CN210959506U - A retractable and rotatable fruit picking manipulator - Google Patents

Abstract

The utility model discloses a retractable and rotatable fruit picking manipulator, which comprises a fruit frame, a picking blade group, a return spring, a telescopic rod group, a pulling wire and a stretching member. At least one gap is opened at the top of the fruit frame, and the branches or fruit pedicles on which the fruit grows are located in the gap. One end of the return spring is fixed on the fruit frame, and the other end is connected with the movable blade. One end of the telescopic rod group is connected to the fruit frame and is arranged opposite to the notch, and the other end is a free end. The pulling wire includes a leather casing and a steel wire rope, one end of the wire rope is connected with the other end of the return spring, and the tension member is installed on the free end of the telescopic rod group and connected to the other end of the wire rope. The stretching piece drives the movable blade to overcome the elastic force of the return spring by pulling the wire rope to cut the fixed blade and cut the branches or stalks, so that the fruit falls into the fruit frame. The utility model can pick fruits of different heights, reduces the risk of manual picking, and has a relatively lower production cost compared with large-scale mechanized machines.

Description

A retractable and rotatable fruit picking manipulator

technical field

The utility model relates to a picking manipulator in the technical field of fruit picking, in particular to a retractable and rotatable fruit picking manipulator.

Background technique

With the development of the times and the improvement of living standards, people's demand for fruits is increasing day by day. There are many fruit farmers on the Loess Plateau and other places. They use their simple labor to cultivate a large number of high-quality fruits for people in modern big cities. However, in many places, people still use primitive manual picking methods, but this kind of The picking method, on the one hand, the picking efficiency is not high, and on the other hand, there is a huge safety hazard when picking higher fruits. Therefore, mechanization of fruit picking is required.

However, modern large-scale mechanized picking machines are too expensive, and because of their huge size, the terrain is very demanding. For example, in mountainous areas, these large-scale machines are difficult to use. Therefore, it is necessary to design a manipulator that is convenient for picking fruits to replace manual picking and make up for the shortcomings of large-scale mechanical picking.

Utility model content

Aiming at the deficiencies of the prior art, the utility model provides a retractable and rotatable fruit picking manipulator, which solves the problems of low efficiency of manual picking and potential safety hazards, and at the same time large-scale mechanized machines are expensive and have strict terrain requirements.

The utility model is realized by the following technical solutions: a retractable and rotatable fruit picking manipulator, which comprises:

A fruit frame, the top of which is an upper opening structure, and the opening of the upper opening structure is used for the entry of the fruit; the top of the fruit frame is provided with at least one gap, and the branches or pedicles that grow the fruit can be located in the gap. middle;

The picking blade set includes a fixed blade and a movable blade with staggered incisions; the fixed blade is fixed on the fruit frame and is located on one side of the gap; the movable blade is rotatably installed on the fruit frame and located on the other side of the gap. side, and the cutout is arranged toward the notch;

A return spring, one end of which is fixed on the fruit frame, and the other end is connected to the movable blade, and drives the blade of the movable blade and the blade of the fixed blade to fork apart when no force is applied, so that the branch or the fruit pedicle can pass through the gap;

A telescopic rod group, one end of which is connected to the side of the fruit frame away from the gap, and the other end is a free end;

A tensile member, which is mounted on the free end of the telescopic rod group;

The pulling line comprises a leather shell and a steel wire rope which is passed through the leather shell and can move relative to the leather shell; one end of the leather shell is fixed on the fruit frame, and the other end is fixed on the stretching member; One end of the wire rope is connected to the other end of the return spring, and the other end of the wire rope is connected to the driving end of the stretching member; the stretching member pulls the wire rope through its driving end to move relative to the leather casing to drive the movable blade Overcoming the elastic force of the return spring, the blade is tangentially fixed, and the branch or the fruit stalk is cut off, so that the fruit falls into the fruit frame.

As a further improvement of the above scheme, the bottom end of the fruit frame is a lower opening structure, and the opening of the lower opening structure is used for the fruit to fall; the retractable and rotatable fruit picking manipulator further includes:

The two ends of the fruit bag group are respectively connected to the fruit frame and the telescopic rod group, and are located below the opening of the lower opening structure.

Further, the fruit bag group includes a plurality of fruit transport bags communicated in sequence, and the plurality of fruit transport bags are detachably connected to the bottom of the fruit frame or the telescopic rod group.

Still further, the retractable and rotatable fruit picking manipulator also includes:

At least one buffer device is installed in the fruit bag group and used to slow down the sliding speed of the fruit in the fruit bag group.

Still further, the buffer device includes a buffer ring and a plurality of elastic buffer plates; the outer edge of the buffer ring is connected to the inner wall of the fruit bag group and is used for the fruit to pass through; the plurality of elastic buffer plates are installed on the inner ring of the buffer ring , and is used to slow the passage of the fruit through the buffer ring.

Still further, the buffer device includes a buffer tube whose outer wall is connected to the inner wall of the fruit bag group, and the radius of both ends of the buffer tube is greater than the radius of the middle; the buffer tube is a tube body made of elastic material, and the radius of the middle is greater than The maximum radius of the fruit.

As a further improvement of the above solution, the telescopic rod set includes multiple telescopic sections that are sleeved in sequence, and two telescopic sections located at both ends, one is connected to the fruit frame, and the other is used to install the stretching member.

Further, the number of the telescopic sections is two, and the two telescopic sections are respectively a proximal working rod and a distal working rod; one end of the distal working rod is connected to the outer wall of the fruit frame, and the other end is matched with internal and external threads. Or plug and fit to connect one end of the proximal working rod; the other end of the proximal working rod is the free end, and the stretching member is fixed on the proximal working rod; wherein, the maximum length of the telescopic rod group is less than all the The length of the leather shell is determined, and when the proximal working rod and the distal working rod rotate relative to each other, the pulling wire follows the twist and has a predetermined distance from the telescopic section.

As a further improvement of the above solution, the pulling wire is a brake wire, and the stretching member is a brake handle.

As a further improvement of the above solution, the fixed blade and the movable blade are rotatably connected, and the cutting edges of the fixed blade and the movable blade both have multiple serrations.

The retractable and rotatable fruit picking manipulator of the utility model, when picking fruit, the fruit frame can accommodate the fruit, and the branches or the stalk of the growing fruit are located in the gap, and by pulling the wire rope, the wire rope pulls the movable blade, The branches or stalks located between the movable blade and the fixed blade will be cut off by the rotating movable blade, so that the fruit can be separated from the fruit tree and the fruit can be picked. In the utility model, the telescopic rod group can be retracted to change its length, so as to adjust the height of the fruit frame, so that the picking manipulator can pick the higher fruit, and the reset spring can reset the position of the movable blade, so as to facilitate the picking of the next fruit. Fruits are picked. The picking manipulator of the utility model can be used in various terrains, and can pick fruits of different heights, which can reduce the risk of manual picking, does not require manual operations such as tree climbing, and has relatively higher production costs compared with large-scale mechanized machines. Low.

Description of drawings

Fig. 1 is a kind of three-dimensional structure schematic diagram of the telescopic and rotatable fruit picking manipulator of Embodiment 1 of the present utility model;

Fig. 2 is the bottom view of the telescopic and rotatable fruit picking manipulator in Fig. 1;

3 is another three-dimensional schematic diagram of the telescopic and rotatable fruit picking manipulator according to Embodiment 1 of the present utility model;

Fig. 4 is the three-dimensional structure schematic diagram of the telescopic and rotatable fruit picking manipulator of Embodiment 2 of the present utility model;

Fig. 5 is the structure schematic diagram of the buffer device of the telescopic and rotatable fruit picking manipulator in Fig. 4;

6 is a schematic three-dimensional structural diagram of a buffer device of a retractable and rotatable fruit picking manipulator according to Embodiment 3 of the present invention.

Symbol Description:

1 Fruit frame 21 Fixed blade

2 Picking Blade Sets 22 Active Blades

3 Return spring 41 Proximal working rod

4 Telescopic Rod Set 42 Distal Working Rod

5 Brake lever 43 Locating sleeve

6 Pull wire 81 Buffer ring

7 Fruit Bag Set 82 Elastic Bumper

8 Buffer device 83 Buffer tube

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

Example 1

Please refer to FIG. 1 , FIG. 2 and FIG. 3 , this embodiment provides a retractable and rotatable fruit picking manipulator, which includes a fruit frame 1 , a picking blade group 2 , a return spring 3 , a telescopic rod group 4 , and a pulling wire 6 and stretch pieces. Fruit pickers can use the retractable and rotatable fruit picking manipulator to pick fruits from various fruit trees, such as picking apples, pears, oranges, and the like. At the same time, in order to adapt to different fruit sizes, the size of each component in the retractable and rotatable fruit picking robot of this embodiment can be changed according to actual needs. For example, when picking large fruits such as grapefruit, the size of the fruit frame 1 needs to be greatly When picking small fruits such as sugar oranges, the size of the fruit frame 1 can be appropriately reduced. Likewise, when picking taller fruit trees, the longest length of the telescopic rod group 4 can be adapted to increase.

The top of the fruit frame 1 is an upper opening structure, and the opening of the upper opening structure is used for the entry of fruits. The top of the fruit frame 1 is provided with at least one gap, and the branches or stems of the fruit are located in the gap. The number of gaps can be multiple, and when there are multiple gaps, multiple branches or multiple fruit pedicles that respectively grow multiple fruits can be located in multiple gaps, so that the fruit frame 1 can accommodate multiple fruits, so that Subsequently, multiple fruits are picked at the same time. The fruit frame 1 can be in the shape of a barrel and can be made of plastic. The size of the fruit frame 1 can be set according to the size and shape of the fruit, wherein the fruit can be apple, pear, pear, apricot, plum and other spherical fruits, and the gap can be rectangular or arc-shaped. In this embodiment, the bottom of the fruit frame 1 is sealed, and the picked fruit can fall directly into the fruit frame 1, and when picking up the fruit, the fruit frame 1 can be directly lowered to the required height. In some embodiments, elastic pads can be arranged on the bottom wall of the fruit frame 1 to reduce the damage caused when the fruit falls into the fruit frame 1 . The material of the fruit frame 1 may preferably be a material with lower density and higher hardness, so as to reduce the weight of the fruit frame 1 .

The picking blade set 2 includes a fixed blade 21 and a movable blade 22. The incisions of the fixed blade 21 and the movable blade 22 are arranged in a staggered manner. This arrangement is similar to the arrangement of the incisions of scissors. branches or stalks) are cut. Among them, the fixed blade 21 is fixedly installed on the fruit frame 1, and can be installed by means of fastener connection, welding, bonding, etc., and is located on one side of the gap. The movable blade 22 is rotatably mounted on the fruit frame 1, and is located on the other side of the notch, and the notch is arranged toward the notch. The fixed blade 21 and the movable blade 22 can be rotatably connected, such as bolt connection or other detachable connection methods, and the edges of the fixed blade 21 and the movable blade 22 can have multiple serrations, so as to generate multiple cuts and improve the movable blade. 22 cut effects. In some embodiments, the fixed blade 21 and the movable blade 22 may be scissors-shaped, and the number may be the same as the number of notches. The picking blade set 2 is mainly used to cut off the branches or stalks located in the gaps, so that the fruits fall into the fruit frame 1 .

One end of the return spring 3 is fixed on the fruit frame 1 , and the other end is connected to the movable blade 22 . The return spring 3 drives the cutting edge of the movable blade 22 to diverge from the cutting edge of the fixed blade 21 when the force is not applied, so that the branch or the stalk can pass through the gap. The return spring 3 can be an existing spring, and its purpose is to reset the movable blade 22 when the picking blade set 2 is not cutting branches or stalks, so that the branches or stalks of the next fruit can be placed in the gaps. The return spring 3 can reset the movable blade 22 by its contraction elasticity or tensile elasticity, and a receiving cavity for accommodating the return spring 3 can be specially provided on the fruit frame 1 to prevent the branches from being stuck in the gap of the return spring 3 .

