CN210143323U

CN210143323U - Pineapple picking machine

Info

Publication number: CN210143323U
Application number: CN201920685519.6U
Authority: CN
Inventors: 李玲玲; 王金龙; 周全; 刘正海; 刘国龙; 阴志铭; 徐广普; 马硕; 李猛
Original assignee: University of Science and Technology Liaoning USTL
Current assignee: University of Science and Technology Liaoning USTL
Priority date: 2019-05-14
Filing date: 2019-05-14
Publication date: 2020-03-17
Anticipated expiration: 2029-05-14

Abstract

The utility model relates to a pineapple picking machine, which comprises a walking mechanism, a picking mechanism, a conveying mechanism, an identifying and steering mechanism, a stem removing mechanism and a collecting and arranging mechanism; the traveling mechanism comprises a vehicle body and wheels; the picking mechanisms are 2 groups which are respectively arranged at two sides in front of the vehicle body, the outer side of each group of picking mechanisms is correspondingly provided with 1 group of conveying mechanisms, and a conveying belt is arranged in each group of conveying mechanisms along the longitudinal direction of the vehicle body; 2 groups of identification steering mechanisms are respectively arranged on the corresponding conveyor belts; each group of identification steering mechanisms respectively consists of a color identification camera, a steering deflector rod and a steering motor; the stem removing mechanisms are 2 groups, and each group of stem removing mechanisms consists of a rotating disk, a rotating motor, a stem cutting knife and a stem cutting motor; the collecting and arranging mechanism consists of a six-degree-of-freedom manipulator and a collecting box. The utility model discloses the collection is picked, is passed, is gone the stem, is vanned, arranges in order in an organic whole, and whole journey can realize automatic operation, has greatly improved work efficiency.

Description

Pineapple picking machine

Technical Field

The utility model relates to a technical field is picked in the crops mechanization, especially relates to a pineapple picking machine.

Background

Pineapple is native to amazon river basin of brazil and yerba mate in south america, and is transferred from brazil to china in the 16 th century. Now, the fruit is one of the fruits which are frequently eaten by residents in China. The pineapple picking in China is mainly finished manually, time and labor are consumed, and the quality of the pineapples is reduced due to improper picking; pineapple grows in the center of the rosette-shaped leaf cluster, barbs are distributed on the edges of the leaves, and operators are easily scratched when the pineapple is picked manually.

At present, a plurality of machines for picking pineapples are provided, and the machines are portable in a hand-held mode, semi-automatic and full-automatic; the hand-held portable pineapple picker has high labor intensity, low picking and collecting efficiency and incapability of avoiding the scratch of an operator by blades. The semi-automatic cutting operation and other operations need to be completed manually, and the work efficiency is low. The existing full-automatic pineapple picking machine is not complete in function, and some pineapples have a stem removing function, but the directions of the picked pineapples are difficult to determine, so that misoperation is often caused, and pineapple fruits are damaged. Most pineapple picking machines cannot automatically finish the operations of trimming and boxing after stem removal.

Disclosure of Invention

The utility model provides a pineapple picking machine collects and picks, transports, goes the stem, vanning, arranges in an organic whole, and whole journey can realize automatic operation, has greatly improved work efficiency, has reduced operator's intensity of labour, avoids the pineapple picking process to cause the personal damage to the operator.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a pineapple picking machine comprises a traveling mechanism, a picking mechanism, a conveying mechanism, an identification steering mechanism, a stem removing mechanism and a collecting and arranging mechanism; the walking mechanism comprises a vehicle body and wheels, and the picking mechanism, the conveying mechanism, the identifying and steering mechanism, the stem removing mechanism and the collecting and arranging mechanism are all arranged on the vehicle body; the picking mechanisms are 2 groups which are respectively arranged at two sides in front of the vehicle body, and picking knives for picking pineapples from trees are respectively arranged in each group of picking mechanisms; the outer side of each group of picking mechanisms is correspondingly provided with 1 group of conveying mechanisms, and a conveying belt is arranged in each group of conveying mechanisms along the longitudinal direction of the vehicle body; 2 groups of identification steering mechanisms are respectively arranged on the corresponding conveyor belts and used for adjusting one end of the pineapple fruit to face the tail end direction of the conveyor belts; each group of identification steering mechanisms respectively consists of a color identification camera, a steering deflector rod and a steering motor, the color identification camera is arranged above a conveyor belt at the upstream of the steering deflector rod along the conveying direction of the pineapples, the steering deflector rod and the steering motor are arranged above the conveyor belt, motor shafts of the steering deflector rod and the steering motor are vertically arranged, and the steering deflector rod is eccentrically connected with the motor shafts through cranks and is driven to rotate by the steering motor; the color recognition camera, the steering motor and the driving motor of the conveyor belt are connected through a control system; the stem removing mechanism is 2 groups, each group of stem removing mechanism consists of a rotating disc, a rotating motor, a stem cutting knife and a stem cutting motor, the rotating disc is arranged at the tail end of the corresponding conveying belt and is driven by the rotating motor to horizontally rotate, a plurality of grooves are formed in the rotating disc, the height of each groove is matched with the height of a pineapple fruit, the stem cutting knife is arranged above the corresponding groove of the rotating disc, and the stem cutting motor drives the stem cutting knife to rotate so as to cut off the stem of the pineapple; the collecting and arranging mechanism consists of a plurality of six-degree-of-freedom mechanical arms and a plurality of collecting boxes, the collecting boxes and the six-degree-of-freedom mechanical arms are arranged at the rear part of the vehicle body, and the six-degree-of-freedom mechanical arms are used for carrying the collecting boxes.

The traveling mechanism consists of a vehicle body, 4 wheels and 4 traveling driving motors, wherein the 4 wheels are arranged at the bottom of the vehicle body, the 4 wheels are respectively driven by the corresponding traveling driving motors, and the traveling driving motors are connected with a control system.

Each group of picking mechanisms is respectively provided with a picking disc, a picking motor, a cantilever rod and a picking knife; the picking motor is fixed at the front part of the vehicle body through a picking motor frame, an output shaft of the picking motor is connected with a picking disc through a coupler, 2 horizontal cantilever rods are arranged on the outer side of the picking disc, the 2 cantilever rods are oppositely arranged along the radial direction of the picking disc, one end of each cantilever rod is fixedly connected with the picking disc, the other end of each cantilever rod is suspended outside the vehicle body, a picking knife is arranged at the extending end of each cantilever rod, the picking knife is arranged along the tangential direction of the picking disc, one side of a cutting edge faces the outer side of the picking disc, and a push plate is arranged on one side of the back; under the drive of a picking motor, 2 cantilever rods drive 2 picking knives to rotate around the axis of the picking disk; the picking motor is connected with the control system.

Each group of conveying mechanisms consists of a conveying belt, belt pulleys and belt pulley driving motors, the conveying belt is wound on 2 belt pulleys, one belt pulley is connected with the belt pulley driving motor, the belt pulley drives the conveying belt to move under the driving action of the belt pulley driving motor, and the conveying belt positioned on the upper layer moves backwards from the front of the vehicle body; the belt wheel driving motor is connected with the control system; the baffle is installed respectively to the both sides of conveyer belt, corresponds to and establishes cowl in the conveyer belt outside of steering motor below, and cowl's radius is greater than the radius of gyration of pineapple.

Each group of stem removing mechanisms consists of a rotating disc, a rotating motor, a stem cutting knife and a stem cutting motor, the rotating motor is fixed on the vehicle body through a rotating motor frame, the middle part of the rotating disc is connected with an output shaft of the rotating motor and horizontally rotates under the driving of the rotating motor, a plurality of grooves are formed in the rotating disc, and the height of each groove is matched with the height of the pineapple fruits; the stem cutting motor is arranged on one side of the rotating disc, and the middle part of the stem cutting knife is connected with an output shaft of the stem cutting motor and is driven by the stem cutting motor to horizontally rotate; the stem cutting motor is connected with the control system; an annular supporting plate is arranged at the bottom of the groove corresponding to the rotating disc and does not rotate along with the rotating disc, an opening is arranged on the annular supporting plate and is positioned on one side of the rotating disc, which faces the vehicle body, and the shape and the size of the opening are matched with the shape and the size of the bottom surface of one groove in the rotating disc; the collecting box is arranged on the vehicle body below the opening.

The stem cutter is obliquely arranged, and the connecting line of the cutter back and the cutter edge forms an included angle of 20-40 degrees with the horizontal line.

The six-degree-of-freedom manipulator comprises a longitudinal moving mechanism, a transverse moving mechanism, a lifting mechanism and a carrying manipulator, wherein the longitudinal moving mechanism comprises a longitudinal guide rail, a longitudinal moving sliding block and a longitudinal moving motor; the carrying manipulator can do transverse reciprocating motion along the transverse guide rail along with the lifting mechanism under the driving of the transverse moving motor; the carrying mechanism hand driven by the longitudinal moving motor can do longitudinal reciprocating movement along the longitudinal guide rail together with the lifting mechanism and the transverse moving mechanism, so that six-degree-of-freedom movement is realized; the six-degree-of-freedom manipulator is connected with the control system.

Compared with the prior art, the beneficial effects of the utility model are that:

1) the picking knife is connected with the picking disc through the cantilever rod, so that the picking knife can better adapt to the height of the pineapples; 2 picking knives are oppositely arranged on the picking disk, so that each circle of the picking disk rotates for 2 times, and the picking efficiency is improved;

2) the conveying distance is long, and the pineapples are not damaged in the conveying process;

3) the pineapple conveying belt is provided with an identification steering mechanism, the state of the pineapples on the conveying belt is automatically identified through a color identification camera, green indicates that the stems are in front, yellow indicates that the fruits are in front, and identification is accurate; the color recognition camera is interlocked with the steering motor through the control system, when the pineapples need to be steered, the steering motor is automatically started, and the pineapples are horizontally rotated by 180 degrees through the steering deflector rod, so that automatic steering is realized, and the subsequent stem cutting operation is facilitated;

4) the stem removing mechanism adopts a rotating disc to convert the pineapple from a horizontal state to a vertical state with upward stem, and then utilizes a rotating stem cutting knife to cut off the stem of the pineapple, so that the stem removing mechanism is simple in structure and reliable in action; the bottom of the rotating disc is provided with an annular supporting plate, pineapples falling into the groove are supported by the annular supporting plate at one side close to the conveying belt to be subjected to stem cutting operation, and the pineapples after stem cutting automatically fall into a collecting box below the conveying belt through a notch arranged on the annular supporting plate at one side far away from the conveying belt, so that the pineapples are automatically collected;

5) the six-degree-of-freedom mechanical arm is arranged, and the carrying mechanical arm can freely move in the up-down direction, the left-right direction and the front-back direction, so that the carrying and sorting of the collecting box are realized;

6) the driving devices in the walking mechanism, the picking mechanism, the conveying mechanism, the identification steering mechanism, the stem removing mechanism and the collection and arrangement mechanism are connected through the control system, manual control in a vehicle-mounted and/or remote control mode can be realized through a control box or a controller arranged on a vehicle body in the picking, arrangement and boxing processes of pineapples, and full-automatic control can be further realized through program setting.

Drawings

Fig. 1 is a schematic perspective view of the pineapple picking machine of the present invention.

Fig. 2 is a schematic view of the three-dimensional structure of the picking mechanism, the conveying mechanism and the identification steering mechanism of the present invention.

Fig. 3 is a schematic perspective view of the stem removing mechanism of the present invention.

Fig. 4 is a schematic view of a three-dimensional structure of a six-degree-of-freedom manipulator according to the present invention.

In the figure: 1. the pineapple picking machine comprises a machine body 2, a stem removing mechanism 2-1, a stem cutting motor 2-2, a stem cutting knife 2-3, a rotating motor 2-4, a rotating motor frame 2-5, a rotating disc 2-6, a groove 3, a conveying mechanism 3-1, a belt pulley 3-2, a conveying belt 3-3, a baffle 4, a color recognition camera 4-1, a color recognition camera 4-2, a supporting frame 4-3, a steering motor 5, a picking mechanism 5-1, a picking motor 5-2, a picking disc 5-3, a picking knife 6, a six-degree-of-freedom manipulator 6-1, a longitudinal guide rail 6-2, a transverse guide rail 6-3, a longitudinal moving motor 6-4, a transverse moving motor 6-5, a lifting mechanism 6-6, a carrying manipulator 7, a collecting box 8 and pineapples.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:

as shown in fig. 1, the pineapple picking machine of the present invention comprises a traveling mechanism, a picking mechanism 5, a conveying mechanism 3, a recognition steering mechanism 4, a stem removing mechanism 2 and a collecting and arranging mechanism; the walking mechanism comprises a vehicle body 1 and wheels, and the picking mechanism 5, the conveying mechanism 3, the identifying and steering mechanism 4, the stem removing mechanism 2 and the collecting and arranging mechanism are all arranged on the vehicle body 1; as shown in fig. 2, the picking mechanisms 5 are 2 groups which are respectively arranged at the two sides of the front part of the vehicle body 1, and picking knives 5-3 are respectively arranged in each group of picking mechanisms 5 and used for picking pineapples 8 from trees; the outer side of each group of picking mechanisms 5 is correspondingly provided with 1 group of conveying mechanisms 3, and a conveying belt 3-2 is arranged in each group of conveying mechanisms 3 along the longitudinal direction of the vehicle body 1; the 2 groups of identification steering mechanisms 4 are respectively arranged on the corresponding conveyor belts 3-2 and used for adjusting one ends of the pineapples 8 to face the tail end direction of the conveyor belts 3-2; each group of identification steering mechanisms 4 respectively consists of a color identification camera 4-1, a steering deflector rod and a steering motor 4-3, the color identification camera 4-1 is arranged above a conveyor belt 3-2 at the upstream of the steering deflector rod along the conveying direction of the pineapple 8, the steering deflector rod and the steering motor 4-3 are arranged above the conveyor belt 3-2, motor shafts of the steering deflector rod and the steering motor 4-3 are both vertically arranged, and the steering deflector rod is eccentrically connected with the motor shafts through cranks and is driven to rotate by the steering motor 4-3; the color identification camera 4-1, the steering motor 4-3 and the driving motor of the conveyor belt 3-2 are connected through a control system; the stem removing mechanisms 2 are 2 groups, each group of stem removing mechanisms 2 consists of a rotating disk 2-5, a rotating motor 2-3, a stem cutting knife 2-2 and a stem cutting motor 2-1, the rotating disk 2-5 is arranged at the tail end of the corresponding conveying belt 3-2 and is driven by the rotating motor 2-3 to horizontally rotate, a plurality of grooves 2-6 are formed in the rotating disk 2-5, the height of each groove 2-6 is matched with the height of a fruit of the pineapple 8, the stem cutting knife 2-2 is arranged above each groove 2-6 of the rotating disk 2-5 and is driven by the stem cutting motor 2-1 to rotate to cut off the stem of the pineapple 8; the collecting and arranging mechanism consists of six-degree-of-freedom mechanical arms 6 and a plurality of collecting boxes 7, the collecting boxes 7 and the six-degree-of-freedom mechanical arms 6 are arranged at the rear part of the vehicle body 1, and the six-degree-of-freedom mechanical arms 6 are used for carrying the collecting boxes 7.

The walking mechanism is composed of a vehicle body 1, 4 wheels and 4 walking driving motors, wherein the 4 wheels are arranged at the bottom of the vehicle body 1, the 4 wheels are respectively driven by the corresponding walking driving motors, and the walking driving motors are connected with a control system.

As shown in fig. 2, each picking mechanism 5 is respectively provided with a picking disc 5-2, a picking motor 5-1, a cantilever rod and a picking knife 5-3; the picking motor 5-1 is fixed at the front part of the vehicle body 1 through a picking motor frame, an output shaft of the picking motor 5-1 is connected with a picking disc 5-2 through a coupler, 2 horizontal cantilever rods are arranged on the outer side of the picking disc 5-2, the 2 cantilever rods are arranged along the radial direction of the picking disc 5-2 oppositely, one end of each cantilever rod is fixedly connected with the picking disc 5-2, the other end of each cantilever rod is suspended outside the vehicle body 1, a picking knife 5-3 is arranged at the extending end of each cantilever rod, the picking knife 5-3 is arranged along the tangential direction of the picking disc 5-2, one side of each cutting edge faces the outer side of the picking disc 5-2, and a push plate is arranged on one side of the back of; under the drive of a picking motor 5-1, 2 cantilever rods drive 2 picking knives 5-3 to rotate around the axis of a picking disc 5-2; the picking motor 5-1 is connected with a control system.

As shown in fig. 2, each group of transmission mechanisms 3 consists of a transmission belt 3-2, a belt pulley 3-1 and a belt pulley driving motor, the transmission belt 3-2 is wound on 2 belt pulleys 3-1, one belt pulley 3-1 is connected with the belt pulley driving motor, the belt pulley 3-1 drives the transmission belt 3-2 to move under the driving action of the belt pulley driving motor, and the transmission belt 3-2 on the upper layer moves backwards from the front of the vehicle body 1; the belt wheel driving motor is connected with the control system; the two sides of the conveyor belt 3-2 are respectively provided with a baffle 3-3, the outer side of the conveyor belt 3-2 below the corresponding steering motor 4-3 is provided with an arc baffle, and the radius of the arc baffle is larger than the turning radius of the pineapple 8.

As shown in fig. 3, each group of stem removing mechanisms 2 consists of a rotating disk 2-5, a rotating motor 2-3, a stem cutting knife 2-2 and a stem cutting motor 2-1, wherein the rotating motor 2-3 is fixed on the vehicle body 1 through a rotating motor frame 2-4, the middle part of the rotating disk 2-5 is connected with an output shaft of the rotating motor 2-3 and is driven by the rotating motor 2-3 to horizontally rotate, a plurality of grooves 2-6 are arranged in the rotating disk 2-5, and the height of the grooves 2-6 is adapted to the fruit height of the pineapple 8; the stem cutting motor 2-1 is arranged at one side of the rotating disc 2-5, the middle part of the stem cutting knife 2-2 is connected with an output shaft of the stem cutting motor 2-1 and is driven by the stem cutting motor 2-1 to horizontally rotate; the stem cutting motor 2-1 is connected with a control system; an annular supporting plate is arranged at the bottom of the groove 2-6 corresponding to the rotary disk 2-5 and does not rotate along with the rotary disk 2-5, an opening is arranged on the annular supporting plate and is positioned at one side of the rotary disk 2-5 facing the vehicle body 1, and the shape and the size of the opening are matched with the shape and the size of the bottom surface of one groove 2-6 in the rotary disk 2-5; the car body 1 below the gap is provided with a collecting box 7.

The stem cutting knife 2-2 is obliquely arranged, and the connecting line of the knife back and the knife edge forms an included angle of 20-40 degrees with the horizontal line.

As shown in fig. 4, the six-degree-of-freedom manipulator 6 comprises a longitudinal moving mechanism, a transverse moving mechanism, a lifting mechanism 6-5 and a carrying manipulator 6-6, wherein the longitudinal moving mechanism comprises a longitudinal guide rail 6-1, a longitudinal moving slider and a longitudinal moving motor 6-3, the transverse moving mechanism comprises a transverse guide rail 6-2, a transverse moving slider and a transverse moving motor 6-4, the carrying manipulator 6-6 is mounted on the lifting mechanism 6-5, the lifting mechanism 6-5 is connected with the transverse guide rail 6-2 through the transverse moving slider, and the transverse guide rail 6-2 is connected with the longitudinal guide rail 6-1 through the longitudinal moving slider; the carrying manipulator 6-6 can do transverse reciprocating movement along the transverse guide rail 6-2 with the lifting mechanism 6-5 under the driving of the transverse moving motor 6-4; the carrying mechanism hand 6-6 driven by the longitudinal moving motor 6-3 can do longitudinal reciprocating movement along the longitudinal guide rail 6-1 together with the lifting mechanism 6-5 and the transverse moving mechanism, thereby realizing six-degree-of-freedom movement; the six-degree-of-freedom manipulator 6 is connected with the control system.

The pineapple picking and arranging method based on the pineapple picking machine comprises the following steps:

1) after the picking route of the pineapples is determined, the pineapple picking machine is moved to the starting point position through the traveling mechanism, the traveling mechanism is driven by 4 wheels, and the advancing, retreating and steering operation can be realized through the control system;

2) the pineapple picking machine moves forward along a picking route and starts picking work at the same time, and a picking motor 5-1, a belt wheel driving motor, a color recognition camera 4-1 and a stem cutting motor 2-1 are started; the picking motor 5-1 drives the picking disc 5-2 to rotate around a horizontal axis, and the pineapples 8 are picked through the rotating motion of the picking knife 5-3 arranged at the extending end of the cantilever rod;

3) the picked pineapples 8 fall on the conveyor belt 3-2 and are conveyed to the rear of the vehicle body 1, the baffle plates 3-3 on the two sides of the conveyor belt 3-2 ensure that the pineapples 8 do not deviate from a conveying route, when the pineapples 8 pass through the color recognition camera 4-1, the color recognition camera 4-1 performs color recognition on the near ends of the pineapples 8, if the pineapples 8 are recognized to be green, the steering motor 4-3 is started, the pineapples 8 are horizontally steered by the steering poking rod for 180 degrees, and one end of the pineapples 8 passing through the recognition steering mechanism 4 is ensured to face the stem removing mechanism 2;

4) when the pineapple 8 reaches the stem removing mechanism 2, one end of the fruit automatically falls into one groove 2-6 of the lower rotating disc 2-5, and the part above the stem extends out of the groove 2-6; the rotating motor 2-3 drives the rotating disc 2-5 to rotate at a constant speed, the stem cutting motor 2-1 drives the stem cutting knife 2-2 to rotate at a constant speed, and when the pineapples 8 in the grooves 2-6 meet the stem cutting knife 2-2, the stems of the pineapples 8 are cut off by the stem cutting knife 2-2;

5) the pineapples 8 with stems cut off continuously rotate along with the rotating disc 2-5, automatically fall into the collecting box 7 below when passing through the notch on the annular tray, after the pineapples in the collecting box 7 are fully collected, the collecting box 7 filled with the pineapples is replaced by the empty collecting box 7 by the six-degree-of-freedom mechanical arm 6, and the collecting box 7 filled with the pineapples is sorted in a multi-row and multi-layer mode.

The control system is connected with a control box arranged on the vehicle body 1, and a plurality of control buttons are arranged on the control box.

The control system is connected with the controller through a wireless network, and a plurality of control buttons are arranged on the controller.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A pineapple picking machine is characterized by comprising a traveling mechanism, a picking mechanism, a conveying mechanism, an identification steering mechanism, a stem removing mechanism and a collecting and arranging mechanism; the walking mechanism comprises a vehicle body and wheels, and the picking mechanism, the conveying mechanism, the identifying and steering mechanism, the stem removing mechanism and the collecting and arranging mechanism are all arranged on the vehicle body; the picking mechanisms are 2 groups which are respectively arranged at two sides in front of the vehicle body, and picking knives for picking pineapples from trees are respectively arranged in each group of picking mechanisms; the outer side of each group of picking mechanisms is correspondingly provided with 1 group of conveying mechanisms, and a conveying belt is arranged in each group of conveying mechanisms along the longitudinal direction of the vehicle body; 2 groups of identification steering mechanisms are respectively arranged on the corresponding conveyor belts and used for adjusting one end of the pineapple fruit to face the tail end direction of the conveyor belts; each group of identification steering mechanisms respectively consists of a color identification camera, a steering deflector rod and a steering motor, the color identification camera is arranged above a conveyor belt at the upstream of the steering deflector rod along the conveying direction of the pineapples, the steering deflector rod and the steering motor are arranged above the conveyor belt, motor shafts of the steering deflector rod and the steering motor are vertically arranged, and the steering deflector rod is eccentrically connected with the motor shafts through cranks and is driven to rotate by the steering motor; the color recognition camera, the steering motor and the driving motor of the conveyor belt are connected through a control system; the stem removing mechanism is 2 groups, each group of stem removing mechanism consists of a rotating disc, a rotating motor, a stem cutting knife and a stem cutting motor, the rotating disc is arranged at the tail end of the corresponding conveying belt and is driven by the rotating motor to horizontally rotate, a plurality of grooves are formed in the rotating disc, the height of each groove is matched with the height of a pineapple fruit, the stem cutting knife is arranged above the corresponding groove of the rotating disc, and the stem cutting motor drives the stem cutting knife to rotate so as to cut off the stem of the pineapple; the collecting and arranging mechanism consists of a plurality of six-degree-of-freedom mechanical arms and a plurality of collecting boxes, the collecting boxes and the six-degree-of-freedom mechanical arms are arranged at the rear part of the vehicle body, and the six-degree-of-freedom mechanical arms are used for carrying the collecting boxes.

2. The pineapple picking machine according to claim 1, wherein the travelling mechanism comprises a vehicle body, 4 wheels and 4 travelling driving motors, the 4 wheels are arranged at the bottom of the vehicle body, the 4 wheels are respectively driven by the corresponding travelling driving motors, and the travelling driving motors are connected with the control system.

3. The pineapple picking machine of claim 1, wherein each picking mechanism is provided with a picking disc, a picking motor, a cantilever rod and a picking knife; the picking motor is fixed at the front part of the vehicle body through a picking motor frame, an output shaft of the picking motor is connected with a picking disc through a coupler, 2 horizontal cantilever rods are arranged on the outer side of the picking disc, the 2 cantilever rods are oppositely arranged along the radial direction of the picking disc, one end of each cantilever rod is fixedly connected with the picking disc, the other end of each cantilever rod is suspended outside the vehicle body, a picking knife is arranged at the extending end of each cantilever rod, the picking knife is arranged along the tangential direction of the picking disc, one side of a cutting edge faces the outer side of the picking disc, and a push plate is arranged on one side of the back; under the drive of a picking motor, 2 cantilever rods drive 2 picking knives to rotate around the axis of the picking disk; the picking motor is connected with the control system.

4. The pineapple picking machine according to claim 1, wherein each set of the conveying mechanism comprises a conveying belt, belt pulleys and a belt pulley driving motor, the conveying belt is wound on 2 belt pulleys, one of the belt pulleys is connected with the belt pulley driving motor, the belt pulleys drive the conveying belt to move under the driving action of the belt pulley driving motor, and the conveying belt on the upper layer moves from the front of the vehicle body to the rear; the belt wheel driving motor is connected with the control system; the baffle is installed respectively to the both sides of conveyer belt, corresponds to and establishes cowl in the conveyer belt outside of steering motor below, and cowl's radius is greater than the radius of gyration of pineapple.

5. The pineapple picking machine according to claim 1, wherein each set of stem removing mechanism consists of a rotating disk, a rotating motor, a stem cutter and a stem cutting motor, the rotating motor is fixed on the vehicle body through a rotating motor frame, the middle part of the rotating disk is connected with an output shaft of the rotating motor and is driven by the rotating motor to horizontally rotate, a plurality of grooves are formed in the rotating disk, and the height of each groove is adapted to the height of the pineapple fruits; the stem cutting motor is arranged on one side of the rotating disc, and the middle part of the stem cutting knife is connected with an output shaft of the stem cutting motor and is driven by the stem cutting motor to horizontally rotate; the stem cutting motor is connected with the control system; an annular supporting plate is arranged at the bottom of the groove corresponding to the rotating disc and does not rotate along with the rotating disc, an opening is arranged on the annular supporting plate and is positioned on one side of the rotating disc, which faces the vehicle body, and the shape and the size of the opening are matched with the shape and the size of the bottom surface of one groove in the rotating disc; the collecting box is arranged on the vehicle body below the opening.

6. The pineapple picking machine according to claim 1 or 5, wherein the stem cutting knife is inclined, and a line connecting the back of the stem cutting knife and the knife edge forms an included angle of 20-40 degrees with a horizontal line.

7. The pineapple picking machine according to claim 1, wherein the six-degree-of-freedom manipulator comprises a longitudinal moving mechanism, a transverse moving mechanism, a lifting mechanism and a carrying manipulator, wherein the longitudinal moving mechanism comprises a longitudinal guide rail, a longitudinal moving slider and a longitudinal moving motor, the transverse moving mechanism comprises a transverse guide rail, a transverse moving slider and a transverse moving motor, the carrying manipulator is mounted on the lifting mechanism, the lifting mechanism is connected with the transverse guide rail through the transverse moving slider, and the transverse guide rail is connected with the longitudinal guide rail through the longitudinal moving slider; the carrying manipulator can do transverse reciprocating motion along the transverse guide rail along with the lifting mechanism under the driving of the transverse moving motor; the carrying mechanism hand driven by the longitudinal moving motor can do longitudinal reciprocating movement along the longitudinal guide rail together with the lifting mechanism and the transverse moving mechanism, so that six-degree-of-freedom movement is realized; the six-degree-of-freedom manipulator is connected with the control system.