Pineapple dibbling executing mechanism

Abstract

The utility model relates to the technical field of pineapple flower dibbling, and particularly discloses a pineapple flower dibbling executing mechanism which comprises a sliding table module installed on a pineapple flower dibbling robot and comprising a first sliding block; a driving link; the rotating assembly is installed on the first sliding block, and the output end of the rotating assembly is fixedly connected with one end of the driving connecting rod; the spraying connecting rod is mounted at the other end of the driving connecting rod, and one end far away from the driving connecting rod is connected with the nozzle; the sliding table module is used for driving the rotating assembly to move; the rotating assembly is used for driving the driving connecting rod to rotate so as to stretch out the spraying connecting rod. The stretching direction of the spraying connecting rod is perpendicular to the driving direction of the sliding table module. The pineapple flower dotting robot can effectively solve the problems that the total weight of an executing mechanism and the occupied space are too large due to the fact that two sliding table modules are needed to drive a spray head to move in the X-axis direction or the Y-axis direction, and therefore the bearable weight of the pineapple flower dotting robot is effectively increased, and the available space of the pineapple flower dotting robot is increased.

Description

Technical Field

[0001] The utility model belongs to the technical field of pineapple flower dotting, and particularly relates to a pineapple flower dotting execution mechanism. Background Art

[0002] The existing pineapple flower-dotting robot includes a medicine storage box, a liquid medicine spraying assembly, and an actuator. The existing actuator includes an X-axis slide module and a Y-axis slide module. The X-axis slide module is used to drive the nozzle in the liquid medicine spraying assembly to move along the X-axis direction, and the Y-axis slide module is used to drive the nozzle in the liquid medicine spraying assembly to move along the Y-axis direction. Since the existing actuator needs to use two slide modules to drive the nozzle to move along the X-axis direction or the Y-axis direction, and a single slide module is heavy and requires a large amount of space, the existing actuator has the problem that the total weight of the actuator and the space required are too large due to the need to use two slide modules to drive the nozzle to move along the X-axis direction or the Y-axis direction, which results in a low load-bearing weight and less available space for the pineapple flower-dotting robot.

[0003] Therefore, the existing technology needs to be improved and developed. Utility Model Content

[0004] The purpose of the present application is to provide a pineapple flower-dotting actuator that can effectively solve the problem of the total weight of the actuator and the excessive space required due to the need to use two slide modules to drive the nozzle to move along the X-axis direction or the Y-axis direction, thereby effectively increasing the load-bearing weight of the pineapple flower-dotting robot and increasing the available space of the pineapple flower-dotting robot.

[0005] The present application provides a pineapple flower dotting actuator, which is applied to a pineapple flower dotting robot. The pineapple flower dotting robot includes a nozzle, and the pineapple flower dotting actuator includes:

[0006] The slide module is installed on the pineapple flower-dotting robot and includes a first slide block;

[0007] Active connecting rod;

[0008] A rotating assembly is mounted on the first slider, and an output end thereof is fixedly connected to one end of the active connecting rod;

[0009] A spray connecting rod is installed on the other end of the active connecting rod, and an end thereof away from the active connecting rod is connected to the spray head;

[0010] The slide module is used to drive the rotating component to move;

[0011] The rotating axis of the rotating assembly is parallel to the sliding direction of the first sliding block.

[0012] The present application provides a pineapple flower actuator, including a slide module, a rotating component, an active connecting rod and a spray connecting rod. Since the spray connecting rod is installed on the other end of the active connecting rod, the rotating component is installed on the first slider, and the rotating axis of the rotating component is parallel to the sliding direction of the first slider, that is, the present application can control the rotating component to drive the active connecting rod to rotate so that the spray connecting rod extends out of the slide module. Therefore, the present application can drive the nozzle to move along the X-axis direction or the Y-axis direction through the cooperation of the slide module and the rotating component, that is, the present application is equivalent to using the rotating component, the active connecting rod and the spray connecting rod to replace It replaces one of the slide modules of the existing pineapple flower-dotting actuator. Since the weight of the rotating component, the active connecting rod and the spray connecting rod is less than the weight of the slide module, and the space required for the rotating component, the active connecting rod and the spray connecting rod is less than the space required for the slide module, the present application can effectively solve the problem of the total weight of the actuator and the excessive space required due to the need to use two slide modules to drive the nozzle to move along the X-axis direction or the Y-axis direction, thereby effectively increasing the load-bearing weight of the pineapple flower-dotting robot and increasing the available space of the pineapple flower-dotting robot.

