CN211152813U

CN211152813U - Adjustable self-collecting fruit picking equipment

Info

Publication number: CN211152813U
Application number: CN201921943131.8U
Authority: CN
Inventors: 邓飞琴
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-12
Filing date: 2019-11-12
Publication date: 2020-08-04
Anticipated expiration: 2029-11-12

Abstract

The utility model relates to an adjustable self-collecting fruit picking device, which comprises a distance adjusting frame, a first chassis, a second chassis, a first vibration component arranged on the first chassis and a second vibration component arranged on the second chassis; the first chassis and the second chassis are respectively provided with wheels, a trunk channel is arranged between the first chassis and the second chassis, distance adjusting frames for adjusting the size of the trunk channel are arranged on the first chassis and the second chassis, the first vibration assembly and the second vibration assembly respectively comprise a fixed frame, a servo motor and an electric cylinder which are arranged on the fixed frame, and an arc push sheet fixed at the output end of the electric cylinder; the output end of the servo motor is connected with the electric cylinder, the fixing frame is fixed on the first chassis or the second chassis, and the output end of the electric cylinder of the first vibration assembly is opposite to the output end of the electric cylinder of the second vibration assembly and points to the trunk channel. The utility model discloses can be used for picking the fruit of bush class fruit tree belongs to the technical field of picking equipment.

Description

Adjustable self-collecting fruit picking equipment

Technical Field

The utility model relates to a technical field of equipment is picked to fruit especially relates to a regulation formula is from collecting fruit and picking equipment.

Background

Shrubs are woody plants with no significant trunk. Many small berry trees are shrub plants, such as raspberries, blueberries, blackcurrants, cherries, and the like. Because shrub fruit trees are usually short and small, at present, when fruits of shrub fruit trees are picked, manual picking is generally adopted, but when manual picking is carried out, the fruit trees are picked one by one, and the efficiency is very low.

Taking blueberries as an example, the blueberry trees are shrub clusters and are divided into highbush and lowbush clusters, the high-bush blueberry is mainly introduced as a cultivated variety in China, and the picking season is 6-8 months. At present, the blueberries in China are picked basically by manpower, so that the working efficiency is low, the picking cost is high, and the labor intensity is high. In recent years, the planting area of blueberries in China is increased exponentially, and the requirement of large-scale production cannot be met only by manual picking. The blueberry fruits are tightly combined with the branches when immature and are not easy to fall off, and the mature blueberry fruits easily fall off in the branch shaking process, so that the blueberry fruits can be picked by utilizing the characteristic, and a small, light and efficient picking machine is developed. The picking machine can fill the blank of China in the aspect of small berry picking machinery, improve picking efficiency, promote forestry scientific and technological progress, and simultaneously provide equipment support for planting and popularization of high-added-value forest products.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists among the prior art, the utility model aims at: provides an adjustable self-collecting fruit picking device which can be used for picking mature fruits of shrub fruit trees.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

An adjustable self-collecting fruit picking device comprises a distance adjusting frame, a first chassis, a second chassis, a first vibration assembly arranged on the first chassis, and a second vibration assembly arranged on the second chassis; the first chassis and the second chassis are respectively provided with wheels, a trunk channel is arranged between the first chassis and the second chassis, distance adjusting frames for adjusting the size of the trunk channel are arranged on the first chassis and the second chassis, the first vibration assembly and the second vibration assembly respectively comprise a fixed frame, a servo motor and an electric cylinder which are arranged on the fixed frame, and an arc push sheet fixed at the output end of the electric cylinder; the output end of the servo motor is connected with the electric cylinder, the fixing frame is fixed on the first chassis or the second chassis, and the output end of the electric cylinder of the first vibration assembly is opposite to the output end of the electric cylinder of the second vibration assembly and points to the trunk channel. The fruit tree penetrates from the trunk passageway, and when the trunk of fruit tree moved between first vibration subassembly and the second vibration subassembly, started electronic jar, the output of the electronic jar of first vibration subassembly and the output of the electronic jar of second vibration subassembly stretched out in turn, and the trunk was rocked under the drive of electronic jar to the circular arc push jack for ripe fruit drops on the chassis. The trunk size, the shape, the quantity of every fruit tree are all inequality, consequently can adjust the distance between first chassis and the second chassis through the roll adjustment frame to change the width size of trunk passageway, make the width of trunk passageway can change according to the change of fruit tree trunk, make the trunk passageway can let different fruit trees pass through.

