coconut harvesting machine
DESCRIPTION
TRANSCRIPT
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Kerala, the land of kera and god’d own country is blessed as said by its name with lots of coconut trees in an area of 82,863sq.km
But nowadays, due to high cost and increasing wages of labours, increasing accidents, the cost of production and processing has also gone up
In this context, I present my model device “COCONUT HARVESTING MACHINE”
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This is a unique model which will be the machine-front of the coconut industry of kerala and inturn will serve as a great help and boon to coconut farmers in kerala
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The model
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Rising cost of production
Rising labour wages Limited number of
coconuts by manual labour method
Serious accidents
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Made of recylable raw materials Can be utilised for plucking more
coconuts than manual method Saves money Remote controlled Precise control and user friendly Low cost
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3 unitsClimbing unitRobotic armElectronic unit
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Climbing unit is the part of device which will be used for climbing
It consist of Propeller 1- for moving up and downPropeller 2- for moving side to sidePropeller shift switchValve – for preventing downward
movementPower window motor (gear)Main framePropeller 3- propeller shift switch in
association with ,propeller1,gear->up/down mov
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Propeller 1- consist of 12V 1000rpm motor (crank shaft motor) and to it is attached wheel with spikesGripping Not in action at rest
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# shaped beam
Climbing motor with spikes
C1 (cable)
Spring
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Propeller 2- for moving side to side Consist of
Stepper motor and 2 metallic wheels with spikes at horizontal plane
In action when propeller 1 is off actionBelt for grip
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Propeller shift switch Consist of
Gearing motor (only at gear A, this functions as propeller shift switch)
Metallic cableFor controlling both propellers (1 & 2) and
allowing 1 to dominate at one time over the other
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Propeller 2
Side to side motor
Propeller 1
Spring
Valve
Up and down wheels
C2 (cable)
Valve pushing motor
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Propeller 1 Side-to side movement
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Valve
Valve driving motor
Projection on wheel
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Valve- metallic valve of unidirectional movements and locking purposes for propeller 3 once it is on climbing position and once it has reaches the target and also for controlling the speed while climbing down
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CB
MOTOR
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Gearing motor Power window motor (gearing motor) It has 3 gears A ,B & C If at A propeller 1 rail assembly Propeller 3 lock wheel assembly is put
to action C – retracting the movable beam- B-robotic arm Small motor to move b/w a,b,c
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Main frame- basic platform in which propellers rest
It consists of Basic frameFixed beamMovable beam
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A hash (#) shaped frame made up of aluminium
Holds the climbing motor and assembly units
Also the gearing motor and its units Base of the robotic arm Holds the electronic circuit 4 beams are attached to either side of
the basic frame (2 upper & 2 lower) Upper and lower are symmetrical
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Are fixed to the right end of the upper horizontal frame
For side to side movements in association with movable beams
In neutral position side to side movement is dominant
This action is driven by a 12V stepper motor capable of precise movements
Attached to the motor is wheels with spikes on them which is helpful gripping (HZ & VT)
Wheels rotate in horizontal axis Also attaches the propeller 3 which will be
get locked by a valve which helps in unidirectional movement
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Propeller 2
Side to side motor
Propeller 1
Spring
Valve
Up and down wheels
C2 (cable)
Valve pushing motor
Propeller 3
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Attached to the left end of the horizontal frame This beam has to move along the horizontal
axis of the frame for about 10cm to and fro on a railing
This beam is about 30cm and has around 10 roller wheels attached for side to side and up and down movements
At the free end of the beam a small rod of 10cm is attached to it which will remain upright position in neutral mode
If this rod is brought parallel to ground the electronic circuit gets completed ->starts
Emergency piston Free end switch
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Emergency piston
Roll able wheels
Spring
Upper part of # shaped beam
Inward & outward
<switch>
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Roller wheels (around 5) are attached to the rod so that it helps in balancing the device
Metallic springs are fitted for to and fro actions of the beam as well as for rod position changing
In the case the springs attached for beam fails a hydraulic piston comes into action and bring the beam close
to the coconut tree
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Model not real
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Robotic arm-anatomy The anatomical work is over head
abduction at shoulder joint & flexion +extension at elbow,
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Robotic arm performs the function of plucking coconuts and cutting unnecessary branches
Consist of Arm 1Arm 2Camera attached to arm 1
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Arm 1
Piston 1
Catcher driving motor
Piston 2
Piston 3
Branch cutting motor
Catcher
Arm 2
Camera 2
Camera 1
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Hydraulic piston
Distal arm <not fully completed>
Proximal arm
Vga camera, placed at an angle
Motor- hydraulic system
Hydraulic conveyer
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Has up and down action at a range of 90-120 degrees
In action when gearing motor is of gear b
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Has 2 parts Flexion and extension
2 sub arms 1–for holding/fixing coconut
2 -For cutting unnecessary branches
-Cutting bunch
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Purpose- to fix and pluck the coconut Mechanism- on receiving the signal sub
arm moves on a metallic rod driven by a piston through hydraulic action, this makes the motion stable, also assist the action
A ball bearing motor assembly is fitted so that rotating arm is also supported
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Purpose- to cut unnecessary branches Mechanism- on receiving signal the
piston drives the motor which is placed at 900 horizontal on which a single cutting blade is fitted
When subarm 1 is on action subarm 2 is automatically off action, this is made possible by a hydraulic mechanism
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Catcher <cross section b.b
<b.b>
Attached to catcher driver motor
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Hydraulic mechanism Pascals law
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Cutter motor
blade
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A bike battery is used in case to make it wireless
If wired dtmf-mobile can be avoided Wireless or mosecode mechanism can
be used instead of dtmf cheep
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In order to increase the range thin wire hanged down
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Camera – fixed to the proximal arm at an angle such that image seen through it can be targeted at that particular angle of the arm 1
Also another to distal arm
VGA camera wireless, range increased by using thin wires hanged from the sides
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Control mechanism Wireless Dtmf radiofrequency Wired mosecode
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Dtmf Electronic unit- works on MT 8870 DTMF
decoder This IC takes DTMF signal coming via
telephone line and converts that signal into respesctive BCD numbers
Demultipler Bike battery 12V Joy stick (natural interactive methods) cutters
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demultiplexer
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4 to 16 demultiplexer
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This device works on remote controlled, cable or mobile phone technology in my model I prefer mobile phone technology
Here DTMF mechanism is used The used software has 2 menus
Main menu 1-16Sub menu 1-16
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Using microcontrollers Switch 1 in main menu is for climbing
unit (up and down) Switch 2 side to side movement Switch 3 for robotic arm functions Switch 4 for any extra function to be
added Switch # return to main menu Like that we can allot 16 functions Each main menu switch we can allot
16 submenus switches
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Machine is positioned onto the treeSTARTING INSTRUCTION
Adjust the movable beams so that its wheels touch the tree
Bring the rod attached to the movable beam from the upright position to the horizontal position
Now the circuit is completed and the machine is ready to start function
On pressing the switch 1 of main menu (climbing
unit) is put to action Then select submenu 1- the gearing motor is
put to action
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As a result the gearing motor is moved to A position with effect the climbing motor & Propeller 3 touches, the tree
Press 2 then the climbing motor moves up simultaneously valve comes to action resulting in constant unidirectional movement
Press 3 the climbing motor pauses Press 4 valves opens, climbing motor
climbs down
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Action of propeller 1 and propeller 3 (up and down movements), both these propellers come forward and attaches to the tree by their wheels
Action of valves- unidirectional movement and locking of propeller 3
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Now the machine has reached target height of the tree (with the aid of camera)
On pressing switch 2 of main menu side to side action can be performed,
Submenu 1-the horizontal wheel (propeller 2) would be in action
Submenu 2 right Submenu 3 left Submenu 4 pause
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On pressing 3 of main menu robotic arm comes to action
Submenu 1- up proximal arm Submenu 2- down proximal arm Submenu 3- distal arm closer to device Submenu 4- distal arm away from
device Submenu 5- catcher arm into action Submenu 6- cutter arm into action
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Proximal arm moves at a range of 90-120
Distal arm moves 45-180
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It has 2 subarms attached, it performs the function of holding and fixing the coconut and also for cutting unnecessary branches
A camera is fitted to the proximal arm at an angle so that it views through the arm angle span of the distal arm
The 2 subarm are driven by hydraulic mechanism which is motor driven
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Signal
Piston action
Pushes the sub arm through metallic tube
Ball bearing motor assembly works
Holds on to the coconut
Rotates the coconut
Plucks
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