CN109804776B

CN109804776B - Pineapple picking machine

Info

Publication number: CN109804776B
Application number: CN201910178496.4A
Authority: CN
Inventors: 刘长红; 黎子良; 叶土仙; 李创锌; 林生益; 彭绍湖
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2019-03-11
Filing date: 2019-03-11
Publication date: 2020-11-13
Anticipated expiration: 2039-03-11
Also published as: CN109804776A

Abstract

The invention relates to a pineapple picking machine, which comprises a frame; a traveling device: the device is arranged at the bottom of the frame and used for realizing the advancing and turning of the picking machine; a picking device: an inference mechanism is included; the inference mechanism comprises a support, a swing mechanism and a push plate, wherein a pineapple channel is arranged on one side of the support, the swing mechanism is arranged on the support, the swing direction of the swing mechanism is opposite to the pineapple channel, and the push plate is arranged at the top of the swing mechanism and is opposite to the tail end of the pineapple channel; a lifting device: the device is used for lifting and conveying the broken pineapples to the collecting device; a collecting device: used for collecting the broken pineapples. The picking machine separates pineapples from pineapple plants by breaking off the stem parts of the pineapples so as to pick the pineapples, and reduces damage to seedlings in the picking process. In the picking process, the walking device, the picking device, the lifting device, the collecting device and the camera all continuously operate, and the pineapple picking and collecting efficiency is greatly improved.

Description

Pineapple picking machine

Technical Field

The invention relates to the technical field of agricultural equipment, in particular to a pineapple picking machine.

Background

The demand of pineapples as an economic crop is continuously increasing, and how to better reduce the cost is a bottleneck problem of the output of pineapples, and the largest part of the cost of the pineapples is the picking cost of the pineapples. The reason for the high picking cost of pineapples is that: at present, most pineapples are picked manually, but because the pineapples are large in size, transportation is difficult in the picking process, leaves around the fruits are sharp, workers are easily cut, and therefore manual picking is not only low in efficiency, but also easy to hurt in the picking process. Therefore, a semi-automatic and full-automatic pineapple picking technology is important, and in the existing automatic picking equipment, the picking equipment separates the pineapple from the pineapple plant by directly cutting the stem of the pineapple to realize picking of the pineapple, but the damage rate of the seedling on the pineapple plant by the direct cutting mode is very high, and the direct cutting mode is a destructive picking mode (fig. 7 is a schematic diagram of the pineapple plant, as can be seen from the figure, the seedling and the stem of the pineapple grow very tightly, and the difficulty of avoiding damage to the seedling is very high if the stem of the pineapple is directly cut).

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention aims to: provided is a pineapple picking machine which separates pineapples from pineapple plants by breaking off stems of the pineapples so as to pick the pineapples, and reduces damage to seedlings in a picking process.

In order to achieve the purpose, the invention adopts the following technical scheme:

a pineapple picking machine, comprising a frame, and further comprising: a traveling device: the device is arranged at the bottom of the frame and used for realizing the advancing and turning of the picking machine; a picking device: an inference mechanism is included; the inference mechanism comprises a support, a swing mechanism and a push plate, wherein a pineapple channel is arranged on one side of the support, the swing mechanism is arranged on the support, the swing direction of the swing mechanism is opposite to the pineapple channel, and the push plate is arranged at the top of the swing mechanism and is opposite to the tail end of the pineapple channel; a lifting device: the device is used for lifting and conveying the broken pineapples to the collecting device; a collecting device: used for collecting the broken pineapples.

Preferably, the swing mechanism is a double rocker mechanism.

Preferably, the picking device further comprises a height adjusting mechanism for adjusting the height of the inference mechanism, the height adjusting mechanism comprises a screw rod, a screw rod sliding block and a second motor, the second motor drives the screw rod to rotate, the screw rod sliding block is installed on the screw rod, and the support is connected with the screw rod sliding block.

Preferably, the walking device comprises wheels, a fixing piece, a second limiting optical axis and a fourth spring; the two ends of the shaft of the wheel on the right side of the advancing direction of the picking machine are connected with a second limiting optical axis through fixing pieces, the second limiting optical axis is vertical and movably mounted at the bottom of the frame, and a fourth spring sleeve is arranged on the second limiting optical axis in a sleeved mode.

