Coconut picking robot

Abstract

The invention relates to a coconut picking robot, in particular to a wheel type embracing tree-climbing robot which serves as a basic structure unit, and a picking mechanical arm with a saw blade at the tail end is additionally arranged on the wheel type embracing tree-climbing robot to achieve the purposes of climbing a tree and cutting the root of a coconut so as to achieve picking.

Description

Technical Field

[0001] The invention relates to a coconut picking robot, in particular to a wheeled tree-climbing robot as a basic structural unit, which is equipped with a picking mechanical arm with a saw blade at the end to climb trees and cut coconut roots to achieve the purpose of picking. Background Art

[0002] The coconut picking robot uses a wheeled tree-climbing robot as its basic structural unit. The robotic arm and harvesting saw blade are assembled to form a harvesting robotic arm. The robotic arm and the mounting parts on the side of the robot are then fixedly connected to form a composite structural system, allowing the whole machine to integrate the two functions of "tree climbing" and "cutting". Summary of the invention

[0003] The technical problems to be solved by the present invention are:

[0004] Existing coconut picking robots are large and heavy, have poor flexibility, and have a fixed cutting mechanism, making them inconvenient to operate. They are also unable to accurately pick coconuts from dense leaves.

[0005] The technical solution of the present invention:

[0006] A coconut picking robot, characterized by: a wheeled embracing tree climbing robot and a picking mechanical arm;

[0007] The wheeled embracing robot is shown in the figure, and its main structure includes: frame tube, clamping arm, driving wheel, and support platform;

[0008] The frame tube is designed in two halves, so that it can be manually wrapped around the tree, and connected by bolts;

[0009] The support platform is connected to the frame pipe through a pipe clamp, and screw holes for placing the mechanical arm, the clamping arm and the control element are respectively provided on the support platform; the support platform plays the role of supporting the mechanical arm, the clamping arm and the control element at the same time;

[0010] There is a gear at the end of the clamping arm, which is placed in the support platform and has a boss outside for welding with the clamping arm; the gear is connected to the clamping motor to ensure the clamping effect; there are eight clamping arms in total, and each clamping arm is composed of two front and rear steel plates connected by screws. A support plate is connected to the end of the clamping arm, on which a servo is installed, which is connected to the drive wheel support frame. The purpose of this design is to make the robot more maneuverable on the tree.

[0011] The driving wheels are connected to the driving wheel support frame through motors, and the four driving wheels are all controlled by independent motors;

[0012] The picking robot arm consists of a base, a turntable, a big arm, a middle arm and a small arm. The big arm and the turntable, the middle arm and the big arm, and the small arm and the middle arm are connected through a servo. A high-speed motor is fixed at the end of the small arm, and the saw blade is connected to the high-speed motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 3D illustration of a coconut picking robot

[0014] Figure 2 3D illustration of wheeled hugging robot

[0015] Figure 3 3D image of rack pipe

[0016] Figure 4 3D image of support platform

[0017] Figure 5 3D image of clamping arm

[0018] Figure 6 3D drawing of driving wheel support

[0019] Figure 7 3D drawing of driving wheel

[0020] Figure 8 3D image of robotic arm

[0021] Fig. 9 Saw blade 3D image DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the accompanying drawings.

[0023] like Figure 1 As shown, a coconut picking robot is characterized by: a wheeled embracing tree climbing robot and a picking mechanical arm;

[0024] like Figure 2 As shown, the wheeled embracing robot has a main structure including: a frame tube, a clamping arm, a driving wheel, and a supporting platform;

[0025] like Figure 3 As shown, the frame tube is designed in two halves, so that it can be manually wrapped around the tree, and the two halves are connected by bolts;

[0026] like Figure 4 As shown, the support platform is connected to the frame pipe through a pipe clamp, and screw holes for placing the mechanical arm, the clamping arm and the control element are respectively provided on the support platform; the support platform plays the role of supporting the mechanical arm, the clamping arm and the control element at the same time;

[0027] like Figure 5As shown, a gear is provided at the end of the clamping arm, which is placed in the support platform and has a boss outside for welding with the clamping arm; the gear is connected to the clamping motor to ensure the clamping effect; there are eight clamping arms in total, and each clamping arm is composed of two front and rear steel plates connected by screws. A support plate is connected to the end of the clamping arm, on which a servo is installed, and the servo is connected to the drive wheel support frame. The purpose of this design is to make the robot more maneuverable on the tree.

[0028] like Figure 6 , 7 As shown, the driving wheels are connected to the driving wheel support frame through motors, and the four driving wheels are all controlled by independent motors;

[0029] like Figure 8 , 9 As shown, the harvesting robot arm consists of a base, a turntable, a large arm, a middle arm and a small arm. The large arm and the turntable, the middle arm and the large arm, and the small arm and the middle arm are connected through a servo. A high-speed motor is fixed at the end of the small arm, and a saw blade is connected to the high-speed motor.

Claims

1. A coconut picking robot, characterized in that: Wheeled embracing tree-climbing robot (A) and harvesting robot arm (B).

2. The wheeled tree-climbing robot according to claim 1, characterized in that: The wheeled embracing robot is shown in the figure, and its main structure includes: frame tube (A1), clamping arm (A2), driving wheel (A3), support platform (A4); The frame tube is designed in two halves, so that it can be manually wrapped around the tree, and connected by bolts; The support platform is connected to the frame pipe through a pipe clamp (A5), and screw holes for placing the mechanical arm, the clamping arm and the control element are respectively provided on the support platform; the support platform plays the role of supporting the mechanical arm, the clamping arm and the control element at the same time; A gear (A6) is provided at the end of the clamping arm. The gear is placed in the support platform, and a boss is provided outside the support platform so as to be welded with the clamping arm. The gear is connected to the clamping motor (A7) to ensure the clamping effect. There are eight clamping arms in total, and each clamping arm is composed of two front and rear steel plates connected by screws. A support plate (A8) is connected to the end of the clamping arm, on which a steering gear (A9) is installed. The steering gear is connected to the driving wheel support frame (A10). The purpose of this design is to make the robot more maneuverable on the tree. The driving wheels are connected to the driving wheel support frame through the motor (A11), and the four driving wheels are all controlled by independent motors.

3. The picking robot arm according to claim 1, characterized in that: The harvesting mechanical arm consists of a base (B1), a turntable (B2), a large arm (B3), a middle arm (B4) and a small arm (B5). The large arm and the turntable, the middle arm and the large arm, and the small arm and the middle arm are connected through steering gears (B6, 7). A high-speed motor (B8) is fixed at the end of the small arm, and a saw blade (B9) is connected to the high-speed motor.

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