Electric automatic control system of coconut shell meat separator based on PLC

Abstract

The utility model discloses an electrical automatic control system of coconut shell meat separator based on PLC. The electrical automatic control system includes programmable controller (PLC), button, contactor, air cylinder, solenoid valve, motor and the like element. Production site signal is controlled 8 solenoid valve through PLC accurate control corresponding air cylinder's action, thereby completes tray lifting, tooth type mechanical hand finger retraction, tray positive and negative swing makes coconut to carry out 90 degree rotation, slide platform advances and retreats and the like action, is realized to low -speed rotation's coconut by the saw blade of rotation two circle annular cutting of latitude direction, makes coconut shell be cut into 4 pieces, thereby easier to take out spherical coconut meat. The beneficial effect of the present application makes shell meat separation processing to realize automation, reduces the artificial cost and the incidence of industrial injury, improves the production efficiency and economic benefits of factory.

Description

Technical Field

[0001] This utility model relates to a coconut processing equipment, specifically to an electrical automatic control system for a coconut shell and meat separation and processing machine. Background Technology

[0002] Hainan is the main coconut-growing region in my country, accounting for over 98% of the national planting area. The coconut food processing industry, using coconut meat and coconut water as raw materials, is one of the important pillars of Hainan's food industry. Due to the varying sizes and irregular shapes of coconuts, current coconut meat and shell separation technology remains in a manual and semi-automated stage, primarily relying on manual digging. Workers use curved knives to extract the coconut meat from already cracked coconuts, resulting in fragmented meat. This processing method is inefficient, cannot meet the large market demand, consumes significant manpower, and suffers from problems such as easy contamination of the processed coconut meat. Furthermore, manual operation frequently results in hand injuries for operators, causing considerable physical and mental harm. Therefore, there is an urgent need to research safe, efficient, and fast coconut shelling equipment.

[0003] Professor Fan Junqing's team at Hainan University designed a coconut shell meat separator. To improve the automation level of coconut shell meat separation and processing, they researched and designed an electrical automatic control system for the coconut shell meat separator based on a programmable logic controller (PLC), which realized the automation of the coconut shell meat separation and processing process. Summary of the Invention

[0004] This invention relates to a highly efficient and safe automatic coconut shell and meat separation device. This device transforms the initial step in coconut processing—shell and meat separation—from manual operation to automated mechanical operation, significantly improving production efficiency. It not only meets food hygiene requirements but also ensures the safety of operators, saves labor, and enhances the economic benefits for businesses.

[0005] The technical solution adopted by this utility model is as follows: A frame is provided, and a coconut tray mechanism is provided at the lower part of the frame. The coconut tray mechanism is equipped with a 90° swing cylinder, a tray lifting cylinder, and a tray. Solenoid valves YV1 and YV2 are provided on the left side frame of the 90° swing cylinder. Solenoid valves YV1 and YV2 control the 90° swing cylinder to swing forward and backward. Solenoid valve YV1 controls the 90° swing cylinder to swing forward, and solenoid valve YV2 controls the 90° swing cylinder to swing backward. Solenoid valves YV3 and YV4 are installed on the side frame of the tray lifting cylinder. Solenoid valves YV3 and YV4 control the movement of the tray lifting cylinder to control the tray to rise and fall. Solenoid valve YV3 controls the tray to rise, and solenoid valve YV4 controls the tray to fall.

[0006] The upper frame of the coconut tray mechanism is equipped with a coconut gripping mechanism, which includes a robotic arm, a robotic hand, toothed robotic fingers, a robotic arm opening and closing cylinder, and a robotic arm rotary motor M1. Solenoid valves YV5 and YV6 are mounted on the side frame of the robotic arm opening and closing cylinder. Solenoid valves YV5 and YV6 control the movement of the robotic arm opening and closing cylinder, thereby causing the robotic arm to extend and retract via the robotic hand. Specifically, solenoid valve YV5 controls the toothed robotic fingers to extend and grip the coconut, while solenoid valve YV6 controls the toothed robotic fingers to retract and release the coconut. The robotic arm rotary motor M1, mounted on the side of the robotic hand, controls the rotation of the robotic hand, which in turn rotates the coconut gripped by the toothed robotic fingers.

