A full-automatic combing and shearing type citrus fruit picking machine and a use method thereof

Abstract

The application provides a full-automatic combing and picking type citrus fruit picking machine and a use method, which comprises a body rack component, the body rack component is across a single fruit tree; combing and picking execution devices are installed on both sides of the body rack component, which comb and pick the citrus from the fruit tree; controllable collecting baffle components are installed on both sides of the bottom of the body rack component, which are used for collecting the combed and picked citrus; triangular track wheel components are installed on the bottom of the body rack component, which are used for driving the whole picking machine to complete walking work in a complex environment; power providing devices and control devices are installed on both sides of the body rack component, which are used for providing power and various required controls for the whole machine. The picking machine can efficiently pick the citrus fruits, and can reduce damage to the citrus fruits.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of citrus fruit picking, and specifically discloses a full-automatic combing and shearing type citrus fruit picking machine and a use method thereof. BACKGROUND

[0002] Due to the large yield of citrus and the limitation of labor, it is urgent to use machines to assist in picking. However, the common picking method can cause damage to the outer peel or the fruit stem of the citrus. Due to the characteristics of the citrus, the citrus can rot in a short time after the peel or the fruit stem is damaged, and loses its commercial value. Therefore, a new type of picking machine is needed, which can efficiently pick the citrus and cause as little damage to the fruit as possible. SUMMARY

[0003] In view of the above problems, the present application provides a full-automatic combing and shearing type citrus fruit picking machine and a use method thereof, which can efficiently pick the citrus and reduce damage to the citrus.

[0004] In order to realize the above technical features, the purpose of the present application is realized as follows: a full-automatic combing and shearing type citrus fruit picking machine, comprising a body frame component which spans a single fruit tree; combing and shearing type picking execution devices are installed on both sides of the body frame component to comb and shear the citrus from the fruit tree; controllable collecting baffle components are installed on both sides of the bottom of the body frame component to collect the combed and sheared citrus; a triangular track wheel component is installed at the bottom of the body frame component to drive the whole picking machine to walk in a complex environment; and power supply devices and control devices are installed on both sides of the body frame component to provide power and various required controls for the whole machine.

[0005] The body frame component comprises a frame which is welded by a plurality of beams and vertical rods of different sizes, a combing and shearing device support rod is installed between the two beams on the inner side of the upper part of the frame to fix the suspended combing and shearing type picking execution device, the corresponding part of the beams in the frame is used to support the controllable collecting baffle components on both sides of the bottom, a power and control device support plate is welded in the middle of the frame to carry the power device and the electric box, an isolation baffle is welded on the power and control device support plate, and a vertical column is welded below the frame to connect the triangular track wheel component and the body frame component.

[0006] The combing and shearing type picking execution device comprises a guide rail sliding table motor which is used to lift or lower the whole combing and shearing type picking execution device, the guide rail sliding table motor is installed at the end of the corresponding guide rail, the guide rail is fixed to the combing and shearing device support rod through a guide rail fixing block one, and the guide rail is also fixed to the frame through a guide rail fixing block two.

[0007] The combing and shearing type picking execution device further comprises a sliding block installed on a guide rail; a servo push rod is fixed on the sliding block and used for precisely attaching the picking device to the surface of the citrus tree; a support plate is installed at the end of the servo push rod; a bearing seat is fixed on the upper part of the support plate through a screw; and the bearing seat is used for fixing a transmission shaft.

[0008] The transmission shaft is connected with a roller, both sides of the roller are installed with a width disc and a baffle, the baffle is used for fixing a detachable base, the detachable base is installed with a shearing cutter group, the shearing cutter group and the detachable base are installed with a torsional spring, the torsional spring is used for resetting a double-blade shearing cutter, the double-blade shearing cutter is fixed by a rotating shaft, the rotating shaft is fixed with the detachable base, the double-blade shearing cutter, the rotating shaft and the torsional spring jointly constitute the shearing cutter group, and each group of shearing cutter groups on the roller works independently and does not interfere with each other.

[0009] The right end of the transmission shaft is fixed to a second bearing seat, the second bearing seat is fixed to a second support plate, and a DC motor is arranged at the upper end of the second support plate and used for providing power for the roller to complete the combing and shearing action in the rotating direction.

[0010] The controllable collecting baffle component comprises an electric push rod, the electric push rod is fixed to a base through a rotating shaft and used for adjusting the unfolding angle of a collecting plate expansion plate, the base is installed on a rack, the end of the electric push rod is connected with the collecting plate expansion plate, the collecting plate expansion plate is hinged to a collecting box fixing frame, the collecting box fixing frame is fixed to the rack by welding, the controllable collecting baffle component further comprises a collecting box bottom plate, the collecting box bottom plate is fixed by welding through the collecting box fixing frame and the part directly contacting the rack 101, and the collecting box bottom plate and a collecting box side plate jointly constitute a collecting box and are used for temporarily storing picked citrus.

[0011] The triangular track wheel component comprises a track wheel, the track wheel is supported and transmissionally matched by a driven wheel, an auxiliary wheel one and an auxiliary wheel two, the driven wheel, the auxiliary wheel one and the auxiliary wheel two are fixed to a support frame, the support frame is installed on a connecting frame, a hydraulic motor is further fixed to the connecting frame and used for driving the track wheel to work, the hydraulic motor is connected with a driving wheel, and the driving wheel is transmissionally matched with the driven wheel through a synchronous belt.

[0012] The power supply device and the control device comprise a hydraulic pump station, the hydraulic pump station is installed on a power and control device support plate and used for providing power for the hydraulic motor, and the power supply device and the control device further comprise a power supply and control cabinet used for placing a battery pack and a control circuit.

[0013] A use method of the full-automatic combing and shearing type citrus fruit picking machine, comprising the following steps:

[0014] Step one: when the machine travels to the middle position of the citrus trees, the slider and the same remaining three sliders are driven upward, thereby driving all the thinning and pruning type picking execution devices upward except the guide rail;

[0015] Step two: after the thinning and pruning type picking execution device reaches the top position of the citrus trees, the servo push rod pushes the picking device close to the crown, at this time, the DC motor drives the transmission shaft to rotate, thereby driving the cylinder and each pair of double-blade shearing knives on the cylinder to start rotating around the cylinder, when the citrus contacts a pair of double-blade shearing knives, the double-blade shearing knives will rotate around their respective rotation axes along the direction of the push force exerted by the citrus on the double-blade shearing knives under the action of the reaction force of the citrus itself and the rotating motion driven by the cylinder, the blade end close to the rotation axis is closed, and the shearing of the citrus stem is realized, since each group of shearing knives works independently and does not interfere with each other, only the group of shearing knives that contacts the citrus will shear, and the remaining groups of shearing knives that do not contact the citrus remain in the reset state to facilitate the smooth passing of the lateral branches of the citrus trees and reduce the damage caused by the device to the citrus trees;

[0016] Step three: the cylinder rotates in the rotating direction, so under the action of combing, the stem enters between the two blades, and the citrus is limited in size and size between the flat blades, with the rotation of the cylinder, the citrus will exert a reaction force on the blades, forcing the blades to rotate along the rotation axis until the two blades are closed and the citrus stem is cut off;

[0017] Step four: at the same time, the arc combing and shearing of the citrus trees are completed under the joint action of the guide rail sliding table, the servo motor and the DC motor;

[0018] Step five: during picking, the electric push rod in the controllable collecting baffle component moves, adjusts the collecting box expansion plate to a suitable angle, and the picked citrus falls into the collecting box under the action of the collecting box expansion plate, and after picking is completed, the machine continues to travel to the next citrus tree to be picked;

[0019] Step six: after the picking of a citrus tree is completed, steps one to five are repeated to complete the picking of all the citrus trees.

[0020] The present application has the following beneficial effects:

[0021] 1. The present application can be used for fruit picking in relatively standardized citrus gardens, can reduce a large amount of labor and improve picking efficiency.

[0022] 2. The body frame component of the present application adopts a gantry type structure, the picking machine can simultaneously perform work on both sides of a single citrus tree spanning across, thereby reducing the picking time.

[0023] 3、The present application through the above guide rail sliding table, servo push rod mutual cooperation, so that the comb shear type picking execution device can complete the arc shear motion. In the specific work, the vertical position is adjusted through the up-down movement of the sliding block, and the horizontal position is adjusted under the action of the servo push rod, and then the whole comb shear type picking execution device completes the arc combing motion, which is more suitable for the tree type of citrus trees to complete picking, thereby increasing the picking rate of citrus.

[0024] 4、The present application comb shear type picking execution device is mainly used for combing and shearing of citrus. A DC motor drives a transmission shaft, and then drives a roller to make a circular motion. Under the pressure of the citrus body on the double-blade shearing knife and the driving of the roller, the double-blade shearing knife rotates along the rotating shaft to complete the shearing of the citrus stem, thereby reducing the damage to the citrus stem and peel caused by traditional mechanical picking methods. BRIEF DESCRIPTION OF DRAWINGS

[0025] The present application will be further described below in combination with the drawings and examples.

[0026] Figure 1 It is a structure schematic diagram of the full-automatic comb shear type citrus fruit picking machine of the present application.

[0027] Figure 2 It is a structure schematic diagram of the body rack component of the present application.

[0028] Figure 3 It is a whole structure diagram of the comb shear type picking execution device of the present application.

[0029] Figure 4 It is a sliding block installation structure diagram of the comb shear type picking execution device of the present application.

[0030] Figure 5 It is a roller installation structure diagram of the comb shear type picking execution device of the present application.

[0031] Figure 6 It is a local structure diagram of the roller and double-blade shearing knife of the comb shear type picking execution device of the present application.

[0032] Figure 7 It is a local structure diagram of the working process of the roller and double-blade shearing knife of the comb shear type picking execution device of the present application.

[0033] Figure 8 It is a detachable base structure diagram of the comb shear type picking execution device of the present application.

[0034] Figure 9 It is a DC motor installation structure schematic diagram of the comb shear type picking execution device of the present application.

[0035] Figure 10 It is a structure schematic diagram of the controllable collecting baffle component of the present application.

[0036] Figure 11 The first perspective structural diagram of the triangular track wheel component of the present application.

[0037] Figure 12 The second perspective structural diagram of the triangular track wheel component of the present application.

[0038] Figure 13 The structural diagram of the power supply device and the control device of the present application.

[0039] In the figure: the body frame component 10, the combing and shearing picking execution device 20, the controllable collection baffle component 30, the triangular track wheel component 40, the power supply device and the control device 50;

[0040] The frame 101, the combing and shearing device support rod 102, the isolation baffle 103, the power and control device support plate 104, the stand 105;

[0041] The guide rail sliding table motor 201, the guide rail fixed block one 202, the guide rail 203, the guide rail fixed block two 204, the sliding block 205, the servo push rod 206, the support plate 207, the bearing seat 208, the transmission shaft 209, the width disc 210, the roller 211, the shearing knife group 212, the baffle 213, the detachable base 214, the torsional spring 215, the double-blade shearing knife 216, the rotating shaft 217, the second bearing seat 218, the second support plate 219, the direct current motor 220, the rotating direction 230;

[0042] The electric push rod 301, the rotating shaft 302, the base 303, the collection box fixing frame 304, the collection box side plate 305, the collection box bottom plate 306, the collection plate expansion plate 307;

[0043] The track wheel 401, the driven wheel 402, the support frame 403, the auxiliary wheel one 404, the hydraulic motor 405, the connecting frame 406, the auxiliary wheel two 407, the driving wheel 408, the synchronous belt 409;

[0044] The hydraulic pump station 501, the power supply and control cabinet 502. DETAILED DESCRIPTION

[0045] The embodiments of the present application will be further described below in combination with the drawings.

[0046] Example 1:

[0047] As Figure 1The application discloses a full-automatic combing and shearing type citrus fruit picking machine, which comprises a body frame part 10, combing and shearing type picking execution devices 20 are installed on both sides of the body frame part 10, the combing and shearing type picking execution devices 20 are used for combing and shearing citrus from a fruit tree, controllable collecting baffle parts 30 are installed on the bottom of the body frame part 10, the controllable collecting baffle parts 30 are used for collecting the combing and shearing citrus, four triangular track wheel parts 40 are installed on the bottom of the body frame part 10, the triangular track wheel parts 40 are used for completing walking work in a complex environment, and power supply devices and control devices 50 are installed on both sides of the body frame part 10, the power supply devices and the control devices 50 are used for providing power for the whole machine and various required controls. The application can be used for fruit picking in a relatively standard citrus garden, can reduce a large amount of labor and can improve picking efficiency.