One end of the telescopic rod group 4 is connected to the side of the fruit frame 1 away from the notch, and the other end is the free end. The telescopic rod group 4 may include multiple telescopic sections that are sleeved in sequence, and among the two telescopic sections at both ends, one is connected to the fruit frame 1 , and the other is used to install the stretching member. In this embodiment, the number of telescopic sections may be two, and the two telescopic sections are the proximal working rod 41 and the distal working rod 42 respectively. Wherein, both the proximal working rod 41 and the distal working rod 42 can be hollow tubes or solid rods. One end of the distal working rod 42 is connected to the outer wall of the fruit frame 1 (through hole 1 can be opened on the side wall of the fruit frame 1, through hole 2 is opened on one end of the distal working rod 42, through hole 1 and through hole can be opened on the side wall of the fruit frame 1. The second holes are of equal diameter, and the bolts pass through the first and second through holes and cooperate with the nuts to make the fruit frame 1 and the distal working rod 42 relatively fixed), and the other end is connected to the proximal end through internal and external thread matching or plug-in matching. One end of the working rod 41 .

In this embodiment, the maximum length of the telescopic rod group 4 is smaller than the length of the leather case. Moreover, the proximal working rod 41 and the distal working rod 42 can be moved relative to each other through the cooperation of threads or plugs, so as to shorten the total length of the telescopic rod group 4 and realize the rotation of the fruit frame 1 at the same time. When the proximal working rod 41 and the distal working rod 42 are connected in a threaded manner, and when the proximal working rod 41 and the distal working rod 42 rotate relative to each other, the pulling wire 6 follows the twist and is connected with the telescopic The segment has a preset interval (the size of this interval is selected according to the actual length of the pulling wire 6 to ensure that the pulling wire 6 does not come into contact with the telescopic rod group 4). Please continue to refer to FIG. 3 , when the proximal working rod 41 and the distal working rod 42 are connected by direct socket connection, a positioning sleeve 43 can be provided between the proximal working rod 41 and the distal working rod 42 . The positioning sleeve 43 is sleeved at the connection between the proximal working rod 41 and the distal working rod 42 , and can be screwed with one of the proximal working rod 41 and the distal working rod 42 , and can be relatively fixed by rotation. This is similar to the design structure of the telescopic rod of some mops in the prior art, that is, when the length of the telescopic rod group 4 is suitable, the user can make the proximal working rod 41 and the distal working rod 42 opposite by tightening the positioning sleeve 43 fixed.

Of course, the proximal working rod 41 and the distal working rod 42 may also adopt other connection methods, such as direct socket connection (there will be greater connection resistance), and the connection method using a folding umbrella rod. The other end of the proximal working rod 41 is a free end, and the stretching member is fixed on the proximal working rod 41 . The telescopic rod group 4 is retractable, so as to adjust the height of the fruit frame 1, so that the picking manipulator can pick tall fruits, avoid dangerous operations such as climbing trees and reduce the hidden safety hazards of picking. Moreover, when carrying the picking manipulator, the telescopic rod group 4 can be shrunk into a shorter length, which is convenient to carry, reduces the carrying volume, and improves the efficiency of fruit picking in areas with complex terrain.

The pulling wire 6 includes a leather casing and a steel wire rope, which is passed through the casing and can move relative to the casing. One end of the husk is fixed on the fruit frame 1, and the other end is fixed on the stretching member. One end of the wire rope is connected to the other end of the return spring 3, and the other end of the wire rope is connected to the driving end of the tension member. In this embodiment, the pull wire 6 is a brake wire, such as a bicycle brake wire. Therefore, when the wire rope is pulled, the wire rope will make the relative movement of the fixed blade 21 and the movable blade 22, which is like the movement of the brake pad of a bicycle, which can cut branches or stalks and make the fruit fall off. At the same time, when the telescopic rod group 4 is contracted, the length of the leather case is always unchanged and will not be affected by the telescopic rod group 4, so as to facilitate the telescopic adjustment of the telescopic rod group 4.

The tension member is installed on the free end of the telescopic rod group 4, and the driving end is connected to the other end of the wire rope. In this embodiment, the tension member can be a brake handle 5, and the brake handle 5 is fixed on the proximal working rod 41 by welding, riveting, interference fit or bolt tight connection. At this time, the combined relationship between the pull wire 6 and the tension member is like the brake wire and the brake handle. In bicycles and other equipment, the brake handle can easily operate the brake pads through the brake wire. Similarly, the pull wire 6 also passes through this In this way, the movable blade 22 is pulled tangentially to the fixed blade 21 . Of course, in some other embodiments, the tensile member may also be other tensile structures, which can pull the movable blade 22 tangentially to the fixed blade 21 . When picking fruit, the user operates through the stretching member and pulls the pulling wire 6, which is convenient to operate and can improve the efficiency of fruit picking.

