CN104400778B - A kind of control method of the carrying of the crops based on Arduino single-chip microcomputer - Google Patents

Abstract

The invention relates to a control method for crop handling based on an Arduino single-chip microcomputer, which is carried out according to the following steps: initialization; detection of each signal; after the start signal is sent, the lifting arm starts to work until it rises to a designated position and stops working; after the lifting arm is in place , start to drive the telescopic arm to work, and stop working until it is extended to the designated position; after the extension is in place, drive the lifting arm to rise again and lift the object; after the object is lifted, drive the telescopic arm to work to make it retract; During the retraction process in the previous step, the rotating arm works until it turns to the designated position; after the telescopic arm in step 6) works to the designated position, the lifting arm is driven to work to make it fall and put down the objects; the telescopic arm retracts, The rotating arm reverses and resets, and waits for the next transfer. The method of the invention is simple and easy to control, reduces the labor force of farmers to carry these items, accelerates the work efficiency of the farmland operation process, and is beneficial to promote the whole mechanization and automation of agricultural production.

Description

A control method of crop handling based on Arduino single chip microcomputer

technical field

The invention relates to a control method for crop transportation based on an Arduino single-chip microcomputer, which is suitable for crop transportation.

Background technique

In the process of farmland operations, many operations involve handling. However, in traditional farmland operations, most of them are based on manual operations. The full automation of crop or fertilizer handling operations has not been well realized, and there is a large demand for labor force. Most of these operations are poor working environment and labor-intensive, and are not suitable for farmers to carry out long-term operations.

Although there are many multi-functional and diversified agricultural robots on the market, their high prices and high maintenance fees are difficult for ordinary farmers to afford. Therefore, my country has always wanted to realize the full mechanization of agriculture in a short period of time. And automation is still quite long, so in the process of farmland operations, it is an inevitable trend to introduce new small, cheap and professional farmland handling robots that are suitable for farmland production.

At present, most of the handling robot controllers used in farmland operations mainly fall into the following categories: firstly, a type of handling robot with PLC as the control core. This type of robot works relatively stably and can adapt to harsh working environments. For the control system of the controller, various types of peripheral working modules need to be connected, and multi-PLC cooperative control is required, which increases the cost and complexity of the control system; secondly, the control system with the motion control card as the core, this type of handling The control system of the robot has a high degree of integration and complete functions. However, the performance of the domestic motion control card is unstable and the quality is uneven, which is difficult to meet the requirements of the control system of the handling robot. However, the programming of the motion control card produced abroad is more complicated and costly. It brings certain difficulties to the robot control system designers, and once it is damaged, it is difficult to repair and can only be replaced as a whole; the last category is the self-developed handling robot controller, which is cumbersome for users to maintain and difficult to perform secondary Development, poor versatility.

Contents of the invention

In view of the deficiencies in the prior art, the object of the present invention is to provide a control method for crop handling based on an Arduino single-chip microcomputer.

Technical scheme of the present invention is:

A kind of control method based on the crop handling of Arduino single-chip microcomputer, comprises handling device, and described handling device comprises lifting arm, telescoping arm, rotating arm executive part, it is characterized in that, carry out as follows:

1) Initialization, parameter setting, and start the monitoring system and infrared remote control communication mode;

2) Detect whether the reset signal, stop signal, and start signal are in a normal state, wherein the reset signal is used to drive each execution robot arm to reset;

3) After the start signal is sent out, the lifting arm starts to work until it reaches the designated position and then stops working;

4) After the lifting arm is in place, start to drive the telescopic arm to work, and stop working until it reaches the specified position;

5) After the extension is in place, drive the lifting arm to rise again and lift the item;

6) After the item is lifted, drive the telescopic arm to work to make it retract;

7) During the retraction process of the previous step, the rotating arm works until it turns to the designated position;

8) After the telescopic arm in step 6) works to the designated position, drive the lifting arm to start working, make it descend and put down the objects;

9) The telescopic arm retracts, the rotating arm reverses and resets, and waits for the next handling.

