CN205573860U - Agricultural moving platform of robot anticollision structure - Google Patents
Agricultural moving platform of robot anticollision structure Download PDFInfo
- Publication number
- CN205573860U CN205573860U CN201620426148.6U CN201620426148U CN205573860U CN 205573860 U CN205573860 U CN 205573860U CN 201620426148 U CN201620426148 U CN 201620426148U CN 205573860 U CN205573860 U CN 205573860U
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- moving platform
- control system
- collision
- robot
- photoswitch
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Abstract
The utility model relates to an agricultural moving platform of robot anticollision structure, including crashproof crossbeam, the buffer connection is passed through at the both ends of anticollision crossbeam on the support of the robot moving platform left and right sides, makes this anticollision crossbeam can obtain the buffering when receiving the striking, the rear of anticollision crossbeam is equipped with a plurality of photoelectric switch that can detect this anticollision crossbeam displacement, photoelectric switch links to each other with control system to signal transmission will be detected and control system will be given. The utility model relates to a rationally, simple structure controls the convenience, not only has good buffer function, the kinetic energy of active absorption upon impact, and the displacement of crashproof roof beam moreover, can also be monitored to damage that the collision avoidance caused moving platform to in time sending to park through control system and instructing, the better implements the protection to the moving platform of robot.
Description
Technical field
This utility model relates to the structure of a kind of Agricultural Robot, for crashproof structure on a kind of Agricultural Robot mobile platform, and a kind of Agricultural Robot mobile platform anti-collision structure.
Background technology
Agricultural Robot mobile platform working environment is more severe, and farmland surface relief is relatively big, and soil compactibility is uneven, and Tanaka's irregular slalom thing is more, and the probability therefore collided is bigger.Meanwhile, agricultural robot typically can carry the equipment of more precision, easily cannot normally work after being given a shock.At present, it is mostly that the collision prevention girders of direct automobile is arranged on Agricultural Robot mobile platform.But; the intensity of automobile collision prevention girders is the biggest, it is adaptable to the crash protection of hot-short, and Agricultural Robot mobile platform real work medium velocity is slower; therefore its cushioning effect is limited, it is impossible to preferably protection robot moving platform and the safety of equipment carried thereof.
Utility model content
The purpose of this utility model is for the difficulty currently run at crashproof aspect at Agricultural Robot mobile platform; a kind of Agricultural Robot mobile platform anti-collision structure is provided; not only there is good pooling feature; can effectively absorb kinetic energy during collision; the damage that mobile platform is caused by collision free, moreover, it is also possible to the displacement of monitoring collision prevention girders; and send cutoff command in time by control system, preferably robot moving platform is implemented protection.
The technical solution of the utility model is:
A kind of Agricultural Robot mobile platform anti-collision structure, including anti-collision beam, the two ends of described anti-collision beam are connected on the support of the robot moving platform left and right sides by buffer unit, enable this anti-collision beam to be buffered when clashing into；The rear of described anti-collision beam is provided with some photoswitches that can detect this anti-collision beam displacement；Described photoswitch is connected with control system, and detection signal is transferred to control system.
Further, described buffer unit includes buffer spring and hydraulic bjuffer；One end of described hydraulic bjuffer is fixing with support to be connected, and the other end is flexibly connected with anti-collision beam by described buffer spring.
Further, described photoswitch is three, and the most equidistant is arranged on pole, and makes a middle photoswitch placed in the middle；The two ends of described pole are respectively fixedly connected with on the support of the robot moving platform left and right sides.
The beneficial effects of the utility model:
This utility model is reasonable in design; simple in construction; manipulation is convenient; not only there is good pooling feature, effectively absorb kinetic energy during collision, it is to avoid the damage that mobile platform is caused by collision; and; the displacement of collision prevention girders can also be monitored, and send cutoff command in time by control system, preferably robot moving platform be implemented protection.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Wherein: 1-anti-collision beam；2-buffer unit；3-support；4-the first photoswitch；5-the second photoswitch；6-the 3rd photoswitch；7-pole.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
As shown in Figure 1.
A kind of Agricultural Robot mobile platform anti-collision structure, including anti-collision beam 1.The two ends of described anti-collision beam 1 are connected on the support 3 of the robot moving platform left and right sides by buffer unit 2, enable this anti-collision beam 1 to be buffered when clashing into.Preferably, described buffer unit 2 includes buffer spring and hydraulic bjuffer.Wherein, one end of described hydraulic bjuffer is fixing with support 3 to be connected, and the other end is flexibly connected with anti-collision beam 1 by described buffer spring, makes anti-collision beam 1 preferably to be buffered.Described anti-collision beam 1 rear is provided with a pole 7, and its two ends are respectively fixedly connected with on the support 7 of the robot moving platform left and right sides, and parallel with described anti-collision beam 1.Three photoswitches are installed on described pole 7 side by side, are followed successively by: the first photoswitch the 4, second photoswitch 5 and the 3rd photoswitch 6.Distance between these three photoswitches is equal, and the second photoswitch 5 of centre is positioned at center.Described three photoswitches are in the middle part of described anti-collision beam 1 facade, it is possible to detect this anti-collision beam 1 displacement in the longitudinal direction.Meanwhile, described three photoswitches are all connected with control system, and detection signal can be transferred to control system.After described control system receives signal, can according to circumstances send cutoff command, make robot moving platform stop advancing, it is to avoid serious damage occurs.Preferably, described photoswitch can be selected for the normally opened photoswitch of same model NPN, response time≤2ms.By test, apart from the distance of anti-collision beam 1 inwall, the first photoswitch 4 and the 3rd photoswitch 6 can be set as 90-100mm, the second photoswitch 5 is set as 110-130mm apart from the distance of anti-collision beam 1 inwall.Meanwhile, the detecting distance of the first photoswitch 4 and the 3rd photoswitch 6 is set as, and 75-85mm, described second photoswitch 5 detecting distance are set as 85-95mm.Thus so that when collision occurs, the comparison sufficient response time can be reserved to control system, in order to send cutoff command in time, it is to avoid robot moving platform is damaged.
Work process of the present utility model is: when the anti-collision beam of Agricultural Robot mobile platform is collided, and first can be buffered device and absorb a part of kinetic energy.Meanwhile, three photoswitches detect the displacement of anti-collision beam in real time.When anti-collision beam displacement in the longitudinal direction reaches the detecting distance set, photoswitch sends signal to control system immediately.Control system sends cutoff command immediately, makes mobile platform stop, it is to avoid being damaged.
This utility model is not directed to part and the most same as the prior art prior art maybe can be used to be realized.
Claims (3)
1. an Agricultural Robot mobile platform anti-collision structure, including anti-collision beam, is characterized in that the two ends of described anti-collision beam are connected on the support of the robot moving platform left and right sides by buffer unit, enables this anti-collision beam to be buffered when clashing into；The rear of described anti-collision beam is provided with some photoswitches that can detect this anti-collision beam displacement；Described photoswitch is connected with control system, and detection signal is transferred to control system.
Agricultural Robot mobile platform anti-collision structure the most according to claim 1, is characterized in that described buffer unit includes buffer spring and hydraulic bjuffer.
Agricultural Robot mobile platform anti-collision structure the most according to claim 1, is characterized in that described photoswitch is three, and the most equidistant is arranged on pole, and makes a middle photoswitch placed in the middle；The two ends of described pole are respectively fixedly connected with on the support of the robot moving platform left and right sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620426148.6U CN205573860U (en) | 2016-05-12 | 2016-05-12 | Agricultural moving platform of robot anticollision structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620426148.6U CN205573860U (en) | 2016-05-12 | 2016-05-12 | Agricultural moving platform of robot anticollision structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205573860U true CN205573860U (en) | 2016-09-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620426148.6U Expired - Fee Related CN205573860U (en) | 2016-05-12 | 2016-05-12 | Agricultural moving platform of robot anticollision structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205573860U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109471432A (en) * | 2018-11-08 | 2019-03-15 | 南京农业大学 | A kind of independent navigation agricultural vehicle Short Path Avoiding Obstructions planing method |
-
2016
- 2016-05-12 CN CN201620426148.6U patent/CN205573860U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109471432A (en) * | 2018-11-08 | 2019-03-15 | 南京农业大学 | A kind of independent navigation agricultural vehicle Short Path Avoiding Obstructions planing method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 Termination date: 20170512 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |