CN106112956A - Grain fumigation dispensing Work robot and medication administration method thereof - Google Patents
Grain fumigation dispensing Work robot and medication administration method thereof Download PDFInfo
- Publication number
- CN106112956A CN106112956A CN201610563744.3A CN201610563744A CN106112956A CN 106112956 A CN106112956 A CN 106112956A CN 201610563744 A CN201610563744 A CN 201610563744A CN 106112956 A CN106112956 A CN 106112956A
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- motor
- dispensing
- robot
- mechanical arm
- medicine
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- 239000003814 drug Substances 0.000 title claims abstract description 90
- 238000003958 fumigation Methods 0.000 title claims abstract description 26
- 229940079593 drug Drugs 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000002360 explosive Substances 0.000 claims abstract description 33
- 239000000843 powder Substances 0.000 claims abstract description 8
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 23
- 240000005373 Panax quinquefolius Species 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000007689 inspection Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- ILRRQNADMUWWFW-UHFFFAOYSA-K aluminium phosphate Chemical compound O1[Al]2OP1(=O)O2 ILRRQNADMUWWFW-UHFFFAOYSA-K 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 2
- 230000006378 damage Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- XYFCBTPGUUZFHI-UHFFFAOYSA-N Phosphine Chemical compound P XYFCBTPGUUZFHI-UHFFFAOYSA-N 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 230000000241 respiratory effect Effects 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 231100000004 severe toxicity Toxicity 0.000 description 1
- 235000013599 spices Nutrition 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23B—PRESERVING, e.g. BY CANNING, MEAT, FISH, EGGS, FRUIT, VEGETABLES, EDIBLE SEEDS; CHEMICAL RIPENING OF FRUIT OR VEGETABLES; THE PRESERVED, RIPENED, OR CANNED PRODUCTS
- A23B9/00—Preservation of edible seeds, e.g. cereals
- A23B9/16—Preserving with chemicals
- A23B9/18—Preserving with chemicals in the form of gases, e.g. fumigation; Compositions or apparatus therefor
- A23B9/22—Preserving with chemicals in the form of gases, e.g. fumigation; Compositions or apparatus therefor in a controlled atmosphere comprising other gases in addition to CO2, N2, O2 or H2O
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Catching Or Destruction (AREA)
Abstract
Grain fumigation dispensing Work robot and medication administration method thereof, including running gear, running gear is provided with control system, lifting grasping system, automatic lid closing/opening system and rotary bidirection feeding system；The initial position of lifting grasping system operating side and the operating side of automatic lid closing/opening system are respectively positioned on the top of rotary bidirection feeding system, and control system is located in running gear；Lifting grasping system includes electric lifting pole and mechanical arm, electric lifting pole is fixed on the rear upper surface of running gear, electric lifting pole is arranged in vertical, the expansion link upper end of electric lifting pole is provided with the first motor that main shaft is arranged vertically upward, one end of mechanical arm is fixed on the main shaft of the first motor, and the main shaft of mechanical arm and the first motor is vertically arranged.The present invention is reasonable in design, can on the walkway board of grain heap surface autonomous, be accurately positioned, it is possible to automatically capture medicine bottle open bottle cover powder charge in explosive barrel, can realize turning round two-way input medicine simultaneously.
Description
Technical field
The invention belongs to robot application technical field, particularly relate to a kind of grain fumigation dispensing Work robot and throwing thereof
Prescription method.
Background technology
In recent years, along with scoring consecutive bumper harvests of China's grain, the scale of grain depot is increasing, and single storage amount is increasingly
Many, but grain fumigation dispensing operation is because of the never change in decades of its particularity.
When annual summer arrives, along with the rising of temperature, grain insect pest just there occurs, will carry out stifling dispensing this moment and make
Industry.Because generating severe toxicity gas hydrogen phosphide after stifling common medicine aluminum phosphate deliquescence, so operator must wear during stifling operation
Air respiratorresuscitator just can complete operation.
After determining that needs are stifling, grain depot organizing operator, general 5 to 8 people are advisable, and everyone has worn air breathing
Device specifies position in arriving storehouse, distributes medicine, division of labor detail, fixes everyone medicine to be thrown in and some position, receives drug commands
Rear open medicine bottle simultaneously, quickly medicine is rendered to predetermined point position by metering, quickly withdraw after completing dispensing and deliver from godown, check people
Member, it is ensured that after errorless, airtight good door.Every operation is pressed Ls/T 1201-2002 standard and is performed.
At present, both at home and abroad stifling dispensing operation, still completes with manual operation, and this method danger coefficient is high, domestic often goes out
Now stifling dispensing job safety accident.Even if wearing respiratory organ, do not have an accident, but percutaneous contact after medicine deliquescence
Infiltration sucks also unpredictalbe harm to human body, replaces artificial stifling dispensing in the urgent need to a kind of automated machine equipment
Operation.
Summary of the invention
For the problem of existing artificial stifling dispensing operation, the invention provides a kind of grain fumigation dispensing Work robot
And medication administration method, can on the walkway board of grain heap surface autonomous, be accurately positioned, it is possible to automatically capture medicine bottle and also open bottle
Lid powder charge in explosive barrel, can realize turning round two-way input medicine simultaneously.
For solving above-mentioned technical problem, the technical solution adopted in the present invention is as follows: grain fumigation dispensing Work robot,
Including running gear, running gear is provided with control system, lifting grasping system, automatic lid closing/opening system and rotary bidirection
Feeding system；The initial position of lifting grasping system operating side and the operating side of automatic lid closing/opening system are respectively positioned on rotary bidirection and throw
The top of material system, control system is located in running gear.
Lifting grasping system includes electric lifting pole and mechanical arm, and electric lifting pole is fixed on the rear portion of running gear
Surface, electric lifting pole is arranged in vertical, and the expansion link upper end of electric lifting pole is provided with what main shaft was arranged vertically upward
First motor, one end of mechanical arm is fixed on the main shaft of the first motor, and mechanical arm is vertical with the main shaft of the first motor to be set
Putting, the other end of mechanical arm is provided with the second motor and steadying plate, the spindle centerline of the second motor and mechanical arm length
Direction is parallel, and steadying plate place plane is vertical with mechanical arm length direction, and steadying plate offers installing hole, turns in installing hole
Be dynamically connected drive link, and one end of drive link is connected by the spindle drive of shaft coupling and the second motor, the other end of drive link
Being provided with mechanical hand, the bottom of mechanical hand is provided with range sensor, and the gripping surface of mechanical hand is equipped with rubber cover.
Automatic lid closing/opening system includes bracing frame and hood-opening device, and bracing frame is vertically mounted on table on the rear portion of running gear
Face, the top of bracing frame is provided with the 3rd motor in the horizontal direction；The main shaft of the 3rd motor and the power intake of hood-opening device
It is in transmission connection；The upper end of bracing frame is fixedly connected with the image support set up, if the upper end of image support is provided with
Dry photographic head.
Rotary bidirection feeding system includes containing explosive barrel, dispensing ware, the 4th motor and dispensing transmission mechanism, contains the top of explosive barrel
End opening, contains bottom explosive barrel in upper coarse and lower fine pyramidal structure and is provided with discharging opening, and the arranged on left and right sides containing explosive barrel is respectively equipped with two
The montant that root is arranged vertically downward, the bottom of two montants is fixing with the upper surface on chassis respectively to be connected, contain outside explosive barrel and
Bracing frame sidepiece is fixing to be connected；4th motor is fixed on upper surface in the middle part of chassis, and the main shaft of the 4th motor is arranged vertically upward；Throw
Medicine ware inner hollow, the top of dispensing ware is upper coarse and lower fine funnel structure, and the bottom of dispensing ware is cylindrical structural, ware of offeing medicine
Bottom offer through hole along the longitudinal direction, the cross sectional shape of through hole is square, through hole with dispensing ware inside be connected, dispensing pass
Transfer mechanism is arranged in through hole, and the bottom of dispensing ware is provided with the connecting hole that the spindle drive with the 4th motor is connected；Contain explosive barrel, throwing
The centrage of medicine ware and the 4th motor overlaps.
Running gear includes chassis and is positioned at two crawler belts of the left and right sides, chassis, is equipped with and is positioned at rear portion in two crawler belts
Two driving wheels and be positioned at front portion two driven pulleys, the position on the lower side, middle part in two crawler belts is respectively equipped with two supports
Wheel, the rearward end on chassis is respectively arranged on the left side and the right side a mounting seat, and each mounting seat is equipped with a driving motor, each
The main shaft of individual driving motor is all in transmission connection by the axis hole of flat key form with a driving wheel, and the middle part on chassis is provided with power pack
With control box.
Dispensing transmission mechanism includes that the 5th motor, H-type groove frame and conveyer belt, H-type groove frame wear and is arranged on the logical of dispensing ware
In hole, the rear end of H-type groove frame protrudes upward through hole, and the 5th motor is fixedly connected on the rearward end of H-type groove frame, the master of the 5th motor
Being fixed with gear on axle, the front end of H-type groove frame extends downwardly from through hole and is rotatably connected to delivering rubber roller, the sheathed installation of conveyer belt
On gear, delivering rubber roller and H-type groove frame.
Control system includes accumulator, PLC master control plate and wireless signal receiver, and accumulator is arranged in power pack, PLC
Master control plate and signal receiver are installed in control box, and the front side on chassis and the edge of rear side are respectively equipped with an angle and pass
Sensor；Accumulator connects PLC master control plate by service cable, and PLC master control plate connects respectively by controlling cable and service cable
Wireless signal receiver, two driving motors, two angular transducers, range sensor, electric lifting pole, the first motor,
Two motors, the 3rd motor, the 4th motor and the 5th motor, mechanical hand and photographic head.
Hood-opening device is made up of inserted link and module, and the side opening of module is provided with profiling draw-in groove, and the center, side of module sets
Ring flange, ring flange is had to offer slot centrally along radial direction；Inserted link is provided with limiting plate, and limiting plate is vertical with inserted link to be set
Putting, be connected by some limit spring between limiting plate and the trailing flank of module, limiting plate center is provided with fixture block and plug, plug
Through ring flange centre bore and extend in module, the planform of fixture block is adaptive with slot；The main shaft of the 3rd motor is by connection
Axial organ connects the rearward end of inserted link.
Comprise the following steps:
(1), robot system self-inspection；
(2), get it filled and to capture a medicine bottle；
(3), opening medical bottle bottle cap；
(4), two-way dispensing.
Described step (1) particularly as follows:
Before a, operation, after personnel's warehouse entry, first carry out preliminary preparation, as sealed window etc., then put Sheng batch pan or laying
Other contain medicine product, arrange according to grain fumigation dosage situation that a few place is fixing to get it filled a little, aluminum phosphate medicine bottle is placed in height,
Apart from suitable position, robot is put on the walkway board of silo, open this equipment, enter Auto-Sensing Mode, according to prompting really
This equipment self-inspection fixed；
B, operator are walked by external remote controller manipulation grain fumigation dispensing Work robot, it is ensured that advance, at the bottom of when retreating
It is consistent that the direction of travel of dish and walkway board lay direction, when needs are turned, presses the manipulation key of external remote controller, chassis according to
The parameter automatic turning set 90 degree；When reasons such as running into walkway board out-of-flatness causes direction of travel and the walkway board on chassis
When laying direction is inconsistent, PLC master control plate sends update information, from the speed of dynamic(al) correction left and right crawler belt, makes the walking side on chassis
The most consistent to laying direction with walkway board；The action sequentially of each mechanism once automatically resets；
Await orders after c, robot self-inspection normally.
Described step (2) particularly as follows:
A, the synthetic data operation robot ambulation provided by angular transducer and photographic head are got it filled a little to fixing；
B, operate external remote controller, by the image information of cam feedback, control the expansion link of electric lifting pole rise or under
Fall, the first driven by motor mechanical arm rotates to the position got it filled a little simultaneously；
C, the manipulator behavior of mechanical arm leading section, promptly medicine bottle, the expansion link of electric lifting pole rises, the first driven by motor
Mechanical arm rotates, and the second motor rotates simultaneously, mechanical hand and medicine bottle 90-degree rotation, keeps level.
Described step (3) particularly as follows:
(I), mechanical arm rotate, in the bottle cap of medicine bottle enters the profiling draw-in groove of hood-opening device and press die block, module is with spacing
Limit spring forced contraction between plate, the plug of inserted link front portion is plugged in ring flange, and fixture block snaps fit onto the slot of ring flange
In；
(II), the 3rd motor rotate the bottle cap snapping in module profiling draw-in groove is backed out from medicine bottle, the first driven by motor mechanical hand
After arm rotates to the surface of Sheng explosive barrel, the second driven by motor drive link 90-degree rotation, tablet poured into by mechanical hand grasping medicine bottle
In Sheng explosive barrel；
(III), fall after medicine completes, the second motor 90-degree rotation make medicine bottle level and bottleneck towards module, the first driven by motor machinery
Arm rotates, and the bottleneck of medicine bottle is sent in module, and the 3rd motor rotates, by bottle cap again cycle medicine bottle, the first driven by motor
Mechanical arm rotates to an angle, when the mechanical hand capturing empty medicine bottle is positioned at the top of reclaiming bag, and mechanical hand release medicine bottle, medicine
Reclaiming bag fallen into by bottle, according to drug dosage needs, repeats above action.
Described step (4) particularly as follows:
, fixed point dispensing；After Sheng explosive barrel is not required to powder charge, robot ambulation, to dispensing point, halts, and the 4th motor rotates, band
Dynamic dispensing ware 90-degree rotation to the left or to the right, the 5th motor rotates, and dispensing transmission mechanism runs, by external remote controller and PLC
The speed of master control plate regulation conveyer belt and time, tablet is the most accurately invested in the Sheng batch pan presetting dispensing point, the 4th electricity
Not the traveling at the uniform speed of the small angle rotation of machine and the 5th motor can control the tablet launched will not superposition and uniformly placing；Pass through
Control robot ambulation to the different dispensing point of silo, complete dispensing operation.
, mobile dispensing；After Sheng explosive barrel is not required to powder charge, the 4th motor rotates, and drives dispensing ware to rotate to the left or to the right
90 degree, selecting a direction to fix, robot walks forward, and the 5th motor rotates, and dispensing transmission mechanism runs, by external distant
Control device and the speed of PLC master control plate regulation conveyer belt, be accurately invested in tablet on default Sheng medicine product, now can complete
The ribbon distribution dispensing of one segment distance, the speed of service of the 5th motor can control the tablet launched will not superposition and uniformly putting
Put；Lay regular as long as early stage contains medicine product, can more be efficiently completed robot stifling dispensing operation.
