CN107306528A - Agricultural work vehicle power tool device and its power tool storehouse - Google Patents

Agricultural work vehicle power tool device and its power tool storehouse Download PDF

Info

Publication number
CN107306528A
CN107306528A CN201710605815.6A CN201710605815A CN107306528A CN 107306528 A CN107306528 A CN 107306528A CN 201710605815 A CN201710605815 A CN 201710605815A CN 107306528 A CN107306528 A CN 107306528A
Authority
CN
China
Prior art keywords
power tool
tool device
electronic
instrument
work vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710605815.6A
Other languages
Chinese (zh)
Inventor
杨新高
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201710605815.6A priority Critical patent/CN107306528A/en
Publication of CN107306528A publication Critical patent/CN107306528A/en
Pending legal-status Critical Current

Links

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
    • A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
    • 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
    • A01B49/02—Combined machines with two or more soil-working tools of different kind
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/12—Fertiliser distributors with movable parts of the receptacle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D13/00—Diggers, e.g. potato ploughs
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D33/00—Accessories for digging harvesters
    • A01D33/06—Haulm-cutting mechanisms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/21—Pc I-O input output
    • G05B2219/21137—Analog to digital conversion, ADC, DAC
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2231—Master slave
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25252—Microprocessor

Abstract

The present invention, which provides agricultural work vehicle power tool device, has control device, drive device, power tool device body；The control device has automatic job control device, electric logic control device；The drive device has driver, driving equipment, infomation detection collection and feedback device；The power tool device body has power tool frame, agricultural operation instrument.The agricultural work vehicle power tool apparatus structure is simple, be easily achieved.

Description

Agricultural work vehicle power tool device and its power tool storehouse
Technical field
The present invention relates to the power tool device of agricultural work vehicle technical field and its power tool storehouse, more specifically Say, be related to agricultural work vehicle power tool device and its power tool storehouse.
Background technology
Existing agricultural work vehicle power tool device is mechanical power tool, due to lacking with automatic job Power tool device and its power tool storehouse；Existing agricultural work vehicle can not carry out automated job and in agricultural production Several work work corresponding automatic job power tool device is provided.Agricultural work vehicle can carry out automated job and Corresponding automatic job power tool device is provided for the several work work in agricultural production, agricultural work vehicle should possess There are power tool device and its power tool storehouse of automatic job.In order to realize power tool device and its operation of automatic job The purpose of tool storage room, the present invention provides agricultural work vehicle power tool device and its power tool storehouse.
The content of the invention
In order to achieve the above object, the present invention provides agricultural work vehicle power tool device.The agricultural operation machine operation Tool device has control device, drive device, power tool device body；The control device has automatic job control dress Put, electric logic control device；The drive device has driver, driving equipment, infomation detection collection and feedback device；Institute Stating power tool device body has power tool frame, agricultural operation instrument.
In addition, in order to achieve the above object, the present invention also provides agricultural work vehicle power tool storehouse.The agricultural work vehicle There is power tool device to place storehouse device, agricultural work vehicle power tool device in power tool storehouse.The power tool device Placing storehouse device, there is control device, drive device, apparatus for work to place position, identifier, transponder, one-time job tool device Placement information code；The agricultural work vehicle power tool device has fertilising operation tool device, drought resisting power tool device, spray Medicine power tool device, power tool device of transplanting seedlings, harvest operation tool device, weeding power tool device, seeding operation work Have device, site preparation cultivated land power tool device, Cultivate administration power tool device, hauling operation tool device, harvesting operation work Have device, digging operation tool device.
Agricultural work vehicle power tool device and its power tool storehouse involved in the present invention can realize that power tool is filled Put the power tool device for carrying out automatic job and corresponding automatic job being provided for the several work work in agricultural production. Present invention invention offer agricultural work vehicle power tool device and its power tool library structure are simple, be easily achieved.
Technical scheme
The agricultural work vehicle power tool device of the embodiment of the present invention has control device, drive device, power tool dress Put body；The control device has automatic job control device, electric logic control device；The drive device has driving Device, driving equipment, infomation detection collection and feedback device；The power tool device body has power tool frame, agricultural Power tool.
In addition, the embodiment of the present invention also provides agricultural work vehicle power tool storehouse；The agricultural work vehicle power tool storehouse Storehouse device, agricultural work vehicle power tool device are placed with power tool device.The power tool device places storehouse device Position, identifier, transponder, one-time job tool device placement information are placed with control device, drive device, apparatus for work Code.The agricultural work vehicle power tool device has fertilising operation tool device, drought resisting power tool device, spray drug operation work Have device, it is power tool device of transplanting seedlings, harvest operation tool device, weeding power tool device, seeding operation tool device, whole Ground cultivated land power tool device, Cultivate administration power tool device, hauling operation tool device, harvesting power tool device, digging Dig power tool device.
In addition, agricultural work vehicle power tool device and its power tool storehouse according to embodiments of the present invention can also have Following additional technical feature：
Some embodiments, the automatic job control device has processor, memory, bus, positioner, input/defeated Go out device, communicator；The automatic job control device is using the computer, computer, industrial computer, mobile phone, PC, micro- Machine, similar to any one equipment in the equipment such as computer equipment, chip, motion control card and microprocessor DSP, computer plate To realize.The electric logic control device has programmable controller, relay, contactor；The PLC technology utensil There are programming device, input/output interface module, CPU, memory；The programming device, input/output interface module, CPU, deposit Reservoir is connected using bus；The programmable controller is a kind of special-purpose computer of agricultural operation control.The driving dress Put and carry out the processing progress such as signal conversion and voltage, power amplification, speed regulation for the control information of receiving control device Drive driving equipment work；The driving equipment and power tool device body and its infomation detection collector of each mechanical device It will detect that the information such as actual speed, position, state, the other information of working site of collection are sent to control by feedback circuit Device processed is handled.
Some embodiments, the power tool frame has grip shank, unique information code, transponder, installation portion, information inspection Survey collector.
Some embodiments,
The site preparation cultivated land power tool device body is to be arranged on by site preparation cultivated land power tool in power tool frame；It is described Site preparation cultivated land power tool configuration information detection collector；The site preparation cultivated land power tool has plough, tie ridger, ploughed a field Device, rotary cultivator attachment, cultivated land device, ridge buster, delver, smoother, point digger, device of digging, weeder, site preparation device, spreading seedling disk Device, device of digging, rotary cultivator attachment, plough, land presser, furrow-dammer, smoother, stubble-cleaner.
The seeding operation tool device body is to be arranged on by the seeding operation instrument in power tool frame；It is described Seeding operation instrument has seeder, contains container, sowing auxiliary equipment；The seeder, Sheng container, sowing auxiliary equipment are set Driving motor, infomation detection collector.
The weeding power tool device body is to be arranged on by the weeding power tool in power tool frame；It is described Weeding power tool has weeder, driving motor, infomation detection collector.
Some embodiments,
The harvest operation tool device body is to be arranged on by the harvest operation instrument in power tool frame；The harvest Power tool include electronic cutting operation device, electronic threshing operations device, electronic detached job device, it is electronic clean operation dress Put, electronic conveying apparatus for work, electronic comminution process device, storage case apparatus, electronic harvesting apparatus for work, electronic digging operation Device, electronic pluck favour apparatus for work；The electronic cutting operation device, electronic threshing operations device, electronic detached job device, It is electronic to clean apparatus for work, electronic conveying apparatus for work, electronic comminution process device, storage case apparatus, electronic harvesting operation dress Put, electronic digging operation device, electronic favour apparatus for work configuration information of plucking detect collector.
The power tool device body of transplanting seedlings is to be arranged on by the power tool of transplanting seedlings in power tool frame；It is described Power tool of transplanting seedlings includes seedling rack, robot device of transplanting seedlings, auxiliary activities tool device；The seedling rack, shifting Seedling robot device, auxiliary activities tool device set driving motor, infomation detection collector.
The fertilising operation tool device body is to be arranged on by the fertilising operation instrument in power tool frame；It is described Fertilising operation instrument includes receptacle, fertilizer applicator, fertilising auxiliary equipment；The receptacle, fertilizer applicator, fertilising auxiliary equipment are set Driving motor, infomation detection collector.
Some embodiments,
The spray drug operation tool device body is arranged in power tool frame by the spray drug operation instrument；The spray is made Industry instrument has solution matching device, solution memory, water supply installation, liquid-jet device；The solution matching device, solution storage The devices such as device, water supply installation, liquid-jet device set driving motor, infomation detection collector.
The drought resisting power tool device body is arranged in power tool frame by the drought resisting power tool；It is described anti- Non-irrigated power tool has solution memory, water supply installation, liquid-jet device；The solution matching device, solution memory, water supply dress Put, the device such as liquid-jet device sets driving motor, infomation detection collector.
The fertilising operation tool device body is arranged in power tool frame by the fertilising operation instrument；It is described to apply Fertile power tool has solution matching device, solution memory, water supply installation, liquid-jet device；The solution matching device, solution The devices such as memory, water supply installation, liquid-jet device set driving motor, infomation detection collector.
Some embodiments,
The Cultivate administration power tool device body is to be arranged on by the Cultivate administration power tool in power tool frame； The Cultivate administration power tool has manipulator, infomation detection collector, driving motor.
The hauling operation tool device body is to be arranged on by the hauling operation instrument in power tool frame；It is described Hauling operation instrument has transport case, driving motor, infomation detection collector.
Some embodiments,
The harvesting power tool device body is to be arranged on by the harvesting power tool in power tool frame；The harvesting Power tool has picking mechanical arm, driving motor, infomation detection collector.
The digging operation tool device body is to be arranged on by the digging operation instrument in power tool frame；Excavate Power tool has excavating manipulator, delver, driving motor, infomation detection collector.
Some embodiments,
The power tool device places storehouse device, and there is control device, drive device, apparatus for work to place position, identifier, answer Answer device, one-time job tool device placement information code.
The agricultural work vehicle power tool device includes fertilising operation tool device, drought resisting power tool device, spray Power tool device, power tool device of transplanting seedlings, harvest operation tool device, weeding power tool device, seeding operation instrument Device, site preparation cultivated land power tool device, Cultivate administration power tool device, hauling operation tool device, harvesting power tool Device, digging operation tool device.
The effect of invention is：
Agricultural work vehicle power tool device and its power tool storehouse involved in the present invention can realize that power tool device enters Row automatic job and the power tool device that corresponding automatic job is provided for the several work work in agricultural production.This hair Bright invention offer agricultural work vehicle power tool device and its power tool library structure are simple, be easily achieved.
Brief description of the drawings
Next instantiation explanation is carried out to the present invention, but these examples do not limit the present invention with explanation, only with reference to following attached The present invention will be described for the embodiment of figure explanation.
In drawings below
Fig. 1 is the workflow of the agricultural work vehicle power tool device of one of which scheme according to embodiments of the present invention, knot Structure composition figure；
Fig. 2 is the workflow of the agricultural work vehicle power tool device of one of which scheme according to embodiments of the present invention, knot Structure composition figure；
Fig. 3 be one of which scheme according to embodiments of the present invention site preparation cultivated land power tool device body mechanical structure, Composition schematic diagram；
Fig. 4 is the mechanical structure of the weeding power tool device body of one of which scheme according to embodiments of the present invention, composition Schematic diagram；
Fig. 5 is the mechanical structure of the hauling operation tool device body of one of which scheme according to embodiments of the present invention, composition Schematic diagram；
Fig. 6 is the fertilising operation tool device body of one of which scheme according to embodiments of the present invention, seeding operation instrument dress Put mechanical structure, the composition schematic diagram of body；
Fig. 7 is the seeding operation tool device body of one of which scheme according to embodiments of the present invention, harvesting power tool dress Put body, mechanical structure, the composition schematic diagram of Cultivate administration power tool device body；
Fig. 8 is the mechanical structure of the power tool device body of transplanting seedlings of one of which scheme according to embodiments of the present invention, composition Schematic diagram；
Fig. 9 is the mechanical structure of the harvest operation tool device body of one of which scheme according to embodiments of the present invention, composition Schematic diagram；
Figure 10 is the drought resisting power tool device body of one of which scheme according to embodiments of the present invention, spray drug operation instrument dress Put body, mechanical structure, the composition schematic diagram of fertilising operation tool device body；
Figure 11 is that the power tool device of one of which scheme according to embodiments of the present invention places mechanical structure, the group of storehouse device Into schematic diagram；
Figure 12 is workflow, the structure composition of the electric logic control device of one of which scheme according to embodiments of the present invention Schematic diagram.
In the figures above
1a. automatic jobs control device, 2a. electric logic controls device, 3a. drivers, 4a. driving equipments, 5a. feed shafts drive Dynamic device, 6a. agricultural work vehicle power tools device body, 7a. feed shafts mechanical device, 8a. infomation detections collector, 9a. Driver, 10a. driving equipments, 11a. rotary shafts mechanical device, 12a. infomation detections harvester, 13a. rotary shafts driving dress Put, 14a. drive devices, 15a. power tools, 10. control devices, 1. input units, 2. memories, 3. communicators, 4. people Machine interactive device, 5. system bus, 6. processors, 7. positioners, 8. output devices, 9. programmable controllers, 10. controls Device, 11. work operations text modules, 12. agricultural work vehicle system Text Products, 13. drivers, 14. driving equipments, 15. Driver, 16. driving equipments, 17. rotation axial brake devices, 18. feeding axial brake devices, 19. agricultural work vehicle power tools Device body, 20. infomation detections collection feedback device, 59. site preparations cultivated land power tool device, 60. circuits and information interface, 61. grip shank, 62. power tool frames, 63. site preparations cultivated land device, 64. weeding power tool devices, 65. lowering or hoisting gears, 66. Weeder, 67. move left and right drive device, 68. move left and right frame, 69. guide rails, 70. hauling operation tool devices, 71. self-unloadings Transport case, 72. movable device, 73. guide rails, 74. fertilising operation tool devices, seeding operation tool device, 75. pressurizers 76. air deflector, 77. delivery outlets, 78. uniform outlet rollers, 79. agitators, 80. Sheng containers, 82. forcing pipes, 83. are moved left and right Frame, 84. move left and right device, 85. lowering or hoisting gears, 86. rotating devices, 87. turning arms, 88. mechanical fingers, 89. magnetic valves, 90. export mouth, 91. mozzles, 91a. collection boxes, 92. seeding operation tool devices, harvesting power tool device, Cultivate administration Power tool device, 93. guide rails, 94. storage boxes, 95. mechanical waists, 96. lowering or hoisting gears, 97. move left and right the machinery of device 98. Arm, 99. mechanical fingers, 100. robot arms, 101. Universal rotary devices, 101a. Universal rotaries device, 102. are transplanted seedlings power tool Device, 103. seedling racks, 104. guide rails, 105. Universal rotary devices, 106. move left and right device, 107. oscilaltion devices, 108. mechanical arm expansion bend, 109. manipulator expansion bends, 110. robot arms, 111. mechanical arm holders, 112. harvest operations Device, 113. stalk storage boxes, 114. fruit storage boxes, 115. pulverizing chambers, the 116. overanxious sieves of conveying, 117. delvers, 118. Wheel, 121. stalk conveying devices, 122. drought resisting power tool devices, spray drug operation instrument are stirred in the cutter of deflector 119., 120. Device, fertilising operation tool device, 123. guide rails, 124. move left and right device, 125. expansion bends, 126. Universal rotary devices, 127. it is expansion link, 128. spray nozzles, 129. three-way magnetic valves, 130. return ducts, 131. water inlet pipes, 132. suction pumps, 133. molten Liquid efferent duct, 135a. efferent ducts, 135. solution rear pumps, 136. water inlet pipes, 137. liquor proportioning meters, 137a. contain container, 30.CPU, 31.ROM, 32.RAM, 33. output interfaces, 34. programmable devices, 35. output interfaces, 36. other interface modules, outside 37. Deposit interface module, the 38. various electrooptical devices of power tool device, 39. drivers, 40. power tool devices rotation shaft mechanical dress Put motor.
Specific implementation
For the purposes of the present invention, technical scheme is more clearly understood, further, and carrying out specific embodiment to the present invention says It is bright, but the present invention is not intended to be limited in any, the present invention is further illustrated only with reference to embodiment as described below.
Below please also refer to Fig. 1 to Figure 12,
Referring to Fig. 1, the agricultural work vehicle power tool device has control device (10), drive device (14a), power tool Device body (6a).The control device (10) has automatic job control device (1a), electric logic control device (2a).From Dynamic operation controller (1a) is connected using I/O with electric logic control device (2a).The drive device (14a) has driving Device (3a), driving equipment (4a), infomation detection collection and feedback device (8a).Described information detection collection and feedback device (8a) With unshowned detection feedback circuit, infomation detection collector.The drive device (14a) uses I/ with control device (10) O connections.The driver (3a) is connected with driving equipment (4a) using circuit.The power tool device body (6a), which has, to be made Industry instrument frame (62), agricultural operation instrument (15a).The not shown infomation detection collector of institute, driving equipment (4a) are arranged on institute State on power tool device body (6a) and its each mechanical device.The agricultural operation instrument (15a) has feeding shaft mechanical dress Put (7a), rotary shaft mechanical device (11a), unshowned auxiliary machinery.
The agricultural work vehicle power tool device so works：The automatic job control of the control device (10) The command information that device (1a) works the feed shaft mechanical device (7a) of processing is sent to driver (3a) by I/O circuits. The driver (3a) receives control instruction and carries out signal conversion and voltage, power amplification to being filled installed in the power tool The driving equipment (4a) for putting the feed shaft mechanical device (7a) of body (6a) is driven, and feeding is dragged from driving equipment (4a) Shaft mechanical device (7a) works.Detection collector detection in feed shaft mechanical device (7a), driving equipment (4a) will The real time information of detection collection feeds back to automatic job control device (1a) and handled.Automatic job control device (1a) will be located The precise instructions information of reason is sent to driver (3a) and driving equipment (4a) is accurately controlled.The control device (10) The logical control information of processing is sent to electric logic control device (2a), electric logic control by automatic job control device (1a) Device (2a) processed receives opening for logical control information and user's input information and power tool device body (6a) side The feedback informations such as pass, detector carry out logical operation and processing, send and are accurately controlled information and give rotary shaft mechanical device (11a) Driver (9a).Driver (9a) receives precise information and carries out signal conversion and voltage, power amplification to installed in rotary shaft The driving equipment (10a) of mechanical device (11a) is driven, so that driving equipment (10a) drags rotary shaft mechanical device (11a) is operated.The electric logic control device (2a) gives automatic job control while feedback of the information will be accurately controlled Device (1a).So that agricultural work vehicle power tool device carries out automatic job work without any confusion.
Referring to Fig. 2, agricultural work vehicle power tool device control device (10) have processor (6), system bus (5), Memory (2), input unit (1), output device, positioner (7), communicator (3), human-computer interaction device (4), it can compile Range controller (9).The processor management and the operation of the system of control agricultural work vehicle power tool device.The system is total Line (5) is by processor (6), memory (2), human-computer interaction device (4), input unit (1), output device, positioner (7), the relatively independent device such as communicator (3), programmable controller (7), functional part are connected, and as transmission The public passage of information.Input unit (1) receives agricultural work vehicle system Text Products (12), work operations text module (11).The information that processor (6) receives input unit enters row decoding, calculating, processing.The information of processing is sent to corresponding each Functional device.The feeding control instruction information of positioner (7) the reception processing device is filled with agricultural work vehicle power tool The detector feedack for each mechanical device put, and be compared, regulation processing, output control information is sent to driver (13), driver (13) carries out signal conversion and voltage, power amplification are driven the drive of agricultural work vehicle power tool device Dynamic equipment (14) is operated.Driving equipment (14) fills so as to drag agricultural work vehicle power tool device (19) feeding shaft mechanical (18) are put to be operated.Agricultural work vehicle power tool device (19) and its detector of driving equipment (13) will detect collection letter Breath feeds back to positioner (7).The logical control information of programmable controller (9) reception processing device processing and programmable device input Information and the information such as agricultural work vehicle power tool device (19) feedack carry out logical operation and patrolled with handling output Collect control information and be sent to driver (15).Driver (15) receives control information and carries out signal conversion and voltage, power amplification The driving equipment (16) for being driven agricultural work vehicle power tool device is operated.Driving equipment (16) is so as to drag agricultural The rotary shaft mechanical device (17) of working rig power tool device (19) is operated.Agricultural work vehicle power tool device and its The detector of driving equipment (16) will detect that collection feedback of the information is handled to programmable controller (9) and by the information of processing Processor (6) is fed back to be handled.The command information of communicator (3) the reception processing device (6) is according to communication protocol, logical Letter parameter etc. sends information to corresponding reception device, and the communicator (3) simultaneously receives what corresponding reception device was sent Feedback of the information is handled to processor.Agricultural work vehicle power tool device is effectively entered by control device and drive device Row is automatic, safety, coordinative operation.
Referring to Fig. 3, operation is set in the power tool device frame (62) of site preparation cultivated land power tool device body (59) Instrument grip shank (61).Power tool grip shank (61) is used for the power tool dress for being clamped in not shown agricultural work vehicle main body Put on clamping apparatus for placing.Circuit interface (60) is set in power tool grip shank (61).In power tool device frame (62) Bottom set site preparation plough device (63).Site preparation cultivated land power tool device (59) sets unshowned unique information code, alignment Device, infomation detection collector, control device.
Referring to Fig. 4, power tool is set in the power tool device frame (62) of weeding power tool device body (64) Grip shank (61).Power tool grip shank (61) is used for the power tool device folder for being clamped in not shown agricultural work vehicle main body Hold on apparatus for placing.Circuit interface (60) is set in power tool grip shank (61).Under power tool device frame (62) Portion sets guide rail (69).Move left and right and lowering or hoisting gear (65) is set in drive device (67).The bottom connection of lowering or hoisting gear (65) Weeder (66).The top of lowering or hoisting gear (65) sets side-to-side movement frame (68).Side-to-side movement frame sets unshowned on (68) Motor, electromagnetic brake with detector.Side-to-side movement frame (68) is arranged on guide rail (69).Move left and right driving dress (67) are put to be flexibly connected with guide rail (69) by side-to-side movement frame (68) and make side-to-side movement on guide rail (69).In side-to-side movement Frame (68) on guide rail (69) with setting unshowned limiter, various sensors, infomation detection and feedback device, locator, letter Cease code, information identifier.Set on weeding power tool device (64) unshowned unique information code, aligner, control device, Drive device.
Referring to Fig. 5, power tool is set in the power tool device frame (62) of hauling operation tool device body (70) Grip shank (61).Power tool grip shank (61) is used for the power tool device folder for being clamped in not shown agricultural work vehicle main body Hold on apparatus for placing.Circuit interface (60) is set in power tool grip shank (61).Under power tool device frame (62) Portion sets guide rail (73).The bottom of transport case (71) sets unshowned dumping device.Before and after unshowned dumping device connection Telecontrol equipment (72).In unshowned dumping device, move forward and backward the unshowned drive with detector is set on device (72) Dynamic motor, electromagnetic brake.In unshowned dumping device, move forward and backward device (72), guide rail and set unshowned on (73) Limiter, various sensors, infomation detection and feedback device, locator, information code, information identifier.In hauling operation instrument Unshowned unique information code, aligner, control device, drive device are set on device (70).
Referring to Fig. 6, fertilising operation tool device body, the power tool device machine of seeding operation tool device body (74) Power tool grip shank (61) is set on frame (62).Power tool grip shank (61) is used to be clamped in not shown agricultural work vehicle On the power tool device clamping apparatus for placing of main body.Circuit interface (60) is set in power tool grip shank (61).In operation The bottom of tool device frame (62) sets guide rail (81).Move left and right and oscilaltion device (85) is set on device (84).On Circulator (86) is set on lower lowering or hoisting gear (85).Circulator (86) connection arm (87).Arm (87) sets holding finger (88).Set in power tool device frame (62) and contain container (80).The bottom contained in container (80) sets adjustable even roller (78).On the top of even roller (78), agitator (79) is set.At adjustable even roller (78) place for containing the bottom in container (80) Delivery outlet (77) is set.Delivery outlet (77) connection air deflector (76).One end of air deflector (76) by forcing pipe (82) with Pressurizer (75) is connected.The other end of air deflector (76) sets mozzle (91).The delivery outlet of mozzle (91) sets three to be powered Magnet valve (89).The adjustable output mouth (90) of one end connection of three-way magnetic valve (89).The other end of three-way magnetic valve (89) is connected back to Receive case (91a).Move left and right device (84), oscilaltion device (85), circulator (86), arm (87), even roller (78), The unshowned motor with detector, limiter, various sensors, infomation detection and feedback are set on agitator (79) Device, locator, information code, information identifier.Set not on (74) in fertilising operation tool device, seeding operation tool device The unique information code that shows, aligner, control device, drive device.
Referring to Fig. 7, seeding operation tool device body, harvesting power tool device body, Cultivate administration power tool dress Put and power tool grip shank (61) is set in the power tool device frame (62) of body (92).Power tool grip shank (61) Tool device for being clamped in not shown agricultural operation machine operation clamps apparatus for placing.In power tool grip shank (61) Circuit information interface (60) is set.In the bottom of power tool device frame (62), guide rail (93) is set.Guide rail (93) activity is even Connect and move left and right drive device (97).Move left and right drive device (97) top and lowering or hoisting gear (96) is set.Lowering or hoisting gear (96) It is connected with mechanical waist (95).Mechanical waist (95) sets Universal rotary device (101).Universal rotary device (101) and mechanical arm (98) connect.Mechanical arm (98) is a kind of retractor device.Mechanical arm (98) is connected with Universal rotary device (101a).Universal rotary Turn device (101a) to be connected with robot arm (100).Storage box (94) is set in power tool device frame (62).Robot arm (100) mechanical finger (99) is set.In guide rail (93), move left and right drive device (97), lowering or hoisting gear (96), Universal rotary device (101), Universal rotary device (101a), the unshowned motor with detector is set on robot arm, it is limiter, various Sensor, infomation detection and feedback device, locator, information code, information identifier.Make in seeding operation tool device, harvesting Unshowned biomedical information acquisition detection means, liquid manure letter are set on industry tool device, Cultivate administration power tool device (92) Cease collecting and detecting device, disease and insect information collecting and detecting device, unique information code, aligner, control device, drive device.
Referring to Fig. 8, power tool is set in the power tool device frame (62) for power tool device body (102) of transplanting seedlings Grip shank (61).The power tool device clamping that power tool grip shank (61) is used to be clamped in not shown agricultural work vehicle is put Put on device.Circuit information interface (60) is set in power tool grip shank (61).Under power tool device frame (62) Portion sets guide rail (104).Guide rail (104) is flexibly connected and moves left and right drive device (106).Move left and right drive device (106) Upper setting oscilaltion device (107).Universal rotary device (105) is set on oscilaltion device (107).Universal rotary device (105) connection telescopic mechanical arm (108).Telescopic mechanical arm (108) connection Universal rotary device (105a).Universal rotary device (105a) Connect telescopic mechanical arm (109).Telescopic mechanical arm (109) is flexibly connected robot arm (110).Robot arm (110) sets folder Hold finger (111).Seedling rack (103) is set in power tool device frame (62).Drive is moved left and right in guide rail (104) Dynamic device (106), oscilaltion device (107), Universal rotary device (105) Universal rotary device (105a), telescopic mechanical arm (109) the unshowned motor with detector, limiter, various sensors, information, are set on robot arm (110) Detection and feedback device, locator, information code, information identifier.Set unshowned on power tool device (102) transplanting seedlings Unique information code, aligner, control device, drive device.
Referring to Fig. 9, power tool is set in the power tool device frame (62) of harvest operation tool device body (102) Grip shank (61).Power tool grip shank (61) is used to be clamped in the power tool device for not showing agricultural work vehicle clamping placement On device.Circuit information interface (60) is set in power tool grip shank (61).Bottom in power tool device frame (62) Delver (117) is set.Delver (117) connection deflector (118).The overanxious sieve (116) of deflector (118) connection conveying.It is defeated Pass through worry sieve (116) connection fruit storage box (114).The top of delver (117) sets stem cutting device (119).Stalk is cut The top of cutter (119) sets screw feeder (120).Stem cutting device (119).Connect stalk conveyer (121).Stalk conveyer (121) connection pulverizing chamber (115).Pulverizing chamber (115) connection stalk storage box (113).On harvest operation tool device (102) Set end shown in the motor with detector, limiter, various sensors, infomation detection and feedback device, locator, Information code, information identifier, unique information code, aligner, control device, drive device.
Referring to Figure 10, drought resisting power tool device body, spray drug operation tool device body, fertilising operation tool device sheet Power tool grip shank (61) is set in the power tool device frame (62) of body (102).Power tool grip shank (61) is used for It is clamped on the power tool device clamping apparatus for placing in the main body of agricultural work vehicle.Set in power tool grip shank (61) Circuit information interface (60).In the bottom of power tool device frame (62), guide rail (123) is set.Move left and right device (124) It is connected on guide rail (123).Move left and right device (124) connection retractor device (125).The other end of retractor device (125) connects Connect Universal rotary device (126).Universal rotary device (126) circulator connecting expansion device (127).In power tool device frame (62) Bottom set contain container (137a).Liquor proportioning meter (137) is set on container (137a) is contained.Set on container (137a) is contained Put back into flow tube (130), water inlet pipe (136), efferent duct (135a).Efferent duct (135a) connection rear pump (135).Rear pump (135) connection efferent duct (133).Efferent duct (133) connection three-way magnetic valve (129).One end of three-way magnetic valve (129) connects Take back flow tube (130).The other end connection spray nozzle (128) of three-way magnetic valve (129).One end of water inlet pipe (136) connect into Water pump (132).Intake pump (132) is connected with water inlet pipe (131).Drought resisting power tool device, spray drug operation tool device, fertilising The unshowned motor with detector, limiter, various sensors, information inspection are set on power tool device (102) Survey and feedback device, locator, information code, information identifier, unique information code, aligner, control device, drive device.
Place to set on storehouse device body (195) referring to Figure 11 power tools device and place storehouse device support (196).Place Power tool device support stand (197) is set on storehouse device support (196).
Referring to Figure 12, electric logic control device (23) by CPU (30), RAM (32), ROM (31) and input interface (35), Output interface (33), programmable device (34), other interface modules (36), outer storing module (37) composition.RAM (32), ROM (31) and defeated Incoming interface (35), output interface (33), programmable device (34), other interface modules (36), outer storing module (37) connect with CPU (30) Connect.
For the purposes of the present invention, technical scheme is more clearly understood, further, and the present invention is embodied Example explanation, but the present invention is not intended to be limited in any, the present invention is further said only with reference to embodiment as described below It is bright.
The agricultural work vehicle power tool device of the embodiment of the present invention has control device, drive device, operation work Has device body.The control device has automatic job control device, electric logic control device.The drive device has Driver, driving equipment, infomation detection collection and feedback device.The power tool device body have power tool frame, Agricultural operation instrument.
In addition, the embodiment of the present invention also provides agricultural work vehicle power tool storehouse；The agricultural work vehicle power tool storehouse Storehouse device, agricultural work vehicle power tool device are placed with power tool device.The power tool device places storehouse device Position, identifier, transponder, one-time job tool device placement information are placed with control device, drive device, apparatus for work Code；The agricultural work vehicle power tool device has fertilising operation tool device, drought resisting power tool device, spray drug operation work Have device, it is power tool device of transplanting seedlings, harvest operation tool device, weeding power tool device, seeding operation tool device, whole Ground cultivated land power tool device, Cultivate administration power tool device, hauling operation tool device, harvesting power tool device, digging Dig power tool device.
Further, embodiments of the invention are made with following optimization：
The agricultural work vehicle power tool device has control device, drive device, power tool device body；The control Device has automatic job control device, electric logic control device；The drive device has driver, driving equipment, letter Breath detection collection and feedback device；The power tool device body has power tool frame, agricultural operation instrument.The control Device processed carries out circuit using converter with drive device and is connected；The driving equipment and information detector are arranged on power tool On device body and its each mechanical device.
The power tool device places storehouse device, and there is control device, drive device, apparatus for work to place position, identification Device, transponder, one-time job tool device placement information code.The control device is connected the control device tool with drive device There are automatic job control device and electric logic control device.The automatic job control device calculates mechanical, electrical using described Brain, industrial computer, mobile phone, PC, microcomputer, similar to computer equipment, chip, motion control card and microprocessor DSP, computer Any one equipment is realized in the equipment such as plate.The automatic job control device is used to fill with agricultural work vehicle power tool Put, the equipment such as agricultural work vehicle is communicated.The automatic job control device is used to manage power tool device.It is described Identifier, transponder and control device are connected；The identifier, transponder are arranged on the power tool device and place storehouse device On.The apparatus for work, which places position, to be used to place various power tool devices.
The agricultural work vehicle power tool device includes fertilising operation tool device, drought resisting power tool device, spray Power tool device, power tool device of transplanting seedlings, harvest operation tool device, weeding power tool device, seeding operation instrument Device, site preparation cultivated land power tool device, Cultivate administration power tool device, hauling operation tool device, harvesting power tool Device, digging operation tool device.
Further, optimize, the automatic job control device has processor, memory, bus, positioner, defeated Enter/output device, communicator.The operation of the processor management and control agricultural work vehicle power tool apparatus system.Institute It is by the relatively independent device such as processor, memory, positioner, input/output device, communicator, work(to state bus Energy part is connected, and as the public passage of transmission information.Preferably, the processor is responsible for agricultural operation machine operation The various programs such as data input, data processing, the interpolation operation of the service of the tool device course of work are scheduled management.It is preferred that Ground, the processor is also responsible for handling interrupting caused by guidance panel order, clock signal, fault-signal etc..It is preferred that Ground, the processor is also responsible for, to CPU management and peripheral equipment management, such as reasonable arrangement of front and back program and co-ordination, interrupting Being in communication with each other between service routine, the monitoring of various information on human-computer interaction device.Preferably, the processor also realizes pipe Manage and organize the function required for the whole agricultural work vehicle power tool apparatus control system course of work.Preferably, the place Reason device also realizes that the system initialization of agricultural work vehicle power tool apparatus system software, interrupt management, bus ruling, system go out Mistake identification and processing and hardware and software diagnosis.Preferably, the processor completes agricultural work vehicle power tool device operation work Make the pretreatment before the interpolations such as the decoding, tool compensation calculating, coordinate displacement amount of program are calculated and feed speed is handled；Then again Interpolation calculating is carried out, position specified rate is provided for each axle of agricultural work vehicle power tool device.Preferably, the processor is also complete The length compensation of paired power tool device power tool, the radius compensation of power tool, anti-backlash compensation, leading screw pitch are mended Repay, cross quadrant and direction of feed judgement, feed speed conversion, feed speed control and miscellaneous function processing.Preferably, the processing Device is additionally operable to according to the data provided in agricultural tool device work operations program, and the species of such as curve, starting point, terminal are carried out Computing.Preferably, the positioner is used for the actual value that reception processing device instructs set-point to be measured with position detecting device It is compared, the input that its difference is adjusted as drive device, through driver control motor.Preferably, the position control Device processed is additionally operable to complete Gain tuning, the compensation of pitch error and backlash Compensation of Half of each coordinate of position loop, to improve agriculture The positioning precision of industry working rig power tool device.Preferably, the positioner is additionally operable to carry out automatic deceleration, Hui Ji On schedule, the monitoring of drive system hysteresis and drift compensation, finally obtain the analog voltage of speed control, go to drive agricultural operation The feeding motor of machine operation tool device.Preferably, the communicator has information transmitting apparatus, information receiver, led to Believe medium.Information transmitting apparatus has encoder, modulator.Information receiver has demodulator, decoder.Communication media has Wireless network, cable network, Ethernet, LAN, internet.Communicator according to the communications applications database of communication module, Communication protocol, NMP and agricultural work vehicle power tool device itself, ground installation, agricultural work vehicle is airborne sets Standby, other operation machine equipments are communicated and data transfer.
Further, optimize,
Automatic job control device is used for the input for undertaking agricultural work vehicle power tool apparatus system software and editor, for knowing Not and operation standard and customized instruction code, for being controlled, agricultural work vehicle power tool device for agriculture Industry operation operators interact with agricultural work vehicle power tool device, for carry out multimachine Operation control with communicate and from Fault diagnosis and feedback control of the control of body job state with communicate, for agricultural work vehicle power tool device, for general outside The information that the various information conversion controllers on boundary can be recognized.The agricultural operation tools control has the control number of axle and connection Moving axis number function, preparatory function (G functions), interpolation function, speed function, compensation function, feed function, fixed cycles function, Miscellaneous function (M codes), character graphics display function.Preferably, the electric logic control device have programmable controller, Relay, contactor；The programmable controller has programming device, input/output interface module, CPU, memory；It is described Programming device, input/output interface module, CPU, memory are connected using bus.The programmable controller processing agricultural is made Emergent stopping, lubrication, cooling, operating type selection, hand feed, the motor of industry machine operation tool device and its each mechanical device The signals such as start and stop.Preferably, the programmable controller is also changed to agricultural work vehicle power tool device, positions, knows Not, response etc. carries out logic control.Preferably, the programmable controller also turning to the rotatable coordinate axis of power tool device The action process such as moving axis rotating, orientation, speed change are controlled.Preferably, the programmable controller is filled for power tool The switching function and the information of agricultural operation tool body put do logical process, realize the company between each function and mode of operation Lock, the start and stop of the electric equipment of power tool device, the counting of the duration of runs.
The drive device be used for receiving control device control information carry out signal conversion and voltage, power amplification, The processing such as speed regulation are driven driving equipment work；The driving equipment is filled with power tool device body and its each machinery The infomation detection collector put will detect that the information such as actual speed, position, state, the other information of collection pass through feedback circuit Control device is sent to be handled.Preferably, the driver of the drive device has drive amplification circuit, and velocity interval is adjusted Economize on electricity road.The drive amplification circuit is used to small information entering row information conversion, voltage, power amplification is carried out, to motor It is driven.The velocity interval regulation circuit is used to make the velocity of rotation of motor to carry out speed in very wide velocity interval Regulation.The driving equipment includes motor, magnetic valve, electromagnetic brake etc..The driving equipment, infomation detection collector are set On power tool device and its each mechanical device.Described information detection collection with feedback device there is feedback circuit, information to examine Survey collector.Described information detection collector is used to detect that collection agricultural work vehicle power tool device and its each mechanical device are real When the information such as various states, position, speed, power tool device external information and other information.Preferably, the operation Tool device body has power tool frame, agricultural operation instrument.The agricultural operation instrument is arranged on power tool frame On.The power tool frame has grip shank, unique information code, transponder, installation portion, infomation detection collector.The folder Hold the clamper that handle is used to be clamped in agricultural work vehicle.The unique information code is used for agricultural work vehicle and its power tool Place power tool device of the device identification in storehouse with unique information code.The transponder is used for power tool device and installs, puts The action put completes information and carries out feedback of the information.Described information detection collector is used to detect that agricultural operation instrument and agricultural are made The extraneous real time information of industry machine operation tool device.For being sent to control device by feedback circuit, to control agriculture work The real-time action of industry machine operation tool device and its agricultural operation instrument.The agricultural operation instrument have fertilising operation machinery, Drought resisting Work machine, spray drug operation machinery, Work machine of transplanting seedlings, harvest operation machinery, weeding Work machine, seeding operation machine Tool, site preparation cultivated land Work machine, Cultivate administration Work machine, hauling operation machinery, harvesting Work machine, digging operation machinery etc. Any one in machinery.
Further, optimization is as follows,
The automatic job control device receives agricultural work vehicle power tool apparatus system software program, warp by input unit The pretreatment of processor is crossed by agricultural work vehicle power tool apparatus system program storage into memory.Agricultural operation device work When making, the resemblance of operating area, the side of required operation needed for the automatic job control device is received by input unit Formula and other information, and the automatic job is converted into according to the requirement of agricultural work vehicle power tool apparatus system software program The work operations program information for the agricultural work vehicle power tool device that control device can be recognized, and by agricultural operation machine operation work Tool device work operations program information enters row decoding processing, isolates Feed Motion Control instruction, logic control instruction, auxiliary work( Can instruction；The Feed Motion Control instruction is stored in the automatic job control device memory；The logic control refers to Make, miscellaneous function instruction is stored in the system storage of the electric logic control device.The automatic job control device Arithmetic unit taken out successively from memory Feed Motion Control instruction carry out coordinate system calculations of offset, tool compensation calculate, interpolation Calculating, coordinate transform calculating, error compensation calculate, are driven the processing such as matching primitives；The result of processing is sent to by bus Positioner；The positioner receives the Feed Motion Control instruction of the automatic job control device and detected and anti- The positional information of device feedback is presented, and the information of reception is calculated, compares, adjust etc. and handle；Result after processing is sent To automatic job control device and the speed control of drive device.The fortune of the speed control receiving position controller processing The velocity information for moving control instruction and the detector feedback installed in the motor of agricultural work vehicle power tool device is carried out The processing such as calculate, compare, adjusting；The object information of processing is sent to the driver of drive device.The knot of driver reception processing Fruit information carries out signal conversion and voltage, power amplification and speed regulation processing so as to which drive installation is in agricultural operation machine operation The motor of the power tool body of tool device and its each mechanical device feed shaft.By the motion of motor so as to drag Dynamic agricultural work vehicle power tool device and its feeding shaft moving device motion of each mechanical device.It is arranged on agricultural operation machine operation The velocity information of detection is fed back to speed control by tool device and its detection in each mobile device and the detector of feedback device Device processed, the positional information of detection feeds back to positioner, and the other information of detection feeds back to corresponding processing unit.The electricity Gas logic control device receives logic control instruction storage into the memory of the programmable controller；The PLC technology System receives logical order information and the operation of agricultural work vehicle power tool device that automatic job control device is sent using CPU Working rig working procedure and information, the data of data and agricultural work vehicle system feedback that personnel input from programmable device, according to agriculture The requirement of industry working rig power tool apparatus system software program carries out logical operation, processing；Result after processing is sent to certainly Dynamic operation controller, the driver of drive device.The object information of the driver reception processing carries out signal conversion and electricity Pressure, power amplification so that drive installation the rotary shaft mechanical device of agricultural work vehicle power tool device motor with And magnetic valve；By the motion of motor so as to drag the rotation of agricultural work vehicle power tool device and its each mechanical device Shaft mechanical device works.On the rotary shaft mechanical device for being arranged on agricultural work vehicle power tool device and its each mechanical device The feedback of the information such as the speed of detection, other information are given electric logic control device by detection and the detector of feedback device.It is described Various switches, the detector of logical signal detection means of agricultural work vehicle power tool device and its each mechanical device are detected Feedback of the information to programmable controller.The automatic job control device receives the logic of the programmable control system feedback The motion control instruction information of information and drive device feedback is carried out with agricultural work vehicle power tool apparatus system software program Processing, the motion control instruction information after processing is sent to drive device, and logical control information is sent to the electric logic control Device processed.The automatic job control device is by the real work information of agricultural work vehicle power tool device according to agricultural operation The requirement of machine operation tool device system software program is sent to agricultural work vehicle system, ground installation, agriculture by communicator Industry working rig airborne equipment.
In addition, agricultural work vehicle power tool device according to embodiments of the present invention and its power tool storehouse can also be carried out Following optimization：
Some embodiments, the automatic job control device has processor, memory, bus, positioner, input/defeated Go out device, communicator；The operation of the processor management and control agricultural work vehicle power tool apparatus system.The bus It is by the relatively independent device such as processor, memory, positioner, input/output device, communicator, functional part Connect, and as the public passage of transmission information.Preferably, the processor is responsible for filling agricultural work vehicle power tool Put the various programs such as data input, data processing, the interpolation operation of course of work service and be scheduled management.Preferably, it is described Processor is also responsible for handling interrupting caused by guidance panel order, clock signal, fault-signal etc..The automatic job Control device using the computer, computer, industrial computer, mobile phone, PC, microcomputer, similar to computer equipment, chip, motion Any one equipment is realized in the equipment such as control card and microprocessor DSP, computer plate.The electric logic control device tool There are programmable controller, relay, contactor；The programmable controller have programming device, input/output interface module, CPU, memory；The programming device, input/output interface module, CPU, memory are connected using bus；The programmable control Device processed is a kind of special-purpose computer of agricultural operation control.The electric logic control device receives automatic job control device Logic control instruction information to rotary shaft mechanical device, various switches, magnetic valve of agricultural work vehicle power tool device etc. It is controlled；And complete to the various of the rotary shaft mechanical device, various switches, magnetic valve of agricultural work vehicle power tool device Real time information is detected and collection.The drive device be used for receiving control device control information carry out signal conversion and voltage, Power amplification is driven the driving equipment work on agricultural work vehicle power tool device and its each mechanical device；Institute The actual of collection will be detected by stating driving equipment and the infomation detection collector of power tool device body and its each mechanical device The information such as speed, position, state, other information are sent to control device by feedback circuit and handled.
Some embodiments, the power tool frame has grip shank, unique information code, transponder, installation portion, information inspection Survey collector.The grip shank is used for the clamper for being clamped in agricultural work vehicle.The unique information code is used for agricultural work Industry machine, power tool place the convenient identification power tool device of storehouse device.Transponder is used for power tool device and installed with placing Completion information on the device of storehouse, which is placed, in agricultural work vehicle main body, power tool makes response.Described information detection collector is used for Detection operation instrument frame and ground, crops, the exposure of barrier and other information.
Some embodiments,
The site preparation cultivated land power tool of the site preparation cultivated land power tool device body is arranged in power tool frame；Institute State site preparation cultivated land power tool configuration information detection collector；Described information detection collector is used to detect that collection site preparation cultivated land is made The information such as instantaneous operating conditions, job requirement, the other information of industry instrument are sent to control device.The site preparation cultivated land operation work Tool with plough, tie ridger, plougher, rotary cultivator attachment, cultivated land device, ridge buster, delver, smoother, point digger, device of digging, Weeder, site preparation device, spreading seedling disk device, device of digging, rotary cultivator attachment, plough, land presser, furrow-dammer, smoother, stubble-cleaner. Site preparation cultivated land power tool has plough, tie ridger, plougher, rotary cultivator attachment, cultivated land device, ridge buster, delver, smooth Device, point digger, device of digging, weeder, site preparation device, spreading paving seedling disk device, device of digging, rotary cultivator attachment, plough, land presser, conjunction Any one mechanical device is arranged in power tool frame in the mechanical devices such as moisture in the soil device, smoother, stubble-cleaner；It is many to constitute Plant site preparation cultivated land power tool device；For carrying out various site preparation cultivated land work operations.
The seeding operation instrument of the seeding operation tool device body is arranged in power tool frame；It is described to broadcast Planting power tool has seeder, contains container, sowing auxiliary equipment；The seeder has seeding machinery hand, seeding port；It is described Seeding machinery hand has hand, arm, waist, joint.The seeding port can use sucker, seeding board, seeding mouth, air-flow Mouth, clamper.The seeding port is arranged on seeding machinery on hand.The Sheng container is used to store seed.The power tool machine Frame can also install sowing auxiliary equipment, and the sowing auxiliary equipment includes：Fertilizer apparatus, watering device, hole-making device, screening soil Device.The sowing auxiliary equipment is used for the attached work for completing seeding operation.The seeder, Sheng container, the attached dress of sowing Install driving motor, infomation detection collector.
The weeding power tool of the weeding power tool device body is arranged in power tool frame；It is described to remove Careless power tool has weeder, driving motor, infomation detection collector.The weeder has weeding machine hand, weeding mouth. The weeding mouth have polishing formula weeding mouth, turn over ditch formula weeding mouth, be pressed into formula weeding mouth, loosen the soil cover type weeding mouth, digging type Any one in the weeding mouths such as weeding mouth, cutting type weeding mouth.The weeding machine hand has hand, arm, waist, joint. In order to complete the auxiliary activities in weeding operation, weeding outfit device is set in power tool frame.The weeding is attached Category tool device includes：Fertilizer apparatus, watering device, hole-making device, screening soil device.
Some embodiments,
The harvest operation instrument of the harvest operation tool body is arranged in power tool frame；The harvest operation work Tool includes electronic cutting operation device, electronic threshing operations device, electronic detached job device, electronic cleans apparatus for work, electricity Dynamic conveying apparatus for work, electronic comminution process device, storage case apparatus, electronic harvesting apparatus for work, electronic digging operation device, It is electronic to pluck favour apparatus for work.Preferably, the electronic cutting operation device, electronic threshing operations device, electronic detached job dress Put, it is electronic clean apparatus for work, electronic conveying apparatus for work, electronic comminution process device, storage case apparatus, electronic harvesting operation Device, electronic digging operation device, electronic favour apparatus for work configuration information of plucking detect collector.
Further, optimize,
Preferably, the electric cutting device includes cutter device, feeding unit, nearside divider.
Preferably, the cutter of the electronic cutting operation device is by cutting blade, ledger-plate, knife bar, guard, pressure sword Device, friction plate, guard fine strain of millet composition.The cutter of the electronic cutting operation device can also be by saw disc, motor, support frame group Into.
Preferably, the electronic excavating gear is made up of multiple small point shovels；Also it can be made up of multiple colters；Also can be by excavating Device is constituted.
Preferably, the electronic sheller unit includes：Electronic threshing cylinder, concave grate, deflector, electronic separator ridlle.
Preferably, the electric transmission device includes：Drag-flight conveyer, tooth-like rotation conveying device, chain-and-harrow type are defeated Send device, helical action conveying device, stir formula conveying device, cleaning and selecting type conveying device.
Preferably, the electronic comminution process device pulverizing chamber set two groups of ledger-plate groups, two groups of ledger-plate groups it Between rotary shaft is set；Rotary shaft sets blade, the cutting blade clip that rotary shaft is set is rotated between two blades of ledger-plate group.
Preferably, the storage case apparatus includes storage bin, discharge mechanism；The discharge mechanism is used for the grain of storage bin Food, fruit thing are unloaded automatically；The discharge mechanism is a kind of conveying device.
Further, the harvest operation tool device body includes cereal crops harvest operation tool device body, cane Crop harvesting power tool device body, underground fruit harvest operation tool device body.
Further, optimize,
The harvest corn power tool device body includes：The electronic ceding of Taiwan, electric mixing wheel, electronic elevator, electronic peeling dress Put, fruit ear storage box, electronic ear-picking unit, electronic reducing mechanism；It is the electronic ceding of Taiwan, electric mixing wheel, electronic elevator, electronic Apparatus for peeling off, fruit ear storage box, electronic ear-picking unit, electronic reducing mechanism are arranged in power tool frame.
The seed crop harvesting power tool device body such as the paddy rice, wheat, soybean includes：Electronic cutting operation dress Put, electronic threshing operations device, electronic separating cleaning apparatus for work, electronic conveying apparatus for work, electronic comminution process device, receive Obtain apparatus for work frame, storage box；The electronic cutting operation device, electronic threshing operations device, electronic separating cleaning operation Device, the device such as electronic conveying apparatus for work, electronic comminution process device, storage box is arranged in power tool frame.
The harvesting sugarcane tool device body includes：It is electronic cut tip apparatus for work, it is electronic cutting operation device, electronic clear Select apparatus for work, electronic conveying apparatus for work, electronic disleaf apparatus for work, sugarcane supporting device, binding apparatus, storage box.The electricity It is dynamic cut tip apparatus for work, electronic cutting operation device, it is electronic clean apparatus for work, electronic conveying apparatus for work, electronic disleaf are made The devices such as industry device, sugarcane supporting device, binding apparatus, storage box are arranged in power tool frame.
The harvesting tool device body of the underground fruit includes：Electronic cutting operation device, electronic clean apparatus for work, electricity Dynamic conveying apparatus for work, electronic digging operation device, harvest operation device frame, storage box；The electronic cutting operation device, Electronic to clean apparatus for work, the device such as electronic conveying apparatus for work, electronic digging operation device, storage box sets power tool machine On frame.
The harvesting peanut tool device body includes：It is electronic to clean apparatus for work, electronic conveying apparatus for work, electronic digging Dig apparatus for work, electronic sheller unit, electronic reducing mechanism, harvest operation device frame, storage box.The electronic threshing dress Put, electronic reducing mechanism, it is electronic clean apparatus for work, the dress such as electronic conveying apparatus for work, electronic digging operation device, storage box Put and be arranged in power tool frame.
The power tool of transplanting seedlings of the power tool device body of transplanting seedlings is in power tool frame；It is described to move Seedling power tool includes seedling rack, robot device of transplanting seedlings, auxiliary activities tool device.The seedling rack is used to put Put seedling.The robot device of transplanting seedlings includes hand, arm, waist, joint, clamper.The clamper is used to clamp children Seedling.The auxiliary activities tool device includes fertilising tool device, the tool device that waters, beats cave tool device, hides soil working tool dress Put.The auxiliary activities tool device is used to complete the auxiliary activities in seedling operation.The seedling rack, manipulator of transplanting seedlings Device, auxiliary activities tool device set driving motor, infomation detection collector.
The fertilising operation instrument of the fertilising operation tool device body is arranged in power tool frame；It is described to apply Fertile power tool includes receptacle, fertilizer applicator, fertilising auxiliary equipment；The receptacle is used to place fertilizer.On the receptacle Electric mixer is set.The bottom of the receptacle sets fertilizer applicator.The fertilising auxiliary equipment is used to complete in fertilising operation Auxiliary activities.The fertilising auxiliary equipment can set ridging power tool device, tillage operation tool device, play cave operation Tool device, hide native (mud) power tool device, cultivated land power tool device, loosen the soil power tool device.The receptacle, apply Fertile device, fertilising auxiliary equipment set driving motor, infomation detection collector.
Some embodiments,
The spray drug operation instrument of the spray drug operation tool device body is arranged in power tool frame.The spray is made Industry instrument has solution matching device, solution memory, water supply installation, liquid-jet device；The solution matching device is arranged on molten On liquid memory.The solution matching device is used to carry out automatic output the pesticide solution as requested.The water supply installation is used for Water is inputted to solution memory.The liquid-jet device is used for spray solution.The solution matching device, solution memory, confession The devices such as water installations, liquid-jet device set driving motor, infomation detection collector.
The drought resisting power tool of the drought resisting power tool device body is arranged in power tool frame.It is described anti- Non-irrigated power tool has solution memory, water supply installation, liquid-jet device；The solution matching device is arranged on solution memory On.The water supply installation is used to input water to solution memory.The liquid-jet device is used for spray solution.The solution storage The devices such as device, water supply installation, liquid-jet device set driving motor, infomation detection collector.
The fertilising operation instrument of the fertilising operation tool device body is arranged in power tool frame.It is described to apply Fertile power tool has solution matching device, solution memory, water supply installation, liquid-jet device；The solution matching device is set On solution memory.The solution matching device is used to carry out automatic output fertilizer solution as requested.The water supply installation For inputting water to solution memory.The liquid-jet device is used for spray solution.The solution matching device, solution storage The devices such as device, water supply installation, liquid-jet device set driving motor, infomation detection collector.
Some embodiments,
The Cultivate administration power tool of the Cultivate administration power tool device body is arranged in power tool frame；Institute Stating Cultivate administration power tool has manipulator, infomation detection collector, driving motor.Described information detection collector is arranged on On manipulator；The rotary shaft connection of the driving motor and manipulator.Described information detection collector is used for detection management operation The resemblance in region, the resemblance of crops, disease and insect information, crop growth information, security information, other information etc. Information, for will detect that collection information is sent to control device.The control device is according to detection collection information to required pipe Reason region and farm-forestry crop are managed.
The hauling operation instrument is arranged in power tool frame；The hauling operation instrument has transport case, transmission Motor, infomation detection collector.
Some embodiments,
The harvesting power tool of the harvesting power tool device body is arranged in power tool frame；The harvesting is made Industry instrument has picking mechanical arm, driving motor, infomation detection collector；Described information detection collector is arranged on picking mechanical On hand.Described information detection collector is used to detect collection biological information feature, for picking mechanical arm according to required harvesting mesh Mark is operated.Each rotary shaft of the driving motor connection picking mechanical arm.
The digging operation instrument of the digging operation tool device body is arranged in power tool frame；Excavate and make Industry instrument has excavating manipulator, delver, driving motor, infomation detection collector.The delver is arranged on excavating machinery On hand.The driving motor is connected with excavating manipulator rotary shaft.Described information detection collector is arranged on excavating manipulator, digging Dig on device.
Some embodiments,
The power tool device places storehouse device, and there is control device, drive device, apparatus for work to place position, identifier, answer Answer device, one-time job tool device placement information code.The control device, which is connected the control device with drive device, to be had certainly Dynamic operation controller and electric logic control device.The automatic job control device uses the computer, computer, work Control machine, mobile phone, PC, microcomputer, similar to computer equipment, chip, motion control card and microprocessor DSP, computer plate etc. Any one in equipment equipment is realized.The automatic job control device is used for and agricultural work vehicle power tool device, agriculture The equipment such as industry working rig are communicated.The automatic job control device is used to manage power tool device.The identification Device, transponder and control device are connected；The identifier, transponder are arranged on the power tool device and placed on the device of storehouse. The apparatus for work, which places position, to be used to place various power tool devices.
The agricultural work vehicle power tool device includes fertilising operation tool device, drought resisting power tool device, spray Power tool device, power tool device of transplanting seedlings, harvest operation tool device, weeding power tool device, seeding operation instrument Device, site preparation cultivated land power tool device, Cultivate administration power tool device, hauling operation tool device, harvesting power tool Device, digging operation tool device.
It is apparent that ground, above example, present invention invention involved agricultural work vehicle power tool device and its work Industry tool storage room can realize that power tool device carries out automatic job and provides phase for the several work work in agricultural production The power tool device for the automatic job answered.Present invention invention provides agricultural work vehicle power tool device and its power tool storehouse It is simple in construction, be easily achieved.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, this Invention is disclosed above with preferred embodiment, is not limited to the present invention, and any those skilled in the art are not taking off In the range of technical solution of the present invention, when the technology contents using the disclosure above make change or be modified to equivalent variations etc. Imitate embodiment, as long as be without departing from technical solution of the present invention content, according to the technical spirit of the present invention, the present invention spirit and Within principle, any modification, equivalent substitution and improvement for being made to above example etc. still fall within technical solution of the present invention Protection domain.

