Pineapple combined harvester integrating clamping, breaking, dragging and conveying and harvesting method

Abstract

The invention discloses a pineapple combined harvester integrating clamping, breaking, dragging and conveying and a harvesting method, and belongs to the technical field of pineapple harvesting. The pineapple harvester solves the problems of low picking efficiency, high fruit damage rate and high energy consumption caused by step-by-step picking and conveying of an existing pineapple harvester. The fruit clamping and conveying mechanism is arranged in an S-shaped structure, the front end of the fruit clamping and conveying mechanism is a low-position end and installed on the rack, the rear end of the fruit clamping and conveying mechanism is a high-position end and installed on the bearing platform, the leaf poking mechanism and the grain lifter assembly are installed at the front end of the rack, and the leaf poking mechanism is arranged above the grain lifter assembly. The stalk fixing and clamping mechanism is installed on the machine frame and arranged below the front portion of the fruit clamping and conveying mechanism, and under the action of the fruit clamping and conveying mechanism, fruits are pulled, picked, lifted and collected at a time. The pineapple harvester is used for pineapple harvesting.

Description

Technical Field

[0001] The invention relates to a pineapple combined harvester and a harvesting method integrating clamping, breaking, dragging and conveying, belonging to the technical field of pineapple harvesting. Background Art

[0002] As a nutritious and sweet fruit, the planting area of ​​pineapple continues to expand with the growth of market demand, which has promoted the rapid development of related industries. However, the short pineapple picking season and high yield, as well as the wide planting area, bring great challenges to the picking operation. At present, pineapple picking mainly relies on manual labor, resulting in high labor costs. Therefore, the development of pineapple combined harvester is of great significance to reduce picking pressure and improve harvesting efficiency.

[0003] About pineapple harvester, many related patents have been proposed, such as the pineapple harvesters with publication numbers CN 116326333 A, CN 108738669A and CN 108076812A, which all adopt cutting methods to pick pineapples. However, since the blades of these machines are fixed at a certain height, they cannot be adjusted according to the difference in the actual growth height of the pineapple, causing the blades to be unable to accurately align with the pineapple stem base for cutting. This often causes the pineapple part of the harvest to be damaged or too many stems to remain at the fruit base, and the picking accuracy is low. In addition, although the height of the picking platform can be adjusted by a lifting mechanism to adapt to the different heights of pineapples, the height of its picking platform cannot be adjusted in real time, and therefore still cannot cope with the height differences caused by the different growth of individual pineapples.

[0004] On the other hand, the pineapple combined harvesters with publication numbers CN 117751769 A, CN 110073806A, and CN 113950947 A generally adopt a work mode of picking and conveying in steps. Although mechanized operation has been achieved to a certain extent, there are problems such as low picking efficiency, high fruit damage rate, high energy consumption, and difficulty in adapting to complex and changeable field environments. Specifically, step-by-step operation often leads to time delays in the picking process, increasing the risk of fruit damage. At the same time, the independent picking and conveying system also increases the overall energy consumption level, and the adjustment flexibility and adaptability are limited when facing different terrains and pineapple growth conditions.

[0005] In summary, the pineapple harvesters currently proposed have problems such as insufficient picking accuracy, inability to flexibly adapt to the differences in individual growth heights of pineapples, low picking efficiency, high fruit damage rate, high energy consumption, and difficulty in adapting to the complex and changeable field environment. They are unable to achieve efficient, accurate, and low-loss mechanized harvesting of pineapples. Summary of the invention

[0006] The present invention aims to solve the problems of low picking efficiency, high fruit damage rate and high energy consumption caused by the existing pineapple harvesters that picking and conveying are performed in steps, and further provides a pineapple combined harvester and a harvesting method that integrates clamping, breaking, dragging and conveying.

[0007] The technical solution adopted by the present invention to solve the above technical problems is:

[0008] A pineapple combined harvester integrating clamping, breaking, dragging and conveying, comprises a mobile assembly, a frame, a bearing platform, a fruit collecting box and a harvesting execution mechanism, wherein the bearing platform is installed above the mobile assembly, the frame is fixedly installed on the front part of the bearing platform, the harvesting execution mechanism comprises a straw support assembly, a leaf pushing mechanism, a stem fixing clamping mechanism and a fruit clamping and conveying mechanism, the fruit clamping and conveying mechanism is arranged in an S-shaped structure, the front end of the fruit clamping and conveying mechanism is a low-position end and is installed on the frame, the rear end of the fruit clamping and conveying mechanism is a high-position end and is installed on the bearing platform, the fruit collecting box is installed on the bearing platform and is located below the fruit clamping and conveying mechanism, the leaf pushing mechanism and the straw support assembly are respectively installed at the front end of the frame, and the leaf pushing mechanism is arranged above the straw support assembly, the stem fixing clamping mechanism is installed on the frame and is arranged below the front part of the fruit clamping and conveying mechanism, and the fruit is lifted and collected at one time under the action of the fruit clamping and conveying mechanism.

[0009] Furthermore, the fruit clamping and conveying mechanism includes a supporting assembly and two groups of symmetrically arranged fruit clamping and conveying assemblies, wherein each group of the fruit clamping and conveying assemblies includes a driving assembly, a sprocket assembly, a guide chain plate and a flexible clamping chain, the guide chain plate is distributed in an S shape, and its lower part, middle part and upper part are respectively fixedly mounted on the frame and the bearing platform through the supporting assembly, the driving assembly is mounted on the upper end of the guide chain plate and its output end is connected to the active sprocket in the sprocket assembly, the driven sprocket in the sprocket assembly is rotatably mounted on the lower end of the guide chain plate, and the flexible clamping chain is slidably arranged around the circumference of the guide chain plate and forms a first chain transmission assembly with the sprocket assembly.

[0010] Furthermore, the flexible clamping chain comprises a plurality of flexible clamping units which are sequentially connected end to end through pins, wherein the flexible clamping units comprise flexible clamping chain links and contoured clamp modules mounted on the flexible clamping chain links.

[0011] Furthermore, the contoured clamp module includes a fixed base, a plurality of support rods and a plurality of first springs, wherein the fixed base is fixedly mounted on the flexible clamping chain link, the plurality of support rods are arranged on the surface of the fixed base, and one end of each support rod is correspondingly connected to the fixed base via the first spring.

[0012] Furthermore, the stem fixing and clamping mechanism includes two symmetrically arranged stem fixing and clamping units, each of which includes a second synchronous motor, a clamping belt, a first cover shell, a supporting and positioning frame arranged in the first cover shell, a driving pulley, at least three driven pulleys and a plurality of tension pulleys, wherein the second synchronous motor is mounted on the first cover shell and its output end is fixedly connected to the driving pulley, the clamping belt cooperates with the driving pulley and each driven pulley to form a clamping belt transmission assembly, a Y-shaped gap is formed between the two clamping belt transmission assemblies from front to back, and a plurality of tension pulleys are respectively connected to the supporting and positioning frame through a tension support wheel rod and a second spring.

