CN112602460A - Coconut picking harvester - Google Patents
Coconut picking harvester Download PDFInfo
- Publication number
- CN112602460A CN112602460A CN202110044822.XA CN202110044822A CN112602460A CN 112602460 A CN112602460 A CN 112602460A CN 202110044822 A CN202110044822 A CN 202110044822A CN 112602460 A CN112602460 A CN 112602460A
- Authority
- CN
- China
- Prior art keywords
- crawling
- motor shaft
- fixedly arranged
- motor
- harvesting
- 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.)
- Granted
Links
Images
Classifications
-
- 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
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a coconut picking harvester, which comprises a crawling slide rail, wherein a crawling mechanism is arranged on the crawling slide rail, the crawling mechanism comprises a crawling sliding groove arranged in the crawling sliding rail, a threaded rod is rotationally arranged in the crawling sliding groove, a first bevel gear is fixedly arranged on the threaded rod, a first motor shaft is rotationally arranged on the inner wall of the left side of the crawling chute, the first motor shaft is fixedly provided with a second bevel gear which is meshed and connected with the first bevel gear, the coconut picking machine can automatically finish the picking work of coconuts on coconut trees, the coconut picking machine clamps the trunk through four clamping devices, and climb up the coconut tree along the trunk and reach the coconut position, the rotation of device through the angle makes whole device can rotate on the coconut tree, and the upside replaces the blade to pick the coconut through two gyro wheels for the coconut surface can not be avoided the scratch by the scratch and gravity whereabouts makes the coconut split.
Description
Technical Field
The invention relates to the field of harvesters, in particular to a coconut picking harvester.
Background
At present, a coconut picking method mainly comprises manual climbing picking and cutting picking by a picking machine cutter. The manual climbing picking is high in labor intensity, low in efficiency and free of life guarantee for operating personnel, the picking operation is complex due to the fact that a picking cutter cuts and picks coconuts, the coconuts and branches are damaged slightly by negligence, the coconuts and branches are damaged slightly, the coconuts are broken and fly by the cutter to hurt people and damage machines heavily, the coconuts in tropical regions are connected through a rope, workers can move from one coconut to another coconut through the rope to pick coconuts conveniently, picking efficiency is improved, and picking is also more dangerous.
Disclosure of Invention
The invention aims to provide a coconut picking harvester, which overcomes the above problems.
The invention is realized by the following technical scheme.
The invention relates to a coconut picking harvester, which comprises a crawling slide rail, wherein a crawling mechanism is arranged on the crawling slide rail, the crawling mechanism comprises a crawling slide groove arranged in the crawling slide rail, a threaded rod is arranged in the crawling slide groove in a rotating manner, a first bevel gear is fixedly arranged on the threaded rod, a first motor shaft is arranged on the inner wall of the left side of the crawling slide groove in a rotating manner, a second bevel gear is fixedly arranged on the first motor shaft and is meshed with the first bevel gear, a first motor is fixedly arranged on the left end surface of the crawling slide rail and controls the first motor shaft to rotate, two crawling slide blocks are symmetrically arranged on the crawling slide groove in a sliding manner in a front-back manner, a crawling connecting piece is fixedly arranged on the left end surface of the crawling slide block, a crawling support piece is fixedly arranged on the left end surface of the crawling, a clamping air cavity is arranged in the clamping air cylinder, a clamping piston is slidably arranged in the clamping air cavity, a pressure control box is fixedly arranged on the end face, close to the symmetry axis, of the clamping piston, a pressure control cavity is arranged in the pressure control box, a pressure control piston is slidably arranged in the pressure control cavity, a first pressure sensor is fixedly arranged on the inner side wall of the pressure control cavity, the first pressure sensor is fixedly connected with the pressure control piston through a compression spring, a second motor is fixedly arranged on the pressure control piston, a second motor shaft is arranged on the second motor in a controlled mode, a support frame is fixedly arranged on the second motor shaft, a rotating shaft is rotatably arranged on the support frame, a clamping wheel is fixedly arranged on the rotating shaft, a third motor is fixedly arranged on the support frame, a third motor shaft is arranged on the third motor in a controlled mode, and a third bevel gear is fixedly arranged on, a fourth bevel gear is fixedly arranged on the rotating shaft and is in meshed connection with the third bevel gear;
the upper side of the crawling slide rail is provided with a harvesting mechanism, the harvesting mechanism comprises a transfer box, the left side of the upper end face of the transfer box is provided with a detection box with an upward opening, a detection slide bar is arranged in the detection box in a sliding manner, the inner wall of the lower side of the detection box is fixedly provided with a second pressure sensor, the second pressure sensor is fixedly connected with the detection slide bar through a detection spring, the upper side of the detection slide bar is rotatably provided with a detection wheel, the right side of the detection box is provided with a harvesting chute with an upward opening, a harvesting slide block is arranged in the harvesting chute in a driving manner, the inner wall of the left side of the harvesting chute is fixedly provided with a fourth electromagnet, the left end face of the harvesting slide block is fixedly provided with a harvesting magnetic block, the harvesting magnetic block is fixedly connected with the fourth electromagnet through a third spring, the harvesting support piece is provided with a square groove, and the upper side of the harvesting support piece is rotatably provided with a harvesting wheel.
