CN207235478U

CN207235478U - A kind of picking for being used for biological floating bed rod-shaped agriculture fruit, transfer robot

Info

Publication number: CN207235478U
Application number: CN201720940973.2U
Authority: CN
Inventors: 盛时永
Original assignee: Wenzhou Chongya Electronic Technology Co Ltd
Current assignee: Wenzhou Chongya Electronic Technology Co Ltd
Priority date: 2017-07-31
Filing date: 2017-07-31
Publication date: 2018-04-17
Anticipated expiration: 2027-07-31

Abstract

It the utility model is related to a kind of picking for being used for biological floating bed rod-shaped agriculture fruit, transfer robot, including support plate, support plate lower end is provided with two mobile flotation gears, support plate upper end installed in front has picker, support plate upper end is provided with separator, conveying device is installed, mobile flotation gear, picker, separator and conveying device, which are used in conjunction with each other, completes the rod-shaped fruit automation picking of floating bed, the technique of conveying on rear side of support plate.The utility model can solve to need the rod-shaped fruit of artificial harvesting ripe present in existing biological floating bed rod-shaped fruit picking process, need manually to pluck the impurity picked up in rod-shaped fruit, need manually to carry out conveying to the rod-shaped fruit after picking, pilot steering waterborne movable device very flexible, manually pick, to convey rod-shaped fruit complicated, complicated, expend time length, labor intensity problem low with work efficiency etc. greatly, it is possible to achieve the rod-shaped fruit automation picking of floating bed, the function of conveying.

Description

A kind of picking for being used for biological floating bed rod-shaped agriculture fruit, transfer robot

Technical field

Picking fruit technical field of transportation waterborne is the utility model is related to, it is specifically a kind of for biological floating bed rod-shaped The picking of agriculture fruit, transfer robot.

Background technology

Floating bed is commonly used in the rural area water pollution of restoration of the ecosystem city or builds urban wetland scenic spot etc., utilizes floating bed Buoyancy support water plant, allows water plant to obtain a fixed region growing, and thus water plant passes through flourishing root system Rich nutritive material in water body is absorbed, while manually builds the good growing environment of animal, a microorganism, improves the self-cleaning of water body Ability, so as to repair aquatic ecosystem, reaches the balance of natural, ecological, floating bed can be described as the another of current Ecological Civilization Construction New sharp weapon.Floating bed planting technology gradually applies to agriculture field, and biological floating bed upper Planting Crops are constantly being promoted, still Picking after the biological floating bed rod-shaped fruit maturation of upper crops is relatively difficult, existing biological floating bed rod-shaped fruit picking process Present in need the existing waterborne movable device of pilot steering to carry out operation on the water, it is necessary to manually harvesting ripe rod-shaped fruit In fact, it is necessary to manually pluck the impurity picked up in rod-shaped fruit, it is necessary to manually carry out conveying, pilot steering to the rod-shaped fruit after picking Waterborne movable device very flexible, manually pick, convey rod-shaped fruit it is complicated and manually can only once pick one it is rod-shaped Fruit, it is complicated, time length is expended, labor intensity is big, work efficiency.

Utility model content

To solve the above-mentioned problems, the utility model provide a kind of picking for biological floating bed rod-shaped agriculture fruit, Transfer robot, can solve to need pilot steering existing present in existing biological floating bed rod-shaped fruit picking process Waterborne movable device carries out operation on the water, it is necessary to which manually the rod-shaped fruit of harvesting ripe is picked up in rod-shaped fruit, it is necessary to manually pluck Impurity, it is necessary to manually carried out conveying to the rod-shaped fruit after picking, pilot steering waterborne movable device very flexible, manually Pick, to convey rod-shaped fruit complicated and manually can only once pick a rod-shaped fruit, complicated, expend time length, Labor intensity problem low with work efficiency etc. greatly, it is possible to achieve the rod-shaped fruit automation picking of floating bed, the function of conveying, can be with one It is secondary that picking is carried out at the same time to multiple rod-shaped fruits, without pilot steering waterborne movable device, and with flexibility it is good, operation letter List, expend the advantages that time is short, and labor intensity is small and work efficiency is high.

To achieve these goals, the utility model is realized using following technical scheme：One kind is used for biological floating bed bar The picking of shape agricultural fruit, transfer robot, including support plate, the support plate lower end left and right sides are symmetrically installed with two mobile drifts Floating device, two mobile flotation gears can drive support plate to be moved on the water surface, and support plate upper end installed in front is adopted Device and picking, picker can pick rod-shaped fruit ripe in floating bed, and support plate upper end is provided with separator, point The debris after picking in rod-shaped fruit can be separated from device, separator is located on the downside of the rear end of picker, branch Conveying device is installed, conveying device can convey the rod-shaped fruit after separation, and conveying device is located on rear side of fagging On the downside of the rear end of separator, it is floating that mobile flotation gear, picker, separator and conveying device are used in conjunction with each other completion The rod-shaped fruit automation picking of bed, the technique of conveying.

The picker includes being symmetrically installed two fixed plates on the supporting plate, two fixed plates by welding manner Inner wall between harvesting plate is installed, the front end for gathering in plate is evenly arranged with harvesting groove from left to right, and harvesting groove can be to rod-shaped Fruit carries out position restriction, and it is in tilt down structure from front to back that the rear end for gathering in plate, which is, it can be ensured that harvested rod-shaped fruit In fact can automatic transport in separator, transverse slat, the side wall of transverse slat are installed between the front end upper inside walls of two fixed plates Upper to be provided with harvesting cylinder by axis pin, the top for gathering in cylinder is installed on by axis pin on the side wall of adjustable plate, right on transverse slat Title is provided with two adjusting springs, and two adjust spring and are installed on adjustable plate, and harvesting cylinder is in two auxiliary for adjusting spring Under can drive adjustable plate carry out angular adjustment, adjustable plate by axis pin be installed on two fixed plates between, the lower end of adjustable plate Installing plate is installed, the left and right sides of installing plate is connected by sliding matching mode with two arc shaped sliders, two arc shaped sliders Spacing effect is played to adjustable plate, two arc shaped sliders are installed in two fixed plates, and the lower end of installing plate, which is provided with, adopts Knife is plucked, picking knife is in arc structure, and the picking knife of arc structure can ensure during being picked to rod-shaped fruit not Can be with, harvesting plate collides, and guide roll is provided with by bearing between inner wall on rear side of two fixed plates, on the outer wall of guide roll Guiding brush is evenly arranged with from left to right, and the right end of guide roll is connected by shaft coupling with guiding the output shaft of motor, guiding electricity The output shaft of machine is installed in fixed plate by bearing, and guiding motor is installed on by motor cabinet on the outer wall of fixed plate, guiding Motor drives guide roll to be rotated, and drives guiding brush to rotate while guide roll rotates, and guiding brush drives when rotating and adopted The rod-shaped fruit removed is moved backward, it is ensured that rod-shaped fruit can be smoothly transported in separator, two mobile drifts Harvesting plate on floating device drive picker, which move, makes rod-shaped fruit in harvesting groove, gathers in cylinder in two adjustings Adjustable plate can be driven to carry out angular adjustment under the auxiliary of spring, adjustable plate drives picking knife under the action of two arc shaped sliders Harvesting picking is carried out to rod-shaped fruit, motor is then guided and drives guide roll to be rotated, drives and leads while guide roll rotates Draw brush to rotate, guiding brush drives the rod-shaped fruit fallen by picking to be moved backward when rotating, it is ensured that rod-shaped fruit can be suitable Being transported in separator for profit, can pick the rod-shaped fruit in multiple floating beds at the same time, without manually picking, reduce work The labor intensity of personnel, improves the efficiency of work.