The method have the advantages that
1, have employed automatic running gear, by operated by personnel's external remote controller control signal receptor and PLC master control plate,
Wireless signal receiver and PLC master control buttress control the walking of automatic running gear according to the instruction that external remote controller sends, by control
Make two driving motors rotate forward simultaneously or invert, make drive wheel crawler belt drive chassis to advance or retreat, when setting two
When driving motor speed difference, automatic turning can be realized, use crawler type running system to be easy to walking stable, use two independences
Driving motor, it is simple to walking Servo Control, the height of whole endless track installation is relatively low, is beneficial to lower the center of gravity and save height
Space on direction；
2, the side on chassis is provided with one in front and one in back two angle induction apparatuss, can sense the direction of travel on chassis, positive reason in real time
Under condition, the angle difference of two angular transducers is within set point, it is ensured that chassis direction of travel lays direction one with walkway board
Causing, when the angle difference of two sensors is beyond set point, PLC master control plate sends update information, corrects two and drives electricity
The rotating speed of machine, controls chassis and remains consistent with walkway board laying direction；
3, have employed lifting grasping system, controlled the expansion link raising and lowering of electric lifting pole by external remote controller, flexible
State and the position of bar are provided with the first motor by position sensor Real-time Feedback, the upper end of expansion link, by the first motor
Controlling mechanical arm spinning movement in radial directions, mechanical arm is provided with the second motor and drive link, by the second motor
Driving drive link to do radial rotary action, the other end of drive link is provided with mechanical hand, and mechanical hand is used for capturing and discharging medicine bottle；
4, have employed automatic lid closing/opening system, fix hood-opening device by bracing frame, the side opening of module is provided with and medicine bottle cap profile
Identical profiling draw-in groove, is plugged into the bottle cap of medicine bottle during use in profiling draw-in groove simultaneously backward by die block, and module is with spacing
Limit spring forced contraction between plate, the plug of inserted link front portion is plugged in ring flange, and fixture block snaps fit onto the slot of ring flange
In, the 3rd motor rotates to be backed out bottle cap from medicine bottle, and the 3rd motor opposite direction rotates can tighten bottle cap, due to profiling draw-in groove
Structure can freely depart from module when tightening bottle cap；
5, have employed rotary bidirection feeding system, contain explosive barrel and can once store many bottles of spices, the work input cycle is long, dispensing
The bottom of ware is fixing with the main shaft of the 4th motor to be connected, and can realize, by controlling the 4th motor action, ware radial direction 180 degree of offeing medicine
Left and right revolution；5th motor drives rubber roll to rotate by engaged gears, and rubber roll driving conveying belt runs in " H " type truss, logical
The transmission speed and the time that cross PLC master control plate control conveyer belt can realize the accurate of dosage and throw in；
6, have employed the control mode that external remote controller, wireless signal receiver and PLC master control plate coordinate, wireless signal receiver
Feeding back, for receiving, the instruction that external remote controller and PLC master control plate are sent, external remote controller is grasped by wireless signal receiver
Control PLC master control plate and then control each part runs；
7, have employed chargeable storage high-power, jumbo to power to each electric-controlled parts, accumulator is long for cruising time, makes whole
Individual grain fumigation dispensing checking job robot system is reliable and stable；
8, it is equipped with rubber cover on the gripping surface of mechanical hand, both can protect the most crawled damage of medicine bottle, can increase again
Frictional force, makes crawl medicine bottle more firm stable, and arm end is provided with range sensor, automatically senses the position of medicine bottle；
9, the upper end of image support is provided with the high-definition camera towards four direction, is received by PLC master control plate and signal
Device feeds back image information to video display terminal, it is achieved that operator talk with at the real-time, interactive of different spaces with robot.
In sum, the present invention is reasonable in design, have employed automatic running gear, by staff by video display eventually
The image information of end feedback operates external remote controller can realize free walking；Cooperate between each system, can realize automatically grabbing
The two-way dispensing of medicament taking bottle, automatic opening bottle cap, automatic rotary；High-definition camera feeds back image information to video display terminal, real
Show operator to talk with at the real-time, interactive of different spaces with robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the left view of the present invention；
Fig. 3 is the top view of the present invention；
Fig. 4 is offer medicine in the present invention ware and the assembling structural representation of dispensing transmission mechanism；
Fig. 5 is the structural representation of hood-opening device in the present invention；
Fig. 6 is the structural representation of ring flange in the present invention；
Reference in figure: 1 chassis, 2 crawler belts, 3 driving wheels, 4 driven pulleys, 5 support wheel, and 6 drive motor, 7 power packs, 8 controls
Box processed, 9 accumulator, 10PLC master control plate, 11 wireless signal receivers, 12 angular transducers, 13 montants, 14 electric lifting poles, 15
Mechanical arm, 16 expansion links, 17 first motors, 18 second motors, 19 steadying plates, 20 drive links, 21 mechanical hands, 22 bracing frames,
23 the 3rd motors, 25 inserted links, 26 modules, 27 ring flanges, 28 slots, 29 limiting plates, 30 springs, 31 plugs, 32 fixture blocks, 33 shadows
Picture support, 34 photographic head, 35 Sheng explosive barrels, 36 dispensing wares, 37 the 4th motors, 39 the 5th motors, 40H type truss, 41 conveyer belts, 42
Gear, 43 rubber rolls, 44 connecting holes, 45 range sensors.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described in further detail:
With the dextrad in Fig. 1 as forward direction in the present embodiment, left-hand is backward.
As shown in Fig. 1 Fig. 6, grain fumigation dispensing Work robot, including running gear, running gear is provided with
Control system, lifting grasping system, automatic lid closing/opening system and rotary bidirection feeding system；At the beginning of lifting grasping system operating side
The operating side of beginning position and automatic lid closing/opening system is respectively positioned on the top of rotary bidirection feeding system, and control system is located at Running System
In system.
Lifting grasping system includes electric lifting pole 14 and mechanical arm 15, and electric lifting pole 14 is fixed on running gear
Rear right upper surface, expansion link 16 upper end of electric lifting pole 14 is provided with the first motor 17 that main shaft is arranged vertically upward,
One end of mechanical arm 15 is fixed on the main shaft of the first motor 17, and mechanical arm 15 is vertical with the main shaft of the first motor 17 to be set
Putting, the other end of mechanical arm 15 is provided with the second motor 18 and steadying plate 19, the spindle centerline of the second motor 18 and machinery
Arm 15 length direction is consistent, and steadying plate 19 place plane is vertical with mechanical arm 15 length direction, along the master of the second motor 18
Shaft centre line direction offers installing hole on steadying plate 19, and the main shaft of the second motor 18 is by shaft coupling and drive link 20 transmission
Connecting, the other end of drive link 20 is provided with mechanical hand 21, and the bottom of mechanical hand is provided with range sensor 45, the crawl of mechanical hand 21
Rubber cover it is equipped with on face.
Automatic lid closing/opening system includes that bracing frame 22 and hood-opening device, bracing frame 22 are vertically mounted on a left side, rear portion for running gear
Side upper surface, the top of bracing frame 22 is provided with the 3rd motor 23 in the horizontal direction；The main shaft of the 3rd motor 23 and hood-opening device
Power intake be in transmission connection；The upper end of bracing frame 22 is fixedly connected with the image support 33 set up, image support
The upper end of 33 is provided with some photographic head 34.
Rotary bidirection feeding system includes containing explosive barrel 35, dispensing ware the 36, the 4th motor 37 and dispensing transmission mechanism, contains medicine
The top end opening of bucket 35, contains bottom explosive barrel 35 in upper coarse and lower fine pyramidal structure and is provided with discharging opening, containing left and right the two of explosive barrel 35
Side is respectively equipped with two montants arranged vertically downward 13, and the bottom of two montants 13 upper surface with chassis 1 respectively is fixed
Connect, contain fixing with bracing frame 22 sidepiece outside explosive barrel 35 connection；4th motor 37 is fixed on upper surface in the middle part of chassis 1, and the 4th
The main shaft of motor 37 is arranged vertically upward；Dispensing ware 36 inner hollow, the top of dispensing ware 36 is upper coarse and lower fine funnel structure,
The bottom of dispensing ware 36 is cylindrical structural, and the bottom of dispensing ware 36 offers through hole along the longitudinal direction, the cross sectional shape of through hole
Being square, through hole is internal with dispensing ware 36 to be connected, and dispensing transmission mechanism is arranged in through hole, the bottom of dispensing ware 36 be provided with
The connecting hole 44 of connection fixed by the main shaft of the 4th motor 37；The centrage containing explosive barrel 35, dispensing ware 36 and the 4th motor 37 overlaps.
Running gear includes chassis 1 and is positioned at two crawler belts 2 of the left and right sides, chassis 1, is equipped with and is positioned in two crawler belts 2
Two driving wheels 3 at rear portion and two driven pulleys 4 being positioned at front portion, the position on the lower side, middle part in two crawler belts 2 is respectively equipped with two
Individual support wheel 5, the rearward end on chassis 1 is respectively arranged on the left side and the right side a mounting seat, and each mounting seat is equipped with a driving
Motor 6, the main shaft of each driving motor 6 is all in transmission connection by the axis hole of flat key form with a driving wheel 3, chassis 1
Middle part is provided with power pack 7 and controls box 8.
Control system includes accumulator 9, PLC master control plate 10 and wireless signal receiver 11, and accumulator 9 is arranged on power pack
In 7, PLC master control plate 10 and wireless signal receiver 11 are installed in control box 8, the front side on chassis 1 and the edge of rear side
It is respectively equipped with an angular transducer 12；Accumulator 9 connects PLC master control plate 10 by service cable, and PLC master control plate 10 is by control
Cable processed and service cable connect signal receiver 11, two driving motors 6, two angular transducers 12, electric up-downs respectively
Post 14, range sensor 45, mechanical hand 21, photographic head the 34, first motor the 17, second motor the 18, the 3rd motor the 23, the 4th motor
37 and the 5th motor 39.
Dispensing transmission mechanism includes that the 5th motor 39, H-type groove frame 40 and conveyer belt 41, H-type groove frame 40 wear and be arranged on throwing
In the through hole of medicine ware 36, through hole is stretched out in the rear end of H-type groove frame 40, and upwards, front extreme direction is downward, forms specific inclination angle in direction, the
Five motors 39 are fixedly connected on the rearward end of H-type groove frame, and the main shaft of the 5th motor 39 is provided with gear 42, and this gear 42 passes through
Engage drive rubber roll 43 to rotate with conveyer belt 41.
Hood-opening device is made up of inserted link 25 and module 26, and the side opening of module 26 is provided with profiling draw-in groove, the rear side of module 26
Center is provided with ring flange 27, and ring flange 27 offers slot 28 centrally along radial direction；Inserted link 25 is provided with limiting plate 29, limit
Position plate 29 is vertically arranged with inserted link 25, is connected by some limit spring 30 between limiting plate 29 with the trailing flank of module 26, limit
The center of position plate 29 is provided with fixture block 32 and plug 31, and plug 31 is through ring flange 27 centre bore and extend in module 26, fixture block
The planform of 32 is adaptive with slot 28；The main shaft of the 3rd motor 23 connects the rearward end of inserted link 25 by shaft coupling.
The medication administration method of grain fumigation dispensing Work robot is achieved by the steps of:
(1), robot system self-inspection；
(2), get it filled and to capture a medicine bottle；
(3), opening medical bottle bottle cap；
(4), two-way dispensing.
Described step (1) particularly as follows:
Before a, operation, after personnel's warehouse entry, first carry out preliminary preparation, as sealed window etc., then put Sheng batch pan or laying
Other contain medicine product, arrange according to grain fumigation dosage situation that a few place is fixing to get it filled a little and reclaiming bag, by aluminum phosphate medicine bottle pendulum
Be placed on height, apart from suitable position, robot is put on the walkway board of silo, opens this equipment, enter Auto-Sensing Mode, root
This equipment self-inspection is determined according to prompting；
B, operator are walked by external remote controller manipulation grain fumigation dispensing Work robot, it is ensured that advance, at the bottom of when retreating
It is consistent that the direction of travel of dish 1 lays direction with walkway board, when needs are turned, presses the manipulation key of external remote controller, 1, chassis
According to the parameter automatic turning set 90 degree；When reasons such as running into walkway board out-of-flatness causes direction of travel and the aisle on chassis 1
When the laying direction of plate is inconsistent, PLC master control plate 10 sends update information, from the speed of dynamic(al) correction left and right crawler belt, makes chassis 1
Direction of travel and walkway board to lay direction the most consistent；The action sequentially of each mechanism once automatically resets.
Await orders after c, robot self-inspection normally.
Described step (2) particularly as follows:
A, the synthetic data operation robot ambulation provided by angular transducer 12 and photographic head 34 are got it filled a little to fixing；
B, operate external remote controller, the image information fed back by photographic head 34, control on the expansion link 16 of electric lifting pole 14
Rising, the first motor 17 driving mechanical arm 15 rotates to the position got it filled a little simultaneously；
C, the expansion link 16 of control electric lifting pole 14 drop to setting position, and the mechanical hand 21 of mechanical arm 15 leading section moves
Making, promptly medicine bottle, the expansion link 16 of electric lifting pole 14 rises, and the first motor 17 driving mechanical hands 21 arm 15 rotates, and simultaneously the
Two motors 18 rotate, mechanical hand 21 and medicine bottle 90-degree rotation, keep level.
Described step (3) particularly as follows:
(I), mechanical hand 21 arm 15 rotates, in the bottle cap of medicine bottle enters the profiling draw-in groove of hood-opening device and press die block 26, module
Limit spring 30 forced contraction between 26 and limiting plate 29, the plug 31 of inserted link 25 front portion is plugged in ring flange 27, fixture block
In 32 slots 28 snapping fit onto ring flange 27；
(II), the 3rd motor 23 rotate and the bottle cap snapping in module 26 profiling draw-in groove backed out from medicine bottle, the first motor 17 drives
After mechanical hand 21 arm 15 rotates to the surface of Sheng explosive barrel 35, the second motor 18 drives drive link 20 90-degree rotation, mechanical hand 21
Grasping medicine bottle is poured tablet in Sheng explosive barrel 35 into；
(III), falling after medicine completes, the second motor 18 90-degree rotation makes medicine bottle level and bottleneck carry towards module 26, the first motor 17
Dynamic mechanical hand 21 arm 15 rotates, and the bottleneck of medicine bottle is sent in module 26, and the 3rd motor 23 rotates, by bottle cap again cycle medicine
Bottle, the first motor 17 driving mechanical hands 21 arm 15 rotates to an angle, when mechanical hand 21 is positioned at the top of reclaiming bag, mechanical hand
21 release medicine bottles, reclaiming bag fallen into by medicine bottle, according to drug dosage needs, repeats above action.
Described step (4) particularly as follows:
(i), fixed point dispensing: after Sheng explosive barrel 35 is not required to powder charge, robot ambulation, to dispensing point, halts, and the 4th motor 37 revolves
Turning, drive dispensing ware 36 90-degree rotation to the left or to the right, the 5th motor 39 rotates, and dispensing transmission mechanism runs, by external distant
Control device and PLC master control plate 10 regulate speed and the time of conveyer belt 41, tablet are the most accurately invested in the Sheng presetting dispensing point
In batch pan, the small angle rotation of the 4th motor 37 and the tablet that can control to launch that do not travels at the uniform speed of the 5th motor 39 will not be folded
Add and uniformly place；By the dispensing point that control robot ambulation to silo is different, complete robot stifling dispensing operation；
(2), mobile dispensing: after Sheng explosive barrel 35 is not required to powder charge, the 4th motor 37 rotates, and drives dispensing ware 36 to the left or to the right
Rotation is turned to another direction fixing, and robotically-driven motor 6 runs, and the 5th motor 39 rotates, and dispensing transmission mechanism runs, by external
Remote controller and PLC master control plate 10 regulate the speed of the 5th motor 39, tablet are accurately invested on default Sheng medicine product, now
Can complete the dispensing of a segment distance, the speed of service of the 5th motor 39 can control the tablet launched will not superposition and uniformly putting
Put；Lay regular as long as early stage will contain medicine product, can more be efficiently completed robot stifling dispensing operation.
The shape of the present invention, material, structure etc. are not made any pro forma restriction by the present embodiment, every according to this
Any simple modification, equivalent variations and the modification that above example is made by bright technical spirit, belongs to the technology of the present invention side
The protection domain of case.
Claims (10)
1. grain fumigation dispensing Work robot, it is characterised in that: include running gear, running gear is provided with control system
System, lifting grasping system, automatic lid closing/opening system and rotary bidirection feeding system；The initial position of lifting grasping system operating side
With the top that the operating side of automatic lid closing/opening system is respectively positioned on rotary bidirection feeding system, control system is located in running gear；
Lifting grasping system includes electric lifting pole and mechanical arm, and electric lifting pole is fixed on table on the rear portion of running gear
Face, electric lifting pole is arranged in vertical, and the expansion link upper end of electric lifting pole is provided with that main shaft is arranged vertically upward
One motor, one end of mechanical arm is fixed on the main shaft of the first motor, and the main shaft of mechanical arm and the first motor is vertically arranged,
The other end of mechanical arm is provided with the second motor and steadying plate, the spindle centerline of the second motor and mechanical arm length direction
Parallel, steadying plate place plane is vertical with mechanical arm length direction, and steadying plate offers installing hole, the company of rotation in installing hole
Being connected to drive link, one end of drive link is connected by the spindle drive of shaft coupling and the second motor, and the other end of drive link is provided with
Mechanical hand, the bottom of mechanical hand is provided with range sensor, and the gripping surface of mechanical hand is equipped with rubber cover；
Automatic lid closing/opening system includes bracing frame and hood-opening device, and bracing frame is vertically mounted on the rear upper surface of running gear,
The top of support is provided with the 3rd motor in the horizontal direction；The main shaft of the 3rd motor connects with the power intake transmission of hood-opening device
Connect；The upper end of bracing frame is fixedly connected with the image support set up, and the upper end of image support is provided with some shootings
Head；
Rotary bidirection feeding system includes containing explosive barrel, dispensing ware, the 4th motor and dispensing transmission mechanism, and the top containing explosive barrel is opened
Mouthful, contain bottom explosive barrel in upper coarse and lower fine pyramidal structure and be provided with discharging opening, containing the arranged on left and right sides of explosive barrel and be respectively equipped with two and hang down
The most down-set montant, the bottom of two montants is fixing with the upper surface on chassis respectively to be connected, with support outside Sheng explosive barrel
Frame sidepiece is fixing to be connected；4th motor is fixed on upper surface in the middle part of chassis, and the main shaft of the 4th motor is arranged vertically upward；Dispensing ware
Inner hollow, the top of dispensing ware is upper coarse and lower fine funnel structure, and the bottom of dispensing ware is cylindrical structural, under dispensing ware
Portion offers through hole along the longitudinal direction, and the cross sectional shape of through hole is square, and through hole is connected inside dispensing ware, conveyer of offeing medicine
Structure is arranged in through hole, and the bottom of dispensing ware is provided with the connecting hole that the spindle drive with the 4th motor is connected；Contain explosive barrel, dispensing ware
Overlap with the centrage of the 4th motor.
Grain fumigation the most according to claim 1 dispensing Work robot, it is characterised in that: running gear include chassis and
It is positioned at two crawler belts of the left and right sides, chassis, is equipped with in two crawler belts and is positioned at two driving wheels at rear portion and is positioned at the two of front portion
Individual driven pulley, the position on the lower side, middle part in two crawler belts is respectively equipped with two and supports wheel, and the rearward end left and right sides on chassis is respectively
Being provided with a mounting seat, each mounting seat is equipped with a driving motor, each drives the main shaft of motor all to pass through flat key
Form is in transmission connection with the axis hole of a driving wheel, and the middle part on chassis is provided with power pack and controls box.
Grain fumigation the most according to claim 2 dispensing Work robot, it is characterised in that: dispensing transmission mechanism includes the
Five motors, H-type groove frame and conveyer belt, H-type groove frame wears in the through hole being arranged on dispensing ware, and the rear end of H-type groove frame protrudes upward
Through hole, the 5th motor is fixedly connected on the rearward end of H-type groove frame, and the main shaft of the 5th motor is fixed with gear, H-type groove frame
Front end extends downwardly from through hole and is rotatably connected to delivering rubber roller, and conveyer belt is sheathed to be arranged at gear, delivering rubber roller and H-type groove frame
On.
Grain fumigation the most according to claim 3 dispensing Work robot, it is characterised in that: control system includes electric power storage
Pond, PLC master control plate and wireless signal receiver, accumulator is arranged in power pack, and PLC master control plate and signal receiver are respectively mounted
In controlling box, the front side on chassis and the edge of rear side are respectively equipped with an angular transducer；Accumulator passes through service cable
Connecting PLC master control plate, PLC master control plate connects wireless signal receiver, two drivings respectively by controlling cable and service cable
Motor, two angular transducers, range sensor, electric lifting pole, the first motor, the second motor, the 3rd motor, the 4th motors
With the 5th motor, mechanical hand and photographic head.
Grain fumigation the most according to claim 4 dispensing Work robot, it is characterised in that: hood-opening device is by inserted link and mould
Block forms, and the side opening of module is provided with profiling draw-in groove, and the center, side of module is provided with ring flange, and ring flange is centrally along radial direction side
To offering slot；Inserted link is provided with limiting plate, and limiting plate is vertically arranged with inserted link, logical between limiting plate and the trailing flank of module
Crossing some limit spring to connect, limiting plate center is provided with fixture block and plug, and plug is through ring flange centre bore and extend into module
In, the planform of fixture block is adaptive with slot；The main shaft of the 3rd motor connects the rearward end of inserted link by shaft coupling.
The medication administration method of grain fumigation the most according to claim 1 dispensing Work robot, it is characterised in that: include following
Step:
(1), robot system self-inspection；
(2), get it filled and to capture a medicine bottle；
(3), opening medical bottle bottle cap；
(4), two-way dispensing.
The medication administration method of grain fumigation the most according to claim 6 dispensing Work robot, it is characterised in that: described step
(1) particularly as follows:
Before a, operation, after personnel's warehouse entry, first carry out preliminary preparation, as sealed window etc., then put Sheng batch pan or laying
Other contain medicine product, arrange according to grain fumigation dosage situation that a few place is fixing to get it filled a little, aluminum phosphate medicine bottle is placed in height,
Apart from suitable position, robot is put on the walkway board of silo, open this equipment, enter Auto-Sensing Mode, according to prompting really
This equipment self-inspection fixed；
B, operator are walked by external remote controller manipulation grain fumigation dispensing Work robot, it is ensured that advance, at the bottom of when retreating
It is consistent that the direction of travel of dish and walkway board lay direction, when needs are turned, presses the manipulation key of external remote controller, chassis according to
The parameter automatic turning set 90 degree；When reasons such as running into walkway board out-of-flatness causes direction of travel and the walkway board on chassis
When laying direction is inconsistent, PLC master control plate sends update information, from the speed of dynamic(al) correction left and right crawler belt, makes the walking side on chassis
The most consistent to laying direction with walkway board；The action sequentially of each mechanism once automatically resets；
Await orders after c, robot self-inspection normally.
The medication administration method of grain fumigation the most according to claim 6 dispensing Work robot, it is characterised in that: described step
(2) particularly as follows:
A, the synthetic data operation robot ambulation provided by angular transducer and photographic head are got it filled a little to fixing；
B, operate external remote controller, by the image information of cam feedback, control the expansion link of electric lifting pole rise or under
Fall, the first driven by motor mechanical arm rotates to the position got it filled a little simultaneously；
C, the manipulator behavior of mechanical arm leading section, promptly medicine bottle, the expansion link of electric lifting pole rises, the first driven by motor
Mechanical arm rotates, and the second motor rotates simultaneously, mechanical hand and medicine bottle 90-degree rotation, keeps level.
The medication administration method of grain fumigation the most according to claim 6 dispensing Work robot, it is characterised in that: described step
(3) particularly as follows:
(I), mechanical arm rotate, in the bottle cap of medicine bottle enters the profiling draw-in groove of hood-opening device and press die block, module is with spacing
Limit spring forced contraction between plate, the plug of inserted link front portion is plugged in ring flange, and fixture block snaps fit onto the slot of ring flange
In；
(II), the 3rd motor rotate the bottle cap snapping in module profiling draw-in groove is backed out from medicine bottle, the first driven by motor mechanical hand
After arm rotates to the surface of Sheng explosive barrel, the second driven by motor drive link 90-degree rotation, tablet poured into by mechanical hand grasping medicine bottle
In Sheng explosive barrel；
(III), fall after medicine completes, the second motor 90-degree rotation make medicine bottle level and bottleneck towards module, the first driven by motor machinery
Arm rotates, and the bottleneck of medicine bottle is sent in module, and the 3rd motor rotates, by bottle cap again cycle medicine bottle, the first driven by motor
Mechanical arm rotates to an angle, when the mechanical hand capturing empty medicine bottle is positioned at the top of reclaiming bag, and mechanical hand release medicine bottle, medicine
Reclaiming bag fallen into by bottle, according to drug dosage needs, repeats above action.
The medication administration method of grain fumigation the most according to claim 6 dispensing Work robot, it is characterised in that: described step
Suddenly (4) particularly as follows:
, fixed point dispensing；After Sheng explosive barrel is not required to powder charge, robot ambulation, to dispensing point, halts, and the 4th motor rotates, band
Dynamic dispensing ware 90-degree rotation to the left or to the right, the 5th motor rotates, and dispensing transmission mechanism runs, by external remote controller and PLC
The speed of master control plate regulation conveyer belt and time, tablet is the most accurately invested in the Sheng batch pan presetting dispensing point, the 4th electricity
Not the traveling at the uniform speed of the small angle rotation of machine and the 5th motor can control the tablet launched will not superposition and uniformly placing；Pass through
Control robot ambulation to the different dispensing point of silo, complete dispensing operation；
, mobile dispensing；After Sheng explosive barrel is not required to powder charge, the 4th motor rotates, and drives dispensing ware 90-degree rotation to the left or to the right,
Selecting a direction to fix, robot walks forward, and the 5th motor rotates, and dispensing transmission mechanism runs, by external remote controller
With the speed of PLC master control plate regulation conveyer belt, tablet is accurately invested on default Sheng medicine product, now can complete one section
The ribbon distribution dispensing of distance, the speed of service of the 5th motor can control the tablet launched will not superposition and uniformly placing；
Lay regular as long as early stage contains medicine product, can more be efficiently completed robot stifling dispensing operation.
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| CN201610563744.3A CN106112956B (en) | 2016-07-18 | 2016-07-18 | Grain fumigation dispensing Work robot and its medication administration method |
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| CN201610563744.3A CN106112956B (en) | 2016-07-18 | 2016-07-18 | Grain fumigation dispensing Work robot and its medication administration method |
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| CN110495442A (en) * | 2019-09-16 | 2019-11-26 | 福建（泉州）哈工大工程技术研究院 | A kind of grain depot insect pest dissipation robot |
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| CN106112956B (en) | 2018-05-04 |
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