It should be noted here that the telescopic section is telescopic through threaded cooperation, and relative rotation is required. During the rotation, the pulling wire 6 will produce relative rotation, so that the pulling wire 6 is easily wrapped around the telescopic rod group 4, which hinders the use of the wire rope. . Therefore, in some embodiments, the solution can be solved in the following ways: (1) The length of the pulling wire 6 is much larger than the length of the telescopic rod group 4, so that even when the pulling wire 6 is twisted, its leather case will not Contact with the telescopic section will not generate friction; (2) because the distance between the fruits is very short during the actual fruit picking process, the length adjustment of the telescopic rod group 4 is also very small, so there is no need to adjust the telescopic rod group. 4 When a large number of rotations are performed, at this time, only partial contact between the wire rope and the telescopic rod group 4 will occur, and the generated frictional force is not enough to affect the usability of the pulling force of the brake handle 5; (3) The degree of influence; The outer surface of the leather case is set as a smooth curved surface, so that the contact area between the leather case and the telescopic rod group 4 is reduced, and the friction force generated in this way will be relatively small, so the degree of influence on the brake handle 5 is relatively small; (4) When setting the thread between the telescopic sections, change the thread sparseness of the threaded part; for example, when the thread set per unit length is sparse, the length change caused by each rotation is very large, In practical applications, it can be set like this, that is to say, when the length of the telescopic rod group 4 is greatly adjusted, it is only necessary to rotate the telescopic rod for a few turns, so that the number of turns of the pulling wire 6 can be reduced, thereby avoiding The pulling wire 6 is in contact with the telescopic rod group 4 .

In addition, it should be noted that the leather case can keep the inner wire rope in a sliding state all the time. In existing vehicles such as bicycles, the installed brake cables are not always in a straight state, and they may be twisted and bent. fold. Therefore, when the telescopic rod group 4 is retracted, in order to pull the blade, it is not necessary to increase the pressing range of the brake handle 5, and the pressing range is constant. Similarly, the size and length of the brake handle 5 do not need to be changed, and can be kept constant. . So, no matter how far the telescopic rod needs to be extended, pressing the brake handle will pull the blade.

Wherein, the tension member pulls the wire rope to move relative to the husk through its driving end, so as to drive the movable blade 22 to overcome the elastic force of the return spring 3 and tangentially to the fixed blade 21, and cut off the branches or stalks, so that the fruit falls into the fruit frame 1 . Therefore, when picking fruits, first of all, the picking personnel adjust the height of the fruit frame 1 through the telescopic rod group 4, so that the fruit frame 1 is located below the fruit to be picked, and further enhances the height of the fruit frame 1, and then makes the fruit enter the fruit frame 1. , at the same time, the branch or the stalk is located in the gap; then, the picker passes the tension member, so that the pulling wire 6 pulls the movable blade 22 to cut off the branch or the stalk, so that the fruit falls into the fruit frame 1; finally, by pulling the fruit The box 1 is placed in a lower position, and the fruit is taken out, that is, the picking of the fruit is completed.

To sum up, in the retractable and rotatable fruit picking manipulator of the present embodiment, when picking fruit, the fruit frame 1 can accommodate the fruit, and the branches or stalks of the growing fruit are placed in the gap, and by pulling the pulling Line 6, so that the pulling line 6 pulls the movable blade 22, and the branches or fruit stalks located between the movable blade 22 and the fixed blade 21 will be cut off by the rotating movable blade 22, so that the fruit is separated from the fruit tree and the fruit is picked. In this embodiment, the telescopic rod group 4 is retractable, so as to adjust the height of the fruit frame 1, so that the picking manipulator can pick taller fruits, and the return spring 3 can reset the position of the movable blade 22, so as to facilitate the picking of the next fruit. Fruits are picked. The picking manipulator of this embodiment can be used in various terrains, and can pick fruits of different heights, which can reduce the risk of manual picking, and does not require manual operations such as tree climbing. Compared with large-scale mechanized machines, the production cost is relatively higher. Low. It should be noted here that the picking manipulator of the present invention can also be used for fruit picking when tourists play in orchards, thereby improving the safety of tourists picking fruits and improving their fruit picking experience.

