Pineapple picking device

Abstract

The utility model discloses a pineapple picking device which comprises a clamping mechanism and a picking mechanism, the clamping mechanism comprises a fixed support and two clamping arms, the two clamping arms are located on the two sides of the fixed support and rotationally connected with the fixed support, and a picking space is formed between the two clamping arms; the two clamping arms are each provided with a torsion mechanism, each torsion mechanism comprises a driving assembly, a driving roller, a driven roller and a conveying belt, the driving assemblies are connected with the clamping arms, the driving rollers and the driven rollers are connected with the clamping arms and connected through the conveying belts, the driving assemblies can drive the driving rollers to rotate, and the conveying belts can drive the driving rollers to rotate. The driving roller drives the conveyor belts and the driven roller to roll, the belt surfaces of the conveyor belts face the picking space, and the two conveyor belts run in the same direction; the power mechanism is connected with the fixed support and can drive the two clamping arms to move so that the two clamping arms can be close to or away from each other, and the two clamping arms can be close to each other so that the two conveying belts can be close to each other to jointly clamp the pineapples to be picked.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to a pineapple picking device. Background Art

[0002] Pineapple, a popular tropical fruit, is one of the four most famous tropical fruits, along with bananas, mangoes, and coconuts. Rich in vitamins A and B complex (including B1 and B2), especially vitamin C, it also contains a unique protein enzyme called bromelain, which has the ability to break down proteins. Furthermore, consuming pineapple not only helps the body absorb essential nutrients but also effectively relieves summer heat and thirst. Especially during the scorching summer heat, pineapple is an ideal choice, relieving thirst caused by the heat and helping to prevent heatstroke.

[0003] In 2021, my country's pineapple planting area reached 987,000 mu (1 mu is approximately 0.067 hectares), accounting for 5.59% of the world's total pineapple planting area, ranking fourth in the world; in the same year, my country's fresh pineapple production was 1.955 million tons, accounting for 6.06% of the world's total production, ranking fifth in the world.

[0004] Pineapple cultivation in my country is relatively concentrated, primarily in Guangdong and Hainan provinces. These two provinces together account for 90.75% of the national total. Yunnan, Guangxi, and Fujian also have smaller pineapple cultivation areas. This vast planting area and abundant yield have made pineapples a vital component of my country's tropical fruit industry.

[0005] The advancement of mechanized pineapple harvesting will help alleviate labor shortages and improve harvesting efficiency. Current pineapple pickers primarily use machine vision to accurately identify the pineapple's location, converting it into coordinate parameters. End-effectors then grasp and twist the pineapple to achieve the harvest. However, due to the toughness of pineapple stems, existing end-effectors are unable to separate the pineapple from the stem, requiring manual labor to re-pick the fruit, resulting in low efficiency. Utility Model Content

[0006] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a pineapple picking device, which solves the problem that the existing end-effector cannot separate the pineapples from the pineapple stems, requires manual re-picking, and has low work efficiency.

[0007] The technical solution of the utility model is: a pineapple picking device, comprising:

[0008] A clamping mechanism, the clamping mechanism comprising a fixed support and a clamping arm, wherein two clamping arms are located on either side of the fixed support, the clamping arms are rotatably connected to the fixed support, a picking space is formed between the two clamping arms, and the pineapple to be picked is located in the picking space;

[0009] A torsion mechanism, wherein the two clamping arms are respectively provided with the torsion mechanism, and the torsion mechanism includes a driving assembly, an active roller, a driven roller and a conveyor belt, the driving assembly is connected to the clamping arm, the active roller and the driven roller are respectively connected to the clamping arm, the active roller and the driven roller are connected by the conveyor belt, the driving assembly can drive the active roller to rotate, and the active roller drives the conveyor belt and the driven roller to roll, and the belt surface of the conveyor belt faces the picking space;

[0010] A power mechanism is connected to the fixed support, and the power mechanism can drive the two clamping arms to move so that the two clamping arms move closer to or away from each other. The two clamping arms move closer to each other so that the two conveyor belts move closer to each other to jointly clamp the pineapples to be picked.

