CN206592359U - A kind of hydraulic system - Google Patents
A kind of hydraulic system Download PDFInfo
- Publication number
- CN206592359U CN206592359U CN201621388249.5U CN201621388249U CN206592359U CN 206592359 U CN206592359 U CN 206592359U CN 201621388249 U CN201621388249 U CN 201621388249U CN 206592359 U CN206592359 U CN 206592359U
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- control valve
- hydraulic
- cylinder
- fluid port
- valve
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Abstract
The utility model provides a kind of hydraulic system, a kind of hydraulic system of control fruit of tree picking mechanical arm action；The hydraulic system includes fuel tank；Filter, hydraulic pump one, hydraulic pump two, check valve one, check valve two, system safety valve, system pressure regulating valve, flow speed control valve, 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, 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, production cost is reduced, picking operations efficiency is improved, and it is functional, having stable behavior, easy to operate.
Description
Technical field
The utility model belongs to field of hydraulic control, more particularly to a kind of fruit of tree picking mechanical arm hydraulic system.
Background technology
Real fruit (such as Chinese chestnut) harvest of trees is a kind of labor-intensive work, due to plucking the complexity of operation, is adopted
Pluck automaticity still very low.Universal picking method is at present：Carried out with bamboo pole or waddy alignment tree fruit and its connected branch
Beat, tree fruit is split away off from connected branch, the tree come off fruit is collected by harvesting personnel.Such picking method
Waste time and energy and inefficiency.
The features such as complexity and unstructured growing environment for being grown due to tree fruit, tree fruit picking machine tool in the market
Purely mechanic transmission device is typically used, there are complex structure and other problems.
Utility model content
For existing weak point in the art, the utility model provides a kind of hydraulic system, especially a kind of harvesting
Mechanical hand hydraulic system, with power-driven system of the hydraulic system as manipulator, the manipulator is complete with 5 frees degree
Hydraulic driving mechanical, 5 frees degree of manipulator respectively by oscillating cylinder, picking claw cylinder, wrist cylinder, forearm cylinder, large arm cylinder, return
Turn motor to be controlled, wherein, picking claw is comb teeth-shaped, up and down two panels, retractable, and tree fruit is captured with it.Oscillating cylinder drives
Picking claw or so plucks fruit, and speed is completed by ratio valve regulation, positioning by hydraulic lock.Wrist cylinder controls the flexion-extension of picking claw, action
Speed is completed by correspondence flow speed control valve, and large arm cylinder and forearm cylinder are used to control two-arm coordination to make picking claw ramp arrival work
Industry height, it is positioned is completed by correspondence hydraulic lock.Due to being moved when wrist cylinder and forearm cylinder are general different, thus responsiveness by
One flow speed control valve is completed.Rotary motor is turned round by mechanical switching device driving mechanical hand or so, and its operating rate is by turning round horse
Up to proportional valve control.Oscillating cylinder, picking claw cylinder, wrist cylinder, forearm cylinder are an independent loop, and large arm cylinder, rotary motor are another
Independent loop, two loops are relatively independent, the action interference that multi-execution component can be avoided to be caused due to pressure, flow difference,
And two circuit pressures carry out step-less adjustment by different system safety valves.
A kind of hydraulic system, including fuel tank, filter, hydraulic pump one, hydraulic pump two, check valve one, check valve two, system
Safety valve, system pressure regulating valve, flow speed control valve, oscillating cylinder control valve, picking claw cylinder control valve, wrist cylinder control valve, the control of forearm cylinder
Valve, large arm cylinder control valve, rotary motor control valve, hydraulic lock one, hydraulic lock two, hydraulic lock three, oscillating cylinder, picking claw cylinder, wrist
Portion's cylinder, forearm cylinder, large arm cylinder and rotary motor；
Wherein, the fuel tank is connected with the filter by oil pipe, and the hydraulic pump one passes through with the check valve one
Oil pipe is connected, and the hydraulic pump two is connected with the check valve two by oil pipe, the oscillating cylinder control valve hydraulic fluid port A and the liquid
Pressure lock one is connected by oil pipe, and the hydraulic lock one is connected with the oscillating cylinder by oil pipe, the hydraulic lock one and the pendulum
Dynamic cylinder control valve hydraulic fluid port B is connected by oil pipe, and the picking claw cylinder control valve hydraulic fluid port A passes through oil with the picking claw cylinder rodless cavity
Pipe is connected, 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 oil mouthful A is connected with the wrist cylinder rodless cavity by oil pipe, the wrist cylinder rod chamber and the wrist cylinder control valve hydraulic fluid port B
Connected by oil pipe, the forearm cylinder control valve hydraulic fluid port A is connected with the hydraulic lock two by oil pipe, the hydraulic lock two and institute
State forearm cylinder rodless cavity to connect by oil pipe, the forearm cylinder rod chamber is connected with the hydraulic lock two by oil pipe, the liquid
Pressure 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 and the hydraulic lock three
Connected by oil pipe, the hydraulic lock three is connected with the large arm cylinder rodless cavity by oil pipe, the large arm cylinder rod chamber and institute
State hydraulic lock three to connect by oil pipe, the hydraulic lock three is connected with the large arm cylinder control valve hydraulic fluid port B by oil pipe, described time
Turn motor control valve hydraulic fluid port A to be connected by oil pipe with the rotary motor, the rotary motor and the rotary motor control valve
