Coconut picking mechanism

Abstract

The utility model discloses a coconut picking mechanism which comprises a climbing device and a picking device, the climbing device comprises a clamping assembly and an advancing assembly, the clamping assembly comprises a first supporting piece, second supporting pieces and a locking piece, the two ends of the first supporting piece are hinged to the second supporting pieces respectively, and the second supporting pieces are hinged to the locking piece. The first supporting piece and the second supporting pieces define a clamping groove for clamping a tree trunk, the advancing assembly is used for driving the clamping assembly to climb along the tree trunk, the ends, away from the first supporting piece, of the two second supporting pieces are connected through a locking piece, and the locking piece always has the trend of driving the two free ends to be close to each other; the picking device is used for picking coconuts at the tops of trunks. According to the coconut picking mechanism, due to the arrangement of the locking pieces, the free ends of the two second supporting pieces always have the moving tendency of approaching each other, the coconut picking mechanism can adapt to the change of the diameter of a tree trunk and keep the clamping force with the tree trunk, and therefore the clamping groove can always clamp the tree trunk, and the connection stability of the clamping assembly and the tree trunk is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to coconut picking technical field especially relates to a coconut picking mechanism. BACKGROUND

[0002] As an important branch of agricultural robots, picking robots have great development potential.

[0003] As an important tropical native oil crop, coconut has many varieties and high economic value. Coconut industry has good economic benefits. However, the picking problem of coconut is one of the important factors restricting the development of coconut industry. At present, the methods of picking coconut mainly include artificial hooking fruit with long bamboo pole, artificial climbing picking, training monkeys to climb trees to pick or waiting for natural shedding after coconut matures. These picking methods have low degree of mechanization, waste a lot of manpower and material resources, and have high labor intensity, low working efficiency and no guarantee for the safety of workers. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a coconut picking mechanism which has simple structure, high degree of automatic picking, stable clamping of the clamping assembly to the trunk and high climbing stability.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A coconut picking mechanism is provided, which comprises a climbing device and a picking device. The climbing device comprises a clamping assembly and a traveling assembly. The clamping assembly comprises a first support, a second support and a locking member. The first support is hingedly connected with one second support at each end along its length direction. The first support and the two second supports form a clamping groove capable of clamping the trunk. The groove wall of the clamping groove is annularly and spacedly provided with a plurality of traveling assemblies along the circumferential direction of the trunk. The traveling assemblies are used to drive the clamping assembly to climb along the trunk. The ends of the two second supports away from the first support are free ends. The locking member is connected with the two free ends. The locking member always has a tendency to drive the two free ends to approach each other, so that the clamping assembly can always clamp the trunk. The picking device is arranged on the first support and is used to pick coconuts at the top of the trunk.

[0007] As a preferred scheme of the coconut picking mechanism, the locking member comprises a pressure sensor, a controller, a twisted rope and a first driving member. The pressure sensor and the first driving member are arranged at the two free ends respectively. The twisted rope is connected with the pressure sensor and the first driving member. The controller is connected with the pressure sensor and the first driving member respectively.

[0008] As a preferred solution of the coconut picking mechanism, the first driving member comprises a first motor, a first rotating shaft and a winding reel, the winding rope is at least partially wound on the winding reel, the winding reel is arranged on the outer periphery of the first rotating shaft, the first motor is arranged on one of the free ends, the first motor is in transmission connection with the first rotating shaft to rotate the winding reel on the first rotating shaft to wind or unwind the winding rope.

[0009] As a preferred solution of the coconut picking mechanism, the second support member comprises a support column and two fixed plates arranged in the vertical direction, the two fixed plates are connected by a plurality of support columns, one end of the two fixed plates is hinged to the first support member, the end of the two fixed plates of one of the second support members away from the first support member is further provided with a mounting plate, the pressure sensor is arranged on the mounting plate, the locking member comprises a connecting block and two winding ropes, the length of the connecting block extends in the vertical direction, the two ends of the connecting block in the vertical direction are respectively connected with one of the winding ropes, the connecting block is connected with the pressure sensor, the first driving member comprises two winding reels, the first rotating shaft is rotatably connected to the free end of the other of the second support members, and the rotation axis of the first rotating shaft extends in the vertical direction, two winding reels are arranged on the first rotating shaft in the vertical direction, and the end of each winding rope away from the connecting block is correspondingly wound on one of the winding reels.

[0010] As a preferred solution of the coconut picking mechanism, the locking member further comprises a first roller, the outer periphery of the first roller is annularly recessed to form a clamping groove, two first rollers are arranged on one side of each of the two fixed plates in the vertical direction, the first roller is rotatably connected with the fixed plate, and the clamping grooves between the two first rollers on each fixed plate form a limiting groove, and the winding rope is arranged in the limiting groove.

[0011] As a preferred solution of the coconut picking mechanism, the locking member further comprises a quick release member, the quick release member comprises a first clamping block and a second clamping block in detachable connection, the winding rope comprises a first rope and a second rope, the first rope is connected with the pressure sensor and the first clamping block, and the second rope is connected with the second clamping block and the winding reel; and / or,

[0012] The first driving member further comprises a worm gear and a worm, the first rotating shaft is rotatably arranged on the free end, the outer periphery of the first rotating shaft is provided with the worm gear, the output shaft of the first motor is connected with the worm through a shaft coupling, and the worm gear is in meshing connection with the worm.

[0013] As a preferred solution of the coconut picking mechanism, the traveling assembly comprises a first mounting base, a second motor, a second rotating shaft and at least two groups of wheel sets, the at least two groups of wheel sets are spaced apart in a vertical direction, each group of wheel sets comprises two drive wheels, each drive wheel is rotationally connected with the first mounting base, the rotating axis of the drive wheel extends in a horizontal direction, and at least one drive wheel in each group of wheel sets is drivingly connected with the second rotating shaft, the second motor is arranged on the first mounting base, and the second motor is drivingly connected with the second rotating shaft to drive the drive wheels to climb along the trunk.

[0014] As a preferred solution of the coconut picking mechanism, the included angle between the rotating axes of the two drive wheels in each group of wheel sets is θ, 90°<θ<180°; and / or,

[0015] The side of the second support facing the trunk is provided with the traveling assembly, the first mounting base is rotationally connected with the second support, and the rotating axis of the first mounting base extends in the vertical direction.

[0016] As a preferred solution of the coconut picking mechanism, the picking device comprises a second mounting base, a multi-axis manipulator, a second driving member and a shearing knife, the second mounting base is arranged on the first support, the multi-axis manipulator is installed in the second mounting base, the multi-axis manipulator is provided with the second driving member at an end away from the second mounting base, the second driving member is drivingly connected with the shearing knife to drive the shearing knife to cut the coconut.

[0017] As a preferred solution of the coconut picking mechanism, the first support is an arc-shaped support, the picking device further comprises a second roller, an arc-shaped guide block, a third motor, an arc-shaped rack and a gear, the second mounting base comprises a support part and a connecting part, the multi-axis manipulator is arranged on the support part, the support part is spaced apart in a vertical direction at a side facing the trunk and is provided with two connecting parts, two second rollers are arranged at a side adjacent to each other of the two connecting parts in a radial direction of the trunk, the arc-shaped support is provided with an arc-shaped guide block at each side in the vertical direction, the arc-shaped guide block is recessed to form a guide groove at each side in a radial direction of the trunk, the length of the guide groove extends in the length direction of the arc-shaped guide block, each arc-shaped guide block is correspondingly arranged between the two second rollers of one connecting part, and the second roller is inserted into the guide groove, the arc-shaped support is further provided with the arc-shaped rack at one side in the vertical direction, the third motor is arranged on the connecting part adjacent to the arc-shaped rack, the gear is arranged on the output end of the third motor, and the gear is meshed with the arc-shaped rack.

[0018] The utility model discloses a beneficial effect: through utilizing the travelling subassembly drive for clamping the clamping subassembly of trunk and crawl, thereby make the picking device of setting on the first support piece of clamping subassembly can pick the coconut of the top of trunk, and the automation degree of climbing picking is high, and the input of manpower and material resources is reduced, and the picking efficiency and operation safety of effectively improving are guaranteed, and through the setting of locking piece, the free end of two second support pieces always has the moving trend of each other close, can adapt the change of the diameter of trunk and keep the clamping force with the trunk, thereby make the clamping groove can always clamp the trunk, guarantee the connection stability of clamping subassembly and trunk, thereby guarantee the use safety of climbing device. BRIEF DESCRIPTION OF DRAWINGS

[0019] The utility model will be further explained in detail below according to the drawings and examples.

[0020] Figure 1 It is the cooperation schematic drawing of coconut picking mechanism and trunk of the utility model embodiment;

[0021] Figure 2 It is the structure schematic drawing of coconut picking mechanism of the utility model embodiment;

[0022] Figure 3 It is the structure schematic drawing of clamping subassembly of the utility model embodiment;

[0023] Figure 4 It is the structure schematic drawing of travelling subassembly of the utility model embodiment Figure 1 ;

[0024] Figure 5 It is the structure schematic drawing of travelling subassembly of the utility model embodiment Figure 2 ;

[0025] Figure 6 It is the structure schematic drawing of picking device of the utility model embodiment.

[0026] In the drawing:

[0027] 100, trunk;

[0028] 1, climbing device; 2, clamping assembly; 21, first support; 22, second support; 221, free end; 222, support column; 223, fixed plate; 224, mounting plate; 225, connecting block; 23, locking piece; 231, pressure sensor; 232, twisted rope; 2321, first rope; 2322, second rope; 233, first driving piece; 2331, first motor; 2332, first rotating shaft; 2333, rope winding disc; 234, first roller; 235, quick release piece; 2351, first clamping block; 2352, second clamping block; 24, clamping groove; 3, traveling assembly; 31, first mounting seat; 32, second motor; 33, second rotating shaft; 34, wheel set; 35, driving wheel; 4, picking device; 41, second mounting seat; 411, support part; 412, connecting part; 42, multi-axis manipulator; 43, second driving piece; 44, shearing knife; 45, second roller; 46, arc-shaped guide block; 47, third motor; 48, arc-shaped rack. DETAILED DESCRIPTION

[0029] The utility model will be described in further detail below in combination with the drawings and examples. It can be understood that the specific examples described here are only used to explain the utility model, and not to limit the utility model. In addition, it should be noted that, in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all structures.

[0030] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0031] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0032] In the description of the present embodiment, the terms "upper", "lower", "right", and the like, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description, and have no special meaning.

[0033] As Figure 1 and Figure 2 The coconut picking mechanism of the present embodiment comprises a climbing device 1 and a picking device 4, the climbing device 1 comprises a clamping assembly 2 and a traveling assembly 3, the clamping assembly 2 comprises a first support 21, a second support 22 and a locking member 23, the first support 21 is hinged with a second support 22 at both ends along the length direction of the first support 21, the first support 21 and the two second supports 22 form a clamping groove 24 capable of clamping the trunk 100, the groove wall of the clamping groove 24 is annularly and spacedly provided with a plurality of traveling assemblies 3 along the circumferential direction of the trunk 100, the traveling assembly 3 is used to drive the clamping assembly 2 to climb along the trunk 100, the end of the two second supports 22 away from the first support 21 is a free end 221, the locking member 23 is connected to the two free ends 221 respectively, the locking member 23 always has a tendency to drive the two free ends 221 to approach each other, so that the clamping assembly 2 can always clamp the trunk 100; the picking device 4 is arranged on the first support 21, and the picking device 4 is used to pick coconuts on the top of the trunk 100.

[0034] It can be understood that by placing the coconut picking mechanism of the present scheme on the trunk 100 of the coconut tree, the traveling assembly 3 is used to drive the clamping assembly 2 for clamping the trunk 100 to climb along the trunk 100, so that the picking device 4 arranged on the first support 21 of the clamping assembly 2 can pick coconuts on the top of the trunk 100, the degree of automatic climbing and picking is high, the investment of manpower and material resources is reduced, and the picking efficiency and operation safety are effectively improved; and through the arrangement of the locking member 23, the free ends 221 of the two second supports 22 always have a moving tendency of approaching each other, can adapt to the change of the diameter of the trunk 100 and maintain the clamping force with the trunk 100, so that the clamping groove 24 can always clamp the trunk 100, the connection stability of the clamping assembly 2 and the trunk 100 is ensured, and the use safety of the climbing device 1 is ensured.

[0035] Further, as Figure 3As shown, the locking member 23 comprises a pressure sensor 231, a controller, a twine 232 and a first driving member 233, the pressure sensor 231 and the first driving member 233 are respectively arranged at the two free ends 221, the twine 232 is connected between the pressure sensor 231 and the first driving member 233, and the controller is connected to the pressure sensor 231 and the first driving member 233 respectively. In actual application, a threshold value of reasonable torque is set in the controller, and during the installation and crawling process of the clamping assembly 2, the controller controls the first driving member 233 to pull or loosen the twine 232 according to the real-time data feedback of the pressure sensor 231, so that the clamping assembly 2 always clamps the reasonable clamping trunk 100, the clamping effect is good, and the situation that the clamping assembly 2 is loosened or clamped on the trunk 100 due to the diameter change of the trunk 100 is reduced.

[0036] Specifically, the first driving member 233 comprises a first motor 2331, a first rotating shaft 2332 and a rope winding disc 2333, the twine 232 is at least partially wound in the rope winding disc 2333, the rope winding disc 2333 is arranged on the outer periphery of the first rotating shaft 2332, the first motor 2331 is arranged on one of the free ends 221, and the first motor 2331 is in transmission connection with the first rotating shaft 2332 to rotate the rope winding disc 2333 on the first rotating shaft 2332 to wind or unwind the twine 232, so as to realize the pulling or loosening of the twine 232, the motor control precision is high, and the clamping stability of the clamping assembly 2 to the trunk 100 can be effectively improved.

[0037] In addition, the locking member 23 can also be selected as a tension spring, and the elastic force of the tension spring is used to make the two free ends 221 always have a moving trend of approaching each other, the tension spring structure is simple and convenient to disassemble and assemble.

[0038] Further, as shown in FIG. 6, the locking member 23 can also be selected as a tension spring, and the elastic force of the tension spring is used to make the two free ends 221 always have a moving trend of approaching each other, the tension spring structure is simple and convenient to disassemble and assemble. Figure 2 and Figure 3As shown, the second support 22 comprises a support column 222 and two fixed plates 223 spaced apart in the vertical direction (the vertical direction is the Z direction shown in the figure), the two fixed plates 223 are connected by a plurality of support columns 222, one end of the two fixed plates 223 is hinged to the first support 21, and the two fixed plates 223 of one of the two second supports 22 are further provided with a mounting plate 224 away from the end of the first support 21, and the pressure sensor 231 is arranged on the mounting plate 224, the locking member 23 comprises a connecting block 225 and two ropes 232, the length of the connecting block 225 extends in the vertical direction, and one of the two ropes 232 is connected to the two ends of the connecting block 225 in the vertical direction, the connecting block 225 is connected with the pressure sensor 231, the first driving member 233 comprises two rope winding discs 2333, and the first rotating shaft 2332 is rotatably connected to the free end 221 of the other of the two second supports 22, and the rotating axis of the first rotating shaft 2332 extends in the vertical direction. The first rotating shaft 2332 is provided with two rope winding discs 2333 spaced apart in the vertical direction, and one end of each of the two ropes 232 away from the connecting block 225 is wound in one of the rope winding discs 2333.

[0039] It can be understood that the second support 22 is composed of two vertically spaced fixed plates 223 combined with a plurality of support columns 222, which can ensure the structural length of the second support 22 in the vertical direction, thereby ensuring the structural stability of the clamping assembly 2, while also reducing the structural weight of the second support 22, thereby reducing the driving energy consumption of the traveling assembly 3. The setting of the two ropes 232 avoids the situation that one rope 232 is easily broken under heavy stress, and even if one rope 232 is broken, the other rope 232 can still be connected to ensure the connection stability between the two free ends 221. The two ropes 232 are connected to the two rope winding discs 2333 on the same first rotating shaft 2332, and the winding and unwinding are highly synchronized.