As a kind of optimal technical scheme of the utility model, the mobile flotation gear includes being installed on branch by flange The lifting cylinder of fagging lower end, the bottom of lifting cylinder are installed on floating plate, and floating plate upper end front and rear sides are symmetrically arranged with Two telescopic rods, on the supporting plate, lifting cylinder can band under the auxiliary of two telescopic rods for the upper end installation of two telescopic rods Dynamic support plate carries out height adjusting, and a flexible bullet is arranged with each telescopic rod between support plate and floating plate Spring, adjustable spring play the role of support plate buffering, and the inner side of floating plate is hatch frame, and horizontal stroke is provided with hatch frame To moving mechanism, shifting chute is provided with the outside of floating plate, longitudinal moving mechanism, the lower end peace of floating plate are provided with shifting chute Equipped with buoyant block, buoyant block plays the role of floating plate support floating transverse moving mechanism and starts to work, transverse shifting machine Electric rotating machine on structure drives driving pulley to be rotated, and driving pulley drives rotating roller to be rotated by synchronous belt, rotates Plate of laterally intaking is driven to be rotated in water when roller rotates, plate of laterally intaking is produced during rotating in water and laterally pushed away Power, two mobile two transverse moving mechanism synchronous workings of flotation gear can drive the utility model to carry out lateral position tune Section, longitudinal moving mechanism are started to work, and the rotary electric machine on longitudinal moving mechanism drives rotate gear to be rotated, rotate gear Driven gear is driven synchronously to be rotated, driven gear drives the rotating roller positioned at floating plate rear end synchronous actively, two rotations Roller is rotated synchronously in rotation with the action of, longitudinal plate synchronization of intaking that drive takes installed in rotation when two rotating rollers are moved Moved, two longitudinal moving mechanisms on two mobile flotation gears work at the same time and the utility model can be driven to be indulged Adjusted to position, two transverse moving mechanisms and two longitudinal moving mechanisms are used in conjunction with each other can carry out freedom on the water surface Adjust, improve the flexibility of work, without pilot steering waterborne movable device, reduce the labor intensity of staff, carry The high efficiency of work.

As a kind of optimal technical scheme of the utility model, the separator includes being symmetrically installed on the supporting plate Two blocks of separately installed plates, the upper end of two blocks of separately installed plates are provided with separation frame, separate the lower end of frame as from front to back in downward Incline structure, separates and is provided with feed inlet on the upside of the front end of frame, the rear end for separating frame is hatch frame, and the rear end for separating frame passes through Hinge connection has guiding closure plate, guides and is symmetrically connected with two guiding cylinders by axis pin on the side wall of closure plate, two are led Bleed cylinder can drive guiding closure plate to carry out angular adjustment on separation frame by hinge, and the bottom of two guiding cylinders passes through Axis pin is installed on the supporting plate, and separation frame front end is provided with promotion groove, is provided with pushing frame on the outer wall of separation frame front end, promotes Frame is of an L-shaped structure, and pusher cylinder is provided with the side wall of pushing frame, and the top of pusher cylinder is installed on pushing plate by flange On, the lower end of pushing plate is in the arcuate structure being recessed inwardly, and separating plate, separating plate are provided between the inner wall of separation frame left and right ends Sorting hole is evenly arranged with, separates and limiting cylinder is installed on the upper end inner wall of frame, and the plane where pushing plate lower end is located at The upside of plane where separating plate upper end, the top of limiting cylinder are installed on separator frame by flange, separate and symmetrically set on frame Two gag lever posts are equipped with, the top of two gag lever posts is installed on separator frame, auxiliary lower band of the limiting cylinder in two gag lever posts Dynamic separator frame carries out height adjusting, and separator frame is in inverted U-shaped structure, is symmetrically pacified by bearing between the inner wall of separator frame left and right ends Equipped with two separate rollers, separation brush is evenly arranged with the outer wall of each separate roller from left to right, each separate roller left end is equal One separation belt wheel is installed, being connected by a linkage between two separation belt wheels on two separate rollers, It is connected on the separation belt wheel of separator frame rear end by shaft coupling with separating the output shaft of motor, separation motor passes through motor cabinet On separator frame, two rows of separation wind turbines are symmetrically arranged with the inner wall of separator frame upper end front and rear sides, pusher cylinder drives Pushing plate, which carries out reciprocal telescopic adjusting, makes the rod-shaped fruit after picking be evenly distributed on separating plate, and limiting cylinder is in two limits Driving separator frame to adjust under the auxiliary of position bar, to suitable height separation brush is normally touched rod-shaped on separating plate Fruit, separation motor drives to be rotated positioned at the separation belt wheel of separator frame rear end, and two separation belt wheels are in linkage Effect is lower to be rotated synchronously, and two separation belt wheels two separate rollers of drive rotate at the same time, and separation brush is driven when separate roller rotates to dividing From the rod-shaped fruit after picking on separating plate in frame stir makes rod-shaped fruit quickly be separated with impurity, two rows separation wind turbine Being carried out at the same time work makes the impurity after separation be transported to by the sorting hole on separating plate on the lower face of separation frame, due to separation The lower end of frame is from front to back in tilting down structure so that impurity automatic transport after separation is in conveying device, spacing gas Cylinder drives separator frame to move upward to the position for not influencing pushing plate movement, two guiding cylinders under the auxiliary of two gag lever posts Driving guiding closure plate to carry out contraction adjusting on separation frame by hinge makes guiding closure plate be opened to suitable angle, promotes Cylinder drives pushing plate to move backward, and pushing plate promotes the rod-shaped fruit on separating plate to be synchronized with the movement during exercise, it is ensured that rod-shaped Fruit can be smoothly transported in conveying device by guiding closure plate, without manually pluck pick up it is miscellaneous in rod-shaped fruit after picking Matter, automation are separated, and the consuming time is short, reduces the labor intensity of staff, improves the efficiency of work.

As a kind of optimal technical scheme of the utility model, the conveying device includes being symmetrically installed on the supporting plate two Block No.1 riser, the rear end of support plate are symmetrically installed with two pieces of No. two risers, are provided between two pieces of No.1 risers by bearing No.1 conveying roller, is provided with No. two conveying rollers between two pieces of No. two risers, the right end of No. two conveying rollers passes through connecting shaft by bearing Device is connected with the output shaft of feeder motor, and the output shaft of feeder motor is installed on No. two risers by bearing, and feeder motor leads to Motor cabinet is crossed on No. two risers, is connected between No.1 conveying roller and No. two conveying rollers by a conveyer belt, conveyer belt From front to back in the structure that is inclined upwardly, two convex blocks, the outer wall of conveyer belt are symmetrically arranged with the left and right sides of conveyer belt outer wall On be evenly arranged with block, positioning plate is installed between two pieces of No. two risers, passes through axis pin on the side wall of positioning plate with adjusting gas The bottom of cylinder is connected, and the top for adjusting cylinder is installed on guiding carrier by bearing, and guiding carrier is installed on two piece two by axis pin Between number riser, two electronic sliding blocks are symmetrically arranged with left and right sides of support plate rear end, the upper end of two electronic sliding blocks is provided with Collection frame, two electronic sliding blocks drive collection frame to move to the impurity that rod-shaped fruit is separated in the underface of separation back end of frame It is collected, feeder motor drives No. two conveying rollers to be rotated, and No. two conveying rollers drive defeated under the auxiliary of No.1 conveying roller Band is sent to move from front to back, two on conveyer belt convex block is spacing to the rod-shaped carry out after picking, avoids the rod-shaped fruit after picking Real unrestrained, the block on conveyer belt can slide in the fruit for conveying rod-shaped fruit to avoid rod-shaped fruit, adjusts cylinder and drives Guiding carrier carries out angular adjustment by axis pin between two pieces of No. two risers, it is ensured that the rod-shaped fruit after picking is smoothly transported to In existing collecting device, the rod-shaped fruit after being picked without artificial conveyance, easy to operate, the work for reducing staff is strong Degree, improves the efficiency of work.

As a kind of optimal technical scheme of the utility model, the transverse moving mechanism, which includes being installed on by bearing, to be opened Rotating roller between the inner wall of mouth structure rear and front end, laterally water inlet plate, the rear side installation of rotating roller are evenly arranged with rotating roller There is a driven pulley, electric rotating machine be provided with by motor cabinet on floating plate, driving pulley is installed on the output shaft of electric rotating machine, It is connected between driving pulley and driven pulley by a synchronous belt, electric rotating machine drives driving pulley to be rotated, main belt Wheel drives rotating roller to be rotated by synchronous belt, drives horizontal water inlet plate to be rotated in water when rotating roller rotates, laterally Water inlet plate produces lateral thrust during rotating in water, two transverse moving mechanism synchronous workings can drive this practicality new Type carries out lateral position adjusting, without pilot steering waterborne movable device, reduces the labor intensity of staff, improves work The efficiency of work.

As a kind of optimal technical scheme of the utility model, the longitudinal moving mechanism, which includes being installed on by bearing, to be moved Two rotating rollers between the inner wall of groove front and rear sides are moved, rotating band by one between two rotating rollers is connected, and rotation takes equal Even to be provided with longitudinal direction water inlet plate, the rear side end of floating plate is provided with rotary electric machine by motor cabinet, on the output shaft of rotary electric machine Rotate gear is installed, driven gear is engaged in rotate gear, driven gear is mounted in the rotating roller of floating plate rear end, Rotary electric machine drives rotate gear to be rotated, and rotate gear drives driven gear synchronously to be rotated, and driven gear drives position Rotating roller in floating plate rear end is synchronous actively, and two rotating rollers rotate synchronously under the action of band is rotated, two rotating roller fortune The longitudinal direction water inlet plate for being installed on and rotating and taking is driven synchronously to be moved when dynamic, two longitudinal moving mechanisms work at the same time can band Dynamic the utility model carries out lengthwise position adjusting, and without pilot steering waterborne movable device, the work for reducing staff is strong Degree, improves the efficiency of work.

During work, two first mobile flotation gears are started to work, and the buoyant block on mobile flotation gear plays floating plate The effect transverse moving mechanism for having arrived support floating is started to work, the electric rotating machine on transverse moving mechanism drive driving pulley into Row rotation, driving pulley drive rotating roller to be rotated by synchronous belt, are driven when rotating roller rotates and laterally intake plate in water Rotated, plate of laterally intaking produces lateral thrust during rotating in water, two mobile flotation gears two laterally move Motivation structure synchronous working can drive the utility model to carry out lateral position adjusting, and longitudinal moving mechanism is started to work, and longitudinal direction is moved Rotary electric machine on motivation structure drives rotate gear to be rotated, and rotate gear drives driven gear synchronously to be rotated, driven Gear drives the synchronous active of rotating roller positioned at floating plate rear end, and two rotating rollers rotate synchronously under the action of band is rotated, and two The longitudinal direction water inlet plate for being installed on and rotating and taking is driven synchronously to be moved during a rotating roller movement, on two mobile flotation gears Two longitudinal moving mechanisms, which work at the same time, can drive the utility model to carry out lengthwise position adjusting, two transverse moving mechanisms with Two longitudinal moving mechanisms, which are used in conjunction with each other, drives the utility model to be moved to the operating position specified, two mobile floating dresses Putting the harvesting plate on drive picker and move makes rod-shaped fruit be located in harvesting groove, and the harvesting cylinder on picker exists Under the auxiliary of two adjusting springs adjustable plate can be driven to carry out angular adjustment, adjustable plate band under the action of two arc shaped sliders Dynamic picking knife carries out harvesting picking to rod-shaped fruit, then guides motor and drives guide roll to be rotated, and guide roll is rotating same When drive guiding brush to rotate, guiding brush drives the rod-shaped fruit that is fallen by picking to be moved backward when rotating, it is ensured that rod-shaped fruit Can smoothly it be transported in fact in separator, the limiting cylinder on separator drives separation under the auxiliary of two gag lever posts Frame, which is adjusted to suitable height, enables separation brush normally to touch the rod-shaped fruit on separating plate, and separation motor, which drives, to be located at The separation belt wheel of separator frame rear end is rotated, and two separation belt wheels rotate synchronously under the action of a linkage, two points Two separate rollers are driven to rotate at the same time from belt wheel, after separation brush is driven when separate roller rotates to being picked on separating plate in separation frame Rod-shaped fruit, which stir, makes rod-shaped fruit quickly be separated with impurity, and two rows separation wind turbines are carried out at the same time after work makes separation Impurity by the sorting hole on separating plate be transported to separation frame lower face on, due to separate frame lower end for from front to back be in Lower incline structure so that the impurity automatic transport after separation in conveying device, limiting cylinder is under the auxiliary of two gag lever posts Separator frame is driven to move upward to the position for not influencing pushing plate movement, two guiding cylinders drive guiding closure plate to pass through hinge Contraction adjusting is carried out on separation frame makes guiding closure plate be opened to suitable angle, and pusher cylinder drives pushing plate to transport backward Dynamic, pushing plate promotes the rod-shaped fruit on separating plate to be synchronized with the movement during exercise, it is ensured that rod-shaped fruit can be smoothly by leading Draw closure plate to be transported in conveying device, the electronic sliding block of two in conveying device drives collection frame to move to separation back end of frame The impurity that rod-shaped fruit is separated in underface is collected, and feeder motor drives No. two conveying rollers to be rotated, and No. two defeated Roller driving conveying belt under the auxiliary of No.1 conveying roller is sent to move from front to back, two on conveyer belt convex block is to the bar after picking Shape carries out spacing, avoids the rod-shaped fruit after picking from trickling down, and the block on conveyer belt can be with the fruit for conveying rod-shaped fruit Avoid rod-shaped fruit from sliding, adjust cylinder and drive guiding carrier to carry out angular adjustment between two pieces of No. two risers by axis pin, really The rod-shaped fruit protected after picking is smoothly transported in existing collecting device, it is possible to achieve the rod-shaped fruit automation picking of floating bed, The function of conveying.