Further, the method comprises the following steps: the distance adjusting frame is in a square frame shape and comprises a first vertical pipe fixed on the first chassis, a second vertical pipe fixed on the second chassis, a first horizontal pipe, a second horizontal pipe and a telescopic rod; first standpipe, second standpipe, telescopic link all have two, and the first both ends of violently managing respectively with two first standpipe fixed connection, the second both ends of violently managing respectively with two second standpipe fixed connection, two telescopic links are parallel to each other, the both ends of one of them telescopic link respectively with one of them first standpipe and one of them second standpipe fixed connection, the both ends of another telescopic link respectively with another first standpipe and another second standpipe fixed connection. When the telescopic link is flexible, first chassis and second chassis can be close to each other or keep away from, realize the regulation of trunk passageway width for the trunk passageway can adapt to the not bush fruit tree of equidimension.

Further, the method comprises the following steps: the telescopic rod comprises a central tube and a sliding tube arranged on the central tube in a sliding manner; the sliding tube has two, and the both ends at the center tube are installed to the one end of two sliding tubes slidingly respectively, and the other end of two sliding tubes respectively with first standpipe and second standpipe fixed connection, between first standpipe and the sliding tube, between second standpipe and the sliding tube, between first standpipe and the first violently pipe, between second standpipe and the second violently pipe all be equipped with the reinforced pipe. Through the slip pipe slip on the center tube, the slip pipe drives first chassis and second chassis indirectly and is close to each other or keep away from for the size of trunk passageway is adjustable.

Further, the method comprises the following steps: the adjustable self-collecting fruit picking equipment also comprises a self-collecting assembly; the first chassis and the second chassis are both provided with self-collecting assemblies, each self-collecting assembly comprises a cabinet body arranged on the first chassis or the second chassis and a collecting box arranged on the cabinet body in a sliding manner; the cabinet body is provided with a square groove, and the collecting box is arranged in the square groove in a sliding manner. The fruits vibrated down by the electric cylinder can fall into the collecting box, and automatic collection is realized.

Further, the method comprises the following steps: the adjustable self-collecting fruit picking equipment also comprises a limiting component; the first chassis and the second chassis are respectively provided with a limiting assembly, and the limiting assembly comprises a base fixed on the first chassis or the second chassis, a straight shaft fixed on the base and a sliding block arranged on the straight shaft in a sliding manner; the both ends of base all set up the lug, and the both ends of straight shaft are fixed respectively on the lug at base both ends, and the cabinet body is fixed on the slider, and the direction of sliding of slider is the same with the flexible direction of telescopic link. Thereby spacing subassembly can drive and remove from the collection subassembly and adjust from the position of collecting the subassembly, also can restrict the displacement from the collection subassembly size simultaneously, prevents from the too big distance of the removal of collection subassembly.

Further, the method comprises the following steps: still be equipped with brush piece and inclined plane on the cabinet body, the inclined plane is located all around the square groove top and from up to the outer slope of square groove down, the lower extreme on inclined plane and the interior wall connection of square groove, and the one end of brush piece is installed on the cabinet body and the brush piece is located the trunk passageway. The inclined plane is convenient for the fruit to roll in collecting the box, and the brush can guide the fruit in the trunk passageway to fall into collecting the box in, prevents that the fruit from falling in the trunk passageway and causing the waste.

Further, the method comprises the following steps: the adjustable self-collecting fruit picking equipment also comprises an electric push rod; all there is electric putter on first chassis and the second chassis, and electric putter's organism is fixed on first chassis or second chassis, and electric putter's output and cabinet body fixed connection, the ejecting direction of electric putter's output is the same with the flexible direction of telescopic link. The electric push rod can realize that the position of the self-collecting assembly can be adjusted without manpower, and the rocked fruits can enter the collecting box conveniently.

