CN206592356U - One kind tree fruit picking machine tool hand hydraulic system - Google Patents
One kind tree fruit picking machine tool hand hydraulic system Download PDFInfo
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- CN206592356U CN206592356U CN201621388212.2U CN201621388212U CN206592356U CN 206592356 U CN206592356 U CN 206592356U CN 201621388212 U CN201621388212 U CN 201621388212U CN 206592356 U CN206592356 U CN 206592356U
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Abstract
The utility model provides a kind of tree fruit picking machine tool hand hydraulic system；The tree fruit picking machine tool hand hydraulic system includes fuel tank, filter, pump one, pump two, check valve one, check valve two, safety valve one, remote pressure regulating valve one, safety valve two, remote pressure regulating valve two, oscillating cylinder control valve, picking claw cylinder control valve, wrist cylinder control valve, forearm cylinder control valve, large arm cylinder control valve, rotary motor control valve, choke valve one, choke valve two, flow speed control valve one, flow speed control valve two, choke valve three, hydraulic lock one, hydraulic lock two, hydraulic lock three, oscillating cylinder, picking claw cylinder, wrist cylinder, forearm cylinder, large arm cylinder and rotary motor.Using the technical solution of the utility model, it is possible to achieve the automatic harvesting of fruit of tree, labor intensity can be mitigated significantly, picking operations efficiency is improved, and it is functional, having stable behavior, easy to operate.
Description
Technical field
The utility model belongs to agricultural mechanical field, more particularly to a kind of tree fruit picking machine tool hand hydraulic system.
Background technology
Tree fruit（Such as Chinese chestnut）Harvest is a kind of labor-intensive work, and due to plucking the complexity of operation, harvesting is certainly
Dynamicization degree is still very low.Universal picking method is at present：Beaten with bamboo pole or waddy alignment tree fruit and its connected branch,
Tree fruit is set to be split away off from connected branch, the tree come off fruit is collected by harvesting personnel.So picking method is time-consuming
Laborious and inefficiency.The features such as complexity and unstructured growing environment for being grown due to tree fruit, tree fruit in the market
Picking mechanical typically uses purely mechanic transmission device, there are complex structure and other problems.
Utility model content
For existing weak point in the art, the utility model provides a kind of tree fruit picking machine tool hand hydraulic system,
With power-driven system of the hydraulic system as manipulator, the manipulator is the full hydraulic drive manipulator with 5 frees degree,
5 frees degree of manipulator are controlled by oscillating cylinder, picking claw cylinder, wrist cylinder, forearm cylinder, large arm cylinder, rotary motor respectively,
Wherein, picking claw is comb teeth-shaped, up and down two panels, retractable, and tree fruit is captured with it.Oscillating cylinder driving picking claw or so plucks fruit,
Speed is completed by throttle valve adjustment, positioning by hydraulic lock.Wrist cylinder controls the flexion-extension of picking claw, and responsiveness is by correspondence flow speed control valve
Complete, large arm cylinder and forearm cylinder are used to control two-arm coordination to make picking claw ramp arrival operation height, its position by
Correspondence hydraulic lock is completed, and responsiveness is completed by flow speed control valve.The system be double pump oil supply system, can avoid multi-execution component by
The action interference caused in pressure, flow difference.
