CN209676901U - Pick device, pickup machine and intelligent cleaning equipment - Google Patents

Abstract

The utility model relates to a kind of pickup component, pick device, pickup machine and intelligent cleaning equipments.The pickup component or pick device structure are simple, by elastic component, deformation occurs to form opening and by being formed by opening pickup article, or by forming several openings on frame body, the opening is strutted by article to pick up article when forming interference by the opening and article, also relatively convenient is operated compared with prior art, and the pickup of article can be realized without hand joint activity.The pickup machine of the utility model and intelligent cleaning equipment pass through the structure load that will pick up component in existing mobile device, so that automatic Picking article, has liberated manpower.

Description

Pick device, pickup machine and intelligent cleaning equipment

Technical field

The utility model relates to a kind of pick device, pickup machine and intelligent cleaning equipments.

Background technique

Pick device is generally used for picking up article, and the structure of current pick device generallys use two body of rod X-shapesAt, or by being formed in body of rod upper mounting jaw portion, a kind of plate as disclosed in Chinese patent application the 201320178945.3rdThe specific structure of chestnut pick-up, the castanea mollissima picker is as follows: being made of handle, telescopic rod and load-engaging device, handle passes through boltBe connected with telescopic rod upper end, load-engaging device is connected with telescopic rod lower end, handle by L bracket, movable handle, No.1 steel wireRope, line wheel, two rolling bearing units, position-arresting disk and limit handle composition, movable handle are connected by hinge with L bracket, and oneNumber wirerope one end passes through movable handle upper end, and is wrapped in line wheel, and the other end is connected with three No. two wirerope, line wheel twoEnd is separately fixed on two rolling bearing units, and two rolling bearing units pass through screw respectively and are mounted in L bracket, position-arresting disk and lineIt is connected by key between wheel, limit handle is mounted in the pin hole on position-arresting disk；Load-engaging device by three take object folder, triangle branchSeat, three limit springs and three No. two wirerope compositions, three take object folder to be symmetrically mounted on triangle branch along central axisOn seat, triangular support base is fixed on telescopic rod lower end, and three No. two wirerope one end are each passed through three limit springs, and respectively withThree take object folder to be connected, and the other end is connected with No.1 wirerope lower end respectively.Current pick device is during useIt needs hand joint activity and picks up article, during long-time operation, hand joint is easy fatigue, moreover, if using notWhen, may cause joint or hand skin damage.In addition, since nut fruits hold during pickup similar to circular articleEasily run, so, it using existing pick device when picking up nut fruits article, needs to focus on, long-time operation is heldIt is easily tired.In addition, present nut pick device is manual product, equipment needs manual operation, and Manual nut pickup machineOperation is laborious, and working efficiency is low.

Utility model content

The purpose of this utility model is to provide a kind of pickup components that structure is simple and convenient to operate.

In order to achieve the above objectives, the technical solution of the first pickup component of the utility model is as follows: a kind of pickup component,For picking up article, including several elastic components, deformation occurs for at least partly adjacent elastic component to be formed to pick up objectThe opening of product.

Further, the pickup component further includes enclosing the containing cavities for setting and being formed by several elastic components.

Further, which is characterized in that the pickup component is spherical in shape cylindric or elliptoid cage modle.

Further, the pickup component further includes fixing piece, several elastic components along the fixing piece circumferential direction and/Or axial arranging and/or each elastic component radially extending along the fixing piece.

Further, the end of the elastic component is rounded nose.

Further, the fixing piece is cylinder, and the cylinder has the cylinder that the longitudinally along the cylinder extendsOuter surface, the elastic component are arranged in the cartridge outer surface of the fixing piece at equal intervals.

In order to achieve the above objectives, the technical solution of second of pickup component of the utility model is as follows: a kind of pickup component,For picking up article, the pickup component includes frame body, and several openings are formed on the frame body；When the opening and article shapeWhen at interference, the opening is strutted by article to pick up article.

Further, the containing cavities to store the article being picked are formed in the frame body.

Further, the frame body is spherical in shape or cylindric or ellipticity, the elastic opening are along the vertical of the frame bodyThe strip gap that length direction extends.

The utility model additionally provides a kind of pick device, including pickup component and setting shown in above-mentioned part-structure existThe collection device for picking up component side, the collection device have containing cavities；During pickup component rotation,It is fallen by the article that the pickup component picks up to the containing cavities of the collection device.

