CN113296459A

CN113296459A - PLC-based automatic electric control system of automatic coconut green processing machine

Info

Publication number: CN113296459A
Application number: CN202010109865.7A
Authority: CN
Inventors: 张宝珍; 苏恒宇; 樊军庆; 陈家林; 后铭洋
Original assignee: Hainan University
Current assignee: Hainan University
Priority date: 2020-02-23
Filing date: 2020-02-23
Publication date: 2021-08-24
Anticipated expiration: 2040-02-23
Also published as: CN113296459B

Abstract

The invention discloses an electric automatic control system of an automatic coconut green processing machine. The electric automatic control system of the coconut green processing machine comprises elements such as a travel switch, a photoelectric switch, a cylinder, an electromagnetic valve, a motor and the like. By travel switch, photoelectric switch gathers production site signal, circular telegram and outage through six solenoid valves of programmable controller (PLC) accurate control, thereby the action and the reseing of the corresponding cylinder of automatic control, realized cutting the top and the side of coconut, thereby put the cutting of the blue or green bottom of the completion coconut through grabbing material mechanical handle coconut palm blue or green, the collection of the blue or green of the coconut of automatic completion at last, the processing work of whole coconut blue or green is all automatic to be accomplished, and the blue or green outward appearance of coconut has realized standardizedly, the blue or green of coconut that processed can conveniently be packed, transportation and sale. The method has the advantages that automation of the coconut green processing and production process is realized, labor cost and worker injury occurrence rate are reduced, and production efficiency and economic benefits of a factory are improved.

Description

PLC-based automatic electric control system of automatic coconut green processing machine

Technical Field

The invention relates to coconut processing equipment, in particular to an electric automatic control system of an automatic coconut green processing machine.

Background

Coconut (Cocos nuciferaL.) is a plant of the genus Cocos of the family PalmaeThe perennial evergreen arbor is widely distributed in nearly 100 tropical countries and regions in the world, wherein the main producing countries are Indonesia, Thailand, Philippines, India, Srilanka and the like, the main planting area of coconuts in China is in Hainan, and the planting area and the fruit yield account for more than 90% of the whole country. The coconut is the fruit of coconut tree, namely coconut, commonly known as coconut. Coconut trees are precious in whole body, coconut flowers, coconut fruits, coconut leaves, coconut wood, coconut roots and the like can be utilized, the application of coconut meat, coconut water, coconut skin and coconut shells of the coconut fruits is the most extensive, and the coconut food processing industry taking the coconut meat, the coconut water and the like as raw materials is one of important pillars in Hainan food industry. The coconut industry therefore plays an important role in the economic development of Hainan.

The Hainan coconut processed product comprises coconut juice, coconut candy, food such as dried coconut, coconut fruit (coconut water fermented bacterial cellulose gel), etc., and coconut juice, concentrated coconut milk, coconut oil, etc.

Coconut juice in coconut is a natural ideal cool and summer-heat relieving beverage, but the coconut is large in size, irregular in shape and not suitable for placement, so that the coconut is inconvenient for long-distance transportation, the coconut peel is thick, the coconut needs to be split and cut by a cutter during drinking, and a great deal of inconvenience is brought to consumers for eating. Hainan is the main production area of coconut in China, coconut green processing is also mostly concentrated in the Hainan area, and although development of recent years is carried out, the coconut green processing mode still mainly adopts original manual processing, coats of coconut fruits are split and cut by a chopper, the shape of coconut green is roughly cut, and then the coconut green is finely processed into the shape of coconut green by a cutter. The processing mode has low efficiency, cannot meet a large number of demands of the market, consumes larger manpower, and has the nonstandard problems of different sizes, irregular appearance, unstable gravity center and the like of the processed coconut shells; in addition, the manual operation is dangerous, the hand injury of the operator is continuous, the skin and flesh of a light person are injured, the fingers of a heavy person are cut off, and great harm is brought to the body and mind of the operator. In order to improve the automation and the intellectualization of the coconut green processing, the research team designs and manufactures a coconut green processing machine with higher automation degree based on a Programmable Logic Controller (PLC) so as to improve the production efficiency of coconut green processing enterprises and improve the working environment of workers.

Disclosure of Invention

The invention designs an efficient and safe PLC-based electric automatic control system of a coconut green processing machine. The invention of the electric automatic control system can change the coconut green processing process from manual operation to mechanical automatic operation, not only realizes the automation of the coconut green processing process, but also can adapt to coconut with different sizes, greatly improves the working efficiency, greatly saves the labor cost, improves the economic benefit of coconut green processing enterprises and improves the operating environment of workers.

The electric automatic control system of the coconut green processing machine mainly comprises a frame, a cutting motor, a bottom cutting motor, a stepping motor driver, a pulse generator, a material grabbing mechanical arm, an electromagnetic valve, a cylinder, a bottom cutting saw blade, a nail fluted disc, a photoelectric switch, a travel switch, a Programmable Logic Controller (PLC), a button, an indicator light and the like, wherein the electric automatic control system of the coconut green processing machine is used for collecting production field signals by 1 travel switch and 2 photoelectric switches and accurately controlling the power-on and power-off of 6 electromagnetic valves through the PLC so as to automatically control the extension and the reset of corresponding cylinders, realize that a standard cylinder pressure head compresses coconut, a worktable turntable rotates, a three-shaft cylinder drives the cutting motor to descend, the cutting motor drives a cutting knife group to rotate to cut the top and the side of the coconut, and after the cutting of the top and the side of the coconut is finished, grab the telescopic cylinder extension of material manipulator, it drives the hand claw and holds the blue or green coconut palm to grab material manipulator, lift cylinder drives and grabs material manipulator and mentions the blue or green coconut palm, revolving cylinder drives and grabs material manipulator and 90 degrees back of the blue or green anticlockwise rotation of coconut palm, the bottom cutting motor drives the end cutting saw bit and cuts the blue or green bottom of coconut palm, the blue or green course of working of coconut is accomplished the back, grab the telescopic cylinder withdrawal of material manipulator, grab material manipulator revolving cylinder clockwise rotation 90 degrees, grab material manipulator die clamping cylinder and drive the hand claw and open, lift cylinder descends, it gets back to the normal position to grab material manipulator, the equal automatic completion of whole blue or green processing work of coconut palm, the fine coconut palm green that processes can conveniently be sold, packing and transportation.

The technical scheme adopted by the invention is as follows: the upper part of the frame is provided with a standard cylinder, a three-shaft cylinder and a cutting motor M₁A cutting blade group; the middle part is provided with a workbench turntable, a stepping motor, a travel switch and a baffle plate, and three nail fluted discs are uniformly distributed on the circumference of the workbench turntable; the rear part of the worktable turntable is provided with a material grabbing manipulator, the material grabbing manipulator is provided with a telescopic cylinder, a clamping cylinder, a lifting cylinder, a rotating cylinder and a gripper, the right side of the material grabbing manipulator is provided with a bottom cutting device, and the bottom cutting device is composed of a bottom cutting motor M₂And a bottom-cutting saw blade. The standard cylinder can move up and down in a set stroke, and the cutting motor M₁Can move up and down along with the three-axis cylinder, and the cutting knife group can move along with the cutting motor M₁The top and the side of the coconut are cut by rotating, a telescopic cylinder of the material grabbing manipulator is fixed on a rotary cylinder and can rotate along with the rotary cylinder, the rotary cylinder is fixed on a lifting cylinder and can lift along with the lifting cylinder, and a bottom cutting motor M₂The bottom cutting saw blade is driven to realize green coconut bottom cutting.

The electric automatic control system comprises a main circuit and a control circuit. The main circuit portion includes: air switch QS₁QS air switch₂AC contactor KM₁AC contactor KM₂And an intermediate relay KA₁And an intermediate relay KA₂Thermal relay FR₁Thermal relay FR₂Cutting motor M₁Bottom cutting motor M₂(ii) a The control circuit comprises a Programmable Logic Controller (PLC) and a start button SB₁A travel switch ST and a stop button SB₂Photoelectric switch SQ₁Photoelectric switch SQ₂Electromagnetic valve SV₁Electromagnetic valve SV₂Electromagnetic valve SV₃Electromagnetic valve SV₄Electromagnetic valve SV₅Electromagnetic valve SV₆Indicator light, pulse generator, etc., for the purpose of describing the functions of the various elements of the automatic electrical control system and the PLC input in detailThe address and output address assignment are described in table 1, table 2, and table 3.

TABLE 1 description of the main circuit elements

TABLE 2 PLC input Address assignment and input element description

TABLE 3 PLC output Address assignment and output element description

The automatic working process of the electric automatic control system comprises the following steps: close automatic switch QS₁And automatic switch QS₂After that, the start button SB is pressed₁(green indicator lamp D at this time)₁Bright) put the coconuts on the nail fluted disc on the turntable of the workbench at the feeding station, and the photoelectric switch SQ₁Detecting that the coconut is arranged on the nail fluted disc, delaying for 3 seconds and then carrying out electromagnetic valve SV₁The standard cylinder is descended by electrifying action to press and fix the coconuts on the nail fluted disc, and then the electromagnetic valve SV₁After the standard cylinder is lifted by power-off reset and 2 seconds of delay, the pulse generator ZK-PP1 sends pulses to the pulse input end of the driver of the stepping motor, the stepping motor drives the turntable of the worktable to start rotating, after the turntable rotates for 120 degrees, the coconuts are rotated to the cutting station, the baffle plate at the lower part of the turntable enables the travel switch ST to act, the pulse generator ZK-PP1 is powered off, the pulse generator ZK-PP1 stops sending pulses to the driver of the stepping motor, the turntable of the worktable immediately stops rotating and keeps still, and the blue indicator lamp D at the moment₂Bright, the workman can continue to place the second coconut to the nail fluted disc of material loading station, and the blue pilot lamp D after 10 seconds of time delay coconut has been put well₂Off, at the same time, the photoelectric switch SQ₂After detecting that the first coconut reaches the cutting station, the electromagnetic valve SV is used₂The action makes the three-axis cylinder descend, and the intermediate relay KA₁The coil is electrified, and the intermediate relay KA₁Contact point of (c) makes the ac contactor KM₁The coil is also electrified, and the AC contactor KM₁Is closed to make the cutting motor M₁Starting to work, cutting the motor M₁Driving the cutting knife group to descend to cut the top and the side of the coconut, and after the cutting is finished by delaying 4 seconds, using an electromagnetic valve SV₂Reset, the three-shaft cylinder drives the cutting motor M₂And the cutting knife group rises, the coconut on the cutting station is cut, and the coconut on the feeding station is fixed on the nail fluted disc, the pulse generator ZK-PP1 is electrified again to input pulse to the input end of the step motor driver to enable the step motor to rotate, the worktable turntable rotates at a certain speed for 120 degrees again to enable the coconut on the cutting station to be transferred to the discharging station, the baffle arranged at the lower part of the worktable turntable enables the travel switch ST to act, the worktable turntable stops rotating immediately and keeps stationary, and the blue indicator light D at the moment₂Bright, the workman can continue to put the third coconut again on the nail fluted disc that is in the material loading station, and the blue pilot lamp D after 10 seconds of time delay coconut has been put well₂Killing the coconut, cutting the second coconut at the cutting station (same as the first coconut), preparing to cut the first coconut, and solenoid valve SV₃The telescopic cylinder of the material grabbing manipulator is controlled to act to enable the manipulator arm to extend to the unloading station, and then the SV of the electromagnetic valve₄The clamping cylinder of the material grabbing manipulator is controlled to act to clamp the coconuts on the unloading station, and then the coconuts are clamped by the clamping cylinder of the material grabbing manipulator through the SV₅The lifting cylinder is controlled to drive the telescopic cylinder, the clamping cylinder and the rotary cylinder to ascend, so that the coconuts on the unloading station are separated from the nail fluted disc, and then the SV of the electromagnetic valve₆The rotary cylinder is controlled to drive the telescopic cylinder and the clamping cylinder to rotate 90 degrees anticlockwise, and at the moment, the intermediate relay KA₂The coil is electrified, and the intermediate relay KA₂Contact point of (c) makes the ac contactor KM₂The coil is also electrified, and the AC contactor KM₂The normally open contact of (A) is closed to make the bottom-cutting motor M₂Starting, bottom cutting motor M₂Driving the bottom cutting saw blade to rotate at a high speed to cut the bottom of the first coconut fruit for 3 secondsAfter the end process is accomplished in the time delay, telescopic cylinder withdrawal, 3 seconds of time delay revolving cylinder reset, 3 seconds of time delay die clamping cylinder reset again and loosen first coconut, make it fall into the collecting vessel, the lift cylinder descends, it gets back to the normal position to grab the material manipulator, the second coconut has accomplished the cutting and has grabbed the material manipulator and get back to the normal position this moment, the third coconut has been fixed on the nail fluted disc, step motor stops after rotatory 120 degrees once more, the end process of cutting of first coconut will be repeated to the second coconut, circulate in proper order. The automatic control process is the basis of the program flow chart design of the automatic control part of the Programmable Logic Controller (PLC), and the ladder diagram program of the automatic control process of the coconut green processing machine can be designed based on the program flow chart, so that the automatic control of the coconut green processing machine by the Programmable Logic Controller (PLC) is realized.

Further, in the control circuit, a Programmable Logic Controller (PLC) controls the intermediate relay KA₁And an intermediate relay KA₂The coil is electrified and powered off, so that on-off control of the contact is realized, and an intermediate relay KA is used₁And an intermediate relay KA₂The contacts of the alternating current contactor KM respectively control the alternating current contactor KM₁AC contactor KM₂The coil is powered on and off, thereby realizing the AC contactor KM₁AC contactor KM₂On-off control of the contacts and thus the cutting motor M in the main circuit₁Bottom cutting motor M₂And rotating and stopping.

Further, when the work needs to be stopped, the stop button SB is pressed after no coconut exists on the turntable of the workbench₂The equipment can be stopped, and the stop button SB needs to be pressed again when the equipment is started again₂After the red indicator light is turned off, the start button SB can be pressed₁. If the work is finished and the power is off, the stop button SB is pressed first₂When the red indicator light is on, the stop SB is pressed again₂When the red indicator light is turned off, the control cabinet door is opened, and the QS automatic switch is switched off₂At the moment, the indicator light of the PLC is extinguished, the PLC is powered off, and then the automatic switch QS is switched off₁At this time, the power-on indicator lamp (yellow) is turned off, indicating that the power supply is off.

Further, for the main circuit, when the circuit has a short-circuit fault, the QS is automatically switched₁The short-circuit protection function is realized, when the current exceeds a given value, the trip is realized, the circuit is cut off, and the safety of operators and equipment in the production process is protected; for control circuits, automatic switching QS₂The short-circuit protection function is provided, the short-circuit protection function can be ensured under the condition of short circuit, and a power supply line of a Programmable Logic Controller (PLC) is cut off, so that the PLC is prevented from being damaged.

Further, a thermorelay FR₁Thermal relay FR₂With overload protection, when the motor overheats due to overload, the thermal relay FR₁Thermal relay FR₂Auxiliary normally closed contact opening intermediate relay KA₁And an intermediate relay KA₂So that the contactor KM₁Contactor KM₂The coil is cut off and the motor M is finally cut₁Bottom cutting motor M₂And the operation is stopped, so that the safe operation of each motor in the production process is ensured.

The invention has the advantages that the processing process of the coconut green is changed from manual operation to mechanical automatic operation, the automation of the production process is realized, and the processed coconut green is convenient for subsequent transportation, storage and deep processing; on the other hand, the labor cost can be greatly saved, the incidence rate of industrial injuries of manual coconut green processing workers is effectively reduced, and the economic benefit of coconut processing enterprises is improved.

Drawings

FIG. 1 is a diagram of the mechanical structure and electrical component layout of an embodiment of the present invention.

In the figure 1, an electromagnetic valve SV ₁2. Standard cylinder 3, nail fluted disc 4, workbench turntable 5, frame 6, electromagnetic valve SV ₃7. Clamping cylinder 8, paw 9, rotary cylinder 10, lifting cylinder 11, telescopic cylinder 12 and solenoid valve SV ₄13. Solenoid valve SV₆14. Solenoid valve SV ₅15. Stepping motor 16. solenoid valve SV ₂17. Three-shaft cylinder 18. cutting motor M ₁19. Cutting knife set 20, bottom cutting saw blade 21, bottom cutting motor M ₂22. Travel switch ST 23, baffle 24, photoelectric switch SQ ₁25. Photoelectric switch SQ₂。

Fig. 2 is a schematic diagram of a main circuit of an electric automatic control system according to an embodiment of the present invention.

Fig. 3 is a schematic circuit diagram of a control circuit of the automatic electric control system according to the embodiment of the present invention, in which an intermediate relay controls a main circuit ac contactor.

Fig. 4 is a schematic diagram of a control circuit of the automatic electric control system according to the embodiment of the present invention.

FIG. 5 is a diagram of an exemplary embodiment of a control cabinet component arrangement for an electrical automation control system.

26 in the figure, a power-on indicator lamp (yellow) 27 and a blue indicator lamp D₂28. Start button SB₁(with green indicator light D)₁) Stop button SB 29₂(with red indicator lamp) 30, wire groove 131 and intermediate relay KA₁32. Intermediate relay KA₂33. AC contactor KM₁34. Trunking 235 thermal relay FR ₁36. Automatic switch QS ₁37. Automatic switch QS ₂38. Programmable controller (PLC) 39, pulse generator ZK-PP140, stepping motor driver 41, wire slot 342, transformer 43, wiring terminal 44, AC contactor KM₂45. Thermal relay FR ₂46. Case 47, door.

FIG. 6 is a schematic wiring diagram of a stepper motor control scheme according to an embodiment of the present invention.

FIG. 7 is a flowchart of an exemplary embodiment of an electrical automation control system.

Detailed Description

The technical scheme adopted by the invention is as follows: the upper part of the frame is provided with a standard cylinder (2) and an electromagnetic valve SV₁(1) Three-shaft cylinder (17) and electromagnetic valve SV₂(16) Cutting motor M₁(18) A cutting blade group (19); the middle part is provided with a working table turntable (4), and three nail fluted discs (3) are uniformly distributed on the circumference of the working table turntable (4); the rear part of the workbench turntable (4) is provided with a material grabbing manipulator, and the material grabbing manipulator is provided with a telescopic cylinder (11) and an electromagnetic valve SV₃(6) A clamping cylinder (7) and an electromagnetic valve SV₄(12) A paw (8), a lifting cylinder (10) and an electromagnetic valve SV₅(14) A rotary cylinder (9) and an electromagnetValve SV₆(13) The right side of the material grabbing mechanical arm is provided with a bottom cutting part, and the bottom cutting part is formed by a bottom cutting motor M₂(21) And a bottom cutting saw blade (20). The standard cylinder (2) can pass through the electromagnetic valve SV in a set stroke₁(1) The cutting motor M moves up and down when the power is switched on and off₁(18) Following electromagnetic valve SV₂(16) Controls the three-shaft cylinder (17) to move up and down, and the cutting knife group (19) can move along with the cutting motor M₁(18) The top and the side of the coconut are cut by rotation, a telescopic cylinder (11) of the material grabbing manipulator is fixed on a rotary cylinder (9) and can rotate along with the rotary cylinder, the rotary cylinder (9) is fixed on a lifting cylinder (10) and can lift along with the lifting cylinder, and a bottom cutting motor M₂(21) The bottom cutting saw blade (20) is driven to rotate to realize the green coconut bottom cutting.

The automatic working mode of the electric automatic control system is as follows: close automatic switch QS₁(36) And automatic switch QS₂(37) After that, the start button SB is pressed₁(28) Placing the coconuts on a nail fluted disc (3) of a worktable rotating disc (4) and a photoelectric switch SQ₁(24) Detects that the coconut is arranged on the nail fluted disc (3), and after 3 seconds of time delay, the electromagnetic valve SV₁(1) The standard cylinder (2) is descended by electrifying action, the coconuts are pressed down and fixed on the nail fluted disc (3), and then the electromagnetic valve SV₁(1) After 2 seconds of delay, the pulse generator ZK-PP1 (39) sends pulse to the pulse input end of the stepping motor driver (40) to make the stepping motor (15) start to rotate, the stepping motor (15) drives the worktable rotating disc (4) to rotate, the worktable rotating disc (4) rotates 120 degrees at a certain speed to make the coconut to the cutting station, the baffle (23) arranged at the lower part of the worktable rotating disc (4) makes the travel switch ST (22) act, the worktable rotating disc (4) stops rotating immediately and keeps still, the pulse generator ZK-PP1 (39) is powered off, and the blue indicator lamp D is powered off at the moment₂(27) Bright, the workman can continue to place the second coconut to nail fluted disc (3) of material loading station, and the blue pilot lamp D after 10 seconds of time delay coconut put well₂(27) Off, at the same time, the photoelectric switch SQ₂(25) Detecting that the first coconut has beenAfter reaching the cutting station, the electromagnetic valve SV₂(16) The three-shaft cylinder (17) descends by the electrifying action, and the intermediate relay KA₁(31) Coil is electrified, and intermediate relay KA₁(31) Contact point of (c) makes the ac contactor KM₁(33) The coil is also electrified, and the AC contactor KM₁(33) Is closed to make the cutting motor M₁(18) Starting to work, cutting the motor M₁(18) Driving a cutting knife group (19) to descend to cut the top and the side of the coconut, and delaying for 4 seconds to obtain an electromagnetic valve SV₂(16) When the power is cut off and reset, the three-shaft cylinder (17) drives the cutting motor M₁(18) And the cutting knife group (19) rises, after the top and the side of the first coconut are cut and the second coconut is fixed on the nail fluted disc (3), the pulse generator ZK-PP1 (39) is electrified again to input pulses to the input end of the stepping motor driver (40) to enable the stepping motor (15) to rotate, after the worktable turntable (4) rotates for 120 degrees at a certain speed, the coconut on the cutting station is enabled to be transferred to the unloading station, the baffle (23) arranged at the lower part of the worktable turntable (4) enables the stroke switch ST (22) to act, the worktable turntable (4) stops rotating immediately and keeps still, and at the moment, the blue indicator light D is used for indicating the top and the side of the coconut₂(27) Bright, the worker can continue to place a third coconut on the nail fluted disc (3) on the feeding station, and a blue indicator lamp D is arranged after 10 seconds of coconut placement₂(27) And (3) killing, wherein the second coconut reaches the cutting station, the second coconut has the same cutting process with the first coconut on the top and the side, the first coconut reaches the unloading station, and the solenoid valve SV₃(6) The telescopic cylinder (11) of the material grabbing manipulator is controlled to act to enable the manipulator arm to extend to reach the unloading station, namely the first coconut position, and then the SV of the electromagnetic valve₄(12) The clamping cylinder (7) of the material grabbing manipulator is controlled to act to clamp the first coconut on the unloading station, and then the first coconut is clamped by the clamping cylinder and is followed by the SV₅(14) The lifting cylinder (10) is controlled to drive the telescopic cylinder (11), the clamping cylinder (7) and the rotary cylinder (9) to ascend, so that the first coconut on the unloading station is separated from the spike-tooth disc (3), and then the SV (vacuum) electromagnetic valve is adopted₆(13) Control the rotary cylinder (9) to drive the telescopic cylinderThe clamping cylinder (7) rotates 90 degrees anticlockwise, and at the moment, the intermediate relay KA₂(32) Coil is electrified, and intermediate relay KA₂(32) Contact point of (c) makes the ac contactor KM₂(44) The coil is also electrified, and the AC contactor KM₂(44) The normally open contact of (A) is closed to make the bottom-cutting motor M₂(21) Starting to rotate, bottom cutting motor M₂(21) Drive undercut saw bit (20) high-speed rotatory and thus carry out the undercutting to first coconut, after 3 seconds undercut process time delays, telescopic cylinder (11) withdrawal, 3 seconds revolving cylinder (9) of time delay reset, then 3 seconds die clamping cylinder (7) of time delay reset and loosen first coconut and make it fall into the collecting vessel, lift cylinder (10) descend, grab the material manipulator and get back to the normal position, the second coconut has accomplished top and side cutting this moment, the third coconut has been fixed on nail fluted disc (3), step motor (15) is rotatory once more, stop after rotatory 120 degrees, the undercut process of first coconut will be repeated to the second coconut, cycle in proper order. The automatic control process is the basis of the program flow chart design of the automatic control part of the Programmable Logic Controller (PLC) (38), and the ladder diagram program of the automatic control process of the coconut green processing machine can be designed based on the program flow chart, so that the automatic control of the coconut green processing machine by the Programmable Logic Controller (PLC) (38) is realized.

Claims

1. The utility model provides an electric automatic control system of automatic green coconut processing machine which characterized in that: is provided with a frame (5), a standard cylinder (2) and an electromagnetic valve SV are arranged on the upper part of the frame (5)₁(1) Three-shaft cylinder (17) and electromagnetic valve SV₂(16) Cutting motor M₁(18) A cutting blade group (19); the middle part is provided with a working table rotary table (4), and three nail fluted discs (3) are uniformly distributed on the circumference of the working table rotary table (4); the rear part of the workbench turntable (4) is provided with a material grabbing manipulator, and the material grabbing manipulator is provided with a telescopic cylinder (11) and an electromagnetic valve SV₃(6) A clamping cylinder (7) and an electromagnetic valve SV₄(12) A paw (8), a lifting cylinder (10) and an electromagnetic valve SV₅(14) A rotary cylinder (9) and an electromagnetic valve SV₆(13) The right side of the material grabbing manipulator is provided withWith a undercut portion formed by an undercut motor M₂(21) A bottom cutting saw blade (20); the standard cylinder (2) can pass through the electromagnetic valve SV in a set stroke₁(1) The cutting motor M moves up and down when the power is switched on and off₁(18) Following electromagnetic valve SV₂(16) Controls the three-shaft cylinder (17) to move up and down, and the cutting knife group (19) can move along with the cutting motor M₁(18) Rotate and realize cutting coconut palm top and side, grab on the telescopic cylinder (11) of material manipulator be fixed in revolving cylinder (9) can rotate along with it, revolving cylinder (9) are fixed in on lift cylinder (10) can go up and down along with it, bottom-cutting motor M₂(21) The bottom cutting saw blade (20) is driven to rotate to realize the green coconut bottom cutting.

2. The electrical automatic control system of an automatic coconut green processing machine according to claim 1, characterized in that: the electric automatic control system comprises a control cabinet consisting of a main circuit and a control circuit, and comprises an electrified indicating lamp (yellow) 26 and a blue indicating lamp D₂(27) Start button SB₁(with green indicator light D)₁) (28) stop button SB₂(with red indicator lamp) (29), wire groove 1 (30) and intermediate relay KA₁(31) And an intermediate relay KA₂(32) AC contactor KM₁(33) Wire slot 2 (34), thermal relay FR₁(35) Automatic switch QS₁(36) Automatic switch QS₂(37) The device comprises a Programmable Logic Controller (PLC) (38), a pulse generator ZK-PP1 (39), a stepping motor driver (40), a wire slot 3 (41), a transformer (42), a wiring terminal (43) and an alternating current contactor KM₂(44) Thermal relay FR₂(45) A control cabinet element arrangement method of the box body (46) and the box door (47) and a circuit connection mode.

3. The electrical automatic control system of an automatic coconut green processing machine according to claim 1, characterized in that: the automatic control program of the coconut green processing machine presses a start button SB₁(28) Mixing coconutPut on a nail fluted disc (3) of a worktable rotating disc (4) and a photoelectric switch SQ₁(24) Detects that the coconut is arranged on the nail fluted disc (3), and after 3 seconds of time delay, the electromagnetic valve SV₁(1) The standard cylinder (2) is descended by electrifying action, the coconuts are pressed down and fixed on the nail fluted disc (3), and then the electromagnetic valve SV₁(1) After 2 seconds of delay, the pulse generator ZK-PP1 (39) sends pulse to the pulse input end of the stepping motor driver (40) to make the stepping motor (15) start to rotate, the stepping motor (15) drives the worktable rotating disc (4) to rotate, the worktable rotating disc (4) rotates 120 degrees at a certain speed to make the coconut to the cutting station, the baffle (23) arranged at the lower part of the worktable rotating disc (4) makes the travel switch ST (22) act, the worktable rotating disc (4) stops rotating immediately and keeps still, the pulse generator ZK-PP1 (39) is powered off, and the blue indicator lamp D is powered off at the moment₂(27) Bright, the workman can continue to place the second coconut to nail fluted disc (3) of material loading station, and the blue pilot lamp D after 10 seconds of time delay coconut has been put well₂Off, at the same time, the photoelectric switch SQ₂(25) After detecting that the first coconut reaches the cutting station, the electromagnetic valve SV₂(16) The three-shaft cylinder (17) is lowered by the energizing action, so that the cutting motor M₁(18) Starting to work, cutting the motor M₁(18) Driving a cutting knife group (19) to descend to cut the top and the side of the coconut, and delaying for 4 seconds to obtain an electromagnetic valve SV₂(16) When the power is cut off and reset, the three-shaft cylinder (17) drives the cutting motor M₁(18) And the cutting knife group (19) rises, after the top and the side of the first coconut are cut and the second coconut is fixed on the nail fluted disc (3), the pulse generator ZK-PP1 (39) is electrified again to input pulses to the input end of the stepping motor driver (40) to enable the stepping motor (15) to rotate, after the worktable turntable (4) rotates for 120 degrees at a certain speed, the coconut on the cutting station is enabled to be transferred to the unloading station, the baffle (23) arranged at the lower part of the worktable turntable (4) enables the stroke switch ST (22) to act, the worktable turntable (4) stops rotating immediately and keeps still, and at the moment, the blue indicator light D is used for indicating the top and the side of the coconut₂(27) Bright, the worker can continue to goA third coconut is placed on the nail fluted disc (3) on the feeding station, and a blue indicator lamp D is arranged after 10 seconds of coconut placement₂When the second coconut reaches the cutting station, the same process as the cutting process of the top and the side of the first coconut is carried out, the first coconut reaches the unloading station, and an electromagnetic valve SV₃(6) The telescopic cylinder (11) of the material grabbing manipulator is controlled to act to enable the manipulator arm to extend to reach the unloading station, namely the first coconut position, and then the SV of the electromagnetic valve₄(12) The clamping cylinder (7) of the material grabbing manipulator is controlled to act to clamp the first coconut on the unloading station, and then the first coconut is clamped by the clamping cylinder and is followed by the SV₅(14) The lifting cylinder (10) is controlled to drive the telescopic cylinder (11), the clamping cylinder (7) and the rotary cylinder (9) to ascend, so that the first coconut on the unloading station is separated from the spike-tooth disc (3), and then the SV (vacuum) electromagnetic valve is adopted₆(13) The rotary cylinder (9) is controlled to drive the telescopic cylinder and the clamping cylinder (7) to rotate 90 degrees anticlockwise, and the bottom cutting motor M rotates at the moment₂(21) Starting to rotate, bottom cutting motor M₂(21) Drive undercut saw bit (20) high-speed rotatory and thus carry out the undercutting to first coconut, after 3 seconds undercut process time delays, telescopic cylinder (11) withdrawal, 3 seconds revolving cylinder (9) of time delay reset, then 3 seconds die clamping cylinder (7) of time delay reset and loosen first coconut and make it fall into the collecting vessel, lift cylinder (10) descend, grab the material manipulator and get back to the normal position, the second coconut has accomplished top and side cutting this moment, the third coconut has been fixed on nail fluted disc (3), step motor (15) is rotatory once more, stop after rotatory 120 degrees, the undercut process of first coconut will be repeated to the second coconut, cycle in proper order.