CN103190298A - Suspension type hydraulic profiling flower and fruit thinning machine and usage method thereof - Google Patents
Suspension type hydraulic profiling flower and fruit thinning machine and usage method thereof Download PDFInfo
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- CN103190298A CN103190298A CN2013101114607A CN201310111460A CN103190298A CN 103190298 A CN103190298 A CN 103190298A CN 2013101114607 A CN2013101114607 A CN 2013101114607A CN 201310111460 A CN201310111460 A CN 201310111460A CN 103190298 A CN103190298 A CN 103190298A
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Abstract
The invention discloses a suspension type hydraulic profiling flower and fruit thinning machine and a usage method thereof. According to the flower and fruit thinning machine, a moving frame is arranged on a suspending frame through a guide rail, a pushing hydraulic cylinder is arranged on the suspending frame and is connected with the moving frame, a profiling hydraulic cylinder is arranged on the moving frame and is connected with a flower and fruit thinning mechanism, the flower and fruit thinning mechanism is connected with the moving frame through a rotating shaft, a detection rod assembly is arranged on one side of the flower and fruit thinning mechanism, the pushing hydraulic cylinder, the profiling hydraulic cylinder and the flower and fruit thinning mechanism are connected with a hydraulic control device through oil pipes respectively, and the detection rod assembly is electrically connected with the hydraulic control device. The usage method of the flower and fruit thinning machine comprises that the distance between a target fruit tree and a flower and fruit thinning adhesive tape group is adjusted through the pushing hydraulic cylinder, an included angle formed by the flower and fruit thinning mechanism and a crown of the target fruit tree is adjusted through the profiling hydraulic cylinder, and then the flower and fruit thinning operation is conducted. The profiling flower and fruit thinning operation can be conducted for fruit trees through suspending connection of the flower and fruit thinning machine and a tractor, the mechanical degree is high, and the working efficiency is high.
Description
Technical field
The present invention relates to the flower and fruit thinning apparatus field, particularly a kind of suspension type hydraulic tracing control flower and fruit thinning machine and using method thereof.
Background technology
China's orchard production mechanization development level is relatively backward, and each producing region development is very unbalanced, mechanical work difficult problems such as ploughing of production link is whole, pruning, plant protection, fertilising and harvesting are more outstanding, most producing regions even also just adopt some simple facility to carry out manual working.Flower and fruit thinning is one of important measures that improve during fruit is produced fruit quality, and main purpose is excessively solidly to improve fruit quality, reduce nutrient consumption, improve flower bud differentiation quality and minimizing or avoid the biennial bearing phenomenon to take place by preventing.
The main method of flower and fruit thinning has manually, three kinds of machinery and chemical methodes.Manual method is simple, but time-consuming, labour intensity is big; Mechanical means is in the trystate always, and existing flower and fruit thinning facility are hand-held machine, and operating efficiency is limited; The efficient height of chemical method and cost is low, but easily cause fruit residue of pesticide and ecological environmental pollution, consider that from the angle of food and Environmental security chemical flower thinning prospect is not expected.Therefore, the labour of flower and fruit thinning operation at present relies on situation and still exists.
Along with the attention of country to orchard group structure retrofit work, the enforcement of intermediate cutting and retraction trimming measure, the production of fruit trees condition in some orchards has progressively realized standardization, and seeding row spacing and tree-like specification can be consistent substantially, thereby provides necessary condition for mechanization production.For this reason, if can improve design to existing hand-held flower and fruit thinning facility, from the angle of power machinery support, reduce the activity duration of facility, must alleviate labor strength, reach the purpose of significantly increasing work efficiency.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of suspension type hydraulic tracing control flower and fruit thinning machine is provided, this equipment is as long as be connected with tractor suspension and can carry out the operation of fruits and vegetables profiling flower and fruit thinning, the mechanization degree height, and operating efficiency is also high.
Another object of the present invention is to provide a kind of using method of above-mentioned suspension type hydraulic tracing control flower and fruit thinning machine.
