CN209787884U

CN209787884U - Coconut picking device

Info

Publication number: CN209787884U
Application number: CN201822041336.9U
Authority: CN
Inventors: 宋泽宇; 罗胜阳; 张磊; 谢愿强
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2018-12-06
Filing date: 2018-12-06
Publication date: 2019-12-17
Anticipated expiration: 2028-12-06

Abstract

the utility model relates to a device is picked to coconut belongs to fruit picking equipment technical field. The device comprises a tree climbing device, a picking arm and a picking claw which are connected in sequence, wherein the tree climbing device comprises an upper caliper part, a lower caliper part, a stepping motor I, a speed reducer, an elastic pin coupling, a driving gear, a driven gear, a rack I, a rack II and a rack supporting plate; step motor I, the fixed output shaft that sets up calliper part under and step motor I of reduction gear communicate with the input of reduction gear, and the fixed stiff end that sets up calliper part under of driving gear, driven gear, driving gear and driven gear meshing rotate, the opposite side and the I meshing of rack of driving gear, driven gear's opposite side and the II meshing of rack.

Description

coconut picking device

Technical Field

the utility model relates to a device is picked to coconut belongs to fruit picking equipment technical field.

Background

at present, a coconut picking method mainly comprises manual climbing picking and cutting picking by a picking machine cutter. The labor intensity of manual climbing and picking is high, the efficiency is low, and the operation personnel have no life guarantee; the cutting and picking operation of the picking cutter is complex, the coconut and branches are damaged if the coconut and branches are light, and the flying cutter is broken if the coconut and branches are heavy, so that people are injured and machines are damaged. The picking robot can only cut by a single Chinese imperial porcelain, and cannot identify the maturity of the willow to obtain samples, and the cost is high.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the problem that above-mentioned prior art exists, provide a device is picked to coconut, the utility model discloses a device is picked to the coconut, the utility model discloses device is picked to the coconut can be used to high altitude coconut picking, replaces the manpower to pick, improves the security and the picking speed of picking the during operation when reducing artifical picking intensity of labour, and guarantee picker's personal safety improves and picks efficiency.

The utility model discloses a solve its technical problem and the technical scheme who adopts is:

A coconut picking device comprises a tree climbing device 1, a picking arm 2 and a picking claw 3 which are sequentially connected, wherein the tree climbing device 1 comprises an upper caliper part 4, a lower caliper part 5, a stepping motor I6, a speed reducer 7, an elastic pin coupler 8, a driving gear 10, a driven gear 11, a rack I12, a rack II and a rack support plate 13, the top ends of the rack I12 and the rack II are respectively and fixedly arranged at the bottom of the fixed end of the upper caliper part 4, the rack I12 and the rack II are vertically arranged in parallel, the rack I12 and the rack II respectively penetrate through the fixed end of the lower caliper part, the bottom ends of the rack I12 and the rack II are fixedly connected through the horizontally arranged rack support plate 13, and the rack support plate 13 is positioned below the lower caliper part 5; step motor I6, the fixed output shaft that sets up at the stiff end of calliper part 5 and step motor I6 and reduction gear 7's input intercommunication down of reduction gear 7, driving gear 10, driven gear 11 respectively through the fixed stiff end that sets up calliper part 5 under and be located the middle part of two racks, driving gear 10 and driven gear 11 meshing rotation, the opposite side and the I12 meshing of rack of driving gear 10, driven gear 11's opposite side and the II meshing of rack.

Go up calliper part 4 and include step motor II 14, slider coupling I15, worm I16, worm wheel I17, worm wheel II 48, straight connecting rod I18, straight connecting rod II, bent connecting rod I19, bent connecting rod II, calliper claw I20, calliper claw II, calliper layer board I49 is the stiff end of last calliper part 4, step motor II 14 is fixed to be set up on calliper layer board I49, the output of step motor II 14 passes through slider coupling I15 and worm I16 intercommunication, the both sides of worm I16 respectively with worm wheel I17, worm wheel II 48 meshes mutually, worm wheel I17, worm wheel II 48 is respectively through central pivot I, central pivot II is fixed to be set up on calliper layer board I49 and worm wheel I17, worm wheel II 48 can wind central pivot I respectively, central pivot II rotates, I18 one end of straight connecting rod is fixed to be set up in worm wheel I17, the other end of straight connecting rod I18 is connected through the bottom of round pin axle I and calliper I20 and the bottom of straight connecting rod 18 and calliper 20 All can rotate around round pin axle I, the one end of curved connecting rod I19 is fixed on calliper layer board I49 through round pin axle II and curved connecting rod I19 can rotate around round pin axle II, the other end of curved connecting rod I19 is connected and curved connecting rod I19 all can rotate around round pin axle III with the bottom of calliper claw I20 through round pin axle III, II one end of straight connecting rod are fixed and are set up on worm wheel II 48, II other ends of straight connecting rod are connected and straight connecting rod II all can rotate around round pin axle IV with the calliper claw II through the bottom of round pin axle IV with calliper claw II, the one end of curved connecting rod II is fixed on calliper layer board I49 and curved connecting rod II can rotate around round pin axle V through round pin axle V, the other end of curved connecting rod II is connected and curved connecting rod II and calliper claw II all can rotate around round pin axle VI through the bottom of round pin axle VI with calliper claw II, calliper claw I20, calliper.

The lower caliper part 5 comprises a stepping motor III, a sliding block coupling II, a worm wheel III, a worm wheel IV, a straight connecting rod III, a straight connecting rod IV, a bent connecting rod III, a bent connecting rod IV, a caliper claw III, a caliper claw IV and a caliper supporting plate II 46, the caliper supporting plate II 46 is a fixed end of the lower caliper part 5, the stepping motor III is fixedly arranged on the caliper supporting plate II 46, the output end of the stepping motor III is communicated with the worm II through the sliding block coupling II, two sides of the worm II are respectively meshed with the worm wheel III and the worm wheel IV, the worm wheel III and the worm wheel IV are respectively fixedly arranged on the caliper supporting plate II 46 through a central rotating shaft III and a central rotating shaft IV, the worm wheel III and the worm wheel IV can respectively rotate around the central rotating shaft III and the central rotating shaft IV, one end of the straight connecting rod III is fixedly arranged on the worm wheel III, the other end of the straight connecting rod III is connected with the bottom end of the caliper claw, one end of a bent connecting rod III is fixed on a caliper support plate II 46 through a pin shaft ii and can rotate around the pin shaft ii, the other end of the bent connecting rod III is connected with the bottom of a caliper claw III through a pin shaft iii, the bent connecting rod III and the bottom of the caliper claw III can rotate around the pin shaft iii, one end of a straight connecting rod IV is fixedly arranged on a worm wheel IV, the other end of the straight connecting rod IV is connected with the bottom end of the caliper claw IV through a pin shaft iv and can rotate around the pin shaft iv, one end of a bent connecting rod IV is fixed on the caliper support plate II 46 through the pin shaft v and can rotate around the pin shaft v, the other end of the bent connecting rod IV is connected with the bottom of the caliper claw IV through the pin shaft vi and can rotate around the pin shaft vi, and the caliper claw III, the caliper claw IV and the caliper support plate II 46 form a lower caliper.

Rack I12 is provided with convex vertical slide rail with the both sides edge of rack II, and calliper part 5 still includes rack limiting plate I47 and rack limiting plate II down, and one side of rack limiting plate I47 is fixed to be set up on calliper layer board II 46 and rack limiting plate I47's opposite side suit on rack I12's vertical slide rail, and one side of rack limiting plate II is fixed to be set up on calliper layer board II 46 and rack limiting plate II's opposite side suit on rack II vertical slide rail.

The opposite face of rack I12 and rack II is the straight-tooth face, and the straight-tooth face of rack I12 is provided with even straight-tooth I, and the straight-tooth face of rack II is provided with even straight-tooth II, and driving gear 10 meshes with the straight-tooth I of rack I12, and driving gear 10 meshes with the straight-tooth II of rack II, and the back-to-back of rack I12 and rack II is the smooth surface.

the picking arm 2 comprises a semi-annular guide rail 21, a guide rail inserting piece 22, a picking moving seat 23, a stepping motor IV 56, a stepping motor V57, a bearing base 25, a rotating base 26, a large arm 27, a small arm 28, a picking claw connecting arm 58, a stepping motor VI 29, a small arm rotating shaft 31, a bearing I32, a bearing II, a bearing gland I33, a bearing gland II, a large arm rotating shaft 50, a picking claw connecting arm rotating shaft 51, a bearing gland III 54 and a bearing III 55, wherein the semi-annular guide rail 21 is horizontally and fixedly arranged at the fixed end of the upper caliper part 4, a horizontal annular rack is arranged in the semi-annular guide rail 21, the picking moving seat 23 is embedded and sleeved at the top end of the semi-annular guide rail 21, the picking moving seat 23 can slide along the top end of the semi-annular guide rail 21, the stepping motor IV 56 and the stepping motor V57 are arranged in the picking moving seat 23, an output shaft of the stepping motor IV 56 extends downwards, and a gear I is, the gear I is meshed with the annular rack; the top end of the picking moving seat 23 is fixedly provided with a bearing base 25, the top end of the bearing base 25 is provided with a gear II, a central shaft of the gear II is fixedly arranged at the top end of the bearing base 25, the gear II can rotate around the central shaft, an output shaft of a stepping motor V57 is vertically upward, a gear III is fixedly arranged on the output shaft of the stepping motor V57, the gear III and the gear II are positioned on the same horizontal plane, and the gear III is meshed with the gear II; the rotary base 26 is fixedly arranged at the top end of the gear II, a stepping motor VI 29 is fixedly arranged on the rotary base 26, a gear IV is fixedly arranged on an output shaft of the stepping motor VI 29, a bearing I32 is fixedly arranged on one side of the top end of the rotary base 26 through a bearing gland I33, a horizontal large arm rotating shaft 50 is fixedly arranged at the bottom end of the large arm 27, one end of the large arm rotating shaft 50 is fixed at the center of the bearing I32, the other end of the large arm rotating shaft 50 penetrates through the other side of the top end of the rotary base 26, the large arm rotating shaft 50 can rotate at the top end of the rotary base 26, a gear V is fixedly arranged on the large arm rotating shaft 50, the gear V and the gear IV are positioned on the same vertical plane; a stepping motor VI is fixedly arranged at the top of the large arm 27, a gear VI is fixedly arranged on an output shaft of the stepping motor VI, a bearing II is fixedly arranged on one side of the top end of the large arm 27 through a bearing gland II, a horizontal small arm rotating shaft 31 is fixedly arranged at the bottom end of the small arm 28, one end of the small arm rotating shaft 31 is fixed in the center of the bearing II, the other end of the small arm rotating shaft 31 penetrates through the other side of the top end of the large arm 27, the small arm rotating shaft 31 can rotate at the top end of the large arm 27, a gear VII is fixedly arranged on the small arm rotating shaft 31, the gear VII and the gear VI are positioned on the same vertical plane, and the gear VII is meshed with the gear; a stepping motor VII is fixedly arranged at the top of the small arm 28, a gear VIII is fixedly arranged on an output shaft of the stepping motor VII, a bearing III 55 is fixedly arranged on one side of the top end of the small arm 28 through a bearing gland III 54, a horizontal picking claw connecting arm rotating shaft 51 is fixedly arranged at the bottom end of the picking claw connecting arm 58, one end of the picking claw connecting arm rotating shaft 51 is fixedly arranged in the center of the bearing III 55, the other end of the picking claw connecting arm rotating shaft 51 penetrates through the other side of the top end of the small arm 28, the picking claw connecting arm rotating shaft 51 can rotate at the top end of the small arm 28, a gear IX is fixedly arranged on the picking claw connecting arm rotating shaft 51, the gear IX and the gear VIII are positioned on the same vertical plane, and the gear IX is meshed with the gear VIII; picking claw 3 is fixedly arranged at the top end of picking claw connecting arm 58.

the middle part of the big arm 27 is provided with a big arm support rod 30, and the middle part of the small arm 28 is provided with a small arm support rod 52.

the other end of the large arm rotating shaft 50 opposite to the bearing I32 is provided with a limiting part I53, the limiting part I53 is located on the outer side of the top end of the rotating base 26, the other end of the small arm rotating shaft 31 opposite to the bearing II is provided with a limiting part II, the limiting part II is located on the outer side of the top end of the large arm 27, the other end of the picking claw connecting arm rotating shaft 51 opposite to the bearing III is provided with a limiting part III, and the limiting part III is located on the outer side of the top end of the small arm.

The picking claw 3 comprises a screw rod protective housing 34, a screw rod 35, a fixed seat 36, a nut seat 37, a supporting seat 38, a sliding block coupling III 39, a connecting rod bottom plate 40, a nut seat connecting rod 41, 4 claws 42, a four-claw bottom plate 43, a rotating connecting rod 44 and a stepping motor VIII 24, wherein the stepping motor VIII 24 is fixedly arranged at the top of a picking claw connecting arm 58, the screw rod protective housing 34 is fixedly arranged on the picking claw connecting arm 58, the connecting rod bottom plate 40 is fixedly arranged at the top end of the screw rod protective housing 34, the central bottom of the connecting rod bottom plate 40 is fixedly provided with the supporting seat 38, the supporting seat 38 is sleeved at the top end of the screw rod 35, an output shaft of the stepping motor VIII 24 is connected with the fixed seat 36 at the bottom end of the screw rod 35 through the sliding block coupling III 39, an internal thread of the nut seat 37 is in threaded transmission fit connection with an external thread of the screw rod 35, the, nut seat connecting rod 41 upwards passes connecting rod bottom plate 40 and is connected with four claw bottom plate 43, 4 claws 42 respectively through I even edge and 4 claws 42 that set up at four claw bottom plate 43 of round pin axle I rotation respectively, evenly be provided with 4 rotation connecting rods 44 and 4 rotation connecting rods 44 on the connecting rod bottom plate 40 edge through round pin axle II and can rotate around round pin axle II respectively, 4 tops of rotating the connecting rod are connected with 4 claw connecting rod 45's bottom through round pin axle III respectively, 4 claw connecting rod 45's top is fixed the bottom that sets up at 4 claws 42 respectively.

step motor I6 passes through the fixed end that sets up calliper part 5 under 9 is fixed.

The coconut picking machine can be provided with a camera, an upper caliper displacement sensor and a lower caliper displacement sensor, all motors of the camera, the upper caliper displacement sensor, the lower caliper displacement sensor and the coconut picking machine are in wireless connection with a computer, the camera transmits a shot image to the computer, and the computer judges the maturity and the position of the coconut according to the image of the coconut; the upper caliper displacement sensor and the lower caliper displacement sensor respectively transmit the displacement of the upper caliper and the displacement of the lower caliper to the computer, and the computer controls the motor of the coconut picking machine to operate, so that the tree climbing function and the picking function of the coconut picking machine are realized.

The utility model discloses the theory of operation of device is picked to coconut:

The utility model discloses the tree climbing device passes through the gear engagement transmission, semi-circular guide rail is fixed to the tree climbing device on, the arm is arranged in the guide rail, the gear drive of rack in the motor drive meshing guide rail through on the guide rail seat, thereby realize the arm around the rotatory purpose of tree, the gripper passes through threaded connection to the front end of arm, the tree climbing device is responsible for sending other component parts to the top of coconut palm and reachs the stable fixed behind the picking scope of arm, the arm is with to pick the nimble cooperation completion of claw and pick.

The utility model discloses device's working process is picked to coconut:

when the coconut picking device climbs a tree, a stepping motor II of an upper caliper part positively rotates to control a worm I to rotate through a slider coupler I, when the worm I rotates, a worm wheel I and a worm wheel II which are positioned on two sides of the worm I and meshed with the worm I respectively rotate in opposite directions, a straight connecting rod I and a straight connecting rod II on the worm wheel I and the worm wheel II are forced to do circular motion along with the worm wheel I and the worm wheel II respectively, so that a caliper claw I and a caliper claw II are driven to do circular motion, at the moment, a freely rotatable bent connecting rod I and a freely rotatable bent connecting rod II which are respectively connected with the caliper claw I and the caliper claw II can apply radial tension to the caliper claw I and the caliper claw II, so that the caliper claw I and the caliper claw II deviate inwards in radial positions to clasp a tree trunk when doing radial circular motion, and the caliper clamping; the stepping motor I rotates forwards and inputs power to the driving gear through the speed reducer and the elastic pin coupling to drive the driving gear to rotate, so as to drive the driven gear to rotate, then the gear meshing rack drives the lower caliper part to ascend at a constant speed at a position which is 15-25 cm away from the upper caliper part, the stepping motor III of the lower caliper part controls the worm II to rotate through the slider coupling II, the worm gear III and the worm gear IV which are positioned at two sides of the worm II and meshed with the worm II rotate towards opposite directions respectively when the worm II rotates, the straight connecting rod III and the straight connecting rod IV on the worm gear III and the worm gear IV are forced to do circular motion respectively along with the worm gear III and the worm gear IV, so as to drive the caliper claw III and the caliper claw IV to do circular motion, at the moment, the freely rotatable bent connecting rod III and the bent connecting rod IV which are respectively connected with the caliper claw III and the caliper claw IV apply, the clamp claws III and IV are enabled to deflect inwards at radial positions to clasp the trunk when moving in a radial circular mode, and clamp clamping action is completed; then a stepping motor II of the upper caliper part reversely rotates to control a worm I to rotate through a slider coupler I, when the worm I rotates, a worm wheel I and a worm wheel II which are positioned on two sides of the worm I and meshed with the worm I respectively rotate inwards, a straight connecting rod I and a straight connecting rod II on the worm wheel I and the worm wheel II are forced to do circular motion respectively along with the worm wheel I and the worm wheel II, so that a caliper claw I and a caliper claw II are driven to do circular motion, at the moment, a freely-rotatable bent connecting rod I and a freely-rotatable bent connecting rod II which are respectively connected with the caliper claw I and the caliper claw II can apply radial thrust to the caliper claw I and the caliper claw II, so that the caliper claw I and the caliper claw II deviate outwards at radial positions to loosen a trunk when doing the radial circular motion, and the caliper; the stepping motor I rotates reversely and drives the driving gear to rotate through the reducer, so as to drive the driven gear to rotate, the gear meshed with the rack pushes the upper caliper part to rise at a constant speed until the gear is positioned at the bottom end of the rack, the stepping motor II of the upper caliper part rotates forwardly to control the worm I to rotate through the slider coupler I, so as to drive the worm wheel I and the worm wheel II to rotate, the straight connecting rod I, the straight connecting rod II, the bent connecting rod I and the bent connecting rod II on the worm wheel I and the worm wheel II are forced to be matched with the control caliper claw I and the caliper claw II to tightly hold a trunk, then the stepping motor III of the lower caliper part controls the worm II to rotate reversely through the slider coupler II, the worm wheel III and the worm wheel IV which are positioned at two sides of the worm II and meshed with the worm II when the worm II rotates are forced to rotate inwards respectively, the straight connecting rod III and the straight connecting rod IV on the worm wheel, at the moment, the freely rotatable bent connecting rods III and IV which are respectively connected with the caliper jaws III and IV apply radial thrust to the caliper jaws III and IV, so that the caliper jaws III and IV deviate outwards at radial positions to loosen the tree trunk when moving in a radial circular mode, and the caliper loosening action is completed; the forward rotation and the reverse rotation of the stepping motor I are alternated, and the stepping motor I is matched with the stepping motor II of the upper caliper part and the stepping motor III of the lower caliper part to realize the tree climbing function of the coconut picking device;

When the coconut picking device picks, the guide rail seat drives the gear I to move in the semi-annular guide rail to a coconut picking point through the stepping motor IV, the mechanical arm is driven to rotate around a tree, the picking area of the mechanical arm can be enlarged, and the mechanical arm can also accurately move to the coconut picking point; when the stepping motor VIII rotates forwards, the screw rod rotates, the nut seat moves linearly downwards along with the rotation of the screw rod towards the motor direction, and the connecting rod of the nut seat drives the four-claw bottom plate to move linearly downwards; the four claws are connected with the four-claw bottom plate, so that the four claws move together, the four-claw bottom plate starts to approach downwards to the connecting rod bottom plate, the four connecting rods on the connecting rod bottom plate move outwards under the action of downward pressure of the four-claw bottom plate, the four claws move outwards at the roots of the claws connected with the connecting rods under the action of the four connecting rods connected with the connecting rod bottom plate, the four claws realize gripping action, and are also subjected to pulling force generated by downward movement of the nut seat) while gripping, and the actions of gripping and pulling when a bionic hand picks up are realized.

the utility model has the advantages that:

(1) the utility model relates to a coconut picking device,

Drawings

FIG. 1 is a schematic perspective view (right view) of a coconut picking device;

FIG. 2 is a schematic perspective view (left view) of the coconut picking device;

FIG. 3 is a schematic perspective view (left view) of the tree climbing device;

FIG. 4 is a schematic view of the tree climbing device (right view)

FIG. 5 is a schematic structural view (top view) of the upper caliper part;

FIG. 6 is an assembly view of the upper caliper part and the rack;

FIG. 7 is a schematic view (top view) of an assembly structure of the lower caliper part and the stepping motor I;

FIG. 8 is a schematic view (front view) of an assembly structure of a lower caliper part and a stepping motor I;

Fig. 9 is a schematic view (front view) of the picking arm and picking claw assembly;

fig. 10 is a schematic view (left side view) of the picking arm and picking claw assembly;

Fig. 11 is a schematic view (right view) of the picking arm and picking claw assembly;

fig. 12 is a schematic perspective view of the assembly of the picking arm and the picking claw;

Fig. 13 is a schematic perspective view (front view) of the picking claw;

fig. 14 is a schematic perspective view (side view) of a picking claw;

FIG. 15 is a bottom view of the coconut picking apparatus;

In the figure: 1-tree climbing device, 2-picking arm, 3-picking claw, 4-upper caliper part, 5-lower caliper part, 6-stepping motor I, 7-reducer, 8-elastic pin coupler, 9-bracket, 10-driving gear, 11-driven gear, 12-rack I, 13-rack supporting plate, 14-stepping motor II, 15-slider coupler I, 16-worm I, 17-worm gear I, 18-straight connecting rod I, 19-bent connecting rod I, 20-clamping claw I, 21-semi-annular guide rail, 22-guide rail inserting piece, 23-picking moving seat, 24-stepping motor VIII, 25-bearing base, 26-rotating base, 27-big arm, 28-small arm, 29-stepping motor VI, 30-big arm supporting rod, 31-small arm rotating shaft, 32-bearing I, 33-bearing gland I, 34-screw rod protective shell, 35-screw rod, 36-fixed seat, 37-nut seat, 38-supporting seat, 39-sliding block coupling III, 40-connecting rod bottom plate, 41-nut seat connecting rod, 42-claw, 43-four-claw bottom plate, 44-rotating connecting rod, 45-claw connecting rod, 46-caliper supporting plate II, 47-rack limiting plate I, 48-worm gear II, 49-caliper supporting plate I, 50-big arm rotating shaft, 51-picking claw connecting arm rotating shaft, 52-small arm supporting rod, 53-limiting piece I, 54-bearing gland III, 55-bearing III, 56-stepping motor IV, 57-stepping motor V, 58-picking claw connecting arm.

Detailed Description

The present invention will be further described with reference to the following detailed description.

Example 1: as shown in fig. 1 to 15, a coconut picking device comprises a tree climbing device 1, a picking arm 2 and a picking claw 3 which are connected in sequence, wherein the tree climbing device 1 comprises an upper caliper part 4, a lower caliper part 5, a stepping motor I6, a speed reducer 7, an elastic pin coupler 8, a driving gear 10, a driven gear 11, a rack I12, a rack II and a rack support plate 13, the top ends of the rack I12 and the rack II are respectively and fixedly arranged at the bottom of the fixed end of the upper caliper part 4, the rack I12 and the rack II are vertically arranged in parallel, the rack I12 and the rack II respectively penetrate through the fixed end of the lower caliper part, the rack I12 and the bottom end of the rack II are fixedly connected through the horizontally arranged rack support plate 13, and the rack support plate 13 is positioned below the lower caliper part 5; the stepping motor I6 and the speed reducer 7 are fixedly arranged at the fixed end of the lower caliper part 5, an output shaft of the stepping motor I6 is communicated with an input end of the speed reducer 7, the driving gear 10 and the driven gear 11 are fixedly arranged at the fixed end of the lower caliper part 5 through a gear carrier and are positioned in the middle of the two racks respectively, the driving gear 10 is meshed with the driven gear 11 to rotate, the other side of the driving gear 10 is meshed with the rack I12, and the other side of the driven gear 11 is meshed with the rack II;