Claims (10)

1. agricultural work vehicle power tool device, it is characterised in that including：Control device, drive device, power tool device sheet Body；The control device has automatic job control device, electric logic control device；The drive device have driver, Driving equipment, infomation detection collection and feedback device；The power tool device body has power tool frame, agricultural operation Instrument.
2. agricultural work vehicle power tool device according to claim 1, it is characterised in that including：
The automatic job control device has processor, memory, bus, positioner, input/output device, communication Device；
The automatic job control device using the computer, computer, industrial computer, mobile phone, PC, microcomputer, similar to calculating Any one equipment is realized in the equipment such as machine equipment, chip, motion control card and microprocessor DSP, computer plate；
The electric logic control device has programmable controller, relay, contactor；The programmable controller, which has, to be compiled Journey equipment, input/output interface module, CPU, memory；The programming device, input/output interface module, CPU, memory Connected using bus；The programmable controller is a kind of special-purpose computer of agricultural operation control；
The drive device is used for the control information progress signal conversion of receiving control device and voltage, power amplification are driven Driving equipment works；The driving equipment and the infomation detection collector of power tool device body and its each mechanical device will be examined The information such as actual speed, position, state, the other information of collection are surveyed to be sent at control device by feedback circuit Reason.
3. agricultural work vehicle power tool device according to claim 1 or 2, it is characterised in that including：
The power tool frame has grip shank, unique information code, transponder, installation portion, infomation detection collector.
4. the agricultural work vehicle power tool device according to any one in claim 1-3, it is characterised in that including：
Site preparation cultivated land power tool device body；The site preparation cultivated land power tool device body is by site preparation cultivated land operation work Tool is arranged in power tool frame；The site preparation cultivated land power tool configuration information detection collector；The site preparation cultivated land is made Industry instrument has plough, tie ridger, plougher, rotary cultivator attachment, cultivated land device, ridge buster, delver, smoother, point digger, digged Device, weeder, site preparation device, spreading seedling disk device, device of digging, rotary cultivator attachment, plough, land presser, furrow-dammer, smoother, stubble-cleaning Device；
Seeding operation tool device body；The seeding operation tool device body is arranged on operation by the seeding operation instrument In instrument frame；The seeding operation instrument has seeder, contains container, sowing auxiliary equipment；The seeder, contain container, Sow auxiliary equipment and driving motor, infomation detection collector are set；
Weeding power tool device body；The weeding power tool device body is arranged on operation by the weeding power tool In instrument frame；The weeding power tool has weeder, driving motor, infomation detection collector.
5. the agricultural work vehicle power tool device according to any one in claim 1-3, it is characterised in that including：
Harvest operation tool device body；The harvest operation tool device body is arranged on operation by the harvest operation instrument In instrument frame；The harvest operation instrument includes electronic cutting operation device, electronic threshing operations device, electronic detached job Device, it is electronic clean apparatus for work, electronic conveying apparatus for work, electronic comminution process device, storage case apparatus, electronic harvesting make Industry device, electronic digging operation device, electronic pluck favour apparatus for work；The electronic cutting operation device, electronic threshing operations dress Put, electronic detached job device, electronic clean apparatus for work, electronic conveying apparatus for work, electronic comminution process device, storage bin Device, electronic harvesting apparatus for work, electronic digging operation device, electronic favour apparatus for work configuration information of plucking detect collector；
Transplant seedlings power tool device body；The power tool device body of transplanting seedlings is by the power tool of transplanting seedlings installed in operation In instrument frame；The power tool of transplanting seedlings includes seedling rack, robot device of transplanting seedlings, auxiliary activities tool device；Institute State seedling rack, robot device of transplanting seedlings, auxiliary activities tool device and driving motor, infomation detection collector are set；
Fertilising operation tool device body；The fertilising operation tool device body is arranged on operation by the fertilising operation instrument In instrument frame；The fertilising operation instrument includes receptacle, fertilizer applicator, fertilising auxiliary equipment；The receptacle, fertilizer applicator, The auxiliary equipment that applies fertilizer sets driving motor, infomation detection collector.
6. the agricultural work vehicle power tool device according to any one in claim 1-3, it is characterised in that including：
Spray drug operation tool device body；The spray drug operation tool device body is arranged on operation by the spray drug operation instrument In instrument frame；The spray drug operation instrument has solution matching device, solution memory, water supply installation, liquid-jet device；It is described The devices such as solution matching device, solution memory, water supply installation, liquid-jet device set driving motor, infomation detection collector；
Drought resisting power tool device body；The drought resisting power tool device body is arranged on operation by the drought resisting power tool In instrument frame；The drought resisting power tool has solution memory, water supply installation, liquid-jet device；The solution matching device, The devices such as solution memory, water supply installation, liquid-jet device set driving motor, infomation detection collector；
Fertilising operation tool device body；The fertilising operation tool device body is arranged on operation by the fertilising operation instrument In instrument frame；The fertilising operation instrument has solution matching device, solution memory, water supply installation, liquid-jet device；It is described The devices such as solution matching device, solution memory, water supply installation, liquid-jet device set driving motor, infomation detection collector.
7. the agricultural work vehicle power tool device according to any one in claim 1-3, it is characterised in that including：
Cultivate administration power tool device body；The Cultivate administration power tool device body is by the Cultivate administration operation work Tool is arranged in power tool frame；The Cultivate administration power tool has manipulator, infomation detection collector, transmission electricity Machine；
Hauling operation tool device body；Hauling operation tool device body is arranged on power tool by the hauling operation instrument In frame；The hauling operation instrument has transport case, driving motor, infomation detection collector.
8. the agricultural work vehicle power tool device according to any one in claim 1-3, it is characterised in that including：
Pluck power tool device body；The harvesting power tool device body is arranged on operation by the harvesting power tool In instrument frame；The harvesting power tool has picking mechanical arm, driving motor, infomation detection collector；
Digging operation tool device body；The digging operation tool device body is arranged on operation by the digging operation instrument In instrument frame；Digging operation instrument has excavating manipulator, delver, driving motor, infomation detection collector.
9. agricultural work vehicle power tool storehouse, it is characterised in that including：
Apparatus for work places storehouse device；The apparatus for work places storehouse device, and there is control device, drive device, apparatus for work to put Set, identifier, transponder, one-time job tool device placement information code；
Agricultural work vehicle power tool device；The agricultural work vehicle power tool device includes fertilising operation tool device, resisted Dry farming industry tool device, spray drug operation tool device, power tool device of transplanting seedlings, harvest operation tool device, weeding operation work Have device, seeding operation tool device, site preparation cultivated land power tool device, Cultivate administration power tool device, hauling operation work Have any one device or any a variety of devices in the devices such as device, harvesting power tool device, digging operation tool device.
10. agricultural operation tool storage room according to claim 9, it is characterised in that including：The agricultural operation machine operation work Having device includes the agricultural work vehicle power tool device according to any one of claim 1-8.
CN201710605815.6A 2017-07-17 2017-07-17 Agricultural work vehicle power tool device and its power tool storehouse Pending CN107306528A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710605815.6A CN107306528A (en) 2017-07-17 2017-07-17 Agricultural work vehicle power tool device and its power tool storehouse

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710605815.6A CN107306528A (en) 2017-07-17 2017-07-17 Agricultural work vehicle power tool device and its power tool storehouse

Publications (1)

Publication Number Publication Date
CN107306528A true CN107306528A (en) 2017-11-03

Family

ID=60178352

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710605815.6A Pending CN107306528A (en) 2017-07-17 2017-07-17 Agricultural work vehicle power tool device and its power tool storehouse

Country Status (1)

Country Link
CN (1) CN107306528A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107896837A (en) * 2017-11-15 2018-04-13 遵义湘江园林工程有限责任公司 A kind of grass-seed type of seeding

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140336818A1 (en) * 2013-05-10 2014-11-13 Cnh Industrial America Llc Control architecture for multi-robot system
CN104298165A (en) * 2014-09-19 2015-01-21 西北农林科技大学 PLC control system of orchard working platform
WO2015113752A1 (en) * 2014-01-31 2015-08-06 AgBRAIN - AGRITECHNICAL BASIC RESEARCH FOR ADVANCED INNOVATION GMBH Operating terminal of an agricultural machine with hypervisor software
CN206178398U (en) * 2016-11-04 2017-05-17 山东省泰安市农业机械科学研究所 Long -range operation control system of plant protection
CN106843079A (en) * 2017-03-29 2017-06-13 深圳市翼动科技有限公司 A kind of agriculture unmanned harvester remote intelligent control system
CN108170104A (en) * 2016-12-07 2018-06-15 杨新高 A kind of high intelligent agricultural machinery equipment and system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140336818A1 (en) * 2013-05-10 2014-11-13 Cnh Industrial America Llc Control architecture for multi-robot system
WO2015113752A1 (en) * 2014-01-31 2015-08-06 AgBRAIN - AGRITECHNICAL BASIC RESEARCH FOR ADVANCED INNOVATION GMBH Operating terminal of an agricultural machine with hypervisor software
CN104298165A (en) * 2014-09-19 2015-01-21 西北农林科技大学 PLC control system of orchard working platform
CN206178398U (en) * 2016-11-04 2017-05-17 山东省泰安市农业机械科学研究所 Long -range operation control system of plant protection
CN108170104A (en) * 2016-12-07 2018-06-15 杨新高 A kind of high intelligent agricultural machinery equipment and system
CN106843079A (en) * 2017-03-29 2017-06-13 深圳市翼动科技有限公司 A kind of agriculture unmanned harvester remote intelligent control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107896837A (en) * 2017-11-15 2018-04-13 遵义湘江园林工程有限责任公司 A kind of grass-seed type of seeding
CN107896837B (en) * 2017-11-15 2020-09-01 遵义湘江园林工程有限责任公司 Grass seed sowing method

Similar Documents

Publication Publication Date Title
CN108170104A (en) A kind of high intelligent agricultural machinery equipment and system
Sowjanya et al. Multipurpose autonomous agricultural robot
CN102598935B (en) Single-bud/double-bud transverse planter for sugarcanes
CN110603944A (en) Liquid manure medicine integration system
CN207744355U (en) Sugarcane mechanization intertillage fertilising ridging all-in-one machine
CN107097958A (en) The UAS and method of a kind of variable fertilization
CN107390620A (en) Agricultural work vehicle system
CN104221571B (en) Small rail car drip irrigation type variable fertilization system
Shaik et al. GPS based autonomous agricultural robot
CN204907123U (en) Portable liquid manure medicine integrated device of assembly line that grows seedlings intensifies
CN105723903A (en) Variable rate fertilizer applicator and variable rate fertilization method
CN206775961U (en) A kind of hand seeder
CN107306528A (en) Agricultural work vehicle power tool device and its power tool storehouse
CN215774265U (en) A directional fertilizer injection unit for maize is planted
EP3763185A1 (en) Agricultural implement and method for precision-controlling fertilizer metering units
KR100740046B1 (en) Levee sprinkle apparatus used compost of organic matter or residual product
CN211792768U (en) Integration ditching watering seeding equipment
KR20150079327A (en) Potato planter
CN109725365A (en) Cargo can be delivered and operate the multi-functional control system of agricultural equipment
EP3569045B1 (en) Method and machine for plant cultivation on a field
CN210298515U (en) Transplanting machine with fertilizing function
CN204721836U (en) No-till maize fertilization pesticide spraying all-in-one
CN109863859A (en) A kind of one chip lacks no-tillage seeding head
CN213718710U (en) Multipurpose agricultural machinery equipment
CN110278744A (en) A kind of Seeder for crops

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20171103

WD01 Invention patent application deemed withdrawn after publication