CN208905298U - A kind of pineapple harvesting robotic - Google Patents

Abstract

A kind of pineapple harvesting robotic, it include harvesting machinery hand, mechanical arm, mechanical block, conveying device and controller, harvesting machinery hand includes claw-plate, line cuts motor, line cuts driving wheel, line cuts follower and cutting line, and conveying device includes conveyer belt, feeder motor, bracket, driving wheel and follower；When use, drive harvesting machinery hand mobile to pineapple using controller control mechanical arm, control line cuts the rotation of motor driven cutting line, the carpopodium of pineapple is cut off using the cutting line of rotation, then pineapple is sent to the conveyer belt of conveying device by control harvesting machinery hand, it recycles conveyer belt that pineapple is sent on the compartment of motor vehicle, implements the intelligent machine harvesting of pineapple, improve the efficiency of pineapple harvesting.

Description

A kind of pineapple harvesting robotic

Technical field

The utility model relates to a kind of pineapple harvesting apparatus, in particular to a kind of a kind of pineapple for gathering in pineapple gathers in machine People.

Background technique

Currently, pineapple is gathered in, using artificial picking, the labor intensity manually picked is larger, and efficiency is lower；A kind of pineapple receipts Cut robot, it has also become enterprise reduces peasant's labor intensity, and improves the needs of harvesting efficiency.

Summary of the invention

The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of pineapple harvesting robotic, for reducing Worker picks the labor intensity of pineapple, and improves the efficiency of pineapple harvesting.

The utility model is adopted the technical scheme that: a kind of pineapple harvesting robotic includes harvesting machinery hand, machine Tool arm, mechanical block, conveying device and controller, mechanical block, conveying device and controller are installed on motor vehicle, mechanical block It is connect with mechanical arm, mechanical arm is connect with harvesting machinery hand；Harvesting machinery hand include claw-plate, line cuts motor, line cuts driving wheel, Line cuts follower and cutting line, and mechanical arm connection is connect with claw-plate, and the base that line cuts motor is fixedly connected with claw-plate, and line cuts electricity The motor shaft of machine cuts driving wheel with line and connect, and the wheel shaft that line cuts follower is connect with claw-plate, line cut follower by cutting line with Line cuts driving wheel connection, and claw-plate is equipped with carpopodium and imports slot, cuts motor driven cutting line using line and rotates, using cutting line by spinach The carpopodium of trailing plants cuts off；Conveying device includes conveyer belt, feeder motor, bracket, driving wheel and follower, bracket with it is motor-driven Vehicle connection, driving wheel and follower are connect by its wheel shaft with bracket, and the base of feeder motor is fixedly connected with bracket, conveying The motor shaft of motor is connect with driving wheel, and driving wheel is connect by conveyer belt with follower, and pineapple is sent to machine using conveyer belt The compartment of motor-car；Controller includes image sensor, carpopodium importing sensor, rises proximity sensor, carpopodium cutting sensing Device starts switch, shutdown switch and intelligent touch screen displays；Image sensor is installed on mechanical arm, and carpopodium imports sensing Device and rising proximity sensor are installed on claw-plate, for detecting the position of pineapple；Controller starts switch, shutdown switch And intelligent touch screen displays are installed in the driver's cabin of motor vehicle；Controller is led by control line and image sensor, carpopodium Enter sensor, rise proximity sensor, carpopodium cutting sensor, start switch, shutdown switch and intelligent touch screen displays connect It connects.

