Automatic tree-climbing coconut picking machine

Abstract

The invention discloses an automatic tree-climbing coconut picking machine, and relates to the technical field of picking equipment. The automatic tree climbing and coconut picking machine comprises a machine bearing seat, a mechanical picking arm, a clamping unit, a rotating unit, a first-stage obstacle avoiding assembly and a second-stage obstacle avoiding assembly, a first-stage platform is arranged on the machine bearing seat, a second-stage platform is arranged on the first-stage platform, a walking wheel base is arranged on the second-stage platform, a shaft seat is arranged on the walking wheel base, and a movable wheel is arranged on the shaft seat. The automatic tree climbing and coconut picking machine can adapt to trees with different thicknesses, can freely move and be flexibly adjusted in the vertical direction and the horizontal direction, the adjustable range of the advancing direction is large, the picking and positioning speed is high, the machine can stably pass through when encountering obstacles such as tree protrusions, the adaptability and stability of the machine are further improved, and the practicability is high. The machine is reasonable in structural design, stable in stress, capable of bearing large loads and impact force and not prone to losing balance and causing loss.

Description

Technical Field

[0001] The invention relates to the technical field of picking equipment, in particular to an automatic tree-climbing coconut picking machine. Background Art

[0002] When picking coconuts, for shorter coconut trees, people can directly stand on the ground and pick the coconuts with their hands. This method is simple and quick, but its applicability is limited. When picking coconuts at higher positions, you can also climb the tree to pick coconuts. Climbing the tree to pick coconuts requires special climbing tools and safety measures to ensure the safety of the pickers. This method is relatively quick, but there are safety risks.

[0003] In order to solve the above-mentioned safety risk problem, there are robots specially used for picking coconuts on the market. The robots clamp the trees and use wheels to drive the lifting and lowering, so as to cooperate with the mechanical arm to perform remote control picking. This picking method replaces manual tree climbing and is safer. However, it is found in actual use that the trunk surface of coconut trees grown in the natural environment is often uneven, with various protrusions, depressions and bends. When the coconut picking robot is in use, it is easy to encounter the situation that the trees have protrusions, which makes it very unstable during walking. During walking, it may lose balance due to inability to adapt to these changes, causing losses. At the same time, due to the complexity of the picking environment, many coconut picking robots are not easy to adjust the direction during the tree climbing process, and the adjustable range of the travel direction is small, which makes the mechanical arm picking speed slow, and it is necessary to control the position state of the device multiple times, and flexible position movement cannot be achieved. In view of the shortcomings of the prior art, the present invention provides an automatic tree climbing and coconut picking machine to solve the above-mentioned problems. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an automatic tree-climbing and coconut-picking machine, which is convenient for automatically moving on tree trunks and remotely picking fruits. It can adapt to trees of different thicknesses and can move freely in the vertical and horizontal directions and can be flexibly adjusted. The travel direction can be adjusted in a large range and the picking and positioning speed is fast, which meets the needs of complex picking environments. Through the coordinated use of the first-level obstacle avoidance component and the second-level obstacle avoidance component, the machine can pass stably when encountering obstacles such as tree protrusions, further improving the adaptability and stability of the machine. The machine has a reasonable structural design and stable force, can withstand large loads and impact forces, and is not easy to lose balance and cause losses.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automatic tree-climbing coconut picking machine, comprising a machine bearing seat, a mechanical picking arm, a clamping unit, a rotating unit, a primary obstacle avoidance component and a secondary obstacle avoidance component;

[0006] The machine bearing seat is provided with a primary platform, the primary platform is provided with a secondary platform, the secondary platform is provided with a walking wheel base, the walking wheel base is provided with an axle seat, the axle seat is provided with a movable wheel, and the axle seat is provided with a driving motor for driving the movable wheel;

[0007] A mechanical picking arm is arranged on the machine bearing seat, and the mechanical picking arm is used for picking fruits;

[0008] A clamping unit is arranged on the machine bearing seat, and the clamping unit is used to control the spacing between multiple sets of movable wheels;

[0009] The rotating unit is arranged between the secondary platform and the walking wheel base, and the rotating unit is used to control the angles of the multiple sets of movable wheels;

[0010] The primary obstacle avoidance component is arranged between the axle seat and the walking wheel base, and the primary obstacle avoidance component is used to realize the primary obstacle avoidance of the movable wheel;

[0011] The secondary obstacle avoidance component is arranged between the primary platform and the secondary platform, and the secondary obstacle avoidance component is used to realize multi-level obstacle avoidance of the movable wheel.

[0012] Preferably, the primary obstacle avoidance component comprises:

[0013] A sleeve, arranged on the walking wheel base;

[0014] A sliding column is arranged on the shaft seat, and the sliding column is slidably connected in the sleeve;

[0015] The first spring is fixedly connected between the sleeve and the sliding column.

[0016] Preferably, the secondary obstacle avoidance component comprises:

[0017] A second guide rail is arranged on the first-level platform;

[0018] A second slider is disposed on the secondary platform, and the second slider is slidably connected to the second guide rail;

[0019] The second spring is arranged and fixed between the second sliding block and the second guide rail.

[0020] Preferably, a main shaft is rotatably connected to the secondary platform, a rotating drum sleeve is provided on the walking wheel base, and the main shaft and the rotating drum sleeve are fixed.

[0021] Preferably, the rotating unit comprises:

[0022] A second motor is arranged on the secondary platform;

[0023] A worm, arranged at an output end of the second motor;

[0024] The worm wheel is arranged on the outer side of the drum sleeve, and the worm wheel is meshed with the worm.

[0025] Preferably, a lubrication unit for lubricating the rotating unit is provided on the secondary platform, and the lubrication unit comprises:

[0026] A lubrication box is arranged on the secondary platform;

[0027] A lubrication wheel is embedded in the lubrication box, and the lubrication wheel is fitted with the worm.

[0028] Preferably, the secondary platform is provided with a tightening assembly for applying thrust to the lubrication box, and the tightening assembly comprises:

[0029] A limiting frame is arranged on the secondary platform;

[0030] A sliding plate, slidably connected to the limiting frame, and the sliding plate is used to support the lubrication box;

[0031] The third spring is arranged and fixed between the sliding plate and the limiting frame.

[0032] Preferably, the clamping unit comprises:

[0033] A first guide rail, disposed on the machine bearing seat;

[0034] A first sliding block is slidably connected to the first guide rail, and the first sliding block is used to support the primary platform;

[0035] A first motor is disposed on the machine bearing seat;

[0036] A screw rod is arranged at the output end of the first motor, and the screw rod is threadedly connected to the first slider.

[0037] Preferably, a storage cavity for storing lubricating material is provided inside the lubrication box, a lubrication groove corresponding to the position of the lubrication wheel is opened inside the storage cavity, and a refueling nozzle is provided on the lubrication box.

[0038] Preferably, the machine bearing seat is provided with an elastic arc plate for reinforcing and supporting the mechanical picking arm, and the movable wheel is provided with a groove.

[0039] The invention discloses an automatic tree-climbing coconut picking machine, which has the following beneficial effects:

[0040] 1. The automatic tree-climbing coconut picking machine is designed with a mechanical picking arm, a machine bearing seat and movable wheels, so that the machine is easy to automatically move on the tree trunk and remotely pick fruits. The design of the clamping unit makes the spacing between multiple sets of movable wheels adjustable, so that the machine can adapt to trees of different thicknesses, thereby enhancing its versatility and practicality. The design of the rotating unit makes the angle of the movable wheel flexibly adjustable, and the machine can move freely in the vertical and horizontal directions and be flexibly adjusted. The adjustable range of the travel direction is large, and the picking positioning speed is fast, which meets the needs of complex picking environments. The coordinated use of the first-level obstacle avoidance component and the second-level obstacle avoidance component enables the machine to pass stably when encountering obstacles such as tree protrusions, thereby further improving the adaptability and stability of the machine. On the other hand, the first-level obstacle avoidance component and the second-level obstacle avoidance component can maintain pressure between the movable wheel and the tree, thereby improving the stability of the device's travel, and ensuring the safety and reliability of the machine during the picking process. The machine has a reasonable structural design and stable force, can withstand large loads and impact forces, and is not easy to lose balance and cause losses.

[0041] 2. The design of the lubrication unit of the automatic tree-climbing coconut picking machine not only reduces the wear of the machine, but also makes the machine smoother and noiseless when adjusting the direction of travel, thereby extending the service life of the machine. The lubrication unit has a compact structure, is easy to maintain, and can achieve automatic lubrication, further simplifying the use process of the machine. At the same time, after lubrication, the machine is easier to adjust its position in a complex environment and improves stability.

