CN103430701A - Coconut picking machine - Google Patents
Coconut picking machine Download PDFInfo
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- CN103430701A CN103430701A CN2013103816375A CN201310381637A CN103430701A CN 103430701 A CN103430701 A CN 103430701A CN 2013103816375 A CN2013103816375 A CN 2013103816375A CN 201310381637 A CN201310381637 A CN 201310381637A CN 103430701 A CN103430701 A CN 103430701A
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- sliding sleeve
- grabbed
- connecting rod
- coconut
- guide plate
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Abstract
The invention discloses a coconut picking machine. The coconut picking machine mainly comprises picking tongs which are connected with the upper end of a swing arm assembly through a machine head connecting rod. The picking tongs comprise a stepping motor, a servo motor, a lead screw, a conical sliding sleeve, a cylindrical step sliding sleeve, an inner hand grab, an outer hand grab and a bearing. One end of the lead screw is connected with a rotating shaft of the stepping motor, and the other end of the lead screw is connected with the servo motor. The conical sliding sleeve and the cylindrical step sliding sleeve are arranged in the middle of the lead screw in a sleeved mode and are in thread fit with the lead screw. The front grab portion of the outer hand grab is movably connected with an outer ring of the bearing, and the back end portion of the outer hand grab is in sliding contact with the conical surface of the conical sliding sleeve through a roll ball. The front grab portion of the inner hand grab is movably connected with an inner ring of the bearing, the back end portion of the inner hand grab is in sliding contact with an inner cambered surface of the cylindrical step sliding sleeve, and a rotating shaft of the servo motor is fixedly connected with the inner hand grab. Manual picking is replaced by the coconut picking machine, the picking labor intensity is reduced, the picking efficiency is improved, and the safety of the picking operation is improved.
Description
Technical field
The present invention relates to the picking fruit device, relate in particular to a kind of coconut picking machine.
Background technology
Coconut has very high edibility and medical value, and its plantation has stronger regionality, mainly contains Philippine, Indonesia, Malaysia etc. abroad, and domestic, Hainan Province is the unique scale place of production of China.Coconut palm is a kind of aiphyllium, and trunk is straight and upright, and up to 15～30m, so every coconut harvest season, the coconut palm agriculture can be all the harvesting difficulty headache of coconut.The method that coconut is plucked at present mainly contains artificial climbing harvesting and the cutting of picking machine cutter is plucked.Artificial climbing is plucked, and labour intensity is large, efficiency is low, and the operating personnel is without life support; Complicated operation is plucked in the cutting of picking machine cutter, and carelessness is slightly arranged, and gently damages coconut and limb, and it is disconnected that heavy cutter is ruined arm.In the prior art, China fails to address this problem always, and the development of coconut picking machine is just at the early-stage.There is abroad the coconut picking robot to come out, although automaticity is higher,, picking robot can only cut and not accomplish to identify the coconut cooking level and single harvesting by whole bundle, and cost is too high, is not suitable for state of China.So the research of coconut picking machine is particularly seemed to particularly important to the research of the picking mechanism of coconut picking machine.
Summary of the invention
The object of the invention is to overcome the shortcoming and defect of prior art, a kind of simple in structure, practical coconut picking machine is provided.
The present invention is achieved through the following technical solutions:
A kind of coconut picking machine, comprise swing arm unit, for driving the swing arm driving assembly of swing arm unit, described coconut picking machine also comprises a harvesting handgrip, plucks handgrip and is connected with the upper end of swing arm unit by machine head connecting rod, and described harvesting handgrip is arranged on the leading section of machine head connecting rod;
Described harvesting handgrip comprises: stepper motor, servomotor, leading screw, conical sliding sleeve, cylinder step sliding sleeve, interior hand are grabbed, the right-hand side is grabbed, bearing;
One end of described leading screw connects the rotating shaft of stepper motor, and described conical sliding sleeve and cylinder step sliding sleeve are set in the middle part of leading screw, and conical sliding sleeve and cylinder step sliding sleeve coordinate with threads of lead screw;
The described right-hand side grab before the section of grabbing be hinged to the outer shroud of bearing, the rearward end that the right-hand side is grabbed and the conical surface of conical sliding sleeve are by the ball sliding-contact;
Described interior hand grab before the section of grabbing by the bearing pin be fixed in bearing inner ring, be rotationally connected, the intrados sliding-contact of the rearward end that interior hand is grabbed and cylinder step sliding sleeve;
The rotating shaft of described servomotor is connected with the interior ring of bearing, and in driving, hand is grabbed rotation.