[0007] The right side of the frame, i.e. the side of the coconut clamping mechanism, is equipped with a coconut shell cutting mechanism. The coconut shell cutting mechanism is equipped with a slide table, on which a saw blade rotary motor M2, a saw blade, a limiting plate, and a saw blade advance / retreat cylinder are mounted. On the side of the frame of the saw blade advance / retreat cylinder, solenoid valves YV7 and YV8 are mounted. Solenoid valves YV7 and YV8 can actuate the saw blade advance / retreat cylinder to move the slide table forward and backward. Solenoid valve YV7 controls the slide table to advance, and solenoid valve YV8 controls the slide table to retreat. The saw blade rotary motor M2 can rotate the saw blade mounted on its shaft end to cut the coconut shell. The limiting plates mounted on both sides of the saw blade limit the depth of the coconut shell cutting, so that the saw blade only cuts the coconut shell and does not cut into the coconut meat.

[0008] The control cabinet for the coconut shell and meat separator is installed on-site. The control cabinet contains two parts: the main circuit and the control circuit of the electrical automatic control system. The electrical components that implement these two circuits are installed both on-site and in the control cabinet. All solenoid valves on-site are connected to intermediate relays in the control cabinet via terminal blocks, and all motors on-site are connected to their corresponding thermal relays in the control cabinet via terminal blocks.

[0009] The main circuit of the electrical automatic control system includes: air switch, AC contactor, thermal relay, robotic arm rotary motor M1, and saw blade rotary motor M2; the control circuit includes programmable logic controller (PLC), buttons, intermediate relays, solenoid valves, indicator lights, etc. The functions of each component of the electrical automatic control system and the PLC input and output address allocation are shown in Tables 1, 2 and 3.