[0013] Furthermore, the middle part of the tension support wheel rod is hinged to the support positioning frame, a tension wheel is installed at one end of the tension support wheel rod, a second spring is connected between the support positioning frame and the other end of the tension support wheel rod, and the second spring is a tension spring.

[0014] Furthermore, the leaf-pushing mechanism includes a roller bracket, a leaf-pushing roller, a leaf-pushing motor and a number of glue sticks, wherein the roller bracket is fixedly mounted at the front end of the frame, the leaf-pushing roller and the leaf-pushing motor are respectively mounted on the roller bracket, the leaf-pushing roller is driven to rotate by the leaf-pushing motor, and the number of glue sticks are divided into multiple groups and arranged along the circumference of the leaf-pushing roller, and the multiple leaf-pushing rollers in each group are arranged along the axial direction of the glue stick.

[0015] Furthermore, an inner sleeve is vertically fixed to the bottom of the bearing platform, an outer sleeve is vertically fixed to the top of the moving assembly, and the bearing platform is installed above the moving assembly through the inner sleeve and the outer sleeve that cooperate with each other, and the inner sleeve and the outer sleeve are connected by pins.

[0016] Furthermore, the mobile assembly includes two parallel arranged crawler type mobile units, the crawler type mobile unit includes a second cover shell and a mounting frame, a third motor, a second chain drive assembly and a track wheel assembly arranged in the second cover shell, the third motor is fixed on the mounting frame, and the third motor drives the track wheel assembly to move through the second chain drive assembly.

[0017] A pineapple harvesting method using the above-mentioned pineapple combine harvester comprises the following steps:

[0018] Step 1, preparation stage:

[0019] Check the operation of the whole machine structure to ensure that it is in normal working condition. At the same time, according to the planting density characteristics of pineapple plants, pre-set the travel speed of the mobile assembly and the speed of each working part in the harvesting actuator;

[0020] Step 2: Straighten and gather the pineapple plants:

[0021] Adjust the route of the combine harvester to ensure that the front harvesting actuator corresponds to the pineapple planting row, and use the straw lifter to lift up the fallen pineapple plants;

[0022] Step 3: Separation of fruit and leaves:

[0023] After the pineapple plant is lifted up, the leaves on the periphery of the pineapple fruit are pressed down by the leaf-pushing mechanism to separate the fruit from the leaves.

[0024] Step 4: Clamp the stem:

[0025] As the moving assembly drives the whole machine forward, the stem fixing clamping mechanism clamps the stem part at the lower end of the pineapple stalk;

[0026] Step 5: Breaking and lifting the pineapple fruit for harvest:

[0027] After the pineapple plants have been straightened, leafed and fixedly clamped, their fruits are smoothly conveyed between two groups of fruit clamping and conveying components to start picking operations. During the picking process, first, the pineapple fruit enters the front section of the fruit clamping and conveying mechanism. During this process, the front part of the fruit clamping and conveying mechanism firmly clamps the pineapple fruit and conveys it backward in the horizontal direction, and the stem fixed clamping mechanism below it firmly clamps the pineapple stem and conveys it backward in the horizontal direction; then, the pineapple fruit enters the middle section of the fruit clamping and conveying mechanism. During this process, the conveying direction of the fruit clamping and conveying mechanism gradually changes from horizontal to vertical, and a bending moment gradually accumulates in the calyx part of the pineapple. When the bending moment exceeds the connection stress between the fruit and the stem, the fruit stalk will break, thereby achieving separation of the fruit from the fruit stalk; finally, the pineapple fruit enters the rear section of the fruit clamping and conveying mechanism, and the conveying direction changes again, gradually transitioning from vertical to parallel to the bearing platform, and finally the fruit falls into the fruit collection box.

[0028] Compared with the prior art, the present invention has the following effects:

[0029] The pineapple combined harvester of the present invention, which integrates the functions of clamping, pulling and conveying, integrates the functions of leaf pulling, stem fixing and clamping, and fruit clamping and conveying, realizes the high mechanization of pineapple picking operation, and has the characteristics of high efficiency, low loss, delicate structure and easy operation. By setting a harvesting actuator, the manual pineapple picking method is imitated, the fruit damage is effectively reduced, and the picking efficiency is greatly improved. It is the core working part of the pineapple combined harvester, which plays the role of lifting the fallen plants, separating the fruit and leaves, picking the fruit, and lifting and collecting. Among them, the straw support component supports the fallen pineapple plants and guides the plants to the next harvesting process; the leaf-pushing mechanism can accurately separate the pineapple leaves and fruits, ensuring that the fruits are fully exposed, laying a convenient foundation for subsequent picking operations; the stem fixing and clamping mechanism realizes the stable clamping of the pineapple stems, providing fixed constraints on the lower end of the plant for pineapple picking; the fruit clamping and conveying mechanism picks the fruits by imitating the action of manually breaking the pineapples, realizing the precise clamping and conveying of the pineapple fruits, and simultaneously completing the breaking and pulling picking and lifting and collection operations.

[0030] The pineapple combined harvester of the present invention, which integrates clamping, breaking, dragging and conveying, has a unique highly integrated design of clamping, breaking, dragging and conveying, which ingeniously integrates multiple key links such as straightening and gathering pineapples, effective separation of fruit leaves, stable clamping of stems, precise fruit picking, stable fruit lifting and concentrated fruit collection, and constructs a smooth and efficient integrated operation process. It not only significantly improves the overall efficiency of the picking operation and greatly reduces the overall energy consumption level, but also greatly relieves the physical pressure of workers and creates a more comfortable working environment.

[0031] When picking pineapple fruits, the fruit clamping and conveying mechanism can simultaneously apply a 90-degree counterclockwise bending force and clamping stress at the front bend through its S-shaped structural design, showing a series of significant beneficial effects. Specifically, the rotational bending force generated by this component can simulate the action of manually breaking the pineapple at the pineapple stalk, forming a suitable torque, thereby realizing the breaking and pulling style of picking the pineapple fruit, greatly reducing the damage that the pineapple may suffer during the harvesting process and ensuring the integrity of the fruit. At the same time, the clamping force not only ensures that the fruit successfully falls off the plant, but also allows it to continue to move smoothly, and seamlessly completes the lifting and collection process of the fruit at one time after the picking process, which not only further reduces the potential damage to the fruit caused by traditional lifting methods, but also significantly simplifies the overall structure and operation process of the harvesting equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of the pineapple combined harvester integrating clamping, breaking, dragging and conveying of the present invention;

[0033] Figure 2It is a three-dimensional structural diagram of the harvesting execution mechanism;

[0034] Figure 3 It is a three-dimensional structural schematic diagram of the fruit clamping and conveying mechanism;

[0035] Figure 4 It is a schematic diagram of the three-dimensional structure of the fruit clamping and conveying assembly;

[0036] Figure 5 It is a partial enlarged schematic diagram of the fruit gripping and conveying assembly;

[0037] Figure 6 is a schematic diagram of a first three-dimensional structure of a flexible clamping unit;

[0038] Figure 7 is a schematic diagram of a second three-dimensional structure of the flexible clamping unit;

[0039] Figure 8 It is a three-dimensional structural schematic diagram of the stem fixing and clamping mechanism;

[0040] Fig. 9 is a top view schematic diagram of a stem fixing and clamping mechanism;

[0041] Fig.10 It is a three-dimensional structural schematic diagram of the leaf-moving mechanism;

[0042] Fig.11 It is a three-dimensional structural schematic diagram of a straw support assembly;

[0043] Fig.12 It is a schematic diagram of the three-dimensional structure of the rack;

[0044] Fig.13 It is a schematic diagram of the three-dimensional structure of the bearing platform;

[0045] Fig.14 It is a schematic diagram of the three-dimensional structure of the crawler-type mobile unit;

[0046] Fig.15 It is a schematic diagram of the three-dimensional structure of the crawler-type mobile unit (the second cover is not shown);

[0047] Fig.16 It is a schematic front view of the crawler-type mobile unit (the second cover is not shown).

[0048] In the figure:

[0049] 1. Mobile assembly; 11. Second cover; 12. Mounting frame; 13. Third motor; 14. Driving track wheel; 15. Driven track wheel; 16. Supporting track wheel; 17. Track; 18. Second chain drive assembly; 110. Outer sleeve;

[0050] 2. Frame; 21. Crossbeam; 22. Longitudinal beam; 23. Cable-stayed beam;

[0051] 3. Load-bearing platform; 31. Support frame; 32. Bottom plate; 33. Enclosure;

[0052] 4. Fruit collection box;

[0053] 5. Harvesting actuator; 51. Straw support assembly; 511. Straw support body; 512. Straw support bracket; 52. Leaf-pushing mechanism; 521. Roller bracket; 522. Leaf-pushing roller; 523. Leaf-pushing motor; 524. Glue stick; 53. Stem fixing and clamping mechanism; 531. Stem fixing and clamping unit; 532. Second synchronous motor; 533. Clamping belt; 534. First cover shell; 535. Support and positioning frame; 537. Driven pulley; 538. Tension wheel ; 539, second spring; 540, tension support wheel rod; 54, fruit clamping and conveying mechanism; 542, fruit clamping and conveying assembly; 544, flexible clamping chain; 545, guide chain plate; 546, first driving sprocket; 547, first driven sprocket; 548, first synchronous motor; 549, reducer; 550, flexible clamping chain link; 551, fixed base; 552, support rod; 554, upper support frame; 555, middle support frame; 556, lower support frame. DETAILED DESCRIPTION

[0054] Specific implementation method 1: Combination Figures 1 to 16 The technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0055] It should be noted that the descriptions of the present invention regarding directions such as "front", "back", "left", "right", "inside", "outside", "left side", "right side", "upper", "lower", "top", "bottom", etc. are all defined based on the relationship between the orientations or positions shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0056] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] A pineapple combined harvester integrating clamping, breaking, dragging and conveying, comprising a mobile assembly 1, a frame 2, a bearing platform 3, a fruit collecting box 4 and a harvesting actuator 5, wherein the bearing platform 3 is installed above the mobile assembly 1, and the frame 2 is fixedly installed in front of the bearing platform 3.

[0058] The harvesting execution mechanism 5 includes a straw support assembly 51, a leaf-pushing mechanism 52, a stem fixing clamping mechanism 53 and a fruit clamping and conveying mechanism 54. The fruit clamping and conveying mechanism 54 is arranged in an S-shaped structure. The front end of the fruit clamping and conveying mechanism 54 is a low end and is installed on the frame 2. The rear end of the fruit clamping and conveying mechanism 54 is a high end and is installed on the bearing platform 3. The fruit collecting box 4 is installed on the bearing platform 3 and is located below the fruit clamping and conveying mechanism 54.

[0059] The leaf-pushing mechanism 52 and the straw support assembly 51 are respectively installed at the front end of the frame 2, and the leaf-pushing mechanism 52 is arranged above the straw support assembly 51. The stem fixing clamping mechanism 53 is installed on the frame 2 and arranged at the front and lower part of the fruit clamping and conveying mechanism 54. Under the action of the fruit clamping and conveying mechanism 54, the fruit is picked, lifted and collected at one time.

[0060] The pineapple combined harvester of the present invention, which integrates the functions of clamping, breaking, pulling and conveying, integrates the functions of leaf pulling, stem fixing and clamping, and fruit clamping and conveying, realizes the high mechanization of pineapple picking operation, and has the characteristics of high efficiency, low loss, delicate structure and easy operation. By setting the harvesting actuator 5, the manual pineapple picking method is imitated, the fruit damage is effectively reduced, and the picking efficiency is greatly improved. It is the core working part of the pineapple combined harvester, which plays the role of lifting the fallen plants, separating the fruit and leaves, picking the fruit, and lifting and collecting. Among them, the straw support assembly 51 plays the role of supporting the fallen pineapple plants and guiding the plants to enter the next harvesting process; the leaf-pushing mechanism 52 can accurately separate the pineapple leaves and fruits, ensuring that the fruits are fully exposed, laying a convenient foundation for subsequent picking operations; the stem fixing clamping mechanism 53 realizes the stable clamping of the pineapple stems, providing a fixed constraint on the lower end of the plant for pineapple picking; the fruit clamping and conveying mechanism 54 picks the fruits by imitating the action of manually breaking the pineapple, realizes the precise clamping and conveying of the pineapple fruits, and simultaneously completes the breaking and pulling picking and lifting and collection operations.

[0061] The mobile assembly 1 is the core mobile component of the pineapple harvester, which bears the weight of the entire machine and provides the ability to flexibly shuttle and stably travel in the pineapple field. It carries the carrying platform 3 and the harvesting actuator 5 through the frame 2.

