CN104400778B - A kind of control method of the carrying of the crops based on Arduino single-chip microcomputer - Google Patents
A kind of control method of the carrying of the crops based on Arduino single-chip microcomputer Download PDFInfo
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- CN104400778B CN104400778B CN201410499087.1A CN201410499087A CN104400778B CN 104400778 B CN104400778 B CN 104400778B CN 201410499087 A CN201410499087 A CN 201410499087A CN 104400778 B CN104400778 B CN 104400778B
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Abstract
The present invention relates to the control method of a kind of crops based on Arduino single-chip microcomputer carrying, carry out as follows: initialize; Detect each signal; After enabling signal sends, lifting arm is started working, until quit work after rising to assigned address; After lifting arm puts in place, open and drive telescopic arm work, until just quit work after being elongated to assigned address; After elongation puts in place, lifting arm is driven to rise and removed article; After article have been removed, drive telescopic arm work, make it bounce back; In the retraction process of previous step, turning arm work, until forward assigned address to; Telescopic arm work in step 6), to assigned address, drives lifting arm to start working, makes it decline and put down article; Telescopic arm bounces back, and turning arm reversion resets, and waits for that next is carried.The inventive method is simple, is easy to manipulation, reduces the labour that peasant carries these article, accelerate the operating efficiency of farmland operation process, is conducive to the entire mechanization and the automation that advance agricultural production.
Description
Technical field
The present invention relates to the control method of a kind of crops based on Arduino single-chip microcomputer carrying, be applicable to crops carrying.
Background technology
In farmland operation process, a lot of operation all relates to carrying, but in traditional farmland operation, major part is all based on manual operation, the whole-course automation of crops or fertilizer transport operation process is not well realized, comparatively large to labour demand, and these operation process are that to belong to working environment poor and labour-intensive mostly, are not suitable for peasant and carry out long period of operation.
Although there is the agricultural robot of many multi-functional, diversification on the market, but the price of its great number, with high maintenance expense, all that general peasant is burdensome, so all the time China to realize entire mechanization agriculturally the short time and automation also quite very long, so in farmland operation process, introduce the small-sized, cheap of novel suitable farmland production and the professional farmland transfer robot that can satisfy the demands again is inexorable trend.
At present, great majority apply to transfer robot controller in farmland operation process and mainly contain following a few class: be first take PLC as a class transfer robot of control core, such robot work is more stable, harsh environments can be adapted to, but to build with PLC be the control system of controller, need to connect the peripheral operational module of polytype, and need many PLC Collaborative Control, thus increase cost and the complexity of control system; Next take motion control card as the control system of core, and the control system integration degree of such transfer robot is high, multiple functional, but domestic motion control card unstable properties, quality is uneven, is difficult to meet Transport Robot Control System for Punch requirement, then the external motion control card produced, programming is started with comparatively complicated, cost is high, brings certain difficulty to robot control system designer, and once after damaging, be difficult to maintenance, can only integral replacing; Last class is independent research transfer robot controller, and such control system is more loaded down with trivial details for user's maintenance, and be difficult to carry out secondary development, versatility is poor.
Summary of the invention
In view of the deficiencies in the prior art, the object of the present invention is to provide the control method that a kind of crops based on Arduino single-chip microcomputer carry.
Technical program of the present invention lies in:
Based on the control method that the crops of Arduino single-chip microcomputer carry, comprise carrying device, described carrying device comprises lifting arm, telescopic arm, turning arm execution unit, it is characterized in that, carries out as follows:
1) initialize, setting parameter, and start monitoring system, infrared remote control communication mode;
2) whether detection reset signal, stopping signal, enabling signal are in normal condition, and wherein reset signal resets in order to drive each execution machine mechanical arm;
3) after enabling signal sends, lifting arm is started working, until quit work after rising to assigned address;
4) after lifting arm puts in place, open and drive telescopic arm work, until just quit work after being elongated to assigned address;
5) after elongation puts in place, lifting arm is driven to rise and removed article;
6), after article have been removed, drive telescopic arm work, make it bounce back;
7) in the retraction process of previous step, turning arm work, until forward assigned address to;
8) the telescopic arm work in step 6), to assigned address, drives lifting arm to start working, makes it decline and put down article;
9) telescopic arm retraction, turning arm reversion resets, and waits for that next is carried.
