Crawler-type pineapple picking device

Abstract

The utility model discloses a crawler-type pineapple picking device, which belongs to the technical field of agricultural engineering equipment and comprises a rod piece connecting mechanism, a picking mechanism and a supporting mechanism. The rod piece connecting mechanism comprises a first rod piece, second rod pieces are arranged at the two ends of the first rod piece, and third rod pieces are arranged on the second rod pieces in a crossed mode. The second rod piece and the third rod piece are connected through a round screw, and a first motor is arranged in the middle of the third rod piece. A fixing frame is arranged at the lower end of the first rod piece and provided with a gear motor, the output end of the gear motor is connected with a first gear, the first gear is meshed with a rack, and the rack is arranged at the lower end of the second rod piece. The picking mechanism comprises a first picking hand and a second picking hand, a second motor is arranged at the lower end of the second picking hand, and the output end of the second motor is connected with the saw blade. Automatic pineapple picking and harvesting can be achieved, and the picking efficiency is high; the vehicle can run smoothly on a muddy road, and is high in applicability and low in manufacturing and maintenance cost.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural engineering equipment, and particularly relates to a crawler-type pineapple picking device. Background Art

[0002] The statements in this section merely provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] Traditional pineapple picking is still largely manual, with farmers picking ripe pineapples one by one from the fields and placing them in hand-held baskets or transporting them to designated collection areas via agricultural conveyor belts. Humans have limited physical strength and cannot work continuously, but pineapple picking devices can efficiently perform this work for farmers.

[0004] Currently, existing pineapple picking technologies primarily include wheeled picking and robotic picking. Wheeled picking is relatively inefficient and prone to fruit damage; robotic picking has a high initial investment cost and requires relatively high operator skills. Furthermore, existing picking technology is not fully adaptable to various terrain and climatic conditions, particularly in complex terrain or harsh climatic conditions, significantly impacting picking efficiency. Furthermore, for most ordinary farmers, the price of existing pineapple picking equipment is not proportional to the benefits it brings. Utility Model Content

[0005] In response to the above problems, the utility model provides a crawler-type pineapple picking device, which can realize automatic pineapple picking and harvesting with high picking efficiency; can meet the requirements of smooth driving on muddy roads and has strong applicability; and has low manufacturing and maintenance costs.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A crawler-type pineapple picking device comprises a rod connecting mechanism, a picking mechanism and a supporting mechanism;

[0008] The rod connection mechanism includes a first rod, a second rod provided at both ends of the first rod, and a third rod cross-arranged on the second rod; the second rod and the third rod are connected by a circular screw, and a first motor is provided in the middle of the third rod; a fixing frame is provided at the lower end of the first rod, a gear motor is provided on the fixing frame, an output end of the gear motor is connected to a first gear, the first gear is meshed with a rack, and the rack is provided at the lower end of the second rod;

[0009] The picking mechanism includes a first picking hand and a second picking hand, the first picking hand is connected to the second rod at one end, and the second picking hand is connected to the second rod at the other end; a second motor is provided at the lower end of the second picking hand, and the output end of the second motor is connected to the saw blade.

[0010] Furthermore, a plurality of grooves are arranged at intervals on the upper part of the first rod member, the width of the upper end of the groove is smaller than the width of the lower end, a connecting member is arranged in the groove, both ends of the connecting member are raised structures, and one end of the connecting member is in the groove of the first rod member; a groove is arranged on the lower part of the second rod member, the groove of the second rod member is on one side of the rack, and the other end of the connecting member is in the groove of the second rod member.

[0011] Furthermore, a groove is provided on the upper portion of the second rod, oblong holes are provided at both ends of the third rod, the middle portion of the circular screw passes through the oblong hole of the third rod, and one end of the circular screw is in the groove of the second rod.

[0012] Furthermore, the first motor is arranged at the intersection of the third rod, and the output end of the first motor is connected to the third rod; the fixing frame is connected to the first rod through a fixing screw, and the gear motor is located on the side of the first rod.

[0013] Furthermore, the support mechanism includes an outer support member, which is arranged at both ends of the support plate; a screw motor is arranged at the upper end of the outer support member, and the output end of the screw motor is connected to the screw, and a triangular member is arranged on the screw, and the triangular member is threadedly connected to the screw, and one end of the triangular member is connected to the first rod.