Technical scheme of the present invention is: a kind of suspension type hydraulic tracing control flower and fruit thinning machine comprises hanger bracket, adjustable shelf, release hydraulic cylinder, shape imitation hydraulic cylinder, flower and fruit thinning mechanism, hydraulic control device and feeler assembly; Adjustable shelf is located on the hanger bracket by guide rail, the release hydraulic cylinder is located on the hanger bracket and with adjustable shelf and is connected, the shape imitation hydraulic cylinder is located on the adjustable shelf and with flower and fruit thinning mechanism and is connected, and flower and fruit thinning mechanism also is connected with adjustable shelf by rotating shaft, and the feeler assembly is located at flower and fruit thinning mechanism one side; Release hydraulic cylinder, shape imitation hydraulic cylinder are connected with hydraulic control device by oil pipe respectively with flower and fruit thinning mechanism, and feeler assembly and hydraulic control device are electrically connected.
The external tractor of described hanger bracket, the connected mode between hanger bracket and the tractor are the trifilar suspension formula.
Described feeler assembly comprises feeler and distance measuring sensor group, and distance measuring sensor is mounted on the feeler, and distance measuring sensor group and hydraulic control device are electrically connected; The distance measuring sensor group comprises the two cover ultrasonic sensors of being located at the feeler two ends respectively.
Described hydraulic control device comprises power supply, three position four-way electromagnetic valve, linear pattern overflow valve, fixed pressure reducing valve, valve plate, hydraulic controller, linear potentiometer, digital to analog converter and oil pipe, and three position four-way electromagnetic valve, linear pattern overflow valve and fixed pressure reducing valve are separately fixed on the valve plate; The hydraulic pressure output of oil pipe and tractor joins, and is output as the power output source with the hydraulic pressure of tractor; Hydraulic controller is connected with the shape imitation hydraulic cylinder with the release hydraulic cylinder respectively by oil pipe, release on hydraulic cylinder and the shape imitation hydraulic cylinder linear potentiometer is set respectively, linear potentiometer is electrically connected by lead and digital to analog converter, and digital to analog converter and distance measuring sensor group are electrically connected.
The fixed form of runners formula was fixed on the hanger bracket before and after described release hydraulic cylinder adopted, and the bar head of releasing hydraulic cylinder is connected with adjustable shelf.When releasing the hydraulic cylinder elongation, drive adjustable shelf and stretch out; When releasing the hydraulic cylinder withdrawal, drive adjustable shelf and regain.
Described shape imitation hydraulic cylinder adopts the fixed form of forward flange formula to be fixed on the hanger bracket, and the bar head of shape imitation hydraulic cylinder is connected with flower and fruit thinning mechanism.During the elongation of shape imitation hydraulic cylinder, drive flower and fruit thinning mechanism and clockwise rotate around adjustable shelf; When the shape imitation hydraulic cylinder is regained, drive flower and fruit thinning mechanism and rotate counterclockwise around adjustable shelf.
Described flower and fruit thinning mechanism comprises flower and fruit thinning adhesive tape group, hydraulic motor and frame; Frame is L shaped structure, comprises the vertical rack and the horizontal stand that are connected; Hydraulic motor is fixed in the outer end of horizontal stand, and the flower and fruit thinning adhesive tape is mounted on the hydraulic motor output shaft, and hydraulic motor output shaft parallels with vertical rack; The bar head of shape imitation hydraulic cylinder is connected with horizontal stand; Hydraulic motor is connected by oil pipe with hydraulic control device.
Described flower and fruit thinning adhesive tape group comprises a plurality of adhesive tape, each adhesive tape evenly distributes on hydraulic motor output shaft, hydraulic motor output shaft is provided with the installing hole corresponding with each adhesive tape, be interference fit between each adhesive tape and the corresponding installing hole, two adjacent arbitrarily adhesive tape are " ten " font in the top plan view intersection.
Feeler is fixed on the horizontal stand of flower and fruit thinning mechanism, is between tractor and the flower and fruit thinning adhesive tape group feeler and equal in length parallel with the output shaft of flower and fruit thinning motor.
The using method of a kind of above-mentioned suspension type hydraulic tracing control flower and fruit thinning machine of the present invention may further comprise the steps:
(1) in the tractor driving process, the distance of target fruit tree and flower and fruit thinning adhesive tape group is surveyed and calculated to the distance measuring sensor group on the feeler, and send range data to hydraulic control device;
(2) after hydraulic control device is judged, send control instruction to releasing hydraulic cylinder, release hydraulic cylinder drive adjustable shelf stretches out or returns, adjustable shelf slides on the hanger bracket by guide rail, the slip of adjustable shelf drives feeler mechanism and flower and fruit thinning mechanism kinematic, thereby regulates the distance between flower and fruit thinning adhesive tape group and the target fruit tree;
(3) before the flower and fruit thinning operation, the formed angle in crown and horizon of target fruit tree is surveyed and calculated to the distance measuring sensor group on the feeler, and send the angle data to hydraulic control device;
(4) after hydraulic control device obtains the direction of displacement and shift length of shape imitation hydraulic cylinder to the angle data reduction, send control instruction to the shape imitation hydraulic cylinder, shape imitation hydraulic cylinder operation promotes the rotating shaft of flower and fruit thinning mechanism on adjustable shelf and rotates, and hydraulic motor output shaft and target fruit tree is crown near parallel in flower and fruit thinning mechanism;
(5) hydraulic control device sends control instruction to hydraulic motor, and the flower and fruit thinning adhesive tape group in the flower and fruit thinning mechanism begins rotary operation.
In step (1) and (2), when the release hydraulic cylinder carries out distance adjustment, be specially: at first according to job requirements and flower and fruit thinning adhesive tape group length, determine the target effective distance L between tractor-mounted profiling flower and fruit thinning machine and the tree crown blade face
1Hydraulic controller in the hydraulic control device is by the distance signal of distance measuring sensor group feedback, and calculating flower and fruit thinning machine distance objective fruit tree is L
2With L
2And L
1Compare, if L
2＞L
1Illustrate that flower and fruit thinning machine distance objective fruit tree is too far away, the action that hydraulic controller makes for the three position four-way electromagnetic valve signal to release hydraulic cylinder to do to stretch out is (in this process, because employed magnetic valve type is switch valve, therefore to make and release the set position servo of hydraulic cylinder realization, need displacement transducer to releasing the real-time voltage signal feedback of hydraulic cylinder extension elongation, displacement transducer uses one and connect and be installed in the linear potentiometer of releasing the hydraulic cylinder external part and the modulus of 12 Bits Serial constitutes feedback circuit, feedback voltage signal is by passing to hydraulic controller after the analog-to-digital conversion, and the hydraulic controller judgement obtains releasing the real-time length L that hydraulic cylinder stretches out.If L＜(L
2-L
1), then hydraulic controller continues to pass through to the three position four-way electromagnetic valve signal, thereby makes the release hydraulic cylinder continue to stretch out, up to L=(L
2-L
1), hydraulic controller is given the three position four-way electromagnetic valve shutdown signal, makes the release hydraulic cylinder be in self-locking state, thereby guarantees that the flower and fruit thinning machine is within the job area that is fit to).If L
2＜L
1, illustrating that flower and fruit thinning machine distance objective fruit tree is too near, hydraulic controller makes for the three position four-way electromagnetic valve start signal to release hydraulic cylinder and does the action of returning, and drives adjustable shelf at the guide rail rollback that slides, up to the bar of the releasing hydraulic cylinder (L that needs that withdrawn
2-L
1) distance after stop, thereby make the flower and fruit thinning machine be in effective job area.
In step (3) and (4), when the shape imitation hydraulic cylinder carries out the profiling adjusting, be specially: after hydraulic tracing control flower and fruit thinning machine is in suitable job area, distance measuring sensor group on the feeler is measured the air line distance of the crown top of target fruit tree and bottom, calculate the crown and formed angle value in horizon of target fruit tree, and signal passed to hydraulic controller, being converted by hydraulic controller obtains direction of displacement and the shift length of shape imitation hydraulic cylinder.The real-time voltage signal feedback of shape imitation hydraulic cylinder extension elongation is by one and connect the linear potentiometer that is installed in the hydraulic cylinder external part and feedback circuit that the modulus of 12 Bits Serial constitutes provides, and this feedback voltage signal is given hydraulic controller after by analog-to-digital conversion.If actual measurement angle value is worth less than the target angle, hydraulic controller sends instruction to three position four-way electromagnetic valve, make the shape imitation hydraulic cylinder do the action of returning, the horizontal stand rear end that drives flower and fruit thinning mechanism mid frame descends, flower and fruit thinning mechanism rotates counterclockwise around adjustable shelf, when the displacement of shape imitation hydraulic cylinder reaches when adjusting to the corresponding displacement of target angle value, hydraulic controller is given the three position four-way electromagnetic valve shutdown signal, make the shape imitation hydraulic cylinder be in self-locking state, the primer fluid pressure motor makes flower and fruit thinning adhesive tape group begin rotary operation then, thereby reaches the purpose of profiling flower and fruit thinning.If actual measurement angle value is worth greater than the target angle, hydraulic controller makes the release hydraulic cylinder do the action of stretching out for the three position four-way electromagnetic valve start signal, drive the horizontal stand rear end lifting of flower and fruit thinning mechanism mid frame, flower and fruit thinning mechanism clockwise rotates around adjustable shelf, after having stretched out the displacement that needs, the bar of shape imitation hydraulic cylinder stops, hydraulic controller sends shutdown signal and makes the self-locking of shape imitation hydraulic cylinder, the primer fluid pressure motor makes flower and fruit thinning adhesive tape group begin rotary operation then, thereby reaches the purpose of profiling flower and fruit thinning.