Wherein, described carrying device comprises mechanical mechanism and control circuit two parts, described mechanical mechanism comprises frame, side in described frame is longitudinally provided with one can the splined shaft of gantry rotation relatively, the opposite side of described frame is longitudinally provided with a rhizoid bar, described screw mandrel is equipped with a lifting nut, described lifting nut is fixed with a lifting platform be slidably connected with splined shaft, the lifting platform bottom being positioned at splined shaft side is provided with a U-lag, the bottom of described splined shaft is fixed with one second synchronous pulley, the middle part warp beam upper spline of described splined shaft slidably connects one and is installed in the 3rd synchronous pulley in U-lag, the 3rd described synchronous pulley drives one to be horizontally disposed with it through Timing Belt and is positioned at the 4th synchronous pulley of lifting platform bottom side, the output shaft upper end of described 4th synchronous pulley is fixed with one and is positioned at toothed disc on the upside of lifting platform, the upper surface of described toothed disc is fixed with a turning arm, described turning arm is hinged with a telescopic arm, described telescopic arm is hinged with an end mechanical arm, described end mechanical arm is hinged with one in order to carry the end effector of crops, the second motor that an output shaft is longitudinally arranged is provided with in described turning arm, described second motor is connected through a side of the second decelerator and telescopic arm, the interior side that is connected with decelerator of described telescopic arm is provided with one the 5th synchronous pulley, opposite side is provided with the 6th synchronous pulley be connected with the 5th synchronous pulley through Timing Belt, the 5th described synchronous pulley and the upper end of turning arm are connected, one side of described 6th synchronous pulley and end mechanical arm is connected, the interior side that is connected with the 6th synchronous pulley of described end mechanical arm is provided with one the 7th synchronous pulley, opposite side is provided with the 8th synchronous pulley be connected with the 7th synchronous pulley through Timing Belt, described 8th synchronous pulley and end effector are connected, another side of described 7th synchronous pulley and telescopic arm is connected, described second synchronous pulley is driven by the first synchronous pulley be located in frame on side, described first synchronous pulley is driven through the first decelerator by the first motor be located in frame, opposite side in described frame is provided with the 3rd motor, the output shaft of described 3rd motor is connected with the 9th synchronous pulley, described 9th synchronous pulley to drive with the tenth synchronous pulley being fixed on screw mandrel lower end through Timing Belt and is connected, described control circuit comprises Arduino controller module, drives three motor drive modules of described first, second, third motor, described Arduino controller module is connected with first, second, third motor circuit through three motor drive modules respectively, the execution route being positioned at turning arm, telescopic arm is provided with three limit switches, wherein, turning arm place arranges the two kinds of limit switches rotating and be elevated respectively, and three described limit switches are connected with Arduino controller module circuit through initial reset unit respectively.
First, second, third described motor is also respectively arranged with a rotary encoder, described rotary encoder through position, speed detection unit is connected with Arduino controller module circuit.
Also comprise a supply module in order to power to Arduino controller module, three driving stepper motor modules and radiating module.
Also comprise one and show the infrared remote control module of 12864 liquid crystal displays and the infrared connection be connected with Arduino controller module.
The gear ratio of first and second synchronous pulley described is 1:1; The gear ratio of the described 3rd and the 4th synchronous pulley is 1:2; The gear ratio of the described 5th and the 6th synchronous pulley is 2:1; The gear ratio of the described 7th and the 8th synchronous pulley is 1:2; The gear ratio of the described 9th and the tenth synchronous pulley is 5:4.
Described frame bottom side is provided with universal wheel.
Bottom in described frame is also provided with radiator fan.
The invention has the advantages that:
1. adopt five phase step motor, have step angle little, rotating torque is large, the advantages such as Acceleration and deceleration time is short, and Dynamic Inertia is low, thus reaches stepless speed regulation and pinpoint object.
2. adopt intelligent heat dissipation unit, by detecting farmland transfer robot internal temperature, automatically control startup and the closedown of heat-sink unit, realize energy-conservation while reduce robot interior temperature to greatest extent, maintain the safe and reliable environment of robot system one.
