, 23-belt, 24-motor, 25-front wheel shaft, 26-control plate, 27-24V storage battery, 28-driving auxiliary finger, 29-driving main finger, 30-connecting pin, 31-main micro camera, 32-electric push rod B, 33-mechanical arm terminal joint, 34-pair of miniature cameras, 35-electric push rod C, 36-support frame, 37-large belt wheel, 38-belt wheel shaft, 39-small belt wheel, 40-middle gear, 41-driving wheel and 42-thrust wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Please refer to fig. 1 ~ 9;

in an embodiment of the present invention, a remote control retractable micro-touch shear type intelligent fruit picking vehicle comprises a vehicle frame 2; the lower extreme of frame 2 is installed respectively and is used for picking the front wheel 1 that the car turned to and is used for driving the track actuating mechanism that the car removed of picking, and front wheel 1 rotates through front wheel axle 25 and frame 2 to be connected, and is concrete, track actuating mechanism include track 15, guard plate 16, through tertiary reduction gears driven drive wheel 41 and thrust wheel 42, guard plate 16 is the triangle-shaped structure setting, and thrust wheel 42 is provided with two and is located the three angle department of guard plate 16 respectively with drive wheel 41, and the track cover is established in two thrust wheels 42 and the drive wheel 41 outside, realizes thrust wheel 42 and drive wheel 41's synchronous rotation and stability height, drive wheel 41 is connected with tertiary reduction gears through the back drive shaft 21 fixed with it.

Specifically, the three-stage speed reducing mechanism comprises a motor 24, a pinion gear 18 and a front drive gear 22, wherein the front drive gear 22 and a middle gear 40 fixed with the front drive gear are fixed on a middle gear shaft 20 rotationally connected with symmetrical side plates, the pinion gear 18 is fixed on a rear gear shaft 17 rotationally connected with the symmetrical side plates, the pinion gear 18 is meshed with the middle gear 40 to realize transmission, the drive gear 22 is meshed with a gear fixed on a pulley shaft 38, the pulley shaft 38 is rotationally connected with a large pulley 37 fixed on an output shaft of the motor 24 through a belt 23 through a small pulley 39 fixed on the pulley shaft, the motor 4 drives the pulley shaft 38 to rotate, the pulley shaft 38 drives the middle gear shaft 20 to rotate through the meshing action of the gear and the front drive gear 22, and the middle gear shaft 20 drives the rear gear shaft 17 through the meshing action of the middle gear shaft 20 and.

The rear gear shaft 17 is rotatably connected with the rear driving shaft 21 through the meshing action of the pinion gear 18 and the bull gear 19 fixed on the rear driving shaft 21, so that the gradual reduction of the rotating speed is realized, the rotation of the driving wheel 41 is realized, and the slow rotation of the crawler driving mechanism is further realized.

The fruit picking machine further comprises a mechanical arm mechanism installed on the frame 2 through an electric rotary disc 13 and a touch automatic grabbing mechanism installed at the upper end of the mechanical arm mechanism and used for grabbing and picking fruits, a protective cover 5 used for bearing fruits is arranged below the touch automatic grabbing mechanism connected with the mechanical arm mechanism, the lower end of the protective cover 5 is communicated with a collection device installed on the frame 2 through a guide pipe 4, a control panel 26 and a 24V storage battery 27 placed in a battery box 14 are further arranged at the upper end of the frame 2, the 24V storage battery 27 is electrically connected with the control panel 26, the control panel 26 is in information interaction with a remote controller, an instruction is sent to the control panel 26 through the remote controller, the control panel 26 carries out signal sending according to the sent instruction, and then the mechanical arm mechanism and the touch automatic grabbing mechanism are.

The utility model discloses a further explanation is carried out to the structure of mechanical arm mechanism, specifically, mechanical arm mechanism includes three-section little telescopic arm 9 and the electric putter A10, the electric putter B32 and the electric putter C35 that are used for driving three-section little telescopic arm 9 to rotate through moving arm joint axle 11 and rotate, for the convenience of explanation, the utility model names three-section little telescopic arm 9, from top to bottom are last telescopic arm, well telescopic arm and lower telescopic arm respectively, the both ends of electric putter A10 articulate respectively in last telescopic arm and well telescopic arm one side, the contained angle between drive last telescopic arm and well telescopic arm changes when electric putter A10 stretches out and draws back, realizes the function of aiming at the fruit, the both ends of electric putter B32 articulate respectively in well telescopic arm and lower telescopic arm one side, and electric putter B32 and electric putter A10 are located the both sides of well telescopic arm, and electric putter B32 is used for driving the angle transform between telescopic arm and the lower telescopic arm in, the height of adjustment arrives the position under the fruit, electric putter C35's both ends articulate respectively under on telescopic boom and with telescopic boom lower extreme pass through swing joint axle 12 and rotate the support frame 36 of being connected down, and electric putter C35 and electric putter B32 are located the both sides of telescopic boom down, telescopic boom rotates under the electric putter C35 drive to realize the angle modulation between telescopic boom and the horizontal plane down, realize the nimble flexible and the position transform of arm through electric putter A10, electric putter B32 and electric putter C35's effect.

The supporting frame 36 is fixed on the electric rotary disc 13, the electric rotary disc 13 is used for driving the mechanical arm mechanism to rotate, therefore, fruit picking in multiple directions is achieved, and the upper end of the small telescopic arm 9 located at the uppermost end is provided with a mechanical arm terminal joint 33 connected with the automatic grabbing mechanism in a touching mode.

Preferably, the side end of the electric push rod a10 is provided with an auxiliary micro camera 34 for determining the fruit position through imaging, so that the picking vehicle can move accurately.

Specifically, the automatic touch grabbing mechanism comprises three groups of driving fingers and a rotating frame 8 which is arranged at the upper end of the mechanical arm mechanism and used for enabling the driving fingers to drive fruits to rotate, the three groups of driving fingers are circumferentially arranged on the rotating frame 8, the driving fingers comprise grabbing fingers 6, driving auxiliary fingers 28 and driving main fingers 29, the driving main fingers 29 are arranged on the rotating frame 8 and are in rotating connection with the grabbing fingers 6 through the driving auxiliary fingers 28, the driving auxiliary fingers 28 are in rotating connection with the grabbing teeth 6 through a transmission pin 30, the driving fingers adopt two-finger joint work to enable the surfaces of the fruits to be better attached to the driving fingers, the shapes of hands are simulated, the fruits are prevented from being scratched by a machine, and when the automatic touch grabbing mechanism is used, the driving main fingers 29 drive the driving auxiliary fingers 28 to inwards converge to a certain shape to grab the fruits.

In order to ensure that the drive indicates to snatch the accuracy to fruit, the utility model discloses in the specific implementation in-process, in the drive indicates to be installed and carries out accurate definite main miniature camera 31 and in through the image to the fruit position grab and indicate to be provided with the micro-touch preforming on 6, when fruit dabbles when grabbing the micro-touch preforming that indicates 6, the main revolving rack 8 that indicates 29 terminal departments of drive starts, and it is rotatory to drive the fruit that has been steadily grabbed, senses the disconnection of fruit stalk when the force sensor of revolving rack 8 department, just gives the signal and gives this moment closed drive owner and indicates 29 and the vice 28 of drive to outwards open, accomplishes a complete process of picking.

In addition, in order to prevent effectively that fruit from falling out the automatic mechanism that snatchs of touching from the side after its stalk breaks off, the utility model discloses at the concrete implementation in-process, still include outside backplate 7, outside backplate 7 is fixed on swivel mount 8 and is located between two drive fingers, and main miniature camera 31 sets up in 7 sides of outside backplate.

Example two

In order to increase this function of picking the car, the utility model discloses still proposed another kind of embodiment and perfected this application at the concrete implementation in-process, it is concrete, the lower extreme of collecting box 3 with set up the guide rail sliding connection on frame 2, the side of collecting box 3 is provided with the lead screw subassembly that is used for promoting collecting box 3 to remove, and frame 2's tip is provided with and is used for the gliding wedge of collecting box 3 to slide to, the inboard of collecting box 3 is provided with the count sensor, reaches the count and reaches the line, and the lead screw promotes the collecting box and moves forward, and until its focus is not on the dolly, just slides to the outside along the external wedge slide of dolly, realizes once collecting process.

Preferably, the bottom of the inner side of the collecting box 3 is further provided with a damping mechanism for protecting fruits, and the damping mechanism is composed of a spring and a movable plate.

The electric push rod A, the electric push rod B, the electric push rod C and the motor are applied in the prior art, a remote controller sends an instruction to the control panel, the control panel sends a signal according to the sent instruction, then the mechanical arm mechanism and the touch automatic grabbing mechanism are controlled to grab, fruits need to be picked by people on the spot, and the fruits can be picked only through remote control; the fruit picking speed is high, the efficiency is high, and the picking function of multiple fruits at one time can be realized; the utility model discloses a dolly supports the ware of picking and collects to the fruit, has practiced thrift the human cost, has simplified follow-up worker and has regarded as the innovation point of this application, and it has effectively solved current picking car because of its technical layer is high, picks efficiency slowly, and the picking flow that covers is few to fail the problem that obtains the wide application.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. A remote control retractable micro-touch shear type intelligent fruit picking vehicle comprises a vehicle frame (2); the lower end of the frame (2) is respectively provided with a front wheel (1) for steering the picking vehicle and a crawler driving mechanism for driving the picking vehicle to move, and the front wheel (1) is rotationally connected with the frame (2) through a front wheel shaft (25);

the fruit picking machine further comprises a mechanical arm mechanism arranged on the frame (2) through an electric rotary disc (13) and a touch automatic grabbing mechanism arranged at the upper end of the mechanical arm mechanism and used for grabbing and picking fruits, a protective cover (5) used for carrying fruits is arranged below the touch automatic grabbing mechanism connected with the mechanical arm mechanism, and the lower end of the protective cover (5) is communicated with a collecting box (3) arranged on the frame (2) through a guide pipe (4);

the upper end of the frame (2) is also provided with a control panel (26) and a 24V storage battery (27) which are arranged in the battery box (14), the 24V storage battery (27) is electrically connected with the control panel (26), and the control panel (26) is in information interaction with the remote controller.