Wherein, the conveying device includes a mechanical mechanism and a control circuit. The mechanical mechanism includes a frame, and one side of the frame is longitudinally provided with a spline shaft that can rotate relative to the frame. The frame A screw rod is arranged longitudinally on the other side of the screw rod, and a lifting nut is sleeved on the screw rod, and a lifting platform that is slidably connected with the spline shaft is fixedly connected to the lifting nut, and is located at the lower part of the lifting platform on the side of the spline shaft. There is a U-shaped groove, the lower part of the spline shaft is fixedly connected with a second synchronous pulley, and the middle part of the spline shaft is slidably connected with a third synchronous pulley installed in the U-shaped groove through the spline on the shaft. , the third synchronous pulley is driven by a synchronous belt to a fourth synchronous pulley arranged horizontally and positioned at the bottom side of the lifting platform, the upper end of the output shaft of the fourth synchronous pulley is fixedly connected with a A gear plate, a rotary arm is fixedly connected to the upper end surface of the gear plate, a telescopic arm is hinged on the rotary arm, a terminal mechanical arm is hinged on the telescopic arm, and a terminal mechanical arm is hinged to carry crops. In the end effector, a second motor with an output shaft arranged longitudinally is arranged in the rotating arm, and the second motor is fixedly connected with one side end of the telescopic arm through the second reducer, and the telescopic arm is connected with the reducer The connected side is provided with a fifth synchronous pulley, and the other side is provided with a sixth synchronous pulley connected to the fifth synchronous pulley via a synchronous belt. The fifth synchronous pulley is fixedly connected to the upper end of the rotating arm. The sixth synchronous pulley is fixedly connected to one end of the terminal mechanical arm. A seventh synchronous pulley is provided on the side connected to the sixth synchronous pulley in the terminal mechanical arm, and a seventh synchronous pulley is provided on the other side via a synchronous belt. The eighth synchronous pulley is connected with the pulley, the eighth synchronous pulley is linked with the end effector, the seventh synchronous pulley is fixedly connected with the other side end of the telescopic arm, and the second synchronous pulley is connected by Driven by the first synchronous pulley on the inner side of the frame, the first synchronous pulley is driven by the first motor in the frame through the first reducer, and the other side in the frame is set There is a third motor, the output shaft of the third motor is connected with a ninth synchronous pulley, and the ninth synchronous pulley is driven and connected with the tenth synchronous pulley fixedly connected to the lower end of the screw rod through a synchronous belt; The control circuit includes an Arduino controller module, three motor drive modules that drive the first, second and third motors, and the Arduino controller module communicates with the first, second and third motors through the three motor drive modules respectively. The circuit is connected, and three limit switches are arranged on the execution path of the rotating arm and the telescopic arm, wherein two limit switches for rotation and lifting are respectively arranged at the rotating arm, and the three limit switches are connected to the Arduino through the initial reset unit respectively. Controller module electrical connections.

The first, second, and third motors are respectively provided with a rotary encoder, and the rotary encoder is connected to the Arduino controller module circuit through a position and speed detection unit.

It also includes a power supply module for supplying power to the Arduino controller module, three stepper motor drive modules and the cooling module.

It also includes a 12864 liquid crystal display connected with the Arduino controller module display and an infrared remote control module connected with infrared.

The gear ratio of the first and second synchronous pulleys is 1:1; the gear ratio of the third and fourth synchronous pulleys is 1:2; the gear ratio of the fifth and sixth synchronous pulleys is 2:1; the gear ratio of the seventh and eighth synchronous pulleys is 1:2; the gear ratio of the ninth and tenth synchronous pulleys is 5:4.

Universal wheels are provided on the bottom side of the frame.

The bottom in the frame is also provided with a cooling fan.

The advantages of the present invention are:

1. It adopts five-phase stepping motor, which has the advantages of small step torque angle, large rotational torque, short acceleration and deceleration time, and low dynamic inertia, so as to achieve the purpose of stepless speed regulation and precise positioning.

2. The intelligent heat dissipation unit is used to automatically control the start and stop of the heat dissipation unit by detecting the internal temperature of the farmland handling robot. While realizing energy saving, the internal temperature of the robot is minimized and a safe and reliable environment for the robot system is maintained.

3. Arduino single-chip microcomputer is used as the core of the control system. It is a development platform based on open source code and has relatively complete functions. It has an integrated development environment including code editors, compilers, debuggers and graphical user interface tools. Compatibility Strong, supports ISP online program programming, supports multiple interactions, and compared with other microcontrollers to develop this control system, it has low cost, simple programming, rich resources, high stability and reliability.

4. It is conducive to promoting the promotion and application of robot technology in the field of agricultural engineering. It is very innovative. To a certain extent, it reduces the labor force of farmers to carry these items, speeds up the work efficiency of the farmland operation process, and is conducive to promoting agriculture. Full mechanization and automation of production.

5. The overall structure is compact, the weight is light, and the base is equipped with universal wheels, so that the whole machine can be moved and positioned flexibly, which is convenient for farmland handling operations in different positions.

6. Simple transmission mechanisms such as threaded screw, synchronous belt, gear, and pulley are used to form three overall movements of the robot: lifting, shrinking, and rotating through these mechanisms, so as to realize the handling process of the farmland robot. The structure is simple and the execution is fast. , low cost, high stability.

7. It is equipped with position, speed, temperature monitoring system and infrared remote control system. The monitoring system is convenient for operators to understand the status of the whole operation process of the robot in real time and reduce the occurrence of accidents. Infrared remote control is used to realize the remote control of the robot by the operator, which protects the personal safety of the operator and facilitates the operation.

8. Using the structure of synchronous pulley and supporting synchronous belt, according to the designed transmission ratio and coordinated movement, the entire telescopic movement of the mechanical arm can be completed through a stepping motor. The structure is simple and compact, and the design cost is low.

9. Cleverly design a cylindrical mechanical arm, through the relevant supporting transmission mechanism, use one mechanical arm to realize its two degrees of freedom of rotation and lifting at the same time, reduce the complexity of the mechanical structure, the whole robot is small in size and heavy in weight light.

10. The base is equipped with universal wheels, which can move the robot flexibly and conveniently.

Description of drawings

Fig. 1 is a schematic flow chart of the present invention.

Fig. 2 is a schematic diagram of the mechanical structure of the present invention.

Fig. 3 is a schematic diagram of the circuit structure of the present invention.

Fig. 4 is a schematic diagram of the occupancy of the I/O interface of the Arduino controller.

Figure 5 is a schematic diagram of an example of an Arduino controller controlling a stepper motor.

Figure 6 is a schematic diagram of the connection between the Arduino controller and the slot limit switch.

Figure 7 is a schematic diagram of the connection between the Arduino controller and the rotary encoder.

FIG. 8 is a schematic diagram of the circuit principle of the cooling unit.

Figure 9 is a schematic diagram of the connection between the Arduino controller and the 12864 LCD.

Fig. 10 is a schematic diagram of the linear motion of the end effector.

detailed description

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail with reference to the accompanying drawings.

With reference to Fig. 1 to Fig. 10, the present invention relates to a kind of control method of the crop handling based on Arduino single-chip microcomputer, comprise handling device, described handling device comprises lifting arm, telescopic arm, rotating arm executive component, carries out as follows:

1) Initialization, parameter setting, and start the monitoring system and infrared remote control communication mode;

2) Detect whether the reset signal, stop signal, and start signal are in a normal state, wherein the reset signal is used to drive each execution robot arm to reset;

3) After the start signal is sent out, the lifting arm starts to work until it reaches the designated position and then stops working;

4) After the lifting arm is in place, start to drive the telescopic arm to work, and stop working until it reaches the specified position;

5) After the extension is in place, drive the lifting arm to rise again and lift the item;

6) After the item is lifted, drive the telescopic arm to work to make it retract;

7) During the retraction process of the previous step, the rotating arm works until it turns to the designated position;

8) After the telescopic arm in step 6) works to the designated position, drive the lifting arm to start working, make it descend and put down the objects;

9) The telescopic arm retracts, the rotating arm reverses and resets, and waits for the next handling.

