CN211602419U - Vehicle body offset correction test device under greenhouse ground random excitation - Google Patents
Vehicle body offset correction test device under greenhouse ground random excitation Download PDFInfo
- Publication number
- CN211602419U CN211602419U CN201922235343.7U CN201922235343U CN211602419U CN 211602419 U CN211602419 U CN 211602419U CN 201922235343 U CN201922235343 U CN 201922235343U CN 211602419 U CN211602419 U CN 211602419U
- Authority
- CN
- China
- Prior art keywords
- lifting
- connecting rod
- screw
- unit
- pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The device is characterized by comprising a simulation unit and a suspension unit, wherein the simulation unit comprises a plurality of lifting modules which are supported at the lower side of the suspension unit; the lifting module comprises a lifting support, and the lifting support is provided with a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are enclosed to form a parallelogram mechanism. The utility model discloses an utilize the undulation state change on a plurality of lift module accurate simulation ground of parallelogram mechanism principle to can simulate the condition of ground and the contact of robot wheel.
Description
Technical Field
The utility model relates to an agricultural equipment detects technical field, relates to a correction test device of skew phenomenon of automobile body traveles under greenhouse ground random excitation.
Background
With the continuous development of agricultural modernization, the production area of fruits and vegetables is continuously enlarged, and operating robots used in a greenhouse environment are increased day by day. No matter the transport robot, the picking robot or the spraying robot, the problem of path deviation caused by the fluctuation of the soil ground cannot be avoided, so that the working instability of the robot is caused, and some robots even cannot reliably realize the original functions. Therefore, the device capable of quickly generating the compensation offset on the complex pavement is used, and reliable guarantee can be provided for accurate logistics, efficient picking and precise spraying of the robot in the greenhouse.
Due to the complex environment in the greenhouse, most of the robots adopt a fixed track laying mode to ensure the motion stability of the robots at present, and the method has the defects of high track laying cost, inconvenient movement, occupation of cultivated land area and great inconvenience for cultivation in the greenhouse.
Therefore, in order to study the influence of the greenhouse floor on the robot movement, it is necessary to design a test apparatus for correcting the vehicle body offset under the greenhouse floor random excitation, which can simulate the greenhouse floor random excitation.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art's not enough, provide a body skew correction test device under greenhouse ground random excitation, can simulate greenhouse ground random excitation.
The utility model provides a greenhouse ground random excitation lower body offset correction test device, which comprises a simulation unit and a suspension unit, wherein the simulation unit comprises a plurality of lifting modules, and the plurality of lifting modules are supported at the lower side of the suspension unit; the lifting module comprises a lifting support, and the lifting support is provided with a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are enclosed to form a parallelogram mechanism.
Preferably, the first connecting rod and the second connecting rod are pivoted through a first pin, and the third connecting rod and the fourth connecting rod are pivoted through a second pin; the lifting module further comprises a lifting nut and a lifting screw rod, one end of the lifting screw rod is rotatably connected with the second pin, the other end of the lifting screw rod is in threaded connection with the lifting nut, and the lifting nut is fixedly connected with the first pin.
Preferably, the testing device further comprises a lifting motor, and the lifting motor is in transmission connection with the lifting screw rod.
Preferably, the first connecting rod and the second connecting rod are pivoted through a first pin, and the third connecting rod and the fourth connecting rod are pivoted through a second pin; the lifting module further comprises a lifting nut and a lifting screw rod, the lifting nut is rotatably connected with the second pin, one end of the lifting screw rod is fixedly connected with the first pin, and the other end of the lifting screw rod is slidably connected with the second pin.
Preferably, the test device further comprises a lifting motor, and the lifting motor is in transmission connection with the lifting nut.
Preferably, the suspension unit includes a structural framework and a plurality of springs, a plurality of the springs respectively with structural framework fixed connection, a plurality of the springs with a plurality of the lift module one-to-one and fixed connection.
Preferably, the testing device further comprises a detection unit, a correction return unit and a control unit, wherein the control unit is electrically connected with the simulation unit, the detection unit and the correction return unit respectively.
