CN104472109A

CN104472109A - Agricultural high fruit picking device

Info

Publication number: CN104472109A
Application number: CN201410733545.3A
Authority: CN
Inventors: 汪成龙; 张磊
Original assignee: Xian Polytechnic University
Current assignee: Xian Polytechnic University
Priority date: 2014-12-04
Filing date: 2014-12-04
Publication date: 2015-04-01
Anticipated expiration: 2034-12-04
Also published as: CN104472109B

Abstract

The invention discloses an agricultural high fruit picking device comprising a two wheel trolley. A lifting mechanism is movably connected to the upper portion of the two wheel trolley and is movably connected to a console; the console is movably connected to one end of a telescopic arm, the other end of the telescopic arm is movably connected to a balance mechanism, the top of the balance mechanism is connected to a shearing arm, and the bottom of the balance mechanism is connected to an accommodating bag. According to the device, the two wheel trolley replaces of a power transport vehicle to be adaptive to poor driving condition of an orchard; the telescopic arm replaces of a mechanical arm with multiple freedom degrees, weight is decreased, structure and control of the arm are simplified, and the moving space of the arm is saved; the suspended soft bag replaces of a fixed fruit conveying channel, the fruit conveying distance is shortened, and fruit damage is reduced; the device is more adaptive to the application for the orchard.

Description

Agricultural high-order fruit picker

Technical field

The invention belongs to fruit picker technical field, relate to a kind of agricultural high-order fruit picker.

Background technology

The most frequently used instrument of high-order fruit picking is ladder and stock; To climb up frequently on ladder when plucking high-order fruit with ladder and climb down, once movement and lifting that ladder also will be carried out in position are plucked in change, affect the picking efficiency of fruit.Pluck high-order fruit with stock, although efficiency is higher, the fruit that stock is hit down is not through selecting, and in the process of hitting down, fruit tree and fruit can damaged.For the problems referred to above, people start to research and develop and use fruit picker.

Softening common in fruit picker has: (1) inhales, and is first sucked by fruit with suction nozzle, is more firmly dragged down from fruit branch by fruit; (2) burn, first by laser alignment carpopodium, then blow carpopodium to take fruit with laser; (3) clamp, first use clamp holder clamping fruit, more firmly fruit is dragged down from fruit branch; (4) cut, first will to saw or carpopodium aimed at by cutter, then with High Rotation Speed or quick punching separation fruit; (5) cut, this method uses the most general, with the longest history.Wherein, the mode of inhaling is adopted to have air pump; Adopt chucking method must adapt to the profile of fruit very well and control chucking power; Adopt the mode of burning or cutting then first must aim at carpopodium, also will have enough power and flush shear force.Collecting shedding is also the function that fruit picker must provide, common form mainly contains: (1) gravity receives shedding: the fruit taken drops under gravity in the receiving net opened, and general net of receiving is wanted cover certain region and possess good elasticity; (2) pipeline transmission: the fruit taken enters transfer canal, is steadily sent to containing box through connecting gear; (3) mode playback is plucked: first taken from fruit tree by fruit, then clamping and mobile fruit put into containing box, be similar to the process of the artificial fruit-picking of orchard worker.Although it is higher to adopt gravity to receive the mode efficiency of shedding, the damage ratio of fruit also high, automaticity is low, seldom to apply in fruit picker; Pluck mode playback owing to will frequently clamp and mobile fruit, not only affected efficiency but also be difficult to control, also seldom to use in fruit picker; Pipeline transmission is nowadays most widely used mode, but must design special Transfer pipe and connecting gear, and this both can increase lifting weight, and lifting structure can be made again to complicate., common up-down mode has: (1) lifting platform, and volume is large, jacking load is large and very flexible; (2) expansion link, volume is little, lifting load is light, flexibly; (3) mechanical arm, volume is moderate, jacking load is large, flexibly but difficultly to control, multiselect mechanical arm in current fruit picker, but must coordinate further between load capacity, flexibility and controllability.

Delivery is the biggest obstacle affecting fruit picker application, and because orchard mostly is hillside fields, the traffic status of road is poor, so slightly large carrier loader is difficult to effective use; Next is power supply, due to the most remote location in orchard, and the electric power of picker or oil supply difficulty; And the spacing of fruit tree and highly also limit the input of large-scale seed harvester.Based on the problems referred to above, be necessary very much to explore and research and develop the farming device being more applicable to high-order fruit picking.

Summary of the invention

The object of the present invention is to provide a kind of agricultural high-order fruit picker, power carrier loader is replaced to adapt to the poor travel conditions in orchard with two wheeler, replace multivariant mechanical arm with telescopic arm both to have alleviated weight and in turn simplify the structure of arm body and control, also save the activity space of arm body, with suspension type soft cloth bag replace fixed fruit Transfer pipe both shortened fruit transmitting range additionally reduce fruit damage, make fruit picker be more applicable to orchard application.

The technical solution adopted in the present invention is, agricultural high-order fruit picker, include two wheeler, the vehicle body upper portion of two wheeler is connected with elevating mechanism, elevating mechanism is flexibly connected with operation bench, and operation bench is flexibly connected with one end of telescopic arm, and the other end of telescopic arm is connected with balances mechanism, the top of balancing mechanism is connected with shear arm, and the bottom of balancing mechanism is connected with collecting bag.

Feature of the present invention is also:

Two wheeler, comprises car body, and the bottom of car body is connected with two wheels and a stand, and two wheels lay respectively at the both sides of Vehicular body front, and stand is positioned at the afterbody of car body; Car body, include vertically and the side plate A be oppositely arranged, side plate B, side plate A in side plate B be the identical rectangular slab of size, the front end of side plate A and side plate B is connected as a single entity by side plate C, the front end at side plate A and side plate B upper top edge is respectively provided with an adjusting rod connecting hole, the front end at side plate A and side plate B upper bottom portion edge is respectively provided with a wheel installation position, and wheel installation position is circumferentially evenly provided with multiple threaded mounting hole, and wheel is fixed in wheel installation position by screw; The tail end of side plate A and side plate B is connected with outwardly directed rectangle handlebar; Also vertically respectively between side plate A with side plate B be connected with side plate D and dividing plate, form operation bench between side plate C and dividing plate and park storehouse, form tool cartridge between dividing plate and side plate D, formation control area, side plate D rear portion, the bottom center of side plate D is vertically connected with the backup plate that is positioned at control area; The tail end bottom of side plate A and side plate B is respectively provided with one and swings connecting hole, and the two ends of stand swing connecting hole respectively by turning cylinder be connected with two; Side plate A is connected with battery case, side plate B is connected with armed lever case, the top place of side plate A and side plate B is all disposed with adjusting rod fixing hole, master connecting-rod connecting hole and and auxiliary connecting rod connecting hole.

Stand, include to be set in parallel in and park plate below hull back, park that the two ends of plate are each is vertically connected with a swinging support plate, the upper end of a swinging support plate is connected with the swing connecting hole on side plate A by revolute pair, the upper end of another swinging support plate is connected with the swing connecting hole on side plate B by revolute pair, and stand can swing around two revolute pairs; The outer wall of battery case is provided with battery chamber door, the base of battery chamber door adopts hinge to be fixed on the edge, base of battery case, and the top margin central authorities of battery chamber door are provided with folding handle and Protective lock; The side in armed lever case oriented manipulation direction is provided with armed lever case mouth; Wheel, includes wheel body, and wheel body is connected with wheel shaft, and the outer rim of wheel body is provided with tire; Be provided with rolling bearing in the wheel bore of wheel body central authorities, between the outer rim of wheel body and wheel hub, be provided with spoke; The large end of wheel shaft is wheel mounting disc, wheel mounting disc is circumferentially evenly provided with multiple connecting hole, the small end of wheel shaft is screw thread axle head, the middle part of wheel shaft is through rolling bearing, the inner ring of rolling bearing is in the axis shaft shoulder and round nut location, the outside of round nut is provided with split pin, and the outer ring of rolling bearing is axially being located with a bearing baffle respectively from both sides, makes tire, wheel body and wheel shaft be linked to be a complete wheel; Wheel mounting disc is screwed into threaded mounting hole by screw at wheel installation position place and is connected with car body.

Elevating mechanism is made up of the identical crane A of structure and crane B, and crane A is connected with side plate A, and crane B is connected with side plate B; Crane A, include the master connecting-rod and auxiliary connecting rod that be arranged in parallel, the length of master connecting-rod and auxiliary connecting rod is equal; The upper end of master connecting-rod and auxiliary connecting rod is fixed on the two ends of a crossbeam respectively by revolute pair, the manipulation platen in crossbeam and operation bench is affixed; The middle part of master connecting-rod is evenly provided with multiple supported hole, and the swinging end of adjusting rod is connected on tie-beam through supported hole hold-down screw, and the stiff end rotary pair of adjusting rod is connected with the adjusting rod connecting hole on side plate A; Master connecting-rod is connected with the master connecting-rod connecting hole on side plate A, auxiliary connecting rod connecting hole with rotary pair respectively with the lower end of auxiliary connecting rod.

