CN106402091A - Knocking type Chinese walnut picking machine - Google Patents
Knocking type Chinese walnut picking machine Download PDFInfo
- Publication number
- CN106402091A CN106402091A CN201610978999.6A CN201610978999A CN106402091A CN 106402091 A CN106402091 A CN 106402091A CN 201610978999 A CN201610978999 A CN 201610978999A CN 106402091 A CN106402091 A CN 106402091A
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- CN
- China
- Prior art keywords
- hydraulic cylinder
- hydraulic
- picking machine
- rod
- plc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
Abstract
The invention discloses a knocking type Chinese walnut picking machine which comprises a knocking bar, a hydraulic cylinder, a hydraulic pump, an electromagnetic reversing valve, an oil tank and a gasoline engine. The gasoline engine drives the hydraulic pump which is used for pumping hydraulic oil from the oil tank into the electromagnetic reversing valve, and the electromagnetic reversing valve is connected to the upper bottom point and the lower bottom point of the hydraulic cylinder through a first oil pipe and a second oil pipe correspondingly; the head end of the knocking bar is a free end, and the tail end of the knocking bar is connected with a piston rod of the hydraulic cylinder; and the lower portion of the knocking bar is hinged to a support fixed to a cylinder body of the hydraulic cylinder, and the hydraulic cylinder drives the piston rod to drive the head end of the knocking bar to swing around the support back and forth. A PLC is used for controlling the hydraulic machine, the knocking action in manual Chinese walnut picking can be completely simulated, and the knocking type Chinese walnut picking machine is compact in structure and convenient to use and carry.
Description
Technical field
The present invention relates to a kind of beat type hickory picking machine.
Background technology
Semen Caryae Cathayensis are the Anhui Zhejiang boundary one distinctive seeds of band, and economic worth is very high, but Semen Caryae Cathayensis picking fruit
Difficult.Cortex Juglandis unusual light, branch is crisp easy to break.Picking fruit also needs to orchard worker so far and climbs to the high walnut of ten or twenty rice
On beat with bamboo pole, orchard worker's high labor intensive, efficiency are low, particularly extremely dangerous, all can thus cause bitterness every year
Casualty accident, has the dead and wounded tragedy causing because of Semen Caryae Cathayensis harvesting every year.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of beat type hickory picking machine.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is, beat type hickory picking machine, including striking
Make rod, hydraulic cylinder, hydraulic pump, solenoid directional control valve, oil tank, petrol engine；
Petrol engine drives hydraulic pump, and hydraulic oil is squeezed into solenoid directional control valve from oil tank by hydraulic pump；Solenoid directional control valve
Respectively the upper bottom point of hydraulic cylinder and lower bottom point are connected to by the first oil pipe and the second oil pipe；
The head end beaing rod is free end, and the tail end beaing rod is connected with the piston rod of hydraulic cylinder；Beat rod bottom with
The bearing being fixed on hydraulic cylinder body is hinged, and Driven by Hydraulic Cylinder piston rod drives the head end beaing rod to make around the fulcrum of bearing
Reciprocally swinging.
Preferably, also including control device；Control device include programmable logic controller (PLC), electronic scale sensor and
Display screen；Programmable logic controller (PLC) is connected with solenoid directional control valve, electronic scale sensor respectively, display screen and FPGA
Controller connects.
Preferably, programmable logic controller (PLC) is connected with electronic scale sensor by RS485 communication cable.
Preferably, solenoid directional control valve is direct current 12V bidirectional electromagnetic valve, and hydraulic cylinder is Bidirectional piston type hydraulic cylinder.
Preferably, also including stick；The top of stick is fixedly connected with the cylinder body of hydraulic cylinder, and the cylinder of hydraulic cylinder
Body is vertically arranged, and hydraulic cylinder drives and beats the stroke that rod is made up and down reciprocatingly to swing.Further preferably, stick is asphalt mixtures modified by epoxy resin
The hollow bar that fat is made.
The invention has the beneficial effects as follows：
Hydraulic machinery is controlled by PLC, that can simulate artificial harvesting Semen Caryae Cathayensis completely beats action, compact conformation, makes
With with easy to carry.
Brief description
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural representation of beat type hickory picking machine embodiment of the present invention.
In figure labelling：1- beats rod, 2- bearing, 3- piston rod, 4- electronic scale sensor, 5- high-voltage oil cylinder, 501- oil
Bottom point on cylinder, bottom point under 502- oil cylinder, 6- stick, 7-RS485 communication cable, 8- high-pressure oil pipe, 9- high-pressure oil pipe, 10- enters
Oil pipe, 11- oil return pipe.
Specific embodiment
The present embodiment is to constitute a set of impact type walnut picking device, generation using hydraulic mechanism and PLC control system
For manually beaing Semen Caryae Cathayensis fruit it is not necessary to orchard worker climbs to is beaten with bamboo pole, as long as personnel grasp under Chinese walnut on tree
Vertical mechanical hand direction and angle, mechanical hand just is carried out beaing fruit by the position that operator specifies.The present embodiment adopts portable
Formula structure design, movement is light, assembling is fast, it is very simple to use, and technical key point is easy to learn, and general operation can be slapped at a glance
Hold, be especially suitable for orchard worker and grasp use.
Fig. 1 is a kind of Semen Caryae Cathayensis fruit picking, by beat rod 1, high-voltage oil cylinder 5, hydraulic oil pump, solenoid directional control valve, storage
Fuel tank, petrol engine, stick 6 form.Wherein hydraulic system is using the high-pressure system reaching 16MPa.
In addition also constitute a set of control by programmable logic controller (PLC) (PLC), electronic scale sensor 4 and display screen to fill
Put.
Petrol engine is connected with hydraulic pump, and drives hydraulic pump from oil tank, hydraulic oil to be squeezed into electricity by oil inlet pipe 10
Magnetic reversal valve.Solenoid directional control valve passes through high-pressure oil pipe 9 respectively and high-pressure oil pipe 8 is connected respectively to the upper bottom point 501 of high-voltage oil cylinder 5
With lower bottom point 502, the oil return of solenoid directional control valve returned in oil tank by oil return pipe 11.
The head end beaing rod 1 is free end, and the tail end beaing rod is connected with the piston rod 3 of high-voltage oil cylinder 5.Beat rod 1
Bottom is hinged with the bearing 2 being fixed on high-voltage oil cylinder 5 cylinder body.The inferior part of the cylinder block of the top of stick 6 and high-voltage oil cylinder 5 is fixed
Connect, allow the cylinder body of high-voltage oil cylinder 5 be vertically arranged during use, the piston rod of high-voltage oil cylinder moves up and down, drive and beat rod 1
Make the hammer action swinging up and down at the fulcrum of bearing 2.
PLC is connected with two-position five-way solenoid directional control valve, electronic scale sensor 4 respectively, and wherein PLC is communicated by RS485
Cable is connected with electronic scale sensor.Display screen is connected with PLC.
High-voltage oil cylinder selection Bidirectional piston type hydraulic jack, wherein a diameter of 20 millimeters of Bidirectional piston type hydraulic jack,
Piston stroke is 100 millimeters.
Solenoid directional control valve selects direct current 12V bi-directional electromagnetic reversal valve.
Petrol engine selects 2 horsepowers of petrol engine.
Work process：
Petrol engine starts rear-guard hydrodynamic press pump makes hydraulic oil produce the high pressure of 16MPa, flows to two-way through oil inlet pipe 10
Solenoid directional control valve.Bi-directional electromagnetic reversal valve has solenoid A and B of two electromagnetic valves of AB and dual control, and its operation principle is,
Instruction with PLC switches the high pressure liquid force feed trend in high-pressure oil pipe 9 and high-pressure oil pipe 8 respectively：When PLC instruction sends instruction
When requiring high-pressure oil pipe 9 output high pressure, at this moment the solenoid of the A electromagnetic valve of solenoid directional control valve instructs with PLC and obtains electric, band
Movable valve plug is moved to the left makes A fuel tap open, and hydraulic oil just flows at the upper bottom point 501 of high-voltage oil cylinder 5 from high-pressure oil pipe 9, simultaneously
Piston in high-voltage oil cylinder is moved downward, drive piston rod 3 also walk downwards therewith, piston rod drive simultaneously beat rod 1 around
The fulcrum of bearing 2, the head end beaing rod is just rotated up；When PLC instruction sends command request high-pressure oil pipe 8 output high pressure
When, at this moment the solenoid of the B electromagnetic valve of solenoid directional control valve instructs with PLC and obtains electric, and band movable valve plug moves right and makes B fuel tap
Open, hydraulic oil just flows at the lower bottom point 502 of high-voltage oil cylinder 5 from high-pressure oil pipe 8, simultaneously piston driving piston in high-voltage oil cylinder
Bar 4 is walked upwards, drives the fulcrum beaing rod around bearing 2, beat caput end and just rotate down when piston rod is walked upwards.
Realize being in reciprocally swinging back and forth up and down when beaing rod 1, just reach and imitate the effect manually beaten.
Beat rod 1 beat angle first will when mounted by adjust seat pivot height carry out larger adjustment,
Using when then can by control hydraulic jack piston rod stroke size realize finely tune.
The dynamics of beaing beaing rod 1 is then to be realized by the piston rod speed of travel controlling hydraulic jack.
Specifically, the Angle ambiguity beaing rod 1 is to carry out data acquisition by electronic scale sensor 4 analog quantity is turned
Change digital signal into, carry out communication through RS485 communication cable connection to PLC, control after PLC analysis the angle beaing rod operation and
Beat dynamics, angle can voluntarily select on demand, the dynamics of beaing can reach 700 kilograms, considerably beyond the dynamics of people, completely
May replace artificial.
Pluck personnel's gripping for convenience of Semen Caryae Cathayensis and carry with, stick 6 employs a diameter of 5 centimetres of hollow epoxy
Fat rod, with 1～2 meter for a section, often section two ends are connected with male and female screw.The low difference of the cause and effect height of tree, high fruit tree is just multi-link
Several sections, short fruit tree just connects several sections less, and the total height of stick depends on the height of fruit tree, dismounts and carry very convenient.
The present embodiment adopts small power machine and assemblnig part as far as possible, makes the form being easy to that orchard worker bears, greatly
Facilitate greatly and use and carry.
The technical characterstic of the present embodiment：
1st, adopt microminiature petrol engine, do not limited by occasion, may move freely.
2nd, apply hydraulic technique same, there is efficiency high, small volume.
3rd, adopt direct current 12V bidirectional hydraulic electromagnetic valve, for switching the direction of high pressure liquid oil.
4th, 20 millimeters of diameter, the bidirectional hydraulic oil cylinder of 100 millimeters of piston stroke are adopted, output can reach 700 kilograms of power,
Effectively change and beat the direction of motion of rod and beat dynamics.
5th, to be controlled using PLC, to beat beaing angle and can arbitrarily automatically switching as required and parameter setting of rod.
6th, in order to conveniently moving may be designed to piggy-back structure, orchard worker's back of the body can move with people in back and move.
7th, stick adopts the epoxy resin rod of high intensity, and hard durable is light.
Invention described above embodiment, does not constitute limiting the scope of the present invention.Any in the present invention
Spirit and principle within modification, equivalent and improvement of being made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (6)
1. beat type hickory picking machine it is characterised in that：Including beaing rod, hydraulic cylinder, hydraulic pump, solenoid directional control valve, store oil
Case, petrol engine；
Described petrol engine drives hydraulic pump, and hydraulic oil is squeezed into solenoid directional control valve from oil tank by hydraulic pump；Described electromagnetism changes
Respectively the upper bottom point of hydraulic cylinder and lower bottom point are connected to by the first oil pipe and the second oil pipe to valve；
The described head end beaing rod is free end, and the tail end beaing rod is connected with the piston rod of hydraulic cylinder, beat excellent bottom and
The bearing being fixed on hydraulic cylinder body is hinged, and Driven by Hydraulic Cylinder piston rod drives the head end beaing rod to make around the fulcrum of bearing
Reciprocally swinging.
2. beat type hickory picking machine according to claim 1 it is characterised in that：Also include control device；Described control
Device processed includes programmable logic controller (PLC), electronic scale sensor and display screen；Described programmable logic controller (PLC) respectively with
Solenoid directional control valve, electronic scale sensor connect, and described display screen is connected with programmable logic controller (PLC).
3. beat type hickory picking machine according to claim 2 it is characterised in that：Described programmable logic controller (PLC) leads to
Cross RS485 communication cable to be connected with electronic scale sensor.
4. beat type hickory picking machine according to claim 1 it is characterised in that：Described solenoid directional control valve is direct current
12V bidirectional electromagnetic valve, and hydraulic cylinder is Bidirectional piston type hydraulic cylinder.
5. beat type hickory picking machine according to claim 1 it is characterised in that：Also include stick；Described manipulation
The top of bar is fixedly connected with the cylinder body of hydraulic cylinder, and the cylinder body of hydraulic cylinder is vertically arranged, and hydraulic cylinder drives and beats rod work up and down
The stroke of reciprocally swinging.
6. beat type hickory picking machine according to claim 5 it is characterised in that：Described stick is epoxy resin system
The hollow bar becoming.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610978999.6A CN106402091B (en) | 2016-11-07 | 2016-11-07 | Beat type hickory picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610978999.6A CN106402091B (en) | 2016-11-07 | 2016-11-07 | Beat type hickory picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106402091A true CN106402091A (en) | 2017-02-15 |
| CN106402091B CN106402091B (en) | 2017-11-07 |
Family
ID=58015231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610978999.6A Active CN106402091B (en) | 2016-11-07 | 2016-11-07 | Beat type hickory picking machine |
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| CN (1) | CN106402091B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107667667A (en) * | 2017-11-17 | 2018-02-09 | 胡东英 | A kind of walnut picking device |
| CN107667668A (en) * | 2017-11-17 | 2018-02-09 | 胡东英 | Walnut picking device |
| CN108770490A (en) * | 2018-06-16 | 2018-11-09 | 杭州仙珑宇盈科技有限公司 | Hickory nut harvesting apparatus and method |
| CN110178547A (en) * | 2019-06-24 | 2019-08-30 | 东北林业大学 | A kind of Cone picking equipment |
Citations (7)
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|---|---|---|---|---|
| SU1009300A1 (en) * | 1981-07-10 | 1983-04-07 | Украинский научно-исследовательский институт сельскохозяйственного машиностроения | Disintegrating loader for coarse fodders |
| CN201027322Y (en) * | 2007-04-05 | 2008-02-27 | 中国人民解放军63983部队 | Depth controlling device of soil shifter stripping knife |
| CN202565758U (en) * | 2012-03-26 | 2012-12-05 | 陈建军 | Hickory nut picking device |
| CN102960122A (en) * | 2012-11-14 | 2013-03-13 | 浙江农林大学 | Beat type hickory picking machine |
| CN105570241A (en) * | 2016-03-14 | 2016-05-11 | 农业部南京农业机械化研究所 | Dynamic adjusting depth limiting device |
| CN205284206U (en) * | 2016-01-19 | 2016-06-08 | 云南农业大学 | Portable walnut picking machine |
| CN206221424U (en) * | 2016-11-07 | 2017-06-06 | 绩溪县东安自动化设备科技研发有限公司 | Beat type hickory picking machine |
-
2016
- 2016-11-07 CN CN201610978999.6A patent/CN106402091B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1009300A1 (en) * | 1981-07-10 | 1983-04-07 | Украинский научно-исследовательский институт сельскохозяйственного машиностроения | Disintegrating loader for coarse fodders |
| CN201027322Y (en) * | 2007-04-05 | 2008-02-27 | 中国人民解放军63983部队 | Depth controlling device of soil shifter stripping knife |
| CN202565758U (en) * | 2012-03-26 | 2012-12-05 | 陈建军 | Hickory nut picking device |
| CN102960122A (en) * | 2012-11-14 | 2013-03-13 | 浙江农林大学 | Beat type hickory picking machine |
| CN205284206U (en) * | 2016-01-19 | 2016-06-08 | 云南农业大学 | Portable walnut picking machine |
| CN105570241A (en) * | 2016-03-14 | 2016-05-11 | 农业部南京农业机械化研究所 | Dynamic adjusting depth limiting device |
| CN206221424U (en) * | 2016-11-07 | 2017-06-06 | 绩溪县东安自动化设备科技研发有限公司 | Beat type hickory picking machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107667667A (en) * | 2017-11-17 | 2018-02-09 | 胡东英 | A kind of walnut picking device |
| CN107667668A (en) * | 2017-11-17 | 2018-02-09 | 胡东英 | Walnut picking device |
| CN108770490A (en) * | 2018-06-16 | 2018-11-09 | 杭州仙珑宇盈科技有限公司 | Hickory nut harvesting apparatus and method |
| CN110178547A (en) * | 2019-06-24 | 2019-08-30 | 东北林业大学 | A kind of Cone picking equipment |
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| Publication number | Publication date |
|---|---|
| CN106402091B (en) | 2017-11-07 |
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