CN208581525U - Electric expansion self-induction type tree fructufy device for picking - Google Patents

Abstract

A kind of electric expansion self-induction type tree fructufy device for picking of the utility model, it includes collecting bag and buffer, its main feature is that: it further include telescopic rod, oscillating rod and end effector, the oscillating rod is arranged in the top of the telescopic rod, one end of oscillating rod and telescopic rod are connected, the other end and end effector are connected, the control terminal of oscillating rod is placed in the lower part of telescopic rod and is connected, the collecting bag is placed in the lower section of end effector and is connected, and the buffer is placed in collecting bag, the lower section of end effector.The course of work is: 1 adjusts roughly the height of telescopic rod according to the height of fruit tree；2 adjust the position that oscillating rods make end effector reach fruit；3 crawl fruits；4 win fruit；5 reset；6 collect fruit.

Description

Electric expansion self-induction type tree fructufy device for picking

Technical field

The utility model relates to agricultural machinery, are a kind of electric expansion self-induction type tree fructufy device for picking.

Background technique

The picking of tree fructufy is the result of scientific and technological progress from artificial picking to device for picking picking.But the tree of the prior art Fructufy device for picking has the disadvantage in that

1. the picking of arbitrary height；It is adjustable to can be realized height in current device for picking, is by computer controlled machine device What human arm was realized, such device volume is huge, not readily portable and expensive；

2. the picking of any position；It is all real using computer, sensor control robot arm in current device for picking It is existing, it is not only bulky, not readily portable, expensive outer, it is also easy to the limb of damage fruit tree.

3. crawl tree fructufy is directly grabbed and plucked by the mechanism of apery hand, the mechanism of use is clamping device, is easy damage Hurt fruit.

Summary of the invention

The shortcomings that technical problem to be solved in the utility model is, overcomes the prior art, provide a kind of electric expansion from Sense formula tree fructufy device for picking.

The utility model technical solution adopted for solving the technical problem is: a kind of electric expansion self-induction type tree fructufy is adopted Device is plucked, it includes collecting bag and buffer, it is characterized in that: further including telescopic rod, oscillating rod and end effector, the telescopic rod Top the oscillating rod is set, one end of oscillating rod and telescopic rod are connected, the other end and end effector are connected, oscillating rod Control terminal is placed in the lower part of telescopic rod and is connected, and the collecting bag is placed in the lower section of end effector and is connected, the buffer It is placed in collecting bag, the lower section of end effector.

The structure of the telescopic rod is: it includes front bar, rear bar, flexible guiding parts and controller, and the front bar is pipe Shape and top closure, the first axial groove of outer surface setting at least one of front bar；The rear bar is tubulose and bottom end blocks, At least one second groove that at least one axial direction is arranged towards the first convex block, the inner surface in the center of circle is arranged in the top of rear bar, preceding Bar is installed in rear bar and is slidably connected, and the first convex block is corresponding with the first groove that front bar is arranged and is slidably connected；It is described to stretch Contracting guiding parts is placed in rear bar, and lower end and the rear bar for the guiding parts that stretches are connected, upper end and front bar are connected, and the controller is set In the lower outside of rear bar, controller is electrically connected with flexible guiding parts.

The structure of the flexible guiding parts is: it includes axle sleeve, lead screw and first motor, the sleeve outer surface setting At least one second convex block, inner surface are arranged screw thread, and axle sleeve is placed in rear bar, the bottom end of front bar, and axle sleeve and front bar be connected, outside it Surface is slidably connected with rear bar, and the second convex block of axle sleeve is corresponding with the second groove that rear bar is arranged and is slidably connected, and described One motor is placed in the lower part of rear bar and is connected, and the lead screw is placed between axle sleeve and first motor, lead screw lower end and the first electricity The line shaft of machine is connected, and lead screw is threadedly coupled with axle sleeve inner surface, and first motor is electrically connected with the controller.

The structure of the oscillating rod is: it includes swing rod and angle controller, and the swing rod is located at the top of telescopic rod, institute It states angle controller to be placed in the front bar top of telescopic rod and be connected, swing rod one end and angle controller be connected, the other end and end Actuator is held to be connected；

The angle controller includes worm gear, worm screw, the second motor, circuit box and remote controler, the worm gear, the worm screw Be placed in the front bar of telescopic rod and be connected simultaneously with second motor, worm and gear is meshed, the line shaft of the second motor with Worm screw is connected, and worm gear and swing rod end are connected, and the circuit box is placed in outside the front bar of telescopic rod and is connected, and the remote controler connects Receiving end is placed in circuit box and is connected, and the transmitting terminal of remote controler is placed on the controller of telescopic rod and is connected, first motor and line The electrical connection of road box.