One kind tree fruit picking machine tool hand hydraulic system, including fuel tank, filter, pump one, pump two, check valve one, check valve
2nd, safety valve one, remote pressure regulating valve one, safety valve two, remote pressure regulating valve two, oscillating cylinder control valve, picking claw cylinder control valve, wrist
Portion's cylinder control valve, forearm cylinder control valve, large arm cylinder control valve, rotary motor control valve, choke valve one, choke valve two, flow speed control valve
First, flow speed control valve two, choke valve three, hydraulic lock one, hydraulic lock two, hydraulic lock three, oscillating cylinder, picking claw cylinder, wrist cylinder, forearm
Cylinder, large arm cylinder and rotary motor；
Wherein, the fuel tank is connected with the filter by oil pipe, and the pump one passes through oil pipe with the check valve one
Connection, the pump two is connected with the check valve two by oil pipe, remote control mouthful and the remote pressure regulating valve of the safety valve one
One is connected by oil pipe, and the remote control mouthful of the safety valve two is connected with the remote pressure regulating valve two by oil pipe, the oscillating cylinder
Control valve hydraulic fluid port A is connected with the choke valve one by oil pipe, and the choke valve one is connected with the hydraulic lock one by oil pipe,
The hydraulic lock one is connected with the oscillating cylinder by oil pipe, and the hydraulic lock one passes through with the oscillating cylinder control valve hydraulic fluid port B
Oil pipe is connected, and the picking claw cylinder control valve hydraulic fluid port A is connected with the choke valve two by oil pipe, the choke valve two with it is described
Picking claw cylinder rodless cavity is connected by oil pipe, and the picking claw cylinder rod chamber passes through oil with the picking claw cylinder control valve hydraulic fluid port B
Pipe is connected, and the wrist cylinder control valve hydraulic fluid port A is connected with the flow speed control valve one by oil pipe, the flow speed control valve one and the wrist
Cylinder rodless cavity is connected by oil pipe, and the wrist cylinder rod chamber is connected with the wrist cylinder control valve hydraulic fluid port B by oil pipe, described
Forearm cylinder control valve hydraulic fluid port A is connected with the flow speed control valve two by oil pipe, and the flow speed control valve two passes through oil with the hydraulic lock two
Pipe is connected, and the hydraulic lock two is connected with the forearm cylinder rodless cavity by oil pipe, the forearm cylinder rod chamber and the hydraulic pressure
Lock two is connected by oil pipe, and the hydraulic lock two is connected with the forearm cylinder control valve hydraulic fluid port B by oil pipe, the large arm cylinder control
Valve oil mouthful A processed is connected with the hydraulic lock three by oil pipe, and the hydraulic lock three is connected with the large arm cylinder rodless cavity by oil pipe
Connect, the large arm cylinder rod chamber is connected with the hydraulic lock three by oil pipe, the hydraulic lock three and the large arm cylinder control valve
Hydraulic fluid port B is connected by oil pipe, and the rotary motor control valve hydraulic fluid port A is connected with the choke valve three by oil pipe, the throttling
Valve three is connected with the rotary motor by oil pipe, and the rotary motor passes through oil pipe with the rotary motor control valve hydraulic fluid port B
Connection；
The filter, the pump one, the undue oil clot three of the pump two-way are connected in c points position；The check valve one, institute
State safety valve one, the oscillating cylinder control valve hydraulic fluid port P, the picking claw cylinder control valve hydraulic fluid port P, the wrist cylinder control valve hydraulic fluid port
P, the forearm cylinder control valve hydraulic fluid port P are connected by point oil clot one in a points position；The check valve two, large arm cylinder control
Valve oil mouthful P, the rotary motor control valve hydraulic fluid port P, the undue oil clot two of the safety valve two-way are connected in b points position；The pendulum
Dynamic cylinder control valve hydraulic fluid port T, the picking claw cylinder control valve hydraulic fluid port T, the wrist cylinder control valve hydraulic fluid port T, forearm cylinder control
Valve oil mouthful T, the fuel tank are connected by point oil clot four in d points position；The large arm cylinder control valve hydraulic fluid port T, the rotary motor
Control valve hydraulic fluid port T, the fuel tank are connected by point oil clot five in e points position.
Preferred scheme, wherein, the safety valve one, the safety valve two are pilot operated compound relief valve, the safety valve one,
The outlet oil of the safety valve two is connected with the fuel tank by oil pipe.
Preferred scheme, wherein, the remote pressure regulating valve one, the remote pressure regulating valve two are small-sized direct-acting overflow valve,
The remote pressure regulating valve one, the oil-out of the remote pressure regulating valve two are connected with the fuel tank by oil pipe.
Preferred scheme, wherein, the oscillating cylinder control valve, the picking claw cylinder control valve, the wrist cylinder control valve, institute
It is three four with O-shaped Median Function to state forearm cylinder control valve, the large arm cylinder control valve, the rotary motor control valve
Pass two-way solenoid directional control valve.
Preferred scheme, wherein, the hydraulic lock one, the hydraulic lock two, the hydraulic lock three are two fluid-control one-ways
Valve and connecing is combined；And described two hydraulic control one-way valve control ports are connected on the working connection of other side.
Using the technical solution of the utility model, it is possible to achieve the automatic harvesting of fruit of tree, work labor can be mitigated significantly
Fatigue resistance, improves picking operations efficiency, and functional, having stable behavior, easy to operate.
Brief description of the drawings
Fig. 1 is a kind of tree fruit picking machine tool hand hydraulic system described in the utility model.
Embodiment
1 pair of the utility model is further illustrated below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of tree fruit picking machine tool hand hydraulic system, including fuel tank 1；Filter 2；Pump 1；Pump 24；
Check valve 1；Check valve 26；Safety valve 1；Remote pressure regulating valve 1；Safety valve 29；Remote pressure regulating valve 2 10；Oscillating cylinder control
Valve 11 processed；Picking claw cylinder control valve 12；Wrist cylinder control valve 13；Forearm cylinder control valve 14；Large arm cylinder control valve 15；Rotary motor
Control valve 16；Choke valve 1；Choke valve 2 18；Flow speed control valve 1；Flow speed control valve 2 20；Choke valve 3 21；Hydraulic lock 1；Liquid
Pressure lock 2 23；Hydraulic lock 3 24；Oscillating cylinder 25；Picking claw cylinder 26；Wrist cylinder 27；Forearm cylinder 28；Large arm cylinder 29；Rotary motor
30。
The fuel tank is connected with the filter by oil pipe, and the pump one is connected with the check valve one by oil pipe,
The pump two is connected with the check valve two by oil pipe, and the remote control mouthful of the safety valve one passes through with the remote pressure regulating valve one
Oil pipe is connected, and the remote control mouthful of the safety valve two is connected with the remote pressure regulating valve two by oil pipe, the oscillating cylinder control valve
Hydraulic fluid port A is connected with the choke valve one by oil pipe, and the choke valve one is connected with the hydraulic lock one by oil pipe, the liquid
Pressure lock one is connected with the oscillating cylinder by oil pipe, and the hydraulic lock one is connected with the oscillating cylinder control valve hydraulic fluid port B by oil pipe
Connect, the picking claw cylinder control valve hydraulic fluid port A is connected with the choke valve two by oil pipe, the choke valve two and the picking claw
Cylinder rodless cavity is connected by oil pipe, and the picking claw cylinder rod chamber is connected with the picking claw cylinder control valve hydraulic fluid port B by oil pipe,
The wrist cylinder control valve hydraulic fluid port A is connected with the flow speed control valve one by oil pipe, and the flow speed control valve one is with the wrist cylinder without bar
Chamber is connected by oil pipe, and the wrist cylinder rod chamber is connected with the wrist cylinder control valve hydraulic fluid port B by oil pipe, the forearm cylinder
Control valve hydraulic fluid port A is connected with the flow speed control valve two by oil pipe, and the flow speed control valve two is connected with the hydraulic lock two by oil pipe,
The hydraulic lock two is connected with the forearm cylinder rodless cavity by oil pipe, and the forearm cylinder rod chamber passes through with the hydraulic lock two
Oil pipe is connected, and the hydraulic lock two is connected with the forearm cylinder control valve hydraulic fluid port B by oil pipe, the large arm cylinder control valve hydraulic fluid port
A is connected with the hydraulic lock three by oil pipe, and the hydraulic lock three is connected with the large arm cylinder rodless cavity by oil pipe, described big
Arm cylinder rod chamber is connected with the hydraulic lock three by oil pipe, and the hydraulic lock three passes through with the large arm cylinder control valve hydraulic fluid port B
Oil pipe is connected, and the rotary motor control valve hydraulic fluid port A is connected with the choke valve three by oil pipe, the choke valve three with it is described
Rotary motor is connected by oil pipe, and the rotary motor is connected with the rotary motor control valve hydraulic fluid port B by oil pipe；
The filter, the pump one, the undue oil clot three of the pump two-way are connected；The check valve one, the safety valve
First, the oscillating cylinder control valve hydraulic fluid port P, the picking claw cylinder control valve hydraulic fluid port P, the wrist cylinder control valve hydraulic fluid port P, described small
Arm cylinder control valve hydraulic fluid port P is connected by a point oil clot one；The check valve two, the large arm cylinder control valve hydraulic fluid port P, the revolution horse
Connected up to control valve hydraulic fluid port P, the undue oil clot two of the safety valve two-way；The oscillating cylinder control valve hydraulic fluid port T, the picking claw cylinder
Control valve hydraulic fluid port T, the wrist cylinder control valve hydraulic fluid port T, the forearm cylinder control valve hydraulic fluid port T, the fuel tank pass through a point oil clot four
Connection；The large arm cylinder control valve hydraulic fluid port T, the rotary motor control valve hydraulic fluid port T, the fuel tank are connected by a point oil clot five.
Preferred scheme, wherein, the safety valve one, the safety valve two are pilot operated compound relief valve, the safety valve one,
The outlet oil of the safety valve two is connected with the fuel tank by oil pipe.
Preferred scheme, wherein, the remote pressure regulating valve one, the remote pressure regulating valve two are small-sized direct-acting overflow valve,
The remote pressure regulating valve one, the oil-out of the remote pressure regulating valve two are connected with the fuel tank by oil pipe.
Preferred scheme, wherein, the oscillating cylinder control valve, the picking claw cylinder control valve, the wrist cylinder control valve, institute
It is three four with O-shaped Median Function to state forearm cylinder control valve, the large arm cylinder control valve, the rotary motor control valve
Pass two-way solenoid directional control valve.
Preferred scheme, wherein, the hydraulic lock one, the hydraulic lock two, the hydraulic lock three are two fluid-control one-ways
Valve and connecing is combined；And described two hydraulic control one-way valve control ports are connected on the working connection of other side.
The course of work：
System starts：Start button is pressed, pump 1 and pump 24 start；
Raising is positioned：Electromagnet 9YA obtains electric, and hydraulic oil is from pump 1, check valve 1, the hydraulic fluid port P of forearm cylinder control valve 14, oil
Mouth A, flow speed control valve 2 20, hydraulic lock 2 23 enter after the rodless cavity of forearm cylinder 28, arm movements, 2~3s, and electromagnet 11YA obtains electric,
Fluid enters large arm cylinder 29 without bar by pump 24, check valve 26, the hydraulic fluid port P of large arm cylinder control valve 15, hydraulic fluid port A, hydraulic lock 3 24
Chamber, two-arm coordination makes picking claw ramp arrival operation height；
Revolution positioning：When picking claw reaches operation height, electromagnet 9YA, 11YA power-off, electromagnet 13YA obtain electric, fluid
Enter rotary motor 30, horse of reversing from pump 24, check valve 26, the hydraulic fluid port P of rotary motor control valve 16, hydraulic fluid port A, choke valve 3 21
Up to rotation, picking claw is set to be directed at operation branch；
Picking claw is pitched：Electromagnet 7YA obtains electric, hydraulic oil from pump 1, check valve 1, the hydraulic fluid port P of wrist cylinder control valve 13,
Hydraulic fluid port A, flow speed control valve 1 enter the rodless cavity of wrist cylinder 24, the elevation-depression angle alignment operation branch of adjustment picking claw；
Picking claw is swung：Electromagnet 3YA obtains electric, and fluid is from pump 1, check valve 1, the hydraulic fluid port P of oscillating cylinder control valve 11, oil
Mouth A, choke valve 1, hydraulic lock 1 enter oscillating cylinder 25, adjust the inclination angular alignment operation branch of picking claw；
Picking claw opens and closed：Controlled by picking claw cylinder；
Picking claw is captured forward：By forearm cylinder, large arm cylinder coordination.
Claims (5)
1. one kind tree fruit picking machine tool hand hydraulic system, it is characterised in that including fuel tank, filter, pump one, pump two, check valve
First, check valve two, safety valve one, remote pressure regulating valve one, safety valve two, remote pressure regulating valve two, oscillating cylinder control valve, picking claw cylinder
Control valve, wrist cylinder control valve, forearm cylinder control valve, large arm cylinder control valve, rotary motor control valve, choke valve one, choke valve
2nd, flow speed control valve one, flow speed control valve two, choke valve three, hydraulic lock one, hydraulic lock two, hydraulic lock three, oscillating cylinder, picking claw cylinder, wrist
Cylinder, forearm cylinder, large arm cylinder and rotary motor；
Wherein, the fuel tank is connected with the filter by oil pipe, and the pump one is connected with the check valve one by oil pipe,
The pump two is connected with the check valve two by oil pipe, and the remote control mouthful of the safety valve one passes through with the remote pressure regulating valve one
Oil pipe is connected, and the remote control mouthful of the safety valve two is connected with the remote pressure regulating valve two by oil pipe, the oscillating cylinder control valve
Hydraulic fluid port A is connected with the choke valve one by oil pipe, and the choke valve one is connected with the hydraulic lock one by oil pipe, the liquid
Pressure lock one is connected with the oscillating cylinder by oil pipe, and the hydraulic lock one is connected with the oscillating cylinder control valve hydraulic fluid port B by oil pipe
Connect, the picking claw cylinder control valve hydraulic fluid port A is connected with the choke valve two by oil pipe, the choke valve two and the picking claw
Cylinder rodless cavity is connected by oil pipe, and the picking claw cylinder rod chamber is connected with the picking claw cylinder control valve hydraulic fluid port B by oil pipe,
The wrist cylinder control valve hydraulic fluid port A is connected with the flow speed control valve one by oil pipe, and the flow speed control valve one is with the wrist cylinder without bar
Chamber is connected by oil pipe, and the wrist cylinder rod chamber is connected with the wrist cylinder control valve hydraulic fluid port B by oil pipe, the forearm cylinder
Control valve hydraulic fluid port A is connected with the flow speed control valve two by oil pipe, and the flow speed control valve two is connected with the hydraulic lock two by oil pipe,
The hydraulic lock two is connected with the forearm cylinder rodless cavity by oil pipe, and the forearm cylinder rod chamber passes through with the hydraulic lock two
Oil pipe is connected, and the hydraulic lock two is connected with the forearm cylinder control valve hydraulic fluid port B by oil pipe, the large arm cylinder control valve hydraulic fluid port
A is connected with the hydraulic lock three by oil pipe, and the hydraulic lock three is connected with the large arm cylinder rodless cavity by oil pipe, described big
Arm cylinder rod chamber is connected with the hydraulic lock three by oil pipe, and the hydraulic lock three passes through with the large arm cylinder control valve hydraulic fluid port B
Oil pipe is connected, and the rotary motor control valve hydraulic fluid port A is connected with the choke valve three by oil pipe, the choke valve three with it is described
Rotary motor is connected by oil pipe, and the rotary motor is connected with the rotary motor control valve hydraulic fluid port B by oil pipe；
The filter, the pump one, the undue oil clot three of the pump two-way are connected；The check valve one, the safety valve one, institute
State oscillating cylinder control valve hydraulic fluid port P, the picking claw cylinder control valve hydraulic fluid port P, the wrist cylinder control valve hydraulic fluid port P, the forearm cylinder
Control valve hydraulic fluid port P is connected by a point oil clot one；The check valve two, the large arm cylinder control valve hydraulic fluid port P, the rotary motor control
Valve oil mouthful P processed, the undue oil clot two of the safety valve two-way are connected；The oscillating cylinder control valve hydraulic fluid port T, picking claw cylinder control
Valve oil mouthful T, the wrist cylinder control valve hydraulic fluid port T, the forearm cylinder control valve hydraulic fluid port T, the fuel tank are connected by a point oil clot four；
The large arm cylinder control valve hydraulic fluid port T, the rotary motor control valve hydraulic fluid port T, the fuel tank are connected by a point oil clot five.
2. a kind of tree fruit picking machine tool hand hydraulic system according to claim 1, it is characterised in that the safety valve one,
The safety valve two is pilot operated compound relief valve, and the safety valve one, the outlet oil of the safety valve two lead to the fuel tank
Cross oil pipe connection.
3. a kind of tree fruit picking machine tool hand hydraulic system according to claim 1, it is characterised in that the remote pressure regulating valve
First, the remote pressure regulating valve two is small-sized direct-acting overflow valve, and the remote pressure regulating valve one, the remote pressure regulating valve two are fuel-displaced
Mouth is connected with the fuel tank by oil pipe.
4. a kind of tree fruit picking machine tool hand hydraulic system according to claim 1, it is characterised in that the oscillating cylinder control
It is valve, the picking claw cylinder control valve, the wrist cylinder control valve, the forearm cylinder control valve, the large arm cylinder control valve, described
Rotary motor control valve is the 3-position 4-way bi-directional electromagnetic reversal valve with O-shaped Median Function.
5. a kind of tree fruit picking machine tool hand hydraulic system according to claim 1, it is characterised in that the hydraulic lock one,
The hydraulic lock two, the hydraulic lock three are that two hydraulic control one-way valves and connecing are combined；And described two hydraulic control one-way valves
Control port is connected on the working connection of other side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621388212.2U CN206592356U (en) | 2016-12-17 | 2016-12-17 | One kind tree fruit picking machine tool hand hydraulic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621388212.2U CN206592356U (en) | 2016-12-17 | 2016-12-17 | One kind tree fruit picking machine tool hand hydraulic system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206592356U true CN206592356U (en) | 2017-10-27 |
Family
ID=60131493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621388212.2U Expired - Fee Related CN206592356U (en) | 2016-12-17 | 2016-12-17 | One kind tree fruit picking machine tool hand hydraulic system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206592356U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108271532A (en) * | 2018-01-19 | 2018-07-13 | 西南大学 | A kind of multijaw Pneumatic nondestructive fruit and vegetable picking machinery hand of apery picking action |
-
2016
- 2016-12-17 CN CN201621388212.2U patent/CN206592356U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108271532A (en) * | 2018-01-19 | 2018-07-13 | 西南大学 | A kind of multijaw Pneumatic nondestructive fruit and vegetable picking machinery hand of apery picking action |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 Termination date: 20181217 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |