CN109588400A - A kind of electricity drive formula pesticide spraying machinery arm and control method - Google Patents
A kind of electricity drive formula pesticide spraying machinery arm and control method Download PDFInfo
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- CN109588400A CN109588400A CN201910004727.XA CN201910004727A CN109588400A CN 109588400 A CN109588400 A CN 109588400A CN 201910004727 A CN201910004727 A CN 201910004727A CN 109588400 A CN109588400 A CN 109588400A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to a kind of electric drive formula pesticide spraying machinery arms, including pedestal (1), base electrical machinery (2), primary current sense device, principal velocity sensor, position sensor, control module, spray gun (3) and at least one set electricity Qu armed lever mechanism；With precision height, operation is repeated in the developed same movement of mechanical arm, and mechanical arm can touch same target point；With modularization: there is more motor-driven assembly system compared with through the mechanical arm of combined guided driving device by the mechanical arm of modularization assembling；Energy-saving, with the continuous development of science and technology, novel material is continued to bring out.The design using self-lubricating technology development without lubricating component, not only environmental sound, save lubricating oil, but also cost is relatively low, structure is simple, long service life, greasy property are good；Electromechanical integration saves the compound integrated system of wiring, not only reduces wiring, piping and element, but also dismount simply, substantially increases the reliability of system.
Description
Technical field
The present invention relates to a kind of electric drive formula pesticide spraying machinery arm and control methods, belong to electric-controlled mechanical arm technical field.
Background technique
With the raising of industrial or agricultural robot automtion horizontal continuous improvement and other industrial or agricultural technologies and requirement, workers and peasants
Industry robot is applied in more and more fields.The use scope of industrial or agricultural robot is extended to from traditional manufacture
Other manufacturing industry are such as built, are supported, military, medical treatment, the non-manufacturing industries such as housekeeping, just as electronic equipment is as internet,
Industrial or agricultural robot constantly promotes people's lives level and existing life style.Due to historical reasons, China's work
Agriculture as the foundation of the economy develops slowly, therefore early stage receives certain limitation in China's machine man-based development.The country is used for agricultural machinery
The core competitiveness manufacturing enterprise of arm is relatively weak, and the enterprise that can largely manufacture the mechanical arm manufacturing also only has
Several families such as Anhui, Shenyang, Guangzhou numerical control.So being used for the huge reason of agriculture gap relative to China's mechanical arm technology
There is the following:
(1) poor infrastructure:
The production domesticization of controller, deceleration device, the big kernel component of servo-system three is in the stage of fumbling, lacks high property
Can, result makes mechanical arm overall performance lower caused by zero of flexibility, directly affect its sales volume, lead to nothing indirectly
Method obtains higher bargaining power.
(2) technological gap:
Domestic mechanical arm is started late, and technological accumulation can not be mentioned in the same breath with development abroad degree.ABB is released within 1994
S4C controller on just have been realized in based on dynamic (dynamical) model cootrol, i.e. first generation Quick Move and True Move skill
Art, and renewal speed is very fast, reaches the second generation.Error compensation, Friction Compensation, power control control the functions such as integrated design
Or characteristic all comparative maturities, and it is domestic still at an early stage in these areas.
(3) lag of academic research:
Tradition machinery arm technology comparative maturity, the current less academic paper delivered compared with high-impact, simultaneously
It is domestic also to provide enough lateral projects for colleges and universities without mechanical arm enterprise, cause domestic to lack one in manipulator arm art
The scholar of stream leads the development of industry technology.
Summary of the invention
Technical problem to be solved by the invention is to provide one kind can be realized high-efficient automatic control, is accurately positioned, is complete
The electric drive formula pesticide spraying machinery arm sprayed at crop.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme: the present invention devises a kind of electric drive formula pesticide
Spray mechanical arm, including pedestal, base electrical machinery, primary current sense device, principal velocity sensor, position sensor, control module,
Spray gun and at least one set electricity Qu armed lever mechanism；Wherein, base electrical machinery is fixedly installed on susceptor surface, and base electrical machinery drives end
Face, the set face of pedestal corresponding with base electrical machinery are parallel where rotating path；Principal velocity sensor and position sensor point
It is not set on the driving end of base electrical machinery, is respectively used to movement speed, the spatial position at detection base electrical machinery driving end, main electricity
Flow sensor is used to detect the driving current on base electrical machinery；
Each group electricity Qu armed lever mechanism includes armed lever ontology, joint position motor, primary current sensor, secondary speed biography respectively
Sensor, secondary position sensor；In each group electricity Qu armed lever mechanism, wherein one end of armed lever ontology and the drive of corresponding joint position motors
Moved end is connected, and secondary velocity sensor and time position sensor are respectively arranged on the driving end of corresponding joint position motors, point
Movement speed, the spatial position at corresponding joint position motors driving end Yong Yu not be detected, primary current sensor is for detecting correspondence
Driving current on joint position motor；
Each group electricity Qu armed lever mechanism is sequentially connected each other, far from it on armed lever ontology in later group electricity Qu armed lever mechanism
One end of corresponding joint position motors is mutually fixedly connected with the pedestal of joint position motor in previous group electricity Qu armed lever mechanism, respectively
Face where group electricity drives the rotating path for driving end in armed lever machine on joint position motor is mutually coplanar each other；Tail of the queue position electricity drives armed lever
The pedestal of joint position motor with the driving end of base electrical machinery mutually dock by fixation in mechanism, and the joint position motor drive terminal
Face where rotating path and face where the rotating path at base electrical machinery driving end are perpendicular；Spray gun is fixedly installed on Head-of-line electricity
The front end of armed lever ontology in armed lever mechanism is driven, the nozzle direction of spray gun is identical as the direction of set armed lever ontology front end；
Base electrical machinery, primary current sense device, principal velocity sensor, position sensor and each group electricity Qu armed lever mechanism
In joint position motor, primary current sensor, secondary velocity sensor, secondary position sensor be connected respectively with control module,
Pedestal is fixedly installed in specified machine, and the feeder ear of control module docking specified machine is carried out taking electricity, is respectively attached thereto
Each power device be powered, meanwhile, control module is received to be instructed from specified machine control of which, and according to coming from
It is primary current sensor in primary current sense device, principal velocity sensor, position sensor and each group electricity Qu armed lever mechanism, secondary
Velocity sensor, secondary position sensor real-time detection as a result, respectively in base electrical machinery and each group electricity Qu armed lever mechanism
Joint position motor controlled.
As a preferred technical solution of the present invention: each group electricity Qu armed lever mechanism further includes visual sensing respectively
Device and rangefinder, in each group electricity Qu armed lever mechanism, visual sensor and rangefinder are all set in counterpart arm bar body far from it
One end of corresponding joint position motors, the image capture direction of visual sensor and the ranging direction of rangefinder are in the same direction；Each group electricity
Drive armed lever mechanism in visual sensor, rangefinder dock control module respectively, by control module be respectively each visual sensor,
Rangefinder is powered, and the realtime graphic capture result of visual sensor and the real time distance result of rangefinder is combined to make
For foundation, controlled respectively for the joint position motor in base electrical machinery and each group electricity Qu armed lever mechanism.
As a preferred technical solution of the present invention: the base electrical machinery is AC servo motor.
As a preferred technical solution of the present invention: the rangefinder is ultrasonic range finder.
As a preferred technical solution of the present invention: the number of electricity Qu armed lever mechanism is 3 groups.
With it is above-mentioned corresponding, the present invention also technical problems to be solved are to provide a kind of electric drive formula pesticide spraying machinery arm
Control method can be realized high-efficient automatic control, accurate to complete crop spraying operation.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme: the present invention devises a kind of electric drive formula pesticide
The control method of mechanical arm is sprayed, control module is received to be instructed from specified machine control of which, and is calculated and corresponded to
The drive control of base electrical machinery instructs and corresponds respectively to the drive control of joint position motor in each group electricity Qu armed lever mechanism
Instruction, then, control module is directed to the joint position motor in base electrical machinery and each group electricity Qu armed lever mechanism respectively, presses
Following steps are controlled, and realize that joint position motor becomes with respect to the position of base electrical machinery in tail of the queue position electricity Qu armed lever mechanism
The movement of armed lever ontology in change and each electricity Qu armed lever mechanism；
Step A. control module by position sensor obtain motor drive terminal spatial position, and with the drive of corresponding motor
Dynamic control instruction carries out the position PID and compares, the drive control instruction of more new motor, subsequently into step B；
Step B. control module is instructed for the drive control of motor, is compared in conjunction with preset limit circuitry specifications, more
The drive control instruction of new more new motor, subsequently into step C；
Step C. control module by velocity sensor obtain motor drive terminal movement speed, and with the drive of corresponding motor
Dynamic control instruction carries out PID speed and compares, the drive control instruction of more new motor, subsequently into step D；
Step D. control module by current sensor obtain motor driving current, and with the drive control of corresponding motor
Instruction carries out PID speed and compares, the drive control instruction of more new motor, subsequently into step E；
Step E. control module is rotated drive control application of instruction in the driving end on motor, controlling motor.
As a preferred technical solution of the present invention: the control module is directed to base electrical machinery and each group electricity respectively
The joint position motor in armed lever mechanism is driven, while executing step A to step D, control module drives arm according to each group electricity in real time
The realtime graphic capture result of visual sensor and the real time distance of rangefinder are as a result, be directed to the driving of motor in linkage
Control instruction is updated, and realizes avoidance obstacle.
A kind of electric drive formula pesticide spraying machinery arm of the present invention and control method, using above technical scheme and existing skill
Art is compared, and is had following technical effect that
Electricity drive formula pesticide spraying machinery arm and control method, have the advantages that designed by the present invention
(1) precision is high: operation is repeated in designed the developed same movement of mechanical arm of the present invention, and mechanical arm can touch
And same target point；
(2) modularization: the mechanical arm by modularization assembling and the mechanical arm phase by combined guided driving device
Than having more motor-driven assembly system.It is integrated with the guidance system device with oil pipe and cable and electrical interface, so that machine
Tool arm action is more flexible, and operation is accurate and more convenient, the very big use scope that must extend mechanical arm, is its future hair
The important trend of exhibition；
(3) energy-saving: with the continuous development of science and technology, novel material is continued to bring out.The design uses self-lubricating
Technology development without lubricating component, not only environmental sound, save lubricating oil, but also cost is relatively low, structure is simple, uses
Service life is long, greasy property is good；
(4) electromechanical integration: present invention design drives element etc. by sensor, infrared thermal sensation instrument and electricity and constitutes control system
System；The self adaptive control element being closely connected with microelectric technique is developed, is developed so that electricity drives control technology from " switch control "
It is higher " feedback control " to precision；The compound integrated system of wiring is saved, not only reduces wiring, piping and element, but also tear open
Dress is simple, substantially increases the reliability of system.
Detailed description of the invention
Fig. 1 is the overall structure diagram of electricity drive formula pesticide spraying machinery arm designed by the present invention；
Fig. 2 is spray gun structure schematic diagram in electricity drive formula pesticide spraying machinery arm designed by the present invention；
Fig. 3 is joint position electric machine structure schematic diagram in electricity drive formula pesticide spraying machinery arm designed by the present invention；
Fig. 4 is schematic diagram of base structure in electricity drive formula pesticide spraying machinery arm designed by the present invention；
Fig. 5 is the driving flow diagram of electricity drive formula pesticide spraying machinery arm control method designed by the present invention；
Fig. 6 is the control schematic diagram of electricity drive formula pesticide spraying machinery arm control method designed by the present invention；
Fig. 7 is vision system flow chart in electricity drive formula pesticide spraying machinery arm control method designed by the present invention；
Fig. 8 is ultrasonic distance measurement operation schematic diagram in electricity drive formula pesticide spraying machinery arm control method designed by the present invention.
Wherein, 1. pedestal, 2. base electrical machineries, 3. spray guns, 4. joint position motors, 5. armed lever ontologies.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings of the specification.
Current information technology and control technology development are swift and violent, are manually grasped in hazardous environment using mechanical arm substitution
Have become the inexorable trend of mechanical industry automation, intelligent development.The research and development main points and emphasis of agricultural robot have: realizing
Function, purposes diversification；Good adaptability, simple operation, cheapization and optimization mechanical component design.And because of it
It is many different and higher to determine that it has compared with other industrial circle robots for the property complicated and changeable of manipulating object and operating environment
Requirement.Agricultural robot is complicated high-intelligentization agricultural technology equipment, and collecting the multidisciplinary new and high technologies such as mechanical, electrical, light is one
Body, face be it is non-structural, do not know, be difficult to the complex work environment estimated and manipulating object.Wherein, key technology has target
Random site accurately perceives and technology, mechanical arm Morphology Control Technology is accurately positioned in manipulator.
Pesticide harm to the human body is big, operator's large labor intensity, inefficiency, and being replaced using mechanical arm manually can be effective
Solve the problems, such as this.In the design, mechanical arm does not need manual control in operation, so that operator avoids exposed to pesticides,
Working efficiency and economic benefits are greatly improved, in agricultural plant protection machinery field, which is improving operating efficiency, solution
Certainly manpower shortage problem etc. shows superiority outstanding, there is extremely broad application prospect and economic well-being of workers and staff.
The present invention devises a kind of electric drive formula pesticide spraying machinery arm, in practical application, including pedestal 1, base electrical machinery
2, primary current sense device, principal velocity sensor, position sensor, control module, spray gun 3 and at least one set of electricity drive armed lever machine
Structure；Wherein, base electrical machinery 2 is fixedly installed on 1 surface of pedestal, and base electrical machinery 2 drives rotating path place face and the pedestal at end
The set face of the corresponding pedestal 1 of motor 2 is parallel；Principal velocity sensor and position sensor are respectively arranged at base electrical machinery 2
It drives on end, is respectively used to detection base electrical machinery 2 and drives the movement speed at end, spatial position, primary current sense device is for detecting
Driving current on base electrical machinery 2；In practical application, 1 structure of pedestal is as shown in Figure 4.
Each group electricity Qu armed lever mechanism includes armed lever ontology 5, joint position motor 4, primary current sensor, secondary speed respectively
Sensor, secondary position sensor, visual sensor and rangefinder；In each group electricity Qu armed lever mechanism, wherein one end of armed lever ontology 5
It is connected with the driving end of corresponding joint position motors 4, secondary velocity sensor and time position sensor are respectively arranged at corresponding pass
On the driving end for saving position motors 4, it is respectively used to detection corresponding joint position motors 4 and drives the movement speed at end, spatial position,
Primary current sensor is used to detect the driving current in corresponding joint position motors 4；Visual sensor and rangefinder are all set in
Far from one end of its corresponding joint position motors 4, the image capture direction and rangefinder of visual sensor in counterpart arm bar body 5
Ranging direction it is in the same direction.
Each group electricity Qu armed lever mechanism is sequentially connected each other, separate on armed lever ontology 5 in later group electricity Qu armed lever mechanism
One end of its corresponding joint position motors 4, with the pedestal of joint position motor 4 in previous group electricity Qu armed lever mechanism is mutually fixed connects
It connects, face where each group electricity drives the rotating path for driving end in armed lever machine on joint position motor 4 is mutually coplanar each other；Tail of the queue position electricity
The pedestal of joint position motor 4 with the driving end of base electrical machinery 2 mutually dock by fixation in drive armed lever mechanism, and the joint position motor
Face drives face where the rotating path at end perpendicular with base electrical machinery 2 where the rotating path at 4 driving ends；Spray gun 3 is fixedly installed
The front end of armed lever ontology 5 in Head-of-line electricity Qu armed lever mechanism, the nozzle direction of spray gun 3 and set 5 front end of armed lever ontology
It is directed toward identical, in practical application, the structure of spray gun 3 is as shown in Figure 2.
In practical application, the structure of joint position motor 4 is as shown in figure 3, wherein rotating electric machine is installed on electric rotating base
It is interior, motor output shaft is connected with large arm rotary shaft by two vertical holding screws of axis, transmits torque.Rotary shaft passes through
Dual bearing structure and shaft end nut are fixed in rotating shaft holder, and rotary shaft is connected by bolt with full wind-up.By above
Structure realizes arm spinning movement, to make the movement of manipulator that Space Rotating be added, manipulator is made to can be realized spatial movement,
And it is not only in flat in-plane moving of rolling over.This freedom degree is cooperated to introduce the servo rotary freedom degree of wrist simultaneously, from
And allow the pose in the more flexible adjustment motion process in arm end.
Base electrical machinery 2, primary current sense device, principal velocity sensor, position sensor and each group electricity Qu armed lever mechanism
In joint position motor 4, primary current sensor, secondary velocity sensor, secondary position sensor, visual sensor, rangefinder point
It is not connected with control module, pedestal 1 is fixedly installed in specified machine, and the feeder ear that control module docks specified machine carries out
Take electricity, be respectively that each power device for being attached thereto is powered, meanwhile, control module receive from specified machine to its
Control instruction, and armed lever machine is driven according to from primary current sense device, principal velocity sensor, position sensor and each group electricity
The real-time detection of primary current sensor, secondary velocity sensor, secondary position sensor is as a result, and in conjunction with the reality of visual sensor in structure
When image capture result and rangefinder real time distance result as foundation, respectively for base electrical machinery 2 and each group electricity
The joint position motor 4 driven in armed lever mechanism is controlled.
Above-mentioned designed electric drive formula pesticide spraying machinery arm is applied in reality, control module uses PLC controller,
Since PLC (programmable controller, abbreviation PLC) is due to having the characteristics that function is strong, programmable, intelligent.In effective procedure
Under conditions of control, using electric transmission mode, prescribed requirement occurs for the corresponding site of Lai Shixian executing agency, there is sequence,
There is motion profile, there is the movement of certain speed and time.Executing agency is issued by the information of its control system simultaneously and is instructed, it must
The movement of motor machine arm can be monitored when wanting, alarm signal is issued when movement is wrong or breaks down.Position
The physical location of executing agency is fed back to control system at any time by detection device, and is compared with the position of setting, is then led to
It crosses control system to be adjusted, so that executing agency be made to reach setting position with certain precision.
Specifically design uses AC servo motor to base electrical machinery 2, and rotor speed is controlled by input signal, can quickly be done
It reacts out.In addition, the advantage is that control speed, position precision are very accurate, light-weight, power output is big, and response is fast, and inertia is small,
Rotation is smooth, and torque is stablized, and intelligence easy to accomplish can be used for various environment.
Rangefinder is specifically designed using ultrasonic range finder；The real work of visual sensor operates as shown in fig. 7, ultrasound
The real work of wave rangefinder operates as shown in figure 8, when running, and target figure image is become visual signal by visual sensor, so
Send visual signal to PLC controller afterwards.PLC controller is responsible for reading the information of each sensor, analyzes the face of object
Color, size, and motor is called to realize relevant movement；For electricity Qu armed lever mechanism, design uses 3 groups, i.e. composition 6DOF
Electric-controlled mechanical arm；And in practical applications, control module is received instructs from specified machine control of which, and calculates acquisition
Drive control corresponding to base electrical machinery 2 instructs and corresponds respectively to joint position motor 4 in each group electricity Qu armed lever mechanism
Drive control instruction, then, control module is directed to the joint position in base electrical machinery 2 and each group electricity Qu armed lever mechanism respectively
Motor 4 is controlled as follows by as shown in Figure 5 and Figure 6, realizes joint position in tail of the queue position electricity Qu armed lever mechanism
Set movement of the motor 4 with respect to armed lever ontology 5 in the change in location and each electricity Qu armed lever mechanism of base electrical machinery 2.
Step A. control module by position sensor obtain motor drive terminal spatial position, and with the drive of corresponding motor
Dynamic control instruction carries out the position PID and compares, the drive control instruction of more new motor, subsequently into step B.
Step B. control module is instructed for the drive control of motor, is compared in conjunction with preset limit circuitry specifications, more
The drive control instruction of new more new motor, subsequently into step C.
Step C. control module by velocity sensor obtain motor drive terminal movement speed, and with the drive of corresponding motor
Dynamic control instruction carries out PID speed and compares, the drive control instruction of more new motor, subsequently into step D.
Step D. control module by current sensor obtain motor driving current, and with the drive control of corresponding motor
Instruction carries out PID speed and compares, the drive control instruction of more new motor, subsequently into step E.
Step E. control module is rotated drive control application of instruction in the driving end on motor, controlling motor.
Control module is directed to the joint position motor 4 in base electrical machinery 2 and each group electricity Qu armed lever mechanism respectively, executes
While step A to step D, control module is captured according to the realtime graphic of visual sensor in each group electricity Qu armed lever mechanism in real time
As a result and the real time distance of rangefinder as a result, for motor drive control instruction be updated, realize avoidance obstacle.
Electricity drive formula pesticide spraying machinery arm and control method, have the advantages that 1 precision designed by above-mentioned technical proposal
High: operation is repeated in designed the developed same movement of mechanical arm of the present invention, and mechanical arm can touch same target point；2
Modularization: there is more machine compared with through the mechanical arm of combined guided driving device by the mechanical arm of modularization assembling
Dynamic assembly system.It is integrated with the guidance system device with oil pipe and cable and electrical interface, so that mechanical arm movement is more
Add flexibly.Operation is accurate and more convenient, the very big use scope that must extend mechanical arm, be its future development it is important become
Gesture；3 energy-savings: with the continuous development of science and technology, novel material is continued to bring out, and the design uses the development of self-lubricating technology
Without lubricating component, not only environmental sound, save lubricating oil, but also cost is relatively low, structure is simple, long service life,
Greasy property is good；4 electromechanical integration: present invention design drives element etc. by sensor, infrared thermal sensation instrument and electricity and constitutes control system
System；The self adaptive control element being closely connected with microelectric technique is developed, is developed so that electricity drives control technology from " switch control "
It is higher " feedback control " to precision；The compound integrated system of wiring is saved, not only reduces wiring, piping and element, but also tear open
Dress is simple, substantially increases the reliability of system.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (7)
1. a kind of electricity drive formula pesticide spraying machinery arm, it is characterised in that: including pedestal (1), base electrical machinery (2), primary current sense
Device, principal velocity sensor, position sensor, control module, spray gun (3) and at least one set electricity Qu armed lever mechanism；Wherein, pedestal
Motor (2) is fixedly installed on pedestal (1) surface, and face and base electrical machinery where the rotating path at base electrical machinery (2) driving end
(2) the set face of corresponding pedestal (1) is parallel；Principal velocity sensor and position sensor are respectively arranged at base electrical machinery (2)
Driving end on, be respectively used to detection base electrical machinery (2) the driving movement speed at end, spatial position, primary current sense device is used for
Detect the driving current on base electrical machinery (2)；
Each group electricity Qu armed lever mechanism includes armed lever ontology (5), joint position motor (4), primary current sensor, secondary speed respectively
Sensor, secondary position sensor；In each group electricity Qu armed lever mechanism, wherein one end of armed lever ontology (5) and corresponding joint position electricity
The driving end of machine (4) is connected, and secondary velocity sensor and time position sensor are respectively arranged at corresponding joint position motors (4)
It drives on end, is respectively used to movement speed, the spatial position at detection corresponding joint position motors (4) driving end, primary current sensing
Device is used to detect the driving current on corresponding joint position motors (4)；
Each group electricity Qu armed lever mechanism is sequentially connected each other, far from it on armed lever ontology (5) in later group electricity Qu armed lever mechanism
One end of corresponding joint position motors (4), with the pedestal of joint position motor (4) in previous group electricity Qu armed lever mechanism is mutually fixed connects
It connects, face where each group electricity drives the rotating path for driving end in armed lever machine on joint position motor (4) is mutually coplanar each other；Tail of the queue position
The pedestal of joint position motor (4) with the driving end of base electrical machinery (2) mutually dock by fixation in electricity Qu armed lever mechanism, and joint position
Face where setting the rotating path at motor (4) driving end and face where the rotating path at base electrical machinery (2) driving end are perpendicular；Spray gun
(3) be fixedly installed on the front end of armed lever ontology (5) in Head-of-line electricity Qu armed lever mechanism, the nozzle direction of spray gun (3) with it is set
The direction of armed lever ontology (5) front end is identical；
In base electrical machinery (2), primary current sense device, principal velocity sensor, position sensor and each group electricity Qu armed lever mechanism
Joint position motor (4), primary current sensor, secondary velocity sensor, secondary position sensor be connected respectively with control module,
Pedestal (1) is fixedly installed in specified machine, and the feeder ear of control module docking specified machine take electricity, is respectively phase therewith
Each power device even is powered, meanwhile, control module is received to be instructed from specified machine control of which, and according to next
Primary current sensor in autonomous current sensor, principal velocity sensor, position sensor and each group electricity Qu armed lever mechanism,
Secondary velocity sensor, secondary position sensor real-time detection as a result, driving armed lever for base electrical machinery (2) and each group electricity respectively
Joint position motor (4) in mechanism is controlled.
2. a kind of electric drive formula pesticide spraying machinery arm according to claim 1, it is characterised in that: each group electricity drives armed lever machine
Structure further includes visual sensor and rangefinder respectively, and in each group electricity Qu armed lever mechanism, visual sensor and rangefinder are respectively provided with
In on counterpart arm bar body (5) far from its corresponding joint position motors (4) one end, the image capture direction of visual sensor with
The ranging direction of rangefinder is in the same direction；Visual sensor, rangefinder in each group electricity Qu armed lever mechanism dock control module respectively, by
Control module is respectively that each visual sensor, rangefinder are powered, and combine visual sensor realtime graphic capture result,
And the real time distance result of rangefinder is directed in base electrical machinery (2) and each group electricity Qu armed lever mechanism respectively as foundation
Joint position motor (4) is controlled.
3. a kind of electric drive formula pesticide spraying machinery arm according to claim 2, it is characterised in that: the base electrical machinery (2) is
AC servo motor.
4. a kind of electric drive formula pesticide spraying machinery arm according to claim 2, it is characterised in that: the rangefinder is ultrasonic wave
Rangefinder.
5. a kind of electric drive formula pesticide spraying machinery arm according to claim 1, it is characterised in that: electricity Qu armed lever mechanism
Number is 3 groups.
6. a kind of control method for a kind of electricity drive formula pesticide spraying machinery arm described in any one of claim 2 to 5,
It is characterized in that, control module is received to be instructed from specified machine control of which, and is calculated to obtain and corresponded to base electrical machinery (2)
Drive control instructs and corresponds respectively to the drive control instruction of joint position motor (4) in each group electricity Qu armed lever mechanism, so
Afterwards, control module is directed to the joint position motor (4) in base electrical machinery (2) and each group electricity Qu armed lever mechanism respectively, by such as
Lower step is controlled, and realizes that joint position motor (4) is with respect to the position of base electrical machinery (2) in tail of the queue position electricity Qu armed lever mechanism
The movement of armed lever ontology (5) in variation and each electricity Qu armed lever mechanism；
Step A. control module by position sensor obtain motor drive terminal spatial position, and with the driving control of corresponding motor
System instruction carries out the position PID and compares, the drive control instruction of more new motor, subsequently into step B；
Step B. control module is instructed for the drive control of motor, is compared in conjunction with preset limit circuitry specifications, is updated more
The drive control of new motor instructs, subsequently into step C；
Step C. control module by velocity sensor obtain motor drive terminal movement speed, and with the driving control of corresponding motor
System instruction carries out PID speed and compares, the drive control instruction of more new motor, subsequently into step D；
Step D. control module obtains the driving current of motor by current sensor, and instructs with the drive control of corresponding motor
It carries out PID speed to compare, the drive control instruction of more new motor, subsequently into step E；
Step E. control module is rotated drive control application of instruction in the driving end on motor, controlling motor.
7. a kind of control method of electric drive formula pesticide spraying machinery arm according to claim 6, it is characterised in that: the control
Module is directed to the joint position motor (4) in base electrical machinery (2) and each group electricity Qu armed lever mechanism respectively, executes step A to step
While rapid D, control module in real time according in each group electricity Qu armed lever mechanism visual sensor realtime graphic capture result and
The real time distance of rangefinder realizes avoidance obstacle as a result, the drive control instruction for motor is updated.
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