CN106376257A - Unmanned multifunctional intertillage field managing platform - Google Patents
Unmanned multifunctional intertillage field managing platform Download PDFInfo
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- CN106376257A CN106376257A CN201610743810.5A CN201610743810A CN106376257A CN 106376257 A CN106376257 A CN 106376257A CN 201610743810 A CN201610743810 A CN 201610743810A CN 106376257 A CN106376257 A CN 106376257A
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- 239000000725 suspension Substances 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims description 45
- 230000005540 biological transmission Effects 0.000 claims description 28
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000010720 hydraulic oil Substances 0.000 claims description 12
- 239000012530 fluid Substances 0.000 claims description 11
- 239000000203 mixture Substances 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 10
- 230000033228 biological regulation Effects 0.000 claims description 5
- 239000002828 fuel tank Substances 0.000 claims description 4
- 239000003921 oil Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 25
- 238000000034 method Methods 0.000 abstract description 11
- 230000012010 growth Effects 0.000 abstract description 5
- 239000002689 soil Substances 0.000 description 36
- 230000006870 function Effects 0.000 description 34
- 238000003971 tillage Methods 0.000 description 27
- 241000196324 Embryophyta Species 0.000 description 15
- 238000009333 weeding Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 11
- 238000013461 design Methods 0.000 description 10
- 239000007788 liquid Substances 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 4
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- 230000002363 herbicidal effect Effects 0.000 description 3
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- 238000005507 spraying Methods 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
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- 235000007164 Oryza sativa Nutrition 0.000 description 2
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- 208000027418 Wounds and injury Diseases 0.000 description 2
- 235000013339 cereals Nutrition 0.000 description 2
- 235000015246 common arrowhead Nutrition 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 239000004009 herbicide Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 230000008635 plant growth Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 235000017060 Arachis glabrata Nutrition 0.000 description 1
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- NOQGZXFMHARMLW-UHFFFAOYSA-N Daminozide Chemical group CN(C)NC(=O)CCC(O)=O NOQGZXFMHARMLW-UHFFFAOYSA-N 0.000 description 1
- 244000068988 Glycine max Species 0.000 description 1
- 235000010469 Glycine max Nutrition 0.000 description 1
- 208000028804 PERCHING syndrome Diseases 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
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- 238000010295 mobile communication Methods 0.000 description 1
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- 235000015097 nutrients Nutrition 0.000 description 1
- 235000020232 peanut Nutrition 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000010496 root system development Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Environmental Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Guiding Agricultural Machines (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses an unmanned multifunctional intertillage field managing platform. Based on intertillage technology and by relying on field managing technology, comprehensive utilization level of a field managing platform can be improved with unmanned computer control technology as a breakthrough. The unmanned multifunctional intertillage field managing platform comprises a man-driving operation system, a field managing platform base plate, a suspension system, an intertillage machine tool, a fertilizer applying machine tool, a hydraulic driving system and an unmanned system, wherein a camera cellphone is employed in the unmanned system to send photos shot by the camera cell phone to an observation cellphone; an operator can observe work conditions of the multifunctional field managing platform, crop growth conditions and a front road condition in real time; with a combination between the remote control technology and the computer control system, the operator can gives a judgment according to the observed conditions and send out a control instruction via a remote controller; to control operation of the multifunctional field managing platform. The unmanned multifunctional intertillage field managing platform has simple method and is easy to achieve; and the platform has wide application prospect and promotion values.
Description
Technical field：
The invention belongs to the production of automation agricultural and detection field, more particularly, to a kind of unmanned Multifunctional cultivation field pipe
Platform.
Background technology：
Because the course of work workload of field management is big, need the number of entry completing also many, mechanical another of field management
Individual developing direction is exactly to adopt field management equipment institutional operation platform, and Specialty Design, specialty manufacture, and easily realize standard
Change, standardization, specialization are supporting.The present invention is to apply fertilizer, based on intertillage technology, devise a kind of unmanned Multifunctional cultivation field
Between management platform, the several functions such as intertillage, fertilising, weeding, ridging can be completed.Intertillage technology equipment passes through hang and field
Between management platform connect, comprehensively utilize suspension.
Intertillage refers to soil is carried out in shallow-layer overturning, loose surface layer soil.Purpose:Mainly loosen topsoil, typically
In conjunction with weeding, in rainfall, irrigate after and carry out during soil compaction.In North America nursery industry, using intertillage more than field cultivation seedlings
Hoe up weeds, that is, playing loosens the soil combines herbicide effect, avoid the pollution to environment using herbicide again.Effect:It is that crop growth is interim
The surface tillage carrying out between plant.Can be using instruments such as hand hoe, cultivator plough, tooth harrow and various ploughing and weeding devices.Intertillage can loose table
Soil, increase soil aeration, raising ground temperature, promote aerobe activity and nutrient validation, go to cut weeds, promote root system to stretch
Exhibition, regulation soil water regime.
The time of intertillage and number of times are different because of crop species, the growth of cereal crop seedlings, weeds and soil regime.General dry crop soybean is big
Tanaka ploughs in seedling stage and Feng Hangqian, and paddy rice was carried out in tillering stage.One season crop about intertill 3～4 times.As Crop growing stage length, envelope
The retardation of walking, weeds in field are many, soil glues weight, can increase intertillage number of times, and to keep, ground is loose, no weeds are for degree.Intertillage depth one
As grasp shallow-deep-shallow principle.Between the crop time of infertility, intertillage depth is general to grasp shallow-deep-shallow principle.I.e. crop seedling
Phase Root Distribution is shallower, can increase intertillage number of times, intertillage also preferably shallow in order to avoid hindering root；Crop growth mid-term deepens intertillage depth rush
Enter the effect of root system development；Late growth stage crop by seal row when, plant is in great numbers, one season crop about intertill 3～4 times.To abolish
Soil compaction closes intertillage and stops up soil to plant base portion, or the measure on training high one-tenth ridge, referred to as earths up.It is used for root tuber, stem tuber and height
Stalk cereal crops, to thicken soil layer, improve soil temperature, cover fertilizer and pressure and bury weeds, and have promotion the part of a crop which is beneath the ground flourishing and
Prevent the effect of long-stalked crops lodging.Peanut ridging also can shorten the distance that fruit pin buries, and reduces not plump fruit rate.Ridging is typically the
Carry out during 2～3 intertillages.During soil drought, intertillage can cut off table soil capillary, too early or hilling is too high that secondary root can be hindered to send out
Educate, be also the important means adjusting soil water regime.Impact stalk length is thick.
The main working parts of cultivator are divided into shovel formula and swinging two big class.