Preferably, the lifting device comprises: the device comprises a motor sliding table, a sliding block, a blocking strip, a placing plate, a lifting plate, a first spring, a lifting rod, a transverse rod, a connecting rod I, a connecting rod II, a first box-type sliding block and a first limiting optical axis; the first limiting optical axis and the motor sliding table are vertically arranged on one side of the frame, the placing plate is arranged on the lower portion of the frame, and the barrier strip is arranged on the upper portion of the frame; the lifting plate is arranged on the lifting rod, the cross rod and two ends of the lifting rod are arranged on the first limiting optical axis through the first box type sliding block, and the cross rod is positioned above the lifting rod; a first spring is sleeved between two first box type sliding blocks on the same first limiting optical axis; the connecting rod I is hinged with the connecting rod II, one end of the connecting rod I is connected with a first box-type sliding block corresponding to the cross rod, one end of the connecting rod II is connected with the lifting plate, the sliding block is installed on the motor sliding table, and the sliding block is connected with the middle part of the lifting rod; the placing plate and the lifting plate are comb-tooth-shaped structures, comb tooth gaps between the placing plate and the lifting plate are staggered mutually, and the comb tooth gaps are larger than the width of comb teeth.

Preferably, the collecting device comprises a collecting plate and a lifting mechanism, the lifting mechanism comprises a second box-type sliding block, a third limiting optical axis, a fifth motor, a reel, a rope and a movable pulley, the third limiting optical axis is vertically arranged and connected with the frame, and the second box-type sliding block is installed on the third limiting optical axis; the second box-type sliding blocks are connected with a collecting plate, and the collecting plate is correspondingly connected with a plurality of groups of second box-type sliding blocks and a third limiting optical axis; the movable pulley is connected with the collecting plate, the rope correspondingly bypasses the movable pulley and the winding wheel, and the fifth motor drives the winding wheel to rotate; the movable pulleys correspond to the second box-type sliding blocks one by one.

Preferably, the picking device further comprises a third motor for driving the swinging mechanism to move; and a baffle, a third spring and a limit switch are sequentially arranged on the pineapple channel, and the limit switch triggers a third motor to start.

Preferably, the pineapple peeling machine further comprises a recognition device, wherein the recognition device is a camera and is used for collecting pineapple position information.

Preferably, the pineapple peeling machine further comprises a fruit guide plate, wherein the head end of the fruit guide plate is connected with the frame, and the tail end of the fruit guide plate is connected with the head end of the pineapple channel.

Preferably, a plurality of anti-slip blocks are arranged on the contact surface of the push plate and the pineapple.

In summary, the present invention has the following advantages:

1. the picking machine separates pineapples from pineapple plants by breaking off the stem parts of the pineapples so as to pick the pineapples, reduces the damage to seedlings in the picking process, and belongs to a sustainable picking mode.

2. The collecting device is provided with a lifting mechanism, so that the pineapples can be neatly collected on the collecting plate when being collected, and the collecting capacity of the pineapples is increased. And meanwhile, the transportation cost in the picking process is reduced.

3. In the picking process, the walking device, the picking device, the lifting device, the collecting device and the camera all continuously operate, and the picking and collecting efficiency of the pineapples is improved.

4. The position of the pineapple can be accurately identified by using the camera. The pineapple image through camera feedback determines the height of the nearest pineapple in the place ahead, and according to the height of the pineapple height adjusting and deducing mechanism, the seedling on the pineapple plant can be protected more accurately and better during picking. The setting of non slipping spur can reduce the harvesting damage of pineapple, guarantees the quality.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the walking device.

Fig. 3 is a schematic structural diagram of the picking device.

Fig. 4 is a partially enlarged view of a portion a in fig. 3.

Fig. 5 is a schematic structural view of the lifting device.

Fig. 6 is a schematic view of the structure of the collecting device and the lifting device (the right side plate is not shown for showing the structure).

Figure 7 is a schematic representation of a pineapple plant.

The reference numbers and corresponding part names in the figures are: 1. the device comprises a collecting device, a 2 identification device, a 3 fruit guide plate, a 4 picking device, a 5 travelling device, a 6 lifting device, a 7 framework, a 101 fourth spring, a 102 second limit optical axis, a 103 fixing piece, a 104 synchronous belt, a 105 first motor, a 106 wheel, a 201 push rod, a 202 third motor, a 203 bevel gear, a 204 lead screw, a 205 push plate, a 206 second motor, a 207 second spring, a 208 lead screw sliding block, a 209 baffle plate, a 210 third spring, a 211 limit switch, a 301 motor sliding table, a 302 fourth motor, a 303 blocking strip, a 304 first limit optical axis, a 305 cross rod, a 306 lifting plate, a 307 first box sliding block, a 308 connecting rod, a 309 first spring, a 310 placing plate, a 311 lifting rod, a 312 sliding block, a 401 fifth motor, a 402 synchronous belt, a 403 two-stage synchronous belt, a reel, 404 side plates, 405. the device comprises a rope, 406, a door plate, 407, a guide rail, 408, a movable pulley, 409, a collecting plate, 410, a second box-type sliding block, 411, a third limiting optical axis, 8, pineapples, 9, pineapple stems and 10 seedlings.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.

A pineapple picking machine comprises a walking device, a picking device, a lifting device, a collecting device, a recognition device, a fruit guiding plate and a frame. The identification device is a camera and is arranged on the upper part of the frame, and the shooting direction is the forward direction of the overlooking picking machine.

The walking device comprises: six wheels, two first motors, two hold-in ranges, mounting, the spacing optical axis of second, fourth spring. The six wheels are respectively arranged at the bottom of the frame and are arranged in two rows and three rows along the advancing direction of the picking machine, and the two wheels at the rear of the left side are driving wheels. The first motor, the synchronous belt and the driving wheel are in one-to-one correspondence, the first motor and the driving wheel are respectively installed at two ends of the synchronous belt, the first motor drives the synchronous belt to move, the synchronous belt drives the driving wheel to move, and therefore advancing and turning of the picking machine are achieved.

The both ends of the axle of two wheels on right side all are connected with the spacing optical axis of second through the mounting. Be equipped with the hole of the spacing optical axis of installation second on the frame, totally four spacing optical axes of second are all vertical to be established in the bottom of frame, all overlap on the spacing optical axis of every second and be equipped with the fourth spring, and the spacing optical axis of second can reciprocate in vertical direction along the hole of frame. Due to the cushioning effect of the fourth spring, the two wheels on the right side have the cushioning effect, so that the picking machine can better advance on ridges of the pineapple land, and when encountering stones or pits, the picking machine can be buffered to a certain extent, and rollover is prevented. The picking machine can better advance in gullies of the pineapple field, and the normal picking operation is further ensured.

The picking device comprises: the height adjusting mechanism is used for adjusting the height of the inferring mechanism so as to ensure the broken part of the pineapple. The inference mechanism comprises a support, a third motor, a push plate and a swing mechanism arranged on the support. The third motor is a double-output shaft motor. The front ends of the upper part and the lower part of the support are hinged, the rear ends of the upper part and the lower part of the support are connected through a second spring, the left side of the support is a pineapple channel, and the right side of the support is provided with a swing mechanism. The push plate is arranged at the top of the swing mechanism and is opposite to the tail end of the pineapple channel. The contact surface of the push plate and the pineapples is also provided with an anti-slip block for protecting the pineapples and avoiding damage to the pineapples in the breaking process. Be equipped with baffle, third spring and limit switch in proper order on the pineapple passageway, the pineapple stem gets into the pineapple passageway after, touches the baffle earlier, under the cushioning effect of third spring, the pineapple stem slowly promotes the baffle, makes baffle and limit switch contact, crosses behind the baffle when the pineapple stem, and the baffle gets back to initial position under the effect of third spring. And after receiving the signal of the limit switch, the third motor starts to work, so that the swinging mechanism drives the push plate to push the pineapples, and the pineapples are separated from stems in a breaking manner. The swing mechanism comprises two groups of double-rocker mechanisms which are correspondingly connected through push rods and optical axes, each double-rocker mechanism comprises two rockers and a connecting rod for connecting the two rockers, the upper ends of the rockers of the two groups of double-rocker mechanisms are connected through the push rods, and the lower ends of the rockers of the two groups of double-rocker mechanisms are connected through the optical axes. The output shaft of the third motor is connected with the optical axis far away from one side of the push plate, and the third motor drives the swing mechanism to move.