The present invention has following beneficial effect with respect to prior art:
This suspension type hydraulic tracing control flower and fruit thinning machine is realized hanging operation, also need not the configure dedicated dynamical system.This flower and fruit thinning machine hung with tractor be connected, utilize the hydraulic system of tractor, regulate and the flower thinning operation provides power for the locus of flower and fruit thinning machine, saved the trouble for flower and fruit thinning machine outfit spcific power system, make the more compact and simplification of flower and fruit thinning machine overall structure; Simultaneously also manpower be can save, labor strength and artificial demand alleviated.
This suspension type hydraulic tracing control flower and fruit thinning machine is realized automated job.Utilize release hydraulic cylinder and the shape imitation hydraulic cylinder of flower and fruit thinning machine, this flower and fruit thinning machine can be realized mating the crown locus of fruit tree and regulate arbitrarily and automated job, both saved operation labour and position and artificially adjusted the time, and can improve the operating efficiency of fruit tree flower and fruit thinning again and guarantee the operation uniformity.
Description of drawings
Fig. 1 is the structural representation of this suspension type hydraulic tracing control flower and fruit thinning machine.
Structural representation when Fig. 2 is in the release state for this suspension type hydraulic tracing control flower and fruit thinning machine.
Structural representation when Fig. 3 is in the profiling state for this suspension type hydraulic tracing control flower and fruit thinning machine.
Fig. 4 is the principle schematic of hydraulic control device.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
A kind of suspension type hydraulic tracing control of present embodiment flower and fruit thinning machine, its structure comprise hanger bracket 1, adjustable shelf 2, release hydraulic cylinder 4, shape imitation hydraulic cylinder 5, flower and fruit thinning mechanism, hydraulic control device 12 and feeler assembly as shown in Figure 1; Adjustable shelf 2 is located on the hanger bracket 4 by guide rail 3, the release hydraulic cylinder is located on the hanger bracket and with adjustable shelf and is connected, the shape imitation hydraulic cylinder is located on the adjustable shelf and with flower and fruit thinning mechanism and is connected, and flower and fruit thinning mechanism also is connected with adjustable shelf by rotating shaft 6, and the feeler assembly is located at flower and fruit thinning mechanism one side; Release hydraulic cylinder, shape imitation hydraulic cylinder are connected with hydraulic control device by oil pipe respectively with flower and fruit thinning mechanism, and feeler assembly and hydraulic control device are electrically connected.
Wherein, the external tractor of hanger bracket, the connected mode between hanger bracket and the tractor is the trifilar suspension formula.
The feeler assembly comprises feeler 10 and distance measuring sensor group 11, and distance measuring sensor is mounted on the feeler, and distance measuring sensor group and hydraulic control device are electrically connected; The distance measuring sensor group comprises the two cover ultrasonic sensors of being located at the feeler two ends respectively.
Hydraulic control device comprises power supply, three position four-way electromagnetic valve, linear pattern overflow valve, fixed pressure reducing valve, valve plate, hydraulic controller, linear potentiometer, digital to analog converter and oil pipe, and three position four-way electromagnetic valve, linear pattern overflow valve and fixed pressure reducing valve are separately fixed on the valve plate; The hydraulic pressure output of oil pipe and tractor joins, and is output as the power output source with the hydraulic pressure of tractor; Hydraulic controller is connected with the shape imitation hydraulic cylinder with the release hydraulic cylinder respectively by oil pipe, release on hydraulic cylinder and the shape imitation hydraulic cylinder linear potentiometer is set respectively, linear potentiometer is electrically connected by lead and digital to analog converter, and digital to analog converter and distance measuring sensor group are electrically connected.The principle of hydraulic control device inside as shown in Figure 4, number in the figure 13,14,15 and 16 are respectively check valve, label 17,18,19, with 20 be respectively sensitive small-sized straight ejector half overflow valve (its set pressure is higher by 5%～10% than place oil circuit), label 21 and 22 is respectively three position four-way electromagnetic valve, label 25 (makes output hydraulic pressure reduce to 6MPa by 14MPa for straight ejector half overflow valve, rated pressure selects to be greater than 14MPa), fixed pressure reducing valve 23 guarantees that the outlet oil pressure is 2.5MPa, fixed pressure reducing valve 24 guarantees that the outlet oil pressure is 2MPa, releases the hydraulic control circuit of hydraulic cylinder 26 and shape imitation hydraulic cylinder 27 and does not work simultaneously.When three position four-way electromagnetic valve 21 or 22 reversal valves switch, release hydraulic cylinder 26 or shape imitation hydraulic cylinder 27 motion states and change.。
Release hydraulic cylinder and adopt the fixed form of front and back runners formula to be fixed on the hanger bracket, the bar head of releasing hydraulic cylinder is connected with adjustable shelf.When releasing the hydraulic cylinder elongation, drive adjustable shelf and stretch out; When releasing the hydraulic cylinder withdrawal, drive adjustable shelf and regain.
The shape imitation hydraulic cylinder adopts the fixed form of forward flange formula to be fixed on the hanger bracket, and the bar head of shape imitation hydraulic cylinder is connected with flower and fruit thinning mechanism.During the elongation of shape imitation hydraulic cylinder, drive flower and fruit thinning mechanism and clockwise rotate around adjustable shelf; When the shape imitation hydraulic cylinder is regained, drive flower and fruit thinning mechanism and rotate counterclockwise around adjustable shelf.
Flower and fruit thinning mechanism comprises flower and fruit thinning adhesive tape group 8, hydraulic motor 7 and frame 9; Frame is L shaped structure, comprises the vertical rack 9-1 and the horizontal stand 9-2 that are connected; Hydraulic motor is fixed in the outer end of horizontal stand, and the flower and fruit thinning adhesive tape is mounted on the hydraulic motor output shaft, and hydraulic motor output shaft parallels with vertical rack; The bar head of shape imitation hydraulic cylinder is connected with horizontal stand; Hydraulic motor is connected by oil pipe with hydraulic control device.
Flower and fruit thinning adhesive tape group comprises a plurality of adhesive tape, each adhesive tape evenly distributes on hydraulic motor output shaft, hydraulic motor output shaft is provided with the installing hole corresponding with each adhesive tape, be interference fit between each adhesive tape and the corresponding installing hole, two adjacent arbitrarily adhesive tape are " ten " font in the top plan view intersection.
Feeler is fixed on the horizontal stand of flower and fruit thinning mechanism, is between tractor and the flower and fruit thinning adhesive tape group feeler and equal in length parallel with the output shaft of flower and fruit thinning motor.
The using method of a kind of above-mentioned suspension type hydraulic tracing control flower and fruit thinning machine of present embodiment may further comprise the steps:
(1) in the tractor driving process, the distance of target fruit tree and flower and fruit thinning adhesive tape group is surveyed and calculated to the distance measuring sensor group on the feeler, and send range data to hydraulic control device;
(2) after hydraulic control device is judged, send control instruction to releasing hydraulic cylinder, release hydraulic cylinder drive adjustable shelf stretches out or returns, adjustable shelf slides on the hanger bracket by guide rail, the slip of adjustable shelf drives feeler mechanism and flower and fruit thinning mechanism kinematic, thereby regulates the distance between flower and fruit thinning adhesive tape group and the target fruit tree;
(3) before the flower and fruit thinning operation, the formed angle in crown and horizon of target fruit tree is surveyed and calculated to the distance measuring sensor group on the feeler, and send the angle data to hydraulic control device;
(4) after hydraulic control device obtains the direction of displacement and shift length of shape imitation hydraulic cylinder to the angle data reduction, send control instruction to the shape imitation hydraulic cylinder, shape imitation hydraulic cylinder operation promotes the rotating shaft of flower and fruit thinning mechanism on adjustable shelf and rotates, and hydraulic motor output shaft and target fruit tree is crown near parallel in flower and fruit thinning mechanism;
(5) hydraulic control device sends control instruction to hydraulic motor, and the flower and fruit thinning adhesive tape group in the flower and fruit thinning mechanism begins rotary operation.
In step (1) and (2), when the release hydraulic cylinder carries out distance adjustment, be specially: at first according to job requirements and flower and fruit thinning adhesive tape group length, determine the target effective distance L between tractor-mounted profiling flower and fruit thinning machine and the tree crown blade face
1Hydraulic controller in the hydraulic control device is by the distance signal of distance measuring sensor group feedback, and calculating flower and fruit thinning machine distance objective fruit tree is L
2With L
2And L
1Compare, if L
2＞L
1Illustrate that flower and fruit thinning machine distance objective fruit tree is too far away, the action that hydraulic controller makes for the three position four-way electromagnetic valve signal to release hydraulic cylinder to do to stretch out is (in this process, because employed magnetic valve type is switch valve, therefore to make and release the set position servo of hydraulic cylinder realization, need displacement transducer to releasing the real-time voltage signal feedback of hydraulic cylinder extension elongation, displacement transducer uses one and connect and be installed in the linear potentiometer of releasing the hydraulic cylinder external part and the modulus of 12 Bits Serial constitutes feedback circuit, feedback voltage signal is by passing to hydraulic controller after the analog-to-digital conversion, and the hydraulic controller judgement obtains releasing the real-time length L that hydraulic cylinder stretches out.If L＜(L
2-L
1), then hydraulic controller continues to pass through to the three position four-way electromagnetic valve signal, thereby makes the release hydraulic cylinder continue to stretch out, up to L=(L
2-L
1), hydraulic controller is given the three position four-way electromagnetic valve shutdown signal, makes the release hydraulic cylinder be in self-locking state, thereby guarantees that the flower and fruit thinning machine is within the job area that is fit to).If L
2＜L
1, illustrating that flower and fruit thinning machine distance objective fruit tree is too near, hydraulic controller makes for the three position four-way electromagnetic valve start signal to release hydraulic cylinder and does the action of returning, and drives adjustable shelf at the guide rail rollback that slides, up to the bar of the releasing hydraulic cylinder (L that needs that withdrawn
2-L
1) distance after stop, thereby make the flower and fruit thinning machine be in effective job area.When the release hydraulic cylinder was in the release state, the structure of suspension type hydraulic tracing control flower and fruit thinning machine as shown in Figure 2.
In step (3) and (4), when the shape imitation hydraulic cylinder carries out the profiling adjusting, be specially: after hydraulic tracing control flower and fruit thinning machine is in suitable job area, distance measuring sensor group on the feeler is measured the air line distance of the crown top of target fruit tree and bottom, calculate the crown and formed angle value in horizon of target fruit tree, and signal passed to hydraulic controller, being converted by hydraulic controller obtains direction of displacement and the shift length of shape imitation hydraulic cylinder.The real-time voltage signal feedback of shape imitation hydraulic cylinder extension elongation is by one and connect the linear potentiometer that is installed in the hydraulic cylinder external part and feedback circuit that the modulus of 12 Bits Serial constitutes provides, and this feedback voltage signal is given hydraulic controller after by analog-to-digital conversion.If actual measurement angle value is worth less than the target angle, hydraulic controller sends instruction to three position four-way electromagnetic valve, make the shape imitation hydraulic cylinder do the action of returning, the horizontal stand rear end that drives flower and fruit thinning mechanism mid frame descends, flower and fruit thinning mechanism rotates counterclockwise around adjustable shelf, when the displacement of shape imitation hydraulic cylinder reaches when adjusting to the corresponding displacement of target angle value, hydraulic controller is given the three position four-way electromagnetic valve shutdown signal, make the shape imitation hydraulic cylinder be in self-locking state, the primer fluid pressure motor makes flower and fruit thinning adhesive tape group begin rotary operation then, thereby reaches the purpose of profiling flower and fruit thinning.If actual measurement angle value is worth greater than the target angle, hydraulic controller makes the release hydraulic cylinder do the action of stretching out for the three position four-way electromagnetic valve start signal, drive the horizontal stand rear end lifting of flower and fruit thinning mechanism mid frame, flower and fruit thinning mechanism clockwise rotates around adjustable shelf, after having stretched out the displacement that needs, the bar of shape imitation hydraulic cylinder stops, hydraulic controller sends shutdown signal and makes the self-locking of shape imitation hydraulic cylinder, the primer fluid pressure motor makes flower and fruit thinning adhesive tape group begin rotary operation then, thereby reaches the purpose of profiling flower and fruit thinning.When the adjustment of shape imitation hydraulic cylinder was in the profiling state, the structure of suspension type hydraulic tracing control flower and fruit thinning machine as shown in Figure 3.
