CN106965708A - A kind of facility farmland method and facility farmland - Google Patents
A kind of facility farmland method and facility farmland Download PDFInfo
- Publication number
- CN106965708A CN106965708A CN201611269450.6A CN201611269450A CN106965708A CN 106965708 A CN106965708 A CN 106965708A CN 201611269450 A CN201611269450 A CN 201611269450A CN 106965708 A CN106965708 A CN 106965708A
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- plug
- plug assembly
- track
- power line
- electric
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- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000009313 farming Methods 0.000 description 3
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
-
- 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
-
- 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
- H02S40/10—Cleaning arrangements
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Photovoltaic Devices (AREA)
- Guiding Agricultural Machines (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of facility farmland method, including farmland and the plug-in row's track and agricultural robot being arranged in farmland；Plug-in row's track includes track, the power line and several electrical connector receptacles being connected with power line of tape insulation layer；Power line is electrically connected with three-phase and four-line power line；Upper plug assembly and lower plug assembly are connected and disconnected from the electrical connector receptacle in turn in the way of first inserting and pulling out afterwards；Automatic electric plug device, plug-in row, power line, functional part constitute a loop with electric loading together with power supply, continually to provide electric power with electric loading.Facility farmland is used as the traveling of agricultural robot, positioning and power platform, small investment using plug-in row's track.Its use include existing farmland is directly newly defined as facility farmland, make farmland output substantially increase and being capable of the new technology of constant absorption；Also solve the problem of tomorrow, who came kind ground；Sustainable development idea is met using reproducible clean electric power.
Description
Technical field
The present invention relates to facility farmland, the agricultural robot based on track and automatic plug.
Background technology
Meet sustainable development idea using reproducible electrical energy drive agricultural robot, but power taking pair is slided using brush
The requirement of transmission of electricity bus is high and is solving to make slow progress in terms of transmission of electricity bus expands with heat and contract with cold；Using the built on stilts electricity of electric railway
Cable coordinates pantograph cost high also unsightly.
Agricultural robot is to the operation for requiring to include electrical power of operation and timely transports, but the transport is wished simultaneously again
Farmland is caused to roll.
The invention aims to provide a kind of industrialized agriculture solution, it is included in and is built in farmland to agriculture close friend's
Photovoltaic generating system, using the stand and ground rail of photovoltaic generating system while photovoltaic generation is realized be agricultural robot
Traveling, space orientation and energy supply platform are provided.
The content of the invention
The facility farmland method of the present invention：Including farmland and the plug-in being arranged in farmland row's track and agricultural robot；
Plug-in row's track includes one or more track, the power line of one or more tape insulation layer and several are uniform with the electricity
The electrical connector receptacle of line of force connection；The power line and a power supply are electrically connected including three-phase and four-line power line；
More than one group wheel group, functional part, automatic electric plug device and control that agricultural robot includes frame, is connected with frame
System；Agricultural robot implements plant protection, construction and leveling operation in farmland；Agricultural robot is up in plug-in row's track
Sail implementation plant protection, construction and leveling operation；
The each group wheel group of agricultural robot includes at least including an Electric Motor Wheel in more than one wheel, all wheels；Wheel group
Coordinate to roll with ground rail and be connected；
Automatic electric plug device includes two and plug assembly and lower plug assembly on plug assembly；Automatic plug dress
Putting also includes making upper plug assembly and lower plug assembly be connected and de- with the electrical connector receptacle in turn in the way of first inserting and pull out afterwards
From various mechanisms, including：
One group two robotic arms being connected respectively with upper plug assembly and lower plug assembly are provided with, or；
It is provided with the one group two transmission of electricity rods being electrically connected respectively with upper plug assembly and lower plug assembly, upper plug
Assembly and lower plug run on one each via an Electric Motor Wheel and arranged with plug-in on isometric track, or；
It is provided with the one group two spring wind tape electrical appliances being connected respectively with upper plug assembly and lower plug assembly, upper electric mortiser
Head assembly and lower plug run on one each via an Electric Motor Wheel and arranged with plug-in on isometric track；
Upper plug assembly and lower plug assembly are connected and disconnected from the electrical connector receptacle in turn in the way of first inserting and pulling out afterwards；Automatically
Plug device, plug-in row, power line, functional part constitute a loop with electric loading together with power supply, in a steady stream not
Break to provide electric power with electric loading；
It is additionally included in farmland and builds photovoltaic system, photovoltaic system includes stand, photovoltaic module, power transmission and transformation device and computer control
System processed, photovoltaic module is connected with stand；Photovoltaic module converts solar energy into electric power and led to after power transmission and transformation device variable flow and variable pressure
Cable connection is crossed to power network；And more than one group ground rail is set on the outside of the stand of the photovoltaic generating system and plug-in is arranged
It is arranged on stand；Agricultural robot is run on ground rail；
Stand adds connecting rod-type and some tracks plus accessory-type including several columns；
Further, ground rail in being set in the inside of stand, travels agricultural vehicle robot on interior ground rail；And in stand
Internal top sets double-layer track to include upper strata track and lower floor's track；Upper strata rail running general photovoltaic robot；It is general
More than one group wheel group, functional part and control system that photovoltaic robot includes frame, is connected with frame；Functional part includes light
Lie prostrate the automatic automated cleaning inspection installing/dismounting device of component.
The present invention realizes the technical scheme of its purpose according to the above method：Build one piece of facility farmland, including farmland
With the plug-in row's track and agricultural robot being arranged in farmland；
Plug-in row's track includes one or more track, the power line of one or more tape insulation layer and several are uniform with the electricity
The electrical connector receptacle of line of force connection；The power line and a power supply are electrically connected including three-phase and four-line power line；
More than one group wheel group, functional part, automatic electric plug device and control that agricultural robot includes frame, is connected with frame
System；Agricultural robot implements plant protection, construction and leveling operation in farmland；Agricultural robot is up in plug-in row's track
Sail implementation plant protection, construction and leveling operation；
The each group wheel group of agricultural robot includes at least including an Electric Motor Wheel in more than one wheel, all wheels；Wheel group
Coordinate to roll with ground rail and be connected；
Automatic electric plug device includes two and plug assembly and lower plug assembly on plug assembly；Automatic plug dress
Putting also includes making upper plug assembly and lower plug assembly be connected and de- with the electrical connector receptacle in turn in the way of first inserting and pull out afterwards
From various mechanisms, including：
One group two robotic arms being connected respectively with upper plug assembly and lower plug assembly are provided with, or；
It is provided with the one group two transmission of electricity rods being electrically connected respectively with upper plug assembly and lower plug assembly, upper plug
Assembly and lower plug run on one each via an Electric Motor Wheel and arranged with plug-in on isometric track, or；
It is provided with the one group two spring wind tape electrical appliances being connected respectively with upper plug assembly and lower plug assembly, upper electric mortiser
Head assembly and lower plug are each via an Electric Motor Wheel
One is run on to arrange with plug-in on isometric track；
Upper plug assembly and lower plug assembly are connected and disconnected from the electrical connector receptacle in turn in the way of first inserting and pulling out afterwards；Automatically
Plug device, plug-in row, power line, functional part constitute a loop with electric loading together with power supply, in a steady stream not
Break to provide electric power with electric loading.
Auxiliary Track can also be included, the spacing that Auxiliary Track arranges track with plug-in is 1 to 2 meter, two, Auxiliary Track band
Above transmission of electricity bus；Bus of transmitting electricity arranges isometric with plug-in；Bus of transmitting electricity includes the shield of the power line of metal material and tape insulation layer
Cover；Transmission of electricity bus is connected with a fixed power source；Auxiliary Track and traveling agricultural vehicle robot on plug-in row's track；Agricultural vehicle device
Wheel group, compartment, brush and control system that device people includes frame, is connected with frame；Brush is slided with transmission of electricity bus and is electrically connected；
Fixed power source, transmission of electricity bus, the electricity consumption load of brush and agricultural vehicle robot constitute a circuit loop；Fixed power source is in a steady stream not
The electricity consumption load supplying broken to agricultural vehicle robot.
Can also include the photovoltaic system built in farmland, photovoltaic system include stand, photovoltaic module, power transmission and transformation device and
Computer control system, photovoltaic module is connected with stand；Photovoltaic module converts solar energy into electric power through power transmission and transformation device unsteady flow
Pass through cable connection to power network after transformation；And more than one group ground rail is set on the outside of the stand of the photovoltaic generating system simultaneously
Plug-in row is arranged on stand；Agricultural robot is run on ground rail；
Stand adds connecting rod-type and some tracks plus accessory-type including several columns；
Ground rail in can also being set in the inside of stand, travels agricultural vehicle robot on interior ground rail；And in stand
Internal top sets double-layer track to include upper strata track and lower floor's track；Upper strata rail running general photovoltaic robot；It is general
More than one group wheel group, functional part and control system that photovoltaic robot includes frame, is connected with frame；Functional part includes light
Lie prostrate the automatic automated cleaning inspection installing/dismounting device of component.
A plug-in slide rail can also be included；Plug-in slide rail include C fonts slide rail and；Agricultural robot also includes one certainly
Dynamic plug device；Automatic electric plug assembly include power line draw off gear, power line draw off gear include accommodating container, a pair
Power line folding and unfolding wheel and control system；Power line folding and unfolding wheel is connected with its drive mechanism；Power line folding and unfolding actuation
Connected by interface circuit and the host signal of control system；The state of power line folding and unfolding actuation is according to control system master
The change of machine state and change.Control system host signal of the control system main frame also with lower plug assembly is connected, when
During the state change of lower plug assembly, power line draw off gear automatic takeup and unwrapping wire.
The power line for plug-in slide rail and one or more tape insulation layer arranged along stand direction of extension can also be included；Electric power
Line is connected with power sourced electric；Plug-in slide rail includes C fonts slide rail and the upper electrical connector receptacle and lower electrical connector receptacle that are connected with power line；Agricultural
Robot also includes an automatic electric plug device；Automatic electric plug assembly include can independent horizontal rotation inner rotary table, outer turn
Disk, upper rod, lower rod, upper plug assembly, lower plug assembly and control system；Contain multichannel point inside upper and lower rod
The power transmission line do not connected with the use electric loading of agricultural robot and automatic plug；Upper rod includes upper rod rigid section and above chosen
Bar stretch section；Lower rod includes lower rod rigid section and lower rod stretch section；
Upper plug assembly includes pedestal, Electric Motor Wheel, a pair of lateral wheels, match wheel, self-actuating brake and automatic plug.
The power line for plug-in slide rail and one or more tape insulation layer arranged along stand direction of extension can also be included；Electric power
Line is connected with power sourced electric；Plug-in slide rail includes C fonts slide rail and the upper electrical connector receptacle and lower electrical connector receptacle that are connected with power line；Agricultural
Robot also includes an automatic electric plug device；Automatic electric plug assembly includes power line draw off gear, power line folding and unfolding and filled
Put including accommodating container, a pair of power line folding and unfolding wheels and control system；Power line folding and unfolding wheel is connected with its drive mechanism；Electricity
Line of force folding and unfolding actuation is connected by interface circuit and the host signal of control system；Power line folding and unfolding actuation
State changes according to the change of control system Host Status.Control system of the control system main frame also with lower plug assembly
Host signal of uniting is connected, instantly during the state change of plug assembly, power line draw off gear automatic takeup and unwrapping wire.
Beneficial effect：Facility farmland is used as the traveling of agricultural robot, positioning and power platform, tool using plug-in row's track
There is construction investment few, small to farmland injury and can eliminate at any time；Its use includes directly redefining existing farmland
For facility farmland, make the substantially increase and being capable of the new technology of constant absorption of farmland output；Also solve tomorrow, who carried out asking for kind of ground
Topic；Sustainable development idea is met using reproducible clean electric power.
A piece high rail is included with plug-in row's rail and low rail, 35 meters of high rail spacing, every 20 meters of length close 1 mu of ground, scale
100 yuan of meters of the cost for producing and installing, the cost that the present invention builds facility farmland is about 2000 yuan/mu.
Ground rail is respectively provided with using double-layer track photovoltaic stand, in the interior outside of double-layer track photovoltaic stand, i.e., in light
Lie prostrate operation fuel charge amount on the ground rail inside stand for 500 kilograms agricultural vehicle robot, lower floor track operation photovoltaic with
Track robot, upper strata track run photovoltaic clean robot；And utilize ground rail, plug-in row and the ground on the outside of photovoltaic stand
The heavy agricultural robot of face wheel operation.In the case of trunk line current is enough, plug-in mining is with one group of three-phase and four-line electric current allowable
The plug-in slide rail of 15 peaces times, 380 volts of voltage, electric current 15*2=30 ampere, 18.7 kilowatts of electrical power（1.73*380*30*0.95）.
37.4 kilowatts of power can be doubled using the leap open frame of general photovoltaic robot；Increasing electric current and voltage can be with
Further increase power.
Scope of operation breadth up to 34 meters agricultural robot harvester for rice wheat speed is up to 1 mu of ground/minute or harvests fresh rice
500 kg/min of wheat.
Using stand track operation agricultural vehicle robot, the power line of two track fore-and-aft directions may be used to provide electricity
Power.Agricultural vehicle robot uses the equal one-way traffic of two-way, per minute at most to provide the agricultural vehicle machine of 10 500 kilograms of levels
People.Average 0.5 kilowatt of agricultural vehicle robot electric power is just enough.Pacified by 80 volts of DC voltage and electric current 25 in terms of again, power
There are 2 kilowatts.Agricultural vehicle robot can also be using rechargeable battery operation.
North-south or the photovoltaic system stand of north orientation by north arrangement, in 1.6 meters of width component East and West direction length, height
In the case of 1.4 meters, the soil below photovoltaic module can shine the sun more than 4 hours, and such sunshine that blocks is to farming
The influence of thing can receive.
The construction cost of photovoltaic system consider from function system be upgraded to intelligence system including machines clean and robot+
Passive tracking photovoltaic module, although the low backbone of photovoltaic packing density, which lengthens, increases investment, but generating 20% is pure more than the component of tracking
Profit increase by more than 40%, return is far above investment；The fabricating yard for also helping photovoltaic system is free.Due to photovoltaic system point
Cost is spread out, the facility farmland construction cost of 2000 yuan/mu can also be realized.
Compared with a kind of base of the rail agricultural robot scheme using other station power line, plug-in is used without sliding power taking
The mode of row, the investment of facility farmland and operation cost reduction half and plug using two plug assemblies first insert after
The electric connecting mode pulled out, system is all the time without phenomenon of arc discharge, and reliability improves more than 90% and cold to the heat expansion of transmission line of electricity
Contracting is insensitive；Again because the class of insulation brings up to special isolation layer from air, power supply can be made using the power supply of number kilovoltage
Power increases an order of magnitude.
The industrializing implementation strong operability of the present invention.
Brief description of the drawings
Fig. 1 is the top view of a photovoltaic system.
Fig. 2 is the top view of a photovoltaic system.
Fig. 3 is Fig. 2 I-I direction views.
Fig. 4 is the stereogram of a double-layer track.
Fig. 5 and Fig. 6 are upper and lower two layers of rack-track of double-layer track and the wheel group of two multi-purpose robots respectively
The left view and front view of connection.
Fig. 7 is the front view that an agricultural robot persistently changes automatic electric plug device state in traveling.
Fig. 8 is two kinds of working state schematic representations of a upper plug assembly.
Fig. 9 and Figure 10 are that automatic plug power device has view and top view respectively.
Figure 11 is the structural representation of one section of upper rod stretch section.
Figure 12 is the stereogram of a power line draw off gear.
Figure 13 is the stereogram that track is arranged in a plug-in.
1. stand in figure；2. photovoltaic module；3. column；4. double-layer track；The bus 5. metal material is transmitted electricity；6. cross bar；7.
Insulating materials；8. connector；9. ground rail；10. foundation pile；11. upper strata track；12. lower floor's track；13. connecting line；14.
Agricultural robot；15. agricultural vehicle robot；16. general photovoltaic robot；17. long frame；18. wheel cover；19. wheel group；20 rice transplantings
Machine；21. ground is taken turns；22. brush；23. automatic handling device；24. fixed power source；25. frame；26. compartment；27. great-leap-forward machine
Frame；29. rack；30. rack-track；31. gear wheel group；32. rail lower gear wheel group；33. flange；34. lateral wheel；35. brake
Part；36. farmland；37. track is arranged in plug-in；38. track；39. four spring hole scokets；43. cleaning module；68. plug-in slide rail；69. C
Font slide rail；70. three-phase and four-line power line；71. on electrical connector receptacle；72. lower electrical connector receptacle；74. inner rotary table；75. outer rotary table；76. on
Rod；77. lower rod；78. on plug assembly；79. lower plug assembly；80. on rod rigid section；81. on rod elasticity
Section；82. lower rod rigid section；83. lower rod stretch section；84. pedestal；85. Electric Motor Wheel；86. match wheel；87. metal spring；
88. automatic plug；89. docking slide rail；90. sebific duct；91. power line draw off gear；92. accommodating container；93. power line folding and unfolding
Wheel.
Embodiment
Figure 13 and Fig. 7 to Figure 10 provides embodiment 1 jointly.
Embodiment 1, builds one piece of facility farmland, including farmland 36 and the plug-in row's track 37 and agricultural being arranged in farmland
Robot 14；
Plug-in row's track 37 include track 38, the three-phase and four-line power line 70 of one or more tape insulation layer and several it is uniform with
The upper electrical connector receptacle 71 and lower electrical connector receptacle 72 of the power line connection；The power line and a power supply include three-phase and four-line power line
Electrical connection；Track 38 is concrete track；Four spring hole scokets 39 are set in upper electrical connector receptacle 71 and lower electrical connector receptacle 72.It is big empty in Figure 13
Line circle is the amplification of small broken circle.
Agricultural robot 14 includes frame, more than one group wheel group 19 being connected with frame, functional part, automatic plug dress
Put and control system；Agricultural robot implements plant protection, construction and leveling operation in farmland；Agricultural robot is arranged in the plug-in
Traveling implements plant protection, construction and leveling operation on track；
The each group wheel group of agricultural robot includes at least including an Electric Motor Wheel in more than one wheel, all wheels；Wheel group
Coordinate to roll with ground rail and be connected；
Stand 1 that embodiment 1 is supported with column 3, the photovoltaic module 2 being installed on stand, along inserting that the direction of extension of stand 1 is arranged
Electric slide rail 68 and agricultural robot 14.Agricultural robot 14 is travelled on ground rail 9.
Plug-in slide rail 68 includes C fonts slide rail 69 and the upper electrical connector receptacle 71 and lower electrical connector receptacle 72 that are placed in C fonts slide rail 69；
Upper electrical connector receptacle 71 and lower electrical connector receptacle 72 include four spring hole scokets being electrically connected with three-phase and four-line power line 70 that adjacent spaces are arranged.
Agricultural robot 14 includes an automatic electric plug device 73.Automatic electric plug assembly 73 includes can independent horizontal rotation
Inner rotary table 74, outer rotary table 75, upper rod 76, lower rod 77, upper plug assembly 78, lower plug assembly 79 and the control system turned
System.
Inner rotary table 74, outer rotary table 75, upper rod 76 and lower rod 77, each Electric Motor Wheel 85, lateral wheel 34, match wheel 86, from
Dynamic brake 87 and automatic plug 88 are each connected with the drive mechanism of itself；Inner rotary table 74, outer rotary table 75, upper rod 76
Drive mechanism with lower rod 77, each Electric Motor Wheel 85, lateral wheel 34, match wheel 86, self-actuating brake 87 and automatic plug 88 is each
It is connected from by interface circuit with control system host signal；It is inner rotary table 74, outer rotary table 75, upper rod 76 and lower rod 77, each
Electric Motor Wheel 85, lateral wheel 34, match wheel 86, the state of self-actuating brake 87 and automatic plug 88 are according to control system Host Status
Change and change；
Upper rod 76 includes upper rod rigid section 80 and upper rod stretch section 81；Lower rod 77 includes lower rod rigid section 82 with
Rod stretch section 83.
Inner rotary table 74 is connected with upper rod rigid section 80；Outer rotary table 75 is connected with the outer end of lower rod rigid section 82.
Upper plug assembly 78 is connected with the outer end of upper rod stretch section 81；Lower plug assembly 79 and lower rod stretch section
83 outer end connection.
Upper plug assembly 78 includes pedestal 84, Electric Motor Wheel 85, a pair of lateral wheels 34, match wheel 86, the and of brake part 35
Automatic plug 88；The content of lower plug assembly 79 is identical with upper plug assembly 78；Plug assembly 78 and lower electricity in guarantee
Plug assembly 79 will not conflict mutually.The upper rod 76 that inner rotary table 74 is connected is consistently higher than the lower rod 77 of the connection of outer rotary table 75,
Also conflict will not be caused.
Match wheel 86 coordinates with Electric Motor Wheel 85, and the phase of upper and lower plug assembly 78,79 and C fonts slide rail 69 is limited together
To position.
In Fig. 6, brake part 35 has two states：Locking and release.With C fonts when brake part 35 is locked/unclamped
Slide rail 69 is fitted/departed from, and upper and lower plug assembly 78,79 is locked/unclamped.
The operation principle of embodiment 1：Agricultural robot 14 is advanced on facility farmland scene, agricultural robot from right to left
On 14 its cross section stretched out with the duplicate docking slide rail 89 of C fonts slide rail 69 and with the initiating terminal of C fonts slide rail 69
Integrate with, the entrance working condition of automatic electric plug device 73 includes upper rod 76 and lower rod 77 is in place, the upper and of plug assembly 78
Lower plug assembly 79 is changed into releasing orientation from lock-out state.
It is assumed that agricultural robot realizes that what is run into is the upper electrical connector receptacle 71 of three-phase and four-line power line 70, upper plug assembly
78 --- that for the connection of upper rod 76 that position is higher in i.e. each figure；Take the lead in driving at electrical connector receptacle 71 and making its automatic electric
The upper electrical connector receptacle 71 of the insertion of plug 88, agricultural robot connects work with three-phase and four-line power line 70.If agricultural robot is realized
Lower electrical connector receptacle 72 is run into, then descends plug assembly 79 to take the lead in driving at lower electrical connector receptacle 72 and makes its automatic plug insertion underthrust
Electric seat 72, remaining process described is subject to accommodation according to following.
The efficiency of threephase motor is higher than single-phase, including is connect during threephase motor work without phase line or phase line current
It is bordering on zero.
With the advance of agricultural robot 14, lower plug assembly 79 surmounts plug assembly 78 in time.When agriculture machine
When device people 14 is driven at first lower electrical connector receptacle 72, lower plug assembly 79 makes its automatic plug insert under first
Electrical connector receptacle 72；Meanwhile, upper plug assembly 78 makes its automatic plug 88 be extracted from first upper electrical connector receptacle 71.Work as farming machine
People 14 is travelled over after first lower plug assembly 79, and upper plug assembly 78 surmounts in time and drives to next upper plug-in
At seat 71 and make its upper electrical connector receptacle 71 of automatic plug 88 insertion.So go round and begin again holding agricultural robot 14 all the time with three-phase
Four line power lines 70 are connected.
In the process, when agricultural robot 14 is nearer from the position of up/down plug assembly 78/79, up/down is chosen
The up/down rod rigid section 80/82 and up/down rod stretch section 81/83 of bar 76/77 are just more vertical and go to and compare
Centered position；Whenever agricultural robot 14 from up/down plug assembly 78/79 position farther out when, up/down rod 76/77
Up/down rod rigid section 80/82 and up/down rod stretch section 81/83 it is just more flat and go to towards up/down electricity
The position of plug assembly 78/79.
When the operation of agricultural robot 14 is completed, the docking slide rail 89 on agricultural robot stretches out and slided with C fonts once again
End termination rail, the upper plug assembly 78 of automatic electric plug device 73 and the lower plug assembly 79 of rail 69 reach docking slide rail
89 and it is locked on docking slide rail 89, then docking slide rail 89 withdraws agricultural robot 14.The content of docking slide rail can also join
The rail relayer technology introduced according to previous embodiment.Agricultural robot enters state of knocking off and pressed close to including upper rod 76 and lower rod 77
Agricultural robot.Brake part 35 in embodiment 8 can also change an electronic dead bolt into and be locked with inserting C fonts slide rail 69
The form in hole realizes the locking of automatic electric plug device.Tape insulation layer electricity consumption load electric from power line to agricultural robot.
Outer rotary table 75 in embodiment 1 can use the form for being arranged in juxtaposition with inner rotary table 74 and substituting arranged concentric.
Upper and lower rod or elastic rod rigid section in embodiment 1 can also change the automation with control system into
Arm and realize the up/down plug assembly 78/79 for adapting to be continually changing with distance power line connection management.Relevant content can
With reference to prior art.
Embodiment 1 for brevity, omits the introduction on stand, photovoltaic module and agricultural robot.
Fig. 1 to Figure 10 constitutes embodiment 2.
Embodiment 2, builds one piece of facility farmland, photovoltaic system is built in facility farmland.Photovoltaic system include stand 1,
Photovoltaic module 2, power transmission and transformation device and computer control system.The double-layer rail that stand 1 is arranged in parallel including column 3, one group two
Road 4, left and right two metal materials being respectively arranged in the inner side and outer side of stand 1 are transmitted electricity bus 5 and cross bar 6.Stand 1 is along north and south
To or north orientation by north arrangement.North orientation by north refers in the range of local warp ± 60 degree.Between double-layer track 4 and column 3
Electrical isolation is made using insulating materials 7.Electrical isolation can not also be made between double-layer track 4 and column 3.Photovoltaic module 2 passes through
The connector 8 of insulation is connected with stand 1.A mattess track 9 is respectively disposed with the both sides ground of stand 1.Ground rail
Road 9 can be erected on foundation pile 10.Photovoltaic module 2 converts solar energy into electric power after power transmission and transformation device unsteady flow by cable
It is connected to power network.
