CN103430701B - A kind of coconut picking machine - Google Patents
A kind of coconut picking machine Download PDFInfo
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- CN103430701B CN103430701B CN201310381637.5A CN201310381637A CN103430701B CN 103430701 B CN103430701 B CN 103430701B CN 201310381637 A CN201310381637 A CN 201310381637A CN 103430701 B CN103430701 B CN 103430701B
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- sliding sleeve
- grabbed
- hand
- harvesting
- connecting rod
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Abstract
The invention discloses a kind of coconut picking machine, mainly comprise harvesting handgrip, it is connected with the upper end of swing arm unit by machine head connecting rod; Harvesting handgrip comprises: stepper motor, servomotor, leading screw, conical sliding sleeve, cylinder step sliding sleeve, interior hand is grabbed, the right-hand side is grabbed, bearing; One end of leading screw connects the rotating shaft of stepper motor, and the other end connects servomotor; 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 right-hand side is grabbed portion and is flexibly connected with the outer shroud of bearing before grabbing, the conical surface of the rearward end that the right-hand side is grabbed and conical sliding sleeve is slidingly contacted by ball; Interior hand is grabbed portion and is flexibly connected with the inner ring of bearing before grabbing, the intrados of the rearward end that interior hand is grabbed and cylinder step sliding sleeve slidingly contacts; The rotating shaft of servomotor is grabbed with interior hand and is fixedly connected with.This coconut picking machine substitutes artificial harvesting, reduces harvesting labour intensity, improves picking efficiency, improve harvesting operational security.
Description
Technical field
The present invention relates to picking fruit device, particularly relate 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, and Hainan Province is the unique scale place of production of China.Coconut palm is a kind of aiphyllium, and trunk is straight and upright, up to 15 ~ 30m, so every coconut harvest season, coconut palm agriculture all can for coconut harvesting difficulty and headache.The method that current coconut is plucked 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; Picking machine cutter cutting picking operations is complicated, slightly neglects, and gently then damages coconut and limb, and heavy then cutter is ruined arm and broken.In the prior art, China fails to address this problem always, and the development of coconut picking machine is just at the early-stage.Coconut picking robot is had to come out abroad, although automaticity is higher, picking robot whole bundle cutting and not accomplishing can only identify coconut cooking level and single harvesting, and cost is too high, is not suitable for state of China.So particularly seem particularly important to the research of the picking mechanism of coconut picking machine to the research of coconut picking machine.
Summary of the invention
The object of the invention is to the shortcoming and defect overcoming prior art, the coconut picking machine that a kind of structure is simple, practical is provided.
The present invention 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, and pluck handgrip and be connected with the upper end of swing arm unit by machine head connecting rod, 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 is 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 conical surface of the rearward end that the right-hand side is grabbed and conical sliding sleeve is slidingly contacted by ball;
Described interior hand is grabbed portion and is rotationally connected by the bearing pin be fixed in bearing inner ring before grabbing, the intrados of the rearward end that interior hand is grabbed and cylinder step sliding sleeve slidingly contacts;
The rotating shaft of described servomotor is connected with the inner ring of bearing, and in driving, hand grabs rotation.
Described interior hand is also provided with an interior pulldown be connected with the rotating shaft of servomotor in grabbing, be provided with buffer spring between the end of the end that interior hand is grabbed and interior pulldown.
Described swing arm driving assembly comprises: the motor rotated for driving turbine and worm decelerator, for drive determine guide plate rotate gear reduction, described gear reduction and turbine and worm decelerator are rotationally connected, and described bottom of determining guide plate is connected with base rotation;
Described swing arm unit comprises: be arranged on the first cylinder determined on guide plate, the second cylinder be arranged on dynamic guide plate, described dynamic guide plate with the mode slided up and down with determine guide plate and be connected;
The rearward end of described machine head connecting rod is provided with two spaced hinge positions, 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 dynamic 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 present invention has the following advantages compared with prior art:
Stepper motor drives screw turns, and conical sliding sleeve and cylinder step slide on leading screw and slide; The rearward end that interior hand is grabbed is promoted by cylinder step sliding sleeve, interior hand is made to grab front end Quick-clamped coconut, the rearward end that the right-hand side is grabbed is advanced by conical sliding sleeve and opens, the front end clamping coconut base of fruit that the right-hand side is grabbed, stepper motor stops subsequently, in being driven by servomotor, hand is grabbed and is rotated together, is twisted into two parts by the base of fruit of coconut, thus realizes coconut harvesting.
The present invention substitutes artificial harvesting, reduce harvesting labour intensity, improve picking efficiency, and in utilizing, hand is grabbed to grab with the right-hand side and cooperatively interacted, interior hand is caught coconut to rotate and is plucked the danger avoiding and manually climb harvesting, picking machine cutter cutting harvesting, improve harvesting operational security.
Simple, the easy and simple to handle practicality of structure of the present invention, easy to utilize, market potential is large.
Accompanying drawing explanation
Fig. 1 is coconut picking machine overall structure schematic diagram of the present invention.
Fig. 2 is the concrete structure schematic diagram that Fig. 1 plucks handgrip 33.
Embodiment
Below in conjunction with specific embodiment, the present invention 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, it is characterized in that coconut picking machine also comprises a harvesting handgrip 33, pluck handgrip 33 to 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 grabs the outer shroud that the portion of grabbing before 19 is hinged to bearing 17, and the right-hand side grabs the rearward end of 19 and the conical surface of conical sliding sleeve 22 is slidingly contacted by ball 21;
Described interior hand is grabbed portion of grabbing before 16 and is rotationally connected by the bearing pin be fixed in bearing 17 inner ring, and interior hand grabs the rearward end of 16 and the intrados of cylinder step sliding sleeve 20 slidingly contacts;
The rotating shaft of described servomotor 18 is connected with the inner ring of bearing 17, and in driving, hand grabs 16 rotations.
Described interior hand is grabbed in 16 and is also provided with an interior pulldown 13 be 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.Buffer spring 15 realizes coconut (not shown) flexibility and captures.
Described swing arm driving assembly 31 comprises: the motor 3 rotated for driving turbine and worm decelerator 2, for drive determine guide plate 11 rotate gear reduction 12, described gear reduction 12 and turbine and worm decelerator 2 are rotationally connected, described determine guide plate 11 bottom and base 1 be rotationally connected;
Described swing arm unit 32 comprises: be arranged on the first cylinder 10 determined on guide plate 11, the second cylinder 4 be arranged on dynamic guide plate 6, described dynamic guide plate 6 with the mode slided up and down with determine guide plate 11 and be connected;
The rearward end of described machine head connecting rod 8 is provided with two spaced hinge positions, and the piston rod 5 of the second cylinder 4 is movably hinged by first hinge position of connecting rod 7 with machine head connecting rod 8 rearward end;
The upper end of described dynamic guide plate 6, the end of piston rod 9 are 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 screw turns, and conical sliding sleeve and cylinder step slide on leading screw and slide; The rearward end that interior hand is grabbed is promoted by cylinder step sliding sleeve, interior hand is made to grab front end Quick-clamped coconut, the rearward end that the right-hand side is grabbed is advanced by conical sliding sleeve and opens, the front end clamping coconut base of fruit that the right-hand side is grabbed, stepper motor stops subsequently, in being driven by servomotor, hand is grabbed and is rotated together, is twisted into two parts by the base of fruit of coconut, thus realizes coconut harvesting.
Swing arm driving assembly 31 can realize determining guide plate 11 and swing in the angular range of 0 ° ~ 120 ° on base 1, the piston rod 5 of the second cylinder 4 stretch, the pitching motion that connecting rod 8 completes 0 ° ~ 30 ° can be realized.
The present invention pluck handgrip except with swing arm driving assembly 31 and swing arm unit 32 with the use of except, can also be arranged on other rod members being similar to stock and use.
Just the present invention can be realized preferably as mentioned above.
Embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
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) to be connected by the upper end of machine head connecting rod (8) with swing arm unit (32), 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 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), 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;
Before the described right-hand side grabs (19), the portion of grabbing is hinged to the outer shroud of bearing (17), and the conical surface of the rearward end that the right-hand side is grabbed (19) and conical sliding sleeve (22) is slidingly contacted by ball (21);
Portion of grabbing before described interior hand grabs (16) is rotationally connected by the bearing pin be fixed in bearing (17) inner ring, and the intrados of rearward end and cylinder step sliding sleeve (20) that interior hand grabs (16) slidingly contacts;
The rotating shaft of described servomotor (18) is connected with the inner ring of bearing (17), and in driving, hand grabs (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) be 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: the motor (3) rotated for driving turbine and worm decelerator (2), for driving the gear reduction (12) determined guide plate (11) and rotate, described gear reduction (12) and turbine and worm decelerator (2) are rotationally connected, described determine guide plate (11) bottom and base (1) be rotationally connected;
Described swing arm unit (32) comprising: be arranged on the first cylinder (10) determined on guide plate (11), the second cylinder (4) be arranged on dynamic guide plate (6), described dynamic guide plate (6) with the mode slided up and down with determine guide plate (11) and be connected;
The rearward end of described machine head connecting rod (8) is provided with two spaced hinge positions, and the first piston bar (5) of the second cylinder (4) is movably hinged by first hinge position of connecting rod (7) with machine head connecting rod (8) rearward end;
The upper end of described dynamic guide plate (6), the end of the second piston rod (9) are movably hinged with second hinge position of machine head connecting rod (8) rearward end respectively.
4. coconut picking machine according to claim 1, it 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 |
|---|---|---|---|
| CN201310381637.5A CN103430701B (en) | 2013-08-28 | 2013-08-28 | A kind of coconut picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310381637.5A CN103430701B (en) | 2013-08-28 | 2013-08-28 | A kind of coconut picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103430701A CN103430701A (en) | 2013-12-11 |
| CN103430701B true CN103430701B (en) | 2015-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310381637.5A Expired - Fee Related CN103430701B (en) | 2013-08-28 | 2013-08-28 | A kind of coconut picking machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN103430701B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104054453B (en) * | 2014-06-20 | 2016-12-28 | 重庆文润科技有限公司 | A kind of Cortex cocois radicis picker |
| CN107251711B (en) * | 2017-05-16 | 2020-06-09 | 佛山标天下信息科技有限公司 | Convenient to use's jujube is picked ware |
| CN107810706B (en) * | 2017-11-30 | 2023-08-15 | 广州大学 | Device for realizing pineapple picking |
| CN110587020A (en) * | 2019-09-26 | 2019-12-20 | 无锡祈安盛机械制造有限公司 | Multifunctional pressure fixing device |
| CN111673765A (en) * | 2020-06-19 | 2020-09-18 | 湖南湘源金穗智能装备有限公司 | Oil tea picking manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2408661Y (en) * | 1999-12-23 | 2000-12-06 | 河南师范大学 | Fruit picking device |
| JP2007202537A (en) * | 2006-01-30 | 2007-08-16 | Toru Yamaguchi | Pole bag with clipper for harvesting |
| CN201036271Y (en) * | 2007-05-12 | 2008-03-19 | 周立人 | Picking device for high branch melon and fruit |
| KR20090040523A (en) * | 2007-10-22 | 2009-04-27 | 임남규 | Bamboo stick trimming only use spider man roborte |
| CN201360431Y (en) * | 2008-08-15 | 2009-12-16 | 权太周 | Fruit picker |
| CN202200300U (en) * | 2011-07-11 | 2012-04-25 | 浙江理工大学 | Underactuated end effector with feeling |
| CN103168561A (en) * | 2013-03-29 | 2013-06-26 | 湖北四季春茶油有限公司 | Oil-tea camellia picker |
| CN203446220U (en) * | 2013-08-28 | 2014-02-26 | 华南理工大学 | Coconut picker |
-
2013
- 2013-08-28 CN CN201310381637.5A patent/CN103430701B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2408661Y (en) * | 1999-12-23 | 2000-12-06 | 河南师范大学 | Fruit picking device |
| JP2007202537A (en) * | 2006-01-30 | 2007-08-16 | Toru Yamaguchi | Pole bag with clipper for harvesting |
| CN201036271Y (en) * | 2007-05-12 | 2008-03-19 | 周立人 | Picking device for high branch melon and fruit |
| KR20090040523A (en) * | 2007-10-22 | 2009-04-27 | 임남규 | Bamboo stick trimming only use spider man roborte |
| CN201360431Y (en) * | 2008-08-15 | 2009-12-16 | 权太周 | Fruit picker |
| CN202200300U (en) * | 2011-07-11 | 2012-04-25 | 浙江理工大学 | Underactuated end effector with feeling |
| CN103168561A (en) * | 2013-03-29 | 2013-06-26 | 湖北四季春茶油有限公司 | Oil-tea camellia picker |
| CN203446220U (en) * | 2013-08-28 | 2014-02-26 | 华南理工大学 | Coconut picker |
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| Publication number | Publication date |
|---|---|
| CN103430701A (en) | 2013-12-11 |
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Granted publication date: 20151028 Termination date: 20210828 |