The controller is the prior art comprising power supply, switch, control device and connection circuit, power supply, switch, control Device processed is the commercial product of the prior art, and connection circuit is designed using the prior art.

The structure of the end effector is: it includes frame body, grasping mechanism, cuts off-hook structure, induction mechanism, resetting-mechanism And control mechanism, the frame body include collet, jacking and pillar, the collet is annular, and the jacking is placed in the collet of annular Top, the upper end of the column and jacking are connected, lower end and collet are connected, and the swing rod other end of pillar and oscillating rod is connected；The crawl Mechanism is placed in above the collet of frame body and hinged with collet；It is described cut off-hook structure one end be placed in above jacking and be connected, the other end It is placed in swing rod and is connected；The induction mechanism is placed in above jacking and is connected, and the resetting-mechanism is placed in above collet, covers On grasping mechanism, the collet of the lower end of resetting-mechanism and frame body is connected, upper end is articulated on grasping mechanism, and the control mechanism is set In in the collet of frame body, the actuating station of control mechanism is connected with resetting-mechanism and connect with induction mechanism signal.

The grasping mechanism includes bionical pawl and third motor, and the bionical pawl is arc-shaped, several described bionical pawls are recessed It is placed in above the collet of frame body relatively and hinged with collet respectively, the third motor is placed in the collet of frame body and is connected, bullet Property the rope one end and reseting disk of resetting-mechanism is connected, the line shaft of the other end and third motor is connected.

The off-hook structure of cutting includes scissors, the 4th motor and flexible cable, and the scissors is placed in above the jacking of frame body, scissors Cutting edge end be located above collet, force side is located at that outer jacking, hinge joint and jacking are connected, and the 4th motor is placed in swing rod And be connected, the force side of described flexible cable one end and scissors is connected, the line shaft of the other end and the 4th motor is connected.

The induction mechanism is infrared transmitter and infrared remote receiver, and the infrared transmitter and the infrared remote receiver are equal It is respectively placed on the jacking of frame body and is connected.

The structure of the resetting-mechanism is: it includes that reseting disk, spring and U-shaped are buckled, and the reseting disk is placed in the bottom of frame body Support top covers on grasping mechanism, several described springs are placed between reseting disk and collet, both ends respectively with reseting disk and bottom Support is connected, and the bionical pawl of U-shaped button one end and reseting disk mounting, the other end and grasping mechanism mounts, U-shaped button and grasping mechanism The mounting point of bionical pawl is located at the inside front of bionical pawl hinge joint.

The structure of the control mechanism is: it includes single-chip microcontroller, drive module and switch, the single-chip microcontroller and the driving Module is placed in the collet of frame body, and the switch is placed in the collet of frame body, and operating side is stretched out outside collet, switch and single-chip microcontroller Signal connection, while drive module is connect with single-chip microcomputer signal, drive module respectively with the third motor of grasping mechanism, cut and pluck 4th motor of mechanism is connected with the infrared remote receiver signal of induction mechanism.

The course of work of the utility model is:

1 adjusts roughly the height of telescopic rod according to the height of fruit tree

The switch of end effector is first opened, then is controlled by controller, flexible guiding parts movement is started, first motor turns Dynamic, line shaft drives lead screw rotation, and front bar and its connected axle sleeve rise front bar, telescopic rod reaches along lead screw fixed-axis rotation To the height of needs；

2 adjust the height that oscillating rods make end effector reach fruit

By the remote controler firing button on movement controller, starting angle controller, the second motor of angle controller rotates, Connected worm screw rotation is driven, the worm gear being meshed rotates with it, and the worm gear of rotation drives connected swing rod that angle offset occurs And swing up and down, so as to adjust the swing angle of swing rod, the end effector for keeping oscillating rod connected reaches the position of fruit；

3 crawl fruits

When end effector is close to fruit, the induction mechanism being arranged thereon is accurate by infrared transmitter and infrared remote receiver Incude fruit position, when fruit enters grasping mechanism, control mechanism controls the third motor rotation of grasping mechanism, and the of rotation Three motors pull resetting-mechanism to move down by elastic string, and the U-shaped button of resetting-mechanism pulls several bionical pawls simultaneously around hinge Contact, which rotates towards each other, catches fruit；

4 win fruit

After grasping mechanism catches fruit, the 4th motor rotation of off-hook structure, the 4th motor of rotation are cut in control mechanism control It pulls flexible cable and drives the force side of scissors mobile by flexible cable, driving scissors cuts fruit；

5 reset

It cuts after off-hook structure cuts fruit, the third motor of control mechanism control grasping mechanism rotates backward release elastic string, The reseting disk of resetting-mechanism moves up under the elastic force effect of spring, and the U-shaped button of resetting-mechanism, which generates upward active force, to be made Grasping mechanism resets, and the bionical pawl of grasping mechanism rotates backward release fruit around hinge joint simultaneously；

6 collect fruit

After grasping mechanism unclamps the fruit cut, fruit enters collecting bag by buffer by the annular collet of frame body, complete At picking；

7 pickings finish, and withdraw telescopic rod by controller, close the switch of controller, turn off opening for end effector Pass.

A kind of electric expansion self-induction type tree fructufy device for picking of the utility model has the advantages that

The device for picking of 1 the utility model can adapt to the picking of the fruit of arbitrary height and any position, can satisfy and adopts Pluck the needs of fruit；

The device for picking of 2 the utility model, the stretching structure of telescopic rod can either meet the need of picking arbitrary height fruit It wants, and can shrink conducive to collection and carry, the guiding parts that stretches uses the screw structure of fixed-axis rotation, structure is simple, It is easily fabricated, and the volume and weight of telescopic rod is reduced, it reduces costs；The guiding and axle sleeve of its front bar and rear bar are with after The guiding of bar can prevent that mutually rotation occurs between front bar and rear bar, be conducive to accurate crawl fruit；

The device for picking of 3 the utility model, the angle controller of oscillating rod can control the swing angle of swing rod, compensation end The difference in height between actuator and fruit is held, end effector is made to reach the position of fruit, meets the needs of crawl fruit；Its angle It spends controller and uses worm gear structure, can reliably control the swing angle of swing rod, and the remote controler that angle controller uses And its firing button on rear bar control panel is set, operation can be conducive in the swing of lower control swing rod；

The device for picking of 4 the utility model, the structure of end effector are decomposed into " grabbing " and " plucking " for fruit is picked, and " grabbing " is used for using bionical pawl, can prevent from damaging fruit when picking fruit；And use induction mechanism and resetting-mechanism and with Single-chip microcontroller and drive module can be realized the picking of any position fruit as control mechanism；

The device for picking of 5 the utility model, telescopic rod and oscillating rod use control mechanism using controller, end effector The structure controlled respectively, simplify design, reduce design, manufacture and operation difficulty, be suitable for more operation groups.

Have the advantages that of simple structure and low cost, compact, is easy to carry about with one, is easy to operate, is both artistic and practical.

Detailed description of the invention

Fig. 1 is that the electric expansion self-induction type tree fructufy device for picking of the utility model removes the three-dimensional of collecting bag and buffer Schematic diagram；

Fig. 2 is the three-dimensional partial enlargement diagram of the electric expansion self-induction type tree fructufy device for picking of the utility model；

Fig. 3 is the end effector schematic three dimensional views of the electric expansion self-induction type tree fructufy device for picking of the utility model；

Fig. 4 is that the electric expansion self-induction type tree fructufy device for picking of the utility model removes the two dimension of collecting bag and buffer Schematic diagram；

Fig. 5 is the structural representation of the angle controller of the electric expansion self-induction type tree fructufy device for picking of the utility model Figure；

Fig. 6 is the end effector two-dimensional representation of the electric expansion self-induction type tree fructufy device for picking of the utility model；

Fig. 7 is the reseting disk of the electric expansion self-induction type tree fructufy device for picking of the utility model and the connection knot of bionical pawl Structure schematic diagram.

In figure: 1 end effector, 2 oscillating rods, 3 telescopic rods, 4 rear bars, 5 front bars, 6 swing rods, 7 scissors, 8 pillars, 9 jackings, 10 bionical pawls, 11 collets, 12 reseting disks, 13 first grooves, 14U shape button, 15 hinge joints, 16 mounting points, 17 first motors, 18 controls Device processed, 19 lead screws, 20 axle sleeves, 21 second motors, 23 worm screws, 24 worm gears, 25 elastic strings, 26 third motors, 27 the 4th motors, 28 Flexible cable, 29 single-chip microcontrollers, 30 drive modules.

Specific embodiment

Below with drawings and examples to a kind of electric expansion self-induction type tree fructufy device for picking of the utility model into one Walk explanation.

Referring to Fig. 1-7, embodiment 1, a kind of electric expansion self-induction type tree fructufy device for picking of the present embodiment is adopted for apple It plucks, it includes telescopic rod 3, oscillating rod 2, end effector 1, collecting bag and buffer, described in the top setting of the telescopic rod 3 Oscillating rod 2, one end of oscillating rod 2 and telescopic rod 3 are connected, the other end and end effector 1 are connected, and the control terminal of oscillating rod 2 is set In telescopic rod 3 lower part and be connected, the collecting bag is placed in the lower section of end effector 1 and is connected, and the buffer is placed in receipts Collect in bag, the lower section of end effector 1.

The structure of the telescopic rod 3 is: it includes front bar 5, rear bar 4, flexible guiding parts and controller 18, the front bar 5 be tubulose, and the first groove 13 of two axial directions is arranged in the outer surface of front bar 5；The rear bar 4 is tubulose and bottom end blocks, rear bar 4 Top two the second grooves that two axial directions are arranged towards first convex block in the center of circle, inner surface are set, front bar 5 is installed on rear bar It in 4 and is slidably connected, the first convex block is corresponding with the first groove 13 that front bar 5 is arranged and is slidably connected；The flexible guide part Part is placed in rear bar 4, and lower end and the rear bar 4 for the guiding parts that stretches are connected, upper end and front bar 5 are connected, and the controller 18 is placed in The lower outside of rear bar 4, controller 18 are electrically connected with flexible guiding parts.

The structure of the flexible guiding parts is: it includes axle sleeve 20, lead screw 19 and first motor 17, outside the axle sleeve 20 Two the second convex blocks are arranged in surface, screw thread is arranged in inner surface, and axle sleeve 20 is placed in rear bar 4, the bottom end of front bar 5, and axle sleeve 20 is with before Bar 5 is connected, its outer surface and rear bar 4 are slidably connected, the second convex block of axle sleeve 20 it is corresponding with the second groove that rear bar 4 is arranged and It is slidably connected, the first motor 17 is placed in the lower part of rear bar 4 and is connected, and the lead screw 19 is placed in axle sleeve 20 and first motor Between 17, the line shaft of 19 lower end of lead screw and first motor 17 is connected, and lead screw 19 is threadedly coupled with 20 inner surface of axle sleeve, the first electricity Machine 17 is electrically connected with controller 18.

The structure of the oscillating rod 2 is: it includes swing rod 6 and angle controller, and the swing rod 6 is located at the top of telescopic rod 3 End, the angle controller are placed in 5 top of front bar of telescopic rod 3 and are connected, and 6 one end of swing rod and angle controller are connected, are another One end and end effector 1 are connected.

The angle controller includes worm gear 24, worm screw 23, the second motor 21, circuit box 22 and remote controler, the worm gear 24, the worm screw 23 and second motor 21 are placed in the front bar 5 of telescopic rod 3 simultaneously and are connected, worm gear 24 and 23 phase of worm screw Engagement, the line shaft of the second motor 21 and worm screw 23 are connected, and worm gear 24 and 6 end of swing rod are connected, and the circuit box 22, which is placed in, to be stretched The front bar 5 of contracting bar 3 is outer and is connected, and the receiving end of the remote controler is placed in circuit box 22 and is connected, and the transmitting terminal of remote controler is set In on the controller 18 of telescopic rod 3 and being connected, first motor 17 is electrically connected with circuit box 22.

The controller 18 be the prior art comprising power supply, switch, control device and connection circuit, power supply, switch, Control device is the commercial product of the prior art, and connection circuit is designed using the prior art, and the power supply is 24V lithium battery.

The structure of the end effector 1 is: it includes frame body, grasping mechanism, cuts off-hook structure, induction mechanism, reset machine Structure and control mechanism, the frame body include collet 11, jacking 9 and pillar 8, and the collet 11 is annular, and the jacking 9 is placed in ring 11 top of collet of shape, the upper end of the column and jacking 9 are connected, lower end and collet 11 are connected, the swing rod 6 of pillar 8 and oscillating rod 2 The other end is connected；The grasping mechanism is placed in the top of collet 11 of frame body and hinged with collet 11；It sets described off-hook structure one end of cutting Above jacking 9 and be connected, the other end is placed in swing rod 6 and is connected；The induction mechanism is placed in jacking 9 above and is connected, institute It states resetting-mechanism to be placed in the top of collet 11, cover on grasping mechanism, the lower end of resetting-mechanism and the collet 11 of frame body be connected, upper end It is articulated on grasping mechanism, the control mechanism is placed in the collet 11 of frame body, and the actuating station and resetting-mechanism of control mechanism are solid It connect even and with induction mechanism signal.

The grasping mechanism includes bionical pawl 10 and third motor 26, and the bionical pawl 10 is arc-shaped, and three described bionical The recessed opposite collet 11 for being placed in frame body of pawl 10 is above and hinged with collet 11 respectively, and three third motors 26 are placed in frame body Collet 11 in and be connected, the reseting disk 12 of 25 one end of elastic string and resetting-mechanism is connected, the other end and third motor 26 it is dynamic Power axis is connected.

The off-hook structure of cutting includes scissors 7, the 4th motor 27 and flexible cable 28, and the scissors 7 is placed on the jacking 9 of frame body Face, the cutting edge end of scissors 7 is located at 11 top of collet, force side is located at outer jacking 9, hinge joint and jacking 9 and is connected, the 4th electricity Machine 27 is placed in swing rod 6 and is connected, and the force side of described 28 one end of flexible cable and scissors 7 is connected, the other end and the 4th motor 27 Line shaft be connected.

The induction mechanism is infrared transmitter and infrared remote receiver, and the infrared transmitter and the infrared remote receiver are equal It is respectively placed on the jacking 9 of frame body and is connected.

The structure of the resetting-mechanism is: it includes that reseting disk 12, spring and U-shaped buckle 14, and the reseting disk 12 is placed in frame The top of collet 11 of body covers on grasping mechanism, three springs are placed between reseting disk 12 and collet 11, both ends respectively with Reseting disk 12 and collet 11 are connected, the bionical pawl 10 of described 14 one end of U-shaped button and the mounting of reseting disk 12, the other end and grasping mechanism The mounting point 16 of mounting, U-shaped button 14 and the bionical pawl 10 of grasping mechanism is located at the inside front of bionical 10 hinge joint 15 of pawl.

The structure of the control mechanism is: it includes single-chip microcontroller 29, drive module 30 and switch, the single-chip microcontroller 29 and institute Drive module 30 to be stated to be placed in the collet 11 of frame body, the switch is placed in the collet 11 of frame body, and operating side is stretched out outside collet, Switch connect with 29 signal of single-chip microcontroller, while drive module 30 is connect with 29 signal of single-chip microcontroller, drive module 30 respectively with grab The third motor 26 for taking mechanism, the 4th motor 27 for cutting off-hook structure are connected with the infrared remote receiver signal of induction mechanism.

The control program of the single-chip microcontroller 29 and drive module 30, the control circuit of angle controller are the prior art.

The single-chip microcontroller 29 is 51 minimum systems, and the drive module 30 is L298N straight line decelerating motor starting module, institute Stating first motor 17, the second motor 21 and third motor 26 is 37GB520 straight line decelerating motor, and the 4th motor 27 is CA12-N20 Straight line decelerating motor, the remote controler is two to lead to learning-oriented RF radio remote control switch receiving module and controller 315M, described red External transmitter and infrared remote receiver are HD-DS25cm -3mm infrared opposite-radiation formula sensor, and the telescopic rod controller switches are Direct current generator two-direction switch, the end effector control mechanism switch are MTS102 toggle switch, the 17, second electricity of first motor Machine 21, third motor 26, the 4th motor 27, single-chip microcontroller 29, remote controler, drive module 30, infrared transmitter, infrared remote receiver and Controller 18 is all made of 24V lithium battery power supply.

The present embodiment is manufactured using the prior art, the first motor 17, the second motor 21, the 26, the 4th electricity of third motor Machine 27, single-chip microcontroller 29, remote controler, switch, drive module 30, infrared transmitter, infrared remote receiver, collecting bag and buffer are The commercial product of the prior art.

The course of work of the present embodiment is:

1 adjusts roughly the height of telescopic rod 3 according to the height of apple tree

The switch of end effector 1 is first opened, then is controlled by controller 18, flexible guiding parts movement, the first electricity are started Machine 17 rotates, and line shaft drives lead screw 19 to rotate, and front bar 5 and its connected axle sleeve 20 make front bar 5 along 19 fixed-axis rotation of lead screw Rise, telescopic rod 3 reaches the height of needs；

2 adjust the height that oscillating rods 2 make end effector 1 reach apple

By the remote controler firing button on movement controller 18, start angle controller, the second motor 21 of angle controller Rotation, drives connected worm screw 23 to rotate, and the worm gear 24 being meshed rotates with it, and the worm gear 24 of rotation drives connected swing rod 6 Angle offset occurs and swings up and down, so as to adjust the swing angle of swing rod 6, the end effector 1 for keeping oscillating rod 2 connected reaches The position of apple；

3 crawl apples

When end effector 1 is close to apple, the induction mechanism being arranged thereon is quasi- by infrared transmitter and infrared remote receiver Really induction apple position, when apple enters grasping mechanism, the third motor 26 that control mechanism controls grasping mechanism is rotated, rotation Third motor 26 pull resetting-mechanism to move down by elastic string 25, the U-shaped button 14 of resetting-mechanism pulls several bionical Pawl 10 rotates towards each other around hinge joint 15 catch apple simultaneously；

4 win apple

After grasping mechanism catches apple, the 4th motor 27 rotation of off-hook structure, the 4th electricity of rotation are cut in control mechanism control Machine 27 pulls flexible cable 28 and drives the force side of scissors 7 mobile by flexible cable 28, and driving scissors 7 cuts apple；

5 reset

It cuts after off-hook structure cuts apple, the third motor 26 of control mechanism control grasping mechanism rotates backward release elastic string 25, the reseting disk 12 of resetting-mechanism moves up under the elastic force effect of spring, and the U-shaped button 14 of resetting-mechanism generates upward work Firmly reset grasping mechanism, the bionical pawl 10 of grasping mechanism rotates backward release apple around hinge joint 15 simultaneously；

6 collect apple

After grasping mechanism unclamps the apple cut, apple enters collecting bag by buffer by the annular collet 11 of frame body, Complete picking；

7 pickings finish, and withdraw telescopic rod by controller, close the switch of controller, turn off opening for end effector Pass.

The utility model is not exhaustive, does not constitute the restriction to claims, those skilled in the art's root According to the enlightenment that the utility model embodiment obtains, it would occur to other substantially equivalent substitutions without creative work, In scope of protection of the utility model.

Claims (10)

1. a kind of electric expansion self-induction type tree fructufy device for picking, it includes collecting bag and buffer, it is characterized in that: further including stretching The oscillating rod is arranged in contracting bar, oscillating rod and end effector, the top of the telescopic rod, and one end of oscillating rod and telescopic rod are solid Even, the other end and end effector are connected, and the control terminal of oscillating rod is placed in the lower part of telescopic rod and is connected, and the collecting bag is placed in The lower section of end effector is simultaneously connected, and the buffer is placed in collecting bag, the lower section of end effector.

2. electric expansion self-induction type tree fructufy device for picking as described in claim 1, it is characterized in that: the structure of the telescopic rod Be: it includes front bar, rear bar, flexible guiding parts and controller, and the front bar is tubulose and top blocks, the outer surface of front bar At least one the first axial groove is set；The rear bar is tubulose and bottom end blocks, at least one court is arranged in the top of rear bar To the first convex block, the inner surface in the center of circle, at least one the second axial groove is set, front bar is installed in rear bar and is slidably connected, First convex block is corresponding with the first groove that front bar is arranged and is slidably connected；The flexible guiding parts is placed in rear bar, is stretched The lower end of guiding parts and rear bar are connected, upper end and front bar are connected, and the controller is placed in the lower outside of rear bar, controller with Flexible guiding parts electrical connection.

3. electric expansion self-induction type tree fructufy device for picking as claimed in claim 2, it is characterized in that: the flexible guiding parts Structure be: it includes axle sleeve, lead screw and first motor, at least one second convex block, inner surface is arranged in the sleeve outer surface Screw thread is set, and axle sleeve is placed in rear bar, the bottom end of front bar, axle sleeve and front bar is connected, its outer surface and rear bar are slidably connected, axle sleeve The second convex block it is corresponding with the second groove that rear bar is arranged and be slidably connected, the first motor is placed in the lower part of rear bar simultaneously It is connected, the lead screw is placed between axle sleeve and first motor, and the line shaft of lead screw lower end and first motor is connected, lead screw and axle sleeve Inner surface is threadedly coupled, and first motor is electrically connected with the controller.

4. electric expansion self-induction type tree fructufy device for picking as described in claim 1, it is characterized in that: the structure of the oscillating rod Be: it includes swing rod and angle controller, and the swing rod is located at the top of telescopic rod, and the angle controller is placed in telescopic rod It in front bar top and is connected, swing rod one end is connected with angle controller, the other end and end effector are connected；

The angle controller includes worm gear, worm screw, the second motor, circuit box and remote controler, the worm gear, the worm screw and institute It states the second motor while being placed in the front bar of telescopic rod and being connected, worm and gear is meshed, the line shaft of the second motor and worm screw It is connected, worm gear and swing rod end are connected, and the circuit box is placed in outside the front bar of telescopic rod and is connected, the receiving end of the remote controler It is placed in circuit box and is connected, the firing button of remote controler is placed on the controller of telescopic rod and is connected, the second motor and route Box electrical connection.

5. electric expansion self-induction type tree fructufy device for picking as described in claim 1, it is characterized in that: the end effector Structure is: it includes frame body, grasping mechanism, cuts off-hook structure, induction mechanism, resetting-mechanism and control mechanism, and the frame body includes Collet, jacking and pillar, the collet are annular, and the jacking is placed in above the collet of annular, the upper end of the column and jacking be connected, Lower end and collet are connected, and the swing rod other end of pillar and oscillating rod is connected；The grasping mechanism be placed in above the collet of frame body and It is hinged with collet；It is described to cut that off-hook structure one end is placed in above jacking and is connected, the other end is placed in swing rod and is connected；The induction Mechanism is placed in above jacking and is connected, and the resetting-mechanism is placed in above collet, covers on grasping mechanism, the lower end of resetting-mechanism Be connected with the collet of frame body, upper end is articulated on grasping mechanism, the control mechanism is placed in the collet of frame body, control mechanism Actuating station is connected with resetting-mechanism and connect with induction mechanism signal.

6. electric expansion self-induction type tree fructufy device for picking as claimed in claim 5, it is characterized in that: the grasping mechanism includes Bionical pawl and third motor, the bionical pawl is arc-shaped, several described bionical pawls it is recessed it is opposite be placed in above the collet of frame body and Hinged with collet respectively, the third motor is placed in the collet of frame body and is connected, the reset of elastic string one end and resetting-mechanism Disk is connected, the line shaft of the other end and third motor is connected.

7. electric expansion self-induction type tree fructufy device for picking as claimed in claim 5, it is characterized in that: the off-hook structure of cutting includes Scissors, the 4th motor and flexible cable, the scissors are placed in above the jacking of frame body, and the cutting edge end of scissors is located above collet, applies Power end is located at jacking outer, hinge joint and jacking and is connected, and the 4th motor is placed in swing rod and is connected, described flexible cable one end with The force side of scissors is connected, the line shaft of the other end and the 4th motor is connected.

8. electric expansion self-induction type tree fructufy device for picking as claimed in claim 5, it is characterized in that: the induction mechanism is red External transmitter and infrared remote receiver, the infrared transmitter and the infrared remote receiver are respectively placed on the jacking of frame body and consolidate Even.

9. electric expansion self-induction type tree fructufy device for picking as claimed in claim 5, it is characterized in that: the knot of the resetting-mechanism Structure is: it includes that reseting disk, spring and U-shaped are buckled, and the reseting disk is placed in above the collet of frame body, covers on grasping mechanism, if The dry spring is placed between reseting disk and collet, both ends are connected with reseting disk and collet respectively, U-shaped button one end and multiple The bionical pawl of position disk mounting, the other end and grasping mechanism mounts, and the mounting point of U-shaped button and the bionical pawl of grasping mechanism is located at bionical pawl The inside front of hinge joint.

10. electric expansion self-induction type tree fructufy device for picking as claimed in claim 5, it is characterized in that: the control mechanism Structure is: it includes single-chip microcontroller, drive module and switch, and the single-chip microcontroller and the drive module are placed in the collet of frame body Interior, the switch is placed in the collet of frame body, operating side stretch out collet outside, switch connect with single-chip microcomputer signal, drive module and While single-chip microcomputer signal connects, drive module respectively with the third motor of grasping mechanism, cut the 4th motor and the sense of off-hook structure The infrared remote receiver signal of mechanism is answered to connect.