[0011] Furthermore, the driving assembly includes a driving motor, a driving gear and a driven gear. The driving motor is connected to the clamping arm, the output end of the driving motor is connected to the driving gear through a flange, the driving gear is meshed with the driven gear, and the driving roller is connected to the driven gear through a flange.

[0012] Furthermore, the power mechanism includes a connecting member, a connecting rod, a driving seat, a cylinder and a cylinder fixing seat, the cylinder fixing seat is connected to the fixed support, the cylinder is connected to the cylinder fixing seat, the output end of the cylinder is connected to the driving seat, the cylinder can drive the driving seat to extend and retract, the connecting member is connected to the clamping arm, one end of the connecting rod is rotatably connected to the driving seat, and the other end is rotatably connected to the connecting member.

[0013] Furthermore, the clamping arm and the fixed support are rotatably connected via a hinge.

[0014] Furthermore, it also includes a control unit, which is electrically connected to the drive assembly and the power mechanism, and the control unit can control the operation of the drive assembly and the power mechanism.

[0015] Furthermore, the conveyor belt is a rough surface conveyor belt.

[0016] Furthermore, it also includes a pressure sensor. The driven roller is connected to the clamping arm through a bearing seat, and the pressure sensor is arranged on the bearing seat.

[0017] Furthermore, the fixed support and the clamping arm are both square frames, and the square frame includes a plurality of profiles and a plurality of corner brackets. The plurality of profiles are built into a square, and the corner brackets connect two adjacent profiles.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The pineapple picking device of the utility model drives the conveyor belt to squeeze the pineapple to be picked by the clamping arm. At the same time, the conveyor belt is running, and the pineapple rotates due to the pressure and friction of the conveyor belt. When it rotates a certain number of times, the pineapple calyx is twisted off, and the pineapple is separated from the pineapple stem, thereby realizing the picking function without manual cutting, thereby improving the picking efficiency and the continuity of picking stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural schematic diagram of a pineapple picking device of the present invention.

[0021] Figure 2 This is a structural schematic diagram of the pineapple picking device of the present invention from another perspective.

[0022] Figure 3 It is a structural diagram of the power mechanism of the utility model.

[0023] Figure 4 This is a schematic diagram of the clamping arm of the present invention in an open state.

[0024] Figure 5 This is a schematic diagram of the clamping state of the clamping arm of the present invention.

[0025] Fixed support 1, clamping arm 2, picking space 3, torsion mechanism 4, drive assembly 41, drive motor 411, driving gear 412, driven gear 413, driving roller 42, driven roller 43, conveyor belt 44, power mechanism 5, connector 51, connecting rod 52, drive seat 53, cylinder 54, cylinder fixing seat 55, hinge 6, profile 7, angle code 8. DETAILED DESCRIPTION

[0026] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "upper", "lower", "left", "right", "inside", "outside" and similar expressions used in this specification are for illustrative purposes only.

[0027] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this utility model belongs. The terms used in this specification and in the description of this utility model are only for the purpose of describing specific embodiments and are not intended to limit this utility model. The term "and / or" used in this specification includes any and all combinations of one or more of the relevant listed items.

[0028] Current pineapple picking machines primarily use machine vision to accurately identify the pineapple's position, converting the pineapple's position into coordinate parameters. The end effector then twists the pineapple to achieve the harvest. However, due to the toughness of pineapple stems, existing end effectors are unable to separate the pineapple from the stem, requiring manual labor to re-pick the pineapple, resulting in low efficiency. To address this issue, the present application provides a pineapple picking device.

[0029] In some embodiments, as Figure 1 、 Figure 2 and Figure 3 As shown, the pineapple picking device comprises:

[0030] The clamping mechanism includes a fixed support 1 and a clamping arm 2. The two clamping arms 2 are located on both sides of the fixed support 1. The clamping arms 2 are rotatably connected to the fixed support 1. A picking space 3 is formed between the two clamping arms 2. The pineapple to be picked is located in the picking space 3.

[0031] The twisting mechanism 4 is respectively provided on the two clamping arms 2, and the twisting mechanism 4 includes a driving assembly 41, an active roller 42, a driven roller 43 and a conveyor belt 44. The driving assembly 41 is connected to the clamping arm 2, and the active roller 42 and the driven roller 43 are respectively connected to the clamping arm 2. The active roller 42 and the driven roller 43 are connected through the conveyor belt 44. The driving assembly 41 can drive the active roller 42 to rotate, and the active roller 42 drives the conveyor belt 44 and the driven roller 43 to roll. The belt surface of the conveyor belt 44 faces the picking space 3, and the two conveyor belts 44 have the same running direction;

[0032] The power mechanism 5 is connected to the fixed support 1. The power mechanism 5 can drive the two clamping arms 2 to move so that the two clamping arms 2 are close to or away from each other. The two clamping arms 2 are close to each other so that the two conveyor belts 44 are close to each other to jointly clamp the pineapples to be picked.

[0033] The pineapple picking device of the present application is installed on a pineapple picking machine. The pineapple picking machine identifies the position of the pineapple to be picked and moves to the picking position, so that the pineapple to be picked is located in the picking space 3. The power mechanism 5 is started, driving the two clamping arms 2 to approach each other, so that the conveyor belts 44 on the two clamping arms 2 are in contact with the pineapple to be picked, and jointly clamp the pineapple to be picked. The driving component 41 is started, and the driving component 41 can drive the active roller 42 to rotate. The active roller 42 drives the conveyor belt 44 and the driven roller 43 to roll. The two conveyor belts 44 have the same running direction. The pineapple rotates due to the pressure and friction of the conveyor belt 44. When it rotates a certain number of times, the pineapple calyx is twisted off, and the pineapple is separated from the pineapple stem, realizing the picking function without manual cutting, thereby improving the picking efficiency and the continuity of picking stability.

[0034] In some embodiments, as Figure 1 and Figure 2 As shown, the drive assembly 41 includes a drive motor 411, a driving gear 412, and a driven gear 413. The drive motor 411 is connected to the clamping arm 2. The output end of the drive motor 411 is connected to the driving gear 412 via a flange. The driving gear 412 meshes with the driven gear 413. The driving roller 42 is also connected to the driven gear 413 via a flange. The provision of the driving gear 412 and the driven gear 413 can provide a large torque.

[0035] In some embodiments, the driving assembly 41 may also be provided with only a driving motor 411 , and the output end of the driving motor 411 is directly connected to the active roller 42 through a coupling, and the conveyor belt 44 may also be operated, which is not limited here.

[0036] In some embodiments, as Figure 1 and Figure 2 As shown, the driving motor 411, the driving gear 412 and the driven gear 413 are all located on the side of the clamping arm 2 close to the fixed support 1 to prevent the gears from being affected by debris such as pineapple leaves. Of course, a protective cover can also be provided to isolate the gears from the outside, as long as the gears can operate normally. They are not listed here one by one.

[0037] In some embodiments, the driving motor 411 may be a stepper motor or a brushless motor, and is not limited here as long as it can achieve rotation.

[0038] In some embodiments, the rotation speeds and directions of the two driving motors 411 are consistent to ensure that the conveyor belt 44 runs in the same direction and at the same speed.

[0039] In some embodiments, as Figure 3As shown, the power mechanism 5 includes a connecting member 51, a connecting rod 52, a driving seat 53, a cylinder 54, and a cylinder fixing seat 55. The cylinder fixing seat 55 is connected to the fixed support 1, and the cylinder 54 is connected to the cylinder fixing seat 55. The output end of the cylinder 54 is connected to the driving seat 53. The cylinder 54 can drive the driving seat 53 to extend and retract. The connecting member 51 is connected to the clamping arm 2. One end of the connecting rod 52 is rotatably connected to the driving seat 53, and the other end is rotatably connected to the connecting member 51. The extension and retraction of the piston of the cylinder 54 drives the driving seat 53 to extend and retract, and the driving seat 53 drives the connecting rod 52 to move. The connecting rod 52 further drives the connecting member 51 to move. The connecting member 51 drives the clamping arm 2 to rotate relative to the fixed support 1, so that the two clamping arms 2 approach each other to clamp the pineapple to be picked.