Further, the collection device also has the opening for being formed in the containing cavities side, and the pick device is alsoIncluding pick-off combs, one end of the pick-off combs extends to elastic component, and the other end of the pick-off combs extends to the collection deviceOpening；It is formed and is interfered so as to pick up component folder when pickup component rotation, between the pick-off combs and the elastic componentThe article held falls off from pickup component.

The utility model additionally provides a kind of pickup machine, including mobile device and is arranged in above-mentioned in the mobile devicePick device shown in pickup component or above-mentioned part-structure shown in part-structure.

The utility model also provides a kind of pickup machine, including mobile device, the above-mentioned portion being arranged in the mobile devicePick device shown in component or above-mentioned part-structure is picked up shown in separation structure and to detect article in the containing cavitiesWhether the detection module of pickup amount setting value is reached.

Further, the pickup machine further includes the control module connecting with the detection device signal, the detection dressAfter setting the article arrival pickup amount setting value detected in containing cavities, the control module controls the pickup machine and carries out discharging.

Further, the control module controls the mobile device and is moved to discharge region progress discharging.

The utility model additionally provides a kind of pickup machine, including mobile device, be arranged in it is above-mentioned in the mobile deviceComponent is picked up shown in part-structure and unloads support plate, and described unload is formed with several protrusions on support plate；When the pickup component unloadsWhen material, the protrusion unloaded on support plate struts the opening.

Further, described unload is provided with through the discharge port for unloading support plate on support plate.

Further, at least partly discharge port is formed in the protrusion.

Further, the pickup machine further includes that the unloader box unloaded below support plate is arranged in.

The utility model additionally provides a kind of intelligent cleaning equipment, including grass-removing robot or sweeping robot and setting existPickup component or pick device on the grass-removing robot or sweeping robot.

The utility model has the beneficial effects that: the above-mentioned pickup component or pick device of the utility model are by being openAt the pickup of article, structure is simple, operates also relatively convenient compared with prior art, can be realized without hand joint activityThe pickup of article.The pickup machine of the utility model and intelligent cleaning equipment pass through the structure load that will pick up component in existing shiftingOn dynamic device, so that automatic Picking article, has liberated manpower.

The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility modelArt means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detailIt describes in detail bright as after.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of pickup machine shown in the utility model embodiment one；

Fig. 2 is the structural schematic diagram that component is picked up in Fig. 1；

Fig. 3 is the left view shown in Fig. 2 for picking up component；

Fig. 4 is the enlarged drawing of circle A in Fig. 3；

Fig. 5 is the structural schematic diagram that support plate is unloaded used in the utility model embodiment one；

Fig. 6 is the structural schematic diagram of pickup machine shown in the utility model embodiment two；

Fig. 7 is the structural schematic diagram of pick device in Fig. 6；

Fig. 8 is the enlarged drawing of circle B in Fig. 7；

Fig. 9 is the structural schematic diagram that component is picked up in Fig. 7.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.BelowEmbodiment is not intended to limit the scope of the present invention for illustrating the utility model.

Referring to Figure 1 to Fig. 5, pickup machine 10 shown in the utility model embodiment one for picking up article (not shown),The article has certain thickness, such as nut fruits article.Pickup machine 10 include mobile device 1, setting on the mobile device 1 toIt picks up the pickup component 2 of article, detection module (not shown) and unloads support plate 3 and unloader box 8.It unloads support plate 3 and unloader box 8 canA specified place is arranged in, it is not fixed on the mobile device 1 or this unloads support plate 3 and unloader box 8 is placed on mobile deviceOn 1, when pickup machine 10 needs discharging, unload support plate 3 and unloader box 8 removed from mobile device 1, be placed on a certain platform orOn bottom surface, discharging is then carried out, in the present embodiment, when picking action starts, this unloads support plate 3 and unloader box 8 is placed on groundThe a certain position in face.In other embodiments, pickup machine can be not provided with unloader box 8.Mobile device 1 can be locomotive etc.Conventional mobile device 1 in the prior art, which can realize automatically walk by being driven by electricity, due to movementDevice 1 is conventional equipment in the prior art, therefore is not described in detail herein.

Fig. 2 to Fig. 4 is referred to, picking up component 2 includes the frame body 21 in round or cylindrical type or ellipse, the pickup componentDriven wheel of 2 frame body 21 as mobile device 1.Several openings 22 are formed on frame body 21, when opening 22 formed with article it is dryWhen relating to, opening 22 is strutted by article to pick up article, and the first receipts to store the article being picked are formed in the frame body 21Receive chamber (not labeled), article is entered in the first containing cavities by opening 22.Frame body 21 is in lengthwise open, and opening 22 is along frame body 21Longitudinally extend strip gap.21 specific structure of frame body is as follows: frame body 21 includes mounting post 212, is mounted on installationSeveral elastic components 211 on column 212, several elastic components 211 are disposed around the periphery of mounting post 212, the both ends of each elastic component 211The both ends of mounting post 212 are separately fixed at, several elastic components 211, which enclose, to be set to form cagelike structure, and the first containing cavities are by elastic component 211It encloses and sets to be formed.When elastic component 211 and article interfere, deformation occurs for two neighboring elastic component 211 to be formed to pick upThe opening 22 of article.In the present embodiment, elastic component 211 is elastic yarn, and such as steel wire, in other embodiments, elastic component 211 canThink plates.In the present embodiment, several elastic components 211 are formed seamed in being intervally arranged between two neighboring elastic component 211Gap, when deformation occurs for elastic component 211, which, which becomes larger, becomes the opening 22 for picking up article, in other embodiments, severalElastic component 211 can left and right close-packed arrays, the gap naked eyes between two neighboring elastic component 211 are invisible, when elastic component 211 withWhen article interferes, two neighboring elastic component 211 occurs to be formed to form macroscopic gap, and in elastic component 211Deformation occurs it is increasingly severe when, the gap become larger with formed pick up article opening 22.In other embodiments, alsoThe pickup component can be arranged to the frame body (such as sphere structure) in round or cylindrical type or ellipse, if then opening on frame bodyIt is dry to be picked the distracted opening of article.

Incorporated by reference to Fig. 1 and Fig. 5, mobile device 1 has control module (not shown), and detection module and control module signal connectIt connects, the detection module is for detecting whether article in the first containing cavities reaches pickup amount setting value, when detection module detects theWhen article in one containing cavities reaches setting value, control module control picks up component and carries out discharging, specifically, control module drivesMobile module 1 is moved to discharge region and carries out discharging.The discharge region is to place to unload the region of support plate 3 and unloader box 8, can also be withTo specify region, or arbitrarily place, it is to be understood that in another embodiment, when detection module detectsWhen reaching setting value to the article in the first containing cavities, component stop motion is picked up in control module control, will unload support plate 3 and unloadingCase 8, which is moved to, to be picked up below component, is unloaded so that picking up component with unloading support plate 3 and interfere.Unloading support plate 3 has unloading originallyBody 31 and the support plate 32 for being oppositely arranged on unloading 31 two sides of ontology, unloading ontology 31 are plate body structure, are formed with thereon severalProtrusion 33, in the present embodiment, unloading ontology 31 are specially waveform, and several protrusions 33 are wave crest portions.When pickup component 2When discharging, unload protrusion 33 on support plate 3 and elastic component 211 formed interfere so that two neighboring elastic component 211 deformation occurs in turnThe opening to discharging is formed, it is both by bullet which, which is same opening with the opening 22 formed when picking up article before,Property part 211 deformation and so that the gap of two neighboring elastic component 211 is become larger and is formed, in a practical situation, when pick up component 2 unloadWhen material, unloads the protrusion 33 on support plate 3 and strut the opening 22 so that being located in the first containing cavities article from the opening 22 being softenedPlace's outflow.In the present embodiment, in order to prevent discharging when article accumulated on unloading support plate 3 and influence discharging process, unloading support plateThe discharge port 34 through unloading ontology 31 is additionally provided on 3, in order to remove article quickly on support plate 3 from unloading, discharge port 34It is formed in protrusion 33.Certainly, in other embodiments, it can also be not provided with discharge port 34, discharging ontology 3 can be arranged toThe structure on inclined-plane and realize article and fall on support plate 3 or its discharge port 34 can be not arranged in protrusion 33 or only from unloadingPart is arranged in protrusion 33.Present embodiment is with respect to the advantage of other embodiments, unloads due to being arranged in protrusion 33Material mouth 34 can reduce the discharge time unloaded on support plate 3, can prevent article from accumulating on unloading support plate 3, facilitate reduction and entirely unloadExpect the time.In the present embodiment, two 32 relative tilts of support plate are fixed on the two sides of unloading ontology 31, to form slope, fromAnd device 1 easy to remove is mobile.Unloader box 8 be located at unloading ontology 31 lower section, when article is fallen from discharge port 34, fall intoIn discharge box.

