CN203446220U - Coconut picker - Google Patents
Coconut picker Download PDFInfo
- Publication number
- CN203446220U CN203446220U CN201320529474.6U CN201320529474U CN203446220U CN 203446220 U CN203446220 U CN 203446220U CN 201320529474 U CN201320529474 U CN 201320529474U CN 203446220 U CN203446220 U CN 203446220U
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- Prior art keywords
- hand
- sliding sleeve
- grabbed
- guide plate
- coconut
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Abstract
The utility model discloses a coconut picker, mainly comprises a picking grabbing hand; the picking grabbing hand is connected with the upper end of a swing arm assembly by a machine head connection rod; the picking grabbing hand comprises a step motor, a servo motor, a screw, a conical slide sleeve, a cylinder step slide sleeve, an inner hand grabber, an outer hand grabber and a bearing; one end of the screw is connected with a rotary shaft of the step motor while the other end is connected with the servo motor; the conical slide sleeve and the cylinder step slide sleeve are sleeved in the middle of the screw and are in threaded match with the screw; the front grabbing part of the outer grabber is movably connected with an outer ring of the bearing; the rear end part of the outer grabber is glidingly contacted with the conical surface of the conical slide sleeve by balls; the front grabbing part of the inner hand grabber is movably connected with an inner ring of the bearing; the rear end part of the inner hand grabber is glidingly contacted with the inner arc surface of the cylinder step slide sleeve by balls; a rotary shaft of the servo motor is fixedly connected with the inner hand grabber. The coconut picker replaces manual picking, so the picking labor intensity is reduced, the picking efficiency is improved and the safety of the picking operation is improved.
Description
Technical field
The utility model relates to picking fruit device, relates in particular to a kind of coconut picking machine.
Background technology
Coconut has very high edibility and medical value, and its plantation has stronger regionality, mainly contains Philippine, Indonesia, Malaysia etc. abroad, and domestic, Hainan Province is the unique scale place of production of China.Coconut palm is a kind of aiphyllium, and trunk is straight and upright, and up to 15～30m, so every coconut harvest season, coconut palm agriculture can be all the harvesting difficulty headache of coconut.The method that coconut is plucked at present mainly contains artificial climbing harvesting and the cutting of picking machine cutter is plucked.Artificial climbing is plucked, and labour intensity is large, efficiency is low, and operating personnel is without life support; Complicated operation is plucked in the cutting of picking machine cutter, and slightly carelessness, gently damages coconut and limb, and it is disconnected that heavy cutter is ruined arm.In the prior art, China fails to address this problem always, and the development of coconut picking machine is just at the early-stage.There is abroad coconut picking robot to come out, although automaticity is higher,, picking robot can only cut and not accomplish to identify coconut cooking level and single harvesting by whole bundle, and cost is too high, is not suitable for state of China.So the research of coconut picking machine is particularly seemed to particularly important to the research of the picking mechanism of coconut picking machine.
Summary of the invention
The purpose of this utility model is to overcome the shortcoming and defect of prior art, and a kind of simple in structure, practical coconut picking machine is provided.
The utility model is achieved through the following technical solutions:
A kind of coconut picking machine, comprise swing arm unit, for driving the swing arm driving assembly of swing arm unit, described coconut picking machine also comprises a harvesting handgrip, plucks handgrip and is connected with the upper end of swing arm unit by machine head connecting rod, and described harvesting handgrip is arranged on the leading section of machine head connecting rod;
Described harvesting handgrip comprises: stepper motor, servomotor, leading screw, conical sliding sleeve, cylinder step sliding sleeve, interior hand are grabbed, the right-hand side is grabbed, bearing;
One end of described leading screw connects the rotating shaft of stepper motor, and described conical sliding sleeve and cylinder step sliding sleeve are set in the middle part of leading screw, and conical sliding sleeve and cylinder step sliding sleeve coordinate with threads of lead screw;
The described right-hand side grab before the portion of grabbing be hinged to the outer shroud of bearing, the rearward end that the right-hand side is grabbed and the conical surface of conical sliding sleeve are by ball sliding-contact;
Described interior hand grab before the portion of grabbing by the bearing pin being fixed in bearing inner ring, be rotationally connected, the intrados sliding-contact of the rearward end that interior hand is grabbed and cylinder step sliding sleeve;
The rotating shaft of described servomotor is connected with the interior ring of bearing, and in driving, hand is grabbed rotation.
