CN112075198A - Efficient and convenient coconut picking equipment - Google Patents
Efficient and convenient coconut picking equipment Download PDFInfo
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- CN112075198A CN112075198A CN202011028528.1A CN202011028528A CN112075198A CN 112075198 A CN112075198 A CN 112075198A CN 202011028528 A CN202011028528 A CN 202011028528A CN 112075198 A CN112075198 A CN 112075198A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
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Abstract
The invention relates to the technical field of automatic coconut picking, in particular to efficient and convenient coconut picking equipment, which comprises: subassembly, coupling assembling, the fixed subassembly of locking and shearing are picked the subassembly to climbing, climbing the subassembly and include: the two arc climbing frames are horizontally arranged, and the inner side walls of the arc climbing frames are in a semi-arc shape; the four groups of advancing mechanisms are respectively vertically positioned at two ends of the two arc climbing frames and are used for providing driving force for the lifting of the arc climbing frames; the coupling assembling includes: a hinged mounting frame; the elastic connecting device is used for elastically connecting the two arc climbing frames; the efficient and convenient coconut picking device disclosed by the invention can efficiently shear coconut stems, adopts full-electric drive, improves the flexibility of the device, can realize bending between two arc-shaped climbing frames, can realize the function of climbing a bent trunk, and improves the application range of the device.
Description
Technical Field
The invention relates to the technical field of automatic coconut picking, in particular to efficient and convenient coconut picking equipment.
Background
Coconut has high edible value and medical value, has strong regionality in planting, mainly has Philippines, Indonesia, Malaysia and the like abroad, and Hainan province is the only large-scale production place in China.
The invention discloses a coconut picking device shown in the patent publication No. CN201910958373.2 in China, which comprises a climbing assembly, a movable arm assembly and picking scissors arranged at the upper end of the movable arm assembly; the climbing assembly comprises an upper clamping seat and a lower clamping seat which are arranged at an upper interval and a lower interval, the upper clamping seat and the lower clamping seat are arranged in a left-right staggered manner, the opposite side surfaces of the upper clamping seat and the lower clamping seat are respectively provided with an arc-shaped inwards concave holding clamping surface, the lower end of the movable arm assembly is connected to the upper clamping seat, a first cylinder which faces downwards vertically is arranged between the upper clamping seat and the lower clamping seat, a shell of the first cylinder is fixedly arranged on the upper clamping seat, a transverse second cylinder is arranged between the upper clamping seat and the lower clamping seat, a shell of the second cylinder is fixedly arranged on the lower clamping seat, and a piston rod of the first cylinder is vertically and fixedly connected with a piston rod of the second cylinder; go up the holder and all be equipped with on the holder down and can assist the holder and press from both sides the tight subassembly of clamp of coconut palm trunk with holder down.
Although the coconut picking function can be realized, the pneumatic drive is adopted, and a large air pump is required to be carried during working, so that the coconut picking device is very inconvenient to enter a coconut planting area to work and affects the picking efficiency; some coconut trees can not grow into a straight column shape due to natural reasons, the trunk part has a bending angle, and the equipment can not pick the coconut trees and influences the picking range.
Therefore, there is a need for an efficient and convenient coconut picking apparatus to solve the above problems.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provides the efficient and convenient coconut picking equipment, and solves the problems that the pneumatic coconut picking equipment is adopted, and a large air pump is required to be carried during working, so that the coconut picking equipment is very inconvenient to enter a coconut planting area to work, and the picking efficiency is influenced; some coconut trees can not grow into a straight upright column shape due to natural reasons, trunk parts have bending angles, and the prior art can not pick the coconut trees and influences the picking range and the like.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
provided is an efficient and convenient coconut picking device, comprising:
the climbing assembly is annularly sleeved on the coconut tree trunk and used for climbing along the coconut tree trunk;
the connecting assembly is arranged on the climbing assembly and is used for connecting the climbing assembly;
the locking and fixing assembly is arranged on the climbing assembly and used for locking and fixing the climbing assembly on a coconut tree trunk when one side stops advancing;
the shearing and picking assembly is arranged at the top end of the climbing assembly and is used for shearing off the coconut stalks at the top end of the coconut trees so as to enable the coconuts to fall to the ground;
the climbing assembly comprises:
the two arc climbing frames are horizontally arranged, the inner side walls of the arc climbing frames are in a semi-arc shape, and the two arc climbing frames are arranged in a staggered mode and used for being tightly attached to one side of a coconut tree trunk;
the four groups of advancing mechanisms are respectively vertically positioned at two ends of the two arc climbing frames and are used for providing driving force for the lifting of the arc climbing frames;
the coupling assembling includes:
the hinged mounting rack is arranged between the two groups of arc climbing racks and is hinged with the end part of the arc climbing rack positioned below;
the elastic connecting device is vertically arranged, the top end of the elastic connecting device is fixedly connected with the bottom end of the arc climbing frame positioned above the elastic connecting device, the bottom end of the elastic connecting device is hinged with the top end of the hinged mounting frame, and the elastic connecting device is used for elastically connecting the two arc climbing frames, so that the two arc climbing frames can be bent in the advancing process, and further the application range of the equipment can be widened through the bent coconut tree trunk;
the opening and closing driving mechanism is arranged on the hinged mounting frame and used for driving the two sets of arc climbing frames to open and close, and the coconut tree trunk is clamped by the picking equipment.
As a preferred embodiment of an efficient and convenient coconut picking device, the elastic connection device comprises:
the elastic connecting rod is vertically arranged between the arc climbing frame and the hinged mounting frame, the top end of the elastic connecting rod is connected with the arc climbing frame positioned above the elastic connecting rod, the bottom end of the elastic connecting rod is connected with the top end of the hinged mounting frame, and the elastic connecting rod is used for bending the elastic connecting rod when the arc climbing frame positioned above passes through when the climbing assembly meets a tree trunk bending section, so that the connection state of the arc climbing frame positioned above and the hinged mounting frame is kept;
the telescopic link sets up the both ends at elastic connection pole respectively, the one end of telescopic link and elastic connection pole's tip fixed connection, the other end of telescopic link respectively with articulated mounting bracket with be located the arc of top and climb a fixed connection for adapt to two arcs and climb the frame and climb the ascending distance change of in-process in vertical direction, make two arcs climb and keep the connection status all the time between the frame.
As an optimal solution of a high-efficient convenient coconut picking equipment, the elastic connecting device still includes:
the spring, vertical fixed cover is established on the elastic connection pole for promote the elasticity performance of elastic connection pole, and provide certain crooked resilience force, make the elastic connection pole can resume initial condition after through crooked section.
As an efficient and convenient preferred scheme of coconut picking equipment, the opening and closing driving mechanism comprises:
the vertical shaft is connected to the hinged mounting frame, and the end part of the arc climbing frame positioned below is fixedly connected with the first rotating shaft, so that the two arc climbing frames are controlled to be opened and closed, and the equipment can be conveniently mounted or dismounted on a coconut tree trunk;
first servo motor, vertical fixed mounting is in the bottom of articulated mounting bracket, and first servo motor's output and the bottom fixed connection of first pivot for provide drive power for the rotation of first pivot.
As a high-efficient convenient coconut of equipment of picking an optimization scheme, advancing mechanism is including first rotary driving device, the drive wheel, from driving wheel and area of marcing, first rotary driving device fixed mounting is at the tip that the arc climbed the frame, the drive wheel with from the equal coupling of driving wheel tip that climbs the frame at the arc, be located the drive wheel from the driving wheel under, the drive wheel is tangent with the arc frame inside wall radian that climbs from the axis direction of driving wheel, it establishes at the drive wheel and from the driving wheel to advance the area cover, first rotary driving device's output is connected with the drive wheel transmission, the lateral wall in area of marcing passes the arc and climbs the inside wall of frame and laminates with coconut tree trunk lateral wall, the arc climbs and offers on the frame and is used for dodging the groove.
As a preferable aspect of an efficient and convenient coconut picking apparatus, the first rotary driving means includes:
the driving bevel gear is coupled to the end part of the arc climbing frame, is in transmission connection with the driving wheel and is used for driving the driving wheel to rotate during rotation so as to realize a driving function;
the driven bevel gear is in coaxial transmission connection with the driving wheel and is used for rotating along with the driving bevel gear when the driving bevel gear rotates and driving the driving wheel to rotate synchronously with the driving bevel gear;
and the second servo motor is fixedly installed at the end part of the arc climbing frame, and the output end of the second servo motor is fixedly connected with the driving bevel gear and is used for providing rotary driving force for the rotation of the driving bevel gear.
As an optimal scheme of efficient and convenient coconut picking equipment, the outer side wall of the advancing belt is provided with the anti-slip strip for improving the climbing transmission effect.
As a preferred embodiment of an efficient and convenient coconut picking apparatus, the shearing picking assembly comprises:
the multi-shaft electric manipulator is arranged at the top end of the arc climbing frame positioned above and is used for flexibly shearing coconuts on coconut trees;
the two arc-shaped shearing claws are symmetrically arranged along the vertical plane of the output end of the multi-shaft electric manipulator, and the arc-shaped shearing claws are hinged to the output end of the multi-shaft electric manipulator and are used for shearing coconuts at the top end of a coconut tree;
and the shearing electric driving device is fixedly arranged at the output end of the multi-shaft electric manipulator and is used for driving the two arc-shaped shearing claws to move in opposite directions so as to realize the shearing driving function.