[0048] As Figure 2 Further, the body frame part 10 comprises a frame 101 which is welded by a plurality of beams and vertical rods, combing and shearing device supporting rods 102 are installed between two beams on the inner side of the upper part of the frame 101 and are used for fixing the suspended combing and shearing type picking execution devices, corresponding beams in the frame 101 are used for supporting the controllable collecting baffle parts 30 on both sides of the bottom, a power and control device supporting plate 104 is welded in the middle of the frame 101 and is used for bearing the power device and the electric box, an isolation baffle 103 is welded on the power and control device supporting plate 104, vertical columns 105 are welded below the frame 101 and are used for connecting the triangular track wheel parts 40 and the body frame part 10. The full-automatic combing and shearing type citrus fruit picking machine is based on a gantry type frame, so that the machine can cross a single citrus tree. Moreover, the body frame part 10 guarantees the strength and stability of the whole structure.

[0049] As Figures 3-9Furthermore, the comb-type harvesting execution device 20 includes a guide rail slide motor 201 for raising or lowering the comb-type harvesting execution device 20. The guide rail slide motor 201 is installed at the end of the corresponding guide rail 203. The guide rail 203 is fixed to the comb-type device support rod 102 by a guide rail fixing block 1 202. The guide rail 203 is also fixed to the frame 101 by a guide rail fixing block 204. The comb-type harvesting execution device 20 also includes a slider 205, which is installed on the guide rail 203. A servo push rod 206 is fixed on the slider 205 for precisely fitting the harvesting device to the surface of the citrus tree. A support plate 207 is installed at the end of the servo push rod 206. A bearing seat 208 is fixed to the upper part of the support plate 207 by screws. The bearing seat is used to fix the transmission shaft. 209. The drive shaft 209 is connected to the roller 211. The roller 211 has a flange 210 and a baffle 213 installed on both sides. The baffle 213 is used to fix the detachable base 214. The detachable base 214 is equipped with a shearing blade assembly 212. The shearing blade assembly 212 is equipped with a torsion spring 215 on the detachable base 214. The torsion spring 215 is used to reset the double-edged shearing blade 216. The double-edged shearing blade 216 is fixed by a rotating shaft 217. The rotating shaft 217 is fixed to the detachable base 214. The double-edged shearing blade 216, the rotating shaft 217, and the torsion spring 215 together form the shearing blade assembly 212. The shearing blade assembly 212 and the other shearing blade assemblies on the roller 211 work independently without interfering with each other, which reduces damage to the citrus tree to a certain extent and increases the anti-interference ability of the device. The right end of the drive shaft 209 is fixed to the second bearing seat 218, the second bearing seat 218 is fixed to the second support plate 219, and the upper end of the second support plate 219 has a DC motor 220, which is used to provide power to the roller to complete combing and shearing actions in the direction shown by the rotation direction 230.

[0050] When the machine reaches the middle of the citrus tree using the aforementioned comb-type harvesting actuator 20, it drives slider 205 and the other three identical sliders upwards, thereby driving all the pruning-type harvesting actuators 20 (except for the guide rail) upwards. After reaching the top of the citrus tree, servo push rod 206 and the other identical servo push rods push the harvesting device closer to the tree crown. The citrus fruit is then harvested using the shearing blade assembly 212.

[0051] like Figure 10Further, the controllable collection baffle component 30 comprises an electric push rod 301 fixed to a base 303 through a rotating shaft 302, used to adjust the unfolding angle of the collection plate extension plate 307, the base 303 is installed on the rack 101, the electric push rod 301 is connected with the collection plate extension plate 307 at the end of the push rod, the collection plate extension plate 307 is hinged to the collection box fixing frame 304, the collection box fixing frame 304 is fixed to the rack 101 by welding, the controllable collection baffle component 30 further comprises a collection box bottom plate 306, which is fixed by welding through the collection box fixing frame 304 and the part directly contacting with the rack 101, the collection box bottom plate 306 and the collection box side plate 305 together constitute a collection box for temporarily storing the picked citrus fruits.

[0052] As Figures 11-12 Further, the triangular track wheel component 40 comprises a track wheel 401 supported and driven by a driven wheel 402, an auxiliary wheel one 404 and an auxiliary wheel two 407, the driven wheel 402, the auxiliary wheel one 404 and the auxiliary wheel two 407 are fixed to a support frame 403, the support frame 403 is installed on a connecting frame 406, the connecting frame 406 is also fixed with a hydraulic motor 405 for driving the track wheel to work, the hydraulic motor 405 is connected with a driving wheel 408, the driving wheel 408 is driven by a synchronous belt 409.