Wherein, the handling device includes two parts, a mechanical mechanism and a control circuit. The mechanical mechanism includes a frame 1, and one side of the frame is longitudinally provided with a spline shaft 2 that can rotate relative to the frame. The other side of the frame is longitudinally provided with a threaded mandrel 3, and a lifting nut 4 is sleeved on the said threaded mandrel, and a lifting platform 5 which can be slidably connected with the spline shaft is fixedly connected to the said lifting nut, and is located on the spline shaft. A U-shaped groove is provided at the lower part of the lifting platform on the side, and a second synchronous pulley 6 is fixedly connected to the lower part of the spline shaft, and the middle part of the spline shaft is slidably connected with a spline on the shaft to a U-shaped groove. The third synchronous pulley 7, the third synchronous pulley drives a fourth synchronous pulley 8 which is arranged horizontally with it and is located at the bottom side of the lifting platform through the synchronous belt, and the output shaft upper end of the fourth synchronous pulley is fixed A gear plate 9 located on the upper side of the lifting platform is connected, and a rotating arm 10 is fixedly connected to the upper end surface of the gear plate. A telescopic arm 11 is hinged on the rotating arm, and a terminal mechanical arm 12 is hinged on the telescopic arm. An end effector 13 for transporting crops is articulated on the end mechanical arm, and a second motor 14 with an output shaft arranged longitudinally is arranged in the rotating arm, and the second motor connects with the telescopic arm through a second reducer 15 One end of one side of the telescopic arm is fixedly connected, and a fifth synchronous pulley 16 is provided on the side connected with the speed reducer in the telescopic arm, and the sixth synchronous pulley 17 connected to the fifth synchronous pulley via a synchronous belt is provided on the other side, so The fifth synchronous pulley is fixedly connected to the upper end of the rotating arm, the sixth synchronous pulley is fixedly connected to one end of the terminal mechanical arm, and a first Seven synchronous pulleys 18, the other side is provided with the eighth synchronous pulley 19 connected with the seventh synchronous pulley through the synchronous belt, the eighth synchronous pulley is linked with the end effector, and the seventh synchronous pulley It is fixedly connected with the other side end of the telescopic arm, and the second synchronous pulley is driven by the first synchronous pulley 20 arranged on the inner side of the frame.

The above-mentioned first synchronous pulley is driven by a first motor 21 arranged in the frame through a first speed reducer 22 .

The other side in the above-mentioned frame is provided with a third motor 23, the output shaft of the third motor is connected with a ninth synchronous pulley 24, and the ninth synchronous pulley is fixedly connected to the lower end of the screw mandrel through a synchronous belt. The tenth synchronous pulley 25 is drivingly connected.

The gear ratio of the first and second synchronous pulleys is 1:1; the gear ratio of the third and fourth synchronous pulleys is 1:2; the gear ratio of the fifth and sixth synchronous pulleys is 2 :1; the gear ratio of the seventh and eighth synchronous pulleys is 1:2; the gear ratio of the ninth and tenth synchronous pulleys is 5:4.

Above-mentioned frame bottom side is provided with universal wheel 26.

The bottom in the above-mentioned frame is also provided with a cooling fan 27 .

Above-mentioned control circuit comprises Arduino controller module, drive described first, second, three motor drive modules of the 3rd motor, described Arduino controller module connects first, second, the 3rd motor respectively through three motor drive modules The circuit is connected, and three limit switches are arranged on the execution path of the rotating arm and the telescopic arm, wherein two limit switches for rotation and lifting are respectively arranged at the rotating arm, and the three limit switches are connected to the Arduino through the initial reset unit respectively. Controller module electrical connections.

The above-mentioned first, second and third motors are respectively provided with a rotary encoder, and the rotary encoder is connected to the Arduino controller module circuit through the position and speed detection unit.

