CN210757769U - Simulation pollination robot applied to Chinese robot competition - Google Patents
Simulation pollination robot applied to Chinese robot competition Download PDFInfo
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- CN210757769U CN210757769U CN201921813603.8U CN201921813603U CN210757769U CN 210757769 U CN210757769 U CN 210757769U CN 201921813603 U CN201921813603 U CN 201921813603U CN 210757769 U CN210757769 U CN 210757769U
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Abstract
The utility model discloses a be applied to simulation pollination flower robot of china robot contest, include: the device comprises a main control board, a chassis, a holder, a walking module, a transverse moving device driving module, a lifting device driving module, a pollination module, a line patrol module and a flower detection module. The main control board is respectively connected with the holder, the walking module, the transverse moving device driving module, the lifting device driving module, the pollination module, the line inspection module and the flower detection module and controls corresponding actions of the modules. The simulation pollination robot can automatically identify a guide line of a competition field, find plants and accurately position female flowers to complete pollination, and meanwhile, theoretical basis and experimental basis are provided for research and development of Chinese agricultural robots.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an agricultural robot, and more particularly to a simulated pollination robot applied to a Chinese robot competition.
Background
With the development of science and technology, the degree of agricultural mechanization and intellectualization is continuously improved, and the trend of modern agricultural development is to use robots to replace manpower. China is a big agricultural country, fruit setting rate can be improved, quality can be improved, and yield can be increased through artificial pollination in the production of fruit trees or other crops, but with the aging of social population and the reduction of agricultural labor force, and the labor intensity is high, the working efficiency is low, the labor force is intensive and the cost is correspondingly increased in the traditional artificial pollination mode, so that the research and development of the agricultural robot, in particular the pollination robot, are of great significance.
The aim of the Chinese robot competition is to enable more adolescent students to know the robots and love the robots by organizing the robot competition and technical discussion, popularize modern scientific knowledge for the students and cultivate more excellent talents for the robot career of China. Meanwhile, through robot competition and technical discussion, the robot and the automation technology are promoted and promoted to develop and innovate, and the power is contributed to the rapid and continuous development of China.
The pollination robot is an important project of a Chinese robot competition, wherein the layout of a simulated pollination robot competition field is shown in figure 4, the competition field is a rectangular field, 10 simulated pollination plants are arranged on one side of the long edge of the rectangular field, flowers on the simulated plants face the long edge of the other side of the rectangular field, a white guide line is arranged in the middle of the rectangular field along the direction of the long edge of the rectangular field, and a start area and a stop area are respectively arranged at the head end and the tail end of the guide line. As shown in FIG. 5, three flowers are set on each simulated pollinated plant, only one of which is female and arranged randomly, the remaining two are male, and three flowers form an equilateral triangle. The male flowers and the female flowers are all regular hexagons with inscribed circles, the flower centers of the female flowers are circular, the interiors of the female flowers are yellow, and the flower centers of the male flowers are a plurality of circles with the interiors of the female flowers being yellow and are distributed on a circumference with the geometric center of the hexagon as the center of a circle.
According to the competition rules, a white board pen is installed on a pollination module of the simulated pollination robot, the simulated pollination robot needs to automatically identify a field guide line, automatically searches for plants, accurately positions female flowers, marks the female flowers by the white board pen after the female flowers are found, considers that pollination is successful, completes pollination on 10 simulated plants in sequence, and returns to a termination area to finish the competition.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a be applied to the simulation pollination powder robot of china's robot tournament, provide theoretical basis and experimental basis for agricultural robot's research and development simultaneously.
In order to achieve the above object, the utility model discloses a technical solution is:
a simulation pollination robot applied to a Chinese robot competition, comprising: the main control board is respectively connected with the cradle head, the walking module, the transverse moving device driving module, the lifting device driving module, the pollination module, the line inspection module and the flower detection module.