Preferably, the correction and return unit comprises a sliding plate, a screw motor, a ball screw and a screw nut, the screw motor is fixedly connected with the sliding plate, the output end of the screw motor is in transmission connection with the ball screw, the screw nut is in threaded connection with the ball screw, the screw nut is in slidable connection with the sliding plate, and the detection unit is fixedly connected with the screw nut.
Preferably, the detection unit is fixedly connected with the screw nut.
The utility model relates to a test device of embodiment and test method thereof has following beneficial effect at least: the utility model discloses a parallelogram mechanism's lift module accurately simulates the fluctuation state change on ground to can simulate the condition of ground and the contact of robot wheel.
Drawings
Fig. 1 is a schematic structural diagram of a testing apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a simulation unit in the testing apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a calibration return unit in a testing apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic view of a suspension unit in a test apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a control unit in a testing apparatus according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a testing method according to an embodiment of the present invention.
Description of the reference numerals
1-control box, 2-track, 3-ball screw, 4-sensor connecting frame, 5-screw motor, 6-sliding plate, 7-sensor, 8-sliding rail, 9-main framework, 11-spring, 12-lifting connecting plate, 13-fixing plate, 14-lifting motor, 15-screw nut, 16-sliding block, 17-lifting module, 18-lifting support, 1801-first connecting rod, 1802-second connecting rod, 1803-third connecting rod, 1804-fourth connecting rod, 19-lifting screw and 20-speed reducer.
Detailed Description
Other objects and advantages of the present invention will become apparent from the following explanation of the preferred embodiments of the present application.
As shown in fig. 1 to 5, the device for testing the deviation correction of the lower body under the random excitation of the greenhouse ground comprises a simulation unit, a suspension unit, a correction and return unit, a detection unit and a control unit. The simulation unit is used for simulating the change of the ground heave state. The suspension unit is connected to the simulation unit, and the suspension unit tilts with a change in the ground undulation state simulated by the simulation unit. The correcting and returning unit is connected with the suspension unit in a sliding mode. The detection unit is connected with the correction return unit and can detect the offset parameter along with the offset of the correction return unit. The control unit is respectively connected with the simulation unit, the detection unit and the correction return unit. The control unit is used for controlling the simulation unit to simulate the change of the ground fluctuation state, receiving the offset parameters detected by the detection unit, calculating the return length and the machine steering adjustment angle of the detection unit according to the offset parameters, and returning the detection unit through the correction return unit.
In particular, the simulation unit is used to simulate the variations in the relief conditions of the ground, i.e. to simulate the real conditions of the ground in contact with the wheels of the robot. In this embodiment, the simulation unit includes a fixed plate 13 and a plurality of lifting modules 17. The fixing plate 13 is used to fix the lifting module 17, and the fixing plate 13 may be fixedly connected to the lifting module 17 by a fastener such as a bolt. In this embodiment, preferably, the simulation unit includes four lifting modules 17, and the four lifting modules 17 are respectively fixed inside four corners of the upper surface of the fixing plate 13. It should be noted that the number of the lifting modules 17 may be set to 2, 3, 5 or other numbers as needed.
The lifting module 17 in this embodiment includes a lifting motor 14, a reducer 20, a lifting screw 19, a lifting nut, a lifting bracket 18, and a lifting link plate 12. Specifically, the lifting support 18 has a first connecting rod 1801, a second connecting rod 1802, a third connecting rod 1803 and a fourth connecting rod 1804, the upper end of the first connecting rod 1801 is pivoted with the lifting connecting plate 12, the lower end of the first connecting rod 1801 is pivoted with the upper end of the second connecting rod 1802 through a first pin, and the lower end of the second connecting rod 1802 is pivoted with the fixing plate 13. The upper end of the third connecting rod 1803 is pivoted with the lifting connecting plate 12, the lower end of the third connecting rod 1803 is pivoted with the upper end of the fourth connecting rod 1804 through a second pin, and the lower end of the fourth connecting rod 1804 is pivoted with the fixing plate 13. The lifting motor 14 is fixedly connected with the second pin, the output end of the lifting motor 14 is in transmission connection with the lifting screw rod 19 through the speed reducer 20, one end of the lifting screw rod 19 is rotatably connected with the second pin, the other end of the lifting screw rod 19 is in threaded connection with the lifting nut, and the lifting nut is fixedly connected with the first pin.
In addition, the lifting nut may be rotatably connected to the second pin, and the output end of the lifting motor 14 is in transmission connection with the lifting nut through the reducer 20. One end of the lifting screw rod 19 is fixedly connected with the first pin, and the other end of the lifting screw rod is slidably connected with the second pin. When the lifting nut rotates, the lifting module 17 can be driven to perform lifting action.
In the lifting module 17 of the present embodiment, the lifting motor 14 drives the lifting screw 19 to rotate through the reducer 20, and the lifting screw 19 can move the first pin and the second pin toward or away from each other when rotating; when the first pin and the second pin are close to each other, the height of the lifting connecting plate 12 is increased; when the first pin and the second pin are far away from each other, the height of the lifting link plate 12 is lowered.
The testing device further comprises a parameter input unit, wherein the parameter input unit is connected with the control unit and used for inputting the ground flatness parameters to the control unit. The above-mentioned floor flatness parameters may be input to the control unit in the form of discrete data points.
In this embodiment, the four lifting modules 17 are respectively connected to the control unit. The lifting module 17 is alternately extended or retracted according to the instruction of the control unit, so that the change of the ground fluctuation state in the robot traveling process can be simulated.
The suspension unit is located on the upper side of the lifting module 17. In this embodiment, the suspension unit includes a structural framework and a plurality of springs 11, the plurality of springs 11 are respectively and fixedly connected to the structural framework, and the plurality of springs 11 and the plurality of lifting modules 17 are in one-to-one correspondence and fixedly connected to each other.
The spring 11 is used as a damping element of the robot, one end of the spring is fixed on the lifting connecting plate 12 of the lifting module 17, and the other end of the spring is fixedly connected with the structural framework.
The structure framework comprises a main framework 9, a sliding rail 8, a sliding block 16 and a sliding plate 6. The main frame 9 is used for controlling the cartridge 1 and correcting the return unit. The main frame 9 can be made of angle steel, square tubes, round tubes or other section bars. The slide rail 8 is fixed on the main framework 9, the slide block 16 is connected with the slide rail 8 in a sliding way, and the slide plate 6 is fixedly connected with the slide block 16.
The correction return unit is fixed on the upper side of the slide 6. Further, the corrective return unit includes a slide 6, a screw motor 5, a ball screw 3, and a screw nut 15. The screw motor 5 is fixedly connected with the sliding plate 6, and the output end of the screw motor 5 is in transmission connection with the ball screw 3 and used for driving the ball screw 3 to rotate. The screw nut 15 is in threaded connection with the screw, and the screw nut 15 is in slidable connection with the sliding plate 6. Preferably, a rail 2 can be provided on the slide 6, the spindle nut 15 being slidably connected to the rail 2. When the ball screw 3 rotates, the screw nut 15 can be driven to linearly reciprocate along the rail 2 on the slide plate 6.
The detection unit and the lead screw nut 15 are fixedly connected through a sensor connecting frame 4. The detection unit is electrically connected with the control unit. The sensor 7 in the detection unit can be selected from infrared sensors, laser sensors, accelerometers and other sensor types which can be used for detecting offset distance and are used for identifying the sliding distance and the sliding speed of the sliding block 16. The sensor 7 in the detection unit can also select a gyroscope angle sensor for acquiring the inclination angle of the sliding plate 6.
The control unit sets up in control box 1, and the control unit can include STM32 singlechip, motor drive, sensor communication interface, opto-coupler isolation and power conversion module. Control box 1 installs on slide 6, and control box 1 provides accommodation space for STM32 singlechip, sensor interface module, power conversion module. The STM32 single chip microcomputer is used for reading signals of each sensor and generating PWM signals for controlling the motor through built-in algorithm processing; and as the core of the whole system, the lifting motor 14 in the lifting module 17 is controlled to act, and the lead screw motor 5 in the correction return unit is controlled to act. And the motor driver amplifies the PWM signals and is connected with each motor. The optical coupling isolation is used for reducing interference and ensuring the stability of signals. The power conversion module converts the electric energy of the storage battery to be used by electric elements such as sensors, a single chip microcomputer and the like.
The storage battery of the testing device of the embodiment is fixed in the control box 1, and the storage battery supplies power to the simulation unit, the detection unit, the control unit and the correction and return unit.
As shown in FIG. 6, the utility model provides a test method for correcting the offset of a vehicle body under the random excitation of the ground of a greenhouse, which mainly comprises the following steps:
s1: the ground flatness parameters are input to a control unit. The above-mentioned ground flatness parameters can be input into the control unit in the form of discrete point data points. Of course, other ways of inputting the floor flatness parameter to the control unit are also possible.
S2: simulating the change of the ground fluctuation state. The control unit respectively controls the lifting motors 14 in the four lifting modules 17 to rotate, and the lifting of the lifting modules 17 drives the springs 11 in the suspension unit to ascend or descend. Because the other end of the spring 11 is connected to the structural framework, the structural framework is further driven to incline.
S4: and detecting an offset parameter caused by the change of the ground fluctuation state. When the structural framework inclines, the sliding rail 8 arranged on the structural framework also inclines. The slide 16 on the slide 6 moves along the slide 8 due to its own weight and the weight of the components mounted on the slide 6. The slide block 16 drives the slide plate 6 to move. When the slide 6 moves, the sensors in the detection unit above the slide 6 collect information on the offset parameters, such as the offset distance, speed, acceleration, and angle of inclination of the slide 6, of the slider 16.
Further, the offset parameter includes at least one of a distance of the offset, a speed and acceleration of the offset, and an inclination angle.
S6: and calculating to obtain a machine steering adjusting parameter according to the offset parameter. The STM singlechip receives the information of the acquired offset parameters from each sensor, such as the inclination angle alpha of the sliding plate 6. And analyzing and processing to obtain the machine steering adjusting parameters.
Further, the machine steering adjustment parameters include a return length and a machine steering adjustment angle.
Still further, the return length and the machine steering adjustment angle are calculated by the following formulas:
wherein L is1，L2，L3For the return length, α is the angle of inclination of the slide, m1Is the weight of the correction unit, m2Is the weight of the control box and the internal components, K is the stiffness of the spring 11, and i is the reduction ratio between the steering angle and the lead screw.
S8: and controlling the detection unit to return. The STM single chip microcomputer controls the action of the screw motor 5, the screw motor 5 drives the screw nut 15 to move through the ball screw 3, and the detection unit moves to the return length to the target position.
S10: steps S2, S4, S6, and S8 are cyclically executed. Through the above-described cycles of S2, S4, S6, and S8, the machine steering adjustment parameters can be acquired. The method provides a precondition for further researching how to ensure that the robot is installed and set to run on the route when the robot advances on the undulating ground.
The apparatus of the present application has been described in detail with reference to the preferred embodiments thereof, however, it should be noted that those skilled in the art can make modifications, alterations and adaptations based on the above disclosure without departing from the spirit of the present application. The present application includes the specific embodiments described above and any equivalents thereof.
Claims (8)
1. The device is characterized by comprising a simulation unit and a suspension unit, wherein the simulation unit comprises a plurality of lifting modules which are supported at the lower side of the suspension unit; the lifting module comprises a lifting support, and the lifting support is provided with a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are enclosed to form a parallelogram mechanism.
2. The testing device of claim 1, wherein the first connecting rod is pivotally connected to the second connecting rod by a first pin, and the third connecting rod is pivotally connected to the fourth connecting rod by a second pin; the lifting module further comprises a lifting nut and a lifting screw rod, one end of the lifting screw rod is rotatably connected with the second pin, the other end of the lifting screw rod is in threaded connection with the lifting nut, and the lifting nut is fixedly connected with the first pin.
3. The testing device of claim 2, further comprising a lift motor in driving connection with the lift screw.
4. The testing device of claim 1, wherein the first connecting rod is pivotally connected to the second connecting rod by a first pin, and the third connecting rod is pivotally connected to the fourth connecting rod by a second pin; the lifting module further comprises a lifting nut and a lifting screw rod, the lifting nut is rotatably connected with the second pin, one end of the lifting screw rod is fixedly connected with the first pin, and the other end of the lifting screw rod is slidably connected with the second pin.
