Pineapple auxiliary picking mechanical arm and using method thereof

Abstract

The invention relates to the technical field of pineapple picking mechanical arms, and discloses an auxiliary pineapple picking mechanical arm and a using method thereof.The auxiliary pineapple picking mechanical arm comprises a support, a monitoring device is fixedly connected to the top of the inner wall of the support, a bottom plate is fixedly connected to the bottom of the support, a mounting rod is fixedly connected to the bottom of the bottom plate, and moving wheels are rotatably connected to the inner wall of the mounting rod; the surface of the mounting rod is fixedly connected with a power device, the picking part comprises a hydraulic rod, and the top of the hydraulic rod is fixedly connected with the bottom of the monitoring device. When pineapples need to be picked, a power device is started to drive a moving wheel to rotate, the moving wheel drives a support to move in a pineapple planting field when rotating, a monitoring device is arranged at the top of the inner wall of the support and monitors the pineapples, and when the monitoring device monitors the mature pineapples, a hydraulic rod is started to move downwards, so that the pineapples are picked up. And the height of the picking frame is adjusted through the hydraulic rod, so that the picking frame can sleeve the pineapples.

Description

Technical Field

[0001] The invention relates to the technical field of pineapple picking mechanical arms, and in particular to a pineapple auxiliary picking mechanical arm and a use method thereof. Background Art

[0002] The scientific name of pineapple is pineapple, and its other names include sweet pear, pandanus, yellow pear, etc. The fruit of pineapple is cylindrical, composed of many ovaries and flower axis. The peel is covered with thorn-like fruit eyes, the flesh is juicy, and the taste is moderately sweet and sour. The pineapple picking time is usually concentrated from March to May every year. At present, pineapples are generally picked manually. When picking, workers use sharp machetes to cut the pineapples. During the picking process, workers need to bend over constantly, which is quite strenuous. The pineapple leaves are relatively hard, and workers will inevitably come into contact with the pineapple leaves when using machetes. Workers are easily scratched when in contact with the pineapple leaves. Summary of the invention

[0003] The object of the present invention is to provide a pineapple auxiliary picking mechanical arm and a use method thereof to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention provides a pineapple auxiliary picking mechanical arm and a method for using the same, comprising a bracket, a monitoring device fixedly connected to the top of the inner wall of the bracket, a bottom plate fixedly connected to the bottom of the bracket, a mounting rod fixedly connected to the bottom of the bottom plate, a moving wheel rotatably connected to the inner wall of the mounting rod, a power device fixedly connected to the surface of the mounting rod, and further comprising: A picking component, the picking component comprises a hydraulic rod, the top of the hydraulic rod is fixedly connected to the bottom of the monitoring device, the bottom of the hydraulic rod is fixedly connected to a center block, and the surface of the center block is fixedly connected to an electric push rod; A separation component, the separation component comprises a connecting frame, and an extrusion frame is hingedly connected to the surface of the connecting frame; The unloading component comprises a positioning frame, and the top of the positioning frame is fixedly connected with a spring.

[0005] Furthermore, a separation rack is fixedly connected to the surface of the bracket, a through hole is provided on the surface of the bracket, the bottom of the separation rack is connected to the unloading rack, an inclined rack is fixedly connected to the lower surface of the bracket, the end of the inclined rack away from the bracket is connected to the storage rack, an extension hole is provided on the surface of the separation rack, the output end of the power device is fixedly connected to the surface of the moving wheel, the top of the separation rack is connected to the bottom of the through hole, and the inclined rack is located below the unloading rack.

[0006] Further, the picking component includes a support plate, the end of the support plate is fixedly connected to the telescopic end of the electric push rod, an auxiliary hole is opened at one end of the support plate away from the electric push rod, a mounting frame is fixedly connected to the end of the support plate away from the electric push rod, an arc plate is fixedly connected to the top of the mounting frame, a connecting plate is fixedly connected to the bottom of the support plate, a picking frame is fixedly connected to the end of the connecting plate away from the support plate, a circular ring frame is fixedly connected to the surface of the picking frame, a stabilizing plate is fixedly connected to the surface of the circular ring frame, and a telescopic rod is slidably connected to the inner wall of the stabilizing plate; The end of the telescopic rod is fixedly connected to an arc plate, the end of the arc plate away from the telescopic rod is fixedly connected to a cutting knife, the end of the telescopic rod away from the arc plate is fixedly connected to a linkage plate, the surface of the linkage plate is fixedly connected to a bidirectional electric push rod, the surface of the bidirectional electric push rod is fixedly connected to a fixing frame, and the surface of the fixing frame is fixedly connected to the surface of the picking frame.