Wherein, the application of shovel formula is relatively wide, is divided into weed shovel, break shovel and earthing blade three types by effect.First, weeding
Shovel：Weed shovel is divided into single-blade formula, biplane and three kinds of ventilated type.Single-blade shovels for crop early stage weeding, and working depth is typically not
More than 6 centimetres.It is made up of horizontal shovel and vertical backplate two parts.The former is used for hoeing up weeds and loosens the soil, and the latter can prevent soil block
Pressure seedling, cutting edge is arranged at backplate bottom, can prevent from hanging grass blocking.During intertillage, single-blade shovel is respectively placed in the both sides of seedling, so there being left wing
Shovel and right flank shovel two types, must be noted that when mounted.The effect of sweep is identical with single-blade weed shovel, generally with list
Wing weed shovel uses cooperatively.2nd, break shovel：Break shovel is used in the ranks loosening the soil of crop, and it makes loosing soil but does not overturn, pine
Native depth is up to 13-16 centimetre.Break shovel is made up of spear and spade two parts.Spear is working portion, and its species is a lot,
Conventional has scalpriform, flechette-type and three kinds of birch shape.The narrower in width of chisel point, it utilizes spear to generation in soil course
Flat loosens the soil area ensureing the width that loosens the soil.It is more that this break shovel is applied in the past.The spear of arrow head shovel is triangular in shape, work
Making face is convex surface, and after ploughing, soil ravels, and bottom of trench is more smooth, and quality of loosening the soil is preferable.On the newly-designed cultivator of China, mostly
Employ this break shovel.Birch formula break shovel is applied to ridge culture ground and intertills operation of loosening the soil for the first time, and spear is triangular in shape, work
Face be convex surface, similar to arrow head shovel, simply alar part extend back long.3rd, earthing blade：Purposes is ridging and opens
Ditch ridging.Curved face type and two kinds of plane can be divided into by the type of working face.Curved face type：Its spear and shovel chest are divided into circular arc
Curved surface, hack ability is strong, and left and right ridging wall is semi-spiral curved surface, and ability of digging is stronger, thus in operation, can be by soil in the ranks
Earth ravels, and turns over to both sides.The spear of earthing blade is narrower, the bottom of trench narrow width opened, and stronger to the herbicidal performance of ridge side.Ridging
Shovel and shovel chest are hinged, and the tonicity of left and right ridging wall is adjusted and control by adjusting wall, and adjustable range is 275-430 millimeter, can meet
The ridging of conventional line-spacing and trench digging need.Widely use in northern China Plain combined task.Plane：This earthing blade is suitable for
In northeast ridge culture area.It is mainly used for hoeing up weeds and loosens the soil, and can be earthed up with ridging after installing soil heaping board.Generally, first
When secondary intertillage is loosened the soil, the triangle plough birch being 200 millimeters with fabric width, without soil heaping board；When loosening the soil for the second time, it is 250 millis with fabric width
The triangle plough alms bowl of rice, soil heaping board is transferred to centre position；When third time intertillage is loosened the soil, the triangle plough alms bowl being 350 millimeters with fabric width, training
Bigger than normal or maximum subtended angle position is transferred to by native plate.
Field management platform is a kind of new field management machinery version needing for field management and developing, high
Ground gap machinery mainly solves the problems, such as traditional power mechanically gap, is mainly used in spraying medicine, fails to be extended to field pipe further
Reason whole process, and Multifunctional field management platform of the present invention is based on field management technology, field management is many
Kind of function concentrates in one, has low cost, the features such as function is many, applicability is wide, and enables rotary tillage process.Current grinds
Study carefully and mainly realize field spray.
In addition, the driving performance of agricultural machinery is less in most agricultural machinery being involved, and in actual production behaviour
In work, the vibration of and agricultural machinery poor, with a varied topography due to the working environment of agricultural machinery itself, agricultural machinery is driven
For sailing driver, body is highly prone to injure, particularly lumbar portion, and the speed of Modern Agricultural Machine is more and more faster, right
The waist impact of people increases, and injury is bigger.Therefore realizing unmanned is a kind of inexorable trend of future development.Agricultural machinery
Unmanned and unmanned on highway has the differences of many, therefore can not indiscriminately imitate the unmanned technology of automobile.Field is managed
The motion ratio of platform is more single, in the motion process of field, mainly advances, retreats, turns to and operating direction, speed
Adjustment, therefore can adopt the unmanned of manual remote control mode, method is simple, and cost is extremely low, and application easy to spread.
Therefore, the demand for above-mentioned prior art is it is necessary to provide a kind of unmanned Multifunctional cultivation field management
Platform, to solve the problems of the prior art.
Content of the invention：
It is an object of the invention to provide a kind of unmanned Multifunctional cultivation field management platform, this platform is with the technology of intertilling
Based on, with field management technology for a kind of unmanned Multifunctional cultivation field management platform relying on, complete intertillage, remove
Grass, earth up, loosen the soil, applying fertilizer, spraying, the function such as rotary tillage, with unmanned control technology as breach, lift field management platform
Level of comprehensive utilization, makes field management technology reach a new height, and this platform is except using telecontrol engineering and computer controls skill
Outside the Unmanned Systems that art combines, additionally use the shooting of modern cell phones and its function of functional software, in real time by crop
The images such as state, platform course road conditions, working platform situation are sent to observation mobile phone, so that operating personnel make in real time
Decision-making, sends control instruction, the operation of control platform, has higher application and popularization value and application prospect.
The present invention adopts the following technical scheme that：A kind of unmanned Multifunctional cultivation field management platform, it includes manually
Riding manipulation system, field management platform chassis, suspension, wheel steering system, cultivating equipment, fertilizing equipment, hydraulic pressure
Drive system, intertillage cutter transmission mechanism, Unmanned Systems, described field management platform chassis are including traveling rubber
Wheel, the wheel shaft that can turn to supporting leg, connection traveling rubber wheel and can turn to supporting leg, driving hydraulic motor of advancing, quilt can be turned to supporting leg
The pin that the platform frame of support, the Diesel engine in platform frame, computer control system are connected with Diesel engine
The steering wheel that the wheel steering bar that throttle is connected with foot throttle is connected with wheel steering bar and manually/electromagnetic liquid are voltage-controlled
Valve group processed.
Further, a driving hydraulic motor of advancing is co-axially mounted and drives through a wheel shaft with a traveling rubber wheel
Its gyration, another wheel shaft is movably installed on one and can turn to below leg, and one can turn to the connection of leg upper movable
Be installed on one jiao of platform frame, formed one can universal movement leg.
Further, the unmanned stepper motor of throttle and its transmission mechanism are mounted with foot throttle, throttle nobody drive
Sail stepper motor and its transmission mechanism includes the oil that the unmanned stepper motor of throttle stepper motor unmanned with throttle is connected
Door main driven gear, the pedal being connected with main driven gear, accelerator rod and throttle base, throttle unmanned stepping electricity
Machine and throttle driving gear are co-axially mounted driving throttle driven gear rotation.
Further, described wheel steering system includes above-mentioned steering wheel, steering mechanism, above-mentioned wheel steering
Bar, described steering mechanism include king pin with the steering link that is connected with steering crank of steering crank turning to pin connection with
And centre steering link.
Further, described suspension include hang frame, cultivating equipment lifting hydraulic cylinder and hang frame hinged
The hanging connecting rod cultivating equipment lifting hydraulic cylinder hinged with hanging connecting rod, hanging connecting rod is hinged with platform support, respectively in platform
Support both sides form the parallel four side mechanisms of two groups of hinges, and one section of cultivating equipment lifting hydraulic cylinder is articulated with the middle of hanging connecting rod, one
Section is articulated with platform support.
Further, described cultivating equipment includes intertilling cultivating equipment base, the intertillage knife that support is connected with intertillage support
The intertillage rotating tool rotating shaft of tool tool rest and intertillage cutter tool rest welding, intertillage cutter and its transmission mechanism.
Further, described intertillage cutter transmission mechanism includes intertilling rotating tool rotating shaft, intertillage rotating tool driving liquid
Pressure motor with intertillage rotating tool drive hydraulic motor is connected intertillage revolution driving shaft coupling, intertillage driving-chain, intertillage turn round
Tool driving shaft with intertillage rotating tool drive shaft is connected intertillage drive sprocket with intertill drive sprocket be connected bearing block,
Intertillage driven sprocket, intertillage rotating tool drives hydraulic motor and intertillage rotating tool drive shaft by intertilling revolution driving shaft coupling
It is connected, intertillage rotating tool drive shaft, in hanging in frame intertillage rotating tool drive shaft is distributed by three bearing block supports
Four groups of four of chain-drive mechanism intertillage drive sprockets of intertillage with intertillage cutter relevant position are installed, intertillage drive sprocket,
Intertillage driving-chain, intertillage driven sprocket composition intertillage chain-drive mechanism, intertillage support is hollow structure, and intertillage driven sprocket is installed
In intertillage rotating tool rotating shaft.
Further, described fluid power system include hydraulic oil pump, manually/electromagnetic hydraulic pressure control valve group, oil circuit pipeline,
Advance and drive hydraulic motor, intertillage rotating tool to drive hydraulic motor, cultivating equipment lifting hydraulic cylinder, speed regulation throttle valve, filtration
Device, quartering current divider, bisection current divider, spray equipment folding and unfolding hydraulic cylinder, fuel tank composition, manually/electromagnetic hydraulic pressure control valve
Organize for four 3-position 4-ways manually/electromagnetic hydraulic pressure directional control valve composition, be to advance to drive hydraulic motor manually/electromagnetism respectively
Hydraulic control valve, intertillage rotating tool drive hydraulic motor manually/electromagnetic hydraulic pressure control valve, spray equipment folding and unfolding hydraulic cylinder to use
Manually/electromagnetic hydraulic pressure control valve, cultivating equipment lifting hydraulic cylinder manually/electromagnetic hydraulic pressure control valve.
Further, described fertilizing equipment include fertilizer apparatus, fertilizer expelling shaft and its shaft coupling, fertilizer box, fertilizer guiding tube, lead fertile bucket with
And fertilising stepper motor.
Further, described pilot steering steerable system includes described steering wheel, manually/electromagnetic hydraulic pressure control valve group
All Manual operation handles, described foot throttle, seat, described Unmanned Systems include remote control, computer control system,
All solenoids of manually/electromagnetic hydraulic pressure control valve group, the unmanned stepper motor of Diesel engine throttle and its controller,
Unmanned steering stepper motor and its controller, pace sensor and its signal processing circuit, fertilising stepper motor and
Its controller, shooting mobile phone and its charger, observation mobile phone and its charger baby, 48V battery pack.
The present invention has the advantages that：The unmanned Multifunctional cultivation field management platform of the present invention is to intertill skill
Based on art, with field management technology for relying on, with unmanned control technology as breach, lifting field management platform is comprehensive
Using level, complete the functions such as intertillage, weeding, ridging, fertilising, also can complete the functions such as rotary tillage, trench digging, field management platform
Have wide range of applications, one-machine-multi-function, one is supported multiple stage, and low cost, in order to reduce the actual bodily harm to people for the pilot steering, using distant
Control technology, mobile communication function are combined with Computer Control Technology, realize unmanned.
Brief description：
Fig. 1 is the present invention unmanned Multifunctional cultivation field management platform structure schematic diagram；
Fig. 2 is the schematic diagram of another angle of the present invention unmanned Multifunctional cultivation field management platform structure；
Fig. 3 is the schematic diagram of cultivating equipment in the present invention unmanned Multifunctional cultivation field management platform；
Fig. 4 is the partial schematic diagram of cultivating equipment in the present invention unmanned Multifunctional cultivation field management platform；
Fig. 5 is the partial schematic diagram of wheel steering system in the present invention unmanned Multifunctional cultivation field management platform；
Fig. 6 is the unmanned stepper motor of throttle and its driver in the present invention unmanned Multifunctional cultivation field management platform
The partial schematic diagram of structure；
Fig. 7 is the unmanned stepper motor of throttle and its driver in the present invention unmanned Multifunctional cultivation field management platform
The partial schematic diagram of structure；
Fig. 8 is the schematic diagram of shovel class cultivating equipment in the present invention unmanned Multifunctional cultivation field management platform；
Fig. 9 is the part-structure schematic diagram of the present invention unmanned Multifunctional cultivation field management platform；
Figure 10 is the schematic diagram of rotary tillage chain-drive mechanism in the present invention unmanned Multifunctional cultivation field management platform；
Figure 11 is the schematic diagram of fluid power system in the present invention unmanned Multifunctional cultivation field management platform.
Wherein：Traveling rubber wheel 1, wheel shaft 2, supporting leg 3, king pin 4, steering crank 5, steering link 6, platform machine can be turned to
Frame 7, Diesel engine 8, computer control system 9, wheel steering bar 10, steering wheel 11, manually/electromagnetic hydraulic pressure control valve group
12nd, Manual operation handle 12 ', foot throttle 13, seat 14, cultivating equipment base 15, cultivating equipment lifting hydraulic cylinder 16, the company of suspension
Bar 17, suspension frame 18, fertilizer box 19, intertillage support 20, fertilizer guiding tube 21, intertillage cutter 22, middle steering link 23, shaft coupling
24th, hydraulic oil pump 25, hydraulic oil pump 26, fuel tank 27, fertilizer apparatus 28, defertilizing opening 29, intertillage rotating tool rotating shaft 30, intertillage knife
Tool tool rest 31, advance drive hydraulic motor 32, intertillage rotating tool drive hydraulic motor 33, intertillage revolution driving shaft coupling 34,
Intertillage driving-chain 35, intertillage rotating tool drive shaft 36, intertillage drive sprocket 37, bearing block 38, fertilizer expelling shaft and its shaft coupling 39,
Lead fertile bucket 40, fertilising stepper motor 41, intertillage driven sprocket 42, driven tooth sector 43, turn to stepper motor 44, turn to master
The unmanned stepper motor of moving gear 45, throttle 201, throttle main driven gear 202,203, pedal 204, accelerator rod 205,
Throttle base 206, shovel cutter 301, band seedling-protection plate 302, rotary tillage cutter shaft install front side board 401, rotary tillage cutter shaft 402, rotary blade
Axle install back side panel 403, rotary tillage drive sprocket 404, rotary tillage driven sprocket 406, rotary tillage chain wheel cover 407, speed regulation throttle valve 501,
Filter 502, advance driving hydraulic motor manually/electromagnetic hydraulic pressure control valve 503, quartering current divider 504, cultivating equipment liter
Descending liquid cylinder pressure manually/electromagnetic hydraulic pressure control valve 505, bisection current divider 506, intertillage rotating tool drive hydraulic motor hand
Dynamic/electromagnetic hydraulic pressure control valve 507, spray equipment folding and unfolding hydraulic cylinder manually/electromagnetic hydraulic pressure control valve 508, spray equipment folding and unfolding
Hydraulic cylinder 509.
Specific embodiment：
The invention discloses a kind of unmanned Multifunctional cultivation field management platform, this platform is based on intertillage technology,
With field management technology for rely on a kind of unmanned Multifunctional cultivation field management platform, complete intertillage, weeding, ridging,
Loosen the soil, apply fertilizer, spraying, the function such as rotary tillage, with unmanned control technology as breach, lifting field management platform comprehensive utilization
Level, makes field management technology reach a new height.
A kind of unmanned Multifunctional cultivation field management platform of the present invention mainly includes following sections：Field
Management platform chassis, fluid power system, cultivating equipment, suspension, fertilizing equipment, pilot steering steerable system, nobody drives
Sail system etc..Field management platform chassis are four-wheel full hydraulic drive structure, are the unmanned many work(of one kind of the present invention
The base support part of field management platform can be intertilled, there is steering and dynamical system；Cultivating equipment is the work of the present invention
Make part, thereon equipped with the cutter needed for field management and its transmission mechanism, the work(such as main realization ridging, weeding, fertilising, rotary tillage
Can, it is connected with field management platform by suspension；Fluid power system is by field management platform chassis power part
Mechanical power transmission be hydraulic coupling, and be translated into machine power again, play power decentralized transmission, change the direction of motion
Function, reaches a kind of driving unmanned Multifunctional cultivation field management platform of the present invention and realizes advancing, retreat, turn to
And cultivating equipment ploughing and weeding campaign purpose；Pilot steering steerable system be operating personnel manually manipulate field management put down
The manually handle handle group of the wheel steering system on platform chassis and fluid power system, realizes to one kind of the present invention
The operation of unmanned Multifunctional cultivation field management platform is controlled；When Unmanned Systems can reduce artificial operation as far as possible
Because mechanical oscillation cause larger injury to the body of people, particularly protect the lumbar vertebrae of long campaigns farm machinery operators
Portion, can mitigate the labour intensity of operating personnel simultaneously significantly.Unmanned Systems adopt telecontrol engineering and Computer Control Technology
Combine, be on the basis of the Manual operation mechanism of pilot steering steerable system, increased what computer control system can control
Electric drive components；On the other hand, the unmanned related software additionally using on camera mobile phone and observation mobile phone and mobile phone
Function, captured in real-time to plant growth situation, course road conditions and one kind of the present invention unmanned multi-functional in
The ruuning situation of management platform between cultivated land, operating personnel thus judge, and remote control sends control instruction, by computer controls
System controls a kind of unmanned operation of unmanned Multifunctional cultivation field management platform of the present invention further.
A kind of layout designs of unmanned Multifunctional cultivation field management platform of the present invention.Layout designs are main
Refer to position occupied by a kind of unmanned Multifunctional cultivation field management platform of the present invention for the cultivating equipment.If
Cultivating equipment is placed in a kind of unmanned Multifunctional cultivation field management platform rear of the present invention, due to cultivating equipment
Stress point in subsurface, backward, and cultivating equipment is suspended from field management platform chassis to ploughing and weeding resistance, then can make the present invention
Described a kind of unmanned Multifunctional cultivation field management platform is acted on by larger turning torque, then be unfavorable for the present invention
The stability of described a kind of unmanned Multifunctional cultivation field management platform；And cultivating equipment is positioned over of the present invention
Platform frame lower section, then turning torque produced by cultivating equipment unmanned with one kind of the present invention multi-functional in
Produced by management platform itself gravity between cultivated land moment be added ensure that one kind of the present invention unmanned multi-functional in
The stability of management platform and reliability between cultivated land；On the other hand, cultivating equipment is placed in below platform frame, is conducive to shortening liquid
Pressure drive line, reduces power attenuation Manufacturing cost.
Illustrate embodiments of the present invention below in conjunction with the accompanying drawings：
To turn round class intertillage cutter as example, a kind of unmanned Multifunctional cultivation field management platform structure of the present invention
With operation principle as shown in Figure 1.For simplifying design, in accompanying drawing 1, it is not drawn into electricity in fluid power system and Unmanned Systems
The pipeline connected mode such as line cable.
Unmanned Multifunctional cultivation field management platform of the present invention, it including traveling rubber wheel 1, can turn
To supporting leg 3, connect traveling rubber wheel 1 with the wheel shaft 2 that can turn to supporting leg 3, advancing drives hydraulic motor 32, can be turned to supporting leg 3
The platform frame 7, the Diesel engine 8 in platform frame 7, computer control system 9 and the Diesel engine 8 that support are even
The steering wheel 11 that the wheel steering bar 10 that the foot throttle 13 connecing is connected with foot throttle 13 is connected with wheel steering bar 10 with
And manually/electromagnetic hydraulic pressure control valve group 12.Traveling rubber wheel 1 includes four, can turn to leg 3 and include four, wheel shaft 2 includes four
Root, advances and drives hydraulic motor 32 to include four.Advancing for one drives hydraulic motor 32 and a traveling rubber wheel 1 to take turns through one
Axle 2 is co-axially mounted and drives its gyration, and another wheel shaft 2 is movably installed on one and can turn to below leg 3, and one can turn
Be installed on one jiao of platform frame 7 to the connection of leg 3 upper movable, formed one can universal movement leg.Platform adopts four-wheel
Full hydraulic drive mode, is hydraulically operated system drive four and advances and drive the rotating forward of hydraulic motors 32, reversion, stop, realization
A kind of advance of unmanned Multifunctional cultivation field management platform of the present invention, retrogressing, stopping.Diesel engine 8 pin
Also have foot brake with operating mechanism, with present invention relation less, no longer describe in detail.
, in 1.5m, in 2.2m, left and right width is in 1.8m, platform frame width anterior-posterior length for platform frame 7 design height
Degree is relevant with the line-spacing of crops, and the present invention is with every row crop spacing for 60cm as design standard.
The unmanned stepper motor of Diesel engine throttle and its transmission mechanism are mounted with foot throttle 13.Throttle is unmanned
Drive stepper motor and its transmission mechanism includes the unmanned stepper motor of throttle 201 and the unmanned stepper motor of throttle 201
Connect throttle main driven gear 202,203, the pedal 204 being connected with main driven gear 202,203, accelerator rod 205 with
And throttle base 206.Throttle base 206 is the base support of the unmanned stepper motor of throttle and its transmission mechanism, will be whole
The unmanned stepper motor of individual throttle and its transmission mechanism are fixedly mounted on paralell bottom surface, the unmanned stepper motor of throttle
201 are co-axially mounted driving throttle driven gear 203 with throttle driving gear 202 rotates, and pulls accelerator rod 205 to control throttle
Size；People's foot-treadle 204, drives accelerator rod 205 then to achieve artificial control throttle size, thus controlling diesel engine
The rotating speed of machine and power output.
As shown in Fig. 1,2,5, unmanned Multifunctional cultivation field management platform of the present invention also includes steering wheel
Steering, described wheel steering system includes above-mentioned steering wheel 11, steering mechanism, 10 groups above-mentioned of wheel steering bar
Become.Described steering mechanism, steering mechanism includes steering crank 5 and steering crank 5 company that king pin 4 is connected with king pin 4
The steering link 6 connecing and middle steering link 23.5 one sections of three steering cranks are fixedly installed in first two respectively and can turn to
On pin 3 and wheel steering bar 10, it is fixed on and can turn to another section of two steering cranks 5 of leg 3 before two and be hingedly connected to
Between steering link 23, thus with middle steering link 23, platform support 7 form hinge parallelogram linkage I；One section with
Another section of steering crank 5 being fixedly connected on wheel steering bar 10 is hinged with steering link 6, and steering link 6 passes through king pin 4
Hinged with hinge parallelogram linkage I.During pilot steering, operating personnel manipulate steering wheel 11 and drive wheel steering bar
10 and the steering crank 5 that is fixed thereon rotate, pull in the middle of steering link 23, diverted pin 4, drive hinge parallelogram
The steering crank 5 of linkage I rotates, and before drive platform frame, two can turn to the corresponding angle of leg 3 synchronous axial system in fact
Now manually turn to, and steering wheel 11 steering is identical with platform frame steering；When unmanned of the present invention a kind of nobody drive
Sail the course changing control of Multifunctional cultivation field management platform, as shown in Figure 5, drive diversion driving-gear by turning to stepper motor 44
45, thus driving driven tooth sector 43, and tooth sector 43 and wheel steering bar 10 coaxially operate, by this driving direction disk
Turning-bar 10 drives manual steering mechanism to realize turning to.
Unmanned Multifunctional cultivation field management platform of the present invention also includes suspension, described suspension
Rise descending liquid including hanging frame 18 hanging connecting rod 17 hinged with hanging frame 18 cultivating equipment hinged with hanging connecting rod 17
Cylinder pressure 16.Hanging connecting rod 17 is hinged with platform support 7, respectively in the parallel four side mechanisms of platform support 7 both sides two groups of hinges of composition,
16 1 sections of cultivating equipment lifting hydraulic cylinder is articulated with the middle of hanging connecting rod 17, one section be articulated with platform support 7, driven by hydraulic pressure
Dynamic system controls two groups of cultivating equipment lifting hydraulic cylinder 16 synchronization telescopes to drive lifting and the decline of cultivating equipment, so can keep
Hang the parallel of frame 18 and platform support 7 and ground, cutter buries steadily.Cultivating equipment liter is controlled by fluid power system
The collapsing length of descending liquid cylinder pressure 16, thus intertillage cutter embedded depth is adjustable.
Unmanned Multifunctional cultivation field management platform of the present invention also includes cultivating equipment, described cultivating equipment
Cultivating equipment base 15, intertillage cutter tool rest 31 and the intertillage cutter tool rest being connected with intertillage support 20 including intertillage support 20
The intertillage rotating tool rotating shaft 30 of 31 welding, intertillage cutter 22 and its transmission mechanism.Beam overall 2.4m, acts on five-element crops.
In the present invention, intertillage cutter is to turn round class intertillage cutter 22, shovel cutter 301 for design example.
As shown in figures 1 and 3, cultivating equipment arranges four group's cultivating equipments, intertillage according to the five-element crops being acted on
Rotating tool cutter shaft length is H2, and for H1, interblock space should ensure that crops pass through, and H1+H2=H=600mm.Ridging cutter etc.
Revolution class intertillage cutter 22 be fixedly installed in intertillage cutter tool rest 31, and intertill cutter tool rest 31 be welded in intertillage rotating tool turn
On axle 30, form one group of intertillage rotating tool cutter shaft, and intertill rotating tool cutter shaft and arrange intertillage cutter transmission for centre position
Mechanism, both sides arrangement intertillage cutter, intertillage cutter transmission mechanism is placed in cultivating equipment base 15 hollow space, intertills flying knife
Tool cutter shaft and cultivating equipment base 15 formed axially rotatable, radially fixed couple, above composition a small group revolution class cultivator
Tool；On the other hand, as shown in figure 8, non-rotating class intertillage cutter shovel cutter 301 is without transmission mechanism, with the hoe of seedling-protection plate 302
Perching knife tool 301 and a shovel cutter tool rest（Not shown）It is fixedly connected, shovel cutter tool rest and cultivating equipment base 15 are directly solid
Fixed connection, a small group shovel class cultivating equipment formed above.
As shown in Figure 10, rotary tillage cutter shaft 402 is used for the rotary tillage before sowing, is elongated structure, method for designing and existing rotary tillage
Method for designing is identical, no longer describes in detail herein.
As shown in figure 3, unmanned Multifunctional cultivation field management platform of the present invention also includes intertilling cutter biography
Motivation structure, described intertillage cutter transmission mechanism includes intertilling rotating tool rotating shaft 30, intertillage rotating tool driving hydraulic motor
33 with intertillage rotating tool drive hydraulic motor 33 is connected intertillage revolution driving shaft couplings 34, intertill driving-chain 35, intertill back
Turn intertillage drive sprocket 37 and intertillage drive sprocket 37 company that tool driving shaft 36 is connected with intertillage rotating tool drive shaft 36
The bearing block 38 that connects, intertillage driven sprocket 42.Intertillage rotating tool drives hydraulic motor 33 and intertillage rotating tool drive shaft 36
It is connected by intertillage revolution driving shaft coupling 34, intertillage rotating tool drive shaft 36 is supported on suspension frame 18 by three bearing blocks 38
On, in intertillage rotating tool drive shaft 36 distributing installation have four groups with intertillage cutter 22 relevant position intertill chain-drive mechanism
Four intertillage drive sprockets 37；Intertillage drive sprocket 37, intertillage driving-chain 35, intertillage driven sprocket composition intertillage Chain conveyer machine
Structure, intertillage support 20 is hollow structure, and to ensure to intertill the transmission space of chain-drive mechanism, intertillage driven sprocket is installed on intertillage
In rotating tool rotating shaft 30.Intertillage rotating tool drives hydraulic motor 33 to drive intertillage rotating tool drive shaft 36, intertillage chain to pass
Dynamic mechanism kinematic, thus driving intertillage revolution cutter shaft motion, completes intertillage operation.
As shown in FIG. 9 and 10, the driving of rotary tillage cutter shaft 402 also utilizes the intertillage cutter transmission mechanism shown in accompanying drawing 1, but
The two ends of rotary tillage cutter shaft 402 are installed on rotary tillage cutter shaft and install front side board 401 and rotary tillage cutter shaft installation back side panel 403, and biside plate is again
Directly it is fixedly installed in suspension frame 18, and intertills chain-drive mechanism and be changed to 1 group of rotary tillage chain-drive mechanism（Rotary tillage drive sprocket
404th, rotary tillage driving-chain 405, rotary tillage driven sprocket 406, rotary tillage chain wheel cover 407）, after being placed in intertilling rotating tool drive shaft 36
End, the structural strength of this group chain-drive mechanism will be designed calculating according to the method for rotary cultivator and select.
As shown in figure 11, unmanned Multifunctional cultivation field management platform of the present invention also includes hydraulic-driven
System, described fluid power system includes hydraulic oil pump 25, hydraulic oil pump 26, manually/electromagnetic hydraulic pressure control valve group 12, oil circuit
Pipeline, driving hydraulic motor 32 of advancing, intertillage rotating tool drive hydraulic motor 34, cultivating equipment lifting hydraulic cylinder 16, speed governing
Choke valve 501, filter 502, quartering current divider 504, bisection current divider 506, spray equipment folding and unfolding hydraulic cylinder 509（In advance
If when needing to spray equipment, existing fluid power system need not be changed）, fuel tank 27 forms.Manually/electromagnetic hydraulic pressure control valve
Group 12 be four 3-position 4-ways manually/electromagnetic hydraulic pressure directional control valve composition, be to advance to drive hydraulic motor manually/electricity respectively
Magnetic hydraulic control valve 503, intertillage rotating tool drive hydraulic motor manually/electromagnetic hydraulic pressure control valve 507, spray equipment folding and unfolding
Hydraulic cylinder manually/electromagnetic hydraulic pressure control valve 508, cultivating equipment lifting hydraulic cylinder manually/electromagnetic hydraulic pressure control valve 505.Hand
Dynamic/electromagnetic hydraulic pressure control valve group 12 is installed on paralell 7 in the same direction with direct of travel.Manual operation handle 12 ' is by valve body two ends
Man-operated mechanism linkage, Manual operation handle 12 ' have before, during and after three positions, the left position of corresponding valve element, middle position, right position three
Individual function position, valve element is stop position in middle position, now obstructed hydraulic oil；And the solenoid at valve body two ends（1Y、2Y、3Y、
4Y、1Z、2Z、3Z、4Z）Its energising or dead electricity are controlled by computer control system of the present invention, makes valve element to corresponding
Position motion or stopping；Solenoid 1Y, 2Y, 3Y, 4Y obtain electric, are the left median function effect of valve element, then hydraulic oil makes accordingly
Hydraulic motor rotates forward, hydraulic cylinder stretches act；Solenoid 1Z, 2Z, 3Z, 4Z obtain electric, are the right median function effect of valve element, then hydraulic oil
Corresponding hydraulic motor reversion, hydraulic cylinder is made to withdraw；When solenoid all must not be electric, then valve element is under spring force
Median Function.Diesel engine 8 is connected with hydraulic oil pump 25 through shaft coupling 24, by mechanical power transmission for hydraulic coupling through oil-way pipe
Line, speed regulation throttle valve 501 are delivered to manually/electromagnetic hydraulic pressure control valve group 12, through manual or computer system control solenoid
Energising makes accordingly manually/electromagnetic hydraulic pressure control valve path or the open circuit of desirable movement, and hydraulic oil flows to corresponding hydraulic cylinder and liquid
Pressure motor, drives a kind of operation of unmanned Multifunctional cultivation field management platform of the present invention further.The quartering
Current divider 594, bisection current divider 506 play a part equivalent shunting, and four travelings for being synchronized with the movement drive hydraulic pressure
The synchronization of 32, two cultivating equipment lifting hydraulic cylinders 16 of motor drives；Drive used by hydraulic motor in addition, being computed four and advancing
Flow accounts for the 30% of total flow, and other 70% flows drive as the operation of revolution class cultivating equipment；When for rotary tillage function, rotation
The milling campaign of cultivated cutter can produce before to thrust, advantageously reduce the power demand to hydraulic coupling for the rotary tillage function；When not having back
When turning class intertillage cutter drives requirement, then hydraulic coupling is totally converted the power demand of the functions such as weeding, ridging.Filter 502 is right
The hydraulic oil filtering of backflow.
As shown in Figures 2 and 3, unmanned Multifunctional cultivation field management platform of the present invention also includes fertilizer applicator
Tool, described fertilizing equipment includes fertilizer apparatus 28, defertilizing opening 29, fertilizer expelling shaft and its shaft coupling 39, fertilizer box 19, fertilizer guiding tube 21, leads fertilizer
Bucket 40 and fertilising stepper motor 41.Fertilizing equipment is installed on the rear of platform frame, its method for designing and existing fertilizing equipment
Identical, I will not elaborate.The fertilizing functions of fertilizing equipment are either unmanned or pilot steering, by unmanned system
System is controlled.The effect of fertilizing equipment is exactly by fertilizer apparatus 28 essence amount fertilizer, controls the motion of fertilising stepper motor 41, then
Fertilizer hill spacing can be adjusted, it is ensured that in nothing of the present invention under computer control system of the present invention controls
The traveling movement velocity of people's driving Multifunctional cultivation field management platform also can be according to the hill spacing fertilizer setting when uneven.Fertilizer
The effect of device 28 is to can guarantee that every cave essence amount fertilizer.Fertilising stepper motor 41 is coaxially coupled with fertilizer expelling shaft and its shaft coupling 39, will
Motion is delivered to fertilizer expelling shaft, and essence amount fertilizer falls into through defertilizing opening 29 leads fertile bucket 40, then fall in corresponding cave through fertilizer guiding tube 21 or
Position.If necessary to fertilizer cave, then need to configure hole-making machine structure, do not design in the present invention, in figure is not drawn into.
As shown in figure 1, unmanned Multifunctional cultivation field management platform of the present invention also includes pilot steering behaviour
Vertical system, described pilot steering steerable system includes steering wheel 11, all manually operated hand of manually/electromagnetic hydraulic pressure control valve group
Handle, foot throttle 13, seat 14.During pilot steering, operating personnel manipulate steering wheel and drive steering of the present invention to realize
A kind of divertical motion function of unmanned Multifunctional cultivation field management platform of the present invention；Manipulate manually/electromagnetic liquid
The Manual operation handle of pressure control valve group controls a kind of unmanned Multifunctional cultivation field management platform of the present invention
Advance, retreat etc. and cultivating equipment elevating movement function of the present invention, foot throttle 13 controls the throttle of Diesel engine,
Realize the adjustment of gait of march.
As shown in figure 1, unmanned Multifunctional cultivation field management platform of the present invention also includes unmanned system
System, described Unmanned Systems include remote control, computer control system, all electromagnetism of manually/electromagnetic hydraulic pressure control valve group
Coil, the unmanned stepper motor of Diesel engine throttle 201 and its controller, unmanned steering stepper motor and its control
Device, pace sensor and its signal processing circuit, fertilising stepper motor 41 and its controller, shooting mobile phone and its charging
Device, observation mobile phone and its charger baby, 48V battery pack.Unmanned Systems' one side adopts shooting and the hand of shooting mobile phone
Functional software on machine in real time captured image is sent on observation mobile phone, and operating personnel's energy Real Time Observation is to the present invention
The road of the described working condition, plant growth situation and direct of travel of unmanned Multifunctional cultivation field management platform
Condition；On the other hand, combined with computer control system using telecontrol engineering, made according to observed situation by operating personnel
Judge and control instruction is sent by remote control, control unmanned Multifunctional cultivation field management platform of the present invention
Run.
The present invention does not make circuit design, and the method for design has multiple, and I will not elaborate.Remote control of the present invention is real
The transmitting of existing remote signal；Three function selecting key areas are provided with remote control transmitter：One is driving model function selecting key area,
Have：" pilot steering ", " remote driving ", selects to driving model during driving first；Two is a kind of nothing of the present invention
People drives the travel direction of Multifunctional cultivation field management platform and its function selecting key area of speed change：Have " advance ", " retrogressing ",
" acceleration ", " deceleration ", " stopping ", drive the time for the selection driving traveling and speed；Three is one kind of the present invention
The function selecting key area travelling steering of unmanned Multifunctional cultivation field management platform：" left-hand rotation ", " right-hand rotation ", turns to and selects
Select order in no particular order with travel direction；Fertilizing functions are consistent with " advance ", " acceleration " instruction, even if in " pilot steering "
During pattern, also can be by " advance ", " acceleration " and only effective to fertilizing functions, and other functions selection key does not act as to fertilizing functions
With.Function above is judged according to the signal being accepted by computer control system and is realized controlling.Three function selecting keys
A total of 9 buttons of function key in area；Separately set power switch key and the order display screen of a remote control itself；Transmission signal is with same
Pace pulse number+N number of data pulse, to represent, often presses one key or two key combinations, then send N number of data pulse accordingly, and two
Key combination is such as：" advance "+" left-hand rotation ", " advance "+" right-hand rotation "；" acceleration ", " deceleration " key are after pressing " advance " or " retrogressing "
Just work, press " advance ", " retrogressing " key.
The present invention has the advantages that：
1st, unmanned Multifunctional cultivation field management platform is based on intertillage technology, with field management technology for relying on, with
Unmanned control technology is breach, lifts field management platform level of comprehensive utilization, completes intertillage, weeding, ridging, fertilising
Etc. function, the other functions such as rotary tillage before also completing to intertill, the new purposes of the application extension of field management platform, multi-functional
Configure mainly on the tiller body of cultivating equipment different cutters and its transmission or mounting structure to meet field management
Multiple need one-machine-multi-function, one is supported multiple stage, low cost, gives full play to field management platform capabilities, have more wide should
With prospect and promotional value.
2nd, cultivating equipment is placed in below platform frame, with balance ploughing and weeding resistance it is ensured that of the present invention a kind of nobody drive
Sail stability and the reliability of Multifunctional cultivation field management platform；Rotating tool adopts fluid motor-driven, powerful,
Shorten machine driving route.
3rd, in order to reduce the actual bodily harm to human pilot for the pilot steering, realized to Multifunctional cultivation field using telecontrol engineering
Between management platform unmanned, also using two mobile phones achieve realtime graphic transmission so that operating personnel can grasp phase immediately
Pass situation, sends control signal in real time, and method is simple, it is easy to accomplish.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, some improvement can also be made under the premise without departing from the principles of the invention, these improvement also should be regarded as the present invention's
Protection domain.
Claims (10)
1. a kind of unmanned Multifunctional cultivation field management platform it is characterised in that：It includes pilot steering steerable system, field
Between management platform chassis, suspension, wheel steering system, cultivating equipment, fertilizing equipment, fluid power system, intertillage knife
Tool transmission mechanism, Unmanned Systems, described field management platform chassis are including traveling rubber wheel（1）, supporting leg can be turned to
（3）, connect traveling rubber wheel（1）With can turn to supporting leg（3）Wheel shaft（2）, advance drive hydraulic motor（32）, can be turned to
Leg（3）The platform frame supporting（7）, located at platform frame（7）On Diesel engine（8）, computer control system（9）, and
Diesel engine（8）The foot throttle connecting（13）, and foot throttle（13）The wheel steering bar connecting（10）, and wheel steering
Bar（10）The steering wheel connecting（11）And manually/electromagnetic hydraulic pressure control valve group（12）.
2. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：Advance for one and drive
Hydrodynamic pressure motor（32）With a traveling rubber wheel（1）Through a wheel shaft（2）It is co-axially mounted and drives its gyration, another
Wheel shaft（2）Movably it is installed on one and can turn to leg（3）Lower section, one can turn to leg（3）Upper movable connection is installed on flat
Platform frame（7）One jiao, formed one can universal movement leg.
3. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：In foot throttle
（13）On be mounted with the unmanned stepper motor of throttle and its transmission mechanism, the unmanned stepper motor of throttle and its transmission mechanism
Including the unmanned stepper motor of throttle（201）, and the unmanned stepper motor of throttle（201）The throttle main driven gear connecting
（202、203）, with main driven gear（202、203）The pedal connecting（204）, accelerator rod（205）And throttle base
（206）, the unmanned stepper motor of throttle（201）With throttle driving gear（202）It is co-axially mounted driving throttle driven gear
（203）Rotation.
4. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：Described steering wheel
Steering includes above-mentioned steering wheel（11）, steering mechanism, above-mentioned wheel steering bar（10）, described steering mechanism wraps
Include king pin（4）, and king pin（4）The steering crank connecting（5）, and steering crank（5）The steering link connecting（6）And in
Between steering link（23）.
5. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：Described suspension system
System includes hanging frame（18）, cultivating equipment lifting hydraulic cylinder（16）, and hang frame（18）Hinged hanging connecting rod（17）, and
Hanging connecting rod（17）Hinged cultivating equipment lifting hydraulic cylinder（16）, hanging connecting rod（17）With platform support（7）Hinged, exist respectively
Platform support（7）The parallel four side mechanisms of both sides two groups of hinges of composition, cultivating equipment lifting hydraulic cylinder（16）One section is articulated with suspension
Connecting rod（17）Middle, one section be articulated with platform support（7）On.
6. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：Described cultivator
Tool includes intertilling support（20）, and intertillage support（20）The cultivating equipment base connecting（15）, intertillage cutter tool rest（31）, and in
Cultivated cutter tool rest（31）The intertillage rotating tool rotating shaft of welding（30）, intertillage cutter（22）And its transmission mechanism.
7. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：Described intertillage knife
Tool transmission mechanism includes intertilling rotating tool rotating shaft（30）, intertillage rotating tool drive hydraulic motor（33）, and intertillage flying knife
Tool drives hydraulic motor（33）The intertillage revolution driving shaft coupling connecting（34）, intertillage driving-chain（35）, intertillage rotating tool drive
Moving axis（36）, and intertillage rotating tool drive shaft（36）The intertillage drive sprocket connecting（37）, and intertillage drive sprocket（37）Even
The bearing block connecing（38）, intertillage driven sprocket（42）, intertillage rotating tool driving hydraulic motor（33）Drive with intertillage rotating tool
Moving axis（36）By intertillage revolution driving shaft coupling（34）It is connected, intertill rotating tool drive shaft（36）By three bearing blocks（38）?
Hold in suspension frame（18）On, intertill rotating tool drive shaft（36）Upper distributing installation has four groups and intertillage cutter（22）Corresponding positions
Four intertillage drive sprockets of the intertillage chain-drive mechanism put（37）, intertill drive sprocket（37）, intertillage driving-chain（35）, intertillage
Driven sprocket composition intertillage chain-drive mechanism, intertills support（20）For hollow structure, intertill driven sprocket（42）It is installed on intertillage
Rotating tool rotating shaft（30）On.
8. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：Described hydraulic pressure drives
Dynamic system includes hydraulic oil pump（25）, manually/electromagnetic hydraulic pressure control valve group（12）, oil circuit pipeline, advance drive hydraulic motor
（32）, intertillage rotating tool drive hydraulic motor（34）, cultivating equipment lifting hydraulic cylinder（16）, speed regulation throttle valve（501）, filter
Device（502）, quartering current divider（504）, bisection current divider（506）, spray equipment folding and unfolding hydraulic cylinder（509）, fuel tank（27）
Composition, manually/electromagnetic hydraulic pressure control valve group（12）For four 3-position 4-ways manually/electromagnetic hydraulic pressure directional control valve composition, respectively
It is to advance to drive hydraulic motor manually/electromagnetic hydraulic pressure control valve（503）, intertillage rotating tool drive hydraulic motor with manually/
Electromagnetic hydraulic pressure control valve（507）, spray equipment folding and unfolding hydraulic cylinder manually/electromagnetic hydraulic pressure control valve（508）, cultivating equipment lifting
Hydraulic cylinder manually/electromagnetic hydraulic pressure control valve（505）.
9. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：Described fertilizer applicator
Tool includes fertilizer apparatus（28）, fertilizer expelling shaft and its shaft coupling（39）, fertilizer box（19）, fertilizer guiding tube（21）, lead fertile bucket（40）And fertilising
Stepper motor（41）.
10. unmanned Multifunctional cultivation field management platform according to claim 1 it is characterised in that：Described artificial
Riding manipulation system includes described steering wheel（11）, all Manual operation handles, described of manually/electromagnetic hydraulic pressure control valve group
Foot throttle（13）, seat（14）, described Unmanned Systems include remote control, computer control system, manually/electromagnetic hydraulic pressure
All solenoids of control valve group, the unmanned stepper motor of Diesel engine throttle（201）And its it is controller, unmanned
Turn to stepper motor and its controller, pace sensor and its signal processing circuit, fertilising stepper motor（41）And its control
Device processed, shooting mobile phone and its charger, observation mobile phone and its charger baby, 48V battery pack.
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| CN201610743810.5A CN106376257B (en) | 2016-08-29 | 2016-08-29 | A kind of unmanned Multifunctional cultivation field management platform |
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| CN107544552A (en) * | 2017-09-15 | 2018-01-05 | 南方科技大学 | Key actuation means and method are shaken in suspension |
| CN108184553A (en) * | 2018-01-16 | 2018-06-22 | 吴丹 | Careless device is planted in a kind of automation of Multifunctional trench |
| CN109358625A (en) * | 2018-10-25 | 2019-02-19 | 丰疆智慧农业股份有限公司 | Automatic Pilot agricultural machinery and its dynamical system |
| CN110393051A (en) * | 2019-09-03 | 2019-11-01 | 东北农业大学 | Unilateral ridger moves ahead and backward job state quick switching mechanism |
| CN113273325A (en) * | 2021-06-19 | 2021-08-20 | 鹤壁职业技术学院 | Small-size intelligent arable land machine |
| CN114503800A (en) * | 2022-02-08 | 2022-05-17 | 长江师范学院 | Mechanical device for protecting corn field vegetation in plain zone and repairing soil thereof |
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| CN113273325A (en) * | 2021-06-19 | 2021-08-20 | 鹤壁职业技术学院 | Small-size intelligent arable land machine |
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