It also includes a power supply module for supplying power to the Arduino controller module, three stepper motor drive modules and the cooling module. It also includes a 12864 liquid crystal display connected with the Arduino controller module display and an infrared remote control module connected with infrared.

During the implementation process, the principle of the mechanical structure to realize the farmland handling robot is as follows:

The fifth synchronous pulley is fixed to the rotating arm, so the fifth synchronous pulley is fixed relative to the rotating arm. When the second motor drives the telescopic arm to rotate, the sixth synchronous pulley will form a revolution and self-propagation relative to the rotating arm. The mechanical arm is fixed to the sixth synchronous pulley, so the end mechanical arm and the sixth synchronous pulley rotate synchronously, and the end mechanical arm rotates relative to the telescopic arm, and the rotation direction is opposite to that of the telescopic arm relative to the rotating arm. The rotation angle value is twice the rotation angle of the telescopic arm (the gear ratio of the fifth synchronous pulley and the sixth synchronous pulley is Z5:Z6=2:1). The seventh synchronous pulley is fixed to the telescopic arm. When the terminal mechanical arm rotates relative to the telescopic arm, the eighth synchronous pulley will form a revolution and self-propagation relative to the telescopic arm. Since the end effector is fixed to the eighth synchronous pulley, Then the end effector rotates relative to the end robot arm, and the rotation direction is opposite to that of the end robot arm relative to the telescopic arm, and the rotation angle is 1/2 of the rotation angle of the end robot arm (the number of teeth of the seventh synchronous pulley and the eighth synchronous pulley The ratio is Z7:Z8=1:2). The rotation angle of the end effector relative to the rotating arm according to the calculation of the rotation angle vector sum angle for telescopic arm , The angle of the end manipulator arm and end effector angle The vector sum of , so when the second motor drives the telescopic arm to rotate through the second reducer, the end effector always does not rotate relative to the rotating arm.

As shown in Figure 10, it can be seen from the figure that point C always moves along the straight line AC, and the end effector does not rotate relative to the rotating arm. Finally, when the second stepper motor rotates, it pulls the end effector along the plane. linear motion. The first stepping motor drives the end effector to rotate on the horizontal plane. The third stepper motor pulls the end effector to move up and down on the vertical plane. To sum up, the movements among the three cooperate with each other to form the required movement trajectory of the farmland handling robot.

In summary, the mechanical structure of the farmland handling robot in each embodiment of the present invention includes multiple sets of synchronous belt transmission mechanisms, a reduction mechanism, three sets of five-phase stepping motors and drivers, a screw mechanism, a terminal mechanical arm, a telescopic arm and Rotating arm, end effector, universal wheel moving mechanism. In this way, the automatic farmland handling operation of the farmland handling robot can be realized, manpower can be saved, and labor efficiency can be improved.

The multi-group synchronous belt transmission mechanism includes the following 5 groups: 1, the first synchronous pulley and the second synchronous pulley, 2, the third synchronous pulley and the fourth synchronous pulley, 3, the fifth synchronous pulley and The sixth synchronous pulley, 4, the seventh synchronous pulley and the eighth synchronous pulley, 5, the ninth synchronous pulley and the tenth synchronous pulley. Group 1: Convert the rotation of the first stepper motor shaft to the rotation of the spline shaft, the transmission ratio is Z1:Z2=1:1; Group 2: Convert the rotation of the spline shaft to the rotation of the rotating arm, the transmission ratio Z3:Z4=1:2; Group 3: Convert the rotation of the telescopic arm to the rotation of the end mechanical arm, and the transmission ratio is Z5:Z6=2:1; Group 4: Convert the rotation of the end mechanical arm to the end The rotation of the actuator, the transmission ratio is Z7:Z8=1:2; the fifth group: convert the rotation of the third stepping motor into the rotation of the screw rod, the transmission ratio is Z9:Z10=5:4; the deceleration The mechanism includes: a first speed reducer and a second speed reducer, respectively realizing the deceleration and increasing torque of the first and second stepping motors. The three sets of five-phase stepping motors include: a first motor, a second motor, and a third motor, which respectively drive the mechanical arm to rotate, stretch, and lift. The heat dissipation mechanism is: a heat dissipation fan, which dissipates heat inside the robot when it is running. The screw mechanism includes: a screw rod and a screw nut, which convert the rotation of the screw rod into the lifting of the rotating arm. The terminal mechanical arm, the telescopic arm, and the rotating arm coordinate and cooperate in motion to jointly complete the handling operation of the farmland handling robot. The end effector is a flat shovel, which supports crops. The gear mechanism includes: a first gear and a second gear, which convert the rotation of the rotating arm into the rotation of the encoder shaft. The universal wheel moving mechanism includes: three universal wheels installed at the bottom of the robot to facilitate the robot to move at any time.