[0040] In some embodiments, as Figure 3 As shown, there are two connecting rods 52, and both clamping arms 2 are provided with connecting parts 51. The piston of the cylinder 54 is extended and retracted to drive the driving seat 53, and the driving seat 53 drives the connecting rod 52 to move. The connecting rod 52 further drives the connecting part 51 to move, and the connecting part 51 drives the clamping arm 2 to rotate relative to the fixed support 1, so that the two clamping arms 2 are close to each other to clamp the pineapple to be picked.

[0041] In some embodiments, the power mechanism 5 can also be configured so that the piston of the cylinder is directly connected to the clamping arm 2, and the clamping arm 2 is directly driven to move by the cylinder, thereby controlling the two clamping arms 2 to move closer or farther away. As long as the clamping arm 2 can clamp the pineapple to be picked, the setting method of the power mechanism 5 is not limited here.

[0042] In some embodiments, as Figure 2 As shown, the clamping arm 2 is rotatably connected to the fixed support 1 via a hinge 6. One end of the hinge 6 is connected to the fixed support 1, and the other end of the hinge 6 is connected to the clamping arm 2. The hinge 6 realizes the rotatable connection between the clamping arm 2 and the fixed support 1, which has a simple structure and is easy to install.

[0043] In some embodiments, a rotating shaft is provided on the clamping arm 2, and a shaft cylinder is provided on the fixed support 1. The rotating shaft is rotatably connected in the shaft cylinder to realize the rotational connection between the clamping arm 2 and the fixed support 1. As long as the rotational connection between the clamping arm 2 and the fixed support 1 can be realized, there is no limitation here.

[0044] In some embodiments, the pineapple picking device further includes a control unit electrically connected to the drive assembly 41 and the power mechanism 5, capable of controlling the operation of the drive assembly 41 and the power mechanism 5. The control unit is electrically connected to the drive motor 411 to control the start and stop of the drive motor 411; the control unit is electrically connected to the cylinder 54 to control the extension and retraction of the cylinder.

[0045] In some embodiments, the conveyor belt 44 is a rough surface conveyor belt 44 , which can be formed by pressing a mixture of rubber and patterns to increase the friction of the conveyor belt 44 .

[0046] In some embodiments, the conveyor belt 44 is elastic and can be slightly deformed when clamping the pineapple without causing damage to the pineapple fruit.

[0047] In some embodiments, the pineapple picking device further comprises a pressure sensor, the driven roller 43 is connected to the clamping arm 2 via a bearing seat, and the pressure sensor is arranged on the bearing seat. Figure 5 As shown), the pineapples to be picked squeeze the conveyor belt 44, thereby pressurizing the driven roller 43 and causing the pressure on the bearing seat to change. The pressure sensor is electrically connected to the control unit, and the control unit can receive pressure information transmitted by the pressure sensor. When the pressure on the pressure sensor reaches a preset pressure, the control unit controls the cylinder 54 to stop and simultaneously controls the drive motor 411 to start. The start of the drive motor 411 causes the conveyor belt 44 to start moving. The two conveyor belts 44 run in the same direction, causing the pineapples to be picked to start rotating. The drive motor 411 has a built-in torque sensor. During the rotation of the pineapples to be picked, the torque continues to increase. When the pineapples to be picked rotate a certain number of times, the calyx of the pineapple is twisted off, and the pineapple is separated from the pineapple stem. At this time, the torque is reduced, and the control unit turns off the drive motor 411.

[0048] In some embodiments, after the pineapple is separated from the pineapple stem, the pineapple picker moves to the storage area, and the control unit controls the extension of the cylinder so that the two clamping arms 2 move away from each other (e.g., Figure 4 ), release the pineapple and let it fall into the storage area.

[0049] In some embodiments, as Figure 2 As shown, the fixing support 1 and the clamping arm 2 are both square frames, and the square frames include multiple profiles 7 and multiple corner brackets 8. The multiple profiles 7 are built into a square, and the corner brackets 8 connect two adjacent profiles 7. The profiles 7 are made of aluminum profiles, which are light in weight, strong enough, and easy to build.

[0050] In some embodiments, as Figure 1 and Figure 2 As shown, the axes of the driving roller 42 and the driven roller 43 are parallel to the short sides of the square frame, and the driving roller 42 and the driven roller 43 are symmetrically distributed along the center of the square frame.

[0051] In some embodiments, the control unit is provided on a pineapple picker, which is provided with a visual sensor. The visual sensor identifies the location information of the pineapples to be picked and feeds it back to the controller. The control unit controls the pineapple picker to move to the picking area, and after the picking is completed, controls the pineapple picker to move to the storage area.

[0052] In some embodiments, as Figure 4 and Figure 5 As shown, the two clamping arms 2 and the fixed support 1 together enclose a picking space 3, and the pineapples to be picked are located in the picking space 3. The cross-section of the picking space 3 is roughly rectangular or trapezoidal, and the pineapples to be picked can enter the picking space 3.

[0053] The pineapple picking device of the present invention drives the conveyor belt 44 to squeeze the pineapple to be picked by the clamping arm 2. At the same time, the conveyor belt 44 is running, and the pineapple rotates due to the pressure and friction of the conveyor belt 44. When the rotation reaches a certain number of circles, the pineapple calyx is twisted off, and the pineapple is separated from the pineapple stem, thereby realizing the picking function without manual cutting, thereby improving the picking efficiency and the continuity of picking stability.

[0054] It should be noted that the preferred embodiments of the present invention are given in the specification and drawings of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments do not serve as additional limitations on the content of the present invention. The purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all considered to be within the scope of the description of the present invention; further, it is obvious to those skilled in the art that improvements or changes can be made based on the above description, and all such improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A pineapple picking device, characterized in that: include: A clamping mechanism, the clamping mechanism comprising a fixed support and a clamping arm, wherein two clamping arms are located on either side of the fixed support, the clamping arms are rotatably connected to the fixed support, a picking space is formed between the two clamping arms, and the pineapple to be picked is located in the picking space; A torsion mechanism, wherein the two clamping arms are respectively provided with the torsion mechanism, and the torsion mechanism includes a driving assembly, an active roller, a driven roller and a conveyor belt, the driving assembly is connected to the clamping arm, the active roller and the driven roller are respectively connected to the clamping arm, the active roller and the driven roller are connected through the conveyor belt, the driving assembly can drive the active roller to rotate, and the active roller drives the conveyor belt and the driven roller to roll, the belt surface of the conveyor belt faces the picking space, and the two conveyor belts have the same running direction; A power mechanism is connected to the fixed support, and the power mechanism can drive the two clamping arms to move so that the two clamping arms move closer to or away from each other. The two clamping arms move closer to each other so that the two conveyor belts move closer to each other to jointly clamp the pineapples to be picked.

2. The pineapple picking device according to claim 1, characterized in that: The driving assembly includes a driving motor, a driving gear and a driven gear. The driving motor is connected to the clamping arm. The output end of the driving motor is connected to the driving gear through a flange. The driving gear is meshed with the driven gear. The driving roller is connected to the driven gear through a flange.

3. The pineapple picking device according to claim 1, characterized in that: The power mechanism includes a connecting member, a connecting rod, a driving seat, a cylinder and a cylinder fixing seat. The cylinder fixing seat is connected to the fixed support, the cylinder is connected to the cylinder fixing seat, the output end of the cylinder is connected to the driving seat, and the cylinder can drive the driving seat to extend and retract. The connecting member is connected to the clamping arm, one end of the connecting rod is rotatably connected to the driving seat, and the other end is rotatably connected to the connecting member.

4. The pineapple picking device according to claim 1, characterized in that: The clamping arm is rotatably connected to the fixed support via a hinge.

5. The pineapple picking device according to claim 1, characterized in that: It also includes a control unit, which is electrically connected to the drive assembly and the power mechanism, and the control unit can control the operation of the drive assembly and the power mechanism.

6. The pineapple picking device according to claim 1, characterized in that: The conveyor belt is a rough surface conveyor belt.

7. The pineapple picking device according to claim 1, characterized in that: It also includes a pressure sensor. The driven roller is connected to the clamping arm through a bearing seat, and the pressure sensor is arranged on the bearing seat.

8. The pineapple picking device according to claim 1, characterized in that: The fixed support and the clamping arm are both square frames, and the square frame includes a plurality of profiles and a plurality of corner brackets. The plurality of profiles are built into a square, and the corner brackets connect two adjacent profiles.

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