[0010] Table 1 Main Circuit Component Description

[0011] Table 2 PLC Input Address Allocation and Input Component Description

[0012] Table 3 PLC Output Address Allocation and Output Component Description

[0013] Automatic operation process of the electrical automatic control system: After closing all air switches to connect the power supply, and after the control system is powered on, first press the system start button SB1, then turn the selector switch SA to position 2 (origin return mode), and press the origin return start manual button SB. 13 The system will perform a homeopath regression. After the homeopath regression is complete, switch SA to position 5 (automatic mode) and press the automatic start button SB. 14 The shell and meat separator enters automatic mode. The specific control process is as follows: A coconut, with its husk removed and only the hard wooden shell remaining, is placed on a tray. After a 5-second delay, intermediate relay KA5 is energized, energizing solenoid valve YV3. This activates the tray lifting cylinder, raising the tray and lifting the coconut. After a 3-second delay, when the coconut reaches the center of the robotic arm, intermediate relay KA7 is energized, energizing solenoid valve YV5. This activates the robotic arm opening / closing cylinder, extending the toothed robotic fingers. The robotic arm, through the robotic hand, uses the toothed robotic fingers to grip the coconut on the tray. At this moment, intermediate relay KA6 is energized, energizing solenoid valve YV4. This activates the tray lifting cylinder, lowering the tray back to its original position. Simultaneously, intermediate relay KA1 is energized, and its normally open contact energizes AC contactor KM1. The normally open contact of AC contactor KM1 closes, causing the robotic arm to rotate... The rotary motor M1 starts working, and the robotic arm's rotary motor M1 slowly rotates the coconut through toothed robotic fingers. At this time, the coil of the intermediate relay KA2 is energized, and the normally open contact of the intermediate relay KA2 energizes the coil of the AC contactor KM2. The normally open contact of the AC contactor KM2 closes, causing the saw blade rotary motor M2 to start working. The saw blade rotary motor M2 drives the saw blade to rotate, and the intermediate relay KA9 is energized, energizing the solenoid valve YV7. The saw blade advance / retract cylinder actuates, pushing the slide table forward, causing the saw blade mounted on the end of the saw blade rotary motor M2 on the slide table to move towards the coconut. When the saw blade contacts the coconut, it can cut the coconut shell. Because there are limit plates installed on both sides of the saw blade, the limit plates prevent the saw blade from cutting the coconut shell and prevent it from cutting the coconut meat. After an 8-second delay, when the saw blade has completed one revolution of cutting the coconut shell, the intermediate relay KA9... 10Upon energization, solenoid valve YV8 is energized, causing the saw blade advance / retract cylinder to retract the slide, which then returns the saw blade to its original position. Simultaneously, intermediate relay KA1 de-energizes, de-energizing AC contactor KM1. The normally open contact of AC contactor KM1 opens, stopping the robotic arm's rotary motor M1. At the same time, intermediate relay KA5 energizes, energizing solenoid valve YV3. The pallet lifting cylinder actuates, raising the pallet. After a 3-second delay, the pallet reaches its final position. Intermediate relay KA8 then energizes, energizing solenoid valve YV6. The robotic arm opening / closing cylinder actuates, retracting the toothed robotic fingers and releasing the coconut, which falls onto the pallet. Intermediate relay KA3 then energizes, energizing solenoid valve YV1. The 90° swing cylinder actuates, causing the pallet to rotate the coconut 90° clockwise. Intermediate relay KA7 then energizes, energizing solenoid valve YV5. The robotic arm opening / closing cylinder actuates, retracting the toothed robotic fingers... The robotic fingers extend, and the robotic arm, through its robotic hand, uses the toothed robotic fingers to grip the coconut on the tray. At this moment, intermediate relay KA6 is energized, energizing solenoid valve YV4. This activates the tray lifting cylinder, causing the tray to descend and return to its original position. Intermediate relay KA4 is then energized, energizing solenoid valve YV2, causing the 90° swing cylinder to reverse and return to its original position. Simultaneously, intermediate relay KA1 is energized, and its normally open contact energizes AC contactor KM1. The normally open contact of AC contactor KM1 closes, activating the robotic arm's rotary motor M1, causing the toothed robotic fingers to slowly rotate the coconut. Intermediate relay KA9 is energized, energizing solenoid valve YV7. This activates the saw blade advance / retract cylinder, pushing the slide forward and causing the saw blade on the slide to move towards the coconut. Once the saw blade contacts the coconut, it begins to cut the shell. After an 8-second delay, when the saw blade has completed one revolution around the coconut shell, intermediate relay KA6... 10When energized, solenoid valve YV8 is powered on, causing the saw blade retraction cylinder to move the slide back, carrying the saw blade back to its original position. Simultaneously, intermediate relay KA2 de-energizes, causing AC contactor KM2 to de-energize, stopping saw blade rotary motor M2. At this time, intermediate relay KA1 de-energizes, causing AC contactor KM1 to de-energize, opening its normally open contact and stopping robotic arm rotary motor M1. Simultaneously, intermediate relay KA5 is energized, powering solenoid valve YV3, causing pallet lifting cylinder to raise the pallet. After a 3-second delay, the pallet reaches its final position. Intermediate relay KA8 is then energized, powering solenoid valve YV6, causing robotic arm opening / closing cylinder to retract the toothed robotic fingers, releasing the coconut, which falls onto the pallet. Intermediate relay KA6 is then energized, powering solenoid valve YV4, causing pallet lifting cylinder to lower the pallet back to its original position. Once one coconut is cut, it is removed from the pallet, and another coconut is placed on top, and the cycle repeats. The above is the PLC automatic control process. Based on the process, an automatic control ladder diagram program for the coconut shell meat separator can be designed, thereby realizing the automatic control of the coconut shell meat separator by the PLC.

[0014] Furthermore, since the coconut shell has been cut into four segments by making annular grooves in the latitude and longitude directions, the four segments of coconut shell are easier to separate from the coconut meat, thus obtaining a complete spherical coconut meat.

[0015] Furthermore, in the control circuit, when the selector switch SA is set to position 1, the control system enters manual mode. Each manual button controls the energization and de-energization of intermediate relay coils via the PLC, thereby controlling the on / off state of their contacts. The intermediate relay contacts then control the energization and de-energization of AC contactor or solenoid valve coils, thus controlling the operation of the motor or cylinder. For example, button SB... 11 The PLC controls the energization and de-energization of the coil of intermediate relay KA1. The contacts of intermediate relay KA1 control the energization and de-energization of the coil of AC contactor KM1, thereby controlling the operation of the robot rotary motor M1 in the main circuit. The button SB3 controls intermediate relay KA3 through the PLC, and the contacts of intermediate relay KA3 control the coil of solenoid valve YV1. Solenoid valve YV1 controls the 90° swing cylinder, causing the tray to swing forward.

[0016] Furthermore, when it is necessary to stop the operation, ensure that there are no coconuts left on the tray before pressing the stop button SB. 15 This will stop the device from running. To restart it, you need to press the start button SB. 14 .

[0017] Furthermore, for the main circuit, when a short circuit fault occurs, the automatic switch QS1 has a short circuit protection function. When the current exceeds a given value, it trips and disconnects the circuit to protect the safety of operators and equipment during the production process. For the control circuit, the automatic switch QS4 has a short circuit protection function to ensure that the power supply to the programmable controller (PLC) is cut off in the event of a short circuit, thereby protecting the PLC from damage.

[0018] Furthermore, thermal relays FR1 and FR2 have overload protection functions. When the motor overheats due to overload, the auxiliary normally closed contacts of thermal relays FR1 and FR2 disconnect the coil control circuit of intermediate relays KA1 and KA2, thereby de-energizing the coils of contactors KM1 and KM2, stopping the operation of the robot rotary motor M1 and saw blade rotary motor M2, and ensuring the safe operation of each motor.

[0019] The beneficial effects of this invention are that it automates the coconut shell and meat separation process, making the coconut meat and shell separate into a whole spherical shape, reducing labor costs, improving the production efficiency of enterprises, and effectively reducing the incidence of manual processing injuries, making the shell and meat separation process hygienic, efficient and safe. Attached Figure Description

[0020] Figure 1 This is a diagram showing the mechanical structure and electrical component layout of an embodiment of this utility model.

[0021] Figure 2 This is a schematic diagram of the tray structure according to an embodiment of the present utility model.

[0022] In the diagram: 1. Frame; 2. 90° swing cylinder; 3. Pallet lifting cylinder; 4. Pallet; 5. Robotic arm; 6. Robotic arm opening and closing cylinder; 7. Robotic arm rotary motor M1; 8. Robotic hand; 9. Toothed robotic finger; 10. Saw blade rotary motor M2; 11. Slide table; 12. Limit plate; 13. Saw blade advance / retreat cylinder; 14. Saw blade; 15. Solenoid valve YV7; 16. Solenoid valve YV8; 17. Solenoid valve YV2; 18. Solenoid valve YV1; 19. Solenoid valve YV3; 20. Solenoid valve YV4; 21. Solenoid valve YV5; 22. Solenoid valve YV... 6。

[0023] Figure 3 The main circuit schematic diagram of this utility model embodiment.

[0024] Figure 4. Schematic diagram of the control circuit of this utility model embodiment.

[0025] Figure 5 This utility model embodiment presents a schematic diagram of a relay-contactor control circuit.

[0026] Figure 6This utility model embodiment shows the component layout diagram of the control cabinet.

[0027] Figure 7 The flowchart of the automatic mode control program of this utility model embodiment. Detailed Implementation

[0028] A frame (1) is provided, and a coconut tray mechanism is provided at the lower part of the frame (1). The coconut tray mechanism is provided with a 90° swing cylinder (2), a tray lifting cylinder (3), and a tray (4). On the left side of the frame (1) of the 90° swing cylinder (2), there are solenoid valves YV1 (18) and YV2 (17). The solenoid valves YV1 (18) and YV2 (17) control the 90° swing cylinder (2) to swing forward and backward. Among them, the solenoid valve YV1 (18) controls the 90° swing cylinder (2) to swing forward and backward. Cylinder (2) swings forward, and solenoid valve YV2 (17) controls 90° swing cylinder (2) to swing in the opposite direction. Solenoid valve YV3 (19) and solenoid valve YV4 (20) are mounted on the side frame (1) of tray lifting cylinder (3). Solenoid valve YV3 (19) and solenoid valve YV4 (20) control the action of tray lifting cylinder (3) to control the tray (4) to rise and fall. Solenoid valve YV3 (19) controls the tray (4) to rise, and solenoid valve YV4 (20) controls the tray (4) to fall.

[0029] The upper frame (1) of the coconut tray mechanism is equipped with a coconut gripping mechanism, which is equipped with a robotic arm (5), a robotic hand (8), a toothed robotic finger (9), a robotic arm opening and closing cylinder (6), and a robotic arm rotary motor M1 (7). The side frame (1) of the robotic arm opening and closing cylinder (6) is equipped with a solenoid valve YV5 (21) and a solenoid valve YV6 (22), which control the opening and closing of the robotic arm. The cylinder (6) moves, which in turn causes the robotic arm (5) to extend and retract the toothed robotic fingers (9) through the robotic palm (8). Among them, the solenoid valve YV5 (21) controls the toothed robotic fingers (9) to extend and hug the coconut, and the solenoid valve YV6 (22) controls the toothed robotic fingers (9) to retract and release the coconut. The robotic hand rotary motor M1 (7) installed on the side of the robotic palm (8) controls the robotic palm (8) to rotate, which in turn drives the coconut hugged by the toothed robotic fingers (9) to rotate.

[0030] A coconut shell cutting mechanism is installed on the right side of the frame (1), which is the side of the coconut clamping mechanism. A slide table (11) is installed on the coconut shell cutting mechanism. A saw blade rotary motor M2 (10), a saw blade (14), a limit plate (12), and a saw blade advance / retreat cylinder (13) are installed on the slide table (11). A solenoid valve YV7 (15) and a solenoid valve YV8 (16) are installed on the side of the frame (1) of the saw blade advance / retreat cylinder (13). The saw blade advance and retraction cylinder (13) can move the slide (11) forward and backward. Among them, the solenoid valve YV7 (15) controls the slide (11) to move forward, and the solenoid valve YV8 (16) controls the slide (11) to move backward. The saw blade rotation motor M2 (10) can make the saw blade (14) mounted on its shaft end rotate to cut the coconut shell. The limiting plate (12) mounted on both sides of the saw blade (14) limits the depth of the coconut shell cutting, so that the saw blade (14) only cuts the coconut shell and does not cut the coconut meat.

