Pineapple self-propelled folding picking device

Abstract

This invention relates to the field of agricultural power machinery, specifically to a pineapple self-pinching and harvesting device, comprising a frame, a moving component, a position adjustment component, and a pineapple-pinching manipulator. The moving component is connected to the frame; the position adjustment component is mounted on the frame; the pineapple-pinching manipulator includes a guide component, a guide component, and a pineapple-pinching component. The pineapple-pinching component is connected to the output end of the position adjustment component. The guide component has a clamping opening for accommodating the pineapple, and the guide component is used to push the pineapple to tilt so that the pineapple-pinching component abuts against the connection between the pineapple and the stem. The pineapple-pinching component has a first end and a second end, with the first end close to the guide component. The opening width of the pineapple-pinching component gradually decreases from the first end to the second end. The moving component drives the pineapple-pinching manipulator to move in a preset direction. The connection breaks after passing the clamping opening, the guide component, the first end, and the second end in sequence, causing the pineapple to detach from the stem. This invention enables automated and efficient pineapple harvesting.

Description

Technical Field

[0001] This invention relates to the field of agricultural power machinery technology, and in particular to a pineapple self-push-and-harvest device. Background Technology

[0002] Pineapple is a perennial herbaceous fruit tree. The plant grows to about 1 meter tall. Its stem is short and thick, brown in color, with suckers emerging from the base. It has numerous leaves arranged in a rosette, sword-shaped; spike-like inflorescences emerge from the leaf cluster, resembling pine cones; the aggregate fruit is spherical, with yellow, juicy flesh; the seeds are small, hard, purplish-black, and pointed-ovate. It flowers in summer and fruits from May to July.

[0003] Currently, pineapple harvesting is mainly done manually. Mechanized pineapple harvesting devices are now being used, primarily employing three methods: twisting harvesting, cutting harvesting, and pushing harvesting. Twisting harvesting uses a gripper mechanism to grasp the pineapple fruit and then twists it to break the connection between the fruit and the stem. Cutting harvesting uses a blade to cut the connection between the fruit and the stem, breaking it off. Pushing harvesting uses a guide groove mounted on a support frame. The pineapple stem is guided along the groove, the support height is adjusted so that its top is aligned with the connection between the fruit and the stem, and then a pushing mechanism pushes the fruit to break the connection.

[0004] The existing twisting harvesting technology has several problems: First, its twisting device is usually complex in structure, resulting in high procurement and maintenance costs; second, during the twisting process, the fruit and the stem rotate synchronously, which not only easily damages the stem itself, but may also affect the normal growth of adjacent buds; finally, this technology is a single-fruit operation mode, and a single twisting device can only complete the twisting of one fruit at a time, resulting in relatively low harvesting efficiency. Summary of the Invention

[0005] Therefore, it is necessary to address the problem of high intensity and low efficiency in manual harvesting by providing a pineapple self-push-and-pinch harvesting device, including a frame, a moving component, a position adjustment component, and a push-and-pinch manipulator. The moving component is connected to the frame; the position adjustment component is installed on the frame; the push-and-pinch manipulator includes a guide component, a guide component, and a push-and-pinch component arranged sequentially along its length. The push-and-pinch component is connected to the output end of the position adjustment component. The guide component has a clamping opening for accommodating the pineapple, and the guide component is used to push the pineapple to tilt so that the push-and-pinch component abuts against the connection between the pineapple and the stem. The push-and-pinch component has a first end and a second end, with the first end close to the guide component. The opening width of the push-and-pinch component gradually decreases from the first end to the second end. The moving component drives the push-and-pinch manipulator to move in a preset direction. The connection breaks after passing the clamping opening, the guide component, the first end, and the second end in sequence, causing the pineapple to detach from the stem.

[0006] Preferably, the push-folding manipulator includes a first robotic arm and a second robotic arm. The first robotic arm is provided with a first guide claw, a first guide block and a first arm rod in sequence along its length. The second robotic arm is provided with a second guide claw, a second guide block and a second arm rod in sequence along its length. The first guide claw and the second guide claw are arranged opposite each other to form a guide assembly. The first guide block and the second guide block are arranged opposite each other to form a guide assembly. The first arm rod and the second arm rod are arranged opposite each other to form a push-folding assembly. The second arm rod has a first end and a second end.