Collecting bag, includes bag, and bag is the soft long bag of tubulose, the sack at bag two ends is respectively arranged with bag circle, bag hook, is provided with and gets fruit sack on the bag of bag hook; Bag circle, include the opening annulus be connected with sack, one end of support and connection plate is fixed in the openend of opening annulus by stator, support and connection plate is connected with the casing A balancing mechanism; Bag hook forms by geometrical clamp with the hook that rotating shaft is connected to geometrical clamp central authorities, and geometrical clamp is held on the sack place of the other end.

Shear arm, include the upper connective plate and lower linking plate that be arranged in parallel up and down, upper connective plate is concordant with one end of lower linking plate, and the middle part of upper connective plate is connected with the other end of lower linking plate by being fixedly connected with block, and the other end of upper connective plate is provided with camera; Be connected with cutting mechanism between upper connective plate and lower linking plate, lower linking plate with balance in-house casing A and be connected; Cutting mechanism, be made up of shear knife and two knife bars being connected with shear knife, shear knife is connected to form by revolute pair by two cutter heads, and the angle between two knife bars is 120 °; Shear knife stretches out upper connective plate one end concordant with lower linking plate, and shear knife is connected with upper connective plate and lower linking plate respectively by connecting axle, support pad; Every root knife bar is connected with a connecting rod by revolute pair, forms one and shears branch; Two connecting rods are connected with a slide block respectively by revolute pair, slide block is between upper connective plate and lower linking plate, slide block is connected with one end of extension spring, the other end of extension spring is fixed on connecting axle by brace, shear branch about extension spring symmetry for two, be responsible for the shearing edge of a knife that reset two shear knives are formed, two parallel chutes are provided with in slide block, two travellers are fixed with between upper connective plate and lower linking plate, two travellers are each passed through two chute composition moving sets, on the lower linking plate being fixedly connected with block, be provided with electromagnet.

Balance mechanism, include casing A, the roof of casing A is towards outside, and be connected by screw case lid A at ceiling edge, the outside, two side that casing A is relative connects with the support and connection plate be connected with bag circle in the lower linking plate in shear arm, collecting bag respectively, the sidewall in casing A is provided with two bearing spiders, is connected with worm shaft A between two bearing spiders, one end of worm shaft A is connected with drive motors A, and drive motors A is fixed on another sidewall in casing A, the central authorities of case lid A, base plate central authorities in casing A are respectively provided with a bearing block, axis hole is provided with in bearing block on base plate, by rolling bearing and location shaft shoulder fixed support worm-wheel shaft between two bearing blocks, worm-wheel shaft and worm shaft A engage each other composition worm and worm gear, the axis hole of one end in bearing block of worm-wheel shaft stretches out casing A, the worm-wheel shaft stretching out casing A and the one end of balancing driving rod two flat key circumferences are connected, by the shaft shoulder and back-up ring axial location, the other end of balancing driving rod is provided with a plate connector, plate connector embeds the end of telescopic arm and is connected with one end of telescopic arm with screw, the middle part of balancing driving rod is also provided with a plate connector, be connected with power supply line with being arranged at the signal of balancing in driving rod between two plate connectors.

Telescopic arm includes many arms bar, and many arms bar is connected by contiguous block successively head and the tail; Armed lever includes two pieces relatively and the connecting plate be arranged in parallel, the edge of every block connecting plate both sides is evenly provided with multiple connecting hole, between two pieces of connecting plates, Parallel Symmetric is provided with tooth bar, guide rail respectively, two pieces of connecting plates, tooth bar and guide rails are connected as a single entity through connecting hole by screw, every toothed rack and guide rail are all evenly provided with multiple screwed hole, tooth bar and guide rail use respectively screw and connecting plate affixed; Between the guide rail that two links of contiguous block embed an arms boom end respectively and tooth bar, be provided with hollow pipeline in armed lever, hollow pipeline has been embedded in signal and power supply line; Contiguous block is rectangular blocks, and relative two sides of contiguous block are respectively provided with a plate connector, and be connected with signal and power supply line between two plate connectors, signal and power supply line are positioned at the through hole of contiguous block; Two ends up and down of contiguous block are respectively provided with multiple screwed hole, contiguous block can be connected with the connecting plate in armed lever through screwed hole with screw; Signal and power supply line are made up of assemble line and two combined plugs, and two combined plugs are arranged at the two ends of assemble line respectively; Assemble line is identical with the length of armed lever; Combined plug is connected with the plate connector on contiguous block, and assemble line embeds in the hollow pipeline in armed lever.

Operation bench, include horizontally disposed manipulation platen, the two ends of manipulation platen are fixedly supported on crane A and crane B respectively, the side of manipulation platen upper surface is provided with control cabinet, the middle part of manipulation platen is provided with the bearing block of band axis hole, hang the below that rotating mechanism is arranged at manipulation platen, hang the overhung of rotating mechanism in bearing block, hang on the relative two side of rotating mechanism and be connected to telescopic drive arm, pitching driving mechanism.

Telescopic drive arm, include arm body and arm lid, arm lid is rectangle, and arm body is in the cuboid coordinated with arm lid, and arm body and arm cover at the place of outer rim up and down of arm body affixed with multiple screw respectively, form closed driving support passage between arm body and arm lid, the two ends, outer wall bottom of arm body are respectively provided with a bearing block with holes, the top of bearing block with holes is connected with bearing cap, rolling bearing is provided with in the axis hole of bearing block with holes, support roller is made up of back shaft and the roller being connected to back shaft one end, roller is positioned at and drives support passage, back shaft matches with rolling bearing through the axis hole in bearing block with holes, and the inner ring of rolling bearing is in the axis shaft shoulder and back-up ring location, and the outer ring of rolling bearing is axially being located with bearing block with holes and bearing cap, the one end on the outer wall top of arm body is also provided with bearing block with holes, Support Gear is made up of gear shaft and the gear being connected to gear shaft end, gear is positioned at and drives support passage, gear shaft matches with rolling bearing through the axis hole in bearing block with holes, the inner ring of rolling bearing is in the axis shaft shoulder and back-up ring location, the outer ring of rolling bearing is in axis top chock and bearing (ball) cover location, the other end on the outer wall top of arm body is provided with an axis hole, the motor shaft of drive motors B is fixedly connected with driven wheel through axis hole, driven wheel is positioned at and drives support passage, drive motors B is fixed on the outer wall of arm body, the outer wall central authorities of arm body are provided with actuating arm installing zone, actuating arm installing zone is circumferentially evenly provided with multiple threaded connection hole, the mounting disc of the large end of screw and driving shaft of actuating arm installing zone is connected, telescopic drive arm can swing with driving shaft the elevating movement controlling telescopic arm, telescopic arm is through the driving support passage in telescopic drive arm, guide rail in telescopic arm coordinates with the support roller in telescopic drive arm, coordinate and retrained by the connecting plate of armed lever both sides, tooth bar in telescopic arm engages with the Support Gear in telescopic drive arm and driven wheel, engagement is also retrained by the connecting plate of armed lever both sides, the stretching motion of telescopic arm is controlled by the drive motors B in telescopic drive arm,

Hang rotating mechanism, comprise suspended axle, suspended axle is made up of the shaft shoulder on top and the connecting axle at middle part, the shaft shoulder is suspended on the bearing block in the middle part of manipulation platen, rolling bearing is provided with in the axis hole of bearing block, the connecting axle of suspended axle and rolling bearing inner ring join the axis hole be combined through in bearing block, formation horizontally rotates degree of freedom relative to manipulation platen, connecting axle lower end and the horizontally disposed hanging beam of suspended axle are affixed at middle part screw, the two ends of hanging beam are vertically connected with suspension arm plate A respectively, suspension arm plate B, pitching driving mechanism is arranged on suspension arm plate A, bearing sleeve is connected with between suspension arm plate A and suspension arm plate B, bearing sleeve uses screw and suspension arm plate A respectively at the flange place at two ends, B is affixed for suspension arm plate, two identical rolling bearings are provided with in bearing sleeve, sleeve jam-packed is used between the inner ring of two rolling bearings, the outer ring of two rolling bearings is respectively by suspension arm plate A and suspension arm plate B jam-packed, two rolling bearing inner rings coordinate with the middle part of driving shaft, the mounting disc screw of the large end of driving shaft is fixedly connected with telescopic drive arm at actuating arm installing zone, the small end of driving shaft is connected with worm gear flat key circumference, by the shaft shoulder and back-up ring axial location,

Pitching driving mechanism, include casing B, the edge of casing B has been connected by screw case lid B, the base plate of casing B is respectively equipped with axis hole and casing connecting hole, casing B is fixed on suspension arm plate A by screw, base plate in casing B is provided with two bearing spiders, two bearing spiders are used for being fixedly connected with worm shaft B, also worm gear is provided with in casing B, worm gear flat key is connected in axle head circumference with driving shaft, worm gear sleeve and back-up ring and driving shaft are in axle head axial location, worm gear and worm shaft B engage each other the worm and worm gear of composition control pitching, drive motors C is fixed on the outer wall of casing B, axis hole on casing B of the motor shaft of drive motors C and worm shaft B are at one end connected with shaft coupling,

Control cabinet, include control cabinet casing, a sidewall of control cabinet casing is provided with plate connector, the sidewall of control cabinet oriented manipulation is provided with control panel, side in control panel is provided with the display screen of display camera shooting picture, power switch and indicator lamp is respectively arranged with above display screen side, be provided with shearing property button, pitch control button, extension and contraction control button successively and balance control button below power switch and indicator lamp, for the pitching telescopic and shear arm that control telescopic arm shearing with swing up and down.

The invention has the beneficial effects as follows,

(1) the agricultural high-order fruit picker of the present invention adopts two wheeler delivery, the telescopic arm taken apart during delivery puts into armed lever case, operation bench is positioned over operation bench and parks in storehouse, crane is folded in car body both sides, in collecting bag and cutting mechanism inserter storehouse, whole picker is a light manpower two wheeler, can adapt to the poor driving conditions in orchard and changeable landforms very well; Stand is put down during harvesting, stand and two wheels form the steady basis of picker, what during harvesting, orchard worker stood in stand parks on plate, to unify with weight balance telescopic arm, cutting mechanism the load of receiving bag, due to without driver's cabin and seat and two wheeler is the support of picker, without redundance, picker structure is simple, be convenient to manpower delivery, can adapt to all kinds of orchard.

(2) the agricultural high-order fruit picker of the present invention adopts Foldable lift mechanism, parallel-crank mechanism is utilized to ensure operation bench steadily movement, the position of operation bench is controlled with adjusting rod, compare with mechanical arm with lifting platform, need not any power drive and motion control, structure is more simple, compares have stronger bearing capacity and better stability with expansion link.

(3) the agricultural high-order fruit picker of the present invention adopts suspension type fruit collecting bag, one end hook of collecting bag hangs on fruit branch, can take and take out fruit from collecting bag, the other end bag circle of collecting bag opens and is suspended on the high-end of telescopic arm, the fruit taken falls into collecting bag through bag circle, and slide to from eminence and deposit in collecting bag lower, comparing with pipeline transmission need not connecting gear, and the load of telescopic arm is less; The damage compared suffered by fruit with gravity shedding is few.

(4) the agricultural high-order fruit picker method of cutting of the present invention picks fruit, and with to cut or to burn the positioning requirements comparing carpopodium low, need only enter the edge of a knife scope of opening by carpopodium; With to inhale or clamping is compared and pullled power not to fruit and fruit branch; Shear the folding of the edge of a knife by spring and magnet control, folding speed is fast, and fruit picking efficiency is high, and fruit picking only has two actions: mobile aligning carpopodium and quick shearing carpopodium, simplify the motion design of fruit picker.

(5) the agricultural high-order fruit picker of the present invention adopts motor to drive and mechanism's self-locking combination, pitching, the swing that is flexible and shear arm of telescopic arm all have self-lock ability, allow motor when stopping driving, fruit picker can reliably remain on a certain attitude; The deceleration force amplifier function of worm mechanism allows fruit picker to select low-power motor, and this can reduce the battery capacity required by driving, is convenient to again reduce its apparent size.

(6) the agricultural high-order fruit picker of the present invention adopts telescopic arm technology, compare with expansion link, although weight increases to some extent, but load capacity also significantly improves thereupon, telescopic arm more piece hollow slab beam structure forms, signal and power delivery wire harness are installed in hollow section, plate-girder combination meets best bearing structure, contiguous block is responsible for slab and girder and is transmitted being fixedly connected with of wire harness, compare with mechanical arm, telescopic arm only has one degree of freedom, both can significantly reduce control difficulty, effectively can reduce again the space needed for operation.

(7) the agricultural high-order fruit picker of the present invention adopts single speed button to control, can according to the camera shooting picture of display screen display, press corresponding control button to pluck high-order fruit, there is no complicated control logic, only must simple training just can skilled operation and maintenance.

Accompanying drawing explanation

Fig. 1 is the structural representation of the agricultural high-order fruit picker of the present invention;

Fig. 2 is the vertical view of two wheeler in the agricultural high-order fruit picker of the present invention;

Fig. 3 is the end view figure of two wheeler in the agricultural high-order fruit picker of the present invention;

Fig. 4 is the front view of two wheeler in the agricultural high-order fruit picker of the present invention;

Fig. 5 is the structural representation of wheel hub in the agricultural high-order fruit picker of the present invention;

Fig. 6 is the structural representation of wheel wheel body in the agricultural high-order fruit picker of the present invention;

Fig. 7 is the structural representation of wheel in the agricultural high-order fruit picker of the present invention;

Fig. 8 is the expansion schematic diagram of crane A in the agricultural high-order fruit picker of the present invention;

Fig. 9 is the folding schematic diagram of crane A in the agricultural high-order fruit picker of the present invention;

Figure 10 is the structural representation of collecting bag in the agricultural high-order fruit picker of the present invention;

Figure 11 is the cutaway view of cutting mechanism in the agricultural high-order fruit picker of the present invention;

Figure 12 be balance in the agricultural high-order fruit picker of the present invention mechanism, shear arm and bag circle combination structural representation;

Figure 13 is the vertical view of balancing mechanism in the agricultural high-order fruit picker of the present invention;

Figure 14 is the front view of balancing mechanism in the agricultural high-order fruit picker of the present invention;

Figure 15 is the structure cut-away view of armed lever in the agricultural high-order fruit picker of the present invention;

Figure 16 is the structural front view of armed lever in the agricultural high-order fruit picker of the present invention;

Figure 17 is the structural representation of two armed levers in the agricultural high-order fruit picker of the present invention;

Figure 18 is the structural representation of contiguous block in the agricultural high-order fruit picker of the present invention;

Figure 19 is the structural representation of signal and power supply line in the agricultural high-order fruit picker of the present invention;

Figure 20 is the structural representation of operation bench in the agricultural high-order fruit picker of the present invention;

Figure 21 is the cutaway view of telescopic drive arm in the agricultural high-order fruit picker of the present invention;

Figure 22 is the installation diagram of the agricultural high-order fruit picker bottom bracket of the present invention;

Figure 23 is the front view of telescopic drive arm in the agricultural high-order fruit picker of the present invention;

Figure 24 is the structural representation hanging rotating mechanism in the agricultural high-order fruit picker of the present invention;

Figure 25 is the structural representation of pitching driving mechanism in the agricultural high-order fruit picker of the present invention;

Figure 26 is the structural representation of control panel in the agricultural high-order fruit picker of the present invention.