As an efficient and convenient preferred scheme of equipment is picked to coconut, cut electric drive device including linear actuator, hinge bar and sliding plate, linear actuator fixed mounting is on the lateral wall of multiaxis electric manipulator output, the sliding plate can gliding setting on the lateral wall of output, two hinge bars set up along the vertical face symmetry of multiaxis electric manipulator output, the one end of hinge bar is articulated with the lateral wall of sliding plate, the other end of two hinge bars is connected with the transmission of two arc shearing claws respectively, be equipped with on the arc shearing claw and supply the gliding arc spacing groove of hinge bar tip.
As an efficient convenient coconut picking equipment's an preferred scheme, the fixed subassembly of locking is including the rack, the gear of marcing, the locking mounting bracket, third servo motor and extrusion locking board, rack level fixed mounting is on the lateral wall that the arc climbed the frame, the length direction that the arc climbed the frame is tangent with arc climbing frame inside wall radian direction, the setting that the locking mounting bracket level can slide is on the arc climbs the frame, the vertical hub of gear of marcing is on the locking mounting bracket, third servo motor fixed mounting is on locking mounting bracket top, third servo motor's output and the gear fixed connection of marcing, the gear and rack meshing of marcing, extrusion locking board fixed mounting is close to coconut tree trunk one side at the locking mounting bracket.
Compared with the prior art, the invention has the beneficial effects that:
compared with the automatic picking equipment in the prior art, the efficient and convenient coconut picking equipment disclosed by the invention can be used for efficiently shearing coconut stems, is driven by full electric power, does not need to carry an air pump, improves the flexibility of the equipment, and can realize bending between two arc-shaped climbing frames, so that the function of climbing and bending a trunk can be realized, the application range of the equipment is enlarged, the picking function can be realized more stably and efficiently, and the labor intensity of workers is reduced.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a third schematic perspective view of the present invention;
FIG. 4 is a schematic perspective view of a connecting assembly of the present invention;
FIG. 5 is a front view of FIG. 4;
FIG. 6 is a schematic perspective view of a climbing assembly of the present invention;
FIG. 7 is a perspective view of the locking assembly of the present invention;
FIG. 8 is an enlarged view of FIG. 7A;
fig. 9 is a schematic perspective view of a shear picking assembly of the present invention;
fig. 10 is a schematic partial perspective view of a shear picking assembly of the present invention.
The reference numbers in the figures are:
1-a climbing assembly; 2-connecting the components; 3-locking the fixing component; 4-shearing the picking assembly; 5-arc climbing frame; 6-hinged mounting frame; 7-an elastic connecting rod; 8, a telescopic rod; 9-a spring; 10-a first shaft; 11-a first servomotor; 12-a drive wheel; 13-a driven wheel; 14-a running belt; 15-avoidance groove; 16-drive bevel gear; 17-driven bevel gear; 18-a second servomotor; 19-antislip strips; 20-a multi-axis motorized manipulator; 21-arc-shaped cutting claw; 22-linear drive; 23-a hinged lever; 24-a slide plate; 25-arc limiting groove; 26-a rack; 27-a travelling gear; 28-a locking mounting; 29-a third servo motor; 30-pressing the locking plate.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1-3, an efficient and convenient coconut picking device comprises:
the climbing assembly 1 is annularly sleeved on a coconut tree trunk and used for climbing along the coconut tree trunk;
the connecting assembly 2 is arranged on the climbing assembly 1 and is used for connecting the climbing assembly 1;
the locking and fixing assembly 3 is arranged on the climbing assembly 1 and used for locking and fixing the climbing assembly 1 on a coconut tree trunk when one side stops advancing;
the shearing and picking assembly 4 is arranged at the top end of the climbing assembly 1 and is used for shearing off the coconut stalks at the top end of the coconut trees so as to enable the coconuts to fall to the ground;
the climbing assembly 1 comprises:
the two arc climbing frames 5 are horizontally arranged, the inner side wall of each arc climbing frame 5 is in a semi-arc shape, and the two arc climbing frames 5 are arranged in a staggered mode and used for being tightly attached to one side of a coconut tree trunk;
the four groups of advancing mechanisms are respectively vertically arranged at two ends of the two arc climbing frames 5 and are used for providing driving force for the lifting of the arc climbing frames 5;
the connecting assembly 2 includes:
the hinged mounting frame 6 is arranged between the two groups of arc climbing frames 5, and the hinged mounting frame 6 is hinged with the end part of one arc climbing frame 5 positioned below;
the elastic connecting device is vertically arranged, the top end of the elastic connecting device is fixedly connected with the bottom end of the arc climbing frame 5 positioned above the elastic connecting device, the bottom end of the elastic connecting device is hinged with the top end of the hinged mounting frame 6, and the elastic connecting device is used for elastically connecting the two arc climbing frames 5, so that the two arc climbing frames 5 can be bent in the advancing process, and further, the application range of the equipment can be widened through the bent coconut tree trunk;
the opening and closing driving mechanism is arranged on the hinged mounting frame 6 and used for driving the two sets of arc climbing frames 5 to open and close, and the coconut tree trunk is clamped by the picking equipment.
The elastic connection device shown with reference to fig. 4 to 5 includes:
the elastic connecting rod 7 is vertically arranged between the arc climbing frame 5 and the hinged mounting frame 6, the top end of the elastic connecting rod 7 is connected with the arc climbing frame 5 located above, the bottom end of the elastic connecting rod 7 is connected with the top end of the hinged mounting frame 6, and the elastic connecting rod 7 is used for bending the elastic connecting rod 7 when the arc climbing frame 5 located above passes through when the climbing assembly 1 meets a tree trunk bending section, so that the connection state of the arc climbing frame 5 located above and the hinged mounting frame 6 is kept;
the telescopic link 8 sets up respectively at the both ends of elastic connecting rod 7, the one end of telescopic link 8 and the tip fixed connection of elastic connecting rod 7, the other end of telescopic link 8 respectively with articulated mounting bracket 6 with be located the arc of top and climb a 5 fixed connection for the adaptation is climbed 5 at two arcs and is climbed 5 distance changes of in-process in vertical side, makes two arcs climb and keep the connection status all the time between the frame 5. When meetting the crooked section of trunk, the arc that is located the top climbs frame 5 and passes through with elastic connection rod 7 crooked to the arc that keeps the top climbs frame 5 and the connected state of articulated mounting bracket 6, and then the arc that can make both sides of trunk climbs frame 5 homoenergetic and laminates the trunk, guarantees the stability of climbing of equipment, and telescopic link 8 is used for keeping the connected state between two arcs climb frame 5 when climbing, makes it realize the function of climbing.
The elastic connection device shown with reference to fig. 4 to 5 further includes:
spring 9, vertical fixed cover is established on elastic connection rod 7 for promote elastic connection rod 7's elasticity performance, and provide certain crooked resilience force, make elastic connection rod 7 can resume initial condition after through crooked section. The spring 9 can improve the elastic performance and improve the elastic connection function of the elastic connection device.
The opening and closing drive mechanism shown with reference to fig. 4 to 5 includes:
the first rotating shaft 10 is vertically connected to the hinged mounting frame 6, and the end part of the arc climbing frame 5 positioned below is fixedly connected with the first rotating shaft 10 and used for controlling the opening and closing of the two arc climbing frames 5, so that the equipment can be conveniently mounted or dismounted on a coconut tree trunk;
Referring to fig. 6, the advancing mechanism includes a first rotary driving device, a driving wheel 12, a driven wheel 13 and an advancing belt 14, the first rotary driving device is fixedly installed at the end portion of the arc climbing frame 5, the driving wheel 12 and the driven wheel 13 are both coupled to the end portion of the arc climbing frame 5, the driven wheel 13 is located under the driving wheel 12, the axial direction of the driving wheel 12 and the driven wheel 13 is tangent to the radian of the inner side wall of the arc climbing frame 5, the advancing belt 14 is sleeved on the driving wheel 12 and the driven wheel 13, the output end of the first rotary driving device is in transmission connection with the driving wheel 12, the side wall of the advancing belt 14 penetrates through the inner side wall of the arc climbing frame 5 to be attached to the outer side wall of the coconut tree trunk, and the arc climbing frame 5 is provided with an avoiding. When the traveling mechanism works, the output of the first rotating device drives the driving wheel 12 to rotate, the rotation of the driving wheel 12 drives the traveling belt 14 to move, the driving wheel 12 and the driven wheel 13 are used for installing the traveling belt 14 and driving the traveling belt 14 to move, and the traveling belt 14 realizes the traveling function of the arc climbing frame 5 through the side wall.
The first rotary drive device shown with reference to fig. 6 includes:
the driving bevel gear 16 is coupled to the end of the arc climbing frame 5, is in transmission connection with the driving wheel 12, and is used for driving the driving wheel 12 to rotate during rotation so as to realize a driving function;
the driven bevel gear 17 is coupled to the end of the arc climbing frame 5 and meshed with the driving bevel gear 16, and the driven bevel gear 17 is in coaxial transmission connection with the driving wheel 12 and is used for rotating along with the driving bevel gear 16 when the driving bevel gear 16 rotates and driving the driving wheel 12 to rotate synchronously with the driving bevel gear;
and the second servo motor 18 is fixedly arranged at the end part of the arc climbing frame 5, and the output end of the second servo motor 18 is fixedly connected with the driving bevel gear 16 and is used for providing a rotary driving force for the rotation of the driving bevel gear 16. When the first rotary driving device works, the output of the second servo motor 18 drives the driving bevel gear 16 to rotate, the driving bevel gear 16 drives the driven bevel gear 17 meshed with the driving bevel gear to rotate, the driven bevel gear 17 drives the driving wheel 12 coaxially arranged with the driven bevel gear to synchronously rotate, and then the function that the first rotary driving device drives the driving wheel 12 to rotate is realized, and the climbing function can be realized.
The outer side wall of the traveling belt 14 shown in fig. 6 is provided with a non-slip strip 19 for improving climbing transmission effect. When the traveling belt 14 moves, the anti-slip strip 19 can prevent the traveling belt 14 from slipping with the trunk, and the climbing effect is improved.
With reference to fig. 9-10, a shear picking assembly 4 comprises:
the multi-shaft electric manipulator 20 is arranged at the top end of the arc climbing frame 5 positioned above and is used for flexibly shearing coconuts on coconut trees;
the two arc-shaped shearing claws 21 are symmetrically arranged along the vertical plane of the output end of the multi-shaft electric manipulator 20, and the arc-shaped shearing claws 21 are hinged to the output end of the multi-shaft electric manipulator 20 and used for shearing coconuts at the top end of a coconut tree;
the shearing electric driving device is fixedly arranged at the output end of the multi-shaft electric manipulator 20 and used for driving the two arc-shaped shearing claws 21 to move oppositely to realize the shearing driving function. When shearing and picking subassembly 4 during operation, through multiaxis electric manipulator 20 with the nimble motion of arc shearing claw 21 to coconut stalk department, two arc shearing claws 21 live up the coconut stalk, cut electric drive device work through shearing and drive two arc shearing claws 21 and move in opposite directions, and then realize the shearing function of arc shearing claw 21 to the coconut stalk to accomplish the harvesting function of coconut.
Referring to fig. 9-10, the electric shearing driving device includes a linear driver 22, hinge rods 23 and a sliding plate 24, the linear driver 22 is fixedly installed on a side wall of an output end of the multi-axis electric manipulator 20, the sliding plate 24 is slidably disposed on the side wall of the output end, the two hinge rods 23 are symmetrically disposed along a vertical plane of the output end of the multi-axis electric manipulator 20, one end of each hinge rod 23 is hinged to the side wall of the sliding plate 24, the other ends of the two hinge rods 23 are respectively connected with the two arc-shaped shearing claws 21 in a transmission manner, and the arc-shaped shearing claws 21 are provided with arc-shaped limiting grooves 25 for sliding ends of the hinge. When the shearing electric driving device works, the linear driver 22 outputs and drives the sliding plate 24 to push forwards, the sliding plate 24 drives the hinge rod 23 to move, the hinge rod 23 drives the two arc-shaped shearing claws 21 to move oppositely through the arc-shaped limiting grooves 25, and then the shearing driving function of the shearing electric driving device is realized.
The locking fixing component 3 shown in fig. 7-8 comprises a rack 26, a traveling gear 27, a locking mounting frame 28, a third servo motor 29 and an extrusion locking plate 30, wherein the rack 26 is horizontally and fixedly mounted on the side wall of the arc climbing frame 5, the length direction of the arc climbing frame 5 is tangent to the radian direction of the inner side wall of the arc climbing frame 5, the locking mounting frame 28 is horizontally and slidably arranged on the arc climbing frame 5, the traveling gear 27 is vertically connected to the locking mounting frame 28, the third servo motor 29 is fixedly mounted at the top end of the locking mounting frame 28, the output end of the third servo motor 29 is fixedly connected with the traveling gear 27, the traveling gear 27 is meshed with the rack 26, and the extrusion locking plate 30 is fixedly mounted on one side, close to a coconut tree trunk, of the locking mounting. When the locking fixing component 3 works, the output of the third servo motor 29 drives the advancing gear 27 to rotate, the advancing gear 27 drives the locking mounting rack 28 to move along the length direction of the rack 26 through the transmission effect of the rack 26 meshed with the advancing gear 27, and then the function of pushing the extrusion locking plate 30 towards the trunk is achieved, so that the locking effect is achieved.
The working principle of the invention is as follows:
when the device works, the two arc climbing frames 5 are rotated to be close to each other through the work of the opening and closing driving mechanism, so that the periphery of a trunk of a coconut tree is wrapped, the two arc climbing frames 5 are driven to climb upwards in sequence through the work of the advancing mechanism, the connecting assembly 2 realizes the connecting function of the two arc climbing frames 5 in the climbing process, when a bent section of the trunk is encountered, the elastic connecting device is used for elastically connecting the two arc climbing frames 5, so that the two arc climbing frames 5 can be bent in the advancing process, the telescopic rod 8 is suitable for the distance change in the vertical direction in the climbing process of the two arc climbing frames 5, so that the two arc climbing frames 5 are always kept in the connecting state, the climbing function of the climbing assembly 1 is realized, the locking fixing assembly 3 is used for clamping one of the arc climbing frames 5 on the trunk after the advancing, facilitating the subsequent advancing process, when the climbing assembly 1 moves to the top end of the trunk, the shearing and picking assembly 4 shears the coconut at the top of the trunk, the multi-shaft electric manipulator 20 moves to move the arc-shaped shearing claws 21 to the coconut stalk, the two arc-shaped shearing claws 21 approach to each other to shear the coconut stalk, so as to cut and drop the coconuts to the ground, and facilitate manual collection of the coconuts, the efficient and convenient coconut picking equipment can efficiently cut the coconut stalks, compared with the automatic picking equipment in the prior art, the equipment adopts full electric drive, does not need to carry an air pump, improves the flexibility of the equipment, can realize the bending between two arc-shaped climbing frames 5, thereby can realize climbing the function of crooked trunk, improve the application range of equipment, make it can stabilize the efficient more and realize picking the function, reduce artifical intensity of labour.
The equipment realizes the functions of the invention through the following steps, thereby solving the technical problems provided by the invention:
step one, when the opening and closing driving mechanism works, the first rotating shaft 10 is driven to rotate through the output of the first servo motor 11, the first rotating shaft 10 rotates to drive the arc climbing frame 5 located below to rotate, and then the two arc climbing frames 5 move oppositely or oppositely to each other, so that the opening and closing function is realized.
And step two, when the advancing mechanism works, the first rotating device outputs and drives the driving wheel 12 to rotate, the driving wheel 12 rotates and drives the advancing belt 14 to move, the driving wheel 12 and the driven wheel 13 are used for installing the advancing belt 14 and driving the advancing belt 14 to move, and the advancing belt 14 realizes the advancing function of the arc-shaped climbing frame 5 through the side wall.
And step three, when the first rotary driving device works, the second servo motor 18 outputs and drives the driving bevel gear 16 to rotate, the driving bevel gear 16 drives the driven bevel gear 17 meshed with the driving bevel gear to rotate, and the driven bevel gear 17 drives the driving wheel 12 coaxially arranged with the driven bevel gear to synchronously rotate, so that the function that the first rotary driving device drives the driving wheel 12 to rotate is realized, and the climbing function can be realized.
Step four, when meetting trunk bending section, the arc that is located the top climbs frame 5 and passes through with elastic connection rod 7 crooked to the arc that keeps the top climbs frame 5 and the connected state of articulated mounting bracket 6, and then the arc that can make both sides of trunk climbs frame 5 homoenergetic and laminates the trunk, guarantees the stability of climbing of equipment, and telescopic link 8 is used for keeping the connected state between two arcs climb frame 5 when climbing, makes it realize the function of climbing. The spring 9 can improve the elastic performance and improve the elastic connection function of the elastic connection device. When the traveling belt 14 moves, the anti-slip strip 19 can prevent the traveling belt 14 from slipping with the trunk, and the climbing effect is improved.
Step five, when the shearing and picking assembly 4 works, the arc-shaped shearing claws 21 flexibly move to the coconut stems through the multi-shaft electric manipulator 20, the coconut stems are wrapped by the two arc-shaped shearing claws 21, the two arc-shaped shearing claws 21 are driven to move oppositely through the work of the shearing electric driving device, and then the shearing function of the arc-shaped shearing claws 21 on the coconut stems is realized, so that the coconut picking function is completed.
Step six, when the shearing electric driving device works, the linear driver 22 outputs and drives the sliding plate 24 to push forwards, the sliding plate 24 drives the hinge rod 23 to move, the hinge rod 23 drives the two arc-shaped shearing claws 21 to move oppositely through the arc-shaped limiting grooves 25, and then the shearing driving function of the shearing electric driving device is realized.
Seventhly, when the locking fixing component 3 works, the third servo motor 29 outputs and drives the advancing gear 27 to rotate, the advancing gear 27 drives the locking mounting rack 28 to move along the length direction of the rack 26 under the transmission action of the rack 26 meshed with the advancing gear 27, and then the function of pushing the extrusion locking plate 30 towards the trunk is achieved, and therefore the locking effect is achieved.