Further, the method comprises the following steps: all be equipped with the wheel carrier on first chassis and the second chassis, the below at the wheel carrier is installed to the wheel rotary type, and the wheel is electronic omniwheel, and the top of wheel carrier is equipped with deposits the box frame, deposits on the box frame and has piled up a plurality of collection box. Deposit the box frame and can carry and deposit empty collection box or deposit the collection box of having put the fruit, need not the manual work and carry collection box, provide and pick efficiency.

the P L C master control box can control the servo motor, the electric push rod and the electric omnidirectional wheel to stop and start, and can also adjust the stroke, vibration frequency and force of the servo motor, thereby realizing the adjustment of the stroke, vibration frequency and force of the electric cylinder.

the electric cylinder is arranged on the cross beam, the servo motor is arranged on the vertical beam, and the shock absorption handle is arranged on the vertical beam.

In general, the utility model has the advantages as follows:

the utility model discloses a regulation formula is from collecting fruit picking equipment can be used for picking the ripe fruit of bush class fruit tree, thereby through the stroke of electronic jar of P L C total control box control servo motor control, vibration frequency and dynamics, make electronic jar can only shake the ripe fruit of falling, because the trunk of bush class fruit tree is more, circular-arc push jack can all be in the same place these trunks, it shakes together to be convenient for, the width size of trunk passageway is adjustable, consequently, can adjust the width of trunk passageway according to the trunk quantity of every fruit tree, make any big or small bush fruit tree can both pass through the trunk passageway, the roll-off stand is square frame form, can additionally increase transparent from inhaling the door, guarantee that the vibration is picked in-process fruit and can not fly out, all be equipped with from collecting the subassembly on first chassis and the second chassis, can automatic collection from the ripe fruit that the fruit tree shakes, the fruit is shaken down with the fruit tree separation automatic collection box under the effect of gravity, do not need artifical one pick-up, reduce the injury to the while of manpower and materials, the simple harm that the branch and hilly fruit tree fruit is not easily picked up the simple and plant efficiency of the utility model is not improved.

Drawings

Fig. 1 is a schematic structural diagram of the adjustable self-collecting fruit picking device.

Fig. 2 is a schematic structural diagram of the first chassis, the second chassis, the first vibration assembly, the second vibration assembly, the self-collecting assembly and the limiting assembly.

Fig. 3 is a schematic structural diagram of the first chassis or the second chassis, the first vibration assembly or the second vibration assembly, the self-collecting assembly and the limiting assembly.

Fig. 4 is a schematic bottom structure diagram of the first chassis or the second chassis, the first vibration assembly or the second vibration assembly, the self-collection assembly and the limiting assembly.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

To facilitate a uniform view of the various reference numbers within the drawings, reference numbers appearing in the drawings are now described collectively as follows:

the multifunctional trunk cleaner is characterized in that the multifunctional trunk cleaner comprises a first chassis 1, a second chassis 2, a first vibration assembly 3, a second vibration assembly 4, wheels 5, a trunk channel 6, a fixing frame 7, a servo motor 8, an electric cylinder 9, an arc push sheet 10, a cabinet 11, a first vertical pipe 12, a second vertical pipe 13, a first horizontal pipe 14, a second horizontal pipe 15, a telescopic rod 16, a central pipe 17, a sliding pipe 18, a reinforcing pipe 19, a self-collecting assembly 20, a collecting box 21, a square groove 22, a limiting assembly 23, a base 24, a straight shaft 25, a convex block 26, a brush sheet 27, an inclined plane 28, an electric push rod 29, a wheel carrier 30, a box storage frame 31, a P L C total control box 32, a shock absorption handle 33 and a sliding block 34.

Referring to fig. 1, 2, 3 and 4, an adjustable self-collecting fruit picking device comprises a distance adjusting frame, a first chassis, a second chassis, a first vibration assembly mounted on the first chassis, and a second vibration assembly mounted on the second chassis; the first chassis and the second chassis are made of ultra-high molecular weight polyethylene (UHMWPE), so that the chassis has the characteristics of wear resistance, impact resistance, corrosion resistance, safety, no toxicity (can be used for food), low density, light weight and the like, and is suitable for field environment. First chassis, second chassis all install on the roll adjustment frame, all are equipped with two wheels on first chassis and the second chassis, realize picking equipment and can walk on the ground steadily. The first chassis and the second chassis are not connected with each other, a trunk channel exists between the first chassis and the second chassis, and a trunk of a fruit tree can penetrate through the trunk channel between the first chassis and the second chassis when fruits are picked. A roll adjustment frame for adjusting trunk passageway size is installed on first chassis and second chassis, can adjust the distance between first chassis and the second chassis through the roll adjustment frame for first chassis and second chassis are kept away from each other or are close to each other, thereby make trunk passageway size discover to change, can adapt to the size change of the trunk of different fruit trees. The first vibration assembly and the second vibration assembly respectively comprise a fixed frame, a servo motor and an electric cylinder which are both arranged on the fixed frame, and an arc push sheet fixed at the output end of the electric cylinder; the electronic jar level sets up, and servo motor's output is connected with electronic jar, and the mount is fixed on first chassis or second chassis, and the output of the electronic jar of first vibration subassembly and the output of the electronic jar of second vibration subassembly are relative and all directional trunk passageway. Line between first vibration subassembly and the second vibration subassembly is the cross with the trunk passageway, and servo motor drive electronic jar constantly stretches out and draws back repeatedly to make the circular arc push jack constantly push away the trunk in shaking the trunk passageway, the electronic jar of first vibration subassembly and the electronic jar of second vibration subassembly are flexible in turn, first vibration subassembly and second vibration subassembly are waved the trunk of fruit tree in turn promptly, make the trunk rock in the trunk passageway, make the fruit at last to be shaken. The stroke and the flexible frequency of electronic jar are all adjustable, can set up corresponding stroke and flexible frequency according to the fruit tree of different kind different shapes, and the regulation stroke makes the circular arc push jack of electronic jar output near the trunk of fruit tree, adjusts flexible frequency and obtains suitable dynamics and makes only ripe fruit just can be shaken and fall.

the electric cylinder is installed on the cross beam, the servo motor is installed on the vertical beam, and the shock absorption handles are arranged on the vertical beam.

The distance adjusting frame is in a square frame shape and comprises a first vertical pipe fixed on the first chassis, a second vertical pipe fixed on the second chassis, a first horizontal pipe, a second horizontal pipe and a telescopic rod; the first vertical pipe, the second vertical pipe and the telescopic rod are all two. The two first transverse pipes are respectively positioned at two ends of the first chassis, and the two second transverse pipes are respectively positioned at two ends of the second chassis. The two ends of the first horizontal pipe are fixedly connected with the two first vertical pipes respectively, and the two ends of the second horizontal pipe are fixedly connected with the two second vertical pipes respectively. Two telescopic links are parallel to each other, and the both ends of one of them telescopic link respectively with one of them first standpipe and one of them second standpipe fixed connection, the both ends of another telescopic link respectively with another first standpipe and another second standpipe fixed connection. When the telescopic rod stretches, the first chassis and the second chassis can be close to or far away from each other. Because the distance adjusting frame is in a square frame shape, transparent self-sucking doors can be arranged between the two first transverse pipes, between the two second transverse pipes and between the first transverse pipes and the second transverse pipes of the distance adjusting frame, and fruits can be prevented from flying out in the picking process.

The telescopic rod comprises a central tube and a sliding tube arranged on the central tube in a sliding manner; the central tube and the sliding tube are square tubes, and circular tubes can also be adopted. The sliding pipe has two, and two sliding pipes all overlap on the center tube. The one end of two slip pipes is the slidingtype both ends of installing at the center tube respectively, the other end of two slip pipes respectively with first standpipe and second standpipe fixed connection, when the telescopic link is flexible, the slip pipe at center tube both ends all slides on the center tube to drive first standpipe and second standpipe and remove, realize being close to each other and keeping away from each other on first chassis and second chassis at last. Between first standpipe and the slip pipe, between second standpipe and the slip pipe, between first standpipe and the first violently pipe, between second standpipe and the second violently pipe all be equipped with the reinforcement pipe, the reinforcement pipe can make the holding capacity of roll adjustment frame stronger.

The adjustable self-collecting fruit picking equipment also comprises a self-collecting assembly; the self-collecting assembly comprises a cabinet body arranged on the first chassis or the second chassis and a collecting box arranged on the cabinet body in a sliding manner; the cabinet body is provided with a square groove, and the collecting box is arranged in the square groove in a sliding manner. The square groove is square, one of the four inner walls of the square groove is provided with a side notch, and the collecting box can be slidably arranged in the square groove through the side notch. When the first vibration component and the second vibration component vibrate the fruits to fall, the fruits finally fall into the collection box in the square groove from the lower part of the tree through the upper part of the square groove. When the collecting box is filled with fruits, the collecting box is taken out from the side gap of the square groove. In order to facilitate the removal of the collecting box, the side notches are located on the outer side of the first chassis or the second chassis. In this implementation, every cabinet body is equipped with two square grooves, and first vibration subassembly and second vibration subassembly all are located between two square grooves, and collection box is all installed to every square groove, can design the square groove as required in the reality and from the quantity of collecting.

The adjustable self-collecting fruit picking equipment also comprises a limiting component; the first chassis and the second chassis are respectively provided with a limiting assembly, and the limiting assembly comprises a base fixed on the first chassis or the second chassis, a straight shaft fixed on the base and a sliding block arranged on the straight shaft in a sliding manner; the both ends of base all set up the lug, and the both ends of straight shaft are fixed respectively on the lug at base both ends, and the cabinet body is fixed on the slider, and the direction of sliding of slider is the same with the flexible direction of telescopic link. In order to let from the better collection fruit of collection subassembly, will design into mobilizable from the collection subassembly, the slider is integrated into one piece with the cabinet body, and the slider is when the epaxial slip of straight, and the cabinet body is followed to slide to make the cupboard drive collect the box and can be close to or keep away from the trunk passageway, can adjust the position from the collection subassembly according to actual needs, realize the effect of better collection fruit. The lug at straight shaft both ends plays spacing effect, one can prevent to adjust from collecting the subassembly position in-process distance to remove too much and cause from collecting subassembly break away from first chassis or second chassis, also can prevent that the self-collection subassembly on first chassis or second chassis from collecting the subassembly and bumping in the trunk passageway. Preferably, first chassis and second chassis all are provided with two spacing subassemblies in this example, and two spacing subassemblies are installed respectively at the both ends of the cabinet body, and the slider of two spacing subassemblies respectively with the both ends fixed connection of the cabinet body, atress is even when making the cabinet body remove like this, and it is more steady to remove the cabinet body.

Still be equipped with brush piece and inclined plane on the cabinet body, the inclined plane is located all around the square groove top and from up to the slope outside the square groove down, the lower extreme on inclined plane and the interior wall connection of square groove, and the one end (lower extreme) of brush piece is installed on the cabinet body and the brush piece is located the trunk passageway. The cabinet body is similar to a square funnel, and the inclined surface can guide the fruits to roll down in the collecting box in the square groove. The hair of brush piece is soft, and the fruit can not damage when dropping on the brush piece, and simultaneously, when the trunk of fruit tree entered into the trunk passageway, through the size of roll adjustment frame regulation trunk passageway, the brush piece on first chassis and the second chassis can be close to each other this moment, and the brush piece gets the hair and stretches into between the trunk of bush for whole trunk passageway all has the hair of brush piece to cover, and the brush piece can prevent that the fruit from dropping from the trunk passageway. Preferably, the brush piece is arranged in an inclined manner from top to bottom, namely the brush pieces on the first chassis and the second chassis are in an inverted V-shaped manner when leaning against each other, so that fruits can roll down to the inclined surface of the cabinet along the inclined surface of the brush pieces when falling on the brush pieces and finally fall into the collection box.