The height adjusting mechanism comprises two screw rods, a second motor, a bevel gear I, a bevel gear II and a screw rod sliding block. Two lead screws are vertically arranged at intervals, lead screw sliding blocks are arranged on the lead screws, and the support is connected with the lead screw sliding blocks. The second motor, the bevel gear I and the bevel gear II are all installed at the upper end of the screw rod, and the bevel gear I is connected with the screw rod. The second motor is a double-output-shaft motor, two shaft ends of the second motor are respectively connected with a bevel gear II, and the two screw rods are driven to rotate in the same direction through the transmission of the bevel gear I and the bevel gear II, so that the electric screw rod sliding blocks simultaneously ascend or descend, and the height adjustment of the inference mechanism is realized.

The lifting device comprises: motor slip table, slider, stop the strip, place board, lift plate, first spring, lift bar, horizontal pole, connecting rod I, connecting rod II, fourth motor, first box slider and two first spacing optical axes. First spacing optical axis and the vertical setting of motor slip table are placed the board and are installed in the lower part of frame in the centre that one side and motor slip table of frame are located two first spacing optical axes, stop the strip and install the upper portion at the frame. The lifting plate is mounted on the lifting bar. The both ends of horizontal pole and lift bar are all installed on first spacing optical axis and the horizontal pole is located the top of lift bar through first box slider, and the lift bar can be at the downthehole rotation of first box slider. A first spring is sleeved between two first box type sliding blocks on the same first limiting optical axis. Connecting rod I and connecting rod II articulate, and the one end of connecting rod I is connected with the first box slider that the horizontal pole corresponds, and the one end of connecting rod II is connected with the one end of lifting plate, and the other end of lifting plate also is connected with the first box slider of the horizontal pole other end through connecting rod I and connecting rod II. The slider is installed on the motor slip table, and the slider is connected with the middle part of lift bar, places board and lift plate and is comb-tooth structure and the broach clearance between them staggers each other, the broach clearance is greater than the width of broach.

The collecting device comprises: the collecting plate, carry and draw mechanism, curb plate, door plant and guide rail. The lifting mechanism comprises: the output end of the fifth motor is connected with the two groups of two-stage synchronous belts respectively, each group of two-stage synchronous belts comprises a one-stage driving belt and a two-stage driven belt, each reel is controlled at the tail end of each stage of driven belt to rotate, each rope is correspondingly wound around one reel and one movable pulley, the movable pulleys are connected with one corner of the collecting plate, and four corners of the collecting plate correspond to four movable pulleys. Four angles of the collecting plate are further connected with four second box-type sliding blocks respectively, the four second box-type sliding blocks are installed on four third limiting optical axes respectively, and the third limiting optical axes are vertically arranged and connected with the frame. The lifting mechanism controls the state of the collecting plate by respectively controlling four corners of the collecting plate. The collecting plate is arranged in front of the lifting device and inside the left side of the frame. The side plates are vertically arranged on the frames at the front, back, left and right positions of the collecting plate, the tail ends of the collecting plate are provided with the door plates, and the collecting plate is surrounded by the side plates and the door plates to form collecting containing grooves. Two guide rails are vertically arranged on the frame, the door plate is arranged on the guide rails and can move up and down along the guide rails, and the door plate is over against the tail end of the collecting plate. In the collecting state, the door plate is in the closed state, and when the pineapples are discharged, the door plate is in the open state (the door plate is above the collecting plate).

The fruit guiding plate is positioned in front of the support of the picking device and in the middle of the walking device. The head end of the fruit guide plate is connected with the frame, the tail end of the fruit guide plate is connected with the front end of the pineapple channel, and the fruit guide plate guides pineapple stems to enter the pineapple channel. The push plate is opposite to the tail end of the pineapple channel. The placing plate of the lifting device is positioned at the tail end of the pineapple channel and on the opposite side of the pushing plate, and correspondingly receives the broken pineapples. The collecting plate is located in front of the lifting end of the lifting device.

The height adjusting process of the recognition and inference mechanism of the picking machine comprises the following steps: the method comprises the steps of collecting a corresponding pineapple image from a camera matched with a Raspberry Pi and uploading the pineapple image to a processing system, preprocessing the image, including cutting, converting into a gray image, denoising and the like, loading a corresponding classifier, extracting the outline of the pineapple, and calculating the position of the center point of the pineapple. And corresponding information is fed back to the single chip microcomputer to adjust the steering of the second motor, so that the height of the inference mechanism is adjusted.