This circuit includes Arduino MCU main control unit, motor drive unit, execution unit, infrared remote control unit, position, speed and temperature monitoring unit, initial position reset unit, power supply unit, cooling unit, etc. The mechanical structure part mainly includes multiple sets of synchronous belt transmission mechanism, deceleration mechanism, three sets of five-phase motors, heat dissipation mechanism, screw guide mechanism, rotating arm, terminal mechanical arm, telescopic arm and rotating arm, gear mechanism, end effector and universal Xianglun and so on.

Arduino single-chip main control unit, including Arduino control chip, multi-channel digital input and output interface, analog input interface, UART interface, crystal oscillator, USB interface and power interface, etc., respectively control three five-phase motor rotation and read farmland handling through Arduino The position, speed and temperature information of each mechanical arm of the robot realizes the short-range infrared remote control of the robot, the initial position reset of the robot and intelligent heat dissipation. Each digital input and output port, analog port, USB interface, and other peripheral circuits and components provide conditions for the access of each peripheral module to form a single-chip microcomputer control system for farmland handling robots.

Motor drive unit, including five-phase hybrid motor and its corresponding motor driver, the five-phase hybrid motor has small step angle, short acceleration and deceleration time, low dynamic inertia, high precision and torque, and can realize single pulse + direction or double pulse control mode switching, when single pulse + direction control mode is selected, the relevant I/O port of the MCU main control unit is connected with the pulse signal port, direction signal port and enable signal port of the motor driver, and the pulse The pulse signal input at the signal terminal controls the rotation of the motor, the high and low level signals input at the direction signal terminal control the steering of the motor, and the high and low level signals input at the enable signal terminal control the free state of the motor. By controlling the rotation angle, speed and steering of each motor, the purpose of lifting and lowering the rotating arm, rotating objects and telescopic arm transporting objects is realized, and the integrated and automated operation process of the farmland handling robot from picking up to putting down is achieved.

The execution unit, including synchronous belt transmission mechanism, threaded screw mechanism, gear transmission mechanism, etc., is connected to the signal interface of the motor driver through the relevant I/O port of the main control unit of the single-chip microcomputer, and controls the rotation angle, speed and steering of the motor. These motors The rotation of the rotating arm can be effectively converted into the telescopic movement of the telescopic arm, the rotating movement of the rotating arm, and the lifting movement of the rotating arm through the execution unit. They cooperate with each other to make the whole actuator move flexibly, and realize the rapid handling of crops by the farmland handling robot. Purpose.

The infrared remote control unit is connected with the D2I/O port of the Arduino controller. Infrared remote control is a wireless and non-contact control technology with strong anti-interference ability, reliable information transmission, low power consumption, low cost, and easy implementation. , the operator realizes the short-range control of the farmland handling robot by operating the hand-held remote control.

Position, speed and temperature monitoring unit, including three rotary encoders corresponding to the mechanical arm, DS18B20 temperature sensor and 12864 liquid crystal, etc., the encoder and the I/O ports D3, D4, D18, D19, D20 and D21 of the Arduino control unit The DS18B20 temperature sensor is connected to the D46 I/O port of the Arduino control unit, and the 12864 LCD is connected to 11 I/O ports of the main Arduino control unit D32-D42, which are mainly used for real-time monitoring of each mechanical arm of the farmland handling robot The position of the corner, the speed state and the temperature of the robot, etc., realize the real-time monitoring of the control system in a certain sense, achieve a good human-computer interaction, and ensure the orderly and stable operation process.

The initial position reset unit includes three slot-type limit switches and a remote controller, which are respectively connected to the D29, D30, D31 and D2 digital ports of the Arduino controller, and first sends a reset to the Arduino control unit through the reset button on the remote controller After receiving the signal, the controller drives each mechanical arm to the limit position to trigger the slot-type limit switch, and then the slot-type limit switch will send a signal to the Arduino controller unit, and the motor drive unit will drive the mechanical execution unit to make the farmland handling machine Return to the initial position.

The power supply unit, including switching power supply, air switch and relay, etc., converts household electricity into two low-voltage power supplies of 24V and 5V, respectively supplying power to the Arduino control unit, motor drive unit, cooling unit, etc., as the energy source for the entire farmland handling robot supply module.

The heat dissipation unit includes heat sink, heat dissipation fan, DS18B20 and relay, etc. The relay and DS18B20 are respectively connected to the D45 and D46 I/O ports of the Arduino control unit, and automatically controls the heat dissipation fan by detecting whether the internal temperature of the robot reaches the temperature set by the system. Start and shut down, use the forced convection brought by the cooling fan to dissipate the robot's multi-layer heat dissipation, and there are corresponding heat sinks on the motor driver, which can also play a role in dissipating heat.

The multi-group synchronous belt transmission mechanism includes first to tenth synchronous pulleys. And the supporting synchronous belt, the first and second synchronous pulleys realize the conversion of the rotation of the first motor shaft into the rotation of the guide rail; the third and fourth synchronous pulleys realize the conversion of the rotation of the guide rail into the rotation of the rotating arm; fifth, The sixth synchronous pulley converts the rotation of the telescopic arm into the rotation of the end mechanical arm; the seventh and eighth synchronous pulleys convert the rotation of the end mechanical arm into the rotation of the end effector; the ninth and tenth synchronous pulleys Realize converting the rotation of the third motor into the rotation of the screw mandrel.

The rotating arm moves up and down along the vertical plane by driving the end effector. The rotary motion of the end effector is realized by the rotary process of the rotary arm. Through the transmission of the two sets of synchronous pulleys and the movement of the end mechanical arm, the telescopic arm will drive the end effector to move linearly along the horizontal plane. In the end, through their coordination and cooperation, they can jointly complete the handling operation of the farmland handling robot.

The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.

Claims (7)

1. based on the control method that the crops of Arduino single-chip microcomputer carry, comprise carrying device, described carrying device comprises lifting arm, telescopic arm, turning arm execution unit, it is characterized in that, carries out as follows:

1) initialize, setting parameter, and start monitoring system, infrared remote control communication mode;

2) whether detection reset signal, stopping signal, enabling signal are in normal condition, and wherein reset signal resets in order to drive each execution machine mechanical arm;

3) after enabling signal sends, lifting arm is started working, until quit work after rising to assigned address;

4) after lifting arm puts in place, open and drive telescopic arm work, until just quit work after being elongated to assigned address;

5) after elongation puts in place, lifting arm is driven to rise and removed article;

6), after article have been removed, drive telescopic arm work, make it bounce back;

7) in the retraction process of previous step, turning arm work, until forward assigned address to;

8) the telescopic arm work in step 6), to assigned address, drives lifting arm to start working, makes it decline and put down article;

9) telescopic arm retraction, turning arm reversion resets, and waits for that next is carried;

Described carrying device comprises mechanical mechanism and control circuit two parts, described mechanical mechanism comprises frame, side in described frame is longitudinally provided with one can the splined shaft of gantry rotation relatively, the opposite side of described frame is longitudinally provided with a rhizoid bar, described screw mandrel is equipped with a lifting nut, described lifting nut is fixed with a lifting platform be slidably connected with splined shaft, the lifting platform bottom being positioned at splined shaft side is provided with a U-lag, the bottom of described splined shaft is fixed with one second synchronous pulley, the middle part warp beam upper spline of described splined shaft slidably connects one and is installed in the 3rd synchronous pulley in U-lag, the 3rd described synchronous pulley drives one to be horizontally disposed with it through Timing Belt and is positioned at the 4th synchronous pulley of lifting platform bottom side, the output shaft upper end of described 4th synchronous pulley is fixed with one and is positioned at toothed disc on the upside of lifting platform, the upper surface of described toothed disc is fixed with a turning arm, described turning arm is hinged with a telescopic arm, described telescopic arm is hinged with an end mechanical arm, described end mechanical arm is hinged with one in order to carry the end effector of crops, the second motor that an output shaft is longitudinally arranged is provided with in described turning arm, described second motor is connected through a side of the second decelerator and telescopic arm, the interior side that is connected with decelerator of described telescopic arm is provided with one the 5th synchronous pulley, opposite side is provided with the 6th synchronous pulley be connected with the 5th synchronous pulley through Timing Belt, the 5th described synchronous pulley and the upper end of turning arm are connected, one side of described 6th synchronous pulley and end mechanical arm is connected, the interior side that is connected with the 6th synchronous pulley of described end mechanical arm is provided with one the 7th synchronous pulley, opposite side is provided with the 8th synchronous pulley be connected with the 7th synchronous pulley through Timing Belt, described 8th synchronous pulley and end effector are connected, another side of described 7th synchronous pulley and telescopic arm is connected, described second synchronous pulley is driven by the first synchronous pulley be located in frame on side, described first synchronous pulley is driven through the first decelerator by the first motor be located in frame, opposite side in described frame is provided with the 3rd motor, the output shaft of described 3rd motor is connected with the 9th synchronous pulley, described 9th synchronous pulley to drive with the tenth synchronous pulley being fixed on screw mandrel lower end through Timing Belt and is connected, described control circuit comprises Arduino controller module, drives three motor drive modules of described first, second, third motor, described Arduino controller module is connected with first, second, third motor circuit through three motor drive modules respectively, the execution route being positioned at turning arm, telescopic arm is provided with three limit switches, wherein, turning arm place arranges the two kinds of limit switches rotating and be elevated respectively, and three described limit switches are connected with Arduino controller module circuit through initial reset unit respectively.

2. the control method of a kind of carrying of the crops based on Arduino single-chip microcomputer according to claim 1, it is characterized in that: first, second, third described motor is also respectively arranged with a rotary encoder, described rotary encoder through position, speed detection unit is connected with Arduino controller module circuit.

3. the control method of a kind of crops based on Arduino single-chip microcomputer carrying according to claim 1, is characterized in that: also comprise a supply module in order to power to Arduino controller module, three driving stepper motor modules and radiating module.

4. the control method of a kind of crops based on Arduino single-chip microcomputer carrying according to claim 1, is characterized in that: also comprise one and show the infrared remote control module of 12864 liquid crystal displays and the infrared connection be connected with Arduino controller module.

5. the control method of a kind of carrying of the crops based on Arduino single-chip microcomputer according to claim 1, is characterized in that: the gear ratio of first and second synchronous pulley described is 1:1; The gear ratio of the described 3rd and the 4th synchronous pulley is 1:2; The gear ratio of the described 5th and the 6th synchronous pulley is 2:1; The gear ratio of the described 7th and the 8th synchronous pulley is 1:2; The gear ratio of the described 9th and the tenth synchronous pulley is 5:4.

6. the control method of a kind of carrying of the crops based on Arduino single-chip microcomputer according to claim 1, is characterized in that: described frame bottom side is provided with universal wheel.

7. the control method of a kind of carrying of the crops based on Arduino single-chip microcomputer according to claim 1: the bottom in described frame is also provided with radiator fan.