5. The testing device of claim 4, further comprising a lift motor in driving connection with the lift nut.
6. The testing apparatus of claim 1, wherein the suspension unit comprises a structural framework and a plurality of springs, the plurality of springs are respectively and fixedly connected with the structural framework, and the plurality of springs are in one-to-one correspondence with and fixedly connected with the plurality of lifting modules.
7. The testing device according to any one of claims 1 to 6, further comprising a detection unit, a corrective return unit and a control unit, the control unit being electrically connected to the simulation unit, the detection unit and the corrective return unit, respectively.
8. The testing device of claim 7, wherein the calibration return unit comprises a sliding plate, a screw motor, a ball screw and a screw nut, the screw motor is fixedly connected with the sliding plate, an output end of the screw motor is in transmission connection with the ball screw, the screw nut is in threaded connection with the ball screw, the screw nut is in slidable connection with the sliding plate, and the detection unit is fixedly connected with the screw nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922235343.7U CN211602419U (en) | 2019-12-13 | 2019-12-13 | Vehicle body offset correction test device under greenhouse ground random excitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922235343.7U CN211602419U (en) | 2019-12-13 | 2019-12-13 | Vehicle body offset correction test device under greenhouse ground random excitation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211602419U true CN211602419U (en) | 2020-09-29 |
Family
ID=72592321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922235343.7U Active CN211602419U (en) | 2019-12-13 | 2019-12-13 | Vehicle body offset correction test device under greenhouse ground random excitation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211602419U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113390871A (en) * | 2021-06-04 | 2021-09-14 | 青岛市产品质量检验研究院(青岛市产品质量安全风险监测中心) | Graphite alkene detects uses fixed clamping device |
-
2019
- 2019-12-13 CN CN201922235343.7U patent/CN211602419U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113390871A (en) * | 2021-06-04 | 2021-09-14 | 青岛市产品质量检验研究院(青岛市产品质量安全风险监测中心) | Graphite alkene detects uses fixed clamping device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102016537B (en) | Strut assembly | |
| CN102016532B (en) | Test system and method for testing vehicles in wind tunnel of test system | |
| CN102422140B (en) | For bogie detection method and detect and assembling test platform | |
| CN206749955U (en) | Chassis vehicle | |
| CN109720609B (en) | Suspended microgravity simulation device and control method | |
| CN107030732A (en) | Parallel/hybrid mechanism and robot performance's parameter test system | |
| CN102840959B (en) | Single-leg impact control experiment platform for robot | |
| CN103869834B (en) | Three-axis air-bearing table barycenter intelligent adjusting method based on empirical modal method | |
| CN106315164B (en) | White body on-line checking intelligent positioning system and its method of operation | |
| EP2769195B1 (en) | Test system for measuring and evaluating dynamic body forces | |
| CN211602419U (en) | Vehicle body offset correction test device under greenhouse ground random excitation | |
| CN112319170B (en) | Independent suspension device capable of keeping specific wheel track | |
| CN206954343U (en) | It is a kind of to balance telescoping mechanism and include its balance car | |
| CN111561651A (en) | Inspection robot and working method thereof | |
| CN107891423A (en) | Intelligent exploration robot and its detection method based on Multi-sensor Fusion detection | |
| CN111044297B (en) | Device and method for correcting and testing vehicle body deviation under random excitation of greenhouse ground | |
| CN105620472A (en) | Pressure center position compensation method and device for mobile scanning car | |
| CN110940358B (en) | Laser radar and inertial navigation combined calibration device and calibration method | |
| CN106625779B (en) | Dynamic response performance test platform and test method for foot-type bionic robot | |
| CN116902240A (en) | In-service wind power blade girder hidden danger detection robot and detection method thereof | |
| CN111911362B (en) | Infrared detection walking robot for wind power generator cabin | |
| CN206501932U (en) | Cleaning detection dolly all-around mobile carrying platform under strong magnetic field circumstance | |
| CN211318741U (en) | Road spectrum acquisition equipment | |
| CN114185271A (en) | Three-dimensional follow-up system of annular truss and control method thereof | |
| CN206640957U (en) | A kind of laser flatting machine being precisely controlled |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |