Pineapple picking machine with liftable chassis and capable of working in straddle mode

Abstract

The pineapple picking machine comprises a picking mechanism, a machine frame, a supporting mechanism, a visual mechanism, a chassis lifting mechanism, a buffering mechanism, the chassis, a collecting mechanism, a shearing mechanism, walking wheels, a power source, an electric control mechanism, a conveying mechanism and a steering mechanism. The picking mechanism clamps and conveys the pineapples sheared by the shearing mechanism to the conveying mechanism; the supporting mechanism is arranged in a lifting mode. The chassis lifting mechanism is used for connecting walking wheels; the buffer mechanism is arranged on the side of the chassis lifting mechanism; a square cavity is formed in the middle of the chassis; the collecting mechanism is positioned behind the whole machine; the shearing mechanism is positioned above the square cavity in the middle of the chassis; the conveying mechanism conveys the pineapples clamped by the picking mechanism to the collecting mechanism. Lifting of the chassis can be achieved, damage to pineapples is reduced, and the picking efficiency and the picking automation degree are improved; meanwhile, the supporting mechanism and the visual mechanism are arranged, so that the whole machine stability and the pineapple picking success rate are improved.

Description

Technical Field

[0001] The utility model relates to agricultural machinery, in particular to a pineapple picking machine with a chassis capable of being raised and lowered and operated in a straddled manner. Background Art

[0002] The pineapple plant is about 1 meter tall and mainly grows in seasonally dry tropical biomes. Pineapples prefer warm and humid environments and avoid low temperatures and frost. They grow best in an annual average temperature range of 24℃-27℃. Pineapple fruit is popular with consumers for its unique flavor and aroma and high nutritional value; the peel and roots and leaves of pineapples can be used as medicine, and its peel has the effects of quenching thirst, relieving cough and stopping diarrhea; pineapples can only bear fruit 1-2 times a year, and often use meristem propagation, cutting propagation and in vitro propagation, all of which require the use of relevant organs on the plant. The fruit of the pineapple is in the shape of a clustered fruit, more than 15 cm long, and the flesh is yellow and juicy. Because of this, the fruit of the pineapple needs to be picked, and picking generally takes a certain amount of time.

[0003] At present, pineapples are picked by two methods: manual picking and machine picking. Manual picking and transportation are slow, which greatly wastes manpower and time.

[0004] In order to improve the picking efficiency, a Chinese utility model patent with announcement number CN 219124821 U discloses a pineapple picking robot that integrates picking and collecting. Its technical content is: The utility model discloses a pineapple picking robot that integrates picking and collecting, including a clamping mechanism and a shearing mechanism; the clamping mechanism includes a first steering gear, and a clamping bracket is arranged above the first steering gear; the first rotating shaft motor is installed at the end of the clamping bracket; the first rotating shaft motor is connected to the first telescopic push rod, and the first telescopic push rod is connected to the first connecting rod through a cylindrical pin, and the first connecting rod is fixed to the clamping finger through a fixing pin; the shearing structure includes a second steering gear, and a shearing mechanism bracket is arranged above the second steering gear, and the second rotating shaft motor is installed at the end of the shearing mechanism bracket; the second rotating shaft motor, the second telescopic push rod, and the second connecting rod are connected in sequence, and the second connecting rod is fixed to the shearing blade through a rotating pin. The existing problems are: the chassis cannot be raised or lowered, which may easily cause damage to the pineapple fruit and other organs, affecting the fruit yield and future reproduction; the collecting mechanism is not too high, and the picking mechanism puts the fruit in, and during the falling process of the fruit, the collecting mechanism is too high and it is easy for the pineapple to fall and damage the pineapple; the picking mechanism and the shearing mechanism have few degrees of freedom and poor flexibility.

[0005] Another example: The Chinese invention patent with the announcement number CN 117999960 B discloses an elastic clamping and fruit-breaking pineapple picking machine, and its technical content is: The present invention discloses an elastic clamping and fruit-breaking pineapple picking machine, which relates to the technical field of pineapple picking machines. It includes a walking device; a leaf removal device, a picking device, a conveying device and a collecting device are arranged from front to back below the walking device; a lifting device is arranged on the platform of the walking device; the picking device and the conveying device are connected to the lifting device; the picking device includes an elastic clamping mechanism and a fruit-breaking mechanism located behind the elastic clamping mechanism; and also includes a posture adjustment mechanism. The problems it has are: the lack of necessary shearing mechanism, which easily causes the machine picking mechanism to consume electricity and labor during picking, resulting in picking failure; the lower leaf removal device is easy to damage the fruit in some cases; the collecting mechanism lacks a buffer device, which is easy to damage the fruit. Utility Model Content

[0006] The technical problem to be solved by the utility model is to provide a pineapple picking machine with a chassis that can be raised and lowered and worked in a straddle-type manner. Not only can the lifting of the chassis be realized to solve the problem of damage to pineapples caused by a chassis that is too low and the problem of walking on a high chassis, but the picking mechanism and the shearing mechanism are also designed to cooperate to improve the picking efficiency and the degree of picking automation.

[0007] In order to solve the above problems, the utility model adopts the following technical means:

[0008] A pineapple picking machine with a chassis that can be raised and lowered and worked in a straddled manner, comprising a picking mechanism, a frame, a supporting mechanism, a visual mechanism, a chassis lifting mechanism, a buffer mechanism, a chassis, a collecting mechanism, a shearing mechanism, traveling wheels, a power supply, an electric control mechanism, a transmission mechanism, and a steering mechanism;

[0009] The picking mechanisms, two in number, are fixed to the frame through connecting pieces and are arranged on the left and right sides of the frame. The picking mechanisms clamp the pineapples cut by the shearing mechanism and convey them to the conveying mechanism.

[0010] The frame is arranged above the chassis, and a picking mechanism, a supporting mechanism, a shearing mechanism, a power source, and a transmission mechanism are installed and fixed thereon;

[0011] The two support mechanisms are symmetrically arranged on the front and rear sides of the vehicle body. The upper part of the support mechanism is slidably connected to the frame through a connecting piece. The lower part of the support mechanism is provided with a support wheel. The support mechanism is arranged to be raised and lowered. After it is lowered, the support wheel contacts and rotates with the working ground.

[0012] The visual mechanisms are five in number, three of which are arranged above the right angle of the chassis, and two of which are arranged beside the square hole in the middle of the chassis, located above the chassis and on the central axis of the chassis;

[0013] The chassis lifting mechanisms, 4 in number, are arranged below the chassis and at the four corners of the chassis for connecting the running wheels;

[0014] The buffer mechanisms, 4 in number, are arranged on the side of the chassis lifting mechanism, the upper part of which is connected to the lower part of the chassis, and the lower part of which is connected to the chassis lifting mechanism through a connecting piece;

[0015] The chassis, one, has a square hole in the middle;

[0016] The collecting mechanism, one piece, is located at the rear of the whole machine and is fixedly connected to the top of the chassis through a connecting piece;

[0017] The shearing mechanism, one piece, is fixed to the frame through a connecting piece, is arranged on the frame, and is located above the square hole in the middle of the chassis;

[0018] There are four running wheels, two of which are connected to the lifting mechanism through a steering mechanism, and the other two running wheels are provided with running motors;

[0019] The two power supplies are symmetrically arranged above the chassis and connected to the frame through a connecting piece, on which a transmission mechanism is arranged, and the power supply is electrically connected to the power-consuming components;

[0020] The electric control mechanism is located at the front side of the whole machine, arranged above the chassis, and its lower part is connected to the chassis through a connecting piece;

[0021] The two conveying mechanisms are respectively located above the power supply and connected to the frame through connecting pieces; the conveying mechanism conveys the pineapples picked by the picking mechanism to the collecting mechanism;

[0022] The two steering mechanisms are located directly in front of the chassis and below, one end of which is connected to the chassis lifting mechanism through a connecting piece, and the other end of which is connected to the traveling wheel through a connecting piece.