[0013] Furthermore, the rotating assembly includes a first servo motor, and the first servo motor is installed on the first sliding block through a bracket.

[0014] This technical solution uses the first servo motor as a rotating component. Since the servo motor has the characteristics of high precision and high stability, this technical solution can effectively improve the extension accuracy of the spray connecting rod, thereby effectively improving the dotting accuracy of the pineapple dotting robot.

[0015] Furthermore, the pineapple flower actuator also includes a driven connecting rod, and both ends of the driven connecting rod are respectively hinged to the bracket and the spray connecting rod.

[0016] Furthermore, a plurality of through holes are provided on the driven connecting rod and the active connecting rod.

[0017] This technical solution reduces the weight of the driven connecting rod and the active connecting rod by providing through holes on the driven connecting rod and the active connecting rod. Therefore, this technical solution can further reduce the total weight of the pineapple flower-dotting actuator, thereby further increasing the load-bearing weight of the pineapple flower-dotting robot.

[0018] Furthermore, the rotating assembly also includes a first reducer, which is mounted on the bracket, the output end of the first servo motor is connected to the first reducer, and the output end of the first reducer is fixedly connected to one end of the active connecting rod.

[0019] Since the first reducer can play a role in increasing the torque, this technical solution can avoid the situation where the active connecting rod cannot be driven to rotate and the spray connecting rod cannot be extended due to insufficient torque of the first servo motor.

[0020] Furthermore, the slide module also includes a base, a second servo motor, a driving wheel, a synchronous belt and a driven wheel. The base is installed on the pineapple dotting robot, the second servo motor is installed on the base, the driving wheel and the driven wheel are both rotatably installed on the base, the output end of the second servo motor is connected to the driving wheel, the driving wheel is connected to the driven wheel through a synchronous belt, the first slider is fixed on the synchronous belt, and the second servo motor is used to drive the driving wheel to rotate.

[0021] Furthermore, the slide module also includes a second reducer, and the second servo motor is connected to the driving wheel via the second reducer.

[0022] Since the second reducer can play a role in increasing the torque, this technical solution can avoid the situation where the rotating component cannot be driven to move due to insufficient torque of the second servo motor.

[0023] Furthermore, anti-collision pads are provided on one side of the base close to the driving wheel and on one side of the base close to the driven wheel.

[0024] This technical solution arranges anti-collision pads on the side of the base close to the driving wheel and the side of the base close to the driven wheel respectively, so this technical solution can effectively avoid the situation where the first slider is in direct contact with the base, thereby effectively avoiding the situation where the first slider or the base is damaged or even destroyed due to the direct contact between the first slider and the base.

[0025] Furthermore, the pineapple flower actuator also includes a first slide rail and a second slide rail, both of which are installed on the base and are respectively located on both sides of the synchronous belt, a second slider is slidably installed on the first slide rail, and a third slider is slidably installed on the second slide rail, and the second slider and the third slider are both fixedly connected to the rotating assembly.

[0026] Since the first slide rail and the second slide rail are respectively located on both sides of the synchronous belt, and the second slider and the third slider are fixedly connected to the rotating assembly, this technical solution is equivalent to providing devices that can guide the movement of the rotating assembly on both sides of the synchronous belt, thereby effectively avoiding the situation where the nozzle cannot be moved to directly above the pineapple that needs to be dotted due to the displacement of the rotating assembly perpendicular to the driving direction of the slide module when the slide module drives the rotating assembly to move, thereby reducing the dotted accuracy of the pineapple dotted robot.

[0027] Furthermore, there are multiple pineapple flower actuators.