Preferably, the fixed C type slide rail that is equipped with of slide rail up end of crawling, it is equipped with C type slider to slide in the C type slide rail, embedded C type rack that is equipped with on the C type slider, the fixed mounting that is equipped with of slide rail right-hand member face of crawling, the embedded fourth motor that is equipped with on the mounting, fourth motor control is equipped with the fourth motor shaft, the fixed drive gear that is equipped with on the fourth motor shaft, the symmetry rotates around on the mounting and is equipped with first pivot, the fixed first gear that is equipped with in first pivot, first pivot left side is in rotate on the mounting and is equipped with the second pivot, the fixed second gear that is equipped with in the second pivot, the second gear with C type rack meshing is connected, the second gear with first gear meshing is connected, first gear with drive gear meshing is connected.
Preferably, C type slide rail upside is equipped with the movable slide rail, be equipped with the downward removal spout of opening in the movable slide rail, it is equipped with the removal slider to slide in the removal spout, the fixed first electro-magnet that is equipped with of removal slider right-hand member face, the fixed second electro-magnet that is equipped with of removal spout right side inner wall, the second electro-magnet with first electro-magnet passes through first spring fixed connection, it is embedded to be equipped with the fifth motor to remove the slider, fifth motor control is equipped with the fifth motor shaft, the fifth motor shaft with C type slider fixed connection.
Preferably, the fixed transfer case that is equipped with of movable slide rail up end, be equipped with the forward transfer chamber of opening in the transfer case, it is equipped with the sixth motor shaft to shift the rotation of chamber rear side inner wall, the fixed first sprocket that is equipped with on the sixth motor shaft, the fixed sixth motor that is equipped with of transfer case rear end face, sixth motor control the sixth motor shaft rotates, with the sixth motor shaft is the center, it is equipped with two rotation axes to shift chamber rear side inner wall bilateral symmetry rotation, the fixed second sprocket that is equipped with on the rotation axis, two the second sprocket with first sprocket passes through the chain cooperation and connects, second sprocket front side is in the fixed removal wheel that is equipped with on the rotation axis.
Preferably, first sprocket downside is in it is equipped with the smooth chamber of the ascending centre gripping of opening to shift chamber downside inner wall, it is equipped with the centre gripping slide bar to slide in the smooth chamber of centre gripping, the terminal surface inlays and is equipped with the centre gripping magnetic path under the centre gripping slide bar, the smooth chamber downside inner wall of centre gripping is fixed and is equipped with the third electro-magnet, the third electro-magnet with the centre gripping magnetic path passes through second spring fixed connection, the fixed grip block that is equipped with of centre gripping slide bar up end, the symmetry rotation is equipped with two centre gripping gyro wheels about the grip block.
The invention has the beneficial effects that: the invention can automatically finish the picking work of coconuts on a coconut tree, the invention clamps a trunk through four clamping devices, climbs up a coconut tree along the trunk to reach a coconut position, the whole device can rotate on the coconut tree through the rotation of an angle, the upper side replaces a blade to pick the coconuts through two rollers, the surface of the coconuts cannot be scratched, the coconuts are prevented from being cracked due to the falling of gravity, in addition, the invention is also provided with a rope crawling device, so that the invention can quickly reach the other coconut tree, and the picking efficiency is higher.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the embodiment of the present invention in the direction of A-A in FIG. 1;
FIG. 3 is a schematic view of the embodiment of the present invention in the direction B-B in FIG. 1;
FIG. 4 is a schematic view of the embodiment of the present invention in the direction of C-C in FIG. 1;
FIG. 5 is an enlarged schematic view of the embodiment of the present invention at D in FIG. 1;
FIG. 6 is an enlarged schematic view of the embodiment of the present invention shown in FIG. 2 at E.
Detailed Description
The invention will now be described in detail with reference to fig. 1-6, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
The coconut picking harvester described in conjunction with the attached drawings 1-6 comprises a crawling slide rail 11, a crawling mechanism 90 is arranged on the crawling slide rail 11, the crawling mechanism 90 comprises a crawling slide groove 12 arranged in the crawling slide rail 11, a threaded rod 13 is arranged in the crawling slide groove 12 in a rotating manner, a first bevel gear 14 is fixedly arranged on the threaded rod 13, a first motor shaft 15 is arranged on the inner wall of the left side of the crawling slide groove 12 in a rotating manner, a second bevel gear 16 is fixedly arranged on the first motor shaft 15, the second bevel gear 16 is connected with the first bevel gear 14 in a meshing manner, a first motor 17 is fixedly arranged on the left end face of the crawling slide rail 11, the first motor 17 controls the first motor shaft 15 to rotate, two crawling sliders 18 are symmetrically arranged on the front and back of the crawling slide groove 12 in a sliding manner, a crawling connecting piece 19 is fixedly arranged on the left end face of the crawling slider 18, the crawling support 20 is fixedly provided with clamping cylinders 21 in bilateral symmetry, clamping air chambers 22 are arranged in the clamping cylinders 21, clamping pistons 23 are arranged in the clamping air chambers 22 in a sliding manner, pressure control boxes 24 are fixedly arranged on the end faces, close to the symmetry axis, of the clamping pistons 23, pressure control cavities 25 are arranged in the pressure control boxes 24, pressure control pistons 26 are arranged in the pressure control cavities 25 in a sliding manner, first pressure sensors 27 are fixedly arranged on the inner side walls of the pressure control cavities 25, the first pressure sensors 27 are fixedly connected with the pressure control pistons 26 through compression springs 28, second motors 29 are fixedly arranged on the pressure control pistons 26, second motor shafts 30 are controlled by the second motors 29, support frames 31 are fixedly arranged on the second motor shafts 30, rotating shafts 32 are rotatably arranged on the support frames 31, and clamping wheels 33 are fixedly arranged on the rotating shafts 32, a third motor 34 is fixedly arranged on the support frame 31, a third motor shaft 35 is controlled by the third motor 34, a third bevel gear 36 is fixedly arranged on the third motor shaft 35, a fourth bevel gear 37 is fixedly arranged on the rotating shaft 32, and the fourth bevel gear 37 is meshed with the third bevel gear 36;
the upper side of the crawling slide rail 11 is provided with a harvesting mechanism 91, the harvesting mechanism 91 comprises a transfer box 56, the left side of the upper end face of the transfer box 56 is provided with a detection box 72 with an upward opening, a detection slide rod 73 is arranged in the detection box 72 in a sliding manner, a second pressure sensor 75 is fixedly arranged on the inner wall of the lower side of the detection box 72, the second pressure sensor 75 is fixedly connected with the detection slide rod 73 through a detection spring 76, a detection wheel 74 is arranged on the detection slide rod 73 in a rotating manner, a harvesting slide groove 77 with an upward opening is arranged on the right side of the detection box 72, a harvesting slide block 78 is arranged in the detection slide groove 77 in a sliding manner, a fourth electromagnet 80 is fixedly arranged on the inner wall of the left side of the harvesting slide groove 77, a harvesting magnet block 79 is fixedly arranged on the left end face of the harvesting slide block 78, the harvesting magnet 79 is fixedly connected, the upper end face of the harvesting connecting piece 82 is fixedly provided with a harvesting supporting piece 83, a square groove 84 is formed in the harvesting supporting piece 83, and a harvesting wheel 85 is arranged on the upper side of the harvesting supporting piece 83 in a rotating mode.
Beneficially, a C-shaped slide rail 38 is fixedly arranged on the upper end face of the crawling slide rail 11, a C-shaped slide block 39 is slidably arranged in the C-shaped slide rail 38, a C-shaped rack 40 is embedded in the C-shaped slide block 39, a fixing member 41 is fixedly arranged on the right end face of the crawling slide rail 11, a fourth motor 42 is embedded in the fixing member 41, the fourth motor 42 is controlled by a fourth motor shaft 43, a transmission gear 44 is fixedly arranged on the fourth motor shaft 43, a first rotating shaft 45 is symmetrically and rotationally arranged on the fixing member 41, a first gear 46 is fixedly arranged on the first rotating shaft 45, a second rotating shaft 47 is rotationally arranged on the fixing member 41 on the left side of the first rotating shaft 45, a second gear 48 is fixedly arranged on the second rotating shaft 47, the second gear 48 is meshed with the C-shaped rack 40, and the second gear 48 is meshed with the first gear 46, the first gear 46 is in meshing connection with the transmission gear 44.
Beneficially, a movable slide rail 49 is arranged on the upper side of the C-shaped slide rail 38, a movable slide groove 50 with a downward opening is arranged in the movable slide rail 49, a movable slide block 51 is arranged in the movable slide groove 50 in a sliding manner, a first electromagnet 52 is fixedly arranged on the right end face of the movable slide block 51, a second electromagnet 53 is fixedly arranged on the inner wall of the right side of the movable slide groove 50, the second electromagnet 53 is fixedly connected with the first electromagnet 52 through a first spring 54, a fifth motor 89 is embedded in the movable slide block 51, the fifth motor 89 is provided with a fifth motor shaft 55 in a controlled manner, and the fifth motor shaft 55 is fixedly connected with the C-shaped slide block 39.
Beneficially, a transfer box 56 is fixedly arranged on the upper end face of the movable slide rail 49, a transfer cavity 65 with a forward opening is arranged in the transfer box 56, a sixth motor shaft 66 is rotatably arranged on the inner wall of the rear side of the transfer cavity 65, a first chain wheel 67 is fixedly arranged on the sixth motor shaft 66, a sixth motor 64 is fixedly arranged on the rear end face of the transfer box 56, the sixth motor 64 controls the sixth motor shaft 66 to rotate, the sixth motor shaft 66 is used as a center, two rotating shafts 68 are rotatably arranged on the inner wall of the rear side of the transfer cavity 65 in a bilateral symmetry manner, a second chain wheel 69 is fixedly arranged on the rotating shaft 68, the two second chain wheels 69 are connected with the first chain wheel 67 through a chain 70 in a matching manner, and a movable wheel 71 is fixedly arranged on the rotating shaft 68 on the front side of the second chain wheel.
Beneficially, a clamping sliding cavity 57 with an upward opening is formed in the inner wall of the lower side of the transfer cavity 65 on the lower side of the first chain wheel 67, a clamping sliding rod 58 is arranged in the clamping sliding cavity 57 in a sliding mode, a clamping magnetic block 60 is embedded in the lower end face of the clamping sliding rod 58, a third electromagnet 59 is fixedly arranged on the inner wall of the lower side of the clamping sliding cavity 57, the third electromagnet 59 is fixedly connected with the clamping magnetic block 60 through a second spring 61, a clamping plate 62 is fixedly arranged on the upper end face of the clamping sliding rod 58, and two clamping rollers 63 are arranged on the clamping plate 62 in a bilaterally symmetrical mode.
In the initial state, the first spring 54 is in a normal state.
Manually place the equipment on the coconut tree, centre gripping air cavity 22 admits air control centre gripping piston 23 and drives pressure control box 24 and drive pressure control piston 26 and drive second motor 29 and drive second motor axle 30 and drive support frame 31 and drive axis of rotation 32 and support the coconut tree, and compression spring 28 is compressed, and first pressure sensor 27 detects pressure, and centre gripping air cavity 22 controls the pressure value of first pressure sensor 27 and maintains and can press from both sides tight trunk.
The third motor 34 is started to control the third motor shaft 35 to drive the third bevel gear 36 to rotate, the third bevel gear 36 is meshed with and drives the fourth bevel gear 37 to drive the rotating shaft 32 to drive the clamping wheel 33 to rotate, the whole device moves downwards and upwards under the rotation of the clamping wheel 33 and moves to the tip of a tree, the upper side of the detection wheel 74 is abutted against coconuts, the detection spring 76 is compressed, the second pressure sensor 75 detects pressure, the second pressure sensor 75 controls the third motor 34 to stop, the detection wheel 74 is controlled to rotate clockwise, the harvesting wheel 85 is controlled to rotate anticlockwise, the harvesting magnetic block 79 and the fourth electromagnet 80 are controlled to be repeatedly powered on and powered off, so that the harvesting sliding block 78 drives the harvesting connecting piece 82 to drive the harvesting wheel 85 to move left and right, meanwhile, the fourth motor 42 is started to control the fourth motor shaft 43 to drive the transmission gear 44 to rotate, the transmission gear 44 is meshed with and drives the first gear 46 to drive the second gear 48 to be meshed with and drive, the C-shaped slide block 39 drives the fifth motor shaft 55 to drive the movable slide block 51 to drive the movable slide rail 49 to drive the transfer box 56 to drive the detection wheel 74 and the harvesting wheel 85 to rotate around the tree for one circle, and coconuts on the tree are pulled down under the action of the detection wheel 74 and the harvesting wheel 85 and fall away from the coconuts through the lower groove 84.
The third motor 34 rotates reversely, the control device moves downwards for a certain distance, the control transfer cavity 65 reaches the same level as the horizontal position of the rope, the third motor 34 stops, the second motor 29 starts, the second motor shaft 30 is controlled to drive the support frame 31 to drive the rotating shaft 32 to rotate for ninety degrees, the third motor 34 starts, the clamping wheel 33 is controlled to rotate, the whole device rotates on the coconut tree under the action of the clamping wheel 33, two moving wheels 71 are positioned right below the rope, the third electromagnet 59 is electrified to repel the clamping magnetic block 60 to drive the clamping slide bar 58 to drive the clamping plate 62 to drive the clamping roller 63 to move upwards, the clamping roller 63 and the moving wheel 71 clamp the rope, the clamping air cavity 22 exhausts air to return to the initial position so that the clamping wheel 33 does not clamp the trunk, the sixth motor 64 starts to control the sixth motor shaft 66 to drive the first chain wheel 67 to rotate, the first chain wheel 67 drives the second chain wheel 69 to drive the rotating shaft 68 to, the equipment reaches the next tree under the action of the moving wheel 71 along the rope, in the moving process, the fifth motor 89 is started to control the fifth motor shaft 55 to drive the C-shaped slide rail 38 and the connecting parts thereof to rotate together by one hundred eighty degrees, the first electromagnet 52 and the second electromagnet 53 are electrified and attracted, so that the first electromagnet 52 drives the moving slide block 51 to drive the fifth motor shaft 55 to drive the C-shaped slide rail 38 to drive the crawling slide rail 11 to move rightwards, the equipment enters another tree trunk, the actions are repeated, and the next tree is picked.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (5)
1. The utility model provides a harvester is picked to coconut, includes the slide rail of crawling, its characterized in that: the crawling slide rail is provided with a crawling mechanism, the crawling mechanism comprises a crawling slide groove arranged in the crawling slide rail, a threaded rod is rotationally arranged in the crawling slide groove, a first bevel gear is fixedly arranged on the threaded rod, a first motor shaft is rotationally arranged on the inner wall of the left side of the crawling slide groove, a second bevel gear is fixedly arranged on the first motor shaft and is meshed with the first bevel gear, a first motor is fixedly arranged on the left end face of the crawling slide rail and controls the first motor shaft to rotate, two crawling sliders are symmetrically and slidably arranged on the front side and the back side of the crawling slide groove, a crawling connecting piece is fixedly arranged on the left end face of the crawling slider, a crawling supporting piece is fixedly arranged on the left end face of the crawling connecting piece, clamping cylinders are symmetrically and fixedly arranged on the crawling supporting piece, and clamping air, a clamping piston is arranged in the clamping air cavity in a sliding manner, a pressure control box is fixedly arranged on the end face, close to the symmetry axis, of the clamping piston, a pressure control cavity is arranged in the pressure control box, a pressure control piston is arranged in the pressure control cavity in a sliding manner, a first pressure sensor is fixedly arranged on the inner side wall of the pressure control cavity, the first pressure sensor is fixedly connected with the pressure control piston through a compression spring, a second motor is fixedly arranged on the pressure control piston, a second motor shaft is arranged on the second motor shaft in a controlling manner, a support frame is fixedly arranged on the second motor shaft, a rotating shaft is rotatably arranged on the support frame, a clamping wheel is fixedly arranged on the rotating shaft, a third motor is fixedly arranged on the support frame, a third motor shaft is arranged on the third motor shaft in a controlling manner, a third bevel gear is fixedly arranged on the third motor shaft, and a, the fourth bevel gear is in meshed connection with the third bevel gear;
the upper side of the crawling slide rail is provided with a harvesting mechanism, the harvesting mechanism comprises a transfer box, the left side of the upper end face of the transfer box is provided with a detection box with an upward opening, a detection slide bar is arranged in the detection box in a sliding manner, the inner wall of the lower side of the detection box is fixedly provided with a second pressure sensor, the second pressure sensor is fixedly connected with the detection slide bar through a detection spring, the upper side of the detection slide bar is rotatably provided with a detection wheel, the right side of the detection box is provided with a harvesting chute with an upward opening, a harvesting slide block is arranged in the harvesting chute in a driving manner, the inner wall of the left side of the harvesting chute is fixedly provided with a fourth electromagnet, the left end face of the harvesting slide block is fixedly provided with a harvesting magnetic block, the harvesting magnetic block is fixedly connected with the fourth electromagnet through a third spring, the harvesting support piece is provided with a square groove, and the upper side of the harvesting support piece is rotatably provided with a harvesting wheel.
2. The coconut picking harvester of claim 1, wherein: the fixed C type slide rail that is equipped with of slide rail up end of crawling, it is equipped with C type slider to slide in the C type slide rail, embedded C type rack that is equipped with on the C type slider, the fixed mounting that is equipped with of slide rail right-hand member face of crawling, embedded fourth motor that is equipped with on the mounting, fourth motor control is equipped with the fourth motor shaft, the fixed drive gear that is equipped with on the fourth motor shaft, the symmetry rotates around on the mounting and is equipped with first pivot, the fixed first gear that is equipped with in first pivot, first pivot left side is in rotate on the mounting and is equipped with the second pivot, the fixed second gear that is equipped with in the second pivot, the second gear with C type rack meshing is connected, the second gear with first gear meshing is connected, first gear with drive gear meshing is connected.
3. The coconut picking harvester of claim 1, wherein: the C type slide rail upside is equipped with the shifting chute, be equipped with the downward removal spout of opening in the shifting chute, it is equipped with the shifting block to slide in the removal spout, the fixed first electro-magnet that is equipped with of shifting block right-hand member face, the fixed second electro-magnet that is equipped with of shifting chute right side inner wall, the second electro-magnet with first electro-magnet passes through first spring fixed connection, the embedded fifth motor that is equipped with of shifting block, fifth motor control is equipped with the fifth motor shaft, the fifth motor shaft with C type slide block fixed connection.
4. The coconut picking harvester of claim 1, wherein: the upper end face of the movable sliding rail is fixedly provided with a transfer box, a transfer cavity with a forward opening is formed in the transfer box, a sixth motor shaft is arranged on the inner wall of the rear side of the transfer cavity in a rotating mode, a first chain wheel is fixedly arranged on the sixth motor shaft, a sixth motor is fixedly arranged on the rear end face of the transfer box, the sixth motor controls the sixth motor shaft to rotate, the sixth motor shaft serves as the center, the inner wall of the rear side of the transfer cavity is bilaterally and symmetrically arranged to rotate and provided with two rotating shafts, a second chain wheel and two second chain wheels are fixedly arranged on the rotating shafts, the second chain wheels are connected with the first chain wheels through chain matching, and a movable wheel is fixedly arranged on the rotating shafts on the front side.