The picking machine starts working and starts from one end of one ridge in the pineapple field, and the fourth spring is arranged at the wheel on the right side of the picking machine, so that the picking machine can better move on the pineapple field due to the damping effect of the fourth spring. In the process that the picking machine advances along the ravines of the pineapple fields, the camera dynamically captures the position of the pineapple in front of the picking machine, the picking machine advances along the ravines of the pineapple fields in the direction of the first pineapple in front by controlling the first motor, image information of the pineapple fed back by the camera is transmitted to the microcomputer for processing, the height of the nearest pineapple in front is determined, then the information is fed back to the single chip microcomputer, then the second motor is controlled by the single chip microcomputer to adjust the height of the inference mechanism, so that the pineapple enters the pineapple channel, and the joint of the pineapple and the stem is positioned on the same plane with the upper surface of the support. In the advancing process of the picking machine, the fruit guide plate guides the pineapple stems into the pineapple channel, the pineapple is picked in a mode that the pineapple is broken off by the push plate, and seedlings on pineapple plants can be better protected in the process of breaking off the pineapple.

After the pineapple stem enters the pineapple channel, the pineapple stem touches the baffle firstly, and under the buffer action of the third spring, the pineapple stem slowly pushes the baffle to make the baffle contact with the limit switch, and after the pineapple stem crosses the baffle, the baffle returns to the initial position under the action of the third spring. And after receiving the signal of the limit switch, the third motor starts to work, so that the swinging mechanism drives the push plate to push the pineapples, and the pineapples are separated from stems in a breaking manner. The push plate is provided with an anti-slip block for protecting the pineapple, so that damage to the pineapple is reduced in the process of breaking off the pineapple. The broken pineapples fall onto a placing plate of the lifting device.

In the process of breaking off a pineapple, the camera continuously works, the picking machine keeps an advancing state, and pineapple stems sequentially enter the pineapple channel and are broken off. In the picking process, elevating gear's slider maintains up-and-down motion on the motor slip table, and when the lifting plate fell the in-process and touch the pineapple on placing the board, owing to receive blockking of below pineapple, two first spring extensions in two first spacing optical axes, and then make the lifting plate keep away the pineapple and continue the downstream around the rotatory certain angle of lifting rod, make the lifting plate can cross the pineapple placing the board, reach the below of pineapple. The lifting plate that crosses the pineapple resumes original state and up-moving, the lifting plate is when through placing the board, because broach between the two boards staggers each other, so the lifting plate can directly pass and place the board and continue the upward movement, and drive the pineapple promotion at the in-process of upward movement, after the lifting plate reachs and blocks the strip, the lifting plate is owing to receive the stopping of fixing at the strip that blocks of frame, make two first springs that are located two first spacing optical axes at motor slip table both ends take place the extrusion and make the lifting plate slope, and then make the pineapple roll off on the collection plate of collection device. The lifting of the pineapples is completed once, and the lifting plate continuously moves up and down to lift and convey the pineapples. Then the pineapple lifting is carried out next time.

The pineapples rolled into the collecting plate roll on the collecting plate adjusted to be in an inclined state due to the cylindrical shape of the pineapples and are sequentially arranged, after the collecting plate is full of one layer of pineapples, the fifth motor of the lifting mechanism drives the winding wheel to rotate the adjusting rope to enable the collecting plate to move up and down, and then the lifted pineapples can continuously roll in the collecting plate to finish the collection of the pineapples on the next layer. The pineapples can be placed on the collecting plate in order, and the collecting capacity of the picking machine is increased.

In the pineapple lifting and collecting process, the walking device, the picking device and the camera continuously work, and the efficiency of picking and collecting the pineapples is improved. When the collecting device collects the pineapples fully, the door plate is opened, and the lifting mechanism adjusts the inclination angle of the collecting plate to enable the pineapples on the collecting plate to automatically roll out of the picking machine.