[0028] As can be seen from the above, the utility model provides a pineapple flower actuator, including a slide module, a rotating component, an active connecting rod and a spray connecting rod. Since the spray connecting rod is installed on the other end of the active connecting rod, the rotating component is installed on the first slider, and the rotating axis of the rotating component is parallel to the sliding direction of the first slider, that is, the present application can control the rotating component to drive the active connecting rod to rotate so that the spray connecting rod extends out of the slide module. Therefore, the present application can drive the spray head to move along the X-axis direction or the Y-axis direction through the cooperation of the slide module and the rotating component, that is, the present application is equivalent to using the rotating component, the active connecting rod and the spray connecting rod to move along the X-axis direction or the Y-axis direction. The shower connecting rod replaces one of the slide modules of the existing pineapple flower dotting actuator. Since the weight of the rotating component, the active connecting rod and the spray connecting rod is less than the weight of the slide module, and the space required for the rotating component, the active connecting rod and the spray connecting rod is less than the space required for the slide module, the present application can effectively solve the problem of excessive total weight of the actuator and excessive space required due to the need to use two slide modules to drive the nozzle to move along the X-axis direction or the Y-axis direction, thereby effectively increasing the load-bearing weight of the pineapple flower dotting robot and increasing the available space of the pineapple flower dotting robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of a pineapple flower-dotting robot provided in an embodiment of the present application.

[0030] Figure 2 A schematic diagram of the structure of a pineapple flower-dotting actuator provided in an embodiment of the present application.

[0031] Figure 3 A right-side structural schematic diagram of a pineapple flower-dotting actuator provided in an embodiment of the present application.

[0032] Figure 4 A schematic structural diagram of a slide module, a first slide rail, a second slide block, a second slide rail and a third slide block provided in an embodiment of the present application.

[0033] Explanation of reference numerals: 1. Pineapple dotting robot; 2. Medicine storage box; 3. Medicine liquid spraying assembly; 31. Medicine pump; 32. Nozzle; 33. Medicine delivery tube; 4. Slide module; 41. First slider; 42. Base; 43. Second servo motor; 44. Synchronous belt; 45. Second reducer; 5. Rotating assembly; 51. First servo motor; 52. First reducer; 6. Active connecting rod; 7. Spray connecting rod; 8. Driven connecting rod; 9. Through hole; 10. Anti-collision pad; 11. First slide rail; 12. Second slide rail; 13. Second slider; 14. Third slider; 15. Bracket. DETAILED DESCRIPTION

[0034] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0036] like Figure 1-Figure 4 As shown, the present application provides a pineapple flower dot actuator, which is applied to a pineapple flower dot robot 1. The pineapple flower dot robot 1 includes a nozzle 32. The pineapple flower dot actuator includes:

[0037] The slide module 4 is installed on the pineapple flower-dotting robot 1, and includes a first slide block 41;

[0038] Active connecting rod 6;

[0039] The rotating assembly 5 is mounted on the first slider 41, and its output end is fixedly connected to one end of the active connecting rod 6;

[0040] The spray connecting rod 7 is mounted on the other end of the active connecting rod 6, and the end thereof away from the active connecting rod 6 is connected to the spray head 32;

[0041] The slide module 4 is used to drive the rotating component 5 to move;

[0042] The rotation axis of the rotating assembly 5 is parallel to the sliding direction of the first sliding block 41 .

[0043] Among them, the pineapple flower-dotting robot 1 of this embodiment can move according to a preset route or move by autonomous navigation. The pineapple flower-dotting robot 1 of this embodiment is provided with a medicine storage box 2 and a medicine liquid spraying assembly 3 for storing the medicine liquid needed for pineapple flower-dotting. The medicine liquid spraying assembly 3 includes a medicine pump 31 and a nozzle 32. The nozzle 32 is connected to the medicine storage box 2 through a medicine delivery tube 33. The medicine pump 31 is arranged on the medicine delivery tube 33. Specifically, the medicine pump 31 of this embodiment is used to supply medicine liquid to the nozzle 32, and the nozzle 32 of this embodiment is used to spray the medicine liquid. Preferably, the height of the pineapple flower-dotting robot 1 of this embodiment is greater than the height of the pineapple. Therefore, this embodiment performs a flower-dotting operation on the pineapple by spraying the medicine liquid downward, that is, the nozzle 32 of this embodiment is preferably arranged downward. It should be understood that this embodiment dots downward through the opening located at the center of the pineapple flower-dotting robot 1. The slide module 4 of this embodiment can be an existing linear slide, and the slide module 4 is installed on the pineapple flower-dotting robot 1. The slide module 4 includes a first slider 41. Specifically, the slide module 4 of this embodiment can drive the first slider 41 to move along an axial direction. The rotating component 5 of this embodiment can be a component that can drive an object to rotate, such as a stepping motor or a synchronous wheel. The rotating component 5 is installed on the first slider 41, that is, the slide module 4 of this embodiment can drive the rotating component 5 to move along an axial direction. The output end of the rotating component 5 of this embodiment is fixedly connected to one end of the active connecting rod 6, that is, the rotating component 5 can drive the active connecting rod 6 to rotate. The spray connecting rod 7 of this embodiment is installed on the other end of the active connecting rod 6, and the end of the spray connecting rod 7 away from the active connecting rod 6 is connected to the nozzle 32.

[0044] The present application provides a pineapple flower dot actuator, including a slide module 4, a rotating component 5, an active connecting rod 6 and a spray connecting rod 7. Since the spray connecting rod 7 is installed on the other end of the active connecting rod 6, the rotating component 5 is installed on the first slider, and the rotating axis of the rotating component 5 is parallel to the sliding direction of the first slider 41, that is, the present application can control the rotating component 5 to drive the active connecting rod 6 to rotate so that the spray connecting rod 7 extends out of the slide module 4. Therefore, the present application can drive the spray head 32 to move along the X-axis direction or the Y-axis direction through the cooperation of the slide module 4 and the rotating component 5, that is, the present application is equivalent to using the rotating component 5, the active connecting rod 6 and the spray connecting rod 7 to replace one of the slides of the existing pineapple flower actuator. Table module 4, and since the weight of the rotating component 5, the active connecting rod 6 and the spray connecting rod 7 is less than the weight of the sliding module 4, and the space required for the rotating component 5, the active connecting rod 6 and the spray connecting rod 7 is less than the space required for the sliding module 4, the present application can effectively solve the problem that the total weight of the actuator and the space required to be occupied are too large due to the need to use two sliding modules 4 to drive the nozzle 32 to move along the X-axis direction or the Y-axis direction, that is, the present application can effectively reduce the total weight of the pineapple flower dotting actuator and reduce the space required for the pineapple flower dotting actuator, thereby effectively increasing the load-bearing weight of the pineapple flower dotting robot 1 and increasing the available space of the pineapple flower dotting robot 1.

[0045] The working process of the pineapple dotting robot 1 of this embodiment is as follows: based on visual recognition technology, the position of the pineapple that needs to be dotted is obtained; according to the position of the pineapple, the slide module 4 and the rotating component 5 are controlled to cooperate to move the nozzle 32 to the top of the pineapple that needs to be dotted; the medicine pump 31 is controlled to supply medicine liquid to the nozzle 32 so that the nozzle 32 sprays the medicine liquid.

[0046] In some embodiments, the rotating assembly 5 includes a first servo motor 51, and the first servo motor 51 is installed on the first slider 41 through a bracket 15. This embodiment uses the first servo motor 51 as the rotating assembly 5. Since the servo motor has the characteristics of high precision and high stability, this embodiment can effectively improve the extension accuracy of the spray connecting rod 7, thereby effectively improving the dotting accuracy of the pineapple dotting robot 1.

[0047] In some embodiments, the pineapple flower actuator further includes a driven connecting rod 8, and the two ends of the driven connecting rod 8 are respectively hinged to the bracket 15 and the spray connecting rod 7. The pineapple flower actuator of this embodiment further includes a driven connecting rod 8, and the structure of the driven connecting rod 8 is preferably the same as that of the active connecting rod 6, and the two ends of the driven connecting rod 8 are respectively hinged to the bracket 15 and the spray connecting rod 7.

[0048] In some embodiments, a plurality of through holes 9 are provided on the driven connecting rod 8 and the active connecting rod 6. This embodiment reduces the weight of the driven connecting rod 8 and the active connecting rod 6 by providing the through holes 9 on the driven connecting rod 8 and the active connecting rod 6, so this embodiment can further reduce the total weight of the pineapple flower-dotting actuator, thereby further increasing the load-bearing weight of the pineapple flower-dotting robot 1.

[0049] In some embodiments, the rotating assembly 5 further includes a first reducer 52, the first reducer 52 is mounted on the bracket 15, the output end of the first servo motor 51 is connected to the first reducer 52, and the output end of the first reducer 52 is fixedly connected to one end of the active connecting rod 6. The rotating assembly 5 of this embodiment further includes the first reducer 52, and this embodiment is equivalent to connecting the first servo motor 51 to one end of the active connecting rod 6 through the first reducer 52. Since the first reducer 52 can play a role in increasing torque, this embodiment can avoid the situation where the active connecting rod 6 cannot be driven to rotate and the spray connecting rod 7 cannot be extended due to insufficient torque of the first servo motor 51.

[0050] In some embodiments, the slide module 4 also includes a base 42, a second servo motor 43, a driving wheel, a synchronous belt 44 and a driven wheel. The base 42 is installed on the pineapple flower-dotting robot 1, the second servo motor 43 is installed on the base 42, the driving wheel and the driven wheel are both rotatably installed on the base 42, the output end of the second servo motor 43 is connected to the driving wheel, the driving wheel is connected to the driven wheel through the synchronous belt 44, the first slider 41 is fixed on the synchronous belt 44, and the second servo motor 43 is used to drive the driving wheel to rotate. The base 42 of this embodiment can prevent external objects from directly contacting the driving wheel, the driven wheel and the synchronous belt 44. Since the driving wheel is connected to the driven wheel through the synchronous belt 44, and the first slider 41 is fixed on the synchronous belt 44, this embodiment can drive the rotating assembly 5 to move by controlling the second servo motor 43 to drive the driving wheel to rotate. Since the servo motor has the characteristics of high precision and high stability, this embodiment can effectively improve the movement accuracy of the rotating assembly 5, thereby effectively improving the flower-dotting accuracy of the pineapple flower-dotting robot 1.

[0051] In some embodiments, the slide module 4 further includes a second reducer 45, and the second servo motor 43 is connected to the driving wheel via the second reducer 45. The slide module 4 of this embodiment further includes a second reducer 45, and since the second reducer 45 can play a role in increasing torque, this embodiment can avoid the situation where the rotating assembly 5 cannot be driven to move due to insufficient torque of the second servo motor 43.

[0052] In some embodiments, the side of the base 42 close to the driving wheel and the side of the base 42 close to the driven wheel are both provided with an anti-collision pad 10. The anti-collision pad 10 of this embodiment can be a device that can play an anti-collision role, such as an anti-collision block or an anti-collision strip. In this embodiment, the anti-collision pad 10 is respectively provided on the side of the base 42 close to the driving wheel and the side of the base 42 close to the driven wheel. Therefore, this embodiment can effectively avoid the situation where the first slider 41 is in direct contact with the base 42, thereby effectively avoiding the situation where the first slider 41 or the base 42 is damaged or even destroyed due to the direct contact between the first slider 41 and the base 42.

[0053] In some embodiments, the pineapple flower dotting actuator further includes a first slide rail 11 and a second slide rail 12, both of which are mounted on a base 42 and are located on both sides of a synchronous belt 44, a second slider 13 is slidably mounted on the first slide rail 11, and a third slider 14 is slidably mounted on the second slide rail 12, and both the second slider 13 and the third slider 14 are fixedly connected to the rotating assembly 5. Since the first slide rail 11 and the second slide rail 12 are located on both sides of the synchronous belt 44, respectively, and the second slider 13 and the third slider 14 are fixedly connected to the rotating assembly 5, this embodiment is equivalent to providing a device capable of guiding the movement of the rotating assembly 5 on both sides of the synchronous belt 44, thereby effectively avoiding the situation in which the nozzle 32 cannot be moved to the top of the pineapple that needs to be dotted due to the displacement of the rotating assembly 5 perpendicular to the driving direction of the slide module 4 when the slide module 4 drives the rotating assembly 5 to move, and the dotting accuracy of the pineapple flower dotting robot 1 is reduced.

[0054] In some embodiments, the number of pineapple flower-dotting actuators is multiple. The number of the liquid medicine spraying components 3 and the pineapple flower-dotting actuators in this embodiment is preferably two, and each pineapple flower-dotting actuator corresponds to one liquid medicine spraying component 3. Since the number of the liquid medicine spraying components 3 and the pineapple flower-dotting actuators in this embodiment is multiple, this embodiment can perform flower-dotting operations on multiple pineapples at the same time, thereby effectively improving the flower-dotting efficiency of the pineapple flower-dotting robot 1.