[0007] Furthermore, there are two support plates, which are symmetrically arranged around the central block, and one end of the arc plate away from the mounting frame extends above the support plate, and the circular ring frame is located below the connecting plate.

[0008] Furthermore, the end of the telescopic rod extends to the outer end of the stabilizing plate, the end of the arc plate away from the cutting knife contacts the inner wall of the circular ring frame, and the end of the cutting knife contacts the inner wall of the circular ring frame.

[0009] Further, the separation component comprises a base, the lower surface of the base is hinged to the center of the extrusion frame, the top of the base is fixedly connected to an elastic rod, and the top of the elastic rod is fixedly connected to a top frame; The bottom of the top frame is fixedly connected with a slide rod, the bottom of the slide rod is fixedly connected with a rubber disc, the top of the support plate is fixedly connected with a contact frame, and the bottom of the connecting frame is fixedly connected with the top of the linkage plate.

[0010] Furthermore, one end of the base away from the extrusion frame extends to above the support plate, the base and the auxiliary hole correspond to each other, the surface of the sliding rod is slidably connected to the inner wall of the contact frame, the surface of the rubber disc is in contact with the inner wall of the contact frame, the bottom of the rubber disc and the bottom of the support plate are horizontally arranged, and the extrusion frame is arranged in a triangle.

[0011] Furthermore, the unloading component comprises a lifting rod, the surface of the lifting rod is slidably connected to the inner wall of the positioning frame, the top of the lifting rod is fixedly connected to a circular plate, and the bottom of the lifting rod is fixedly connected to an inclined plate; The bottom of the inclined plate is fixedly connected with a rubber block, the top of the spring is fixedly connected with the bottom of the circular plate, and the bottom of the positioning frame is fixedly connected with the top of the separation frame.

[0012] Furthermore, the end of the lifting rod extends to the outer end of the positioning frame, the inclined panel is located inside the separation frame, and the bottom of the inclined panel extends to the inside of the unloading frame.

[0013] Furthermore, a method for using a pineapple-assisted picking mechanical arm comprises the following steps: S1: When pineapples need to be picked, the power device is started to drive the moving wheels to rotate. When the moving wheels rotate, they drive the bracket to move inside the pineapple planting area. A monitoring device is set on the top of the inner wall of the bracket to monitor the pineapples. When the monitoring device detects a ripe pineapple, the hydraulic rod is started to move downward, and the height of the picking rack is adjusted by the hydraulic rod; S2: After the picking frame covers the pineapple with the downward movement of the hydraulic rod, the bidirectional electric push rod is started to retract. When the bidirectional electric push rod retracts, the arc plate is pushed to move toward the outer end of the circular frame through the connection between the linkage plate and the telescopic rod. When the arc plate moves, it pushes the cutting knife to pick the pineapple; S3: When the base moves downward, the connection between the elastic rod and the top frame pushes the slide rod to move downward. At this time, the rubber disc at the bottom of the slide rod will contact the top of the pineapple. When the base moves downward, it will pull the elastic rod to compress. When the cutter moves to the inside of the ring frame, the slide rod uses the elasticity of the elastic rod to push the pineapple to move to the outer end of the picking frame; S4: When the inclined plate moves upward, the connection between the lifting rod and the circular plate pulls the spring to extend. When the support plate moves toward the outer end of the separation rack, the inclined plate slides downward on the surface of the arc plate using the connection of the spring. The arc plate is used to frictionally limit the inclined plate. When the arc plate is separated from the inclined plate, the inclined plate will enter the interior of the unloading rack and contact the pineapple stuck in the unloading rack.

[0014] The present invention has the following beneficial effects: When the present invention needs to pick pineapples, the power device is started to drive the moving wheels to rotate. When the moving wheels rotate, the bracket is driven to move inside the pineapple planting field. A monitoring device is arranged on the top of the inner wall of the bracket. The monitoring device monitors the pineapples. When the monitoring device detects that the pineapples are ripe, the hydraulic rod is started to move downward. The height of the picking rack is adjusted by the hydraulic rod so that the picking rack can cover the pineapples. The electric push rod can adjust the position of the support plate. The electric push rod and the hydraulic rod cooperate with each other to transport the picking rack to the top of the pineapples for picking. After the frame covers the pineapple as the hydraulic rod moves downward, the two-way electric push rod is started to retract. When the two-way electric push rod retracts, it pushes the arc plate to move toward the outer end of the circular frame through the connection between the linkage plate and the telescopic rod. When the arc plate moves, it pushes the cutting knife to pick the pineapple, so that the pineapple can be quickly separated from the pineapple tree to avoid damage to the pineapple tree when the pineapple is pulled. When the cutting knife moves to the bottom of the pineapple, the cutting knife can support the pineapple, so that the picked pineapple can be stored inside the picking frame to avoid the pineapple from falling off after picking.