Hydraulic fluid port B is connected by oil pipe, and the flow speed control valve is connected with the fuel tank by oil pipe；
The filter, the hydraulic pump one, the undue oil clot one of the hydraulic pump two-way are connected；The check valve one, institute
State system safety valve, the oscillating cylinder control valve hydraulic fluid port P, the picking claw cylinder control valve hydraulic fluid port P, wrist cylinder control valve oil
Mouth P, the forearm cylinder control valve hydraulic fluid port P are connected by a point oil clot two；The check valve two, the large arm cylinder control valve hydraulic fluid port P,
The rotary motor control valve hydraulic fluid port P, the system pressure regulating valve are connected by a point oil clot three；The oscillating cylinder control valve hydraulic fluid port T,
The picking claw cylinder control valve hydraulic fluid port T is connected by a point oil clot four with the fuel tank；It is the wrist cylinder control valve hydraulic fluid port T, described
Forearm cylinder control valve hydraulic fluid port T, the flow speed control valve are connected by a point oil clot five；The large arm cylinder control valve hydraulic fluid port T, the revolution horse
Connected up to control valve hydraulic fluid port T, the fuel tank by a point oil clot six.
Preferred scheme, wherein, the hydraulic pump one, the hydraulic pump two are duplex high-pressure gear pump.
Preferred scheme, wherein, the unilateral rotation amount of oscillating cylinder is 135 °.
Preferred scheme, wherein, the system safety valve, the system pressure regulating valve are direct-acting type proportional overflow valve, described
System safety valve, the oil-out of the system pressure regulating valve are connected with the fuel tank.
Preferred scheme, wherein, the oscillating cylinder control valve, the picking claw cylinder control valve, the rotary motor control valve
It is the 3-position 4-way two-way proportional reversal valve with O-shaped Median Function.
Preferred scheme, wherein, the wrist cylinder control valve, the forearm cylinder control valve, the large arm cylinder control valve are
3-position 4-way bi-directional electromagnetic reversal valve with O-shaped Median Function.
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 other side's working connection.
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 picking mechanical arm 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 hydraulic system, including fuel tank 1；Filter 2；Hydraulic pump 1；Hydraulic pump 24；Check valve one
5；Check valve 26；System safety valve 7；System pressure regulating valve 8；Flow speed control valve 9；Oscillating cylinder control valve 10；Picking claw cylinder control valve 11；
Wrist cylinder control valve 12；Forearm cylinder control valve 13；Large arm cylinder control valve 14；Rotary motor control valve 15；Hydraulic lock 1；Hydraulic pressure
Lock 2 17；Hydraulic lock 3 18；Oscillating cylinder 19；Picking claw cylinder 20；Wrist cylinder 21；Forearm cylinder 22；Large arm cylinder 23；Rotary motor 24.
Wherein, the fuel tank is connected with the filter by oil pipe, and the hydraulic pump one passes through with the check valve one
Oil pipe is connected, and the hydraulic pump two is connected with the check valve two by oil pipe, the oscillating cylinder control valve hydraulic fluid port A and the liquid
Pressure lock one is connected by oil pipe, and the hydraulic lock one is connected with the oscillating cylinder by oil pipe, the hydraulic lock one and the pendulum
Dynamic cylinder control valve hydraulic fluid port B is connected by oil pipe, and the picking claw cylinder control valve hydraulic fluid port A passes through oil with the picking claw cylinder rodless cavity
Pipe is connected, 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 oil mouthful A is connected with the wrist cylinder rodless cavity by oil pipe, the wrist cylinder rod chamber and the wrist cylinder control valve hydraulic fluid port B
Connected by oil pipe, the forearm cylinder control valve hydraulic fluid port A is connected with the hydraulic lock two by oil pipe, the hydraulic lock two and institute
State forearm cylinder rodless cavity to connect by oil pipe, the forearm cylinder rod chamber is connected with the hydraulic lock two by oil pipe, the liquid
Pressure 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 and the hydraulic lock three
Connected by oil pipe, the hydraulic lock three is connected with the large arm cylinder rodless cavity by oil pipe, the large arm cylinder rod chamber and institute
State hydraulic lock three to connect by oil pipe, the hydraulic lock three is connected with the large arm cylinder control valve hydraulic fluid port B by oil pipe, described time
Turn motor control valve hydraulic fluid port A to be connected by oil pipe with the rotary motor, the rotary motor and the rotary motor control valve
Hydraulic fluid port B is connected by oil pipe, and the flow speed control valve is connected with the fuel tank by oil pipe；
The filter, the hydraulic pump one, the hydraulic pump two are connected in a points by minute oil clot one；The check valve
First, the system safety valve, the oscillating cylinder control valve hydraulic fluid port P, the picking claw cylinder control valve hydraulic fluid port P, the wrist cylinder control
Valve oil mouthful P processed, the forearm cylinder control valve hydraulic fluid port P are connected in b points by minute oil clot two；The check valve two, the large arm cylinder
Control valve hydraulic fluid port P, the rotary motor control valve hydraulic fluid port P, the system pressure regulating valve are connected in c points by minute oil clot three；It is described
Oscillating cylinder control valve hydraulic fluid port T, the picking claw cylinder control valve hydraulic fluid port T are connected in d points by minute oil clot four with the fuel tank；It is described
Wrist cylinder control valve hydraulic fluid port T, the forearm cylinder control valve hydraulic fluid port T, the flow speed control valve are connected in e points by minute oil clot five；It is described
Large arm cylinder control valve hydraulic fluid port T, the rotary motor control valve hydraulic fluid port T, the fuel tank are connected in f points by minute oil clot six.
Preferred scheme, wherein, the hydraulic pump one, the hydraulic pump two are duplex high-pressure gear pump；The oscillating cylinder
Unilateral rotation amount is 135 °；The system safety valve, the system pressure regulating valve are direct-acting type proportional overflow valve, the system peace
Full valve, the oil-out of the system pressure regulating valve are connected with the fuel tank；The oscillating cylinder control valve, picking claw cylinder control
Valve, the rotary motor control valve are the 3-position 4-way two-way proportional reversal valve with O-shaped Median Function；The wrist cylinder control
Valve processed, the forearm cylinder control valve, the large arm cylinder control valve are that the 3-position 4-way bi-directional electromagnetic with O-shaped Median Function is changed
To valve；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 valve control ports are connected on other side's working connection.Using the technical solution of the utility model, Ke Yishi
The automatic harvesting of existing fruit of tree, can mitigate labor intensity significantly, improve picking operations efficiency, and functional, action
It is stable, easy to operate.
The course of work：
System starts：Start button is pressed, hydraulic pump 1 and hydraulic pump 24 start；
Raising is positioned：Electromagnet 7YA obtains electric, hydraulic oil from hydraulic pump 1, check valve 1, forearm cylinder control valve 13 oil
Mouth P, hydraulic fluid port A, hydraulic lock 2 17 enter after the rodless cavity of forearm cylinder 22, arm movements, 2~3s, and electromagnet 9YA obtains electric, and fluid leads to
Cross hydraulic pump 24, check valve 26, the hydraulic fluid port P of large arm cylinder control valve 14, hydraulic fluid port A, hydraulic lock 3 18 and enter the rodless cavity of large arm cylinder 23,
Two-arm coordination makes picking claw ramp arrival operation height；
Revolution positioning：When picking claw reaches operation height, electromagnet 7YA, 9YA power-off, electromagnet 11YA obtain electric, fluid from
Hydraulic pump 24, check valve 26, the hydraulic fluid port P of rotary motor control valve 15, hydraulic fluid port A enter rotary motor 24, and the motor that reverses rotation makes
Picking claw is directed at operation branch；
Picking claw is pitched：Electromagnet 5YA obtains electric, and hydraulic oil is oily from hydraulic pump 1, check valve 1, wrist cylinder control valve 12
Mouth P, hydraulic fluid port A enter the rodless cavity of wrist cylinder 21, the elevation-depression angle alignment operation branch of adjustment picking claw；
Picking claw is swung：Electromagnet 1YA obtains electric, and fluid is from hydraulic pump 1, check valve 1, the hydraulic fluid port of oscillating cylinder control valve 10
P, hydraulic fluid port A, hydraulic lock 1 enter oscillating cylinder 19, 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 (7)
1. a kind of hydraulic system, it is characterised in that including fuel tank, filter, hydraulic pump one, hydraulic pump two, check valve one, unidirectional
It is valve two, system safety valve, system pressure regulating valve, flow speed control valve, oscillating cylinder control valve, picking claw cylinder control valve, wrist cylinder control valve, small
Arm cylinder control valve, large arm cylinder control valve, rotary motor control valve, hydraulic lock one, hydraulic lock two, hydraulic lock three, oscillating cylinder, harvesting
Pawl 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 hydraulic pump one passes through oil pipe with the check valve one
Connection, the hydraulic pump two is connected with the check valve two by oil pipe, the oscillating cylinder control valve hydraulic fluid port A and the hydraulic lock
One is connected by oil pipe, and the hydraulic lock one is connected with the oscillating cylinder by oil pipe, the hydraulic lock one and the oscillating cylinder
Control valve hydraulic fluid port B is connected by oil pipe, and the picking claw cylinder control valve hydraulic fluid port A is connected with the picking claw cylinder rodless cavity by oil pipe
Connect, 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 controls valve oil
Mouth A is connected with the wrist cylinder rodless cavity by oil pipe, and the wrist cylinder rod chamber passes through with the wrist cylinder control valve hydraulic fluid port B
Oil pipe is connected, and the forearm cylinder control valve hydraulic fluid port A is connected with the hydraulic lock two by oil pipe, the hydraulic lock two with it is described small
