CN208714043U - A kind of anticollision speed-regulating system of picking robot mobile platform - Google Patents
A kind of anticollision speed-regulating system of picking robot mobile platform Download PDFInfo
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- CN208714043U CN208714043U CN201821512978.6U CN201821512978U CN208714043U CN 208714043 U CN208714043 U CN 208714043U CN 201821512978 U CN201821512978 U CN 201821512978U CN 208714043 U CN208714043 U CN 208714043U
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- mobile platform
- picking robot
- spring
- speed
- support rod
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Abstract
The utility model is suitable for picking robot technical field; provide a kind of picking robot mobile platform anticollision speed-regulating system; it include: to be respectively equipped with anti-collision protection device in the front end of picking robot mobile platform and rear end; anti-collision protection device includes: two support rods, and one end of two support rods is perpendicularly fixed at picking robot mobile platform front end or rear end；Crossbeam is fixed on the other end of two support rods；Two springs are socketed in respectively on support rod one and support rod two, and two spring one ends are fixedly connected with crossbeam；Pressure sensor is fixed on the free end of any spring；Pressure sensor is connect with mobile platform controller communication.When picking robot mobile platform collides in moving process with barrier; when squeezing anti-collision protection device; when the pressure that pressure sensor detects is greater than pressure threshold, mobile platform controller controls driving motor stalling or reversion, avoids damage to picking robot mobile platform.
Description
Technical field
The utility model belongs to robotic technology field, provides a kind of anticollision speed regulation system of picking robot mobile platform
System.
Background technique
Orchard is environmental-friendly compared to industrial robot, and the diversity of the complexity of orchard environment and fruit tree posture is significantly
The collision probability of picking robot mobile platform is increased, existing picking robot carries out avoidance by vision technique mostly,
But vision technique influences vulnerable to weather in outdoor orchard environment and causes erroneous judgement and higher cost, the mobile mechanism when colliding generation
Lack corresponding buffer unit, be easy to cause security risk.
Utility model content
The utility model embodiment provides a kind of anticollision speed-regulating system of picking robot mobile platform, it is intended to be picking machine
Device people's mobile platform provides a kind of buffer, when failure erroneous judgement causes collision, avoids damage to picking robot or adopts
Pluck robot moving platform.
The utility model provides a kind of anticollision speed-regulating system of picking robot mobile platform, mobile in picking robot
The front end and rear end of platform are respectively equipped with anti-collision protection device, and the anti-collision protection device includes:
One end of support rod one and support rod two, support rod one and support rod two is perpendicularly fixed at picking robot
Crossbeam is fixed on the other end of support rod one and support rod two；
Spring one and spring two, spring one are socketed on support rod one, and spring two is socketed on support rod two, spring one and
One end of spring two is fixedly connected with crossbeam；
Pressure sensor is fixed on the free end of spring one or spring two；
The pressure sensor is connect with mobile platform controller communication.
Further, when the pressure value that pressure sensor will test is sent to mobile platform controller；
When the pressure value detected be greater than pressure threshold, then control driving motor stalling or reversion.
Further, mobile platform speed regulation device, the mobile platform are additionally provided on the picking robot mobile platform
Speed regulation device includes:
Three position sensors in traveling front are sequentially arranged in, three position sensors are successively are as follows: position sensor one, position
Sensor two and position sensor three are set, distance of the position sensor one away from fruit tree is the first set distance, position sensor two
Distance away from fruit tree is the second set distance, and distance of the position sensor three away from fruit tree is third set distance, wherein third position
It sets sensor and is set apart from the difference for recently, meeting the second set distance and the first set distance less than or equal to third away from fruit tree
The difference of distance and the second set distance；
With the mobile platform controller of three communication connection of position sensor one, position sensor two and position sensor；
The electric machine controller being connect with mobile platform controller communication, electric machine controller and driving motor communication connection.
Further, when mobile platform controller receives the position signal of first position sensor transmission, controller
Driving motor output torque one is controlled, picking robot mobile platform is travelled with the first setting speed；
When mobile platform controller receives the position signal of second position sensor transmission, controller control driving electricity
The output torque two of machine, picking robot mobile platform are travelled with the second setting speed；
When mobile platform controller receives the position signal of the third place sensor transmission, controller control driving electricity
The output torque three of machine, with picking robot mobile platform with third setting speed traveling；
When picking machine travel to target fruit tree, the i.e. stalling of control driving motor；
First setting speed is greater than the second setting speed, and the second setting speed is greater than third setting speed.
Further, the diameter of support rod one and support rod two is 5mm.
Further, the stiffness factor of spring one and spring two is 50N/m.
Further, pressure sensor is piezoelectric pressure indicator.
Further, anti-collision beam uses structural alloy steel, with a thickness of 10mm, outer layer covers PVC material.
The front end and rear end of picking robot mobile platform in the utility model are respectively equipped with anti-collision protection device, when adopting
It plucks robot moving platform to collide with barrier, when squeezing anti-collision protection device, when the pressure that pressure sensor detects
Greater than pressure threshold, mobile platform controller controls driving motor stalling or reversion, avoids damage to picking robot mobile platform.
Detailed description of the invention
Fig. 1 is picking robot mobile platform speed control system structure schematic diagram provided by the embodiment of the utility model；
Fig. 2 is the picking robot mobile platform anti-collision structure schematic diagram that this reality new embodiment provides；
1-1. support rod one, 1-2. support rod two, 2. pressure sensors, 3-1. spring one, 3-2. spring two, 4. crossbeams,
5. fruit containing box, 6. manipulators, 7. Manipulator Controller platforms, 8. mobile platform control cabinets, 11. position sensors one, 12.
Position sensor two, 13. position sensors three, 14. mobile platform controllers, 15. electric machine controllers.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Picking robot mobile platform in this reality utility model is using existing structure, in the movement of picking robot
Fruit containing box 5, manipulator 6, Manipulator Controller platform 7 and mobile platform control cabinet 8, fruit containing box are provided on platform
5, manipulator 6, Manipulator Controller platform 7 and mobile platform control cabinet 8 are all made of existing structure.
Fig. 1 is the anti-collision protection device structural representation of picking robot mobile platform provided by the embodiment of the utility model
Figure, for ease of description, only shows part relevant to the utility model.
The anti-collision protection device is set to the front end and rear end of picking robot mobile platform, which includes:
One end of two 1-2 of one 1-1 of support rod and support rod two 1-2, one 1-1 of support rod and support rod is perpendicularly fixed at movement
Platform front end or rear end, front end and rear end here is for moving direction；
Crossbeam 4 is fixed on the other end of two 1-2 of one 1-1 of support rod and support rod,
One 3-1 of spring and spring two 3-2, one 3-1 of spring are socketed on one 1-1 of support rod, and two 3-2 of spring is socketed in support
On two 1-2 of bar, one end of two 3-2 of one 3-1 of spring and spring is fixedly connected with crossbeam 4,
Pressure sensor 2 is fixed on the free end of two 3-2 of one 3-1 of spring or spring；
Pressure sensor 2 and 14 communication connection of mobile platform controller.
When the pressure value that pressure sensor 2 will test is sent to mobile platform controller 14；
When the pressure value detected be greater than pressure threshold, then control driving motor 15 stalling or reversion.
In the utility model embodiment, the diameter of two 1-2 of one 1-1 of support rod and support rod is 5mm, one 3-1 of spring and
The stiffness factor of two 3-2 of spring is 50N/m, and pressure sensor 2 is piezoelectric pressure indicator, and crossbeam 4 uses structural alloy steel,
With a thickness of 10mm, outer layer covers PVC material.
The front end and rear end of picking robot mobile platform in the utility model are respectively equipped with anti-collision protection device, when adopting
It plucks robot moving platform to collide with barrier, when squeezing anti-collision protection device, when the pressure that pressure sensor detects
Greater than pressure threshold, mobile platform controller controls driving motor stalling or reversion, avoids damage to picking robot mobile platform.
Fig. 2 is the speed regulation device structural schematic diagram of picking robot mobile platform provided by the embodiment of the utility model, is
Convenient for explanation, part relevant to the utility model is only shown.
It is additionally provided with mobile platform speed regulation device on the picking robot mobile platform, which includes:
Three position sensors in traveling front are sequentially arranged in, three position sensors are successively are as follows: position sensor 1,
Position sensor 2 12 and position sensor 3 13, distance of the position sensor 1 away from fruit tree are the first set distance, position
Distance of the sensor 2 12 away from fruit tree be the second set distance, distance of the position sensor 3 13 away from fruit tree be third set away from
From wherein the third place sensor 13 is nearest away from fruit tree distance, that is, meets the difference of the second set distance Yu the first set distance
Less than or equal to the difference of third set distance and the second set distance, and the value of third set distance is 0.5m to 1m, such as
The distance of position sensor 1, position sensor 12 2 and position sensor 3 13 away from fruit tree is successively are as follows: 5m, 3m, 0.5m.
It is controlled with the mobile platform of 3 13 communication connection of position sensor 1, position sensor 2 12 and position sensor
Device 14；
With the electric machine controller 15 of 14 communication connection of mobile platform controller, electric machine controller 15 and driving motor communication connect
It connects, for driving motor for driving picking robot mobile platform, driving motor selects the SGMGV- of An Chuan Electric Machine Co., Ltd
30ADC61, the electric motor starting is easy, performance is brilliant, expansible；
When mobile platform controller 14 receives the position signal of the transmission of first position sensor 11, controller control is driven
Dynamic motor output torque one, picking robot mobile platform are travelled with the first setting speed；
When mobile platform controller 14 receives the position signal of the transmission of second position sensor 12, controller control is driven
The output torque two of dynamic motor, picking robot mobile platform are travelled with the second setting speed；
When mobile platform controller 14 receives the position signal of the transmission of the third place sensor 13, controller control is driven
The output torque three of dynamic motor, with picking robot mobile platform with third setting speed traveling, the first setting speed is greater than the
Two setting speeds, the second setting speed are greater than third setting speed, and third setting speed is lesser velocity amplitude, such as 5km/h；
When picking machine travel to target location, i.e. fruit tree position, i.e. control driving motor stalling.
When picking robot mobile platform is close to target fruit tree, picking machine is controlled by preset position sensor
The trapezoidal decline of people's mobile platform movement speed, when leaning on close-target fruit tree, property is to lower for speed, when traveling to target
Fruit juice can be braked immediately, and since the deviation that inertia generates is relatively small, the positioning of picking robot mobile platform can be improved
Precision.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (8)
1. a kind of picking robot mobile platform anticollision speed-regulating system, which is characterized in that before picking robot mobile platform
End and rear end are respectively equipped with anti-collision protection device, and the anti-collision protection device includes:
Before one end of support rod one and support rod two, support rod one and support rod two is perpendicularly fixed at picking robot mobile platform
End or rear end；
Crossbeam is fixed on the other end of support rod one and support rod two；
Spring one and spring two, spring one are socketed on support rod one, and spring two is socketed on support rod two, spring one and spring
Two one end is fixedly connected with crossbeam；
Pressure sensor is fixed on the free end of spring one or spring two；
The pressure sensor is connect with mobile platform controller communication.
2. picking robot mobile platform anticollision speed-regulating system as described in claim 1, which is characterized in that when pressure sensor will
The pressure value detected is sent to mobile platform controller；
When the pressure value detected be greater than pressure threshold, then control driving motor stalling or reversion.
3. picking robot mobile platform anticollision speed-regulating system as described in claim 1, which is characterized in that the picking robot
Mobile platform speed regulation device is additionally provided on mobile platform, the mobile platform speed regulation device includes:
Three position sensors in traveling front are sequentially arranged in, three position sensors are successively are as follows: position sensor one, position pass
Sensor two and position sensor three, distance of the position sensor one away from fruit tree are the first set distance, and position sensor two is away from fruit
The distance of tree is the second set distance, and distance of the position sensor three away from fruit tree is third set distance, and wherein the third place passes
Recently away from fruit tree distance, the difference for meeting the second set distance and the first set distance is less than or equal to third set distance to sensor
With the difference of the second set distance；
With the mobile platform controller of three communication connection of position sensor one, position sensor two and position sensor；
The electric machine controller being connect with mobile platform controller communication, electric machine controller and driving motor communication connection.
4. picking robot mobile platform anticollision speed-regulating system as claimed in claim 3, which is characterized in that
When mobile platform controller receives the position signal of first position sensor transmission, it is defeated that controller controls driving motor
Torque one out, picking robot mobile platform are travelled with the first setting speed；
When mobile platform controller receives the position signal of second position sensor transmission, controller controls driving motor
Output torque two, picking robot mobile platform are travelled with the second setting speed；
When mobile platform controller receives the position signal of the third place sensor transmission, controller controls driving motor
Output torque three, with picking robot mobile platform with third setting speed traveling；
When picking machine travel to target fruit tree, the i.e. stalling of control driving motor；
First setting speed is greater than the second setting speed, and the second setting speed is greater than third setting speed.
5. picking robot mobile platform anticollision speed-regulating system as described in claim 1, which is characterized in that support rod one and support
The diameter of bar two is 5mm.
6. picking robot mobile platform anticollision speed-regulating system as described in claim 1, which is characterized in that spring one and spring two
Stiffness factor be 50N/m.
7. picking robot mobile platform anticollision speed-regulating system as described in claim 1, which is characterized in that pressure sensor is pressure
Electric-type pressure sensor.
8. picking robot mobile platform anticollision speed-regulating system as described in claim 1, which is characterized in that anti-collision beam is using conjunction
Golden structural steel, with a thickness of 10mm, outer layer covers PVC material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821512978.6U CN208714043U (en) | 2018-09-13 | 2018-09-13 | A kind of anticollision speed-regulating system of picking robot mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821512978.6U CN208714043U (en) | 2018-09-13 | 2018-09-13 | A kind of anticollision speed-regulating system of picking robot mobile platform |
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| Publication Number | Publication Date |
|---|---|
| CN208714043U true CN208714043U (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821512978.6U Expired - Fee Related CN208714043U (en) | 2018-09-13 | 2018-09-13 | A kind of anticollision speed-regulating system of picking robot mobile platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112237092A (en) * | 2019-07-16 | 2021-01-19 | 西北农林科技大学 | Flexible comb brush type apple harvesting machine |
-
2018
- 2018-09-13 CN CN201821512978.6U patent/CN208714043U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112237092A (en) * | 2019-07-16 | 2021-01-19 | 西北农林科技大学 | Flexible comb brush type apple harvesting machine |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190409 Termination date: 20190913 |