CN208323439U - A kind of transplanter manipulator vibration detection device - Google Patents
A kind of transplanter manipulator vibration detection device Download PDFInfo
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- CN208323439U CN208323439U CN201721898590.XU CN201721898590U CN208323439U CN 208323439 U CN208323439 U CN 208323439U CN 201721898590 U CN201721898590 U CN 201721898590U CN 208323439 U CN208323439 U CN 208323439U
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Abstract
A kind of transplanter manipulator vibration detection device, including the detection device for inspecting manipuator Vibration Condition and the control system being analyzed and processed for the testing result to detection device, the detection device includes the cross laser device being set on transplanter manipulator clamping jaw and the PSD position sensitive detectors being set on transplant machine rack baffle, the control system includes the motion profile parsing module parsed to the signal of PSD position sensitive detectors detection, the processor module that the vibration signal of motion profile parsing module parsing is handled, signal conversion module, abnormal vibration alarm module and power module.The utility model reduces the influence vibrated to manipulator transplanting efficiency, reduces cost, there is good application prospect in terms of agricultural machinery vibration detection the utility model has the advantages that staff is facilitated to measure vibration.
Description
Technical field
The utility model relates to transplanting machine field, specifically a kind of transplanter manipulator vibration detection device.
Background technique
During transplanting, manipulator plays an important role automatic vegetable transplanter.When transplanter is started to work, machine
Tool hand needs the movement completed to specifically include that seedling taking, throw seedling.It uniformly, without lodging is transplanted in soil in order to reach vegetables,
Manipulator needs are accomplished accurately to clamp out vegetable seedling from seedlings nursing plate, and can accurately be launched duckbilled and hung in cup,
So that duckbilled is hung cup and suppression of soil wheel co-operation, the intact transplanting of vegetables is finished.
If manipulator is shaken during robot work, it not only will affect folder seedling, throw seedling inaccuracy, also
It by the cauline leaf sliding trackle of vegetable seedling or can be broken during shake, influence vegetable transplanting effect and survival rate.Furthermore manipulator
Structure is complex, constantly repeatedly in vibration processes, can cause connection loosing, if checked not in time, once occur compared with
Big vibration, manipulator break down, and maintenance cost is higher, time-consuming and laborious.If vibration source appears in the certain of manipulator simultaneously
Stress point, feature contacts point, vibration, which will lead to manipulator, to be there is fatigue failure and is broken, and peasant need to contact producer and replace,
Very big inconvenience is brought to peasant.
In current vibration detection device, the rare vibration detection device to vegetable transplanting machinery hand.At present to vibration
Context of detection frequently with vibration measuring method be traditional contact type measurement, optical interference vibration measuring technology, resonant method technology etc..
Shaft vibration detector disclosed in patent CN201310605976, use is exactly contact type measurement, and principle is mechanical oscillation
Shaft surface pushes sliding block mobile, and the resistor disc that the movement of sliding block makes to install in the trench occurs to stretch and compression, by will be electric
Resistance piece is connected with resistance test instrument, obtains vibratory output.These methods are in measurement accuracy, the complexity of measuring condition and equipment
It is not able to satisfy the measurement request of vegetable transplanting machine tool hand vibration.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of transplanter manipulator vibration detection devices, solve existing
There are the deficiency of technology, real-time detection manipulator vibratory output and and alarm.
Used technical solution is the utility model to solve above-mentioned technical problem: a kind of transplanter manipulator vibration inspection
Device is surveyed, is divided including the detection device for inspecting manipuator Vibration Condition and the testing result for detection device
The control system of processing is analysed, the detection device includes the cross laser device being set on transplanter manipulator clamping jaw and setting
In the PSD position sensitive detectors on transplant machine rack baffle；The control system includes examining to PSD position sensitive detectors
Motion profile parsing module that the signal of survey is parsed handles the vibration signal of motion profile parsing module parsing
Processor module, signal conversion module, abnormal vibration alarm module and power module, the PSD position sensitive detectors with
The connection of motion profile parsing module, motion profile parsing module are connect with processor module, and processor module is converted by signal
Module is connect with abnormal vibration alarm module, and the power module is motion profile parsing module, processor module, signal conversion
Module, abnormal vibration alarm module provide electric energy.