A kind of application method of pineapple harvesting robotic is: in use, after motor vehicle driving is entered pineapple field, using opening Dynamic switch drive control device work, controller control the feeder motor driving conveying belt operation of conveying device, controller control line Cut that motor cuts driving wheel by line and line cuts follower and drives cutting line rotation；Meanwhile controller control mechanical arm drives and receives The top that manipulator is moved to pineapple is cut, then controls harvesting machinery hand to pineapple movement, control claw-plate is mobile to pineapple carpopodium, The carpopodium of claw-plate is set to import the position that slot is inserted into pineapple carpopodium；Sensor is imported when the carpopodium of pineapple is entered close to carpopodium When, carpopodium imports sensor and its signal is transferred to controller, and controller controls harvesting machinery hand and stops movement；Harvesting machinery hand After stopping movement, controller control mechanical arm drives harvesting machinery to rise on hand, and the cutting line of rotation follows claw-plate to rise；Work as harvesting When rising proximity sensor on manipulator claw-plate is close to pineapple, cutting line rises to the cutting position of carpopodium, rises close to passing Its signal is transferred to controller by sensor, and controller, which controls harvesting machinery hand, to be stopped rising；Harvesting machinery hand stops after rising, control Device processed controls harvesting machinery hand to carpopodium movement, is cut off the carpopodium of pineapple using rotary cutting secant；The carpopodium of pineapple is cut After cutting off, the pineapple of claw-plate 7 is sent to the conveyer belt of conveying device by controller control harvesting machinery hand, and conveyer belt send the pineapple To the compartment of motor vehicle；So constantly circulation, the intelligence machineization for implementing pineapple are gathered in.

The beneficial effects of the utility model are: a kind of pineapple harvesting robotic includes harvesting machinery hand, mechanical arm, machinery Seat, conveying device and controller, harvesting machinery hand includes claw-plate, line cuts motor, line cuts driving wheel, line cuts follower and Cutting line, conveying device include conveyer belt, feeder motor, bracket, driving wheel and follower；In use, utilizing controller Controlling mechanical arm drives harvesting machinery hand mobile to pineapple, and control line cuts the rotation of motor driven cutting line, utilizes the cutting of rotation Line cuts off the carpopodium of pineapple, then controls the conveyer belt that pineapple is sent to conveying device by harvesting machinery hand, recycles conveyer belt Pineapple is sent on the compartment of motor vehicle, the intelligent machine harvesting of pineapple is implemented, improves the efficiency of pineapple harvesting.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of pineapple harvesting robotic；

Fig. 2 is harvesting device structural schematic diagram；

Fig. 3 is the structural schematic diagram of conveyer belt.

Specific embodiment

The utility model is further detailed with specific embodiment with reference to the accompanying drawing:

Structural schematic diagram, the harvesting device structural schematic diagram shown in Fig. 2 of a kind of pineapple harvesting robotic as shown in Figure 1 And conveyer belt structure schematic diagram shown in Fig. 3, a kind of pineapple harvesting robotic include harvesting machinery hand 1, mechanical arm 2, machine Tool seat 3, conveying device 4 and controller 5, mechanical block 3, conveying device 4 and controller 5 are installed on motor vehicle 6, mechanical block 3 connect with mechanical arm 2, and mechanical arm 2 is connect with harvesting machinery hand 1；Harvesting machinery hand 1 includes claw-plate 7, line cuts motor 8, line is cut Driving wheel 9, line cut follower 10 and cutting line 11, and the connection of mechanical arm 2 is connect with claw-plate 7, and line cuts the base and claw-plate of motor 8 7 are fixedly connected, and line cuts the motor shaft of motor 8 and line cuts driving wheel 9 and connect, and the wheel shaft that line cuts follower 10 is connect with claw-plate 7, line It cuts follower 10 driving wheel 9 is cut with line by cutting line 11 and connect, claw-plate 7 is equipped with carpopodium and imports slot 12, cuts motor 8 using line It drives cutting line 11 to rotate, is cut off the carpopodium 14 of pineapple 13 using cutting line 11；Conveying device 4 include conveyer belt 15, Feeder motor 16, bracket 17, driving wheel 18 and follower 19, bracket 17 are connect with motor vehicle 6, driving wheel 18 and follower 19 are connect by its wheel shaft with bracket 17, and the base of feeder motor 16 is fixedly connected with bracket 17, the motor shaft of feeder motor 16 It is connect with driving wheel 18, driving wheel 18 is connect by conveyer belt 15 with follower 19, and pineapple 13 is sent to machine using conveyer belt 15 The compartment 20 of motor-car 6；Controller 5 includes image sensor 21, carpopodium importing sensor 22, rises proximity sensor 23, fruit Handle cutting sensor 24 starts switch 25, shutdown switch 26 and intelligent touch screen displays 27；Image sensor 21 is installed on machine On tool arm 2, carpopodium imports sensor 22 and rises proximity sensor 23 and is installed on claw-plate 7, for detecting the position of pineapple 13 It sets；Controller 5 starts switch 25, shutdown switch 26 and intelligent touch screen displays 27 are installed on the driver's cabin 28 of motor vehicle 6 It is interior；Controller 5 imports sensor 22 by control line and image sensor 21, carpopodium, rises proximity sensor 23, carpopodium cutting Sensor 24 starts switch 25, shutdown switch 26 and the intelligent connection of touch screen displays 27.

In order to cut off the carpopodium 14 of pineapple 13, the claw-plate 7 of harvesting machinery hand 1 is equipped with carpopodium and imports slot 12, carpopodium The arrival end 29 for importing slot 12 is located at the right of cutting line 11, and the hole bottom end 30 that the carpopodium of claw-plate 7 imports slot 12, which is located at, cuts The left side of secant 11；It is identical as the height that line cuts follower 10 that line cuts driving wheel 9, and line cuts the axis of driving wheel 9 and line is cut passively The axis of wheel 10 is parallel, the plane where cutting line 11 and line cut driving wheel 9 and line to cut the axis of follower 10 vertical, cut Plane where line 11 is parallel to the horizontal plane；The hole bottom end 30 that carpopodium imports slot 12 is entered to implement the carpopodium 14 of pineapple 13 When, the carpopodium 14 of pineapple 13 can be cut off by cutting line 11.

In order to detect the position by harvesting pineapple 13 and its carpopodium 14, carpopodium imports sensor 22, rises close to sensing Device 23 is located at the right of cutting line 11, and carpopodium cutting sensor 24 is located at the left side of cutting line 11, and carpopodium cuts off sensor 24 The left side of the hole bottom end 30 of slot 12 is imported in carpopodium；Carpopodium imports in the center line and carpopodium cutting sensor 24 of slot 12 In the same vertical plane, the center line that carpopodium imports sensor 22 is parallel to the horizontal plane heart line, and carpopodium imports in sensor 22 The central axis of heart line and carpopodium cutting sensor 24, rises the center line and horizontal plane of proximity sensor 23, rises The central axis of center line and carpopodium the cutting sensor 24 of proximity sensor 23.

In order to facilitate the position for adjusting image sensor 21, implement the positioning and harvesting of pineapple 13, the camera shooting of controller 5 Sensor 21 is set on the arm 31 of harvesting machinery hand 1, and the arm 31 of harvesting machinery hand 1 is connect with mechanical arm 2, image sensor 21 camera to the right, carpopodium cut off sensor 24 detector to the right, rise proximity sensor 23 detection head-up, carpopodium The detection direction and the carpopodium importing detection direction of detector of sensor 22 of the detector of importing sensor 22 are vertical, and carpopodium is led Enter sensor 22 and is located at the side that carpopodium imports slot 12.

In order to avoid pineapple 13 drops out, implementation pineapple 13 is transported on the compartment 20 of motor vehicle 6, conveying device 4 it is defeated Sending band 15 includes transmission belt 32, delivery board 33, left fence 34 and right fence 35；Delivery board 33 is connect with transmission belt 32, or Person, delivery board 33 are integrally formed with transmission belt 32；Left fence 34 and right fence 35 are respectively arranged on two edges of transmission belt 32, left Fence 34 and right fence 35 are connect with transmission belt 32, alternatively, left fence 34 and right fence 35 are integrally formed with transmission belt 33； The pineapple input port 36 of conveyer belt 15 is equipped with input guide groove 37.