3. adopt Arduino single-chip microcomputer as control system core, it is a kind of based on open source code, the more complete development platform of function, has the IDE comprising code editor, compiler, debugger and tool graphical user interface, compatible strong, support the online program burn writing of ISP, support multiple interaction, and compared to by this control system of other microcomputer development, cost is low, programming is succinct, aboundresources, stability and reliability high.
4. be conducive to the popularization and the utilization that promote Robotics in agricultural engineering field, there is very distinct novelty, to a certain extent, reduce the labour that peasant carries these article, accelerate the operating efficiency of farmland operation process, be conducive to the entire mechanization and the automation that advance agricultural production.
5. compact overall structure, lighter weight, base is equipped with universal wheel, makes complete machine to move flexibly and to locate, and is convenient to the farmland carrying operation of diverse location.
6. adopt the simple and easy transmission mechanisms such as threaded screw rod, Timing Belt, gear, belt wheel, three motions by composition robot of these mechanisms entirety: lifting, contraction, rotation, thus realizing the handling process of farmland robot, this structure is simple, it is rapid, with low cost to perform, stability is high.
7. be configured with position, speed, temperature monitoring system and infrared remote control system, monitoring system convenient operation personnel understand robot whole service process status in real time, the generation of reduction accident.Adopt infrared remote control control realization operating personnel far distance controlled robot, protection operating personnel personal safety, and operation readiness.
8. adopt synchronous pulley and supporting Timing Belt structure, by the transmission designed when cooperation motion, realize the whole stretching motion that can be completed mechanical arm by a stepper motor, structure is simple, compact, and design cost is low.
9. design the mechanical arm of a drum cleverly, by relevant supporting transmission mechanism, utilize a mechanical arm can realize it simultaneously and rotate and lifting two frees degree, reduce the complexity of frame for movement, whole robot volume is little, lightweight.
10. base is equipped with universal wheel, can move this robot flexibly, easily.
Accompanying drawing explanation
Fig. 1 is schematic flow sheet of the present invention.
Fig. 2 is frame for movement schematic diagram of the present invention.
Fig. 3 is electrical block diagram of the present invention.
Fig. 4 is the situation that the takies schematic diagram of the I/O interface of Arduino controller.
Fig. 5 is the schematic diagram of Arduino controller control step motor example.
Fig. 6 is the connection diagram of Arduino controller and grooved limit switch.
Fig. 7 is the connection diagram of Arduino controller and rotary encoder.
Fig. 8 is heat-sink unit circuit theory schematic diagram.
Fig. 9 is the connection diagram of Arduino controller and 12864 liquid crystal.
Figure 10 is end effector rectilinear motion schematic diagram.
Detailed description of the invention
For above-mentioned feature and advantage of the present invention can be become apparent, special embodiment below, and coordinate accompanying drawing, be described in detail below.
Referring to figs. 1 to Figure 10, the present invention relates to the control method of a kind of crops based on Arduino single-chip microcomputer carrying, comprise carrying device, described carrying device comprises lifting arm, telescopic arm, turning arm execution unit, carries out as follows:
1) initialize, setting parameter, and start monitoring system, infrared remote control communication mode;
2) whether detection reset signal, stopping signal, enabling signal are in normal condition, and wherein reset signal resets in order to drive each execution machine mechanical arm;
3) after enabling signal sends, lifting arm is started working, until quit work after rising to assigned address;
4) after lifting arm puts in place, open and drive telescopic arm work, until just quit work after being elongated to assigned address;
5) after elongation puts in place, lifting arm is driven to rise and removed article;
6), after article have been removed, drive telescopic arm work, make it bounce back;
7) in the retraction process of previous step, turning arm work, until forward assigned address to;
8) the telescopic arm work in step 6), to assigned address, drives lifting arm to start working, makes it decline and put down article;
9) telescopic arm retraction, turning arm reversion resets, and waits for that next is carried.
Wherein, described Handling device comprises mechanical mechanism and control circuit two parts, described mechanical mechanism comprises frame 1, side in described frame is longitudinally provided with one can the splined shaft 2 of gantry rotation relatively, the opposite side of described frame is longitudinally provided with a rhizoid bar 3, described screw mandrel is equipped with a lifting nut 4, described lifting nut is fixed with a lifting platform 5 that can be slidably connected with splined shaft, the lifting platform bottom being positioned at splined shaft side is provided with a U-lag, the bottom of described splined shaft is fixed with one second synchronous pulley 6, the middle part warp beam upper spline of described splined shaft slidably connects one and is installed in the 3rd synchronous pulley 7 in U-lag, the 3rd described synchronous pulley drives one to be horizontally disposed with it through Timing Belt and is positioned at the 4th synchronous pulley 8 of lifting platform bottom side, the output shaft upper end of described 4th synchronous pulley is fixed with one and is positioned at toothed disc 9 on the upside of lifting platform, the upper surface of described toothed disc is fixed with a turning arm 10, described turning arm is hinged with a telescopic arm 11, described telescopic arm is hinged with an end mechanical arm 12, described end mechanical arm is hinged with one in order to carry the end effector 13 of crops, the second motor 14 that an output shaft is longitudinally arranged is provided with in described turning arm, described second motor is connected with a side of telescopic arm through the second decelerator 15, the interior side that is connected with decelerator of described telescopic arm is provided with one the 5th synchronous pulley 16, opposite side is provided with the 6th synchronous pulley 17 be connected with the 5th synchronous pulley through Timing Belt, the 5th described synchronous pulley and the upper end of turning arm are connected, one side of described 6th synchronous pulley and end mechanical arm is connected, the interior side that is connected with the 6th synchronous pulley of described end mechanical arm is provided with one the 7th synchronous pulley 18, opposite side is provided with the 8th synchronous pulley 19 be connected with the 7th synchronous pulley through Timing Belt, described 8th synchronous pulley and end effector are connected, another side of described 7th synchronous pulley and telescopic arm is connected, described second synchronous pulley is driven by the first synchronous pulley 20 be located in frame on side.
Above-mentioned first synchronous pulley is driven through the first decelerator 22 by the first motor 21 be located in frame.
Opposite side in above-mentioned frame is provided with the 3rd motor 23, and the output shaft of described 3rd motor is connected with the 9th synchronous pulley 24, and described 9th synchronous pulley to drive with the tenth synchronous pulley 25 being fixed on screw mandrel lower end through Timing Belt and is connected.
The gear ratio of first and second synchronous pulley above-mentioned is 1:1; The gear ratio of the described 3rd and the 4th synchronous pulley is 1:2; The gear ratio of the described 5th and the 6th synchronous pulley is 2:1; The gear ratio of the described 7th and the 8th synchronous pulley is 1:2; The gear ratio of the described 9th and the tenth synchronous pulley is 5:4.
Above-mentioned frame bottom side is provided with universal wheel 26.
Bottom in above-mentioned frame is also provided with radiator fan 27.
Above-mentioned control circuit comprises Arduino controller module, drives three motor drive modules of described first, second, third motor, described Arduino controller module is connected with first, second, third motor circuit through three motor drive modules respectively, the execution route being positioned at turning arm, telescopic arm is provided with three limit switches, wherein, turning arm place arranges the two kinds of limit switches rotating and be elevated respectively, and three described limit switches are connected with Arduino controller module circuit through initial reset unit respectively.
First, second, third above-mentioned motor is also respectively arranged with a rotary encoder, described rotary encoder through position, speed detection unit is connected with Arduino controller module circuit.
Also comprise a supply module in order to power to Arduino controller module, three driving stepper motor modules and radiating module.Also comprise one and show the infrared remote control module of 12864 liquid crystal displays and the infrared connection be connected with Arduino controller module.