Double-layer track 4 includes the upper strata track 11 and lower floor's track 12 connected with center vertical plate.Double-layer track 4 is available not
Rust steel plate is integrally formed making or welding is made.Double-layer track 4 is included in the situation by the installation photovoltaic component 2 of connector 8
Under, it is allowed to its upper strata track 11 and lower floor's track 12 travel agricultural robot and removable photovoltaic module assembly respectively.
The agricultural robot run on each track of photovoltaic system includes travelling agricultural robot 14 on ground rail 9；It is double-deck
Agricultural vehicle robot 15 is travelled on lower floor's track 12 of track 4；General photovoltaic robot 16 is travelled on double-layer track 4.
Agricultural robot 14 include long frame 17, the wheel group 19 of pulley cover 18, functional part rice transplanter 20, ground wheel 21,
Brush 22 and automatic handling device 23.Four wheel groups 19 of agricultural robot 14 are travelled in adjacent two rows photovoltaic respectively with electric drive
On two ground rails 9 of system.
Long frame 17 earthward transmits gravity by ground wheel 21.Wheel cover 18 contribute to reduce travel in plant to wheel group 21
Yoke.
Frame is coordinated using multigroup wheel group with two tracks being belonging respectively on adjacent two rows stand rolls the agricultural being connected
Robot, its functional part also includes slide rail, belt pulley and adhesive tape wheel drive unit；Slide rail is connected with frame；The function part
Part is connected with housing slide by slide rail, is connected by belt pulley and adhesive tape wheel drive unit；The functional part can
Various operations are moved forward and backward, position and carried out along slide rail direction of axis line under belt pulley drive.One one slide rail can configure many
Individual functional part.The content of relevant belt pulley transmission reference may also be made to the print cartridge driving structure of cartridge prints machine.
Frame is coordinated using multigroup wheel group with two tracks being belonging respectively on adjacent two rows stand rolls the agricultural being connected
Robot, in addition to more than one ground wheel being distributed in frame；Ground wheel is contacted with ground；The weight of frame passes through ground
Wheel is earthward transmitted；Ground wheel includes existing farm tractor wheel, the weight bearing power for increasing tractive force and frame.Agriculture
Industry robot and ground wheel can also use independent power accumulator or other power.
Brush 22, which is used in slip realize with metal material transmission of electricity bus 5 and double-layer track 4, to be electrically connected.
Using each brush 22, the electricity consumption load of agricultural robot 14 can at least pass through two double-layer tracks 4 and a gold
Category material transmission of electricity bus 5 and two fixed power sources 24 separately constitute loop and continually obtain electric power.Fixed power source 24 includes
Direct current and AC power；The voltage of fixed power source 24 is not limited, including the volt of direct current scope 12 to 300.
The transmission of electricity bus of photovoltaic system of the present invention includes whole transmission of electricity bus using slip way to take power output power；Transmission of electricity
The multichannel independent Transmission line in a shield, metal material transmission of electricity bus and resistivity that bus includes being arranged on stand are small
In the metal track of 0.3 ohm of 2/ meter of millimeter.
The relevant content of transmission of electricity bus and brush is referred to prior art, including the busbar and electricity that factory travelling crane is used
Brush.Brush can also be made of wheel and obtains electric energy from transmission of electricity bus during wheel traveling.
Agricultural robot is during rice transplanting, and rice shoot conveys supply by agricultural vehicle robot 11, passes through agricultural robot
The automatic transportation by lighter of automatic handling device 30 is obtained, and relevant content refers to prior art.
Agricultural vehicle robot 15 includes frame 25, four wheel groups 19, compartment 26, brush 22 and control system.Wheel group 19 is used
Electric drive.Using each brush 22, the electricity consumption load of agricultural vehicle robot 15 can at least pass through two double-layer tracks and a gold
Category material transmission of electricity bus 5 constitutes loops with two fixed power sources 24 respectively and continually obtains electric power.
General photovoltaic robot 16 is included across open frame 27, four wheel groups 19, brush 22, functional part cleaning modules 43
And control system；Photovoltaic module 2 is crossed over across open frame 27；Wheel group 19 uses electric drive.Functional part cleaning module 43 passes through it
Rotate and move up and down and realize automated cleaning photovoltaic module.Content about automated cleaning refers to prior art including window cleaning equipment
Technology.
The functional part of general photovoltaic robot 15, which is used to realize, includes automatic installation, dismounting, inspection and cleaning photovoltaic group
Part and the other parts of photovoltaic system；And include making it towards the sun for adjusting the state of photovoltaic module 2, removed the snow in high inclination-angle
State and in pure flat state reduce windage.
The upper surface of upper strata track and lower floor's track can also be all processed into the rack 29 dashed lines shown in ellipse
Shape, is made rack-track 30；Correspondingly, it is that agricultural robot or removable photovoltaic module assembly make wheel surface band tooth
Wheel group --- gear wheel group 31；Gear wheel group 31 is meshed with rack-track 30.
To prevent gear wheel group 30 from departing from rack-track 29, more than one rail lower gear wheel group 32 is configured in frame 25.
Rail lower gear wheel group 32 is arranged on the upper and lower track 11, the lower position of 12 back side corresponding gear wheel groups 31, rail lower gear
Wheel group 31 can together with gear wheel group 31 forward-reverse.
The lower surface monotonic decreasing from inside to outside of every teeth groove of the rack-track can also be made, is allowed to not retain rain
Water simultaneously facilitates dust in rain drop erosion fall tooth groove.
The dust in rack-track teeth groove can also be blown away with hair-dryer.
Using rack-track and gear wheel group, it will not be skidded during traveling；And be adapted to bear on the track with great slope
Overline enters.
The other kinds of vertical concave and convex stripe of expense or the concavo-convex dot matrix of making can also be made in orbit, and use rubber tire
Wheel group is to increase adhesive force of the wheel group to track.
The wheel group of the present invention can also be aided with lateral wheel.Concrete mode is included in upper strata track 11 and the lower floor of double-layer track
The both sides of track 12 respectively set the suitable flange 33 of a length, and respectively configure a lateral wheel 34 to prevent gear wheel group 31 from deviateing
Normal position.Ground rail has ready-made side, the wheel group travelled on ground rail can also directly using lateral wheel come
Ensure that wheel group runs on correct track.Content about lateral wheel refers to prior art.
In Fig. 6, on the right side of gear wheel group 31, a brake part 35 is provided with.Brake part includes one piece of brake rubber
Skin 56.Brake part 35 has two states：Locking is opened.When 56 pressings of brake rubber/disengaging gear wheel group, brake portion
Part 35 is locked/opened, gear wheel group can not/can rotate.The state switching of brake part 35 can by hand plate it is dynamic or by
General photovoltaic robot plate is dynamic to be realized.
Need to realize electrical connection with connecting line 13 between each section of track connected using insulating materials 7.It can also use
One switch in place connecting line 13 realizes controllable area connection.The switch is pulled open/closed, and two be connected section track electrically breaks
Open/connect.
Photovoltaic system also stretches including the stand 1 supported with column 3, the photovoltaic module 2 being installed on stand, along stand 1
The plug-in slide rail 68 and agricultural robot 14 of direction arrangement.Agricultural robot 14 is travelled on ground rail 9.
Plug-in slide rail 68 includes C fonts slide rail 69 and the upper electrical connector receptacle 71 and lower electrical connector receptacle 72 that are placed in C fonts slide rail 69；
Upper electrical connector receptacle 71 and lower electrical connector receptacle 72 include four spring hole scokets being electrically connected with three-phase and four-line power line 70 that adjacent spaces are arranged.
Agricultural robot 14 includes an automatic electric plug device 73.Automatic electric plug assembly 73 includes can independent horizontal rotation
Inner rotary table 74, outer rotary table 75, upper rod 76, lower rod 77, upper plug assembly 78, lower plug assembly 79 and the control system turned
System.
Inner rotary table 74, outer rotary table 75, upper rod 76 and lower rod 77, each Electric Motor Wheel 85, lateral wheel 34, match wheel 86, from
Dynamic brake 87 and automatic plug 88 are each connected with the drive mechanism of itself；Inner rotary table 74, outer rotary table 75, upper rod 76
Drive mechanism with lower rod 77, each Electric Motor Wheel 85, lateral wheel 34, match wheel 86, self-actuating brake 87 and automatic plug 88 is each
It is connected from by interface circuit with control system host signal；It is inner rotary table 74, outer rotary table 75, upper rod 76 and lower rod 77, each
Electric Motor Wheel 85, lateral wheel 34, match wheel 86, the state of self-actuating brake 87 and automatic plug 88 are according to control system Host Status
Change and change；
Upper rod 76 includes upper rod rigid section 80 and upper rod stretch section 81；Lower rod 77 includes lower rod rigid section 82 with
Rod stretch section 83.
Inner rotary table 74 is connected with upper rod rigid section 80；Outer rotary table 75 is connected with the outer end of lower rod rigid section 82.
Upper plug assembly 78 is connected with the outer end of upper rod stretch section 81；Lower plug assembly 79 and lower rod stretch section
83 outer end connection.
Upper plug assembly 78 includes pedestal 84, Electric Motor Wheel 85, a pair of lateral wheels 34, match wheel 86, the and of brake part 35
Automatic plug 88；The content of lower plug assembly 79 is identical with upper plug assembly 78；Plug assembly 78 and lower electricity in guarantee
Plug assembly 79 will not conflict mutually.The upper rod 76 that inner rotary table 74 is connected is consistently higher than the lower rod 77 of the connection of outer rotary table 75,
Also conflict will not be caused.
Match wheel 86 coordinates with Electric Motor Wheel 85, and the phase of upper and lower plug assembly 78,79 and C fonts slide rail 69 is limited together
To position.
In Fig. 6, brake part 35 has two states：Locking and release.With C fonts when brake part 35 is locked/unclamped
Slide rail 69 is fitted/departed from, and upper and lower plug assembly 78,79 is locked/unclamped.
The operation principle of embodiment 2：Agricultural robot 14 is advanced on facility farmland scene, agricultural robot from right to left
On 14 its cross section stretched out with the duplicate docking slide rail 89 of C fonts slide rail 69 and with the initiating terminal of C fonts slide rail 69
Integrate with, the entrance working condition of automatic electric plug device 73 includes upper rod 76 and lower rod 77 is in place, the upper and of plug assembly 78
Lower plug assembly 79 is changed into releasing orientation from lock-out state.
It is assumed that agricultural robot realizes that what is run into is the upper electrical connector receptacle 71 of three-phase and four-line power line 70, upper plug assembly
78 --- that for the connection of upper rod 76 that position is higher in i.e. each figure；Take the lead in driving at electrical connector receptacle 71 and making its automatic electric
The upper electrical connector receptacle 71 of the insertion of plug 88, agricultural robot connects work with three-phase and four-line power line 70.If agricultural robot is realized
Lower electrical connector receptacle 72 is run into, then descends plug assembly 79 to take the lead in driving at lower electrical connector receptacle 72 and makes its automatic plug insertion underthrust
Electric seat 72, remaining process described is subject to accommodation according to following.
With the advance of agricultural robot 14, lower plug assembly 79 surmounts plug assembly 78 in time.When agriculture machine
When device people 14 is driven at first lower electrical connector receptacle 72, lower plug assembly 79 makes its automatic plug insert under first
Electrical connector receptacle 72；Meanwhile, upper plug assembly 78 makes its automatic plug 88 be extracted from first upper electrical connector receptacle 71.Work as farming machine
People 14 is travelled over after first lower plug assembly 79, and upper plug assembly 78 surmounts in time and drives to next upper plug-in
At seat 71 and make its upper electrical connector receptacle 71 of automatic plug 88 insertion.So go round and begin again holding agricultural robot 14 all the time with three-phase
Four line power lines 70 are connected.
In the process, when agricultural robot 14 is nearer from the position of up/down plug assembly 78/79, up/down is chosen
The up/down rod rigid section 80/82 and up/down rod stretch section 81/83 of bar 76/77 are just more vertical and go to and compare
Centered position；Whenever agricultural robot 14 from up/down plug assembly 78/79 position farther out when, up/down rod 76/77
Up/down rod rigid section 80/82 and up/down rod stretch section 81/83 it is just more flat and go to towards up/down electricity
The position of plug assembly 78/79.
When the operation of agricultural robot 14 is completed, the docking slide rail 89 on agricultural robot stretches out and slided with C fonts once again
End termination rail, the upper plug assembly 78 of automatic electric plug device 73 and the lower plug assembly 79 of rail 69 reach docking slide rail
89 and it is locked on docking slide rail 89, then docking slide rail 89 withdraws agricultural robot 14.The content of docking slide rail can also join
The rail relayer technology introduced according to previous embodiment.Agricultural robot enters state of knocking off and pressed close to including upper rod 76 and lower rod 77
Agricultural robot.Brake part 35 in embodiment 8 can also change an electronic dead bolt into and be locked with inserting C fonts slide rail 69
The form in hole realizes the locking of automatic electric plug device.Tape insulation layer electricity consumption load electric from power line to agricultural robot.
Outer rotary table 75 in embodiment 2 can use the form for being arranged in juxtaposition with inner rotary table 74 and substituting arranged concentric.
Upper and lower rod or elastic rod rigid section in embodiment 2 can also change the automation with control system into
Arm and realize the up/down plug assembly 78/79 for adapting to be continually changing with distance power line connection management.Relevant content can
With reference to prior art.
In Examples 1 and 2, it can also be set in the inside of stand in one group of two stand and ground rail and make agricultural vehicle robot
Run on ground rail in stand.Now, lower floor's track can also be made to run photovoltaic tracking robot to passive tracking photovoltaic group
Part, which carries out state adjustment, to be included tracking the sun.
Figure 11 provides embodiment 3.
Embodiment 3, upper rod stretch section 81 includes three-phase and four-line power line 70, metal spring 87 and sebific duct 90.
Figure 11 to 12 provides embodiment 4 jointly.Figure 11 content is directly with reference to embodiment 3.
Embodiment 4, power line draw off gear 91 includes accommodating container 92, a pair of power line folding and unfolding wheels 93 and control system.
Power line folding and unfolding wheel 93 is connected with its drive mechanism；The drive mechanism of power line folding and unfolding wheel 93 passes through interface circuit and control system
The host signal connection of system；The state of the drive mechanism of power line folding and unfolding wheel 93 becomes according to the change of control system Host Status
Change.Control system host signal of the control system main frame also with lower plug assembly 79 is connected, instantly plug assembly 79
State change when, the automatic takeup of power line draw off gear 91 and unwrapping wire.Tape insulation layer use from power line to agricultural robot
Electric loading electric power.
Dotted line top is the power line draw off gear related to upper plug assembly.Two parts are combined above and below dotted line, are used for
Substitute all work relevant with upper and lower rod in automatic electric plug device 73 as described in Example 8.The electricity of embodiment 10
The volume of line of force draw off gear 91 is more compact.
Claims (8)
1. a kind of facility farmland method, including farmland and the plug-in row's track and agricultural robot being arranged in farmland；
Plug-in row's track includes one or more track, the power line of one or more tape insulation layer and several are uniform with the electricity
The electrical connector receptacle of line of force connection；The power line and a power supply are electrically connected including three-phase and four-line power line；
More than one group wheel group, functional part, automatic electric plug device and control that agricultural robot includes frame, is connected with frame
System；Agricultural robot implements plant protection, construction and leveling operation in farmland；Agricultural robot is up in plug-in row's track
Sail implementation plant protection, construction and leveling operation；
Automatic electric plug device includes two and plug assembly and lower plug assembly on plug assembly；Automatic plug dress
Putting also includes making upper plug assembly and lower plug assembly be connected and de- with the electrical connector receptacle in turn in the way of first inserting and pull out afterwards
From various mechanisms, including：
One group two robotic arms being connected respectively with upper plug assembly and lower plug assembly are provided with, or；
It is provided with the one group two transmission of electricity rods being electrically connected respectively with upper plug assembly and lower plug assembly, upper plug
Assembly and lower plug run on one each via an Electric Motor Wheel and arranged with plug-in on isometric track, or；
It is provided with the one group two spring wind tape electrical appliances being connected respectively with upper plug assembly and lower plug assembly, upper electric mortiser
Head assembly and lower plug run on one each via an Electric Motor Wheel and arranged with plug-in on isometric track；
Upper plug assembly and lower plug assembly are connected and disconnected from the electrical connector receptacle in turn in the way of first inserting and pulling out afterwards；Automatically
Plug device, plug-in row, power line, functional part constitute a loop with electric loading together with power supply, in a steady stream not
Break to provide electric power with electric loading；
It is additionally included in farmland and builds photovoltaic system, photovoltaic system includes stand, photovoltaic module, power transmission and transformation device and computer control
System processed, photovoltaic module is connected with stand；And more than one group ground rail is set on the outside of the stand of the photovoltaic generating system
And plug-in row is arranged on stand；Agricultural robot is run on ground rail；
Further, ground rail in being set in the inside of stand, travels agricultural vehicle robot on interior ground rail；And in stand
Internal top sets double-layer track to include upper strata track and lower floor's track；Upper strata rail running general photovoltaic robot；It is general
More than one group wheel group, functional part and control system that photovoltaic robot includes frame, is connected with frame；Functional part includes light
Lie prostrate the automatic automated cleaning inspection installing/dismounting device of component.
2. a kind of facility farmland, using the method described in claim 1, it is characterized in that including farmland and being arranged at inserting in farmland
Electricity row's track and agricultural robot；
Plug-in row's track includes one or more track, the power line of one or more tape insulation layer and several are uniform with the electricity
The electrical connector receptacle of line of force connection；The power line and a power supply are electrically connected including three-phase and four-line power line；
Automatic electric plug device includes two and plug assembly and lower plug assembly on plug assembly；Automatic plug dress
Putting also includes making upper plug assembly and lower plug assembly be connected and de- with the electrical connector receptacle in turn in the way of first inserting and pull out afterwards
From various mechanisms, including：
One group two robotic arms being connected respectively with upper plug assembly and lower plug assembly are provided with, or；
It is provided with the one group two transmission of electricity rods being electrically connected respectively with upper plug assembly and lower plug assembly, upper plug
Assembly and lower plug run on one each via an Electric Motor Wheel and arranged with plug-in on isometric track, or；
It is provided with the one group two spring wind tape electrical appliances being connected respectively with upper plug assembly and lower plug assembly, upper electric mortiser
Head assembly and lower plug are each via an Electric Motor Wheel
One is run on to arrange with plug-in on isometric track；
Upper plug assembly and lower plug assembly are connected and disconnected from the electrical connector receptacle in turn in the way of first inserting and pulling out afterwards；Automatically
Plug device, plug-in row, power line, functional part constitute a loop with electric loading together with power supply, in a steady stream not
Break to provide electric power with electric loading.
3. a kind of facility farmland according to claim 2, it is characterized in that including Auxiliary Track, Auxiliary Track arranges rail with plug-in
The spacing in road is 1 to 2 meter, more than two buses of transmitting electricity of Auxiliary Track band；Transmit electricity bus include metal material and tape insulation layer
The shield of power line；Transmission of electricity bus is connected with a fixed power source；Auxiliary Track on plug-in row's track with travelling agricultural vehicle machine
People；Wheel group, compartment, brush and control system that agricultural vehicle robot includes frame, is connected with frame；Brush is slided with transmission of electricity bus
Dynamic electrical connection；Fixed power source, transmission of electricity bus, the electricity consumption load of brush and agricultural vehicle robot constitute a circuit loop；Gu
Power supply is determined continually to the electricity consumption load supplying of agricultural vehicle robot.
4. a kind of facility farmland according to claim 2, it is characterized in that also including the photovoltaic system built in farmland, photovoltaic
System includes stand, photovoltaic module, power transmission and transformation device and computer control system, and photovoltaic module is connected with stand；Photovoltaic module
Electric power is converted solar energy into after power transmission and transformation device variable flow and variable pressure by cable connection to power network；And in the photovoltaic generation system
More than one group ground rail is set on the outside of the stand of system and plug-in row is arranged on stand；Agricultural robot runs on ground rail
On road；
Stand adds connecting rod-type and some tracks plus accessory-type including several columns.
5. a kind of facility farmland according to claim 2, it is characterized in that ground rail in being set in the inside of stand, inside
Agricultural vehicle robot is travelled on ground rail；And the top inside stand sets double-layer track to include upper strata track and lower layer track
Road；Upper strata rail running general photovoltaic robot；More than the one group wheel that general photovoltaic robot includes frame, is connected with frame
Group, functional part and control system；Functional part includes the automatic automated cleaning inspection installing/dismounting device of photovoltaic module.
6. a kind of facility farmland according to claim 2, it is characterized in that also including a plug-in slide rail；Plug-in slide rail includes
C fonts slide rail and；Agricultural robot also includes an automatic electric plug device；Automatic electric plug assembly is filled including power line folding and unfolding
Put, power line draw off gear includes accommodating container, a pair of power line folding and unfolding wheels and control system；The control system main frame also with
The control system host signal connection of lower plug assembly, instantly during the state change of plug assembly, power line draw off gear
Automatic takeup and unwrapping wire.
7. a kind of facility farmland according to claim 2, it is characterized in that also including the plug-in arranged along stand direction of extension
The power line of slide rail and one or more tape insulation layer；Power line is connected with power sourced electric；Plug-in slide rail include C fonts slide rail and with
The upper electrical connector receptacle and lower electrical connector receptacle of power line connection；Agricultural robot also includes an automatic electric plug device；Automatic plug
Assembly include can independent horizontal rotation inner rotary table, outer rotary table, upper rod, lower rod, upper plug assembly, lower plug assembly
And control system；Connected respectively with the use electric loading of agricultural robot and automatic plug containing multichannel inside upper and lower rod
Power transmission line；Upper rod includes upper rod rigid section and upper rod stretch section；Lower rod includes lower rod rigid section and lower rod bullet
Property section；
Upper plug assembly includes pedestal, Electric Motor Wheel, a pair of lateral wheels, match wheel, self-actuating brake and automatic plug.
8. a kind of facility farmland according to claim 2, it is characterized in that also including the plug-in arranged along stand direction of extension
The power line of slide rail and one or more tape insulation layer；Power line is connected with power sourced electric；Plug-in slide rail include C fonts slide rail and with
The upper electrical connector receptacle and lower electrical connector receptacle of power line connection；Agricultural robot also includes an automatic electric plug device；Automatic plug
Assembly, which includes power line draw off gear, power line draw off gear, includes accommodating container, a pair of power line folding and unfolding wheels and control system；
Control system host signal of the control system main frame also with lower plug assembly is connected, and the state of plug assembly becomes instantly
During change, power line draw off gear automatic takeup and unwrapping wire.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511026314X | 2015-12-31 | ||
| CN201511026314.XA CN105577100A (en) | 2015-12-31 | 2015-12-31 | Photovoltaic power generation system with tracks and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106965708A true CN106965708A (en) | 2017-07-21 |
| CN106965708B CN106965708B (en) | 2019-03-22 |
Family
ID=55886879
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511026314.XA Pending CN105577100A (en) | 2015-12-31 | 2015-12-31 | Photovoltaic power generation system with tracks and method |
| CN201621493368.7U Expired - Fee Related CN206472077U (en) | 2015-12-31 | 2016-12-31 | Photovoltaic system |
| CN201611269450.6A Active CN106965708B (en) | 2015-12-31 | 2016-12-31 | A kind of facility farmland method and facility farmland |
| CN201611265145.XA Pending CN106941336A (en) | 2015-12-31 | 2016-12-31 | Photovoltaic system |
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| CN201511026314.XA Pending CN105577100A (en) | 2015-12-31 | 2015-12-31 | Photovoltaic power generation system with tracks and method |
| CN201621493368.7U Expired - Fee Related CN206472077U (en) | 2015-12-31 | 2016-12-31 | Photovoltaic system |
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| WO (1) | WO2018120242A1 (en) |
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| CN105577100A (en) * | 2015-12-31 | 2016-05-11 | 施国樑 | Photovoltaic power generation system with tracks and method |
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| US10207722B2 (en) * | 2016-08-22 | 2019-02-19 | Strato, Inc. | Automated machining and welding of railway car parts |
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- 2015-12-31 CN CN201511026314.XA patent/CN105577100A/en active Pending
-
2016
- 2016-12-31 CN CN201621493368.7U patent/CN206472077U/en not_active Expired - Fee Related
- 2016-12-31 CN CN201611269450.6A patent/CN106965708B/en active Active
- 2016-12-31 CN CN201611265145.XA patent/CN106941336A/en active Pending
- 2016-12-31 WO PCT/CN2016/113994 patent/WO2018120242A1/en active Application Filing
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| EP0706910A1 (en) * | 1994-10-12 | 1996-04-17 | Franz Plasser Bahnbaumaschinen-Industriegesellschaft m.b.H. | Machine for the continuous installing of a power line of an electrical catenary |
| CN104737649A (en) * | 2013-12-31 | 2015-07-01 | 上海长语信息科技有限公司 | Automatic farming method and automatic farming device for farmlands and rail bases |
| CN104737660A (en) * | 2013-12-31 | 2015-07-01 | 邱丽琴 | Method of arranging rail construction facility field in farmland and facility thereof |
| CN206841210U (en) * | 2016-12-31 | 2018-01-05 | 海宁伊满阁太阳能科技有限公司 | A kind of facility farmland |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106941336A (en) | 2017-07-11 |
| CN106965708B (en) | 2019-03-22 |
| CN206472077U (en) | 2017-09-05 |
| CN105577100A (en) | 2016-05-11 |
| WO2018120242A1 (en) | 2018-07-05 |
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