CN103430701B - A kind of coconut picking machine - Google Patents

Abstract

The invention discloses a coconut picking machine, which mainly includes a picking grip, which is connected to the upper end of the swing arm assembly through a head connecting rod; the picking grip includes: a stepping motor, a servo motor, a lead screw, a conical sliding sleeve, Cylindrical step sliding sleeve, inner grip, outer grip, bearing; one end of the screw is connected to the shaft of the stepping motor, and the other end is connected to the servo motor; the conical sliding sleeve and the cylindrical step sliding sleeve are set in the middle of the screw, and the conical The sliding sleeve and the cylindrical step sliding sleeve are matched with the thread of the lead screw; the front grip of the outer hand is connected with the outer ring of the bearing, and the rear end of the outer hand is in sliding contact with the tapered surface of the conical sliding sleeve through balls; the inner hand The front grip part of the grip is movably connected with the inner ring of the bearing, the rear end of the inner grip is in sliding contact with the inner arc surface of the cylindrical step sliding sleeve; the rotating shaft of the servo motor is fixedly connected with the inner grip. The coconut picking machine replaces manual picking, reduces picking labor intensity, improves picking efficiency, and improves picking operation safety.

Description

A coconut picking machine

technical field

The invention relates to a fruit picking device, in particular to a coconut picking machine.

Background technique

Coconut has high edible value and medical value, and its cultivation has strong regional characteristics. Foreign countries mainly include the Philippines, Indonesia, Malaysia, etc., while domestically, Hainan Province is the only large-scale production area in my country. Coconut tree is an evergreen tree with a straight trunk and a height of 15-30m. Therefore, every coconut harvest season, coconut farmers will have a headache because of the difficulty in picking coconuts. At present, the methods of coconut picking mainly include artificial climbing and picking and cutting and picking with picking machine cutters. Manual climbing and picking is labor-intensive, low-efficiency, and there is no guarantee for the life of the operators; the cutting and picking operation of the picking machine tool is complicated, and a little negligence can damage coconuts and branches in the slightest, and the knife and arms can be broken in severe cases. In the prior art, my country has been unable to solve this problem, and the development of coconut picking machine has just started. Coconut picking robots have come out abroad. Although the degree of automation is high, the picking robots can only cut the whole bunch and cannot identify the degree of ripeness of coconuts and pick them individually, and the cost is too high, which is not suitable for the current situation in China. Therefore, the research on the coconut picking machine, especially the research on the picking mechanism of the coconut picking machine is particularly important.

Contents of the invention

The purpose of the present invention is to overcome the shortcoming and deficiency of prior art, a kind of simple in structure, practical coconut picking machine is provided.

The present invention realizes through following technical scheme:

A coconut picking machine, comprising a swing arm assembly, a swing arm driving assembly for driving the swing arm assembly, the coconut picking machine also includes a picking grip, the picking grip is connected to the upper end of the swing arm assembly through a head link , the picking gripper is installed on the front end of the connecting rod of the machine head;

The picking gripper includes: a stepping motor, a servo motor, a lead screw, a conical sliding sleeve, a cylindrical step sliding sleeve, an inner grip, an outer grip, and a bearing;

One end of the lead screw is connected to the rotating shaft of the stepping motor, the conical sliding sleeve and the cylindrical step sliding sleeve are set in the middle of the leading screw, and the conical sliding sleeve and the cylindrical step sliding sleeve are threadedly matched with the lead screw;

The front grip of the outer grip is connected to the outer ring of the bearing through a hinge, and the rear end of the outer grip is in sliding contact with the tapered surface of the conical sliding sleeve through balls;

The front grip part of the inner grip is rotatably connected by a pin fixed in the inner ring of the bearing, and the rear end of the inner grip is in sliding contact with the inner arc surface of the cylindrical step sliding sleeve;

The rotating shaft of the servo motor is connected with the inner ring of the bearing to drive the inner hand to rotate.

An inner grasping piece connected with the rotating shaft of the servo motor is also arranged in the said inner hand grasping, and a buffer spring is arranged between the end of the inner hand grasping and the end of the inner grasping piece.

The swing arm drive assembly includes: a motor for driving the worm gear reduction mechanism to rotate, a gear reduction mechanism for driving the fixed guide plate to rotate, the gear reduction mechanism is connected in rotation with the worm gear reduction mechanism, and the lower end of the fixed guide plate Rotate connection with the base;

The swing arm assembly includes: a first air cylinder arranged on the fixed guide plate, a second air cylinder arranged on the movable guide plate, and the movable guide plate is connected with the fixed guide plate by sliding up and down;

The rear end of the connecting rod of the machine head is provided with two hinged positions spaced apart from each other, and the piston rod of the second cylinder is flexibly hinged to the first hinged position at the rear end of the connecting rod of the machine head through the connecting rod;

The upper end of the movable guide plate and the end of the piston rod are respectively hinged flexibly with the second hinge position at the rear end of the connecting rod of the machine head.

The body of the stepping motor is fixedly connected with the connecting rod.

Compared with the prior art, the present invention has the following advantages:

The stepper motor drives the lead screw to rotate, and the conical sliding sleeve and the cylindrical step sliding sleeve slide on the lead screw; the rear end of the inner hand is pushed by the cylindrical step sliding sleeve, so that the front end of the inner hand quickly clamps the coconut, and the outer hand grasps the coconut. The rear end of the coconut is pushed and opened through the conical sliding sleeve, the front end of the outer hand grips the coconut fruit stalk, and then the stepping motor stops, and the servo motor drives the inner hand to rotate together, and the coconut fruit stalk is twisted off, thereby Achieve coconut picking.

The invention replaces manual picking, reduces the labor intensity of picking, improves the picking efficiency, and utilizes the mutual cooperation of the inner hand and the outer hand, and the inner hand grasps the coconut and rotates the picking, avoiding manual climbing and picking, and cutting and picking by picking machine knives The danger of picking has improved the safety of picking operations.

The invention has the advantages of simple structure, convenient and practical operation, convenient popularization and application, and great market potential.

Description of drawings

Fig. 1 is the overall structure schematic diagram of coconut picking machine of the present invention.

FIG. 2 is a schematic diagram of the specific structure of the picking gripper 33 in FIG. 1 .

Detailed ways

The present invention will be described in further detail below in conjunction with specific embodiments.

Example

As shown in Figure 1 and Figure 2. The coconut picking machine of the present invention comprises a swing arm assembly 32, a swing arm driving assembly 31 for driving the swing arm assembly 32, and is characterized in that the coconut picking machine also includes a picking gripper 33, and the picking gripper 33 passes through the head connecting rod 9 Connected with the upper end of the swing arm assembly 32, the picking gripper 33 is installed on the front end of the head link 8;

The picking grip 33 includes: a stepping motor 24, a servo motor 18, a lead screw 23, a conical sliding sleeve 22, a cylindrical step sliding sleeve 20, an inner grip 16, an outer grip 19, and a bearing 17;

One end of the leading screw 23 is connected to the rotating shaft of the stepping motor 24, and the conical sliding sleeve 22 and the cylindrical step sliding sleeve 20 are sleeved at the middle part of the leading screw 23, and the conical sliding sleeve 22 and the cylindrical step sliding sleeve 20 are connected with the wire. Bar 23 thread fit;

The front grip part of the outer hand grip 19 is connected to the outer ring of the bearing 17 through a hinge, and the rear end of the outer hand grip 19 is in sliding contact with the tapered surface of the conical sliding sleeve 22 through the ball 21;

The front grip portion of the inner hand grip 16 is rotatably connected by a pin shaft fixed in the inner ring of the bearing 17, and the rear end of the inner hand grip 16 is in sliding contact with the inner arc surface of the cylindrical step sliding sleeve 20;

The rotating shaft of the servo motor 18 is connected with the inner ring of the bearing 17 to drive the inner hand to grasp 16 to rotate.

An inner grab piece 13 connected to the rotating shaft of the servo motor 18 is also arranged in the inner hand grip 16 , and a buffer spring 15 is arranged between the end of the inner hand grab 16 and the end of the inner grab piece 13 . The buffer spring 15 realizes the flexible grasping of coconuts (not shown in the figure).

The swing arm driving assembly 31 includes: a motor 3 for driving the worm gear reduction mechanism 2 to rotate, a gear reduction mechanism 12 for driving the fixed guide plate 11 to rotate, and the gear reduction mechanism 12 is rotationally connected with the worm gear reduction mechanism 2, The lower end of the fixed guide plate 11 is rotationally connected with the base 1;

The swing arm assembly 32 includes: a first air cylinder 10 arranged on the fixed guide plate 11, a second air cylinder 4 arranged on the movable guide plate 6, and the movable guide plate 6 is connected with the fixed guide plate 11 by sliding up and down;

The rear end of the head connecting rod 8 is provided with two hinged positions spaced apart from each other, and the piston rod 5 of the second cylinder 4 is flexibly hinged to the first hinged position at the rear end of the machine head connecting rod 8 through the connecting rod 7. ;

The upper end of the movable guide plate 6 and the end of the piston rod 9 are respectively movable and hinged with the second hinge position of the rear end of the connecting rod 8 of the machine head.

The body of the stepping motor 24 is fixedly connected with the connecting rod 8 .

The stepper motor drives the lead screw to rotate, and the conical sliding sleeve and the cylindrical step sliding sleeve slide on the lead screw; the rear end of the inner hand is pushed by the cylindrical step sliding sleeve, so that the front end of the inner hand quickly clamps the coconut, and the outer hand grasps the coconut. The rear end of the coconut is pushed and opened through the conical sliding sleeve, the front end of the outer hand grips the coconut fruit stalk, and then the stepping motor stops, and the servo motor drives the inner hand to rotate together, and the coconut fruit stalk is twisted off, thereby Achieve coconut picking.

The swing arm driving assembly 31 can realize the swing of the fixed guide plate 11 within the angle range of 0°-120° on the base 1, and the telescopic movement of the piston rod 5 of the second cylinder 4 can realize the pitching action of the connecting rod 8 from 0°-30° .

In addition to being used in conjunction with the swing arm drive assembly 31 and the swing arm assembly 32, the picking gripper of the present invention can also be arranged on other rods similar to long rods.

The present invention can be preferably carried out as described above.

The implementation of the present invention is not limited by the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods, and are all included in within the protection scope of the present invention.

Claims (4)

1. a coconut picker, comprising a swing arm assembly (32), a swing arm drive assembly (31) for driving the swing arm assembly (32), is characterized in that the coconut picker also includes a plucking gripper (33), The picking gripper (33) is connected to the upper end of the swing arm assembly (32) through the nose connecting rod (8), and the picking gripper (33) is installed on the front end of the nose connecting rod (8); The picking gripper (33) includes: a stepper motor (24), a servo motor (18), a lead screw (23), a conical sliding sleeve (22), a cylindrical step sliding sleeve (20), an inner hand grip (16 ), outer grip (19), bearing (17); One end of the leading screw (23) is connected to the rotating shaft of the stepper motor (24), and the conical sliding sleeve (22) and the cylindrical step sliding sleeve (20) are sleeved in the middle part of the leading screw (23), and the conical sliding Cover (22) and cylindrical step sliding sleeve (20) are threadedly matched with leading screw (23); The front grip of the outer hand (19) is connected to the outer ring of the bearing (17) through a hinge, and the rear end of the outer hand (19) and the tapered surface of the conical sliding sleeve (22) pass through the ball (21) sliding contact; The front grasping portion of the inner hand (16) is rotatably connected by a pin fixed in the inner ring of the bearing (17), and the rear end of the inner hand (16) is connected to the inner arc surface of the cylindrical step sliding sleeve (20). sliding contact; The rotating shaft of the servo motor (18) is connected with the inner ring of the bearing (17) to drive the inner hand to grasp (16) to rotate. 2. according to the described coconut picking machine of claim 1, it is characterized in that, also be provided with an inner grasping piece (13) that is connected with the rotating shaft of servo motor (18) in the described inner hand (16), the inner hand grasps ( A buffer spring (15) is provided between the end of 16) and the end of the inner catch piece (13). 3. according to the described coconut picking machine of claim 1, it is characterized in that, described swing arm driving assembly (31) comprises: be used to drive the motor (3) that worm and gear reduction mechanism (2) rotates, be used to drive fixed guide plate ( 11) A rotating gear reduction mechanism (12), the gear reduction mechanism (12) is rotationally connected with the worm gear reduction mechanism (2), and the lower end of the fixed guide plate (11) is rotationally connected with the base (1); The swing arm assembly (32) includes: a first air cylinder (10) arranged on the fixed guide plate (11), a second air cylinder (4) arranged on the moving guide plate (6), and above the moving guide plate (6) The way of sliding down is connected with fixed guide plate (11); The rear end of the head connecting rod (8) is provided with two mutually spaced hinge positions, and the first piston rod (5) of the second cylinder (4) connects with the head connecting rod (8) through the connecting rod (7). ) the first hinge position at the rear end is hinged; The upper end of the moving guide plate (6) and the end of the second piston rod (9) are respectively articulated with the second hinged position at the rear end of the head connecting rod (8). 4. according to the described coconut picking machine of claim 1, it is characterized in that, the body of described stepper motor (24) is fixedly connected with connecting rod (8).