CN109168612B

CN109168612B - Auxiliary supporting mechanical arm for coconut picking

Info

Publication number: CN109168612B
Application number: CN201810862473.0A
Authority: CN
Inventors: 段华彬; 姚屠乾; 卢珊珊
Original assignee: Wenzhou Yuantuo Machinery Technology Co ltd
Current assignee: Jiaxing huafeipeng Technology Co.,Ltd.
Priority date: 2018-08-01
Filing date: 2018-08-01
Publication date: 2020-06-02
Anticipated expiration: 2038-08-01
Also published as: CN111165177A; CN109168612A

Abstract

The invention discloses an auxiliary supporting mechanical arm for picking coconuts, which comprises a frame, a fixed supporting seat arranged at the upper end of the frame, a hydraulic cylinder I arranged at the upper end of the fixed supporting seat, a fixed table arranged at the upper end of the hydraulic cylinder I, an annular rotary table arranged at the upper end of the fixed table and a moving frame arranged on the side surface of the annular rotary table in a matching way, wherein four wheels are symmetrically arranged at the left end and the right end of the frame; the movable frame is arranged on the annular rotary table in a matched mode and is driven by the hydraulic cylinder I to lift and move together with the annular rotary table, so that picking workers can easily reach any height position needing picking through the structure, and the climbing difficulty and the high-altitude climbing danger are avoided; the workman picks to the coconut in moving the frame, has avoided the danger of high altitude picking to can be whole body and mind be absorbed in and pick work, improved the efficiency of picking.

Description

Auxiliary supporting mechanical arm for coconut picking

Technical Field

The invention relates to the technical field of machinery, in particular to an auxiliary supporting mechanical arm for coconut picking.

Background

The coconut is a plant organic fruit, is rich in vitamins, proteins and amino acids, has good edible value and medicinal value, is loved by consumers, but has high coconut trees, and the picked mature coconut needs to climb to a position with a higher trunk, and although the manual picking mode is flexible, the following defects still exist in the practical use of the coconut:

1. the difficulty of climbing is increased due to the high picking position, and the climbing at high altitude has high danger;

2. in the process of high-altitude picking, because the supporting points are not firm, the high-altitude picking is more dangerous, so that picking personnel need to adjust the state of the picking personnel to keep the balance of the body and carry out picking actions at the same time, and the attention cannot be completely focused on the picking actions, so that the picking efficiency is lower;

3. after the high-altitude picking, the transportation of the coconuts to the ground is also a big problem, the coconuts can be broken by directly throwing the coconuts to the ground, the coconuts are repeatedly lifted and transported by a lifting rope for many times, the transportation speed is extremely low, and the picking efficiency is reduced.

Disclosure of Invention

The invention aims to provide an auxiliary support mechanical arm for coconut picking, which aims to solve the problems in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: an auxiliary supporting mechanical arm for picking coconuts comprises a frame, a fixed supporting seat arranged at the upper end of the frame, a hydraulic cylinder I arranged at the upper end of the fixed supporting seat, a fixed table arranged at the upper end of the hydraulic cylinder I, a movable frame arranged on the annular rotary table arranged at the upper end of the fixed supporting seat in a matching manner and the side surface of the annular rotary table, wherein four wheels are symmetrically arranged at the left end and the right end of the frame, the hydraulic cylinder I with a square structure is arranged on the upper end surface of the fixed supporting seat, climbing ladders which are uniformly distributed and arranged are symmetrically arranged on the left end surface and the right end surface of the hydraulic cylinder I, the fixed table with a square plate structure is fixedly connected at the upper end of a piston rod of the hydraulic cylinder I, the annular rotary table with a C-shaped annular structure is symmetrically arranged at the left side and the right side of the upper end surface of the annular rotary table, guide grooves with T-shaped, a recovery tank with a tank body structure is arranged on the side surface of the fixed supporting seat and the upper end surface of the frame, an elastic buffer seat with a cavity structure is obliquely arranged in the tank body of the recovery tank, and a blanking hopper with an inverted conical surface structure is arranged at the upper end of the recovery tank;

the main body of the moving frame is a moving support plate with an arc-shaped bent plate structure, the outer side surface of the moving support plate is provided with a picking box with a groove body structure, the upper ends of the moving support plate and the picking box are connected with guard rails with a fence structure in a matching mode, climbing ladders are symmetrically and uniformly distributed on the left side and the right side of the picking box, the lower end surface and the inner side surface of the moving support plate are provided with slide rails with T-shaped boss structures matched with the guide grooves in a sliding mode, the upper end of the slide rail on the inner side surface of the moving support plate is provided with an engaging groove with an annular groove body structure, the upper end surface of the engaging groove is provided with a guide hole with a cylindrical hole-shaped structure, and the guide hole is internally provided with a driving arm meshed.

