Automatic control system of automatic green coconut processing machine

Abstract

The invention discloses an automatic control system of an automatic coconut green processing machine. According to the automatic control system, a PLC serves as a core, a pressing air cylinder is controlled through an electromagnetic valve to enable a pressing air cylinder mechanical arm to act, a coconut is fixed to a rotating nail disc, and a cutting tool is controlled to cut the side portion and the top of the coconut rotating on the rotating nail disc through operation of an electric push rod and a rotating motor; a clamping jaw lifting air cylinder and a clamping jaw opening and closing air cylinder are controlled by an electromagnetic valve to move to achieve clamping jaw lifting and clamping jaw opening and closing, meanwhile, under operation of a stepping motor and a band saw motor, coconut bottom cutting is conducted, and finally coconut green in a regular shape is obtained through processing. The green coconut processing device has the beneficial effects that automation of the green coconut processing process can be realized, the processing cost is reduced, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to an automatic control system of agricultural product processing equipment, in particular to an automatic control system of an automatic coconut processing machine. BACKGROUND

[0002] Coconut is the fruit of the palm tree, which is composed of epicarp, mesocarp, endocarp, seed coat, coconut meat and coconut water, etc. Each part has a very important use value. Fresh green coconut is difficult to store for a long time because it contains a large amount of water. In addition, the irregular shape of coconut will occupy a large space and consume a large amount of unnecessary cost during long-distance transportation. Therefore, green coconut is usually processed into a product with a conical top, a cylindrical side and a flat bottom, which is called coconut. The coconut is immersed and wrapped to effectively prolong its value period. Otherwise, its skin will quickly age, affecting the taste of fruit juice and pulp and reducing its nutritional value. At present, the coconut processing machinery is relatively backward, mainly relying on manual cutting, which is time-consuming and laborious, unsafe and unhygienic. This way of processing has low efficiency, high labor cost and is prone to personal accidents, which limits the development of enterprises to some extent. SUMMARY

[0003] The present application is to design an automatic control system of an efficient automatic coconut processing machine. The automatic control system can process coconuts of different sizes and shapes into coconut with uniform appearance in a fully automatic processing mode, solving the bottleneck problem of expanding production scale and improving work efficiency of coconut processing plants.

[0004] The technical scheme adopted by the present application is that the automatic coconut processing machine is provided with a rack, a pressing cylinder is arranged above the front part of the rack, a pressing cylinder manipulator is arranged on the pressing cylinder, the extension and retraction of the pressing cylinder manipulator are controlled by a solenoid valve YV1 and a solenoid valve YV2, a rotary motor M1 is arranged below the front part of the rack, a rotary nail disc is arranged on the rotating shaft of the rotary motor M1, a cutting tool is arranged at the top of the side of the front part of the rack, the extension and retraction of the cutting tool are controlled by an electric push rod, a band saw and a band saw motor M2 are arranged in the middle part of the rack, the rotation of the band saw is controlled by the band saw motor M2 to cut the bottom of the coconut, a stepping motor M4 and a lead screw are arranged at the upper rear part of the rack, a clamping jaw is arranged in the middle part of the rack, the forward and backward movement of the clamping jaw is realized by rotating the lead screw driven by the stepping motor M4, a travel switch ST1 for the front limit of the clamping jaw and a travel switch ST2 for the rear limit of the clamping jaw are arranged, the lifting and lowering of the clamping jaw are realized by the action of a clamping jaw lifting cylinder controlled by a solenoid valve YV3 and a solenoid valve YV4, and the opening and closing of the clamping jaw are realized by the action of a clamping jaw opening and closing cylinder controlled by a solenoid valve YV5 and a solenoid valve YV6.

[0005] The main circuit and control circuit of the automatic control system are installed in the control cabinet, and are provided with manual and automatic modes, and the working mode selection can be performed through the selection switch on the control cabinet panel; the control cabinet panel is provided with a system start button SB1, a selection switch SA, an emergency stop button SB2, a manual button SB1, a manual button SB2, a manual button SB3, a manual button SB4, a manual button SB5, a manual button SB6, a manual button SB7, a manual button SB8, a manual button SB9, a manual button SB 10 , a manual button SB 11 , a manual button SB 12 , a manual button SB 13 , a manual button SB 14 , a manual button SB 15 , a manual button SB 16 , a manual button SB 17 , a manual button SB 18 ; the control cabinet box is provided with an air switch QS1, an air switch QS2, an air switch QS3, an air switch QS4, an air switch QS5, a programmable logic controller PLC, an intermediate relay KA1, an intermediate relay KA2, an intermediate relay KA3, an intermediate relay KA4, an intermediate relay KA5, an intermediate relay KA6, an intermediate relay KA7, an intermediate relay KA8, an intermediate relay KA9, an intermediate relay KA 10 , an intermediate relay KA 11 , a YF-20 stepping motor controller, a DM542 stepping motor driver, a 24V switching power supply, a thermal relay FR1, a thermal relay FR2, an AC contactor KM0, an AC contactor KM1, an AC contactor KM2 and a wiring terminal, in order to describe the functions of the electrical automatic control system elements and the distribution of the PLC input address and output address, tables 1, 2 and 3 are given for description.

[0006] Table 1 Circuit element description Element Symbol Element Name Function QS1 Air switch Total three-phase power supply introduction and short circuit protection QS2 Air switch Rotating electric machine M1 three-phase power supply and short circuit protection QS3 Air switch Band saw motor M2 three-phase power supply and short circuit protection QS4 Air switch PLC and intermediate relay single-phase power supply introduction and short circuit protection QS5 Air switch AC contactor power supply introduction and short circuit protection FU Fuse Total three-phase power supply short circuit protection FR1 Thermal relay Rotating electric machine M1 overload protection FR2 Thermal relay Band saw motor M2 overload protection [CD AT KM0] AC contactor Control the power-on of PLC, output load and frequency converter, and emergency stop can be disconnected [CD AT KM1] AC contactor Controlling the operation of the rotary electric machine M1 [CD AT KM2] AC contactor controlling the operation of the band saw motor M2 KA1 Intermediate relay Controlling the on-off power of the coil of AC contactor KM1 Intermediate relay ​ Intermediate relay Controlling the on-off power of the coil of AC contactor KM2 ​ Intermediate relay Control the extension of electric push rod KA4 Intermediate relay Control the retraction of electric push rod KA5 Intermediate relay The electromagnetic valve YV1 is operated to actuate the pressing cylinder, and the pressing cylinder mechanical hand is extended. KA6 Intermediate relay Controlling electromagnetic valve YV2 to work to make the pressing cylinder act, and the pressing cylinder mechanical hand is retracted [KA7] Intermediate relay Controlling electromagnetic valve YV3 to work makes the clamp jaw lifting cylinder act, and the clamp jaw extends KA8 Intermediate relay Control solenoid YV4 to operate the gripper lifting cylinder, and the gripper is retracted. ​ Intermediate relay Control solenoid YV5 to operate the jaw opening and closing cylinder to open the jaws KA 10 ]]> Intermediate relay Control solenoid YV6 to operate the jaw opening and closing cylinder, and the jaw is closed. UR DC power supply 24V electric push rod and driver power supply M1 Motor Controlling the operation of the rotary electric machine M1 [M2] Motor controlling the operation of the band saw motor M2 [M3] Motor Controlling the air pump motor M3 to run M4 Motor Controlling the stepper motor M4 to run [YV1] Solenoid valve Control the extension of pressing air cylinder mechanical hand [YV2] Solenoid valve Control the retraction of pressing air cylinder mechanical hand [YV3] Solenoid valve Control the extension of clamping jaw lifting air cylinder [YV4] Solenoid valve Control the retraction of clamping jaw lifting air cylinder [YV5] Solenoid valve Control the opening of clamping jaw opening and closing air cylinder [YV6] Solenoid valve Control the closing of clamping jaw opening and closing air cylinder

[0007] Table 2 Input signal and address distribution table Element Name Address Function ​ System start button SB2 Emergency stop [button SB3] X000 Control the extension of pressing air cylinder mechanical hand button SB4 X001 Control the retraction of pressing air cylinder mechanical hand [button SB5] X002 Control the rotation of rotary motor to rotate the rotary nail disc [button SB6] X003 Control the extension of cutting tool by working electric push rod [button SB7] X004 Control the retraction of cutting tool by working electric push rod [button SB8] X005 Control the forward movement of clamping jaw by controlling the forward rotation of stepping motor [button SB9] X006 Control the backward movement of clamping jaw by controlling the reverse rotation of stepping motor button SB 10 ]] X007 Control the extension of clamping jaw by controlling the lifting air cylinder button SB 11 ]] X010 Control the retraction of clamping jaw by controlling the lifting air cylinder button SB 12 ]] X011 Control the opening of clamping jaw by controlling the opening and closing air cylinder button SB 13 ]] X012 Control the closing of clamping jaw by controlling the opening and closing air cylinder button SB 14 ]] X013 Control the operation of band saw motor to rotate the band saw button SB 15 ]] X015 Coconut placement detection selecting switch SA1 X020 Manual mode selecting switch SA2 X021 Origin return mode selecting switch SA3 X022 Single step mode selecting switch SA4 X023 Single cycle mode select switch SA5 X024 Automatic mode button SB 16 ]] X025 Origin return start button SB 17 ]] X026 Automatic start button SB 18 ]] X027 Automatic stop Travel switch ST1 X030 Clamping jaw forward limit Travel switch ST2 X031 Clamping jaw backward limit

[0008] Table 3 Output signal and address distribution table Element Name Address Function ​ Y004 Controlling the energization of the KM1 coil causes the rotary motor M1 to operate ​ Y005 Controlling the KM2 coil to be electrified to make the band saw motor M2 run ​ Y006 Control the extension of cutting tool by working electric push rod ​ Y007 Control the retraction of cutting tool by working electric push rod ​ Y010 The electromagnetic valve YV1 is operated to actuate the pressing cylinder, and the pressing cylinder mechanical hand is extended. ​ Y011 Control solenoid YV2 is operated to actuate the pressing cylinder, and the mechanical hand of the pressing cylinder is retracted. ​ Y012 Control solenoid YV3 to work to make the clamp jaw lifting cylinder act, the clamp jaw extends ​ Y013 Control solenoid YV4 to operate the gripper lifting cylinder to retract the gripper ​ Y014 Control solenoid YV5 to operate the jaw opening and closing cylinder to open the jaws KA 10 ]] Y015 Control solenoid YV6 is operated to make the jaw opening and closing cylinder work, and the jaw is closed. KA 11 ]] Y016 Control system start indicator light L1 <L2> Y017 Origin return mode operation indication <L3> Y018 Automatic mode operation indication After the system is powered on, first press the system start button SB1, then set the selection switch SA to the 2nd gear (origin return mode), press the origin return start manual button SB 16 , the system performs origin return, and after the end, set the selection switch SA to the 5th gear (automatic mode), press the automatic start button SB 17, the coconut processing machine enters the automatic mode, and the automatic mode is specifically controlled as follows: Place the coconut top vertically upright on the rotating nail disc, and press the manual button SB after placing it in place 15 , the middle relay KA5 coil is powered on, the electromagnetic valve YV1 is operated to control the action of the pressing cylinder, the pressing cylinder mechanical hand is extended, the coconut is pressed down, and the coconut is fixed on the rotating nail disc, 2 seconds later, the middle relay KA1 coil is powered on to make the alternating current contactor KM1 coil powered on, the alternating current contactor KM1 normally open contact is closed, the rotating motor M1 is started and the coconut on the rotating nail disc starts to rotate, the electric push rod is pushed out, and the cutting tool approaches the coconut. When the cutting tool contacts the coconut, the side and top of the coconut are cut. After 15 seconds, the middle relay KA1 coil is de-energized to make the alternating current contactor KM1 coil de-energized, the alternating current contactor KM1 normally open contact is disconnected, the rotating motor M1 is stopped, and the electric push rod is retracted to move the cutting tool away from the coconut; The stepper motor controller and the stepper motor driver receive the signal of the PLC, control the forward rotation of the stepper motor M4, make the lead screw (73) rotate and drive the clamping jaw to advance, the middle relay KA9 coil is powered on, the electromagnetic valve YV5 is operated to control the action of the clamping jaw opening and closing cylinder to make the clamping jaw open, 2 seconds later, the middle relay KA7 coil is powered on, the electromagnetic valve YV3 is operated to control the action of the clamping jaw lifting cylinder to make the clamping jaw descend, when the clamping jaw contacts the front limit travel switch ST1, the travel switch ST1 acts, the PLC sends a stop signal to the stepper motor controller and the driver, and the stepper motor M4 stops forward rotation. At this time, the middle relay KA 10The coil is electrified, the electromagnetic valve YV6 works to control the opening and closing of the clamp cylinder, the clamp is closed, the coconut that has finished cutting the side and top is grabbed, 1 second later, the middle relay KA6 coil is electrified, the electromagnetic valve YV2 works to control the pressing cylinder to act, the pressing cylinder mechanical hand is retracted, 2 seconds later, the middle relay KA8 coil is electrified, the electromagnetic valve YV4 works to control the clamp lifting cylinder to act, the clamp is lifted, the coconut is taken off the rotating nail disc, the stepping motor controller and the stepping motor driver receive the signal of the PLC, control the stepping motor M4 to reverse, make the lead screw rotate and drive the clamp and the coconut to retreat, retreat for 3 seconds, the middle relay KA2 coil is electrified, the alternating current contactor KM2 coil is electrified, the alternating current contactor KM2 normally open contact is closed, the band saw motor M2 is operated, drives the band saw to rotate, 2 seconds later, the middle relay KA7 coil is electrified, the electromagnetic valve YV3 works to control the clamp lifting cylinder to act, the clamp is lowered, the bottom of the coconut is close to the band saw, the stepping motor M4 continues to reverse, the clamp grabs the coconut and continues to retreat, under the action of the rotating band saw, the bottom of the coconut is cut, when the clamp hits the rear limit travel switch ST2, the travel switch ST2 acts, the middle relay KA2 coil is de-energized, the alternating current contactor KM2 coil is de-energized, the alternating current contactor KM2 normally open contact is opened, the band saw motor M2 stops, the PLC sends a stop signal to the stepping motor controller and the stepping motor driver, the stepping motor M4 stops, the middle relay KA9 coil is electrified, the electromagnetic valve YV5 works to control the clamp opening and closing cylinder to act, the clamp is opened, the processed coconut green is placed in the discharge port, 2 seconds later, the middle relay KA8 coil is electrified, the electromagnetic valve YV4 works to control the clamp lifting cylinder to act, the clamp is lifted and retracted, and the automatic coconut green processing is completed.

[0009] To meet the debugging, maintenance and individual control requirements, the system is provided with a manual control mode. The selection switch SA is set to the first gear (manual mode), and the coconut processing equipment enters the manual control mode. The specific operation is as follows: the manual button SB3 is pressed to make the intermediate relay KA5 coil electrified, the electromagnetic valve YV1 is controlled to work to control the action of the pressing cylinder, and the pressing cylinder mechanical hand is extended to fix the coconut on the rotating nail disc; the manual button SB4 is pressed to make the intermediate relay KA5 coil electrified, the electromagnetic valve YV2 is controlled to work to control the action of the pressing cylinder, and the pressing cylinder mechanical hand is retracted; the manual button SB5 is pressed to make the intermediate relay KA1 coil electrified, the alternating current contactor KM1 coil is controlled to be electrified, the normally open contact is closed, and the rotating motor M1 is started; the manual button SB6 is pressed to make the intermediate relay KA3 coil electrified, the electric push rod is controlled to work to extend the cutting tool; the manual button SB7 is pressed to make the intermediate relay KA4 coil electrified, the electric push rod is controlled to work to retract the cutting tool; the manual button SB8 is pressed to make the PLC output signals of the stepping motor driver and the stepping motor controller, and the stepping motor is controlled to rotate forward; the manual button SB9 is pressed to make the PLC output signals of the stepping motor driver and the stepping motor controller, and the stepping motor is controlled to rotate reversely; the manual button SB 10 is pressed to make the intermediate relay KA7 coil electrified, the electromagnetic valve YV3 is controlled to work to control the action of the clamping jaw lifting cylinder to extend and lower the clamping jaw; the manual button SB 11 is pressed to make the intermediate relay KA8 coil electrified, the electromagnetic valve YV4 is controlled to work to control the action of the clamping jaw lifting cylinder to ascend and retract; the manual button SB 12 is pressed to make the intermediate relay KA9 coil electrified, the electromagnetic valve YV5 is controlled to work to control the action of the clamping jaw opening and closing cylinder to open the clamping jaw; the manual button SB 13 is pressed to make the intermediate relay KA 10 coil electrified, the electromagnetic valve YV6 is controlled to work to control the action of the clamping jaw opening and closing cylinder to close the clamping jaw. The above is the operation process of the control system in the manual mode and the action sequence of each executing mechanism.

[0010] In the control circuit, the on-off of the contacts is realized by controlling the on-off of the coils of the intermediate relays through the PLC, the on-off of the power supply of the corresponding alternating current contactor coils and other loads is controlled, and the intermediate relays for opposite actions of the same executing element are connected in interlocking mode, so as to ensure the safety of the circuit and the equipment.

[0011] If an emergency occurs, the emergency stop button SB2 should be pressed immediately, which can quickly and effectively disconnect the programmable controller output, thereby controlling all AC contactors to be disconnected, cutting off the power supply of all motors, and stopping the running equipment immediately, so as to avoid the occurrence of serious safety hazards or equipment damage in an emergency; the button adopts a self-locking working mode, and after being pressed, it will be self-locked, and if the self-locking is not released, the system cannot be started, and the entire equipment cannot work.

[0012] For the main circuit, when a short circuit fault occurs in the circuit, the total power air switch SQ1 has a short circuit protection function, and when the current exceeds a given value, it will automatically trip and cut off the circuit, and the motors of the actuators of each part of the main circuit are separately connected to the air switch, which can play an independent protection role to protect the safety of the operating personnel and equipment in the production process; for the control circuit, the air switches SQ4 and SQ5 have a short circuit protection function; the fuse FU assists in playing a short circuit protection role, which ensures that in the case of overcurrent, the power supply of the programmable controller (PLC) is cut off, so that the PLC is protected from overcurrent, and the corresponding motors of each part of the actuator are connected to the thermal relay (FR), which has an overload protection function, and when the motor is overheated due to overload, the corresponding thermal relay normally closed auxiliary contact will be disconnected, thereby controlling the motor to lose power, so as to ensure the safe operation of each motor in the production process.

[0013] The beneficial effects of the present application change the coconut processing from manual operation to automatic operation, realize the automation of coconut processing, and greatly reduce the production cost, thereby further improving the economic benefits of coconut production enterprises. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a mechanical structure and electrical element arrangement drawing of the electrical automatic control system of the embodiment of the present application.

[0015] Figure 2 It is a main circuit principle diagram of the electrical automatic control system of the embodiment of the present application.

[0016] Figure 3 It is a PLC control circuit external principle wiring diagram of the electrical automatic control system of the embodiment of the present application.

[0017] Figure 4 It is a relay-contactor circuit principle diagram of the electrical automatic control system of the embodiment of the present application.

[0018] Figure 5 It is a control cabinet panel arrangement drawing of the electrical automatic control system of the embodiment of the present application.

[0019] Figure 6 It is a control cabinet element arrangement drawing of the electrical automatic control system of the embodiment of the present application.

[0020] Figure 7 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application.

[0021] Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 16 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 15 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 13 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 12 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 15 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 10 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 11 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 14 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 18 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 11 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. 10 Figure 1 is a program flow chart of the programmable controller (PLC) of the electrical automatic control system of the embodiment of the present application. DETAILED DESCRIPTION

[0022] The technical scheme adopted by the present application is that the automatic coconut processing machine is provided with a rack (68), a pressing cylinder (5) is arranged on the upper front part of the rack (68), a pressing cylinder manipulator (69) is arranged on the pressing cylinder (5), the pressing cylinder manipulator (69) is controlled to extend and retract by a solenoid valve YV1 (6) and a solenoid valve YV2 (7), a rotary motor M1 (1) is arranged on the lower front part of the rack (68), a rotary nail disc (2) is arranged on the rotating shaft of the rotary motor M1 (1), a cutting tool (3) is arranged on the top side of the front part of the rack (68), the cutting tool (3) is controlled to extend and retract by an electric push rod (4), a band saw (19) and a band saw motor M2 (18) are arranged on the middle part of the rack (68), the band saw (19) is controlled to rotate by the band saw motor M2 (18) to cut the bottom of the coconut, a stepping motor M4 (10) and a lead screw (70) are arranged on the upper rear part of the rack (68), a clamping jaw (17) is arranged on the middle part of the rack (68), the lead screw (70) is driven to rotate by the stepping motor M4 (10) to realize the forward and backward movement of the clamping jaw (17), a travel switch ST1 (8) for the front limit position of the clamping jaw (17) and a travel switch ST2 (11) for the rear limit position of the clamping jaw (17) are arranged, a solenoid valve YV3 (12) and a solenoid valve YV4 (13) control the action of a clamping jaw lifting cylinder (9) to realize the lifting and lowering of the clamping jaw (17), a solenoid valve YV5 (14) and a solenoid valve YV6 (15) control the action of a clamping jaw opening and closing cylinder (16) to realize the opening and closing of the clamping jaw (17).

[0023] After the system is powered on, first press the system start button SB1 (21), then set the selection switch SA (20) to the 2nd gear (original point return mode), press the original point return start manual button SB 16 (22), the system performs original point return, after the end, set the selection switch SA (20) to the 5th gear (automatic mode), press the automatic start button SB 17 (23), the coconut processing machine enters the automatic mode, and the automatic mode is specifically controlled as follows: Place the coconut vertically with the top part upward on the rotary nail disc (2), after placing in place, press the manual button SB 15(30), the coil of the intermediate relay KA5 (46) is energized, the electromagnetic valve YV1 (6) is operated to control the action of the pressing cylinder (5) to extend the pressing cylinder mechanical hand (69), the coconut is pressed down to fix the coconut on the rotating spike disc (2), 2 seconds later, the coil of the intermediate relay KA1 (50) is energized to energize the coil of the alternating current contactor KM1 (65), the normally open contact of the alternating current contactor KM1 (65) is closed, the rotating motor M1 (1) is started and the coconut on the rotating spike disc (2) starts to rotate, the electric push rod (4) is pushed out to make the cutting tool (3) close to the coconut, when the cutting tool (3) contacts the coconut, the side and top of the coconut are cut, 15 seconds later, the coil of the intermediate relay KA1 (50) is de-energized to de-energize the coil of the alternating current contactor KM1 (65), the normally open contact of the alternating current contactor KM1 (65) is opened, the rotating motor M1 (1) is stopped, and the electric push rod (4) is retracted to make the cutting tool (3) away from the coconut; the stepping motor controller (53) and the stepping motor driver (52) receive the signal of the PLC (45), control the forward rotation of the stepping motor M4 (10) to rotate the lead screw (70) and drive the clamping jaw (17) to move forward, the coil of the intermediate relay KA9 (59) is energized to operate the electromagnetic valve YV5 (14) to control the action of the clamping jaw opening and closing cylinder (16) to open the clamping jaw (17), 2 seconds later, the coil of the intermediate relay KA7 (61) is energized to operate the electromagnetic valve YV3 (12) to control the action of the clamping jaw lifting and lowering cylinder (9) to lower the clamping jaw (17), when the clamping jaw (17) contacts the front limit travel switch ST1 (8), the travel switch ST1 (8) is operated, the PLC (45) sends a stop signal to the stepping motor controller (53) and the driver (52), the stepping motor M4 (10) stops forward rotation, at this time, the coil of the intermediate relay KA 10(58) Coil energized, solenoid YV6 (15) works to control the action of the jaw opening cylinder (16) to close the jaw (17), grab the finished side and top of the coconut, 1 second after the middle relay KA6 (62) coil energized, solenoid YV2 (7) works to control the action of the pressing cylinder (5) to make the pressing cylinder mechanical hand (69) retract, 2 seconds after the middle relay KA8 (60) coil energized solenoid YV4 (13) works to control the action of the jaw lifting cylinder (9) to make the jaw (17) rise and take the coconut off the rotating nail disc (2), the stepper motor controller (53) and the stepper motor driver (52) receive the signal from the PLC (45) to control the stepper motor M4 (10) to reverse, make the lead screw (70) rotate and drive the jaw (17) and the coconut to retreat, retreat for 3 seconds, the middle relay KA2 (49) coil energized, the AC contactor KM2 (64) coil energized, the AC contactor KM2 (64) normally open contact closed, the band saw motor M2 (18) runs to drive the band saw (19) to rotate, 2 seconds after the middle relay KA7 (61) coil energized, solenoid YV3 (12) works to control the action of the jaw lifting cylinder (9) to make the jaw (17) descend, make the bottom of the coconut close to the band saw (19), the stepper motor M4 (10) continues to reverse, the jaw (17) grabs the coconut and continues to retreat, under the action of the rotating band saw (19), the bottom of the coconut is cut, when the jaw (17) hits the limit switch ST2 (11), the limit switch ST2 (11) acts, the middle relay KA2 (49) coil de-energized, the AC contactor KM2 (64) coil de-energized, the AC contactor KM2 (64) normally open contact is disconnected, the band saw motor M2 (18) stops, the PLC (45) sends a stop signal to the stepper motor controller (53) and the stepper motor driver (52), the stepper motor M4 (10) stops, the middle relay KA9 (59) coil energized, solenoid YV5 (14) works to control the action of the jaw opening cylinder (16) to open the jaw (17) and place the processed coconut green in the discharge port, 2 seconds after the middle relay KA8 (60) coil energized, solenoid YV4 (13) works to control the action of the jaw lifting cylinder (9) to make the jaw (17) retract, complete a automatic coconut green processing.

Claims

1. An automatic control system for an automatic young coconut processing machine, characterized in that: The machine is equipped with a frame (68), and a clamping cylinder (5) is located on the upper front part of the frame (68). A clamping cylinder manipulator (69) is mounted on the clamping cylinder (5). The extension and retraction of the clamping cylinder manipulator (69) are controlled by solenoid valves YV1 (6) and YV2 (7). A rotary motor M1 (1) is located on the lower front part of the frame (68). A rotating nail disk (2) is mounted on the shaft of the rotary motor M1 (1). A cutting tool (3) is located on the top side of the front part of the frame (68). The extension and retraction of the cutting tool (3) are controlled by an electric push rod (4). A band saw (19) and a band saw motor M2 (18) are located in the middle of the frame (68). The band saw motor M2 (18) controls the rotation of the band saw (19). To perform bottom cutting of coconuts, a stepper motor M4 (10) and a lead screw (70) are provided at the upper rear of the frame (68). A gripper (17) is provided in the middle of the frame (68). The stepper motor M4 (10) drives the lead screw (70) to rotate to realize the forward and backward movement of the gripper (17). At the same time, a limit switch ST1 (8) for the front limit of the gripper (17) and a limit switch ST2 (11) for the rear limit are provided. Solenoid valves YV3 (12) and YV4 (13) control the action of the gripper lifting cylinder (9) to realize the rise and fall of the gripper (17). Solenoid valves YV5 (14) and YV6 (15) control the action of the gripper opening and closing cylinder (16) to realize the opening and closing of the gripper (17).

2. The automatic control system for an automatic young coconut processing machine according to claim 1, characterized in that: The main circuit and control circuit of the control system are installed in the control cabinet (67), and are equipped with manual and automatic modes. The working mode can be selected by the selector switch (20) on the control cabinet panel (39). The control cabinet panel (39) is equipped with selector switch SA (20), system start button SB1 (21), and button SB. 16 (22) Manual button SB 17 (23) Manual button SB4 (24) Manual button SB3 (25) Manual button SB7 (26) Manual button SB6 (27) Manual button SB 13 (28) Manual button SB 12 (29) Manual button SB 15 (30) Manual button SB 10 (31) Manual button SB 11 (32) Manual button SB8 (33) Manual button SB9 (34) Manual button SB5 (35) Manual button SB 14 (36) Emergency stop button SB2 (37) Manual button SB 18 (38); The control cabinet (40) contains: air switch QS4 (41), air switch QS3 (42), air switch QS2 (43), air switch QS1 (44), programmable logic controller (PLC) (45), intermediate relay KA5 (46), intermediate relay KA4 (47), intermediate relay KA3 (48), intermediate relay KA2 (49), intermediate relay KA1 (50), 24V switching power supply (51), DM542 stepper motor driver (52), YF-20 stepper motor controller (53), terminal block (54), thermal relay FR2 (55), thermal relay FR1 (56), intermediate relay KA 11 (57) Intermediate relay KA 10 (58) Intermediate relay KA9 (59) Intermediate relay KA8 (60) Intermediate relay KA7 (61) Intermediate relay KA6 (62) AC contactor KM0 (63) AC contactor KM2 (64) AC contactor KM1 (65) Air switch QS5 (66).

3. The automatic control system for an automatic young coconut processing machine according to claim 1, characterized in that: The automatic control process of the coconut processing machine is as follows: Place the coconut vertically upright with the top facing up on the rotating nail plate (2), and press the manual button SB after placing it in place. 15 (30) The coil of intermediate relay KA5 (46) is energized, causing solenoid valve YV1 (6) to work and control the action of clamping cylinder (5), causing the clamping cylinder manipulator (72) to extend and press down the coconut to fix it on the rotating nail plate (2). After 2 seconds, the coil of intermediate relay KA1 (50) is energized, causing the coil of AC contactor KM1 (65) to be energized. The normally open contact of AC contactor KM1 (65) closes, the rotary motor M1 (1) starts, and the coconut on the rotating nail plate (2) begins to rotate. The electric push rod (4) is pushed out, causing the cutting tool (3) to approach the coconut. When the cutting tool (3) contacts the coconut, it begins to cut the side and top of the coconut. After 15 seconds, the coil of intermediate relay KA1 (50) is de-energized, causing the coil of AC contactor KM1 (65) to be de-energized. The normally open contact of AC contactor KM1 (65) opens, the rotary motor M1 (1) stops, and the electric push rod (4) retracts. The cutting tool (3) is moved away from the coconut. The stepper motor controller (53) and the stepper motor driver (52) receive the signal from the PLC (45) and control the stepper motor M4 (10) to rotate forward, so that the lead screw (70) rotates and drives the gripper (17) forward. The coil of the intermediate relay KA9 (59) is energized, so that the solenoid valve YV5 (14) works to control the gripper opening and closing cylinder (16) to open the gripper (17). After 2 seconds, the coil of the intermediate relay KA7 (61) is energized, so that the solenoid valve YV3 (12) works to control the gripper lifting cylinder (9) to lower the gripper (17). When the gripper (17) touches the limit switch ST1 (8) at the front limit, the limit switch ST1 (8) is activated, and the PLC (45) sends a stop signal to the stepper motor controller (53) and the stepper motor driver (52). The stepper motor M4 (10) stops rotating forward. At this time, the intermediate relay KA7 (61) stops rotating forward. 10 (58) When the coil is energized, the solenoid valve YV6 (15) operates, controlling the jaw opening and closing cylinder (16) to close the jaw (17), gripping the coconut after the sides and top have been cut. One second later, the coil of the intermediate relay KA6 (62) is energized, causing the solenoid valve YV2 (7) to operate, controlling the clamping cylinder (5) to retract the clamping cylinder manipulator (69). Two seconds later, the coil of the intermediate relay KA8 (60) is energized, causing the solenoid valve YV4 (13) to operate, controlling the jaw lifting cylinder (9) to raise the jaw (17), removing the coconut from the rotating nail plate (2). The stepper motor... The machine controller (53) and the stepper motor driver (52) receive the signal from the PLC (45) and control the stepper motor M4 (10) to reverse, causing the lead screw (70) to rotate and drive the gripper (17) and coconut to move backward. After moving backward for 3 seconds, the coil of the intermediate relay KA2 (49) is energized, which energizes the coil of the AC contactor KM2 (64). The normally open contact of the AC contactor KM2 (64) closes, and the band saw motor M2 (18) runs, driving the band saw (19) to rotate. After 2 seconds, the coil of the intermediate relay KA7 (61) is energized, which makes the solenoid valve YV3 (12) work. The gripper lifting cylinder (9) moves to lower the gripper (17), bringing the bottom of the coconut close to the band saw (19). The stepper motor M4 (10) continues to reverse, and the gripper (17) grips the coconut and continues to move backward. Under the rotation of the band saw (19), the bottom of the coconut is cut. When the gripper (17) touches the limit switch ST2 (11) at the rear limit, the limit switch ST2 (11) is activated. The coil of the intermediate relay KA2 (49) is de-energized, causing the coil of the AC contactor KM2 (64) to de-energize. The normally open contact of the AC contactor KM2 (64) is opened, and the band saw motor M2 (18) is activated. Stop. The PLC (45) sends a stop signal to the stepper motor controller (53) and the stepper motor driver (52). The stepper motor M4 (10) stops. The coil of the intermediate relay KA9 (59) is energized, which makes the solenoid valve YV5 (14) work to control the gripper opening and closing cylinder (16) to open the gripper (17) and place the processed coconut at the discharge port. After 2 seconds, the coil of the intermediate relay KA8 (60) is energized, which makes the solenoid valve YV4 (13) work to control the gripper lifting cylinder (9) to raise the gripper (17) and retract it, completing one automatic coconut processing cycle.

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