Pickup component 2 in above-described embodiment one can also be mounted on grass-removing robot or sweeping robot cooperation to be formedIntelligent cleaning equipment.Incorporated by reference to Fig. 1 to Fig. 5, the working method of the pickup machine 10 in the present embodiment one is as follows: pickup machine 10 is openedDynamic, mobile device 1 is mobile, picks up component 2 and rolls translation under the drive of mobile device 1, picks up the nut etc. for passing through placeArticle；It is as follows to pick up 2 pick-up method of component: having article (especially nut fruits article) when picking up on the ground that component 2 is passed throughWhen, it rotates to the elastic component 211 on ground to be formed with the article resting on the ground and interfere, article is during frame body 21 rotatesIt will be caught in the gap between two adjacent elastic components 211, and when the persistently rotation of frame body 21, ground, article, elastic componentIt interacts between 211 threes, causes article to increase the pressure that elastic component 211 applies, deformation occurs for elastic component 211, gapSupport becomes opening 22 greatly, article progress into in opening 22 until the first containing cavities are entered to, when article enters to the first receiptsIt receives after chamber, due to the effect of the elastic force of its own, opening 22 gradually becomes smaller to be restored to original shape elastic component 211, at this point,It can prevent article from running out of out of pickup component 2.It is set when the first detection device detects that the pickup amount in the first containing cavities reachesWhen definite value, pickup machine 10, which is moved to, to be unloaded support plate 3 and is unloaded, and it is as follows to pick up 2 discharge method of component: being unloaded when picking up component 2When being rolled on ontology 31, pick up component 2 on be located at downside elastic component 211 will with protrusion 33 formed interfere, pick up component 2 afterContinuous rotation, the opposing force between protrusion 33 and elastic component 211 become larger, and protrusion 33 will be between two neighboring elastic component 211Gap struts, and gradually deformation occurs for elastic component 211, and gap, which becomes larger, becomes opening 22, and opening 22 is greater than the thickness of article at this time, andOpening 22 is located at the lower section for picking up component 2 again, and article is since the effect of gravity is run out of out of opening 22, and then directly from discharge portIt is fallen into 34 in unloader box 8.After the completion of discharging, 10 subsequent pick-up of pickup machine work.

Fig. 6 to Fig. 9 is referred to, pickup machine 20 shown in the utility model embodiment two is used to pick up article (not shown),The article has certain thickness, such as nut fruits article.Pickup machine 20 include mobile device 5, be arranged in mobile device 5 toPick up the pick device 6 and detection module (not shown) of article.Mobile device 5 can be conventional in the prior art for locomotive etc.Mobile device 5, which can realize automatically walk by being driven by electricity, since mobile device 5 is the prior artIn common equipment, therefore be not described in detail herein.

Fig. 7 to Fig. 9 is referred to, pick device 6 includes the collection dress for picking up component 61 and pickup 61 side of component being arranged in62 are set, which is located at the front side of mobile device 5, picks up component 61 and connect by the body of rod 7 with mobile device 5.It collectsDevice 62 has the second containing cavities (not shown) and is formed in the opening 621 of the second containing cavities side.In the present embodiment, it collectsIt is connected between device 62 and pickup component 61 by connecting rod 63.During picking up the rotation of component 61, it is picked component 61The article of pickup is fallen by the opening 621 to the second containing cavities of collection device 62.The cross section of component 61 is picked up in circleShape or ellipse.Picking up component 61 includes several elastic components 611 and fixing piece 612, and several elastic components 611 can be along fixing piece612 circumferential direction and/or axial arranging forms opening 613 between the end of two neighboring elastic component 611.In the present embodiment, shouldFixing piece 612 is mounting post 212, is in cylindrical body, which has the cartridge outer surface that the longitudinally along cylinder extends, elasticityPart 611 is arranged in the cartridge outer surface of fixing piece 612 at equal intervals, which arranges along the circumferential and axial of fixing piece 612Cloth, certainly, in other embodiments, elastic component 611 can be only along the circumferential direction or axial arranging of fixing piece 612.When elastic component 611When interfering with article, deformation occurs for elastic component 611 so that opening 613 becomes larger and then picks up article.Each elastic component 611One end be fixed on fixing piece 612, the other end is free end 6111, and each elastic component 611 prolongs along the radial direction of fixing piece 612It stretches, opening 613 is formed by the free end 6111 of two neighboring elastic component 611.The end of the free end 6111 of each elastic component 611Portion is rounded nose, by such design can increasing friction force, convenient for pick up article.It is fallen for the ease of picking up the article on component 61Enter to the second containing cavities of collection device 62, pick device 6 further includes pick-off combs 64, and in the present embodiment, pick-off combs 64 are solidIt is scheduled on collection device 62, positioned at the side of the opening 621 of collection device 62.One end of pick-off combs 64 extends to elastic component 611,When pick up component 61 rotate when, between pick-off combs 64 and elastic component 611 formed interfere so that pick up component 61 clamp article fromIt picks up and falls off on component 61, the other end of pick-off combs 64 extends to the opening 621 of collection device 62.