2. The remote control retractable micro-touch shear type intelligent fruit picking vehicle as claimed in claim 1, wherein the track driving mechanism comprises a track (15), a protection plate (16), a driving wheel (41) and thrust wheels (42), the protection plate (16) is arranged in a triangular structure, the thrust wheels (42) are arranged in two and are respectively located at three corners of the protection plate (16) with the driving wheel (41), the track is sleeved at the outer sides of the two thrust wheels (42) and the driving wheel (41), and the driving wheel (41) is connected with the three-stage speed reduction mechanism through a rear driving shaft (21) fixed with the driving wheel.

3. The remote control telescopic micro-touch shear type intelligent fruit picking vehicle as claimed in claim 2, wherein the three-stage speed reducing mechanism comprises a motor (24), a pinion (18) and a front driving gear (22), the front driving gear (22) and a middle gear (40) fixed with the front driving gear are fixed on a middle gear shaft (20) rotationally connected with the symmetrical side plates, the pinion (18) is fixed on a rear gear shaft (17) rotationally connected with the symmetrical side plates, the pinion (18) is meshed with the middle gear (40), the driving gear (22) is meshed with a gear fixed on a pulley shaft (38), and the pulley shaft (38) is rotationally connected with a large pulley (37) fixed on an output shaft of the motor (24) through a belt (23) by a small pulley (39) fixed on the pulley shaft.

4. The remote control retractable micro-touch shear type intelligent fruit picking vehicle as claimed in claim 3, characterized in that the rear gear shaft (17) is rotatably connected with the rear driving shaft (21) through the meshing action of the pinion (18) and the bull gear (19) fixed on the rear driving shaft (21).

5. The fruit intelligent picking vehicle capable of remotely controlling stretching and micro-touch shearing according to claim 1, wherein the mechanical arm mechanism comprises three sections of small stretching arms (9) rotatably connected through a movable arm joint shaft (11), an electric push rod A (10), an electric push rod B (32) and an electric push rod C (35) for driving the small stretching arms (9) to rotate, the three sections of the small stretching arms (9) are respectively an upper stretching arm, a middle stretching arm and a lower stretching arm from top to bottom, two ends of the electric push rod A (10) are respectively hinged on one side of the upper stretching arm and the middle stretching arm, two ends of the electric push rod B (32) are respectively hinged on one side of the middle stretching arm and the lower stretching arm, the electric push rod B (32) and the electric push rod A (10) are positioned on two sides of the middle stretching arm, two ends of the electric push rod C (35) are respectively hinged on the lower stretching arm and a support shaft (36) rotatably connected with the lower end of the lower stretching arm through a movable arm (12) And the electric push rod C (35) and the electric push rod B (32) are positioned at two sides of the lower telescopic arm.

6. The remote control retractable micro-touch shear type intelligent fruit picking vehicle according to claim 5, characterized in that the supporting frame (36) is fixed on the electric rotary disk (13), and the upper end of the small telescopic arm (9) at the uppermost end is provided with a mechanical arm terminal joint (33) connected with a touch automatic grabbing mechanism.

7. The remote control retractable micro-touch shear type intelligent fruit picking vehicle according to claim 5, characterized in that a secondary micro-camera (34) for determining the active position of the mechanical arm through imaging is mounted at the side end of the electric push rod A (10).

8. The remote control retractable micro-touch shear type intelligent fruit picking vehicle according to claim 6, characterized in that the touch automatic grabbing mechanism comprises three sets of driving fingers and a rotating frame (8) installed at the upper end of the mechanical arm mechanism and used for driving the driving fingers to rotate the fruit, and the three sets of driving fingers are circumferentially arranged on the rotating frame (8).

9. The remote control retractable micro-touch shear type intelligent fruit picking vehicle as claimed in claim 8, wherein the driving fingers comprise a grabbing finger (6), a driving auxiliary finger (28) and a driving main finger (29), the driving main finger (29) is mounted on the rotating frame (8) and is rotatably connected with the grabbing finger (6) through the driving auxiliary finger (28), a main micro-camera (31) which can accurately determine the position of a fruit through imaging is mounted on the driving finger, a micro-touch tablet is arranged on the grabbing finger (6), the remote control retractable micro-touch shear type intelligent fruit picking vehicle further comprises an outer side guard plate (7), the outer side guard plate (7) is fixed on the rotating frame (8) and is located between the two driving fingers, and the main micro-camera (31) is located at the side end of the outer side guard plate (7).

10. The remote control retractable micro-touch shear type intelligent fruit picking vehicle as claimed in any one of claims 1 to 9, wherein the lower end of the collection box (3) is slidably connected with a guide rail arranged on the vehicle frame (2), a screw rod assembly for pushing the collection box (3) to move is arranged at the side end of the collection box (3), a wedge-shaped slideway for sliding the collection box (3) is arranged at the end part of the vehicle frame (2), and a counting sensor is arranged at the inner side of the collection box (3).

Images