WO2015101274A1 - 一种田轨系统 - Google Patents

一种田轨系统 Download PDF

Info

Publication number
WO2015101274A1
WO2015101274A1 PCT/CN2014/095469 CN2014095469W WO2015101274A1 WO 2015101274 A1 WO2015101274 A1 WO 2015101274A1 CN 2014095469 W CN2014095469 W CN 2014095469W WO 2015101274 A1 WO2015101274 A1 WO 2015101274A1
Authority
WO
WIPO (PCT)
Prior art keywords
wire
power receiving
insulating material
electric
track
Prior art date
Application number
PCT/CN2014/095469
Other languages
English (en)
French (fr)
Inventor
施国樑
Original Assignee
施国樑
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 施国樑 filed Critical 施国樑
Priority to JP2016544527A priority Critical patent/JP2017509289A/ja
Priority to EP14877235.3A priority patent/EP3091655A1/en
Priority to AU2014375562A priority patent/AU2014375562A1/en
Publication of WO2015101274A1 publication Critical patent/WO2015101274A1/zh

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
    • H02S10/40—Mobile PV generator systems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S20/00—Supporting structures for PV modules
    • H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
    • H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/30—Electrical components
    • H02S40/34—Electrical components comprising specially adapted electrical connection means to be structurally associated with the PV module, e.g. junction boxes
    • 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
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present invention relates to the installation of a track system in agricultural land and its use.
  • the prior art discloses a field rail station power line for connecting an external power grid, comprising a casing, a power wire core disposed inside the casing, the wire core comprising a form of three-phase four-wire four cores;
  • the power line of the side station is disposed beside the field rail by the pole support, the casing includes a long slot; the power line contains a continuous smooth exposed surface; the slot and the electrical connection interface are as long as the casing; the outside An electrical connection interface is electrically connected to the bare surface through the slot to enable power exchange on the move.
  • the prior art does not provide a technical solution that may cause problems due to temperature change and thermal expansion and contraction of the wire, and this thermal expansion and contraction causes a series of serious problems.
  • the external electrical connection interface is low in reliability by being often inserted into the power line inside the bypass station to be connected to the wires.
  • the track system including the track and the power line of the side station;
  • the track consists of a set of two reinforced concrete tracks placed parallel to the farmland, the shape of which includes arched and straight;
  • the adjacent straight track of the adjacent head and tail The axis line state includes two concentric and different hearts;
  • the power line of the side station includes a plurality of shells, a layer of insulating material and wires connected to each other, the power line of the side station is arranged along the track and electrically connected to the grid; and the power receiving module assembly is further included.
  • the power receiving module assembly comprises a chassis, a fixed electrical connector, a plurality of conductive column plates and a sliding power receiving block; the sliding power receiving block is in contact with the surface of the wire; the chassis is connected with the housing by a wheel set or an electric wheel set and is Moving along the axis of the housing axis; the wire, the sliding power receiving block, the conductive column plate and the fixed electrical connector form a circuit branch.
  • the end of the wire includes a wire plug-in connection interface, the wire plug-in connection interface includes a wire splicing slot and a wire plug; the wire plug is inserted into the wire splicing slot to achieve concentric series connection of the wire and retain axial clearance As a wire expansion expansion space; the wire plug connection interface includes a gap between two adjacent wires;
  • the insulating material layer comprises an insulating material tube and an insulating layer formed on a surface of the wire portion, the end of the insulating material tube is provided with an insulating material tube plug-in connection interface, and the insulating material tube plug-in connection interface comprises a continuous unnotched insulating material tube.
  • the socket and the insulating material pipe are inserted; the insulating material pipe insert is inserted into the insulating material pipe splicing slot to realize the concentric series connection of the insulating material pipe and the axial gap is reserved as the insulating material pipeline expansion and expansion space;
  • the wire axis, the housing axis, and the insulating tube axis line both include straight and non-linear curves.
  • a continuous marking line is provided on the housing or hood, the marking line including the I-shaped indicia and a bar code containing information on its location.
  • a mobile photovoltaic power generation system including a mobile trolley, a rotating base type solar illumination angle tracking device, a push rod type solar elevation angle adjustment device, a photovoltaic battery assembly, an automatic plug-in robot and a photovoltaic controller
  • the photovoltaic battery component is connected to the power grid through the automatic plug-in robot and the power line of the bypass station; the electric trolley is driven on the track, the electric push-rod solar height angle adjusting device comprises an electric push rod and a component frame, and the photovoltaic battery component is mounted on the component frame.
  • electric trolley rotating base type solar illumination angle tracking device, electric push rod type solar height angle adjustment device, photovoltaic battery assembly and automatic plug-in robot and photovoltaic controller signal connection, electric trolley, rotating base type sun illumination angle
  • the state of the tracking device, the electric pusher type solar height angle adjusting device, the photovoltaic cell assembly, and the automatic plug-in manipulator vary depending on the state of the photovoltaic controller.
  • the on-orbit agricultural robots include universal work platforms, center beams, electric wheel assemblies, automatic plug-in robots and robot control systems. Universal robot modules are placed on one side of the center beam.
  • the base is mounted, and the electric wheel set assembly comprises an electric steering mechanism and an electric wheel set; the agricultural robot on the track travels on the track and obtains electric energy from the power grid through the power line of the side station;
  • the rail side agricultural robot includes a screw conveying device, a non-slip wheel assembly, a non-slip wheel set connecting rod, a girders, a manipulator module loading and unloading manipulator, an automatic plug-in manipulator and a robot control system, and a universal manipulator module mounting base is arranged on both sides of the beam, on the beam
  • the screw conveyor includes a screw conveyor and a side plate
  • the anti-skid wheel assembly includes an electric steering mechanism, a non-slip wheel set and a height adjuster; the rail side agricultural robot obtains electric energy from the power grid through the side station power line.
  • the power receiving module assembly comprises a curved chassis, a fixed electrical connector, a plurality of straight conductive columns, a plurality of built-in sliding power receiving blocks, a camera and a photovoltaic cell assembly, and the curved chassis wraps the casing and passes the wheel set or the electric wheel The set is in rolling engagement with the outer surface of the housing and moves in the direction of the axis of the housing.
  • the power receiving module assembly comprises a flat chassis, a fixed electrical connector, a plurality of curved conductive columns, a plurality of curved sliding power receiving blocks and a wire temperature sensor, and the flat chassis passes through the wheel set or the electric wheel set and the bottom of the housing.
  • the channeled channel cooperates with the rolling connection and is movable along the axis of the housing axis.
  • the power receiving module assembly comprises a flat chassis, a fixed electrical connector, a plurality of bent conductive columns and a plurality of flat sliding power receiving blocks; the flat sliding power receiving blocks are respectively located above and below the wires; or the flat sliding power receiving blocks They are respectively located on two sides of the wire, and the plate chassis is rollingly connected with the grooved passage of the bottom of the casing through the wheel set or the electric wheel set and moves along the axis direction of the casing.
  • the axial length of the wire-plug connection interface is defined as the axial length of the sliding power-receiving block that is extended twice from the midpoint of the axial gap between the adjacent two wires that are fitted to each other.
  • the low resistance quantification may also be described as: an average voltage drop of less than 1 volt when a direct current having a current intensity of 3 amps/cm 2 passes over the wire connection interface; the low resistance is quantitatively described as:
  • the power lines of the adjacent two stations are in the standard construction state including 25 ⁇ 0.5°C.
  • the insertion force or pulling force of the body, the insulating material tube or the single wire is not more than 3 kg.
  • a wear-resistant surface layer may be formed on the surface of the aluminum wire by using the prior art, including forming a wear-resistant layer on the surface of the aluminum by anodization, and forming a wear-resistant surface layer by electroplating.
  • the wires of the power line of the side station and the sliding power receiving block experience an average of 2,000 sliding frictions of about 0.2 m/sec per year.
  • a hand drill with a brush structure including a graphite electrode and a copper commutating pole the rotational speed of 3000 rpm is 3,000 times per minute of sliding friction of about 3.8 m / sec; It is used and almost no wear of the copper electrode and the graphite electrode is perceived.
  • the housing end portion of the power line of the side station is disposed in the axial direction, and the housing plug connection interface includes the variable diameter section, and the end of the insulating material tube is provided with insulation along the axial line direction.
  • the material pipe plug connection interface includes a splicing slot and a plug, and the end of the wire is provided with a low resistance and a low resistance plug connection interface along the axis line, including a splicing slot and a plug, a jack and a plunger Cooperating concentric deep grooves, retaining axial gaps at the joint interface, that is, various linear expansion and contraction space absorption housings, insulating material tubes and wires, thermal expansion and contraction dimensional changes, and the housing at the fixed joint point
  • the sliding position between the outer place and the agricultural land enables the end to be freely stretched, so that the insulating material tube can move freely relative to the casing or the wire outside the fixed joint, thereby ensuring the casing, the insulating material tube and
  • the wire can repeatedly experience thermal expansion and contraction caused by extreme changes in temperature above 80 °C caused by solar exposure and high current heating of the wire, and can still work reliably for a long time.
  • the continuous marking line of the power line of the side station helps to determine the spatial position of the rail-based agricultural robot and its working objects, and also facilitates planting with tubeless drip irrigation.
  • the mobile photovoltaic power generation system of the present invention can provide a large amount of electric power without affecting the yield and quality of the crop.
  • the rail-based agricultural robot of the present invention can provide an unmanned agricultural machine facility that is electrically driven, and can be continuously upgraded by replacing different robot modules and applications.
  • a universal working platform for agricultural robots on the rail can be equipped with a grain thresher and a straw strapping machine.
  • the screw conveyor of the rail-side agricultural robot can realize the seamless connection of grain with the common working platform of the agricultural robot on the rail.
  • the truck can complete the logistics between the site and the material storage point.
  • the rail-side agricultural robot uses anti-skid wheels to provide high-power traction and its working width can reach more than 20 meters.
  • the shaft axis of the housing includes straight and non-linear curves, and the axial line of the wire and the insulating material and the axis of the housing are parallel or substantially parallel to each other, and can adapt to complicated terrain.
  • the flat sliding power receiving blocks located above and below the wires and on the two sides of the wires, respectively, are relatively insensitive to the bending of the wires.
  • Figure 1a is a schematic view showing the structure of a power line of a side station with an external power receiving module assembly.
  • Figure 1b shows a partial enlargement of the electric wheel set in Figure 1c.
  • Figure 1c is a schematic view showing the structure of an external power receiving module assembly.
  • Figure 1d is a schematic view showing the structure in which the two shells are connected end to end with a reduced diameter section.
  • Figure 1e is a partial enlargement of a marking line.
  • Figure 1f is a partial enlargement of the dovetail groove of an insulating material tube.
  • Figure 1g is a partial enlarged view of a continuous unrimped splicing slot of the insulating material tube and the splicing at the seam, the cross-section being vertically forward along the surface.
  • Figure 1h is a schematic view showing the structure of each insulating material tube which is slidably coupled by a dovetail groove structure.
  • Figure 1i is a schematic view of a two-stage aluminum profile wire through a plunger to achieve a low resistance and low resistance plug-in connection.
  • Fig. 1j is a schematic structural view of an automatic plug-in robot connecting and fixing an electrical connector.
  • FIGS. 2a and 2b are an exploded view and an outline view, respectively, of a built-in sliding power receiving block.
  • Figure 2c is a partial enlargement of the elastic piece of Figure 2a.
  • Fig. 3 is a schematic view showing the structure of a two-section wire having a positive quarter circle and a low resistance and low resistance plug-in connection.
  • 4a and 4b are respectively an outline view and an exploded view of a power line of a side station with a built-in power receiving module assembly.
  • 5a and 5b are respectively a structural schematic view and an exploded view of a movable photovoltaic power generation system.
  • Figures 6a and 6b are an exploded view and a structural view of an agricultural robot on a rail, respectively.
  • Figure 7 is a partially enlarged schematic view showing the electric push rod of Figure 5;
  • Figure 8 is a partial enlarged view of the water pipe and rail of Figure 6a.
  • Figures 9a and 9b are respectively an exploded view and a structural view of a rail-side agricultural robot.
  • Figure 10 is a schematic diagram of an on-track agricultural robot working with a rail-side agricultural robot.
  • Figure 11 is a schematic cross-sectional view showing the structure of a power receiving module in which the flat sliding power receiving blocks are respectively located above and below the wires.
  • Figure 12 is a schematic cross-sectional view showing the structure of a power receiving module in which the flat sliding power receiving blocks are respectively located on both sides of the wire.
  • junction box 37. plug-in guide; 38. automatic plug-in manipulator; 39. plug-in control system; 40. bend conductive column; Multi-joint arm; 42. plug-in camera; 43. external electrical connector; 44. power plug; 46. electric screw; 47. plug-in guide; 48. cable; 49. screw hole; 51. ; 52. Conductive mother board; 53. edging; 54. Elastic piece; 56. Spring; 57. Soft lug; 58. Powered computer control system; 59. Wire temperature sensor; 61. Bonding material; 62. Bonding point; 63. Pad; 64. One-dimensional mobile auxiliary mechanism 66. Insulation layer; 67. Fan-shaped cavity; 68. Arc surface; 69.
  • Curved sliding power receiving block 71. Curved conductive column plate; 72. Flat plate chassis; 73. Grooved channel; 74. Concentric circle depth Slot; 75. movable photovoltaic power generation system; 76. electric trolley; 77. rotary pedestal type solar illumination angle tracking device; 78. electric push rod type solar elevation angle adjustment device; 79. photovoltaic cell assembly; 81. Photovoltaic controller; 82. Track; 83. Auxiliary flexible wire; 84. Electric wheel set; 86. Wheel set; 87. Chassis; 88. Planar rotating auxiliary mechanism; 89. Base; 91. Electric drive ; 92. electric push rod; 93. assembly frame; 94. rotating auxiliary mechanism; 96.
  • on-track agricultural robot 97. universal working platform; 98. middle beam; 99. electric wheel set assembly; 101. robot control system; 102 installation base; 103. electric steering mechanism; 104 cutting rice manipulator module; 106. water pipe; 107. electric water intake valve assembly; 108. rail side agricultural robot; 109. 111; anti-skid wheel assembly; 112. anti-skid wheel linkage; 113. girders; 114. robot handling robot; 116. slider rail; 117. screw conveyor; 118. side plate; 119. anti-skid wheel set; Height adjuster; 122. rotary tiller; 123. cable; 124.
  • the track system including the track and the power line of the side station;
  • the track consists of a set of two reinforced concrete tracks placed parallel to the farmland, the shape of which includes arched and straight;
  • the adjacent straight track of the adjacent head and tail The axis line state includes two concentric and different hearts;
  • the power line of the side station includes a plurality of shells, a layer of insulating material and wires connected to each other, the power line of the side station is arranged along the track and electrically connected to the grid; and the power receiving module assembly is further included.
  • the power receiving module assembly comprises a chassis, a fixed electrical connector, a plurality of conductive column plates and a sliding power receiving block; the sliding power receiving block is in contact with the surface of the wire; the chassis is connected with the housing by a wheel set or an electric wheel set and is Moving along the axis of the housing axis; the wire, the sliding power receiving block, the conductive column plate and the fixed electrical connector form a circuit branch.
  • the end of the wire includes a wire plug-in connection interface, the wire plug-in connection interface includes a wire splicing slot and a wire plug; the wire plug is inserted into the wire splicing slot to achieve concentric series connection of the wire and retain axial clearance
  • the wire expansion expansion space; the wire plug connection interface includes a gap between two adjacent wires; the insulating material layer comprises an insulating material tube and an insulating layer formed on a surface of the wire portion, and the end of the insulating material tube is provided with an insulating material tube
  • the plug-in connection interface, the insulating material pipe plug-in connection interface comprises a continuous unnotched insulating material pipe splicing slot and an insulating material pipe insert; the insulating material pipe insert is inserted into the insulating material pipe splicing slot to realize the insulating material
  • the concentric series connection of the tubes retains the axial gap as the expansion and expansion space of the insulating material pipeline; the axial axis of the conductor, the
  • a continuous marking line is provided on the housing or hood, the marking line including the I-shaped indicia and a bar code containing information on its location.
  • the track system includes a track pile 80, a track 82, and a wire
  • the station power line 1 is connected to the grid 30.
  • the wire 4 has an open cavity 9 which is connected to the built-in sliding power receiving block 11 and is electrically connected to the fixed electrical connector 13 via the straight conductive strip 12 .
  • the power receiving module assembly 6 includes a curved chassis 14, a fixed electrical connector 13, a plurality of straight conductive columns 12, a plurality of built-in sliding power receiving blocks 11, a camera 16 and a photovoltaic cell 17. Camera 16 is used to build machine vision. The photovoltaic cell 17 is used to power the powered module assembly 6.
  • the curved chassis 14 is a cylindrical body having a circumferential angle of about 270 degrees. The curved chassis 14 is sleeved on the outer side of the casing 2, and is coupled to the outer surface of the casing 2 by the electric wheel set 18 and can be along the casing axis. The heart line 19 moves in the direction.
  • the housing 2 has a long slot 21, and the housing 2 has a reduced diameter section 22 at one end.
  • the reduced diameter section 22 can be concentrically engaged with the non-reduced housing 2, and is sealed and retained by a discontinuous rubber ring 23.
  • a certain axial gap is the linear expansion expansion space 24.
  • the linear expansion expansion space 24 absorbs the thermal expansion and contraction of the casing 2.
  • An outwardly projecting block 20 is formed on the reduced diameter section 22, and the block 20 cooperates with the latching hole 25 in the housing 2 to ensure continuity of the long slot 21 but does not affect the reduced diameter section 22 relative to the phase
  • the thermal expansion and contraction movement of the adjacent casing 2 is performed.
  • the reduced diameter section 22 can be separately fabricated and welded to the casing 2.
  • the marking line 15 includes an I-shaped mark 5 and a barcode 10.
  • Barcode 10 contains information corresponding to its location. The barcode 10 information is read and converted to a digital signal by a signal connection to the camera.
  • the method of making the marking line includes marking the surface of the stainless steel housing 2 with a laser marking device.
  • the insulating material tube 3 is placed in the casing 2, and the insulating material tubes 3 are slidably coupled together by the dovetail groove structure 26, and the plurality of strips 27 are arranged in parallel with each other along the axis line 19 of the casing.
  • the insulating material tubes 3 are bundled together. It can be seen from the partial enlargement B of Fig. 1d that the insulating material tube 3 has a sliding fit continuous unnotched splicing slot 28 and a plug 29, which can be inserted into the splicing slot 28 for concentric series connection of the insulating material tubes 3.
  • the linear expansion expansion space 126 of the insulating material that absorbs the thermal expansion and contraction is connected and retained.
  • the linear expansion telescopic space 126 means that the plug 29 is not directly inserted into the bottom when the connection is made.
  • the dimensions of the various linear expansion and contraction space 24, the linear expansion and contraction space 126 of the insulating material, and the expansion and contraction space 127 of the wire are in the order of millimeters, and can be obtained by querying relevant data for calculation.
  • the plurality of insulating material tubes 3 are bundled together, and the different insulating material linear expansion and contraction spaces 126 do not overlap in the direction of the housing axis line 19. Thus, even if the splicing slot 28 and the tamper 29 are not used, it is ensured that at least one layer of the insulating material 3 having sufficient withstand voltage is provided between the two parallel wires 4 at any one place.
  • FIG. 1i shows a low resistance and low resistance wire plug connection interface 32 of a separate plunger connection structure: a socket 34 including a plunger 33 and a wire 4.
  • the diameter of the insertion hole 34 is made uniform, and the diameter of the plunger 33 is about half thin and half thick.
  • the half of the diameter is tightly matched with the socket 34 to reduce the resistance from contact with the atmosphere, and the thin half is slidably engaged with the socket 34 to realize the series connection of the wires 4 and to retain the wire expansion expansion space 127, and the wire expansion expansion space 127
  • the line of the absorption wire 4 is expanded.
  • the axial gap of the adjacently connected wires 4, that is, the wire expansion expansion space 127 may be defined. It is also possible to use the integrally manufactured lead wire 4 with the plunger 33.
  • the straight conductive column plate 12 extends into the long slot 21 and is connected to the built-in sliding power receiving block 11 provided in the open cavity 9.
  • the built-in sliding power receiving block 11 is combined with the wire 4 to slide the low resistance connection.
  • the fixed electrical connector 13 is located outside the open slot 21 of the housing 2 and is protected by a junction box 36.
  • the terminal block 36 also has a plug-in guide port 37 for assisting in positioning the automatic plug-in robot 38 when it is docked with the fixed electrical connector 13.
  • An automatic plug-in robot 38 is used.
  • the automatic plug-in robot 38 includes a plug-in control system 39, a multi-joint arm 41, a docking camera 42 and an external electrical connector 43.
  • the external electrical connector 43 includes a plurality of power plugs 44, two electric screws 46, two plug guides 47, and a length of cable 48.
  • the multi-joint arm 41 sends the external electrical connector 43 below the fixed electrical connector 13 and lifts up, under the constraint of the plug-in guide 47, The connection of the fixed electrical connectors 13 is merged, and then the two electric screws 46 extend into the screw holes 49 of the junction box 36 and are locked.
  • the built-in sliding power receiving block 11 includes two power receiving brush blocks 51, two elastic pieces 54 and a conductive mother board 52.
  • the conductive mother board 52 has a bead 53 for restraining the power receiving brush block 51.
  • the electric brush block 51 and the straight conductive strip 12 are connected by more than one spring 56; the electric brush block 51 can be specifically made of a copper-based electric brush block, a graphite electric brush block or a combination of copper and graphite.
  • the electric brush block 51 and the straight conductive column plate 12 are connected by a flexible tab 57.
  • the spring 56 is in a pressed state to bond the power receiving brush block 51 to the inner surface of the open cavity 9.
  • This structure of the built-in sliding power receiving block 11 enables it to maintain a low resistance connection with the wire 4 while moving on the surface of the wire 4 having a certain precision error and axial connection gap.
  • the power receiving module assembly 6 further includes a powered computer control system 58 that electrically connects the wire temperature sensor 59 located in the housing 2, the camera 16 located outside the housing 2, the photovoltaic cell 17 and The curved chassis 14 cooperates with the connected electric wheel set 18.
  • the state of the wire temperature sensor 59, the camera 16, and the photovoltaic cell 17 changes in accordance with changes in the state of the power receiving computer control system 58.
  • the invention also includes a fixed joint 62 disposed between the housing 2 and the tube of insulating material 3.
  • the fixing point 62 serves to maintain the necessary connection between the housing 2 and the insulating material tube 3.
  • Fixed joint 62 is included
  • the housing 2 and the insulating material tube 3 are positioned at a 360 degree circumferential angle uniform spacer 63, and the spacer 63 is fixed by the bonding material 61. If the fixed joint 62 is disposed in the middle of each of the bypass power lines, the dimensional change value caused by the linear expansion of the component can be divided into two equal parts, that is, the dimensional change is reduced by half relative to the fixed joint.
  • the insulating material tube 3 and the wire 4 may be directly formed by bonding or bonding by a bonding material or may be joined by fastening to form the wire fixing joint 31.
  • the present invention also includes an auxiliary flexible conductor 83.
  • the adjacently connected wires 4 are connected to each other and electrically connected by the auxiliary flexible conductor 83.
  • the resistance of the auxiliary flexible conductor 83 to the external force is negligible.
  • the auxiliary flexible conductor 83 ensures a minimum electrical connection between the two conductors 4 that are adjacent to each other, and the brush of the hand drill also uses an auxiliary flexible conductor.
  • connection between the housing 2 and the utility pole 7 comprises a fixed connection and a sliding connection using a one-dimensional moving sub-mechanism 64 moving in the direction of the housing axis 19 .
  • Sliding connections are designed to prevent unwanted pulling forces or thrust on the entire structure due to thermal expansion and contraction.
  • the wires 4 are insulated from each other by the insulating material tube 3, and the internal sliding power receiving blocks 11 in the open cavity 9 are also insulated from each other, so that more power transmission lines can be provided.
  • the aluminum profile wire 4 is fixed at the midpoint with glue, and the relative position of the two ends of the adjacent aluminum profile wire 4 is 1.56 mm (40*6000/2 (0.000024-0.000011)). .
  • the length of the aluminum profile wire 4 is more than 40 mm, the resistance increased due to the low resistance and low resistance plug-in connection interface is not large.
  • the relative change range of the end points of the adjacent aluminum profile wires 4 in the above example can reach 3.12 mm.
  • the bypass station power line 1 can still operate normally.
  • the rail system includes a track pile 80, a rail 82, a utility pole 7 and a side station power line 1
  • the side station power line 1 includes a casing 2, a cross-shaped insulating material tube 3,
  • the wire 4 and the power receiving module assembly 6 are connected to the land 8 via the utility pole 7.
  • the housing 2 is provided with a long slot 21 .
  • An insulating layer 66 is provided on the inner surface of the casing 2.
  • the insulating material tube 3 is connected to the housing 2 above.
  • the aluminum profile wire 4 is placed in the four sector cavities 67 of the insulating material tube 3; the wire 4 has a curved surface 68 of a circumferential angle of 60 to 80 degrees, and an arc-shaped sliding power receiving block 69 conforming to the shape of the arc surface 68 of the wire 4 is used. Sliding connection with the wire 4.
  • the wire 4 is coated with an insulating material in addition to the surface that is slidably coupled to the arcuate sliding power receiving block 69.
  • a curved conductive column 71 made of an elastic material. The curved conductive strip 71 electrically connects the fixed electrical connector 13 below.
  • the power receiving module assembly 6 includes a flat chassis 72, a fixed electrical connector 13, a plurality of curved conductive columns 71, a plurality of curved sliding power receiving blocks 69, and a wire temperature sensor 59.
  • the slab chassis 72 is coupled to the housing 2 slotted passage 73 by the electric wheel set 18 and can be oriented along the housing axis 19 mobile.
  • connection interface of the insulating material tube 3 refers to the contents of the embodiment 1 relating to the continuous unnotched splicing slot 28 and the splicing 29 with a sliding fit.
  • the cross section of the wire 4 is a positive quarter circle.
  • one or more concentric deep grooves 74 which are slidably engaged with each other are machined by a lathe, and a part of the outermost layers of the two wires are cut to form an insulating material linear expansion and contraction when the two are connected.
  • Space 126 At the end faces of the adjacent two wires 4, one or more concentric deep grooves 74 which are slidably engaged with each other are machined by a lathe, and a part of the outermost layers of the two wires are cut to form an insulating material linear expansion and contraction when the two are connected.
  • Space 126 is provided at the end faces of the adjacent two wires 4.
  • the fixed electrical connector 13 is located outside the open slot 21 of the housing 2 and is protected by a junction box 36.
  • Embodiment 3 as shown in FIG. 5, the present invention also discloses a movable photovoltaic power generation system 75.
  • the movable photovoltaic power generation system 75 includes an electric trolley 76, a rotating base type solar illumination angle tracking device 77, and a push rod type sunlight.
  • the photovoltaic cell assembly 79 is coupled to the grid 30 by an auto-interposer robot 38 and a bypass station power line 1; the electric cart 76 transmits gravity to the ground via the track 82 and track piles 80 and can travel on the track 82.
  • the track 82 is disposed in the agricultural land 8.
  • the electric cart 76 includes an electric wheel set 84, a wheel set 86 and a chassis 87.
  • the rotary base type solar illumination angle tracking device 77 includes a base 89 coupled to the chassis 87 via a planar rotary sub-mechanism 88 and an electric drive unit 91 coupled to the base 89.
  • the electric pusher type solar height angle adjusting device 78 includes an electric push rod 92 and a frame 93.
  • the lower end of the assembly frame 93 is coupled to the base 89 via a rotary sub-mechanism 94; the upper end of the assembly frame 93 is coupled to the upper end of the electric push rod 92 via a rotary sub-mechanism 94.
  • the lower end of the electric push rod 92 is coupled to the base 89 by a rotary sub-mechanism 94.
  • the photovoltaic cell assembly 79 is mounted on the component holder 93.
  • the electric carriage 76, the rotary pedestal type solar illumination angle tracking device 77, the electric pusher type solar elevation angle adjustment device 78, the photovoltaic cell assembly 79, and the automatic plug-in robot 38 are signally coupled to the photovoltaic controller 81.
  • the state of the electric carriage 76, the rotating base type solar irradiation angle tracking device 77, the electric pusher type solar elevation angle adjusting device 78, the photovoltaic cell assembly 79, and the automatic plug-in robot 38 changes in accordance with changes in the state of the photovoltaic controller 81.
  • Embodiment 4 as shown in Figures 6, 7, and 8, the present invention further includes an on-track agricultural robot 96.
  • the on-track agricultural robot 96 includes a universal working platform 97, a center beam 98, an electric wheel set assembly 99, and an automatic plug-in
  • the robot 38 and the robot control system 101 are provided with a universal robot module mounting base 102 on one side of the center beam 98.
  • the electric wheel set assembly 99 includes an electric steering mechanism 103 and an electric wheel set 18.
  • the electric steering mechanism 103 facilitates the use of the on-track agricultural robot 96 when migrating between different land 8; and configures the rice cutting robot module 104.
  • the universal robot module mounting base 102 can be replaced with different agricultural robots to perform different tasks.
  • the on-track agricultural robot 96 travels on the track 82 and draws electrical energy from the grid 30 through the side station power line 1.
  • the center beam 98 transmits gravity to the land 8 through the electric wheel set assembly 99 and the track 82.
  • a water pipe 106 disposed in parallel with the rail 82 is embedded in the land 8 on the side of the rail 82.
  • An electric water intake valve assembly 107 is provided.
  • the Universal Workbench 97 can be installed and used later, including grain threshing and straw strapping.
  • the present invention further includes a rail side agricultural robot 108 including a screw conveyor 109, a slip wheel assembly 111, a slip wheel set link 112, a girders 113, and a robot handling robot. 114.
  • the automatic plug-in robot 38 and the robot control system 101 are provided with a universal robot module mounting base 102 on one side of the beam 113 for mounting the agricultural robot including the rice cutting robot module 104.
  • a slider rail 116 is also provided on the girders 113 for running the robot handling robot 114.
  • the robot handling robot 114 is responsible for loading and unloading the agricultural robot including the rice cutting robot module 104.
  • the screw conveyor 109 includes a screw conveyor 117 and a side plate 118.
  • the anti-pulley assembly 111 includes an electric steering mechanism 103, a non-slip wheel set 119, and a height adjuster 121.
  • the height adjuster 121 is used to adjust the height of the beam 113.
  • the rail side agricultural robot 108 travels on the track 82 and draws electrical energy from the grid 30 through the side station power line 1.
  • the electric steering mechanism 103 facilitates the use of the rail side agricultural robot 108 when migrating between different land 8.
  • the rice cutting robot module 104 and the rotary tiller 122 are disposed.
  • the rotary tiller 122 is responsible for the cultivated land.
  • the rail side agricultural robot 108 has a beam length of up to 40 meters and is heavy in weight, and can only transmit gravity directly to the land 8 through its anti-skid wheel assembly 111.
  • the use of the anti-slip wheel assembly 111 can provide sufficient traction for the arable operation and avoid the disadvantage of the friction of the track 82 being small.
  • the rail side agricultural robot 108 obtains spatial position information by visually connecting the docking camera 42 on the automatic plug-in robot 38 to the marking line 15 on the side station power line 1.
  • Embodiment 6 as shown in FIG. 10, the on-track agricultural robot 96 and the rail-side agricultural robot 108 are electrically connected by a cable 123, and are connected to the grid through the bypass station power line 1, and work in cooperation.
  • the cart 124 is used to transfer materials.
  • the truck 124 travels on the track 82 and is also connected to the grid via the side station power line 1.
  • the flat sliding power receiving blocks 35 are respectively located above and below the wires 4 and electrically connected to the bent conductive column plates 40.
  • the bent conductive ledge 40 is coupled to the slab chassis 72 and is electrically coupled to the fixed electrical connector 13 through the slab chassis 72.
  • the flat sliding power receiving blocks 35 are respectively located on both sides of the wire 4 and electrically connected to the bent conductive column plate 40.
  • the bent conductive ledge 40 is coupled to the slab chassis 72 and is electrically coupled to the fixed electrical connector 13 through the slab chassis 72.
  • the wire 4 is not straight with a continuous left and right curved surface, it does not affect the low resistance connection of the flat sliding power receiving block 35 to the wire 4.
  • the housing 2 is not straight with a continuous left and right curved surface, it does not affect the rolling connection of the electric wheel set 18 with the wire 4.
  • the housing 2 of Embodiments 7 and 8 may include a curved section formed by bending the straight housing 2 with a bent device with a core mold.
  • the insulating material tube 3 of Embodiments 7 and 8 may include a curved section, which is fabricated by using a special mold.
  • the wires 4 of the embodiments 7 and 8 may comprise curved sections made by bending the straight wires 4 with a bending device.
  • the power line of the side station of the present invention is electrically connected to the rail-based agricultural robot or the movable photovoltaic power generation system through the power receiving module assembly, and is controlled by the rail-based agricultural robot or the movable photovoltaic power generation system.
  • the power receiving module assembly moves according to the instruction, and the electric energy is transmitted from the movable photovoltaic power generation system to the power line of the bypass station through the power receiving module assembly and enters the power grid through the power line of the side station; or the power of the power grid passes through the power line of the power station through the power station module directly Or indirectly transferred to rail-based agricultural robots.
  • the present invention is not sensitive to thermal expansion and contraction of the rail system, and the power line of the side station
  • the end of the tube-and-socket connection interface along the axis line includes a variable diameter section
  • the end of the insulating material tube is provided with an insulating material tube insertion connection interface along the axial line direction, including a splicing slot and a plug, a wire
  • the low-resistance and low-resistance plug-in connection interface of the end portion along the axis line includes a splicing slot and a plug, a jack and a plunger, and a cooperating concentric deep groove at which the axis is retained
  • the gap that is, various linear expansion and contraction space, absorb the dimensional expansion and contraction of the tube shell, the insulating material tube and the wire, and make the housing sliding connection between the place outside the fixed joint and the agricultural land so that

