CN105766098A - Mechanohydraulic servo system for obstacle avoidance of orchard cultivator - Google Patents
Mechanohydraulic servo system for obstacle avoidance of orchard cultivator Download PDFInfo
- Publication number
- CN105766098A CN105766098A CN201610247933.XA CN201610247933A CN105766098A CN 105766098 A CN105766098 A CN 105766098A CN 201610247933 A CN201610247933 A CN 201610247933A CN 105766098 A CN105766098 A CN 105766098A
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- hydraulic
- orchard
- oil
- servovalve
- mechanohydraulic
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/16—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a mechanohydraulic servo system for obstacle avoidance of an orchard cultivator, which belongs to the technical field of agricultural mechanohydraulic servo control. The system mainly comprises an elastic lever, a mechanohydraulic servo valve, a hydraulic oil source, an overflow valve, a parallelogram mechanism and a hydraulic cylinder. A three-point rear suspension of a tractor is provided with the cultivator of the system, the cultivator performs cultivation along a straight line between rows of an orchard, the mechanohydraulic servo valve is at a normal position under the action of a restoring spring, a cultivation operation part chassis is located at one side toward a fruit tree trunk, and the orchard cultivator can carry out cultivation operation in areas between fruit trees of the orchard; when the elastic lever touches the fruit tree trunk, the communication state of the oil passage of the mechanohydraulic servo valve is changed, the piston rod of the hydraulic cylinder drives the parallelogram mechanism, so that the cultivation operation part chassis swings away from the fruit tree trunk; consequently, the cultivation operation part chassis avoids the trunk obstacle. The invention is applicable to the realization of the trunk obstacle avoidance operation of orchard cultivators.
Description
Art
The present invention relates to agricultural machinery hydraulic servo control system, be a kind of mechanical hydraulic servo system dodging trunk barrier for orchard cultivator.
Background technology
Cultivator refer to carry out loosening the soil in process of crop growth, weeding, the operation such as ridging soil cultivating machine.Currently, according to the different structure of intertillage operation parts and function, domestic orchard cultivator tool substantially can be divided into: weeder, rotary cultivator, subsoiler, sport etc..For a long time, most domestic orchard adopts the cropping pattern of Cold region apple；Part orchard planting small scale, the line-spacing of fruit tree is mostly at about 3m；By the impact of trunk, the working width of orchard cultivator tool is within 2m, and the trunk of fruit tree is exactly the barrier of cultivating tillage equipment.The starting of domestic Machinery for orchardization is late, and the orchard intertillage state of the art and existing problems are as follows: (1) is current, and the type of application is mainly tiller, developed by hand tractor, relying on artificial hand steered control, therefore manual operation is wasted time and energy, and labor intensity is big；(2) in Cold region apple type orchard, fruit tree line-spacing is less, and working width is restricted, and hand control turns to, it is harder to shift；Due to the obstruction of trunk, go together the operating area between two strain fruit trees cannot straight line farming, balk many；(3) tiller drives power to be generally no greater than 7.5kW, and the impact of power driven is poor to the soil adaptive capacity of different qualities；(4) product function of domestic-developed by single rotary tillage function to multi-functional development, mix corresponding agricultural machinery and implement can realize rotary tillage, ploughing, hoe up weeds, ditch, the various functional operation such as ridging；(5) possesses the orchard cultivator tool dodging the barrier functions such as trunks of fruit trees comparatively rare.
Mechanical hydraulic servo system and machinery Hydraulic Servo system, refer to the feedback control system being made up of mechanical feedback device and Hydraulic power units.Mechanical hydraulic servo system is mainly used to carry out position control.In mechanical hydraulic servo system, the detection of signal, input, feedback, relatively all by means of mechanical part.Therefore, mechanical hydraulic servo system has simple in construction, reliable operation, the advantage that is easily maintained.
Summary of the invention
The technical problem to be solved in the present invention is: based on hydromechanical control servo principle, and intertillage operation parts frame can be made automatically to avoid trunks of fruit trees, it is achieved the soil region between farming colleague fruit tree.
The technical solution adopted for the present invention to solve the technical problems is:
Orchard cultivator avoidance mechanical hydraulic servo system specifically includes that elastic lever (2), hydraulic servovalve (3), hydraulic oil source (5), intertillage operation parts frame (6), overflow valve (7), right bar (9), hanger bracket (10), hydraulic cylinder (11), left bar (12)；Described elastic lever (2) is hinged with the valve core rod of intertillage operation parts frame (6), hydraulic servovalve (3), constitutes leverage；Described hydraulic servovalve (3) is two-position four-way valve, and under the effect of its back-moving spring, spool is in normal position；Described hydraulic oil source (5) can be from tractor hydraulic output, it is also possible to is the pressure oil liquid of tractor motive power output shaft driving hydraulic pump formation；Described hydraulic servovalve (3), overflow valve (7) are arranged on intertillage operation parts frame (6) top；Described intertillage operation parts frame (6) can configure corresponding orchard intertillage operation parts as required；Described hydraulic cylinder (11) is single rod piston cylinder, and afterbody is hinged with hanger bracket (10), and piston rod is hinged with left bar (12)；Described hanger bracket (10) can 3 rear-mounteds and tractor mounting；Described left bar (12) and right bar (9) are isometric and parallel a pair rod members；Described intertillage operation parts frame (6), hanger bracket (10), left bar (12) and right bar (9) consist of parallel-crank mechanism together hinge, described hanger bracket (10) is the frame of parallel-crank mechanism, described left bar (12) and right bar (9) are the side links of parallel-crank mechanism, and described intertillage operation parts frame (6) is the connecting rod of parallel-crank mechanism；Described hydraulic servovalve (3), hydraulic oil source (5), overflow valve (7), hydraulic cylinder (11) connect its corresponding hydraulic fluid port by oil pipe, form hydraulic circuit.
The element connection of hydraulic circuit is as follows: hydraulic oil source (5) is linked up by the oil-in (P) of oil pipe with hydraulic servovalve (3)；The oil return opening (T) of hydraulic servovalve (3) is linked up with fuel tank (4) by oil pipe；First actuator port (A) of hydraulic servovalve (3) is linked up by the rodless cavity of oil pipe with hydraulic cylinder (11)；Second actuator port (B) of hydraulic servovalve (3) is linked up by the rod chamber of oil pipe with hydraulic cylinder (11)；The oil-in of overflow valve (7) is linked up with hydraulic oil source (5) by oil pipe, and the oil return opening of overflow valve (7) is linked up with fuel tank (8) by oil pipe.
The invention has the beneficial effects as follows: compared with other cultivating tillage equipments, if cultivator is equipped with avoidance hydromechanical control servo system, when 3 rear-mounted straight line operations of tractor, intertillage operation parts can be made to dodge trunks of fruit trees barrier, realize farming to go together the region between two strain fruit trees, plough-leaking phenomenon can being avoided the occurrence of, thus improving farming efficiency and quality, reducing labor intensity.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the control principle sketch overlooked when not touching trunks of fruit trees of the present invention.
Fig. 2 is the control principle sketch overlooked when dodging trunks of fruit trees of the present invention.
In figure, the corresponding component title that the numeral of lead-in wire labelling is represented is as follows: 1. trunks of fruit trees, 2. elastic lever, 3. hydraulic servovalve, 4. fuel tank, 5. hydraulic oil source, 6. intertillage operation parts frame, 7. overflow valve, 8. fuel tank, 9. right bar, 10. hanger bracket, 11. hydraulic cylinders, 12. left bars.
Detailed description of the invention
In FIG, tractor passes through 10 3 rear-mounted intertillage operation parts frames 6 of hanger bracket, and linearly in orchard row-crop work；Now, elastic lever 2 does not touch trunks of fruit trees 1；Hydraulic servovalve 3 is in upper under the effect of its back-moving spring；From the pressure oil liquid of hydraulic oil source 5 through the rodless cavity of the upper entrance hydraulic cylinder 11 of hydraulic servovalve 3, the piston rod of hydraulic cylinder 11 is in the state of stretching out；Therefore, intertillage operation parts frame 6 is in deflection trunks of fruit trees 1 side；So, orchard cultivator can realize orchard with the intertillage operation in region between a line fruit tree.
In fig. 2, when elastic lever 2 touches trunks of fruit trees 1, elastic lever 2 stress deformation around fulcrum, and the valve core rod of hydraulic servovalve 3 is formed pulling force；This pulling force deforms with elastic lever 2 and increases, the relative valve body of spool of hydraulic servovalve 3 and be in bottom, the oil circuit communication situation of hydraulic servovalve 3 changes, the next through hydraulic servovalve 3 from the pressure oil liquid of hydraulic oil source 5, arrive the rod chamber of hydraulic cylinder 11, the piston rod driving hydraulic cylinder 11 is retracted, and the piston rod of hydraulic cylinder 11 drives the left bar 12 of parallel-crank mechanism, makes left bar 12 swing to the direction of deviation trunks of fruit trees 1；So, intertillage operation parts frame 6 will deviate from trunks of fruit trees 1, avoids trunk barrier.
Claims (2)
1. an orchard cultivator avoidance mechanical hydraulic servo system, mainly includes elastic lever (2), hydraulic servovalve (3), hydraulic oil source (5), intertillage operation parts frame (6), overflow valve (7), right bar (9), hanger bracket (10), hydraulic cylinder (11), left bar (12)；It is characterized in that:
Described elastic lever (2) is hinged with the valve core rod of intertillage operation parts frame (6), hydraulic servovalve (3), constitutes leverage；
Described hydraulic servovalve (3) is two-position four-way valve, and under the effect of its back-moving spring, spool is in normal position；
Described hydraulic oil source (5) can be from tractor hydraulic output, it is also possible to is the pressure oil liquid of tractor motive power output shaft driving hydraulic pump formation；
Described hydraulic servovalve (3), overflow valve (7) are arranged on intertillage operation parts frame (6) top；
Described intertillage operation parts frame (6) can configure corresponding orchard intertillage operation parts as required；
Described hydraulic cylinder (11) is single rod piston cylinder, and afterbody is hinged with hanger bracket (10), and piston rod is hinged with left bar (12)；
Described hanger bracket (10) can 3 rear-mounteds and tractor mounting；
Described left bar (12) and right bar (9) are isometric and parallel a pair rod members；
Described intertillage operation parts frame (6), hanger bracket (10), left bar (12) and right bar (9) consist of parallel-crank mechanism together hinge, described hanger bracket (10) is the frame of parallel-crank mechanism, described left bar (12) and right bar (9) are the side links of parallel-crank mechanism, and described intertillage operation parts frame (6) is the connecting rod of parallel-crank mechanism；
Described hydraulic servovalve (3), hydraulic oil source (5), overflow valve (7), hydraulic cylinder (11) connect its corresponding hydraulic fluid port by oil pipe, form hydraulic circuit.
2. a kind of orchard cultivator avoidance mechanical hydraulic servo system according to claim 1, is characterized in that the element connection of hydraulic circuit is as follows: hydraulic oil source (5) is linked up by the oil-in (P) of oil pipe with hydraulic servovalve (3)；The oil return opening (T) of hydraulic servovalve (3) is linked up with fuel tank (4) by oil pipe；First actuator port (A) of hydraulic servovalve (3) is linked up by the rodless cavity of oil pipe with hydraulic cylinder (11)；Second actuator port (B) of hydraulic servovalve (3) is linked up by the rod chamber of oil pipe with hydraulic cylinder (11)；The oil-in of overflow valve (7) is linked up with hydraulic oil source (5) by oil pipe, and the oil return opening of overflow valve (7) is linked up with fuel tank (8) by oil pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610247933.XA CN105766098A (en) | 2016-04-13 | 2016-04-13 | Mechanohydraulic servo system for obstacle avoidance of orchard cultivator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610247933.XA CN105766098A (en) | 2016-04-13 | 2016-04-13 | Mechanohydraulic servo system for obstacle avoidance of orchard cultivator |
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| CN105766098A true CN105766098A (en) | 2016-07-20 |
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| CN201610247933.XA Pending CN105766098A (en) | 2016-04-13 | 2016-04-13 | Mechanohydraulic servo system for obstacle avoidance of orchard cultivator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106954430A (en) * | 2017-05-09 | 2017-07-18 | 新疆农垦科学院 | A kind of avoiding device |
| CN107690939A (en) * | 2017-11-15 | 2018-02-16 | 宁夏智源农业装备有限公司 | Hay mover and mowing system |
| CN109257967A (en) * | 2018-10-29 | 2019-01-25 | 宁夏农林科学院枸杞工程技术研究所 | The dedicated bilateral grass-remover of fructus lycii |
| CN109451958A (en) * | 2018-11-06 | 2019-03-12 | 常州汉森机械股份有限公司 | The mowing-apparatus and grass trimmer of automatic beat |
| CN111350775A (en) * | 2020-03-09 | 2020-06-30 | 袁国华 | Fork truck with automatic brake |
| CN112314089A (en) * | 2019-08-05 | 2021-02-05 | 南京农业大学 | Biasing mechanism of agricultural implement |
| CN112314178A (en) * | 2019-08-05 | 2021-02-05 | 南京农业大学 | Pull-type orchard mower biasing mechanism |
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| EP0480158A1 (en) * | 1990-10-08 | 1992-04-15 | Maschinenfabrik Bermatingen GmbH & Co. | Agricultural machine |
| RU2326516C2 (en) * | 2006-04-19 | 2008-06-20 | ФГОУ ВПО "Мичуринский государственный аграрный университет" | Machine for tree based parts dressing |
| RU2357390C1 (en) * | 2008-01-09 | 2009-06-10 | Государственное научное учреждение Всероссийский научно-исследовательский институт агролесомелиорации | Device for tilling in perennial plant rows |
| RU2462014C1 (en) * | 2011-04-29 | 2012-09-27 | ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ ОБРАЗОВАТЕЛЬНОЕ УЧРЕЖДЕНИЕ ВЫСШЕГО ПРОФЕССИОНАЛЬНОГО ОБРАЗОВАНИЯ МОСКОВСКИЙ ГОСУДАРСТВЕННЫЙ АГРОИНЖЕНЕРНЫЙ УНИВЕРСИТЕТ имени В.П. Горячкина (ФГОУ ВПО МГАУ) | Tool for intrarow tillage in orcharding |
| CN203912472U (en) * | 2014-07-08 | 2014-11-05 | 阿拉尔润农现代农业科技有限公司 | Single plough formula orchard cultivator |
| CN104718814A (en) * | 2013-12-23 | 2015-06-24 | 江苏金秆农业装备有限公司 | Rod contact type lateral displacement avoiding rotary cultivator |
| CN205694091U (en) * | 2016-04-13 | 2016-11-23 | 塔里木大学 | A kind of orchard cultivator avoidance mechanical hydraulic servo system |
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2016
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| EP0480158A1 (en) * | 1990-10-08 | 1992-04-15 | Maschinenfabrik Bermatingen GmbH & Co. | Agricultural machine |
| RU2326516C2 (en) * | 2006-04-19 | 2008-06-20 | ФГОУ ВПО "Мичуринский государственный аграрный университет" | Machine for tree based parts dressing |
| RU2357390C1 (en) * | 2008-01-09 | 2009-06-10 | Государственное научное учреждение Всероссийский научно-исследовательский институт агролесомелиорации | Device for tilling in perennial plant rows |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106954430A (en) * | 2017-05-09 | 2017-07-18 | 新疆农垦科学院 | A kind of avoiding device |
| CN107690939A (en) * | 2017-11-15 | 2018-02-16 | 宁夏智源农业装备有限公司 | Hay mover and mowing system |
| CN109257967A (en) * | 2018-10-29 | 2019-01-25 | 宁夏农林科学院枸杞工程技术研究所 | The dedicated bilateral grass-remover of fructus lycii |
| CN109451958A (en) * | 2018-11-06 | 2019-03-12 | 常州汉森机械股份有限公司 | The mowing-apparatus and grass trimmer of automatic beat |
| CN109451958B (en) * | 2018-11-06 | 2024-03-26 | 常州汉森机械股份有限公司 | Automatic deflection mowing device and mowing machine |
| CN112314089A (en) * | 2019-08-05 | 2021-02-05 | 南京农业大学 | Biasing mechanism of agricultural implement |
| CN112314178A (en) * | 2019-08-05 | 2021-02-05 | 南京农业大学 | Pull-type orchard mower biasing mechanism |
| CN111350775A (en) * | 2020-03-09 | 2020-06-30 | 袁国华 | Fork truck with automatic brake |
| CN111350775B (en) * | 2020-03-09 | 2021-11-19 | 衡阳宝坤机械制造有限公司 | Fork truck with automatic brake |
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