Described interior hand also is provided with an interior pulldown be connected with the rotating shaft of servomotor in grabbing, between the end that interior hand is grabbed and the end of interior pulldown, be provided with buffer spring.
Described swing arm driving assembly comprises: for the motor that drives turbine and worm decelerator to rotate, for driving, determine the gear reduction that guide plate rotates, described gear reduction and turbine and worm decelerator are rotationally connected, and described bottom and the base of determining guide plate is rotationally connected;
Described swing arm unit comprises: be arranged on the first cylinder of determining on guide plate, be arranged on the second cylinder on moving guide plate, described moving guide plate with the mode that slides up and down with determine guide plate and be connected;
The rearward end of described machine head connecting rod is provided with the hinge position of two spaces, and the piston rod of the second cylinder is movably hinged by first hinge position of connecting rod and machine head connecting rod rearward end;
The upper end of described moving guide plate, the end of piston rod are movably hinged with second hinge position of machine head connecting rod rearward end respectively.
The body of described stepper motor is fixedly connected with connecting rod.
The present invention has the following advantages compared with prior art:
Stepper motor drives leading screw and rotates, and conical sliding sleeve and cylinder step slide on leading screw and slide; The rearward end that interior hand is grabbed promotes by cylinder step sliding sleeve, make interior hand grab front end Quick-clamped coconut, the rearward end that the right-hand side is grabbed advances and opens by conical sliding sleeve, the front end that the right-hand side is grabbed clamps the coconut base of fruit, stepper motor stops subsequently, in driving by servomotor, hand is grabbed together and is rotated, and the base of fruit of coconut is twisted into two parts, thereby realized the coconut harvesting.
The present invention substitutes artificial the harvesting, reduced harvesting labour intensity, improved picking efficiency, and utilized interior hand to grab with the right-hand side and grab and cooperatively interact, interior hand catches the coconut rotation to pluck the danger of having avoided artificial climbing harvesting, the cutting of picking machine cutter to pluck, has improved the harvesting operational security.
The present invention's practicality simple in structure, easy and simple to handle, easy to utilize, market potential is large.
The accompanying drawing explanation
Fig. 1 is coconut picking machine overall structure schematic diagram of the present invention.
Fig. 2 is the concrete structure schematic diagram that Fig. 1 plucks handgrip 33.
Embodiment
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figure 1 and Figure 2.Coconut picking machine of the present invention, comprise swing arm unit 32, for driving the swing arm driving assembly 31 of swing arm unit 32, it is characterized in that the coconut picking machine also comprises a harvesting handgrip 33, pluck handgrip 33 and be connected with the upper end of swing arm unit 32 by machine head connecting rod 9, described harvesting handgrip 33 is arranged on the leading section of machine head connecting rod 8;
Described harvesting handgrip 33 comprises: stepper motor 24, servomotor 18, leading screw 23, conical sliding sleeve 22, cylinder step sliding sleeve 20, interior hand grab 16, the right-hand side grabs 19, bearing 17;
One end of described leading screw 23 connects the rotating shaft of stepper motor 24, and described conical sliding sleeve 22 and cylinder step sliding sleeve 20 are set in the middle part of leading screw 23, conical sliding sleeve 22 and cylinder step sliding sleeve 20 and leading screw 23 threaded engagement;
The described right-hand side grab 19 before the section of grabbing be hinged to the outer shroud of bearing 17, the right-hand side is grabbed the conical surface of 19 rearward end and conical sliding sleeve 22 by ball 21 sliding-contacts;
Described interior hand grab 16 before the section of grabbing by the bearing pin be fixed in the interior ring of bearing 17, be rotationally connected, interior hand is grabbed 16 rearward end and the intrados sliding-contact of cylinder step sliding sleeve 20;
The rotating shaft of described servomotor 18 is connected with the interior ring of bearing 17, and in driving, hand is grabbed 16 rotations.
Described interior hand is grabbed in 16 and also is provided with an interior pulldown 13 be connected with the rotating shaft of servomotor 18, and interior hand is grabbed between the end of 16 end and interior pulldown 13 and is provided with buffer spring 15.Buffer spring 15 is realized the flexible crawl of coconut (not shown).
Described swing arm driving assembly 31 comprises: for the motor 3 that drives turbine and worm decelerator 2 to rotate, for driving, determine the gear reduction 12 that guide plate 11 rotates, described gear reduction 12 is rotationally connected with turbine and worm decelerator 2, and described bottom and the base 1 of determining guide plate 11 is rotationally connected;
Described swing arm unit 32 comprises: be arranged on the first cylinder 10 of determining on guide plate 11, be arranged on the second cylinder 4 on moving guide plate 6, described moving guide plate 6 with the mode that slides up and down with determine guide plate 11 and be connected;
The rearward end of described machine head connecting rod 8 is provided with the hinge position of two spaces, and the piston rod 5 of the second cylinder 4 is movably hinged by connecting rod 7 and first hinge position of machine head connecting rod 8 rearward end;
The end of the upper end of described moving guide plate 6, piston rod 9 is movably hinged with second hinge position of machine head connecting rod 8 rearward end respectively.
The body of described stepper motor 24 is fixedly connected with connecting rod 8.
Stepper motor drives leading screw and rotates, and conical sliding sleeve and cylinder step slide on leading screw and slide; The rearward end that interior hand is grabbed promotes by cylinder step sliding sleeve, make interior hand grab front end Quick-clamped coconut, the rearward end that the right-hand side is grabbed advances and opens by conical sliding sleeve, the front end that the right-hand side is grabbed clamps the coconut base of fruit, stepper motor stops subsequently, in driving by servomotor, hand is grabbed together and is rotated, and the base of fruit of coconut is twisted into two parts, thereby realized the coconut harvesting.
Swing arm driving assembly 31 can be realized determining guide plate 11 and swing in the angular range of 0 °～120 ° on base 1, the piston rod 5 of the second cylinder 4 flexible, can realize that connecting rod 8 completes the pitching action of 0 °～30 °.
The present invention plucks handgrip except being used in conjunction with swing arm driving assembly 31 and swing arm unit 32, can also be arranged on other rod members that are similar to stock and use.
Just can realize preferably the present invention as mentioned above.
Embodiments of the present invention are not restricted to the described embodiments; other are any does not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitute, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (4)
1. a coconut picking machine, comprise swing arm unit (32), for driving the swing arm driving assembly (31) of swing arm unit (32), it is characterized in that the coconut picking machine also comprises a harvesting handgrip (33), pluck handgrip (33) and be connected with the upper end of swing arm unit (32) by machine head connecting rod (8), described harvesting handgrip (33) is arranged on the leading section of machine head connecting rod (8);
Described harvesting handgrip (33) comprising: stepper motor (24), servomotor (18), leading screw (23), conical sliding sleeve (22), cylinder step sliding sleeve (20), interior hand are grabbed (16), the right-hand side is grabbed (19), bearing (17);
One end of described leading screw (23) connects the rotating shaft of stepper motor (24), described conical sliding sleeve (22) and cylinder step sliding sleeve (20) are set in the middle part of leading screw (23), conical sliding sleeve (22) and cylinder step sliding sleeve (20) and leading screw (23) threaded engagement;
The described right-hand side grab (19) before the section of grabbing be hinged to the outer shroud of bearing (17), the right-hand side is grabbed the conical surface of the rearward end of (19) and conical sliding sleeve (22) by ball (21) sliding-contact;
Described interior hand grab (16) before the section of grabbing by being fixed on the bearing pin in ring in bearing (17), be rotationally connected, interior hand is grabbed the rearward end of (16) and the intrados sliding-contact of cylinder step sliding sleeve (20);
The rotating shaft of described servomotor (18) is connected with the interior ring of bearing (17), and in driving, hand is grabbed (16) rotation.
2. coconut picking machine according to claim 1, it is characterized in that, described interior hand is grabbed in (16) and also is provided with an interior pulldown (13) be connected with the rotating shaft of servomotor (18), and interior hand is grabbed between the end of the end of (16) and interior pulldown (13) and is provided with buffer spring (15).
3. coconut picking machine according to claim 1, it is characterized in that, described swing arm driving assembly (31) comprising: for the motor (3) that drives turbine and worm decelerator (2) to rotate, for driving, determine the gear reduction (12) that guide plate (11) rotates, described gear reduction (12) is rotationally connected with turbine and worm decelerator (2), and described bottom and the base (1) of determining guide plate (11) is rotationally connected;
Described swing arm unit (32) comprising: be arranged on the first cylinder (10) of determining on guide plate (11), be arranged on the second cylinder (4) on moving guide plate (6), described moving guide plate (6) with the mode that slides up and down with determine guide plate (11) and be connected;
The rearward end of described machine head connecting rod (8) is provided with the hinge position of two spaces, and the piston rod (5) of the second cylinder (4) is movably hinged by connecting rod (7) and first hinge position of machine head connecting rod (8) rearward end;
The end of the upper end of described moving guide plate (6), piston rod (9) is movably hinged with second hinge position of machine head connecting rod (8) rearward end respectively.
4. coconut picking machine according to claim 1, is characterized in that, the body of described stepper motor (24) is fixedly connected with connecting rod (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310381637.5A CN103430701B (en) | 2013-08-28 | 2013-08-28 | A kind of coconut picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310381637.5A CN103430701B (en) | 2013-08-28 | 2013-08-28 | A kind of coconut picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103430701A true CN103430701A (en) | 2013-12-11 |
| CN103430701B CN103430701B (en) | 2015-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310381637.5A Expired - Fee Related CN103430701B (en) | 2013-08-28 | 2013-08-28 | A kind of coconut picking machine |
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| CN (1) | CN103430701B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104054453B (en) * | 2014-06-20 | 2016-12-28 | 重庆文润科技有限公司 | A kind of Cortex cocois radicis picker |
| CN107251711A (en) * | 2017-05-16 | 2017-10-17 | 佛山标天下信息科技有限公司 | A kind of Chinese date device for picking easy to use |
| CN107810706A (en) * | 2017-11-30 | 2018-03-20 | 广州大学 | A kind of device realized pineapple and won |
| CN110587020A (en) * | 2019-09-26 | 2019-12-20 | 无锡祈安盛机械制造有限公司 | Multifunctional pressure fixing device |
| CN111673765A (en) * | 2020-06-19 | 2020-09-18 | 湖南湘源金穗智能装备有限公司 | Oil tea picking manipulator |
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| CN2408661Y (en) * | 1999-12-23 | 2000-12-06 | 河南师范大学 | Fruit picking device |
| JP2007202537A (en) * | 2006-01-30 | 2007-08-16 | Toru Yamaguchi | Pole bag with clipper for harvesting |
| CN201036271Y (en) * | 2007-05-12 | 2008-03-19 | 周立人 | Picking device for high branch melon and fruit |
| KR20090040523A (en) * | 2007-10-22 | 2009-04-27 | 임남규 | Bamboo stick trimming only use spider man roborte |
| CN201360431Y (en) * | 2008-08-15 | 2009-12-16 | 权太周 | Fruit picker |
| CN202200300U (en) * | 2011-07-11 | 2012-04-25 | 浙江理工大学 | Underactuated end effector with feeling |
| CN103168561A (en) * | 2013-03-29 | 2013-06-26 | 湖北四季春茶油有限公司 | Oil-tea camellia picker |
| CN203446220U (en) * | 2013-08-28 | 2014-02-26 | 华南理工大学 | Coconut picker |
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2013
- 2013-08-28 CN CN201310381637.5A patent/CN103430701B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2408661Y (en) * | 1999-12-23 | 2000-12-06 | 河南师范大学 | Fruit picking device |
| JP2007202537A (en) * | 2006-01-30 | 2007-08-16 | Toru Yamaguchi | Pole bag with clipper for harvesting |
| CN201036271Y (en) * | 2007-05-12 | 2008-03-19 | 周立人 | Picking device for high branch melon and fruit |
| KR20090040523A (en) * | 2007-10-22 | 2009-04-27 | 임남규 | Bamboo stick trimming only use spider man roborte |
| CN201360431Y (en) * | 2008-08-15 | 2009-12-16 | 权太周 | Fruit picker |
| CN202200300U (en) * | 2011-07-11 | 2012-04-25 | 浙江理工大学 | Underactuated end effector with feeling |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104054453B (en) * | 2014-06-20 | 2016-12-28 | 重庆文润科技有限公司 | A kind of Cortex cocois radicis picker |
| CN107251711A (en) * | 2017-05-16 | 2017-10-17 | 佛山标天下信息科技有限公司 | A kind of Chinese date device for picking easy to use |
| CN107251711B (en) * | 2017-05-16 | 2020-06-09 | 佛山标天下信息科技有限公司 | Convenient to use's jujube is picked ware |
| CN107810706A (en) * | 2017-11-30 | 2018-03-20 | 广州大学 | A kind of device realized pineapple and won |
| CN107810706B (en) * | 2017-11-30 | 2023-08-15 | 广州大学 | Device for realizing pineapple picking |
| CN110587020A (en) * | 2019-09-26 | 2019-12-20 | 无锡祈安盛机械制造有限公司 | Multifunctional pressure fixing device |
| CN111673765A (en) * | 2020-06-19 | 2020-09-18 | 湖南湘源金穗智能装备有限公司 | Oil tea picking manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103430701B (en) | 2015-10-28 |
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Granted publication date: 20151028 Termination date: 20210828 |
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| CF01 | Termination of patent right due to non-payment of annual fee |