Mobile device 5 has control module (not shown), and detection module and control module signal contact, the detection module are usedIn detecting whether article in the second containing cavities reaches pickup amount setting value, when detection module detects the article in the second containing cavitiesWhen reaching setting value, control module drives pickup machine 20 to carry out unloaded operation, specifically, can be the mobile dress of control module drivingIt sets 5 and is moved to discharge region and unloaded.In the present embodiment, which can be specified place, it is also assumed thatArbitrarily place, the lower section that unloading area can also be moved to pickup machine 20 are unloaded during the pickup machine 20 is mobileIt carries.In the present embodiment, when detection module detects that the article in the second containing cavities reaches setting value, filled by will manually collect62 inclinations are set to complete discharging.

Component 61 or pick device 6 are picked up in above-described embodiment two can also be mounted on grass-removing robot or sweeping machinePeople cooperates to form intelligent cleaning equipment.Incorporated by reference to Fig. 6 to Fig. 9, the working method of the pickup machine 20 of the present embodiment two is as follows:Pickup machine 20 starts, and mobile device 5 is mobile, and pick device 6 rolls translation under the drive of mobile device 5, and pickup passes through groundThe nut and other items of point；The pick-up method of pick device 6 is as follows: having article (especially when picking up on the ground that component 61 is passed throughIt is nut fruits article) when, it rotates to the elastic component 611 on ground to be formed with the article resting on the ground and interfere, article is in pickup groupIt will be caught in the opening 613 between two adjacent elastic components 611 in the rotation process of part 61, and continue when picking up component 61Rotation, ground, article interact between 611 three of elastic component, the pressure increase for causing article to apply elastic component 611, bulletProperty part 611 deformation occurs, opening 613 is stretched, and due to the screen resilience of elastic component 611, article is trapped in two elastic componentsBetween 611；6 discharge method of pick device is as follows: picking up component 61 and persistently rotates, when the elastic component 611 for being clamped with article is mobileWhen to the position of pick-off combs 64, interference is formed between elastic component 611 and pick-off combs 64, pick-off combs 64 will be clamped in two elastic componentsArticle between 611 is fallen from choosing between two elastic components 611, and article is fallen by opening 621 of collection device 62 to collecting dressIt sets in 62 the second containing cavities.When detection device detects that the pickup amount in the second containing cavities reaches setting value, pickup machine 20It is moved to discharging place, unloading then is can be realized into the overturning of collection device 62.

To sum up, above-mentioned pickup component or pick device complete the pickup of article by opening, and structure is simple, with existing skillThe pickup of article can be realized without hand joint activity compared to operation also relatively convenient for art.In addition, above-mentioned pickup machine and intelligenceCleaning equipment passes through the structure load that will pick up component in existing mobile device, so that automatic Picking article, has liberated peoplePower.

The second containing cavities in the first containing cavities, embodiment two in above-described embodiment one can be collectively referred to as containing cavities, pass throughContaining cavities realize the collection to object is picked up, so as to again will be in the first containing cavities after picking up certain time or certain amountOr the second article in containing cavities is poured out, and has been saved the time, has been improved pickup efficiency.

Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodimentIn each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lanceShield all should be considered as described in this specification.

Above embodiments only express the several embodiments of the utility model, and the description thereof is more specific and detailed, but simultaneouslyThe limitation to utility model patent range therefore cannot be interpreted as.It should be pointed out that for the ordinary skill people of this fieldFor member, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this realityWith novel protection scope.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (44)

1. a kind of pick device, which is characterized in that including the pickup component for picking up article and be arranged in the pickup componentThe collection device of side, the collection device have containing cavities；During pickup component rotation, by the pickup groupThe article that part picks up is fallen into the containing cavities of the collection device, and several elastic components of the pickup component are at least partly adjacentThe elastic component deformation occurs to form the opening to pick up article.

2. pick device as described in claim 1, which is characterized in that the pickup component further includes fixing piece, several describedElastic component prolongs along the circumferential direction and/or axial arranging of the fixing piece and/or each elastic component along the radial direction of the fixing pieceIt stretches.

3. pick device as claimed in claim 2, which is characterized in that the end of the elastic component is rounded nose.

4. pick device as claimed in claim 2, which is characterized in that the fixing piece is cylinder, and the cylinder has along instituteThe cartridge outer surface that the longitudinally of cylinder extends is stated, the elastic component is arranged in the cylinder appearance of the fixing piece at equal intervalsFace.

5. the pick device as described in any one of Claims 1-4 item, which is characterized in that the collection device also has shapeAt the opening in the containing cavities side, the pick device further includes pick-off combs, and one end of the pick-off combs extends to elasticityPart, the other end of the pick-off combs extend to the opening of the collection device；When pickup component rotation, the pick-off combsIt is formed and is interfered so that the article for picking up component clamping falls off from pickup component between the elastic component.

6. a kind of pickup machine, which is characterized in that including mobile device and be arranged in the mobile device as claim 1 toPick device described in any one of 5.

7. a kind of pickup machine, which is characterized in that including mobile device and be arranged in the mobile device for picking up articlePickup component, the pickup component includes several elastic components, at least partly adjacent elastic component deformation occurs with formedTo pick up the opening of article.

8. pickup machine as claimed in claim 7, which is characterized in that the pickup component further includes being enclosed by several elastic componentsIf the containing cavities formed.

9. pickup machine as claimed in claim 8, which is characterized in that the pickup machine further includes unloading support plate, described to unload on support plateIt is formed with several protrusions；When the pickup component discharging, the protrusion unloaded on support plate struts the opening.

10. pickup machine as claimed in claim 9, which is characterized in that it is described unload to be provided on support plate unload support plate through describedDischarge port.

11. pickup machine as claimed in claim 10, which is characterized in that at least partly discharge port is formed in the protrusion.

12. pickup machine as claimed in claim 9, which is characterized in that the pickup machine further includes that setting is unloaded under support plate describedThe unloader box of side.

13. pickup machine as claimed in claim 7 or 8, which is characterized in that the pickup component is spherical in shape cylindric or ovalThe cage modle of shape.

14. pickup machine as claimed in claim 13, which is characterized in that the pickup machine further includes unloading support plate, described to unload support plateOn be formed with several protrusions；When the pickup component discharging, the protrusion unloaded on support plate struts the opening.

15. pickup machine as claimed in claim 14, which is characterized in that it is described unload to be provided on support plate unload support plate through describedDischarge port.

16. pickup machine as claimed in claim 15, which is characterized in that at least partly discharge port is formed in the protrusion.

17. pickup machine as claimed in claim 14, which is characterized in that the pickup machine further includes that setting is unloaded under support plate describedThe unloader box of side.

18. pickup machine as claimed in claim 7, which is characterized in that the pickup component further includes fixing piece, several bulletsProperty part prolongs along the circumferential direction and/or axial arranging of the fixing piece and/or each elastic component along the radial direction of the fixing pieceIt stretches.

19. pickup machine as claimed in claim 18, which is characterized in that the end of the elastic component is rounded nose.

20. pickup machine as claimed in claim 18, which is characterized in that the fixing piece is cylinder, and the cylinder has along instituteThe cartridge outer surface that the longitudinally of cylinder extends is stated, the elastic component is arranged in the cylinder appearance of the fixing piece at equal intervalsFace.

21. a kind of pickup machine, which is characterized in that including mobile device and be arranged in the mobile device for picking up articlePickup component, the pickup component includes frame body, and several openings are formed on the frame body；When the opening is formed with articleWhen interference, the opening is strutted by article to pick up article.