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Manipulator (AREA)
  • Guiding Agricultural Machines (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Agricultural Machines (AREA)
  • Photovoltaic Devices (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)

Abstract

一种田轨系统，包括田轨和旁站电力线（1）；田轨包括一组两根平行设置于农地中的钢筋混凝土轨道（82），其形状包括拱形和直型；相邻首尾衔接的直型田轨两者轴心线状态包括同心和不同心两种；旁站电力线（1）包括若干相互首尾衔接的壳体（2）、绝缘材料层和导线（4），旁站电力线（1）沿轨道（82）设置并与电网（30）电气连接；还包括受电模块总成（6），受电模块总成（6）包括底盘（14）、固定电气插接件（13）、若干块导电列板（12）和滑动受电块（11）；滑动受电块（11）与导线（4）表面相接触；底盘（14）通过轮组或者电动轮组（18）与壳体（2）配合滚动连接并沿壳体（2）轴心线方向移动；导线（4）、滑动受电块（11）、导电列板（12）和固定电气插接件（13）组成一条电路支路。该田轨系统是对热胀冷缩不敏感的轨道系统，从而确保壳体（2）、绝缘材料管和导线（4）能够反复经历因为太阳曝射和导线大电流发热带来的80℃以上的温度剧烈变化引起的热胀冷缩而仍能长期可靠工作。

Description

一种田轨系统 技术领域
本发明涉及在农地中设置田轨系统及其用途。
背景技术
现在技术公开了田轨旁站电力线，其用于连接外界电力网，包括壳体、设置于壳体内部的电力线线芯，所述线芯包括取三相四线四根线芯的形式；所述旁站电力线由电杆支撑设置于田轨旁，所述壳体含有一个通长槽口；所述电力线含有连续光滑的裸露表面；所述槽口和电气连接界面与壳体等长；外界的电气连接界面通过所述槽口与所述裸露表面电气连接实现在移动中的电力交换。
但现有技术没有提供因为温度变化而引起的导线热胀冷缩可能带来问题的技术方案，而这种热胀冷缩会带来一系列严重的问题。此外，外界的电气连接界面通过经常插入旁站电力线内部来与导线连接的方式可靠性低。
发明内容
本发明的目的是提供一种田轨系统，其可以解决现有技术中的田轨系统对热胀冷缩敏感的问题。
本发明实现其目的技术方案：
田轨系统，包括田轨和旁站电力线；田轨包括一组两根平行设置于农地中的钢筋混凝土轨道，其形状包括拱形和直型；相邻首尾衔接的直型田轨两者轴心线状态包括同心和不同心两种；旁站电力线包括若干相互首尾衔接的壳体、绝缘材料层和导线，旁站电力线沿轨道设置并与电网电气连接；还包括受电模块总成，受电模块总成包括底盘、固定电气插接件、若干块导电列板和滑动受电块；滑动受电块与导线表面相接触；底盘通过轮组或者电动轮组与壳体配合滚动连接并沿壳体轴心线方向移动；导线、滑动受电块、导电列板和固定电气插接件组成一条电路支路。
导线的端部含有导线插接式连接界面，导线插接式连接界面包括导线榫接插槽和导线插榫；导线插榫插入导线榫接插槽内实现导线的同心串联连接并保留轴向间隙作为导线线膨胀伸缩空间；导线插接式连接界面包括相邻两导线之间的间隙；
绝缘材料层包括绝缘材料管和制作于导线部分表面的绝缘层，绝缘材料管端部带有绝缘材料管插接式连接界面，绝缘材料管插接式连接界面包括连续无缺口的绝缘材料管榫接插槽和绝缘材料管插榫；绝缘材料管插榫插入绝缘材料管榫接插槽内实现绝缘材料管的同心串联连接并保留轴向间隙作为绝缘材料管线膨胀伸缩空间；
导线轴心线、壳体轴心线和绝缘材料管轴心线均包括直线和非直线曲线。
壳体或者遮光罩上设有连续的标记线，所述标记线包括工字型标记和包含与其本身所在位置信息的条形码。
还包括可移动光伏发电系统，可移动光伏发电系统包括电动小车、旋转基座式太阳照射角跟踪装置、动推杆式太阳光高度角调节装置、光伏电池组件、自动插电机械手和光伏控制器，光伏电池组件通过自动插电机械手和旁站电力线连接电网；电动小车在田轨上行驶，电动推杆式太阳光高度角调节装置包括电动推杆和组件架，光伏电池组件安装于组件架上，电动小车、旋转基座式太阳照射角跟踪装置、电动推杆式太阳光高度角调节装置、光伏电池组件和自动插电机械手与光伏控制器信号连接，电动小车、旋转基座式太阳照射角跟踪装置、电动推杆式太阳光高度角调节装置、光伏电池组件和自动插电机械手的状态根据光伏控制器状态的变化而变化。
还包括轨上农业机器人及轨侧农业机器人，轨上农业机器人包括通用作业平台、中梁、电动轮组总成、自动插电机械手和机器人控制系统，在中梁的一侧设置通用的机械手模块安装底座，电动轮组总成包括电动转向机构和电动轮组；轨上农业机器人在轨道上行驶并通过旁站电力线从电网获取电能；
轨侧农业机器人包括螺旋输送装置、防滑轮组总成、防滑轮组连杆、大梁、机械手模块装卸机械手、自动插电机械手和机器人控制系统，在大梁的两侧设置通用的机械手模块安装底座，大梁上还设置有滑块钢轨，螺旋输送装置包括螺旋输送器和旁板，防滑轮组总成包括电动转向机构、防滑轮组和高度调节器；轨侧农业机器人通过旁站电力线从电网获取电能。
受电模块总成包括弧形底盘、固定电气插接件、若干块直导电列板、若干块内置滑动受电块、摄像头和光伏电池组件，弧形底盘包裹壳体并通过轮组或者电动轮组与壳体外表面配合滚动连接并沿壳体轴心线方向移动。
受电模块总成包括平板底盘、固定电气插接件、若干块弧形导电列板、若干块弧形滑动受电块和导线温度传感器，平板底盘通过轮组或者电动轮组与壳体内底部的槽形通道配合滚动连接并可以沿壳体轴心线方向移动。
受电模块总成包括平板底盘、固定电气插接件、若干块折弯导电列板和若干块平板滑动受电块；平板滑动受电块分别位于导线的上面和下面；或者平板滑动受电块分别位于导线的两个侧面，平板底盘通过轮组或者电动轮组与壳体内底部的槽形通道配合滚动连接并沿壳体轴心线方向移动。
导线插接式连接界面的轴向长度定义为：从相互配合的相邻两导线之间的轴向间隙中点起向两侧伸展两倍的滑动受电块轴向长度。
还可以将所述低电阻定量化描述为：所述导线连接界面两侧在电流强度为3安培/平方厘米的直流电流经过时平均电压降小于1伏；将所述低阻力定量化描述为：相邻两段旁站电力线在标准施工状态包括25±0.5℃条件下，壳 体、绝缘材料管或者单根导线的插力或者拔力均不超过3千克。
采用铝导线或者铝型材导线时，还可以利用现有技术在铝材导线的表面形成一层耐磨表层，包括通过阳极氧化在铝材表面生成耐磨层、通过电镀形成耐磨表层。旁站电力线的导线与滑动受电块每年平均经历2000次速度约为0.2米/秒的滑动摩擦。作为对比参照：一种手电钻，其电刷结构包括石墨电极和铜换向极，其转速3000转/分即每分钟经历速度约3.8米/秒的滑动摩擦3000次；使用五年仍能正常使用，并且几乎察觉不到铜电极和石墨电极的磨损。
有益效果：本发明田轨系统，其旁站电力线的壳体端部设置沿轴心线方向的壳体插接连接界面包括变径段、绝缘材料管的端部设置沿轴心线方向的绝缘材料管插接连接界面包括榫接插槽和插榫、导线的端部设置沿轴心线方向的低电阻和低阻力插接连接界面包括榫接插槽和插榫、插孔和插棒及相互配合的同心圆深槽，在所述连接界面处保留轴向间隙即各种线膨胀伸缩空间吸收壳体、绝缘材料管和导线热胀冷缩尺寸变化，并令壳体在固定结合点之外的地方与农地之间实现滑动连接使其端部可以自由伸缩、令绝缘材料管相对于壳体或者导线在固定结合点之外的地方可以自由移动，从而确保壳体、绝缘材料管和导线能够反复经历因为太阳曝射和导线大电流发热带来的80℃以上的温度剧烈变化引起的热胀冷缩而仍能长期可靠工作。
令相邻的导线之间保持榫接并含有一根辅助软导线进行电气连接，可以增加连接的可靠性和减小整根导线的电阻。
旁站电力线设置连续的标记线，有助于确定轨基农业机器人及其作业对象的空间位置，也有利于采用无管滴灌进行种植。
本发明的可移动光伏发电系统可以在不影响农作物产量和品质前提下大量提供电力。本发明的轨基农业机器人可以提供使用电力驱动的无人驾驶农机设施，通过更换不同的机械手模块和应用程序可以不断进行产品升级。轨上农业机器人的通用作业平台可以安装谷物脱粒机和秸秆捆扎机。轨侧农业机器人的螺旋输送装置可以和轨上农业机器人的通用作业平台实现谷物的无缝连接。驳运车可以完成现场与物料存储点之间的物流。轨侧农业机器人采用防滑轮，可以提供大马力牵引力，并且其作业幅宽可以达到20米以上。
令壳体轴心线包括直线和非直线曲线，并令导线和绝缘材料的轴心线与壳体轴心线相互平行或者大致相互平行，可以适应复杂的地形。
分别位于导线的上面和下面和分别位于导线的两个侧面的平板滑动受电块，对导线的弯曲相对不敏感。
附图说明
以下结合附图进一步说明。
图1a是一段带外置式受电模块总成的旁站电力线的结构示意图。图1b图1c中电动轮组的局部放大。图1c是一个外置式受电模块总成的结构示意图。图1d是两个壳体采用缩径段首尾衔接的结构示意图。图1e是一个标记线的局部放大。图1f是一个绝缘材料管的燕尾槽局部放大。图1g是一个绝缘材料管连续无缺口榫接插槽和插榫在接缝处的局部放大，剖视沿表面垂直正向深入。图1h是各绝缘材料管之间依靠燕尾槽结构滑动配合连接成一体的结构示意图。图1i是一个两段铝型材导线通过插棒实现低电阻和低阻力插接式连接的结构示意图。图1j是一个自动插电机械手连接固定电气插接件的结构示意图。
图2a、2b分别为一个内置滑动受电块的部件分解图和外形图。图2c是图2a弹性片的局部放大。
图3是两段横截面为正四分之一圆的导线实现低电阻和低阻力插接式连接的结构示意图。
图4a、4b分别是一段带内置式受电模块总成的旁站电力线的外形图和部件分解图。
图5a、5b分别是一个可移动光伏发电系统的结构示意图和部件分解图。
图6a、6b分别是一个轨上农业机器人的部件分解图和结构示意图。
图7是图5中电动推杆的局部放大结构示意图。
图8是图6a中水管和轨道的局部放大。
图9a、9b分别是一个轨侧农业机器人的部件分解图和结构示意图。
图10是一个轨上农业机器人与轨侧农业机器人协同工作的示意图。
图11是一个平板滑动受电块分别位于导线的上面和下面的受电模块总成的正剖结构示意图。
图12是一个平板滑动受电块分别位于导线的两个侧面的受电模块总成的正剖结构示意图。
图中1.旁站电力线；2.壳体；3.绝缘材料管；4.导线；5.工字型标记；6.受电模块总成；7.电线杆；8.农地；9.开式腔体；10.条形码；11.内置滑动受电块；12.直导电列板；13.固定电气插接件；14.弧形底盘；15.标记线；16.摄像头；17.光伏电池；18.电动轮组；19.壳体轴心线；20.卡块；21.通长槽口；22.缩径段；23.胶圈；24.线膨胀伸缩空间；25.卡孔；26.燕尾槽结构；27.带口卡箍；28.榫接插槽；29.插榫；30.电网；31.导线固定结合点；32.导线插接式连接界面；33.插棒；34.插孔；35.平板滑动受电块；36.接线盒；37.插接导向口；38.自动插电机械手；39.插接控制系统；40.折弯导电列板；41.多关节手臂；42.插接摄像头；43.外部电气插接件；44.电源插头；46.电动螺钉；47.插接导向；48.电缆；49.螺孔；51.受电电刷块；52.导电母板；53.包边；54. 弹性片；56.弹簧；57.软接线片；58.受电计算机控制系统；59.导线温度传感器；61.粘结材料；62.结合点；63.垫块；64.一维移动副机构；66.绝缘层；67.扇形腔体；68.弧面；69.弧形滑动受电块；71.弧形导电列板；72.平板底盘；73.槽形通道；74.同心圆深槽；75.可移动光伏发电系统；76.电动小车；77.旋转基座式太阳照射角跟踪装置；78.电动推杆式太阳光高度角调节装置；79.光伏电池组件；80.轨道桩；81.光伏控制器；82.轨道；83.辅助软导线；84.电动轮组；86.轮组柱；87.底盘；88.平面转动副机构；89.基座；91.电动驱动装置；92.电动推杆；93.组件架；94.转动副机构；96.轨上农业机器人；97.通用作业平台；98.中梁；99.电动轮组总成；101.机器人控制系统；102安装底座；103.电动转向机构；104割稻机械手模块；106.水管；107.电动取水阀总成；108.轨侧农业机器人；109.螺旋输送装置；111.防滑轮组总成；112.防滑轮组连杆；113.大梁；114.机械手装卸机械手；116.滑块钢轨；117.螺旋输送器；118.旁板；119.防滑轮组；121.高度调节器；122.旋耕机；123.电缆；124.驳运车。
具体实施方式
田轨系统，包括田轨和旁站电力线；田轨包括一组两根平行设置于农地中的钢筋混凝土轨道，其形状包括拱形和直型；相邻首尾衔接的直型田轨两者轴心线状态包括同心和不同心两种；旁站电力线包括若干相互首尾衔接的壳体、绝缘材料层和导线，旁站电力线沿轨道设置并与电网电气连接；还包括受电模块总成，受电模块总成包括底盘、固定电气插接件、若干块导电列板和滑动受电块；滑动受电块与导线表面相接触；底盘通过轮组或者电动轮组与壳体配合滚动连接并沿壳体轴心线方向移动；导线、滑动受电块、导电列板和固定电气插接件组成一条电路支路。
导线的端部含有导线插接式连接界面，导线插接式连接界面包括导线榫接插槽和导线插榫；导线插榫插入导线榫接插槽内实现导线的同心串联连接并保留轴向间隙作为导线线膨胀伸缩空间；导线插接式连接界面包括相邻两导线之间的间隙；绝缘材料层包括绝缘材料管和制作于导线部分表面的绝缘层，绝缘材料管端部带有绝缘材料管插接式连接界面，绝缘材料管插接式连接界面包括连续无缺口的绝缘材料管榫接插槽和绝缘材料管插榫；绝缘材料管插榫插入绝缘材料管榫接插槽内实现绝缘材料管的同心串联连接并保留轴向间隙作为绝缘材料管线膨胀伸缩空间；导线轴心线、壳体轴心线和绝缘材料管轴心线均包括直线和非直线曲线。
壳体或者遮光罩上设有连续的标记线，所述标记线包括工字型标记和包含与其本身所在位置信息的条形码。
实施例1，如图1和图2所示，轨道系统包括轨道桩80、轨道82、电线 杆7和旁站电力线1；且旁站电力线1包括壳体2、绝缘材料管3、导线4和受电模块总成6，旁站电力线1通过电线杆7固定于农地8中；且旁站电力线1与电网30连接。
导线4带有开式腔体9，开式腔体9配合连接内置滑动受电块11并通过直导电列板12与固定电气插接件13电气连接。
受电模块总成6包括弧形底盘14、固定电气插接件13、若干块直导电列板12、若干块内置滑动受电块11、摄像头16和光伏电池17。摄像头16用于构建机器视觉。光伏电池17用于为受电模块总成6供电。弧形底盘14为一个具有约270度圆周角的筒状物体，弧形底盘14套设于壳体2的外侧，通过电动轮组18与壳体2外表面配合滚动连接并可以沿壳体轴心线19方向移动。
壳体2带有通长槽口21，壳体2的一端带有缩径段22，缩径段22可与未缩径的壳体2同心配合、用不连续的胶圈23密封连接并保留一定的轴向间隙即线膨胀伸缩空间24。线膨胀伸缩空间24吸收壳体2的热胀冷缩。在缩径段22上制作有一个向外凸起的卡块20，卡块20与壳体2上的卡孔25配合以确保通长槽口21的连贯但不影响缩径段22相对于相邻壳体2的热胀冷缩移动。缩径段22可以另行制作后焊接在壳体2上。
在壳体2上，制作有连续的标记线15。标记线15包括工字型标记5和条形码10。条形码10包含的信息与其本身所在的位置相对应。条形码10信息通过与摄像头的信号连接被读取并被转换为数字信号。
制作标记线的方法包括是用激光打标设备在不锈钢壳体2的表面打标。
绝缘材料管3置于壳体2内，各绝缘材料管3之间依靠燕尾槽结构26滑动配合连接成一体，用带口卡箍27将将多根沿壳体轴心线19方向相互平行布置的绝缘材料管3捆绑在一起。从图1d的局部放大B可见：绝缘材料管3带有滑动配合的连续无缺口榫接插槽28和插榫29，插榫29可以插入榫接插槽28内实现绝缘材料管3的同心串联连接并保留吸收热胀冷缩的绝缘材料线膨胀伸缩空间126。保留绝缘材料线膨胀伸缩空间126是指榫接连接时插榫29不直接插到底。通常各种线膨胀伸缩空间24、绝缘材料线膨胀伸缩空间126、导线线膨胀伸缩空间127的尺寸为毫米数量级，具体可以查询有关资料进行计算后得到。
多根绝缘材料管3捆绑在一起，不同的绝缘材料线膨胀伸缩空间126之间沿壳体轴心线19方向不要重合。这样即使不采用榫接插槽28和插榫29，也可以确保在任何一处的两根平行导线4之间都有至少一层具有足够耐压的绝缘材料管3。
置于绝缘材料管3中的四根导线4的端部均含有沿与壳体轴心线19方向 平行的低电阻和低阻力导线插接式连接界面32。图1i给出一种独立插棒连接结构的低电阻和低阻力导线插接式连接界面32：包括插棒33和导线4的插孔34。令插孔34直径尺寸一致，并令插棒33的直径为大约一半细一半粗。直径粗的一半与插孔34紧配合可以减小电阻避免与大气接触，细的一半与插孔34滑动配合可以实现导线4的串联连接并保留导线线膨胀伸缩空间127，导线线膨胀伸缩空间127吸收导线4的线膨胀。可以限定相邻串联连接的导线4的轴向间隙即导线线膨胀伸缩空间127。还可以采用一体制作的带插棒33的导线4。
直导电列板12伸入通长槽口21并连接设置于开式腔体9内的内置滑动受电块11。内置滑动受电块11与导线4配合滑动低电阻连接。
固定电气插接件13位于壳体2的通长槽口21外侧，采用接线盒36加以保护。接线盒36上还带有插接导向口37帮助自动插电机械手38与固定电气插接件13插接时定位。
固定电气插接件13的自动连接：采用一个自动插电机械手38，自动插电机械手38包括插接控制系统39、一个多关节手臂41，一个插接摄像头42和一个外部电气插接件43。外部电气插接件43包括若干个电源插头44、两个电动螺钉46、两个插接导向47和一段电缆48。在插接摄像头42监视和插接控制系统39命令下，多关节手臂41将外部电气插接件43送到固定电气插接件13下方并上抬，在插接导向47的约束下，实现与固定电气插接件13的连接合并，然后两个电动螺钉46伸入接线盒36上的螺孔49并锁紧。
内置滑动受电块11包括两块受电电刷块51、两片弹性片54和一块导电母板52，导电母板52带有包边53用于约束受电电刷块51。受电电刷块51与直导电列板12之间通过一个以上弹簧56连接；受电电刷块51具体可以采用铜基受电电刷块、石墨受电电刷块或者铜与石墨结合制作的受电电刷块。受电电刷块51与直导电列板12之间用软接线片57连接。弹簧56处于受压状态使受电电刷块51与开式腔体9内表面贴合。
内置滑动受电块11的这种结构使得其在具有一定精度误差和轴向连接间隙的导线4表面移动时仍能够保持与导线4的低电阻连接。
受电模块总成6还包括一个受电计算机控制系统58，受电计算机控制系统58信号连接位于壳体2内的导线温度传感器59、和位于壳体2外的摄像头16、光伏电池17和与弧形底盘14配合连接的电动轮组18。导线温度传感器59、摄像头16、光伏电池17的状态根据受电计算机控制系统58状态的变化而变化。
本发明还包括设于壳体2与绝缘材料管3之间的固定结合点62。固定点62用于保持壳体2与绝缘材料管3之间必要的连接。固定结合点62包括在 壳体2与绝缘材料管3之间按360度圆周角均布垫块63进行定位，并用粘结材料61将垫块63固定。固定结合点62如果设置在每一段旁站电力线的中部，可以将有关零部件的线膨胀引起的尺寸变化值分成相等的两部分，即使得尺寸变化相对于固定结合点而言减小一半。
绝缘材料管3与导线4之间可直接用粘结材料粘结形成或者焊接连接形成或者用紧固方式连接形成导线固定结合点31。
本发明还包括一根辅助软导线83，前后相邻串联的导线4相互榫接并通过辅助软导线83进行电气连接，辅助软导线83对外力的抵抗力可以忽略。辅助软导线83可以确保相邻首尾衔接的两导线4最低限度的电气连接，手电钻的电刷也使用到辅助的软导线。
壳体2与电线杆7之间的连接包括固定连接和采用沿壳体轴心线19方向移动的一维移动副机构64的滑动连接。滑动连接是为了防止因为热胀冷缩而对整个结构带来有害拉力或者推力。
各导线4之间通过绝缘材料管3相互绝缘、各块位于开式腔体9内的内置滑动受电块11也是相互绝缘的，这样可提供更多的输电线路。
举例，当温度变化达到40℃时，以铝型材导线4在中点用胶水固定计，相邻铝型材导线4的两端点相对变化范围为1.56毫米(40*6000/2(0.000024-0.000011))。铝型材导线4的插榫长度超过40毫米时，因为低电阻和低阻力插接式连接界面而增加的电阻就不会很大。
当铝型材导线4由于电流增大而升温达到80℃以上、温度达到100℃以上时，上述例子中相邻铝型材导线4的两端点相对变化范围可达3.12毫米。但由于相邻两铝型材导线4连接界面之间的轴向间隙可以吸收这些尺寸变化，因而旁站电力线1仍能正常工作。
实施例2，如图3和图4所示，轨道系统包括轨道桩80、轨道82、电线杆7和旁站电力线1，且旁站电力线1包括壳体2、十字型的绝缘材料管3、导线4和受电模块总成6，并通过电线杆7与土地8连接。壳体2带有通长槽口21。在壳体2的内表面设置绝缘层66。绝缘材料管3在上方与壳体2连接。铝型材导线4置于绝缘材料管3四个扇形腔体67内；导线4带有60～80度圆周角的弧面68，采用与导线4弧面68形状吻合的弧形滑动受电块69与导线4滑动连接。导线4除与弧形滑动受电块69滑动连接的表面以外凃制绝缘材料。采用弹性材料制作的弧形导电列板71。弧形导电列板71在下面电气连接固定电气插接件13。
受电模块总成6包括平板底盘72、固定电气插接件13、若干块弧形导电列板71、若干块弧形滑动受电块69和导线温度传感器59。平板底盘72通过电动轮组18与壳体2槽形通道73配合滚动连接并可以沿壳体轴心线19方向 移动。
绝缘材料管3的连接界面参实施例1有关带有滑动配合的连续无缺口榫接插槽28和插榫29的内容。
图3中，导线4的横截面为正四分之一圆。在相邻两导线4的端面各用车床加工出一个以上相互滑动榫接配合的同心圆深槽74，并在两者最外层切削去一部分使两者在连接时形成一个绝缘材料线膨胀伸缩空间126。
固定电气插接件13位于壳体2的通长槽口21外侧，采用接线盒36加以保护。
实施例3，如图5所示，本发明还公开一可移动光伏发电系统75，可移动光伏发电系统75包括电动小车76、旋转基座式太阳照射角跟踪装置77、动推杆式太阳光高度角调节装置78、光伏电池组件79、自动插电机械手38和光伏控制器81。光伏电池组件79通过自动插电机械手38和旁站电力线1连接电网30；电动小车76通过轨道82和轨道桩80向地面传递重力并可在轨道82上行驶。轨道82设置于农地8中。电动小车76包括电动轮组84、轮组柱86和底盘87。旋转基座式太阳照射角跟踪装置77包括一个与底盘87通过平面转动副机构88连接的基座89和一个与基座89传动连接的电动驱动装置91。电动推杆式太阳光高度角调节装置78包括电动推杆92和组件架93。组件架93下端通过转动副机构94与基座89连接；组件架93的上端通过转动副机构94与电动推杆92的上端连接。电动推杆92的下端通过一个转动副机构94与基座89连接。光伏电池组件79安装于组件架93上。电动小车76、旋转基座式太阳照射角跟踪装置77、电动推杆式太阳光高度角调节装置78、光伏电池组件79和自动插电机械手38与光伏控制器81信号连接。电动小车76、旋转基座式太阳照射角跟踪装置77、电动推杆式太阳光高度角调节装置78、光伏电池组件79和自动插电机械手38的状态根据光伏控制器81状态的变化而变化。
实施例4，如图6、7、8所示，本发明还包括一轨上农业机器人96，轨上农业机器人96包括通用作业平台97、中梁98、电动轮组总成99、自动插电机械手38和机器人控制系统101，在中梁98的一侧设置通用的机械手模块安装底座102。电动轮组总成99包括电动转向机构103和电动轮组18。电动转向机构103方便轨上农业机器人96在不同土地8之间迁徙时使用；并配置割稻机械手模块104。
通用的机械手模块安装底座102可以更换不同的农业机械手以完成不同的工作。轨上农业机器人96在轨道82上行驶并通过旁站电力线1从电网30获取电能。中梁98通过电动轮组总成99和轨道82向土地8传递重力。在轨道82一侧的土地8中埋置有与轨道82平行布置的水管106。在水管106上 设置有电动取水阀总成107。通用作业平台97以后可以安装需要利用，包括谷物脱粒和秸秆捆扎。
实施例5，如图9所示，本发明还包括一轨侧农业机器人108，轨侧农业机器人108包括螺旋输送装置109、防滑轮组总成111、防滑轮组连杆112、大梁113、机械手装卸机械手114、自动插电机械手38和机器人控制系统101，在大梁113的一侧设置通用的机械手模块安装底座102用于安装农业机械手包括割稻机械手模块104。大梁113上还设置有滑块钢轨116用于运行机械手装卸机械手114。机械手装卸机械手114负责装卸农业机械手包括割稻机械手模块104。螺旋输送装置109包括螺旋输送器117和旁板118。防滑轮组总成111包括电动转向机构103、防滑轮组119和高度调节器121。高度调节器121用于调节大梁113的高度。轨侧农业机器人108在轨道82上行驶并通过旁站电力线1从电网30获取电能。电动转向机构103方便轨侧农业机器人108在不同土地8之间迁徙时使用。并配置割稻机械手模块104和旋耕机122。旋耕机122负责耕地。
轨侧农业机器人108的大梁长度可达40米，份量重，只能通过其防滑轮组总成111直接向土地8传递重力。利用防滑轮组总成111可以提供足够的牵引力进行耕地作业，避免轨道82摩擦力小的缺点。轨侧农业机器人108通过自动插电机械手38上的插接摄像头42与旁站电力线1上的标记线15视觉连接获得空间位置信息。
实施例6，如图10所示，轨上农业机器人96与轨侧农业机器人108通过电缆123电气连接，并通过旁站电力线1与电网连接，协同工作。并采用驳运车124驳运物料。驳运车124在田轨82上行驶，也通过旁站电力线1与电网连接。
实施例7，如图11所示，平板滑动受电块35分别位于导线4的上面和下面并与折弯导电列板40电气连接。折弯导电列板40与平板底盘72连接并穿过平板底盘72与固定电气插接件13电气连接。
从图11可见，如果导线4在高度方面连续变化不平直，不影响平板滑动受电块35与导线4低电阻连接。同样，如果壳体2在高度方面连续变化不平直，也不影响电动轮组18与导线4配合滚动连接。
实施例8，如图12所示，平板滑动受电块35分别位于导线4的两个侧面并与折弯导电列板40电气连接。折弯导电列板40与平板底盘72连接并穿过平板底盘72与固定电气插接件13电气连接。
从图12可见，如果导线4不笔直带有连续的左右弯曲表面，不影响平板滑动受电块35与导线4低电阻连接。同样，如果壳体2不笔直带有连续的左右弯曲表面，也不影响电动轮组18与导线4配合滚动连接。
实施例7和8的壳体2可以包括弯曲段，其制作方法包括将直的壳体2用带芯模的弯管设备进行弯曲而成。
实施例7和8的绝缘材料管3可以包括弯曲段，其制作方法包括用专用模具制作。
实施例7和8的导线4可以包括弯曲段，其制作方法包括将直的导线4用弯管设备进行弯曲制成。
本发明的旁站电力线通过受电模块总成实现与轨基农业机器人或者可移动光伏发电系统电气连接后，接受轨基农业机器人或者可移动光伏发电系统的控制。受电模块总成按照指令移动，电能通过受电模块总成从可移动光伏发电系统传送到旁站电力线并通过旁站电力线进入电网；或者电网的电能经过旁站电力线通过受电模块总成直接或者间接传送到轨基农业机器人。
工业应用性
综上所述，经由上述结构特征、技术内容及操作使用上的详细说明，可清楚看出本发明设计特点在于：本发明对热胀冷缩不敏感的轨道系统，其旁站电力线的管壳端部设置沿轴心线方向的管壳插接连接界面包括变径段、绝缘材料管的端部设置沿轴心线方向的绝缘材料管插接连接界面包括榫接插槽和插榫、导线的端部设置沿轴心线方向的低电阻和低阻力插接连接界面包括榫接插槽和插榫、插孔和插棒及相互配合的同心圆深槽，在所述连接界面处保留轴向间隙即各种线膨胀伸缩空间吸收管壳、绝缘材料管和导线热胀冷缩尺寸变化，并令壳体在固定结合点之外的地方与农地之间实现滑动连接使其端部可以自由伸缩、令绝缘材料管相对于壳体或者导线在固定结合点之外的地方可以自由移动，从而确保壳体、绝缘材料管和导线能够反复经历因为太阳曝射和导线大电流发热带来的80℃以上的温度剧烈变化引起的热胀冷缩而仍能长期可靠工作。

Claims (8)

  1. 田轨系统，其特征是包括田轨和旁站电力线；田轨包括一组两根平行设置于农地中的钢筋混凝土轨道，其形状包括拱形和直型；相邻首尾衔接的直型田轨两者轴心线状态包括同心和不同心两种；旁站电力线包括若干相互首尾衔接的壳体、绝缘材料层和导线，旁站电力线沿轨道设置并与电网电气连接；还包括受电模块总成，受电模块总成包括底盘、固定电气插接件、若干块导电列板和滑动受电块；滑动受电块与导线表面相接触；底盘通过轮组或者电动轮组与壳体配合滚动连接并沿壳体轴心线方向移动；导线、滑动受电块、导电列板和固定电气插接件组成一条电路支路。
  2. 如权利要求1所述的田轨系统，其特征是导线的端部含有导线插接式连接界面，导线插接式连接界面包括导线榫接插槽和导线插榫；导线插榫插入导线榫接插槽内实现导线的同心串联连接并保留轴向间隙作为导线线膨胀伸缩空间；导线插接式连接界面包括相邻两导线之间的间隙；
    绝缘材料层包括绝缘材料管和制作于导线部分表面的绝缘层，绝缘材料管端部带有绝缘材料管插接式连接界面，绝缘材料管插接式连接界面包括连续无缺口的绝缘材料管榫接插槽和绝缘材料管插榫；绝缘材料管插榫插入绝缘材料管榫接插槽内实现绝缘材料管的同心串联连接并保留轴向间隙作为绝缘材料管线膨胀伸缩空间；
    导线轴心线、壳体轴心线和绝缘材料管轴心线均包括直线和非直线曲线。
  3. 如权利要求1所述的田轨系统，其特征是壳体或者遮光罩上设有连续的标记线，所述标记线包括工字型标记和包含与其本身所在位置信息的条形码。
  4. 如权利要求1所述的田轨系统，其特征是还包括可移动光伏发电系统，可移动光伏发电系统包括电动小车、旋转基座式太阳照射角跟踪装置、动推杆式太阳光高度角调节装置、光伏电池组件、自动插电机械手和光伏控制器，光伏电池组件通过自动插电机械手和旁站电力线连接电网；电动小车在轨道上行驶，电动推杆式太阳光高度角调节装置包括电动推杆和组件架，光伏电池组件安装于组件架上，电动小车、旋转基座式太阳照射角跟踪装置、电动推杆式太阳光高度角调节装置、光伏电池组件和自动插电机械手与光伏控制器信号连接；电动小车、旋转基座式太阳照射角跟踪装置、电动推杆式太阳光高度角调节装置、光伏电池组件和自动插电机械手的状态根据光伏控制器状态的变化而变化。
  5. 如权利要求1所述的田轨系统，其特征是还包括轨上农业机器人及轨侧农业机器人，轨上农业机器人包括通用作业平台、中梁、电动轮组总成、自动插电机械手和机器人控制系统，在中梁的一侧设置通用的机械手模块安装底座，电动轮组总成包括电动转向机构和电动轮组；轨上农业机器人在轨道上 行驶并通过旁站电力线从电网获取电能；
    轨侧农业机器人包括螺旋输送装置、防滑轮组总成、防滑轮组连杆、大梁、机械手模块装卸机械手、自动插电机械手和机器人控制系统，在大梁的两侧设置通用的机械手模块安装底座，大梁上还设置有滑块钢轨，螺旋输送装置包括螺旋输送器和旁板，防滑轮组总成包括电动转向机构、防滑轮组和高度调节器；轨侧农业机器人通过旁站电力线从电网获取电能。
  6. 如权利要求1至5中任意一项所述的田轨系统，其特征是受电模块总成包括弧形底盘、固定电气插接件、若干块直导电列板、若干块内置滑动受电块、摄像头和光伏电池组件，弧形底盘包裹壳体并通过轮组或者电动轮组与壳体外表面配合滚动连接并沿壳体轴心线方向移动。
  7. 如权利要求1至5中任意一项所述的田轨系统，其特征是受电模块总成包括平板底盘、固定电气插接件、若干块弧形导电列板、若干块弧形滑动受电块和导线温度传感器，平板底盘通过轮组或者电动轮组与壳体内底部的槽形通道配合滚动连接并沿壳体轴心线方向移动。
  8. 如权利要求1至5中任意一项所述的田轨系统，其特征是受电模块总成包括平板底盘、固定电气插接件、若干块折弯导电列板和若干块平板滑动受电块；平板滑动受电块分别位于导线的上面和下面；或者平板滑动受电块分别位于导线的两个侧面，平板底盘通过轮组或者电动轮组与壳体内底部的槽形通道配合滚动连接并沿壳体轴心线方向移动。
PCT/CN2014/095469 2013-12-31 2014-12-30 一种田轨系统 WO2015101274A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016544527A JP2017509289A (ja) 2013-12-31 2014-12-30 農地レールシステム
EP14877235.3A EP3091655A1 (en) 2013-12-31 2014-12-30 Farm rail system
AU2014375562A AU2014375562A1 (en) 2013-12-31 2014-12-30 Farm rail system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201310750851 2013-12-31
CN201310750851.3 2013-12-31

Publications (1)

Publication Number Publication Date
WO2015101274A1 true WO2015101274A1 (zh) 2015-07-09

Family

ID=52871112

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/CN2014/095469 WO2015101274A1 (zh) 2013-12-31 2014-12-30 一种田轨系统
PCT/CN2014/095801 WO2015101315A1 (zh) 2013-12-31 2014-12-31 农地中轨基可移动光伏发电和自动耕作装置和方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/CN2014/095801 WO2015101315A1 (zh) 2013-12-31 2014-12-31 农地中轨基可移动光伏发电和自动耕作装置和方法

Country Status (5)

Country Link
EP (1) EP3091655A1 (zh)
JP (1) JP2017509289A (zh)
CN (3) CN104615135B (zh)
AU (1) AU2014375562A1 (zh)
WO (2) WO2015101274A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115037240A (zh) * 2022-08-11 2022-09-09 国网甘肃省电力公司经济技术研究院 一种新能源电力节能装置

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105429576A (zh) * 2015-12-31 2016-03-23 施国庆 一种光伏系统台架
CN105577096A (zh) * 2015-12-31 2016-05-11 施国庆 一种光伏系统台架
US10666186B2 (en) * 2018-06-25 2020-05-26 Avertronics Inc. Movable solar power apparatus
CN111645105B (zh) * 2020-08-10 2020-11-27 天津滨电电力工程有限公司 一种适用于配电带电作业的全绝缘电动机械臂
CN115676537A (zh) * 2022-10-28 2023-02-03 华能新能源股份有限公司河北分公司 一种光伏组件的布线结构

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101098113A (zh) * 2006-06-29 2008-01-02 中国科学技术大学 平面网架二维跟踪太阳的光伏发电装置
CN101473717A (zh) * 2009-01-21 2009-07-08 尹树林 田间轨道及运行于其上的生产作业主机和淋雨式浇水机
CN101673883A (zh) * 2009-09-23 2010-03-17 江苏金苇电气科技有限公司 光伏接线盒线路板专用的接线端子
CN201508961U (zh) * 2009-06-27 2010-06-16 普乐新能源（蚌埠）有限公司 光伏专用防倒流接插件
CN201580874U (zh) * 2010-01-08 2010-09-15 灵宝市开源矿业有限责任公司 天车滑触线及与之配套的受电器
US20120152310A1 (en) * 2010-12-17 2012-06-21 Greenvolts, Inc. Structurally breaking up a solar array of a two-axis tracker assembly in a concentrated photovoltaic system
CN202840098U (zh) * 2012-08-03 2013-03-27 京东方科技集团股份有限公司 一种光伏连接器
CN203152171U (zh) * 2013-03-14 2013-08-28 东莞市科美斯制冷设备有限公司 平移触式喷灌供电系统

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2271795Y (zh) * 1996-04-19 1998-01-07 林志华 一种适合于农作车耕作的导轨
KR101071944B1 (ko) * 2009-01-08 2011-10-10 쌍용건설 주식회사 태양광 발전 아파트
CN201491497U (zh) * 2009-07-28 2010-06-02 无锡市新区梅村镇同春太阳能光伏农业种植园 太阳能光伏发电系统应用在抛秧机上的动力装置
CN101703978A (zh) * 2009-10-30 2010-05-12 张宋 轨道式大面积喷灌设备
CN201742710U (zh) * 2010-05-19 2011-02-16 顾光耀 枕轨式田间机插秧盘播种成套设备
CN102983786A (zh) * 2011-09-03 2013-03-20 陈宗林 一种便携太阳能移动发电装置
CN203984310U (zh) * 2013-12-31 2014-12-03 应德明 农地轨基可移动光伏发电系统
CN203660963U (zh) * 2013-12-31 2014-06-18 施国樑 带遥控装置的可移动农地光伏发电系统
CN203984304U (zh) * 2013-12-31 2014-12-03 邱春燕 两级跟踪可移动光伏发电系统
CN203984321U (zh) * 2013-12-31 2014-12-03 邱春燕 一种农田轨基太阳能装置
CN203660964U (zh) * 2013-12-31 2014-06-18 施国樑 田轨旁站电力线
CN203934415U (zh) * 2013-12-31 2014-11-12 施国樑 设置有田轨的农地

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101098113A (zh) * 2006-06-29 2008-01-02 中国科学技术大学 平面网架二维跟踪太阳的光伏发电装置
CN101473717A (zh) * 2009-01-21 2009-07-08 尹树林 田间轨道及运行于其上的生产作业主机和淋雨式浇水机
CN201508961U (zh) * 2009-06-27 2010-06-16 普乐新能源（蚌埠）有限公司 光伏专用防倒流接插件
CN101673883A (zh) * 2009-09-23 2010-03-17 江苏金苇电气科技有限公司 光伏接线盒线路板专用的接线端子
CN201580874U (zh) * 2010-01-08 2010-09-15 灵宝市开源矿业有限责任公司 天车滑触线及与之配套的受电器
US20120152310A1 (en) * 2010-12-17 2012-06-21 Greenvolts, Inc. Structurally breaking up a solar array of a two-axis tracker assembly in a concentrated photovoltaic system
CN202840098U (zh) * 2012-08-03 2013-03-27 京东方科技集团股份有限公司 一种光伏连接器
CN203152171U (zh) * 2013-03-14 2013-08-28 东莞市科美斯制冷设备有限公司 平移触式喷灌供电系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115037240A (zh) * 2022-08-11 2022-09-09 国网甘肃省电力公司经济技术研究院 一种新能源电力节能装置
CN115037240B (zh) * 2022-08-11 2022-10-28 国网甘肃省电力公司经济技术研究院 一种新能源电力节能装置

Also Published As

Publication number Publication date
CN204287971U (zh) 2015-04-22
EP3091655A1 (en) 2016-11-09
AU2014375562A1 (en) 2016-08-18
CN104571108B (zh) 2018-09-07
JP2017509289A (ja) 2017-03-30
CN104615135A (zh) 2015-05-13
WO2015101315A1 (zh) 2015-07-09
CN104571108A (zh) 2015-04-29
CN104615135B (zh) 2018-08-14

Similar Documents

Publication Publication Date Title
WO2015101274A1 (zh) 一种田轨系统
CN104308861B (zh) 一种轨道式机器人行走路径变换装置及其实现方法
CN102736623A (zh) 一种轨道式自主移动机器人
US20180304752A1 (en) Assembly of a ground power supply system and an electric vehicle
CN202033665U (zh) 轨道式自主移动机器人
RU2017105756A (ru) Станция для зарядки транспортного средства, оборудованная шарнирным манипулятором
CN105390991A (zh) 一种输电线路螺栓紧固机器人及位姿控制方法
CN105552773A (zh) 一种用于架空高压输电线路带电检修的机器人及其越障方法
CN206633006U (zh) 一种轮腿式3‑puu并联移动机器人
CN106863278A (zh) 一种轮腿式3‑puu并联移动机器人
CN216104386U (zh) 一种移载平台及生产线
CN204361455U (zh) 带标记线的旁站电力线
CN114614182A (zh) 一种新能源汽车动力电池自适应转载装置
EP2945815A1 (en) Device and method for effecting electric drive of heavy trucks
CN221792730U (zh) 一种燃料电池系统固态模块快换装置
CN221775815U (zh) 一种车辆转向机构及石墨化系统
CN104953432A (zh) 带标记线的旁站电力线
CN218367407U (zh) 换电站rgv小车导电刷无线供电机构
CN220332661U (zh) 一种基于北斗综合pnt的轨道式运输机器人
CN117287225B (zh) 磁悬浮轨道和管片一体化衬砌拼装的tbm施工设备及方法
CN220456464U (zh) 一种电芯绝缘膜包膜装置及系统
CN210973746U (zh) 搬运机器人
CN220129954U (zh) 一种无线充电的有轨制导小车
CN219990763U (zh) 盘缆车
CN221792739U (zh) 一种线缆巡检机器人用复合夹紧装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14877235

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2016544527

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

REEP Request for entry into the european phase

Ref document number: 2014877235

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2014877235

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2014375562

Country of ref document: AU

Date of ref document: 20141230

Kind code of ref document: A