In order to avoid left fence 34 and right fence 35 hinder transmission belt 32 to rotate, left fence 34 is equipped with left opening 38, will Left fence 34 is partitioned into multistage；Right fence 35 is equipped with right opening 39, and right fence 35 is partitioned into multistage；It is left opening 38 and Zone face 40 of the right opening 39 through to transmission belt 32.

In order to avoid conveyer belt 15 is damaged pineapple 13, the conveyer belt 15 of conveying device 4 is made of soft elastic material, soft Elastic material includes rubber；The zone face 40 of conveyer belt 15 is equipped with anti-collision lattice 41, and anti-collision lattice 41 are mutual by a plurality of soft sharp item 42 It connects and composes, soft point item 42 is connect with the zone face 40 of conveyer belt 15, alternatively, the zone face 40 1 of soft point item 42 and conveyer belt 15 Body constitute, it is soft point item 42 tip backwards to conveyer belt 15 zone face 40；Conveying device 4 includes pineapple delivery outlet 43, rotation Lower fruit valve 44 and draw fruit slot 45；Pineapple delivery outlet 43 is located at the side of driving wheel 18, and pineapple delivery outlet 43 is located at motor vehicle 6 The top in compartment 20；It rotates lower fruit valve 44 to be installed on compartment 20, rotate lower fruit valve 44 enters fruit mouthful 46 against pineapple delivery outlet 43, rotate lower fruit valve 44 with draw fruit slot 45 and connect, draw fruit slot 45 and connect with the compartment bottom in compartment 20.

When acquiring pineapple 13, in order to reduce damaging for pineapple 13, the rotating vane 47 of lower fruit valve 44 is rotated by soft Material is constituted, and is drawn fruit slot 45 and is made of soft material, rotating vane 47 and the soft material for drawing fruit slot 45 include rubber.

A kind of application method of pineapple harvesting robotic is: in use, after motor vehicle 6 is driven 21 field of pineapple, benefit With the work of 25 controllers 5 is started switch, controller 5 controls 16 driving conveying belt 15 of the feeder motor operation of conveying device 4, control 5 control line of device cuts that motor 8 cuts driving wheel 9 by line and line cuts follower 10 and cutting line 11 is driven to rotate；Meanwhile controller 5 Control mechanical arm 2 drives harvesting machinery hand 1 to be moved to the top of pineapple 13, and then control harvesting machinery hand 1 is mobile to pineapple 13, Claw-plate 7 is controlled to the movement of 13 carpopodium 14 of pineapple, the carpopodium of claw-plate 7 is made to import the position that slot 12 is inserted into 13 carpopodium 14 of pineapple；When The carpopodium 14 of pineapple 13 enters when importing sensor 22 close to carpopodium, and carpopodium imports sensor 22 and its signal is transferred to control Device 5, controller 5 control harvesting machinery hand 1 and stop movement；After harvesting machinery hand 1 stops movement, controller 5 controls 2 band of mechanical arm Dynamic harvesting machinery hand 1 rises, and the cutting line 11 of rotation follows claw-plate 7 to rise；When the rising on 1 claw-plate 7 of harvesting machinery hand is close When sensor 23 is close to pineapple 13, cutting line 11 rises to the cutting position of carpopodium 14, rises proximity sensor 23 for its signal It is transferred to controller 5, controller 5, which controls harvesting machinery hand 1, to be stopped rising；Harvesting machinery hand 1 stops after rising, and controller 5 is controlled Harvesting machinery hand 1 processed is mobile to carpopodium 14, is cut off the carpopodium 14 of pineapple 13 using rotary cutting secant 11；The carpopodium of pineapple 13 After 14 are cut off, controller 5 controls the conveyer belt 15 that the pineapple 13 on claw-plate 7 is sent to conveying device 4 by harvesting machinery hand 1, The pineapple 15 is sent to the compartment 20 of motor vehicle 6 by conveyer belt 15；So constantly circulation, the intelligence machineization for implementing pineapple 13 are received It cuts.