22. pickup machine as claimed in claim 21, which is characterized in that be formed in the frame body to store the object being pickedThe containing cavities of product.

23. the pickup machine as described in claim 21 or 22, which is characterized in that the pickup machine further includes unloading support plate, described to unloadSeveral protrusions are formed on support plate；When the pickup component discharging, the protrusion unloaded on support plate struts the opening.

24. pickup machine as claimed in claim 23, which is characterized in that it is described unload to be provided on support plate unload support plate through describedDischarge port.

25. pickup machine as claimed in claim 24, which is characterized in that at least partly discharge port is formed in the protrusion.

26. pickup machine as claimed in claim 23, which is characterized in that the pickup machine further includes that setting is unloaded under support plate describedThe unloader box of side.

27. the pickup machine as described in claim 21 or 22, which is characterized in that the frame body is spherical in shape cylindric or ovalShape, the opening is along the strip gap that the longitudinally of the frame body extends.

28. pickup machine as claimed in claim 27, which is characterized in that the pickup machine further includes unloading support plate, described to unload support plateOn be formed with several protrusions；When the pickup component discharging, the protrusion unloaded on support plate struts the opening.

29. pickup machine as claimed in claim 28, which is characterized in that it is described unload to be provided on support plate unload support plate through describedDischarge port.

30. pickup machine as claimed in claim 29, which is characterized in that at least partly discharge port is formed in the protrusion.

31. pickup machine as claimed in claim 28, which is characterized in that the pickup machine further includes that setting is unloaded under support plate describedThe unloader box of side.

32. such as the pickup machine of claim 6 or 8 or 22, which is characterized in that the pickup machine further includes to detect the storageWhether intracavitary article reaches the detection module of pickup amount setting value.

33. pickup machine as claimed in claim 32, which is characterized in that the pickup machine further includes and the detection device signalThe control module of connection, after the detection device detects that the article in containing cavities reaches pickup amount setting value, the control mouldBlock controls the pickup machine and carries out discharging.

34. pickup machine as claimed in claim 33, which is characterized in that the control module controls the mobile device and is moved toDischarge region carries out discharging.

35. a kind of intelligence cleaning equipment, which is characterized in that including grass-removing robot or sweeping robot and be arranged in the mowingTo pick up the pickup component of article in robot or sweeping robot, the pickup component includes several elastic components, at least portionDeformation occurs for the elastic component of split-phase neighbour to form the opening to pick up article.

36. intelligence cleaning equipment as claimed in claim 35, which is characterized in that the pickup component further includes by several describedElastic component encloses the containing cavities for setting and being formed.

37. the intelligent cleaning equipment as described in claim 35 or 36, which is characterized in that the pickup component is spherical in shape or cylinderShape or elliptoid cage modle.

38. intelligence cleaning equipment as claimed in claim 35, which is characterized in that the pickup component further includes fixing piece, ifThe elastic component is done along the circumferential direction and/or axial arranging of the fixing piece and/or each elastic component along the fixing pieceIt radially extends.

39. intelligence cleaning equipment as claimed in claim 38, which is characterized in that the end of the elastic component is rounded nose.

40. intelligence cleaning equipment as claimed in claim 38, which is characterized in that the fixing piece is cylinder, the cylinder toolThere is the cartridge outer surface of the longitudinally extension along the cylinder, the elastic component is arranged in the column of the fixing piece at equal intervalsExternal surface.

41. a kind of intelligence cleaning equipment, which is characterized in that including grass-removing robot or sweeping robot and be arranged in the mowingTo pick up the pickup component of article in robot or sweeping robot, the pickup component includes frame body, shape on the frame bodyAt there is several openings；When the opening is formed with article interferes, the opening is strutted by article to pick up article.

42. intelligence cleaning equipment as claimed in claim 41, which is characterized in that be formed in the frame body and picked up to storeThe containing cavities of the article taken.

43. the intelligent cleaning equipment as described in claim 41 or 42, which is characterized in that the frame body it is spherical in shape or cylindric orEllipticity, the opening is along the strip gap that the longitudinally of the frame body extends.

44. a kind of intelligence cleaning equipment, which is characterized in that including grass-removing robot or sweeping robot and be arranged in the mowingThe pick device as described in any one of claim 1 to 5 in robot or sweeping robot.