In implementation process, the principle that this frame for movement realizes farmland transfer robot is as follows:
5th synchronous pulley is fixed in turning arm, so the relative turning arm of the 5th synchronous pulley is fixed, when the second driven by motor telescopic arm rotates, 6th synchronous pulley will be formed relative to the revolution of turning arm and autobiography, because end mechanical arm is fixed in the 6th synchronous pulley, so the rotation synchronous axial system of end mechanical arm and the 6th synchronous pulley, then end mechanical arm rotates relative to telescopic arm, and direction of rotation is contrary relative to the direction of rotation of turning arm with telescopic arm, corner value is 2 times (gear ratio of the 5th synchronous pulley and the 6th synchronous pulley is Z5:Z6=2:1) of telescopic arm corner.7th synchronous pulley is fixed in telescopic arm, when end mechanical arm relative telescopic arm rotates, 8th synchronous pulley will be formed relative to the revolution of telescopic arm and autobiography, because end effector is fixed in the 8th synchronous pulley, then end effector opposing end portions mechanical arm rotates, and direction of rotation is contrary with the direction of rotation of end mechanical arm relative telescopic arm, corner value is 1/2(the 7th synchronous pulley of end mechanical arm corner and the gear ratio of the 8th synchronous pulley is Z7:Z8=1:2).According to the calculating of corner vector, end effector is relative to the corner of turning arm
for telescopic arm corner
, end mechanical arm corner
with end effector corner
vector
, therefore when the second motor drives telescopic arm to rotate through the second decelerator, end effector does not rotate relative to turning arm all the time.
As shown in Figure 10, as we know from the figure C point all the time linearly AC limit move, and there is not rotation relative to turning arm in end effector, draws end effector in the plane all the time along rectilinear motion during final second stepping electric machine rotation.First stepping motor belt motor end effector and is rotated in the horizontal plane.3rd stepper motor draws end effector and moves up and down on a vertical plane, and in sum, the motion between three cooperates cooperation mutually, farmland transfer robot movement locus required for formation.
In sum, the farmland transfer robot frame for movement of various embodiments of the present invention, organizes synchronous belt drive mechanism owing to comprising, reducing gear more, three groups of five phase step motors and driver, screw mechanism, end mechanical arm, telescopic arm and turning arm, end effector, universal wheel travel mechanism.Thus realize the automation farmland transport operation of farmland transfer robot, save manpower, raise labour efficiency.
Described many groups synchronous belt drive mechanism comprises following 5 groups: 1, the first synchronous pulley and the second synchronous pulley, 2, the 3rd synchronous pulley and the 4th synchronous pulley, 3, the 5th synchronous pulley and the 6th synchronous pulley, 4, the 7th synchronous pulley and the 8th synchronous pulley, the 5, the 9th synchronous pulley and the tenth synchronous pulley.1st group: the rotation rotation of the first step motor shaft being converted to splined shaft, gearratio is Z1:Z2=1:1; 2nd group: the rotation of splined shaft is converted to turning arm and rotates, gearratio is Z3:Z4=1:2; 3rd group: the rotation rotation of telescopic arm being converted to end mechanical arm, gearratio is Z5:Z6=2:1; 4th group: the rotation rotation of end mechanical arm being converted to end effector, gearratio is Z7:Z8=1:2; 5th group: the rotation rotation of the 3rd stepper motor being converted to screw mandrel, gearratio is Z9:Z10=5:4; Described reducing gear comprises: the first decelerator and the second decelerator, realizes the deceleration of first, second stepper motor respectively and increases moment.Three groups of described five phase step motors comprise: the first motor, the second motor, the 3rd motor, respectively driving mechanical arm do rotate, stretch, elevating movement.Described cooling mechanism is: radiator fan, when robot runs, dispels the heat to its inside.Described screw mechanism comprises: screw mandrel, feed screw nut, the rotation of screw mandrel is converted to the lifting of turning arm.Described end mechanical arm, telescopic arm, turning arm, their motor coordinations coordinate, and jointly complete farmland transfer robot transport operation.Described end effector is grafter, holds up crops.Described gear mechanism comprises: the first gear and the second gear, be converted to the rotation of turning arm the rotation of encoder axle.Described universal wheel travel mechanism comprises: three universal wheels, are arranged on bottom robot, facilitate robot to move at any time.
This circuit comprises Arduino single-chip microcomputer main control unit, electric-motor drive unit, performance element, infrared remote control unit, position, speed and temperature monitoring unit, initial position reset unit, power supply unit, heat-sink unit etc.Mechanical structure portion mainly comprises organizes synchronous belt drive mechanism, reducing gear, three groups of five-phase induction motors, cooling mechanism, lead screw guide rails mechanism, turning arm, end mechanical arm, telescopic arm and turning arm, gear mechanism, end effector and universal wheels etc. more.
Arduino single-chip microcomputer main control unit, comprise Arduino control chip, multi-path digital input/output interface, analog input interface, UART interface, crystal oscillator, USB interface and power interface etc., control three five-phase induction motors rotations respectively by Arduino, read position, speed and the temperature information of each mechanical arm of farmland transfer robot, realize machine robot short range infrared remote control, robot initial position resets and intelligent heat dissipation.Each digital IO mouth, simulation mouth, USB interface and other peripheral circuits and components and parts provide condition for the access of each peripheral module, form farmland transfer robot single-chip computer control system.
Electric-motor drive unit, comprise five mutually hybrid motors and corresponding motor driver thereof, this 5 mutually hybrid motor step angle is little, Acceleration and deceleration time is short, Dynamic Inertia is low, there is higher precision and torque, the switching of pulse+direction or dipulse control model can be realized, when selecting pulse+direction controlling mode, by the relevant I/O mouth of single-chip microcomputer main control unit and the pulse signal mouth of motor driver, direction signal mouth is connected with enable signal mouth, the pulse signal of pulse signal end input controls electric machine rotation, the low and high level signal control motor of direction signal end input turns to, the free state of the low and high level signal control motor of enable signal end input.By controlling corner, the rotating speed of each motor and turning to, thus realizing the object of turning arm lifting, rotating object and telescopic arm carry an object, reaching farmland transfer robot puts down whole course integration and automation operation process from taking to.
Performance element, comprise synchronous belt drive mechanism, threaded screw rod mechanism, gear drive etc., be connected with the signaling interface of motor driver by the relevant I/O mouth of single-chip microcomputer main control unit, control corner, the rotating speed of motor and turn to, the rotation of these motors is through this performance element, effectively can be converted into the elevating movement of the stretching motion of telescopic arm, the rotary motion of turning arm and turning arm, they cooperatively interact and make the flexible movements of whole executing agency, achieve the object of these farmland transfer robot fast removal crops.
Infrared remote control unit, be connected with the D2I/O mouth of Arduino controller, infrared remote control is a kind of wireless and non-contact control technology, there is antijamming capability strong, information transmission is reliable, and low in energy consumption, cost is low, the remarkable advantages such as easy realization, the farmland transfer robot that operating personnel realize short range by the hand-held remote controller of operation controls.
Position, speed and temperature monitoring unit, comprise the rotary encoder of three corresponding mechanical arms, DS18B20 temperature sensor and 12864 liquid crystal etc., the D3 of encoder and Arduino control unit, D4, D18, D19, D20 with D21 I/O mouth is connected, DS18B20 temperature sensor is connected with the D46I/O mouth of Arduino control unit, the D32-D42 of 12864 liquid crystal and main Arduino control unit totally 11 I/O mouths is connected, be mainly used in monitoring the angle position residing for each mechanical arm of farmland transfer robot in real time, speed state and robot temperature etc., definite meaning achieves the real-time monitoring of this control system, reach good human computer interaction, guarantee operation process is orderly, carry out stably.
Initial position reset unit, comprise three grooved limit switches and remote controller, they are connected with D2 numeral mouth with D29, D30, D31 of Arduino controller respectively, first send reset signal by the reset key on remote controller to Arduino control unit, the each mechanical arm of controller Received signal strength rear drive runs to extreme position and triggers grooved limit switch, grooved limit switch will send signal to Arduino controller unit subsequently, electric-motor drive unit, by driving device performance element, makes farmland conveying robot get back to initial position.
Power supply unit, comprise Switching Power Supply, air switch and relay etc., by household electric being converted into 24V and 5V two kinds of low-voltage power supplies, give the power supplies such as Arduino control unit, electric-motor drive unit, heat-sink unit respectively, as the energy supply module of whole farmland transfer robot.
Heat-sink unit, comprise fin, radiator fan, DS18B20 and relay etc., relay, DS18B20 are connected with D46I/O mouth with Arduino control unit D45 respectively, the temperature whether arriving default by measuring robots internal temperature controls startup and the closedown of radiator fan automatically, the forced convertion utilizing radiator fan to bring carries out multi-layer heat dissipation to robot, motor driver also there is corresponding fin, also can play the effect of heat loss.
Many groups synchronous belt drive mechanism comprises the synchronous pulley of first to the tenth.And supporting Timing Belt, first, second synchronous pulley realizes the rotation rotation of the first motor shaft being converted to guide rail; Three, the 4th synchronous pulley realizes the rotation of guide rail to be converted to turning arm rotation; Five, the 6th synchronous pulley realizes the rotation rotation of telescopic arm being converted to end mechanical arm; Seven, the 8th synchronous pulley realizes the rotation rotation of end mechanical arm being converted to end effector; Nine, the tenth synchronous pulley realizes the rotation rotation of the 3rd motor being converted to screw mandrel.
Turning arm moves up and down along vertical plane by driving end effector.The rotary motion of end effector is realized by the rotary course of turning arm.By the transmission that two groups of synchronous pulleys and end mechanical arm move, drive end effector is done rectilinear motion by telescopic arm along the horizontal plane.Finally, moved by their cooperation, jointly complete farmland transfer robot transport operation.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (7)
1. based on the control method that the crops of Arduino single-chip microcomputer carry, comprise carrying device, described carrying device comprises lifting arm, telescopic arm, turning arm execution unit, it is characterized in that, carries out as follows:
1) initialize, setting parameter, and start monitoring system, infrared remote control communication mode;
2) whether detection reset signal, stopping signal, enabling signal are in normal condition, and wherein reset signal resets in order to drive each execution machine mechanical arm;
3) after enabling signal sends, lifting arm is started working, until quit work after rising to assigned address;
4) after lifting arm puts in place, open and drive telescopic arm work, until just quit work after being elongated to assigned address;
5) after elongation puts in place, lifting arm is driven to rise and removed article;
6), after article have been removed, drive telescopic arm work, make it bounce back;
7) in the retraction process of previous step, turning arm work, until forward assigned address to;
8) the telescopic arm work in step 6), to assigned address, drives lifting arm to start working, makes it decline and put down article;
9) telescopic arm retraction, turning arm reversion resets, and waits for that next is carried;
Described carrying device comprises mechanical mechanism and control circuit two parts, described mechanical mechanism comprises frame, side in described frame is longitudinally provided with one can the splined shaft of gantry rotation relatively, the opposite side of described frame is longitudinally provided with a rhizoid bar, described screw mandrel is equipped with a lifting nut, described lifting nut is fixed with a lifting platform be slidably connected with splined shaft, the lifting platform bottom being positioned at splined shaft side is provided with a U-lag, the bottom of described splined shaft is fixed with one second synchronous pulley, the middle part warp beam upper spline of described splined shaft slidably connects one and is installed in the 3rd synchronous pulley in U-lag, the 3rd described synchronous pulley drives one to be horizontally disposed with it through Timing Belt and is positioned at the 4th synchronous pulley of lifting platform bottom side, the output shaft upper end of described 4th synchronous pulley is fixed with one and is positioned at toothed disc on the upside of lifting platform, the upper surface of described toothed disc is fixed with a turning arm, described turning arm is hinged with a telescopic arm, described telescopic arm is hinged with an end mechanical arm, described end mechanical arm is hinged with one in order to carry the end effector of crops, the second motor that an output shaft is longitudinally arranged is provided with in described turning arm, described second motor is connected through a side of the second decelerator and telescopic arm, the interior side that is connected with decelerator of described telescopic arm is provided with one the 5th synchronous pulley, opposite side is provided with the 6th synchronous pulley be connected with the 5th synchronous pulley through Timing Belt, the 5th described synchronous pulley and the upper end of turning arm are connected, one side of described 6th synchronous pulley and end mechanical arm is connected, the interior side that is connected with the 6th synchronous pulley of described end mechanical arm is provided with one the 7th synchronous pulley, opposite side is provided with the 8th synchronous pulley be connected with the 7th synchronous pulley through Timing Belt, described 8th synchronous pulley and end effector are connected, another side of described 7th synchronous pulley and telescopic arm is connected, described second synchronous pulley is driven by the first synchronous pulley be located in frame on side, described first synchronous pulley is driven through the first decelerator by the first motor be located in frame, opposite side in described frame is provided with the 3rd motor, the output shaft of described 3rd motor is connected with the 9th synchronous pulley, described 9th synchronous pulley to drive with the tenth synchronous pulley being fixed on screw mandrel lower end through Timing Belt and is connected, described control circuit comprises Arduino controller module, drives three motor drive modules of described first, second, third motor, described Arduino controller module is connected with first, second, third motor circuit through three motor drive modules respectively, the execution route being positioned at turning arm, telescopic arm is provided with three limit switches, wherein, turning arm place arranges the two kinds of limit switches rotating and be elevated respectively, and three described limit switches are connected with Arduino controller module circuit through initial reset unit respectively.
2. the control method of a kind of carrying of the crops based on Arduino single-chip microcomputer according to claim 1, it is characterized in that: first, second, third described motor is also respectively arranged with a rotary encoder, described rotary encoder through position, speed detection unit is connected with Arduino controller module circuit.
3. the control method of a kind of crops based on Arduino single-chip microcomputer carrying according to claim 1, is characterized in that: also comprise a supply module in order to power to Arduino controller module, three driving stepper motor modules and radiating module.
4. the control method of a kind of crops based on Arduino single-chip microcomputer carrying according to claim 1, is characterized in that: also comprise one and show the infrared remote control module of 12864 liquid crystal displays and the infrared connection be connected with Arduino controller module.
5. the control method of a kind of carrying of the crops based on Arduino single-chip microcomputer according to claim 1, is characterized in that: the gear ratio of first and second synchronous pulley described is 1:1; The gear ratio of the described 3rd and the 4th synchronous pulley is 1:2; The gear ratio of the described 5th and the 6th synchronous pulley is 2:1; The gear ratio of the described 7th and the 8th synchronous pulley is 1:2; The gear ratio of the described 9th and the tenth synchronous pulley is 5:4.
6. the control method of a kind of carrying of the crops based on Arduino single-chip microcomputer according to claim 1, is characterized in that: described frame bottom side is provided with universal wheel.
7. the control method of a kind of carrying of the crops based on Arduino single-chip microcomputer according to claim 1: the bottom in described frame is also provided with radiator fan.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN109773014A (en) * | 2019-01-21 | 2019-05-21 | 常州豪乐金业机械有限公司 | A kind of high-precision hot forging impact forming method and device |
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| CN1716342A (en) * | 2005-07-11 | 2006-01-04 | 天津市源峰科技发展公司 | Logistics operation training system and making method |
| CN101770970A (en) * | 2010-01-26 | 2010-07-07 | 沈阳富森科技有限公司 | Automatic transmission device for reshipping quartz boat |
| CN202005185U (en) * | 2010-12-29 | 2011-10-12 | 刘薇 | Intelligent flower watering control system |
| CN102794768A (en) * | 2012-09-10 | 2012-11-28 | 江南现代工业研究院 | Material carrying robot and industrial process control method thereof |
| CN102848387A (en) * | 2011-06-28 | 2013-01-02 | 苏州经贸职业技术学院 | Conveying manipulator system |
| CN103640930A (en) * | 2013-12-07 | 2014-03-19 | 巨石集团成都有限公司 | Automatic transfer robot applicable to automatic barrel discharging of glass fibers and working method thereof |
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| US20140167795A1 (en) * | 2012-12-14 | 2014-06-19 | Texas Instruments Incorporated | Active feedback silicon failure analysis die temperature control system |
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| CN1716342A (en) * | 2005-07-11 | 2006-01-04 | 天津市源峰科技发展公司 | Logistics operation training system and making method |
| CN101770970A (en) * | 2010-01-26 | 2010-07-07 | 沈阳富森科技有限公司 | Automatic transmission device for reshipping quartz boat |
| CN202005185U (en) * | 2010-12-29 | 2011-10-12 | 刘薇 | Intelligent flower watering control system |
| CN102848387A (en) * | 2011-06-28 | 2013-01-02 | 苏州经贸职业技术学院 | Conveying manipulator system |
| CN102794768A (en) * | 2012-09-10 | 2012-11-28 | 江南现代工业研究院 | Material carrying robot and industrial process control method thereof |
| CN103640930A (en) * | 2013-12-07 | 2014-03-19 | 巨石集团成都有限公司 | Automatic transfer robot applicable to automatic barrel discharging of glass fibers and working method thereof |
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