CN216492098U

CN216492098U - Coconut picking device

Info

Publication number: CN216492098U
Application number: CN202123449270.5U
Authority: CN
Inventors: 张洪军; 何紫媚; 何荧; 欧俊良; 林依敏; 朱子莹; 王明坤; 林华韬; 颜海鑫
Original assignee: Lingnan Normal University
Current assignee: Lingnan Normal University
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-05-13
Anticipated expiration: 2031-12-31

Abstract

The utility model discloses a coconut picking device, which adopts a crawling assembly and a cutting assembly, wherein a plurality of support rods in an annular array are arranged on a support body, driving motors are respectively arranged at the end parts of the plurality of support rods, crawling wheels are arranged on output shafts of the driving motors, the surfaces of the crawling wheels are contacted with a coconut tree trunk, the lengths of the plurality of support rods are adjustable, the cutting assembly comprises a mechanical arm, one end of the mechanical arm is fixed on the support body, a cutting saw is fixedly arranged at the other end of the mechanical arm, the support body is used as a carrier of the driving motors, meanwhile, a supporting structure can be formed on the outer side of the trunk by matching with a clamping structure formed by a circumferential array of the supporting rods, then utilize driving motor drive crawl wheel to realize that the whole device is vertical on the trunk and crawls, utilize cutting assembly to realize the purpose of cutting and picking, this device simple structure does not need the manual work to crawl, has improved harvesting efficiency and work safety nature greatly.

Description

Coconut picking device

Technical Field

The utility model belongs to the field of coconut picking structures, and particularly relates to a coconut picking device.

Background

With the continuous reduction of agricultural labor force and the development of urbanization, the development of new technologies and the application of new agricultural production modes are in need, and an agricultural robot will become the core of future agricultural production activities. The picking robot has great development potential as an important branch of the agricultural robot.

Coconut, as an important tropical woody oil crop, has a wide variety and extremely high economic value, and the coconut industry has good economic benefit, however, the picking problem of coconut is one of the important factors restricting the development of the coconut industry. The manual picking operation has low safety and low efficiency. At present, coconut picking methods mainly include that long bamboo poles are used for hooking fruits, manual climbing picking is used for training monkeys to climb trees for picking, and the coconuts naturally fall off after being mature. The mechanical degree of these picking modes is lower, wastes a large amount of manpower and materials, and in addition, artifical climbing is picked intensity of labour big, and work efficiency is low, and operation personnel's life safety can not obtain the guarantee. Therefore, the robot capable of climbing coconut trees is urgently needed to be developed to replace manual picking so as to overcome the defects of the traditional manual operation.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a coconut picking device to overcome the defects of the prior art, and the coconut picking device can complete operations at different heights during operation, can flexibly adapt to the complicated branch condition and achieves the aim of cutting.

The utility model provides a device is picked to coconut, includes crawl subassembly and cutting assembly, the subassembly of crawling includes the supporter, is equipped with a plurality of bracing pieces on the supporter, and a plurality of bracing pieces are cyclic annular array, and driving motor is all installed at the end position of a plurality of bracing pieces, and driving motor's output shaft is equipped with the wheel of crawling, a plurality of crawl wheel surfaces and coconut tree trunk contact, and the length of a plurality of bracing pieces is adjustable, and cutting assembly includes the arm, and on the one end of arm was fixed in the supporter, other end fixed mounting had the slitting saw.

Furthermore, the supporter is ring structure, can open and shut in the middle of the ring structure, and a plurality of bracing pieces circumference evenly sets up on the supporter.

Further, the supporter includes left frame and right frame, and left frame and right frame are the semicircle ring structure, and the one end of left frame is passed through the rotation connecting portion with the one end of right frame and is rotated and be connected, and the other end of left frame passes through the buckling parts locking with the other end of right frame.

Furthermore, a plurality of support rods are respectively arranged on the left rack and the right rack, and the support rods are spliced into a circular ring structure in the left rack and the right rack to form a time-course circumferential array shape.

Further, be provided with the mounting hole in the frame of a left side, the one end of bracing piece is worn to locate in the mounting hole of frame of a left side, and the tip of bracing piece is passed through locking bolt and is locked, and the cover is equipped with the pressure spring on the bracing piece, the one end and the contact of frame inner wall of a left side of pressure spring, the other end of bracing piece is equipped with spacing platform, the other end of pressure spring and the contact of spacing platform mesa of bracing piece.

Furthermore, the end part of the other end of the supporting rod is provided with a motor mounting frame, the driving motor is mounted on the motor mounting frame, and the output shaft of the driving motor is provided with a crawling wheel.

Furthermore, the support body comprises a plurality of support modules which surround to form a columnar body; the supporting module comprises a hinge plate, one end of the hinge plate is rotatably connected with a supporting seat, the two sides of the supporting seat are respectively provided with a rotating connecting part, the supporting seats and the hinge plate are sequentially connected, and the hinge plate at the two ends and the supporting seats are respectively provided with a buckle structure.

Furthermore, a rotating motor is arranged in the supporting seat, the output end of the rotating motor is connected with the supporting rod through a worm gear, the output end of the rotating motor is a worm, and a worm gear meshed with the worm is arranged on the supporting rod.

Further, the mechanical arm comprises a shaft seat, the shaft seat is fixedly connected with the support body, a rotating arm is arranged at the upper end of the shaft seat, the shaft seat is rotatably connected with the rotating arm, a rotating shaft motor is arranged on the shaft seat, and an output shaft of the rotating shaft motor is meshed with a rotating shaft of the rotating arm through a gear.

Further, the cutting saw is mounted at the end of the rotating arm.

Compared with the prior art, the utility model has the following beneficial technical effects:

the utility model relates to a coconut picking device, which adopts a crawling assembly and a cutting assembly, wherein a plurality of support rods in an annular array are arranged on a support body, the end parts of the plurality of support rods are respectively provided with a driving motor, the output shaft of the driving motor is provided with a crawling wheel, the surfaces of the plurality of crawling wheels are contacted with a coconut tree trunk, the length of the plurality of support rods is adjustable, the cutting assembly comprises a mechanical arm, one end of the mechanical arm is fixed on the support body, the other end of the mechanical arm is fixedly provided with a cutting saw, the support body is used as a driving motor carrier, meanwhile, a supporting structure can be formed on the outer side of the trunk by matching with a clamping structure formed by a circumferential array of supporting rods, then utilize driving motor drive crawl wheel to realize that the whole device is vertical on the trunk and crawl, utilize cutting assembly to realize the purpose of cutting and picking, this device simple structure does not need the manual work to crawl, has improved harvesting efficiency and work security greatly.

Furthermore, the supporting body adopts a left frame and a right frame which are of semicircular structures, so that the structure is simple, and the installation is convenient.

Further, be provided with the mounting hole in the frame of a left side, in the mounting hole of frame of a left side is worn to locate by the one end of bracing piece, the tip of bracing piece passes through locking bolt locking, the cover is equipped with the pressure spring on the bracing piece, the one end and the contact of frame inner wall in a left side of pressure spring, the other end of bracing piece is equipped with spacing platform, the other end of pressure spring and the contact of spacing platform mesa of bracing piece, applicable in the harvesting of different diameter trunks, the regulation of being convenient for.

Further, the supporter adopts a plurality of support modules, and stable in structure utilizes hinge plate and buckle structure to form loop configuration, and the transportation is dismantled in the installation of being convenient for, has improved the rate of utilization of integrated device greatly.

Drawings

Fig. 1 is a schematic view of the assembly and installation structure of the picking device in the embodiment of the utility model.

Fig. 2 is a schematic view of the unfolding structure of the picking device in the embodiment of the utility model.

Fig. 3 is a top view of a deployment configuration of a picking device in an embodiment of the present invention.

FIG. 4 is a schematic diagram of a cutting structure according to an embodiment of the present invention.

FIG. 5 is a schematic view of a creeper assembly in an embodiment of the present invention.

In the figure, 1, a crawling assembly; 2. a cutting assembly; 3. a support body; 4. a support bar; 5. a drive motor; 6. a crawling wheel; 8. a left frame; 9. a right frame; 10. a rotation connecting part; 11. a fastening part; 12. a pressure spring; 13. a motor mounting bracket; 14. a frame buckle; 15. a hinge plate; 16. a supporting seat; 17. rotating the connecting seat; 18. connecting columns; 19. a clamping part; 20. rotating the buckle; 21. a battery; 22. a shaft seat; 23. a rotating arm; 24. a rotating shaft motor.

Detailed Description

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

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1 to 4, a coconut picking device comprises a crawling assembly 1 and a cutting assembly 2, the crawling assembly 1 comprises a support body 3, a plurality of support rods 4 are arranged on the support body 3, the plurality of support rods 4 are in an annular array, driving motors 5 are respectively arranged at the end parts of the plurality of support rods 4, crawling wheels 6 are arranged on output shafts of the driving motors 5, the surfaces of the crawling wheels 6 are in contact with a trunk of a coconut tree, the purpose of crawling on the trunk of the coconut tree is achieved through driving rotation of the driving motors 5, and the lengths of the plurality of support rods 4 are adjustable; the cutting assembly 2 comprises a mechanical arm, one end of the mechanical arm is fixed on the support body 3, and the other end of the mechanical arm is fixedly provided with a cutting saw 25.

Preferably, the supporting body 3 is of an annular structure, the middle of the annular structure can be opened and closed, the supporting rods 4 are uniformly arranged on the supporting body 3 in the circumferential direction, and the end parts of the supporting rods 4 are arranged inwards.

As shown in fig. 5, the support body 3 of the present application includes a left frame 8 and a right frame 9, both the left frame 8 and the right frame 9 are semi-circular structures, one end of the left frame 8 is rotatably connected to one end of the right frame 9 through a rotating connection portion 10, the other end of the left frame 8 is locked to the other end of the right frame 9 through a buckling portion 11, and the buckling portion 11 adopts a latch locking structure to ensure stable locking; the left frame 8 and the right frame 9 are rotationally connected through a rotational connecting part 10, so that the purpose of annular splicing is realized; a plurality of support rods 4 are respectively arranged on the left rack 8 and the right rack 9, and the support rods 4 are arranged in a circular array shape when the left rack 8 and the right rack 9 are spliced into a circular structure.

The left rack 8 and the right rack 9 are provided with a supporting rod 4 with the same structure, taking the left rack 8 as an example, the left rack 8 is provided with a mounting hole, one end of the supporting rod 4 is arranged in the mounting hole of the left rack 8 in a penetrating way, the end part of the supporting rod 4 is locked by a locking bolt, the supporting rod 4 is sleeved with a pressure spring 12, one end of the pressure spring 12 is contacted with the inner wall of the left rack 8, the other end of the supporting rod 4 is provided with a limit table, and the other end of the pressure spring 12 is contacted with the table surface of the limit table of the supporting rod 4; the other end tip of bracing piece 4 is provided with motor mounting bracket 13, and driving motor 5 installs on motor mounting bracket 13, and driving motor 5's output shaft installation crawls wheel 6, and a plurality of crawls wheel rotation direction remove along the vertical direction of trunk surface. In the using process, the length of the supporting rod 4 is adjusted by the locking bolt, the pressure spring 12 is compressed at the minimum position, then the left rack 8 and the right rack 9 are surrounded on the outer ring of a coconut tree to be picked, the left rack 8 and the right rack 9 are fixed after being surrounded, then the supporting rod 4 is adjusted by the locking bolt to enable the crawling wheels 6 at the end part of the supporting rod 4 to be in contact with the surface of a trunk of the coconut tree, the plurality of supporting rods 4 are adjusted in a similar manner to enable the crawling wheels at the end part of all the supporting rods 4 to be in contact with the surface of the trunk of the coconut tree, the pretightening force is applied by the pressure spring, and then the crawling wheels 6 are driven to rotate by the driving motor 5, so that the purpose of ascending on the trunk of the coconut tree can be realized; as the coconut tree trunk is gradually reduced from low diameter to high diameter, the free length of the support rod 4 is set in an allowable range, and the pre-tightening force is provided by the pressure spring 12, so that the coconut tree trunk can run to the surface of the support rod.

As shown in the supporting body structure of fig. 5, a connecting end of the left frame 8 and the supporting rod 4 is provided with a frame buckle 14, one end of the frame buckle 14 is fixedly connected with the supporting rod 4, and the other end of the frame buckle is contacted with the side wall of the left frame 8, so that the purpose of clamping is realized; as shown in fig. 5, the present application employs a three support bar array structure.

This application can be connected a plurality of supporters 3 vertically through the connecting rod according to actual conditions, with two or more supporters 3 parallel arrangement, forms the barreled structure, ensures the stability of operation, installs power and controller that are used for motor drive on left frame 8. Simple structure can simplify or set up the battery compartment structure with left frame 8, ensures that 3 centrobaries of supporter are located near trunk center when installing on the trunk, prevents 3 centrobaries of supporter transition skew.

As shown in fig. 1 and 2, the support body 3 may also be modularized, and a plurality of support modules are used to form a column; the support module specifically includes hinge plate 15, and hinge plate 15's one end is rotated and is connected with supporting seat 16, and supporting seat 16's both sides all are equipped with rotation connecting seat 17, and hinge plate 15 rotates and connects a supporting seat 16 and be a set of, and multiunit structure arranges in proper order and connects, forms the columnar structure, and hinge plate 15 and supporting seat 16 alternately rotate to be connected promptly, set up buckle structure 18 on hinge plate 15 and the supporting seat 16 at both ends respectively, adopt the buckle lock. The support bar 4 is mounted on the support base 16.

In order to improve the installation stability of the whole structure, two supporting seats 16 are rotatably arranged on one side of the hinge plate 15, the two supporting seats 16 on one side of the same hinge plate 15 are in a group, and the two supporting seats 16 in the group are fixedly connected through a connecting column 18 to form a stable supporting body structure. The hinge plate 15 is connected with the supporting seat 16 through a hinge.

This application adopts three hinge plate 15 and three supporting seats of group, and three hinge plate 15 and three supporting seat 16 of group alternate rotation in proper order are connected, set up joint portion 19 on the supporting seat 16 of tip, set up buckle 20 on the hinge plate 15 of tip, and the last chucking part of buckle 20 sets up on joint portion 19, rotates the purpose that buckle 20 realized locking. The hinge plate is provided with a battery 21 in a double-layer triangular structure formed by hinge plate supporting seats 16.

Be equipped with the rotation motor in the supporting seat 16, the output that rotates the motor passes through the worm gear with bracing piece 4 and is connected, utilize to rotate motor drive bracing piece 4 and rotate, thereby change the direction of crawling wheel 6, the output that rotates the motor is the worm, set up the worm wheel on the bracing piece 4, can ensure that bracing piece 4 rotates and is in stable state behind the direction, when crawling to the assigned height, through rotating the bracing piece 4 direction, change crawling wheel 6 and rotate the direction of crawling, thereby realize the rotation of integrated device, can change the direction of cutting subassembly 2 on the supporter 3, realize the harvesting of coconut in the equidirectional. Or can be connected through a rotating shaft.

The two ends of the hinge plate are respectively connected with the supporting seat 16 through hinges, and the supporting seat 16 and the hinge plate are fixed by inserting bolts into corresponding hole positions and can be freely opened and closed. The compression spring 12 of the support rod 4 can realize the telescopic clamping of the driving wheel when facing coconut trunks with different diameters. The turned angle of

adjustment bracing piece

4, 6 crawl wheels can be at trunk straight-line rising, and 6 crawl wheels also can be spiral shell screwing in on the trunk, and is safer high-efficient. The driving motor provides power source for the driving wheel, so that the device can complete the operation at different heights when in operation.

The mechanical arm adopts a double-joint moving mode, can flexibly adapt to complex branch conditions, and achieves the purpose of cutting. Specifically, as shown in fig. 3, the mechanical arm includes a shaft seat 22, the shaft seat 22 is fixedly connected to the support body 3, a rotating arm 23 is disposed at the upper end of the shaft seat 22, the shaft seat 22 is rotatably connected to the rotating arm 23, a rotating shaft motor 24 is disposed on the shaft seat 22, an output shaft of the rotating shaft motor 24 is engaged with a rotating shaft of the rotating arm 23 through a gear, a cutting saw 25 is mounted at an end of the rotating arm 23, and quick cutting can be achieved through electric driving, so that pruning is achieved.

The coconut picking device can realize free opening and closing of the climbing structure; the bracing piece 4 with pressure spring 12 can realize when the coconut tree trunk of different diameters that crawling wheel 6 is flexible tight, and crawling wheel 6 becomes 60 degrees inclinations with the fuselage main shaft, can spiral shell screwing in on the trunk, realizes class screw thread auto-lock phenomenon, prevents the unexpected landing of fuselage, and is safer high-efficient, can make this device accomplish the operation of co-altitude when the function.

Claims

1. The utility model provides a device is picked to coconut, a serial communication port, including subassembly (1) and the cutting assembly (2) of crawling, subassembly (1) of crawling includes supporter (3), be equipped with a plurality of bracing pieces (4) on supporter (3), a plurality of bracing pieces (4) are cyclic annular array, driving motor (5) are all installed to the end position of a plurality of bracing pieces (4), the output shaft of driving motor (5) is equipped with crawl wheel (6), a plurality of crawl wheel (6) surface and coconut tree trunk contact, the length of a plurality of bracing pieces (4) is adjustable, cutting assembly (2) include the arm, the one end of arm is fixed in on supporter (3), other end fixed mounting has cutting saw (25).

2. The coconut picking device according to claim 1, characterized in that the supporting body (3) is a ring structure, the middle of the ring structure can be opened and closed, and a plurality of supporting rods (4) are evenly arranged on the supporting body (3) at the circumference.

3. The coconut picking device according to claim 1, characterized in that the support body (3) comprises a left frame (8) and a right frame (9), the left frame (8) and the right frame (9) are both semi-circular structures, one end of the left frame (8) is rotatably connected with one end of the right frame (9) through a rotating connecting part (10), and the other end of the left frame (8) is locked with the other end of the right frame (9) through a buckling part (11).

4. The coconut picking device according to claim 3, characterized in that a plurality of support rods (4) are respectively arranged on the left frame (8) and the right frame (9), and the plurality of support rods (4) are arranged in a circular array shape when the left frame (8) and the right frame (9) are spliced into a circular ring structure.

5. The coconut picking device according to claim 4, characterized in that a mounting hole is arranged on the left frame (8), one end of the support rod (4) is arranged in the mounting hole of the left frame (8) in a penetrating manner, the end part of the support rod (4) is locked by a locking bolt, a pressure spring (12) is sleeved on the support rod (4), one end of the pressure spring (12) is in contact with the inner wall of the left frame (8), a limiting table is arranged at the other end of the support rod (4), and the other end of the pressure spring (12) is in contact with the surface of the limiting table of the support rod (4).

6. A coconut picking device according to claim 1 characterised in that the other end of the support rod (4) is provided with a motor mounting bracket (13), the drive motor (5) is mounted on the motor mounting bracket (13), and the output shaft of the drive motor (5) is provided with a climbing wheel (6).

7. A coconut picking device according to claim 1 characterised in that the support (3) comprises a plurality of support modules which surround to form a cylinder; the supporting module comprises a hinge plate (15), one end of the hinge plate (15) is rotatably connected with a supporting seat (16), the two sides of the supporting seat (16) are respectively provided with a rotating connecting seat (17), the supporting seats (16) and the hinge plate (15) are sequentially connected, and the hinge plate (15) and the supporting seats (16) at the two ends are respectively provided with a buckle structure (18).

8. A coconut picking device according to claim 7 characterised in that a rotating motor is provided in the support base (16), the output of the rotating motor is connected to the support rod (4) through a worm gear and a worm, the output of the rotating motor is a worm, and the support rod (4) is provided with a worm wheel engaged with the worm.

9. The coconut picking device according to claim 1, characterized in that the mechanical arm comprises a shaft seat (22), the shaft seat (22) is fixedly connected with the support body (3), a rotating arm (23) is arranged at the upper end of the shaft seat (22), the shaft seat (22) is rotatably connected with the rotating arm (23), a rotating shaft motor (24) is arranged on the shaft seat (22), and the output shaft of the rotating shaft motor (24) is meshed with the rotating shaft of the rotating arm (23) through a gear.

10. A coconut picking device according to claim 9 characterised in that a dicing saw (25) is mounted to the end of the rotating arm (23).