[0040] Alternatively, the locking member 23 further comprises a first roller 234, the outer circumferential surface of the first roller 234 is annularly recessed to form a clamping groove, two first rollers 234 are spaced apart on one side of each of the two fixed plates 223, the first roller 234 is rotatably connected to the fixed plate 223, and the clamping grooves between the two first rollers 234 on each fixed plate 223 form a limiting groove, and the rope 232 is arranged in the limiting groove. The limiting groove formed by the two clamping grooves of the two first rollers 234 can improve the positional stability of the rope 232, avoid the interference or even winding of the rope 232 with other structures under the pulling of the first driving member 233, and the first roller 234 is rotatably connected to the fixed plate 223, which can reduce the friction between the rope 232 and the first roller 234 during winding or unwinding, and prolong the service life of the rope 232.

[0041] Preferably, the locking member 23 further comprises a quick release member 235, the quick release member 235 comprising a first clamping block 2351 and a second clamping block 2352 connected detachably, the twine 232 comprising a first rope 2321 and a second rope 2322, the first rope 2321 being connected with the pressure sensor 231 and the first clamping block 2351, the second rope 2322 being connected with the second clamping block 2352 and the winding disc 2333. That is, when the coconut picking mechanism is installed to the trunk 100, the interval positions of the free ends 221 of the two second supporting members 22 are aligned with the trunk 100 and are sleeved outside the trunk 100, and the first clamping block 2351 is connected with the second clamping block 2352 to realize that the clamping assembly 2 is completely sleeved outside the periphery of the trunk 100. Through the arrangement of the quick release member 235, the disassembly convenience of the locking member 23 connecting the two free ends 221 can be effectively improved, and time and labor are saved.

[0042] For example, a pin is rotationally arranged on the first clamping block 2351, and a clamping groove is arranged on the second clamping block 2352. The first clamping block 2351 is aligned with the second clamping block 2352, and the pin is rotated to be clamped in the clamping groove, so as to realize the quick connection of the first clamping block 2351 and the second clamping block 2352. Of course, a through hole can also be arranged on the first clamping block 2351, and a threaded hole is formed on the second clamping block 2352. A bolt is passed through the through hole and screwed into the threaded hole, so as to realize the quick connection of the first clamping block 2351 and the second clamping block 2352.

[0043] In addition, the first driving member 233 further comprises a worm gear and a worm, the first rotating shaft 2332 being rotationally arranged on the free end, the outer periphery of the first rotating shaft 2332 being provided with the worm gear, and the output shaft of the first motor 2331 being connected with the worm through a shaft coupling, the worm gear and the worm being engaged. The transmission of the worm gear and the worm has a self-locking function (the tooth surface of the worm and the tooth surface of the worm gear have a large contact angle, and in particular, the tooth surface of the worm usually has an inclination angle, which makes the transmission efficiency of the worm low during work, but forms a strong self-locking effect. When the worm rotates, the worm gear will rotate with it, but when it is tried to drive the worm to rotate in the opposite direction through the worm gear, due to the angle of the tooth surface of the worm and the friction, the worm gear is almost unable to drive the worm to rotate in the opposite direction). That is, when the traveling assembly 3 climbs the picking device 4 to the specified position, the first motor 2331 can stop rotating, that is, the engagement of the worm gear and the worm is clamped, and the energy consumption of the first motor 2331 is reduced. Even if the coconut picking mechanism as a whole fails to power, the self-locking of the worm gear and the worm can also realize the locking of the first rotating shaft 2332, so that the twine 232 pulls the second supporting member 22 to keep the clamping of the trunk, avoids the situation that the coconut picking mechanism falls due to power failure, and effectively ensures the use safety of the coconut picking mechanism.

[0044] In some embodiments, as Figure 4and Figure 5 As shown, the traveling component 3 includes a first mounting base 31, a second motor 32, a second rotating shaft 33, and at least two sets of wheel sets 34. The at least two sets of wheel sets 34 are spaced apart vertically. Each set of wheel sets 34 includes two drive wheels 35, each drive wheel 35 being rotatably connected to the first mounting base 31. The rotation axis of the drive wheels 35 extends horizontally, and at least one drive wheel 35 in each set of wheel sets 34 is drive-connected to the second rotating shaft 33. The second motor 32 is mounted on the first mounting base 31 and drive-connected to the second rotating shaft 33 to drive the drive wheels 35 to climb along the tree trunk 100. This traveling component 3 has a simple structure and stable drive. It can be understood that the rotation axis of the second rotating shaft 33 extends vertically; therefore, a first bevel gear is provided on the second rotating shaft 33, and a second bevel gear is provided on the drive wheels 35. Through the meshing of the first and second bevel gears, the vertical rotation of the second rotating shaft 33 is converted into horizontal rotation of the drive wheels 35.

[0045] In addition, in this embodiment, in order to ensure the drive wheel 35 of the drive wheel 35 of the second rotating shaft 33, each traveling component 3 is provided with two second motors 32, that is, a third bevel gear is sleeved on the second rotating shaft 33, and a second motor 32 is respectively provided on both sides of the second rotating shaft 33 in the radial direction, which meshes with the third bevel gear through the fourth bevel gear.

[0046] Furthermore, the included angle between the rotation axes of the two drive wheels 35 in each wheel set 34 is θ, where 90° < θ < 180°. For example, the included angle between the rotation axes of the two drive wheels 35 in each wheel set 34 is 100°, 110°, 120°, 130°, 140°, 150°, 160°, or 170°, etc. Since the tree trunk 100 is circularly arranged, the two drive wheels 35 with this included angle can clamp a portion of the tree trunk 100, improving the connection stability between the two drive wheels 35 and the tree trunk 100. Moreover, the contact area between the outer circumferential surface of the drive wheel 35 and the tree trunk 100 is wider under this included angle arrangement, resulting in higher driving efficiency.

[0047] Optionally, such as Figure 1 and Figure 2 As shown, a traveling component 3 is provided on the side of the second support member 22 facing the tree trunk 100. A first mounting base 31 is rotatably connected to the second support member 22, and the rotation axis of the first mounting base 31 extends vertically. By rotatably connecting the first mounting base 31 of the traveling component 3 on the second support member 22 to the second support member 22, the traveling component 3 on the second support member 22 can be improved to adapt to changes in tree trunks 100 of different diameters, so that the drive wheel 35 of the traveling component 3 on the second support member 22 has a higher fit with the tree trunk 100.

[0048] Furthermore, such as Figure 1 andFigure 6 As shown, the picking device 4 comprises a second mounting seat 41, a multi-axis manipulator 42, a second driving member 43 and a shearing knife 44, the second mounting seat 41 is arranged on the first support 21, the multi-axis manipulator 42 is mounted in the second mounting seat 41, the end of the multi-axis manipulator 42 away from the second mounting seat 41 is provided with the second driving member 43, the second driving member 43 is in transmission connection with the shearing knife 44 to drive the shearing knife 44 to be able to shear the coconut. The picking device 4 has simple structure, the second driving member 43 and the shearing knife 44 are driven by the multi-axis manipulator 42 to be aligned with the coconut, and the shearing knife 44 is driven by the second driving member 43 to shear the connecting branch of the coconut and the tree trunk 100 to separate the coconut. Of course, in order to improve the shearing precision, the end of the multi-axis manipulator 42 away from the second mounting seat 41 is also provided with a camera, the camera scans and feeds back the scanning result to the controller.

[0049] Preferably, the first support 21 is an arc-shaped support, the picking device 4 further comprises a second roller 45, an arc-shaped guide block 46, a third motor 47, an arc-shaped rack 48 and a gear, the second mounting seat 41 comprises a support part 411 and a connecting part 412, the multi-axis manipulator 42 is arranged on the support part 411, the support part 411 is provided with two connecting parts 412 along the vertical direction on the side facing the tree trunk 100, two second rollers 45 are arranged along the radial direction of the tree trunk 100 on the side adjacent to each other of the two connecting parts 412, an arc-shaped guide block 46 is arranged on each side of the arc-shaped support along the vertical direction, a guide groove is recessed on each side of the arc-shaped guide block 46 along the radial direction of the tree trunk 100, the length of the guide groove extends along the length direction of the arc-shaped guide block 46, each arc-shaped guide block 46 is correspondingly clamped between the two second rollers 45 of one connecting part 412, and the second roller 45 is inserted into the guide groove, an arc-shaped rack 48 is arranged on one side of the arc-shaped support along the vertical direction, a third motor 47 is arranged on the connecting part 412 adjacent to the arc-shaped rack 48, and a gear is arranged on the output end of the third motor 47, the gear is in meshing connection with the arc-shaped rack 48.

[0050] The first support 21 is arranged as an arc-shaped support to adapt to the cylindrical structure of the tree trunk 100, thereby improving the adaptability of the clamping assembly 2 to the tree trunk 100. The third motor 47 is arranged in cooperation with the arc-shaped gear rack 48 to drive the second mounting base 41 to rotate along the arc-shaped gear rack 48, thereby improving the picking degree of freedom of the picking device 4 and enabling the picking device 4 to pick coconuts at more angles and positions. The second roller 45 and the arc-shaped guide block 46 are arranged in cooperation on the connecting part 412, so that the connecting part 412 is clamped on the arc-shaped guide block 46, and the roller arrangement of the second roller 45 can also reduce the friction loss of the connecting part 412 and the arc-shaped guide block 46, thereby prolonging the service life of the second mounting base 41 and the arc-shaped guide block 46. It should be noted that the radii of the arc-shaped guide block 46 and the arc-shaped gear rack 48 should be consistent to ensure the smoothness of the movement of the second mounting base 41 and reduce the occurrence of jamming.

[0051] Obviously, the above embodiments of the present application are merely examples for clear illustration of the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present application. It is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A coconut picking mechanism, characterized by, The application relates to a climbing device and a picking device. The climbing device comprises a clamping assembly and a traveling assembly, the clamping assembly comprises a first support, two second supports and a locking member, the two second supports are respectively hinged to the two ends of the first support along the length direction of the first support, the first support and the two second supports enclose a clamping groove capable of clamping a trunk, the groove wall of the clamping groove is annularly and spacedly provided with a plurality of traveling assemblies along the circumferential direction of the trunk, the traveling assemblies are used for driving the clamping assembly to climb along the trunk, the two second supports are free ends away from the first support, and the locking member is connected to the two free ends, the locking member always has a tendency to drive the two free ends to approach each other, so that the clamping assembly can always clamp the trunk. The picking device is arranged on the first support and is used for picking coconuts on the top of the trunk.

2. The coconut picking mechanism as claimed in claim 1, wherein, The locking member comprises a pressure sensor, a controller, a twisted rope and a first driving member, the pressure sensor and the first driving member are respectively arranged on the two free ends, the twisted rope is connected to the pressure sensor and the first driving member, and the controller is connected to the pressure sensor and the first driving member.

3. The coconut picking mechanism as claimed in claim 2, wherein, The first driving member comprises a first motor, a first rotating shaft and a winding disc, the twisted rope is at least partially wound in the winding disc, the winding disc is arranged on the outer periphery of the first rotating shaft, the first motor is arranged on one of the free ends, and the first motor is in transmission connection with the first rotating shaft so as to rotate the winding disc on the first rotating shaft to wind or unwind the twisted rope.

4. The coconut picking mechanism as claimed in claim 3, wherein, The second support comprises a support column and two fixed plates which are spacedly arranged along the vertical direction, the two fixed plates are connected through a plurality of support columns, one end of the two fixed plates is hinged to the first support, one end of the two fixed plates of one of the second supports away from the first support is further provided with a mounting plate, the pressure sensor is arranged on the mounting plate, the locking member comprises a connecting block and two twisted ropes, the length of the connecting block extends along the vertical direction, one of the twisted ropes is connected to the two ends of the connecting block along the vertical direction, the connecting block is connected to the pressure sensor, the first driving member comprises two winding discs, the first rotating shaft is rotationally connected to the free end of the other second support, the rotation axis of the first rotating shaft extends along the vertical direction, and the two winding discs are spacedly arranged on the first rotating shaft along the vertical direction, and one end of each twisted rope away from the connecting block is correspondingly wound in one winding disc.

5. The coconut picking mechanism as claimed in claim 4, wherein, The locking piece further comprises a first roller, an outer circumferential surface of the first roller is annularly recessed to be provided with a clamping groove, two first rollers are respectively and spaced apart from each other on one side of each of the two fixed plates, the first roller is rotationally connected with the fixed plate, and the clamping grooves of the two first rollers on each fixed plate are spaced apart to form a limiting groove, and the rope is arranged in the limiting groove.

6. The coconut picking mechanism as claimed in claim 3, wherein, The locking piece further comprises a quick release piece, the quick release piece comprises a first clamping block and a second clamping block which are detachably connected, the rope comprises a first rope and a second rope, the first rope is connected with the pressure sensor and the first clamping block, and the second rope is connected with the second clamping block and the rope winding disc; and / or, The first driving piece further comprises a worm gear and a worm, the first rotating shaft is rotationally arranged on the free end, an outer circumference of the first rotating shaft is provided with the worm gear, and the output shaft of the first motor is connected with the worm through a shaft coupling, and the worm gear is engaged with the worm.

7. A coconut picking mechanism according to any one of claims 1 to 6, wherein, The advancing assembly comprises a first mounting seat, a second motor, a second rotating shaft and at least two groups of wheel sets, the at least two groups of wheel sets are spaced apart in a vertical direction, each group of wheel sets comprises two driving wheels, each driving wheel is rotationally connected with the first mounting seat, a rotating axis of each driving wheel extends in a horizontal direction, at least one driving wheel in each group of wheel sets is drivingly connected with the second rotating shaft, the second motor is arranged on the first mounting seat, and the second motor is drivingly connected with the second rotating shaft to drive the driving wheels to crawl along the trunk.

8. The coconut picking mechanism as claimed in claim 7, wherein, An included angle between the rotating axes of the two driving wheels in each group of wheel sets is θ, 90°<θ<180°; and / or, The second support is provided with the advancing assembly on a side facing the trunk, the first mounting seat is rotationally connected with the second support, and a rotating axis of the first mounting seat extends in the vertical direction.

9. A coconut picking mechanism according to any one of claims 1 to 6, wherein, The picking device comprises a second mounting seat, a multi-axis manipulator, a second driving piece and a shearing knife, the second mounting seat is arranged on the first support, the multi-axis manipulator is mounted in the second mounting seat, the multi-axis manipulator is provided with the second driving piece at an end away from the second mounting seat, and the second driving piece is drivingly connected with the shearing knife to drive the shearing knife to cut the coconut.

10. The coconut picking mechanism as claimed in claim 9, wherein, The first support is an arc-shaped support, and the picking device further comprises a second roller, an arc-shaped guide block, a third motor, an arc-shaped rack and a gear, the second mounting seat comprises a support part and a connecting part, the multi-axis robot is arranged on the support part, two connecting parts are arranged on the support part along a vertical direction and towards a trunk side, two second rollers are arranged on two sides adjacent to each other of the two connecting parts along a radial direction of the trunk, one arc-shaped guide block is arranged on each of two sides of the arc-shaped support along the vertical direction, a guide groove is recessed on each of two sides of the arc-shaped guide block along the radial direction of the trunk, the length of the guide groove extends along the length direction of the arc-shaped guide block, each arc-shaped guide block is correspondingly clamped between the two second rollers of one connecting part, and the second roller is inserted into the guide groove, the arc-shaped support is further provided with the arc-shaped rack on one side along the vertical direction, the third motor is arranged on the connecting part adjacent to the arc-shaped rack, the gear is arranged on the output end of the third motor, and the gear is engaged with the arc-shaped rack.

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