CN210076048U

CN210076048U - Automatic pineapple picking equipment

Info

Publication number: CN210076048U
Application number: CN201920402051.5U
Authority: CN
Inventors: 吴文松
Original assignee: Jingning Liheng Mold Processing Plant
Current assignee: Jingning Liheng Mold Processing Plant
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2020-02-18
Anticipated expiration: 2029-03-27

Abstract

The utility model relates to the field of agricultural machinery equipment, in particular to automatic pineapple picking equipment, which comprises a platform truck, a support frame, a lifting mechanism and a clamping mechanism, wherein the clamping mechanism comprises a support rod and a clamping component, the support rod is arranged in the middle of the bottom end of the lifting plate along the width direction of the lifting plate in a reciprocating motion manner, the clamping component is horizontally arranged at the bottom end of the support rod, one end of the top end of the platform truck, which is close to the support frame, is provided with a power supply, one end of the platform truck, which is far away from the power supply, is provided with a driving component, the equipment controls the mutual work among the driving component, the lifting component and the clamping mechanism through a control unit to realize the automatic picking and collecting of pineapples, can effectively avoid the damage of fruit leaves and fruit peels to picking workers, avoid the picking workers from bearing heavy pineapple baskets for a long time, pass through the, saves a large amount of labor force, saves time and labor, greatly reduces the picking cost of the pineapples and improves the picking efficiency of the pineapples.

Description

Automatic pineapple picking equipment

Technical Field

The utility model relates to an agricultural machinery equipment field, concretely relates to automatic equipment of picking of pineapple.

Background

Pineapple, one of the tropical fruits. The areas of fujian and taiwan are called wang pears or wang lai, new horses are called yellow pears, mainland and hong kong are called pineapples. There are more than 70 varieties, one of the four famous fruits in Lingnan, pineapple is native to amazon river basin in Brazil and Paraguay in south America, and is introduced into China from Brazil in the 16 th century. Has now spread to the entire tropical region. The edible part of the flower mainly comprises a rachis with increased meat quality and flowers spirally arranged on the periphery, the flowers are usually not firm, the reserved flowers are surrounded by splinters to form a cavity, and atrophic stamens and style are stored in the cavity. The pineapple planting method is characterized in that the pineapple plants are planted widely in the south of China, the yield is increased day by day, the planting area of the pineapples is about 7 hectares in China, most pineapple planting gardens mainly use manual picking, the seasonality of the pineapples is strong, the harvesting period is only fifteen days, and the pineapple plants are easy to lose due to untimely picking, and the pineapple plant shapes and the planting modes have the following characteristics: the plant interval is little, and the fruit leaf is luxuriant and dense, and the peel is many thorns, has brought very big inconvenience for picking, and the thorn on the peel stabs the palm very easily, and the fruit leaf area thorn very easily fish tail picking workman's face, and in the whole picking process, the peasant need wear protective clothing and eye-shade when picking the pineapple to prevent that the pineapple leaf from cutting the health. In the picking process, a farmer needs to cut pineapples from plants by using a cutter and put the pineapples into a basket on the back, the farmer bears the heavy basket, the pineapples need to pass through the ground with thorns and stoop to pick the pineapples, the labor consumption is high, a large amount of labor needs to be consumed, the harvesting cost of the pineapples is increased, the labor intensity of manual picking is greatly increased due to the problems, the picking efficiency of the pineapples is low, time and labor are wasted, the picking cost of the pineapples is high, and therefore the automatic pineapple picking equipment is necessary to be designed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic equipment of picking of pineapple.

To achieve the purpose, the utility model adopts the following technical proposal:

provides an automatic pineapple picking device, which comprises a platform truck, a support frame, a lifting mechanism and a clamping mechanism, wherein the support frame is vertically arranged in the middle of the top end of the platform truck, the support frame is of a box body structure, two sides of the support frame in the length direction are of an open structure, a power driving chamber is horizontally arranged at the top ends of two baffle plates, the lifting mechanism is horizontally arranged at the top end of the support frame, the lifting mechanism comprises a lifting plate, the lifting plate is arranged in the support frame in a lifting way, the top end of the lifting plate is in transmission connection with the power driving chamber, the clamping mechanism is vertically arranged in the middle of the bottom end of the lifting plate, the clamping mechanism comprises a support rod and a clamping component, the support rod is vertically arranged, the support rod is arranged in the middle of the bottom end of the lifting plate in a reciprocating motion along the width, the one end that the power was kept away from to the platform truck is provided with drive assembly, the power drive room is provided with the control unit, and the control unit is connected with power and drive assembly electricity respectively, and the control unit is connected with elevating system and clamp respectively and get the mechanism electricity.

As a preferred scheme of the automatic pineapple picking device, the support frame comprises two baffle plates, the two baffle plates are vertically arranged at two sides along the length direction of the platform truck at intervals, the power driving chamber comprises two first driving motors, each first driving motor is vertically arranged at the bottom end of the inner side of the power driving chamber, the output shaft of each first driving motor penetrates through the power driving chamber to extend downwards, the extending end of each first driving motor is in a threaded structure, the extending end of each first driving motor is in threaded connection with two sides of the width direction of the lifting plate, two fixing rods are horizontally and fixedly arranged in the middle of one side, close to each other, of the two baffle plates, the lifting assembly further comprises four first guide rods, the four first guide rods penetrate through the lifting plate to be rectangular and are vertically arranged on the lifting plate, the top end of each first guide rod is fixedly connected with the bottom end of the power driving chamber, and the bottom end of each first guide rod is, the both sides that the lifter plate is close to two baffles all are provided with two first sliders, and every baffle is provided with the gliding first spout of the first slider of cooperation, every first driving motor's extension end all is articulated with the dead lever.

As a preferred scheme of the automatic pineapple picking equipment, a first avoidance hole for avoiding the supporting rod is arranged in the middle of the lifting plate along the width direction, the length of the first avoidance hole is smaller than the width of the lifting plate, a rotating motor is horizontally arranged on one side of the lifting plate in the length direction, an output shaft of the rotating motor penetrates through the lifting plate and extends into the first avoidance hole, an extending end of the rotating motor is of a threaded structure and is in threaded connection with the supporting rod, the extending end of the rotating motor penetrates through the supporting rod and extends outwards to be hinged with the lifting plate, four second guide rods are horizontally arranged in the first avoidance hole, each second guide rod penetrates through the supporting rod, two ends of each second guide rod are fixedly connected with the lifting plate, second sliding blocks are arranged on two sides of the supporting rod, second sliding grooves matched with the east of the second sliding blocks are arranged in the first avoidance hole, a short rod is horizontally and fixedly arranged at the bottom end of the supporting, one end of the short rod far away from the support rod is horizontally and fixedly provided with a clamping assembly.

As a preferable scheme of the automatic pineapple picking device, the clamping assembly comprises a clamping motor, a first control chamber and two clamping jaws, the clamping motor is horizontally arranged at the top end of the short rod, the first control chamber is horizontally arranged at one end of the short rod far away from the supporting rod, the first control chamber is horizontally provided with a partition board along the middle part in the vertical direction, the first control chamber is vertically provided with a first rotating shaft and a second rotating shaft at intervals in the length direction, the bottom end of the first rotating shaft is hinged with the bottom end of the first control chamber, the top end of the first rotating shaft penetrates through the partition board to extend upwards, the extending end of the first rotating shaft is horizontally and fixedly provided with a first gear, the output end of the clamping motor penetrates through the first driving chamber to extend inwards, the extending end of the clamping motor is provided with a first worm, the first worm is meshed with the first gear, the top end of the second rotating shaft is hinged with the partition board, the bottom end, the clamping jaw is connected with the second rotating shaft in a transmission mode respectively in the first rotating shaft, an inclined rod is arranged at the top end of the first control chamber, the bottom end of the inclined rod is fixedly connected with the top end of the first control chamber, and the top end of the inclined rod is fixedly connected with one side, close to the first control chamber, of the supporting rod.

As a preferred scheme of the automatic pineapple picking equipment, a first connecting rod and a second connecting rod are respectively and fixedly arranged at the lower parts of a first rotating shaft and a second rotating shaft, a certain angle is formed between the first connecting rod and the second connecting rod, two clamping jaws are respectively arranged at one ends of the first connecting rod and the second connecting rod, which are far away from a first control chamber, a pressure sensor is arranged at one side, which is close to each other, of the clamping jaws, a second gear is arranged at one end of the first connecting rod, which is close to the first rotating shaft, a third gear meshed with the second gear is arranged at one end of the second connecting rod, which is close to the first rotating shaft, a second avoiding hole freely used for avoiding the first connecting rod and the second connecting rod is arranged at one side, which is close to the clamping jaws, of the first control chamber, a cutting assembly is arranged at the bottom end of the first control chamber, a distance sensor is arranged at one side, which is close to the, the control unit is electrically connected with the clamping motor through a wire.

As a preferred scheme of the automatic pineapple picking equipment, the cutting assembly comprises a second control room, two cutting blades and a cutting motor, the cutting motor is horizontally arranged at one side of the second control room close to the supporting rod, an output shaft of the cutting motor penetrates through the second control room and extends inwards, a second worm is arranged at the extending end of the cutting motor, a third rotating shaft and a fourth rotating shaft are vertically arranged in the second control room at intervals, the upper end and the lower end of the third rotating shaft and the lower end of the fourth rotating shaft are hinged with the second control room, a fourth gear meshed with the second worm is horizontally arranged on the third rotating shaft, one ends of the two cutting blades are fixedly connected with the third rotating shaft and the first rotating shaft, the two cutting blades are arranged at a certain angle, one end of each cutting blade close to the supporting rod is provided with a fifth gear meshed with each other, one side of the second control room far away from the supporting rod is provided with a third avoiding hole used for, the control unit is electrically connected with the cutting motor through a lead.

As a preferred scheme of the automatic pineapple picking device, the driving assembly comprises a second driving motor and a transmission box, the transmission box is horizontally arranged at the outer side of one end, away from the power supply, of the supporting frame, the bottom of the transmission box is fixedly connected with the platform truck, the second driving motor is horizontally arranged at one side of the length direction of the transmission box, an output shaft of the second driving motor penetrates through the transmission box to extend inwards, a driving tooth is vertically arranged at the extending end of the transmission box, a transmission shaft is horizontally arranged below the platform truck, the axial direction of the transmission shaft and the axial direction of the output shaft of the second driving motor are mutually parallel and are positioned on the same plane, hinge seats for fixing are arranged at two ends of the transmission shaft, a first driven tooth and a second driven tooth are fixedly arranged on the transmission shaft, the first driven tooth is connected with the driving tooth through a first chain, the platform truck is provided with a third avoiding hole for, and a third driven gear is arranged on the wheel shaft of the platform truck, the second driven gear is connected with the third driven gear through a second chain, and the control unit is electrically connected with a second driving motor through a wire.

As a preferable aspect of an automatic pineapple picking apparatus, the angle between the first connecting rod and the second connecting rod is larger than the angle between the two cutting blades.

As an automatic preferred scheme who picks equipment of pineapple, the one end that keeps away from the power of platform truck is provided with the shallow handle, and shallow handle top is provided with control panel, and the control unit passes through the wire and is connected with control panel electricity, the support frame bottom is provided with the appearance feed cylinder that is used for holding the pineapple, and the appearance feed cylinder bottom is passed through the buckle and is connected with platform truck top.

The utility model has the advantages that: this equipment passes through the control unit control drive assembly, lifting unit and presss from both sides the mutual work of getting between the mechanism, realize picking and collecting the automation of pineapple, can effectually avoid fruit leaf and peel to picking workman's injury, avoided picking workman to bear heavy basket for a long time, walk in the pineapple ground that thorn spreads over, stoop is picked, consume huge physical power, a large amount of labours have been saved, time saving and labor saving, greatly reduced the picking cost of pineapple, the picking efficiency of pineapple has been improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic perspective view of the present invention;

fig. 3 is a front side view of the present invention;

fig. 4 is a schematic view of a partial three-dimensional structure of the present invention;

fig. 5 is a partial front plan view of the present invention;

FIG. 6 is a cross-sectional view taken along A-A of FIG. 5;

fig. 7 is a schematic perspective view of the first clamping mechanism of the present invention;

fig. 8 is a schematic perspective view of the second clamping mechanism of the present invention;

fig. 9 is a schematic three-dimensional structure diagram of the gripping mechanism of the present invention;

fig. 10 is a schematic perspective view of the gripping mechanism of the present invention;

fig. 11 is a second front side view of the present invention;

fig. 12 is a schematic perspective view of the driving assembly of the present invention;

in the figure: the platform truck 1, the supporting frame 2, the power driving chamber 3, the lifting plate 4, the supporting rod 5, the power supply 6, the control unit 7, the first driving motor 8, the first guide rod 9, the fixing rod 10, the first slider 11, the rotating motor 13, the second guide rod 14, the second slider 15, the short rod 16, the clamping motor 17, the first control chamber 18, the clamping jaw 19, the first rotating shaft 20, the second rotating shaft 21, the first gear 22, the first worm 23, the first connecting rod 24, the second connecting rod 25, the pressure sensor 26, the second gear 27, the third gear 28, the distance sensor 30, the second control chamber 31, the cutting blade 32, the cutting motor 33, the second worm 34, the third rotating shaft 35, the fourth rotating shaft 36, the fourth gear 37, the fifth gear 38, the second driving motor 39, the transmission box 40, the driving tooth 41, the transmission shaft 42, the first driven tooth 43, the second driven tooth 44, the first chain 45, third driven tooth 47, second chain 48, cart handle 49, control panel 50, material containing barrel 51, diagonal rod 52 and wheel shaft 53.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are used only for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms will be understood by those skilled in the art according to the specific circumstances.

Referring to fig. 1 to 12, an automatic pineapple picking device comprises a platform truck 1, a support frame 2, a lifting mechanism and a clamping mechanism, wherein the support frame 2 is vertically arranged in the middle of the top end of the platform truck 1, the support frame 2 is of a box structure, two sides of the support frame 2 in the length direction are of an open structure, a power driving chamber 3 is horizontally arranged at the top end of two baffles, the lifting mechanism is horizontally arranged at the top end of the support frame 2, the lifting mechanism comprises a lifting plate 4, the lifting plate 4 can be arranged in the support frame 2 in a lifting manner, the top end of the lifting plate 4 is in transmission connection with the power driving chamber 3, the clamping mechanism is vertically arranged in the middle of the bottom end of the lifting plate 4, the clamping mechanism comprises a support rod 5 and a clamping component, the support rod 5 is vertically arranged, the support rod 5 is arranged in the middle of the bottom end of the lifting plate, the top of platform truck 1 is close to 2 one ends of support frame and is provided with power 6, and the one end that power 6 was kept away from to platform truck 1 is provided with drive assembly, power drive room 3 is provided with the control unit 7, and the control unit 7 is connected with power 6 and drive assembly electricity respectively, and the control unit 7 is connected with elevating system and clamp mechanism electricity respectively.

The support frame 2 comprises two baffle plates, the two baffle plates are vertically arranged at two sides along the length direction of the platform truck 1 at intervals, the power driving chamber 3 comprises two first driving motors 8, each first driving motor 8 is vertically arranged at the bottom end of the inner side of the power driving chamber 3, an output shaft of each first driving motor 8 penetrates through the power driving chamber 3 to extend downwards, the extending end of each first driving motor 8 is in a threaded structure, the extending end of each first driving motor 8 is in threaded connection with two sides of the width direction of the lifting plate 4, the middle part of one side, close to each other, of the two baffle plates is horizontally and fixedly provided with two fixed rods 10, the lifting assembly further comprises four first guide rods 9, the four first guide rods 9 penetrate through the lifting plate 4 to be rectangular and are vertically arranged on the lifting plate 4, the top end of each first guide rod 9 is fixedly connected with the bottom end of the power driving chamber 3, and the bottom end of each first, two first sliding blocks 11 are arranged on two sides, close to the two baffles, of the lifting plate 4, each baffle is provided with a first sliding chute matched with the first sliding blocks 11 to slide, and each extending end of the first driving motor 8 is hinged to the fixed rod 10. When the control unit 7 sends an electric signal to the two first driving motors 8 to enable the two first driving motors 8 to work in an electrified mode, the lifting plate 4 starts to lift under the rotation of the first driving motors 8, in the process, when the two first driving motors 8 rotate in an electrified mode, the two first driving motors 8 drive the two output shafts to start to rotate at the moment, when the two output shafts rotate clockwise, the lifting plate 4 in threaded connection with the two output shafts starts to move upwards, namely to move upwards, and when the two output shafts rotate anticlockwise, the lifting plate 4 in threaded connection with the two output shafts starts to move downwards, namely to move downwards, the four first guide rods 9 and the two first sliding blocks 11 can guarantee that the lifting plate 4 cannot deviate or be stuck when moving upwards and downwards, and therefore the lifting plate 4 can move smoothly upwards and downwards.

The middle part of the lifting plate 4 along the width direction is provided with a first avoidance hole for avoiding the support rod 5, the length of the first avoidance hole is smaller than the width of the lifting plate 4, one side of the lifting plate 4 in the length direction is horizontally provided with a rotating motor 13, an output shaft of the rotating motor 13 penetrates through the lifting plate 4 and extends into the first avoidance hole, the extending end of the rotating motor 13 is in a threaded structure and is in threaded connection with the support rod 5, the extending end of the rotating motor 13 penetrates through the support rod 5 and extends outwards to be hinged with the lifting plate 4, four second guide rods 14 are horizontally arranged in the first avoidance hole, each second guide rod 14 penetrates through the support rod 5, two ends of each second guide rod 14 are fixedly connected with the lifting plate 4, the support rod 5 is provided with second sliders 15 close to two sides of the first avoidance hole, a second chute matched with the second sliders 15 is arranged in the first avoidance hole, the bottom end of the support rod 5 is horizontally and fixedly, the end of the short rod 16 far away from the support rod 5 is horizontally and fixedly provided with a clamping component. When the controller sends an electric signal to the rotating motor 13, at this time, the rotating motor 13 starts to be powered on to work, an output shaft on the rotating motor 13 starts to rotate, when the output shaft of the rotating motor 13 rotates clockwise, the supporting rod 5 in threaded connection with the rotating motor 13 starts to move towards one side of the width direction of the lifting plate 4 at this time, when the output shaft of the rotating motor 13 starts to rotate anticlockwise, the supporting rod 5 in threaded connection with the rotating motor 13 starts to move towards the other side of the width direction of the lifting plate 4 at this time, the four second guide rods 14 play a role in protecting the supporting rod 5 stably, and the second sliding block 15 and the second sliding groove can enable the supporting rod 5 not to be jammed or deviated with the output shaft of the rotating motor 13 when the supporting rod 5 moves back and forth along the.

The clamping assembly comprises a clamping motor 17, a first control chamber 18 and two clamping jaws 19, the clamping motor 17 is horizontally arranged at the top end of the short rod 16, the first control chamber 18 is horizontally arranged at one end of the short rod 16 far away from the supporting rod 5, a partition plate is horizontally arranged in the middle of the first control chamber 18 along the vertical direction, the first control chamber 18 is vertically provided with a first rotating shaft 20 and a second rotating shaft 21 at intervals along the length direction, the bottom end of the first rotating shaft 20 is hinged with the bottom end of the first control chamber 18, the top end of the first rotating shaft 20 penetrates through the partition plate to extend upwards, the extending end of the first rotating shaft is horizontally and fixedly provided with a first gear 22, the output end of the clamping motor 17 penetrates through the first driving chamber to extend inwards, the extending end of the clamping motor 17 is provided with a first worm 23, the first worm 23 is meshed and connected with the first gear 22, the top end of the second rotating shaft 21 is hinged with the partition plate, the clamping jaw 19 is respectively connected with the first rotating shaft 20 and the second rotating shaft 21 in a transmission manner, the top end of the first control chamber 18 is provided with an inclined rod 52, the bottom end of the inclined rod 52 is fixedly connected with the top end of the first control chamber 18, and the top end of the inclined rod 52 is fixedly connected with one side of the support rod 5 close to the first control chamber 18. When the control unit 7 sends an electrical signal, the gripping motor 17 is powered on, the gripping motor 17 starts to rotate, the output shaft of the gripping motor 17 starts to rotate, the first worm 23 on the extending end of the gripping motor 17 also starts to rotate, when the gripping motor 17 rotates clockwise, the first worm 23 simultaneously starts to rotate clockwise, the first gear 22 engaged with the first worm 23 also starts to rotate clockwise, the first gear 22 is fixedly connected with the first rotating shaft 20, so the first rotating shaft 20 also starts to rotate clockwise, the first worm 23 simultaneously starts to rotate counterclockwise, the first gear 22 engaged with the first worm 23 also starts to rotate counterclockwise, the first gear 22 is fixedly connected with the first rotating shaft 20, so the first rotating shaft 20 also starts to rotate counterclockwise, the bottom end of the inclined rod 52 is fixedly connected with the top end of the first control chamber 18, the top end of the inclined rod 52 is fixedly connected with the side of the support rod 5 close to the first control chamber 18, the clamping assembly can better ensure the stability during working and cannot shake randomly.

A first connecting rod 24 and a second connecting rod 25 are respectively and fixedly arranged at the lower parts of the first rotating shaft 20 and the second rotating shaft 21, a certain angle is formed between the first connecting rod 24 and the second connecting rod 25, the two clamping jaws 19 are respectively arranged at the ends of the first connecting rod 24 and the second connecting rod 25 far away from the first control chamber 18, a pressure sensor 26 is arranged at the side where the clamping jaws 19 are close to each other, a second gear 27 is arranged at the end of the first connecting rod 24 close to the first rotating shaft 20, a third gear 28 meshed with the second gear 27 is arranged at the end of the second connecting rod 25 close to the first rotating shaft 20, a second avoiding hole freely used for avoiding the first connecting rod 24 and the second connecting rod 25 is arranged at one side of the first control chamber 18 far away from the supporting rod 5, a cutting assembly is arranged at the bottom end of the first control chamber 18, a distance sensor 30 is arranged at one side of the first control chamber, the control unit 7 is electrically connected with the pressure sensor and the distance sensor 30 through wires, respectively, and the control unit 7 is electrically connected with the gripping motor 17 through wires. When the distance sensor 30 senses the position of the pineapple, the position sensor sends an electric signal to the control unit 7, the control unit 7 sends an electric signal to the clamping motor 17, so that the clamping motor 17 starts to operate, when the clamping motor 17 controls the first rotating shaft 20 to rotate clockwise or counterclockwise, the angle between the first connecting rod 24 and the second connecting rod 25 starts to increase or decrease, in the process, when the clamping motor 17 controls the first rotating shaft 20 to rotate clockwise, the second gear 27 on the first connecting rod 24 also starts to rotate clockwise, at this time, because the third gear 28 is meshed with the second gear 27, the second gear 27 starts to rotate counterclockwise, at this time, the first connecting rod 24 starts to rotate clockwise with the second gear 27 as the center, the second connecting rod 25 starts to rotate counterclockwise with the third gear 28 as the center, at this time, the angle between the first connecting rod 24 and the second connecting rod 25 starts to increase, when the ends of the first connecting rod 24 and the second connecting rod 25, which are far away from the supporting rod 5, start to be far away from each other, the two clamping jaws 19 start to be far away from each other, which is a loosening process, when the clamping motor 17 controls the first rotating shaft 20 to rotate counterclockwise, the second gear 27 on the first connecting rod 24 also starts to rotate counterclockwise, at this time, because the third gear 28 is meshed with the second gear 27, the second gear 27 starts to rotate clockwise, at this time, the first connecting rod 24 starts to rotate counterclockwise around the second gear 27, the second connecting rod 25 starts to rotate clockwise around the third gear 28, at this time, the angle between the first connecting rod 24 and the second connecting rod 25 starts to decrease, the ends of the first connecting rod 24 and the second connecting rod 25, which are far away from the supporting rod 5, start to approach each other, the two clamping jaws 19 start to approach each other, which is a clamping process, when the pressure sensor on the clamping jaws 19 senses that the, the pressure sensor sends an electric signal to the control unit 7, the control unit 7 sends an electric signal to the clamping motor 17 to cut off the power, and the clamping jaws 19 are not close to each other at the moment, so that the clamped pineapple cup clamping jaws 19 are protected from clamping the damaged surface.

The cutting assembly comprises a second control chamber 31, two cutting blades 32 and a cutting motor 33, the cutting motor 33 is horizontally arranged on one side of the second control chamber 31 close to the support rod 5, an output shaft of the cutting motor 33 penetrates through the second control chamber 31 to extend inwards, a second worm 34 is arranged at the extending end of the cutting motor 33, a third rotating shaft 35 and a fourth rotating shaft 36 are vertically arranged in the second control chamber 31 at intervals, the upper end and the lower end of each of the third rotating shaft 35 and the fourth rotating shaft 36 are hinged with the second control chamber 31, a fourth gear 37 meshed with the second worm 34 is horizontally arranged on the third rotating shaft 35, one ends of the two cutting blades 32 are fixedly connected with the third rotating shaft 35 and the first rotating shaft 20, the two cutting blades 32 are arranged at a certain angle, one end of each cutting blade 32 close to the support rod 5 is provided with a fifth gear 38 meshed with each other, a third avoiding hole for avoiding the two cutting blades 32 is arranged on one side of the second control chamber 31 far, the control unit 7 is electrically connected to the cutting motor 33 through a wire. When the distance sensor 30 senses the position of the pineapple, the position sensor sends an electric signal to the control unit 7, the control unit 7 sends an electric signal to the cutting motor 33, so that the cutting motor 33 starts to work, the angle between the two cutting blades 32 increases or decreases when the cutting motor 33 is energized to rotate, in the process, when the cutting motor 33 rotates clockwise, the second worm 34 on the output shaft of the cutting motor 33 also starts to rotate clockwise, the fourth gear 37 engaged with the second worm 34 also starts to rotate clockwise, the fourth gear 37 is fixedly connected with the third rotating shaft 35, so that the third rotating shaft 35 also starts to rotate clockwise, the two fifth gears 38 on the third rotating shaft 35 and the fourth rotating shaft 36 start to rotate towards each other, the angle between the two cutting blades 32 starts to decrease continuously until the rootstocks of the pineapple are cut off, this is the cutting process, when the cutting motor 33 rotates counterclockwise, the second worm 34 on the output shaft of the cutting motor 33 also starts to rotate counterclockwise, the fourth gear 37 engaged with the second worm 34 also starts to rotate counterclockwise, the fourth gear 37 is fixedly connected with the third rotating shaft 35, so the third rotating shaft 35 also starts to rotate counterclockwise, the two fifth gears 38 on the third rotating shaft 35 and the fourth rotating shaft 36 start to rotate back to back, the angle between the two cutting blades 32 starts to increase continuously, and the cut rhizome is loosened, which is the loosening process. The driving assembly comprises a second driving motor 39 and a transmission box 40, the transmission box 40 is horizontally arranged at the outer side of one end of the support frame 2 far away from the power supply 6, the bottom of the transmission box 40 is fixedly connected with the platform truck 1, the second driving motor 39 is horizontally arranged at one side of the length direction of the transmission box 40, an output shaft of the second driving motor 39 penetrates through the transmission box 40 to extend inwards, a driving tooth 41 is vertically arranged at the extending end of the output shaft, a transmission shaft 42 is horizontally arranged below the platform truck 1, the axial direction of the transmission shaft 42 is mutually parallel to the axial direction of the output shaft of the second driving motor 39 and is positioned on the same plane, two ends of the transmission shaft 42 are provided with hinged seats for fixing, the transmission shaft 42 is fixedly provided with a first driven tooth 43 and a second driven tooth 44, the first driven tooth 43 is connected with the driving tooth 41 through a first chain 45, the platform truck 1 is provided with a third avoiding hole for avoiding, the wheel shaft 53 of the platform truck 1 is provided with a third driven tooth 47, the second driven tooth 44 is connected with the third driven tooth 47 through a second chain 48, and the control unit 7 is electrically connected with the second driving motor 39 through a wire. When the distance sensor 30 does not sense the position of the pineapple, the distance sensor 30 sends an electric signal to the control unit 7, the control unit 7 sends an electric signal to the second driving motor 39 to electrify the second driving motor 39, when the second driving motor 39 rotates clockwise, the driving tooth 41 on the second driving motor 39 also starts to rotate clockwise, the first driven tooth 43 connected with the first chain 45 starts to rotate clockwise, the first driven tooth 43 is fixedly connected with the transmission shaft 42, the second driven tooth 44 also starts to rotate clockwise, the third driven tooth 47 on the wheel shaft 53 also starts to rotate clockwise under the action of the second chain 48, the whole equipment starts to move forward, when the second driving motor 39 rotates counterclockwise, the driving tooth 41 on the second driving motor 39 also starts to rotate counterclockwise, the first driven tooth 43 connected with the first chain 45 starts to rotate counterclockwise, since the first driven tooth 43 is fixedly connected with the transmission shaft 42, the second driven tooth 44 also starts to rotate anticlockwise, at this time, the third driven tooth 47 on the wheel shaft 53 also starts to rotate anticlockwise under the action of the second chain 48, at this time, the whole equipment starts to move backwards, when the distance sensor 30 senses the position of the pineapple, the distance sensor 30 sends an electric signal to the control unit 7 at this time, the second driving motor 39 is controlled to send an electric signal to stop rotating, and at this time, the whole equipment stops moving.

The angle between the first and second connecting

rods

24 and 25 is greater than the angle between the two cutting blades 32. When the distance sensor 30 senses the position of the pineapple, at this time, the distance sensor 30 sends an electric signal to the control unit 7, and the control unit 7 sends an electric signal to the clamping motor 17 and the cutting motor 33 to simultaneously rotate or stop the clamping motor 17 and the cutting motor 33, because the fruit of the pineapple has a diameter larger than that of the root, and the angle between the first connecting rod 24 and the second connecting rod 25 is larger than that between the two cutting blades 32, the two cutting blades 32 can just cut off the root of the pineapple while the two clamping pieces clamp the pineapple.

The one end that power 6 was kept away from to platform truck 1 is provided with shallow handle 49, and shallow handle 49 top is provided with control panel 50, and the control unit 7 passes through the wire to be connected with control panel 50 electricity, 2 bottoms of support frame are provided with the material section of thick bamboo 51 that holds that is used for holding the pineapple, hold the material section of thick bamboo 51 bottom and pass through the buckle and be connected with 1 top of platform truck. When the clamping assembly picks the pineapples from the rootstocks, the pineapples can be just placed into the material containing barrel 51, the bottom of the material containing barrel 51 can be replaced by the material containing barrel 51 with different sizes through buckling connection, the stability of the material containing barrel 51 can be ensured in the moving process, the control panel 50 is provided with a switch, when the pineapples are not to be picked, the automatic picking function can be turned off through the control panel 50, and a worker can push the device by hands.

The working principle is as follows: when the picking personnel need to pick the pineapples, the picking personnel pushes the device to the field ridge of the pineapples, at the moment, the color personnel open a switch on a control panel 50, at the moment, the device starts to work, when the distance sensor 30 does not sense the position of the pineapples, at the moment, the distance sensor 30 sends an electric signal to a control unit 7, the control unit 7 sends an electric signal to a second driving motor 39, so that the second driving motor 39 is electrified to work, when the second driving motor 39 rotates clockwise, a driving tooth 41 on the second driving motor 39 also starts to rotate clockwise, at the moment, a first driven tooth 43 connected with a first chain 45 starts to rotate clockwise, because the first driven tooth 43 is fixedly connected with a transmission shaft 42, a second driven tooth 44 also starts to rotate clockwise, at the moment, a third driven tooth 47 on a lower wheel shaft 53 under the action of the second chain 48 also starts to rotate clockwise, the whole device starts to move forward at this time, when the distance sensor 30 senses the position of the pineapple, the distance sensor 30 sends an electric signal to the control unit 7 at this time, the control unit controls the second driving motor 39 to stop rotating by sending an electric signal to the large heater, the whole device stops moving at this time, the distance sensor 30 sends an electric signal to the control unit 7 at this time, the control unit 7 sends an electric signal to the two first driving motors 8 to energize the two first driving motors 8 to work, when the two first driving motors 8 energize and rotate, the two first driving motors 8 drive the two output shafts to start rotating, when the two output shafts rotate clockwise, the lifting plate 4 connected with the two output shafts by screw threads starts to move upward, which is an upward movement, when the two output shafts rotate counterclockwise, the lifting plate 4 connected with the two output shafts by screw threads starts to move downward, which is a downward movement, when the lifting plate 4 is lifted to a proper height, the distance sensor 30 sends an electric signal to the controller, the controller sends an electric signal to the two first driving motors 8 and the lifting motor, the two first driving motors 8 stop working, the rotating motor 13 starts to work, the output shaft on the rotating motor 13 starts to rotate, when the output shaft of the rotating motor 13 rotates clockwise, the supporting rod 5 in threaded connection with the rotating motor 13 starts to move to one side of the width direction of the lifting plate 4, when the output shaft of the rotating motor 13 starts to rotate anticlockwise, the supporting rod 5 in threaded connection with the rotating motor 13 starts to move to the other side of the width direction of the lifting plate 4, when the supporting rod 5 moves to a proper position on the lifting plate 4, the distance sensor 30 sends an electric signal to the control unit 7, and the control unit 7 rotates the motor 13 to stop rotating, at this time, the distance sensors 30 respectively send electric signals to the control unit 7, the control unit 7 respectively sends electric signals to the gripping motor 17 and the cutting motor 33, at this time, the gripping motor 17 and the cutting motor 33 start to be powered on, when the gripping motor 17 rotates counterclockwise, the first worm 23 simultaneously starts to rotate counterclockwise, at this time, the first gear 22 engaged with the first worm 23 also starts to rotate counterclockwise, the first gear 22 is fixedly connected with the first rotating shaft 20, so the first rotating shaft 20 also starts to rotate counterclockwise, when the gripping motor 17 controls the first rotating shaft 20 to rotate counterclockwise, at this time, the second gear 27 on the first connecting rod 24 also starts to rotate counterclockwise, at this time, because the third gear 28 is engaged with the second gear 27, the second gear 27 starts to rotate clockwise, at this time, the first connecting rod 24 starts to rotate counterclockwise around the second gear 27, the second connecting rod 25 starts to rotate clockwise around the third gear 28, at this time, the angle between the first connecting rod 24 and the second connecting rod 25 starts to decrease, the ends of the first connecting rod 24 and the second connecting rod 25 far away from the supporting rod 5 start to approach each other, the two clamping jaws 19 start to approach each other, when the pressure sensor on the clamping jaws 19 senses that the pressure increases to a certain degree, the pressure sensor sends an electric signal to the control unit 7, the control unit 7 sends an electric signal to the clamping motor 17 to cut off the power, the clamping jaws 19 do not approach each other at this time, so as to protect the clamped pineapple cup clamping jaws 19 from clamping a damaged surface, at this time, when the cutting motor 33 rotates clockwise, the second worm 34 on the output shaft of the cutting motor 33 also starts to rotate clockwise, at this time, the fourth gear 37 engaged with the second worm 34 also starts to rotate clockwise, the fourth gear 37 is fixedly connected with the third rotating shaft 35, therefore, the third rotating shaft 35 starts to rotate clockwise, at this time, the two fifth gears 38 on the third rotating shaft 35 and the fourth rotating shaft 36 start to rotate in opposite directions, the angle between the two cutting blades 32 starts to decrease until the roots of the pineapple are cut off, at this time, the supporting rod 5 moves the whole pineapple above the holding cylinder 51, at this time, the clamping motor 17 starts to rotate, the output shaft of the clamping motor 17 starts to rotate, at this time, the first worm 23 on the extending end of the clamping motor 17 also starts to rotate clockwise, when the clamping motor 17 rotates clockwise, the first worm 23 simultaneously starts to rotate clockwise, at this time, the first gear 22 engaged with the first worm 23 also starts to rotate clockwise, the first gear 22 is fixedly connected with the first rotating shaft 20, so the first rotating shaft 20 also starts to rotate clockwise, when the clamping motor 17 controls the first rotating shaft 20 to rotate clockwise, at this time, the second gear 27 on the first connecting rod 24 also starts to rotate clockwise, at this time, because the third gear 28 is meshed with the second gear 27, the second gear 27 starts to rotate counterclockwise, at this time, the first connecting rod 24 starts to rotate clockwise around the second gear 27, the second connecting rod 25 starts to rotate counterclockwise around the third gear 28, at this time, the angle between the first connecting rod 24 and the second connecting rod 25 starts to increase, the ends, away from the supporting rod 5, of the first connecting rod 24 and the second connecting rod 25 start to separate from each other, the two clamping jaws 19 start to separate from each other, the pineapples are released and placed into the accommodating barrel 51, the whole pineapple picking process is completed, and at this time, the device repeats the above processes to continue picking the pineapples in the next step.

In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being either a fixed connection, a detachable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be understood that the above-described embodiments are merely illustrative of the preferred embodiments of the present invention and the technical principles thereof. It will be understood by those skilled in the art that various modifications, equivalents, changes, and the like can be made to the present invention. However, these modifications are within the scope of the present invention as long as they do not depart from the spirit of the present invention. In addition, certain terms used in the specification and claims of the present application are not limiting, but are used merely for convenience of description.

Claims

1. An automatic picking equipment of pineapple which characterized in that: comprises a platform truck (1), a support frame (2), a lifting mechanism and a clamping mechanism, wherein the support frame (2) is vertically arranged in the middle of the top end of the platform truck (1), the support frame (2) is of a box body structure, two sides of the length direction of the support frame (2) are of an open structure, the top ends of two baffle plates are horizontally provided with a power driving chamber (3), the lifting mechanism is horizontally arranged at the top end of the support frame (2), the lifting mechanism comprises a lifting plate (4), the lifting plate (4) is arranged in the support frame (2) in a lifting way, the top end of the lifting plate (4) is in transmission connection with the power driving chamber (3), the clamping mechanism is vertically arranged in the middle of the bottom end of the lifting plate (4), the clamping mechanism comprises a support rod (5) and a clamping component, the support rod (5) is vertically arranged, and the support rod (5) is arranged in the middle of the bottom end, press from both sides and get the subassembly level and set up in bracing piece (5) bottom, platform truck (1) top is close to support frame (2) one end and is provided with power (6), and the one end that power (6) were kept away from in platform truck (1) is provided with drive assembly, power drive room (3) are provided with control unit (7), and control unit (7) are connected with power (6) and drive assembly electricity respectively, and control unit (7) are connected with elevating system and clamp respectively and get the mechanism electricity.

2. The automatic pineapple picking device according to claim 1, wherein: the support frame (2) comprises two baffle plates, the two baffle plates are vertically arranged at two sides along the length direction of the platform truck (1) at intervals, the power driving chamber (3) comprises two first driving motors (8), each first driving motor (8) is vertically arranged at the bottom end of the inner side of the power driving chamber (3), an output shaft of each first driving motor (8) penetrates through the power driving chamber (3) to extend downwards, the extending end of each first driving motor (8) is of a threaded structure, the extending end of each first driving motor (8) is in threaded connection with two sides of the width direction of the lifting plate (4), the middle part of one side, close to each other, of the two baffle plates is horizontally and fixedly provided with two fixing rods (10), the lifting assembly further comprises four first guide rods (9), the four first guide rods (9) penetrate through the lifting plate (4) to be rectangular and are vertically arranged on the lifting plate (4), the top end of each first guide rod (9) is fixedly connected with the bottom end of the power driving, every first guide arm (9) bottom all with dead lever (10) fixed connection, lifter plate (4) are close to the both sides of two baffles and all are provided with two first sliders (11), and every baffle is provided with the gliding first spout of the first slider of cooperation (11), every the extension end of first driving motor (8) all articulates with dead lever (10).

3. The automatic pineapple picking device according to claim 2, wherein: the lifting plate (4) is provided with a first avoiding hole used for avoiding the supporting rod (5) along the middle part of the width direction, the length of the first avoiding hole is smaller than the width of the lifting plate (4), a rotating motor (13) is horizontally arranged on one side of the length direction of the lifting plate (4), an output shaft of the rotating motor (13) penetrates through the lifting plate (4) and extends into the first avoiding hole, the extending end of the rotating motor (13) is of a threaded structure and is in threaded connection with the supporting rod (5), the extending end of the rotating motor (13) penetrates through the supporting rod (5) and extends outwards to be hinged with the lifting plate (4), four second guide rods (14) are horizontally arranged in the first avoiding hole, each second guide rod (14) penetrates through the supporting rod (5), the two ends of each second guide rod (14) are fixedly connected with the lifting plate (4), and second sliders (15) are arranged on the two sides of the supporting rod (5) close to the first, the first avoidance hole is internally provided with a second sliding chute matched with a second sliding block (15) in the east China, the bottom end of the supporting rod (5) is horizontally and fixedly provided with a short rod (16), and one end, far away from the supporting rod (5), of the short rod (16) is horizontally and fixedly provided with a clamping assembly.

4. The automatic pineapple picking device according to claim 3, wherein: the clamping assembly comprises a clamping motor (17), a first control chamber (18) and two clamping jaws (19), the clamping motor (17) is horizontally arranged at the top end of a short rod (16), the first control chamber (18) is horizontally arranged at one end, far away from a supporting rod (5), of the short rod (16), a partition plate is horizontally arranged in the middle of the first control chamber (18) in the vertical direction, a first rotating shaft (20) and a second rotating shaft (21) are vertically arranged in the first control chamber (18) in the length direction at intervals, the bottom end of the first rotating shaft (20) is hinged with the bottom end of the first control chamber (18), the top end of the first rotating shaft (20) penetrates through the partition plate to extend upwards, a first gear (22) is horizontally and fixedly arranged at the extending end of the first rotating shaft, the output end of the clamping motor (17) penetrates through a first driving chamber to extend inwards, a first worm (23) is arranged at the extending end of the clamping motor (17), and the first worm (23) is, the top end of the second rotating shaft (21) is hinged to the partition plate, the bottom end of the second rotating shaft (21) is hinged to the bottom end of the first control chamber (18), the clamping jaws (19) are respectively in transmission connection with the first rotating shaft (20) and the second rotating shaft (21), the top end of the first control chamber (18) is provided with an inclined rod (52), the bottom end of the inclined rod (52) is fixedly connected with the top end of the first control chamber (18), and the top end of the inclined rod (52) is fixedly connected with one side, close to the first control chamber (18), of the supporting rod (5).

5. The automatic pineapple picking device according to claim 4, wherein: a first connecting rod (24) and a second connecting rod (25) are respectively fixedly arranged at the lower parts of the first rotating shaft (20) and the second rotating shaft (21), the first connecting rod (24) and the second connecting rod (25) are arranged at a certain angle, the two clamping jaws (19) are respectively arranged at one ends of the first connecting rod (24) and the second connecting rod (25) far away from the first control chamber (18), a pressure sensor (26) is arranged at one side where the clamping jaws (19) are close to each other, a second gear (27) is arranged at one end of the first connecting rod (24) close to the first rotating shaft (20), a third gear (28) meshed with the second gear (27) is arranged at one end of the second connecting rod (25) close to the first rotating shaft (20), and a second avoiding hole for avoiding the first connecting rod (24) and the second connecting rod (25) is arranged at one side of the first control chamber (18) far away from the supporting rod (5), the cutting assembly is arranged at the bottom end of the first control chamber (18), a distance sensor (30) is arranged on one side, close to the clamping jaw (19), of the first control chamber (18), the control unit (7) is electrically connected with the pressure sensor and the distance sensor (30) through wires respectively, and the control unit (7) is electrically connected with the clamping motor (17) through wires.

6. The automatic pineapple picking device according to claim 5, wherein: the cutting assembly comprises a second control chamber (31), two cutting blades (32) and a cutting motor (33), the cutting motor (33) is horizontally arranged on one side, close to the supporting rod (5), of the second control chamber (31), an output shaft of the cutting motor (33) penetrates through the second control chamber (31) to extend inwards, a second worm (34) is arranged at the extending end of the cutting motor (33), a third rotating shaft (35) and a fourth rotating shaft (36) are vertically arranged in the second control chamber (31) at intervals, the upper end and the lower end of the third rotating shaft (35) and the upper end and the lower end of the fourth rotating shaft (36) are hinged with the second control chamber (31), a fourth gear (37) meshed with the second worm (34) is horizontally arranged on the third rotating shaft (35), one ends of the two cutting blades (32) are fixedly connected with the third rotating shaft (35) and the first rotating shaft (20), the two cutting blades (32) are arranged at a certain angle, one end of each cutting blade (32) close to the supporting rod (5) is provided with a fifth gear (38) which is meshed with each other, one side, far away from the supporting rod (5), of the second control chamber (31) is provided with a third avoiding hole used for avoiding the two cutting blades (32), and the control unit (7) is electrically connected with the cutting motor (33) through a conducting wire.

7. The automatic pineapple picking device according to claim 1, wherein: the driving assembly comprises a second driving motor (39) and a transmission box (40), the transmission box (40) is horizontally arranged at the outer side of one end, far away from the power supply (6), of the supporting frame (2), the bottom of the transmission box (40) is fixedly connected with the platform truck (1), the second driving motor (39) is horizontally arranged on one side of the length direction of the transmission box (40), an output shaft of the second driving motor (39) penetrates through the transmission box (40) to extend inwards, a driving tooth (41) is vertically arranged at the extending end of the output shaft, a transmission shaft (42) is horizontally arranged below the platform truck (1), the axis direction of the transmission shaft (42) and the axis direction of the output shaft of the second driving motor (39) are mutually parallel and are positioned on the same plane, hinged seats for fixing are arranged at two ends of the transmission shaft (42), and a first driven tooth (43) and a second driven tooth (44) are fixedly arranged on the transmission shaft, first driven tooth (43) are connected through first chain (45) with drive tooth (41), platform truck (1) is provided with the third that is used for dodging first chain (45) and dodges the hole, be provided with third driven tooth (47) on platform truck (1) axletree (53), second driven tooth (44) are connected through second chain (48) with third driven tooth (47), control unit (7) are connected through wire second driving motor (39) electricity.

8. The automatic pineapple picking device according to claim 6, wherein: the angle between the first connecting rod (24) and the second connecting rod (25) is larger than the angle between the two cutting blades (32).

9. The automatic pineapple picking device according to claim 1, wherein; the one end that power (6) were kept away from in platform truck (1) is provided with shallow handle (49), and shallow handle (49) top is provided with control panel (50), and control unit (7) are connected through wire and control panel (50) electricity, support frame (2) bottom is provided with holds feed cylinder (51) that is used for holding the pineapple, holds feed cylinder (51) bottom and is connected with platform truck (1) top through the buckle.