The pan-tilt comprises steering wheel, base, first bearing and steering wheel control panel, be equipped with the ring form connecting piece on the base, the steering wheel bottom is equipped with cylindrical arch, first bearing outer loop with ring form connecting piece fixed connection, first bearing inner ring with cylindrical protruding fixed connection, the steering wheel is installed on the inside base of ring form connecting piece, the connecting axle and the cylindrical protruding terminal surface fixed connection of steering wheel, main control board and steering wheel control panel are all installed on the steering wheel, and the steering wheel passes through the data line to be connected with the steering wheel control panel, and the steering wheel control panel passes through the data line to be connected with the main control board, the pedestal mounting is on the upper portion face on chassis.
The walking module is arranged on the lower surface of the chassis and used for driving the whole robot to move.
The transverse moving device driving module is installed on a steering wheel, the transverse moving device driving module comprises a second stepping motor I, a first sliding block, a screw I, a feed bar, a first supporting seat I, a first supporting seat II, a first supporting seat III, a second bearing I, a second bearing II and a second bearing III, the second stepping motor I is connected with one end of the screw I through a coupler, the other end of the screw I is fixedly connected with an inner ring of the second bearing I, an outer ring of the second bearing I is installed on the first supporting seat I, two ends of the feed bar are respectively fixedly connected with inner rings of the second bearing II and the second bearing III, outer rings of the second bearing II and the second bearing III are respectively installed on the first supporting seat II and the first supporting seat III, the screw I and the feed bar are arranged on the steering wheel in parallel, a first threaded hole and a through hole which are matched with the screw I and the feed bar are formed in the side surface of the first sliding block, the first sliding block penetrates through the corresponding first threaded hole and the corresponding through hole through the screw I and the feed rod and is installed above the rudder disc.
The lifting device driving module is installed on the first sliding block and comprises a second stepping motor II, a lead screw II, a second supporting seat, a second bearing IV and a stepping motor supporting frame, wherein the stepping motor supporting frame is in a groove shape, the bottom of the stepping motor supporting frame is fixedly installed on the first sliding block, the second stepping motor II is installed in an upper groove of the stepping motor supporting frame and is connected with one end of the lead screw II through a coupler, the other end of the lead screw II is fixedly connected with an inner ring of the second bearing IV, an outer ring of the second bearing IV is installed on the second supporting seat, the second supporting seat is installed on the first sliding block, and the lead screw II is arranged in the groove of the stepping motor supporting frame.
The pollination module includes second slider, electric putter, direct current motor driver and pollination pole, the second slider side be equipped with II assorted second screw holes of lead screw, the second slider passes second screw hole through lead screw II and installs on lead screw II, electric putter and direct current motor driver install on the second slider, and electric putter passes through the data line and is connected with direct current motor driver, and direct current motor driver passes through the data line and is connected with the main control board, the pollination pole is installed on electric putter's push rod.
The line patrol module comprises a gray sensor, the gray sensor is installed on the lower surface of the chassis, and the gray sensor is connected with the main control board through a data line.
Flower detection module includes photoelectric switch I, photoelectric switch II and camera, the left and right sides on the chassis is installed respectively to photoelectric switch I and photoelectric switch II, and photoelectric switch I and photoelectric switch II are connected with the main control board through the data line respectively, the camera is installed on the pollination pole, and the camera passes through the data line and is connected with the main control board.
Preferably, the walking module comprises a driving wheel I, a driving wheel II, a universal wheel I, a universal wheel II, a first stepping motor I and a first stepping motor II, wherein the driving wheel I and the driving wheel II are symmetrically arranged on the left side and the right side of the lower face of the chassis, one ends of bearings on the driving wheel I and the driving wheel II are respectively connected with a motor shaft of the first stepping motor I and a motor shaft of the first stepping motor II, and the universal wheel I and the universal wheel II are respectively arranged at the front end and the rear end of the lower face of the chassis.
Preferably, a first stepping motor driver I and a first stepping motor driver II are respectively installed on the first stepping motor I and the first stepping motor II, and the first stepping motor driver I and the first stepping motor driver II are respectively connected with the main control board through data lines.
Preferably, the first stepping motor i and the first stepping motor ii are 57 stepping motors, and the second stepping motor i and the second stepping motor ii are 42 stepping motors.
Preferably, a second stepping motor driver I and a second stepping motor driver II are further installed on the rudder disc, the second stepping motor I is connected with the second stepping motor driver I through a data line, the second stepping motor driver I is connected with the main control board through the data line, the second stepping motor driver II is connected with the second stepping motor driver II through the data line, and the second stepping motor driver II is connected with the main control board through the data line.
Preferably, the type of the grayscale sensor is an S308 eight-way grayscale sensor, the camera is an OpenMV camera, and the photoelectric switch i and the photoelectric switch ii are both E3F-DS30C4 infrared photoelectric switches.
Compared with the prior art the utility model discloses the beneficial effect who has:
(1) the utility model discloses the simulation pollinates the pollen robot and is applied to the robot competition of china, provides theoretical basis and experimental basis for chinese agricultural robot's research and development simultaneously.
(2) The utility model discloses simulation pollination robot simple structure, maneuverability is strong, can the automatic identification guide line according to the match rule, seeks the plant and the pollination is accomplished to accurate location female flower.
Drawings
FIG. 1 is a view showing the entire construction of a simulation pollination robot.
FIG. 2 is a view showing the installation structure of a simulated pollination robot holder.
FIG. 3 is a flow chart of the operation of the simulated pollination robot.
Fig. 4 is a layout diagram of a simulated pollination robot playing field.
FIG. 5 is a diagram of a simulated pollinated plant structure of a playing field.
In the figure: 1. a main control board; 2. a chassis; 31. a rudder wheel; 32. a steering engine; 33. a base; 34. a first bearing; 35. a steering engine control panel; 41. a second stepping motor I; 42. a first slider; 43. a screw I; 44. a polished rod; 45. a first support base I; 46. a first support base II; 47. a first support base III; 48. a second bearing I; 49. a second bearing II; 410. a second bearing III; 411. a second stepping motor driver I; 51. a second stepping motor II; 52. a screw II; 53. a second support seat; 54. a second bearing IV; 55. a stepping motor support frame; 56. a second stepping motor driver II; 61. a second slider; 62. an electric push rod; 63. a DC motor driver; 64. a pollination pole; 71. a camera is provided.
Detailed Description
The technical scheme of the utility model is explained in detail with the attached drawings as follows:
with reference to fig. 1 to 2, a simulated pollination robot applied to a robot tournament in china comprises: the main control board 1, chassis 2, cloud platform, walking module, sideslip device drive module, elevating gear drive module, pollination module, patrol line module and flower detection module. The main control board 1 is respectively connected with the holder, the walking module, the transverse moving device driving module, the lifting device driving module, the pollination module, the line patrol module and the flower detection module, so that the relevant actions of the pollination robot are controlled and simulated.
Wherein, cloud platform includes: a steering wheel 31, a steering engine 32, a base 33, a first bearing 34 and a steering engine control board 35. The middle of the specific base 33 is provided with a through hole for passing through a data line, the base 33 is provided with a circular connecting piece, the bottom of the rudder plate 31 is provided with a cylindrical protrusion, the outer ring of the first bearing 34 is arranged inside the circular connecting piece and fixedly connected with the circular connecting piece, and the inner ring of the first bearing 34 is sleeved on the cylindrical protrusion and fixedly connected with the cylindrical protrusion. Steering wheel 32 installs on the inside base 33 of ring form connecting piece, and steering wheel 32's connecting axle and cylindrical protruding terminal surface fixed connection. Main control board 1 and steering wheel control panel 35 are all installed on rudder disk 31, and steering wheel 32 passes the through-hole on base 33 through the data line and is connected with steering wheel control panel 35, and steering wheel control panel 35 passes through the data line and is connected with main control board 1. The base 33 is fixedly arranged on the upper surface of the chassis 2, and the steering engine 32 can drive the steering wheel 31 to rotate for 360 degrees.
Wherein, the walking module includes driving wheel I, driving wheel II, universal wheel I, universal wheel II, first step motor I, first step motor II, first step motor driver I and first step motor driver II. The driving wheels I and the driving wheels II are symmetrically arranged on the left side and the right side of the lower portion of the chassis 2, one end of a bearing on each driving wheel I is connected with a motor shaft of a first stepping motor I arranged on the lower portion of the chassis 2, and one end of a bearing on each driving wheel II is connected with a motor shaft of a first stepping motor II arranged on the lower portion of the chassis 2. The universal wheel I and the universal wheel II are respectively arranged at the front end and the rear end of the lower part of the chassis 2. First step motor driver I and first step motor driver II are installed respectively on first step motor I and first step motor II, and first step motor driver I and first step motor driver II are connected with main control board 1 through the data line respectively. First step motor I and first step motor II drive driving wheel I and driving wheel II respectively and rotate to drive whole robot and remove.
Further, the first stepping motor I and the first stepping motor II are 57 series stepping motors.
Wherein, the sideslip device drive module is installed on rudder disk 31, includes: the device comprises a second stepping motor I41, a first sliding block 42, a lead screw I43, a light bar 44, a first supporting seat I45, a first supporting seat II 46, a first supporting seat III 47, a second bearing I48, a second bearing II 49, a second bearing III 410 and a second stepping motor driver I411. Specifically, second step motor I41 is installed on rudder wheel 31 to be connected through the shaft coupling and the one end of lead screw I43, the other end of lead screw I43 and the inner ring fixed connection of second bearing I48, the outer ring of second bearing I48 is installed on first supporting seat I45. Two ends of the optical rod 44 are respectively fixedly connected with the inner rings of the second bearing II 49 and the second bearing III 410, and the outer rings of the second bearing II 49 and the second bearing III 410 are respectively arranged on the first supporting seat II 46 and the first supporting seat III 47. The first support seat I45, the first support seat II 46 and the first support seat III 47 are all installed on corresponding positions of the rudder plate 31, and the screw I43 and the light bar 44 are arranged on the rudder plate 31 in parallel. The side surface of the first sliding block 42 is provided with a first threaded hole and a through hole which are matched with the screw rod I43 and the light bar 44, the screw rod I43 and the light bar 44 respectively penetrate through the corresponding first threaded hole and the through hole, and the first sliding block 42 is arranged above the rudder disk 31 through the screw rod I43 and the light bar 44. The second stepping motor driver I411 is installed on the rudder plate 31, the second stepping motor I41 is connected with the second stepping motor driver I411 through a data line, and the second stepping motor driver I411 is connected with the main control panel 1 through a data line. The second stepping motor I41 drives the screw I43 to rotate through the coupler, so as to drive the first slide block 42 to move left and right on the rudder disk 31.
Further, the second stepping motor i 41 is a 42-series stepping motor.
Wherein, the elevating gear drive module is installed on first slider 42, includes: the device comprises a second stepping motor II 51, a screw II 52, a second supporting seat 53, a second bearing IV 54, a stepping motor supporting frame 55 and a second stepping motor driver II 56. The stepping motor support 55 is trough-shaped and is fixedly mounted at the bottom on the first slider 42. The second stepping motor II 51 is arranged in an upper groove of a stepping motor support frame 55, the second stepping motor II 51 is connected with one end of a screw II 52 through a coupler, the other end of the screw II 52 is fixedly connected with an inner ring of a second bearing IV 54, an outer ring of the second bearing IV 54 is arranged on a second support seat 53, the second support seat 53 is arranged on a first sliding block 42, and the screw II 52 is arranged in the groove of the stepping motor support frame 55. The second stepping motor driver II 56 is installed on the rudder plate 31, the second stepping motor II 51 is connected with the second stepping motor driver II 56 through a data line, and the second stepping motor driver II 56 is connected with the main control panel 1 through a data line.
Further, the second stepping motor ii 51 is a 42-series stepping motor.
Wherein, the pollination module includes second slider 61, electric putter 62, direct current motor driver 63 and pollination pole 64. The second sliding block 61 is arranged on the screw II 52, and the second stepping motor II 51 drives the screw II 52 to rotate through the coupler, so that the second sliding block 61 is driven to move up and down. Specifically, the side of the second slider 61 is provided with a second threaded hole matched with the lead screw II 52, the lead screw II 52 penetrates through the second threaded hole to install the second slider 61 on the lead screw II 52, the electric push rod 62 and the direct current motor driver 63 are installed on the second slider 61, the electric push rod 62 is connected with the direct current motor driver 63 through a data line, the direct current motor driver 63 is connected with the main control panel 1 through a data line, and the pollination rod 64 is installed on the push rod of the electric push rod 62.
The line patrol module comprises a gray sensor, the specific gray sensor is installed on the lower surface of the chassis 2, and the gray sensor is connected with the main control board 1 through a data line. The gray sensor can identify the white guide line of the competition field and feed back to the main control board 1.
Further, the model of the grayscale sensor is an S308 eight-way grayscale sensor.
Wherein, flower detection module includes photoelectric switch I, photoelectric switch II and camera 71, and specific photoelectric switch I and photoelectric switch II are installed respectively in the left and right sides of chassis 2, and photoelectric switch I and photoelectric switch II are connected with main control panel 1 through the data line respectively, and camera 71 is installed on pollination pole 64, and camera 71 passes through the data line and is connected with main control panel 1. And transmitting the identified male flower or female flower information to the main control board 1.
Further, the camera 71 is an OpenMV camera, and the photoelectric switch I and the photoelectric switch II are both E3F-DS30C4 infrared photoelectric switches.
The working principle of the simulation pollination robot of the present invention is explained with reference to fig. 1 to 5:
1. the utility model discloses paste the blank pen on simulation pollination robot pollination pole 64, put simulation pollination robot in the start district of match field, the simulation pollination robot initial condition is: the second slide block 61 in the pollination module is arranged at the lowest end of the screw II 52, the first slide block 42 is arranged in the middle of the screw I43, the length of the screw I43 is the same as the distance between two flowers A at the bottom of the drawing 5, and the pollination rod 64 and the whiteboard marker are arranged forwards along the direction of the guide line of the competition field.
2. Firstly, a gray sensor of the line patrol module identifies a white guide line of a competition field and transmits information to the main control board 1, the main control board 1 sends an instruction, and a first stepping motor I and a first stepping motor II in the walking module start to rotate and drive the robot to advance along the direction of the guide line.
3. When a photoelectric switch I and a photoelectric switch II in the flower detection module detect a simulated plant as shown in fig. 5, detected information is transmitted to the main control board 1, the main control board 1 sends an instruction to enable the robot to stop advancing, the steering engine 32 starts to work to enable the robot to rotate clockwise by 90 degrees to enable the whiteboard pen to face the flower of the simulated plant, the second stepping motor II 51 starts to rotate, the second sliding block 61 rises to a position C as shown in fig. 1, and the height of the whiteboard pen at the position C in fig. 1 is consistent with the height of the flower B from the ground in fig. 5.
4. The camera 71 identifies the flower B and transmits the identified information to the main control board 1, the main control board 1 judges whether the flower B is a female flower or not through a preset program, if the flower B is a female flower, the main control board 1 controls the electric push rod 62 to move the white board pen forward to mark the female flower, and pollination is completed. If the flower B is a male flower, the main control board 1 controls the second stepping motor I41 to rotate to move 42 the first sliding block to the rightmost end of the screw I43 to be aligned with the flower A on the right side of the simulated plant, and simultaneously controls the second stepping motor II 51 to rotate to lower the second sliding block 61 to the position D in the figure 1, if the height of the whiteboard marker in the position D in the figure 1 is consistent with the height of the flower A on the right side of the simulated plant in the figure 5 from the ground, after the lifting and transverse moving actions are completed, the camera 71 identifies the flower A on the right side of the simulated plant and transmits information to the main control board 1, if the flower A on the right side is a female flower, the main control board 1 controls the electric push rod 62 to move the whiteboard marker forwards to mark the female flower, and pollination is. If the right flower A is a male flower, the main control board 1 controls the second stepping motor I41 to rotate to move 42 the first sliding block to the leftmost end of the screw I43 to be aligned with the left flower A of the simulated plant, after the transverse movement action is completed, the camera 71 identifies the left flower A of the simulated plant and transmits information to the main control board 1, the main control board 1 controls the electric push rod 62 to move the white board pen forwards to mark the female flower, and pollination is completed.