[0053] As Figure 13 Further, the power supply device and control device 50 comprises a hydraulic pump station 501 installed on the power and control device support plate 104 for providing power for the hydraulic motor, the power supply device and control device 50 further comprises a power supply and control cabinet 502 for placing battery packs and control circuits.

[0054] Embodiment 2:

[0055] A use method of a full-automatic combing and shearing type citrus fruit picking machine, comprising the following steps:

[0056] Step one: when the machine travels to the middle position of the citrus tree, the machine drives the sliding block 205 and the same remaining three sliding blocks to go up, thereby driving all the combing and shearing type picking execution devices 20 except the guide rail to go up;

[0057] Step two: when the shearing type picking device 20 reaches the top of the citrus tree, the servo push rod 206 pushes the picking device close to the tree crown. At this time, the DC motor 220 drives the transmission shaft 209 to rotate, thereby driving the drum 211 and each pair of double-blade shearing knives 216 on the drum 211 to start rotating around the drum 211. When the citrus contacts a pair of double-blade shearing knives 216, the double-blade shearing knives 216 will rotate around their respective rotation axes 217 along the direction of the push force exerted by the citrus on the double-blade shearing knives 216 under the action of the reaction force of the citrus itself and the rotating motion driven by the drum 211. The blade end close to the rotation axis 217 closes to realize the shearing of the citrus stem. Since each group of shearing knives works independently and does not interfere with each other, only the shearing knife group that contacts the citrus will perform the shearing action, and the remaining shearing knife groups that do not contact the citrus remain in the reset state to facilitate the smooth passage of the side branches of the citrus tree and reduce the damage caused by the device to the citrus tree;

[0058] Step three: the drum 211 rotates in the rotation direction 230, so under the action of combing, the stem enters between the two blades, and the citrus is limited in size and size between the flat blades. With the rotation of the drum 211, the citrus will exert a reaction force on the blades, forcing the blades to rotate along the rotation axis 217 until the two blades close to cut off the citrus stem;

[0059] Step four: at the same time, the arc combing and shearing of the citrus tree is completed under the combined action of the guide rail sliding table, the servo motor and the DC motor;

[0060] Step five: during picking, the electric push rod in the controllable collection baffle component 30 moves, adjusts the collection box expansion plate 307 to the appropriate angle, and the picked citrus rolls into the collection box under the action of the collection box expansion plate 307. After picking is completed, continue to travel to the next citrus tree to be picked;

[0061] Step six: after the picking of a citrus tree is completed, steps one to five are repeated to complete the picking of all citrus trees.

[0062] The working principle of the present application is as follows:

[0063] The full-automatic combing and shearing type citrus fruit picking machine is based on a gantry frame, so as to realize crossing a single citrus tree. The combing and shearing type picking execution device 20 is distributed on both sides of the gantry frame. When the machine travels to the middle position of the citrus tree, the slide block 205 and the same remaining three slide blocks are driven upward, so as to drive all the combing and shearing type picking execution devices 20 except the guide rail to move upward. After reaching the top position of the citrus tree, the servo push rod 206 and the same remaining servo push rod drive the picking device to approach the tree crown. Further, the DC motor 220 drives the transmission shaft 209 to rotate, so as to drive the cylinder 211 and each pair of double-blade shearing knives 216 on the cylinder 211 to rotate around the cylinder 211. Further, when the citrus contacts a pair of double-blade shearing knives 216 as shown in Figure 6 , under the reaction force of the citrus itself and the rotating motion driven by the cylinder 211, the double-blade shearing knives 216 will rotate around the respective rotating shafts 217 along the direction of the pushing force applied by the citrus to the double-blade shearing knives 216. The blade end close to the rotating shaft 217 is closed, so as to realize shearing of the citrus stem. Since each group of shearing knives works independently and does not interfere with each other, the shearing knife group that performs the shearing action only occurs in the shearing knife group that contacts the citrus, and the remaining shearing knife groups that do not contact the citrus remain in the reset state to facilitate the smooth passing of the side branches of the citrus tree and reduce the damage caused by the device to the citrus tree. Alternatively, as shown in Figure 7 , since the cylinder 211 rotates along the rotating direction 230, under the action of combing, the stem will enter between the two blades as shown in Figure 7 , and the citrus will be limited in size between the flat blades. However, with the rotation of the cylinder 211, the citrus will apply a reaction force to the blades, forcing the blades to rotate along the rotating shaft 217 until the two blades are closed to cut off the citrus stem. At the same time, under the joint action of the guide rail sliding table, the servo motor and the DC motor, the arc combing and shearing of the citrus tree is completed. When picking, the electric push rod in the controllable collecting baffle part 30 moves, adjusts the collecting box expansion plate 307 to the appropriate angle, and the picked citrus will roll to the collecting box under the action of the collecting box expansion plate 307. After picking is completed, continue to travel to the next citrus tree to be picked. In this way, the picking of all citrus trees is completed.