[0014] Furthermore, one end of the screw rod is connected to the sleeve, and one end of the sleeve is connected to the outer support member; a fixing rod is provided at one end of the outer support member, and both ends of the fixing rod are connected to the outer support member; a protective plate is provided at the upper end of the outer support member, and a square hole is provided on the protective plate, and one end of the screw rod motor passes through the square hole.

[0015] Furthermore, it also includes a storage mechanism, which includes a third motor, and the third motor is symmetrically arranged on the support plate, the output end of the third motor is connected to one end of the transmission roller, and the other end of the transmission roller is movably connected to the storage fixing member, and a transmission track is provided on the transmission roller; a storage box is provided at the upper end of the support plate, slide plates are provided at both ends of the upper part of the storage box, and fixed plates are provided on the sides of the slide plate, and the fixed plates connect the slide plate and the storage box through fixing bolts.

[0016] Furthermore, it also includes a crawler mechanism, which includes a base plate, a Z-shaped frame is set at both ends of the front part of the base plate, a fourth motor is set on the Z-shaped frame, the output end of the fourth motor is connected to the worm, and a turbine is set at the lower end of the worm, and the turbine is engaged with the worm.

[0017] Furthermore, the turbine sleeve is arranged on the gear shaft, and one end of the gear shaft is connected to the second gear; support frames are arranged on both sides of the base plate, the second gear is at one end of the support frame, and a large wheel is arranged at the other end of the support frame, and the large wheel is symmetrically arranged at the front and rear ends of the support frame, and the large wheel and the support frame are movably connected.

[0018] Furthermore, a plurality of small wheels are arranged between the second gear and the large wheel, the small wheels are symmetrically arranged at the front and rear ends of the support frame, the small wheels are movably connected to the support frame, tracks are arranged on the large wheel and the second gear, the outer surfaces of the large wheel, the second gear and the small wheels are in close contact with the inner surface of the tracks, and the large wheel, the second gear and the small wheels are connected by a connecting frame; a controller is arranged in the middle position of the front part of the base plate.

[0019] Compared with the prior art, the advantages and positive effects of this utility model are:

[0020] 1. The utility model realizes the automatic picking of pineapples through the cooperation of the rod connection mechanism, the support mechanism and the picking mechanism. The gear motor of the rod connection mechanism is started to drive the first gear to rotate, the rotation of the first gear drives the rack to move, and then the second rod moves, and the movement of the second rod drives the picking mechanism to move in the horizontal direction; the screw motor of the support mechanism drives the screw to rotate, and then the triangle moves in the vertical direction, and then drives the first rod to move, and finally drives the picking mechanism to move in the vertical direction; the position of the picking mechanism can be flexibly adjusted through the cooperation of the support rod connection mechanism and the support mechanism, thereby improving the picking efficiency.

[0021] The rotation of the first motor of the rod connecting mechanism drives the third rod to rotate, so that the second rods at both ends of the third rod are moved closer or farther away, thereby opening or closing the first picking hand and the second picking hand of the picking mechanism, and then the second motor drives the saw blade to rotate to cut off the position of the pineapple stem, thereby realizing automatic pineapple picking, and the closing degree of the first picking hand and the second picking hand can be adjusted by adjusting the position of the second rod, thereby being suitable for picking pineapples of different sizes.

[0022] 2. The utility model stores the picked pineapples through a storage mechanism. After the pineapples are picked, the picking mechanism is retracted to the position of the slide plate, and the first picking hand and the second picking hand are separated, so that the pineapples slide along the slide plate into the storage box. After one storage box is full, the third motor is started, and the third motor drives the transmission roller to rotate, and then the storage box is moved out through the crawler belt, and then another storage box is replaced to continue storing, thereby ensuring the continuity of pineapple picking and improving the picking efficiency.

[0023] 3. The utility model achieves smooth driving on muddy roads through the crawler mechanism. The fourth motor of the crawler mechanism drives the worm to rotate, the rotation of the worm drives the turbine to rotate, the turbine drives the gear shaft to rotate, the gear shaft drives the second gear to rotate, the rotation of the second gear drives the crawler, and the support frame supports the crawler to maintain smooth movement. Under the rotation of the second gear, the small wheel and the large wheel follow the rotation, so that the entire device maintains smooth movement, thereby achieving driving on muddy roads.

[0024] 4. The pineapple picking mechanism of the present invention is composed of a motor, a supporting rod, a gear and other components. If damaged, the corresponding gear or motor can be replaced, which is more convenient for replacement and maintenance, and has low manufacturing and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0026] Figure 1 This is a structural diagram of the pineapple picking device of the utility model;

[0027] Figure 2 This is an enlarged bottom view of the rod connection mechanism of the present invention;

[0028] Figure 3 This is an enlarged top view of the rod connection mechanism of the present invention;

[0029] Figure 4 It is an enlarged view of the position of the connector of the present utility model;

[0030] Figure 5 It is an enlarged view of the picking mechanism of the utility model;

[0031] Figure 6 It is an enlarged view of the support mechanism of the utility model;

[0032] Figure 7 It is an enlarged view of the storage mechanism of the utility model;

[0033] Figure 8 It is an enlarged view of the crawler mechanism of the utility model;

[0034] Figure 9 It is an enlarged view of the gear position of the utility model;

[0035] In the figure: 1-protective plate, 2-rod connection mechanism, 201-gear motor, 202-fixing frame, 203-first gear, 204-fixing screw, 205-first rod, 206-second rod, 207-third rod, 208-first motor, 209-connecting member, 210-circular screw; 211, rack;

[0036] 3-picking mechanism, 301-first picking hand, 302-second picking hand, 303-saw blade, 304-second motor;

[0037] 4-support mechanism, 401-screw motor, 402-triangle piece, 403-screw, 404-outer support, 405-sleeve, 406-fixing rod;

[0038] 5-storage mechanism, 501-storage fixing piece, 502-drive track, 503-third motor, 504-storage box, 505-slide plate, 506-fixing plate, 507-fixing bolt;

[0039] 6- crawler mechanism, 601- Z-frame, 602- turbine, 603- gear shaft, 604- worm, 605- fourth motor, 606- bottom plate, 607- crawler; 608- large wheel, 609- support frame, 610- small wheel, 611- connecting frame, 612- second gear;

[0040] 7-controller, 8-support plate. DETAILED DESCRIPTION

[0041] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0042] The following drawings are assembled to describe the present invention in detail. The present embodiment discloses a crawler-type pineapple picking device, such as Figure 1 As shown, it includes a rod connecting mechanism 2, a picking mechanism 3 and a supporting mechanism 4;

[0043] The rod connection mechanism 2 includes a first rod 205, with second rods 206 provided at both ends of the first rod 205, and a third rod 207 intersecting the second rod 206; the second rod 206 and the third rod 207 are connected by a circular screw 210, and a first motor 208 is provided in the middle of the third rod 207; a fixing frame 202 is provided at the lower end of the first rod 205, and a gear motor 201 is provided on the fixing frame 202, and the output end of the gear motor 201 is connected to the first gear 203, which meshes with the rack 211, and the rack 211 is provided at the lower end of the second rod 206;

[0044] like Figure 5 As shown, the picking mechanism 3 includes a first picking hand 301 and a second picking hand 302. The first picking hand 301 is connected to the second rod 206 at one end, and the second picking hand 302 is connected to the second rod 206 at the other end. A second motor 304 is provided at the lower end of the second picking hand 302, and the output end of the second motor 304 is connected to the saw blade 303.

[0045] The picking mechanism 3 is provided with a picking handle on each side to improve the picking efficiency. It consists of two parts: a picking hand and a supporting part. The movement of the rod is controlled by the motor of the rod connecting mechanism 2, and the motor at the bottom of the picking hand provides power to control the rotation of the saw blade 303 to realize the picking function. According to the shape of the pineapple, the shape of the picking shell is designed to adapt to pineapple fruits of different sizes. The first picking hand 301 and the second picking hand 302 are fixed to the second rod 206 on both sides. Picking is achieved by moving the second rod 206. The second motor 304 drives the saw blade 303 to rotate. When the first picking hand 301 and the second picking hand 302 cooperate, the picking is completed and the pineapple is separated from the plant. In addition, the degree of closure of the first picking hand 301 and the second picking hand 302 can be adjusted by adjusting the position of the second rod 206, thereby being suitable for picking pineapples of different sizes.

[0046] like Figure 4As shown, the first rod 205 has a plurality of grooves spaced apart on its upper portion, with the width of the grooves being smaller at the upper end than at the lower end. Connectors 209 are positioned within the grooves, each with a protrusion at each end. One end of the connector 209 resides within the groove of the first rod 205. A groove is also positioned below the second rod 206, with the groove of the second rod 206 located on one side of the rack 211, and the other end of the connector 209 located within the groove of the second rod 206. Connectors 209 are used to connect the first rod 205 and the second rod 206. These connectors 209 protrude upward and downward, with the protruding sections fitting into the grooves of the first and second rods 205 and 206, forming a structure that precisely matches the first and second rods 205 and 206. When the gear motor 201 drives the first gear 203 to rotate, thereby driving the rack 211 to move, the connector 209 slides within the grooves of the first and second rods 205 and 206, enabling the second rod 206 to move smoothly in the horizontal direction.

[0047] like Figure 3 As shown, a groove is provided on the upper portion of the second rod 206, and oblong holes are provided at both ends of the third rod 207. The middle portion of a circular screw 210 passes through the oblong hole of the third rod 207, with one end of the circular screw 210 located within the groove of the second rod 206. The circular screw 210 is designed to fit within the groove on the upper portion of the second rod 206, providing a connection. When the third rod 207 is driven to rotate by the first motor 208, the circular screw 210 slides within the groove on the upper portion of the second rod 206, thereby ensuring that the position of the third rod 207 can be adjusted, thereby ensuring that the first picking hand 301 and the second picking hand 302 can be smoothly opened or closed, thereby allowing pineapple picking.

[0048] like Figure 2 As shown, the first motor 208 is disposed at the intersection of the third rod 207, with the output end of the first motor 208 connected to the third rod 207. The fixing frame 202 is connected to the first rod 205 via a fixing screw 204, and the gear motor 201 is located on the side of the first rod 205. During use, the gear motor 201 of the rod connection mechanism 2 is activated to rotate the first gear 203. The rotation of the first gear 203 drives the rack 211 to move, thereby moving the second rod 206. The movement of the second rod 206 drives the picking mechanism 3 to move horizontally, allowing the pineapple picking position to be adjusted, thereby allowing pineapples to be picked from different locations.

[0049] like Figure 6As shown, the support mechanism 4 includes an outer support member 404, which is arranged at both ends of the support plate 8. A screw motor 401 is installed at the upper end of the outer support member 404. The output end of the screw motor 401 is connected to the screw 403. A triangular member 402 is installed on the screw 403 and is threadedly connected to the screw 403. One end of the triangular member 402 is connected to the first rod 205. One end of the screw 403 is connected to the sleeve 405, and one end of the sleeve 405 is connected to the outer support member 404. A fixing rod 406 is installed at one end of the outer support member 404, and both ends of the fixing rod 406 are connected to the outer support member 404. A protective plate 1 is installed at the upper end of the outer support member 404. The protective plate 1 has a square hole, and one end of the screw motor 401 passes through the square hole. The protective plate 1 serves as a protective shield, protecting the motor and other structures below.

[0050] Two groups of lead screw motors 401 are provided, each group comprising two lead screw motors 401. The two lead screw motors 401 cooperate with the corresponding lead screws 403 and triangular member 402 to adjust the vertical position of the picking mechanism 3. The lead screw motors 401 of the support mechanism 4 drive the lead screw 403 to rotate, thereby moving the triangular member 402 in the vertical direction, which in turn drives the first rod 205 to move, and ultimately drives the picking mechanism 3 in the vertical direction. The support rod connection mechanism and the support mechanism 4 cooperate to flexibly adjust the position of the picking mechanism 3, thereby improving picking efficiency. The outer support member 404 provides an installation location and support for the lead screw motor 401, and the outer support member 404 cooperates with the fixed rod 406 to reinforce the support mechanism 4, providing better support.

[0051] like Figure 7 As shown, the pineapple storage system also includes a storage mechanism 5, which consists of a lower crawler belt 607 transport section and an upper storage box 504. The crawler belt 607 transport function is powered by a motor. Slide plates 505 are mounted on both sides of the upper storage box 504. These slide plates 505 are secured by fixing plates 506 and fixing bolts 507, allowing the pineapples to be transported to the storage box 504 via the slide plates 505 after harvesting. Once harvesting is complete, the drive crawler belt 502 is used to move the storage box 504.

[0052] The storage mechanism 5 includes a third motor 503, which is symmetrically arranged on the support plate 8. The output end of the third motor 503 is connected to one end of the transmission roller, and the other end of the transmission roller is movably connected to the storage fixing member 501. A transmission track 502 is provided on the transmission roller; Figure 1As shown, a storage box 504 is provided at the upper end of the support plate 8, and slide plates 505 are provided at both ends of the upper part of the storage box 504. Fixed plates 506 are provided on the sides of the slide plate 505, and the fixed plates 506 connect the slide plate 505 and the storage box 504 via fixing bolts 507. After the pineapple is picked, the picking mechanism 3 is retracted to the position of the slide plate 505, and the first picking hand 301 and the second picking hand 302 are separated, so that the pineapple slides along the slide plate 505 into the storage box 504. After one storage box 504 is full, the third motor 503 is started, and the third motor 503 drives the transmission roller to rotate, and then the storage box 504 is moved out through the crawler 607, and then another storage box 504 is replaced to continue storing, thereby ensuring the continuity of pineapple picking and improving picking efficiency.

[0053] like Figure 8 As shown, it also includes a crawler mechanism 6, and the crawler 607 part is composed of four parts: crawler 607, transmission part, connection part, and control part. The fourth motor 605 on both sides of the transmission part drives the adjacent crawler 607 to move through the turbine 602 and the worm 604. The control part is the controller 7, which is placed above the connection part. The transmission shaft passes through the second gear 612 on the side to realize the movement of the crawler 607 by the rotation of the gear. In addition, the large wheel 608, the small wheel 610, the support frame 609, and the second gear 612 are interconnected by the connecting frame 611, thereby realizing the overall movement.

[0054] The crawler mechanism 6 includes a base plate 606, with Z-shaped frames 601 provided at both ends of the front portion of the base plate 606. A fourth motor 605 is provided on the Z-shaped frame 601. The output end of the fourth motor 605 is connected to a worm 604. A turbine 602 is provided at the lower end of the worm 604. The turbine 602 meshes with the worm 604. The turbine 602 is sleeved on a gear shaft 603. One end of the gear shaft 603 is connected to a second gear 612. Figure 9As shown, support frames 609 are provided on both sides of the base plate 606, a second gear 612 is located at one end of the support frame 609, and a large wheel 608 is provided at the other end of the support frame 609. The large wheels 608 are symmetrically arranged at the front and rear ends of the support frame 609 and are movably connected to the support frame 609. A plurality of small wheels 610 are interspersed between the second gear 612 and the large wheel 608. The small wheels 610 are symmetrically arranged at the front and rear ends of the support frame 609 and are movably connected to the support frame 609. Tracks 607 are provided on the large wheels 608 and the second gear 612. The outer surfaces of the large wheels 608, the second gear 612, and the small wheels 610 are in close contact with the inner surface of the track 607. The large wheels 608, the second gear 612, and the small wheels 610 are connected by a connecting frame 611. A controller 7 is provided in the middle of the front of the base plate 606. The fourth motor 605 of the crawler mechanism 6 drives the worm 604 to rotate, the rotation of the worm 604 drives the turbine 602 to rotate, the turbine 602 drives the gear shaft 603 to rotate, the gear shaft 603 drives the second gear 612 to rotate, the rotation of the second gear 612 drives the crawler 607, and the support frame 609 supports the crawler 607 to maintain smooth movement. Under the rotation of the second gear 612, the small wheel 610 and the large wheel 608 follow the rotation, so that the entire device maintains smooth movement, thereby realizing driving on muddy roads.

[0055] Although the above description of the specific implementation methods of the present invention is combined with the accompanying drawings, it does not limit the scope of protection of the present invention. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present invention, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the present invention.

Claims

1. A crawler-type pineapple picking device, characterized in that: It includes a rod connecting mechanism, a picking mechanism and a supporting mechanism; The rod connection mechanism includes a first rod, a second rod provided at both ends of the first rod, and a third rod cross-arranged on the second rod; the second rod and the third rod are connected by a circular screw, and a first motor is provided in the middle of the third rod; a fixing frame is provided at the lower end of the first rod, a gear motor is provided on the fixing frame, an output end of the gear motor is connected to a first gear, the first gear is meshed with a rack, and the rack is provided at the lower end of the second rod; The picking mechanism includes a first picking hand and a second picking hand, the first picking hand is connected to the second rod at one end, and the second picking hand is connected to the second rod at the other end; a second motor is provided at the lower end of the second picking hand, and the output end of the second motor is connected to the saw blade.

2. A crawler-type pineapple picking device according to claim 1, characterized in that: Several grooves are arranged at intervals on the upper part of the first rod member, the width of the upper end of the groove is smaller than the width of the lower end, a connecting member is arranged in the groove, both ends of the connecting member are convex structures, and one end of the connecting member is in the groove of the first rod member; a groove is arranged on the lower part of the second rod member, the groove of the second rod member is on one side of the rack, and the other end of the connecting member is in the groove of the second rod member.

3. A crawler-type pineapple picking device according to claim 1, characterized in that: A groove is provided on the upper portion of the second rod, oblong holes are provided at both ends of the third rod, the middle portion of the circular screw passes through the oblong hole of the third rod, and one end of the circular screw is in the groove of the second rod.

4. A crawler-type pineapple picking device according to claim 1, characterized in that: The first motor is arranged at the intersection of the third rod, and the output end of the first motor is connected to the third rod; the fixing frame is connected to the first rod through a fixing screw, and the gear motor is located on the side of the first rod.

5. The crawler-type pineapple picking device according to claim 1, characterized in that: The support mechanism includes an outer support member, which is arranged at both ends of the support plate; a screw motor is arranged at the upper end of the outer support member, the output end of the screw motor is connected to the screw, a triangular member is arranged on the screw, the triangular member is threadedly connected to the screw, and one end of the triangular member is connected to the first rod.

6. A crawler-type pineapple picking device according to claim 5, characterized in that: One end of the screw rod is connected to the sleeve, and one end of the sleeve is connected to the outer support member; a fixing rod is provided at one end of the outer support member, and both ends of the fixing rod are connected to the outer support member; a protective plate is provided at the upper end of the outer support member, and a square hole is provided on the protective plate, and one end of the screw rod motor passes through the square hole.

7. The crawler-type pineapple picking device according to claim 1, characterized in that: It also includes a storage mechanism, which includes a third motor, which is symmetrically arranged on the support plate, the output end of the third motor is connected to one end of the transmission roller, the other end of the transmission roller is movably connected to the storage fixing member, and a transmission track is provided on the transmission roller; a storage box is provided at the upper end of the support plate, slide plates are provided at both ends of the upper part of the storage box, and fixed plates are provided on the sides of the slide plate, and the fixed plates connect the slide plate and the storage box through fixing bolts.

8. The crawler-type pineapple picking device according to claim 1, characterized in that: It also includes a crawler mechanism, which includes a base plate, a Z-shaped frame is set at both ends of the front part of the base plate, a fourth motor is set on the Z-shaped frame, the output end of the fourth motor is connected to the worm, and a turbine is set at the lower end of the worm, and the turbine is engaged with the worm.

9. The crawler-type pineapple picking device according to claim 8, characterized in that: The turbine sleeve is arranged on the gear shaft, and one end of the gear shaft is connected to the second gear; support frames are arranged on both sides of the base plate, the second gear is at one end of the support frame, and a large wheel is arranged at the other end of the support frame, and the large wheels are symmetrically arranged at the front and rear ends of the support frame, and the large wheel and the support frame are movably connected.

10. The crawler-type pineapple picking device according to claim 9, characterized in that: A plurality of small wheels are arranged between the second gear and the large wheel, and the small wheels are symmetrically arranged at the front and rear ends of the support frame. The small wheels are movably connected to the support frame, and tracks are arranged on the large wheel and the second gear. The outer surfaces of the large wheel, the second gear and the small wheels are in close contact with the inner surface of the tracks, and the large wheel, the second gear and the small wheels are connected by a connecting frame; a controller is arranged in the middle position of the front part of the base plate.

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