CN108713765A - A kind of coconut is quickly opened and the working method of packing robot - Google Patents
A kind of coconut is quickly opened and the working method of packing robot Download PDFInfo
- Publication number
- CN108713765A CN108713765A CN201810403109.8A CN201810403109A CN108713765A CN 108713765 A CN108713765 A CN 108713765A CN 201810403109 A CN201810403109 A CN 201810403109A CN 108713765 A CN108713765 A CN 108713765A
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- China
- Prior art keywords
- coconut
- drill bit
- electric cylinder
- motor
- working method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N1/00—Machines or apparatus for extracting juice
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B3/04—Methods of, or means for, filling the material into the containers or receptacles
- B65B3/10—Methods of, or means for, filling the material into the containers or receptacles by application of pressure to material
- B65B3/12—Methods of, or means for, filling the material into the containers or receptacles by application of pressure to material mechanically, e.g. by pistons or pumps
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
It is quickly opened the invention discloses a kind of coconut and the working method of packing robot, the robot includes：Pedestal, holder, grabbing device, perforating device, liquid absorption device, the holder are mounted on the base, and the grabbing device is mounted on the inner surface of holder, and on the inner surface at the rack-mount end of perforating device, the grabbing device includes：Telescopic electric cylinder, motor machinery claw, fixed jaw, the telescopic electric cylinder is vertically mounted on the inner surface of side face, telescopic rod end in the telescopic electric cylinder installs motor machinery claw, installs fixed jaw in the motor machinery claw, the perforating device includes drill bit electric cylinder, motor, collet, drill bit, coconut of the present invention is quickly opened and the working method of packing robot, realizes that coconut automatic punching takes out juice work, improves the degree of automation, cost of labor is reduced, work ratio is improved.
Description
Technical field
The invention belongs to technical field of automatic control, and in particular to a kind of coconut is quickly opened and packing robot.
Background technology
Robot（Robot）It is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
Coconut originates in the Asia southeast, Indonesia to Pacific Islands.It is distributed mainly on Asia, Africa, Latin
Between the S-23 ° of N in 23 ° of America, equator coastal region is most.Major production areas is Philippine, India, Malaysia, Sri Lanka etc.
State.There are plantation, coconut juice and coconut meat in all islands of southern Guangdong, China and the Lezhou Peninsula, Hainan, Taiwan and south of Yunnan torrid areas
Containing a large amount of protein, fructose, glucose, sucrose, fat, vitamin B1, vitamin E, vitamin C, potassium, calcium, magnesium etc., coconut juice is also
Have effects that nourishing, clear heat are quenched one's thirst, cure mainly that hot summer weather class is thirsty, and body fluid deficiency is thirsty, but since the shell of coconut is really up to the mark bad
Take juice, people take coconut juice normal through falling, pound, split or answer other tools to break shell, and working efficiency is low, can also go out sometimes
The case where now accidentally injuring.
Invention content
Goal of the invention：The purpose of the present invention is to solve deficiency in the prior art, a kind of coconut is provided and is quickly opened
And the working method of packing robot, it realizes coconut and automatically opens and extract coconut juice, and run high degree of automation, performance
Reliably.
Technical solution：A kind of coconut of the present invention is quickly opened and the working method of packing robot：
When work, detect that coconut, control device control grabbing device work, crawl dress by the sensor in motor machinery claw
It sets and captures coconut, coconut is placed in fixed seat by controlling telescopic electric cylinder, coconut palm is detected by the sensor in fixed seat
For son in its operating position, control device controls perforating device work, first controls motor work, drives drilling bit high-speed rotation, drill bit
The telescopic rod of electric cylinder extends downwardly, by fixed seat coconut punch, by control drill bit electric cylinder control bit to
Under depth, punching terminates, and motor stops, and the telescopic rod of drill bit electric rod moves further downward, drill bit is reached in coconut husk
The bottom surface in portion, liquid absorption device work, control device control the liquid absorption device imbibition time, and coconut juice is passed sequentially through imbibition by electronic water pump
Coconut juice is extracted into to-go box by hole, strainer, drawing liquid hole, suction set, hose, electronic water pump, hose, and the drawing liquid time reaches, imbibition
Device is stopped, and drill bit electric cylinder resets, and drill bit is extracted out from coconut, grabbing device releases coconut husk, is that coconut husk is fallen
In pre-set dustbin, each section in device returns to original state, to ensure to continue after next coconut reaches
Work.
The coconut is quickly opened and packing includes with robot：
Pedestal, holder, grabbing device, perforating device, liquid absorption device, the holder are mounted on the base, the grabbing device peace
On the inner surface of holder, on the inner surface at the rack-mount end of perforating device, the grabbing device includes：
Telescopic electric cylinder, motor machinery claw, fixed jaw, the telescopic electric cylinder are vertically mounted on the inner surface of side face, institute
The telescopic rod end installation motor machinery claw in telescopic electric cylinder is stated, fixed jaw, the punching are installed in the motor machinery claw
Device includes drill bit electric cylinder, motor, collet, drill bit, on the rack-mount end inner surface of drill bit electric cylinder, drill bit
Motor is installed on the telescopic rod of electric cylinder, collet is installed on the output shaft of the motor, it is described by collet fixed drill bit
Drill bit is hollow boring bit, and at least provided with 1 imbibing hole, the upper side of drill bit is equipped with drawing liquid hole, the suction for the lower end of drill bit
Fluid apertures is communicated with drill bit internal cavity with drawing liquid hole, and the pumping device is by bearing, sealing ring, suction set, electronic water pump
Composition, the bearing are mounted on the both sides up and down in drawing liquid hole in rotary head, and the sealing ring is mounted between bearing and drawing liquid hole, institute
It states suction to be sleeved on bearing, makes the cavity for forming sealing between bearing, aspirate the side of set equipped with hose head, the hose
Head is hollow structure, and hose head is connected by hose with the input terminal of electronic water pump, and the output end connection of the electronic water pump is soft
Pipe.
Preferably, the electric cylinder is the modular product of servo motor and leading screw integrated design.
Preferably, the suction set is fixed by fixed frame, prevents suction set rotation.
Preferably, strainer is equipped in the imbibing hole.
Preferably, the inside of the fixed jaw is equipped with sawtooth, makes to slide when crawl coconut.
Preferably, the pedestal upper surface is equipped with fixed seat, and the fixed seat upper surface is equipped with U-type groove, in the U-type groove
It is narrow under width.
Preferably, the drill bit electric cylinder in the perforating device, motor, collet, the installation site center alignment of drill bit.
Preferably, the grabbing device, perforating device, liquid absorption device and control device line connect, and the control device is logical
It crosses microcontroller to be controlled, sensor is additionally provided in control device, the liquid absorption device is connected by hose.
Advantageous effect：The present invention is quickly opened by a kind of coconut and the working method of packing robot, passes through crawl
Device and fixed seat are equipped with sensor, and so that grabbing device is realized automatic crawl by control device, prevent perforating device work
Injured when user's maloperation when making, fixed jaw is equipped with sawtooth, can increase the stability of crawl coconut, perforating device with
Liquid absorption device coordinates, and wherein drill bit is hollow drill bit, and the upper side of the lower end imbibing hole of drill bit, drill bit is equipped with drawing liquid hole, takes out
Fluid apertures forms closed cavity by coordinating between drawing liquid set, bearing and sealing ring outside drawing liquid hole, by electronic water pump by coconut palm
Juice detaches, and strainer is equipped in imbibing hole, prevents sundries from entering liquid absorption device, prevents electronic water pump from damaging, while making coconut juice clear again
It is clear, clean, by the cooperation of control device, realize that coconut automatic punching takes out juice work, improve the degree of automation, reduce manually at
This, improves work ratio.
Description of the drawings
Fig. 1 is the overall structure figure of invention；
Fig. 2 is the profile at the drill bit position of invention；
Fig. 3 is the partial enlarged view at the drill bit position of invention
Fig. 4 is the motor machinery claw vertical view of invention；
1, pedestal 2, fixed seat 3, holder 4, telescopic electric cylinder 5, motor machinery claw 6, fixed jaw 7, drill bit electric cylinder 8,
It is motor 9, collet 10, drill bit 101, imbibing hole 102, drawing liquid hole 11, bearing 12, sealing ring 13, electronic water pump 14, soft
Pipe 15, suction set 151, hose head 16, to-go box.
Specific implementation mode
A kind of coconut as shown in Figs 1-4 is quickly opened and packing robot, including pedestal 1, holder 3, grabbing device,
Perforating device, liquid absorption device, the holder 3 are mounted on pedestal 1, and the grabbing device is mounted on the inner surface of holder 3,
The perforating device is mounted on the inner surface of 3 upper end of holder, and the grabbing device includes：Telescopic electric cylinder 4, motor machine
Pawl 5, fixed jaw 6, the telescopic electric cylinder 4 are vertically mounted on the inner surface of 3 side of holder, in the telescopic electric cylinder 4
Telescopic rod end installation motor machinery claw 5, fixed jaw 6 is installed in the motor machinery claw 5, the perforating device includes drill bit
Electric cylinder 7, motor 8, collet 9, drill bit 10, the drill bit electric cylinder 7 are mounted on 3 upper end inner surface of holder, and drill bit is electronic
Motor 8 is installed on the telescopic rod of cylinder 7, collet 9 is installed on the output shaft of the motor 8, by 9 fixed drill bit 10 of collet,
The drill bit 10 is hollow boring bit, and at least provided with 1 imbibing hole 101, the upper side of drill bit 10 is equipped with for the lower end of drill bit 10
Drawing liquid hole 102, the imbibing hole 101 are communicated with 10 internal cavities of drill bit with drawing liquid hole 102, and the pumping device is by bearing
11, sealing ring 12, suction set 15, electronic water pump 13 form, and the bearing 11 is mounted on up and down two of drawing liquid hole 102 in rotary head 10
Side, the sealing ring 12 are mounted between bearing 11 and drawing liquid hole 102, and the suction set 15 is sleeved on bearing 11, makes bearing
The cavity of sealing is formed between 11, the side of suction set 15 is equipped with hose head 151, and the hose head 151 is hollow structure, hose
First 151 are connected by hose 14 with the input terminal of electronic water pump 13, the output end connection flexible pipe 14 of the electronic water pump 13.
Preferably, the electric cylinder is the modular product of servo motor and leading screw integrated design.
Preferably, the suction set 15 is fixed by fixed frame, prevents suction set rotation.
Preferably, strainer is equipped in the imbibing hole 101.
Preferably, the inside of the fixed jaw 6 is equipped with sawtooth, makes to slide when crawl coconut.
Preferably, 1 upper surface of the pedestal is equipped with fixed seat 2, and 2 upper surface of the fixed seat is equipped with U-type groove, described U-shaped
Slot is wide at the top and narrow at the bottom.
Preferably, the drill bit electric cylinder 7 in the perforating device, motor 8, collet 9, the installation site center pair of drill bit 10
Together.
Preferably, the grabbing device, perforating device, liquid absorption device and control device line connect, and the control device is logical
It crosses microcontroller to be controlled, sensor is additionally provided in control device, the sensor is at least in motor machinery claw 5, fixed seat 2
Installation, the liquid absorption device are connected by hose 14.
A kind of above-mentioned coconut is quickly opened and the working method of packing robot is as follows：
Detect that coconut, control device control grabbing device work, crawl dress by the sensor in motor machinery claw when work
It sets and captures coconut, coconut is placed in fixed seat by controlling telescopic electric cylinder, coconut palm is detected by the sensor in fixed seat
For son in its operating position, control device controls perforating device work, first controls motor work, drives drilling bit high-speed rotation, drill bit
The telescopic rod of electric cylinder extends downwardly, by fixed seat coconut punch, by control drill bit electric cylinder control bit to
Under depth, punching terminates, and motor stops, and the telescopic rod of drill bit electric rod moves further downward, drill bit is reached in coconut husk
The bottom surface in portion, liquid absorption device work, control device control the liquid absorption device imbibition time, and coconut juice is passed sequentially through imbibition by electronic water pump
Coconut juice is extracted into to-go box by hole, strainer, drawing liquid hole, suction set, hose, electronic water pump, hose, and the drawing liquid time reaches, imbibition
Device is stopped, and drill bit electric cylinder resets, and drill bit is extracted out from coconut, grabbing device releases coconut husk, is that coconut husk is fallen
In pre-set dustbin, each section in device returns to original state, to ensure to continue after next coconut reaches
Work.
In conclusion being equipped with sensor by grabbing device and fixed seat, and keep grabbing device real by control device
Now automatic crawl, when preventing perforating device from working, when user's maloperation, is injured, and fixed jaw is equipped with sawtooth, can increase and grab
The stability of coconut, perforating device is taken to coordinate with liquid absorption device, wherein drill bit is hollow drill bit, and the lower end imbibing hole of drill bit bores
The upper side of head is equipped with drawing liquid hole, and drawing liquid hole is formed close by coordinating between drawing liquid set, bearing and sealing ring outside drawing liquid hole
Cavity is closed, is being detached coconut juice by electronic water pump, strainer is equipped in imbibing hole, prevents sundries from entering liquid absorption device, prevents electricity
Sub- water pump damage, while making coconut juice limpid, clean again, by the cooperation of control device, realize that coconut automatic punching takes out juice work,
Efficiency is improved, cost of labor is reduced.
Embodiment is selected, the interest field of the present invention cannot be limited with this.It should be pointed out that for the general of the art
For logical technical staff, technical scheme of the present invention is modified or replaced equivalently, without departure from the protection model of the present invention
It encloses.
Claims (9)
1. a kind of coconut is quickly opened and the working method of packing robot, it is characterised in that：When work, pass through motor machine
Sensor on pawl detects that coconut, control device control grabbing device work, and grabbing device captures coconut, is stretched by control
Coconut is placed in fixed seat by contracting electric cylinder, and coconut is detected in its operating position, control device by the sensor in fixed seat
Perforating device work is controlled, motor work is first controlled, drilling bit high-speed rotation, the telescopic rod of drill bit electric cylinder is driven to extend downwardly,
By the coconut punching in fixed seat, the downward depth of bit is controlled by controlling drill bit electric cylinder, punching terminates, and motor stops
Only, the telescopic rod of drill bit electric rod moves further downward, and drill bit is reached the bottom surface inside coconut husk, liquid absorption device work, control
Device processed controls the liquid absorption device imbibition time, and coconut juice is passed sequentially through imbibing hole, strainer, drawing liquid hole, aspirates set, soft by electronic water pump
Coconut juice is extracted into to-go box by pipe, electronic water pump, hose, and the drawing liquid time reaches, and liquid absorption device is stopped, and drill bit electric cylinder is multiple
Position, drill bit is extracted out from coconut, grabbing device releases coconut husk, is that coconut husk is fallen in pre-set dustbin, device
In each section return to original state, to ensure to work on after next coconut reaches.
2. a kind of quick opening of coconut and the working method of packing robot according to claim 1, it is characterised in that：Institute
The coconut stated quickly is opened and packing includes with robot：Pedestal, holder, grabbing device, perforating device, liquid absorption device, it is described
Holder is mounted on the base, and the grabbing device is mounted on the inner surface of holder, and the perforating device is rack-mount
On the inner surface at end, the grabbing device includes：Telescopic electric cylinder, motor machinery claw, fixed jaw, the telescopic electric cylinder hang down
Straight to be mounted on the inner surface of side face, the telescopic rod end in the telescopic electric cylinder installs motor machinery claw, described
Fixed jaw is installed, the perforating device includes drill bit electric cylinder, motor, collet, drill bit, and the drill bit is electronic in motor machinery claw
On the rack-mount end inner surface of cylinder, motor is installed on the telescopic rod of drill bit electric cylinder, on the output shaft of the motor
Collet is installed, by collet fixed drill bit, the drill bit is hollow boring bit, and the lower end of drill bit is bored at least provided with 1 imbibing hole
The upper side of head is equipped with drawing liquid hole, and the imbibing hole is communicated with drill bit internal cavity with drawing liquid hole, the pumping device
It is made of bearing, sealing ring, suction set, electronic water pump, the bearing is mounted on the both sides up and down in drawing liquid hole in rotary head, described
Sealing ring is mounted between bearing and drawing liquid hole, and the suction is sleeved on bearing, makes the cavity that sealing is formed between bearing,
The side of suction set is equipped with hose head, and the hose head is hollow structure, the input terminal that hose head passes through hose and electronic water pump
It is connected, the output end connection flexible pipe of the electronic water pump.
3. a kind of coconut according to claim 2 is quickly opened and the working method of packing robot, it is characterised in that：
The electric cylinder is the modular product of servo motor and leading screw integrated design.
4. a kind of coconut according to claim 2 is quickly opened and the working method of packing robot, it is characterised in that：
The suction set is fixed by fixed frame, prevents suction set rotation.
5. a kind of coconut according to claim 2 is quickly opened and the working method of packing robot, it is characterised in that：
Strainer is equipped in the imbibing hole.
6. a kind of coconut according to claim 2 is quickly opened and the working method of packing robot, it is characterised in that：
The inside of the fixed jaw is equipped with sawtooth, makes to slide when crawl coconut.
7. a kind of coconut according to claim 2 is quickly opened and the working method of packing robot, it is characterised in that：
The pedestal upper surface is equipped with fixed seat, and the fixed seat upper surface is equipped with U-type groove, and the U-type groove is wide at the top and narrow at the bottom.
8. a kind of coconut according to claim 2 is quickly opened and the working method of packing robot, it is characterised in that：
Drill bit electric cylinder, motor, collet in the perforating device, the installation site center alignment of drill bit.
9. a kind of coconut according to claim 2 is quickly opened and the working method of packing robot, it is characterised in that：
The grabbing device, perforating device, liquid absorption device and control device line connect, and the control device is controlled by microcontroller
It makes, is additionally provided with sensor in control device, the liquid absorption device is connected by hose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403109.8A CN108713765A (en) | 2018-04-28 | 2018-04-28 | A kind of coconut is quickly opened and the working method of packing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403109.8A CN108713765A (en) | 2018-04-28 | 2018-04-28 | A kind of coconut is quickly opened and the working method of packing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108713765A true CN108713765A (en) | 2018-10-30 |
Family
ID=63899458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810403109.8A Pending CN108713765A (en) | 2018-04-28 | 2018-04-28 | A kind of coconut is quickly opened and the working method of packing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108713765A (en) |
Citations (8)
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| BRMU9101328U2 (en) * | 2011-06-17 | 2013-01-29 | Paiva Wanderci De | device for drilling and cutting green coconut |
| WO2014146037A1 (en) * | 2013-03-15 | 2014-09-18 | De Poo Paul | Valve for extracting coconut water |
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| CN205161811U (en) * | 2015-11-18 | 2016-04-20 | 昆山前卫机械科技有限公司 | Automatic juice machine is got to coconut |
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| US20160345619A1 (en) * | 2014-12-02 | 2016-12-01 | Monarch Media Llc. | Coconut removal device and method therefor |
| CN206005848U (en) * | 2016-06-30 | 2017-03-15 | 三峡大学 | A kind of Cortex cocois radiciss extracting juice hulling machine |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BRMU9101328U2 (en) * | 2011-06-17 | 2013-01-29 | Paiva Wanderci De | device for drilling and cutting green coconut |
| CN202525038U (en) * | 2012-03-26 | 2012-11-14 | 张昂 | Micro hollow drill for sucking or injecting liquid |
| WO2014146037A1 (en) * | 2013-03-15 | 2014-09-18 | De Poo Paul | Valve for extracting coconut water |
| US20160345619A1 (en) * | 2014-12-02 | 2016-12-01 | Monarch Media Llc. | Coconut removal device and method therefor |
| CN204907828U (en) * | 2015-04-15 | 2015-12-30 | 海南大学 | Coconut milk automatic withdrawal machine |
| CN205161811U (en) * | 2015-11-18 | 2016-04-20 | 昆山前卫机械科技有限公司 | Automatic juice machine is got to coconut |
| CN205727967U (en) * | 2016-01-28 | 2016-11-30 | 昆山前卫机械科技有限公司 | Automatic punching formula juicing machine |
| CN206005848U (en) * | 2016-06-30 | 2017-03-15 | 三峡大学 | A kind of Cortex cocois radiciss extracting juice hulling machine |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181030 |
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| RJ01 | Rejection of invention patent application after publication |