A pineapple-assisted picking mechanical arm and its use method

Abstract

The present invention relates to the technical field of pineapple picking mechanical arms, and discloses a pineapple auxiliary picking mechanical arm and a method for using the same, comprising a bracket, wherein the top of the inner wall of the bracket is fixedly connected to a monitoring device, the bottom of the bracket is fixedly connected to a base plate, the bottom of the base plate is fixedly connected to a mounting rod, the inner wall of the mounting rod is rotatably connected to a moving wheel, the surface of the mounting rod is fixedly connected to a power device, and further comprising: a picking component, the picking component comprising a hydraulic rod, the top of the hydraulic rod being fixedly connected to the bottom of the monitoring device. The present invention requires that when picking pineapples, the power device is started to drive the moving wheel to rotate, and the moving wheel will drive the bracket to move inside the pineapple planting area when rotating. A monitoring device is provided on the top of the inner wall of the bracket, and the monitoring device monitors the pineapples. When the monitoring device detects a mature pineapple, the hydraulic rod is started to move downward, and the height of the picking frame is adjusted by the hydraulic rod so that the picking frame can cover the pineapple.

Description

Technical Field

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

[0002] The scientific name for pineapple is Ananas, and its other names include sweet pear, pandanus, and yellow pear. The pineapple fruit is cylindrical, composed of many ovaries and a rachis. The peel is covered with thorn-like eyes, and the flesh is juicy with a moderate sweet and sour taste.

[0003] The pineapple picking season is usually concentrated from March to May each year. Currently, 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. 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 pineapple leaves. Summary of the Invention

[0004] The object of the present invention is to provide a pineapple-assisted picking robot arm and a method of using the same, so as to solve the problems raised in the above-mentioned background technology.

[0005] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention provides a pineapple-assisted picking robot 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 base plate fixedly connected to the bottom of the bracket, a mounting rod fixedly connected to the bottom of the base 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:

[0007] A picking component, comprising a hydraulic rod, the top of which is fixedly connected to the bottom of the monitoring device, the bottom of which is fixedly connected to a center block, and the surface of which is fixedly connected to an electric push rod;

[0008] A separation component, comprising a connecting frame, a surface of which is hingedly connected to an extrusion frame;

[0009] The unloading component includes a positioning frame, and the top of the positioning frame is fixedly connected with a spring.

[0010] 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, the lower surface of the bracket is fixedly connected to an inclined rack, 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.

[0011] Furthermore, 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 the end of the support plate away from the electric push rod, the end of the support plate away from the electric push rod is fixedly connected to a mounting bracket, the top of the mounting bracket is fixedly connected to an arc plate, the bottom of the support plate is fixedly connected to a connecting plate, the end of the connecting plate away from the support plate is fixedly connected to a picking bracket, the surface of the picking bracket is fixedly connected to a circular ring bracket, the surface of the circular ring bracket is fixedly connected to a stabilizing plate, and the inner wall of the stabilizing plate is slidably connected to the telescopic rod;

[0012] 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.

[0013] Furthermore, there are two support plates, which are symmetrically arranged with the central block as the center. One end of the arc plate away from the mounting frame extends to above the support plate, and the circular frame is located below the connecting plate.

[0014] 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 frame, and the end of the cutting knife contacts the inner wall of the circular frame.

[0015] Furthermore, the separation component includes 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;

[0016] The bottom of the top frame is fixedly connected to a slide rod, the bottom of the slide rod is fixedly connected to a rubber disc, the top of the support plate is fixedly connected to a contact frame, and the bottom of the connecting frame is fixedly connected to the top of the linkage plate.

[0017] Furthermore, the base extends from one end of the extrusion frame 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 contacts 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.

[0018] Furthermore, the unloading component includes 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;

[0019] The bottom of the inclined plate is fixedly connected with a rubber block, the top of the spring is fixedly connected to the bottom of the circular plate, and the bottom of the positioning frame is fixedly connected to the top of the separation frame.

[0020] 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.

[0021] Furthermore, a method for using a pineapple-assisted picking robot arm comprises the following steps:

[0022] 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 frame to move inside the pineapple planting area. A monitoring device is set on the top of the inner wall of the frame 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 frame is adjusted by the hydraulic rod;

[0023] 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, it pushes the arc plate toward the outer end of the ring 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;

[0024] S3: When the base moves downward, the connection between the elastic rod and the top frame pushes the slide rod downward. At this time, the rubber disc at the bottom of the slide rod contacts the top of the pineapple. When the base moves downward, it pulls 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 the outer end of the picking frame;

[0025] 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, and 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 discharge rack and contact the pineapple stuck in the discharge rack.

[0026] The present invention has the following beneficial effects:

[0027] The present invention requires that when pineapples are picked, a power device is started to drive the moving wheels to rotate, and the moving wheels drive the bracket to move inside the pineapple planting field when rotating. A monitoring device is provided on the top of the inner wall of the bracket to monitor the pineapples. When the monitoring device detects a ripe pineapple, a hydraulic rod is started to move downward, and the height of the picking rack is adjusted by the hydraulic rod so that the picking rack can cover the pineapple, and 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 pineapple 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, the arc plate is pushed 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 cutter to pick the pineapple, so that the pineapple can be quickly separated from the pineapple tree, avoiding damage to the pineapple tree when the pineapple is pulled. When the cutter moves to the bottom of the pineapple, the cutter can support the pineapple, so that the picked pineapple can be stored inside the picking frame for storage, avoiding the situation where the picked pineapple falls off.

[0028] 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. The two-way electric push rod will pull the telescopic rod to extend when extending. The length of the telescopic rod will increase after the extension is completed. When the telescopic rod is extended to the limit, it will pull the arc plate to contact the inner wall of the ring rack. At the same time, the center of the extrusion rack will drive the base to move downward with the movement of the two-way electric push rod. When the cutting knife is in the position When the cutter moves to the inside of the circular frame, the slide bar uses the elasticity of the elastic bar to push the pineapple to move toward the outer end of the picking frame, completing the unloading of the pineapple, avoiding the pineapple being stuck inside 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.

[0029] 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 discharge rack and contact the pineapple stuck in the discharge rack, and the pineapple will be squeezed by the rubber block at the bottom of the inclined plate to prevent the pineapple from being stuck inside the discharge rack and affecting the discharge effect.

[0030] 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

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the mounting rod structure of the present invention;

[0034] Figure 3 This is a schematic structural diagram of the separation frame of the present invention;

[0035] Figure 4 This is a schematic diagram of the overall structure of the picking component of the present invention;

[0036] Figure 5 This is another structural schematic diagram of the picking component of the present invention;

[0037] Figure 6 For the present invention Figure 5 A magnified schematic diagram of part A in FIG;

[0038] Figure 7 This is a schematic diagram of the overall structure of the separation component of the present invention;

[0039] Figure 8 This is a schematic diagram of the overall structure of the discharge component of the present invention;

[0040] Figure 9 It is a schematic diagram of the process structure of the present invention.

[0041] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0042] In the figure: 1. Bracket; 2. Monitoring device; 3. Bottom plate; 4. Mounting rod; 5. Moving wheel; 6. Power unit; 7. Picking unit; 8. Separating unit; 9. Unloading unit; 10. Separating rack; 11. Unloading rack; 12. Storage rack; 13. Slanted 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. Bidirectional 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

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0044] See also Figures 1-9 As shown, the present invention is a pineapple-assisted picking robot arm and a method for using the same, comprising a bracket 1, a monitoring device 2 fixedly connected to the top of the inner wall of the bracket 1, 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, a monitoring device 2 is provided 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 to a bottom plate 3, the bottom of the bottom plate 3 is fixedly connected to a mounting rod 4, the inner wall of the mounting rod 4 is rotatably connected to the moving wheel 5, and the surface of the mounting rod 4 is fixedly connected to the power device 6, and further comprising:

[0045] 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. The surface of the center block 21 is fixedly connected to an electric push rod 22.

[0046] 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;

[0047] The unloading component 9 includes a positioning frame 50 , and a spring 51 is fixedly connected to the top of the positioning frame 50 .

[0048] The surface of the bracket 1 is fixedly connected to the separation rack 10, and a through hole 15 is opened on the surface of the bracket 1. The bottom of the separation rack 10 is connected to the unloading rack 11. The lower surface of the bracket 1 is fixedly connected to the inclined rack 13, and the end of the inclined rack 13 away from the bracket 1 is connected to the storage rack 12. An extension hole 14 is opened on the surface of the separation rack 10, and 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 unloading rack 11.

[0049] 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, and a mounting bracket 28 is fixedly connected to the end of the support plate 27 away from the electric push rod 22. The top of the mounting bracket 28 is fixedly connected to the arc plate 29, and the bottom of the support plate 27 is fixedly connected to the connecting plate 24. The end of the connecting plate 24 away from the support plate 27 is fixedly connected to the picking bracket 25. 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;

[0050] The end of the telescopic rod 33 is fixedly connected to a circular arc plate 34, and the end of the circular 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 circular 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 circular arc plate 34 is pushed 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 circular arc plate 34 moves, it pushes the cutting knife 35 to pick the pineapples, so that the pineapples can be quickly separated from the pineapple tree. The surface of the two-way electric push rod 32 is fixedly connected to the fixed frame 31, and the surface of the fixed frame 31 is fixedly connected to the surface of the picking frame 25.

[0051] There are two support plates 27 symmetrically arranged around the central block 21 . One end of the arc-shaped plate 29 away from the mounting frame 28 extends to above the support plates 27 , and the circular frame 26 is located below the connecting plate 24 .

[0052] 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 .

[0053] 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;

[0054] 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 upward. When the picking frame 25 corresponds to the separating frame 10, the electric push rod 22 is started to push the support plate 27 to move toward the inside of the separating frame 10. The picking frame 25 moves to the inside of the separating 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 disc 47, and the top of the support plate 27 is fixedly connected with the contact frame 46. 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 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 ring frame 26. At the same time, the center of the extrusion frame 41 will drive the base 42 to move downward as the two-way electric push rod 32 moves, and the bottom of the connecting frame 40 is fixedly connected to the top of the linkage plate 30.

[0055] The base 42 extends to the top of the support plate 27 away from one end of the extrusion frame 41. 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 downward through the connection between the elastic rod 43 and the top frame 45. At this time, the rubber disc 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 compress. 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 toward the outer end of the picking frame 25. The surface of the rubber disc 47 contacts the inner wall of the contact frame 46. The bottom of the rubber disc 47 and the bottom of the support plate 27 are horizontally arranged, and the extrusion frame 41 is arranged to be triangular.

[0056] 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 the circular plate 52, and the bottom of the lifting rod 53 is fixedly connected to the inclined plate 54;

[0057] 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.

[0058] 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 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 discharge rack 11 and contact the pineapple stuck in the discharge rack 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 rack 10, and the bottom of the inclined panel 54 extends to the interior of the discharge rack 11.

[0059] A method for using a pineapple-assisted picking robotic arm comprises the following steps:

[0060] 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;

[0061] 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, it pushes the arc plate 34 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;

[0062] S3: When the base 42 moves downward, the connection between the elastic rod 43 and the top frame 45 pushes the slide rod 44 downward. At this time, the rubber disc 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 compress. When the cutter 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 the outer end of the picking frame 25;

[0063] S4: When the inclined panel 54 moves upward, the spring 51 is pulled to extend through the connection between the lifting rod 53 and the circular plate 52. 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 discharge rack 11 and contact the pineapple stuck in the discharge rack 11.

[0064] 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 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 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 cooperates with the hydraulic rod 20 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 frame 26 through the connection between the linkage plate 30 and the telescopic rod 33 when contracting. The arc plate 34 pushes the cutter 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 cutter 35 moves to the bottom of the pineapple, the cutter 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 toward the inside of the separation frame 10, and 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. 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 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 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 rod 44 to move downward. At this time, the rubber disc 47 at the bottom of the slide rod 44 will contact the top of the pineapple. When the base 42 moves downward, it pulls the elastic rod 43 to compress. When the cutter 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 the outer end of the picking frame 25, completing the unloading process of the pineapple, and preventing the pineapple from being stuck in the inside of 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 rack 12 for storage using the inclination of the inclined frame 13, so that the picking rack 25 can continuously pick the pineapples. When the support plate 27 moves toward the inside of the separating 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 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 curved plate 29 using the connection of the spring 51. The curved plate 29 is used to frictionally limit the inclined plate 54, preventing the inclined plate 54 from having excessive impact force. When the curved plate 29 separates from the inclined plate 54, the inclined plate 54 enters the interior of the discharge rack 11 and contacts the pineapple stuck in the discharge rack 11. The rubber block 55 at the bottom of the inclined plate 54 squeezes the pineapple, preventing the pineapple from getting stuck inside the discharge rack 11 and affecting the discharge effect.

[0065] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pineapple-assisted picking robot 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); The picking component (7) includes a support plate (27), an 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 one end of the support plate (27) away from the electric push rod (22), a mounting frame (28) is fixedly connected to one end of the support plate (27) away from the electric push rod (22), an arc-shaped 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), an end of the connecting plate (24) away from the support plate (27) is fixedly connected to a picking frame (25), a circular ring frame (26) is fixedly connected to the surface of the circular ring frame (26), a stabilizing plate (36) is fixedly connected to the surface of the stabilizing plate (36), and a telescopic rod (33) is 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), the end of the circular arc plate (34) away from the telescopic rod (33) is fixedly connected to a cutting knife (35), the end of the telescopic rod (33) away from the circular arc plate (34) is fixedly connected to a linkage plate (30), the surface of the linkage plate (30) is fixedly connected to a bidirectional electric push rod (32), the surface of the bidirectional electric push rod (32) is fixedly connected to a fixing frame (31), and the surface of the fixing frame (31) is fixedly connected to the surface of the picking frame (25); 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 to a slide rod (44), the bottom of the slide rod (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).

2. The pineapple-assisted picking robot arm according to claim 1, characterized in that: The surface of the bracket (1) is fixedly connected to a separation rack (10), a through hole (15) is provided on the surface of the bracket (1), the bottom of the separation rack (10) is connected to a 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), an extension hole (14) is provided on the surface of the separation rack (10), 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 discharge rack (11).

3. The pineapple-assisted picking robot arm according to claim 2, characterized in that: There are two support plates (27), which are symmetrically arranged with the central block (21) as the center. One end of the arc-shaped 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).

4. The pineapple-assisted picking robot arm according to claim 3, 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).

5. The pineapple-assisted picking robot arm according to claim 4, 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 slide rod (44) is slidably connected to the inner wall of the contact frame (46), the surface of the rubber disc (47) contacts the inner wall of the contact frame (46), the bottom of the rubber disc (47) and the bottom of the support plate (27) are horizontally arranged, and the extrusion frame (41) is arranged in a triangular shape.

6. The pineapple-assisted picking robot arm according to claim 5, characterized in that: 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); 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).

7. The pineapple-assisted picking robot arm according to claim 6, 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).

8. The method for using a pineapple-assisted picking mechanical arm according to claim 7, 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 bracket (1) to move inside the pineapple planting area. 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 mature 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 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 disc (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 compress. When the cutter (35) moves to the inside of the ring 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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