5. The coconut picking harvester of claim 1, wherein: first sprocket downside is in it is equipped with the smooth chamber of ascending centre gripping of opening to shift chamber downside inner wall, the smooth intracavity of centre gripping slides and is equipped with the centre gripping slide bar, centre gripping slide bar lower extreme facial features inlays and is equipped with the centre gripping magnetic path, the smooth chamber downside inner wall of centre gripping is fixed and is equipped with the third electro-magnet, the third electro-magnet with the centre gripping magnetic path passes through second spring fixed connection, the fixed grip block that is equipped with of centre gripping slide bar up end, the symmetry rotation is equipped with two centre gripping gyro wheels about the grip block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110044822.XA CN112602460B (en) | 2021-01-13 | 2021-01-13 | Coconut picking harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110044822.XA CN112602460B (en) | 2021-01-13 | 2021-01-13 | Coconut picking harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112602460A true CN112602460A (en) | 2021-04-06 |
| CN112602460B CN112602460B (en) | 2022-05-24 |
Family
ID=75254764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110044822.XA Active CN112602460B (en) | 2021-01-13 | 2021-01-13 | Coconut picking harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112602460B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR9604409A (en) * | 1996-10-17 | 1998-06-16 | Sadanori Matsui | Turbo collector and shaker for coffee beans in coconut and grass seeds |
| CN209897667U (en) * | 2018-12-21 | 2020-01-07 | 华南理工大学广州学院 | Encircling fruit picking machine |
| CN111251017A (en) * | 2020-04-14 | 2020-06-09 | 温州屉安智能科技有限公司 | Turning equipment with multi-functional knife tackle and cutting member are adjusted |
| CN111903369A (en) * | 2020-07-20 | 2020-11-10 | 杭州南之心科技有限公司 | Mountain climbing device for trimming lower end edge of viaduct |
| CN111903337A (en) * | 2020-09-14 | 2020-11-10 | 杭州德哈斯电子科技有限公司 | Coconut picking equipment capable of reducing climbing times |
| CN112075198A (en) * | 2020-09-27 | 2020-12-15 | 张旭 | Efficient and convenient coconut picking equipment |
-
2021
- 2021-01-13 CN CN202110044822.XA patent/CN112602460B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR9604409A (en) * | 1996-10-17 | 1998-06-16 | Sadanori Matsui | Turbo collector and shaker for coffee beans in coconut and grass seeds |
| CN209897667U (en) * | 2018-12-21 | 2020-01-07 | 华南理工大学广州学院 | Encircling fruit picking machine |
| CN111251017A (en) * | 2020-04-14 | 2020-06-09 | 温州屉安智能科技有限公司 | Turning equipment with multi-functional knife tackle and cutting member are adjusted |
| CN111903369A (en) * | 2020-07-20 | 2020-11-10 | 杭州南之心科技有限公司 | Mountain climbing device for trimming lower end edge of viaduct |
| CN111903337A (en) * | 2020-09-14 | 2020-11-10 | 杭州德哈斯电子科技有限公司 | Coconut picking equipment capable of reducing climbing times |
| CN112075198A (en) * | 2020-09-27 | 2020-12-15 | 张旭 | Efficient and convenient coconut picking equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112602460B (en) | 2022-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108934451B (en) | Fruit picking robot for fruit trees | |
| CN106233938A (en) | The end effector of serial type fruit picking robot | |
| CN104310069A (en) | Glass carrying and stacking manipulator | |
| CN110915721A (en) | Egg picking device based on manipulator | |
| JP2021024058A (en) | Cutting device of ground protection steel wire net | |
| CN112917501A (en) | Mechanical intelligent manufacturing gripping device | |
| CN112602460B (en) | Coconut picking harvester | |
| CN111903336A (en) | Device is picked to full-automatic coconut of self-adaptation formula | |
| CN107175644A (en) | A kind of intelligent robot for picking fruit | |
| CN108781764B (en) | Coconut picking machine | |
| CN209806522U (en) | Forestry pruning device | |
| CN218452974U (en) | Reliable and stable jar body clamping jaw structure | |
| CN209321748U (en) | A kind of mobile robot of lateral double half shovels | |
| CN214961253U (en) | Moving device of green belt pruning hedge trimmer | |
| CN111903337A (en) | Coconut picking equipment capable of reducing climbing times | |
| CN109156164A (en) | A kind of apple picking robot | |
| CN211615938U (en) | Automatic processing equipment for wood board side edge | |
| CN111699838A (en) | Fruit picking equipment | |
| CN210910064U (en) | Manipulator for casting chromium alloy grinding ball | |
| CN206767044U (en) | A kind of board-like processing machine | |
| CN209693490U (en) | A kind of raspberry picker of anti-fruit breakage | |
| CN209787884U (en) | Coconut picking device | |
| CN208629957U (en) | A kind of tyre surface automatic pick-up device of molding machine | |
| CN207577559U (en) | A kind of automation billet sawing pile system | |
| CN111558561A (en) | Street lamp cleaning equipment |
Legal Events
| 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221128 Address after: 273300 101, East first floor, Pingyi County Economic Development Zone Management Committee, Linyi City, Shandong Province Patentee after: Pingyi Modern Chinese Medicine Industrial Park Co.,Ltd. Address before: No.3-1, 1st Road, Xiawei Industrial Zone, Longhua District, Shenzhen, Guangdong 518109 Patentee before: Shenzhen hewanrui Trade Co.,Ltd. |