CN102934544A - Method and device for implementing unmanned management of farmland - Google Patents
Method and device for implementing unmanned management of farmland Download PDFInfo
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- CN102934544A CN102934544A CN 201210393374 CN201210393374A CN102934544A CN 102934544 A CN102934544 A CN 102934544A CN 201210393374 CN201210393374 CN 201210393374 CN 201210393374 A CN201210393374 A CN 201210393374A CN 102934544 A CN102934544 A CN 102934544A
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Abstract
The invention relates to a method and a device for implementing unmanned management of a farmland, which belong to the field of agricultural robots. According to the method, a plurality of fixed points (1) are arranged in the farmland, docking mechanisms (3) at the two ends of each rotating arm (2) are alternately docked with a center fixing device (6) arranged at each fixed point, and then a rotary operation is implemented with each center fixing device as an axis. The device and the method not only solve the problem that the work place of the conventional farm robot cannot be changed, but also are beneficial to implementation of electrified and automatic production of agriculture as well as water-saving sprinkling irrigation and even sowing irrigation, thus assisting people in completely getting rid of a production situation of 'going to bed with the lamb, and rising with the lark' as well as 'facing the loess back', and realizing the dream of 'managing the vast farmland in thousands of miles away'.
Description
Technical field
The invention belongs to field of agricultural robots
Background technology
Along with the day by day exhaustion of petroleum-based energy, water resource supply day is becoming tight, and aging population constantly increases the weight of, and agricultural production will face a severe challenge future.The more and more inadaptable following agricultural production of traditional agricultural machinery, the future of agriculture needs the water-saving irrigation of a kind of energy, uses electrification production, the mode of agriculture that automatization level is high.
Most country actively development driverless tractor is that job platform is to realize Automation of Agricultural Production, but be difficult to realize electrification production owing to lacking large-capacity battery, also helpless to water-saving irrigation, add present automatic identification technology also very immature, the reasons such as cost of use of the high not enough and navigation system of the precision of navigation system, agricultural automation operation are difficult to realize.
Also has a kind of farm [Wang Wei of equalization robot.Achievement in research and the trend [J] of Japan's Agricultural Robot, agricultural machinery, 1994, (11).], it is a kind of take the center, farmland as the axle center, the rotary production operation system take spiral arm as radius of turn.It is suitable for electrification, automated production, is conducive to implement water-saving irrigation, but its job area fix, degree of freedom is not high, is difficult to reuse, and can't carry out large tracts of land management, therefore can not enter the practical stage.
Summary of the invention
The technical problem that the present invention solves is to fix for the job area that rotary farm equalization robot exists, the problems such as degree of freedom is not high, carry out Improvement and perfection, purpose provides a kind of method about farmland realization unmanned management and installs to change above-mentioned deficiency.
Technical solution of the present invention is:A kind of method that realizes unmanned management about the farmland is carried farm machinery take the fixing point (1) in farmland as the axle center by a spiral arm (2), is rotated the formula operation take described spiral arm as radius, it is characterized in that:
A plurality of fixing points (1) are set in the farmland regularly, and the distance of adjacent two fixing points (1) is the radius of turn of described spiral arm, and center fixture (6) all is set on the position of described each fixing point.
Described spiral arm two ends are respectively arranged with the docking mechanism (3) that connects with described center fixture.
The spiral arm two ends are made as respectively side a and b, the docking mechanism of A end docks with a center fixture, and carry self-propelled agricultural machinery as the axle center and be rotated in a clockwise direction the formula operation, until the docking mechanism of B end is near corresponding center fixture and finish docking, this moment, the docking mechanism of A end separated, spiral arm is rotated operation as the axle center with counter clockwise direction take the center fixture that the B end is docked again, until the A end docks with corresponding center fixture, B end docking mechanism separates, spiral arm is rotated operation in a clockwise direction again take the A end as the axle center ...