Go up calliper part 4 and include step motor II 14, sliding block coupling I15, worm I16, worm wheel I17, worm wheel II 48, straight connecting rod I18, straight connecting rod II, curved connecting rod I19, curved connecting rod II, calliper claw I20, calliper claw II, calliper layer board I49 is the stiff end of last calliper part 4, step motor II 14 is fixed to be set up on calliper layer board I49, the output of step motor II 14 passes through sliding block coupling I15 and worm I16 intercommunication, the both sides of worm I16 respectively with worm wheel I17, worm wheel II 48 meshes mutually, worm wheel I17, worm wheel II 48 is respectively through central pivot I, central pivot II is fixed to be set up on calliper layer board I49 and worm wheel I17, worm wheel II 48 can wind central pivot I respectively, central pivot II rotates, I18 one end of straight connecting rod is fixed to be set up in worm wheel I17, the other end of straight connecting rod I18 is connected through round pin axle I and calliper I20 and straight connecting rod 18 and calliper 20's bottom all can The clamp comprises a caliper support plate I49, a caliper claw II, a bent connecting rod I19, a worm gear II 48, a straight connecting rod II, a pin shaft VI, a pin shaft II, a bent connecting rod I19, a pin shaft II, a straight connecting rod II, a pin shaft IV, a pin shaft II, a pin shaft III, a pin shaft IV, a pin shaft V, a pin shaft VI, a pin shaft II, a pin shaft I49, a pin shaft II, a pin shaft;

the lower caliper part 5 comprises a stepping motor III, a sliding block coupling II, a worm wheel III, a worm wheel IV, a straight connecting rod III, a straight connecting rod IV, a bent connecting rod III, a bent connecting rod IV, a caliper claw III, a caliper claw IV and a caliper supporting plate II 46, the caliper supporting plate II 46 is a fixed end of the lower caliper part 5, the stepping motor III is fixedly arranged on the caliper supporting plate II 46, the output end of the stepping motor III is communicated with the worm II through the sliding block coupling II, two sides of the worm II are respectively meshed with the worm wheel III and the worm wheel IV, the worm wheel III and the worm wheel IV are respectively fixedly arranged on the caliper supporting plate II 46 through a central rotating shaft III and a central rotating shaft IV, the worm wheel III and the worm wheel IV can respectively rotate around the central rotating shaft III and the central rotating shaft IV, one end of the straight connecting rod III is fixedly arranged on the worm wheel III, the other end of the straight connecting rod III is connected with the bottom end of the caliper, one end of a bent connecting rod III is fixed on a caliper support plate II 46 through a pin shaft ii and can rotate around the pin shaft ii, the other end of the bent connecting rod III is connected with the bottom of a caliper claw III through a pin shaft iii, the bent connecting rod III and the bottom of the caliper claw III can rotate around the pin shaft iii, one end of a straight connecting rod IV is fixedly arranged on a worm wheel IV, the other end of the straight connecting rod IV is connected with the bottom end of the caliper claw IV through a pin shaft iv, the straight connecting rod IV and the caliper claw IV can rotate around a pin shaft iv, one end of the bent connecting rod IV is fixed on the caliper support plate II 46 through a pin shaft v and can rotate around a pin shaft v, the other end of the bent connecting rod IV is connected with the bottom of the caliper claw IV through a pin shaft vi and can rotate around the pin shaft vi, and the caliper claw III, the caliper claw IV and the caliper support plate II 46 form a lower caliper;

the lower caliper part 5 further comprises a rack limiting plate I47 and a rack limiting plate II, one side of the rack limiting plate I47 is fixedly arranged on the caliper support plate II 46, the other side of the rack limiting plate I47 is sleeved on the vertical slide rail of the rack I12, one side of the rack limiting plate II is fixedly arranged on the caliper support plate II 46, and the other side of the rack limiting plate II is sleeved on the vertical slide rail of the rack II;

the opposite surfaces of the rack I12 and the rack II are straight tooth surfaces, the straight tooth surface of the rack I12 is provided with uniform straight teeth I, the straight tooth surface of the rack II is provided with uniform straight teeth II, the driving gear 10 is meshed with the straight teeth I of the rack I12, the driving gear 10 is meshed with the straight teeth II of the rack II, and the back opposite surfaces of the rack I12 and the rack II are smooth surfaces;

the picking arm 2 comprises a semi-annular guide rail 21, a guide rail inserting piece 22, a picking moving seat 23, a stepping motor IV 56, a stepping motor V57, a bearing base 25, a rotating base 26, a large arm 27, a small arm 28, a picking claw connecting arm 58, a stepping motor VI 29, a small arm rotating shaft 31, a bearing I32, a bearing II, a bearing gland I33, a bearing gland II, a large arm rotating shaft 50, a picking claw connecting arm rotating shaft 51, a bearing gland III 54 and a bearing III 55, wherein the semi-annular guide rail 21 is horizontally and fixedly arranged at the fixed end of the upper caliper part 4, a horizontal annular rack is arranged in the semi-annular guide rail 21, the picking moving seat 23 is embedded and sleeved at the top end of the semi-annular guide rail 21, the picking moving seat 23 can slide along the top end of the semi-annular guide rail 21, the stepping motor IV 56 and the stepping motor V57 are arranged in the picking moving seat 23, the output shaft of the stepping motor IV 56 extends downwards, and the output shaft, the gear I is meshed with the annular rack; the top end of the picking moving seat 23 is fixedly provided with a bearing base 25, the top end of the bearing base 25 is provided with a gear II, a central shaft of the gear II is fixedly arranged at the top end of the bearing base 25, the gear II can rotate around the central shaft, an output shaft of a stepping motor V57 is vertically upward, a gear III is fixedly arranged on the output shaft of the stepping motor V57, the gear III and the gear II are positioned on the same horizontal plane, and the gear III is meshed with the gear II; the rotary base 26 is fixedly arranged at the top end of the gear II, a stepping motor VI 29 is fixedly arranged on the rotary base 26, a gear IV is fixedly arranged on an output shaft of the stepping motor VI 29, a bearing I32 is fixedly arranged on one side of the top end of the rotary base 26 through a bearing gland I33, a horizontal large arm rotating shaft 50 is fixedly arranged at the bottom end of the large arm 27, one end of the large arm rotating shaft 50 is fixed at the center of the bearing I32, the other end of the large arm rotating shaft 50 penetrates through the other side of the top end of the rotary base 26, the large arm rotating shaft 50 can rotate at the top end of the rotary base 26, a gear V is fixedly arranged on the large arm rotating shaft 50, the gear V and the gear IV are positioned on the same vertical plane; a stepping motor VI is fixedly arranged at the top of the large arm 27, a gear VI is fixedly arranged on an output shaft of the stepping motor VI, a bearing II is fixedly arranged on one side of the top end of the large arm 27 through a bearing gland II, a horizontal small arm rotating shaft 31 is fixedly arranged at the bottom end of the small arm 28, one end of the small arm rotating shaft 31 is fixed in the center of the bearing II, the other end of the small arm rotating shaft 31 penetrates through the other side of the top end of the large arm 27, the small arm rotating shaft 31 can rotate at the top end of the large arm 27, a gear VII is fixedly arranged on the small arm rotating shaft 31, the gear VII and the gear VI are positioned on the same vertical plane, and the gear VII is meshed with the gear; a stepping motor VII is fixedly arranged at the top of the small arm 28, a gear VIII is fixedly arranged on an output shaft of the stepping motor VII, a bearing III 55 is fixedly arranged on one side of the top end of the small arm 28 through a bearing gland III 54, a horizontal picking claw connecting arm rotating shaft 51 is fixedly arranged at the bottom end of the picking claw connecting arm 58, one end of the picking claw connecting arm rotating shaft 51 is fixedly arranged in the center of the bearing III 55, the other end of the picking claw connecting arm rotating shaft 51 penetrates through the other side of the top end of the small arm 28, the picking claw connecting arm rotating shaft 51 can rotate at the top end of the small arm 28, a gear IX is fixedly arranged on the picking claw connecting arm rotating shaft 51, the gear IX and the gear VIII are positioned on the same vertical plane, and the gear IX is meshed with the gear VIII; the picking claw 3 is fixedly arranged at the top end of the picking claw connecting arm 58;

The middle part of the big arm 27 is provided with a big arm support rod 30, and the middle part of the small arm 28 is provided with a small arm support rod 52;

the other end of the large arm rotating shaft 50 opposite to the bearing I32 is provided with a limiting part I53, the limiting part I53 is positioned on the outer side of the top end of the rotating base 26, the other end of the small arm rotating shaft 31 opposite to the bearing II is provided with a limiting part II, the limiting part II is positioned on the outer side of the top end of the large arm 27, the other end of the picking claw connecting arm rotating shaft 51 opposite to the bearing III is provided with a limiting part III, and the limiting part III is positioned on the outer side of the top end of the small;

the picking claw 3 comprises a screw rod protective housing 34, a screw rod 35, a fixed seat 36, a nut seat 37, a supporting seat 38, a slide block coupling III 39, a connecting rod bottom plate 40, a nut seat connecting rod 41, 4 claws 42, a four-claw bottom plate 43, a rotating connecting rod 44 and a stepping motor VIII 24, wherein the stepping motor VIII 24 is fixedly arranged at the top of a picking claw connecting arm 58, the screw rod protective housing 34 is fixedly arranged on the picking claw connecting arm 58, the connecting rod bottom plate 40 is fixedly arranged at the top end of the screw rod protective housing 34, the central bottom of the connecting rod bottom plate 40 is fixedly provided with the supporting seat 38, the supporting seat 38 is sleeved at the top end of the screw rod 35, an output shaft of the stepping motor VIII 24 is connected with the fixed seat 36 at the bottom end of the screw rod 35 through the slide block coupling III 39, the internal thread of the nut seat 37 is in threaded transmission fit connection with the external thread of the screw rod 35, the nut seat connecting rod 41 penetrates through the connecting rod base plate 40 upwards and is connected with the four-claw base plate 43, 4 claws 42 are respectively and uniformly arranged at the edge of the four-claw base plate 43 through a pin shaft I, 4 claws 42 can respectively rotate around the pin shaft I, 4 rotating connecting rods 44 are respectively and uniformly arranged on the edge of the connecting rod base plate 40 through a pin shaft II, 4 rotating connecting rods 44 can respectively rotate around the pin shaft II, the top ends of the 4 rotating connecting rods are respectively connected with the bottom ends of the 4 claw connecting rods 45 through pin shafts III, and the top ends of the 4 claw connecting rods 45 are respectively and fixedly arranged at the bottom ends of the 4 claws 42;

Step motor I6 passes through the fixed end that the support 9 was fixed to be set up at calliper part 5 down.

the working process of the coconut picking device is as follows:

When the coconut picking device picks, the guide rail seat drives the gear I to move in the semi-annular guide rail to a coconut picking point through the stepping motor IV, the picking arm is driven to rotate around a tree, the picking area of the coconut picking arm can be enlarged, the coconut picking point can also be accurately moved, then the gear II is driven to rotate through the stepping motor V, so that the rotating base is driven to rotate, the picking arm can rotate in a whole piece, the picking attitude of the picking arm can be conveniently adjusted, the picking arm is controlled to move to the lower end of a coconut through the matching of the stepping motor VI, the large arm, the stepping motor VII, the small arm and the picking claw connecting arm, the stepping motor VIII controls the screw rod to rotate through the slide block coupling III, the nut seat on the screw rod moves linearly along with the rotation of the screw rod, and the four claw bottom plates are driven to move; when the stepping motor VIII rotates forwards, the screw rod rotates, the nut seat moves linearly downwards along with the rotation of the screw rod towards the motor direction, and the connecting rod of the nut seat drives the four-claw bottom plate to move linearly downwards; the four claws are connected with the four-claw bottom plate, so that the four claws move together, the four-claw bottom plate starts to approach downwards to the connecting rod bottom plate, the four connecting rods on the connecting rod bottom plate move outwards under the action of downward pressure of the four-claw bottom plate, the four claws move outwards at the roots of the claws connected with the connecting rods under the action of the four connecting rods connected with the connecting rod bottom plate, the four claws realize gripping action, and are also subjected to pulling force generated by downward movement of the nut seat) while gripping, and the actions of gripping and pulling when a bionic hand picks up are realized.

While the present invention has been particularly shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims

1. the utility model provides a device is picked to coconut which characterized in that: the tree climbing device comprises a tree climbing device (1), a picking arm (2) and picking claws (3) which are sequentially connected, wherein the tree climbing device (1) comprises an upper caliper part (4), a lower caliper part (5), a stepping motor I (6), a speed reducer (7), an elastic pin coupler (8), a driving gear (10), a driven gear (11), a rack I (12), a rack II and a rack supporting plate (13), the tops of the rack I (12) and the rack II are respectively and fixedly arranged at the bottom of the fixed end of the upper caliper part (4), the rack I (12) and the rack II are vertically arranged in parallel, the rack I (12) and the rack II respectively penetrate through the fixed end of the lower caliper part, the rack I (12) and the bottom of the rack II are fixedly connected through the horizontally arranged rack supporting plate (13), and the rack supporting plate (13) is positioned below the lower caliper part (5); step motor I (6), fixed setting of reduction gear (7) is at the input intercommunication of the stiff end of calliper part (5) down and the output shaft of step motor I (6) and reduction gear (7), driving gear (10), driven gear (11) are respectively through fixed setting of carrier at the stiff end of calliper part (5) down and be located the middle part of two racks, driving gear (10) and driven gear (11) meshing rotation, the opposite side and the I (12) meshing of rack of driving gear (10), the opposite side and the II meshing of rack of driven gear (11).

2. The coconut picking device of claim 1, wherein: go up calliper part (4) including step motor II (14), slider coupling I (15), worm I (16), worm wheel I (17), worm wheel II (48), straight connecting rod I (18), straight connecting rod II, curved connecting rod I (19), curved connecting rod II, calliper claw I (20), calliper claw II, calliper layer board I (49) are the stiff end of last calliper part (4), step motor II (14) are fixed to be set up on calliper layer board I (49), the output of step motor II (14) is through slider coupling I (15) and worm I (16) intercommunication, the both sides of worm I (16) mesh with worm wheel I (17) respectively, worm wheel II (48) are respectively through central pivot I, central pivot II is fixed to be set up on calliper layer board I (49) and I (17), worm wheel II (48) can be around central pivot I respectively, The central rotating shaft II rotates, one end of a straight connecting rod I (18) is fixedly arranged on a worm wheel I (17), the other end of the straight connecting rod I (18) is connected with the bottom end of a caliper claw I (20) through a pin shaft I, the bottom ends of the straight connecting rod I (18) and the caliper claw I (20) can rotate around the pin shaft I, one end of a bent connecting rod I (19) is fixed on a caliper supporting plate I (49) through a pin shaft II, a bent connecting rod I (19) can rotate around the pin shaft II, the other end of the bent connecting rod I (19) is connected with the bottom of the caliper claw I (20) through a pin shaft III, the bent connecting rod I (19) and the bottom of the caliper claw I (20) can rotate around the pin shaft III, one end of a straight connecting rod II is fixedly arranged on a worm wheel II (48), the other end of the straight connecting rod II is connected with the bottom end of the caliper claw II through a pin shaft IV, the straight connecting rod II and the caliper claw II can rotate around the pin shaft IV, one end of the, the other end of the bent connecting rod II is connected with the bottom of the caliper claw II through a pin shaft VI, the bent connecting rod II and the caliper claw II can rotate around the pin shaft VI, and the caliper claw I (20), the caliper claw II and the caliper supporting plate I (49) form an upper caliper.

3. The coconut picking device of claim 1, wherein: the lower caliper part (5) comprises a stepping motor III, a sliding block coupling II, a worm wheel III, a worm wheel IV, a straight connecting rod III, a straight connecting rod IV, a bent connecting rod III, a bent connecting rod IV, a caliper claw III, a caliper claw IV and a caliper supporting plate II (46), the caliper supporting plate II (46) is a fixed end of the lower caliper part (5), the stepping motor III is fixedly arranged on the caliper supporting plate II (46), the output end of the stepping motor III is communicated with the worm II through the sliding block coupling II, two sides of the worm II are respectively meshed with the worm wheel III and the worm wheel IV, the worm wheel III and the worm wheel IV are respectively fixedly arranged on the caliper supporting plate II (46) through a central rotating shaft III and a central rotating shaft IV, the worm wheel III and the worm wheel IV can respectively rotate around the central rotating shaft III and the central rotating shaft IV, one end of the straight connecting rod III is fixedly arranged on the worm wheel III, the other end of the straight connecting rod III is connected with the bottom end of the caliper III through, one end of a bent connecting rod III is fixed on a caliper support plate II (46) through a pin shaft ii and can rotate around the pin shaft ii, the other end of the bent connecting rod III is connected with the bottom of a caliper claw III through a pin shaft iii and can rotate around the pin shaft iii with the bottom of the caliper claw III, one end of a straight connecting rod IV is fixedly arranged on a worm wheel IV, the other end of the straight connecting rod IV is connected with the bottom end of the caliper claw IV through a pin shaft iv and can rotate around the pin shaft iv with the caliper claw IV, one end of the bent connecting rod IV is fixed on the caliper support plate II (46) through the pin shaft v and can rotate around the pin shaft v, the other end of the bent connecting rod IV is connected with the bottom of the caliper claw IV through the pin shaft vi and can rotate around the pin shaft vi with the caliper claw IV, and the caliper support plate III, the caliper claw IV and the caliper support plate II (46) form a lower caliper.

4. the coconut picking device of claim 3, wherein: rack I (12) and the both sides edge of rack II are provided with convex vertical slide rail, calliper part (5) still include rack limiting plate I (47) and rack limiting plate II down, one side of rack limiting plate I (47) is fixed to be set up on calliper layer board II (46) and the opposite side suit of rack limiting plate I (47) is on the vertical slide rail of rack I (12), one side of rack limiting plate II is fixed to be set up on calliper layer board II (46) and the opposite side suit of rack limiting plate II is on the vertical slide rail of rack II.

5. The coconut picking device of claim 1, wherein: the opposite surface of the rack I (12) and the rack II is a straight tooth surface, the straight tooth surface of the rack I (12) is provided with uniform straight teeth I, the straight tooth surface of the rack II is provided with uniform straight teeth II, the driving gear (10) is meshed with the straight teeth I of the rack I (12), the driving gear (10) is meshed with the straight teeth II of the rack II, and the back opposite surface of the rack I (12) and the rack II is a smooth surface.

6. The coconut picking device according to any one of claims 1 to 5, characterized in that: the picking arm (2) comprises a semi-annular guide rail (21), a guide rail inserting piece (22), a picking moving seat (23), a stepping motor IV (56), a stepping motor V (57), a bearing base (25), a rotating base (26), a large arm (27), a small arm (28), a picking claw connecting arm (58), a stepping motor VI (29), a small arm rotating shaft (31), a bearing I (32), a bearing II, a bearing gland I (33), a bearing gland II, a large arm rotating shaft (50), a picking claw connecting arm rotating shaft (51), a bearing gland III (54) and a bearing III (55), the semi-annular guide rail (21) is horizontally and fixedly arranged at the fixed end of the upper caliper part (4), a horizontal annular rack is arranged in the semi-annular guide rail (21), the picking moving seat (23) is sleeved at the top end of the semi-annular guide rail (21), and the picking moving seat (23) can slide along the top end of the semi-annular guide rail (21), a stepping motor IV (56) and a stepping motor V (57) are arranged inside the picking moving seat (23), an output shaft of the stepping motor IV (56) extends downwards, a gear I is arranged at the bottom end of the output shaft of the stepping motor IV (56), and the gear I is meshed with the annular rack; a bearing base (25) is fixedly arranged at the top end of the picking moving seat (23), a gear II is arranged at the top end of the bearing base (25), a central shaft of the gear II is fixedly arranged at the top end of the bearing base (25) and can rotate around the central shaft, a gear III is fixedly arranged on an output shaft of a stepping motor V (57) and is vertically upward, and the gear III and the gear II are positioned on the same horizontal plane and are meshed with the gear II; the rotary base (26) is fixedly arranged at the top end of the gear II, a stepping motor VI (29) is fixedly arranged on the rotary base (26), a gear IV is fixedly arranged on an output shaft of the stepping motor VI (29), a bearing I (32) is fixedly arranged on one side of the top end of the rotary base (26) through a bearing gland I (33), a horizontal large arm rotating shaft (50) is fixedly arranged at the bottom end of the large arm (27), one end of the large arm rotating shaft (50) is fixed at the center of the bearing I (32), the other end of the large arm rotating shaft (50) penetrates through the other side of the top end of the rotary base (26), the large arm rotating shaft (50) can rotate at the top end of the rotary base (26), a gear V is fixedly arranged on the large arm rotating shaft (50), the gear V and the gear IV are positioned on the same vertical plane, and the gear V is meshed; a stepping motor VI is fixedly arranged at the top of the large arm (27), a gear VI is fixedly arranged on an output shaft of the stepping motor VI, a bearing II is fixedly arranged on one side of the top end of the large arm (27) through a bearing gland II, a horizontal small arm rotating shaft (31) is fixedly arranged at the bottom end of the small arm (28), one end of the small arm rotating shaft (31) is fixed at the center of the bearing II, the other end of the small arm rotating shaft (31) penetrates through the other side of the top end of the large arm (27), the small arm rotating shaft (31) can rotate at the top end of the large arm (27), a gear VII is fixedly arranged on the small arm rotating shaft (31), the gear VII and the gear VI are positioned on the same vertical plane, and the gear VII is meshed with the gear VI; a stepping motor VII is fixedly arranged at the top of the small arm (28), a gear VIII is fixedly arranged on an output shaft of the stepping motor VII, a bearing III (55) is fixedly arranged on one side of the top end of the small arm (28) through a bearing gland III (54), a horizontal picking claw connecting arm rotating shaft (51) is fixedly arranged at the bottom end of the picking claw connecting arm (58), one end of the picking claw connecting arm rotating shaft (51) is fixedly arranged in the center of the bearing III (55), the other end of the picking claw connecting arm rotating shaft (51) penetrates through the other side of the top end of the small arm (28), the picking claw connecting arm rotating shaft (51) can rotate at the top end of the small arm (28), a gear IX is fixedly arranged on the picking claw connecting arm rotating shaft (51), the gear IX and the gear VIII are positioned on the same vertical plane, and the gear IX is meshed with the gear VIII; the picking claw (3) is fixedly arranged at the top end of the picking claw connecting arm (58).

7. the coconut picking device of claim 6, wherein: the middle part of the big arm (27) is provided with a big arm support rod (30), and the middle part of the small arm (28) is provided with a small arm support rod (52).

8. The coconut picking device of claim 6, wherein: the other end of the large arm rotating shaft (50) opposite to the bearing I (32) is provided with a limiting part I (53), the limiting part I (53) is located on the outer side of the top end of the rotating base (26), the other end of the small arm rotating shaft (31) opposite to the bearing II is provided with a limiting part II, the limiting part II is located on the outer side of the top end of the large arm (27), the other end of the picking claw connecting arm rotating shaft (51) opposite to the bearing III is provided with a limiting part III, and the limiting part III is located on the outer side of the top end of the small arm (28).

9. the coconut picking device of claim 6, wherein: the picking claw (3) comprises a screw rod protective shell (34), a screw rod (35), a fixed seat (36), a nut seat (37), a supporting seat (38), a slide block coupler III (39), a connecting rod bottom plate (40), a nut seat connecting rod (41), 4 claws (42), a four-claw bottom plate (43), a rotating connecting rod (44) and a stepping motor VIII (24), wherein the stepping motor VIII (24) is fixedly arranged at the top of a picking claw connecting arm (58), the screw rod protective shell (34) is fixedly arranged on the picking claw connecting arm (58), the connecting rod bottom plate (40) is fixedly arranged at the top end of the screw rod protective shell (34), the supporting seat (38) is fixedly arranged at the bottom of the center of the connecting rod bottom plate (40), the supporting seat (38) is sleeved at the top end of the screw rod (35), an output shaft of the stepping motor VIII (24) is connected with the fixed seat (36) at the bottom end of the screw, the internal thread of the nut seat (37) is in threaded transmission fit connection with the external thread of the screw rod (35), the nut seat (37) is located below the supporting seat (38), nut seat connecting rods (41) are symmetrically arranged on two sides of the nut seat (37), the nut seat connecting rods (41) upwards penetrate through the connecting rod bottom plate (40) and are connected with the four-claw bottom plate (43), 4 claws (42) are uniformly arranged on the edge of the four-claw bottom plate (43) through a pin shaft I respectively, 4 claws (42) can rotate around a pin shaft I respectively, 4 rotating connecting rods (44) are uniformly arranged on the edge of the connecting rod bottom plate (40) through a pin shaft II, 4 rotating connecting rods (44) can rotate around a pin shaft II respectively, the top ends of the 4 rotating connecting rods are connected with the bottom ends of the 4 claw connecting rods (45) through a pin shaft III respectively, and the top ends of the 4 claw connecting rods (45) are fixedly arranged at the bottom ends of the 4.

10. the coconut picking device of claim 1, wherein: step motor I (6) is fixed and set up the stiff end at calliper part (5) down through support (9).