[0055] As can be seen from the above, the utility model provides a pineapple flower actuator, including a slide module 4, a rotating component 5, an active connecting rod 6 and a spray connecting rod 7. Since the spray connecting rod 7 is installed on the other end of the active connecting rod 6, the rotating component 5 is installed on the first slider, and the rotating axis of the rotating component 5 is parallel to the sliding direction of the first slider 41, that is, the present application can control the rotating component 5 to drive the active connecting rod 6 to rotate so that the spray connecting rod 7 extends out of the slide module 4. Therefore, the present application can drive the spray head 32 to move along the X-axis direction or the Y-axis direction through the cooperation of the slide module 4 and the rotating component 5, that is, the present application is equivalent to using the rotating component 5, the active connecting rod 6, and the spray connecting rod 7 to move along the X-axis direction or the Y-axis direction. and the spray connecting rod 7 replace one of the slide modules 4 of the existing pineapple flower dotting actuator. Since the weight of the rotating component 5, the active connecting rod 6 and the spray connecting rod 7 is less than the weight of the slide module 4, and the space required for the rotating component 5, the active connecting rod 6 and the spray connecting rod 7 is less than the space required for the slide module 4, the present application can effectively solve the problem of the total weight of the actuator and the excessive space required due to the need to use two slide modules 4 to drive the nozzle 32 to move along the X-axis direction or the Y-axis direction, thereby effectively increasing the load-bearing weight of the pineapple flower dotting robot 1 and increasing the available space of the pineapple flower dotting robot 1.

[0056] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0057] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A pineapple flower-dotting actuator, applied to a pineapple flower-dotting robot, the pineapple flower-dotting robot comprising a nozzle, It is characterized in that The pineapple flower-dotting executive mechanism comprises: A slide module is installed on the pineapple flower-dotting robot and includes a first slide block; Active connecting rod; A rotating assembly is mounted on the first slider, and an output end of the rotating assembly is fixedly connected to one end of the active connecting rod; A spray connecting rod, mounted on the other end of the active connecting rod, and an end thereof away from the active connecting rod is connected to the spray head; The slide module is used to drive the rotating assembly to move; The rotation axis of the rotating assembly is parallel to the sliding direction of the first sliding block.

2. The pineapple flower actuator according to claim 1, It is characterized in that The rotating assembly includes a first servo motor, and the first servo motor is installed on the first sliding block through a bracket.

3. The pineapple flower actuator according to claim 2, It is characterized in that The pineapple flower actuator also includes a driven connecting rod, and two ends of the driven connecting rod are respectively hinged to the bracket and the spray connecting rod.

4. The pineapple flower actuator according to claim 3, It is characterized in that The driven connecting rod and the active connecting rod are both provided with a plurality of through holes.

5. The pineapple flower actuator according to claim 4, It is characterized in that The rotating assembly also includes a first reducer, which is mounted on the bracket, the output end of the first servo motor is connected to the first reducer, and the output end of the first reducer is fixedly connected to one end of the active connecting rod.

6. The pineapple flower actuator according to claim 1, It is characterized in that The slide module also includes a base, a second servo motor, a driving wheel, a synchronous belt and a driven wheel. The base is installed on the pineapple flower-dotting robot, the second servo motor is installed on the base, the driving wheel and the driven wheel are both rotatably installed on the base, the output end of the second servo motor is connected to the driving wheel, the driving wheel is connected to the driven wheel through the synchronous belt, the first slider is fixed on the synchronous belt, and the second servo motor is used to drive the driving wheel to rotate.

7. The pineapple flower actuator according to claim 6, It is characterized in that The slide module also includes a second reducer, and the second servo motor is connected to the driving wheel via the second reducer.

8. The pineapple flower actuator according to claim 6, It is characterized in that Anti-collision pads are provided on one side of the base close to the driving wheel and on one side of the base close to the driven wheel.

9. The pineapple flower actuator according to claim 6, It is characterized in that The pineapple flower actuator also includes a first slide rail and a second slide rail, the first slide rail and the second slide rail are both installed on the base and are respectively located on both sides of the synchronous belt, a second slider is slidably installed on the first slide rail, and a third slider is slidably installed on the second slide rail, and the second slider and the third slider are both fixedly connected to the rotating assembly.

10. The pineapple flower actuator according to claim 1, It is characterized in that The number of the pineapple flower actuators is multiple.

Images