CN109664280A - A kind of control device and method of Rosa roxburghii Tratt detection system - Google Patents
A kind of control device and method of Rosa roxburghii Tratt detection system Download PDFInfo
- Publication number
- CN109664280A CN109664280A CN201811615233.7A CN201811615233A CN109664280A CN 109664280 A CN109664280 A CN 109664280A CN 201811615233 A CN201811615233 A CN 201811615233A CN 109664280 A CN109664280 A CN 109664280A
- Authority
- CN
- China
- Prior art keywords
- axis
- driving motor
- lead screw
- axis driving
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a kind of control device and methods of Rosa roxburghii Tratt detection system, comprising: pedestal；Swivel becket winding apparatus comprising support rod and rotary electric machine；Horizontally moving device, when Y-axis driving motor drives Y-axis lead screw positive and negative rotation, Y-axis mobile station is moved forward and backward along Y-axis lead screw；Vertical shift device, when Z axis lead screw Z axis driving motor drives Z axis lead screw positive and negative rotation, Z axis movable block is along Z axis lead screw lifting moving；The rotary electric machine, Y-axis driving motor, Z axis driving motor control terminal with controller be electrically connected, the signal input port of the controller and the signal output port of computer communicate to connect, the controller controls the rotation of the rotary electric machine, Y-axis driving motor and Z axis driving motor according to the instruction from the computer；The present invention greatly improves the adjusting efficiency of device, has many advantages, such as that structure is simple, easy to control practical.
Description
Technical field
The present invention relates to a kind of control devices of Rosa roxburghii Tratt detection system, belong to Rosa roxburghii Tratt detection technique field.
Background technique
Rosa roxburghii Tratt be the perennial machaka rosa roxburghii of rosaceae fruit also known as mountain king fruit, siberian rose, Fo Langguo, thatch pears,
Oblonga, alias thorn pineapple send the spring to return, pierce sour pear, nine-headed bird, Wen Xianguo, are the nutrition treasure fruits of healthcare, are a kind of dilute
Some fruits.In the automation picking of Rosa roxburghii Tratt, conventional machinery picks arm to carry out the picking of Rosa roxburghii Tratt, but in picking, and one
As need to identify the specific location of Rosa roxburghii Tratt in advance, since the space layout of Rosa roxburghii Tratt is different, if without can flexibly be moved in space
Mobile device, it will be difficult to the which how specific location for recognizing Rosa roxburghii Tratt realizes its intelligent control after using multi-faceted head
It is the problem of currently encountering.
Summary of the invention
The technical problem to be solved by the present invention is a kind of control device of Rosa roxburghii Tratt detection system is provided, to realize that Rosa roxburghii Tratt is examined
The intelligent control of examining system improves detection efficiency, with overcome the deficiencies in the prior art.
The technical scheme is that a kind of control device of Rosa roxburghii Tratt detection system, comprising:
Pedestal；
Swivel becket winding apparatus is arranged on the pedestal comprising the support rod being rotatably arranged on the pedestal, it is described
Support rod bottom end is connected with transverse direction in the upper end of the support rod to follow rotary electric machine to be rotatablely connected the output shaft of rotary electric machine
Monitor station；
Horizontally moving device, setting is on the lateral monitor station comprising Y-axis lead screw, Y-axis mobile station and Y-axis driving
Motor, the Y-axis mobile station are cooperatively connected on the Y-axis lead screw by screw hole thereon, and the Y-axis lead screw is described to follow
Y-axis driving motor is rotatablely connected the Y-axis driving motor, when the Y-axis driving motor drives the Y-axis lead screw positive and negative rotation,
The Y-axis mobile station is moved forward and backward along the Y-axis lead screw；
Vertical shift device is arranged below the Y-axis mobile station comprising Z axis lead screw, Z axis movable block and Z axis driving
Motor, the Z axis movable block are cooperatively connected on the Z axis lead screw by screw hole thereon, and the Z axis lead screw is described to follow
Z axis driving motor is rotatablely connected the Z axis driving motor, when the Z axis driving motor drives the Z axis lead screw positive and negative rotation,
The Z axis movable block is along the Z axis lead screw lifting moving；
The rotary electric machine, Y-axis driving motor, Z axis driving motor control terminal with controller be electrically connected, the control
The signal input port of device processed and the signal output port of computer communicate to connect, and the controller is according to from the computer
Instruction, control the rotation of the rotary electric machine, Y-axis driving motor and Z axis driving motor.