[0023] Compared with the prior art, the utility model adopting the above technical solution has the following outstanding features:

[0024] The chassis lifting mechanism is adopted to realize the rising and falling of the whole machine. Cooperating with the supporting mechanism, the stability of the chassis lifting mechanism when it rises to the highest point is improved; raising the whole machine is beneficial to reduce the damage to pineapple fruits and other organs during picking, which is beneficial to the improvement of the yield rate of pineapple fruits and the later reproduction.

[0025] There are two picking mechanisms and two conveying mechanisms. While one picking mechanism is picking, the other can complete the transportation work. The two conveying mechanisms cooperate with each other to improve the transportation efficiency. The shearing mechanism cooperates with the picking mechanism to improve the picking success rate and the picking efficiency.

[0026] A buffer mechanism is provided to reduce the damage to the pineapple caused by the violent vibration of the chassis and improve the yield rate of the pineapple.

[0027] The visual mechanism is used for visual positioning and ranging, and the electronic control mechanism is used for information aggregation and feedback. The chassis lifting mechanism, picking mechanism, shearing mechanism, and steering mechanism are coordinated to complete the entire picking action. It is stable and efficient, and all mechanisms are integrated to improve picking efficiency.

[0028] Further preferred technical solutions are as follows:

[0029] The picking mechanism is provided with a first electric cylinder, a first sliding module, a first vertical support, a second sliding module, a first horizontal support, a second electric cylinder, a third sliding module, a second horizontal support, a second vertical support, a fourth sliding module, a third horizontal support, a fifth sliding module, a fourth horizontal support, and a sixth sliding module; there are two first electric cylinders and one second electric cylinder; the first electric cylinder and the second electric cylinder are both of the same type but of different sizes; the first electric cylinder controls the manipulator to lift and lower, and the second electric cylinder controls the pruning knife to lift and lower; the first sliding module, the second sliding module, the third sliding module, the fourth sliding module, the fifth sliding module, and the sixth sliding module are all of the same type of synchronous belt module. , different sizes, the first sliding module, 2, is arranged on the sixth sliding module, to control the picking mechanism to rise and fall; the second sliding module, 2, is symmetrically arranged on the fourth horizontal support, to control the picking mechanism to move horizontally left and right; the third sliding module, 1, is symmetrically arranged on the third horizontal support, to control the shearing mechanism to move horizontally left and right; the fourth sliding module, 2, is symmetrically distributed on the first horizontal support, to control the shearing mechanism to move horizontally forward and backward; the fifth sliding module, 1, is arranged on the third sliding module, to control the shearing mechanism to rise and fall; the sixth sliding module, 2, is arranged on the second horizontal support, to control the picking mechanism to move horizontally forward and backward.

[0030] The above arrangement has the advantages that: the first sliding module controls the picking mechanism to perform the first lifting, which can prevent collision with another picking mechanism and the shearing mechanism in the vertical direction; the lifting distance can be increased, which is beneficial to increase the distance that the picking mechanism can pick in the vertical direction; the fifth sliding module controls the shearing mechanism to perform the first lifting, which can prevent it from colliding with the picking mechanism in the vertical direction; it is beneficial to increase the lifting distance and increase the ability of the shearing mechanism to shear pineapples in the vertical direction; the electric cylinder is used to control the manipulator and the pruning knife to perform the second lifting, which improves the accuracy and stability of the lifting control; the electric cylinder can withstand a large pulling force, which can prevent the manipulator from having difficulties in lifting when the pineapple is too large or too heavy.

[0031] The four first vertical supports are located at the top of the whole machine, connected to the first horizontal support and the fourth horizontal support through angle steel, and play a certain supporting role for the shearing mechanism; the two first horizontal supports are located at the top of the whole machine, connected to the first vertical support through angle steel, and play a certain supporting role for the shearing mechanism; the two second horizontal supports are connected to the second sliding module through a connecting piece to play a certain supporting role for the picking mechanism; the two second vertical supports are connected to the first vertical support through a connecting piece at the top, and connected to the chassis through an angle steel at the bottom; the one third horizontal support is connected to the fourth sliding module at both ends through connecting pieces; the two fourth horizontal supports are connected to the first vertical support and the second vertical support through angle steel.

[0032] The above arrangement has the advantages of using aluminum profiles for connection and load-bearing, which not only improves the stability and load-bearing capacity of the entire machine, but also reduces the weight, thereby reducing the burden on the chassis lifting mechanism.

[0033] The support mechanism adopts a gantry-shaped design, including a support wheel connector, a lifting module, a support wheel, a triangular support frame, a support connecting frame, a middle horizontal support, a slider, a linear rail, a lifting screw, and a lifting motor; the lifting modules, 2 in number, include a slider, a linear rail, a lifting screw, and a lifting motor, the lifting motor drives the lifting screw to rotate, thereby driving the slider to move along the linear rail; the triangular support frames, 2 in number, adopt a triangular-like design, the upper part of which is connected to the middle horizontal support through a connector, and the lower part is connected to the support wheel through a support wheel connector; the middle horizontal supports, 2 in number, both ends of which are connected to the support connecting frame through a connector; the support connecting frames, 2 in number, both ends of which are connected to the lifting module through a connector.

[0034] The above arrangement has the following advantages: the gantry-shaped design improves the utilization of the overall space, reduces material consumption, and at the same time improves the supporting capacity of the supporting mechanism; the triangular supporting frame adopts a triangular-like design, and because the triangle has stability, the supporting capacity of the supporting mechanism is increased, which provides a guarantee for the stability of the whole machine during operation; the middle horizontal support is connected with the supporting connecting frame to improve the tensile and torsional resistance of the middle part, and improve the supporting capacity of the supporting mechanism.

[0035] The visual mechanisms, five of which are controlled by stereo binocular vision algorithms and are provided with 2D plane cameras and 3D depth-sensing cameras. The collected images are transmitted to the electric control mechanism for analysis, and the electric control mechanism transmits the control information to the picking mechanism, chassis lifting mechanism, and shearing mechanism to carry out pineapple picking. The electric control mechanism, one of which includes an electric control box, an electric control box door, a built-in controller and other control devices. The power supplies, two of which provide power to the power-demanding mechanisms.

[0036] The above settings have the following advantages: the use of a stereo binocular vision algorithm facilitates the measurement of the pineapple distance; the use of a 2DD planar camera improves the planar data measurement to a certain extent; the use of a 3D depth-sensing camera has certain advantages in stereo data analysis and image recognition, making it easier to identify the size of the pineapple fruit, thereby controlling the opening angle of the picking mechanism robot; the control devices are integrated together through an electronic control mechanism to facilitate centralized control and improve control accuracy.

[0037] The chassis lifting mechanism comprises a chassis lifting fixing frame, a chassis lifting frame, a wheel connecting frame, a chassis motor fixing frame, a chassis lifting driving motor, a chassis lead screw connecting piece, a chassis lead screw, a chassis lifting friction pad, a chassis first bevel gear, and a chassis second bevel gear; four chassis lifting fixing frames, the upper part of which is connected to the lower part of the chassis through a connecting piece, and the lower part is connected to the chassis lifting friction pad; four chassis lifting friction pads are arranged above the chassis lead screw to play a certain buffering role on the chassis lifting mechanism; four chassis lifting frames are connected to the chassis lifting fixing frame through connecting pieces; four chassis lead screw connecting pieces are fixed to the chassis lifting frame through connecting pieces and are connected to the chassis lead screw through threads; four chassis lifting driving motors are fixedly connected to the chassis motor fixing frame to drive the first bevel gear of the chassis to rotate, and the second bevel gear of the chassis is meshed with the first bevel gear of the chassis, thereby realizing the change of power direction. The second bevel gear of the chassis transmits power to the chassis screw, and the chassis screw drives the chassis screw connecting member to rise and fall by rotating, and the chassis screw connecting member drives the chassis lifting frame to rise and fall, and the chassis lifting frame drives the chassis lifting fixed frame to rise and fall, thereby realizing the lifting and lowering of the chassis; the chassis screws, 4, are fixedly connected to the wheel connecting frame, and the wheel connecting frame is connected to the walking protection frame through a connecting member, and a walking motor is arranged inside the walking protection frame, and the walking motor drives the walking wheel to walk; the buffer mechanism includes a buffer mechanism spring, a buffer mechanism cylinder sleeve, and a buffer mechanism impact head, the buffer mechanism cylinder sleeve, 4, the lower part of which is fixedly connected to the chassis lifting mechanism, and the upper part of which is provided with a buffer mechanism spring; the buffer mechanism spring, 4, plays a certain buffering role; the buffer mechanism impact head, 4, the lower part of which is connected to the buffer mechanism spring through a connecting member, and the upper part of which is connected to the chassis through a connecting member.

[0038] The above arrangement has the advantages that: bevel gears are used to change the transmission direction, which is beneficial to saving space in the vertical direction; a lead screw is used for rising and falling, which improves the reliability of the support of the chassis lifting mechanism; a friction pad is used to reduce the impact on the lead screw caused by the motor starting and stopping at the moment; the chassis lead screw connector is connected to the chassis lifting fixed frame to drive the chassis to rise and fall, thereby improving the supporting performance of the chassis lifting mechanism; the buffer mechanism is beneficial to reducing the greater impact on the entire machine during lifting and lowering, which is beneficial to reducing the impact on the electronic control components and reducing the damage to the pineapple fruit.

[0039] The picking mechanism has two parts, each of which is provided with two manipulators, including a manipulator protection frame, a manipulator claw mechanism, a manipulator driving motor, a claw mechanism connecting piece, a fixing piece, a worm gear mechanism, a worm mechanism, a first transmission bevel gear, and a second transmission bevel gear; two manipulator protection frames, the upper part of which is connected to the first electric cylinder, adopts a disc-shaped design to reduce the area, is suitable for the pineapple shape, and is easy to pick; six manipulator claw mechanisms adopt a finger-like flexion design, and are arranged on one manipulator every three 120° equal intervals; two manipulator driving motors are fixedly connected to the manipulator protection frame through a connecting piece to drive the first transmission bevel gear, the second The transmission bevel gear is used for power transmission; there are two connecting pieces of the hand gripper mechanism, one end of which is connected to the manipulator hand gripper mechanism, and the other end is connected to the fixing piece, so as to facilitate power transmission to the manipulator hand gripper mechanism; there are two fixing pieces, one end of which is connected to the manipulator protection frame, and the other end is connected to the worm gear mechanism through a shaft; there are six worm gear mechanisms, and every three are arranged at equal intervals of 120° in a manipulator protection frame, and are fixed to the fixing piece through a shaft connection; there are two worm gear mechanisms, one end of which is connected to the manipulator protection frame through a connecting piece, and is located at the center of the manipulator protection frame, and one end is provided with a first transmission bevel gear, and the first transmission bevel gear is meshed with the second transmission bevel gear for power transmission.

[0040] The above arrangement has the advantages that: the picking claw mechanism of the picking mechanism adopts a finger-like flexed shape design to improve the success rate of grasping; at the same time, the picking claw mechanism of the picking mechanism is provided with a slot-shaped hole to improve its air circulation, so that the picking mechanism can put the pineapple down on the conveying mechanism in time; the worm gear mechanism is combined with the bevel gear power steering mechanism to improve the accuracy of the motor's control over the manipulator, which is convenient for control and maintenance and causes less loss to parts.

[0041] The collecting mechanism includes one collecting box, a falling buffer tube, and a tube fixing frame; one collecting box is fixedly connected to the upper part of the chassis through a connecting piece and is located at the rear of the chassis; two falling buffer tubes adopt a striped hose design to increase the falling time of the pineapple and reduce the damage to the pineapple caused by the potential energy of falling gravity, and are symmetrically arranged on the collecting box through the tube fixing frame; two conveying mechanisms include a conveyor belt, a conveying protection frame, and a conveying motor; two conveyor belts are connected to the conveying protection frame through a connecting piece to transport the pineapple; two conveying protection frames are fixedly connected to the frame through a connecting piece; two conveying motors are fixedly connected to the conveying protection frame through a connecting piece to drive the conveyor belt to move, thereby completing the transportation of the pineapple.

[0042] The above arrangement has the advantages that: the collection box is arranged at the rear of the whole machine, which is convenient for timely handling of the pineapples after collection and at the same time, it is convenient for the conveying mechanism to transport; two conveying mechanisms are arranged, which can greatly improve the transportation efficiency of the pineapples; and the conveyor belt method of transportation is adopted, which is stable and efficient.

[0043] The shearing mechanism is one and is provided with one trimming knife. The eccentric source structure is used in conjunction with the motor to complete the trimming of the scissors, and the shearing mechanism is driven to rise and fall by connecting with the second electric cylinder through a connecting piece.

[0044] The above arrangement has the advantages of: realizing the reciprocating opening and closing of the scissors by adopting an eccentric cam mechanism control; at the same time, improving the accuracy of the shearing control.

[0045] The two steering mechanisms include a steering gear protection frame, a steering connecting frame, a steering protection frame, a first steering transmission shaft, a first steering bevel gear, a second steering bevel gear, a steering motor, and a second steering transmission shaft; two steering gear protection frames, one end of which is fixed to the steering protection frame through a connecting piece; two steering connecting frames, one end of which is connected to the steering protection frame through a connecting piece, and the other end is connected to the traveling wheel through a connecting piece; two steering protection frames are connected to the chassis lifting mechanism through a connecting piece; two steering motors are fixedly connected to the steering gear protection frame through a connecting piece, drive the first steering transmission shaft, the first steering bevel gear, the second steering bevel gear, and the second steering transmission shaft to perform power transmission, thereby driving the steering connecting frame to rotate and completing the steering of the traveling wheel.

[0046] The above arrangement has the advantages of: using bevel gears and a unique design structure for steering, ensuring the stability of the steering machine and the stability of the walking, and preventing the machine from overturning in soft mud. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model.

[0048] Figure 2 It is a schematic diagram of the whole machine with the chassis raised, viewed from above, from behind, and in accordance with an embodiment of the utility model.

[0049] Figure 3 It is a schematic diagram of the lowering, raising and internal structure of the chassis lifting mechanism of an embodiment of the utility model.

[0050] Figure 4 This is a schematic diagram of the chassis lead screw, lead screw connector, and friction pad structure of an embodiment of the utility model.

[0051] Figure 5 It is a schematic diagram of the overall steering mechanism, protection frame, and internal transmission structure of an embodiment of the utility model.

[0052] Figure 6 It is a schematic diagram of the structure of the traveling wheel and the traveling wheel driving connection mechanism according to an embodiment of the utility model.

[0053] Figure 7 It is a schematic diagram of the descending and ascending structure of the buffer mechanism of an embodiment of the utility model.

[0054] Figure 8 It is a schematic diagram of the structure of the collection box and the pineapple falling buffer mechanism according to an embodiment of the utility model.

[0055] Fig. 9 It is a schematic diagram of the lifting structure, lifting module, supporting wheels and descending structure of the support mechanism of an embodiment of the utility model.

[0056] Fig.10 This is a schematic diagram of the chassis, frame connecting parts, and angle steel structure of an embodiment of the utility model.

[0057] Fig.11 This is a schematic diagram of the electric control mechanism, visual mechanism, and power supply structure of an embodiment of the utility model.

[0058] Fig.12 It is a schematic diagram of the rear view and right view of the frame and installation components of an embodiment of the utility model.

[0059] Fig.13 This is a schematic diagram of the transmission mechanism, the sliding module on the frame, and the electric cylinder structure of an embodiment of the utility model.

[0060] Fig.14 It is a schematic diagram of the partial and overall structure of the picking mechanism of an embodiment of the utility model.

[0061] Fig.15 This is a schematic diagram of the worm gear mechanism, the overall structure of the picking robot, and the internal structure of the picking robot according to an embodiment of the utility model.

[0062] Fig.16 It is a schematic diagram of the structure of the worm mechanism, the picking robot claw mechanism, and the picking robot protection frame of the embodiment of the utility model.

[0063] Fig.17 The figure is a schematic diagram of the structure of the trimming knife according to an embodiment of the utility model.

[0064] Fig.18 It is a schematic diagram of the partial and overall structure of the shearing mechanism of an embodiment of the utility model.

[0065] In conjunction with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0066] 1-picking mechanism; 101-first electric cylinder; 102-first sliding module; 103-first vertical support; 104-second sliding module; 105-manipulator; 106-first horizontal support; 107-second electric cylinder; 108-third sliding module; 109-second horizontal support; 110-second vertical support; 111-fourth sliding module; 112-third horizontal support; 113-manipulator protection frame; 114-manipulator claw mechanism; 115-manipulator drive motor; 116-claw mechanism connector; 117-fixing member; 118-worm gear mechanism; 119-worm mechanism; 120-first transmission bevel gear; 121-second transmission bevel gear;

[0067] 2- rack;

[0068] 3-support mechanism; 301-support wheel connector; 302-lifting module; 303-support wheel; 304-triangular support frame; 305-support connecting frame; 306-middle horizontal support; 307-slider; 308-linear rail; 309-lifting screw; 310-lifting motor;

[0069] 4- Visual mechanism;

[0070] 5-chassis lifting mechanism; 501-chassis lifting fixing frame; 502-chassis lifting frame; 503-wheel connecting frame; 504-chassis motor fixing frame; 505-chassis lifting drive motor; 506-chassis lead screw connecting piece; 507-chassis lead screw; 508-chassis lifting friction pad; 509-chassis first bevel gear; 510-chassis second bevel gear;

[0071] 6-buffer mechanism; 601-buffer mechanism spring; 602-buffer mechanism cylinder sleeve; 603-buffer mechanism impact head;

[0072] 7- Chassis;

[0073] 8-collecting mechanism; 801-collecting box; 802-falling buffer pipe; 803-pipe fixing frame;

[0074] 9- shearing mechanism; 901- trimming knife; 902- fifth sliding module; 903- fourth horizontal support; 904- sixth sliding module;

[0075] 10-travel wheel; 1001-travel protection frame; 1002-travel motor;

[0076] 11- Power supply;

[0077] 12-electric control mechanism; 1201-electric control box; 1202-electric control box door;

[0078] 13-transmission mechanism; 1301-conveyor belt; 1302-transmission protection frame; 1303-transmission motor;

[0079] 14-steering mechanism; 1401-steering gear protection frame; 1402-steering connecting frame; 1403-steering protection frame; 1404-steering first transmission shaft; 1405-steering first bevel gear; 1406-steering second bevel gear; 1407-steering motor; 1408-steering second transmission shaft;

[0080] 15-Angle steel. DETAILED DESCRIPTION

[0081] The present invention will be further described below in conjunction with the embodiments.

[0082] like Figure 1-18 As shown, the utility model provides 1. a pineapple picking machine with a chassis that can be raised and lowered for straddling work, comprising a picking mechanism 1, a frame 2, a supporting mechanism 3, a visual mechanism 4, a chassis lifting mechanism 5, a buffer mechanism 6, a chassis 7, a collecting mechanism 8, a shearing mechanism 9, traveling wheels 10, a power supply 11, an electric control mechanism 12, a transmission mechanism 13, and a steering mechanism 14.

[0083] The picking mechanisms 1 and 2 are arranged on the frame 2 through connecting parts, and are arranged on the left and right sides of the frame. The picking mechanism 1 clamps the pineapples cut by the shearing mechanism 9 and transports them to the conveying mechanism 13.

[0084] The frame 2 is arranged above the chassis 7, and a picking mechanism 1, a supporting mechanism 3, a shearing mechanism 9, a power supply 11, and a transmission mechanism 13 are installed thereon.

[0085] The two supporting mechanisms 3 are symmetrically arranged on the front and rear sides of the vehicle body. The upper part of the supporting mechanism 3 is slidably connected to the frame 2 through a connecting piece. The lower part of the supporting mechanism 3 is provided with a supporting wheel 303. The supporting mechanism 3 is arranged to be raised and lowered. After it is lowered, the supporting wheel 303 contacts the working ground and rotates.

[0086] The visual mechanisms 4 and 5 are arranged with three being arranged above the right angle of the chassis 7 and two being arranged beside the square hole in the middle of the chassis 7 , being located above the chassis 7 and on the central axis of the chassis 7 .

[0087] The four chassis lifting mechanisms 5 are arranged below the chassis 7 and located at the four corners of the chassis 7 for connecting the traveling wheels 10 .

[0088] The four buffer mechanisms 6 are arranged on the side of the chassis lifting mechanism 5, and the upper part thereof is connected to the lower part of the chassis 7, and the lower part thereof is connected to the chassis lifting mechanism 5 through a connecting piece.

[0089] The chassis 7 is one, and a square hole is provided in the middle thereof.

[0090] The collecting mechanism 8 is one and is located at the rear of the whole machine and is fixedly connected to the top of the chassis 7 through a connecting piece.

[0091] The shearing mechanism 9 is one piece and is arranged on the frame 2 through a connecting piece, arranged on the frame, and located above the square hole in the middle of the chassis 7.

[0092] The traveling wheels 10 are four in number, two of which are connected to the lifting mechanism 5 via a steering mechanism 14 , and the other two traveling wheels are driven by a traveling motor 1002 .

[0093] The two power supplies 11 are symmetrically arranged above the chassis 7 and connected to the frame 2 through a connecting piece, on which a transmission mechanism 13 is arranged, and the power supplies 11 are electrically connected to the electrical components.

[0094] The electric control mechanism 12 is located at the front side of the whole machine, arranged above the chassis 7, and its lower part is connected to the chassis 7 through a connecting piece.

[0095] The two conveying mechanisms 13 are respectively located above the power supply 11 and connected to the frame 2 through connecting pieces; the conveying mechanism 13 transports the pineapples clamped by the picking mechanism 1 to the collecting mechanism 8.

[0096] The two steering mechanisms 14 are located directly in front of the chassis 7, one end of which is connected to the chassis lifting mechanism 5 through a connecting piece, and the other end of which is connected to the running wheel 10 through a connecting piece.

[0097] When working, the support mechanism 3 and the chassis lifting mechanism 5 are first adjusted in height according to the growth height of the pineapple, so that the bottom surface of the chassis is above the pineapple, and the support wheels 303 of the support mechanism 3 can touch the ground to support the chassis from the side, thereby increasing walking stability. The visual mechanism 4, which is set next to the two square holes in the middle of the chassis 7, collects images of the pineapple and confirms the position of the pineapple. The shearing mechanism 9 shears the pineapple. Since the cut pineapple grows on the top of the pineapple plant, it is supported by the pineapple leaves at the shearing point and will not fall to the ground; the picking mechanism 1 close to the pineapple moves, clamps the pineapple and transports it to the conveying mechanism 13, and the conveying mechanism 13 transports the pineapple to the collecting mechanism 8.

[0098] See also Figure 1 , Figure 2 , Fig.12 , Fig.14 , Fig.18 It can be seen that the upper part of the whole machine is a picking mechanism 1 and a shearing mechanism 9.

[0099] The picking mechanism 1 consists of a first electric cylinder 101, a first sliding module 102, a first vertical support 103, a second sliding module 104, a first horizontal support 106, a second electric cylinder 107, a third sliding module 108, a second horizontal support 109, a second vertical support 110, a fourth sliding module 111, and a third horizontal support 112.

[0100] The first electric cylinder 101 has two pieces, and the second electric cylinder 107 has one piece. The first electric cylinder 101 and the second electric cylinder 107 are both of the same type but of different sizes. The first electric cylinder 101 controls the manipulator 105 to move up and down, and the second electric cylinder 107 controls the shearing mechanism 9 and the trimming mechanism to move up and down. The first sliding module 102, the second sliding module 104, the third sliding module 108, the fourth sliding module 111, the fifth sliding module 902, and the sixth sliding module 904 are both of the same type of synchronous belt modules but of different sizes. The first sliding module 102 has two pieces, which are arranged on the sixth sliding module 904 to control the picking mechanism 1 to move up and down. Two modules 104 are symmetrically arranged on the fourth horizontal support 903 to control the horizontal movement of the picking mechanism 1 to the left and right; one third sliding module 108 is symmetrically arranged on the third horizontal support 112 to control the horizontal movement of the shearing mechanism 9 to the left and right; two fourth sliding modules 111 are symmetrically arranged on the first horizontal support 106 to control the horizontal movement of the shearing mechanism 9 to the left and right; one fifth sliding module 902 is arranged on the third sliding module 108 to control the lifting and lowering of the shearing mechanism 9; two sixth sliding modules 904 are arranged on the second horizontal support 109 to control the horizontal movement of the picking mechanism 1 to the left and right.

[0101] See also Figure 1 , Figure 2 , Fig.10 , Fig.12 , Fig.14 , Fig.18 It can be seen that the first vertical supports 103, 4 of which are located at the top of the whole machine, are connected to the first horizontal support 106 and the fourth horizontal support 903 through the angle steel 15, and play a certain supporting role for the shearing mechanism 9; the first horizontal supports 106, 2 of which are located at the top of the whole machine, are connected to the first vertical support 103 through the angle steel 15, and play a certain supporting role for the shearing mechanism 9; the second horizontal supports 109, 2 of which are connected to the second sliding module 104 through the connecting piece, and play a certain supporting role for the picking mechanism 1; the second vertical supports 110, 2 of which are connected to the first vertical support 103 through the connecting piece at the top, and connected to the chassis 7 through the angle steel 15 at the bottom; the third horizontal support 112, 1 of which is connected to the fourth sliding module 111 at both ends through the connecting piece; the fourth horizontal supports 903, 2 of which are connected to the first vertical support 103 and the second vertical support 110 through the angle steel 15.

[0102] See also Figure 1 , Fig. 9 It can be seen that the support mechanism 3 adopts a gantry design, including a support wheel connector 301, a lifting module 302, a support wheel 303, a triangular support frame 304, a support connecting frame 305, a middle horizontal support 306, a slider 307, a linear rail 308, a lifting screw 309, and a lifting motor 310; the lifting module 302, 2 pieces, includes a slider 307, a linear rail 308, a lifting screw 309, and a lifting motor 310, and the lifting motor 310 drives the lifting screw 309 to rotate, thereby driving the slider 307 to move along the linear rail 308; the triangular support frame 304, 2 pieces, adopts a triangular design, the upper part of which is connected to the middle horizontal support 306 through a connector, and the lower part is connected to the support wheel 303 through a support wheel connector 301; the middle horizontal support 306, 2 pieces, both ends of which are connected to the support connecting frame 305 through a connector; the support connecting frame 305, 2 pieces, both ends of which are connected to the lifting module 302 through a connector.

[0103] See also Figure 1 , Fig.11 It can be seen that the visual mechanisms 4, 5 are controlled by stereo binocular vision algorithms and are equipped with 2D plane cameras and 3D depth sensing cameras. The collected images are transmitted to the electric control mechanism 12 for analysis, and the electric control mechanism 12 transmits the control information to the picking mechanism 1, the chassis lifting mechanism 5, and the shearing mechanism 9 to perform pineapple picking. The electric control mechanism 12, 1, includes an electric control box 1201, an electric control box door 1202, a built-in controller and other control devices; the power supplies 11, 2, provide power to the power-demanding mechanisms.