The PSD position sensitive detectors are two, are respectively set to the position PSD in rack baffle horizontal direction
Sensitive detectorsxWith the PSD position sensitive detectors being set on rack baffle vertical directiony, PSD position sensitive detectorsx
With PSD position sensitive detectorsyIt is sent out at the middle line and cross laser device of right angle setting and two PSD position sensitive detectors
Two light penetrated are overlapped.
The PSD position sensitive detectors, motion profile parsing module, processor module, signal conversion module, vibration are different
Connection type between normal alarm module and power module is wired connection.
The processor module includes manipulator motion track database without friction, signal contrast system, information output dress
It sets.
The beneficial effects of the utility model are: the utility model is moved synchronously according to cross laser device with manipulator, in real time
The characteristics of reflecting manipulator Vibration Condition, and using PSD be displaced sensitive detectors for position sensitivity, the characteristics such as be swift in response
The motion conditions of manipulator are done to preliminary detection, subsequent motion profile parsing module, processor module, information is recycled to turn
It changes the mold block and abnormal vibrations alarm module and Vibration Condition is reflected to staff, prompt whether staff needs to manipulator
It is overhauled；Processing result is simple and clear, and staff is facilitated to measure vibration, reduces vibration and transplants effect to manipulator
The influence of rate, reduces cost, there is good application prospect in terms of agricultural machinery vibration detection.
Detailed description of the invention
Fig. 1 is the utility model mounting structure schematic diagram；
Fig. 2 is the utility model cross laser device light and PSD position sensitive detectors relative position schematic diagram；
Fig. 3 is the utility model control system flow diagram；
Fig. 4 be in the manipulator motion track database without friction of the utility model processor module the manipulator that saves without
The schematic diagram of vibration motion track and its threshold value.
Marked in the figure: 1, manipulator, 2, cross laser device, 3, cross laser device sleeve, 4, PSD position sensitive detectors,
401, PSD position sensitive detectors x, 402, PSD position sensitive detectors y, 5, rack baffle, 6, rotating mechanism, 701, vibration
Low extreme value, 702, manipulator motion profile without friction, 703, vibration limes superiors.
Specific embodiment
As shown, a kind of transplanter manipulator vibration detection device, including the inspection for 1 Vibration Condition of inspecting manipuator
The control system surveying device and being analyzed and processed for the testing result to detection device, the detection device include setting
It is examined in the cross laser device 2 on 1 clamping jaw of transplanter manipulator and the PSD position sensing being set on transplant machine rack baffle 5
Device 4 is surveyed, is installed between 1 clamping jaw of cross laser device 2 and manipulator by cross laser device sleeve 3, cross laser device sleeve 3 is circle
Cylindricality is provided with a blind hole identical with 2 size of cross laser device, 3 sleeve outer wall of cross laser device sleeve in cylindrical sleeve
Threaded hole is radially provided on same bus, through meltability glue sticking on manipulator clamping jaw, cross laser device 2 is inserted in sleeve
In cylinder, meanwhile, then fastening screw is threaded into hole, so that fastening screw is withstood cross laser device 2, fixes it.
Launch cross light one of cross laser device 2 is in a horizontal position, and one in a vertical position, described
PSD position sensitive detectors 4 are two, are respectively set in 5 horizontal direction of rack baffle in 1 horizontal direction of inspecting manipuator
The PSD position sensitive detectors of Vibration Conditionx401 and it is set to 1 vertical direction of inspecting manipuator on 5 vertical direction of rack baffle
The PSD position sensitive detectors of upper Vibration Conditiony402, PSD position sensitive detectorsx401 and PSD position sensitive detectorsy402 at right angle setting and middle line and manipulator 1 the work starting point cross laser device of two PSD position sensitive detectors 4
Two light of 2 transmittings are respectively superposed, it means that the point are defined as to the coordinate origin of 1 motion profile of manipulator, in machinery
The cross light that cross laser device 2 emits in motion process after hand 1 will deviate with the middle line of PSD position sensitive detectors 4,
To which PSD position sensitive detectors 4 detect the light at different location, generates different photoelectrons and exported from two output ends.
Further, the control system includes the movement parsed to the signal that PSD position sensitive detectors 4 detect
Track parsing module, processor module, the signal modulus of conversion that the vibration signal of motion profile parsing module parsing is handled
Block, abnormal vibration alarm module and power module, the PSD position sensitive detectors 4 are connect with motion profile parsing module,
Motion profile parsing module is connect with processor module, and processor module passes through signal conversion module and abnormal vibration alarm module
Connection, the power module are motion profile parsing module, processor module, signal conversion module, abnormal vibration alarm module
Electric energy is provided, the motion profile parsing module is that the current signal for exporting PSD position sensitive detectors is parsed to obtain
The value for deviateing the x and y of the PSD position sensitive detectors center line of horizontal, vertical both direction, to obtain cross laser device 2
Position coordinates, the processor module includes manipulator motion track database without friction, signal contrast system and information
Output device in the motion profile wherein inputted in the situation without friction of manipulator 1 and demarcates oscillating region, i.e., with manipulator without vibration
The equidistant threshold value track in the track of dynamic movement.
For PSD position sensitive detectors 4, mainly converted by the incident light fallen on PSD position sensitive detectors 4
After photoelectron, photoelectric current is detected by two end electrodes in P-type layer and is formed, charge is collected by p-type resistive layer by electrode, different
The corresponding output electric current of the light source incidence point of position is different, to achieve the effect that position sensing, P-type layer is the electricity of uniform one
Resistance layer is inversely proportional by photoelectric current and incidence point and electrode spacing that electrode is collected into.
Further, the signal conversion module includes: filter circuit, amplifying circuit, A/D conversion circuit.The filter
The mixed and disorderly electric signal that wave circuit exports processor module filters out a part, obtains an analog signal, using amplification electricity
Road converts analog signals into digital signal by its voltage amplification, using A/D conversion.
Further, the PSD position sensitive detectors, motion profile parsing module, processor module, signal modulus of conversion
Connection type between block, abnormal vibration alarm module and power module is wired connection, is conducive to PSD position sensing
The vibratory output that detector captures reflects in processor module in time, rapidly, to make processor module in time to corresponding
Vibration signal be compared and judge and alarmed in time by abnormal vibration alarm module.
Further, the processor module include manipulator motion track database without friction, signal contrast system and
Information output apparatus.
Semiconductor light electric position sensor (i.e. PSD) is a kind of novel semi-conductor optoelectronic position based on lateral photo effect
Sensitive sensor.It other than the positioning performance with photodiode array and CCD, also have high sensitivity, high resolution,
The features such as fast response time, simple circuit configuration, thus be valued by the people.The development trend of PSD is high-resolution, High Linear
The multifunctional units such as degree, fast-response and signal acquisition process.
PSD can be divided into one-dimensional PSD and Two-dimensional PSD.One-dimensional PSD can measure the one-dimensional position coordinate of luminous point, and Two-dimensional PSD can
Survey the plan-position coordinate of luminous point.The design feature is to form airborne sensor battle array with two or more pieces one-dimensional PSD sensor
Column measure mobile light point plane position coordinates.For the conventional two-dimensional that compares PSD sensor, the range that can be measured is bigger, energy
With it is good meet measure under the conditions of agricultural mechanical operation.
The method detected using the transplanter manipulator vibration detection device is drawn to eliminate transplanting machine travel
The vibration risen, causes unnecessary influence to measurement result, by only realizing robot movement, and what hitching machinery did not advanced
Operating condition is detected, comprising the following steps:
Step 1: cross laser device 2, when manipulator 1 moves, real time emission, which goes out cross light and is irradiated to, to be arranged in machine
On PSD position sensitive detectors 4 on frame baffle 5；
Step 2: the cross light that cross laser device 2 emits deviates 4 middle line of PSD position sensitive detectors, the position PSD is quick
Feel detectorx401 and PSD position sensitive detectorsy402 detect the signal and respectively output current signalI x WithI y To movement
Track parsing module；
Step 3: motion profile parsing module parse according to the current signal that PSD position sensitive detectors 4 transmit
The offset of manipulator 1 horizontal direction and vertical direction outxAndy, i.e. manipulator 1, and will in the moment corresponding coordinates of motion
The coordinate is delivered to processor module, and parsing obtains the offset of manipulator 1 horizontal direction and vertical directionxAndY'sSpecific side
Method is to be calculated by following formula:
；
WhereinLFor PSD position sensitive detectorsxWith PSD position sensitive detectorsyThe distance between output end,I 0 For PSD
Position sensitive detectorsxWith PSD position sensitive detectorsyThe sum of electric current of output end；
Step 4: processor module by the coordinates of motion that motion profile parsing module in step 3 inputs with pre-enter
Manipulator motion track database without friction is compared, if intercepting this section more than threshold value beyond the threshold value in database
Wave band；If being not responding to without beyond the threshold value in database；
Step 5: the wave band beyond threshold value exported in step 4 is by filtering, the amplification, modulus in signal conversion module
Electric signal is exported after conversion and is alarmed to abnormal vibration alarm module.
Transplanter is equipped with rotating mechanism 6, and rotating mechanism 6 includes: power intake, power output end, rotating mechanism 6
Power intake connects the energy source device of transplanter, and power output end connects manipulator 1, and the energy source device of transplanter passes power
It is delivered to rotating mechanism power intake, rotating mechanism 6 is rotated, is mounted on the manipulator 1 of the power output end of rotating mechanism 6
It is rotated with rotating mechanism 6, i.e., the motion profile of manipulator 1 is a circumference.
It is important to note that Robotic Manipulator Motion Trajectory is discussed as circular trace herein in order to describe conveniently, it is practical
Upper 1 motion profile of manipulator is the closed curve of similar ellipse, but also corresponds to the present embodiment.
Claims (4)
1. a kind of transplanter manipulator vibration detection device, it is characterised in that: including for inspecting manipuator (1) Vibration Condition
Detection device and the control system being analyzed and processed for the testing result to detection device, the detection device include setting
The cross laser device (2) being placed on transplanter manipulator (1) clamping jaw and the position PSD being set on transplant machine rack baffle (5)
Set sensitive detectors (4)；
The control system includes the motion profile parsing parsed to the signal of PSD position sensitive detectors (4) detection
Module, to motion profile parsing module parsing vibration signal handled processor module, signal conversion module, vibration it is different
Normal alarm module and power module, the PSD position sensitive detectors (4) connect with motion profile parsing module, move rail
Mark parsing module is connect with processor module, and processor module is connect by signal conversion module with abnormal vibration alarm module,
The power module is motion profile parsing module, processor module, signal conversion module, abnormal vibration alarm module provide electricity
Energy.
2. a kind of transplanter manipulator vibration detection device according to claim 1, it is characterised in that: the position PSD
Setting sensitive detectors (4) is two, the PSD position sensitive detectors being respectively set in rack baffle (5) horizontal directionx
(401) and the PSD position sensitive detectors that are set on rack baffle (5) vertical directiony(402), PSD position sensitive detectorsx(401) and PSD position sensitive detectorsy(402) at right angle setting and the middle line and cross of two PSD position sensitive detectors
Two light of laser (2) transmitting are overlapped.
3. a kind of transplanter manipulator vibration detection device according to claim 1, it is characterised in that: the position PSD
Sensitive detectors, motion profile parsing module, processor module, signal conversion module, abnormal vibration alarm module and power supply
Connection type between module is wired connection.
4. a kind of transplanter manipulator vibration detection device according to claim 1, it is characterised in that: the processor die
Block includes manipulator motion track database without friction, signal contrast system and information output apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721898590.XU CN208323439U (en) | 2017-12-29 | 2017-12-29 | A kind of transplanter manipulator vibration detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721898590.XU CN208323439U (en) | 2017-12-29 | 2017-12-29 | A kind of transplanter manipulator vibration detection device |
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| Publication Number | Publication Date |
|---|---|
| CN208323439U true CN208323439U (en) | 2019-01-04 |
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ID=64788662
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721898590.XU Expired - Fee Related CN208323439U (en) | 2017-12-29 | 2017-12-29 | A kind of transplanter manipulator vibration detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000560A (en) * | 2017-12-29 | 2018-05-08 | 河南科技大学 | A kind of transplanter manipulator vibration detection device and detection method |
| CN113188441A (en) * | 2021-04-30 | 2021-07-30 | 华南农业大学 | PSD sensor-based device and method for measuring three degrees of freedom of plane of motion mechanism |
-
2017
- 2017-12-29 CN CN201721898590.XU patent/CN208323439U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000560A (en) * | 2017-12-29 | 2018-05-08 | 河南科技大学 | A kind of transplanter manipulator vibration detection device and detection method |
| CN108000560B (en) * | 2017-12-29 | 2023-09-12 | 河南科技大学 | Transplanting machine manipulator vibration detection device and detection method |
| CN113188441A (en) * | 2021-04-30 | 2021-07-30 | 华南农业大学 | PSD sensor-based device and method for measuring three degrees of freedom of plane of motion mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 Termination date: 20191229 |