In order to implement the carpopodium of claw-plate 7 importing the position that slot 12 is inserted into 13 carpopodium 14 of pineapple；Mechanical arm 2 drives harvesting When manipulator 1 is mobile to pineapple 13, the image sensor 21 on the arm 31 of harvesting machinery hand 1 passes the position signal of pineapple 13 It is defeated by the intelligent touch screen displays 48 of controller 5, the position signal of the pineapple 13 is shown in intelligence by intelligent touch screen displays 48 In energy touch screen displays 48；When driver's point touches the pineapple 13 on intelligent display touch screen 48, intelligent display touch screen 48 is by the point Touching signal is transferred to controller 5, and controller 5 controls harvesting machinery hand 1 and drives claw-plate 7 mobile to the pineapple 13, by the fruit of claw-plate 7 Handle imports the position that slot 12 is inserted into the carpopodium 14 of the pineapple 13, and the carpopodium of claw-plate 7 imports slot 12 and is inserted into 13 carpopodium of pineapple 14 position, when carpopodium 14 imports sensor 23 close to the carpopodium on claw-plate 7, carpopodium imports sensor 23 and is transferred to its signal Controller 5.

In order to cut the carpopodium 14 of pineapple 13 using the rotary cutting secant 11 of harvesting machinery hand 1, the cutting of manipulator 1 is cut When line 11 cuts the carpopodium 14 of pineapple 13, controller 5 controls mechanical arm 2 and the claw-plate 7 of harvesting machinery hand 1 is driven to move right, and makes The carpopodium of claw-plate 7 imports slot 12 and is inserted into the carpopodium 14 of pineapple 13, when carpopodium 14 cuts off sensor 24 close to carpopodium, pineapple 13 carpopodium 14 is cut off by cutting line 11, meanwhile, carpopodium cuts off sensor 24 and its signal is transferred to controller 5, controller 5 It controls harvesting machinery hand 1 and the pineapple 13 for being cut off carpopodium 14 is sent to conveyer belt 15；The cutting line 11 of harvesting machinery hand 1 is cut When the carpopodium 14 of pineapple 13,5 control line of controller cuts motor 8 and line is driven to cut driving wheel 9 and rotate in a clockwise direction, and line is cut actively Wheel 9 cuts follower 10 by line and cutting line 11 is driven to rotate in a clockwise direction, and controller 5 controls mechanical arm 2 and drives harvester The claw-plate 7 of tool hand 1 moves horizontally to the right, and cutting line 11 follows claw-plate 7 constantly to move horizontally to the right, is equivalent to the carpopodium of pineapple 13 14 is constantly mobile to the left, and as cutting line 11 constantly moves horizontally to the right, carpopodium 14 constantly enters carpopodium and imports slot 12, cutting Line 11 constantly cuts the carpopodium 14 into pineapple 13, when cutting line 11 is moved to the other end of carpopodium 14 by one end of carpopodium 14, The carpopodium 14 of pineapple 13 is cut off.

In order to cut off the carpopodium 14 of pineapple 13 using cutting line 11, and pineapple 13 is avoided to be fallen down by claw-plate 7, claw-plate 7 include upper claw-plate 49 and lower claw-plate 50, the fixed company of the arm 31 of upper claw-plate 49 and lower claw-plate 50 and harvesting machinery hand 1 It connects, upper claw-plate 49 is equipped with upper carpopodium and imports slot 51, and lower claw-plate 50 is equipped with lower carpopodium and imports slot 52, and upper carpopodium imports slot 51 It is identical as the shape of lower carpopodium importing slot 52 and size；Line cuts motor 8 and is installed on lower claw-plate 50, and line cuts motor 8 positioned at upper Between claw-plate 49 and lower claw-plate 50, line cuts driving wheel 9 and line cuts follower 10 and is installed on claw-plate 49, and cutting line 11 is located at upper The upper surface of claw-plate 49；Upper claw-plate 49 is equipped with a left side and encloses king 53 and right purse seine 54, and pineapple 13 is avoided to be fallen down by upper claw-plate 49.

When the cutting line 11 of harvesting machinery hand 1 cuts the carpopodium 14 of pineapple 13, the carpopodium 14 of pineapple 13 is inserted into upper carpopodium and leads Enter slot 51 and lower carpopodium and import slot 52,5 control line of controller cuts that motor 8 cuts driving wheel 9 by line and line is cut passively 10 driving cutting line 11 of wheel rotates, and controller 5 controls harvesting machinery hand 1 and upper claw-plate 49 and lower claw-plate 50 is driven to move right, The carpopodium 14 of pineapple 13 is cut off using the cutting line 11 of rotation.

In order to which the pineapple 13 for implementing harvesting is sent on the compartment 20 of motor vehicle 6, controller 5 controls the defeated of conveying device 4 The operation of 16 driving conveying belt 15 of power transmission machine, feeder motor 16 drive driving wheel 18 to rotate in a clockwise direction, and driving wheel 18 passes through The transmission belt 32 of conveyer belt 15 drives follower 19 to rotate in a clockwise direction；Pineapple 13 is sent to the transmission belt 32 of conveyer belt 15 When, the delivery board 33 that pineapple 13 is transmitted on band 32 is held, make pineapple 13 follow transmission belt 32 rotate in a clockwise direction and on It rises, meanwhile, the left fence 34 and right fence 35 of conveyer belt 15 surround pineapple 13, and pineapple 13 is avoided to drop out；Pineapple 13 follows biography When dynamic band 32 rises to the pineapple delivery outlet 43 of conveying device 4, pineapple 13 is flowed to motor-driven by the pineapple delivery outlet 43 of conveying device 4 On the compartment 20 of vehicle 6；When pineapple 13 follows transmission belt 32 to rise to the pineapple delivery outlet 43 of conveying device 4, pineapple 13 is by pineapple It being fallen under delivery outlet 43 on the rotating vane 47 for rotating lower fruit valve 44, rotating vane 47 rotates under the action of 13 gravity of pineapple, Pineapple 13 falls under following rotating vane 47 to rotate draws fruit slot 45, then is flowed on the compartment 20 of motor vehicle 6 by drawing fruit slot 45.

When a kind of pineapple harvesting robotic is stopped using, press and start switch 25, controller 5 control feeder motor 16 and Line cuts the stopping of motor 8.

Claims (10)

1. a kind of pineapple harvesting robotic, it is characterised in that: a kind of pineapple harvesting robotic includes harvesting machinery hand (1), mechanical arm (2), mechanical block (3), conveying device (4) and controller (5), mechanical block (3), conveying device (4) and control Device (5) processed is installed on motor vehicle (6), and mechanical block (3) is connect with mechanical arm (2), and mechanical arm (2) and harvesting machinery hand (1) are even It connects；Harvesting machinery hand (1) includes claw-plate (7), line cuts motor (8), line cuts driving wheel (9), line cuts follower (10) and cuts Secant (11), mechanical arm (2) connection are connect with claw-plate (7), and the base that line cuts motor (8) is fixedly connected with claw-plate (7), and line cuts electricity The motor shaft of machine (8) cuts driving wheel (9) with line and connect, and the wheel shaft that line cuts follower (10) is connect with claw-plate (7), and line cuts follower (10) it cuts driving wheel (9) with line by cutting line (11) to connect, claw-plate (7) is equipped with carpopodium and imports slot (12)；Conveying device (4) It include conveyer belt (15), feeder motor (16), bracket (17), driving wheel (18) and follower (19), bracket (17) and machine Motor-car (6) connection, driving wheel (18) and follower (19) are connect by its wheel shaft with bracket (17), the machine of feeder motor (16) Seat is connect with bracket (17), and the motor shaft of feeder motor (16) is connect with driving wheel (18), and driving wheel (18) passes through conveyer belt (15) it is connect with follower (19)；Controller (5) includes that carpopodium imports sensor (22), rises proximity sensor (23), fruit Handle cutting sensor (24) starts switch (25), shutdown switch (26) and intelligent touch screen displays (27)；Carpopodium imports sensing Device (22) and rising proximity sensor (23) are installed on claw-plate (7), and controller (5) passes through control line and image sensor (21), carpopodium imports sensor (22), rises proximity sensor (23), carpopodium cutting sensor (24), start switch (25), stop It only switchs (26) and intelligent touch screen displays (27) connects.

2. a kind of pineapple harvesting robotic according to claim 1, it is characterised in that: the harvesting machinery hand (1) Claw-plate (7) is equipped with carpopodium and imports slot (12).

3. a kind of pineapple harvesting robotic according to claim 2, it is characterised in that: the line cut driving wheel (9) with The height that line cuts follower (10) is identical, and the axis that line cuts driving wheel (9) is parallel with the axis that line cuts follower (10).

4. a kind of pineapple harvesting robotic according to claim 3, it is characterised in that: the carpopodium imports sensor (22), rise the right that proximity sensor (23) are located at cutting line (11), carpopodium cutting sensor (24) is located at cutting line (11) The left side, carpopodium cutting sensor (24) be located at carpopodium importing slot (12) hole bottom end (30) the left side；Carpopodium imports slot (12) in the same vertical plane, carpopodium imports in sensor (22) center line of center line and carpopodium cutting sensor (24) Heart line is parallel to the horizontal plane, and carpopodium imports the center line of sensor (22) and the central axis of carpopodium cutting sensor (24), Rise the center line and horizontal plane of proximity sensor (23).

5. a kind of pineapple harvesting robotic according to claim 4, it is characterised in that: the camera shooting of the controller (5) Sensor (21) is set on the arm (31) of harvesting machinery hand (1), and the arm (31) of harvesting machinery hand (1) and mechanical arm (2) are even It connects, to the right, carpopodium cuts off the detector of sensor (24) to the right to the camera of image sensor (21), rises proximity sensor (23) head-up, carpopodium imports the detection direction of the detector of sensor (22) and the inspection of carpopodium importing sensor (22) for detection The detection direction of gauge head is vertical.

6. a kind of pineapple harvesting robotic according to claim 5, it is characterised in that: the conveying device (4) it is defeated Sending band (15) includes transmission belt (32), delivery board (33), left fence (34) and right fence (35)；Delivery board (33) and transmission Band (32) connects, alternatively, delivery board (33) is integrally formed with transmission belt (32)；Left fence (34) and right fence (35) are set respectively In two edges of transmission belt (32), left fence (34) and right fence (35) are connect with transmission belt (32), alternatively, left fence (34) And right fence (35) is integrally formed with transmission belt (32).

7. a kind of pineapple harvesting robotic according to claim 6, it is characterised in that: the left fence (34) is equipped with a left side It is open (38), right fence (35) is equipped with right opening (39), left opening (38) and right opening (39) one through to transmission belt (32) Zone face (40).

8. a kind of pineapple harvesting robotic according to claim 7, it is characterised in that: the conveying device (4) it is defeated Band (15) is sent to be made of soft elastic material, soft elastic material includes rubber；The zone face (40) of conveyer belt (15) is equipped with anti- It touches lattice (41), anti-collision lattice (41) are interconnected to constitute by a plurality of soft sharp item (42), soft point item (42) and conveyer belt (15) Zone face (40) connection, alternatively, soft point item (42) and the zone face (40) of conveyer belt (15) are integrally formed.

9. a kind of pineapple harvesting robotic according to claim 8, it is characterised in that: the conveying device (4) includes There is pineapple delivery outlet (43), rotate lower fruit valve (44) and draw fruit slot (45)；Pineapple delivery outlet (43) is located at driving wheel (18) Side, pineapple delivery outlet (43) are located at the top in the compartment (20) of motor vehicle (6).

10. a kind of pineapple harvesting robotic according to claim 9, it is characterised in that: fruit valve (44) under the rotation Rotating vane (47) be made of soft material.