5. After pollination is completed, the main control board sends out an instruction, and the steering engine 32, the second stepping motor I41 and the second stepping motor II 51 start to act to enable the simulated pollination robot to return to the initial state in the step 1.
6. After pollination of the first simulated plant is completed, the simulated pollination robot continues to move forwards along the guide line of the competition field, the steps are repeated to complete pollination of the remaining 9 simulated plants, and the competition is finished in the termination area.
7. The simulation pollination robot stops after detecting the simulation plant every time, and then the steering engine 32 rotates the robot clockwise by 90 degrees to enable the position of the white board pen to be just aligned to the vertical line where the flower C is located. The control panel 1 is internally provided with a single chip microcomputer, a program is preset in the single chip microcomputer, and the internal structure of the control panel and the program design of the single chip microcomputer can be realized by referring to the prior art.
Parts not described in the above embodiments can be implemented by taking or referring to the prior art.
Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also belong to the protection scope of the present invention.
Claims (6)
1. A simulation pollination robot applied to a robot competition in China is characterized by comprising: the main control board is respectively connected with the cradle head, the walking module, the transverse moving device driving module, the lifting device driving module, the pollination module, the line inspection module and the flower detection module;
the tripod head comprises a steering wheel, a steering engine, a base, a first bearing and a steering engine control panel, wherein a circular ring-shaped connecting piece is arranged on the base, a cylindrical protrusion is arranged at the bottom of the steering wheel, a first bearing outer ring is fixedly connected with the circular ring-shaped connecting piece, a first bearing inner ring is fixedly connected with the cylindrical protrusion, the steering engine is arranged on the base in the circular ring-shaped connecting piece, a connecting shaft of the steering engine is fixedly connected with the end face of the cylindrical protrusion, a main control panel and the steering engine control panel are both arranged on the steering wheel, the steering engine is connected with the steering engine control panel through a data line, the steering engine control panel is connected with the main;
the walking module is arranged on the lower surface of the chassis and used for driving the whole robot to move;
the transverse moving device driving module is installed on a steering wheel, the transverse moving device driving module comprises a second stepping motor I, a first sliding block, a screw I, a feed bar, a first supporting seat I, a first supporting seat II, a first supporting seat III, a second bearing I, a second bearing II and a second bearing III, the second stepping motor I is connected with one end of the screw I through a coupler, the other end of the screw I is fixedly connected with an inner ring of the second bearing I, an outer ring of the second bearing I is installed on the first supporting seat I, two ends of the feed bar are respectively fixedly connected with inner rings of the second bearing II and the second bearing III, outer rings of the second bearing II and the second bearing III are respectively installed on the first supporting seat II and the first supporting seat III, the screw I and the feed bar are arranged on the steering wheel in parallel, a first threaded hole and a through hole which are matched with the screw I and the feed bar are formed in the side surface of the first sliding block, the first sliding block passes through the corresponding first threaded hole and the corresponding through hole through the screw I and the feed rod and is arranged above the rudder disc;
the lifting device driving module is arranged on the first sliding block and comprises a second stepping motor II, a lead screw II, a second supporting seat, a second bearing IV and a stepping motor supporting frame, the stepping motor supporting frame is in a groove shape, the bottom of the stepping motor supporting frame is fixedly arranged on the first sliding block, the second stepping motor II is arranged in an upper groove of the stepping motor supporting frame and is connected with one end of the lead screw II through a coupler, the other end of the lead screw II is fixedly connected with an inner ring of the second bearing IV, an outer ring of the second bearing IV is arranged on the second supporting seat, the second supporting seat is arranged on the first sliding block, and the lead screw II is arranged in the groove of the stepping motor supporting frame;
the pollination module comprises a second sliding block, an electric push rod, a direct current motor driver and a pollination rod, wherein a second threaded hole matched with the screw rod II is formed in the side surface of the second sliding block, the second sliding block penetrates through the second threaded hole through the screw rod II to be installed on the screw rod II, the electric push rod and the direct current motor driver are installed on the second sliding block, the electric push rod is connected with the direct current motor driver through a data line, the direct current motor driver is connected with the main control board through the data line, and the pollination rod is installed on the push rod of the electric push rod;
the line patrol module comprises a gray sensor, the gray sensor is arranged on the lower surface of the chassis, and the gray sensor is connected with the main control board through a data line;
flower detection module includes photoelectric switch I, photoelectric switch II and camera, the left and right sides on the chassis is installed respectively to photoelectric switch I and photoelectric switch II, and photoelectric switch I and photoelectric switch II are connected with the main control board through the data line respectively, the camera is installed on the pollination pole, and the camera passes through the data line and is connected with the main control board.
2. The robot for simulating pollination applied to a Chinese robot tournament is characterized in that the walking module comprises a driving wheel I, a driving wheel II, a universal wheel I, a universal wheel II, a first stepping motor I and a first stepping motor II, wherein the driving wheel I and the driving wheel II are symmetrically arranged at the left side and the right side of the lower surface of the chassis, one end of a bearing on the driving wheel I and one end of a bearing on the driving wheel II are respectively connected with a motor shaft of the first stepping motor I and a motor shaft of the first stepping motor II, and the universal wheel I and the universal wheel II are respectively arranged at the front end and the rear end of the lower surface of the chassis.
3. The robot for simulating pollination applied to a Chinese robot tournament is characterized in that a first stepping motor driver I and a first stepping motor driver II are respectively arranged on the first stepping motor I and the first stepping motor II, and the first stepping motor driver I and the first stepping motor driver II are respectively connected with a main control board through data lines.
4. The robot for simulating pollination applied to a Chinese robot competition as claimed in claim 3, wherein the first stepping motor I and the first stepping motor II are 57 stepping motors, and the second stepping motor I and the second stepping motor II are 42 stepping motors.
5. The robot for simulating pollination applied to a Chinese robot competition as claimed in claim 4, wherein a second stepping motor driver I and a second stepping motor driver II are further mounted on the rudder disc, the second stepping motor I is connected with the second stepping motor driver I through a data line, the second stepping motor driver I is connected with the main control board through a data line, the second stepping motor driver II is connected with the second stepping motor driver II through a data line, and the second stepping motor driver II is connected with the main control board through a data line.
6. The robot for simulating pollination applied to a robot competition in China according to claim 5, wherein the type of the grayscale sensor is an S308 eight-way grayscale sensor, the camera is an OpenMV camera, and the photoelectric switch I and the photoelectric switch II are both E3F-DS30C4 infrared photoelectric switches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921813603.8U CN210757769U (en) | 2019-10-25 | 2019-10-25 | Simulation pollination robot applied to Chinese robot competition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921813603.8U CN210757769U (en) | 2019-10-25 | 2019-10-25 | Simulation pollination robot applied to Chinese robot competition |
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| Publication Number | Publication Date |
|---|---|
| CN210757769U true CN210757769U (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921813603.8U Expired - Fee Related CN210757769U (en) | 2019-10-25 | 2019-10-25 | Simulation pollination robot applied to Chinese robot competition |
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| Country | Link |
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| CN (1) | CN210757769U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115176698A (en) * | 2022-07-19 | 2022-10-14 | 宁夏农林科学院农作物研究所（宁夏回族自治区农作物育种中心） | Special artificial pollination device of wheat breeding |
-
2019
- 2019-10-25 CN CN201921813603.8U patent/CN210757769U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115176698A (en) * | 2022-07-19 | 2022-10-14 | 宁夏农林科学院农作物研究所（宁夏回族自治区农作物育种中心） | Special artificial pollination device of wheat breeding |
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