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Control system of potted seedling transplanting robot

A control system and robot technology, applied in transplanting machinery, electrical program control, program control in sequence/logic controller, etc., can solve the problems of large size, high price, poor adaptability, etc.

Inactive Publication Date: 2016-05-18
许亚夫
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, its structure is complex, expensive, and bulky, and it has poor adaptability to my country's current production mode of facility agriculture.

Method used

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  • Control system of potted seedling transplanting robot

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Embodiment Construction

[0009] As shown in the figure, the present invention includes a kinematics inverse solution model, a PID controller, a servo motor, a dynamics inverse solution model, a pot seedling transplanting mechanism, and a kinematics positive solution model. It is characterized in that the signal is first input into the kinematics inverse solution model The signal input port of the kinematics inverse solution model is inversely transformed and modeled, and then the signal is transmitted to the signal input port of the PID controller. The output port of the PID controller is connected to the control end of the servo motor, and the output end of the servo motor Connect the pot seedling transplanting mechanism; the pot seedling transplanting mechanism is connected to the servo motor through the motion inverse solution model, and one end of the pot seedling transplanting mechanism is connected to the signal input terminal through the kinematics positive solution model.

[0010] As a preferre...

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Abstract

The invention, which belongs to the technical field of the control system, relates to a robot control system, especially to a control system of a potted seedling transplanting robot. The provided control system has advantages of simple structure, low cost, and small size. The system comprising a kinematic inverse solution model, a PID controller, a servo motor, a dynamic inverse solution model, a potted seedling transplanting mechanism, a kinematic positive solution model is characterized in that a signal is inputted into a signal input port of the kinematic inverse solution model; the kinematic inverse solution model carries out inverse solution conversion and modeling is carried out; the processed signal is transmitted to a signal input port of the PID controller; an output port of the PID controller is connected with a control terminal of the servo motor; the output terminal of the servo motor is connected with the potted seedling transplanting mechanism; the potted seedling transplanting mechanism is connected with the servo motor by the kinematic inverse solution model; and one end of the potted seedling transplanting mechanism is connected with a signal input terminal of the kinematic positive solution model.

Description

technical field [0001] The invention belongs to the technical field of control systems, and in particular relates to a robot control system. Background technique [0002] Pot seedling transplanting is an important link in the production of greenhouse seedlings. The manual work is monotonous and heavy, and it is gradually being replaced by mechanized transplanting equipment. Most of the early research on pot seedling transplanting equipment focused on industrial robots, which are only suitable for specific environments, and it is not convenient to expand and improve the system, and the utilization rate is low. For example, a nursery plant transplanting robot designed based on Puma560 that can transplant seedlings from a 392-hole tray to a 36-hole growth tray; a transplanting robot with an SNS gripper developed based on the four-degree-of-freedom ADEPT-SCARA, etc. . In recent years, the Netherlands, the United States, South Korea and other countries have developed a variety ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/05A01C11/02
Inventor 许亚夫
Owner 许亚夫
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