[0104] See also Figure 1-Figure 7It can be seen that the chassis lifting mechanism 5 includes a chassis lifting fixing frame 501, a chassis lifting frame 502, a wheel connecting frame 503, a chassis motor fixing frame 504, a chassis lifting drive motor 505, a chassis screw connecting member 506, a chassis screw 507, a chassis lifting friction pad 508, a chassis first bevel gear 509, and a chassis second bevel gear 510; the chassis lifting fixing frame 501, 4 in number, the upper part of which is connected to the lower part of the chassis 7 through a connecting member, and the lower part is connected to the chassis lifting friction pad 508; the chassis lifting friction pad 508, 4 in number, is arranged on the chassis The upper part of the lead screw 507 has a certain buffering effect on the chassis lifting mechanism 5; the chassis lifting frame 502, 4, is connected to the chassis lifting fixed frame 501 through a connecting piece; the chassis lead screw connecting pieces 506, 4, are fixed to the chassis lifting frame 502 through a connecting piece, and are connected to the chassis lead screw 507 through a thread; the chassis lifting drive motor 505, 4, is fixedly connected to the chassis motor fixing frame 504, driving the chassis first bevel gear 509 to rotate, and the chassis second bevel gear 510 is engaged with the chassis first bevel gear 509, thereby realizing the change of the power direction. The second bevel gear 510 of the chassis transmits power to the chassis screw 507, and the chassis screw 507 drives the chassis screw connector 506 to rise and fall by rotating, and the chassis screw connector 506 drives the chassis lifting frame 502 to rise and fall, and the chassis lifting frame 502 drives the chassis lifting fixed frame 501 to rise and fall, thereby realizing the rising and falling of the chassis 7; the chassis screw 507, 4 pieces, are fixedly connected to the wheel connecting frame 503, and the wheel connecting frame 503 is connected to the walking protection frame 1001 through a connecting piece, and the walking protection frame 1001 is provided with There is a walking motor 1002, which drives the walking wheel 10 to walk; the buffer mechanism 6 includes a buffer mechanism spring 601, a buffer mechanism cylinder sleeve 602, and a buffer mechanism impact head 603. The buffer mechanism cylinder sleeve 602, 4 in number, is fixedly connected to the chassis lifting mechanism 5 at the lower part, and a buffer mechanism spring 601 is arranged at the upper part; the buffer mechanism spring 601, 4 in number, plays a certain buffering role; the buffer mechanism impact head 603, 4 in number, is connected to the buffer mechanism spring 601 at the lower part through a connecting piece, and is connected to the chassis 7 at the upper part through a connecting piece.

[0105] See also Figure 1-Figure 2 , Figure 12-16It can be seen that the picking mechanism 1, 2 is provided with a manipulator 105, 2, including a manipulator protection frame 113, a manipulator claw mechanism 114, a manipulator drive motor 115, a claw mechanism connector 116, a fixing member 117, a worm gear mechanism 118, a worm mechanism 119, a first transmission bevel gear 120, and a second transmission bevel gear 121; the manipulator protection frame 113, 2, its upper part is connected to the first electric cylinder 101, adopts a disc-shaped design to reduce the area, suitable for the pineapple shape, and easy to pick; the manipulator claw mechanism 114, 6, adopts a finger-like flexion design, and is arranged on a manipulator 105 at equal intervals of 120° every 3; the manipulator drive motor 115, 2, is fixedly connected to the manipulator protection frame 113 through a connecting member to drive the first transmission bevel gear 120, The second transmission bevel gear 121 performs power transmission; there are two gripper mechanism connecting members 116, one end of which is connected to the manipulator gripper mechanism 114, and the other end is connected to the fixing member 117, so as to facilitate power transmission to the manipulator gripper mechanism 114; there are two fixing members 117, one end of which is connected to the manipulator protection frame 113, and the other end is connected to the worm gear mechanism 118 through an axis; there are six worm gear mechanisms 118, and every three are arranged at equal intervals of 120° in a manipulator protection frame 113, and are fixed to the fixing member 117 through an axis connection; there are two worm gear mechanisms 118, one end of which is connected to the manipulator protection frame 113 through a connecting member, and is located at the center of the manipulator protection frame 113, and one end is provided with a first transmission bevel gear 120, and the first transmission bevel gear 120 is meshed with the second transmission bevel gear 121 for power transmission.

[0106] The shearing mechanism 9 is composed of a fifth sliding die set 902 , a fourth horizontal support 903 , and a sixth sliding die set 904 .

[0107] See also Figure 1-Figure 2 , Figure 8 , Fig.13 It can be seen that the collecting mechanism 8, one, includes a collecting box 801, a falling buffer tube 802, and a tube fixing frame 803; the collecting box 801, one, is fixedly connected to the upper part of the chassis 7 through a connecting piece, and is located behind the chassis 7; the falling buffer tubes 802, two, adopt a striped hose design, which increases the falling time of the pineapple and reduces the damage to the pineapple caused by the falling gravitational potential energy, and are symmetrically arranged on the collecting box 801 through the tube fixing frame 803; the conveying mechanism 13, two, includes a conveyor belt 1301, a conveying protection frame 1302, and a conveying motor 1303; the conveyor belts 1301, two, are connected to the conveying protection frame 1302 through a connecting piece to transport the pineapples; the conveying protection frame 1302, two, are fixedly connected to the frame 2 through a connecting piece; the conveying motor 1303, two, are fixedly connected to the conveying protection frame 1302 through a connecting piece to drive the conveyor belt 1301 to move, thereby completing the transportation of the pineapples.

[0108] See also Figure 1-Figure 2 , Fig.12 , Fig.14 , Figure 17-Figure 18 It can be seen that the shearing mechanism 9,1 includes a trimming knife 901,1. The eccentric source structure is used in conjunction with the motor to complete the trimming of the scissors, and is connected to the second electric cylinder 107 through a connecting piece to drive the shearing mechanism to rise and fall 901.

[0109] See also Figure 1-Figure 2 , Figure 5-Figure 6 It can be seen that the steering mechanism 14, 2, includes a steering gear protection frame 1401, a steering connecting frame 1402, a steering protection frame 1403, a first steering transmission shaft 1404, a first steering bevel gear 1405, a second steering bevel gear 1406, a steering motor 1407, and a second steering transmission shaft 1408; the steering gear protection frame 1401, 2, one end of which is fixed to the steering protection frame 1403 through a connecting piece; the steering connecting frame 1402, 2, one end of which is connected to the steering protection frame 1403 through a connecting piece. 403 is connected, and one end is connected to the traveling wheel 10 through a connecting piece; there are two steering protection frames 1403, which are connected to the chassis lifting mechanism 5 through a connecting piece; there are two steering motors 1407, which are fixedly connected to the steering gear protection frame 1401 through a connecting piece, driving the first steering transmission shaft 1404, the first steering bevel gear 1405, the second steering bevel gear 1406, and the second steering transmission shaft 1408 to transmit power, thereby driving the steering connecting frame 1402 to rotate, and completing the steering of the traveling wheel 10.

[0110] The working process of the pineapple picking machine with a lifting and lowering chassis and straddling operation of the utility model is as follows:

[0111] Step 1:

[0112] The operator starts the machine near a farmland where pineapples are to be picked, and the visual mechanism (4) begins to identify the surrounding environment and perform distance measurement, and feeds the information back to the electronic control mechanism (12) for processing. The electronic control mechanism (12) feeds the processed information back to the travel motor (1002), thereby driving the machine to reach the pineapple planting area.

[0113] Step 2:

[0114] After the machine reaches the planting area, the electric control mechanism (12) controls the chassis lifting mechanism (5) to rise, the support mechanism (3) to descend, and the travel motor (1002) drives the machine to start moving. At the same time, the visual mechanism (4) starts to identify the position and size of the pineapple again, and controls the machine to move above it. The electric control mechanism (12) starts to control the module, electric cylinder, etc. to work, ensuring that the picking mechanism (1) and the shearing mechanism (9) reach the specified position. After the shearing mechanism (9) completes shearing the pineapple, the picking mechanism (1) places it on the conveying mechanism (13).

[0115] Step 3:

[0116] The conveying mechanism (13) conveys the pineapples to the collecting mechanism (8). After the picking is completed, the machine automatically returns to the initial position according to the information provided by the visual mechanism (4) and the electronic control mechanism (12). Finally, the operator unloads the pineapples from the collecting mechanism (8).

[0117] The above description is only a preferred feasible embodiment of the present utility model, and does not limit the scope of rights of the present utility model. All equivalent structural changes made using the contents of the present utility model specification and drawings are included in the scope of rights of the present utility model.

Claims

1. A pineapple picking machine with a chassis that can be raised and lowered and operated in a straddled manner, comprising a picking mechanism (1), a frame (2), a supporting mechanism (3), a visual mechanism (4), a chassis lifting mechanism (5), a buffer mechanism (6), a chassis (7), a collecting mechanism (8), a shearing mechanism (9), traveling wheels (10), a power source (11), an electric control mechanism (12), a transmission mechanism (13), and a steering mechanism (14), characterized in that: The picking mechanisms (1), two of which are arranged on the frame (2) via connecting pieces, and are arranged on the left and right sides of the frame. The picking mechanisms (1) clamp the pineapples cut by the cutting mechanism (9) and convey them to the conveying mechanism (13); The frame (2) is arranged above the chassis (7), and is provided with a picking mechanism (1), a supporting mechanism (3), a shearing mechanism (9), a power source (11), and a transmission mechanism (13); The two support mechanisms (3) are symmetrically arranged on the front and rear sides of the vehicle body. The upper part of the support mechanism (3) is slidably connected to the frame (2) through a connecting piece. The lower part of the support mechanism (3) is provided with a support wheel (303). The support mechanism (3) is arranged to be raised and lowered. After the support mechanism (3) is lowered, the support wheel (303) contacts and rotates with the working ground. The visual mechanisms (4) are five in number, three of which are arranged above the right angle of the chassis (7), and two of which are arranged beside the square hole in the middle of the chassis (7), located above the chassis (7) and on the central axis of the chassis (7); The chassis lifting mechanisms (5), four in number, are arranged below the chassis (7) and located at the four corners of the chassis (7) and are used to connect to the running wheels (10); The buffer mechanisms (6), four in number, are arranged on the side of the chassis lifting mechanism (5), the upper part of which is connected to the lower part of the chassis (7), and the lower part of which is connected to the chassis lifting mechanism (5) via a connecting piece; The bottom plate (7) is one, and a square hole is provided in the middle thereof; The collecting mechanism (8), one piece, is located at the rear of the whole machine and is fixedly connected to the top of the chassis (7) via a connecting piece; The shearing mechanism (9), one piece, is arranged on the frame (2) through a connecting piece, is arranged on the frame, and is located above the square hole in the middle of the chassis (7); The traveling wheels (10) are four in number, two of which are connected to the lifting mechanism (5) via a steering mechanism (14), and the other two traveling wheels are provided with traveling motors (1002) for driving; The two power sources (11) are symmetrically arranged above the chassis (7) and connected to the frame (2) via a connecting piece, on which a transmission mechanism (13) is provided, and the power sources (11) are electrically connected to the electrical components; The electric control mechanism (12) is located on the front side of the whole machine and is arranged above the chassis (7), and its lower part is connected to the chassis (7) via a connecting piece; The two conveying mechanisms (13) are respectively located above the power source (11) and connected to the frame (2) via a connecting piece; the conveying mechanism (13) conveys the pineapples picked up by the picking mechanism (1) to the collecting mechanism (8); The two steering mechanisms (14) are located directly in front of and below the chassis (7), one end of which is connected to the chassis lifting mechanism (5) via a connecting piece, and the other end of which is connected to the running wheel (10) via a connecting piece.

2. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 1, characterized in that: The picking mechanism (1) comprises a first electric cylinder (101), a first sliding module (102), a first vertical support (103), a second sliding module (104), a first horizontal support (106), a second electric cylinder (107), a third sliding module (108), a second horizontal support (109), a second vertical support (110), a fourth sliding module (111), and a third horizontal support (112); the shearing mechanism (9) comprises a fifth sliding module (902), a fourth horizontal support (903), a first electric cylinder (101), and a sixth sliding module (904); two first electric cylinders (101) and one second electric cylinder (107); the first electric cylinder (101) controls the manipulator (105) to move up and down, and the second electric cylinder (107) controls the shearing mechanism (9) and the trimming knife mechanism to move up and down; the first sliding module (102), the second sliding module (104), the third sliding module (108), the fourth sliding module (111), and the fifth sliding module The first sliding module (902) and the sixth sliding module (904) both use the same type of synchronous belt module, but with different sizes. Two first sliding modules (102) are arranged on the sixth sliding module (904) to control the picking mechanism (1) to move up and down; two second sliding modules (104) are symmetrically arranged on the fourth horizontal support (903) to control the picking mechanism (1) to move horizontally left and right; one third sliding module (108) is symmetrically arranged on the third horizontal support (112) to control the shearing mechanism (9) to move horizontally left and right; two fourth sliding modules (111) are symmetrically arranged on the first horizontal support (106) to control the shearing mechanism (9) to move horizontally forward and backward; one fifth sliding module (902) is arranged on the third sliding module (108) to control the shearing mechanism (9) to move up and down; and two sixth sliding modules (904) are arranged on the second horizontal support (109) to control the picking mechanism (1) to move horizontally forward and backward.

3. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 2, characterized in that: The first vertical supports (103), four in number, are located at the top of the whole machine and are connected to the first horizontal support (106) and the fourth horizontal support (903) through angle steels (15), so as to support the shearing mechanism (9); the first horizontal supports (106), two in number, are located at the top of the whole machine and are connected to the first vertical support (103) through angle steels (15); the second horizontal supports (109), two in number, are connected to the second sliding module (104) through connecting pieces, so as to support the picking mechanism (1) to a certain extent; the second vertical supports (110), two in number, are connected to the first vertical support (103) through connecting pieces at their upper parts and are connected to the chassis (7) through angle steels (15) at their lower parts; the third horizontal support (112), one in number, is connected to the fourth sliding module (111) at both ends through connecting pieces; the fourth horizontal supports (903), two in number, are connected to the first vertical support (103) and the second vertical support (110) through angle steels (15).

4. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 1, characterized in that: The support mechanism (3) adopts a gantry-shaped design, including a support wheel connector (301), a lifting module (302), a support wheel (303), a triangular support frame (304), a support connecting frame (305), a middle horizontal support (306), a slider (307), a linear rail (308), a lifting screw (309), and a lifting motor (310); the lifting module (302) has two parts, including a slider (307), a linear rail (308), a lifting screw (309), a lifting motor (310), and a lifting motor (31 0) drives the lifting screw (309) to rotate, thereby driving the slider (307) to move along the linear rail (308); two triangular support frames (304) are designed in a triangular shape, the upper part of which is connected to the middle horizontal support (306) through a connecting piece, and the lower part of which is connected to the support wheel (303) through a supporting wheel connecting piece (301); two middle horizontal supports (306) are connected to the support connecting frame (305) at both ends through connecting pieces; two supporting connecting frames (305) are connected to the lifting module (302) at both ends through connecting pieces.

5. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 1, characterized in that: The visual mechanism (4) is provided with a 2D plane camera and a 3D depth-sensing camera.

6. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 1, characterized in that: The chassis lifting mechanism (5) comprises a chassis lifting fixing frame (501), a chassis lifting frame (502), a wheel connecting frame (503), a chassis motor fixing frame (504), a chassis lifting drive motor (505), a chassis lead screw connecting member (506), a chassis lead screw (507), a chassis lifting friction pad (508), a chassis first bevel gear (509), and a chassis second bevel gear (510); the chassis lifting fixing frames (501) are four in number, the upper part of which is connected to the lower part of the chassis (7) via a connecting member, and the lower part of which is connected to the chassis lifting friction pad (508); the chassis lifting friction pads (508) are four in number and are arranged on the chassis The upper part of the lead screw (507) plays a certain buffering role on the chassis lifting mechanism (5); the chassis lifting frame (502), four in number, is connected to the chassis lifting fixed frame (501) through a connecting piece; the chassis lead screw connecting pieces (506), four in number, are fixed to the chassis lifting frame (502) through a connecting piece, and are connected to the chassis lead screw (507) through a thread; the chassis lifting drive motor (505), four in number, is fixedly connected to the chassis motor fixed frame (504), drives the first chassis bevel gear (509) to rotate, and the second chassis bevel gear (510) is meshed with the first chassis bevel gear (509), thereby realizing the change of the power direction, and the chassis first bevel gear (510) is meshed with the first chassis bevel gear (509). The two-bevel gear (510) transmits power to the chassis screw (507), and the chassis screw (507) drives the chassis screw connector (506) to rise and fall by rotating, and the chassis screw connector (506) drives the chassis lifting frame (502) to rise and fall, and the chassis lifting frame (502) drives the chassis lifting fixed frame (501) to rise and fall, thereby realizing the lifting and lowering of the chassis (7); four chassis screws (507) are fixedly connected to the wheel connecting frame (503), and the wheel connecting frame (503) is connected to the walking protection frame (1001) through a connecting piece, and a walking protection frame (1001) is provided with a walking protection frame (1001) inside. A walking motor (1002) drives the walking wheel (10) to walk; the buffer mechanism (6) comprises a buffer mechanism spring (601), a buffer mechanism cylinder sleeve (602), and a buffer mechanism impact head (603); the buffer mechanism cylinder sleeve (602) is four in number, the lower portion of which is fixedly connected to the chassis lifting mechanism (5), and the upper portion of which is provided with a buffer mechanism spring (601); the buffer mechanism spring (601) is four in number, and plays a certain buffering role; the buffer mechanism impact head (603) is four in number, the lower portion of which is connected to the buffer mechanism spring (601) via a connecting piece, and the upper portion of which is connected to the chassis (7) via a connecting piece.

7. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 1, characterized in that: The picking mechanism (1) is provided with a manipulator (105), the manipulator (105) comprising a manipulator protection frame (113), a manipulator claw mechanism (114), a manipulator drive motor (115), a claw mechanism connecting piece (116), a fixing piece (117), a worm gear mechanism (118), a worm mechanism (119), a first transmission bevel gear (120), and a second transmission bevel gear (121); two manipulator protection frames (113), the upper part of which is connected to the first electric cylinder (101); six manipulator claw mechanisms (114), which are designed in a finger-like flexion shape, and are arranged on one manipulator (105) at 120° intervals every three; two manipulator drive motors (115), which are fixedly connected to the manipulator protection frame (113) via a connecting piece, and drive the first transmission bevel gear (120) and the second transmission bevel gear (121) to move the manipulator. Action force transmission; two gripper mechanism connecting members (116), one end of which is connected to the manipulator gripper mechanism (114) and the other end of which is connected to the fixing member (117), so as to facilitate power transmission to the manipulator gripper mechanism (114); two fixing members (117), one end of which is connected to the manipulator protection frame (113) and the other end of which is connected to the worm gear mechanism (118) via a shaft; six worm gear mechanisms (118), three of which are arranged at equal intervals of 120° in a manipulator protection frame (113) and fixed to the fixing member (117) via a shaft; two worm gear mechanisms (118), one end of which is connected to the manipulator protection frame (113) via a connecting member and is located at the center of the manipulator protection frame (113), and one end of which is provided with a first transmission bevel gear (120), and the first transmission bevel gear (120) is meshed with a second transmission bevel gear (121) for power transmission.

8. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 1, characterized in that: The collecting mechanism (8) is one and comprises a collecting box (801), a falling buffer tube (802), and a tube fixing frame (803); the collecting box (801) is one and fixedly connected to the upper part of the chassis (7) through a connecting piece and is located behind the chassis (7); the falling buffer tubes (802) are two and are symmetrically arranged on the collecting box (801) through the tube fixing frame (803); the conveying mechanism (13) is two and comprises a conveyor belt (1301), a conveyor protection frame (1302), and a conveyor motor (1303); the conveyor belts (1301) are two and are connected to the conveyor protection frame (1302) through a connecting piece to transport the pineapples; the conveyor protection frame (1302) is two and fixedly connected to the frame (2) through a connecting piece; the conveyor motors (1303) are two and fixedly connected to the conveyor protection frame (1302) through a connecting piece to drive the conveyor belt (1301) to move, thereby completing the transportation of the pineapples.

9. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 1, characterized in that: The shearing mechanism (9) is provided with a trimming knife (901). The trimming knife (901) uses an eccentric source structure to cooperate with a motor to complete trimming. The trimming knife (901) is connected to the second electric cylinder (107) via a connecting piece. The second electric cylinder (107) drives the shearing mechanism (9) to rise and fall.

10. The pineapple picking machine with a liftable chassis and straddle-type operation according to claim 1, characterized in that: The two steering mechanisms (14) include a steering gear protection frame (1401), a steering connecting frame (1402), a steering protection frame (1403), a first steering transmission shaft (1404), a first steering bevel gear (1405), a second steering bevel gear (1406), a steering motor (1407), and a second steering transmission shaft (1408); two steering gear protection frames (1401), one end of which is fixed to the steering protection frame (1403) via a connecting piece; two steering connecting frames (1402), one end of which is connected to the steering protection frame (1403) via a connecting piece. 03), and the other end is connected to the running wheel (10) through a connecting piece; two steering protection frames (1403) are connected to the chassis lifting mechanism (5) through connecting pieces; two steering motors (1407) are fixedly connected to the steering gear protection frame (1401) through connecting pieces, driving the first steering transmission shaft (1404), the first steering bevel gear (1405), the second steering bevel gear (1406), and the second steering transmission shaft (1408) to perform power transmission, thereby driving the steering connecting frame (1402) to rotate, thereby completing the steering of the running wheel (10).

Images