CN113303212A - Accurate positioning method for water gap of walking robot for field irrigation - Google Patents
Accurate positioning method for water gap of walking robot for field irrigation Download PDFInfo
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- CN113303212A CN113303212A CN202110583741.7A CN202110583741A CN113303212A CN 113303212 A CN113303212 A CN 113303212A CN 202110583741 A CN202110583741 A CN 202110583741A CN 113303212 A CN113303212 A CN 113303212A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 124
- 238000003973 irrigation Methods 0.000 title claims abstract description 85
- 230000002262 irrigation Effects 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000007789 sealing Methods 0.000 claims description 13
- 239000003621 irrigation water Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 7
- 238000007667 floating Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000003020 moisturizing effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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- 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
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- 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
- A01G25/16—Control of watering
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Catching Or Destruction (AREA)
Abstract
A method for accurately positioning a water gap of a walking robot for field irrigation comprises the following specific steps: pre-laying an irrigation belt in a field, and installing a plurality of water outlets at fixed points on the irrigation belt; the walking robot walks along the track of the irrigation belt, the upper surface of the walking robot is provided with a sprinkling irrigation unit, and the lower surface of the walking robot is provided with a water outlet centralizing unit; when the walking robot walks to the position of the water outlet, the water outlet is supported by the water outlet righting unit, after the walking robot moves to a specified position, the driving unit stops, the walking robot stops, and the sprinkling irrigation unit controls the communicating pipe to descend to be communicated with the water outlet; after irrigation is finished, the sprinkling irrigation unit moves reversely, the communicating pipe is lifted to the designated height, the robot continues to walk, the water outlet is righted by the water outlet, the rear end of the unit slides down, and one-time accurate positioning of the water gap is finished. The method for accurately positioning the water gap is simple to operate, accurate in positioning, convenient and fast to achieve automatic positioning and butt joint of the water gap, improves positioning efficiency and accuracy of the water gap in an irrigation process, improves irrigation overall efficiency, and is time-saving, labor-saving and labor-saving.
Description
Technical Field
The invention relates to the field of intelligent irrigation methods for farmlands, in particular to a method for accurately positioning a water gap of a walking robot for field irrigation.
Background
With the rapid development of intelligent mechanical technology, the adoption of intelligent irrigation equipment for field irrigation is an important project in a field intelligent management system, and the realization of full automation of irrigation is also an important development target of the field intelligent management system. The mode of field irrigation generally divide into fixed irrigation and portable irrigation, and current portable irrigation is installation sprinkler on removing running gear, and at the sprinkling irrigation in-process, sprinkler dock through the delivery port on pipeline and the irrigation area of laying in advance. The traditional butt joint mode is that the delivery port is righted manually, and then the water pipe port of the spraying equipment is fixedly connected with the delivery port manually. In actual operation, the water outlet needs to be manually centered, a worker needs to put the water outlet in place before the walking mechanism reaches the designated water storage position, and manual butt joint operation is carried out at the bottom of the whole walking frame. The delivery port is righted manually so that the automation degree of the whole irrigation equipment is reduced, at least two workers are required to be matched, the operation is time-consuming and labor-consuming, and the sprinkling irrigation efficiency and full-automatic implementation are influenced. And movable type is irrigated and is installed irrigation equipment on removing running gear, irrigation equipment's highly be mostly non-adjustable fixed knot and construct, remove running gear at the walking in-process, according to actual need, be connected irrigation equipment and delivery port through the pipeline, in order not to hinder the walking, at the in-process of advancing, a pipeline for connecting all places in the frame, when needing the moisturizing, the manual work is put the pipeline just and is docked with the delivery port of frame below again, this kind of artificial operation mode is not only inefficient, and need the manual work to follow the row to look over, irrigation equipment's degree of automation has been reduced, influence irrigation efficiency and the automatic irrigation operation of continuity.
Disclosure of Invention
The invention aims at the technical defects mentioned in the background technology and provides a method for realizing accurate butt joint between sprinkling irrigation equipment on an irrigation walking robot and a water outlet on a pre-laid irrigation belt.
The technical scheme adopted by the invention is as follows: a method for accurately positioning a water gap of a walking robot for field irrigation comprises the steps that the water gap comprises a sprinkling irrigation water pipe connected with sprinkling irrigation equipment and a water outlet connected with an irrigation belt; the sprinkling irrigation water pipe is connected with the water outlet through a communicating pipe; the sprinkling irrigation water pipe is connected with the communicating pipe through a hose;
the accurate positioning method of the water gap is to realize the positioning communication between the lower port of the communicating pipe and the water outlet, and comprises the following specific steps:
s1, pre-laying an irrigation belt in the field, and installing a plurality of water outlets at fixed points on the irrigation belt;
s2, the walking robot walks along the irrigation belt in a tracing way, the upper surface of the walking robot is provided with a sprinkling irrigation unit, the lower surface of the walking robot is provided with a water outlet centralizing unit, and the rear surface of the walking robot is provided with a driving unit;
s3, when the walking robot walks to the position of the water outlet, the water outlet is supported by the water outlet righting unit and moves to the designated position, the driving unit stops driving, the walking robot stops walking, and the sprinkling irrigation unit controls the communicating pipe to descend to be communicated with the water outlet, so that the water outlet is accurately positioned and communicated;
s4, after irrigation is finished, the sprinkling irrigation unit moves reversely, the communicating pipe is lifted to the designated height, the walking robot continues walking, and the water outlet slides down from the rear end of the water outlet righting unit to finish one-time accurate positioning of the water gap.
As a preferred technical scheme: the water outlet in the step S1 is a pressing type water outlet.
As a preferred technical scheme: the pressing type water outlet comprises a tee body, and two horizontal ports of the tee body are water receiving ports communicated with a pipeline respectively;
an inner bushing is sleeved in an upper port of the tee body, the bottom of the inner bushing is a cross-shaped balance frame, and a through hole is formed in the center of the balance frame; an upright post is movably inserted into the through hole, a pressure spring is sleeved on the upright post, a sealing cap is arranged at the top end of the upright post, and a sealing plate is fixedly connected to the bottom end of the upright post; the sealing plate is in sealing fit with the bottom of the inner bushing.
As a preferred technical scheme: the inner bushing is of a stepped cylindrical structure, a large-diameter section at the upper end of the inner bushing is erected on the shoulder of the inner wall of the upper port, a small-diameter section at the lower end of the inner bushing is screwed on the inner wall of the upper port, and the inner wall of the lower port is of an inclined plane structure. As a preferred technical scheme: the central position of the inside of the port of the communicating pipe is provided with a pressing plate which is aligned with the upright post, and two ends of the pressing plate are fixedly connected to the pipe wall of the communicating pipe.
As a preferred technical scheme: the designated position in the step S3 is right below the communicating pipe, and the front and rear positions of the water outlet are controlled by the water outlet centering unit.
As a preferred technical scheme: the water outlet righting unit comprises a floating assembly, a course plate and a walking assembly;
the floating assembly is of a linear slide rail structure, the lower end of a slide rail is connected with a fixed seat, and the fixed seat is fixedly arranged on the course plate;
the walking assembly comprises walking wheels, a wheel shaft and a wheel shaft seat; the wheel axle seat is fixedly arranged below the course plate, the wheel axle penetrates through the wheel axle seat and is movably connected with the wheel axle seat, and the travelling wheel is arranged at the end part of the wheel axle and is movably connected with the wheel axle seat;
the course plate is horizontally arranged below the rack, a through hole is formed in the course plate, and the upper portion of the travelling wheel penetrates through the through hole.
As a preferred technical scheme: and a front limiting sensor and a rear limiting sensor are arranged on the rack, and the front limiting sensor and the rear limiting sensor are matched with the water outlet to limit the front position and the rear position of the water outlet.
As a preferred technical scheme: the sprinkling unit comprises a support frame arranged on the walking robot rack, a guard plate is arranged in the support frame, and the lower end of the guard plate is connected with the rack; the middle of the guard plate is provided with an installation plate, and the installation plate is provided with an adjusting cylinder; the centers of the guard plate and the mounting plate are both provided with a mounting hole, the communicating pipe penetrates through the mounting hole, the lower end of the communicating pipe is connected with the lifting plate, and the free end of the adjusting cylinder is connected with the lifting plate; an upper position sensor and a lower position sensor are arranged on the inner side of the machine frame below the supporting frame and connected with a driving mechanism of the adjusting cylinder.
As a preferred technical scheme: two cylinder positioning holes for mounting the adjusting cylinder are arranged on the mounting plate in parallel; and the mounting seat of the adjusting cylinder is mounted on a horizontal plate at the top of the guard plate through a connecting piece.
Compared with the prior art, the method for accurately positioning the water gap is simple to operate, accurate in positioning, convenient and rapid to achieve automatic positioning and butt joint of the water gap, improves positioning efficiency and accuracy of the water gap in an irrigation process, improves irrigation overall efficiency, and is time-saving, labor-saving and labor-saving.
Drawings
Fig. 1 is a schematic view of the installation positions of the sprinkling irrigation unit and the water outlet centralizing unit in the invention.
Fig. 2 is a schematic view of the butt-joint relationship between the communicating pipe and the water outlet in the sprinkling irrigation unit (without a supporting plate).
Fig. 3 is a schematic view of the connection relationship between the support plate and the frame of the sprinkling irrigation unit of the invention.
FIG. 4 is a schematic view of the connection relationship between the water outlet straightening unit and the frame according to the present invention.
Fig. 5 is a schematic view of the installation position of the sensor for limiting in the present invention.
Fig. 6 is a schematic view of the structure of the water outlet of the present invention.
In the figure: the sprinkling irrigation unit 1, the frame 2, the delivery port centralizing unit 3 and the delivery port 4.
Detailed Description
The invention is further described with reference to the figures and examples.
The invention discloses a water gap positioning method based on a movable field irrigation walking robot, which realizes accurate positioning of a water gap through a movable part in the robot so as to realize the water supply efficiency and quality of spray irrigation equipment.
The invention discloses a method for accurately positioning a water gap of a walking robot for field irrigation, wherein the water gap comprises a sprinkling irrigation water pipe connected with sprinkling irrigation equipment and a water outlet connected with an irrigation belt; the sprinkling irrigation water pipe is connected with the water outlet through a communicating pipe; the sprinkling irrigation water pipe is connected with the communicating pipe through a hose. As shown in the attached figure 1, a sprinkling irrigation unit 1 is arranged on the upper surface of a frame 2 of the walking robot, a water outlet centralizing unit 3 is arranged on the lower surface of the frame, and a driving unit is arranged on the rear surface of the frame.
The accurate positioning method of the water gap is to realize the positioning communication between the lower port of the communicating pipe and the water outlet, and comprises the following specific steps:
s1, pre-laying an irrigation belt in the field, and installing a plurality of water outlets at fixed points on the irrigation belt;
s2, the walking robot walks along the irrigation belt in a tracing way, the upper surface of the walking robot is provided with a sprinkling irrigation unit, the lower surface of the walking robot is provided with a water outlet centralizing unit, and the rear surface of the walking robot is provided with a driving unit;
s3, when the walking robot walks to the position of the water outlet, the water outlet is supported by the water outlet righting unit and moves to the designated position, the driving unit stops driving, the walking robot stops walking, and the sprinkling irrigation unit controls the communicating pipe to descend to be communicated with the water outlet, so that the water outlet is accurately positioned and communicated;
s4, after irrigation is finished, the sprinkling irrigation unit moves reversely, the communicating pipe is lifted to the designated height, the walking robot continues walking, and the water outlet slides down from the rear end of the water outlet righting unit to finish one-time accurate positioning of the water gap.
Preferably, the water outlet in the step S1 is a press type water outlet. As shown in figure 6, the push type water outlet comprises a three-way body 4-3, and two horizontal ports of the three-way body are respectively water receiving ports communicated with the pipeline. An inner bushing 4-1 is sleeved in an upper port 4-5 of the tee body, the bottom of the inner bushing is a cross-shaped balancing stand 4-6, and a through hole is formed in the center of the balancing stand. An upright post 4-4 is movably inserted into the through hole, a pressure spring 4-2 is sleeved on the upright post, a sealing cap is arranged at the top end of the upright post, and a sealing plate 4-7 is fixedly connected at the bottom end of the upright post; the sealing plate is in sealing fit with the bottom of the inner bushing. In a preferred embodiment, the inner bushing is a stepped cylindrical structure, the large diameter section of the upper end of the inner bushing is overlapped on the shoulder of the inner wall of the upper port, the small diameter section of the lower end of the inner bushing is screwed on the inner wall of the upper port, and the inner wall of the lower port is of an inclined surface structure. The central position in the port of the communicating pipe 1-2 matched with the water outlet pipe is provided with a pressing plate aligned with the upright post, and two ends of the pressing plate are fixedly connected to the pipe wall of the communicating pipe. The pressing plate is in a narrow strip-shaped structure, and after the communicating pipe is in butt joint with the water outlet, the pressing plate is in contact with the sealing cap at the top end of the upright post, so that the water outlet is opened by pressing downwards.
The designated position in the step S3 is right below the communicating pipe, and the front and rear positions of the water outlet are controlled by the water outlet centering unit.
Referring to fig. 4-5, the water outlet righting unit comprises a floating assembly 3-4, a course plate 3-1 and a walking assembly 3-3. The floating assembly is of a linear slide rail structure, the lower end of a slide rail is connected with a fixed seat, and the fixed seat is fixedly installed on the course plate. As the preferred scheme, the walking assembly comprises a walking wheel, a wheel shaft and a wheel shaft seat; the wheel axle seat is fixedly arranged below the course plate, the wheel axle penetrates through the wheel axle seat and is movably connected with the wheel axle seat, and the travelling wheel is arranged at the end part of the wheel axle and is movably connected with the wheel axle seat; the course plate is horizontally arranged below the rack, a through hole is formed in the course plate, and the upper portion of the travelling wheel penetrates through the through hole. The frame is provided with front and rear limit sensors 3-5 which are matched with the water outlet in position to limit the front and rear positions of the water outlet. The course plates are provided with a positioning table 3-2, and the front ends of the positioning tables are of inclined surface structures, so that the positioning tables 3-2 can be used for supporting after a water outlet enters between the two course plates. And (3) triggering front and rear position sensors (3-5) after the water outlet reaches the positioning table, transmitting signals to a driving unit of the walking robot by the front and rear position sensors, stopping walking, moving the water outlet in place, and waiting for butt joint of communicating pipes.
The sprinkling unit comprises support frames 1-3 arranged on the walking robot frame, guard plates 1-6 are arranged in the support frames, and the lower ends of the guard plates are connected with the frame; the middle of the guard board is provided with a mounting plate 1-5, and the mounting plate is provided with an adjusting cylinder 1-4; the centers of the guard plate and the mounting plate are both provided with a mounting hole, the communicating pipe penetrates through the mounting hole, the lower end of the communicating pipe is connected with the lifting plates 1-8, and the free end of the adjusting cylinder is connected with the lifting plates 1-8; an upper position sensor 1-7 and a lower position sensor 1-7 are arranged on the inner side of the machine frame below the supporting frame, and the position sensors are connected with the driving part of the adjusting cylinder 1-4.
As preferred scheme, be provided with two cylinder locating holes that are used for installing adjust cylinder on the mounting panel side by side. The mounting seat of the adjusting cylinder is mounted on a horizontal plate at the top of the guard plate through connecting pieces such as bolts and the like. After the drive unit of whole walking robot stopped operation, adjust cylinder's drive division begins to function, adjust cylinder's telescopic link is released, push down the lifter plate, the mouth of a river end of communicating pipe is installed on the lifter plate, the mouth of a river of communicating pipe inserts in the delivery port of below, under adjust cylinder's continuous action, continue pushing down, reach about the position sensor assigned position after, position sensor is triggered from top to bottom, adjust cylinder stop motion, the delivery port is opened, water flows out and gets into the sprinkling irrigation water pipe behind communicating pipe by the delivery port, realize the sprinkling irrigation. After the sprinkling irrigation is finished, the adjusting cylinder is controlled to perform reverse operation, after the adjusting cylinder is lifted to a preset position, the driving unit of the robot is restarted to continue walking, in the walking process, the water outlet falls down from the positioning table and slides out along the back section of the course plate, one-time accurate positioning is completed, and the sprinkling irrigation is realized.
Claims (10)
1. The accurate positioning method for the water gap of the walking robot for field irrigation is characterized by comprising the following steps of: the water gap comprises a sprinkling irrigation water pipe connected with sprinkling irrigation equipment and a water outlet connected with an irrigation belt; the sprinkling irrigation water pipe is connected with the water outlet through a communicating pipe; the sprinkling irrigation water pipe is connected with the communicating pipe through a hose;
the accurate positioning method of the water gap is to realize the positioning communication between the lower port of the communicating pipe and the water outlet, and comprises the following specific steps:
s1, pre-laying an irrigation belt in the field, and installing a plurality of water outlets at fixed points on the irrigation belt;
s2, the walking robot walks along the irrigation belt in a tracing way, the upper surface of the walking robot is provided with a sprinkling irrigation unit, the lower surface of the walking robot is provided with a water outlet centralizing unit, and the rear surface of the walking robot is provided with a driving unit;
s3, when the walking robot walks to the position of the water outlet, the water outlet is supported by the water outlet righting unit and moves to the designated position, the driving unit stops driving, the walking robot stops walking, and the sprinkling irrigation unit controls the communicating pipe to descend to be communicated with the water outlet, so that the water outlet is accurately positioned and communicated;
s4, after irrigation is finished, the sprinkling irrigation unit moves reversely, the communicating pipe is lifted to the designated height, the walking robot continues walking, and the water outlet slides down from the rear end of the water outlet righting unit to finish one-time accurate positioning of the water gap.
2. The method for accurately positioning the water gap of the field irrigation walking robot as claimed in claim 1, wherein the method comprises the following steps: the water outlet in the step S1 is a pressing type water outlet.
3. The method for accurately positioning the water gap of the field irrigation walking robot as claimed in claim 2, wherein the method comprises the following steps: the pressing type water outlet comprises a tee body, and two horizontal ports of the tee body are water receiving ports communicated with a pipeline respectively;
an inner bushing is sleeved in an upper port of the tee body, the bottom of the inner bushing is a cross-shaped balance frame, and a through hole is formed in the center of the balance frame; an upright post is movably inserted into the through hole, a pressure spring is sleeved on the upright post, a sealing cap is arranged at the top end of the upright post, and a sealing plate is fixedly connected to the bottom end of the upright post; the sealing plate is in sealing fit with the bottom of the inner bushing.
4. The push type three-way water outlet for farm irrigation as claimed in claim 1, wherein the inner bushing is a stepped cylindrical structure, the large diameter section of the upper end thereof is overlapped on the shoulder of the inner wall of the upper port, the small diameter section of the lower end thereof is screwed on the inner wall of the upper port, and the inner wall of the lower port thereof is a slope structure.
5. The method for accurately positioning the water gap of the field irrigation walking robot as claimed in claim 4, wherein the method comprises the following steps: the central position of the inside of the port of the communicating pipe is provided with a pressing plate which is aligned with the upright post, and two ends of the pressing plate are fixedly connected to the pipe wall of the communicating pipe.
6. The method for accurately positioning the water gap of the field irrigation walking robot as claimed in claim 1, wherein the method comprises the following steps: the designated position in the step S3 is right below the communicating pipe, and the front and rear positions of the water outlet are controlled by the water outlet centering unit.
7. The method for accurately positioning the water gap of the field irrigation walking robot as claimed in claim 6, wherein the method comprises the following steps: the water outlet righting unit comprises a floating assembly, a course plate and a walking assembly;
the floating assembly is of a linear slide rail structure, the lower end of a slide rail is connected with a fixed seat, and the fixed seat is fixedly arranged on the course plate;
the walking assembly comprises walking wheels, a wheel shaft and a wheel shaft seat; the wheel axle seat is fixedly arranged below the course plate, the wheel axle penetrates through the wheel axle seat and is movably connected with the wheel axle seat, and the travelling wheel is arranged at the end part of the wheel axle and is movably connected with the wheel axle seat;
the course plate is horizontally arranged below the rack, a through hole is formed in the course plate, and the upper portion of the travelling wheel penetrates through the through hole.
8. The method for accurately positioning the water gap of the field irrigation walking robot as claimed in claim 7, wherein the method comprises the following steps: and a front limiting sensor and a rear limiting sensor are arranged on the rack, and the front limiting sensor and the rear limiting sensor are matched with the water outlet to limit the front position and the rear position of the water outlet.
9. The method for accurately positioning the water gap of the field irrigation walking robot as claimed in claim 1, wherein the method comprises the following steps: the sprinkling unit comprises a support frame arranged on the walking robot rack, a guard plate is arranged in the support frame, and the lower end of the guard plate is connected with the rack; the middle of the guard plate is provided with an installation plate, and the installation plate is provided with an adjusting cylinder; the centers of the guard plate and the mounting plate are both provided with a mounting hole, the communicating pipe penetrates through the mounting hole, the lower end of the communicating pipe is connected with the lifting plate, and the free end of the adjusting cylinder is connected with the lifting plate; an upper position sensor and a lower position sensor are arranged on the inner side of the machine frame below the supporting frame and connected with a driving mechanism of the adjusting cylinder.
10. The method for accurately positioning the water gap of the field irrigation walking robot as claimed in claim 9, wherein the method comprises the following steps: two cylinder positioning holes for mounting the adjusting cylinder are arranged on the mounting plate in parallel; and the mounting seat of the adjusting cylinder is mounted on a horizontal plate at the top of the guard plate through a connecting piece.
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