Preferably, the rear end face of the recovery tank is provided with a discharge opening with a square hole-shaped structure, the upper end of the outer side of the discharge opening is hinged with a discharge plate with a square plate-shaped structure, the middle of the lower end of the outer side of the discharge opening is provided with a locking seat with a square tubular structure, the lower end of the discharge plate is symmetrically provided with two locking heads with the square tubular structure coaxial with the locking seat on the left side and the right side of the locking seat, and a bolt with an L-shaped rod-shaped structure is inserted in the locking seat and the locking heads.

Preferably, a delivery groove with a square groove body structure is arranged on the outer side of the picking box, and a conveying pipe with a spring tubular structure is connected between the lower end face of the delivery groove and the upper end face of the blanking hopper in a matching manner.

Preferably, the rear end face of the hydraulic cylinder I is provided with a guide plate of a square plate-shaped structure, the left end and the right end of the guide plate are symmetrically sleeved with two guide rods of cylindrical rod-shaped structures, and the upper ends of the guide rods and a piston rod of the hydraulic cylinder I are fixedly connected with the lower end face of the fixed table.

Preferably, the middle of the driving arm is provided with a driving shaft of a cylindrical rod-shaped structure matched with the guide hole, the upper end of the driving shaft is provided with a turntable of a disc-shaped structure, and the lower end of the driving shaft is provided with a small bevel gear of a conical surface structure meshed with the large bevel gear.

Preferably, the fixed plate of square platelike structure is installed in the matching on the preceding terminal surface of fixed station, and both ends symmetry are equipped with the fixing base of two L platelike structures about the fixed plate, pneumatic cylinder II is installed in the inboard matching of fixing base, and has the cardboard of L platelike structure at pneumatic cylinder II's front end accordant connection, the rear end face of cardboard constitutes slide rail formula connection structure with the preceding terminal surface of fixed plate, the front end of cardboard is equipped with the draw-in groove of convex cell body structure.

Compared with the prior art, the invention has the beneficial effects that: the invention has reasonable structure and strong functionality, and has the following advantages:

1. the movable frame is arranged on the annular rotary table in a matched mode and is driven by the hydraulic cylinder I to lift and move together with the annular rotary table, so that picking workers can easily reach any height position needing picking through the structure, and the climbing difficulty and the high-altitude climbing danger are avoided;

2. workers pick coconuts in the movable frame, so that the danger of high-altitude picking is avoided, the coconuts can be absorbed and picked in whole body and mind, and the picking efficiency is improved;

3. after picking, a worker can put coconuts into the delivery groove on the outer side of the movable frame, the coconuts fall to the upper end of the elastic buffer seat along the delivery pipe at the lower end of the delivery groove and through the blanking hopper, and are ejected into the recovery groove under the buffer action of the elastic buffer seat, and the coconut conveying device is very safe and efficient in coconut conveying;

4. in the picking process, the workman makes the big bevel gear in the annular revolving stage outside and the bevel gear of actuating arm lower extreme mesh mutually through rotatory actuating arm and rotates, and then makes the removal frame do the circumference rotation around the coconut tree between the cardboard on annular revolving stage for the workman can encircle the coconut on the coconut tree and pick, has further improved picking efficiency.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of a portion of the structure at A in FIG. 1;

FIG. 3 is a half sectional view of the structure of the present invention;

FIG. 4 is an enlarged view of a portion of the structure at B in FIG. 3;

FIG. 5 is an enlarged view of a portion of the structure at C in FIG. 3;

fig. 6 is an exploded view of the structure of the present invention.

In the figure: the device comprises a vehicle frame 1, wheels 2, a fixed supporting seat 3, a recovery tank 4, a blanking hopper 5, a hydraulic cylinder I6, a climbing ladder 7, a conveying pipe 8, a fixed table 9, an annular rotary table 10, a fixed plate 11, a clamping plate 12, a fixed seat 13, a moving frame 14, a driving arm 15, a hydraulic cylinder II 16, a discharging plate 17, a bolt 18, a guide plate 19, a guide rod 20, an elastic buffer seat 21, a discharging opening 401, a locking seat 402, a guide groove 1001, a large bevel gear 1002, a clamping groove 1201, a moving supporting plate 1401, a picking box 1402, a protective guard 1403, a delivery groove 1404, a sliding rail 1405, a meshing groove 1406, a guide hole 1407, a driving shaft 1501, a rotary table 1502, a small bevel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an auxiliary support mechanical arm for picking coconuts comprises a frame 1, a fixed support seat 3 arranged at the upper end of the frame 1, a hydraulic cylinder I6 arranged at the upper end of the fixed support seat 3, a fixed platform 9 arranged at the upper end of the hydraulic cylinder I6, an annular rotary platform 10 arranged at the upper end of the fixed platform 9 and a moving frame 14 arranged on the side surface of the annular rotary platform 10 in a matching way, wherein four wheels 2 are symmetrically arranged at the left end and the right end of the frame 1, so that the whole machine can move freely, the hydraulic cylinder I6 with a square structure is arranged on the upper end surface of the fixed support seat 3, climbing ladders 7 which are uniformly distributed are symmetrically arranged on the left end surface and the right end surface of the hydraulic cylinder I6, so that workers can climb into the moving frame 14 at the upper end of the hydraulic cylinder I6 from the ground easily, the fixed platform 9 with the square plate-shaped structure is fixedly connected at the upper end of a piston, the upper end face and the outer side face of the annular rotary table 10 are both provided with a guide groove 1001 with a T-shaped groove body structure, the upper end of the guide groove 1001 on the outer side face of the annular rotary table 10 is provided with a large bevel gear 1002 with an annular conical surface structure on the outer side face of the annular rotary table 10, the side face of the fixed support seat 3 is provided with a recovery groove 4 with a groove body structure on the upper end face of the frame 1, the groove body of the recovery groove 4 is internally provided with an elastic buffer seat 21 with a cavity body structure which is obliquely placed, the upper end of the recovery groove 4 is provided with a blanking hopper 5 with an inverted conical surface structure, and after coconuts fall onto the upper end face of the elastic buffer seat 21 after passing through the blanking hopper 5, the coconuts can be further ejected to the tail part of a box body;

the main body of the movable frame 14 is a movable support plate 1401 with an arc-shaped bent plate structure, a picking box 1402 with a groove body structure is arranged on the outer side surface of the movable support plate 1401, the movable support plate 1401 and the upper end of the picking box 1402 are connected with a guard fence 1403 with a fence structure in a matching way, the left side and the right side of the picking box 1402 are symmetrically provided with climbing ladders 7 which are uniformly distributed, the lower end surface and the inner side surface of the movable supporting plate 1401 are both provided with sliding rails 1405 of a T-shaped boss structure which are matched with the guide grooves 1001 in a sliding manner, the upper end of the sliding rail 1405 on the inner side surface of the movable supporting plate 1401 is provided with an engaging groove 1406 of an annular groove body structure on the inner side surface of the movable supporting plate 1401, a guide hole 1407 of a cylindrical hole-shaped structure is led from the upper end surface of the engaging groove 1406 to the upper end surface of the movable supporting plate 1401, a driving arm 15 which is engaged with the large bevel gear 1002 is sleeved in the guide hole 1407, and the driving arm 15 can enable the movable frame 14.

Further, be equipped with the discharge opening 401 of square hole column structure on the rear end face of accumulator 4, and the upper end in the discharge opening 401 outside articulates there is the stripper 17 of square plate column structure, the lower extreme middle department in the discharge opening 401 outside is equipped with the locking seat 402 of square tube column structure, the lower extreme of stripper 17 and the bilateral symmetry of locking seat 402 are equipped with two locking heads 1701 with the coaxial square tube column structure of locking seat 402, and the bolt 18 of L shape rod-like structure is joined in marriage in locking seat 402 and locking head 1701, after the coconut is filled up in accumulator 4, pull out the bolt 18 in the discharge opening 401 outside from locking seat 402 and locking head 1701, the coconut is light pushes away stripper 17, and dumps the outside from discharge opening 401.

Further, the outside of picking case 1402 is equipped with delivery groove 1404 of square groove body structure, and the accordant connection has the conveyer pipe 8 of spring tubular structure between the lower terminal surface of delivery groove 1404 and the up end of blanking fill 5, the coconut of picking down is put into delivery groove 1404, the coconut falls into the elastic buffer seat 21 in the accumulator 4 through blanking fill 5 along conveyer pipe 8 of delivery groove 1404 lower extreme, the coconut is popped up after the cushioning effect of elastic buffer seat 21 up end when falling elastic buffer seat 21 up end and is piled up the afterbody of accumulator 4, this kind of conveying method is very safe convenient, the picking efficiency of coconut has been improved.

Furthermore, be equipped with the guide board 19 of square platelike structure on the rear end face of pneumatic cylinder I6, and both ends symmetry suit has two guide arms 20 of cylindrical shaft-like structure about guide board 19, and the upper end of guide arm 20 and pneumatic cylinder I6's piston rod all is with the lower terminal surface looks fixed connection of fixed station 9, and this kind of structure makes when fixed station 9 is elevating movement together with annular revolving stage 10 and removal frame 14 under pneumatic cylinder I6's drive, can move more steadily.

Further, a driving shaft 1501 of a cylindrical rod-shaped structure is arranged in the middle of the driving arm 15 and is matched with the guide hole 1407 in a sleeved mode, a turntable 1502 of a disk-shaped structure is arranged at the upper end of the driving shaft 1501, a small bevel gear 1503 of a conical surface structure and meshed with the large bevel gear 1002 are arranged at the lower end of the driving shaft 1501, the small bevel gear 1503 at the lower end of the driving shaft 1501 is rotated to be meshed with the large bevel gear 1002 on the outer side of the annular turntable 10, and therefore the moving frame 14 can rotate on the annular turntable 10 relatively along the guide of the guide groove 1001.

Further, the fixed plate 11 with the square plate-shaped structure is installed on the front end face of the fixed table 9 in a matching mode, two fixing seats 13 with the L-shaped plate-shaped structure are symmetrically arranged at the left end and the right end of the fixed plate 11, a hydraulic cylinder II 16 is installed on the inner side of each fixing seat 13 in a matching mode, a clamping plate 12 with the L-shaped plate-shaped structure is connected to the front end of the hydraulic cylinder II 16 in a matching mode, the rear end face of the clamping plate 12 and the front end face of the fixed plate 11 form a sliding rail type connecting structure, a clamping groove 1201 with a circular arc groove body structure is formed in the front end of the clamping plate 12, the clamping plate 12 is driven to perform clamping action towards the middle through the hydraulic cylinder II 16, the clamping groove 1201 in the clamping plate 12 clamps the coconut tree trunk in the middle of the clamping groove 1201 firmly, the fixed table 9 at.

The working principle is as follows: a worker smoothly climbs the movable frame 14 from the ground through the hydraulic cylinder I6 and the climbing stands 7 on the two sides of the movable frame 14, the movable frame 14 is driven to ascend to the height position for picking coconuts through the hydraulic cylinder I6, in the picking process, the rotary driving arm 15 can drive the large bevel gear 1002 on the outer side of the annular rotary table 10 to be meshed with the small bevel gear 1503 at the lower end of the driving arm 15 to rotate, the movable frame 14 rotates on the annular rotary table 10 in a circumferential mode along the guide of the guide groove 1001, the whole movable frame 14 rotates in a circumferential mode relative to a coconut tree trunk between the clamping plates 12, the worker can pick coconuts on the coconuts in a surrounding mode, the picking efficiency is greatly improved, the picked coconuts are thrown into the delivery groove 1404 on the outer side of the movable frame 14, the coconuts fall onto the elastic buffer seat 21 in the recovery groove 4 through the delivery pipe 8 at the lower end of the delivery, the coconut is launched after the cushioning effect of elasticity buffering seat 21 up end and is piled up the afterbody of accumulator 4 when falling elastic buffering seat 21 up end down, and this kind of transport mode is very safe convenient, has improved the harvesting efficiency of coconut.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an auxiliary stay arm is picked to coconut, includes frame (1), fixed bolster (3) that frame (1) upper end was established, pneumatic cylinder I (6) that fixed bolster (3) upper end was established, fixed station (9) that pneumatic cylinder I (6) upper end was established, annular revolving stage (10) that fixed station (9) upper end was established and annular revolving stage (10) side match the removal frame (14) of installation, its characterized in that: the four wheels (2) are symmetrically arranged at the left end and the right end of the frame (1), a hydraulic cylinder I (6) with a square structure is arranged on the upper end face of the fixed supporting seat (3), climbing ladders (7) which are uniformly distributed are symmetrically arranged on the left end face and the right end face of the hydraulic cylinder I (6), a fixed table (9) with a square plate structure is fixedly connected to the upper end of a piston rod of the hydraulic cylinder I (6), an annular rotary table (10) with a C-shaped annular structure is symmetrically arranged on the left side and the right side of the upper end of the fixed table (9), guide grooves (1001) with a T-shaped groove structure are respectively arranged on the upper end face and the outer side face of the annular rotary table (10), a large bevel gear (1002) with an annular conical surface structure is arranged on the upper end of the guide groove (1001) on the outer side face of the annular rotary table (10), a recovery groove (4) with a groove structure is arranged on the side face of, an elastic buffer seat (21) with an obliquely placed cavity structure is arranged in a groove body of the recovery groove (4), and a blanking hopper (5) with an inverted conical surface structure is arranged at the upper end of the recovery groove (4); the main body of the moving frame (14) is a moving support plate (1401) with an arc-shaped bent plate structure, the outer side surface of the moving support plate (1401) is provided with a picking box (1402) with a groove body structure, the upper ends of the moving support plate (1401) and the picking box (1402) are connected with a protective fence (1403) with a fence structure in a matching way, the left side and the right side of the picking box (1402) are symmetrically provided with climbing ladders (7) which are uniformly distributed, the lower end surface and the inner side surface of the moving support plate (1401) are respectively provided with a sliding rail (1405) with a T-shaped boss structure which is matched with the guide groove (1001) in a sliding way, the upper ends of the sliding rails (1405) on the inner side surface of the moving support plate (1401) are provided with an engaging groove (1406) with an annular groove body structure, and a guide hole (1407) with a cylindrical hole-shaped structure is introduced from the, and a driving arm (15) meshed with the large bevel gear (1002) is sleeved in the guide hole (1407).

2. The coconut picking auxiliary support mechanical arm of claim 1, wherein: the improved structure of the recycling bin is characterized in that a discharge opening (401) of a square hole-shaped structure is formed in the rear end face of the recycling bin (4), a discharge plate (17) of a square plate-shaped structure is hinged to the upper end of the outer side of the discharge opening (401), a locking seat (402) of a square tubular structure is arranged in the middle of the lower end of the outer side of the discharge opening (401), two locking heads (1701) of the square tubular structure coaxial with the locking seat (402) are symmetrically arranged at the lower end of the discharge plate (17) on the left side and the right side of the locking seat (402), and a bolt (18) of an L-shaped rod-shaped structure is inserted into the locking seat (402) and the locking heads (.

3. The coconut picking auxiliary support mechanical arm of claim 1, wherein: a delivery groove (1404) with a square groove body structure is arranged on the outer side of the picking box (1402), and a delivery pipe (8) with a spring tubular structure is connected between the lower end face of the delivery groove (1404) and the upper end face of the blanking hopper (5) in a matching manner.

4. The coconut picking auxiliary support mechanical arm of claim 1, wherein: the rear end face of the hydraulic cylinder I (6) is provided with a guide plate (19) of a square plate-shaped structure, two guide rods (20) of two cylindrical rod-shaped structures are symmetrically sleeved at the left end and the right end of the guide plate (19), and the upper ends of the guide rods (20) and the piston rod of the hydraulic cylinder I (6) are fixedly connected with the lower end face of the fixed table (9).

5. The coconut picking auxiliary support mechanical arm of claim 1, wherein: the middle of the driving arm (15) is provided with a driving shaft (1501) which is in a cylindrical rod-shaped structure and matched with the guide hole (1407), the upper end of the driving shaft (1501) is provided with a turntable (1502) in a disk-circular structure, and the lower end of the driving shaft (1501) is provided with a small bevel gear (1503) in a conical surface structure and meshed with the large bevel gear (1002).

6. The coconut picking auxiliary support mechanical arm of claim 1, wherein: the fixed plate (11) of square platelike structure is installed in the matching on the preceding terminal surface of fixed station (9), and both ends symmetry are equipped with fixing base (13) of two L shaped plate-like structures about fixed plate (11), pneumatic cylinder II (16) are installed in the inboard matching of fixing base (13), and have cardboard (12) of L shaped plate-like structure at the front end matching connection of pneumatic cylinder II (16), the rear end face of cardboard (12) constitutes slide rail formula connection structure with the preceding terminal surface of fixed plate (11), the front end of cardboard (12) is equipped with draw-in groove (1201) of arc cell body structure.