[0042] 3. The automatic tree-climbing coconut picking machine, through the design of the clamping component, enables the clamping component to apply thrust to the lubrication box, so that the lubrication box drives the lubrication wheel and the worm to maintain a fit state, further ensuring a good lubrication effect, improving the transmission stability when the machine switches the direction of travel, and ensuring that the machine avoids obstacles and has strong travel stability and low resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 This is a first viewing angle of the overall structural diagram of the present invention;

[0045] Figure 2 The second viewing angle of the overall structural diagram of the present invention;

[0046] Figure 3 It is a schematic structural diagram of the elastic arc plate of the present invention;

[0047] Figure 4 It is a cross-sectional view of the present invention;

[0048] Figure 5 It is a structural schematic diagram of the clamping unit of the present invention;

[0049] Figure 6 It is a schematic diagram of the structure of the rotating unit and the secondary obstacle avoidance assembly of the present invention;

[0050] Figure 7 It is a structural schematic diagram of the primary obstacle avoidance component of the present invention;

[0051] Figure 8 It is a structural schematic diagram of the lubrication unit and the tightening assembly of the present invention;

[0052] Fig. 9 It is a cross-sectional view of the lubrication box of the present invention.

[0053] In the figure: 1. machine bearing seat; 11. primary platform; 12. secondary platform; 121. main shaft; 13. walking wheel base; 131. drum sleeve seat; 14. shaft seat; 141. driving motor; 15. movable wheel; 151. groove; 16. elastic arc plate; 2. mechanical picking arm; 3. clamping unit; 31. first guide rail; 32. first slider; 33. first motor; 34. screw rod; 4. rotating unit; 41. second motor; 42. Worm; 43. Worm wheel; 5. Primary obstacle avoidance assembly; 51. Sleeve; 52. Sliding column; 53. First spring; 6. Second obstacle avoidance assembly; 61. Second guide rail; 62. Second slider; 63. Second spring; 7. Lubrication unit; 71. Lubrication box; 711. Storage chamber; 712. Lubrication groove; 713. Oiling nozzle; 72. Lubrication wheel; 8. Clamping assembly; 81. Limiting frame; 82. Sliding plate; 83. Third spring. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The embodiment of the present application provides an automatic tree-climbing and coconut-picking machine, which solves the problem that the existing coconut picking robots are easily prone to encountering situations where trees have protrusions during use, resulting in instability during walking. During walking, they may lose balance due to inability to adapt to these changes, causing losses. At the same time, due to the complexity of the picking environment, many coconut picking robots are not easy to adjust their directions during the tree climbing process, and the adjustable range of the travel direction is small, which makes the picking speed of the robotic arm slow, and the position state of the device needs to be controlled multiple times, and flexible position movement cannot be achieved.

[0056] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0057] Embodiment 1:

[0058] The embodiment of the present invention discloses an automatic tree climbing coconut picking machine. Figure 1-9 As shown, it includes a machine bearing base 1, a mechanical picking arm 2, a clamping unit 3, a rotating unit 4, a primary obstacle avoidance component 5 and a secondary obstacle avoidance component 6;

[0059] A primary platform 11 is provided on the machine bearing seat 1, a secondary platform 12 is provided on the primary platform 11, a walking wheel base 13 is provided on the secondary platform 12, an axle seat 14 is provided on the walking wheel base 13, a movable wheel 15 is provided on the axle seat 14, and a driving motor 141 for driving the movable wheel 15 is provided on the axle seat 14; the driving motor 141 is used to drive the movable wheel 15 to rotate, and then the whole device is driven to move by driving the rotation of the movable wheel 15 and the friction with the tree trunk;

[0060] The device is designed with a machine support base 1, so that the machine support base 1 supports and moves the entire device. The mechanical picking arm 2 is designed so that after the device moves to the target position, the mechanical picking arm 2 is used to remotely pick fruits to replace manual labor. The clamping unit 3 is designed so that the spacing between the multiple groups of movable wheels 15 on the machine support base 1 is adjustable, so that the machine support base 1 is suitable for clamping and climbing on trees of different thicknesses.

[0061] The device also facilitates the adjustment of the angles of the multiple groups of movable wheels 15 on the machine support base 1 through the design of the rotating unit 4. Therefore, the movable wheels 15 can drive the machine support base 1 vertically upward or horizontally rotate during the walking process. Furthermore, through the design of the primary obstacle avoidance component 5 and the secondary obstacle avoidance component 6, when the movable wheels 15 encounter a tree protrusion during the walking process, the primary obstacle avoidance and multi-level obstacle avoidance functional designs can be used to achieve the device to stably pass through the tree protrusion obstacle position, ensuring that the machine stably moves to the target position.

[0062] The mechanical picking arm 2 is arranged on the machine bearing seat 1, and the mechanical picking arm 2 is used for picking fruits;

[0063] The clamping unit 3 is disposed on the machine bearing seat 1, and is used to control the spacing between the multiple sets of movable wheels 15; the clamping unit 3 includes:

[0064] The first guide rail 31 is disposed on the machine bearing seat 1;

[0065] A first slider 32 is slidably connected to the first guide rail 31, and the first slider 32 is used to support the first-level platform 11;

[0066] The first motor 33 is disposed on the machine supporting base 1;

[0067] The screw rod 34 is disposed at the output end of the first motor 33 , and the screw rod 34 is threadedly connected to the first slider 32 .

[0068] The clamping unit 3 has a compact structure and is easy to operate. When the spacing between the multiple sets of movable wheels 15 needs to be adjusted, it is directly driven by the first motor 33. When the first motor 33 is working, the first motor 33 drives the screw rod 34 to rotate, the screw rod 34 drives the first slider 32 to move, the first slider 32 drives the primary platform 11 to move, the primary platform 11 drives the secondary platform 12 to move, the secondary platform 12 drives the walking wheel base 13 to move, the walking wheel base 13 drives the shaft seat 14 to move, and the shaft seat 14 drives the movable wheel 15 to move;

[0069] When the movable wheel 15 needs to be driven to rotate to realize the movement of the entire device, the movable wheel 15 is driven by the driving motor 141;

[0070] The secondary platform 12 is rotatably connected with a main shaft 121, and a drum sleeve 131 is provided on the walking wheel base 13, and the main shaft 121 and the drum sleeve 131 are fixed to each other; the device makes the secondary platform 12 and the walking wheel base 13 rotatably connected through the design of the main shaft 121 and the drum sleeve 131, and the force at the connection position is stable; combined with the design of the rotating unit 4, the positions of the walking wheel base 13, the shaft seat 14 and the multiple groups of movable wheels 15 are easy to rotate and adjust;

[0071] The rotating unit 4 is disposed between the secondary platform 12 and the walking wheel base 13, and is used to control the angles of the multiple sets of movable wheels 15; the rotating unit 4 includes:

[0072] The second motor 41 is disposed on the secondary platform 12;

[0073] The worm 42 is arranged at the output end of the second motor 41;

[0074] The worm wheel 43 is disposed outside the drum sleeve 131 , and is meshed with the worm 42 .

[0075] The rotating unit 4 in the device has a compact structure and is easy to operate. When it is necessary to drive multiple groups of movable wheels 15 to rotate and adjust the travel angle through the rotating unit 4, the second motor 41 is used for driving. The second motor 41 drives the worm 42 to rotate, the worm 42 drives the worm wheel 43 to rotate, the worm wheel 43 drives the drum sleeve 131 to rotate, the drum sleeve 131 drives the walking wheel base 13 to rotate, the walking wheel base 13 drives the shaft seat 14 to rotate, and the shaft seat 14 drives the movable wheel 15 to rotate. Therefore, the travel direction of the entire device can be adjusted by adjusting the angle of the movable wheel 15, so as to facilitate the control of the entire device to move vertically or horizontally along the tree.

[0076] The first-level obstacle avoidance component 5 is arranged between the axle seat 14 and the walking wheel base 13, and the first-level obstacle avoidance component 5 is used to realize the primary obstacle avoidance of the movable wheel 15; the second-level obstacle avoidance component 6 is arranged between the first-level platform 11 and the second-level platform 12, and the second-level obstacle avoidance component 6 is used to realize the multi-level obstacle avoidance of the movable wheel 15. Through the design of the first-level obstacle avoidance component 5 and the second-level obstacle avoidance component 6, the device can realize the multi-level obstacle avoidance capability of the device on the one hand, and on the other hand, it can maintain pressure between the movable wheel 15 and the tree, thereby improving the stability of the device.

[0077] The first level obstacle avoidance component 5 includes:

[0078] The sleeve 51 is arranged on the traveling wheel base 13;

[0079] The sliding column 52 is disposed on the shaft seat 14, and the sliding column 52 is slidably connected in the sleeve 51;

[0080] The first spring 53 is fixedly connected between the sleeve 51 and the sliding post 52 .

[0081] The first-level obstacle avoidance component 5 has a simple structure and is easy to maintain. When the clamping unit 3 controls the multiple groups of movable wheels 15 to move and fit closely to the tree trunk, the sleeve 51 and the sliding column 52 will be driven to move toward each other and squeeze the first spring 53. On the one hand, pressure is maintained between the multiple groups of movable wheels 15 and the tree trunk, so that the multiple groups of movable wheels 15 and the tree trunk are kept in close contact. On the other hand, when encountering a raised obstacle position of a tree, the multiple groups of movable wheels 15 can be further expanded at the same time, so that the multiple groups of movable wheels 15 drive the axle seat 14 and the walking wheel base 13 to move, and the walking wheel base 13 is used to drive the sliding column 52 to move along the inside of the sleeve 51 and further squeeze the first spring 53, so as to overcome the obstacle and keep the movable wheels 15 in the device in close contact with the tree trunk, thereby improving the stability of the device.

[0082] The secondary obstacle avoidance component 6 includes:

[0083] The second guide rail 61 is disposed on the first-level platform 11;

[0084] A second slider 62 is disposed on the secondary platform 12, and the second slider 62 is slidably connected to the second guide rail 61;

[0085] The second spring 63 is disposed and fixed between the second slider 62 and the second guide rail 61 .

[0086] The device utilizes the design of the secondary obstacle avoidance component 6 to further enhance the multi-level obstacle avoidance capability of the device. When the first spring 53 of the primary obstacle avoidance component 5 is compressed to the maximum state, the secondary obstacle avoidance component 6 further provides a larger travel activity, thereby enabling the movable wheel 15 to further move, achieving a multi-level obstacle avoidance state, and further enhancing the fit between the movable wheel 15 and the tree trunk, thereby ensuring the stability of the device during walking.

[0087] When the first spring 53 is compressed to the maximum state, when the tree protrudes greatly, it further drives the secondary platform 12 and the primary platform 11 to move relative to each other, and the secondary platform 12 drives the second slider 62 to move along the second guide rail 61 and further squeeze the second spring 63;

[0088] An elastic arc plate 16 for reinforcing and supporting the mechanical picking arm 2 is provided on the machine support seat 1, and a groove 151 is provided on the movable wheel 15. The elastic arc plate 16 is designed so that the elastic arc plate 16 can maintain a close and extruded support with the tree trunk, so that the connection stability between the machine support seat 1 and the tree trunk is good. When the machine support seat 1 is in the target position and the mechanical picking arm 2 is used to pick fruits, further support is provided to the mechanical picking arm 2 to ensure the stability of the device. The groove 151 design makes the fit between the movable wheel 15 and the tree trunk better, the contact area is large, the friction is large, and the stability of the device is ensured.

[0089] Embodiment 2:

[0090] The embodiment of the present invention discloses an automatic tree climbing coconut picking machine. Figure 1-9 As shown, it includes a machine bearing base 1, a mechanical picking arm 2, a clamping unit 3, a rotating unit 4, a primary obstacle avoidance component 5 and a secondary obstacle avoidance component 6;

[0091] A primary platform 11 is provided on the machine bearing seat 1, a secondary platform 12 is provided on the primary platform 11, a travel wheel base 13 is provided on the secondary platform 12, an axle seat 14 is provided on the travel wheel base 13, a movable wheel 15 is provided on the axle seat 14, and a driving motor 141 for driving the movable wheel 15 is provided on the axle seat 14;

[0092] The mechanical picking arm 2 is arranged on the machine bearing seat 1, and the mechanical picking arm 2 is used for picking fruits;

[0093] The clamping unit 3 is disposed on the machine bearing seat 1, and the clamping unit 3 is used to control the spacing between the multiple sets of movable wheels 15;

[0094] The rotating unit 4 is disposed between the secondary platform 12 and the walking wheel base 13, and the rotating unit 4 is used to control the angles of the multiple sets of movable wheels 15;

[0095] The primary obstacle avoidance component 5 is arranged between the axle seat 14 and the running wheel base 13, and the primary obstacle avoidance component 5 is used to realize the primary obstacle avoidance of the movable wheel 15;

[0096] The secondary obstacle avoidance component 6 is disposed between the primary platform 11 and the secondary platform 12 , and the secondary obstacle avoidance component 6 is used to achieve multi-level obstacle avoidance of the movable wheel 15 .

[0097] The rotating unit 4 comprises:

[0098] The second motor 41 is disposed on the secondary platform 12;

[0099] The worm 42 is arranged at the output end of the second motor 41;

[0100] The worm wheel 43 is disposed outside the drum sleeve 131 , and is meshed with the worm 42 .

[0101] A lubrication unit 7 for lubricating the rotating unit 4 is provided on the secondary platform 12. The lubrication unit 7 includes:

[0102] The lubrication box 71 is arranged on the secondary platform 12;

[0103] The lubrication wheel 72 is embedded in the lubrication box 71 , and the lubrication wheel 72 is in close contact with the worm 42 .

[0104] The device is designed with a lubricating unit 7 so that the lubricating unit 7 can automatically provide lubrication to the transmission position of the rotating unit 4 when the rotating unit 4 is working, thereby reducing the wear of the device, making the device smoother and without abnormal noise when adjusting the direction of travel, thereby increasing the life of the device and further improving the stability of the device;

[0105] The lubrication unit 7 has a compact structure, good stability and is easy to maintain. The lubrication unit 7 consists of a lubrication box 71 and an embedded lubrication wheel 72, wherein the lubrication wheel 72 is rotatably connected to the oil outlet position of the lubrication box 71. When the second motor 41 drives the worm 42 to rotate, the worm 42 drives the lubrication wheel 72 to rotate, so that the lubrication wheel 72 continuously transfers the lubricating material attached to its surface to the worm 42. Therefore, when the worm 42 rotates, the lubricating material is further transferred, so that the worm 42 and the worm wheel 43 are lubricated, the transmission is smooth, and automatic lubrication and automatic maintenance are realized. When the equipment stops operating, the lubrication unit 7 also stops lubrication. Therefore, the device is maintenance-free and easy to use.

[0106] The secondary platform 12 is provided with a pressing assembly 8 for applying thrust to the lubrication box 71, and the pressing assembly 8 includes:

[0107] The limiting frame 81 is arranged on the secondary platform 12;

[0108] A sliding plate 82 is slidably connected to the limiting frame 81, and the sliding plate 82 is used to support the lubrication box 71;

[0109] The third spring 83 is disposed and fixed between the sliding plate 82 and the limiting frame 81 .

[0110] The device is designed with the pressing component 8 so that the pressing component 8 applies thrust to the lubrication box 71, thereby causing the lubrication box 71 to drive the lubrication wheel 72 to maintain a close fit with the worm 42, thereby ensuring a good lubrication effect.

[0111] Among them, the third spring 83 is in a compressed state, and the elastic force of the third spring 83 itself is applied to the sliding plate 82, so that the sliding plate 82 moves along the limit frame 81 and drives the lubrication box 71 to move, and then the lubrication box 71 drives the lubrication wheel 72 to move to maintain the fit state with the worm 42.

[0112] The lubrication box 71 has a storage chamber 711 for storing lubricating material inside, and a lubrication groove 712 corresponding to the position of the lubrication wheel 72 is opened inside the storage chamber 711. The lubrication box 71 is provided with a grease nozzle 713. The device stores lubricating material through the storage chamber 711. The design of the grease nozzle 713 facilitates the addition of lubricating material, and the design of the lubrication groove 712 facilitates the transfer of the lubricating material inside the storage chamber 711 to the lubrication wheel 72.

[0113] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0114] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic tree climbing coconut picking machine, characterized in that: include: A machine bearing seat (1), wherein a primary platform (11) is provided on the machine bearing seat (1), a secondary platform (12) is provided on the primary platform (11), a walking wheel base (13) is provided on the secondary platform (12), an axle seat (14) is provided on the walking wheel base (13), a movable wheel (15) is provided on the axle seat (14), and a driving motor (141) for driving the movable wheel (15) is provided on the axle seat (14); A mechanical picking arm (2) is arranged on the machine bearing seat (1), and the mechanical picking arm (2) is used for picking fruits; A clamping unit (3) is arranged on the machine bearing seat (1), and the clamping unit (3) is used to control the spacing between the multiple sets of movable wheels (15); A rotating unit (4) is arranged between the secondary platform (12) and the walking wheel base (13), and the rotating unit (4) is used to control the angles of the multiple sets of movable wheels (15); A primary obstacle avoidance component (5) is arranged between the axle seat (14) and the walking wheel base (13), and the primary obstacle avoidance component (5) is used to achieve primary obstacle avoidance of the movable wheel (15); A secondary obstacle avoidance component (6) is arranged between the primary platform (11) and the secondary platform (12), and the secondary obstacle avoidance component (6) is used to achieve multi-stage obstacle avoidance of the movable wheel (15).

2. The automatic tree climbing coconut picking machine according to claim 1, characterized in that: The first-level obstacle avoidance component (5) comprises: A sleeve (51) is arranged on the walking wheel base (13); A sliding column (52) is arranged on the shaft seat (14), and the sliding column (52) is slidably connected in the sleeve (51); The first spring (53) is fixedly connected between the sleeve (51) and the sliding column (52).

3. The automatic tree climbing coconut picking machine according to claim 2, characterized in that: The secondary obstacle avoidance component (6) comprises: A second guide rail (61) is arranged on the first-level platform (11); A second sliding block (62) is disposed on the secondary platform (12), and the second sliding block (62) is slidably connected to the second guide rail (61); The second spring (63) is arranged and fixed between the second sliding block (62) and the second guide rail (61).

4. The automatic tree-climbing coconut picking machine according to claim 1, characterized in that: The secondary platform (12) is rotatably connected with a main shaft (121), the walking wheel base (13) is provided with a rotating drum sleeve (131), and the main shaft (121) and the rotating drum sleeve (131) are fixed.

5. The automatic tree-climbing coconut picking machine according to claim 4, characterized in that: The rotating unit (4) comprises: A second motor (41) is disposed on the secondary platform (12); A worm (42) is arranged at the output end of the second motor (41); The worm wheel (43) is arranged outside the rotating drum sleeve (131), and the worm wheel (43) is meshed with the worm (42).

6. The automatic tree-climbing coconut picking machine according to claim 5, characterized in that: The secondary platform (12) is provided with a lubrication unit (7) for lubricating the rotating unit (4), and the lubrication unit (7) comprises: A lubrication box (71) is arranged on the secondary platform (12); A lubrication wheel (72) is embedded in the lubrication box (71), and the lubrication wheel (72) is in close contact with the worm (42).

7. The automatic tree-climbing coconut picking machine according to claim 6, characterized in that: The secondary platform (12) is provided with a pressing assembly (8) for applying a thrust to the lubrication box (71), and the pressing assembly (8) comprises: A limiting frame (81) is arranged on the secondary platform (12); A sliding plate (82) is slidably connected to the limiting frame (81), and the sliding plate (82) is used to support the lubrication box (71); The third spring (83) is arranged and fixed between the sliding plate (82) and the limiting frame (81).

8. The automatic tree-climbing coconut picking machine according to claim 1, characterized in that: The clamping unit (3) comprises: A first guide rail (31) is arranged on the machine bearing seat (1); A first sliding block (32) is slidably connected to the first guide rail (31), and the first sliding block (32) is used to support the primary platform (11); A first motor (33) is arranged on the machine supporting base (1); A screw rod (34) is arranged at the output end of the first motor (33), and the screw rod (34) is threadedly connected to the first sliding block (32).

9. The automatic tree-climbing coconut picking machine according to claim 6, characterized in that: The lubrication box (71) is provided with a storage cavity (711) for storing lubricating substances, the storage cavity (711) is provided with a lubrication groove (712) corresponding to the position of the lubrication wheel (72), and the lubrication box (71) is provided with a grease nozzle (713).

10. The automatic tree-climbing coconut picking machine according to claim 1, characterized in that: The machine bearing seat (1) is provided with an elastic arc plate (16) for reinforcing and supporting the mechanical picking arm (2), and the movable wheel (15) is provided with a groove (151).

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