The adjustable self-collecting fruit picking equipment also comprises an electric push rod; the electric push rod is convenient to move the self-collecting assembly, and reduces the labor intensity of people. All there is electric putter on first chassis and the second chassis, is equipped with the breach between two adjacent square grooves, and electric putter is located this breach. Electric putter's organism is fixed on first chassis or second chassis, electric putter's output and cabinet body fixed connection, and the direction of release of electric putter's output is the same with the flexible direction of telescopic link. When electric putter extends, be close to the trunk passageway from collecting the subassembly, when electric putter shrink, the trunk passageway is kept away from collecting the subassembly.

The first chassis and the second chassis are respectively provided with four wheel frames, two of the four wheel frames are respectively positioned at two ends of the first chassis, and the other two wheel frames are respectively positioned at two ends of the second chassis. Four wheels distribute the rotary type and install in the below of four wheel carriers, and the wheel is electronic omniwheel, and the top of wheel carrier is equipped with deposits the box frame, deposits on the box frame and piles up to have a plurality of to collect the box. The box storage frames can be arranged on all the wheel frames, and the box storage frames can be arranged on any wheel frame according to the requirement. Deposit the bottom plate that is equipped with the backplate all around on the box frame, the bottom of the collection box of the shape of bottom plate suits, just can inlay in depositing the box frame when collecting the box and putting on depositing the box frame, prevents to collect the box and removes the in-process and drop picking equipment. After the collection box on the cabinet body is filled with the fruits, the collection box can be replaced by an empty box on the box storage rack, and the collection box filled with the fruits can also be transported on the box storage rack, so that the picking efficiency is improved.

the P L C master control box is arranged on the first chassis or the second chassis, and the servo motor, the electric push rod and the electric omni-wheel are in signal connection with the P L C master control box.

the method comprises the steps that a P L C master control box is manually operated to control an electric omni-directional wheel to rotate so as to drive a picking device to move, when the picking device moves to the front of a certain fruit tree, a worker firstly adjusts the telescopic rod on a distance adjusting frame according to the number and the size of the fruit tree trunk, so as to primarily adjust the width of a trunk channel, since the trunks of bush fruit trees are numerous and scattered, the worker further controls an electric push rod through the P L C master control box to adjust the distance between a self-collecting assembly on a first chassis and a self-collecting assembly on a second chassis so as to complete adjustment of the width of the trunk channel, all the trunks of the fruit trees can enter the trunk channel, the trunks of the fruit trees enter the trunk channel and then enter between an arc push sheet of a first vibration assembly and an arc push sheet of a second vibration assembly, and then the P L C master control box is manually operated to control the electric push rod so as to adjust the position of the self-collecting assembly, so that the trunks can be completely covered by a brush, fruits can only fall into the trunk channel directly or roll up from the trunk channel, the box, the fruit tree box can only fall into the fruit tree box, the fruit tree can be adjusted, the fruit tree can not easily, the fruit tree can be picked by the fruit tree, the fruit picking device, the fruit tree can be picked by the fruit tree trunk, the fruit tree picking device, the fruit tree can be picked by the fruit tree picking device, the fruit tree can be picked by the fruit tree, the fruit tree can be picked by the fruit picking device, the fruit tree can be picked by the fruit tree, the fruit picking device can be picked by the fruit tree, the fruit picking device, the.

The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims

1. The utility model provides an adjust formula and pick equipment from collecting fruit which characterized in that: the vibration device comprises a distance adjusting frame, a first chassis, a second chassis, a first vibration component arranged on the first chassis and a second vibration component arranged on the second chassis; the first chassis and the second chassis are respectively provided with wheels, a trunk channel is arranged between the first chassis and the second chassis, distance adjusting frames for adjusting the size of the trunk channel are arranged on the first chassis and the second chassis, the first vibration assembly and the second vibration assembly respectively comprise a fixed frame, a servo motor and an electric cylinder which are arranged on the fixed frame, and an arc push sheet fixed at the output end of the electric cylinder; the output end of the servo motor is connected with the electric cylinder, the fixing frame is fixed on the first chassis or the second chassis, and the output end of the electric cylinder of the first vibration assembly is opposite to the output end of the electric cylinder of the second vibration assembly and points to the trunk channel.

2. A regulated self-collecting fruit picking apparatus according to claim 1, in which: the distance adjusting frame is in a square frame shape and comprises a first vertical pipe fixed on the first chassis, a second vertical pipe fixed on the second chassis, a first horizontal pipe, a second horizontal pipe and a telescopic rod; first standpipe, second standpipe, telescopic link all have two, and the first both ends of violently managing respectively with two first standpipe fixed connection, the second both ends of violently managing respectively with two second standpipe fixed connection, two telescopic links are parallel to each other, the both ends of one of them telescopic link respectively with one of them first standpipe and one of them second standpipe fixed connection, the both ends of another telescopic link respectively with another first standpipe and another second standpipe fixed connection.

3. A regulated self-harvesting fruit picking apparatus according to claim 2, wherein: the telescopic rod comprises a central tube and a sliding tube arranged on the central tube in a sliding manner; the sliding tube has two, and the both ends at the center tube are installed to the one end of two sliding tubes slidingly respectively, and the other end of two sliding tubes respectively with first standpipe and second standpipe fixed connection, between first standpipe and the sliding tube, between second standpipe and the sliding tube, between first standpipe and the first violently pipe, between second standpipe and the second violently pipe all be equipped with the reinforced pipe.

4. A regulated self-harvesting fruit picking apparatus according to claim 2, wherein: the adjustable self-collecting fruit picking equipment also comprises a self-collecting assembly; the first chassis and the second chassis are both provided with self-collecting assemblies, each self-collecting assembly comprises a cabinet body arranged on the first chassis or the second chassis and a collecting box arranged on the cabinet body in a sliding manner; the cabinet body is provided with a square groove, and the collecting box is arranged in the square groove in a sliding manner.

5. A regulated self-collecting fruit picking apparatus according to claim 4, in which: the adjustable self-collecting fruit picking equipment also comprises a limiting component; the first chassis and the second chassis are respectively provided with a limiting assembly, and the limiting assembly comprises a base fixed on the first chassis or the second chassis, a straight shaft fixed on the base and a sliding block arranged on the straight shaft in a sliding manner; the both ends of base all set up the lug, and the both ends of straight shaft are fixed respectively on the lug at base both ends, and the cabinet body is fixed on the slider, and the direction of sliding of slider is the same with the flexible direction of telescopic link.

6. A regulated self-collecting fruit picking apparatus according to claim 5, in which: still be equipped with brush piece and inclined plane on the cabinet body, the inclined plane is located all around the square groove top and from up to the outer slope of square groove down, the lower extreme on inclined plane and the interior wall connection of square groove, and the one end of brush piece is installed on the cabinet body and the brush piece is located the trunk passageway.

7. A regulated self-collecting fruit picking apparatus according to claim 6, in which: the adjustable self-collecting fruit picking equipment also comprises an electric push rod; all there is electric putter on first chassis and the second chassis, and electric putter's organism is fixed on first chassis or second chassis, and electric putter's output and cabinet body fixed connection, the ejecting direction of electric putter's output is the same with the flexible direction of telescopic link.

8. A regulated self-collecting fruit picking apparatus according to claim 7, in which: all be equipped with the wheel carrier on first chassis and the second chassis, the below at the wheel carrier is installed to the wheel rotary type, and the wheel is electronic omniwheel, and the top of wheel carrier is equipped with deposits the box frame, deposits on the box frame and has piled up a plurality of collection box.

9. the adjustable self-collecting fruit picking device according to claim 8, wherein the first chassis or the second chassis is provided with a PLC master control box, and the servo motor, the electric push rod and the electric omni wheel are in signal connection with the PLC master control box.

10. the adjustable self-collecting fruit picking apparatus of claim 1, wherein the mounting bracket is L-shaped and comprises a vertical beam and a cross beam perpendicular to each other, the electric cylinder is mounted on the cross beam, the servo motor is mounted on the vertical beam, and the vertical beam is provided with a shock-absorbing grip.