Besides the above mentioned modes, the driving mode of the wheel can be changed, and the wheel can be driven by the motors such as the hub motor, the stepping motor, the servo motor and the like. The synchronous belt transmission can also be changed into chain transmission. These variations are all within the scope of the present invention.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims

1. The pineapple picking machine comprises a frame, and is characterized by further comprising:

a traveling device: the device is arranged at the bottom of the frame and used for realizing the advancing and turning of the picking machine;

a picking device: an inference mechanism is included; the inference mechanism comprises a support, a swing mechanism and a push plate, wherein a pineapple channel is arranged on one side of the support, the swing mechanism is arranged on the support, the swing direction of the swing mechanism is opposite to the pineapple channel, and the push plate is arranged at the top of the swing mechanism and is opposite to the tail end of the pineapple channel; when picking, the swing mechanism drives the push plate to push the pineapples, so that the pineapples are broken and separated from stems;

a lifting device: the device is used for lifting and conveying the broken pineapples to the collecting device; the device comprises a motor sliding table, a sliding block, a stop strip, a placing plate, a lifting plate, a first spring, a lifting rod, a cross rod, a connecting rod I, a connecting rod II, a first box-type sliding block and a first limiting optical axis; the first limiting optical axis and the motor sliding table are vertically arranged on one side of the frame, the placing plate is arranged on the lower portion of the frame, and the barrier strip is arranged on the upper portion of the frame; the lifting plate is arranged on the lifting rod, the cross rod and two ends of the lifting rod are arranged on the first limiting optical axis through the first box type sliding block, and the cross rod is positioned above the lifting rod; a first spring is sleeved between two first box type sliding blocks on the same first limiting optical axis; the connecting rod I is hinged with the connecting rod II, one end of the connecting rod I is connected with a first box-type sliding block corresponding to the cross rod, one end of the connecting rod II is connected with the lifting plate, the sliding block is installed on the motor sliding table, and the sliding block is connected with the middle part of the lifting rod; the placing plate and the lifting plate are of comb-tooth-shaped structures, comb tooth gaps of the placing plate and the lifting plate are staggered with each other, and the comb tooth gaps are larger than the widths of the comb teeth;

a collecting device: used for collecting the broken pineapples.

2. The pineapple picking machine according to claim 1, wherein: the swing mechanism is a double-rocker mechanism.

3. The pineapple picking machine according to claim 1, wherein: the picking device further comprises a height adjusting mechanism for adjusting the height of the deduction mechanism, the height adjusting mechanism comprises a screw rod, a screw rod sliding block and a second motor, the second motor drives the screw rod to rotate, the screw rod sliding block is installed on the screw rod, and the support is connected with the screw rod sliding block.

4. The pineapple picking machine according to claim 1, wherein: the traveling device comprises wheels, a fixing piece, a second limiting optical axis and a fourth spring; the two ends of the shaft of the wheel on the right side of the advancing direction of the picking machine are connected with a second limiting optical axis through fixing pieces, the second limiting optical axis is vertical and movably mounted at the bottom of the frame, and a fourth spring sleeve is arranged on the second limiting optical axis in a sleeved mode.

5. The pineapple picking machine according to claim 1, wherein: the collecting device comprises a collecting plate and a lifting mechanism, the lifting mechanism comprises a second box-type sliding block, a third limiting optical axis, a fifth motor, a reel, a rope and a movable pulley, the third limiting optical axis is vertically arranged and connected with the frame, and the second box-type sliding block is arranged on the third limiting optical axis; the second box-type sliding blocks are connected with a collecting plate, and the collecting plate is correspondingly connected with a plurality of groups of second box-type sliding blocks and a third limiting optical axis; the movable pulley is connected with the collecting plate, the rope correspondingly bypasses the movable pulley and the winding wheel, and the fifth motor drives the winding wheel to rotate; the movable pulleys correspond to the second box-type sliding blocks one by one.

6. The pineapple picking machine according to claim 1, wherein: the picking device also comprises a third motor for driving the swinging mechanism to move; and a baffle, a third spring and a limit switch are sequentially arranged on the pineapple channel, and the limit switch triggers a third motor to start.

7. The pineapple picking machine according to claim 3, wherein: the pineapple positioning device further comprises an identification device, wherein the identification device is a camera and is used for collecting pineapple position information.

8. The pineapple picking machine according to claim 1, wherein: the pineapple peeling machine also comprises a pineapple guide plate, wherein the head end of the pineapple guide plate is connected with the frame, and the tail end of the pineapple guide plate is connected with the head end of the pineapple channel.

9. The pineapple picking machine according to claim 1, wherein: a plurality of anti-slip blocks are arranged on the contact surface of the push plate and the pineapple.