[0015] After the pineapples are picked inside the picking rack of the present invention, the hydraulic rod is started to push the picking rack to move upward. When the picking rack corresponds to the separation rack, the electric push rod is started to push the support plate to move inside the separation rack. The picking rack moves to the inside of the separation rack along with the support plate and is located above the unloading rack. At this time, the two-way electric push rod is started to extend. When extending, the two-way electric push rod will pull the telescopic rod to extend. After the telescopic rod is extended, the length will increase. When the telescopic rod is extended to the limit, it will pull the arc plate to contact the inner wall of the circular frame. At the same time, the center of the extrusion frame will drive the base to move downward along with the movement of the two-way electric push rod. When the cutting knife is in the When the pineapple is under the pineapple, the base moves downward and pushes the slide bar to move downward through the connection between the elastic rod and the top frame. At this time, the rubber disc at the bottom of the slide bar will contact the top of the pineapple. When the base moves downward, it will pull the elastic rod to compress. When the cutting knife moves to the inside of the circular ring frame, the slide bar uses the elasticity of the elastic rod to push the pineapple to move toward the outer end of the picking frame to complete the unloading of the pineapple, avoiding the pineapple from being stuck in the inside of the picking frame and affecting the continuous operation of the picking frame. The pineapple enters the inside of the inclined frame through the unloading frame, and slides to the inside of the storage frame for storage by using the inclination of the inclined frame, so that the picking frame can perform continuous picking operations on the pineapple.

[0016] When the support plate of the present invention moves toward the inside of the separation frame, the mounting frame pushes the arc plate to contact the inclined plate as the support plate moves, and pushes the inclined plate upward during the movement. When the inclined plate moves upward, the spring is pulled to extend by the connection between the lifting rod and the circular plate. When the support plate moves toward the outer end of the separation frame, the inclined plate slides downward on the surface of the arc plate by utilizing the connection of the spring, and the arc plate is used to perform friction limiting on the inclined plate to avoid excessive impact force of the inclined plate. When the arc plate is separated from the inclined plate, the inclined plate will enter the interior of the unloading rack and contact the pineapple stuck in the unloading rack, and the pineapple will be squeezed by the rubber block at the bottom of the inclined plate to avoid the pineapple being stuck in the interior of the unloading rack and affecting the unloading effect.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the mounting rod structure of the present invention; Figure 3 This is a schematic diagram of the separation frame structure of the present invention; Figure 4 This is a schematic diagram of the overall structure of the picking component of the present invention; Figure 5 This is another structural schematic diagram of the picking component of the present invention; Figure 6 For the present invention Figure 5 A magnified schematic diagram of part A in FIG. Figure 7 It is a schematic diagram of the overall structure of the separation component of the present invention; Figure 8 It is a schematic diagram of the overall structure of the unloading component of the present invention; Fig. 9 It is a schematic diagram of the process structure of the present invention.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows: In the figure: 1, bracket; 2, monitoring device; 3, bottom plate; 4, mounting rod; 5, moving wheel; 6, power device; 7, picking part; 8, separation part; 9, unloading part; 10, separation rack; 11, unloading rack; 12, storage rack; 13, inclined rack; 14, extension hole; 15, through hole; 20, hydraulic rod; 21, center block; 22, electric push rod; 23, auxiliary hole; 24, connecting plate; 25, picking rack; 26, ring rack; 27, support plate; 28. Mounting frame; 29. ​​Arc plate; 30. Linking plate; 31. Fixed frame; 32. Two-way electric push rod; 33. Telescopic rod; 34. Arc plate; 35. Cutting knife; 36. Stabilizing plate; 40. Connecting frame; 41. Extrusion frame; 42. Base; 43. Elastic rod; 44. Sliding rod; 45. Top frame; 46. Contact frame; 47. Rubber disc; 50. Positioning frame; 51. Spring; 52. Round plate; 53. Lifting rod; 54. Inclined panel; 55. Rubber block. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1-Figure 9 As shown, the present invention is a pineapple auxiliary picking mechanical arm and a method for using the same, comprising a bracket 1, the top of the inner wall of the bracket 1 is fixedly connected with a monitoring device 2, the present invention requires that when picking pineapples, a power device 6 is started to drive a moving wheel 5 to rotate, and the moving wheel 5 drives the bracket 1 to move inside the pineapple planting field when rotating, and a monitoring device 2 is arranged on the top of the inner wall of the bracket 1, and the monitoring device 2 monitors the pineapples, the bottom of the bracket 1 is fixedly connected with a bottom plate 3, the bottom of the bottom plate 3 is fixedly connected with a mounting rod 4, the inner wall of the mounting rod 4 is rotatably connected with the moving wheel 5, and the surface of the mounting rod 4 is fixedly connected with the power device 6, and further comprising: The picking component 7 includes a hydraulic rod 20, the top of the hydraulic rod 20 is fixedly connected to the bottom of the monitoring device 2, the bottom of the hydraulic rod 20 is fixedly connected to a center block 21, and the surface of the center block 21 is fixedly connected to an electric push rod 22; The separation component 8 includes a connecting frame 40, and an extrusion frame 41 is hingedly connected to the surface of the connecting frame 40; The unloading component 9 includes a positioning frame 50 , and a spring 51 is fixedly connected to the top of the positioning frame 50 .

[0023] A separation rack 10 is fixedly connected to the surface of the bracket 1, a through hole 15 is provided on the surface of the bracket 1, a discharge rack 11 is connected to the bottom of the separation rack 10, an inclined rack 13 is fixedly connected to the lower surface of the bracket 1, an end of the inclined rack 13 away from the bracket 1 is connected to the storage rack 12, an extension hole 14 is provided on the surface of the separation rack 10, an output end of the power device 6 is fixedly connected to the surface of the moving wheel 5, the top of the separation rack 10 is connected to the bottom of the through hole 15, and the inclined rack 13 is located below the discharge rack 11.

[0024] The picking component 7 includes a support plate 27, the end of the support plate 27 is fixedly connected to the telescopic end of the electric push rod 22, an auxiliary hole 23 is opened at the end of the support plate 27 away from the electric push rod 22, a mounting frame 28 is fixedly connected to the end of the support plate 27 away from the electric push rod 22, an arc plate 29 is fixedly connected to the top of the mounting frame 28, a connecting plate 24 is fixedly connected to the bottom of the support plate 27, and a picking frame 25 is fixedly connected to the end of the connecting plate 24 away from the support plate 27. When the monitoring device 2 detects a ripe pineapple, the hydraulic rod 20 is started to move downward. The height of the picking frame 25 is adjusted by the hydraulic rod 20, so that the picking frame 25 can cover the pineapple, and the electric push rod 22 can adjust the position of the support plate 27. The electric push rod 22 and the hydraulic rod 20 work together to transport the picking frame 25 to the top of the pineapple. After the picking frame 25 covers the pineapple as the hydraulic rod 20 moves downward, the surface of the picking frame 25 is fixedly connected to the ring frame 26, the surface of the ring frame 26 is fixedly connected to the stabilizing plate 36, and the inner wall of the stabilizing plate 36 is slidably connected to the telescopic rod 33; The end of the telescopic rod 33 is fixedly connected to an arc plate 34, and the end of the arc plate 34 away from the telescopic rod 33 is fixedly connected to a cutting knife 35, and the end of the telescopic rod 33 away from the arc plate 34 is fixedly connected to a linkage plate 30, and the surface of the linkage plate 30 is fixedly connected to a two-way electric push rod 32. The two-way electric push rod 32 is started to retract. When the two-way electric push rod 32 retracts, the arc plate 34 is pushed to move toward the outer end of the circular ring frame 26 through the connection between the linkage plate 30 and the telescopic rod 33. When the arc plate 34 moves, it pushes the cutting knife 35 to pick the pineapple, so that the pineapple can be quickly separated from the pineapple tree. The surface of the two-way electric push rod 32 is fixedly connected to a fixed frame 31, and the surface of the fixed frame 31 is fixedly connected to the surface of the picking frame 25.

[0025] There are two support plates 27 symmetrically arranged around the central block 21 . One end of the arc plate 29 away from the mounting frame 28 extends to above the support plates 27 . The circular frame 26 is located below the connecting plate 24 .

[0026] The end of the telescopic rod 33 extends to the outer end of the stabilizing plate 36 , the end of the arc plate 34 away from the cutting knife 35 contacts the inner wall of the circular frame 26 , and the end of the cutting knife 35 contacts the inner wall of the circular frame 26 .

[0027] The separation component 8 includes a base 42, the lower surface of the base 42 is hinged to the center of the extrusion frame 41, the top of the base 42 is fixedly connected to an elastic rod 43, and the top of the elastic rod 43 is fixedly connected to a top frame 45; The bottom of the top frame 45 is fixedly connected with a slide bar 44. After the pineapples of the present invention are picked inside the picking frame 25, the hydraulic rod 20 is started to push the picking frame 25 to move upward. When the picking frame 25 corresponds to the separation frame 10, the electric push rod 22 is started to push the support plate 27 to move toward the inside of the separation frame 10. The picking frame 25 moves to the inside of the separation frame 10 along with the support plate 27 and is located above the unloading frame 11. The bottom of the slide bar 44 is fixedly connected with a rubber disk 47, and the top of the support plate 27 is fixedly connected with a contact frame 46. At this time, the two-way electric push rod 32 is started to extend. When extending, the two-way electric push rod 32 will pull the telescopic rod 33 to extend. The length of the telescopic rod 33 will increase after the extension is completed. When the telescopic rod 33 extends to the limit, it will pull the arc plate 34 to contact the inner wall of the annular frame 26. At the same time, the center of the extrusion frame 41 will drive the base 42 to move downward with the movement of the two-way electric push rod 32, and the bottom of the connecting frame 40 is fixedly connected to the top of the linkage plate 30.

[0028] One end of the base 42 away from the extrusion frame 41 extends to the top of the support plate 27, the base 42 corresponds to the auxiliary hole 23, the surface of the slide rod 44 is slidably connected to the inner wall of the contact frame 46, when the cutting knife 35 is located below the pineapple, the base 42 moves downward and pushes the slide rod 44 to move downward through the connection between the elastic rod 43 and the top frame 45. At this time, the rubber disk 47 at the bottom of the slide rod 44 will contact the top of the pineapple, and the base 42 will pull the elastic rod 43 to compress when it moves downward. When the cutting knife 35 moves to the inside of the circular frame 26, the slide rod 44 uses the elasticity of the elastic rod 43 to push the pineapple to move toward the outer end of the picking frame 25, the surface of the rubber disk 47 contacts the inner wall of the contact frame 46, the bottom of the rubber disk 47 and the bottom of the support plate 27 are horizontally arranged, and the extrusion frame 41 is arranged in a triangle.

[0029] The unloading component 9 includes a lifting rod 53, the surface of the lifting rod 53 is slidably connected to the inner wall of the positioning frame 50, the top of the lifting rod 53 is fixedly connected to a circular plate 52, and the bottom of the lifting rod 53 is fixedly connected to an inclined plate 54; A rubber block 55 is fixedly connected to the bottom of the inclined panel 54. When the support plate 27 of the present invention moves toward the inside of the separation frame 10, the mounting frame 28 pushes the arc plate 29 to contact the inclined panel 54 as the support plate 27 moves, and pushes the inclined panel 54 upward during the movement. When the inclined panel 54 moves upward, the spring 51 is extended through the connection between the lifting rod 53 and the circular plate 52. The top of the spring 51 is fixedly connected to the bottom of the circular plate 52, and the bottom of the positioning frame 50 is fixedly connected to the top of the separation frame 10.

[0030] The end of the lifting rod 53 extends to the outer end of the positioning frame 50. When the support plate 27 moves toward the outer end of the separation frame 10, the inclined panel 54 slides downward on the surface of the arc plate 29 using the connection of the spring 51. The arc plate 29 is used to frictionally limit the inclined panel 54 to avoid excessive impact force of the inclined panel 54. When the arc plate 29 is separated from the inclined panel 54, the inclined panel 54 will enter the interior of the unloading frame 11 and contact the pineapple stuck in the unloading frame 11. The pineapple is squeezed by the rubber block 55 at the bottom of the inclined panel 54. The inclined panel 54 is located inside the separation frame 10, and the bottom of the inclined panel 54 extends to the interior of the unloading frame 11.

[0031] A method for using a pineapple auxiliary picking mechanical arm comprises the following steps: S1: When pineapples need to be picked, the power device 6 is started to drive the moving wheel 5 to rotate. When the moving wheel 5 rotates, it drives the bracket 1 to move inside the pineapple planting field. A monitoring device 2 is provided on the top of the inner wall of the bracket 1. The monitoring device 2 monitors the pineapples. When the monitoring device 2 detects a ripe pineapple, the hydraulic rod 20 is started to move downward, and the height of the picking frame 25 is adjusted by the hydraulic rod 20; S2: After the picking frame 25 covers the pineapple with the downward movement of the hydraulic rod 20, the bidirectional electric push rod 32 is started to retract. When the bidirectional electric push rod 32 retracts, the arc plate 34 is pushed to move toward the outer end of the circular frame 26 through the connection between the linkage plate 30 and the telescopic rod 33. When the arc plate 34 moves, it pushes the cutting knife 35 to pick the pineapple; S3: When the base 42 moves downward, the connection between the elastic rod 43 and the top frame 45 pushes the slide bar 44 to move downward. At this time, the rubber disc 47 at the bottom of the slide bar 44 will contact the top of the pineapple. When the base 42 moves downward, it will pull the elastic rod 43 to compress. When the cutting knife 35 moves to the inside of the circular frame 26, the slide bar 44 uses the elasticity of the elastic rod 43 to push the pineapple to move toward the outer end of the picking frame 25; S4: When the inclined panel 54 moves upward, the connection between the lifting rod 53 and the circular plate 52 pulls the spring 51 to extend. When the support plate 27 moves toward the outer end of the separation rack 10, the inclined panel 54 slides downward on the surface of the arc plate 29 using the connection of the spring 51. The arc plate 29 is used to frictionally limit the inclined panel 54. When the arc plate 29 is separated from the inclined panel 54, the inclined panel 54 will enter the interior of the unloading rack 11 and contact the pineapple stuck in the unloading rack 11.

[0032] During use, when it is necessary to pick pineapples, the power device 6 is started to drive the moving wheel 5 to rotate. When the moving wheel 5 rotates, it drives the bracket 1 to move inside the pineapple planting field. A monitoring device 2 is arranged on the top of the inner wall of the bracket 1. The monitoring device 2 monitors the pineapples. When the monitoring device 2 detects a mature pineapple, the hydraulic rod 20 is started to move downward. The height of the picking frame 25 is adjusted by the hydraulic rod 20 so that the picking frame 25 can cover the pineapple, and the electric push rod 22 can adjust the position of the support plate 27. The electric push rod 22 and the hydraulic rod 20 cooperate with each other to transport the picking frame 25 to the top of the pineapple. After the picking frame 25 covers the pineapple as the hydraulic rod 20 moves downward, the two-way electric push rod 32 is started to During the contraction operation, the bidirectional electric push rod 32 pushes the arc plate 34 to move toward the outer end of the circular ring frame 26 through the connection between the linkage plate 30 and the telescopic rod 33 when contracting. The arc plate 34 pushes the cutting knife 35 to pick the pineapple when moving, so that the pineapple can be quickly separated from the pineapple tree to avoid damage to the pineapple tree when the pineapple is pulled. When the cutting knife 35 moves to the bottom of the pineapple, the cutting knife 35 can support the pineapple so that the picked pineapple can be stored inside the picking frame 25 to avoid the pineapple falling off after picking. After the pineapple is picked inside the picking frame 25, the hydraulic rod 20 is started to push the picking frame 25 to move upward. When the picking frame 25 corresponds to the separation frame 10, the electric push rod 22 is started to push the support plate 2 7 moves to the inside of the separation frame 10, and the picking frame 25 moves to the inside of the separation frame 10 with the support plate 27 and is located above the unloading frame 11. At this time, the two-way electric push rod 32 is started to extend. The two-way electric push rod 32 will pull the telescopic rod 33 to extend when extending. The length of the telescopic rod 33 will increase after the telescopic rod 33 is extended. When the telescopic rod 33 is extended to the limit, the arc plate 34 will be pulled to contact the inner wall of the circular frame 26. At the same time, the center of the extrusion frame 41 will drive the base 42 to move downward with the movement of the two-way electric push rod 32. When the cutting knife 35 is located below the pineapple, the base 42 moves downward through the connection between the elastic rod 43 and the top frame 45 to push the slide bar 44 to move downward. At this time, the rubber disc 47 at the bottom of the slide bar 44 will contact the top of the pineapple. When the base 42 moves downward, it will pull the elastic rod 43 to compress. When the cutting knife 35 moves to the inside of the circular frame 26, the sliding rod 44 uses the elasticity of the elastic rod 43 to push the pineapple to move toward the outer end of the picking frame 25, completing the unloading process of the pineapple, avoiding the pineapple from being stuck inside the picking frame 25 and affecting the continuous operation of the picking frame 25. The pineapple enters the inside of the inclined frame 13 through the unloading frame 11, and slides to the inside of the storage frame 12 for storage using the inclination of the inclined frame 13, so that the picking frame 25 can continuously pick the pineapple. When the support plate 27 moves toward the inside of the separation frame 10, the mounting frame 28 pushes the arc plate 29 to contact the inclined plate 54 as the support plate 27 moves, and pushes the inclined plate 54 to move upward during the movement.When the inclined plate 54 moves upward, the connection between the lifting rod 53 and the circular plate 52 pulls the spring 51 to extend. When the support plate 27 moves toward the outer end of the separation rack 10, the inclined plate 54 slides downward on the surface of the arc plate 29 by using the connection of the spring 51. The arc plate 29 is used to frictionally limit the inclined plate 54 to prevent the inclined plate 54 from having too much impact. When the arc plate 29 is separated from the inclined plate 54, the inclined plate 54 will enter the interior of the unloading rack 11 and contact the pineapple stuck in the unloading rack 11. The rubber block 55 at the bottom of the inclined plate 54 squeezes the pineapple to prevent the pineapple from getting stuck in the unloading rack 11 and affecting the unloading effect.

[0033] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pineapple-assisted picking mechanical arm, comprising a bracket (1), a monitoring device (2) fixedly connected to the top of the inner wall of the bracket (1), a bottom plate (3) fixedly connected to the bottom of the bracket (1), a mounting rod (4) fixedly connected to the bottom of the bottom plate (3), a moving wheel (5) rotatably connected to the inner wall of the mounting rod (4), and a power device (6) fixedly connected to the surface of the mounting rod (4), characterized in that: Also includes: A picking component (7), the picking component (7) comprising a hydraulic rod (20), the top of the hydraulic rod (20) being fixedly connected to the bottom of the monitoring device (2), the bottom of the hydraulic rod (20) being fixedly connected to a center block (21), and the surface of the center block (21) being fixedly connected to an electric push rod (22); A separation component (8), the separation component (8) comprising a connecting frame (40), a surface of the connecting frame (40) being hingedly connected to an extrusion frame (41); A discharge component (9), the discharge component (9) comprising a positioning frame (50), the top of the positioning frame (50) being fixedly connected to a spring (51).

2. A pineapple-assisted picking mechanical arm according to claim 1, characterized in that: The surface of the bracket (1) is fixedly connected to a separation rack (10), the surface of the bracket (1) is provided with a through hole (15), the bottom of the separation rack (10) is connected to a material discharge rack (11), the lower surface of the bracket (1) is fixedly connected to an inclined rack (13), the end of the inclined rack (13) away from the bracket (1) is connected to a storage rack (12), the surface of the separation rack (10) is provided with an extension hole (14), the output end of the power device (6) is fixedly connected to the surface of the moving wheel (5), the top of the separation rack (10) is connected to the bottom of the through hole (15), and the inclined rack (13) is located below the material discharge rack (11).

3. A pineapple-assisted picking mechanical arm according to claim 2, characterized in that: The picking component (7) comprises a support plate (27), an end of the support plate (27) being fixedly connected to the telescopic end of the electric push rod (22), an auxiliary hole (23) being provided at one end of the support plate (27) away from the electric push rod (22), a mounting frame (28) being fixedly connected to one end of the support plate (27) away from the electric push rod (22), an arc-shaped plate (29) being fixedly connected to the top of the mounting frame (28), a connecting plate (24) being fixedly connected to the bottom of the support plate (27), a picking frame (25) being fixedly connected to one end of the connecting plate (24) away from the support plate (27), a circular ring frame (26) being fixedly connected to the surface of the picking frame (25), a stabilizing plate (36) being fixedly connected to the surface of the circular ring frame (26), and a telescopic rod (33) being slidably connected to the inner wall of the stabilizing plate (36); The end of the telescopic rod (33) is fixedly connected to a circular arc plate (34), one end of the circular arc plate (34) away from the telescopic rod (33) is fixedly connected to a cutting knife (35), one end of the telescopic rod (33) away from the circular arc plate (34) is fixedly connected to a linkage plate (30), a surface of the linkage plate (30) is fixedly connected to a bidirectional electric push rod (32), a surface of the bidirectional electric push rod (32) is fixedly connected to a fixing frame (31), and a surface of the fixing frame (31) is fixedly connected to a surface of a picking frame (25).

4. The pineapple-assisted picking mechanical arm according to claim 3, characterized in that: The number of the support plates (27) is two, and the two support plates (27) are symmetrically arranged with the central block (21) as the center. The end of the arc plate (29) away from the mounting frame (28) extends to the top of the support plate (27), and the circular ring frame (26) is located below the connecting plate (24).

5. The pineapple-assisted picking mechanical arm according to claim 4, characterized in that: The end of the telescopic rod (33) extends to the outer end of the stabilizing plate (36), the end of the arc plate (34) away from the cutting knife (35) contacts the inner wall of the circular ring frame (26), and the end of the cutting knife (35) contacts the inner wall of the circular ring frame (26).

6. The pineapple-assisted picking mechanical arm according to claim 5, characterized in that: The separation component (8) comprises a base (42), the lower surface of the base (42) is hinged to the center of the extrusion frame (41), the top of the base (42) is fixedly connected to an elastic rod (43), and the top of the elastic rod (43) is fixedly connected to a top frame (45); The bottom of the top frame (45) is fixedly connected to a slide bar (44), the bottom of the slide bar (44) is fixedly connected to a rubber disc (47), the top of the support plate (27) is fixedly connected to a contact frame (46), and the bottom of the connecting frame (40) is fixedly connected to the top of the linkage plate (30).

7. The pineapple-assisted picking mechanical arm according to claim 6, characterized in that: One end of the base (42) away from the extrusion frame (41) extends to the top of the support plate (27), the base (42) and the auxiliary hole (23) correspond to each other, the surface of the sliding rod (44) is slidably connected to the inner wall of the contact frame (46), the surface of the rubber disc (47) is in contact with the inner wall of the contact frame (46), the bottom of the rubber disc (47) and the bottom of the support plate (27) are arranged horizontally, and the extrusion frame (41) is arranged in a triangular shape.

8. The pineapple-assisted picking mechanical arm according to claim 7, characterized in that: The unloading component (9) comprises a lifting rod (53), the surface of the lifting rod (53) is slidably connected to the inner wall of the positioning frame (50), the top of the lifting rod (53) is fixedly connected to a circular plate (52), and the bottom of the lifting rod (53) is fixedly connected to an inclined plate (54); The bottom of the inclined plate (54) is fixedly connected to a rubber block (55), the top of the spring (51) is fixedly connected to the bottom of the circular plate (52), and the bottom of the positioning frame (50) is fixedly connected to the top of the separation frame (10).

9. The pineapple-assisted picking mechanical arm according to claim 8, characterized in that: The end of the lifting rod (53) extends to the outer end of the positioning frame (50), the inclined panel (54) is located inside the separation frame (10), and the bottom of the inclined panel (54) extends to the inside of the unloading frame (11).

10. The method for using a pineapple-assisted picking mechanical arm according to claim 9, characterized in that: The following steps are involved: S1: When it is necessary to pick pineapples, the power device (6) is started to drive the moving wheel (5) to rotate. When the moving wheel (5) rotates, it drives the support (1) to move inside the pineapple planting area. A monitoring device (2) is arranged on the top of the inner wall of the support (1). The monitoring device (2) monitors the pineapples. When the monitoring device (2) detects a ripe pineapple, the hydraulic rod (20) is started to move downward, and the height of the picking frame (25) is adjusted by the hydraulic rod (20); S2: After the picking frame (25) covers the pineapple as the hydraulic rod (20) moves downward, the bidirectional electric push rod (32) is started to retract. When the bidirectional electric push rod (32) retracts, the arc plate (34) is pushed to move toward the outer end of the circular ring frame (26) through the connection between the linkage plate (30) and the telescopic rod (33). When the arc plate (34) moves, it pushes the cutting knife (35) to pick the pineapple; S3: When the base (42) moves downward, the connection between the elastic rod (43) and the top frame (45) pushes the slide rod (44) to move downward. At this time, the rubber disk (47) at the bottom of the slide rod (44) will contact the top of the pineapple. When the base (42) moves downward, it will pull the elastic rod (43) to be compressed. When the cutting knife (35) moves to the inside of the circular frame (26), the slide rod (44) uses the elasticity of the elastic rod (43) to push the pineapple to move toward the outer end of the picking frame (25); S4: When the inclined panel (54) moves upward, the connection between the lifting rod (53) and the circular plate (52) pulls the spring (51) to extend. When the support plate (27) moves toward the outer end of the separation rack (10), the inclined panel (54) slides downward on the surface of the arc plate (29) by using the connection of the spring (51). The arc plate (29) is used to frictionally limit the inclined panel (54). When the arc plate (29) is separated from the inclined panel (54), the inclined panel (54) enters the interior of the unloading rack (11) and contacts the pineapple stuck in the unloading rack (11).

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