The foregoing has described the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an equipment is picked to high-efficient convenient coconut which characterized in that includes:
the climbing assembly (1) is annularly sleeved on a coconut tree trunk and is used for climbing along the coconut tree trunk;
the connecting assembly (2) is arranged on the climbing assembly (1) and is used for connecting the climbing assembly (1);
the locking and fixing assembly (3) is arranged on the climbing assembly (1) and is used for locking and fixing the climbing assembly (1) on a coconut tree trunk when one side stops advancing;
the shearing and picking assembly (4) is arranged at the top end of the climbing assembly (1) and is used for shearing off the coconut stalks at the top end of the coconut trees so as to enable the coconuts to fall to the ground;
the climbing assembly (1) comprises:
the two arc climbing frames (5) are horizontally arranged, the inner side wall of each arc climbing frame (5) is in a semi-arc shape, and the two arc climbing frames (5) are arranged in a staggered mode and are used for tightly attaching to one side of a coconut tree trunk;
the four groups of advancing mechanisms are respectively vertically positioned at two ends of the two arc climbing frames (5) and are used for providing driving force for the lifting of the arc climbing frames (5);
the connection assembly (2) comprises:
the hinged mounting rack (6) is arranged between the two groups of arc climbing racks (5), and the hinged mounting rack (6) is hinged with the end part of one arc climbing rack (5) positioned below;
the elastic connecting device is vertically arranged, the top end of the elastic connecting device is fixedly connected with the bottom end of the arc climbing frame (5) positioned above the elastic connecting device, the bottom end of the elastic connecting device is hinged with the top end of the hinged mounting frame (6), and the elastic connecting device is used for elastically connecting the two arc climbing frames (5), so that the two arc climbing frames (5) can be bent in the advancing process, and further the application range of the equipment can be widened through the bent coconut tree trunk;
the opening and closing driving mechanism is arranged on the hinged mounting frame (6) and used for driving the two sets of arc climbing frames (5) to open and close, and the coconut tree trunks are clamped by the picking equipment.
2. The efficient and convenient coconut picking apparatus of claim 1 wherein the resilient connection means comprises:
the elastic connecting rod (7) is vertically arranged between the arc climbing frame (5) and the hinged mounting frame (6), the top end of the elastic connecting rod (7) is connected with the arc climbing frame (5) located above, the bottom end of the elastic connecting rod (7) is connected with the top end of the hinged mounting frame (6), and the elastic connecting rod (7) is used for bending the elastic connecting rod (7) when the climbing assembly (1) meets a tree trunk bending section and the arc climbing frame (5) located above passes through, so that the connection state of the arc climbing frame (5) located above and the hinged mounting frame (6) is kept;
telescopic link (8), set up respectively at the both ends of elastic connecting rod (7), the one end of telescopic link (8) and the tip fixed connection of elastic connecting rod (7), the other end of telescopic link (8) respectively with articulated mounting bracket (6) and be located the arc of top and climb frame (5) fixed connection for the adaptation climbs frame (5) at two arcs and climbs the ascending distance change of in-process in vertical direction, make two arcs climb and keep connected state between frame (5) all the time.
3. The efficient and convenient coconut picking apparatus of claim 2, wherein the resilient connection means further comprises:
the spring (9) is vertically fixedly sleeved on the elastic connecting rod (7) and used for improving the elastic performance of the elastic connecting rod (7) and providing certain bending resilience force, so that the elastic connecting rod (7) can recover to an initial state after passing through the bending section.
4. The efficient and convenient coconut picking device according to claim 1, characterized in that the opening and closing driving mechanism comprises:
the vertical shaft of the first rotating shaft (10) is connected to the hinged mounting frame (6), and the end part of the arc climbing frame (5) positioned below is fixedly connected with the first rotating shaft (10) and used for controlling the opening and closing of the two arc climbing frames (5) so as to facilitate the installation or the disassembly of the equipment on a coconut tree trunk;
first servo motor (11), vertical fixed mounting is in the bottom of articulated mounting bracket (6), and the output of first servo motor (11) and the bottom fixed connection of first pivot (10) for provide drive power for the rotation of first pivot (10).
5. The efficient and convenient coconut picking device according to claim 1, characterized in that the travelling mechanism comprises a first rotary driving device, a driving wheel (12), a driven wheel (13) and a travelling belt (14), the first rotary driving device is fixedly installed at the end of the arc climbing frame (5), the driving wheel (12) and the driven wheel (13) are both connected to the end of the arc climbing frame (5) in a shaft connection mode, the driven wheel (13) is located right below the driving wheel (12), the axial direction of the driving wheel (12) and the driven wheel (13) is tangent to the radian of the inner side wall of the arc climbing frame (5), the travelling belt (14) is sleeved on the driving wheel (12) and the driven wheel (13), the output end of the first rotary driving device is in transmission connection with the driving wheel (12), the side wall of the travelling belt (14) penetrates through the inner side wall of the arc climbing frame (5) to be attached to the outer side wall of a coconut tree trunk, an avoiding groove (15) for avoiding the traveling belt (14) is arranged on the arc climbing frame (5).
6. The efficient and convenient coconut picking apparatus of claim 5 wherein the first rotary drive means comprises:
the driving bevel gear (16) is coupled to the end part of the arc climbing frame (5) in a shaft manner, is in transmission connection with the driving wheel (12), and is used for driving the driving wheel (12) to rotate so as to realize a driving function when rotating;
the driven bevel gear (17) is coupled to the end part of the arc climbing frame (5) in a shaft manner and meshed with the driving bevel gear (16), and the driven bevel gear (17) is in coaxial transmission connection with the driving wheel (12) and is used for rotating along with the driving bevel gear (16) when the driving bevel gear (16) rotates and driving the driving wheel (12) to rotate synchronously with the driving bevel gear;
and the second servo motor (18) is fixedly installed at the end part of the arc climbing frame (5), and the output end of the second servo motor (18) is fixedly connected with the driving bevel gear (16) and used for providing a rotary driving force for the rotation of the driving bevel gear (16).
7. The efficient and convenient coconut picking device according to claim 5, characterized in that the outer side wall of the traveling belt (14) is provided with a non-slip strip (19) for improving climbing transmission effect.
8. An efficient and convenient coconut picking apparatus according to claim 1 characterised in that shear picking assembly (4) comprises:
the multi-shaft electric manipulator (20) is arranged at the top end of the arc climbing frame (5) positioned above and is used for flexibly shearing coconuts on coconut trees;
the two arc-shaped shearing claws (21) are symmetrically arranged along the vertical plane of the output end of the multi-shaft electric manipulator (20), and the arc-shaped shearing claws (21) are hinged to the output end of the multi-shaft electric manipulator (20) and used for shearing coconuts at the top end of a coconut tree;
the shearing electric driving device is fixedly arranged at the output end of the multi-shaft electric manipulator (20) and used for driving the two arc-shaped shearing claws (21) to move oppositely to realize the shearing driving function.
9. The efficient and convenient coconut picking device according to claim 8, characterized in that the shearing electric driving device comprises a linear driver (22), hinged rods (23) and a sliding plate (24), the linear driver (22) is fixedly installed on the side wall of the output end of the multi-shaft electric manipulator (20), the sliding plate (24) is slidably arranged on the side wall of the output end, the two hinged rods (23) are symmetrically arranged along the vertical plane of the output end of the multi-shaft electric manipulator (20), one end of each hinged rod (23) is hinged with the side wall of the sliding plate (24), the other ends of the two hinged rods (23) are respectively in transmission connection with the two arc-shaped shearing claws (21), and arc-shaped limiting grooves (25) for the end portions of the hinged rods (23) to slide are formed in the arc-shaped shearing claws (21).
10. The efficient and convenient coconut picking device according to claim 1, characterized in that the locking fixing component (3) comprises a rack (26), a traveling gear (27), a locking mounting rack (28), a third servo motor (29) and an extrusion locking plate (30), the rack (26) is horizontally and fixedly installed on the side wall of the arc climbing rack (5), the length direction of the arc climbing rack (5) is tangent to the radian direction of the inner side wall of the arc climbing rack (5), the locking mounting rack (28) is horizontally and slidably arranged on the arc climbing rack (5), the traveling gear (27) is vertically connected to the locking mounting rack (28) in a vertical shaft mode, the third servo motor (29) is fixedly installed at the top end of the locking mounting rack (28), the output end of the third servo motor (29) is fixedly connected with the traveling gear (27), and the traveling gear (27) is meshed with the rack (26), the extrusion locking plate (30) is fixedly arranged on one side of the locking mounting frame (28) close to the coconut tree trunk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011028528.1A CN112075198A (en) | 2020-09-27 | 2020-09-27 | Efficient and convenient coconut picking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011028528.1A CN112075198A (en) | 2020-09-27 | 2020-09-27 | Efficient and convenient coconut picking equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112075198A true CN112075198A (en) | 2020-12-15 |
Family
ID=73738362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011028528.1A Withdrawn CN112075198A (en) | 2020-09-27 | 2020-09-27 | Efficient and convenient coconut picking equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112075198A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112602460A (en) * | 2021-01-13 | 2021-04-06 | 深圳市合万瑞贸易有限公司 | Coconut picking harvester |
| CN114175921A (en) * | 2021-12-21 | 2022-03-15 | 姚花花 | Agricultural coconut picking lifting equipment |
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| DE3509159A1 (en) * | 1985-03-14 | 1986-09-25 | Jürgen F. Dipl.-Ing. Schäfer (FH), 4800 Bielefeld | Method and appliance for the harvesting of fruit growing on trees |
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| CN112602460A (en) * | 2021-01-13 | 2021-04-06 | 深圳市合万瑞贸易有限公司 | Coconut picking harvester |
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| CN114175921A (en) * | 2021-12-21 | 2022-03-15 | 姚花花 | Agricultural coconut picking lifting equipment |
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Application publication date: 20201215 |