The support rod includes first hydraulic cylinder and the first hydraulic stem, and first hydraulic cylinder drives and moves down on the first hydraulic stem
Dynamic, the control terminal of the first hydraulic cylinder and the controller are electrically connected, and the controller is according to from the computer
Instruction, controls the driving of the first hydraulic cylinder.
The transverse direction monitor station includes tilting bar and horizon bar, and tilting bar one end is rotatably connected on the upper end of support rod, separately
One end and horizon bar are rigidly connected, and second hydraulic cylinder and the second hydraulic stem, institute are provided between the tilting bar and support rod
The top that support rod is arranged in second hydraulic cylinder is stated, and the second hydraulic stem is hinged on the lower part of tilting bar, the second hydraulic cylinder
Control terminal and the controller be electrically connected, the controller controls described second according to the instruction from the computer
The second hydraulic stem of Driven by Hydraulic Cylinder is flexible, so that tilting bar be driven to swing.
The beneficial effects of the present invention are: the present invention can be by by the control of rotary electric machine, Y-axis driving motor, Z axis driving motor
The control terminal of end processed and first hydraulic cylinder and second hydraulic cylinder is connect with controller, realizes the intelligent control of detection system, pole
The big adjusting efficiency for improving device.The present invention has many advantages, such as that structure is simple, easy to control practical.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of Y-axis mobile station；
Fig. 3 is the structural schematic diagram of Z axis movable block；
Fig. 4 is the control structure figure of this system；
In figure: 1 pedestal, 2 first hydraulic cylinders, 3 first hydraulic stems, 4 tilting bars, 5 horizon bars, 6 circular gears, 7 sliding tooths
Wheel, 8 rotary electric machines, 9 connecting plates, 10Y axis driving motor, 11Y axial filament thick stick, 12 support shafts, 13Y axis mobile station, 14Z axis driving electricity
Machine, 15Z axial filament thick stick, 16 gag lever posts, 17Z axis movable block, 18 electric platforms, 19 photographic devices, 20 baffles, 21 second hydraulic cylinders,
22 second hydraulic stems, 23 load-bearing rings, 24 limit holes.
Specific embodiment
With reference to the accompanying drawing and invention is described further in specific embodiment:
Please refer to figs. 1 to 4, according to the present invention a kind of control device of Rosa roxburghii Tratt detection system, comprising:
Pedestal 1 is provided with traveling wheel or pedestal 1 as vehicle in 1 bottom of pedestal.
Swivel becket winding apparatus is arranged on pedestal 1 comprising support rod, the support rod bottom end are rotatably connected on pedestal 1
On, lateral monitor station is connected in the upper end of support rod.Preferably, support rod bottom end is to follow rotary electric machine 8 to be pivotally attached to
The output shaft of rotary electric machine 8.For example, support rod bottom end is connected with circular gear 6, and circular gear 6 and driving 7 company of engagement of gear
It connects, drives the output axis connection of gear 7 and rotary electric machine 8, the rotation of support rod is driven by rotary electric machine 8, realizes support rod
Swivel becket around.Preferably, support rod includes first hydraulic cylinder 2 and the first hydraulic stem 3, and first hydraulic cylinder 2 drives the first hydraulic stem 3
It moves up and down, wherein first hydraulic cylinder 2 is arranged on pedestal 1, and the first hydraulic stem 3 is arranged on top, passes through first hydraulic cylinder 2
Movement, it can be achieved that lateral monitor station moves up or declines.
Lateral monitor station includes tilting bar 4 and horizon bar 5, and 4 one end of tilting bar is rotatably connected on the upper end of support rod, another
End is rigidly connected with horizon bar 5, and second hydraulic cylinder 21 and the second hydraulic stem 22 are provided between tilting bar 4 and support rod, the
The top of support rod is arranged in two hydraulic cylinders 21, and the second hydraulic stem 22 is hinged on the middle pars infrasegmentalis of tilting bar 4, passes through the second liquid
It is flexible that cylinder pressure 21 drives the second hydraulic stem 22, to drive tilting bar 4 to swing, for adjusting the pitch angle tune of lateral monitor station
Section.
Horizontally moving device is arranged on lateral monitor station comprising Y-axis lead screw 11, Y-axis mobile station 13 and Y-axis driving
Motor 10, Y-axis mobile station 13 are cooperatively connected on Y-axis lead screw 11 by screw hole thereon, and Y-axis lead screw 11 states Y-axis drive to follow
Dynamic motor 10 is rotatablely connected Y-axis driving motor 10, and when Y-axis driving motor 10 drives 11 positive and negative rotation of Y-axis lead screw, Y-axis is moved
Dynamic platform 13 is moved forward and backward along Y-axis lead screw 11.Specifically, it has been fixedly disposed connecting plate 9 in lateral monitor station bottom, in connecting plate
The two piece support shafts 12 parallel with Y-axis lead screw 11 are removably connected on 9, load-bearing ring 23 there are two tools in Y-axis mobile station 13, two
Root support shaft 12 is threaded through in two load-bearing rings 23, on the one hand can so be limited the rotation of Y-axis mobile station 13, be made Y-axis lead screw 11
It is converted into the movement of Y-axis mobile station 13, on the other hand can also play the role of guiding, improves the steady of Y-axis mobile station 13
Property and reliability.Preferably, lateral monitor station includes tilting bar 4 and horizon bar 5, and horizon bar 5 is connected to support by tilting bar 4
The upper end of bar.
Vertical shift device is arranged below Y-axis mobile station 13 comprising Z axis lead screw 15, Z axis movable block 17 and Z axis drive
Dynamic motor 14, Z axis movable block 17 are cooperatively connected on Z axis lead screw 15 by screw hole thereon, and Z axis lead screw 15 is to follow Z axis to drive
Dynamic motor 14 is rotatablely connected Z axis driving motor 14, when Z axis driving motor 14 drives 15 positive and negative rotation of Z axis lead screw, Z axis movable block
17 along 15 lifting moving of Z axis lead screw.Specifically, two parallel with Z axis lead screw 15 are removably connected in 13 bottom of Y-axis mobile station
Root gag lever post 16, there are two limit holes 24, two gag lever posts 16 to be threaded through in two limit holes 24 for tool on Z axis movable block 17,
The bottom end of two gag lever posts 16 is connected with baffle 20.The rotation of Z axis movable block 17 on the one hand can be so limited, Z axis lead screw 15 is made
It is converted into moving up and down for Z axis movable block 17, on the other hand can also play the role of guiding, improves Z axis movable block 17
Stationarity and reliability.
The control of rotary electric machine 8, Y-axis driving motor 10, Z axis driving motor 14, first hydraulic cylinder 2 and second hydraulic cylinder 21
End is electrically connected with controller, and the signal input port of controller and the signal output port of computer communicate to connect, control
Device controls the rotation of rotary electric machine 8, Y-axis driving motor 10 and Z axis driving motor 14 according to the instruction from computer, and first
The driving of hydraulic cylinder 2 and second hydraulic cylinder 21, to realize that the position of camera is adjusted.
Preferably, electric platform 18 is provided on Z axis movable block 17, electric platform 18 is also electrically connected with controller,
And its position is controlled by computer and is adjusted.Photographic device 19 is mounted on electric platform 18.
The present invention can be controlled hydraulic cylinder by computer and controller and realize that the entirety of lateral monitor station moves up or declines, and be led to
It crosses control Z axis driving motor 14 and Y-axis driving motor 10 completes industrial camera and binocular stereo vision camera in Z axis and Y-axis side
To movement, by rotary electric machine 8 can realize lateral monitor station rotation detect, different operating conditions is adapted to, so as to a variety of multiple
Rosa roxburghii Tratt image is acquired in miscellaneous spatial position, the accurate position for measuring Rosa roxburghii Tratt, provides foundation for the automation picking of Rosa roxburghii Tratt.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (3)
1. a kind of control device of Rosa roxburghii Tratt detection system characterized by comprising
Pedestal (1)；
Swivel becket winding apparatus is arranged on the pedestal (1) comprising the support rod being rotatably arranged on the pedestal (1), institute
Support rod bottom end is stated to follow the output shaft of rotary electric machine (8) rotation connection rotary electric machine (8), is connected in the upper end of the support rod
It is connected to lateral monitor station；
Horizontally moving device, setting is on the lateral monitor station comprising Y-axis lead screw (11), Y-axis mobile station (13) and Y-axis
Driving motor (10), the Y-axis mobile station (13) are cooperatively connected on the Y-axis lead screw (11) by screw hole thereon, the Y
Axial filament thick stick (11) is to follow the Y-axis driving motor (10) to be rotatablely connected the Y-axis driving motor (10), the Y-axis driving electricity
When machine (10) drives Y-axis lead screw (11) positive and negative rotation, the Y-axis mobile station (13) is moved before and after the Y-axis lead screw (11)
It is dynamic；
Vertical shift device, setting is below the Y-axis mobile station (13) comprising Z axis lead screw (15), Z axis movable block (17)
With Z axis driving motor (14), the Z axis movable block (17) is cooperatively connected on the Z axis lead screw (15) by screw hole thereon,
To follow the Z axis driving motor (14) to be rotatablely connected the Z axis driving motor (14), the Z axis drives the Z axis lead screw (15)
When dynamic motor (14) drive Z axis lead screw (15) positive and negative rotation, the Z axis movable block (17) rises along the Z axis lead screw (15)
Drop movement；
The rotary electric machine (8), Y-axis driving motor (10), Z axis driving motor (14) control terminal electrically connect with controller
It connects, the signal output port of the signal input port of the controller and computer communicates to connect, and the controller is according to coming from
The instruction of the computer controls the rotation of the rotary electric machine (8), Y-axis driving motor (10) and Z axis driving motor (14).
2. the control device of Rosa roxburghii Tratt detection system according to claim 1, it is characterised in that: the support rod includes first
Hydraulic cylinder (2) and the first hydraulic stem (3), first hydraulic cylinder (2) driving the first hydraulic stem (3) move up and down, and described first is hydraulic
The control terminal of cylinder (2) and the controller are electrically connected, and the controller is according to the instruction from the computer, described in control
The driving of first hydraulic cylinder (2).
3. the control device of Rosa roxburghii Tratt detection system according to claim 1, it is characterised in that: it is described transverse direction monitor station include
Tilting bar (4) and horizon bar (5), tilting bar (4) one end are rotatably connected on the upper end of support rod, and the other end and horizon bar (5) are rigid
Property connection, be provided with second hydraulic cylinder (21) and the second hydraulic stem (22) between the tilting bar (4) and support rod, described the
Two hydraulic cylinders (21) are arranged in the top of support rod, and the second hydraulic stem (22) is hinged on the lower part of tilting bar (4), and described second
The control terminal of hydraulic cylinder (21) and the controller are electrically connected, and the controller is according to the instruction from the computer, control
It is flexible to make the second hydraulic cylinder (21) driving the second hydraulic stem (22), so that tilting bar (4) be driven to swing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811615233.7A CN109664280A (en) | 2018-12-27 | 2018-12-27 | A kind of control device and method of Rosa roxburghii Tratt detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811615233.7A CN109664280A (en) | 2018-12-27 | 2018-12-27 | A kind of control device and method of Rosa roxburghii Tratt detection system |
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| Publication Number | Publication Date |
|---|---|
| CN109664280A true CN109664280A (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811615233.7A Pending CN109664280A (en) | 2018-12-27 | 2018-12-27 | A kind of control device and method of Rosa roxburghii Tratt detection system |
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| CN (1) | CN109664280A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474024A (en) * | 2022-01-04 | 2022-05-13 | 内蒙古长城计算机系统有限公司 | Mechanical arm |
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Application publication date: 20190423 |
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