Example 2

Referring to FIG. 4 , this embodiment provides a retractable and rotatable fruit picking manipulator, which is similar to that of Embodiment 1, except that the bottom end of the fruit frame 1 in this embodiment has a lower opening structure, and the lower opening structure The opening is used for the fruit to fall. Moreover, the retractable and rotatable fruit picking manipulator of this embodiment may further include a fruit bag group 7 and a buffer device 8 .

Both ends of the fruit bag group 7 are respectively connected to the fruit frame 1 and the telescopic rod group 4, and are located below the opening of the lower opening structure. The fruit bag group 7 can be connected by hanging on the fruit frame 1 and the telescopic rod group 4, so that the fruit bag group 7 can be hung on the fruit frame 1 and the telescopic rod group 4 after the telescopic rod group 4 is rotated. In this embodiment, the fruit bag group 7 may include a plurality of fruit transport bags that are communicated in sequence, and the plurality of fruit transport bags are detachably connected to the bottom of the fruit frame 1 or the telescopic rod group 4, and can be made of nylon, plastic or other materials. bag or mesh bag. When the fruit falls from the opening of the lower opening structure, the fruit bag group 7 can catch the fruit, and the fruit will slide down the bottom wall of the fruit bag group 7, and gradually slide to the lowest point of the fruit bag group 7, that is, the lowest point of the fruit bag group 7. Fruit in a delivery bag. In this way, when picking fruits, the picking personnel can pick multiple fruits on the fruit tree without lowering the fruit frame 1, which can improve the efficiency of fruit picking.

The number of the buffer devices 8 may be one or a plurality of them. The buffer device 8 is installed in the fruit bag group 7 and connected by means of ropes, hooks, etc., so as to slow down the sliding speed of the fruit in the fruit bag group 7 . As shown in FIG. 5 , the buffer device 8 may include a buffer ring 81 and a plurality of elastic buffer plates 82 . The outer edge of the buffer ring 81 is connected to the inner wall of the fruit bag group 7 and is used for the passage of the fruit. A plurality of elastic buffer plates 82 are installed in the inner circle of the buffer ring 81 , and the reserved space can be in the shape of a hexagonal star, and is used to slow down the speed of the fruit passing through the buffer ring 81 . In this way, after each fruit falls into the fruit bag group 7, it will pass through the buffer rings 81 one after another, and through the slowing action of the elastic buffer plate 82, the sliding speed of the fruit is reduced, the damage caused by the collision between the fruits is reduced, and the Efficiency of fruit picking.

Example 3

Referring to FIG. 6 , this embodiment provides a retractable and rotatable fruit picking manipulator, which is similar to that of Embodiment 2, except that the structure of the buffer device 8 is different. The buffer device 8 includes a buffer pipe 83 whose outer wall is connected to the inner wall of the fruit bag group 7 . The radius of both ends of the buffer tube 83 is larger than the radius of the middle, that is, the two ends of the buffer tube 83 are thicker, and the middle of the buffer tube 83 is thinner, so that the fruit can more easily enter the buffer tube 83 and slow down in the buffer tube 83 . The buffer tube 83 is made of elastic material, and can be made of nylon material, and the radius of the middle part is larger than the maximum radius of the fruit. The number of buffer tubes 83 can be multiple, and they are arranged coaxially and spaced apart from each other. The buffering function of the buffer tube 83 also has a storage function to store fruits.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection of the utility model.

Claims (10)

1. The utility model provides a manipulator is picked to scalable rotatable type fruit which characterized in that: it includes:

the top end of the fruit frame (1) is provided with an upper opening structure, and the opening of the upper opening structure is used for the fruit to enter; the top end of the fruit frame (1) is provided with at least one notch, and branches or fruit bases for growing the fruits can be positioned in the notch;

the picking blade group (2) comprises fixed blades (21) and movable blades (22) which are arranged in a staggered mode; the fixed blade (21) is fixed on the fruit frame (1) and is positioned on one side of the notch; the movable blade (22) is rotatably arranged on the fruit frame (1) and is positioned on the other side of the notch, and the notch is arranged towards the notch;

one end of the reset spring (3) is fixed on the fruit frame (1), the other end of the reset spring is connected with the movable blade (22), and drives the knife edge of the movable blade (22) to be separated from the knife edge of the fixed blade (21) when the reset spring is not stressed, so that the branches or the fruit bases can pass through the gaps;

one end of the telescopic rod group (4) is connected to one side of the fruit frame (1) far away from the notch, and the other end of the telescopic rod group is a free end;

a tension element mounted on the free end of the set of telescopic rods (4);

the pulling wire (6) comprises a leather shell and a steel wire rope which is threaded in the leather shell and can move relative to the leather shell; one end of the peel shell is fixed on the fruit frame (1), and the other end of the peel shell is fixed on the stretching piece; one end of the steel wire rope is connected with the other end of the reset spring (3), and the other end of the steel wire rope is connected with the driving end of the stretching piece; the stretching piece pulls the steel wire rope to move relative to the leather shell through the driving end of the stretching piece so as to drive the movable blade (22) to overcome the elastic force of the return spring (3) to tangentially fix the blade (21) and cut off the branch or the fruit base, so that the fruit falls into the fruit frame (1).

2. The retractable and rotatable fruit picking robot of claim 1, wherein: the bottom end of the fruit frame (1) is provided with a lower opening structure, and the opening of the lower opening structure is used for allowing the fruit to fall; scalable rotatable type fruit picking manipulator still includes:

and two ends of the fruit bag group (7) are respectively connected to the fruit frame (1) and the telescopic rod group (4) and are positioned below the opening of the lower opening structure.

3. The retractable and rotatable fruit picking robot of claim 2, wherein: the fruit bag group (7) comprises a plurality of fruit conveying bags which are communicated in sequence, and the fruit conveying bags are detachably connected to the bottoms of the fruit frames (1) or the telescopic rod group (4).

4. A retractable and rotatable fruit picking manipulator as claimed in claim 2 or claim 3, wherein: scalable rotatable type fruit picking manipulator still includes:

at least one buffer device (8) installed in the set of fruit bags (7) and used for slowing down the sliding speed of the fruit in the set of fruit bags (7).

5. The retractable and rotatable fruit picking robot of claim 4, wherein: the buffer device (8) comprises a buffer ring (81) and a plurality of elastic buffer plates (82); the outer edge of the buffer ring (81) is connected to the inner wall of the fruit bag group (7) and is used for the fruit to pass through; a plurality of resilient cushioning plates (82) are mounted in the inner race of the cushioning ring (81) and serve to slow the fruit passing through the cushioning ring (81).

6. The retractable and rotatable fruit picking robot of claim 4, wherein: the buffer device (8) comprises a buffer tube (83) the outer wall of which is connected with the inner wall of the fruit bag group (7), and the radius of two ends of the buffer tube (83) is larger than that of the middle part of the buffer tube; the buffer tube (83) is a tube made of an elastic material, and the radius of the middle part is larger than the maximum radius of the fruit.

7. The retractable and rotatable fruit picking robot of claim 1, wherein: the telescopic rod group (4) comprises a plurality of telescopic sections which are sequentially sleeved, and two telescopic sections at two ends are arranged, one telescopic section is connected to the fruit frame (1), and the other telescopic section is used for installing the stretching piece.

8. The retractable and rotatable fruit picking robot of claim 7, wherein: the number of the telescopic sections is two, and the two telescopic sections are respectively a near-end working rod (41) and a far-end working rod (42); one end of the far-end working rod (42) is connected to the outer wall of the fruit frame (1), and the other end of the far-end working rod is connected with one end of the near-end working rod (41) through internal and external thread matching or splicing matching; the other end of the near-end working rod (41) is the free end, and the stretching piece is fixed on the near-end working rod (41); the maximum length of the telescopic rod group (4) is smaller than the length of the leather shell, and when the near-end working rod (41) and the far-end working rod (42) rotate relatively, the pull wire (6) is twisted along with the telescopic section and has a preset distance with the telescopic section.

9. The retractable and rotatable fruit picking robot of claim 1, wherein: the pulling wire (6) is a brake wire, and the pulling piece is a brake handle (5).

10. The retractable and rotatable fruit picking robot of claim 1, wherein: the fixed blade (21) and the movable blade (22) are rotatably connected, and the edges of the fixed blade (21) and the movable blade (22) are provided with a plurality of sawteeth.

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