Pineapple picking execution manipulator and picking device

Abstract

The invention relates to the technical field of crop picking equipment, in particular to a pineapple picking execution manipulator and a picking device.The pineapple picking execution manipulator comprises a rack, the rack is fixedly connected to a pineapple picking vehicle, and the pineapple picking vehicle is provided with a pineapple frame; the detection assembly is used for detecting the position of the pineapple; the picking assembly comprises a turnover mechanism, a mounting frame, a position adjusting mechanism, a driving mechanism and a clamping jaw; the energy storage assembly is used for compressing and storing air when the turnover mechanism moves; the cutting assembly comprises a pneumatic driving mechanism and a cutting knife; the pineapple picking device is suitable for picking pineapple fruits with low maturity, the mechanical damage caused by the clamping jaws during pineapple picking can be effectively reduced through the self-adaptive wrapping characteristic of the air bags during use, the picking effect is greatly improved, and the maintenance cost can be effectively reduced through self-cleaning of the clamping jaws and the cutting knife.

Description

Technical Field

[0001] The present invention relates to the technical field of crop picking equipment, and particularly to a pineapple picking execution manipulator and a picking device. Background Art

[0002] As a tropical specialty fruit, the picking process of pineapples has long relied on manual operation. However, the leaves of pineapple plants are sharp, the fruits grow in a concealed manner and are mostly located on hilly slopes, resulting in low manual picking efficiency, high labor intensity and easy stabbing. With the acceleration of the agricultural modernization process, the traditional manual picking mode has been difficult to meet the needs of large-scale planting. Coupled with the problems of rising labor costs and labor shortages caused by the concentrated harvest period, it is urgent to break through the bottleneck through mechanization and intelligent technology.

[0003] When the existing pineapple picking manipulator picks pineapples, it generally clamps the pineapples and then separates the stem and the fruit stalk of the pineapples by twisting. The above device has the following obvious defects when in use: First, there is a problem of damage to the fruits with rigid clamping. And in order to ensure the maturity of pineapples when sold, pineapples are generally picked when the maturity of the pineapple fruits is relatively low (generally 7-8 mature). For pineapples with relatively low maturity, their stems have not become brittle yet, and it is very difficult to separate the pineapples by twisting, and the picking effect is unstable. Summary of the Invention

[0004] The purpose of the present invention is to provide a pineapple picking execution manipulator and a picking device to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] On the one hand, a pineapple picking execution manipulator is provided, including:

[0007] A frame, the frame is fixedly connected to a pineapple picking vehicle, and the pineapple picking vehicle is provided with a pineapple box;

[0008] A detection component, the detection component is used to detect the position of the pineapple;

[0009] A picking component, the picking component includes a flipping mechanism, a mounting rack, a position adjusting mechanism, a driving mechanism and a clamping jaw. The flipping mechanism is arranged on the frame, the flipping mechanism is used to drive the mounting rack to flip, the mounting rack is provided with the clamping jaw, the position adjusting mechanism is used to adjust the position of the clamping jaw on the mounting rack, and the driving mechanism is used to drive the clamping jaw to clamp the pineapple;

[0010] An energy storage component, the energy storage component is used to compress and store air when the flipping mechanism moves;

[0011] Cutting assembly, the cutting assembly includes a pneumatic driving mechanism and a cutting knife, and the pneumatic driving mechanism is used to drive the cutting knife to cut pineapples by using the compressed air stored in the energy storage assembly;

[0012] Cleaning assembly, the cleaning assembly includes a conveying mechanism, an airbag, a release mechanism I, a triggering mechanism and a release mechanism II. The conveying mechanism is used to input a part of the air stored in the energy storage assembly into the airbag. The airbag is arranged on the clamping jaw. The release mechanism I is used to release the air in the airbag and perform air cleaning on the clamping jaw after the clamping jaw places the pineapple into the pineapple box. The release mechanism II is used to perform air cleaning on the cutting knife when the clamping jaw moves the pineapple.

[0013] Preferably, the detection assembly includes a mounting rod and a camera. The mounting rod is connected to the frame, and the camera is mounted on the mounting rod.

[0014] Preferably, the flipping mechanism includes a flipping motor, a first parallel rod group, a driven rod, a second parallel rod group and an angle sensor. The flipping motor is arranged on the frame, and the flipping motor is used to drive the first parallel rod group to rotate. The two ends of the first parallel rod group are respectively connected to the output end of the flipping motor and the mounting bracket. The driven rod is arranged on the frame. The two ends of the second parallel rod group are respectively connected to the mounting bracket and the driven rod. The angle sensor is used to detect the flipping angle of the mounting bracket.

[0015] Preferably, the position adjusting mechanism includes a fixed frame, a fixed block, an angle adjusting motor, an adjusting rod and a torsion motor. The driving mechanism includes a mounting box, a driving motor and a plurality of driven gears. The fixed frame is arranged on the mounting bracket. The fixed block is connected to the fixed frame by bolts. The angle adjusting motor is arranged on the fixed block, and the angle adjusting motor is used to drive the adjusting rod to rotate. The torsion motor is arranged at one end of the adjusting rod away from the angle adjusting motor. The torsion motor is connected to the mounting box. The driving motor is arranged in the mounting box. Two clamping jaws are symmetrically arranged. Driven gears are connected to both sides of each clamping jaw, and adjacent driven gears mesh with each other. One of the driven gears is connected to the output end of the driving motor.

[0016] Preferably, the energy storage component includes a first rotating connection block, a connecting rod, a piston, a second rotating connection block, a cylinder, and a gas storage tank. The first rotating connection block is connected to the first parallel rod group. The connecting rod is connected to the first rotating connection block through a ball joint connection block. One end of the connecting rod away from the first rotating connection block is connected with a piston. The piston is connected to the cylinder. The cylinder is connected to the second rotating connection block through a ball joint connection block. The second rotating connection block is connected to the second parallel rod group. The air compressed by the reciprocating movement of the piston in the cylinder is stored in the gas storage tank. The gas storage tank is arranged on the mounting frame.

[0017] Preferably, the pneumatic driving mechanism includes a first electromagnetic opening valve and a pneumatic telescopic rod. The first electromagnetic opening valve is connected to the gas storage tank. The first electromagnetic opening valve is connected to the pneumatic telescopic rod through a pipeline. The pneumatic telescopic rod is connected to the mounting box. The moving end of the pneumatic telescopic rod is connected with the cutting knife.

[0018] Preferably, the conveying mechanism includes a second electromagnetic opening valve and a connecting pipe. The second electromagnetic opening valve is connected to the gas storage tank. The second electromagnetic opening valve is connected to the airbag through the connecting pipe.

[0019] Preferably, the first release mechanism includes a first pressure relief valve. The first pressure relief valve is connected to the airbag. When the angle sensor detects that the mounting frame moves above the pineapple box, the first pressure relief valve will open.

[0020] Preferably, the second release mechanism includes a second pressure relief valve and a return spring. The second pressure relief valve is arranged at the connection end of the pneumatic telescopic rod and the cutting knife. The return spring is arranged inside the pneumatic telescopic rod. The return spring is used to drive the pneumatic telescopic rod to reset during pressure relief. When the angle sensor detects that the mounting frame rises, the second pressure relief valve will open.

[0021] On the other hand, a picking device is provided, including the above-mentioned pineapple picking execution manipulator.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: When the gripper transports pineapples, the air is compressed, and the compressed air drives the airbag to achieve flexible clamping, which can effectively avoid crushing or damaging the pineapples by the gripper, and ensure the fruit safety during the picking process. At the same time, the design of the airbag enables the clamping force to be adjusted according to the shape and size of the pineapples, improving the adaptability and flexibility. The compressed air also drives the cutting knife to pick pineapples through a pneumatic driving mechanism during picking. In addition, when the airbag resets, the air in the airbag is used to clean the dust on the surface of the gripper, and when the pneumatic telescopic rod resets, the air in the pneumatic telescopic rod is used to clean the cutting knife, realizing the multi-level application of energy. The present invention is applicable to the picking of pineapple fruits with a lower maturity. During use, the self-adaptive wrapping characteristic of the airbag can effectively reduce the mechanical damage caused by the gripper during the picking of pineapples, and can greatly improve the picking efficiency. The self-cleaning of the gripper and the cutting knife can effectively reduce the maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic axle view structure diagram of the present invention installed on a pineapple picking vehicle Figure 1 ;

[0024] Figure 2 is a schematic axle view structure diagram of the present invention installed on a pineapple picking vehicle Figure 2 ;

[0025] Figure 3 is a schematic axle view structure diagram of the present invention;

[0026] Figure 4 is a schematic structure diagram of the mounting frame, fixing frame and angle adjustment motor position of the present invention;

[0027] Figure 5 is a schematic internal structure diagram of the cylinder of the present invention;

[0028] Figure 6 is a schematic connection structure diagram of the air storage tank, electromagnetic opening valve I and electromagnetic opening valve II of the present invention;

[0029] Figure 7 is a schematic internal structure diagram of the pneumatic telescopic rod of the present invention.

[0030] In the figure: 1 frame, 2 pineapple picking vehicle, 3 pineapple box, 4 mounting bracket, 5 clamping jaw, 6 cutting knife, 7 airbag, 8 mounting rod, 9 camera, 10 turning motor, 11 first parallel rod group, 12 driven rod, 13 second parallel rod group, 14 angle sensor, 15 fixing bracket, 16 fixing block, 17 angle adjustment motor, 18 adjustment rod, 19 torsion motor, 20 mounting box, 21 driving motor, 22 driven gear, 23 first rotating connection block, 24 connecting rod, 25 piston, 26 second rotating connection block, 27 cylinder, 28 air storage tank, 29 first electromagnetic opening valve, 30 pneumatic telescopic rod, 31 second electromagnetic opening valve, 32 connecting pipe, 33 first pressure relief valve, 34 second pressure relief valve, 35 return spring, 2801 air inlet. Detailed implementation manner

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1-7 , the present invention provides a technical solution:

[0033] A pineapple picking execution manipulator, as shown in the attached Figure 1 of the specification, includes:

[0034] Frame 1, the frame 1 is used to fixedly connect the pineapple picking execution manipulator to the pineapple picking vehicle 2, the frame 1 is fixedly connected to the pineapple picking vehicle 2, the pineapple picking vehicle 2 is provided with a pineapple box 3, and the pineapple box 3 is used to store the picked pineapples;

[0035] Detection component, the detection component is used to detect the position of the pineapple;

[0036] Picking component, the picking component includes a turning mechanism, a mounting bracket 4, a position adjustment mechanism, a driving mechanism and a clamping jaw 5. The turning mechanism is arranged on the frame 1, and the turning mechanism is used to drive the mounting bracket 4 to turn. The mounting bracket 4 is used to mount the position adjustment mechanism and the driving mechanism. The mounting bracket 4 is provided with a clamping jaw 5. The position adjustment mechanism is used to adjust the position of the clamping jaw 5 on the mounting bracket 4, and the driving mechanism is used to drive the clamping jaw 5 to clamp the pineapple;

[0037] Energy storage component, the energy storage component is used to compress and store air when the turning mechanism moves;

[0038] Cutting assembly, the cutting assembly includes a pneumatic driving mechanism and a cutting knife 6. The cutting knife 6 is used to cut the stem of the pineapple, and the pneumatic driving mechanism is used to drive the cutting knife 6 to cut the pineapple by using the compressed air stored in the energy storage assembly;

[0039] Cleaning assembly, the cleaning assembly includes a conveying mechanism, an airbag 7, a release mechanism I, a triggering mechanism and a release mechanism II. The conveying mechanism is used to input a part of the air stored in the energy storage assembly into the airbag 7. One side of the airbag 7 is fixedly connected to the clamping jaw 5. The release mechanism I is used to release the air in the airbag 7 and perform air cleaning on the clamping jaw 5 after the clamping jaw 5 places the pineapple into the pineapple box 3. The release mechanism II is used to perform air cleaning on the cutting knife 6 when the clamping jaw 5 moves the pineapple.

[0040] The detection assembly includes a mounting rod 8 and a camera 9. The mounting rod 8 is used for mounting the camera 9. The mounting rod 8 is connected to the frame 1. The camera 9 is mounted on the mounting rod 8. The camera 9 is used to collect the position of the pineapple. The picking assembly adjusts the position of the clamping jaw 5 through the image collected by the camera 9, and then controls the clamping jaw 5 to clamp the pineapple.

[0041] The flipping mechanism includes a flipping motor 10, a first parallel rod group 11, a driven rod 12, a second parallel rod group 13 and an angle sensor 14. The flipping motor 10 is a servo motor that can accurately control its rotation angle. The flipping motor 10 is fixedly connected to the frame 1. The flipping motor 10 is used to drive the first parallel rod group 11 to rotate. Both ends of the first parallel rod group 11 are respectively connected to the output end of the flipping motor 10 and the mounting bracket 4. The driven rod 12 is rotatably connected to the frame 1. Both ends of the second parallel rod group 13 are respectively connected to the mounting bracket 4 and the driven rod 12. In this embodiment, the angle sensor 14 is a laser angle sensor 14, and the angle sensor 14 is used to detect the flipping angle of the mounting bracket 4.

[0042] The position adjustment mechanism includes a fixed frame 15, a fixed block 16, an angle adjustment motor 17, an adjustment rod 18, and a torsion motor 19. The driving mechanism includes an installation box 20, a driving motor 21, and a number of driven gears 22. The fixed frame 15 is fixedly connected to the installation frame 4. The fixed frame 15 is used to install the fixed block 16. The fixed block 16 is connected to the fixed frame 15 by bolts, and the bolts are not shown in the drawings of the specification. The fixed block 16 is used to fix the angle adjustment motor 17 to the installation frame 4. The angle adjustment motor 17 is arranged on the fixed block 16. The angle adjustment motor 17 is used to drive the adjustment rod 18 to rotate. Both the angle adjustment motor 17 and the torsion motor 19 are servo motors, which can accurately control the angle of the clamping jaw 5, and then adjust the position of the adjustment rod 18. The torsion motor 19 is arranged at one end of the adjustment rod 18 away from the angle adjustment motor 17. The torsion motor 19 is used to drive the installation box 20 to rotate, thereby driving the clamping jaw 5 to rotate. The torsion motor 19 is connected to the installation box 20. The driving motor 21 is arranged in the installation box 20. By driving one of the driven gears 22 to move, it is used to drive the two clamping jaws 5 to approach or move away from each other. There are two symmetrically arranged clamping jaws 5. Driven gears 22 are connected to both sides of each clamping jaw 5. The adjacent driven gears 22 are meshed with each other. One of the driven gears 22 is connected to the output end of the driving motor 21.

[0043] The energy storage component includes a first rotating connection block 23, a connecting rod 24, a piston 25, a second rotating connection block 26, a cylinder 27, and a gas storage tank 28. The first rotating connection block 23 is used to connect the connecting rod 24 and the first parallel rod group 11. The first rotating connection block 23 is connected to the first parallel rod group 11. A ball head connection block is arranged at one end of the connecting rod 24 connected to the rotating connection block. The first rotating connection block 23 is provided with a ball groove corresponding to the ball head connection block. The connecting rod 24 is connected to the first rotating connection block 23 through the ball head connection block. One end of the connecting rod 24 away from the first rotating connection block 23 is connected to a piston 25. The piston 25 is movably connected to the cylinder 27. A ball head connection block is also arranged at one end of the cylinder 27 connected to the second rotating connection block 26. The second rotating connection block 26 is provided with a ball groove. The cylinder 27 is connected to the second rotating connection block 26 through the ball head connection block. The second rotating connection block 26 is rotatably connected to the second parallel rod group 13. The air compressed by the reciprocating movement of the piston 25 in the cylinder 27 is stored in the gas storage tank 28. The cylinder 27 and the gas storage tank 28 are connected through a pipeline, and the pipeline is not shown in the drawings of the specification. Only the air inlet 2801 of the gas storage tank 28 is marked. The gas storage tank 28 is arranged on the installation frame 4. In this embodiment, the gas storage tank 28 is provided with two air outlets. One of the air outlets is respectively connected to an electromagnetic opening valve one 29 and an electromagnetic opening valve two 31, and the other air outlet is connected to an electromagnetic opening valve two 31.

[0044] The pneumatic drive mechanism includes an electromagnetic opening valve 1-29 and a pneumatic telescopic rod 30. The electromagnetic opening valve 1-29 is connected to the air outlet of the air storage tank 28. The electromagnetic opening valve 1-29 is connected to the pneumatic telescopic rod 30 through a pipeline. Both the pipeline and the connecting pipe 32 are made of PVC material and can be purchased according to actual situations during actual use. The pneumatic telescopic rod 30 controls its expansion and contraction through compressed air. The pneumatic telescopic rod 30 is fixedly connected to the bottom of the installation box 20, and the moving end of the pneumatic telescopic rod 30 is fixedly connected with a cutting knife 6.

[0045] The conveying mechanism includes an electromagnetic opening valve 2-31 and a connecting pipe 32. The electromagnetic opening valve 2-31 is fixedly connected to the air storage tank 28. The electromagnetic opening valve 2-31 is connected to the airbag 7 through the connecting pipe 32. The connecting pipe 32 is used to convey compressed air into the airbag 7.

[0046] The release mechanism 1 includes a pressure relief valve 1-33. The pressure relief valve 1-33 is used to eject the air in the airbag 7 to clean the clamping jaw 5. The pressure relief valve 1-33 is connected to the airbag 7. When the angle sensor 14 detects that the mounting bracket 4 moves above the pineapple box 3, the pressure relief valve 1-33 will open.

[0047] The release mechanism 2 includes a pressure relief valve 2-34 and a return spring 35. The pressure relief valve 2-34 is arranged at the connection end of the pneumatic telescopic rod 30 and the cutting knife 6. The return spring 35 is arranged inside the pneumatic telescopic rod 30. The return spring 35 is used to drive the pneumatic telescopic rod 30 to reset during pressure relief. When the angle sensor 14 detects that the mounting bracket 4 rises (which means the clamping jaw 5 has stably clamped the pineapple), the pressure relief valve 2-34 will open.

[0048] Working principle: During use, the position of the pineapple is identified through the camera 9. After the pineapple is identified, the clamping angle of the clamping jaw 5 is adjusted through the angle adjustment motor 17 and the torsion motor 19. Then, the pineapple is clamped by the clamping jaw 5. After the clamping is completed, the electromagnetic opening valve 1-29 is opened and the cutting knife 6 is driven by the pneumatic telescopic rod 30 to cut the stem of the pineapple. At the same time, the torsion motor 19 drives the clamping jaw 5 to rotate to pick the pineapple. After the picking is completed, the flipping motor 10 is started to flip the mounting bracket 4. When the mounting bracket 4 moves above the pineapple box 3, the clamping jaw 5 will release the clamping to release the pineapple into the glass box. Then, the flipping motor 10 drives the mounting bracket 4 to reset;

[0049] When the flipping motor 10 drives the first parallel rod group 11 to move, it will drive the piston 25 to reciprocate in the cylinder 27 through the connecting rod 24. At this time, the air is compressed into the air storage tank 28;

[0050] Before clamping the pineapple, a part of the air in the air storage tank 28 is input into the airbag 7 through the electromagnetic opening valve II 31. When the angle sensor 14 detects that the mounting bracket 4 moves above the pineapple frame 3 (which means the pineapple is released into the pineapple frame 3), the pressure relief valve I 33 will open to clean the clamping jaw 5.

[0051] After stably clamping the pineapple, a part of the air in the air storage tank 28 is input into the pneumatic telescopic rod 30 through the electromagnetic opening valve I 29 to drive the cutting knife 6 to cut the stem of the pineapple. When the angle sensor 14 detects that the mounting bracket 4 rises, the pressure relief valve II 34 opens, and under the drive of the return spring 35, the air in the pneumatic telescopic rod 30 is sprayed onto the cutting knife 6 to clean the cutting knife 6.

[0052] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pineapple picking execution manipulator, characterized in that, Comprising: A frame, the frame is fixedly connected to a pineapple picking vehicle, and the pineapple picking vehicle is provided with a pineapple box; A detection component, the detection component is used for detecting the position of the pineapple; A picking component, the picking component includes a flipping mechanism, a mounting frame, a position adjusting mechanism, a driving mechanism and a clamping jaw. The flipping mechanism is arranged on the frame, and the flipping mechanism is used for driving the mounting frame to flip. The mounting frame is provided with the clamping jaw. The position adjusting mechanism is used for adjusting the position of the clamping jaw on the mounting frame. The driving mechanism is used for driving the clamping jaw to clamp the pineapple; An energy storage component, the energy storage component is used for compressing and storing air when the flipping mechanism moves; A cutting component, the cutting component includes a pneumatic driving mechanism and a cutting knife. The pneumatic driving mechanism is used for driving the cutting knife to cut the pineapple by using the compressed air stored in the energy storage component; A cleaning component, the cleaning component includes a conveying mechanism, an airbag, a release mechanism I, a triggering mechanism and a release mechanism II. The conveying mechanism is used for inputting a part of the air stored in the energy storage component into the airbag. The airbag is arranged on the clamping jaw. The release mechanism I is used for releasing the air in the airbag and performing air flow cleaning on the clamping jaw after the clamping jaw places the pineapple into the pineapple box. The release mechanism II is used for performing air flow cleaning on the cutting knife when the clamping jaw moves the pineapple; 2. The pineapple picking execution manipulator according to claim 1, characterized in that: The detection component includes a mounting rod and a camera. The mounting rod is connected to the frame, and the camera is mounted on the mounting rod; 3. The pineapple picking manipulator according to claim 1, characterized in that: The flipping mechanism includes a flipping motor, a first parallel rod group, a driven rod, a second parallel rod group and an angle sensor. The flipping motor is arranged on the frame, and the flipping motor is used for driving the first parallel rod group to rotate. Two ends of the first parallel rod group are respectively connected to the output end of the flipping motor and the mounting frame. The driven rod is arranged on the frame. Two ends of the second parallel rod group are respectively connected to the mounting frame and the driven rod. The angle sensor is used for detecting the flipping angle of the mounting frame; 4. The pineapple picking and executing manipulator according to claim 3, characterized in that: The position adjusting mechanism includes a fixing frame, a fixing block, an angle adjusting motor, an adjusting rod and a torsion motor. The driving mechanism includes a mounting box, a driving motor and a plurality of driven gears. The fixing frame is arranged on the mounting frame. The fixing block is connected to the fixing frame by bolts. The angle adjusting motor is arranged on the fixing block, and the angle adjusting motor is used for driving the adjusting rod to rotate. The torsion motor is arranged at one end of the adjusting rod away from the angle adjusting motor. The torsion motor is connected to the mounting box. The driving motor is arranged in the mounting box. Two clamping jaws are symmetrically arranged. Driven gears are connected to both sides of each clamping jaw, and adjacent driven gears are meshed with each other. One of the driven gears is connected to the output end of the driving motor.

5. The manipulator for pineapple picking according to claim 4, wherein: The energy storage component includes a first rotating connection block, a connecting rod, a piston, a second rotating connection block, a cylinder and a gas storage tank. The first rotating connection block is connected to the first parallel rod group. The connecting rod is connected to the first rotating connection block through a ball joint connection block. One end of the connecting rod away from the first rotating connection block is connected with a piston. The piston is connected to the cylinder. The cylinder is connected to the second rotating connection block through a ball joint connection block. The second rotating connection block is connected to the second parallel rod group. The air compressed by the reciprocating movement of the piston in the cylinder is stored in the gas storage tank. The gas storage tank is arranged on the mounting bracket.

6. The pineapple picking and executing manipulator according to claim 5, wherein: The pneumatic driving mechanism includes a first electromagnetic opening valve and a pneumatic telescopic rod. The first electromagnetic opening valve is connected to the gas storage tank. The first electromagnetic opening valve is connected to the pneumatic telescopic rod through a pipeline. The pneumatic telescopic rod is connected to the mounting box. The moving end of the pneumatic telescopic rod is connected with the cutting knife.

7. The manipulator for pineapple picking according to claim 5, characterized in that: The conveying mechanism includes a second electromagnetic opening valve and a connecting pipe. The second electromagnetic opening valve is connected to the gas storage tank. The second electromagnetic opening valve is connected to the airbag through the connecting pipe.

8. The pineapple picking and executing manipulator according to claim 7, wherein: The first release mechanism includes a first pressure relief valve. The first pressure relief valve is connected to the airbag. When the angle sensor detects that the mounting bracket moves above the pineapple box, the first pressure relief valve will open.

9. The pineapple picking execution manipulator according to claim 6, characterized in that: The second release mechanism includes a second pressure relief valve and a return spring. The second pressure relief valve is arranged at the connection end of the pneumatic telescopic rod and the cutting knife. The return spring is arranged inside the pneumatic telescopic rod. The return spring is used to drive the pneumatic telescopic rod to reset when pressure is released. When the angle sensor detects that the mounting bracket rises, the second pressure relief valve will open.

10. A picking device, characterized in that: Including the pineapple picking execution manipulator according to any one of claims 1-9.

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