[0062] The load-bearing platform 3 is the load-bearing and transporting mechanism of the pineapple combined harvester. The load-bearing platform 3 includes a support frame 31, a bottom plate 32 fixed on the support frame 31, and a plurality of enclosures 33 mounted on the outside of the bottom plate 32, wherein one enclosure 33 is hinged to the bottom plate 32 and is movably connected to the adjacent rotating plate. An enclosure 33 is hinged on the bottom plate 32 by bolts. When the enclosure 33 is in a closed state, it can effectively block and fix the fruit collection box 4 placed on the bottom plate 32 to prevent it from tipping over or sliding during transportation. When the harvesting box needs to be loaded and unloaded, the enclosure 33 can be easily opened for easy transportation.

[0063] The frame 2 is the bearing structure of the pineapple harvester, and is a component that supports and connects the mobile assembly 1, the bearing platform 3 and the picking actuator 5. The frame 2 includes a plurality of cross beams 21, a plurality of longitudinal beams 22 and a plurality of diagonal beams 23, wherein the cross beams 21 are parallel to the ground and are used to connect the left and right sides of the frame 2, provide lateral support force, and can resist the impact force from the side direction, thereby enhancing the overall stability of the frame 2. The longitudinal beams 22 extend longitudinally along the frame 2 and are the main load-bearing components of the frame 2. They not only support the weight of the pineapple harvester, but are also responsible for transmitting the longitudinal load from the ground or other components. The diagonal beams 23 are welded to the cross beams 21 and the longitudinal beams 22 at an inclined angle to enhance the rigidity and stability of the frame 2.

[0064] The crop support assembly 51 includes a crop support body 511 and a crop support bracket 512. The crop support body 511 is installed at the front end of the frame 2 through the crop support bracket 512 and is arranged below the leaf-moving mechanism 52. The crop support body 511 can be welded from steel plates, and its appearance is a symmetrically divided half-vertebral structure. The crop support body 511 and the crop support bracket 512 can be connected by bolts to facilitate subsequent replacement and adjustment. The number of fruit clamping and conveying mechanisms 54 is one or more. When the number is multiple, multiple fruit clamping and conveying mechanisms 54 are arranged side by side to achieve efficient pineapple harvesting.

[0065] The pineapple harvester with integrated clamping, breaking, dragging and conveying of the present invention is also provided with a remote control system, which is the core hub for the driver to control the pineapple harvester. It allows the driver to monitor and adjust the various functions of the pineapple harvester in real time through advanced electronic interfaces and communication technologies in a safe position away from the work site. The system mainly includes three parts: a remote controller, a receiver and a control system. The system integrates sensor data feedback, an automatic control algorithm and an intuitive control interface, so that the driver can efficiently manage key operating parameters such as the start-up, travel speed, picking force, fruit collection and transportation of the machine. In addition, the remote control system also has fault diagnosis and early warning functions, which can timely detect and report mechanical faults, ensure that the harvesting operation is carried out continuously and stably, and lay a solid foundation for the modernization and intelligent development of the pineapple planting industry.

[0066] The pineapple combined harvester of the present invention, which integrates clamping, breaking, dragging and conveying, has a unique highly integrated design of clamping, breaking, dragging and conveying, which ingeniously integrates multiple key links such as straightening and gathering pineapples, effective separation of fruit leaves, stable clamping of stems, precise fruit picking, stable fruit lifting and concentrated fruit collection, and constructs a smooth and efficient integrated operation process. It not only significantly improves the overall efficiency of the picking operation and greatly reduces the overall energy consumption level, but also greatly relieves the physical pressure of workers and creates a more comfortable working environment.

[0067] When picking pineapple fruits, the fruit clamping and conveying mechanism can simultaneously apply a 90-degree counterclockwise bending force and clamping stress at the front bend through its S-shaped structural design, showing a series of significant beneficial effects. Specifically, the rotational bending force generated by this component can simulate the action of manually breaking the pineapple at the pineapple stalk, forming a suitable torque, thereby realizing the breaking and pulling style of picking the pineapple fruit, greatly reducing the damage that the pineapple may suffer during the harvesting process and ensuring the integrity of the fruit. At the same time, the clamping force not only ensures that the fruit successfully falls off the plant, but also allows it to continue to move smoothly, and seamlessly completes the lifting and collection process of the fruit at one time after the picking process, which not only further reduces the potential damage to the fruit caused by traditional lifting methods, but also significantly simplifies the overall structure and operation process of the harvesting equipment.

[0068] The fruit clamping and conveying mechanism 54 includes a support assembly and two groups of fruit clamping and conveying assemblies 542 arranged symmetrically, wherein each group of the fruit clamping and conveying assemblies 542 includes a driving assembly, a sprocket assembly, a guide chain plate 545 and a flexible clamping chain 544, the guide chain plate 545 is distributed in an S shape, and its lower, middle and upper parts are respectively fixedly mounted on the frame 2 and the bearing platform 3 through the support assembly, the driving assembly is mounted on the upper end of the guide chain plate 545 and its output end is connected to the first active sprocket 546 in the sprocket assembly, the first driven sprocket 547 in the sprocket assembly is rotatably mounted on the lower end of the guide chain plate 545, and the flexible clamping chain 544 is slidably arranged around the peripheral side of the guide chain plate 545 and forms a first chain transmission assembly with the sprocket assembly. With such a design, the guide chain plate 545 is distributed in an S shape in space to define the running track and spatial positioning of the flexible clamping chain 544. The support assembly fixes the fruit clamping and conveying assembly 542 on the frame 2 and the bearing platform 3 from the upper, middle and lower positions of the fruit clamping and conveying assembly 542, so as to ensure the stability of the fruit clamping and conveying mechanism 54 during operation. The driving assembly includes a first synchronous motor 548 and a reducer 549, wherein the first synchronous motor 548 is connected to the first active sprocket 546 through the reducer 549, and the first synchronous motor 548 realizes the operation of the flexible clamping chain 544 through the sprocket assembly. Under the clamping action of the two symmetrically arranged groups of fruit clamping and conveying assemblies 542, the fruit is pulled and picked, and the fruit is lifted and collected at one time. The support assembly includes an upper support frame 554, a middle support frame 555 and a lower support frame 556, wherein the upper support frame 554 and the middle support frame 555 are respectively fixedly mounted on the upper part and the front part of the bearing platform 3, and the lower support frame 556 is fixedly mounted on the frame 2.

[0069] The flexible clamping chain 544 includes a plurality of flexible clamping units connected end to end in sequence through a pin shaft, wherein the flexible clamping unit includes a flexible clamping chain link 550 and a contour clamp module installed on the flexible clamping chain link 550. With such a design, a plurality of flexible clamping units are connected to each other through a pin shaft to form a transmission chain system that is connected end to end and forms a closed loop. During the three-dimensional transportation process, the flexible clamping chain link 550 can adapt to the changes in the spatial layout, and adapt to various complex three-dimensional paths through the bending and torsion changes of two adjacent flexible clamping chain links 550, thereby realizing the three-dimensional transportation of the fruit.

[0070] The profiling clamp module includes a fixed base 551, a plurality of support rods 552 and a plurality of first springs, wherein the fixed base 551 is fixedly mounted on the flexible clamping chain link 550, a plurality of support rods 552 are arranged on the surface of the fixed base 551, and one end of each support rod 552 is connected to the fixed base 551 through a first spring. With such a design, a plurality of support rods 552 can be arranged in a matrix, and the support rods 552 and the fixed base 551 are connected through the first spring, so that the support rods 552 have a certain range of motion in their axial and radial directions, thereby making them have a certain height adaptability and clamping force, ensuring that fruits of different shapes and sizes are clamped with low damage, precision and stability. A plurality of support rods 552 are arranged on the fixed base 551 to form a certain clamping width, which has a low requirement on the accuracy of the clamping position of the pineapple, and as long as the pineapple fruit can be clamped, it can be picked, and compared with the prior art, the fault tolerance rate is larger.

[0071] The stem fixing and clamping mechanism 53 includes two symmetrically arranged stem fixing and clamping units 531, each stem fixing and clamping unit 531 includes a second synchronous motor 532, a clamping belt 533, a first cover shell 534, and a supporting and positioning frame 535 arranged in the first cover shell 534, a driving pulley, at least three driven pulleys 537 and a plurality of tension wheels 538, wherein the second synchronous motor 532 is mounted on the first cover shell 534 and its output end is fixedly connected to the driving pulley, the clamping belt 533 cooperates with the driving pulley and each driven pulley 537 to form a clamping belt transmission assembly, and a Y-shaped gap is formed between the two clamping belt transmission assemblies from front to back, and a plurality of tension wheels 538 are respectively connected to the supporting and positioning frame 535 through a tension support wheel rod 540 and a second spring 539. With such a design, the clamping belt 533 is distributed in a right-angle trapezoidal shape under the positioning action of the corresponding active pulley and the at least three driven pulleys 537, and is divided into two parallel sides, one long and one short, and the vertical side and the oblique side of the two parallel sides, wherein the parallel short side and the oblique side are the effective working range of the clamping belt 533 in the stem fixing clamping mechanism 53. The first cover 534 wraps the main working parts therein to protect the mechanism from external interference, and only the effective working range of the clamping belt 533 is exposed. The second synchronous motor 532 provides power for the active pulley, and drives the remaining driven pulleys 537 through belt transmission. The tension wheel 538 is close to the inner side of the clamping belt 533 to provide continuous tension for the clamping belt 533. The support positioning frame 535 provides positioning and support for the main components of the stem fixing clamping mechanism 53. A Y-shaped gap is formed from front to back between the two clamping belt drive components. The front part of the Y-shaped gap adopts a V-shaped convergence structure. Combined with the belt clamping method driven by a synchronous motor, the pineapple stems can be stably fixed, thereby enhancing stability during the picking process.

[0072] The middle part of the tension support wheel rod 540 is hinged to the support positioning frame 535, a tension wheel 538 is installed at one end of the tension support wheel rod 540, and a second spring 539 is connected between the support positioning frame 535 and the other end of the tension support wheel rod 540, and the second spring 539 is a tension spring. With such a design, the tension wheel 538 is always closely attached to the inner side of the clamping belt 533 through the tension of the second spring 539, and the two stem fixing clamping units 531 cooperate to adapt to the clamping power of stems with different diameters, ensuring sufficient clamping force.

[0073] The leaf-pushing mechanism 52 includes a roller bracket 521, a leaf-pushing roller 522, a leaf-pushing motor 523 and a plurality of glue sticks 524, wherein the roller bracket 521 is fixedly mounted at the front end of the frame 2, the leaf-pushing roller 522 and the leaf-pushing motor 523 are respectively mounted on the roller bracket 521, the leaf-pushing roller 522 is driven to rotate by the leaf-pushing motor 523, and a plurality of glue sticks 524 are arranged in a plurality of groups along the circumference of the leaf-pushing roller 522, and a plurality of leaf-pushing rollers 522 in each group are arranged along the axial direction of the glue sticks 524. With such a design, the leaf-pushing roller 522 is mounted on the roller bracket 521 through a bearing, so that the leaf-pushing roller 522 can rotate with the central axis as the axis, and the leaf-pushing motor 523 is used as a power source to drive the leaf-pushing roller 522 to drive the glue sticks 524 to rotate. By arranging a plurality of glue sticks 524 on the surface of the leaf-pushing roller 522, it is easier to separate the leaves wrapped in the pineapple fruit from the fruit body. The leaf-pushing mechanism 52 of the present invention achieves a significant beneficial effect in order to solve the problem that the traditional straw-pushing device easily causes the leaves to wrap around the fruit and affects the picking efficiency during pineapple harvesting. Through the precisely designed leaf-pushing action, the mechanism can effectively separate the leaves wrapped around the pineapple fruit and press them down to below the horizontal plane where the fruit is located, thereby significantly reducing the obstruction and interference of the leaves on the fruit during the picking process, and creating a convenient operating space for subsequent fruit picking.

[0074] An inner sleeve is vertically fixed at the bottom of the bearing platform 3, and an outer sleeve 110 is vertically fixed at the top of the mobile assembly 1. The bearing platform 3 is installed above the mobile assembly 1 through the inner sleeve and the outer sleeve 110 that cooperate with each other, and the inner sleeve and the outer sleeve 110 are connected by pins. With such a design, multiple pin holes are respectively provided on the inner sleeve and the outer sleeve 110 along their height direction, and the number of the inner sleeve and the outer sleeve 110 is the same, preferably two or more. Through the relative sliding movement of the inner sleeve and the outer sleeve 110, combined with the pre-designed pin hole positioning mechanism, the pin is used to achieve precise adjustment of the length, thereby achieving height position adjustment of the bearing platform 3, the frame 2 and the harvesting actuator 5, and effectively adjusting the height of the picking actuator 5 from the ground, thereby meeting the diversified needs of picking different varieties of pineapples.

[0075] The mobile assembly 1 includes two crawler-type mobile units arranged in parallel, and the crawler-type mobile unit includes a second cover 11 and a mounting frame 12, a third motor 13, a second chain drive assembly 18 and a track wheel assembly arranged in the second cover 11. The third motor 13 is fixed on the mounting frame 12, and the third motor 13 drives the track wheel assembly to move through the second chain drive assembly 18. With such a design, the two crawler-type mobile units are symmetrically distributed on the left and right sides of the whole machine with the center cross section of the whole machine. The mounting frame 12 is the skeleton of the crawler-type mobile unit, which bears the weight of core components such as the third motor 13, the second chain drive assembly 18, and the track wheel assembly, and ensures the stability and accuracy of these components during installation and operation. The track wheel assembly includes a driving track wheel 14, a driven track wheel 15, a plurality of supporting track wheels 16 and a crawler 17. The second cover 11 provides comprehensive and necessary protection for the crawler mobile unit, effectively blocking the interference of the external environment on the crawler mobile unit, especially preventing plant materials such as pineapple leaves from being accidentally involved in the crawler drive system, which is crucial to preventing the whole machine from being obstructed and ensuring operating efficiency. The third motor 13 serves as a power source to drive the second active sprocket in the second chain drive assembly 18 to rotate, and the rotational motion is transmitted to the second driven sprocket through the chain drive system, thereby driving the track wheel 14 to rotate. Under the coordinated support and guiding action of the driven track wheel 15 and the supporting track wheel 16, the driving track wheel 14 drives the entire track 17 to move around, thereby realizing the effective travel and flexible movement of the crawler mobile unit. The outer sleeve 110 is fixedly mounted on the top of the mounting frame 12. A battery pack is provided on each crawler mobile unit.

[0076] A pineapple harvesting method using the above-mentioned pineapple combine harvester comprises the following steps:

[0077] Step 1, preparation stage:

[0078] The whole machine structure operation is checked to ensure that it is in normal working condition. At the same time, according to the planting density characteristics of pineapple plants, the driving speed of the mobile assembly 1 and the rotation speed of each working component in the harvesting actuator 5 are pre-set; before the pineapple combined harvester with clamping, breaking, pulling and conveying is operated, the leaf-picking mechanism 52, the stem fixing clamping mechanism 53 and the fruit clamping and conveying mechanism 54 in the picking actuator 5 are first started, and the whole machine is controlled by the remote control system to move forward, backward and turn, etc., so as to conduct a comprehensive inspection of the whole machine structure operation to ensure that it is in normal working condition. According to the actual height of the pineapple field plants, the driver adjusts the ground clearance of the whole machine to ensure that each component in the picking actuator 5 can correspond to its respective operation object, and ensure that the whole machine can easily cross the pineapple planting row during the travel process to meet the actual operation needs. At the same time, according to the planting density characteristics of the pineapple plants, the constant working speed of the harvester, that is, the speed of the third motor 13, is preset, and the leaf-moving motor 523, the synchronous motor of the stem fixing clamping unit 531, and the synchronous motor of the fruit clamping and conveying assembly 542 are adjusted through the control system to achieve the matching of the speed of the working parts with the forward speed of the whole machine. This step ensures the smoothness of the pineapple feeding and picking process, avoids problems such as blockage or misalignment, and thus ensures the smooth progress of the picking work. So far, the preparation work before the pineapple combined harvester is completed.

[0079] Step 2: Straighten and gather the pineapple plants:

[0080] Adjust the route of the combine harvester to ensure that the front harvesting actuator 5 corresponds to the pineapple planting row, and lift up the fallen pineapple plants through the straw supporter 511; after the clamping, breaking, pulling and conveying integrated pineapple combine harvester reaches a stable state, adjust the route of the combine harvester through remote control driving to ensure that the front harvesting actuator 5 corresponds to the pineapple planting row, and the harvester will not damage the pineapple plants when driving between the rows. The combine harvester moves along the planting row and starts the harvesting operation process. The first to enter the pineapple bush is the straw supporter 511 at the front end of the combine harvester, which relies on the conical curved guide plate structure to effectively lift up the fallen pineapple plants and complete the work of straightening and gathering the pineapple plants.

[0081] Step 3: Separation of fruit and leaves:

[0082] After the pineapple plant is lifted up, the leaves on the periphery of the pineapple fruit are pressed down by the leaf-pushing mechanism 52 to separate the fruit from the leaves; while the straw-pushing device 511 effectively straightens the pineapple plant, its function of gathering and collecting leaves also raises a problem: the leaves on the upper end of the pineapple stem close to the fruit stalk will tightly wrap the pineapple fruit, which undoubtedly constitutes an obstacle to the subsequent fruit picking operation. In order to solve this problem, it is necessary to use the leaf-pushing mechanism 52 to accurately separate the fruit from the leaves, ensuring that the fruit is fully exposed, so as to facilitate the picking work. Under normal working conditions, the leaf-pushing rollers 522 of the leaf-pushing mechanism 52 rotate at a constant speed under the drive of the motor, and two leaf-pushing rollers 522 form a group corresponding to one pineapple plant. The distance between the two leaf-pushing rollers 522 can allow the pineapple to pass through, but the pineapple leaves wrapped around the periphery of the fruit will be gradually pressed down and separated from the fruit under the action of the glue stick 524 on the rotating leaf-pushing roller 522. As the harvester moves forward, the leaves are moved from below the leaf-pushing roller 522 to below the roller bracket 521 under the back-pushing action of the glue stick 524, and are gradually pressed down further by the inclined surface of the front end of the roller bracket 521 until they reach the lowest point at the end of the roller bracket 521. At this point, the leaves that previously wrapped around the pineapple fruit and hindered the harvesting have been completely separated from the fruit under the action of the leaf-pushing roller 522, completing the separation of the fruit and leaves, and the top of the plant leaks out obvious pineapple fruit to be harvested.

[0083] Step 4: Clamp the stem:

[0084] As the moving assembly 1 drives the whole machine forward, the stem fixing clamping mechanism 53 clamps the stem part at the lower end of the pineapple stalk; during the process of breaking and picking the pineapple fruit, the pineapple stem should be kept fixed, so as to achieve a bending moment at the connection of the stalk, thereby achieving effective separation of the stalk. Although the root system of the pineapple plant is fixed to the ground, the fixed point is far away from the position of the stalk, which leads to a large lever effect or unstable factors in the picking process, which is not conducive to the smooth picking of the fruit. In order to further enhance the stability and control force during the picking process, it is necessary to further constrain and fix the pineapple plant through the stem fixing clamping mechanism 53. The stem fixing clamping mechanism 53 is designed to be composed of two symmetrically arranged stem fixing clamping units 531, which form a V-shaped convergence structure at the front end, aiming to accurately guide the pineapple plant to enter the predetermined position smoothly. During the operation, the synchronous motor is used as a power source to drive the belt through the coordinated operation of the transmission system, including the driving pulley and the driven pulley 537. Guided by the belt, the pineapple plants pass through the end of the V-shaped closing structure one by one, and smoothly enter the clamping interval defined by the two clamping units. At this time, the distance between the two belts is at the minimum state. Tension support wheels are arranged inside each stem fixing clamping unit 531. These support wheels generate support tension on the inner side of the clamping belt 533 under the action of the constant prestress provided by the tension spring. It is worth noting that the support tension generated inside the clamping belt 533 of the two stem fixing clamping units 531 is equal in magnitude but opposite in direction. When these tensions act on the pineapple stem, they are converted into balanced and effective clamping stresses, thereby firmly fixing the stem part at the lower end of the pineapple stalk, thereby achieving effective fixed constraint of the pineapple stem.

[0085] Step 5: Breaking and lifting the pineapple fruit for harvest:

[0086] After the pineapple plants have been straightened, leafed and fixedly clamped, their fruits are smoothly conveyed between the two groups of fruit clamping and conveying components 542 to start the picking operation. During the picking process, first, the pineapple fruit enters the front section of the fruit clamping and conveying mechanism 54. During this process, the front part of the fruit clamping and conveying mechanism 54 firmly clamps the pineapple fruit and conveys it backward in the horizontal direction. The stem fixing clamping mechanism 53 below it firmly clamps the pineapple stem and conveys it backward in the horizontal direction. Subsequently, the pineapple fruit enters the middle section of the fruit clamping and conveying mechanism 54. During this process, the conveying direction of the fruit clamping and conveying mechanism 54 gradually changes from horizontal to vertical, and a bending moment gradually accumulates in the calyx part of the pineapple. When the bending moment exceeds the connection stress between the fruit and the stem, the fruit stalk will break, thereby separating the fruit from the fruit stalk. Finally, the pineapple fruit enters the rear section of the fruit clamping and conveying mechanism 54, and the conveying direction changes again, gradually transitioning from a direction perpendicular to the ground to a direction parallel to the bearing platform 3, and finally the fruit falls into the fruit collection box 4. The fruit clamping and conveying mechanism 54 is the core component of the fruit breaking, picking, lifting and collecting. The two groups of fruit clamping and conveying components 542 are combined into one at the upper, middle and lower positions through the clamping and conveying mechanism support frame, and fixed on the frame 2. During operation, the first synchronous motor 548 drives the first active sprocket 546 to rotate through the reducer 549, and under the coordinated action of the first driven sprocket 547, the flexible clamping chain 544 begins to run along the S-shaped path carefully constructed by the guide chain plate 545 in three-dimensional space. In a group of fruit clamping and conveying components 542, the rotation speeds of the two first synchronous motors 548 remain consistent but the rotation directions are opposite. This design enables the corresponding group of flexible clamping chains 544 of the clamping mechanism to run at the same speed but in opposite directions. With this configuration, a continuous and stable clamping space is constructed between the two groups of components. The generation of clamping force mainly depends on the contoured clamp module on the flexible clamping unit. In this module, the support rods 552 are arranged in an array, and under the elastic force of the first spring, they can flexibly adapt to and clamp various irregularly shaped materials. Therefore, it can achieve accurate contour clamping for pineapple fruits with uneven surfaces, and at the same time show adaptability to pineapple fruits of different sizes.

[0087] After the pineapple plant has been straightened, leafed and fixedly clamped, its fruit can be smoothly sent between the two groups of fruit clamping and conveying components 542 to start the picking operation. This process is mainly divided into three links: First, in the front end area of ​​the flexible clamping chain 544, this section of the clamping chain is in a horizontal state, which is mainly responsible for accurately positioning and firmly clamping the pineapple fruit. Then, entering the middle section of the flexible clamping chain 544, the transmission direction of the clamping chain gradually changes from horizontal to vertical to the ground. In this process, the flexible clamping chain 544 firmly holds the pineapple fruit, and at the same time, the stem fixing clamping mechanism 53 also tightly fixes the pineapple stem. Therefore, a bending moment gradually accumulates in the calyx part of the pineapple. When this bending moment exceeds the connection stress between the fruit and the stem, the fruit stalk will break, thereby realizing the separation of the fruit and the fruit stalk, and completing the breaking and pulling type fruit picking. Then, with the continuous operation of the flexible conveyor belt, the fruit is slowly raised with the conveyor chain. Finally, at the end of the flexible clamping chain 544, the conveying direction changes again, gradually transitioning from vertical to parallel to the carrying platform 3. At this stage, the pineapple fruit falls off naturally at the end of the flexible chain and falls into the preset collection box on the carrying platform 3. At this point, the pulling and lifting harvesting of the pineapple fruit is completed.

[0088] After being picked and transported by the fruit clamping and conveying mechanism 54, the pineapple fruits are transferred to the carrying platform 3 and gathered and accumulated there. When the pineapple fruits on the carrying platform 3 reach the preset full load, it indicates that the operation in the current harvesting area has come to an end. At this time, the harvester will be driven to the edge of the field, and the operator will transfer the fully loaded collection box from the carrying platform 3 to the transport vehicle for subsequent transportation and storage. After completing this transportation process, the harvester will return to the pineapple field and continue the next round of pineapple harvesting operations. So far, a pineapple harvesting work cycle process has been completed.

[0089] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A pineapple combined harvester integrating clamping, breaking, pulling and conveying, characterized in that: The invention comprises a moving assembly (1), a frame (2), a bearing platform (3), a fruit collecting box (4) and a harvesting execution mechanism (5), wherein the bearing platform (3) is installed above the moving assembly (1), the frame (2) is fixedly mounted on the front of the bearing platform (3), the harvesting execution mechanism (5) comprises a straw support assembly (51), a leaf-moving mechanism (52), a stem fixing clamping mechanism (53) and a fruit clamping and conveying mechanism (54), the fruit clamping and conveying mechanism (54) being arranged in an S-shaped structure, the front end of the fruit clamping and conveying mechanism (54) being a low end and being installed on the frame (2), and the fruit clamping and conveying mechanism (54) being a low end and being installed on the frame (2). The rear end of the mechanism (54) is a high end and is mounted on the bearing platform (3); the fruit collecting box (4) is mounted on the bearing platform (3) and is located below the fruit clamping and conveying mechanism (54); the leaf-pushing mechanism (52) and the straw-supporting device assembly (51) are respectively mounted on the front end of the frame (2); the leaf-pushing mechanism (52) is arranged above the straw-supporting device assembly (51); the stalk fixing and clamping mechanism (53) is mounted on the frame (2) and is arranged below the front part of the fruit clamping and conveying mechanism (54); and under the action of the fruit clamping and conveying mechanism (54), the fruit is picked, lifted and collected at one time.

2. The pineapple combined harvester integrating clamping, breaking, dragging and conveying according to claim 1, characterized in that: The fruit clamping and conveying mechanism (54) comprises a support assembly and two groups of symmetrically arranged fruit clamping and conveying assemblies (542), wherein each group of the fruit clamping and conveying assemblies (542) comprises a driving assembly, a sprocket assembly, a guide chain plate (545) and a flexible clamping chain (544); the guide chain plate (545) is distributed in an S shape, and its lower part, middle part and upper part are respectively fixedly mounted on the frame (2) and the bearing platform (3) through the support assembly; the driving assembly is mounted on the upper end of the guide chain plate (545) and its output end is connected to the first active sprocket (546) in the sprocket assembly; the first driven sprocket (547) in the sprocket assembly is rotatably mounted on the lower end of the guide chain plate (545); and the flexible clamping chain (544) is slidably arranged around the peripheral side of the guide chain plate (545) and forms a first chain transmission assembly with the sprocket assembly.

3. The pineapple combined harvester integrating clamping, breaking, dragging and conveying according to claim 2, characterized in that: The flexible clamping chain (544) comprises a plurality of flexible clamping units connected end to end in sequence via pins, wherein the flexible clamping units comprise flexible clamping chain links (550) and contoured clamp modules mounted on the flexible clamping chain links (550).

4. The pineapple combined harvester integrating clamping, breaking, dragging and conveying according to claim 3 is characterized in that: The contoured clamp module comprises a fixed base (551), a plurality of support rods (552) and a plurality of first springs, wherein the fixed base (551) is fixedly mounted on the flexible clamping chain link (550), the plurality of support rods (552) are arranged on the surface of the fixed base (551), and one end of each support rod (552) is correspondingly connected to the fixed base (551) via the first spring.

5. The pineapple combined harvester integrating clamping, breaking, dragging and conveying according to claim 1, characterized in that: The stem fixing and clamping mechanism (53) comprises two symmetrically arranged stem fixing and clamping units (531), each stem fixing and clamping unit (531) comprises a second synchronous motor (532), a clamping belt (533), a first cover shell (534), a supporting and positioning frame (535) arranged in the first cover shell (534), a driving pulley, at least three driven pulleys (537) and a plurality of tension wheels (538), wherein the second synchronous motor (532) is mounted on the first cover shell (534) and its output end is fixedly connected to the driving pulley, the clamping belt (533) cooperates with the driving pulley and each driven pulley (537) to form a clamping belt transmission assembly, a Y-shaped gap is formed between the two clamping belt transmission assemblies from front to back, and a plurality of tension wheels (538) are respectively connected to the supporting and positioning frame (535) through a tension support wheel rod (540) and a second spring (539).

6. The pineapple combined harvester integrating clamping, breaking, dragging and conveying according to claim 5, characterized in that: The middle part of the tension support wheel rod (540) is hinged to the support positioning frame (535), a tension wheel (538) is installed at one end of the tension support wheel rod (540), and a second spring (539) is connected between the support positioning frame (535) and the other end of the tension support wheel rod (540), and the second spring (539) is a tension spring.

7. The pineapple combined harvester integrating clamping, breaking, dragging and conveying according to claim 1, characterized in that: The leaf-pushing mechanism (52) comprises a roller bracket (521), a leaf-pushing roller (522), a leaf-pushing motor (523) and a plurality of glue sticks (524), wherein the roller bracket (521) is fixedly mounted on the front end of the frame (2), the leaf-pushing roller (522) and the leaf-pushing motor (523) are respectively mounted on the roller bracket (521), the leaf-pushing roller (522) is driven to rotate by the leaf-pushing motor (523), and the plurality of glue sticks (524) are arranged in a plurality of groups along the circumference of the leaf-pushing roller (522), and the plurality of leaf-pushing rollers (522) in each group are arranged along the axial direction of the glue stick (524).

8. The pineapple combined harvester integrating clamping, breaking, dragging and conveying according to claim 1, characterized in that: An inner sleeve is vertically fixed to the bottom of the bearing platform (3), an outer sleeve (110) is vertically fixed to the top of the moving assembly (1), and the bearing platform (3) is installed above the moving assembly (1) through the inner sleeve and the outer sleeve (110) that cooperate with each other, and the inner sleeve and the outer sleeve (110) are connected by pins.

9. The pineapple combined harvester integrating clamping, breaking, dragging and conveying according to claim 1, characterized in that: The mobile assembly (1) comprises two crawler-type mobile units arranged in parallel, the crawler-type mobile unit comprising a second housing (11), a mounting frame (12) arranged in the second housing (11), a third motor (13), a second chain transmission assembly (18) and a crawler wheel assembly, the third motor (13) being fixedly mounted on the mounting frame (12), and the third motor (13) driving the crawler wheel assembly to move through the second chain transmission assembly (18).

10. A pineapple harvesting method using the pineapple combined harvester according to any one of claims 1 to 9, characterized in that: The steps include: Step 1, preparation stage: The operation of the whole machine structure is checked to ensure that it is in normal working condition. At the same time, the travel speed of the moving assembly (1) and the rotation speed of each working component in the harvesting actuator (5) are pre-set according to the planting density characteristics of the pineapple plants; Step 2: Straighten and gather the pineapple plants: Adjusting the travel route of the combined harvester to ensure that the harvesting actuator (5) at the front end corresponds to the pineapple planting row, and raising the fallen pineapple plants by means of the straw raising device (511); Step 3: Separation of fruit and leaves: After the pineapple plant is lifted up, the leaves on the periphery of the pineapple fruit are pressed down by the leaf-pushing mechanism (52) to separate the fruit from the leaves; Step 4: Clamp the stem: As the moving assembly (1) drives the whole machine forward, the stem fixing clamping mechanism (53) clamps the stem portion at the lower end of the pineapple stalk; Step 5: Breaking and lifting the pineapple fruit for harvest: After the pineapple plants have been straightened, leafed and fixedly clamped, their fruits are smoothly conveyed between the two groups of fruit clamping and conveying components (542) to start the picking operation. During the picking process, first, the pineapple fruits enter the front section of the fruit clamping and conveying mechanism (54). During this process, the front section of the fruit clamping and conveying mechanism (54) firmly clamps the pineapple fruits and conveys them backward in the horizontal direction, and the stem fixing clamping mechanism (53) below it firmly clamps the pineapple stems and conveys them backward in the horizontal direction; then, the pineapple fruits enter the fruit clamping and conveying mechanism During this process, the conveying direction of the fruit clamping and conveying mechanism (54) gradually changes from horizontal to vertical, and a bending moment gradually accumulates in the calyx of the pineapple. When the bending moment exceeds the connection stress between the fruit and the stem, the fruit stalk will break, thereby achieving separation of the fruit from the fruit stalk; finally, the pineapple fruit enters the rear section of the fruit clamping and conveying mechanism (54), and the conveying direction changes again, gradually transitioning from a direction perpendicular to the ground to a direction parallel to the carrying platform (3), and the fruit finally falls into the fruit collection box (4).

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