Abstract
In this paper, a portable and retractable high branch globular fruits (citrus, apple, etc.) picking device is designed for the current low degree of mechanization in fruit picking in China. The device is composed of telescopic mechanism, actuator, collection mechanism and controller, of which, the actuator includes steering gear, rudder arm, drawbar, movable blade, fixed blade and shearing handle. The operator can flexibly adjust the length of telescopic rod in the telescopic mechanism according to the position of the fruit. In the picking process, the controller of this device sends a control command to the actuator, and the actuator cuts off the fruit stem and causes the fruit to fall into the collection mechanism, thereby completing a complete fruit picking process. The experiment results show that the length of the telescopic rod can be adjusted from 1m to 2.2m, and the time of a complete picking is about 0.2s, the corresponds current is 2A, which shows that the device is simple and reliable, has high picking efficiency and a wide application prospect.
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