Described interior hand is also provided with an interior pulldown being connected with the rotating shaft of servomotor in grabbing, between the end that interior hand is grabbed and the end of interior pulldown, be provided with buffer spring.
Described swing arm driving assembly comprises: for the motor that drives turbine and worm decelerator to rotate, determine for driving the gear reduction that guide plate rotates, described gear reduction and turbine and worm decelerator are rotationally connected, and described bottom and the base of determining guide plate is rotationally connected;
Described swing arm unit comprises: be arranged on the first cylinder of determining on guide plate, be arranged on the second cylinder on moving guide plate, described moving guide plate with the mode that slides up and down with determine guide plate and be connected;
The rearward end of described machine head connecting rod is provided with the hinge position of two spaces, and the piston rod of the second cylinder is movably hinged by first hinge position of connecting rod and machine head connecting rod rearward end;
The upper end of described moving guide plate, the end of piston rod are movably hinged with second hinge position of machine head connecting rod rearward end respectively.
The body of described stepper motor is fixedly connected with connecting rod.
The utility model has the following advantages compared with prior art:
Stepper motor drives leading screw to rotate, and conical sliding sleeve and cylinder step slide on leading screw and slide; The rearward end that interior hand is grabbed promotes by cylinder step sliding sleeve, make interior hand grab front end Quick-clamped coconut, the rearward end that the right-hand side is grabbed is advanced and is opened by conical sliding sleeve, the front end that the right-hand side is grabbed clamps coconut base of fruit, stepper motor stops subsequently, in driving by servomotor, hand is grabbed together and is rotated, and the base of fruit of coconut is twisted into two parts, thereby realize coconut, plucks.
The utility model substitutes artificial harvesting, reduced harvesting labour intensity, improved picking efficiency, and utilized interior hand to grab with the right-hand side and grab and cooperatively interact, interior hand catches coconut rotation to pluck the danger of having avoided artificial climbing harvesting, the cutting of picking machine cutter to pluck, has improved harvesting operational security.
The utility model practicality simple in structure, easy and simple to handle, easy to utilize, market potential is large.
Accompanying drawing explanation
Fig. 1 is the utility model coconut picking machine overall structure schematic diagram.
Fig. 2 is the concrete structure schematic diagram that Fig. 1 plucks handgrip 33.
Embodiment
Below in conjunction with specific embodiment, the utility model is more specifically described in detail.
Embodiment
As shown in Figure 1 and Figure 2.Coconut picking machine of the present invention, comprise swing arm unit 32, for driving the swing arm driving assembly 31 of swing arm unit 32, described coconut picking machine also comprises a harvesting handgrip 33, pluck handgrip 33 and be connected with the upper end of swing arm unit 32 by machine head connecting rod 9, described harvesting handgrip 33 is arranged on the leading section of machine head connecting rod 8;
Described harvesting handgrip 33 comprises: stepper motor 24, servomotor 18, leading screw 23, conical sliding sleeve 22, cylinder step sliding sleeve 20, interior hand grab 16, the right-hand side grabs 19, bearing 17;
One end of described leading screw 23 connects the rotating shaft of stepper motor 24, and described conical sliding sleeve 22 and cylinder step sliding sleeve 20 are set in the middle part of leading screw 23, conical sliding sleeve 22 and cylinder step sliding sleeve 20 and leading screw 23 threaded engagement;
The described right-hand side grab 19 before the portion of grabbing be hinged to the outer shroud of bearing 17, the right-hand side is grabbed the conical surface of 19 rearward end and conical sliding sleeve 22 by ball 21 sliding-contacts;
Described interior hand grab 16 before the portion of grabbing by the bearing pin being fixed in the interior ring of bearing 17, be rotationally connected, interior hand is grabbed 16 rearward end and the intrados sliding-contact of cylinder step sliding sleeve 20;
The rotating shaft of described servomotor 18 is connected with the interior ring of bearing 17, and in driving, hand is grabbed 16 rotations.
Described interior hand is grabbed and in 16, is also provided with an interior pulldown 13 being connected with the rotating shaft of servomotor 18, and interior hand is grabbed between 16 end and the end of interior pulldown 13 and is provided with buffer spring 15.Buffer spring 15 is realized the flexible crawl of coconut (not shown).
Described swing arm driving assembly 31 comprises: for the motor 3 that drives turbine and worm decelerator 2 to rotate, determine for driving the gear reduction 12 that guide plate 11 rotates, described gear reduction 12 is rotationally connected with turbine and worm decelerator 2, and described bottom and the base 1 of determining guide plate 11 is rotationally connected;
Described swing arm unit 32 comprises: be arranged on the first cylinder 10 of determining on guide plate 11, be arranged on the second cylinder 4 on moving guide plate 6, described moving guide plate 6 with the mode that slides up and down with determine guide plate 11 and be connected;
The rearward end of described machine head connecting rod 8 is provided with the hinge position of two spaces, and the piston rod 5 of the second cylinder 4 is movably hinged by connecting rod 7 and first hinge position of machine head connecting rod 8 rearward end;
The end of the upper end of described moving guide plate 6, piston rod 9 is movably hinged with second hinge position of machine head connecting rod 8 rearward end respectively.
The body of described stepper motor 24 is fixedly connected with connecting rod 8.
Stepper motor drives leading screw to rotate, and conical sliding sleeve and cylinder step slide on leading screw and slide; The rearward end that interior hand is grabbed promotes by cylinder step sliding sleeve, make interior hand grab front end Quick-clamped coconut, the rearward end that the right-hand side is grabbed is advanced and is opened by conical sliding sleeve, the front end that the right-hand side is grabbed clamps coconut base of fruit, stepper motor stops subsequently, in driving by servomotor, hand is grabbed together and is rotated, and the base of fruit of coconut is twisted into two parts, thereby realize coconut, plucks.
Swing arm driving assembly 31 can be realized and determine guide plate 11 and in the angular range of 0 °～120 °, swing on base 1, the piston rod 5 of the second cylinder 4 flexible, can realize the pitching action that connecting rod 8 completes 0 °～30 °.
The utility model is plucked handgrip except being used in conjunction with swing arm driving assembly 31 and swing arm unit 32, can also be arranged on other rod members that are similar to stock and use.
Just can realize preferably the utility model as mentioned above.
Embodiment of the present utility model is not restricted to the described embodiments; other are any does not deviate from change, the modification done under Spirit Essence of the present utility model and principle, substitute, combination, simplify; all should be equivalent substitute mode, within being included in protection domain of the present utility model.
Claims (4)
1. a coconut picking machine, comprise swing arm unit (32), for driving the swing arm driving assembly (31) of swing arm unit (32), it is characterized in that coconut picking machine also comprises a harvesting handgrip (33), pluck handgrip (33) and be connected with the upper end of swing arm unit (32) by machine head connecting rod (8), described harvesting handgrip (33) is arranged on the leading section of machine head connecting rod (8);
Described harvesting handgrip (33) comprising: stepper motor (24), servomotor (18), leading screw (23), conical sliding sleeve (22), cylinder step sliding sleeve (20), interior hand are grabbed (16), the right-hand side is grabbed (19), bearing (17);
One end of described leading screw (23) connects the rotating shaft of stepper motor (24), described conical sliding sleeve (22) and cylinder step sliding sleeve (20) are set in the middle part of leading screw (23), conical sliding sleeve (22) and cylinder step sliding sleeve (20) and leading screw (23) threaded engagement;
The described right-hand side grab (19) before the portion of grabbing be hinged to the outer shroud of bearing (17), the right-hand side is grabbed the rearward end of (19) and the conical surface of conical sliding sleeve (22) by ball (21) sliding-contact;
Described interior hand grab (16) before the portion of grabbing by being fixed on the bearing pin in ring in bearing (17), be rotationally connected, interior hand is grabbed the rearward end of (16) and the intrados sliding-contact of cylinder step sliding sleeve (20);
The rotating shaft of described servomotor (18) is connected with the interior ring of bearing (17), and in driving, hand is grabbed (16) rotation.
2. coconut picking machine according to claim 1, it is characterized in that, described interior hand is grabbed in (16) and is also provided with an interior pulldown (13) being connected with the rotating shaft of servomotor (18), and interior hand is grabbed between the end of (16) and the end of interior pulldown (13) and is provided with buffer spring (15).
3. coconut picking machine according to claim 1, it is characterized in that, described swing arm driving assembly (31) comprising: for the motor (3) that drives turbine and worm decelerator (2) to rotate, determine for driving the gear reduction (12) that guide plate (11) rotates, described gear reduction (12) is rotationally connected with turbine and worm decelerator (2), and described bottom and the base (1) of determining guide plate (11) is rotationally connected;
Described swing arm unit (32) comprising: be arranged on the first cylinder (10) of determining on guide plate (11), be arranged on the second cylinder (4) on moving guide plate (6), described moving guide plate (6) with the mode that slides up and down with determine guide plate (11) and be connected;
The rearward end of described machine head connecting rod (8) is provided with the hinge position of two spaces, and the piston rod (5) of the second cylinder (4) is movably hinged by connecting rod (7) and first hinge position of machine head connecting rod (8) rearward end;
The end of the upper end of described moving guide plate (6), piston rod (9) is movably hinged with second hinge position of machine head connecting rod (8) rearward end respectively.
4. coconut picking machine according to claim 1, is characterized in that, the body of described stepper motor (24) is fixedly connected with connecting rod (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320529474.6U CN203446220U (en) | 2013-08-28 | 2013-08-28 | Coconut picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320529474.6U CN203446220U (en) | 2013-08-28 | 2013-08-28 | Coconut picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203446220U true CN203446220U (en) | 2014-02-26 |
Family
ID=50126140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320529474.6U Withdrawn - After Issue CN203446220U (en) | 2013-08-28 | 2013-08-28 | Coconut picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203446220U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103430701A (en) * | 2013-08-28 | 2013-12-11 | 华南理工大学 | Coconut picking machine |
| CN105103793A (en) * | 2015-08-07 | 2015-12-02 | 马人欢 | Pneumatic agricultural and forestal fruit picking device |
| CN107820854A (en) * | 2017-11-01 | 2018-03-23 | 巢湖学院 | A kind of aspiration assist type fruit picker |
| CN108401670A (en) * | 2018-05-04 | 2018-08-17 | 北京印刷学院 | A kind of fruit picking apparatus and wearable seed harvester |
-
2013
- 2013-08-28 CN CN201320529474.6U patent/CN203446220U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103430701A (en) * | 2013-08-28 | 2013-12-11 | 华南理工大学 | Coconut picking machine |
| CN103430701B (en) * | 2013-08-28 | 2015-10-28 | 华南理工大学 | A kind of coconut picking machine |
| CN105103793A (en) * | 2015-08-07 | 2015-12-02 | 马人欢 | Pneumatic agricultural and forestal fruit picking device |
| CN107820854A (en) * | 2017-11-01 | 2018-03-23 | 巢湖学院 | A kind of aspiration assist type fruit picker |
| CN108401670A (en) * | 2018-05-04 | 2018-08-17 | 北京印刷学院 | A kind of fruit picking apparatus and wearable seed harvester |
| CN108401670B (en) * | 2018-05-04 | 2023-12-22 | 北京印刷学院 | Fruit picking device and wearable picking equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140226 Effective date of abandoning: 20151028 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |