CN103460887A - Hydraulically powered peanut harvesting device - Google Patents
Hydraulically powered peanut harvesting device Download PDFInfo
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- CN103460887A CN103460887A CN2013104620009A CN201310462000A CN103460887A CN 103460887 A CN103460887 A CN 103460887A CN 2013104620009 A CN2013104620009 A CN 2013104620009A CN 201310462000 A CN201310462000 A CN 201310462000A CN 103460887 A CN103460887 A CN 103460887A
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- grippers
- oil circuit
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Abstract
The invention provides a hydraulically powered peanut harvesting device which comprises a grabbing component, a rack (2), a hydraulic cylinder component and a control component, wherein the grabbing component comprises a pair of grabbing parts (1), a flexible limiting belt (5) and two sensors (12a) (12b), and the top ends of the upper parts of the grabbing parts (1) are connected with two connecting rods (10) by a pivot; the supporting rack (2) is connected with the grabbing component by a grabbing part hinge shaft; the hydraulic cylinder component comprises a driving hydraulic cylinder (3), an upper oil channel (13a), a lower oil channel (13b) and a hydraulic valve (15); the control component is used for controlling the hydraulic valve (8) according to signals of the sensors, and accordingly respectively controls the oil feeding and oil returning of the upper oil channel (13a) and the lower oil channel (13b), so that the extension and retraction of a piston rod (4) of the driving hydraulic cylinder (3) are realized.
Description
Technical field
The application relates to the harvesting peanut device, is specially a kind of hydraulically powered harvesting peanut device.
Background technology
Peanut is one of most important crops of China, is accounting for very important status in the agricultural production of China.China take in many areas the plantation peanut be the main source of income, especially some local rural area in Shandong, the peanut of every Cotton Varieties by Small Farming Households up to tens mu, but be engaged in agriculture but transfer to urban work because the young man in present rural area generally stays out, life, therefore the labour who day by day reduces in village depends merely on manual results peanut and has been not enough to so large amount of labour, especially the season that need to gather in the crops at peanut, if catch up with rainwater weather not in time results can cause the peanut fruit to fall in the ground the difficulty that increases results, if perhaps dry weather, if results can increase because of the land for building hardening difficulty of results equally not in time.And automatic peanut reaping machine of the prior art is not mature enough, not high to effective snatch rate of peanut, easily miss the peanut in ground, reliability is not high, and cost is higher, and more complicated is installed.
Summary of the invention
The present invention is directed to existing technological deficiency, and provide a kind of, by hydraulic pressure cylinder assembly, realize that peanut seedling captures and the harvesting peanut device unclamped, its operating reliability is high, high to effective snatch rate of peanut, and flexible for installation, simple.
The scheme that the present invention adopts is: a kind of hydraulically powered harvesting peanut device, comprise the grippers assembly, the lifting vibration component, lifting assembly, hydraulic pressure cylinder assembly, Control Component and frame, described grippers assembly comprises a pair of grippers, described a pair of grippers is hinged by the grippers jointed shaft, the bottom that the described grippers jointed shaft of take is the separation grippers is outwards outstanding hook-type of both sides, for capturing the peanut seedling be planted in soil together with the peanut fruit, the top of grippers has two protrusion limiting sections that are positioned at end, described protrusion limiting section carries out spacing to closed amplitude when closed for the bottom in grippers, and there is the gap of strip between the top that is arranged so that described a pair of grippers of protrusion limiting section when closure, the both sides in described a pair of grippers strip gap below described protrusion limiting section have circular port, it is connected with the flexible band that limits, the described flexible band that limits links together the top of grippers, for limiting the amplitude of opening of described a pair of grippers, be provided with pulling force sensor for the flexible tension that limits band of sensing at a described flexible end place that limits band, protrude the limiting section place at two and be provided with the closure of feeler for two grippers of sensing, the top on described a pair of grippers top is connected with an end of two connecting rods by pivotal axis respectively, the other end of described two connecting rods connects by the mutual pivotable of connecting rod pivotal axis,
Described hydraulic pressure cylinder assembly is arranged on described frame and comprises driving hydraulic cylinder, upper oil circuit, lower oil circuit and hydraulic valve, the piston rod of described driving hydraulic cylinder is connected with described connecting rod pivotal axis, and described hydraulic valve is for being switched between oil-feed and oil return upper oil circuit, lower oil circuit respectively;
Described Control Component comprises control device and control line, described control device can receive the signal of described pulling force sensor and feeler, and can be according to the described hydraulic valve of the signal controlling of sensor, thereby respectively the oil-feed of upper oil circuit and lower oil circuit and oil return be controlled to realize to drive the stretching out and retraction of piston rod of hydraulic cylinder;
On under the control at hydraulic valve, oil circuit is as in-line and lower oil circuit during as return line, piston rod moves downward in driving hydraulic cylinder, thereby driving two connecting rods opens, now, the top of grippers assembly is opened and is being driven the flexible band that limits and outwards stretches under the pushing effect of connecting rod, when pulling force sensor senses flexible restriction band tension, signal is sent to control device, control device controls that hydraulic valve switches to return line by upper oil circuit and lower oil circuit switches to in-line, now, piston rod moves upward in driving hydraulic cylinder, thereby drive two connecting rod closures, now, the top of grippers assembly is closed under the traction action of connecting rod, when feeler sensing closure signal, closure signal is sent to control device, control device is controlled hydraulic valve and again upper oil circuit is switched to in-line and lower oil circuit is switched to return line, so circulation.
The present invention by the technique effect that adopts such scheme is, thereby the stretching of the flexible-belt sensed based on sensor by control device or contracted length signal controlling hydraulic valve are switched and are finally realized opening and closure of grippers assembly two oil circuits between oil-feed and oil return, make the operating reliability of harvesting peanut device of the present invention high, improved the efficiency of crop of peanut; The bottom of grippers is outwards outstanding hook-type of both sides, can realize the crawl on a large scale of peanut seedling, improves effective snatch rate of peanut; In addition, protrude limiting section and carry out can be closed in the bottom of grippers the time spacingly to closed amplitude, avoided the blindness closure of grippers, less waste.
The accompanying drawing explanation
Fig. 1 is the schematic diagram of grippers of the present invention while opening;
Schematic diagram when Fig. 2 is grippers closure of the present invention;
Fig. 3 is the assembling schematic diagram of harvesting peanut device of the present invention.
Embodiment
A kind of hydraulically powered harvesting peanut device, comprise the grippers assembly, the lifting vibration component, lifting assembly, hydraulic pressure cylinder assembly, Control Component and frame, described grippers assembly comprises a pair of grippers 1, described a pair of grippers 1 is hinged by the grippers jointed shaft, the bottom that the described grippers jointed shaft of take is separation grippers 1 is outwards outstanding hook-type of both sides, for capturing the peanut seedling be planted in soil together with the peanut fruit, the top of grippers 1 has two protrusion limiting sections 6 that are positioned at end, described protrusion limiting section 6 carries out spacing to closed amplitude when closed for the bottom in grippers 1, and there is the gap of strip between the top that is arranged so that described a pair of grippers 1 of protrusion limiting section when closure, the both sides in described a pair of grippers 1 strip gap below described protrusion limiting section have circular port, it is connected with flexible the restriction and is with 5, described flexible the restriction links together the top of grippers 1 with 5, for limiting the amplitude of opening of described a pair of grippers 1, be provided with pulling force sensor 12a for the flexible tension limited with 5 of sensing at the described flexible end place limited with 5, protrude limiting section 6 places at two and be provided with the closure of feeler 12b for two grippers of sensing, the top on described a pair of grippers 1 top is connected with an end of two connecting rods 10 by pivotal axis respectively, the other end of described two connecting rods 10 connects by the mutual pivotable of connecting rod pivotal axis,
Described hydraulic pressure cylinder assembly is arranged on described frame and comprises driving hydraulic cylinder 3, upper oil circuit 13a, lower oil circuit 13b and hydraulic valve 8, the piston rod 4 of described driving hydraulic cylinder 3 is connected with described connecting rod pivotal axis, and described hydraulic valve 8 is for being switched between oil-feed and oil return upper oil circuit 13a, lower oil circuit 13b respectively;
Described Control Component comprises control device 9 and control line 11, described control device 9 can receive the signal of described pulling force sensor 12a and feeler 12b, and can be according to the described hydraulic valve 8 of the signal controlling of sensor, thereby respectively the oil-feed of upper oil circuit 13a and lower oil circuit 13b and oil return be controlled to realize to drive the stretching out and retraction of piston rod 4 of hydraulic cylinder 3;
On under the control at hydraulic valve 8, oil circuit 13a is as in-line and lower oil circuit 13b during as return line, piston rod 4 moves downward in driving hydraulic cylinder 3, thereby driving two connecting rods 10 opens, now, the top of grippers assembly is opened and is being driven flexible the restriction and is with 5 outwards to stretch under the pushing effect of connecting rod 10, when pulling force sensor 12a senses flexible the restriction while being with 5 tension, signal is sent to control device 9, control device 9 controls that hydraulic valves 8 switch to return line by upper oil circuit 13a and lower oil circuit 13b switches to in-line, now, piston rod 4 moves upward in driving hydraulic cylinder 3, thereby drive two connecting rod 10 closures, now, the top of grippers assembly is closed under the traction action of connecting rod 10, when feeler 12b sensing closure signal, closure signal is sent to control device 9, control device 9 is controlled hydraulic valve 8 and again upper oil circuit 13a is switched to in-line and lower oil circuit 13b is switched to return line, so circulation.
Claims (1)
1. a hydraulically powered harvesting peanut device, comprise the grippers assembly, the lifting vibration component, lifting assembly, hydraulic pressure cylinder assembly, Control Component and frame (2), described grippers assembly comprises a pair of grippers (1), described a pair of grippers (1) is hinged by the grippers jointed shaft, the bottom that the described grippers jointed shaft of take is separation grippers (1) is outwards outstanding hook-type of both sides, for capturing the peanut seedling be planted in soil together with the peanut fruit, the top of grippers (1) has two protrusion limiting sections (6) that are positioned at end, described protrusion limiting section (6) carries out spacing to closed amplitude when closed for the bottom in grippers (1), and there is the gap of strip between the top that is arranged so that described a pair of grippers (1) of protrusion limiting section when closure, described a pair of grippers (1) has circular port in the both sides in strip gap below described protrusion limiting section, it is connected with the flexible band (5) that limits, the described flexible band (5) that limits links together the top of grippers (1), for limiting the amplitude of opening of described a pair of grippers (1), be provided with pulling force sensor (12a) for the flexible tension that limits band (5) of sensing at a described flexible end place that limits band (5), protrude limiting section (6) at two and locate to be provided with the closure of feeler (12b) for two grippers of sensing, the top on described a pair of grippers (1) top is connected with an end of two connecting rods (10) by pivotal axis respectively, the other end of described two connecting rods (10) connects by the mutual pivotable of connecting rod pivotal axis,
The described frame (2) that is arranged on described hydraulic pressure cylinder assembly goes up and comprises and drive hydraulic cylinder (3), upper oil circuit (13a), lower oil circuit (13b) and hydraulic valve (8), the piston rod (4) of described driving hydraulic cylinder (3) is connected with described connecting rod pivotal axis, and described hydraulic valve (8) is for being switched between oil-feed and oil return upper oil circuit (13a), lower oil circuit (13b) respectively;
Described Control Component comprises control device (9) and control line (11), described control device (9) can receive the signal of described pulling force sensor (12a) and feeler (12b), and can be according to the described hydraulic valve of the signal controlling of sensor (8), thereby the stretching out and retraction of the piston rod (4) of respectively oil-feed and the oil return of upper oil circuit (13a) and lower oil circuit (13b) being controlled to realize driving hydraulic cylinder (3);
Under the control in hydraulic valve (8), upper oil circuit (13a) is as in-line and lower oil circuit (13b) during as return line, piston rod (4) moves downward in driving hydraulic cylinder (3), thereby driving two connecting rods (10) opens, now, the top of grippers assembly is opened and is being driven the flexible band (5) that limits and outwards stretches under the pushing effect of connecting rod (10), when pulling force sensor (12a) senses flexible restriction band (5) tension, signal is sent to control device (9), control device (9) controls that hydraulic valve (8) switches to return line by upper oil circuit (13a) and lower oil circuit (13b) switches to in-line, now, piston rod (4) moves upward in driving hydraulic cylinder (3), thereby drive two connecting rods (10) closure, now, the top of grippers assembly is closed under the traction action of connecting rod (10), when feeler (12b) sensing closure signal, closure signal is sent to control device (9), control device (9) is controlled hydraulic valve (8) and again upper oil circuit (13a) is switched to in-line and lower oil circuit (13b) is switched to return line, so circulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310462000.9A CN103460887B (en) | 2013-10-08 | 2013-10-08 | Hydraulically powered peanut harvesting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310462000.9A CN103460887B (en) | 2013-10-08 | 2013-10-08 | Hydraulically powered peanut harvesting device |
Publications (2)
| Publication Number | Publication Date |
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| CN103460887A true CN103460887A (en) | 2013-12-25 |
| CN103460887B CN103460887B (en) | 2015-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310462000.9A Expired - Fee Related CN103460887B (en) | 2013-10-08 | 2013-10-08 | Hydraulically powered peanut harvesting device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9775294B2 (en) | 2015-06-30 | 2017-10-03 | Indústrias Reunidas Colombo Ltda. | Modular gathering platform for grain harvesters |
| US9788488B2 (en) | 2015-03-30 | 2017-10-17 | Indústrias Reunidas Colombo Ltda. | Harvester and processor for peanuts |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08318488A (en) * | 1995-05-19 | 1996-12-03 | Kubota Corp | Robot hand |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN201238468Y (en) * | 2008-08-16 | 2009-05-20 | 王汉武 | Digging device of beet harvester |
| JP2009202332A (en) * | 2008-01-28 | 2009-09-10 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| CN202009581U (en) * | 2010-11-01 | 2011-10-19 | 崔永杰 | End effector for picking fruits and vegetables |
| CN103029132A (en) * | 2012-12-18 | 2013-04-10 | 西北农林科技大学 | Tail end executing mechanism and picking method for spherical fruit automatic picker |
-
2013
- 2013-10-08 CN CN201310462000.9A patent/CN103460887B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08318488A (en) * | 1995-05-19 | 1996-12-03 | Kubota Corp | Robot hand |
| JP2009202332A (en) * | 2008-01-28 | 2009-09-10 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| CN201238468Y (en) * | 2008-08-16 | 2009-05-20 | 王汉武 | Digging device of beet harvester |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN202009581U (en) * | 2010-11-01 | 2011-10-19 | 崔永杰 | End effector for picking fruits and vegetables |
| CN103029132A (en) * | 2012-12-18 | 2013-04-10 | 西北农林科技大学 | Tail end executing mechanism and picking method for spherical fruit automatic picker |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9788488B2 (en) | 2015-03-30 | 2017-10-17 | Indústrias Reunidas Colombo Ltda. | Harvester and processor for peanuts |
| US9775294B2 (en) | 2015-06-30 | 2017-10-03 | Indústrias Reunidas Colombo Ltda. | Modular gathering platform for grain harvesters |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103460887B (en) | 2015-03-25 |
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Owner name: DINGYUAN JINSHENG AGRICULTURAL DEVELOPMENT CO., LT Free format text: FORMER OWNER: WANG JIANQIANG Effective date: 20150225 |
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Inventor after: Yang Dongsheng Inventor before: Wang Jianqiang |
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Free format text: CORRECT: ADDRESS; FROM: 321001 JINHUA, ZHEJIANG PROVINCE TO: 233230 CHUZHOU, ANHUI PROVINCE Free format text: CORRECT: INVENTOR; FROM: WANG JIANQIANG TO: YANG DONGSHENG |
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Effective date of registration: 20150225 Address after: 233230, Jinshan County, West Town, Dingyuan County, Chuzhou, Anhui Applicant after: DINGYUAN JINSHENG AGRICULTURAL DEVELOPMENT CO., LTD. Address before: 401, room 2, unit 14, Beiyuan community, Wucheng District, Jinhua, Zhejiang, 321001 Applicant before: Wang Jianqiang |
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