In figure, 1. two wheeler, 2. elevating mechanism, 3. collecting bag, 4. shear arm, 5. balance mechanism, 6. telescopic arm, 7. operation bench, 8. wheel, 9. side plate A, 10. side plate B, 11. side plate C, 12. side plate D, 13. dividing plates, 14. operation bench park storehouse, 15. tool cartridge, 16. control areas, 17. battery cases, 18. armed lever casees, 19. swinging support plates, 20. park plate, 21. backup plates, 22. battery chamber doors, 23. armed lever case mouths, 24. adjusting rod connecting holes, 25. adjusting rod screwed holes, 26. master connecting-rod connecting holes, 27. auxiliary connecting rod connecting holes, 28. swing connecting hole, 29. rectangle handlebars, 30. wheel installation positions, 31. threaded mounting holes, 32. stands, 33. adjusting rods, 34. master connecting-rods, 35. auxiliary connecting rods, 36. crossbeams, 37. supported holes, 38. hold-down screws, 39. tie-beams, 40. crane A, 41. crane B, 42. wheel shafts, 43. wheel mounting discs, 44. screw thread axle heads, 45. wheel bodys, 46. bearing baffles, 47. tires, 48. round nuts, 49. split pins, 50. bags of circles, 51. bags, 52. bags of hooks, 53. opening annulus, 54. support and connection plates, 55. hooks, 56. geometrical clamps, 57. get fruit sack, 58. shear rod, 59. connecting rods, 60. slide blocks, 61. extension springs, 62. electromagnet, 63. chutes, 64. travellers, 65. lower linking plates, 66. upper connective plates, 67. support pad, 68. cameras, 69. are fixedly connected with block, 70. casing A, 71. case lid A, 72. balance driving rod, 73. worm shaft A, 74. worm-wheel shafts, 75. drive motors A, 76. bearing spiders, 77. armed levers, 78. connecting plates, 79. tooth bars, 80. guide rails, 81. contiguous blocks, 82. plate connectors, 83. assemble lines, 84. signals and power supply line, 85. combined plugs, 86. arm bodies, 87. arm lids, 88. support rollers, 89. Support Gears, 90. driven wheels, 91. bearing blocks, 92. drive motors B, 93. actuating arm installing zones, 94. cutting mechanisms, 95. bearing caps, 96. telescopic drive arms, 97. hang rotating mechanism, 98. pitching driving mechanisms, 99. control cabinets, 100. manipulation platens, 101. suspended axle, 102. hanging beam, 103. suspension arm plate A, 104. suspension arm plate B, 105. driving shaft, 106. bearing sleeve, 107. worm gear, 108. worm shaft B, 109. drive motors C, 110. shaft coupling, 111. casing B, 112. case lid B, 113. casing connecting holes, 114. display screen, 115. power switch, 116. indicator lamp, 117. shearing property buttons, 118. pitch control buttons, 119. extension and contraction control buttons, 120. balance control button, 121. control panel.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

The agricultural high-order fruit picker of the present invention, as shown in Figure 1, include two wheeler 1, the vehicle body upper portion of two wheeler 1 is connected with elevating mechanism 2, elevating mechanism 2 is flexibly connected with operation bench 7, and operation bench 7 is flexibly connected with one end of telescopic arm 6, and the other end of telescopic arm 6 is connected with balances mechanism 5, the top of balancing mechanism 5 is connected with shear arm 4, and the bottom of balancing mechanism 5 is connected with collecting bag 3.

Two wheeler 1, its structure as shown in Figure 1, comprises car body, and the bottom of car body is connected with the both sides that two wheels 8 and a stand 32, two wheels 8 lay respectively at Vehicular body front, and stand 32 is positioned at the afterbody of car body, the structure of car body as shown in Figures 2 and 3, include vertically and the side plate A9 be oppositely arranged, side plate B10, side plate A9 in side plate B10 be the identical rectangular slab of size, the front end of side plate A9 and side plate B10 is connected as a single entity by side plate C11, as shown in Figure 4, the front end at side plate A9 and side plate B10 upper top edge is respectively provided with an adjusting rod connecting hole 24, the front end at side plate A9 and side plate B10 upper bottom portion edge is respectively provided with a wheel installation position 30, wheel installation position 30 is circumferentially evenly provided with multiple threaded mounting hole 31, wheel 8 is fixed in wheel installation position 30 by screw, the tail end of side plate A9 and side plate B10 is connected with outwardly directed rectangle handlebar 29, as shown in Figure 2, also vertically respectively between side plate A9 with side plate B10 be connected with side plate D12 and dividing plate 13, form operation bench between side plate C11 and dividing plate 13 and park storehouse 14, tool cartridge 15 is formed between dividing plate 13 and side plate D12, the bottom center of formation control area, side plate D12 rear portion 16, side plate D12 is vertically connected with the backup plate 21 that is positioned at control area 16, the tail end bottom of side plate A9 and side plate B10 is respectively provided with one and swings connecting hole 28, and the two ends of stand 32 swing connecting hole 28 respectively by turning cylinder be connected with two, as shown in Figure 4, side plate A9 is connected with battery case 17, side plate B10 is connected with armed lever case 18, the top place of side plate A9 and side plate B10 is all disposed with adjusting rod fixing hole 25, master connecting-rod connecting hole 26 and and auxiliary connecting rod connecting hole 27.

Stand 32, as shown in Figure 3, include to be set in parallel in and park plate 20 below hull back, park that the two ends of plate 20 are each is vertically connected with a swinging support plate 19, the upper end of a swinging support plate 19 is connected with the swing connecting hole 28 on side plate A9 by revolute pair, the upper end of another swinging support plate 19 is connected with the swing connecting hole 28 on side plate B10 by revolute pair, and stand 32 can swing around two revolute pairs.

As shown in Figure 4, the outer wall of battery case 17 is provided with battery chamber door 22, the base of battery chamber door 22 adopts hinge to be fixed on the edge, base of battery case 17, and the top margin central authorities of battery chamber door 22 are provided with folding handle and Protective lock; The side in armed lever case 18 oriented manipulation direction is provided with armed lever case mouth 23.

Shown in wheel 8, Fig. 5, Fig. 6 and Fig. 7, include wheel body 45, wheel body 45 is connected with wheel shaft 42, the outer rim of wheel body 45 is provided with tire 47; Be provided with rolling bearing in the wheel bore of wheel body 45 central authorities, between the outer rim of wheel body 45 and wheel hub, be provided with spoke; The large end of wheel shaft 42 is wheel mounting discs 43, wheel mounting disc 43 is circumferentially evenly provided with multiple connecting hole, the small end of wheel shaft 42 is screw thread axle heads 44, the middle part of wheel shaft 42 is through rolling bearing, the inner ring of rolling bearing is located at the axis shaft shoulder and round nut 48, for prevention round nut 48 gets loose pine, split pin 49 is provided with in the outside of round nut 48, the outer ring of rolling bearing is axially being located with a bearing baffle 46 respectively from both sides, makes tire 47, wheel body 45 and wheel shaft 42 be linked to be a complete wheel 8; Wheel mounting disc 43 is screwed into threaded mounting hole 31 by screw at wheel installation position 30 place and is connected with car body.

In two wheeler 1, the traveling of two wheeler 1 on road surface be responsible for by two wheels 8, two rectangle handlebars 29 drive two wheeler 1 for manpower, operation bench storage compartment 14 on two wheeler 1 can deposit operation bench 7 when delivering, tool cartridge 15 on two wheeler 1 can deposit collecting bag 3 when delivering, balance mechanism 5 and other maintenance tools, open the battery chamber door 22 on two wheeler 1, accumulator in battery case 17 can be charged, change and regular maintenance, armed lever case 18 on two wheeler 1 deliver time for depositing the multiple armed levers 77 in telescopic arm 6, stand 32 on two wheeler 1 coordinates with two wheels 8 two wheeler 1 that can come to a complete stop, when stand 32 is accommodated, park plate 20 and tile on the ground, two wheeler 1 can be made steadily to park, when stand 32 is laid out, the edge parking plate 20 can prop up on backup plate 21, facilitates two wheeler 1 to travel, and during harvesting, orchard worker should step on and park on plate 20 to balance harvesting weight.In addition, in wheel 8, use spoke architecture effectively can increase the intensity of wheel body 45, wheel 8 is screwed by wheel mounting disc 43 and is arranged on the wheel installation position 30 of car body, effectively can reduce the mounting or dismounting difficulty of wheel 8.

Elevating mechanism 2 is made up of the identical crane A40 of structure and crane B41, and crane A40 is connected with side plate A9, and crane B41 is connected with side plate B10.

Crane A40, as shown in Fig. 1 and Fig. 8, include the master connecting-rod 34 and auxiliary connecting rod 35 that be arranged in parallel, the length of master connecting-rod 34 and auxiliary connecting rod 35 is equal; The upper end of master connecting-rod 34 and auxiliary connecting rod 35 is fixed on the two ends of a crossbeam 36 respectively by revolute pair, crossbeam 36 is affixed with the manipulation platen 100 in operation bench 7; The middle part of master connecting-rod 34 is evenly provided with multiple supported hole 37, the swinging end of adjusting rod 33 is connected to (as shown in figure 20) on tie-beam 39 through supported hole 37 hold-down screw 38, and the stiff end rotary pair of adjusting rod 33 is connected with the adjusting rod connecting hole 25 on side plate A9; Master connecting-rod 34 is connected with the master connecting-rod connecting hole 26 on side plate A9, auxiliary connecting rod connecting hole 27 with rotary pair respectively with the lower end of auxiliary connecting rod 35.

The structure of crane B41 is identical with crane A41, and just two adjusting rods 33 share a tie-beam 39, specifically as shown in figure 20.

During lifting: the master connecting-rod 26 in crane A40, auxiliary connecting rod 27 and crossbeam 36 and side plate A9 form a parallel-crank mechanism, can guarantee that crossbeam 36 moves horizontally all the time; Change tie-beam 39 and the position of adjusting lever 33 supported hole 37 on master connecting-rod 34, the elevating function of elevating mechanism 2 pairs of operation bench 7 can be realized.

Time folding: as shown in Figure 9, unclamp the adjusting rod 33 in crane A40 and the attachment screw on master connecting-rod 34 and tie-beam 39, can realize folding, crane A40 can be positioned over side plate A9 top sides along upper.

Structure and the crane A41 of crane B41 are elevated identical with folding mode.

Collecting bag 3, as shown in Fig. 1 and Figure 10, includes bag 51, and bag 51 is the soft long bag of tubulose, the sack at bag 51 two ends is respectively arranged with bag circle 50, bag hook 52, is provided with and gets fruit sack 57 on the bag 51 of bag hook 52.

Bag circle 50, as shown in Figure 10, include the opening annulus 53 be connected with sack, one end of support and connection plate 54 is fixed in the openend of opening annulus 53 by stator, support and connection plate 54 is connected with the casing A70 balancing mechanism 5; Bag hook 52 forms by geometrical clamp 56 with the hook 55 that rotating shaft is connected to geometrical clamp 56 central authorities, and geometrical clamp 56 is held on the sack place of the other end.

Shear arm 4, its structure as shown in FIG. 11 and 12, include the upper connective plate 66 and lower linking plate 65 that be arranged in parallel up and down, upper connective plate 66 is concordant with one end of lower linking plate 65, the middle part of upper connective plate 66 is connected with the other end of lower linking plate 65 by being fixedly connected with block 69, and the other end of upper connective plate 66 is provided with camera 68; Be connected with cutting mechanism 94 between upper connective plate 66 and lower linking plate 65, lower linking plate 65 is connected with the casing A70 balanced in mechanism 5.

The carpopodium of high-order fruit is cut off with the edge of a knife of shear arm 4, fruit can fall into the bag circle 50 opened below shear arm 4 under gravity automatically, because the bag circle 50 of collecting bag 3 is in a high position, and the bag hook 52 of collecting bag 3 is at low level, make the fruit Transfer pipe of the bag 51 self-assembling formation arc between bag circle 50 and bag hook 52, the fruit entering sack steadily can slide to low level from a high position by bag wall arcuately, when the fruit of storage in bag 51 reaches a certain amount of, bag hook 52 can be taken off from low level fruit branch, and take out from the fruit sack 57 of getting bag 51 fruit picked.

Cutting mechanism 94, be made up of shear knife 58 and two knife bars being connected with shear knife 58, shear knife 58 is connected to form by revolute pair by two cutter heads, and the angle between two knife bars is 120 °, shear knife 58 stretches out upper connective plate 66 one end concordant with lower linking plate 65, and shear knife 58 is connected with upper connective plate 66 and lower linking plate 65 respectively by connecting axle, support pad 67, can make cutting mechanism 94 correctly location and freely-movable, every root knife bar is connected with a connecting rod 59 by revolute pair, forms one and shears branch, two connecting rods 59 are connected with a slide block 60 respectively by revolute pair, slide block 60 is between upper connective plate 66 and lower linking plate 65, slide block 60 is connected with one end of extension spring 61, the other end of extension spring 61 is fixed on connecting axle by brace, shear branch about extension spring 61 symmetry for two, be responsible for the shearing edge of a knife that reset two shear knives 58 are formed, two parallel chutes 63 are provided with in slide block 60, two travellers 64 are fixed with between upper connective plate 66 and lower linking plate 65, two travellers 64 are each passed through two chutes 63 and form moving sets, electromagnet 62 is provided with on the lower linking plate 65 being fixedly connected with block 69, distance between electromagnet 62 and slide block 60 is the driving stroke of cutting mechanism 94.

When electromagnet 62 is powered, slide block 60 is movement fast under the attraction of magnetic force, through the Movement transmit of connecting rod 59, drives two shear knives cooperatively interacted 58 inwardly to swing and shears; When electromagnet 62 power-off, slide block 60 is movement fast under the traction of extension spring 61, through the Movement transmit of connecting rod 59, drives two shear knives 58 outwards to swing and forms the shearing edge of a knife; In order to more be conducive to the application of device, following measure can be taked: (1) suitably shortens the driving stroke of the knife edge length of shear knife 58, the traction brachium extending scissors bar and increase slide block 60, effectively can improve the reinforcement performance of cutting mechanism like this; (2) suitably the increase stiffness factor of extension spring 61 and the power of electromagnet 62 effectively can improve the response speed of cutting mechanism 94.

Balance mechanism 5, as shown in Figure 12, Figure 13 and Figure 14, include casing A70, the roof of casing A70 is towards outside, and be connected by screw case lid A71 at ceiling edge, the two side that casing A70 is relative is outside to be connected with the support and connection plate 54 be connected with bag circle 50 in the lower linking plate 65 in shear arm 4, collecting bag 3 respectively, a sidewall in casing A70 is provided with two bearing spiders 76, worm shaft A73 is connected with between two bearing spiders 76, one end of worm shaft A73 is connected with drive motors A75, and drive motors A75 is fixed on another sidewall in casing A70, the central authorities of case lid A71, base plate central authorities in casing A70 are respectively provided with a bearing block, axis hole is provided with in bearing block on base plate, by rolling bearing and location shaft shoulder fixed support worm-wheel shaft 74 between two bearing blocks, worm-wheel shaft 74 and worm shaft A73 engage each other composition worm and worm gear, the axis hole of one end in bearing block of worm-wheel shaft 74 stretches out casing A70, as shown in figure 13, the worm-wheel shaft 74 stretching out casing A70 and the one end of balancing driving rod 72 two flat key circumferences are connected, by the shaft shoulder and back-up ring axial location, the other end of balancing driving rod 72 is provided with a plate connector 82, plate connector 82 can embed the end of telescopic arm 6 and be connected with screw one end with telescopic arm 6, as shown in figure 14, the middle part of balancing driving rod 72 is also provided with a plate connector 82, be connected with power supply line 84 with being arranged at the signal of balancing in driving rod 72 between two plate connectors 82.Balancing in mechanism 5, casing A70 is fixedly connected with the support and connection plate 54 be connected with bag circle 50 in the lower linking plate 65 of shear arm 4, collecting bag 3 respectively, balance driving rod 72 and telescopic arm 6 affixed; Drive motors A75 is wherein for driving worm shaft A73, worm shaft A73 drives worm-wheel shaft 74 through engagement, worm-wheel shaft 74 can drive and balance driving rod 72, makes casing A70 relatively can balance driving rod 72 and swings up and down, to guarantee that shear arm 4 is in best clipped position all the time.

In use bag hook 52 low level of collecting bag 3 is hung on the branch of fruit tree, hook 55 and geometrical clamp 56 form revolute pair, geometrical clamp 56 is utilized fixedly to be stepped up one end of bag 51, bag 52 is provided with one and gets fruit sack 57, the other end of bag 52 penetrates the opening annulus 53 in bag circle 50, for opening bag 52, the bag circle 50 of collecting bag 3 be fixed in a high position balance mechanism 5 casing A70 on the downside of, shear arm 4 be fixed on balance mechanism 5 casing A70 on the upside of, make the bag circle 52 of collecting bag 3, shear arm 4 with balance 5 one-tenth, mechanism and be integrated, and shear arm 4 is upper, the bag circle 52 of collecting bag 3 under, that balances mechanism 5 balances the high-end affixed of driving rod 72 and telescopic arm 6, the bottom of telescopic arm 6 and the telescopic drive arm 96 of operation bench 7 form moving sets, the manipulation platen 100 of operation bench 7 is fixedly mounted on the crossbeam 36 in elevating mechanism 2, master connecting-rod 34 in crane A40 and crane B41, auxiliary connecting rod 35 and adjusting rod 35 are arranged on the side plate A9 of two wheeler 1 respectively with the form of revolute pair, on side plate B10, two wheeler 1 is stablized on the ground by two wheels 8 and stand 32 by two wheeler 1.

Telescopic arm 6, includes many arms bar 77, and many arms bar 77 is connected by contiguous block 81 successively head and the tail; The structure of armed lever 77 as shown in figure 15, include two pieces relatively and the connecting plate 78 be arranged in parallel, as shown in figure 16, the edge of every block connecting plate 78 both sides is evenly provided with multiple connecting hole, between two pieces of connecting plates 78, Parallel Symmetric is provided with tooth bar 79, guide rail 80 respectively, two pieces of connecting plates 78, tooth bar 79 and guide rail 80 are connected as a single entity through connecting hole by screw, every toothed rack 79 and guide rail 80 are all evenly provided with multiple screwed hole, tooth bar 79 and guide rail 80 use respectively screw and connecting plate 78 affixed; Between the guide rail 80 that two links of contiguous block 81 embed arms bar 77 end respectively and tooth bar 79, be provided with hollow pipeline in armed lever 77, hollow pipeline has been embedded in signal and power supply line 84.

By collapsing length requirement, multiple armed lever 77 contiguous block 81 can be formed telescopic arm 6, when connection, the connecting end portion of alignment arms bar 77, and with screw, armed lever 77 and contiguous block 81 are fixed, just can realize the connection of two armed levers 77.

As shown in figure 18, contiguous block 81 is rectangular blocks, and relative two sides of contiguous block 81 are respectively provided with between a plate connector 82, two plate connectors 82 and are connected with signal and power supply line 84, and signal and power supply line 84 are positioned at the through hole of contiguous block 81; Two ends up and down of contiguous block 81 are respectively provided with multiple screwed hole, contiguous block 81 can be connected with the connecting plate 78 in armed lever 77 through screwed hole with screw.

Signal and power supply line 84, as shown in figure 19, be made up of assemble line 83 and two combined plugs 85, two combined plugs 85 are arranged at the two ends of assemble line 83 to its structure respectively; Assemble line 83 is identical with the length of armed lever 77; Combined plug 85 is connected with the plate connector 82 on contiguous block 81, and assemble line 83 embeds in the hollow pipeline in armed lever 77, forms the signal along telescopic arm 6 and power transfer path.

Operation bench 7, as shown in figure 20, include horizontally disposed manipulation platen 100, the two ends of manipulation platen 100 are fixedly supported on crane A40 and crane B41 respectively, the side of manipulation platen 100 upper surface is provided with control cabinet 99, the middle part of manipulation platen 100 is provided with the bearing block of band axis hole, hang the below that rotating mechanism 97 is arranged at manipulation platen 100, hang the overhung of rotating mechanism 97 in bearing block, hang on the relative two side of rotating mechanism 97 and be connected to telescopic drive arm 96, pitching driving mechanism 98.

Telescopic drive arm 96, its structure is as shown in Figure 21, Figure 22 and Figure 23, include arm body 86 and arm lid 87, arm lid 87 is rectangle, arm body 86 is in the cuboid coordinated with arm lid 87, arm body 86 is affixed with multiple screw respectively at the place of outer rim up and down of arm body 86 with arm lid 87, forms closed driving support passage between arm body 86 and arm lid 87, the two ends, outer wall bottom of arm body 86 are respectively provided with a bearing block 91 with holes, the top of bearing block 91 with holes is connected with bearing cap 95, rolling bearing is provided with in the axis hole of bearing block 91, support roller 88 is made up of back shaft and the roller being connected to back shaft one end, roller is positioned at and drives support passage, back shaft matches with rolling bearing through the axis hole in bearing block 91 with holes, the inner ring of rolling bearing is in the axis shaft shoulder and back-up ring location, and the outer ring of rolling bearing is axially being located with bearing block 91 with holes and bearing cap 95, the one end on the outer wall top of arm body 86 is also provided with a bearing block 91 with holes, Support Gear 89 is made up of gear shaft and the gear being connected to gear shaft end, gear is positioned at and drives support passage, gear shaft matches with rolling bearing through the axis hole in bearing block 91 with holes, the inner ring of rolling bearing is in the axis shaft shoulder and back-up ring location, the outer ring of rolling bearing is in axis top chock and bearing (ball) cover location, the other end on the outer wall top of arm body 86 is provided with an axis hole, the motor shaft of drive motors B92 is fixedly connected with driven wheel 90 through axis hole, driven wheel 90 is positioned at and drives support passage, drive motors B90 is fixed on the outer wall of arm body 86, the outer wall central authorities of arm body 86 are provided with actuating arm installing zone 93, actuating arm installing zone 93 is circumferentially evenly provided with multiple threaded connection hole 31, actuating arm installing zone 93 mounting disc that screw and driving shaft 105 are held greatly is connected, telescopic drive arm 96 can swing with driving shaft 105 elevating movement controlling telescopic arm 6, telescopic arm 6 is through the driving support passage in telescopic drive arm 96, guide rail 80 in telescopic arm 6 coordinates with the support roller 88 in telescopic drive arm 96, coordinate and retrained by the connecting plate 78 of armed lever 77 both sides, tooth bar 79 in telescopic arm 6 engages with the Support Gear 89 in telescopic drive arm 96 and driven wheel 90, engagement is also retrained by the connecting plate 78 of armed lever 77 both sides, the stretching motion of telescopic arm 6 is controlled by the drive motors B92 in telescopic drive arm 96.

Hang rotating mechanism 97, its structure is as shown in Figure 20 and Figure 24, comprise suspended axle 101, suspended axle 101 is made up of the shaft shoulder on top and the connecting axle at middle part, the shaft shoulder is suspended on the bearing block in the middle part of manipulation platen 100, rolling bearing is provided with in the axis hole of bearing block, the connecting axle of suspended axle 101 and rolling bearing inner ring join the axis hole be combined through in bearing block, formation horizontally rotates degree of freedom relative to manipulation platen 100, connecting axle lower end and the horizontally disposed hanging beam 102 of suspended axle 101 are affixed at middle part screw, the two ends of hanging beam 102 are vertically connected with suspension arm plate A103 respectively, suspension arm plate B104, pitching driving mechanism 98 is arranged on suspension arm plate A103, bearing sleeve 106 is connected with between suspension arm plate A103 and suspension arm plate B104, bearing sleeve 106 uses screw and suspension arm plate A103 respectively at the flange place at two ends, B104 is affixed for suspension arm plate, two identical rolling bearings are provided with in bearing sleeve 106, sleeve jam-packed is used between the inner ring of two rolling bearings, the outer ring of two rolling bearings is respectively by suspension arm plate A103 and suspension arm plate B104 jam-packed, two rolling bearing inner rings coordinate with the middle part of driving shaft 105, the mounting disc screw that driving shaft 105 is held greatly is fixedly connected with telescopic drive arm 96 at actuating arm installing zone 93, the small end of driving shaft 105 is connected with worm gear 107 flat key circumference, by the shaft shoulder and back-up ring axial location.

Pitching driving mechanism 98, its structure is as shown in Figure 20 and Figure 25, include casing B111, the edge of casing B111 has been connected by screw case lid B112, the base plate of casing B111 is respectively equipped with axis hole and casing connecting hole 113, casing B111 is fixed on suspension arm plate A103 by screw, base plate in casing B111 is provided with two bearing spiders 76, two bearing spiders 76 are for being fixedly connected with worm shaft B108, worm gear 107 is also provided with in casing B111, worm gear 107 flat key is connected in axle head circumference with driving shaft 105, worm gear 107 uses sleeve and back-up ring and driving shaft 105 in axle head axial location, worm gear 107 and worm shaft B108 engage each other the worm and worm gear of composition control pitching, drive motors C109 is fixed on the outer wall of casing B111, axis hole on casing B111 of the motor shaft of drive motors C109 and worm shaft B112 are at one end connected with shaft coupling 110.

Control cabinet 99 is fixedly mounted on the upper surface of manipulation platen 100, is positioned at the top of pitching driving mechanism 98, can fixedly mount all kinds of circuit board in control cabinet 99, control cabinet 99, include control cabinet casing, a sidewall of control cabinet casing is provided with plate connector 82, for accessing various types of signal and power supply, the sidewall of control cabinet 99 oriented manipulation is provided with control panel 121, side in control panel 121 is provided with the display screen 114 of display camera 68 shooting picture, power switch 115 and indicator lamp 116 is respectively arranged with above display screen 114 side, shearing property button 117 is provided with successively below power switch 115 and indicator lamp 116, pitch control button 118, extension and contraction control button 119 and balance control button 120, for the pitching telescopic and shear arm 4 that control telescopic arm 6 shearing with swing up and down.

The agricultural high-order fruit picker two wheeler of the present invention replaces power carrier loader to adapt to the poor travel conditions in orchard, replace multivariant mechanical arm with telescopic arm both to have alleviated weight and in turn simplify the structure of arm body and control, also save the activity space of arm body, with suspension type soft cloth bag replace fixed fruit Transfer pipe both shortened fruit transmitting range additionally reduce fruit damage, make fruit picker be more applicable to orchard application.

Claims

1. agricultural high-order fruit picker, it is characterized in that, include two wheeler (1), the vehicle body upper portion of described two wheeler (1) is connected with elevating mechanism (2), described elevating mechanism (2) is flexibly connected with operation bench (7), described operation bench (7) is flexibly connected with one end of telescopic arm (6), the other end of described telescopic arm (6) is connected with balances mechanism (5), described top of balancing mechanism (5) is connected with shear arm (4), described in balance mechanism (5) bottom be connected with collecting bag (3).

2. agricultural high-order fruit picker according to claim 1, it is characterized in that, described two wheeler (1), comprise car body, the bottom of car body is connected with two wheels (8) and a stand (32), two wheels (8) lay respectively at the both sides of Vehicular body front, and stand (32) is positioned at the afterbody of car body;

Described car body, include vertically and the side plate A (9) be oppositely arranged, side plate B (10), described side plate A (9) is in side plate B (10) rectangular slab identical in size, the front end of described side plate A (9) and side plate B (10) is connected as a single entity by side plate C (11), described side plate A (9) is respectively provided with an adjusting rod connecting hole (24) with the front end at side plate B (10) upper top edge, described side plate A (9) is respectively provided with a wheel installation position (30) with the front end at side plate B (10) upper bottom portion edge, described wheel installation position (30) is circumferentially evenly provided with multiple threaded mounting hole (31), described wheel (8) is fixed in wheel installation position (30) by screw, described side plate A (9) is connected with outwardly directed rectangle handlebar (29) with the tail end of side plate B (10), described side plate A (9) is connected with side plate D (12) and dividing plate (13) with also vertical respectively between side plate B (10), form operation bench between described side plate C (11) and dividing plate (13) and park storehouse (14), tool cartridge (15) is formed between described dividing plate (13) and side plate D (12), formation control area, side plate D (12) rear portion (16), the bottom center of described side plate D (12) is vertically connected with the backup plate (21) that is positioned at control area (16),

The tail end bottom of described side plate A (9) and side plate B (10) is respectively provided with one and swings connecting hole (28), and the two ends of stand (32) swing connecting hole (28) respectively by turning cylinder be connected with two;

Described side plate A (9) is connected with battery case (17), side plate B (10) is connected with armed lever case (18), side plate A (9) is all disposed with adjusting rod fixing hole (25), master connecting-rod connecting hole (26) and and auxiliary connecting rod connecting hole (27) with the top place of side plate B (10).

3. agricultural high-order fruit picker according to claim 2, it is characterized in that, described stand (32), include to be set in parallel in and park plate (20) below hull back, described two ends of parking plate (20) are each is vertically connected with a swinging support plate (19), the upper end of a swinging support plate (19) is connected with the swing connecting hole (28) on side plate A (9) by revolute pair, the upper end of another swinging support plate (19) is connected with the swing connecting hole (28) on side plate B (10) by revolute pair, stand (32) can swing around two revolute pairs,

The outer wall of described battery case (17) is provided with battery chamber door (22), the base of described battery chamber door (22) adopts hinge to be fixed on the edge, base of battery case (17), and the top margin central authorities of described battery chamber door (22) are provided with folding handle and Protective lock;

The side in described armed lever case (18) oriented manipulation direction is provided with armed lever case mouth (23);

Described wheel (8), includes wheel body (45), described wheel body (45) is connected with wheel shaft (42), and the outer rim of wheel body (45) is provided with tire (47), be provided with rolling bearing in the wheel bore of described wheel body (45) central authorities, between the outer rim of wheel body (45) and wheel hub, be provided with spoke, the large end of described wheel shaft (42) is wheel mounting disc (43), wheel mounting disc (43) is circumferentially evenly provided with multiple connecting hole, the small end of wheel shaft (42) is screw thread axle head (44), the middle part of described wheel shaft (42) is through rolling bearing, the inner ring of rolling bearing is in the axis shaft shoulder and round nut (48) location, the outside of described round nut (48) is provided with split pin (49), the outer ring of rolling bearing is axially using bearing baffle (46) location respectively from both sides, make tire (47), wheel body (45) and wheel shaft (42) are linked to be a complete wheel (8), described wheel mounting disc (43) is screwed into threaded mounting hole (31) by screw at wheel installation position (0) place and is connected with car body.

4. agricultural high-order fruit picker according to claim 1, it is characterized in that, described elevating mechanism (2) is made up of the identical crane A (40) of structure and crane B (41), crane A (40) is connected with side plate A (9), and crane B (41) is connected with side plate B (10);

Described crane A (40), include the master connecting-rod (34) and auxiliary connecting rod (35) that be arranged in parallel, the length of master connecting-rod (34) and auxiliary connecting rod (35) is equal; The upper end of master connecting-rod (34) and auxiliary connecting rod (35) is fixed on the two ends of a crossbeam (36) respectively by revolute pair, described crossbeam (36) is affixed with the manipulation platen (100) in operation bench (7); The middle part of master connecting-rod (34) is evenly provided with multiple supported hole (37), the swinging end of adjusting rod (33) is connected on tie-beam (39) through supported hole (37) hold-down screw (38), and the stiff end rotary pair of adjusting rod (33) is connected with the adjusting rod connecting hole (25) on side plate A (9); Master connecting-rod (34) is connected with the master connecting-rod connecting hole (26) on side plate A (9), auxiliary connecting rod connecting hole (27) with rotary pair respectively with the lower end of auxiliary connecting rod (35).

5. agricultural high-order fruit picker according to claim 1, it is characterized in that, described collecting bag (3), include bag (51), described bag (51) is the soft long bag of tubulose, the sack at described bag (51) two ends is respectively arranged with bag circle (50), bag hook (52), is provided with on the bag (51) of bag hook (52) and gets fruit sack (57);

Described bag circle (50), include the opening annulus (53) be connected with sack, one end of support and connection plate (54) is fixed in the openend of opening annulus (53) by stator, support and connection plate (54) is connected with the casing A (70) balancing mechanism (5); Bag hook (52) forms by geometrical clamp (56) with the hook (55) that rotating shaft is connected to geometrical clamp (56) central, and geometrical clamp (56) is held on the sack place of the other end.

6. agricultural high-order fruit picker according to claim 1, it is characterized in that, described shear arm (4), include the upper connective plate (66) and lower linking plate (65) that be arranged in parallel up and down, upper connective plate (66) is concordant with one end of lower linking plate (65), the middle part of upper connective plate (66) is connected with the other end of lower linking plate (65) by being fixedly connected with block (69), and the other end of upper connective plate (66) is provided with camera (68); Be connected with cutting mechanism (94) between upper connective plate (66) and lower linking plate (65), lower linking plate (65) is connected with the casing A (70) balanced in mechanism (5);

Described cutting mechanism (94), be made up of shear knife (58) and two knife bars being connected with shear knife (58), shear knife (58) is connected to form by revolute pair by two cutter heads, and the angle between two knife bars is 120 °, shear knife (58) stretches out upper connective plate (66) one end concordant with lower linking plate (65), and shear knife (58) is connected with upper connective plate (66) and lower linking plate (65) respectively by connecting axle, support pad (67), every root knife bar is connected with a connecting rod (59) by revolute pair, forms one and shears branch, two connecting rods (59) are connected with a slide block (60) respectively by revolute pair, slide block (60) is positioned between upper connective plate (66) and lower linking plate (65), slide block (60) is connected with one end of extension spring (61), the other end of extension spring (61) is fixed on connecting axle by brace, shear branch about extension spring (61) symmetry for two, be responsible for the shearing edge of a knife that reset two shear knives (58) are formed, two parallel chutes (63) are provided with in described slide block (60), two travellers (64) are fixed with between upper connective plate (66) and lower linking plate (65), two travellers (64) are each passed through two chute (63) composition moving sets, electromagnet (62) is provided with on the lower linking plate (65) being fixedly connected with block (69).

7. agricultural high-order fruit picker according to claim 6, it is characterized in that, describedly balance mechanism (5), include casing A (70), the roof of described casing A (70) is towards outside, and be connected by screw case lid A (71) at ceiling edge, the relative outside, two side of described casing A (70) respectively with the lower linking plate (65) in shear arm (4), the support and connection plate (54) be connected with bag circle (50) in collecting bag (3) connects, a sidewall in casing A (70) is provided with two bearing spiders (76), worm shaft A (73) is connected with between two bearing spiders (76), one end of described worm shaft A (73) is connected with drive motors A (75), drive motors A (75) is fixed on another sidewall in casing A (70), the central authorities of case lid A (71), base plate central authorities in casing A (70) are respectively provided with a bearing block, axis hole is provided with in bearing block on base plate, by rolling bearing and location shaft shoulder fixed support worm-wheel shaft (74) between two bearing blocks, described worm-wheel shaft (74) and worm shaft A (73) engage each other composition worm and worm gear, the axis hole of one end in bearing block of described worm-wheel shaft (74) stretches out casing A (70), the worm-wheel shaft (74) stretching out casing A (70) and the one end of balancing driving rod (72) two flat key circumferences are connected, by the shaft shoulder and back-up ring axial location, the other end of balancing driving rod (72) is provided with a plate connector (82), plate connector (82) embeds the end of telescopic arm (6) and is connected with screw one end with telescopic arm (6), the middle part of balancing driving rod (72) is also provided with a plate connector (82), be connected with power supply line (84) with being arranged at the signal of balancing in driving rod (72) between two plate connectors (82).

8. the agricultural high-order fruit picker according to claim 1 or 7, it is characterized in that, described telescopic arm (6) includes many arms bar (77), and many arms bar (77) is connected by contiguous block (81) successively head and the tail, armed lever (77) includes two pieces relatively and the connecting plate be arranged in parallel (78), the edge of every block connecting plate (78) both sides is evenly provided with multiple connecting hole, between two pieces of connecting plates (78), Parallel Symmetric is provided with tooth bar (79) respectively, guide rail (80), connecting hole is passed by two pieces of connecting plates (78) by screw, tooth bar (79) and guide rail (80) are connected as a single entity, every toothed rack (79) and guide rail (80) are all evenly provided with multiple screwed hole, tooth bar (79) and guide rail (80) use respectively screw and connecting plate (78) affixed, between the guide rail (80) that two links of described contiguous block (81) embed arms bar (77) end respectively and tooth bar (79), armed lever is provided with hollow pipeline in (77), and hollow pipeline has been embedded in signal and power supply line (84),

Described contiguous block (81) is rectangular blocks, relative two sides of described contiguous block (81) are respectively provided with a plate connector (82), be connected with signal and power supply line (84) between two plate connectors (82), described signal and power supply line (84) are positioned at the through hole of contiguous block (81); Two ends up and down of contiguous block (81) are respectively provided with multiple screwed hole, contiguous block (81) can be connected with the connecting plate (78) in armed lever (77) through screwed hole with screw;

Described signal and power supply line (84) are made up of assemble line (83) and two combined plugs (85), and two combined plugs (85) are arranged at the two ends of assemble line (83) respectively; Described assemble line (83) is identical with the length of armed lever (77); Described combined plug (85) is connected with the plate connector (82) on contiguous block (81), and described assemble line (83) embeds in the hollow pipeline in armed lever (77).

9. agricultural high-order fruit picker according to claim 1, it is characterized in that, described operation bench (7), include horizontally disposed manipulation platen (100), the two ends of described manipulation platen (100) are fixedly supported on crane A (40) and crane B (41) respectively, the side of described manipulation platen (100) upper surface is provided with control cabinet (99), the middle part of manipulation platen (100) is provided with the bearing block of band axis hole, hang the below that rotating mechanism (97) is arranged at manipulation platen (100), the overhung of described suspension rotating mechanism (97) is in bearing block, the two side that described suspension rotating mechanism (97) is relative is connected to telescopic drive arm (96), pitching driving mechanism (98).

10. agricultural high-order fruit picker according to claim 9, it is characterized in that, described telescopic drive arm (96), include arm body (86) and arm lid (87), described arm lid (87) is rectangle, arm body (86) is in the cuboid coordinated with arm lid (87), described arm body (86) is affixed with multiple screw respectively at the place of outer rim up and down of arm body (86) with arm lid (87), forms closed driving support passage between arm body (86) and arm lid (87), the two ends, outer wall bottom of described arm body (86) are respectively provided with a bearing block with holes (91), the top of described bearing block with holes (91) is connected with bearing cap (95), rolling bearing is provided with in the axis hole of described bearing block with holes (91), support roller (88) is made up of back shaft and the roller being connected to back shaft one end, roller is positioned at and drives support passage, back shaft matches with rolling bearing through the axis hole in bearing block with holes (91), the inner ring of rolling bearing is in the axis shaft shoulder and back-up ring location, the outer ring of rolling bearing is axially being located with bearing block with holes (91) and bearing cap (95), the one end on the outer wall top of described arm body (86) is also provided with bearing block with holes (91), Support Gear (89) is made up of gear shaft and the gear being connected to gear shaft end, gear is positioned at and drives support passage, gear shaft matches with rolling bearing through the axis hole in bearing block with holes (91), the inner ring of rolling bearing is in the axis shaft shoulder and back-up ring location, the outer ring of rolling bearing is in axis top chock and bearing (ball) cover location, the other end on the outer wall top of arm body (86) is provided with an axis hole, the motor shaft of drive motors B (92) is fixedly connected with driven wheel (90) through axis hole, driven wheel (90) is positioned at and drives support passage, drive motors B (90) is fixed on the outer wall of arm body (86), the outer wall central authorities of described arm body (86) are provided with actuating arm installing zone (93), described actuating arm installing zone (93) is circumferentially evenly provided with multiple threaded connection hole (31), described actuating arm installing zone (93) is connected with the mounting disc that screw and driving shaft (105) are held greatly, described telescopic drive arm (96) can swing with driving shaft (105) elevating movement controlling telescopic arm (6), telescopic arm (6) is through the driving support passage in telescopic drive arm (96), guide rail (80) in telescopic arm (6) coordinates with the support roller (88) in telescopic drive arm (96), coordinate and retrained by the connecting plate (78) of armed lever (77) both sides, tooth bar (79) in described telescopic arm (6) engages with the Support Gear (89) in telescopic drive arm (96) and driven wheel (90), engagement is also retrained by the connecting plate (78) of armed lever (77) both sides, the stretching motion of described telescopic arm (6) is controlled by the drive motors B (92) in telescopic drive arm (96),

Described suspension rotating mechanism (97), comprise suspended axle (101), suspended axle (101) is made up of the shaft shoulder on top and the connecting axle at middle part, the shaft shoulder is suspended on the bearing block at manipulation platen (100) middle part, rolling bearing is provided with in the axis hole of bearing block, connecting axle and the rolling bearing inner ring of suspended axle (101) join the axis hole be combined through in bearing block, formation horizontally rotates degree of freedom relative to manipulation platen (100), connecting axle lower end and the horizontally disposed hanging beam (102) of described suspended axle (101) are affixed at middle part screw, the two ends of described hanging beam (102) are vertically connected with suspension arm plate A (103) respectively, suspension arm plate B (104), described pitching driving mechanism (98) is arranged on suspension arm plate A (103), bearing sleeve (106) is connected with between described suspension arm plate A (103) and suspension arm plate B (104), described bearing sleeve (106) uses screw and suspension arm plate A (103) respectively at the flange place at two ends, suspension arm plate B (104) is affixed, two identical rolling bearings are provided with in described bearing sleeve (106), sleeve jam-packed is used between the inner ring of two rolling bearings, the outer ring of two rolling bearings is respectively by suspension arm plate A (103) and suspension arm plate B (104) jam-packed, two rolling bearing inner rings coordinate with the middle part of driving shaft (105), the mounting disc screw that described driving shaft (10) is held greatly is fixedly connected with telescopic drive arm (96) at actuating arm installing zone (93), the small end of driving shaft (105) is connected with worm gear (107) flat key circumference, by the shaft shoulder and back-up ring axial location,

Described pitching driving mechanism (98), include casing B (111), the edge of described casing B (111) has been connected by screw case lid B (112), the base plate of described casing B (111) is respectively equipped with axis hole and casing connecting hole (113), described casing B (111) is fixed on suspension arm plate A (103) by screw, base plate in described casing B (111) is provided with two bearing spiders (76), two bearing spiders (76) are for being fixedly connected with worm shaft B (108), worm gear (107) is also provided with in casing B (111), described worm gear (107) flat key is connected in axle head circumference with driving shaft (105), described worm gear (107) uses sleeve and back-up ring and driving shaft (105) in axle head axial location, described worm gear (107) and worm shaft B (108) engage each other the worm and worm gear of composition control pitching, described drive motors C (109) is fixed on the outer wall of casing B (111), axis hole on casing B (111) of the motor shaft of described drive motors C (109) and worm shaft B (112) at one end use shaft coupling (110) to be connected,

Described control cabinet (99), include control cabinet casing, a sidewall of control cabinet casing is provided with plate connector (82), the sidewall of described control cabinet (99) oriented manipulation is provided with control panel (121), side in described control panel (121) is provided with the display screen (114) of display camera (68) shooting picture, power switch (115) and indicator lamp (116) is respectively arranged with above described display screen (114) side, described power switch (115) and indicator lamp (116) below are provided with shearing property button (117) successively, pitch control button (118), extension and contraction control button (119) and balance control button (120), for the pitching telescopic and shear arm (4) that control telescopic arm (6) shearing with swing up and down.