The beneficial effects of the utility model are：

1st, the utility model can solve to need present in existing biological floating bed rod-shaped fruit picking process manually Drive existing waterborne movable device and carry out operation on the water, it is necessary to which manually the rod-shaped fruit of harvesting ripe is picked up, it is necessary to manually pluck For impurity in rod-shaped fruit, it is necessary to manually carry out conveying to the rod-shaped fruit after picking, pilot steering waterborne movable device is clever Poor activity, is manually picked, to convey rod-shaped fruit complicated and manually can only once pick a rod-shaped fruit, complicated, Expend time length, labor intensity problem low with work efficiency etc. greatly, it is possible to achieve floating bed rod-shaped fruit automation picking, conveying Multiple rod-shaped fruits once can be carried out at the same time picking by function, without pilot steering waterborne movable device, and have flexibility It is good, easy to operate, expend the advantages that time is short, and labor intensity is small high with work efficiency；

2nd, the utility model devises two mobile flotation gears, and two mobile two transverse moving mechanisms of flotation gear are same Step work can drive the utility model to carry out lateral position adjusting, two longitudinal moving mechanisms on two mobile flotation gears Working at the same time can drive the utility model to carry out lengthwise position adjusting, two transverse moving mechanisms and two longitudinal moving mechanisms Free adjusting can be carried out on the water surface by being used in conjunction with each other, and the flexibility of work be improved, without pilot steering Waterborne movable Equipment, reduces the labor intensity of staff, improves the efficiency of work；

3rd, the utility model devises picker, and the picking knife on picker and harvesting groove are used in conjunction with each other can be with Once multiple rod-shaped fruits are picked, guiding motor drives guiding brush to carry out rotating the rod-shaped fruit after may insure picking Conveyed, without human intervention, easy to operate, the consuming time is short, reduces the labor intensity of staff, improves work Efficiency；

4th, the utility model devises separator, and the separation motor on separator can be on separating plate with separating brush Fruit after picking quickly separates, and the impurity after separation is transported to the lower end of separation frame, nothing by the separating opening on separating plate Need manually the debris after separation in rod-shaped fruit pluck picking up, reduce the labor intensity of staff, improve work Efficiency；

5th, the utility model devises conveying device, the conveyer belt in conveying device can to the rod-shaped fruit after picking into Row conveying, collection frame can be collected the impurity after separation, two on conveyer belt convex block and block and the fruit after picking Spacing effect is played in fact, the rod-shaped fruit after being picked without artificial conveyance, reduces the labor intensity of staff, improve Work efficiency.

Brief description of the drawings

The utility model is further illustrated with reference to the accompanying drawings and examples.

Fig. 1 is the utility model structure diagram；

Fig. 2 is the sectional view of the utility model；

Fig. 3 is the sectional view along A-A of the utility model Fig. 2；

Fig. 4 is the I of the utility model Fig. 3 to partial enlarged view；

Fig. 5 is the structure diagram between the utility model support plate and mobile flotation gear.

Embodiment

In order to make the technical means, creative features, achievable purpose and effectiveness that the utility model is realized easy to understand, under Face combines and is specifically illustrating, and the utility model is expanded on further.

As shown in Figures 1 to 5, a kind of picking for being used for biological floating bed rod-shaped agriculture fruit, transfer robot, including support Plate 1,1 lower end of the support plate left and right sides are symmetrically installed with two mobile flotation gears 2, and two mobile flotation gears 2 can drive Support plate 1 is moved on the water surface, and 1 upper end installed in front of support plate has picker 3, and picker 3 can be in floating bed Ripe rod-shaped fruit is picked, and 1 upper end of support plate is provided with separator 4, and separator 4 can be to rod-shaped fruit after picking Debris in reality is separated, and separator 4 is located on the downside of the rear end of picker 3, and the rear side of support plate 1 is provided with conveying dress 5 are put, conveying device 5 can convey the rod-shaped fruit after separation, and conveying device 5 is located under the rear end of separator 4 Side, mobile flotation gear 2, picker 3, separator 4 are used in conjunction with each other with conveying device 5 completes the rod-shaped fruit of floating bed certainly Dynamicization picking, the technique of conveying.

The picker 3 includes the two fixed plates 31 being symmetrically mounted on by welding manner in support plate 1, and two pieces solid Harvesting plate 32 is installed, the front end of harvesting plate 32 is evenly arranged with harvesting groove, gathers in groove from left to right between the inner wall of fixed board 31 Position restriction can be carried out to rod-shaped fruit, it is in tilt down structure from front to back that the rear end of harvesting plate 32, which is, it can be ensured that is received Rod-shaped fruit after cutting can automatic transport in separator 4, be provided between the front end upper inside walls of two fixed plates 31 Transverse slat 33, is provided with harvesting cylinder 34 on the side wall of transverse slat 33 by axis pin, and the top of harvesting cylinder 34 is installed on by axis pin On the side wall of adjustable plate 35, two adjusting springs 312 are symmetrically arranged with transverse slat 33, two adjust spring 312 and are installed on adjusting On plate 35, harvesting cylinder 34 can drive adjustable plate 35 to carry out angular adjustment, adjustable plate under two auxiliary for adjusting spring 312 35 by axis pin be installed on two fixed plates 31 between, the lower end of adjustable plate 35 is provided with installing plate 36, the left and right of installing plate 36 Both sides are connected by sliding matching mode with two arc shaped sliders 37, and two arc shaped sliders 37 play adjustable plate 35 spacing Effect, two arc shaped sliders 37 are installed in two fixed plates 31, and the lower end of installing plate 36 is provided with picking knife 38, picking knife 38 In arc structure, the picking knife 38 of arc structure can ensure will not be with harvesting during being picked to rod-shaped fruit Plate 32 collides, and guide roll 39 is provided with by bearing between 31 rear side inner wall of two fixed plates, on the outer wall of guide roll 39 Guiding brush 310 is evenly arranged with from left to right, and the right end of guide roll 39 passes through shaft coupling and the output shaft phase for guiding motor 311 Even, the output shaft for guiding motor 311 is installed in fixed plate 31 by bearing, and guiding motor 311 is installed on solid by motor cabinet On the outer wall of fixed board 31, guiding motor 311 drives guide roll 39 to be rotated, and guiding brush is driven while guide roll 39 rotates 310 rotate, and guiding brush 310 drives the rod-shaped fruit fallen by picking to be moved backward when rotating, it is ensured that rod-shaped fruit can Smoothly it is transported in separator 4, two mobile flotation gears 2 drive the harvesting plate 32 on picker 3 move making For rod-shaped fruit in harvesting groove, harvesting cylinder 34 can drive adjustable plate 35 to carry out under two auxiliary for adjusting spring 312 Angular adjustment, adjustable plate 35 drive picking knife 38 to carry out harvesting picking to rod-shaped fruit under the action of two arc shaped sliders 37, Then guiding motor 311 drives guide roll 39 to be rotated, and drives guiding brush 310 to rotate while guide roll 39 rotates, guiding Brush 310 drives the rod-shaped fruit fallen by picking to be moved backward when rotating, it is ensured that rod-shaped fruit can be smoothly transported to In separator 4, the rod-shaped fruit in multiple floating beds can be picked at the same time, without manually picking, reduce the labor of staff Fatigue resistance, improves the efficiency of work.

The mobile flotation gear 2 includes the lifting cylinder 21 that 1 lower end of support plate is installed on by flange, lifting cylinder 21 Bottom be installed on floating plate 22 on, 22 upper end front and rear sides of floating plate are symmetrically arranged with two telescopic rods 23, two telescopic rods 23 upper end is installed in support plate 1, and lifting cylinder 21 can drive support plate 1 to carry out under the auxiliary of two telescopic rods 23 Highly adjust, an adjustable spring 24 is arranged with each telescopic rod 23 between support plate 1 and floating plate 22, stretch Spring 24 plays the role of support plate 1 buffering, and the inner side of floating plate 22 is hatch frame, and transverse direction is provided with hatch frame Moving mechanism 25, the outside of floating plate 22 are provided with shifting chute, longitudinal moving mechanism 26, floating plate 22 are provided with shifting chute Lower end buoyant block 27 is installed, buoyant block 27 plays the role of floating plate 22 support floating transverse moving mechanism 25 and opens Beginning work, the electric rotating machine 254 on transverse moving mechanism 25 drive driving pulley 255 to be rotated, and driving pulley 255 is by same Step band 256 drives rotating roller 251 to be rotated, and drives horizontal water inlet plate 252 to be rotated in water when rotating roller 251 rotates, Laterally water inlet plate 252 produces lateral thrust, two mobile 2 two transverse moving mechanisms of flotation gear during rotating in water 25 synchronous workings can drive the utility model to carry out lateral position adjusting, and longitudinal moving mechanism 26 is started to work, vertically moved Rotary electric machine 264 in mechanism 26 drives rotate gear 265 to be rotated, and rotate gear 265 drives driven gear 266 synchronous Rotated, driven gear 266 drives the synchronous active of rotating roller 261 positioned at 22 rear end of floating plate, and two rotating rollers 261 are turning Rotated synchronously under the action of dynamic band 262, two rotating rollers 261 drive the longitudinal direction water inlet plate for being installed on and rotating on band 262 when moving 263 are synchronously moved, and two longitudinal moving mechanisms 26 on two mobile flotation gears 2, which work at the same time, can drive this practicality New carry out lengthwise position adjusting, two transverse moving mechanisms 25 and two longitudinal moving mechanisms 26 are used in conjunction with each other can be Free adjusting is carried out on the water surface, the flexibility of work is improved, without pilot steering waterborne movable device, reduces staff Labor intensity, improve the efficiency of work.

The separator 4 includes two blocks of separately installed plates 41 being symmetrically mounted in support plate 1, two blocks of separately installed plates 41 upper end is provided with separation frame 42, and the lower end of separation frame 42 separates the front end of frame 42 to be in tilt down structure from front to back Upside is provided with feed inlet, and the rear end of separation frame 42 be hatch frame, and the rear end guiding that is connected through the hinge for separating frame 42 is closed Plywood 43, guides and is symmetrically connected with two guiding cylinders 44 by axis pin on the side wall of closure plate 43, two guiding cylinders 44 can To drive guiding closure plate 43 to carry out angular adjustment on separation frame 42 by hinge, the bottom of two guiding cylinders 44 passes through pin Axis is installed in support plate 1, and 42 front end of separation frame is provided with promotion groove, and pushing frame is provided with the outer wall of 42 front end of separation frame 45, pushing frame 45 is of an L-shaped structure, and pusher cylinder 46 is provided with the side wall of pushing frame 45, and the top of pusher cylinder 46 passes through method Orchid is installed in pushing plate 47, and the lower end of pushing plate 47 is in the arcuate structure being recessed inwardly, 42 left and right ends inner wall of separation frame it Between separating plate 48 is installed, separating plate 48 is evenly arranged with sorting hole, separates and is provided with limiting cylinder on the upper end inner wall of frame 42 49, and the plane where 47 lower end of pushing plate is located at the upside of 48 upper end of separating plate place plane, the top of limiting cylinder 49 leads to Flange is crossed on separator frame 410, separates and is symmetrically arranged with two gag lever posts 417, the top of two gag lever posts 417 on frame 42 On separator frame 410, limiting cylinder 49 drives separator frame 410 to carry out height adjusting under the auxiliary of two gag lever posts 417, Separator frame 410 is in inverted U-shaped structure, and two separate rollers are symmetrically installed with by bearing between the inner wall of 410 left and right ends of separator frame 411, separation brush 416 is evenly arranged with the outer wall of each separate roller 411 from left to right, each 411 left end of separate roller is pacified Equipped with a separation belt wheel 412, pass through a linkage between two separation belt wheels 412 on two separate rollers 411 Band 413 is connected, and passes through shaft coupling and the output shaft phase for separating motor 414 on the separation belt wheel 412 of 410 rear end of separator frame Even, separation motor 414 is installed on separator frame 410 by motor cabinet, is symmetrically set on the inner wall of 410 upper end front and rear sides of separator frame Two rows of separation wind turbines 415 are equipped with, pusher cylinder 46, which drives pushing plate 47 to carry out reciprocal telescopic adjusting, makes the rod-shaped fruit after picking It is evenly distributed on separating plate 48, limiting cylinder 49 drives separator frame 410 to adjust under the auxiliary of two gag lever posts 417 and arrives Suitable separation brush 416 is normally touched the rod-shaped fruit on separating plate 48, separation motor 414 drives position Separation belt wheel 412 in 410 rear end of separator frame is rotated, and two separation belt wheels 412 are same under the action of a linkage 413 Step rotates, and two separation belt wheels 412 drive two separate rollers 411 to rotate at the same time, and separation brush 416 is driven when separate roller 411 rotates Rod-shaped fruit after being picked on separating plate 48 in separation frame 42, which stir, makes rod-shaped fruit quickly be separated with impurity, two rows of Separation wind turbine 415, which is carried out at the same time work, makes the impurity after separation be transported to by the sorting hole on separating plate 48 under separation frame 42 On end face, the lower end due to separating frame 42 is to be in tilt down structure from front to back so that the impurity automatic transport after separation arrives In conveying device 5, limiting cylinder 49 drives separator frame 410 to move upward under the auxiliary of two gag lever posts 417 not to be influenced to push away The position that movable plate 47 moves, two guiding cylinders 44 drive guiding closure plate 43 to carry out contraction tune on separation frame 42 by hinge Section makes guiding closure plate 43 be opened to suitable angle, and pusher cylinder 46 drives pushing plate 47 to move backward, and pushing plate 47 is being transported The rod-shaped fruit on separating plate 48 is promoted to be synchronized with the movement in dynamic, it is ensured that rod-shaped fruit can be smoothly defeated by guiding closure plate 43 It is sent in conveying device 5, without manually plucking the impurity picked up after picking in rod-shaped fruit, automation is separated, and it is short to expend the time, The labor intensity of staff is reduced, improves the efficiency of work.

The conveying device 5 includes being symmetrically mounted on two pieces of No.1 risers 51 in support plate 1, and the rear end of support plate 1 is symmetrical Two pieces of No. two risers 52 are installed, No.1 conveying roller 53 is provided with by bearing between two pieces of No.1 risers 51, two pieces No. two vertical No. two conveying rollers 54 are provided with by bearing between plate 52, the right end of No. two conveying rollers 54 passes through shaft joint and feeder motor 511 Output shaft be connected, the output shaft of feeder motor 511 is installed on No. two risers 52 by bearing, and feeder motor 511 passes through electricity Engine base is installed on No. two risers 52, is connected between No.1 conveying roller 53 and No. two conveying rollers 54 by a conveyer belt 55, defeated Send band 55 that in the structure that is inclined upwardly, two convex blocks 513 are symmetrically arranged with the left and right sides of 55 outer wall of conveyer belt from front to back, it is defeated Send and block 512 is evenly arranged with the outer wall of band 55, positioning plate 56, the side of positioning plate 56 are installed between two pieces of No. two risers 52 It is connected on wall by axis pin with adjusting the bottom of cylinder 57, the top for adjusting cylinder 57 is installed on guiding carrier 58 by bearing, Between two pieces of No. two risers 52, two electricity are symmetrically arranged with left and right sides of 1 rear end of support plate by axis pin for guiding carrier 58 Movable slider 59, the upper end of two electronic sliding blocks 59 are provided with collection frame 510, and two electronic sliding blocks 59 drive collection frame 510 to move The impurity separated to the underface of 42 rear end of separation frame to rod-shaped fruit is collected, and the drive of feeder motor 511 two is defeated Roller 54 is sent to be rotated, No. two conveying rollers 54 driving conveying belt 55 under the auxiliary of No.1 conveying roller 53 moves from front to back, defeated Send two convex blocks 513 on band 55 spacing to the rod-shaped carry out after picking, avoid the rod-shaped fruit after picking from trickling down, on conveyer belt Block 512 can be slid in the fruit for conveying rod-shaped fruit to avoid rod-shaped fruit, adjust cylinder 57 and drive guiding carrier 58 to lead to Cross axis pin and carry out angular adjustment between two pieces of No. two risers 52, it is ensured that the rod-shaped fruit after picking is smoothly transported to existing receipts Collect in equipment, the rod-shaped fruit after being picked without artificial conveyance is easy to operate, reduces the labor intensity of staff, improves The efficiency of work.

The transverse moving mechanism 25 includes the rotating roller being installed on by bearing between the inner wall of hatch frame rear and front end 251, laterally water inlet plate 252, the rear side of rotating roller 251 are evenly arranged with rotating roller 251 driven pulley 253 is installed, floated Electric rotating machine 254 is provided with by motor cabinet on plate 22, driving pulley 255 is installed on the output shaft of electric rotating machine 254, it is main Be connected between movable belt pulley 255 and driven pulley 253 by a synchronous belt 256, electric rotating machine 254 drive driving pulley 255 into Row rotates, and driving pulley 255 drives rotating roller 251 to be rotated by synchronous belt 256, is driven laterally when rotating roller 251 rotates Water inlet plate 252 is rotated in water, and plate 252 of laterally intaking produces lateral thrust, two transverse directions during rotating in water The synchronous working of moving mechanism 25 can drive the utility model to carry out lateral position adjusting, be set without pilot steering Waterborne movable It is standby, the labor intensity of staff is reduced, improves the efficiency of work.

The longitudinal moving mechanism 26 includes two rotations being installed on by bearing between the inner wall of shifting chute front and rear sides Roller 261, rotates band 262 by one between two rotating rollers 261 and is connected, rotate and water inlet plate in longitudinal direction is evenly arranged with band 262 263, the rear side end of floating plate 22 is provided with rotary electric machine 264 by motor cabinet, is provided with and turns on the output shaft of rotary electric machine 264 Moving gear 265, driven gear 266 is engaged in rotate gear 265, and driven gear 266 is mounted on turning for 22 rear end of floating plate On dynamic roller 261, rotary electric machine 264 drives rotate gear 265 to be rotated, and rotate gear 265 drives 266 same stepping of driven gear Row rotates, and driven gear 266 drives the rotating roller 261 for being located at 22 rear end of floating plate synchronous actively, and two rotating rollers 261 are rotating Rotated synchronously under the action of band 262, two rotating rollers 261 drive the longitudinal direction water inlet plate 263 for being installed on and rotating on band 262 when moving Synchronously moved, two longitudinal moving mechanisms 26, which work at the same time, can drive the utility model to carry out lengthwise position adjusting, nothing Pilot steering waterborne movable device is needed, reduces the labor intensity of staff, improves the efficiency of work.

During work, two first mobile flotation gears 2 are started to work, and the buoyant block 27 on mobile flotation gear 2 is to floating Plate 22 plays the role of support floating transverse moving mechanism 25 and starts to work, the electric rotating machine 254 on transverse moving mechanism 25 Driving pulley 255 is driven to be rotated, driving pulley 255 drives rotating roller 251 to be rotated by synchronous belt 256, rotating roller 251 drive plate 252 of laterally intaking to be rotated in water when rotating, plate 252 of laterally intaking produces during rotating in water Lateral thrust, it is horizontal that two mobile 2 two synchronous workings of transverse moving mechanism 25 of flotation gear can drive the utility model to carry out Adjusted to position, longitudinal moving mechanism 26 is started to work, and the rotary electric machine 264 on longitudinal moving mechanism 26 drives rotate gear 265 are rotated, and rotate gear 265 drives driven gear 266 synchronously to be rotated, and driven gear 266, which drives, is located at floating plate The rotating roller 261 of 22 rear ends is synchronous actively, and two rotating rollers 261 rotate synchronously under the action of band 262 is rotated, two rotations The longitudinal direction water inlet plate 263 for being installed on and rotating on band 262 is driven synchronously to be moved when roller 261 moves, two mobile flotation gears Two longitudinal moving mechanisms 26 on 2, which work at the same time, can drive the utility model to carry out lengthwise position adjusting, and two are laterally moved Motivation structure 25 and two longitudinal moving mechanisms 26, which are used in conjunction with each other, drives the utility model to be moved to the operating position specified, and two Harvesting plate 32 on a drive of mobile flotation gear 2 picker 3, which move, makes rod-shaped fruit in harvesting groove, picking dress The harvesting cylinder 34 put on 3 can drive adjustable plate 35 to carry out angular adjustment under two auxiliary for adjusting spring 312, adjust Plate 35 drives picking knife 38 to carry out harvesting picking to rod-shaped fruit under the action of two arc shaped sliders 37, then guides motor 311 drive guide rolls 39 are rotated, and drive guiding brush 310 to rotate while guide roll 39 rotates, and guiding brush 310 is when rotating The rod-shaped fruit fallen by picking is driven to be moved backward, it is ensured that rod-shaped fruit can be smoothly transported in separator 4, point Separator frame 410 is driven under the auxiliary of two gag lever posts 417 to adjust to suitably highly making point from the limiting cylinder 49 on device 4 The rod-shaped fruit on separating plate 48 can be normally touched from brush 416, separation motor 414, which drives, is located at 410 rear end of separator frame Separation belt wheel 412 rotated, two separation belt wheels 412 rotate synchronously under the action of a linkage 413, two separation Belt wheel 412 drives two separate rollers 411 to rotate at the same time, and separation in 416 pairs of separation frames 42 of separation brush is driven when separate roller 411 rotates Rod-shaped fruit after being picked on plate 48, which stir, makes rod-shaped fruit quickly be separated with impurity, and two rows separation wind turbine 415 is at the same time Carrying out work makes the impurity after separation be transported to by the sorting hole on separating plate 48 on the lower face of separation frame 42, due to separation The lower end of frame 42 is from front to back in tilting down structure so that the impurity automatic transport after separation is limited in conveying device 5 Position cylinder 49 drives separator frame 410 to move upward to the position for not influencing the movement of pushing plate 47 under the auxiliary of two gag lever posts 417 Put, two guiding cylinders 44, which drive guiding closure plate 43 to carry out contraction adjusting on separation frame 42 by hinge, makes guiding closure plate 43 are opened to suitable angle, and pusher cylinder 46 drives pushing plate 47 to move backward, and pushing plate 47 promotes separating plate during exercise Rod-shaped fruit on 48 is synchronized with the movement, it is ensured that rod-shaped fruit smoothly can be transported to conveying device 5 by guiding closure plate 43 Interior, two electronic sliding blocks 59 in conveying device 5 drive collection frame 510 to move to the underface of 42 rear end of separation frame to rod-shaped fruit The impurity separated in fact is collected, and feeder motor 511 drives No. two conveying rollers 54 to be rotated, and No. two conveying rollers 54 exist Driving conveying belt 55 moves from front to back under the auxiliary of No.1 conveying roller 53, after two on conveyer belt 55 convex block 513 is to picking Rod-shaped carry out it is spacing, avoid the rod-shaped fruit after picking from trickling down, the block 512 on conveyer belt is conveying the fruit of rod-shaped fruit In can be slid to avoid rod-shaped fruit, adjust cylinder 57 drive guiding carrier 58 carried out by axis pin between two pieces of No. two risers 52 Angular adjustment, it is ensured that the rod-shaped fruit after picking is smoothly transported in existing collecting device, realizes the rod-shaped fruit of floating bed certainly Dynamicization picking, the function of conveying, solve needs manually to drive present in existing biological floating bed rod-shaped fruit picking process Sail existing waterborne movable device and carry out operation on the water, it is necessary to which manually the rod-shaped fruit of harvesting ripe picks up bar, it is necessary to manually pluck For impurity in shape fruit, it is necessary to manually carry out conveying to the rod-shaped fruit after picking, pilot steering waterborne movable device is flexible Property is poor, manually picks, conveys that rod-shaped fruit is complicated, labor intensity problem low with work efficiency etc. greatly, has reached purpose.

The basic principle, main feature and advantage of the utility model has been shown and described above.The technical staff of the industry It should be appreciated that the present utility model is not limited to the above embodiments, the simply explanation of the description in above embodiments and description The principle of the utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model also have various changes Change and improve, these various changes and improvements fall within the scope of the claimed invention.The requires of the utility model protects model Enclose and be defined by the appending claims and its equivalent thereof.

Claims

1. a kind of picking for being used for biological floating bed rod-shaped agriculture fruit, transfer robot, including support plate (1), it is characterised in that： Two mobile flotation gears (2) are symmetrically installed with left and right sides of support plate (1) lower end, support plate (1) upper end installed in front is adopted Device and picking (3), support plate (1) upper end are provided with separator (4), and separator (4) is located under the rear end of picker (3) Side, conveying device (5) is provided with rear side of support plate (1), and conveying device (5) is located on the downside of the rear end of separator (4), mobile Flotation gear (2), picker (3), separator (4) are used in conjunction with each other with conveying device (5) completes the rod-shaped fruit of floating bed Automation picking, the technique of conveying；

The picker (3) includes being symmetrically mounted on two fixed plates (31) in support plate (1) by welding manner, two pieces Harvesting plate (32) is installed, the front end of harvesting plate (32) is evenly arranged with harvesting from left to right between the inner wall of fixed plate (31) Groove, the rear end of harvesting plate (32) is is in tilt down structure from front to back, between the front end upper inside walls of two fixed plates (31) Transverse slat (33) is installed, is provided with the side wall of transverse slat (33) by axis pin and gathers in cylinder (34), the top of harvesting cylinder (34) It is installed on by axis pin on the side wall of adjustable plate (35), two is symmetrically arranged with transverse slat (33) and adjusts spring (312), two tune Save spring (312) to be installed on adjustable plate (35), adjustable plate (35) between two fixed plates (31), is adjusted by axis pin The lower end of plate (35) is provided with installing plate (36), and the left and right sides of installing plate (36) is slided by sliding matching mode and two arcs Block (37) is connected, and two arc shaped sliders (37) are installed in two fixed plates (31), and the lower end of installing plate (36) is provided with picking Knife (38), picking knife (38) are in arc structure, and guide roll is provided with by bearing between inner wall on rear side of two fixed plates (31) (39), guiding brush (310) is evenly arranged with the outer wall of guide roll (39) from left to right, the right end of guide roll (39) passes through shaft coupling Device is connected with the output shaft of guiding motor (311), and the output shaft of guiding motor (311) is installed on fixed plate (31) by bearing On, guiding motor (311) is installed on by motor cabinet on the outer wall of fixed plate (31).

2. a kind of picking for being used for biological floating bed rod-shaped agriculture fruit according to claim 1, transfer robot, its feature It is：The mobile flotation gear (2) includes being installed on the lifting cylinder (21) of support plate (1) lower end, lifting air by flange The bottom of cylinder (21) is installed on floating plate (22), and floating plate (22) upper end front and rear sides are symmetrically arranged with two telescopic rods (23), the upper end of two telescopic rods (23) is installed in support plate (1), every between support plate (1) and floating plate (22) It is arranged with an adjustable spring (24) on a telescopic rod (23), the inner side of floating plate (22) is hatch frame, in hatch frame Transverse moving mechanism (25) is installed, shifting chute is provided with the outside of floating plate (22), the machine of vertically moving is provided with shifting chute Structure (26), the lower end of floating plate (22) are provided with buoyant block (27).

3. a kind of picking for being used for biological floating bed rod-shaped agriculture fruit according to claim 1, transfer robot, its feature It is：The separator (4) includes two pieces of separately installed plates (41) being symmetrically mounted in support plate (1), two pieces of separation peaces The upper end of loading board (41) is provided with separation frame (42), and the lower end of separation frame (42) separates to be in tilt down structure from front to back Feed inlet is provided with the upside of the front end of frame (42), the rear end of separation frame (42) is hatch frame, and the rear end of separation frame (42) passes through Hinge connection has guiding closure plate (43), and being symmetrically connected with two by axis pin on the side wall of guiding closure plate (43) guides cylinders (44), the bottom of two guiding cylinders (44) is installed in support plate (1) by axis pin, and separation frame (42) front end is provided with promotion Groove, separates and is provided with pushing frame (45) on the outer wall of frame (42) front end, pushing frame (45) is of an L-shaped structure, the side of pushing frame (45) Pusher cylinder (46) is installed, the top of pusher cylinder (46) is installed in pushing plate (47) by flange, pushing plate on wall (47) lower end is in the arcuate structure being recessed inwardly, and separating plate (48) is provided between separation frame (42) left and right ends inner wall, point Sorting hole is evenly arranged with from plate (48), and the plane where pushing plate (47) lower end is located at plane where separating plate (48) upper end Upside, separation frame (42) upper end inner wall on limiting cylinder (49) is installed, the top of limiting cylinder (49) is pacified by flange On separator frame (410), separate and be symmetrically arranged with two gag lever posts (417), the top of two gag lever posts (417) on frame (42) On separator frame (410), separator frame (410) is in inverted U-shaped structure, is passed through between the inner wall of separator frame (410) left and right ends Bearing is symmetrically installed with two separate rollers (411), and separation is evenly arranged with from left to right on the outer wall of each separate roller (411) Brush (416), each separate roller (411) left end is mounted on a separation belt wheel (412), on two separate rollers (411) Two separation belt wheels (412) between by a linkage (413) be connected, the separation band positioned at separator frame (410) rear end It is connected on wheel (412) by shaft coupling with separating the output shaft of motor (414), separation motor (414) is installed on by motor cabinet On separator frame (410), two rows of separation wind turbines (415) are symmetrically arranged with the inner wall of separator frame (410) upper end front and rear sides.

4. a kind of picking for being used for biological floating bed rod-shaped agriculture fruit according to claim 1, transfer robot, its feature It is：The conveying device (5) includes being symmetrically mounted on the upper two pieces of No.1 risers (51) of support plate (1), the rear end of support plate (1) It is symmetrically installed with two pieces of No. two risers (52), No.1 conveying roller (53) is provided with by bearing between two pieces of No.1 risers (51), No. two conveying rollers (54) are provided with by bearing between two pieces of No. two risers (52), the right end of No. two conveying rollers (54) passes through connecting shaft Device is connected with the output shaft of feeder motor (511), and the output shaft of feeder motor (511) is installed on No. two risers (52) by bearing On, feeder motor (511) is installed on No. two risers (52) by motor cabinet, No.1 conveying roller (53) and No. two conveying rollers (54) Between be connected by a conveyer belt (55), conveyer belt (55) from front to back in being inclined upwardly structure, conveyer belt (55) outer wall Two convex blocks (513) are symmetrically arranged with the left and right sides, are evenly arranged with block (512) on the outer wall of conveyer belt (55), two pieces Positioning plate (56) is installed between No. two risers (52), passes through axis pin and the bottom for adjusting cylinder (57) on the side wall of positioning plate (56) End is connected, and the top for adjusting cylinder (57) is installed on guiding carrier (58) by bearing, and guiding carrier (58) is installed on by axis pin Between two pieces of No. two risers (52), two electronic sliding blocks (59) are symmetrically arranged with left and right sides of support plate (1) rear end, two electronic The upper end of sliding block (59) is provided with collection frame (510).

5. a kind of picking for being used for biological floating bed rod-shaped agriculture fruit according to claim 2, transfer robot, its feature It is：The transverse moving mechanism (25) includes the rotating roller being installed on by bearing between the inner wall of hatch frame rear and front end (251), laterally water inlet plate (252), rotating roller are evenly arranged with rotating roller (251) driven pulley is installed on rear side of (251) (253), electric rotating machine (254) is provided with by motor cabinet on floating plate (22), is provided with the output shaft of electric rotating machine (254) Driving pulley (255), is connected between driving pulley (255) and driven pulley (253) by a synchronous belt (256).

6. a kind of picking for being used for biological floating bed rod-shaped agriculture fruit according to claim 2, transfer robot, its feature It is：The longitudinal moving mechanism (26) includes two rotating rollers being installed on by bearing between the inner wall of shifting chute front and rear sides (261), band (262) is rotated by one to be connected, rotate and be evenly arranged with longitudinal direction on band (262) between two rotating rollers (261) Intake plate (263), the rear side end of floating plate (22) is provided with rotary electric machine (264) by motor cabinet, rotary electric machine (264) it is defeated Rotate gear (265) is installed on shaft, driven gear (266), driven gear (266) installation are engaged in rotate gear (265) In the rotating roller (261) positioned at floating plate (22) rear end.