Like this,The docking mechanism (3) at described spiral arm two ends alternately docks with corresponding each center fixture (6), take the center fixture (6) of being docked as the axle center rotary operation, the direction of rotation of spiral arm (2) alternately changes in a clockwise direction with counterclockwise with the change of the center fixture (6) of docking, and advances thereby spiral arm is remained forward.
Thereby Work machine can constantly change Active workings, realizes the large tracts of land management.
A kind of device of realizing unmanned management about the farmland, comprise spiral arm (2), center fixture (6) and auxiliary facility, bindiny mechanism couples together described spiral arm and described center fixture, under the promotion of load machine, described spiral arm, is characterized in that by settling draft arm drive Work machine thereon to be rotated operation take center fixture (6) as the axle center:
Described spiral arm two ends respectively arrange a docking mechanism (3) that can freely be connected with center fixture (6).
Described center fixture (6) is a foundation pile of being fixed by buried pedestal (6), and the distance of adjacent two foundation piles is the radius of turn of described spiral arm.
Advantage of the present invention is that not only favourable and farmland management are realized electrified, automation and water-saving irrigation but also can be made Work machine shift easily the work-yard in the present invention, thereby greatly improved operating efficiency, can manage more large-area farmland, thereby avoided the idle waste of agricultural machinery, improve availability, greatly reduced cost of investment.
Description of drawings
Fig. 1 is that unmanned farm schematic diagram Fig. 7 is arc shaped pincers arm device enlarged drawing
Fig. 2 is that unmanned farm partial schematic diagram Fig. 8 is foundation pile (center fixture) schematic diagram
Fig. 3 is that unmanned farm mechanical device platform schematic diagram Fig. 9 is independent joint vertical view
Fig. 4 is that unmanned farm mechanical device platform side view Figure 10 is the connecting joint end view
Fig. 5 is that docking mechanism schematic diagram Figure 11 is the connecting joint partial enlarged drawing
Fig. 6 is that telescopic arm inner core enlarged drawing Figure 12 is the draft arm structural representation
Wherein: 1-fixing point, 2-spiral arm, 3-docking mechanism, 4-transition fixing point, 5-dead angle area, 6-center fixture (foundation pile)
210-independent joint, 211-vertically crane span structures, 212-crossbeam, 213-minor axis
220-connecting joint, 221-axle, 222-lateral frame, 223-auxiliary rod, 224-roller,
225-pressure sensor, 226-turntable bearing supporting mass
310-telescopic arm, 311-tooth bar, 312-pressure sensor
320-lifting arm, 321-winch, 322-axle sleeve
330-turntable bearing
340-arc shaped pincers arm device, 341-slide bar, 342-balladeur train, 343-leading screw, 344-differential mechanism,
345-hollow cone bar
350-mechanical arm
601-bellmouth, 602-groove, 603-arc notch
710-" [" type framework, 720-lever, 730-spring, 740-pressure sensor.
Embodiment
Below in conjunction with accompanying drawing narration one embodiment of the present of invention.In smooth, the open field of a slice, the interval sets each fixing point (1) at a certain distance, because spiral arm (2) can successively be rotated operation take each fixing point as the axle center, these fixing points have just had sequencing like this;
A kind of method that realizes unmanned management about the farmland of the present invention is characterized in that starting point and the terminal point in the described fixing point overlaps.
Can make like this spiral arm can cycle operation.
The present inventionDescribed a kind of method that realizes unmanned management about the farmland, it is characterized in that described fixing point (1) is divided into the number row and is snakelike arrangement, every row roughly in line, and each row roughly is parallel to each other, between the end of line of adjacent two row and the row head transition fixing point (4) is arranged, two fixing points (1) at this transition fixing point and described end of line and the first place of row are on the same straight line, and this straight line and adjacent two row fixing point (1) place straight lines roughly consist of respectively 60 ° and 120 ° of angles.
Can make like this three adjacent circular management areas tangent, thereby reach maximum effectively management rate, avoid more idle land waste.
A kind of method that realizes unmanned management about the farmland of the present invention, it is characterized in that waterpipe, power circuit, communication line are routed to each fixing point (1), docking mechanism (3) at center fixture (6) and spiral arm (2) arranges water, electricity, letter interface, upper above-mentioned water, electricity, the letter circuit laid of spiral arm (2), agricultural machinery is realized electrified
Equally also can realize farmland water-saving sprinkling irrigation or even broadcast filling, various operation agricultural machinery are after electrification is transformed, and simplified structure is beneficial to automated job greatly, thereby can make agricultural production break away from dependence to oil, are conducive to improve environment.
A kind of method that realizes unmanned management about the farmland of the present invention, it is characterized in that on the described spiral arm solid material conveying device being set, can the needed seed of concentrated supply Work machine near the fixture of described center, solid fertilizer, but the also crops of centralized collection results.
Can arrange special-purpose haulage vehicle to commute between inventory management center and each fixing point, transport goods and materials.
A kind of method that realizes unmanned management about the farmland of the present invention is characterized in that at the road of dead angle area (5) setting towards each fixing point (1), in order to transport goods and materials
In addition, dead angle area (zone that Work machine can't be managed) also can be used as the channel of water drainage.
The ground of smooth good fixing point line one band keeps good ground landforms herein, is conducive to docking mechanism and docks smoothly with the center fixture.
A kind of device of realizing unmanned management about the farmland of the present invention is characterized in that described docking mechanism comprises telescopic arm (310), lifting arm (320), turntable bearing (330) and pincers arm device (340);
Described telescopic arm is an extension sleeve that is fixed in described spiral arm end, the inner tank theca of described extension sleeve has a shallow slot, one tooth bar (311) is installed in the groove, and described tooth bar rear and front end respectively is fixed on the shallow slot two ends by a pressure sensor (312); Be meshed with described tooth bar with the coaxial gear that is connected of a braked wheel, under the driving of motor, but the inner/outer tube relative sliding of described extension sleeve is provided with the potentiometer of measuring collapsing length on the described extension sleeve.
The effect of telescopic arm and operation principle are because of the waviness on ground, the various factors such as weather, the straight length of spiral arm can change, its radius of turn also changes thereupon, be difficult to equate fully with the distance of adjacent two center fixtures, in order to realize smooth docking, the length of spiral arm needs and can suitably elongate or shorten, it be by telescopic arm (310) elongate or shorten finish, under the driving of motor, extension sleeve is extending or shorten, the potentiometer of installing on the extension sleeve can detect the collapsing length of extension sleeve, docking mechanism and center fixture finish dock enter the rotary operation process after, next time docking of impact needs to recover extension sleeve the original length, in order to avoid so also can avoid causing the flexible accumulation of single direction.
During the spiral arm rotary operation, because the pace ratio of each load machine is inharmonious or surface relief is spent greatly, can make docking mechanism to the impact of center fixture, the pressure sensor at tooth bar two ends (312) will be measured the size and Orientation of this impulsive force, if impulsive force has exceeded setting, can eliminate this impact by the pace of regulating each load machine.
The present inventionThe terminal hinge joint of the inner core of described lifting arm one end and described extension sleeve, one winch (321) is placed on the support above the described telescopic arm inner core end, the steel wire rope end of described winch ties up on the described lifting arm, and described lifting arm end is connected with the axle sleeve (322) of band " U " type double shackle structure.
The present inventionDescribed turntable bearing upper level symmetry is fixed wtih two minor axises, is stuck in the double shackle of described axle sleeve, and the potentiometer of measuring the anglec of rotation is installed on the described turntable bearing; Described turntable bearing lower horizontal symmetry is fixed wtih two slide bars (341), vertically be fixed wtih two columns, described column lower end is fixed wtih a horizontal positioned De “ Nian " type balladeur train (342); a pair of arc shaped pincers arm device (340) is through on balladeur train (342) and the slide bar (341) relatively; form the gesture of closing up; two leading screws (343) are as two output shafts of a differential mechanism (344); relatively be through on the described two arc shaped pincers arm devices; the hand of spiral of described two leading screws is opposite, the running of driven by motor differential mechanism, thereby make described two leading screws rotation, drive that described two arc shaped pincers arm devices close up to the centre or away from, thereby can hold or break away from described center fixture tightly, there is the finger-shaped arc-shaped protrusions described arc shaped pincers arm device inboard, be provided with Electric plug with shutter in the hollow cone bar (345) that the position, the centre of the palm of an arc shaped pincers arm device (340) is fixed therein, in another hollow cone bar (345) that the position, the centre of the palm of another arc shaped pincers arm device (340) is fixed, be provided with water pipe head and telecommunications plug, thereby can conveniently be switched on or switched off power supply, water source and telecommunications loop; Fix a rotating base on the position of center line of described turntable bearing, one " 7 " font mechanical arm (350) is installed on the described rotating base, and described mechanical arm tail end is fixed an airborne laser range finder.
When docking mechanism was prepared to dock with the center fixture, whether the center that utilizes airborne laser range finder can measure the arc shaped pincers arm device was on the vertical center line of center fixture.
The present inventionDescribed foundation pile bottom is a cuboid, and its top and described arc shaped pincers arm device match, and are a cylinder; There is finger-shaped arc groove (602) described cylinder both sides, and both sides respectively have a bellmouth (601) in addition, are equipped with electric-connected socket in described one of them bellmouth, are equipped with waterpipe jointing, telecom jack in another bellmouth; Described cylinder top is circular groove, and there is Yu “ Nian at described circular groove edge " arc notch (603) that matches of type balladeur train (342),
It is more fastening after this can make docking mechanism and the center fixture is docked.
A kind of device of realizing unmanned management about the farmland of the present invention is characterized in that described spiral arm is made of more piece, comprising independent joint (210) and connecting joint (220);
Inferior linking together between described independent joint and connecting joint, independent joint is " H " type framework, consisted of by two vertical crane span structures (211) and a crossbeam (212), described vertical crane span structure is by wheeled or crawler type load machine carrying, one end of described crossbeam is fixedly connected with vertical crane span structure (211) of a side wherein, the other end connects a minor axis (213), and this minor axis inserts in the bearing that is placed on the vertical crane span structure of opposite side (211), and axial restraint;
Described connecting joint is that two symmetrically arranged " ┣ " type structures link together by a turntable bearing supporting mass (226), form one " H " shape, described " ┣ " type structure is one to be arranged on the axle (221) of vertical crane span structure (211) and the hinged formation of a lateral frame (222), each fixes an auxiliary rod (223) described lateral frame both sides, described auxiliary rod is pressed on the roller (224) that is arranged on the described axle, is fixedly connected with described axle by pressure sensor (225).
The pressure size that the pressure sensor (225) that connects by two auxiliary rods records, can judge whether movement velocity and other each load machines of load machine are coordinated herein, regulate the speed of load machine herein with this, so that each load machine movement velocity eurythmy ground carries out circular motion.
In the situation that ground is very smooth or spiral arm is shorter, spiral arm can be made of a whole joint, but often ground is smooth not, spiral arm is longer again, at this time spiral arm is suitable for adopting more piece (such as long 10 meters of every joint, totally 10 save, spiral arm is long: L=10 rice/joint * 10 saves=100 meters).
A kind of device of realizing unmanned management about the farmland of the present invention is characterized in that spiral arm (2) has connected a with it identical secondary spiral arm of structure by described draft arm, and described solid material conveying device is arranged on the described secondary spiral arm.
In harvest season, sowing season or when using solid fertilizer, on spiral arm, solid material conveying device can be set, finish conveying function, but this meeting is so that the structural strength of spiral arm needs reinforcement, inertia force also can correspondingly increase, and the power of load machine can corresponding increase.When spiral arm advances, because the reasons such as the inharmonious or surface relief of load machine speed is excessive can produce great impact power to the center fixture, controlling simultaneously difficulty also can increase, and a secondary spiral arm of undertaking specially the material transportation task can be set for this reason can isolate this class impact; Can articulate and dismantle secondary spiral arm easily because of need of work simultaneously.