Arm cylinder rodless cavity is connected by oil pipe, and the forearm cylinder rod chamber is connected with the hydraulic lock two by oil pipe, the hydraulic lock
Two are connected with the forearm cylinder control valve hydraulic fluid port B by oil pipe, and the large arm cylinder control valve hydraulic fluid port A passes through with the hydraulic lock three
Oil pipe is connected, and the hydraulic lock three is connected with the large arm cylinder rodless cavity by oil pipe, the large arm cylinder rod chamber and the liquid
Pressure lock three is connected by oil pipe, and the hydraulic lock three is connected with the large arm cylinder control valve hydraulic fluid port B by oil pipe, the revolution horse
It is connected up to control valve hydraulic fluid port A with the rotary motor by oil pipe, the rotary motor and the rotary motor control valve hydraulic fluid port B
Connected by oil pipe, the flow speed control valve is connected with the fuel tank by oil pipe；
The filter, the hydraulic pump one, the undue oil clot one of the hydraulic pump two-way are connected；The check valve one, the system
Unite safety valve, 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 is connected by a point oil clot two；It is the check valve two, the large arm cylinder control valve hydraulic fluid port P, described
Rotary motor control valve hydraulic fluid port P, the system pressure regulating valve are connected by a point oil clot three；It is the oscillating cylinder control valve hydraulic fluid port T, described
Picking claw cylinder control valve hydraulic fluid port T is connected by a point oil clot four with the fuel tank；The wrist cylinder control valve hydraulic fluid port T, the forearm
Cylinder control valve hydraulic fluid port T, the flow speed control valve are connected by a point oil clot five；The large arm cylinder control valve hydraulic fluid port T, the rotary motor control
Valve oil mouthful T processed, the fuel tank are connected by a point oil clot six.
2. a kind of hydraulic system according to claim 1, it is characterised in that the hydraulic pump one, the hydraulic pump two are equal
For duplex high-pressure gear pump.
3. a kind of hydraulic system according to claim 1, it is characterised in that the unilateral rotation amount of oscillating cylinder is 135 °.
4. a kind of hydraulic system according to claim 1, it is characterised in that the system safety valve, the system pressure regulating
Valve is direct-acting type proportional overflow valve, and the system safety valve, the oil-out of the system pressure regulating valve are connected with the fuel tank.
5. a kind of hydraulic system according to claim 1, it is characterised in that the oscillating cylinder control valve, the picking claw
Cylinder control valve, the rotary motor control valve are the 3-position 4-way two-way proportional reversal valve with O-shaped Median Function.
6. a kind of hydraulic system according to claim 1, it is characterised in that the wrist cylinder control valve, the forearm cylinder
Control valve, the large arm cylinder control valve are the 3-position 4-way bi-directional electromagnetic reversal valve with O-shaped Median Function.
7. a kind of hydraulic system according to claim 1, it is characterised in that the hydraulic lock one, the hydraulic lock two, institute
It is that two hydraulic control one-way valves and connecing are combined to state hydraulic lock three；And described two hydraulic control one-way valve control ports are connected to pair
On square working connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621388249.5U CN206592359U (en) | 2016-12-17 | 2016-12-17 | A kind of hydraulic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621388249.5U CN206592359U (en) | 2016-12-17 | 2016-12-17 | A kind of hydraulic system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206592359U true CN206592359U (en) | 2017-10-27 |
Family
ID=60130716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621388249.5U Expired - Fee Related CN206592359U (en) | 2016-12-17 | 2016-12-17 | A kind of hydraulic system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206592359U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110131225A (en) * | 2019-04-02 | 2019-08-16 | 太原重工股份有限公司 | A kind of hydraulic control circuit and method of bender lower die locking cylinder |
-
2016
- 2016-12-17 CN CN201621388249.5U patent/CN206592359U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110131225A (en) * | 2019-04-02 | 2019-08-16 | 太原重工股份有限公司 | A kind of hydraulic control circuit and method of bender lower die locking cylinder |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 Termination date: 20181217 |