CN212013632U

CN212013632U - Electric fruit picker

Info

Publication number: CN212013632U
Application number: CN202020196756.9U
Authority: CN
Inventors: 陈勇棠; 汪东明; 张伶俐; 阮洪锋; 何国锋; 陈永潮; 李叶凉; 何泽显; 杨雲升; 王永湘; 区宇杰
Original assignee: Liuzhou Vocational and Technical College
Current assignee: Liuzhou Vocational and Technical College
Priority date: 2020-02-23
Filing date: 2020-02-23
Publication date: 2020-11-27
Anticipated expiration: 2030-02-23

Abstract

The utility model discloses an electronic fruit picker, including the mobile jib, be equipped with string bag and shearing mechanism on the mobile jib, the string bag is located shearing mechanism under, shearing mechanism includes first guide rail, first guide rail is connected with the mobile jib, is equipped with first motor, link assembly and first casing from the right side left side on its first guide rail in proper order, be equipped with the eccentric wheel on the output shaft of first motor, link assembly's one end is articulated with the eccentric wheel, and the other end is articulated with first casing, drives the eccentric wheel by first motor and makes first casing reciprocating motion on first guide rail, two shear blades of left end equipartition of first casing, and the afterbody of every shear blade articulates on first guide rail. The utility model discloses an electronic shearing mechanism produces moment through the eccentric wheel, by pull rod assembly pulling casing reciprocating motion to realize the shearing of shear blade and open.

Description

Electric fruit picker

Technical Field

The utility model belongs to the fruit field of picking, concretely relates to electronic fruit picker.

Background

The fruit tree is very high in length, fruit growers can finish pruning branches, thinning flowers, thinning fruits and picking fruits by climbing onto trees or climbing onto the trees by using a ladder, time and safety are wasted, fruit branches are prone to being broken, flower buds are knocked off, fruit hanging in the next year is affected, the fruits are directly knocked down by using bamboo poles, the fruits are easy to knock down or break down, the quality of the fruits is reduced, meanwhile, the fallen fruits can be picked up manually, and labor and force are wasted.

The existing fruit picker is generally characterized in that a long rod or a telescopic rod is adopted, scissors are mounted at the upper end of the existing fruit picker and connected with a handle at the lower end through a traction wire, a fruit collector is arranged below the scissors, a control handle can cut branches and fruits, and the fruits fall into the fruit collector, so that the fruit picker is simple and practical in structure. However, since the fruit picker is manually operated, pulling the scissors continuously still wastes labor for fruit growers.

Disclosure of Invention

The utility model aims at solving the technical problem and providing a labor-saving electric fruit picker.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the utility model provides an electronic fruit picker, includes the mobile jib, be equipped with string bag and shearing mechanism on the mobile jib, the string bag is located shearing mechanism under, shearing mechanism includes first guide rail, first guide rail is connected with the mobile jib, is equipped with first motor, link assembly and first casing from the right side left side on its first guide rail in proper order, be equipped with the eccentric wheel on the output shaft of first motor, link assembly's one end is articulated with the eccentric wheel, and the other end is articulated with first casing, drives the eccentric wheel by first motor and makes first casing reciprocating motion on first guide rail, two shear blades of the left end equipartition of first casing, and the afterbody internal angle of every shear blade articulates on first guide rail, is equipped with the logical groove of bar on the external angle of afterbody, the logical inslot of bar is equipped with mobilizable slide bar, the slide bar passes logical groove back both ends and first casing fixed connection of bar.

As a further technical scheme, a plurality of levels of horizontal steering devices are further arranged between the shearing device and the main rod, each level of horizontal steering device comprises a mounting seat, a second motor, a gear set, a rotating shaft and a rotating arm, the mounting seat of the primary horizontal steering device is connected with the main rod, the second motor is arranged on the mounting seat, the rotating shaft is vertically connected with the mounting seat, the rotating arm is horizontally sleeved on the rotating shaft, an output shaft of the second motor drives the rotating shaft to rotate through the gear set, so that the rotating arm is driven to horizontally swing, and the mounting seat of the next level of horizontal steering device is fixedly connected with the rotating arm of the previous level of horizontal steering device; the first guide rail is a rotating arm of the final-stage horizontal steering device and is horizontally sleeved on a rotating shaft of the final-stage horizontal steering device.

As a further technical scheme, a branch fixing device is further arranged above the shearing device, the branch fixing device comprises a three-claw hand, a second shell, a moving channel, a guide block and a telescopic guide rail assembly which are sequentially connected from left to right, the outer tail end angle of the three-claw hand is hinged with the end face of the second shell, a pull rod and a spring are arranged in the second shell, the inner tail end angle of the three-claw hand is provided with a hinge piece, the hinge piece is hinged with the left end of the pull rod, and the spring is sleeved on the pull rod and abutted against the right end face of the second shell; a switch capable of moving left and right is arranged in the moving channel, and the switch is hinged with the right end of the pull rod; the telescopic guide rail assembly comprises a guide rail sleeve, a guide rail, a third motor, a telescopic connecting rod, a screw rod and a screw rod sleeve, wherein the guide rail, the telescopic connecting rod and the screw rod are arranged in parallel, the left ends of the guide rail and the telescopic connecting rod are connected with a guide block, the guide rail is arranged in the guide rail sleeve in a manner of moving left and right, and the guide rail sleeve is fixedly connected with the main rod; the right end of the telescopic connecting rod is provided with a nut, the screw is in threaded connection with the nut, the right end of the screw penetrates through the screw sleeve and then is connected with an output shaft of a third motor, and the screw sleeve and the third motor are fixedly connected with the guide rail sleeve; the switch is fixedly connected with the guide rail sleeve through a fixing rod.

As a further technical scheme, the connecting rod assembly comprises a moving sleeve and four connecting rods which are hinged with each other, the moving sleeve is arranged on the first guide rail in a sleeved mode, the connecting rod at the left end is hinged with the first shell, the connecting rod in the middle is hinged with the moving sleeve, and the connecting rod at the right end is hinged with the eccentric wheel.

As a further technical scheme, the mounting seat of the primary horizontal steering device is connected with the main rod through an upper steering rod and a lower steering rod, one end of the upper steering rod and one end of the lower steering rod are hinged with the mounting seat of the primary horizontal steering device, and the other end of the upper steering rod and the lower steering rod are hinged with the main rod.

As a further technical scheme, the gear set comprises two bevel gears which are meshed with each other, one bevel gear is arranged on an output shaft of the second motor, and the other bevel gear is arranged on a rotating shaft.

As a further technical scheme, the moving channel is formed by arranging two strip-shaped blocks in parallel, and the switch is arranged in a spacing channel of the two strip-shaped blocks.

As a further technical scheme, the telescopic connecting rod is a scissor type telescopic connecting rod.

As a further technical scheme, a support rod is arranged at the lower part of the guide rail sleeve, one end of the support rod is connected with the guide rail sleeve, and the other end of the support rod is connected with the main rod.

As a further technical scheme, the bottom of the main rod is provided with a universal traveling wheel.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a cut laborsavingly. The utility model adopts an electric shearing device, the eccentric wheel generates torque, the pull rod component pulls the shell to reciprocate, thereby realizing the shearing and the opening of the shear blade; when the pull rod assembly extends, the shell extends out to limit the shear blades inwards, and the sliding rod moves to the left end of the strip-shaped through groove, so that the two shear blades are closed to realize shearing.

2. The utility model discloses a reply with the harvesting problem of high multi-direction fruit, the utility model discloses be equipped with multistage level and turn to the device, drive the rotor arm through the second motor and realize that multistage level turns to the complicated fruit distribution of reply on the fruit tree that can be better has also reduced the trouble that the fruit grower moved the device many times.

3. The utility model discloses a design branch fixing device above shearing mechanism, adopt the gripper hand to treat many branches of picking the district top and snatch fixedly, reduce the condition of rocking of picking process fruit, the utility model discloses very suitable being used for picking cluster fruit class fruit, like litchi, longan etc. also can be used to pick fruit such as apple, pears.