Claims

1. A fully automatic comb and clip type citrus fruit picking machine, characterized in that, The application relates to a citrus picking machine, which comprises a body frame part (10) crossing a single citrus tree, a combing and shearing type picking execution device (20) installed on both sides of the body frame part (10) for combing and shearing the citrus from the citrus tree, a controllable collecting baffle part (30) installed on the bottom of the body frame part (10) for collecting the combed and sheared citrus, a triangular track wheel part (40) installed on the bottom of the body frame part (10) for driving the whole machine to walk in a complex environment, and a power providing device and a control device (50) installed on both sides of the body frame part (10) for providing power and various required controls for the whole machine. The combing and shearing type picking execution device (20) comprises a guide rail sliding table motor (201) for lifting or lowering the whole combing and shearing type picking execution device (20), the guide rail sliding table motor (201) is installed at the end of a corresponding guide rail (203), the guide rail (203) is fixed to a combing and shearing device supporting rod (102) through a guide rail fixing block one (202), and the guide rail (203) is further fixed to a frame (101) through a guide rail fixing block two (204). The combing and shearing type picking execution device (20) further comprises a sliding block (205) installed on the guide rail (203), a servo push rod (206) fixed on the sliding block (205) for accurately attaching the picking device to the surface of the citrus tree, a supporting plate (207) installed at the end of the servo push rod (206), a bearing seat (208) fixed on the upper portion of the supporting plate (207) through a screw, and a transmission shaft (209) fixed to the bearing seat (208). The transmission shaft (209) is connected with a roller (211), flanges (210) and baffle plates (213) are installed on both sides of the roller (211), the baffle plates (213) are used for fixing detachable bases (214), a shearing cutter group (212) is installed on the detachable bases (214), torsional springs (215) are installed on the detachable bases (214) and the shearing cutter group (212), the torsional springs (215) are used for resetting double-blade shearing cutters (216), the double-blade shearing cutters (216) are fixed by rotating shafts (217), the rotating shafts (217) are fixed to the detachable bases (214), the double-blade shearing cutters (216), the rotating shafts (217) and the torsional springs (215) jointly form the shearing cutter group (212), and a plurality of groups of the shearing cutter group (212) on the roller (211) independently work and do not interfere with each other. When the comb and shear type picking execution device (20) reaches the top of the citrus tree, the servo push rod (206) pushes the picking device close to the tree crown. At this time, the DC motor (220) drives the transmission shaft (209) to rotate, thereby driving the drum (211) and each pair of double-blade shear knives (216) on the drum (211) to start rotating around the drum (211). When the citrus contacts a pair of double-blade shear knives (216), the double-blade shear knives (216) will rotate around their respective rotation axes (217) along the direction of the push force exerted by the citrus on the double-blade shear knives (216) under the reaction force of the citrus itself and the rotating motion driven by the drum (211), and the blade end close to the rotation axis (217) is closed to realize shearing of the citrus stem.

2. A fully automatic comb and snip type citrus fruit picking machine according to claim 1, characterized in that, The body frame component (10) comprises a frame (101) welded by a plurality of beams and vertical rods of different sizes. Two beams on the inner side of the upper part of the frame (101) are provided with a comb and shear device support rod (102) for fixing the suspended comb and shear type picking execution device (20). The corresponding part of the frame (101) is used to support the controllable collection baffle component (30) on both sides of the bottom. The middle of the frame (101) is welded with a power and control device support plate (104) for bearing the power device and the electric box. The power and control device support plate (104) is welded with an isolation baffle (103). The vertical column (105) welded below the frame (101) is used to connect the triangular track wheel component (40) and the body frame component (10).

3. The fully automatic comb-and-cut type citrus fruit picking machine according to claim 2, characterized in that, The right end of the transmission shaft (209) is fixed to the second bearing seat (218), and the second bearing seat (218) is fixed to the second support plate (219). The second support plate (219) is provided with a DC motor (220) at the upper end for providing power to the drum to complete the combing and shearing action in the rotation direction (230).

4. A fully automatic comb and cutter type citrus fruit picking machine according to claim 3, characterized in that, The controllable collection baffle component (30) comprises an electric push rod (301) fixed to a base (303) through a rotating shaft (302) for adjusting the expansion angle of the collection plate expansion plate (307). The base (303) is installed on the frame (101). The end of the electric push rod (301) is connected with the collection plate expansion plate (307). The collection plate expansion plate (307) is hinged to the collection box fixing frame (304) which is fixed to the frame (101) by welding. The controllable collection baffle component (30) further comprises a collection box bottom plate (306) which is fixed by welding through the collection box fixing frame (304) and the part directly contacting the frame 101. The collection box bottom plate (306) and the collection box side plate (305) together constitute a collection box for temporarily storing the picked citrus.

5. A fully automatic comb and cutter type citrus fruit picking machine according to claim 4, characterized in that, The triangular track wheel component (40) comprises a track wheel (401) supported and driven by a driven wheel (402), an auxiliary wheel one (404), and an auxiliary wheel two (407), the driven wheel (402), the auxiliary wheel one (404), and the auxiliary wheel two (407) being fixed to a support frame (403), the support frame (403) being installed on a connecting frame (406), the connecting frame (406) further being fixed with a hydraulic motor (405) for driving the track wheel to work, the hydraulic motor (405) being connected with a driving wheel (408), the driving wheel (408) being driven by a synchronous belt (409) and the driven wheel (402).

6. A fully automatic comb and cutter type citrus fruit picking machine according to claim 5, characterized in that, The power supply device and the control device (50) comprise a hydraulic pump station (501) installed on the power and control device support plate (104) for providing power for the hydraulic motor, and further comprise a power supply and control cabinet (502) for placing a battery pack and a control circuit.

7. The method of using the fully automatic comb and snip type citrus fruit picking machine according to claim 6, characterized in that, The method comprises the following steps: Step one: when the machine travels to the middle position of the citrus trees, the machine drives the sliding block (205) and the same remaining three sliding blocks to move upwards, thereby driving all the combing and shearing type picking execution devices (20) except the guide rails to move upwards; Step two: after the combing and shearing type picking execution devices (20) reach the top position of the citrus trees, the servo push rod (206) pushes the picking device to approach the tree crown, at this time, the DC motor (220) drives the transmission shaft (209) to rotate, thereby driving the cylinder (211) and each pair of double-blade shearing knives (216) on the cylinder (211) to start rotating around the cylinder (211), when the citrus contacts a pair of double-blade shearing knives (216), the double-blade shearing knives (216) will rotate around the respective rotating shaft (217) along the direction of the pushing force applied by the citrus to the double-blade shearing knives (216) under the reaction force of the citrus itself and the rotating motion driven by the cylinder (211), the blade end close to the rotating shaft (217) is closed, and the shearing of the citrus fruit stem is realized, since each group of shearing knives works independently and does not interfere with each other, only the shearing knife group in contact with the citrus will occur shearing action, and the remaining shearing knife groups not in contact will remain in the reset state to facilitate the smooth passing of the side branches of the citrus trees and reduce the damage caused by the device to the citrus trees; Step three: the cylinder (211) rotates in the rotating direction (230), so under the combing action, the fruit stem will enter between the two blades, and the citrus will be limited in size and restricted between the flat blades, with the rotation of the cylinder (211), the citrus will apply a reaction force to the blades, forcing the blades to rotate along the rotating shaft (217) until the two blades are closed to cut off the citrus fruit stem; Step four: at the same time, the arc combing and shearing of the citrus trees are completed under the joint action of the guide rail sliding table, the servo motor, and the DC motor. Step five: when picking, the electric push rod in the controllable collecting baffle component (30) acts to adjust the collecting box expansion plate (307) to the appropriate angle, and the picked citrus will roll to the collecting box under the action of the collecting box expansion plate (307), and after picking is completed, it continues to travel to the next citrus tree to be picked; Step six: after the picking of a citrus tree is completed, steps one to five are repeated to complete the picking of all citrus trees.

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