CN108858210A - A kind of control system of the picking robot using drum type brake elastic driver - Google Patents
A kind of control system of the picking robot using drum type brake elastic driver Download PDFInfo
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- CN108858210A CN108858210A CN201811089611.2A CN201811089611A CN108858210A CN 108858210 A CN108858210 A CN 108858210A CN 201811089611 A CN201811089611 A CN 201811089611A CN 108858210 A CN108858210 A CN 108858210A
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- drum type
- type brake
- elastic driver
- module
- brake elastic
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Classifications
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- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of control systems of picking robot using drum type brake elastic driver, it is characterized in that, including visual identity module, upper computer control module and multiple drum type brake elastic driver modules, the visual identity module and each drum type brake elastic driver module are connect with the upper computer control module respectively, and the drum type brake elastic driver module is arranged at the corresponding joint of picking robot；The visual identity module, for obtaining environmental information locating for picking robot；The upper computer control module, the delivering command adapted thereto come according to visual identity module transmission is to corresponding drum type brake elastic driver module；The drum type brake elastic driver module, receives and executes the instruction of the upper computer control module.The present invention constructs the control system of drum type brake elastic driver, and the control and application to elastic driver in depth, specifically study and practice.
Description
Technical field
The invention belongs to serve for agriculture robotic technology fields, and in particular to a kind of using drum type brake elastic driver
The control system of picking robot.
Background technique
Elastic driver is constantly subjected to the concern of domestic and international colleges and universities and research institute, mainly as a kind of novel driver
It is applied in the robot mechanism of flexibility or elasticity.Such as in monopodia hopping robot mechanism, human synovial medical treatment auxiliary
Mechanism, bipod walking robot, ectoskeleton take, the application in human upper limb mechanism etc..It is equivalent in power output end and load
Between transmission mechanism of the spring as torque is added, it can individually bear power source drive power and load reactive forces, institute
The high-tensile strength fidelity having and low impedance characteristic, so that it has a good application prospect in man-machine interaction environment.And it is existing
The control to elastic driver often by sacrificing speed control accuracy to exchange the safety of physical human-computer interaction for,
Significantly limit the application scenarios of elastic driver.In depth, specifically for the control to elastic driver and using progress
Ground research, devises a kind of control system of picking robot using drum type brake elastic driver, constructs drum type brake bullet
Property driver control system, complete power and speed accurate control.
Summary of the invention
The present invention devises a kind of control system of picking robot using drum type brake elastic driver, practicability
By force, it is convenient for the control promoted, to elastic driver and using in depth, specifically study, solves in the prior art
The problem of driver is difficult to according to complex environment, quickly and accurately makes corresponding adjustment to posture movement.
To achieve the goals above, above-mentioned technical problem is solved, the invention adopts the following technical scheme：
A kind of control system of the picking robot using drum type brake elastic driver, including visual identity module, host computer
Control module and multiple drum type brake elastic driver modules, the visual identity module and each drum type brake elastic driver module point
It is not connect with the upper computer control module, the corresponding joint of picking robot is arranged in the drum type brake elastic driver module
Place；
The visual identity module, for obtaining environmental information locating for picking robot；
The upper computer control module calculates the drive of corresponding drum type brake elasticity according to the information that visual identity module transmission comes
The steering of driving motor, rotational angle and the revolving speed letter for calling the respective drive motor debugged pre-deposited in dynamic device module
Breath, issues instructions to corresponding drum type brake elastic driver module；
The drum type brake elastic driver module, receives and executes the instruction of the upper computer control module.
Further, the drum type brake elastic driver module includes that motor driver, driving motor and drum type brake elasticity are driven
The input terminal of dynamic device, the drum type brake elastic driver is connected by harmonic speed reducer with the driving motor, the drum type brake
The output end of elastic driver is connected with respective load；The load is that the rotation armed lever of picking robot or end picking execute
Device.
Further, the drum type brake elastic driver includes input disk and output cylinder, under the input disk includes
Disk and upper input disk are inputted, the connecting shaft of described lower input disk one end passes through the output cylinder and the upper input is justified
Disk is fixedly connected；A pair of of convex block is symmetrically provided on the upper input disk, one end of the output cylinder is symmetrically arranged
There are a pair of of block, convex block arrangement alternate with the block, and is arranged between adjacent convex block and block and has elastic component, institute
It states and is provided with bearing between lower input disk and the output cylinder；The lower input disk by corresponding harmonic speed reducer and
Corresponding driving motor connection, the output cylinder are connect with respective load.
Further, the elastic element is cylindrical compression spring；The cylindrical compression spring is vertically mounted on corresponding gear
Between block and convex block, and adjacent cylindrical compression spring is mutually in 90 ° of settings.
Further, limit is provided on the block and the working face of the convex block and the cylindrical compression spring cooperation
Groove.
Further, the output cylinder is a tubular structure, and a transverse baffle, the cross are provided in the middle part of tubular structure
Pore structure is provided with to the center of baffle in order to which the connecting shaft of the lower input disk passes through；The lower end surface of the transverse baffle
Cooperate with the rolling bearing, the block is symmetrically disposed in the upper surface edge of the transverse baffle.
Further, it is provided with connecting plate on the outer cylinder of the output cylinder, connecting plate passes through connector and respective load
Connection.
Further, the center of the upper input disk is provided with screw via hole, and attachment screw passes through corresponding screw mistake
Hole connecting hole corresponding with the connecting shaft end on the lower input disk cooperates.
Further, an annular convex platform is provided with to install the axis of rolling around the connecting shaft on the lower input disk
It holds.
Further, the driving motor is brushless motor；The brushless motor configuration accelerates acceleration, uniform velocity, subtracts
Fast acceleration rotary speed information, and the rotary speed information is stored in the controller storage of the upper computer control module.
It further, further include multiple close to switch, the close switch and the drum type brake elastic driver module are one by one
It is corresponding；It is described close to switch respectively with the controller of the upper computer control module and corresponding drum type brake elastic driver module
Motor driver connection, as limit interface for being limited to respective drive motor positive and inverse stroke.
It further, further include multiple force feedback sensors, the force feedback sensor and the drum type brake elastic driver
Module one-to-one correspondence, the force feedback sensor and corresponding drum type brake elastic driver are coaxially mounted to the end of respective load
End, the output end of the force feedback sensor are connected with the A/D conversion module on the controller of the upper computer control module.
Further, the visual identity module includes binocular camera and microprocessor, and the binocular camera passes through micro-
Processor is connect with the upper computer control module.
Further, the upper computer control module includes controller, the controller and each drum type brake elastic driver mould
Motor driver connection in block；The controller is connect by 485 communication modes with the motor driver, the controller
Every two output port corresponds to a motor driver, and one of output port exports the steering of corresponding driving motor and turns
Dynamic angle information, another output mouth export the rotary speed information of corresponding driving motor.
Further, the controller is embedded controller；If the controller generates main line PWM wave using timer,
If the main line PWM wave rotary speed information transmission port phase with the motor driver in each drum type brake elastic driver module respectively
Connection.
The control system for using the picking robot of drum type brake elastic driver has the advantages that：
（1）The present invention realizes accurately speed control, reduces the shadow of the factors such as load variation, motor rotary inertia and friction
It rings.
（2）In the present invention, robot driver requires power to have low output damping and adapts to the high bandwidth of external loading power
Variation has reached the output damping for meeting robot manipulating task requirement by the optimization of the control system to drum type brake elastic driver
And output bandwidth.
（3）The present invention realizes accurate soil fertility and Torque Control.Desired moment values act directly in load, hardly
It is influenced by non-linear factors such as gravity, friction and dampings.
（4）The present invention constructs the control system of drum type brake elastic driver, control to elastic driver and application into
It has gone and in depth, has specifically studied and practice, completed the accurate control of power and speed.
Detailed description of the invention
Fig. 1：Using the structure of the picking robot control system of drum type brake elastic driver in embodiment of the present invention
Schematic diagram；
Fig. 2：The structural schematic diagram of drum type brake elastic driver module in embodiment of the present invention；
Fig. 3：The structural schematic diagram of drum type brake elastic driver in embodiment of the present invention；
Fig. 4：The communication mode schematic diagram of drum type brake elastic driver module and upper computer control module in embodiment of the present invention.
Description of symbols：
1-visual identity module；11-binocular cameras；12-microprocessors；2-upper computer control modules；21-controllers；
3-close switches；4-drum type brake elastic driver modules；41-motor drivers；42-driving motors；43-harmonic reductions
Device；44-drum type brake elastic drivers；441-lower input disks；442-bearings；443-output cylinders；444-compression cylinders
Spring；445-above input disk；45-loads；5-force feedback sensors；6-connectors；7-level translators.
Specific embodiment
With reference to the accompanying drawing, the present invention will be further described：
Fig. 1 to Fig. 4 shows the specific implementation of the picking robot control system present invention employs drum type brake elastic driver
Mode.Fig. 1 is in present embodiment using the structural schematic diagram of the picking robot control system of drum type brake elastic driver；
Fig. 2 is the structural schematic diagram of drum type brake elastic driver module in present embodiment in present embodiment；Fig. 3 is present embodiment
The structural schematic diagram of middle drum type brake elastic driver；Fig. 4 is drum type brake elastic driver module and host computer in present embodiment
The communication mode schematic diagram of module.
As shown in Figure 1, the picking robot control system using drum type brake elastic driver in present embodiment, packet
Include visual identity module 1, upper computer control module 2 and multiple drum type brake elastic driver modules 4, visual identity module 1 and each
Drum type brake elastic driver module 4 is connect with upper computer control module 2 respectively, and the setting of drum type brake elastic driver module 4 is being adopted
It plucks at the corresponding joint of robot；
The visual identity module 1, for obtaining environmental information locating for picking robot；
The upper computer control module 2, according to visual identity module 1 transmit come information calculate corresponding drum type brake flexible drive
The steering of driving motor 42, rotational angle and turn for calling the respective drive motor 42 debugged pre-deposited in device module 4
Fast information issues instructions to corresponding drum type brake elastic driver module 4；
The drum type brake elastic driver module 4, receives and executes the instruction of upper computer control module 2.
In the attached drawing 1 of the present embodiment, a drum type brake elastic driver module 4 and PC control are illustratively shown
The connection type of module 2.
Preferably, drum type brake elastic driver module 4 includes that motor driver 41, driving motor 42 and drum type brake elasticity are driven
The input terminal of dynamic device 44, drum type brake elastic driver 44 is connected by harmonic speed reducer 43 and driving motor 42, drum type brake elasticity
The output end and respective load 45 of driver 44 connect, as shown in Figure 2.Driving motor 42 drives 44 turns of drum type brake elastic driver
It is dynamic, load 45 is imparted power to, to complete the submissive transmitting of power and rotation.Here load 45 can be picking machine
Actuator etc. is picked in the rotation armed lever of people, end.
Preferably, drum type brake elastic driver 44 includes input disk and output cylinder 443, under the input disk includes
Disk 441 and upper input disk 445 are inputted, the connecting shaft of lower input 441 one end of disk passes through output cylinder 443 and upper input is justified
Disk 445 is fixedly connected；A pair of of convex block is symmetrically provided on upper input disk 441, one end of output cylinder 443 is symmetrically arranged
There are a pair of of block, convex block arrangement alternate with the block, and is arranged between adjacent convex block and block and has elastic component, under
It is additionally provided with bearing 442 between input disk 441 and output cylinder 443, as shown in Figure 3；Lower input disk 441 passes through corresponding
Harmonic speed reducer 43 and corresponding driving motor 42 connect, and output cylinder 443 is connect with respective load 45, as shown in Figure 2.
Preferably, the elastic element is cylindrical compression spring 444；Cylindrical compression spring 444 is vertically mounted on corresponding
Between block and convex block, and adjacent cylindrical compression spring 444 is mutually in 90 ° of settings.
Preferably, it is provided with limiting groove on the working face that block and convex block and cylindrical compression spring 444 cooperate, is limited
It is not drawn in the attached drawing of groove in the present embodiment.
Preferably, output cylinder 443 is a tubular structure, and a transverse baffle, transverse gear are provided in the middle part of tubular structure
The center of plate is provided with pore structure in order to which the connecting shaft of lower input disk 441 passes through；The lower end surface of transverse baffle and bearing 442
Cooperation, the block are symmetrically disposed in the upper surface edge of transverse baffle.
Preferably, it exports and is provided with connecting plate on the outer cylinder of cylinder 443, connecting plate passes through connector 6 and respective load
45 connections.
Preferably, an annular convex platform is provided with to install bearing 442 around the connecting shaft on lower input disk 441.
Preferably, the center of upper input disk 445 is provided with screw via hole, and attachment screw passes through corresponding screw via hole
Connecting hole corresponding with the connecting shaft end on lower input disk 441 cooperates.
Preferably, driving motor 42 is brushless motor；The brushless motor configuration accelerates acceleration, uniform velocity, deceleration
The rotary speed informations such as acceleration, and the rotary speed information is stored in 21 memory of controller of upper computer control module 2.
It preferably, further include multiple close to switch 3, close switch 3 and drum type brake elastic driver module 4 correspond,
It is connected respectively with the controller 21 of upper computer control module 2 and corresponding motor driver 41 close to switch 3, as limit interface
For being limited to 42 positive and negative rotation stroke of respective drive motor.
It preferably, further include multiple force feedback sensors 5, force feedback sensor 5 and drum type brake elastic driver module 4 one
One correspondence, force feedback sensor 5 and corresponding drum type brake elastic driver 44 are coaxially mounted to the end of respective load 45, and power is anti-
The output end of infeed sensor device 5 is connected with the A/D conversion module on the controller 21 of upper computer control module 2.Controller 21 will
The power measuring signal that the force feedback sensor 5 received transmits is handled to control corresponding drum type brake elastic driver module 4
In driving motor.
Preferably, visual identity module 1 includes binocular camera 11 and microprocessor 12, and binocular camera 11 passes through micro- place
Reason device 12 is connect with upper computer control module 2, as shown in Figure 1.
Preferably, upper computer control module 2 includes controller 21, controller 21 and each drum type brake elastic driver module 4
In motor driver 41 connect；Controller 21 is connect by 485 communication modes with motor driver 41,21 every two of controller
Output port corresponds to a motor driver 41, and one of output port exports the steering and rotation of corresponding driving motor 42
Angle information, another output mouth export the rotary speed information of corresponding driving motor 42.
Preferably, controller 21 is embedded controller；If controller 21 generates main line PWM wave using timer, several
Road PWM wave is connected with the rotary speed information transmission port of the motor driver 41 in each drum type brake elastic driver module 4 respectively.
Specifically, as shown in figure 4, signal wire A, B of each motor driver 41 pass through respectively corresponding level translator 7 with
485 master station 3 signal wire A, B of controller 21 are connected.In order to which signal is more stable, the COM of every motor driver 41 can be connected
It is connected afterwards with the signal ground of main website.In the present embodiment, illustratively show three drum type brake elastic driver modules with it is upper
The communication mode of machine control module.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the invention
Conception and technical scheme directly apply to other occasions, be within the scope of the invention.
Claims (10)
1. a kind of control system of the picking robot using drum type brake elastic driver, which is characterized in that know including vision
Other module, upper computer control module and multiple drum type brake elastic driver modules, the visual identity module and each drum type brake bullet
Property Drive Module connect respectively with the upper computer control module, the drum type brake elastic driver module is arranged in picking machine
At the corresponding joint of device people；
The visual identity module, for obtaining environmental information locating for picking robot；
The upper computer control module calculates the drive of corresponding drum type brake elasticity according to the information that visual identity module transmission comes
The steering of driving motor, rotational angle and the revolving speed letter for calling the respective drive motor debugged pre-deposited in dynamic device module
Breath, issues instructions to corresponding drum type brake elastic driver module；
The drum type brake elastic driver module, receives and executes the instruction of the upper computer control module.
2. the control system of the picking robot according to claim 1 using drum type brake elastic driver, feature
It is, the drum type brake elastic driver module includes motor driver, driving motor and drum type brake elastic driver, the circle
The input terminal of cartridge type elastic driver is connected by harmonic speed reducer with the driving motor, the drum type brake elastic driver
Output end is connected with respective load；The load is the rotation armed lever or end picking actuator of picking robot.
3. the control system of the picking robot according to claim 2 using drum type brake elastic driver, feature
Be, the drum type brake elastic driver includes input disk and output cylinder, the input disk include lower input disk with
The connecting shaft of upper input disk, described lower input disk one end passes through the output cylinder and the fixed company of the upper input disk
It connects；A pair of of convex block is symmetrically provided on the upper input disk, one end of the output cylinder is symmetrically provided with a pair of of gear
Block, convex block arrangement alternate with the block, and be arranged between adjacent convex block and block and have elastic component, the lower input
Bearing is provided between disk and the output cylinder；The lower input disk passes through corresponding harmonic speed reducer and corresponding drive
Dynamic motor connection, the output cylinder are connect with respective load.
4. the control system of the picking robot according to claim 3 using drum type brake elastic driver, feature
It is, the elastic element is cylindrical compression spring；The cylindrical compression spring be vertically mounted on corresponding block and convex block it
Between, and adjacent cylindrical compression spring is mutually in 90 ° of settings.
5. the control system of the picking robot according to claim 3 using drum type brake elastic driver, feature
It is, the output cylinder is a tubular structure, a transverse baffle is provided in the middle part of tubular structure, in the transverse baffle
Centre is provided with pore structure in order to which the connecting shaft of the lower input disk passes through；The lower end surface of the transverse baffle and the rolling
Bearing fit, the block are symmetrically disposed in the upper surface edge of the transverse baffle.
6. the control system of the picking robot according to any one of claims 1 to 5 using drum type brake elastic driver,
It is characterized in that, the driving motor is brushless motor；The brushless motor configuration accelerates acceleration, uniform velocity, deceleration to add
Speed rotary speed information, and the rotary speed information is stored in the controller storage of the upper computer control module.
7. the control system of the picking robot according to any one of claims 1 to 6 using drum type brake elastic driver,
It is characterized in that, further include multiple close to switch, it is described to be corresponded close to switch and the drum type brake elastic driver module；
It is described close to switch respectively with the electricity of the controller of the upper computer control module and corresponding drum type brake elastic driver module
Machine driver connection, as limit interface for being limited to respective drive motor positive and inverse stroke.
8. the control system of the picking robot according to any one of claims 1 to 7 using drum type brake elastic driver,
It is characterized in that, further including multiple force feedback sensors, the force feedback sensor and the drum type brake elastic driver module
One-to-one correspondence, the force feedback sensor and corresponding drum type brake elastic driver are coaxially mounted to the end of respective load, institute
The output end for stating force feedback sensor is connected with the A/D conversion module on the controller of the upper computer control module.
9. the control system of the picking robot according to any one of claims 1 to 8 using drum type brake elastic driver,
It is characterized in that, the visual identity module includes binocular camera and microprocessor, the binocular camera passes through micro process
Device is connect with the upper computer control module.
10. the control system of the picking robot according to any one of claims 1 to 9 using drum type brake elastic driver
System, which is characterized in that the upper computer control module includes controller, the controller and each drum type brake elastic driver module
In motor driver connection；The controller is connect by 485 communication modes with the motor driver, and the controller is every
The corresponding motor driver of two output ports, one of output port export the steering and rotation of corresponding driving motor
Angle information, another output mouth export the rotary speed information of corresponding driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811089611.2A CN108858210A (en) | 2018-09-18 | 2018-09-18 | A kind of control system of the picking robot using drum type brake elastic driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811089611.2A CN108858210A (en) | 2018-09-18 | 2018-09-18 | A kind of control system of the picking robot using drum type brake elastic driver |
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| CN108858210A true CN108858210A (en) | 2018-11-23 |
Family
ID=64324152
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811089611.2A Pending CN108858210A (en) | 2018-09-18 | 2018-09-18 | A kind of control system of the picking robot using drum type brake elastic driver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113031579A (en) * | 2019-12-25 | 2021-06-25 | 深圳市优必选科技股份有限公司 | Walking control method and device of biped robot and biped robot |
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