Drawings

FIG. 1 is a schematic structural view of an electric fruit picker of the present invention;

FIG. 2 is a schematic structural view of a shearing device according to the present invention;

FIG. 3 is an enlarged view of the section A of the multi-stage horizontal turning device of FIG. 1;

FIG. 4 is a schematic view of a part of the structure of the branch fixing device of the present invention; (a) a first perspective view, and (b) a second perspective view.

Reference numerals: 1-a main rod; 2-a shearing device, 2.1-a first guide rail, 2.2-a first motor, 2.3-a connecting rod assembly, 2.4-a first shell, 2.5-an eccentric wheel, 2.6-a shear blade, 2.7-a strip-shaped through groove and 2.8-a slide rod; 3-horizontal steering device, 3.1-mounting seat, 3.2-second motor, 3.3-gear set, 3.4-rotating shaft and 3.5-rotating arm; 4-branch fixing device, 4.1-three-claw hand, 4.2-second shell, 4.3-moving channel, 4.4-guide block, 4.5-pull rod, 4.6-spring, 4.7-hinged sheet, 4.8-switch, 4.9-guide rail sleeve, 4.10-guide rail, 4.11-third motor, 4.12-telescopic connecting rod, 4.13-screw rod, 4.14-screw rod sleeve and 4.15-nut; 5-upper and lower steering rods, 6-supporting rods and 7-universal traveling wheels.

Detailed Description

The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited to the scope of the examples.

Example 1:

as shown in fig. 1-4, an electric fruit picker comprises a main rod 1, a net bag and a shearing device 2 are arranged on the main rod 1, the net bag is positioned under the shearing device 2, the shearing device 2 comprises a first guide rail 2.1, the first guide rail 2.1 is connected with the main rod 1, a first motor 2.2, a connecting rod assembly 2.3 and a first shell 2.4 are sequentially arranged on a first guide rail 2.1 of the device from right to left, an eccentric wheel 2.5 is arranged on an output shaft of the first motor 2.2, one end of the connecting rod assembly 2.3 is hinged with the eccentric wheel 2.5, the other end of the connecting rod assembly is hinged with the first shell 2.4, the first motor 2.2 drives the eccentric wheel 2.5 to enable the first shell 2.4 to reciprocate on the first guide rail 2.1, two shear blades 2.6 are uniformly distributed at the left end of the first shell 2.4, the tail inner angle of each shear blade 2.6 is hinged on the first guide rail 2.1, a strip-shaped through groove 2.7 is arranged on the outer corner edge of the tail, a movable slide rod 2.8 is arranged in the strip-shaped through groove 2.7, and the two ends of the slide rod 2.8 are fixedly connected with the first shell. The connecting rod assembly 2.3 comprises a moving sleeve and four connecting rods which are hinged with each other, the moving sleeve is arranged on the first guide rail 2.1, the connecting rod at the left end is hinged with the first shell 2.4, the connecting rod in the middle is hinged with the moving sleeve, and the connecting rod at the right end is hinged with the eccentric wheel 2.5. The bottom of the main rod 1 is provided with a universal traveling wheel 7.

Example 2:

as shown in fig. 1-4, an electric fruit picker comprises a main rod 1, a net bag and a shearing device 2 are arranged on the main rod 1, the net bag is positioned under the shearing device 2, the shearing device 2 comprises a first guide rail 2.1, the first guide rail 2.1 is connected with the main rod 1, a first motor 2.2, a connecting rod assembly 2.3 and a first shell 2.4 are sequentially arranged on a first guide rail 2.1 of the device from right to left, an eccentric wheel 2.5 is arranged on an output shaft of the first motor 2.2, one end of the connecting rod assembly 2.3 is hinged with the eccentric wheel 2.5, the other end of the connecting rod assembly is hinged with the first shell 2.4, the first motor 2.2 drives the eccentric wheel 2.5 to enable the first shell 2.4 to reciprocate on the first guide rail 2.1, two shear blades 2.6 are uniformly distributed at the left end of the first shell 2.4, the tail inner angle of each shear blade 2.6 is hinged on the first guide rail 2.1, a strip-shaped through groove 2.7 is arranged on the outer corner edge of the tail, a movable slide rod 2.8 is arranged in the strip-shaped through groove 2.7, and the two ends of the slide rod 2.8 are fixedly connected with the first shell. The connecting rod assembly 2.3 comprises a moving sleeve and four connecting rods which are hinged with each other, the moving sleeve is arranged on the first guide rail 2.1, the connecting rod at the left end is hinged with the first shell 2.4, the connecting rod in the middle is hinged with the moving sleeve, and the connecting rod at the right end is hinged with the eccentric wheel 2.5. A multi-stage horizontal steering device 3 is further arranged between the shearing device 2 and the main rod 1, each stage of horizontal steering device 3 comprises a mounting seat 3.1, a second motor 3.2, a gear set 3.3, a rotating shaft 3.4 and a rotating arm 3.5, the mounting seat 3.1 of the primary horizontal steering device 3 is connected with the main rod 1, the second motor 3.2 is arranged on the mounting seat 3.1, the rotating shaft 3.4 is vertically connected with the mounting seat 3.1, the rotating arm 3.5 is horizontally sleeved on the rotating shaft 3.4, an output shaft of the second motor 3.2 drives the rotating shaft 3.4 to rotate through the gear set 3.3, so as to drive the rotating arm 3.5 to horizontally swing, and the mounting seat 3.1 of the next-stage horizontal steering device 3 is fixedly connected with the rotating arm 3.5 of the previous-stage horizontal steering device 3; the first guide rail 2.1 is a rotating arm 3.5 of the final-stage horizontal steering device 3 and is horizontally sleeved on a rotating shaft 3.4 of the final-stage horizontal steering device 3. The mounting base 3.1 of the primary horizontal steering device is connected with the main rod 1 through the upper and lower steering rods 5, one end of each upper and lower steering rod 5 is hinged with the mounting base 3.1 of the primary horizontal steering device, and the other end of each upper and lower steering rod is hinged with the main rod 1. The gear set 3.3 comprises two bevel gears which are meshed with each other, one bevel gear is arranged on an output shaft of the second motor 3.2, and the other bevel gear is arranged on a rotating shaft 3.4. The bottom of the main rod 1 is provided with a universal traveling wheel 7.

Example 3:

as shown in fig. 1-4, an electric fruit picker comprises a main rod 1, a net bag and a shearing device 2 are arranged on the main rod 1, the net bag is positioned under the shearing device 2, the shearing device 2 comprises a first guide rail 2.1, the first guide rail 2.1 is connected with the main rod 1, a first motor 2.2, a connecting rod assembly 2.3 and a first shell 2.4 are sequentially arranged on a first guide rail 2.1 of the device from right to left, an eccentric wheel 2.5 is arranged on an output shaft of the first motor 2.2, one end of the connecting rod assembly 2.3 is hinged with the eccentric wheel 2.5, the other end of the connecting rod assembly is hinged with the first shell 2.4, the first motor 2.2 drives the eccentric wheel 2.5 to enable the first shell 2.4 to reciprocate on the first guide rail 2.1, two shear blades 2.6 are uniformly distributed at the left end of the first shell 2.4, the tail inner angle of each shear blade 2.6 is hinged on the first guide rail 2.1, a strip-shaped through groove 2.7 is arranged on the outer corner edge of the tail, a movable slide rod 2.8 is arranged in the strip-shaped through groove 2.7, and the two ends of the slide rod 2.8 are fixedly connected with the first shell. A multi-stage horizontal steering device 3 is further arranged between the shearing device 2 and the main rod 1, each stage of horizontal steering device 3 comprises a mounting seat 3.1, a second motor 3.2, a gear set 3.3, a rotating shaft 3.4 and a rotating arm 3.5, the mounting seat 3.1 of the primary horizontal steering device 3 is connected with the main rod 1, the second motor 3.2 is arranged on the mounting seat 3.1, the rotating shaft 3.4 is vertically connected with the mounting seat 3.1, the rotating arm 3.5 is horizontally sleeved on the rotating shaft 3.4, an output shaft of the second motor 3.2 drives the rotating shaft 3.4 to rotate through the gear set 3.3, so as to drive the rotating arm 3.5 to horizontally swing, and the mounting seat 3.1 of the next-stage horizontal steering device 3 is fixedly connected with the rotating arm 3.5 of the previous-stage horizontal steering device 3; the first guide rail 2.1 is a rotating arm 3.5 of the final-stage horizontal steering device 3 and is horizontally sleeved on a rotating shaft 3.4 of the final-stage horizontal steering device 3. A branch fixing device 4 is further arranged above the shearing device 2, the branch fixing device 4 comprises a three-jaw hand 4.1, a second shell 4.2, a moving channel 4.3, a guide block 4.4 and a telescopic guide rail 4.10 assembly which are sequentially connected from left to right, the outer corner of the tail end of the three-jaw hand 4.1 is hinged with the end face of the second shell 4.2, a pull rod 4.5 and a spring 4.6 are arranged in the second shell 4.2, a hinge piece 4.7 is arranged at the inner corner of the tail end of the three-jaw hand 4.1, the hinge piece 4.7 is hinged with the left end of the pull rod 4.5, and the spring 4.6 is sleeved on the pull rod 4.5 and abutted against the right end face of the second shell 4.2; a switch 4.8 capable of moving left and right is arranged in the moving channel 4.3, and the switch 4.8 is hinged with the right end of the pull rod 4.5; the telescopic guide rail 4.10 component comprises a guide rail sleeve 4.9, a guide rail 4.10, a third motor 4.11, a telescopic connecting rod 4.12, a screw rod 4.13 and a screw rod sleeve 4.14, the guide rail 4.10, the telescopic connecting rod 4.12 and the screw rod 4.13 are arranged in parallel, the left ends of the guide rail 4.10 and the telescopic connecting rod 4.12 are both connected with a guide block 4.4, the guide rail 4.10 can be arranged in the guide rail sleeve 4.9 in a left-right moving mode, and the guide rail sleeve 4.9 is fixedly connected with the main rod 1; a nut 4.15 is arranged at the right end of the telescopic connecting rod 4.12, a screw rod 4.13 is in threaded connection with the nut 4.15, the right end of the screw rod 4.13 penetrates through a screw rod sleeve 4.14 and then is connected with an output shaft of a third motor 4.11, and the screw rod sleeve 4.14 and the third motor 4.11 are fixedly connected with a guide rail sleeve 4.9; the switch 4.8 is fixedly connected with the guide rail sleeve 4.9 through a fixed rod. The connecting rod assembly 2.3 comprises a moving sleeve and four connecting rods which are hinged with each other, the moving sleeve is arranged on the first guide rail 2.1, the connecting rod at the left end is hinged with the first shell 2.4, the connecting rod in the middle is hinged with the moving sleeve, and the connecting rod at the right end is hinged with the eccentric wheel 2.5. The mounting base 3.1 of the primary horizontal steering device is connected with the main rod 1 through the upper and lower steering rods 5, one end of each upper and lower steering rod 5 is hinged with the mounting base 3.1 of the primary horizontal steering device, and the other end of each upper and lower steering rod is hinged with the main rod 1. The gear set 3.3 comprises two bevel gears which are meshed with each other, one bevel gear is arranged on an output shaft of the second motor 3.2, and the other bevel gear is arranged on a rotating shaft 3.4. The moving channel 4.3 is formed by two bar-shaped blocks which are arranged in parallel, and the switch 4.8 is arranged in a spacing channel of the two bar-shaped blocks. The telescopic link 4.12 is a scissor type telescopic link 4.12. The lower part of the guide rail sleeve 4.9 is provided with a support rod 6, one end of the support rod 6 is connected with the guide rail sleeve 4.9, and the other end is connected with the main rod 1. The bottom of the main rod 1 is provided with a universal traveling wheel 7.

The utility model discloses a theory of operation does:

shearing: the first motor 2.2 is started, the first motor 2.2 drives the eccentric wheel 2.5 to rotate, the eccentric wheel 2.5 drives the first shell 2.4 to reciprocate through the pull rod 4.5 assembly, when the pull rod 4.5 assembly contracts, the shell retracts, the slide rod 2.8 moves to the right end of the strip-shaped through groove 2.7, and the shear blade 2.6 is opened; when the pull rod 4.5 component extends, the shell extends out, the side face of the shell has an inward limiting effect on the shear blade 2.6, and the sliding rod 2.8 moves to the left end of the strip-shaped through groove 2.7, so that the two shear blades 2.6 are closed to realize shearing.

Horizontal steering: the second motor 3.2 is started, and the second motor 3.2 drives the rotating shaft 3.4 to rotate, so that the rotating arm 3.5 is driven to rotate; when two or more horizontal steering devices 3 are arranged, multi-stage horizontal steering can be realized;

branch fixing: the third motor 4.11 is started, the screw rod 4.13 rotates to drive the nut 4.15 to move on the screw rod 4.13, so that the telescopic connecting rod 4.12 extends or contracts, the telescopic connecting rod 4.12 is a scissor type telescopic connecting rod 4.12 which is conventional in the field, the guide rail 4.10 has a guiding function to adjust the moving direction of the guide block 4.4, when the telescopic connecting rod 4.12 extends, the moving channel 4.3 and the second shell 4.2 are pushed to the left end, the switch 4.8 is kept motionless under the action of the fixing rod and moves relative to the second shell 4.2, the pull rod 4.5 pulls the inner angle of the three-jaw hand 4.1 through the hinge joint piece 4.7, the three-jaw hand 4.1 is closed to grab branches and leaves, and the spring 4.6 is compressed under the pushing function of the second shell 4.2; after shearing, telescopic connecting rod 4.12 contracts, moving channel 4.3 and second casing 4.2 are pulled to the right-hand member, switch 4.8 keeps motionless and takes place relative motion with second casing 4.2 under the effect of dead lever, and pull rod 4.5 promotes the interior angle of three-jaw hand 4.1 through articulated piece 4.7, and cooperation spring 4.6's resilience effect, three-jaw hand 4.1 is opened.

The utility model discloses set up universal traveling wheel 7 in 1 bottoms of mobile jib, make things convenient for the fruit grower to the removal of equipment. An upper steering rod 5 and a lower steering rod 5 are arranged between the mounting seat 3.1 of the primary horizontal steering device and the main rod 1, so that the upper adjustment and the lower adjustment in the picking process are facilitated. The utility model discloses a mobile jib 1 still can adopt the telescopic link of selling on the market, and branch fixing device 4 and shearing mechanism 2 establish on different levels mobile jib 1, and shearing mechanism 2 and multistage level turn to device 3 and establish at same one-level mobile jib 1.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "head", "tail", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the invention. It is also to be understood that, unless expressly stated or limited otherwise, the terms "connected" and "coupled" are intended to be open-ended, i.e., may be fixedly connected; can be a detachable connection; or may be a point connection; may be a direct connection; may be indirectly connected through an intermediate medium, and may communicate between the two components, and those skilled in the art will understand the specific meaning of the above terms in the present invention in specific situations. The equipment connection mode not described in detail in the utility model is understood according to the conventional connection mode in the field.

The above embodiments are only specific examples for further detailed description of the objects, technical solutions and advantages of the present invention, and the present invention is not limited thereto. Any modification, equivalent replacement, improvement and the like made within the scope of the present disclosure are all included within the protection scope of the present disclosure.

Claims

1. The utility model provides an electronic fruit picker, includes the mobile jib, be equipped with string bag and shearing mechanism on the mobile jib, the string bag is located shearing mechanism under, its characterized in that: shearing mechanism includes first guide rail, first guide rail is connected with the mobile jib, is equipped with first motor, link assembly and first casing in proper order from the dextrad left side on its first guide rail, be equipped with the eccentric wheel on the output shaft of first motor, link assembly's one end is articulated with the eccentric wheel, and the other end is articulated with first casing, drives the eccentric wheel by first motor and makes first casing reciprocating motion on first guide rail, two shear blades of the left end equipartition of first casing, and the afterbody internal angle of every shear blade articulates on first guide rail, is equipped with the bar on the outer corner edge of afterbody and leads to the groove, the bar leads to the inslot and is equipped with mobilizable slide bar, the slide bar passes both ends and first casing fixed connection behind the groove is led to the bar.

2. The electric fruit picker according to claim 1, wherein: a plurality of levels of horizontal steering devices are further arranged between the shearing device and the main rod, each level of horizontal steering device comprises a mounting seat, a second motor, a gear set, a rotating shaft and a rotating arm, the mounting seat of the primary horizontal steering device is connected with the main rod, the second motor is arranged on the mounting seat, the rotating shaft is vertically connected with the mounting seat, the rotating arm is horizontally sleeved on the rotating shaft, an output shaft of the second motor drives the rotating shaft to rotate through the gear set, so that the rotating arm is driven to horizontally swing, and the mounting seat of the next level of horizontal steering device is fixedly connected with the rotating arm of the previous level of horizontal steering device; the first guide rail is a rotating arm of the final-stage horizontal steering device and is horizontally sleeved on a rotating shaft of the final-stage horizontal steering device.

3. The electric fruit picker according to claim 1, wherein: the branch fixing device is further arranged above the shearing device and comprises a three-claw hand, a second shell, a moving channel, a guide block and a telescopic guide rail assembly which are sequentially connected from left to right, the outer corner of the tail end of the three-claw hand is hinged to the end face of the second shell, a pull rod and a spring are arranged in the second shell, a hinge piece is arranged at the inner corner of the tail end of the three-claw hand and hinged to the left end of the pull rod, and the spring is sleeved on the pull rod and abutted to the right end face of the second shell; a switch capable of moving left and right is arranged in the moving channel, and the switch is hinged with the right end of the pull rod; the telescopic guide rail assembly comprises a guide rail sleeve, a guide rail, a third motor, a telescopic connecting rod, a screw rod and a screw rod sleeve, wherein the guide rail, the telescopic connecting rod and the screw rod are arranged in parallel, the left ends of the guide rail and the telescopic connecting rod are connected with a guide block, the guide rail is arranged in the guide rail sleeve in a manner of moving left and right, and the guide rail sleeve is fixedly connected with the main rod; the right end of the telescopic connecting rod is provided with a nut, the screw is in threaded connection with the nut, the right end of the screw penetrates through the screw sleeve and then is connected with an output shaft of a third motor, and the screw sleeve and the third motor are fixedly connected with the guide rail sleeve; the switch is fixedly connected with the guide rail sleeve through a fixing rod.

4. The electric fruit picker according to claim 1, wherein: the connecting rod assembly comprises a moving sleeve and four connecting rods which are hinged with each other, the moving sleeve is arranged on the first guide rail in a sleeved mode, the connecting rod at the left end is hinged with the first shell, the connecting rod in the middle is hinged with the moving sleeve, and the connecting rod at the right end is hinged with the eccentric wheel.

5. The electric fruit picker according to claim 2, wherein: the mounting seat of the primary horizontal steering device is connected with the main rod through an upper steering rod and a lower steering rod, one end of the upper steering rod and one end of the lower steering rod are hinged with the mounting seat of the primary horizontal steering device, and the other end of the upper steering rod and the lower steering rod are hinged with the main rod.

6. The electric fruit picker according to claim 2, wherein: the gear set comprises two bevel gears which are meshed with each other, one bevel gear is arranged on an output shaft of the second motor, and the other bevel gear is arranged on the rotating shaft.

7. The electric fruit picker according to claim 3, wherein: the moving channel is formed by two strip-shaped blocks in parallel, and the switch is arranged in a spacing channel of the two strip-shaped blocks.

8. The electric fruit picker according to claim 3, wherein: the telescopic connecting rod is a scissor type telescopic connecting rod.

9. The electric fruit picker according to claim 3, wherein: the lower part of the guide rail sleeve is provided with a support rod, one end of the support rod is connected with the guide rail sleeve, and the other end of the support rod is connected with the main rod.

10. The electric fruit picker according to claim 1, wherein: the bottom of the main rod is provided with a universal traveling wheel.