[0007] Preferably, the first guide claw / second guide claw includes a claw body, a guide wheel, and a spring hinge. One end of the claw body is rotatably connected to the guide wheel, and the spring hinge connects the other end of the claw body to the guide assembly.

[0008] Preferably, the first guide block has an arc-shaped convex surface, and the second guide block has an arc-shaped groove.

[0009] Preferably, the second boom includes a boom body and a push-bend rod, the push-bend rod is fixedly connected to the boom body, the push-bend rod has a first end and a second end, the first end is close to the second guide block, and the distance between the first end and the first boom is greater than the distance between the second end and the first boom.

[0010] Preferably, the second boom further includes a connecting plate and fasteners, the push-bend rod is fixedly connected to the connecting plate, the connecting plate is provided with a vertical groove, and the fasteners pass through the vertical groove and fasten the connecting plate to the boom body.

[0011] Preferably, it also includes a storage bag, the first arm has a storage window facing the push-fold rod, the storage bag is fixed to the first arm, and the opening of the storage bag is connected to the storage window.

[0012] Preferably, the cross-section of the first end is a first elliptical arc, and the cross-section of the second end is a second elliptical arc, wherein the major axis of the second elliptical arc is longer than the major axis of the first elliptical arc, and the minor axis of the second elliptical arc is longer than the minor axis of the first elliptical arc.

[0013] Preferably, the position adjustment assembly includes a vertical drive unit, a horizontal drive unit, and a moving platform. The vertical drive unit is connected to the frame, the horizontal drive unit is connected to the output end of the vertical drive unit, and the vertical drive unit is used to drive the horizontal drive unit to move in the vertical direction. The moving platform is connected to the output end of the horizontal drive unit, and the horizontal drive unit is used to drive the moving seat to move in the horizontal direction. The push-and-fold manipulator is connected to the moving platform.

[0014] Preferably, the vertical drive unit includes a vertical motor and a vertical lead screw, and the horizontal drive unit includes a connecting seat, a horizontal motor, and a horizontal lead screw. The vertical motor is mounted on the frame, and the output end of the vertical motor is connected to the vertical lead screw. The length direction of the vertical lead screw is parallel to the vertical direction. The connecting seat is threaded to the vertical lead screw. The horizontal motor is mounted on the connecting seat, and the output end of the horizontal motor is connected to the horizontal lead screw. The length direction of the horizontal lead screw is parallel to the horizontal direction. The moving platform is threaded to the horizontal lead screw.

[0015] 1. In this invention, the frame is fixedly mounted on large agricultural machinery or agricultural machinery (mobile component) that can travel in pineapple plantations. The frame is equipped with a position adjustment component, which drives the pineapple-breaking manipulator to move and adjust in four directions (up, down, left, and right) in a vertical plane. The end of the pineapple-breaking manipulator is a guide component, which has an automatic rebound function. The pineapple-breaking component is located behind the guide component. When the pineapple self-breaking harvesting device moves towards the target pineapple, the position adjustment component adjusts the height and horizontal position of the pineapple-breaking manipulator, aligning the bottom of the pineapple-breaking component with the connection between the bottom of the pineapple and the stem; simultaneously, after contacting the pineapple, the guide component smoothly guides the pineapple stem into the guide component. As the pineapple self-breaking harvesting device continues to move towards the pineapple, the opening width of the pineapple-breaking component gradually decreases from the first end to the second end, applying force to the pineapple stem and breaking it; the pineapple fruit broken off from the plant is collected, thus completing the pineapple harvesting and collection process. This invention has high harvesting efficiency: the harvesting device allows multiple pineapples to enter the push-and-break robotic arm in sequence, and subsequent pineapples can enter and be pushed and broken in succession during or after the previous pineapple is harvested.

[0016] 2. The core device of this invention is a push-bend rod, which is a semi-elliptical variable cross-section cone structure installed at an angle. It eliminates the need for complex components such as robotic arms. The power source is primarily the force generated between the platform on which the harvesting device is installed and the pineapple itself as it moves forward. This invention causes minimal damage to the pineapple plant: lacking a torsion mechanism, it does not cause significant harm to the pineapple tree itself. Its effective range is located at the connection between the pineapple fruit and the stem, enabling harvesting of the pineapple fruit without damaging it. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the pineapple self-push-and-harvest device provided in an embodiment of the present invention;

[0018] Figure 2 This is a top view of the pineapple self-push-and-harvest device provided in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the guide component and the push-bend component provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the push-fold component provided in an embodiment of the present invention;

[0021] Figure 5 This is a partial structural schematic diagram of the push-fold component provided in an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the position adjustment component provided in an embodiment of the present invention.

[0023] The labels in the diagram are explained as follows:

[0024] 1. Frame; 2. Position adjustment assembly; 3. Push-folding robot; 21. Vertical drive unit; 22. Horizontal drive unit; 23. Moving platform; 31. First robotic arm; 32. Second robotic arm; 33. Storage bag; 211. Vertical motor; 212. Vertical lead screw; 213. Horizontal bearing; 214. First guide rod; 215. Guide shaft seat; 221. Connecting seat; 222. Horizontal motor; 223. Horizontal lead screw; 224. Coupling; 225. Flange linear nut; 226. Second guide rod; 311. First guide claw; 3 12. First guide block; 313. First arm; 314. Woven bag pressure plate; 321. Second guide claw; 322. Second guide block; 323. Second arm; 3111. Gripper body; 3112. Guide wheel; 3113. Spring hinge; 3121. Arc-shaped convex surface; 3131. Storage window; 3221. Arc-shaped groove; 3231. First end; 3232. Second end; 3233. Arm body; 3234. Push-folding rod; 3235. Connecting plate; 3236. Fastener; 32351. Vertical groove. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0027] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" or "several" means two or more, unless otherwise explicitly specified.

[0029] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this application can produce, should still fall within the scope of the technical content disclosed in this application.

[0030] Reference Figures 1 to 6This invention relates to intelligent agricultural power machinery, specifically providing a pineapple self-pinching and harvesting device, including a frame 1, a moving component, a position adjustment component 2, and a pineapple-pinching manipulator 3. The moving component is connected to the frame 1; the position adjustment component 2 is mounted on the frame 1; the pineapple-pinching manipulator 3 includes a guide component, a guide component, and a pineapple-pinching component arranged sequentially along its length. The pineapple-pinching component is connected to the output end of the position adjustment component. The guide component has a clamping opening for accommodating the pineapple, and the guide component is used to push the pineapple to tilt so that the pineapple-pinching component abuts against the connection between the pineapple and the stem. The pineapple-pinching component has a first end 3231 and a second end 3232. The first end 3231 is close to the guide component, and the opening width of the pineapple-pinching component gradually decreases along the direction from the first end 3231 to the second end 3232. The moving component drives the pineapple-pinching manipulator 3 to move in a preset direction, and the connection breaks after passing the clamping opening, the guide component, the first end, and the second end in sequence, causing the pineapple to detach from the stem. Specifically, the moving component is a movable trolley or a movable agricultural machinery device, and the moving component can move on the ground.

[0031] In one embodiment, the push-and-fold manipulator 3 includes a first robotic arm 31 and a second robotic arm 32. The first robotic arm 31 is sequentially provided with a first guide claw 311, a first guide block 312, and a first arm 313 along its length. The second robotic arm 32 is sequentially provided with a second guide claw 321, a second guide block 322, and a second arm 323 along its length. The first guide claw 311 and the second guide claw 321 are arranged opposite each other to form a guide assembly. The first guide block 312 and the second guide block 322 are arranged opposite each other to form a guide assembly. The first arm 313 and the second arm 323 are arranged opposite each other to form a push-and-fold assembly. The second arm 323 has a first end 3231 and a second end 3232. Specifically, the first guide claw 311 is connected to the front end of the first robotic arm 31 via a pin, and the second guide claw 321 is connected to the front end of the second robotic arm 32 via a pin. Specifically, the folding robot 3 has an aluminum profile frame body. The first robotic arm 31 is approximately 400 mm long and is mounted perpendicular to the bottom frame. The second robotic arm 32 is approximately 420 mm long and tilts outward at a 75-degree angle (i.e., the preset angle between the axis of the first robotic arm 31 and the axis of the second robotic arm is 75 degrees). A 75-degree base bracket is fixed to the end of the second robotic arm 32 with screws, and this bracket is also connected to the frame 1 with screws. Because the main structure is made of aluminum profiles, the mounting positions of the first robotic arm 31 and the second robotic arm 32 are movable, allowing for flexible adjustment of the distance between them according to the different sizes of the pineapple fruits.

[0032] In one embodiment, the first guide claw 311 includes a claw body 3111, a guide wheel 3112, and a spring hinge 3113. One end of the claw body 3111 is rotatably connected to the guide wheel 3112, and the spring hinge 3113 connects the other end of the claw body 3111 to the guide assembly. In another embodiment, the second guide claw includes a claw body 3111, a guide wheel 3112, and a spring hinge 3113. One end of the claw body 3111 is rotatably connected to the guide wheel 3112, and the spring hinge 3113 connects the other end of the claw body 3111 to the guide assembly. In another embodiment, a tension spring can be used instead of the spring hinge 3113. Specifically, the middle part of the claw body 3111 is connected to the movable surface of the spring hinge 3113 by a screw, and the other side of the spring hinge 3113 is fixedly installed on the claw body 3111. A cylindrical structure is designed at the front end of the gripper body 3111, on which a guide wheel 3112 is mounted, which can rotate freely around the cylinder 360 degrees. When the device is not in operation, the spring hinges 3113 on both sides drive the corresponding gripper bodies 3111 to close inward under the action of their own spring elastic force. At this time, the included angle between the two mounting surfaces of the spring hinges 3113 is maintained at 60 degrees.

[0033] In one embodiment, the first guide block 312 has an arc-shaped convex surface 3121, and the second guide block 322 has an arc-shaped groove 3221.

[0034] In one embodiment, the second arm 323 includes an arm body 3233 and a push-bend rod 3234. The push-bend rod 3234 is fixedly connected to the arm body 3233. The push-bend rod 3234 has a first end 3231 and a second end 3232. The first end 3231 is close to the second guide block 322. The distance between the first end 3231 and the first arm 313 is greater than the distance between the second end 3232 and the first arm 313.

[0035] In one embodiment, the second arm 323 further includes a connecting plate 3235 and a fastener 3236. The push-bend rod 3234 is fixedly connected to the connecting plate 3235. The connecting plate 3235 has a vertical groove 32351. The fastener 3236 passes through the vertical groove 32351 and securely connects the connecting plate 3235 to the arm body 3233. Specifically, the connecting plate 3235 is a sheet metal part with a 45-degree "V" shaped angle. One side of the connecting plate has a vertical groove 32351, which can be installed on the arm body 3233 by the fastener 3236. The design of the vertical groove 32351 allows the installation height of the connecting plate 3235 to accommodate pineapples of different heights. The other side of the connecting plate 3235 has an arc groove and a threaded hole for installing the push-bend rod 3234.

[0036] Furthermore, the push-bend rod 3234 is a semi-elliptical variable cross-section conical structure, characterized by a small elliptical arc at the first end 3231 (major axis 45 mm, minor axis 16 mm) and a large elliptical arc at the second end 3232 (major axis 170 mm, minor axis 50 mm), presenting an overall gradually curved conical shape with a total length of 310 mm. After installation, the arc profile of the push-bend rod 3234 protrudes outward (to the left) closer to the second end 3232 (the large elliptical end), with the second end 3232 extending into the plane containing the first arm 313. The push-bend rod 3234 is connected to the connecting plate 3235 by screws: its threaded hole near the first end 3231 is fixedly connected to the threaded hole on the connecting plate 3235 by screws and nuts; its threaded hole near the second end 3232 is matched with the arc groove on the connecting plate 3235, so that the mechanism can rotate and adjust within a certain angle range around the front fixed point (threaded hole) as the center; when rotated to the required angle, the rear screw and nut can be tightened to lock it, so as to adjust the horizontal working angle of the push-bend rod 3234.

[0037] In one embodiment, a storage bag 33 is also included. The first arm 313 has a storage window 3131 facing the push-folding rod 3234. The storage bag 33 is fixed to the first arm 313, and the opening of the storage bag 33 is connected to the storage window 3131. Specifically, a woven bag fixing frame is installed on the outside of the first arm 313. The woven bag fixing frame has a storage window 3131. The storage bag 33 is fixed by loosely fitting it onto the woven bag fixing frame and pressing it with a woven bag pressure plate 314.

[0038] In one embodiment, the cross-section of the first end 3231 is a first elliptical arc, and the cross-section of the second end 3232 is a second elliptical arc. The major axis of the second elliptical arc is longer than the major axis of the first elliptical arc, and the minor axis of the second elliptical arc is longer than the minor axis of the first elliptical arc.

[0039] In one embodiment, the position adjustment assembly 2 includes a vertical drive unit 21, a horizontal drive unit 22, and a moving platform 23. The vertical drive unit 21 is connected to the frame 1, and the horizontal drive unit 22 is connected to the output end of the vertical drive unit 21. The vertical drive unit 21 drives the horizontal drive unit 22 to move vertically. The moving platform 23 is connected to the output end of the horizontal drive unit 22, and the horizontal drive unit 22 drives the moving platform 23 to move horizontally. The push-pull manipulator 3 is connected to the moving platform 23. The vertical drive unit 21 and the horizontal drive unit 22 include, but are not limited to, sprocket and chain mechanisms, synchronous belt and synchronous pulley mechanisms, cylinder drive structures, and motor drive structures.

[0040] In one embodiment, the vertical drive unit 21 includes a vertical motor 211 and a vertical lead screw 212, and the horizontal drive unit 22 includes a connecting seat 221, a horizontal motor 222, and a horizontal lead screw 223. The vertical motor 211 is mounted on the frame 1, and the output end of the vertical motor 211 is connected to the vertical lead screw 212. The length direction of the vertical lead screw 212 is parallel to the vertical direction. The connecting seat 221 is threadedly connected to the vertical lead screw 212. The horizontal motor 222 is mounted on the connecting seat 221, and the output end of the horizontal motor 222 is connected to the horizontal lead screw 223. The length direction of the horizontal lead screw 223 is parallel to the horizontal direction. The moving platform 23 is threadedly connected to the horizontal lead screw 223. Furthermore, the vertical drive unit 21 also includes a horizontal bearing 213, a first guide rod 214, and a guide shaft seat 215. The outer ring of the horizontal bearing 213 is mounted on the frame 1. One end of the vertical lead screw 212 is connected to the output end of the vertical motor 211, and the other end of the vertical lead screw 212 is rotatably connected to the inner ring of the horizontal bearing 213. The guide shaft seat 215 is mounted on the frame 1, and both ends of the first guide rod 214 are connected to the guide shaft seat 215. The length direction of the first guide rod 214 is parallel to the vertical direction, and a first guide hole is provided on the connecting seat 221, through which the first guide rod 214 passes. The horizontal drive unit 22 also includes a coupling 224, a flange linear nut 225, and a second guide rod 226. The coupling 224 connects the output end of the horizontal motor 222 and the horizontal lead screw 223. The moving platform 23 is equipped with the flange linear nut 225, which is threaded onto the horizontal lead screw 223. The length direction of the second guide rod 226 is parallel to the horizontal direction. The moving platform 23 has a second guide hole through which the second guide rod 226 passes. In the vertical direction, the vertical motor 211 drives the vertical lead screw 212 to achieve vertical movement, and the first guide rod 214 can maintain stable vertical movement. In the horizontal direction, the horizontal motor 222 drives the horizontal lead screw 223 to achieve horizontal movement, wherein the pushing and folding manipulator 3 is mounted on the moving platform 23. The position of the harvesting device is adjusted according to the different heights of the pineapple fruits.

[0041] The implementation process of this embodiment is as follows:

[0042] The frame 1 can be mounted on large agricultural machinery or agricultural machinery that can travel in pineapple plantations. The vertical drive unit 21 can drive the push-and-pinch manipulator 3 to move vertically "up" and "down", and the horizontal drive unit 22 can drive the push-and-pinch manipulator 3 to move horizontally "left" and "right". Under the action of the position adjustment component 2, the push-and-pinch manipulator 3 first moves the guide component to a position 2 cm below the connection between the pineapple and the stem. Then, as it moves toward the pineapple body, the guide wheels 3112 at the front ends of the first guide claw 311 and the second guide claw 321 first contact the surface of the pineapple body. As the pineapple self-pinching and picking device continues to move forward, the guide wheels 3112 roll along the surface of the pineapple body. Since the actual width of the pineapple body is greater than the distance between the front end of the first guide claw 311 and the front end guide wheel 3112 of the second guide claw 321 in the closed state, the pineapple body will overcome the elasticity of the spring hinge 3113 and push the first guide claw 311 and the second guide claw 321 on both sides outward. At the same time, the continuous rebound force provided by the spring hinge 3113 ensures that the guide wheels 3112 at the front end of the first guide claw 311 and the second guide claw 321 can always apply a fitting pressure to the pineapple body, thereby guiding the pineapple smoothly into the guide assembly. The first guide block 312 is designed as an arc-shaped convex surface 3121 protruding vertically into the space to the right of the clamping opening, while the second guide block 322 is an arc-shaped groove 3221 recessed vertically into the space to the right of the clamping opening. This specific curved shape causes the pineapple to be forced to move towards the right side of the clamping opening during its entry into the guide assembly, under the combined action of the arc-shaped convex surface 3121 and the arc-shaped groove 3221, i.e., to a position slightly to the right relative to its original vertical direction. Ultimately, this causes the pineapple and its connected stem to tilt to the right under the action of the guide assembly. When the pineapple enters the push-bending assembly from the guide assembly, the small elliptical arc surface (first end 3231) at the front end of the push-bending rod 3234 mounted on the second arm 323 first contacts the connection part of the upper part of the pineapple near the top leaves. Because the first end 3231 protrudes to the left, the contact force drives the pineapple and its connected stem to tilt to the left. At this point, the stem is blocked by the bottom of the lower-positioned first arm 313 and cannot move further to the left, while the pineapple body is not restricted and continues to tilt to the left under the continuous contact force. Simultaneously, the entire pineapple self-push-and-harvest device continues to move forward, driving the pineapple into the push-and-break assembly. As the pineapple goes deeper, its contact point with the push-and-break rod 3234 gradually moves towards the second end 3232 (the large elliptical end). The push-and-break rod 3234 is designed with an elliptical arc surface that gradually increases in size along its length and a long axis that gradually lengthens, thus continuously increasing the leftward pushing force applied to the pineapple, causing the angle of the pineapple body tilting to the left to continuously increase. During this process, the tilting of the pineapple causes its effective contact surface with the push-and-break rod 3234 to gradually move downward (i.e., the contact point decreases along the height of the fruit body).To ensure that the pushing force is always effectively applied to the key parts of the pineapple near the leaves, the horizontal working angle of the pushing rod 3234 can be changed along the vertical groove 32351 of the connecting plate 3235 via the connecting plate 3235 and the fastener 3236. When the pineapple tilts to a certain angle under the continuously increasing pushing force of the pushing rod 3234, the connection between the pineapple body and the lower stem breaks due to the bending stress reaching its limit. The broken pineapple body falls to the left and accurately into the storage bag 33 fixed on the left, completing the harvesting of a single pineapple. In addition, since the length of the pushing rod 3234 exceeds 300 mm, this design allows multiple pineapples to enter the pushing assembly sequentially. During or after the harvesting of the previous pineapple, subsequent pineapples can enter and be pushed, thus significantly improving the efficiency of the harvesting operation.

[0043] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0044] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A pineapple self-pushing and harvesting device, characterized in that, include: frame; The moving component is connected to the rack; Position adjustment assembly, mounted on the frame; A pineapple pusher includes a guide component, a guide component, and a pineapple pusher arranged sequentially along its length. The pineapple pusher is connected to the output end of the position adjustment component. The guide component has a clamping opening for accommodating a pineapple. The guide component is used to push the pineapple to tilt so that the pineapple pusher abuts against the connection between the pineapple and the stem. The pineapple pusher has a first end and a second end. The first end is close to the guide component. The opening width of the pineapple pusher gradually decreases from the first end to the second end. The movable component drives the pineapple-pulling manipulator to move along a preset direction. The connection point breaks off after passing the clamping opening, the guide component, the first end, and the second end in sequence, causing the pineapple to detach from the stem. The pineapple-pulling manipulator includes a first robotic arm and a second robotic arm. The first robotic arm is provided with a first guide claw, a first guide block, and a first arm rod in sequence along its length. The second robotic arm is provided with a second guide claw, a second guide block, and a second arm rod in sequence along its length. The first guide claw and the second guide claw are arranged opposite each other to form a guide component. The first guide block and the second guide block are arranged opposite each other to form a guide component. The first arm rod and the... The second arm is arranged opposite to form a push-fold assembly. The second arm has a first end and a second end. The second arm includes an arm body and a push-fold rod. The push-fold rod is fixedly connected to the arm body. The push-fold rod has a first end and a second end. The first end is close to the second guide block. The distance between the first end and the first arm is greater than the distance between the second end and the first arm. The cross-section of the first end is a first elliptical arc, and the cross-section of the second end is a second elliptical arc. The major axis of the second elliptical arc is greater than the major axis of the first elliptical arc, and the minor axis of the second elliptical arc is greater than the minor axis of the first elliptical arc.

2. The pineapple self-pushing and harvesting device according to claim 1, characterized in that, The first guide claw / second guide claw includes a gripper body, a guide wheel, and a spring hinge. One end of the gripper body is rotatably connected to the guide wheel, and the spring hinge connects the other end of the gripper body to the guide assembly.

3. The pineapple self-pushing and harvesting device according to claim 1, characterized in that, The first guide block has an arc-shaped convex surface, and the second guide block has an arc-shaped groove.

4. The pineapple self-pushing and harvesting device according to claim 1, characterized in that, The second boom also includes a connecting plate and fasteners. The push-bend rod is fixedly connected to the connecting plate. The connecting plate has a vertical groove. The fasteners pass through the vertical groove and fasten the connecting plate to the boom body.

5. The pineapple self-pushing and harvesting device according to claim 1, characterized in that, It also includes a storage bag, the first arm has a storage window facing the push-folding rod, the storage bag is fixed to the first arm, and the opening of the storage bag is connected to the storage window.

6. The pineapple self-pushing and harvesting device according to claim 1, characterized in that, The position adjustment assembly includes a vertical drive unit, a horizontal drive unit, and a moving platform. The vertical drive unit is connected to the frame, and the horizontal drive unit is connected to the output end of the vertical drive unit. The vertical drive unit is used to drive the horizontal drive unit to move in the vertical direction. The moving platform is connected to the output end of the horizontal drive unit, and the horizontal drive unit is used to drive the moving platform to move in the horizontal direction. The push-and-fold manipulator is connected to the moving platform.

7. The pineapple self-pushing and harvesting device according to claim 6, characterized in that, The vertical drive unit includes a vertical motor and a vertical lead screw, and the horizontal drive unit includes a connecting seat, a horizontal motor, and a horizontal lead screw. The vertical motor is mounted on the frame, and its output end is connected to the vertical lead screw. The length direction of the vertical lead screw is parallel to the vertical direction. The connecting seat is threaded to the vertical lead screw. The horizontal motor is mounted on the connecting seat, and its output end is connected to the horizontal lead screw. The length direction of the horizontal lead screw is parallel to the horizontal direction. The moving platform is threaded to the horizontal lead screw.

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