As mentioned above, just can realize the present invention preferably, above-described embodiment is preferred embodiment of the present invention only, is not to limit practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
Claims (9)
1. suspension type hydraulic tracing control flower and fruit thinning machine is characterized in that, comprises hanger bracket, adjustable shelf, release hydraulic cylinder, shape imitation hydraulic cylinder, flower and fruit thinning mechanism, hydraulic control device and feeler assembly; Adjustable shelf is located on the hanger bracket by guide rail, the release hydraulic cylinder is located on the hanger bracket and with adjustable shelf and is connected, the shape imitation hydraulic cylinder is located on the adjustable shelf and with flower and fruit thinning mechanism and is connected, and flower and fruit thinning mechanism also is connected with adjustable shelf by rotating shaft, and the feeler assembly is located at flower and fruit thinning mechanism one side; Release hydraulic cylinder, shape imitation hydraulic cylinder are connected with hydraulic control device by oil pipe respectively with flower and fruit thinning mechanism, and feeler assembly and hydraulic control device are electrically connected.
2. suspension type hydraulic tracing control flower and fruit thinning machine according to claim 1 is characterized in that, the external tractor of described hanger bracket, and the connected mode between hanger bracket and the tractor is the trifilar suspension formula.
3. suspension type hydraulic tracing control flower and fruit thinning machine according to claim 2 is characterized in that described feeler assembly comprises feeler and distance measuring sensor group, and distance measuring sensor is mounted on the feeler, and distance measuring sensor group and hydraulic control device are electrically connected; The distance measuring sensor group comprises the two cover ultrasonic sensors of being located at the feeler two ends respectively.
4. suspension type hydraulic tracing control flower and fruit thinning machine according to claim 3, it is characterized in that, described hydraulic control device comprises power supply, three position four-way electromagnetic valve, linear pattern overflow valve, fixed pressure reducing valve, valve plate, hydraulic controller, linear potentiometer, digital to analog converter and oil pipe, and three position four-way electromagnetic valve, linear pattern overflow valve and fixed pressure reducing valve are separately fixed on the valve plate; The hydraulic pressure output of oil pipe and tractor joins, and is output as the power output source with the hydraulic pressure of tractor; Hydraulic controller is connected with the shape imitation hydraulic cylinder with the release hydraulic cylinder respectively by oil pipe, release on hydraulic cylinder and the shape imitation hydraulic cylinder linear potentiometer is set respectively, linear potentiometer is electrically connected by lead and digital to analog converter, and digital to analog converter and distance measuring sensor group are electrically connected.
5. suspension type hydraulic tracing control flower and fruit thinning machine according to claim 3 is characterized in that, the fixed form of runners formula was fixed on the hanger bracket before and after described release hydraulic cylinder adopted, and the bar head of releasing hydraulic cylinder is connected with adjustable shelf.
6. suspension type hydraulic tracing control flower and fruit thinning machine according to claim 3 is characterized in that, described shape imitation hydraulic cylinder adopts the fixed form of forward flange formula to be fixed on the hanger bracket, and the bar head of shape imitation hydraulic cylinder is connected with flower and fruit thinning mechanism.
7. according to the described suspension type hydraulic tracing control of claim 6 flower and fruit thinning machine, it is characterized in that described flower and fruit thinning mechanism comprises flower and fruit thinning adhesive tape group, hydraulic motor and frame; Frame is L shaped structure, comprises the vertical rack and the horizontal stand that are connected; Hydraulic motor is fixed in the outer end of horizontal stand, and the flower and fruit thinning adhesive tape is mounted on the hydraulic motor output shaft, and hydraulic motor output shaft parallels with vertical rack; The bar head of shape imitation hydraulic cylinder is connected with horizontal stand; Hydraulic motor is connected by oil pipe with hydraulic control device.
8. suspension type hydraulic tracing control flower and fruit thinning machine according to claim 7, it is characterized in that, described flower and fruit thinning adhesive tape group comprises a plurality of adhesive tape, each adhesive tape evenly distributes on hydraulic motor output shaft, hydraulic motor output shaft is provided with the installing hole corresponding with each adhesive tape, be interference fit between each adhesive tape and the corresponding installing hole, two adjacent arbitrarily adhesive tape are " ten " font in the top plan view intersection.
9. the using method of described suspension type hydraulic tracing control flower and fruit thinning machine according to Claim 8 is characterized in that, may further comprise the steps:
(1) in the tractor driving process, the distance of target fruit tree and flower and fruit thinning adhesive tape group is surveyed and calculated to the distance measuring sensor group on the feeler, and send range data to hydraulic control device;
(2) after hydraulic control device is judged, send control instruction to releasing hydraulic cylinder, release hydraulic cylinder drive adjustable shelf stretches out or returns, adjustable shelf slides on the hanger bracket by guide rail, the slip of adjustable shelf drives feeler mechanism and flower and fruit thinning mechanism kinematic, thereby regulates the distance between flower and fruit thinning adhesive tape group and the target fruit tree;
(3) before the flower and fruit thinning operation, the formed angle in crown and horizon of target fruit tree is surveyed and calculated to the distance measuring sensor group on the feeler, and send the angle data to hydraulic control device;
(4) after hydraulic control device obtains the direction of displacement and shift length of shape imitation hydraulic cylinder to the angle data reduction, send control instruction to the shape imitation hydraulic cylinder, shape imitation hydraulic cylinder operation promotes the rotating shaft of flower and fruit thinning mechanism on adjustable shelf and rotates, and hydraulic motor output shaft and target fruit tree is crown near parallel in flower and fruit thinning mechanism;
(5) hydraulic control device sends control instruction to hydraulic motor, and the flower and fruit thinning adhesive tape group in the flower and fruit thinning mechanism begins rotary operation.
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| CN112189474A (en) * | 2020-08-28 | 2021-01-08 | 安徽军松现代农业科技有限公司 | Fruit tree trimming device |
| CN113243220A (en) * | 2021-05-21 | 2021-08-13 | 江苏省农业科学院 | Y-shaped shed frame pear garden fixed-distance profiling flower thinning machine and using method thereof |
| CN113692872A (en) * | 2021-08-25 | 2021-11-26 | 新疆农垦科学院 | Pull-type flower and fruit thinning device |
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| CN105794499A (en) * | 2016-03-30 | 2016-07-27 | 苏州亚思科精密数控有限公司 | Pruning method of green belt pruning machine |
| CN107771524A (en) * | 2016-08-26 | 2018-03-09 | 漳州速锐智能科技有限公司 | The automatic picking machine of tealeaves and its picking method |
| CN106857044A (en) * | 2017-03-03 | 2017-06-20 | 江苏省农业科学院 | A kind of single oil cylinder profiling flower and fruit thinning device |
| CN109121813A (en) * | 2018-07-17 | 2019-01-04 | 江苏省农业科学院 | A kind of frame Y type flower thinning of fruit trees device |
| CN110235641A (en) * | 2019-08-01 | 2019-09-17 | 华南农业大学 | A kind of lichee flower thinning feeler mechanism |
| CN111670715A (en) * | 2020-06-30 | 2020-09-18 | 华南农业大学 | Label inspection flower thinning device, orchard mechanical equipment and flower thinning method |
| CN112189474A (en) * | 2020-08-28 | 2021-01-08 | 安徽军松现代农业科技有限公司 | Fruit tree trimming device |
| CN111837701A (en) * | 2020-09-02 | 2020-10-30 | 山东农业大学 | Flower thinning arm based on image recognition and use method thereof |
| CN113243220A (en) * | 2021-05-21 | 2021-08-13 | 江苏省农业科学院 | Y-shaped shed frame pear garden fixed-distance profiling flower thinning machine and using method thereof |
| CN113692872A (en) * | 2021-08-25 | 2021-11-26 | 新疆农垦科学院 | Pull-type flower and fruit thinning device |
| CN117941552A (en) * | 2024-03-26 | 2024-04-30 | 山东坤得生态农业股份有限公司 | Flower thinning equipment for fruit trees |
| CN117941552B (en) * | 2024-03-26 | 2024-05-28 | 山东坤得生态农业股份有限公司 | Flower thinning equipment for fruit trees |
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Application publication date: 20130710 |