[0031] After closing all air switches to connect the power supply and powering on the control system, first press the system start button SB1, then turn the selector switch SA to position 2 (origin return mode), and press the origin return start manual button SB. 13 The system will perform a homeopath regression. After the homeopath regression is complete, switch SA to position 5 (automatic mode) and press the automatic start button SB. 14 The shell and meat separator enters automatic mode. The specific control process is as follows: Place the coconut (with the husk removed and only the hard wooden shell remaining) on ​​the tray (4). After a 5-second delay, the intermediate relay KA5 is energized, which powers the solenoid valve YV3 (19). The tray lifting cylinder (3) then moves, causing the tray (4) to lift the coconut. After a 3-second delay, when the coconut reaches the center of the robotic arm (8), the intermediate relay KA7 is energized, which powers the solenoid valve YV5 (21). The robotic arm opening and closing cylinder (6) then moves, causing the toothed robotic fingers (9) to extend. The robotic arm (8) then... 5) The mechanical hand (8) uses the toothed mechanical fingers (9) to hold the coconut on the tray (4); at this time, the intermediate relay KA6 is energized, which energizes the solenoid valve YV4 (20), and the tray lifting cylinder (3) moves to lower the tray (4) back to its original position; at the same time, the coil of the intermediate relay KA1 is energized, and the normally open contact of the intermediate relay KA1 energizes the coil of the AC contactor KM1, and the normally open contact of the AC contactor KM1 closes, which starts the mechanical hand rotary motor M1 (7) to work, and the mechanical hand rotary motor M1 (7) drives the coconut to rotate slowly through the toothed mechanical fingers (9); at this time, the coil of the intermediate relay KA2 is energized, and the normally open contact of the intermediate relay KA2 energizes the coil of the AC contactor KM2, and the normally open contact of the AC contactor KM2 closes, which starts the saw blade rotary motor M2 (10) to work, and the saw blade rotary motor M2 (10) drives the saw blade (14) to rotate, the intermediate relay KA9 is energized, and the solenoid valve YV7 (15) is energized. The saw blade advance / retract cylinder (13) pushes the slide (11) forward, causing the saw blade (14) mounted on the slide (11) at the end of the saw blade rotary motor M2 (10) to move towards the coconut. When the saw blade (14) contacts the coconut, it can cut the coconut shell. Since the saw blade (14) is equipped with limit plates (12) on both sides, the limit plates (12) prevent the saw blade (14) from cutting the coconut shell and not the coconut meat. After a delay of 8 seconds, when the saw blade (14) has completed one revolution of cutting the coconut shell, the intermediate relay KA... 10When energized, solenoid valve YV8 (16) is energized, and saw blade advance / retract cylinder (13) moves to retract slide (11), which in turn takes saw blade (14) back to its original position. At this time, intermediate relay KA1 coil is de-energized, which also de-energizes AC contactor KM1 coil. The normally open contact of AC contactor KM1 opens, causing robot rotary motor M1 (7) to stop working. Simultaneously, intermediate relay KA5 is energized, solenoid valve YV3 (19) is energized, and pallet lifting cylinder (3) moves to raise pallet (4). After a 3-second delay, pallet (4) rises. When the coconut rises to its position, the intermediate relay KA8 is energized, which powers the solenoid valve YV6 (22). The robotic arm opening and closing cylinder (6) then retracts the toothed robotic finger (9), releasing the coconut. The coconut falls onto the tray (4). The intermediate relay KA3 is energized, which powers the solenoid valve YV1 (18). The 90° swing cylinder (2) then rotates the tray (4) 90° forward. The intermediate relay KA7 is energized, which powers the solenoid valve YV5 (21). The robotic arm opening and closing cylinder (6) then rotates the toothed robotic finger (9) back to its original position. The toothed mechanical finger (9) extends, and the mechanical arm (5) uses the mechanical hand (8) to make the toothed mechanical finger (9) hold the coconut on the tray (4). At this time, the intermediate relay KA6 is energized, which energizes the solenoid valve YV4 (20). The tray lifting cylinder (3) moves to make the tray (4) descend and return to its original position. The intermediate relay KA4 is energized, which energizes the solenoid valve YV2 (17). The 90° swing cylinder (2) moves in the opposite direction to return to its original position. At the same time, the coil of the intermediate relay KA1 is energized, and the normally open contact of the intermediate relay KA1 causes the AC contactor to... When coil KM1 is energized, the normally open contact of AC contactor KM1 closes, causing the rotary motor M1 (7) of the robotic arm to start working. The toothed robotic finger (9) drives the coconut to rotate slowly. When intermediate relay KA9 is energized, solenoid valve YV7 (15) is energized, and saw blade advance / retreat cylinder (13) moves forward, pushing slide (11) forward, causing saw blade (14) on slide (11) to move towards the coconut. When saw blade (14) contacts the coconut, it can cut the coconut shell. After a delay of 8 seconds, when saw blade (14) has completed one revolution of cutting the coconut shell, intermediate relay KA9... 10When energized, solenoid valve YV8 (16) is energized, and saw blade advance / retract cylinder (13) moves, causing slide (11) to retract. Slide (11) returns to its original position with saw blade (14). At the same time, intermediate relay KA2 coil is de-energized, causing AC contactor KM2 coil to de-energize, and saw blade rotary motor M2 (10) to stop working. At this time, intermediate relay KA1 coil is de-energized, causing AC contactor KM1 coil to de-energize as well. The normally open contact of AC contactor KM1 opens, causing robot rotary motor M1 (7) to stop working. At the same time, intermediate relay KA5 is energized, causing solenoid valve YV3 (19) to be energized. The pallet lifting cylinder (3) moves to raise the pallet (4). After a 3-second delay, the pallet (4) is raised to its position. The intermediate relay KA8 is energized, which energizes the solenoid valve YV6 (22). The robotic arm opening and closing cylinder (6) moves to retract the toothed robotic finger (9). The toothed robotic finger (9) releases the coconut, and the coconut falls onto the pallet (4). The intermediate relay KA6 is energized, which energizes the solenoid valve YV4 (20). The pallet lifting cylinder (3) moves to lower the pallet (4) back to its original position. After one coconut is cut, the coconut on the pallet (4) is removed, and another coconut to be cut is placed down. This process is repeated.