A kind of device of realizing unmanned management about the farmland of the present invention is characterized in that described solid material conveying device is screw conveyer or ribbon conveyer, and able to turn on or off discharging opening is arranged at the delivery chute bottom of described screw conveyer.
Conveying worm is suitable for transporting seed, granular fertilizer, closes discharging opening, also can transport the granule crops such as the wheat of results and cereal, but comparatively suitable with belt conveyor for corn.
A kind of device of realizing unmanned management about the farmland of the present invention, it is characterized in that described draft arm is by " [" type framework (710), lever (720) and spring (730) consist of, it is described that " lower left corner of [" type framework is hinged on the described spiral arm, the upper left corner is fixedly connected with described spiral arm by pressure sensor (740), the pivot shaft of lever (720) is arranged on the described " bottom righthand side of [" type framework, the upper end of described lever ties up to by spring (730) that described " [" type framework top side, the lower end of described lever has the pin hole that articulates mechanical usefulness.
But draft arm is the auxiliary connection spiral arm both, also can connect the self-propelled special operation machinery through electrification innovation, two draw bars linked to each other with two draft arms respectively about self-propelled special operation machinery had, just can judge by the force value size that the pressure sensor on the draft arm (740) records whether the Work machine gait of march is consistent with spiral arm, can judge also whether the gait of march of the Work machine left and right sides is coordinated, with this gait of march of adjusting Work machine left and right sides driving wheel, make Work machine in accordance with regulations route and suitable speed advance.
A kind of device of realizing unmanned management about the farmland of the present invention is characterized in that being equipped with on the described spiral arm monitor that monitors mechanical function situation.
These monitors have been arranged, the staff just can monitor the situation of docking of docking mechanism and foundation pile (6) in the distance, whether each Work machine work is normal, and the growing state of crops, can accomplish unmanned execute-in-place and round the clock safety work fully like this, realize the dream of human " managing thousands of miles away ten thousand mu of rural areas ".
Workflow will make whole mechanical device automatically finish farmland operation, needs that also its workflow is written as computer program and is deposited into controller wherein, and the below simply introduces the whole workflow of this mechanical device.
The foundation pile of each fixing point (center fixture) number consecutively 0,1,2,3 in order ... N(0) (starting point and terminal point overlap); The angle (namely spiral arm also is referred to as the anglec of rotation of this foundation pile around the angle of this foundation pile rotation) that the line of in addition two foundation piles that each foundation pile is adjacent respectively consists of is deposited in the controller.
The spiral arm two ends are made as respectively side a and b.
Original state: at first set spiral arm A end docking mechanism and No. 0 foundation pile and be in mated condition, spiral arm is just around No. 0 foundation pile rotary operation, at this moment, the pressure sensor of installing on telescopic arm, spiral arm connecting joint, the draft arm (being respectively 312,225,740) can constantly be measured the size of these pressure, by analysis-by-synthesis, can regulate respectively the movement velocity of each load machine so that each load machine moves to alleviate docking mechanism to the impulsive force of foundation pile harmoniously; Can make each Work machine and spiral arm synchronous operation by the movement velocity of regulating each Work machine.
When spiral arm is rotated operation, potentiometer on the turntable bearing (330) can be measured the angle of spiral arm rotation, when measured value during close to the anglec of rotation of this foundation pile, illustrate that B end docking mechanism is near No. 1 foundation pile, reduce the pace of spiral arm this moment, and control mechanical arm (350) swings, make airborne laser range finder be in the foundation pile dead ahead No. 1, begin to measure the distance with foundation pile, when measured value is consistent with preset value, illustrate that whole spiral arm has been on the line of No. 0 and No. 1 foundation pile, B end arc shaped pincers arm device (340) has been in the foundation pile top No. 1, at this moment should brake immediately, spiral arm is halted.
After this control mechanical arm swing, make the airborne laser range finder rotation to No. 1 foundation pile side, begin to measure the distance with foundation pile, if measured value equates with preset value, can learn that the center of arc shaped pincers arm device is on the vertical center line of No. 1 foundation pile, if unequal, the length of adjustable and retractable arm is until equal, and the potentiometer on the telescopic arm is also measured the collapsing length of telescopic arm at this moment.
After this controlling lifting arm (320) falls, control arc shaped pincers arm device closes up, until fastening, this moment, water, electricity, the docking of letter line interface of B end were finished, each respective bus bars circuit that A end interface link tester is crossed on corresponding each switch and the spiral arm disconnects, each respective bus bars circuit that B end interface link tester is crossed on corresponding each switch and the spiral arm is connected, and namely, supply has been changed to the B end by the A end-grain cutting.
Afterwards, controlA
End pincers arm device separates with No. 0 foundation pile, lifts lifting arm, and turntable bearing is put to original position.
Spiral arm is again around No. 1 foundation pile rotary operation subsequently, in traveling process, make B end telescopic arm return to gradually raw footage, can avoid like this telescopic arm to produce the flexible accumulation of single direction, affect later docking, even make each load machine break away from the course of former regulation.
Meanwhile, each pressure sensor (312,225,740) that is placed on telescopic arm, spiral arm connecting joint, the draft arm is constantly measured again each force value, makes the harmonious operation of whole Work machine each several part by analyzing, adjusting ...
Afterwards, the docking mechanism at spiral arm two ends can be successively respectively with 2,3,4 ... N(0) number foundation pile docking, the above-mentioned work of reciprocation cycle.
Claims (13)
1. method that realizes unmanned management about the farmland is carried farm machinery take the fixing point (1) in farmland as the axle center by a spiral arm (2), is rotated the formula operation take described spiral arm as radius, it is characterized in that:
A plurality of fixing points (1) are set in the farmland regularly, and the distance of adjacent two fixing points (1) is the radius of turn of described spiral arm, and center fixture (6) all is set on the position of described each fixing point;
Described spiral arm two ends are respectively arranged with the docking mechanism (3) that connects with described center fixture;
The docking mechanism (3) at described spiral arm two ends alternately docks with corresponding each center fixture (6), take the center fixture (6) of being docked as the axle center rotary operation, the direction of rotation of spiral arm (2) alternately changes in a clockwise direction with counterclockwise with the change of the center fixture (6) of docking, and advances thereby described spiral arm is remained forward.
2. a kind of method that realizes unmanned management about the farmland as claimed in claim 1 is characterized in that starting point and the terminal point in the described fixing point overlaps.
3. a kind of method that realizes unmanned management about the farmland as claimed in claim 2, it is characterized in that described fixing point (1) is divided into the number row and is snakelike arrangement, every row roughly in line, and each row roughly is parallel to each other, between the end of line of adjacent two row and the row head transition fixing point (4) is arranged, two fixing points (1) at this transition fixing point and described end of line and the first place of row are on the same straight line, and this straight line and adjacent two row fixing point (1) place straight lines roughly consist of respectively 60 ° and 120 ° of angles.
4. such as claim 1 or 3 described a kind of methods that realize unmanned management about the farmland, it is characterized in that waterpipe, power circuit, communication line are routed to each fixing point (1), docking mechanism (3) at center fixture (6) and spiral arm (2) arranges water, electricity, letter interface, upper above-mentioned water, electricity, the letter circuit laid of spiral arm (2) realizes agricultural machinery electrified.
5. a kind of method that realizes unmanned management about the farmland as claimed in claim 4, it is characterized in that on the described spiral arm solid material conveying device being set, can the needed seed of concentrated supply Work machine near the fixture of described center, solid fertilizer, but the also crops of centralized collection results.
6. a kind of method that realizes unmanned management about the farmland as claimed in claim 5 is characterized in that at the road of dead angle area (5) setting towards each fixing point (1), in order to transport goods and materials.
7. device of realizing unmanned management about the farmland, comprise spiral arm (2), center fixture (6) and auxiliary facility, bindiny mechanism couples together described spiral arm and described center fixture, under the promotion of load machine, described spiral arm, is characterized in that by settling draft arm drive Work machine thereon to be rotated operation take center fixture (6) as the axle center:
Described spiral arm two ends respectively arrange a docking mechanism (3) that can freely be connected with center fixture (6);
Described center fixture (6) is a foundation pile of being fixed by buried pedestal (6), and the distance of adjacent two foundation piles is the radius of turn of described spiral arm.
8. a kind of device of realizing unmanned management about the farmland as claimed in claim 7 is characterized in that described docking mechanism comprises telescopic arm (310), lifting arm (320), turntable bearing (330) and pincers arm device (340);
Described telescopic arm is an extension sleeve that is fixed in described spiral arm end, the inner tank theca of described extension sleeve has a shallow slot, one tooth bar (311) is installed in the groove, and described tooth bar rear and front end respectively is fixed on described shallow slot two ends by a pressure sensor (312); Be meshed with described tooth bar with the coaxial gear that is connected of a braked wheel, under the driving of motor, but the inner/outer tube relative sliding of described extension sleeve is provided with the potentiometer of measuring collapsing length on the described extension sleeve;
The terminal hinge joint of the inner core of described lifting arm one end and described extension sleeve, one winch (321) is placed on the support above the inner core end of described extension sleeve, the steel wire rope end of described winch ties up on the described lifting arm, and described lifting arm end is connected with the axle sleeve (322) of band " U " type double shackle structure;
Described turntable bearing upper level symmetry is fixed wtih two minor axises, is stuck in the double shackle of described axle sleeve, and the potentiometer of measuring the anglec of rotation is installed on the described turntable bearing; Described turntable bearing lower horizontal symmetry is fixed wtih two slide bars (341), vertically be fixed wtih two columns, described column lower end is fixed wtih a horizontal positioned De “ Nian " type balladeur train (342); a pair of arc shaped pincers arm device (340) is through on balladeur train (342) and the slide bar (341) relatively; form the gesture of closing up; two leading screws (343) are as two output shafts of a differential mechanism (344); relatively be through on the described two arc shaped pincers arm devices; the hand of spiral of described two leading screws is opposite, the running of driven by motor differential mechanism, thereby make described two leading screws rotation, drive that described two arc shaped pincers arm devices close up to the centre or away from, thereby can hold or break away from described center fixture tightly, there is the finger-shaped arc-shaped protrusions described arc shaped pincers arm device inboard, be provided with Electric plug with shutter in the hollow cone bar (345) that the position, the centre of the palm of an arc shaped pincers arm device (340) is fixed therein, in another hollow cone bar (345) that the position, the centre of the palm of another arc shaped pincers arm device (340) is fixed, be provided with water pipe head and telecommunications plug, thereby can conveniently be switched on or switched off power supply, water source and telecommunications loop; Fix a rotating base on the position of center line of described turntable bearing, one " 7 " font mechanical arm (350) is installed on the described rotating base, and described mechanical arm tail end is fixed an airborne laser range finder;
Described foundation pile bottom is a cuboid, and its top and described arc shaped pincers arm device match, and are a cylinder; There is finger-shaped arc groove (602) described cylinder both sides, and both sides respectively have a bellmouth (601) in addition, are equipped with electric-connected socket in described one of them bellmouth, are equipped with waterpipe jointing, telecom jack in another bellmouth; Described cylinder top is circular groove, and there is Yu “ Nian at described circular groove edge " arc notch (603) that matches of type balladeur train (342).
9. such as claim 7 or 8 described a kind of devices of realizing unmanned management about the farmland, it is characterized in that described spiral arm is made of more piece, comprising independent joint (210) and connecting joint (220);
Inferior linking together between described independent joint and connecting joint, independent joint is " H " type framework, consisted of by two vertical crane span structures (211) and a crossbeam (212), described vertical crane span structure is by wheeled or crawler type load machine carrying, one end of described crossbeam is fixedly connected with vertical crane span structure (211) of a side wherein, the other end connects a minor axis (213), and this minor axis inserts in the bearing that is placed on the vertical crane span structure of opposite side (211), and axial restraint;
Described connecting joint is that two symmetrically arranged " ┣ " type structures link together by a turntable bearing supporting mass (226), form one " H " shape, described " ┣ " type structure is one to be arranged on the axle (221) of vertical crane span structure (211) and the hinged formation of a lateral frame (222), each fixes an auxiliary rod (223) described lateral frame both sides, described auxiliary rod is pressed on the roller (224) that is arranged on the described axle, is fixedly connected with described axle by pressure sensor (225).
10. a kind of device of realizing unmanned management about the farmland as claimed in claim 9 is characterized in that spiral arm (2) has connected a with it identical secondary spiral arm of structure by described draft arm, and described solid material conveying device is arranged on the described secondary spiral arm.
11. a kind of device of realizing unmanned management about the farmland as claimed in claim 10 is characterized in that described solid material conveying device is screw conveyer or ribbon conveyer, able to turn on or off discharging opening is arranged at the delivery chute bottom of described screw conveyer.
12. a kind of device of realizing unmanned management about the farmland as claimed in claim 11, it is characterized in that described draft arm is by " [" type framework (710), lever (720) and spring (730) consist of, it is described that " lower left corner of [" type framework is hinged on the described spiral arm, the upper left corner is fixedly connected with described spiral arm by pressure sensor (740), the pivot shaft of lever (720) is arranged on the described " bottom righthand side of [" type framework, the upper end of described lever ties up to by spring (730) that described " [" type framework top side, the lower end of described lever has the pin hole that articulates mechanical usefulness.
13. a kind of device of realizing unmanned management about the farmland as claimed in claim 12 is characterized in that being equipped with on the described spiral arm monitor that monitors mechanical function situation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210393374 CN102934544A (en) | 2012-10-17 | 2012-10-17 | Method and device for implementing unmanned management of farmland |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201210393374 CN102934544A (en) | 2012-10-17 | 2012-10-17 | Method and device for implementing unmanned management of farmland |
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| CN102934544A true CN102934544A (en) | 2013-02-20 |
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| CN 201210393374 Pending CN102934544A (en) | 2012-10-17 | 2012-10-17 | Method and device for implementing unmanned management of farmland |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171556A (en) * | 2013-03-19 | 2013-06-26 | 北京农业智能装备技术研究中心 | Automatic straight walking control system suitable for ditching operation tractor |
| CN104503468A (en) * | 2014-11-21 | 2015-04-08 | 中国农业大学 | Three-dimensional stereoscopic monitoring and imaging instrument for sunlight greenhouse environment |
| CN105432166A (en) * | 2014-09-24 | 2016-03-30 | 洛阳师范学院 | Unmanned weeding and fertilizing machine belonging to agricultural primary intelligent machinery |
| CN106105446A (en) * | 2016-07-08 | 2016-11-16 | 黄光瑜 | One is a farmer farming printer |
-
2012
- 2012-10-17 CN CN 201210393374 patent/CN102934544A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171556A (en) * | 2013-03-19 | 2013-06-26 | 北京农业智能装备技术研究中心 | Automatic straight walking control system suitable for ditching operation tractor |
| CN105432166A (en) * | 2014-09-24 | 2016-03-30 | 洛阳师范学院 | Unmanned weeding and fertilizing machine belonging to agricultural primary intelligent machinery |
| CN105432166B (en) * | 2014-09-24 | 2019-03-15 | 洛阳师范学院 | A kind of unattended fertilizer applicator of hoeing up weeds of agricultural primary intelligent machine |
| CN104503468A (en) * | 2014-11-21 | 2015-04-08 | 中国农业大学 | Three-dimensional stereoscopic monitoring and imaging instrument for sunlight greenhouse environment |
| CN104503468B (en) * | 2014-11-21 | 2017-06-20 | 中国农业大学 | A kind of heliogreenhouse surrounding three-dimensional stereoscopic monitoring and Image-forming instrument |
| CN106105446A (en) * | 2016-07-08 | 2016-11-16 | 黄光瑜 | One is a farmer farming printer |
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Application publication date: 20130220 |