Claims

1. An electrical automatic control system for a PLC-based coconut shell and meat separator, characterized in that: A frame (1) is provided, and a coconut tray mechanism is provided at the lower part of the frame (1). The coconut tray mechanism is provided with a 90° swing cylinder (2), a tray lifting cylinder (3) and a tray (4). On the left side of the frame (1) of the 90° swing cylinder (2), there are solenoid valves YV1 (18) and YV2 (17). The 90° swing cylinder (2) is controlled by solenoid valves YV1 (18) and YV2 (17) to swing forward and backward. Solenoid valve YV1 (18) controls the 90° swing cylinder (2) to swing forward, and solenoid valve YV2 (17) controls the 90° swing cylinder (2) to swing backward. On the side frame (1) of the tray lifting cylinder (3), there are solenoid valves YV3 (19) and YV2 (17). YV4 (20), solenoid valve YV3 (19) and solenoid valve YV4 (20) control the action of tray lifting cylinder (3) to control the tray (4) to rise and fall. Among them, solenoid valve YV3 (19) controls the tray (4) to rise and solenoid valve YV4 (20) controls the tray (4) to fall. The upper frame (1) of the coconut tray mechanism is equipped with a coconut clamping mechanism. The coconut clamping mechanism is equipped with a mechanical arm (5), a mechanical hand (8), a toothed mechanical finger (9), a mechanical arm opening and closing cylinder (6) and a mechanical hand rotary motor M1 (7). The side frame (1) of the mechanical arm opening and closing cylinder (6) is equipped with solenoid valve YV5 (21) and solenoid valve YV6 (22). YV6 (22) controls the opening and closing cylinder (6) of the robotic arm, thereby causing the robotic arm (5) to extend and retract the toothed mechanical fingers (9) through the robotic hand (8). Among them, the solenoid valve YV5 (21) controls the toothed mechanical fingers (9) to extend and hold the coconut, and the solenoid valve YV6 (22) controls the toothed mechanical fingers (9) to retract and release the coconut. The robotic hand rotary motor M1 (7) mounted on the side of the robotic hand (8) controls the rotation of the robotic hand (8), thereby driving the coconut held by the toothed mechanical fingers (9) to rotate. The right side of the frame (1), i.e. the side of the coconut clamping mechanism, is equipped with a coconut shell cutting mechanism. The coconut shell cutting mechanism is equipped with a slide table (11), and the slide table (11) is equipped with a saw blade rotary motor M2 (10) and a saw blade ( 14) Limiting plate (12) and saw blade advance and retreat cylinder (13); The side frame (1) of the saw blade advance and retreat cylinder (13) is equipped with solenoid valve YV7 (15) and solenoid valve YV8 (16). Solenoid valve YV7 (15) and solenoid valve YV8 (16) can make the saw blade advance and retreat cylinder (13) move, thereby making the slide (11) advance and retreat. Solenoid valve YV7 (15) controls the slide (11) to advance, and solenoid valve YV8 (16) controls the slide (11) to retreat. The saw blade rotary motor M2 (10) can make the saw blade (14) mounted on its shaft end rotate to cut the coconut shell. The limiting plate (12) mounted on both sides of the saw blade (14) limits the depth of coconut shell cutting, so that the saw blade (14) only cuts the coconut shell and does not cut the coconut meat. Place the coconut (with the husk removed and only the hard wooden shell remaining) on ​​the tray (4). After a 5-second delay, the intermediate relay KA5 is energized, which powers the solenoid valve YV3 (19). The tray lifting cylinder (3) then moves, causing the tray (4) to lift the coconut. After a 3-second delay, when the coconut reaches the center of the robotic arm (8), the intermediate relay KA7 is energized, which powers the solenoid valve YV5 (21). The robotic arm opening and closing cylinder (6) then moves, causing the toothed robotic fingers (9) to extend. The robotic arm (8) then... 5) The mechanical hand (8) uses the toothed mechanical fingers (9) to hold the coconut on the tray (4); at this time, the intermediate relay KA6 is energized, which energizes the solenoid valve YV4 (20), and the tray lifting cylinder (3) moves to lower the tray (4) back to its original position; at the same time, the coil of the intermediate relay KA1 is energized, and the normally open contact of the intermediate relay KA1 energizes the coil of the AC contactor KM1, and the normally open contact of the AC contactor KM1 closes, which starts the mechanical hand rotary motor M1 (7) to work, and the mechanical hand rotary motor M1 (7) drives the coconut to rotate slowly through the toothed mechanical fingers (9); at this time, the coil of the intermediate relay KA2 is energized, and the normally open contact of the intermediate relay KA2 energizes the coil of the AC contactor KM2, and the normally open contact of the AC contactor KM2 closes, which starts the saw blade rotary motor M2 (10) to work, and the saw blade rotary motor M2 (10) drives the saw blade (14) to rotate, the intermediate relay KA9 is energized, and the solenoid valve YV7 (15) is energized. The saw blade advance / retract cylinder (13) pushes the slide (11) forward, causing the saw blade (14) mounted on the slide (11) at the end of the saw blade rotary motor M2 (10) to move towards the coconut. When the saw blade (14) contacts the coconut, it can cut the coconut shell. Since the saw blade (14) is equipped with limit plates (12) on both sides, the limit plates (12) prevent the saw blade (14) from cutting the coconut shell and not the coconut meat. After a delay of 8 seconds, when the saw blade (14) has completed one revolution of cutting the coconut shell, the intermediate relay KA... 10 When energized, solenoid valve YV8 (16) is energized, and saw blade advance / retract cylinder (13) moves to retract slide (11), which in turn takes saw blade (14) back to its original position. At this time, intermediate relay KA1 coil is de-energized, which also de-energizes AC contactor KM1 coil. The normally open contact of AC contactor KM1 opens, causing robot rotary motor M1 (7) to stop working. Simultaneously, intermediate relay KA5 is energized, solenoid valve YV3 (19) is energized, and pallet lifting cylinder (3) moves to raise pallet (4). After a 3-second delay, pallet (4) rises. When the coconut rises to its position, the intermediate relay KA8 is energized, which powers the solenoid valve YV6 (22). The robotic arm opening and closing cylinder (6) then retracts the toothed robotic finger (9), releasing the coconut. The coconut falls onto the tray (4). The intermediate relay KA3 is energized, which powers the solenoid valve YV1 (18). The 90° swing cylinder (2) then rotates the tray (4) 90° forward. The intermediate relay KA7 is energized, which powers the solenoid valve YV5 (21). The robotic arm opening and closing cylinder (6) then rotates the toothed robotic finger (9) back to its original position. The toothed mechanical finger (9) extends, and the mechanical arm (5) uses the mechanical hand (8) to make the toothed mechanical finger (9) hold the coconut on the tray (4). At this time, the intermediate relay KA6 is energized, which energizes the solenoid valve YV4 (20). The tray lifting cylinder (3) moves to make the tray (4) descend and return to its original position. The intermediate relay KA4 is energized, which energizes the solenoid valve YV2 (17). The 90° swing cylinder (2) moves in the opposite direction to return to its original position. At the same time, the coil of the intermediate relay KA1 is energized, and the normally open contact of the intermediate relay KA1 causes the AC contactor to... When coil KM1 is energized, the normally open contact of AC contactor KM1 closes, causing the rotary motor M1 (7) of the robotic arm to start working. The toothed robotic finger (9) drives the coconut to rotate slowly. When intermediate relay KA9 is energized, solenoid valve YV7 (15) is energized, and saw blade advance / retreat cylinder (13) moves forward, pushing slide (11) forward, causing saw blade (14) on slide (11) to move towards the coconut. When saw blade (14) contacts the coconut, it can cut the coconut shell. After a delay of 8 seconds, when saw blade (14) has completed one revolution of cutting the coconut shell, intermediate relay KA9... 10 When energized, the solenoid valve YV8 (16) is energized, and the saw blade advance / retract cylinder (13) moves, causing the slide (11) to retract. The slide (11) carries the saw blade (14) back to its original position. At the same time, the coil of the intermediate relay KA2 is de-energized, causing the coil of the AC contactor KM2 to be de-energized, and the saw blade rotary motor M2 (10) to stop working. At this time, the coil of the intermediate relay KA1 is de-energized, causing the coil of the AC contactor KM1 to also be de-energized. The normally open contact of the AC contactor KM1 opens, causing the robot rotary motor M1 (7) to stop working. At the same time, the intermediate relay KA1... When 5 is energized, the solenoid valve YV3 (19) is energized, the pallet lifting cylinder (3) is activated, and the pallet (4) is raised. After a 3-second delay, the pallet (4) is raised to its position. The intermediate relay KA8 is energized, and the solenoid valve YV6 (22) is energized. The robotic arm opening and closing cylinder (6) is activated, and the toothed robotic finger (9) is retracted. The toothed robotic finger (9) releases the coconut, and the coconut falls onto the pallet (4). The intermediate relay KA6 is energized, and the solenoid valve YV4 (20) is energized. The pallet lifting cylinder (3) is activated, and the pallet (4) is lowered back to its original position.

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