An in-place sensing device

Abstract

The utility model belongs to the automatic detection technical field, concretely relates to a device of in -place induction, including the horizontal movement support of fixed connection on the side surface of bearing frame, install rotatory support on horizontal movement support, install the in -place induction measuring mechanism on rotatory support, the in -place induction measuring mechanism includes the mount of fixed installation on rotatory support, install a plurality of range -finder instruments on mount, horizontal movement support includes the horizontal guide rail of fixed connection on the side surface of bearing frame, the inside horizontal sliding connection of horizontal guide rail has the sliding support, rotatory support installs on sliding support, one end of horizontal guide rail is fixedly connected with servo motor, the output of servo motor is fixedly connected with the threaded rod, and threaded rod and sliding support are screwed together. The utility model can detect whether the logistics robot on the longitudinal track of left and right sides of the lane changing robot moves in place and leaves.

Description

Technical Field

[0001] This utility model belongs to the field of automated detection technology, specifically relating to a position sensing device. Background Technology

[0002] In modern automated production and logistics systems, collaborative operations of track-mounted robots are becoming increasingly common, especially in agricultural automated seedling cultivation and vegetable planting. The coordinated work of logistics robots and lane-changing robots plays a crucial role in improving production efficiency. In these systems, accurately determining the movement status of logistics robots between tracks—whether they have moved into position or left—is essential for ensuring the smooth operation of the entire workflow, avoiding equipment collisions, and improving system safety.

[0003] Currently, most traditional detection methods rely on simple mechanical contact detection devices, which are set up at one end of the track. When the logistics robot comes into contact with the mechanical contact detection device, it can be determined that the logistics robot has moved into place. However, this method cannot effectively determine whether the logistics robot has left.

[0004] Some detection methods involve using infrared ranging devices to detect logistics robots. While these methods can effectively detect whether a logistics robot has moved into position or left, they can only perform unidirectional detection and cannot detect whether logistics robots on the left or right tracks have moved into position or left. Utility Model Content

[0005] The purpose of this invention is to provide a positioning sensing device that can detect whether the logistics robots on the longitudinal tracks on the left and right sides of the lane-changing robot have moved into position or left.

[0006] The specific technical solution adopted by this utility model is as follows:

[0007] A positioning sensing device includes a horizontally movable support fixedly connected to the side of a support frame, a rotating support mounted on the horizontally movable support, and a positioning sensing and measuring mechanism mounted on the rotating support.

[0008] The positioning sensing and measuring mechanism includes a mounting frame installed on a rotating bracket, on which multiple ranging instruments are mounted.

[0009] Furthermore, the horizontally moving support includes a horizontal guide rail fixedly connected to the side of the support frame, a sliding bracket slidably connected inside the horizontal guide rail, a rotating support mounted on the sliding bracket, a servo motor fixedly connected to one end of the horizontal guide rail, a threaded rod fixedly connected to the output end of the servo motor, and the threaded rod and the sliding bracket being threadedly connected.

[0010] Furthermore, the mounting frame has multiple sliding grooves, each of which has a sliding plate slidably connected inside. Multiple ranging instruments are respectively fixedly connected to the ends of the multiple sliding plates, and a locking component that can lock the sliding plates is installed on the outside of the mounting frame.

[0011] Furthermore, the locking component includes a screw rotatably connected to the side of the mounting bracket, a connecting plate threaded to the outer side of the screw, a plurality of locking rods fixedly connected to the connecting plate, a plurality of insertion holes being provided on the side of the mounting bracket, the plurality of insertion holes being respectively connected to a plurality of sliding grooves, and the plurality of locking rods being respectively slidably connected inside the plurality of insertion holes.

[0012] Furthermore, the rotating bracket includes a vertical bracket mounted on a self-locking motor, a motor bracket fixedly connected to the vertical bracket, a self-locking motor fixedly connected to the motor bracket, and the output end of the self-locking motor fixedly connected to the mounting bracket.

[0013] Furthermore, the vertical support is an electric telescopic rod fixedly connected to the sliding support, and the motor support is fixedly connected to the piston rod of the electric telescopic rod.

[0014] The technical effects achieved by this utility model are as follows:

[0015] The positioning sensing device of this utility model uses a horizontal moving bracket to drive the positioning sensing measuring mechanism to move at both ends of the support frame, and a rotating bracket to drive the positioning sensing measuring mechanism to rotate. By adjusting the detection direction of the positioning sensing measuring mechanism, it can detect whether the logistics robots on the longitudinal tracks on the left and right sides of the lane-changing robot have moved into position and left. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the seedling system in Embodiment 1 of this utility model;

[0017] Figure 2 This is a schematic diagram of the lane-changing robot in Embodiment 1 of this utility model;

[0018] Figure 3 This is a schematic diagram of the position sensing device in Embodiment 2 of this utility model;

[0019] Figure 4 This is a utility model Figure 3 A magnified view of a section at point A in the middle;

[0020] Figure 5 This is a utility model Figure 3 Side view of the structure at point A in the middle;

[0021] Figure 6 This is a partial cross-sectional view of the positioning sensing and measuring mechanism in Embodiment 2 of this utility model;

[0022] Figure 7 This is a schematic diagram of the measurement principle of the distance measuring instrument in Embodiment 2 of this utility model.

[0023] The attached diagram lists the components represented by each number as follows:

[0024] 1. Seedling area; 2. Boundary; 3. Horizontal track; 4. Longitudinal track; 5. Seedling tray; 6. Logistics robot; 7. Lane-changing robot; 8. Mobile vehicle; 9. Support frame; 10. Horizontal guide rail; 11. Servo motor; 12. Threaded rod; 13. Sliding bracket; 14. Electric telescopic rod; 15. Motor bracket; 16. Self-locking motor; 17. Mounting frame; 18. Slide groove; 19. Slide plate; 20. Rangefinder; 21. Socket; 22. Connecting plate; 23. Screw; 24. Locking rod; 25. Measuring line; 26. Wheel. Detailed Implementation

[0025] To make the objectives and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.

[0026] Example 1:

[0027] like Figures 1-2 As shown, a seedling raising system includes a transverse track 3, a longitudinal track 4, a seedling tray 5, a logistics robot 6, and a lane-changing robot 7 set on a seedling raising site 1. A boundary 2 is set around the seedling raising site 1.

[0028] The seedling nursery is divided into multiple seedling zones arranged along the X-axis. The long side of each seedling zone is set along the Y-axis. The multiple seedling zones are named sequentially from left to right as Zone 1, Zone 2, Zone 3, ..., Zone N.

[0029] There are several seedling trays 5, and each seedling tray 5 is fixedly connected to any one of the seedling sections.

[0030] There are multiple longitudinal tracks 4, which are arranged side by side. The long side of the multiple longitudinal tracks 4 is set along the Y-axis, so that the multiple longitudinal tracks 4 are fixedly connected to multiple seedling sections. The multiple longitudinal tracks 4 are named in order from left to right as first longitudinal track, second longitudinal track, third longitudinal track, ..., Nth longitudinal track.

[0031] There is at least one logistics robot 6. The logistics robot 6 is installed on the longitudinal track 4 and can move on the longitudinal track 4. The logistics robot 6 can carry the seedling tray 5 and move the seedling tray 5 to complete the transportation of the seedling tray 5.

[0032] Specifically, the seedling tray 5 has protruding pillars on its side, and the logistics robot 6 is equipped with a lifting device with hooks. When the hooks hook onto the protruding pillars, the lifting device is activated to lift the seedling tray 5. When the seedling tray 5 is raised, it can be moved by the logistics robot 6. After the logistics robot 6 has moved, the lifting device can be activated to lower the seedling tray 5 and place it in the set position.

[0033] The transverse track 3 is fixedly connected to the upper side of the seedling site 1 at one end of multiple longitudinal tracks 4. The long side of the transverse track 3 is set along the X-axis. The lane-changing robot 7 is installed on the upper side of the transverse track 3. The logistics robot 6 can move onto the lane-changing robot 7. At this time, the lane-changing robot 7 drives the logistics robot 6 to move to a position opposite to another longitudinal track 4. Then, the logistics robot 6 on the lane-changing robot 7 moves onto the longitudinal track 4, thus completing the lane change of the logistics robot 6.

[0034] Specifically, when the logistics robot 6 moves the seedling tray 5 along different longitudinal tracks 4, assuming the logistics robot 6 is in the first longitudinal track and needs to move to the fourth longitudinal track, when the logistics robot 6 moves to a position close to the transverse track 3 on the first longitudinal track, the lane-changing robot 7 arrives at the first longitudinal track. Then, the logistics robot 6 moves above the lane-changing robot 7, and the lane-changing robot 7 moves the logistics robot 6 to the fourth longitudinal track. The logistics robot 6 leaves the lane-changing robot 7 and enters the fourth longitudinal track, thus completing the lane change of the logistics robot 6. Then, the logistics robot 6 moves the seedling tray 5 on the logistics robot 6 to the set position. In this way, the movement of the seedling tray 5 can be completed by replacing manual labor with automated equipment, which greatly reduces labor costs.

[0035] The lane-changing robot 7 includes a mobile carrier 8 installed on the upper side of the transverse track 3. The mobile carrier 8 is used to move on the upper side of the transverse track 3. The mobile carrier 8 is equipped with wheels 26, which can move on the longitudinal track 4 or the transverse track 3. The front and rear ends of the mobile carrier 8 are fixedly connected to the support frame 9. When the support frame 9 and the longitudinal track 4 are opposite each other, the support frame 9 and the longitudinal track 4 can be combined together, so that the logistics robot 6 on the longitudinal track 4 can move onto the support frame 9, and the logistics robot 6 on the support frame 9 can also move onto the longitudinal track 4.

[0036] Example 2:

[0037] like Figures 1-7 As shown, a positioning sensing device includes a horizontally movable support fixedly connected to the side of a support frame 9, a rotating support mounted on the horizontally movable support, and a positioning sensing and measuring mechanism mounted on the rotating support.

[0038] The horizontal moving support includes a horizontal guide rail 10 fixedly connected to the side of the support frame 9. A sliding bracket 13 is horizontally slidably connected inside the horizontal guide rail 10. A rotating bracket is installed on the sliding bracket 13. A servo motor 11 is fixedly connected to one end of the horizontal guide rail 10. A threaded rod 12 is fixedly connected to the output end of the servo motor 11. The threaded rod 12 and the sliding bracket 13 are threadedly connected. At this time, by starting the servo motor 11, the threaded rod 12 can be driven to rotate. When the threaded rod 12 rotates, it will push the sliding bracket 13, thereby driving the position sensing and measuring mechanism to move.

[0039] like Figures 3-6 As shown, the positioning sensing and measuring mechanism includes a mounting frame 17 mounted on a rotating bracket, and multiple ranging instruments 20 are mounted on the mounting frame 17. The ranging instruments 20 can be infrared rangefinders.

[0040] Initially, the logistics robot 6 is moved onto the carrier 9. At this time, multiple distance measuring instruments 20 are opposite to the wheel 26. The distance measuring instruments 20 can measure the distance between the distance measuring instruments 20 and the wheel 26 by radiating the measuring lines 25. The measured values ​​of the distance measuring instruments 20 are recorded, and the difference K0 between the multiple distance measuring instruments 20 is also recorded.

[0041] When the wheel 26 of the logistics robot 6 moves to the upper side of the support frame 9, the position of the wheel 26 is detected by multiple ranging instruments 20. By comparing whether the difference K1 between the multiple ranging instruments 20 is the same as the initially recorded difference K0, it can be determined whether the item detected by the ranging instrument 20 is the wheel 26, thus reducing the probability of false detection.

[0042] Among them, such as Figures 3-7 As shown, the mounting bracket 17 can be provided with multiple sliding grooves 18, and sliding plates 19 are slidably connected inside each of the multiple sliding grooves 18. Multiple rangefinders 20 are respectively fixedly connected to the ends of the multiple sliding plates 19. At this time, by sliding the sliding plates 19, the position of the multiple rangefinders 20 can be adjusted so that the horizontal distance between the multiple rangefinders 20 and the wheel 26 is the same, so that the initial difference K0 between the rangefinders 20 is 0, which is convenient for calculation.

[0043] The mounting bracket 17 is equipped with a locking device on its outer side that can lock the slide plate 19. The locking device includes a screw 23 rotatably connected to the side of the mounting bracket 17. A connecting plate 22 is threadedly connected to the outer side of the screw 23. Multiple locking rods 24 are fixedly connected to the connecting plate 22. Multiple insertion holes 21 are opened on the side of the mounting bracket 17. The multiple insertion holes 21 are respectively connected to multiple sliding grooves 18. The multiple locking rods 24 are slidably connected inside the multiple insertion holes 21. At this time, by rotating the screw 23, the locking rods 24 on the connecting plate 22 are moved, so that the multiple locking rods 24 simultaneously abut against the multiple slide plates 19, thereby simultaneously locking the positions of the multiple rangefinders 20.

[0044] like Figures 3-5 As shown, the rotating bracket includes a vertical bracket mounted on a self-locking motor 16. A motor bracket 15 is fixedly connected to the vertical bracket, and a self-locking motor 16 is fixedly connected to the motor bracket 15. The output end of the self-locking motor 16 is fixedly connected to the mounting bracket 17. At this time, by starting the self-locking motor 16 to rotate the mounting bracket 17, the detection direction of the rangefinder 20 can be adjusted, allowing the rangefinder 20 to detect the left or right side as needed.

[0045] Meanwhile, the vertical support can be an electric telescopic rod 14 fixedly connected to the sliding support 13, and the motor support 15 is fixedly connected to the piston rod of the electric telescopic rod 14. By starting the electric telescopic rod 14, the height of the motor support 15 can be adjusted, thereby adjusting the height of multiple rangefinders 20 on the mounting frame 17, so that the height of the rangefinders 20 matches the height of the wheels 26.

[0046] The working principle of this utility model is as follows: Initially, the logistics robot 6 is moved onto the carrier frame 9. At this time, multiple distance measuring instruments 20 are opposite to the wheel 26. The distance measuring instruments 20 can measure the distance between the distance measuring instruments 20 and the wheel 26 by radiating the measuring line 25. The measured value of the distance measuring instruments 20 is recorded, and the difference K0 between multiple distance measuring instruments 20 is also recorded.

[0047] When in use, it is determined whether the logistics robot 6 is located to the left or right of the lane-changing robot 7. Taking the logistics robot 6 being located to the left of the lane-changing robot 7 as an example, the servo motor 11 is started to move the position sensing and measuring mechanism to the right end of the support frame 9. Then, the self-locking motor 16 is started to drive the position sensing and measuring mechanism to rotate, so that the position sensing and measuring mechanism measures the left side. The distance measuring instrument 20 can then detect whether the logistics robot 6 has moved onto the support frame 9 or whether the logistics robot 6 has left the support frame 9.

[0048] In summary, this technical solution uses a horizontal moving bracket to move the positioning sensing and measuring mechanism at both ends of the support frame 9, and a rotating bracket to rotate the positioning sensing and measuring mechanism. By adjusting the detection direction of the positioning sensing and measuring mechanism, it is possible to detect whether the logistics robot 6 on the longitudinal tracks 4 on both sides of the lane-changing robot 7 has moved into position or left.

[0049] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. An in-place inductive device, characterized by: It includes a horizontally movable support fixedly connected to the side of the support frame (9), a rotating support is installed on the horizontally movable support, and a position sensing and measuring mechanism is installed on the rotating support; The positioning sensing and measuring mechanism includes a mounting frame (17) mounted on a rotating bracket, on which a plurality of distance measuring instruments (20) are mounted.

2. The positioning sensing device according to claim 1, characterized in that: The horizontal moving support includes a horizontal guide rail (10) fixedly connected to the side of the support frame (9). A sliding bracket (13) is horizontally slidably connected inside the horizontal guide rail (10). The rotating bracket is installed on the sliding bracket (13). A servo motor (11) is fixedly connected to one end of the horizontal guide rail (10). A threaded rod (12) is fixedly connected to the output end of the servo motor (11). The threaded rod (12) and the sliding bracket (13) are threadedly connected.

3. The positioning sensing device according to claim 1, characterized in that: The mounting bracket (17) has multiple sliding grooves (18), and each of the multiple sliding grooves (18) has a sliding plate (19) slidably connected inside. Multiple ranging instruments (20) are respectively fixedly connected to the ends of the multiple sliding plates (19). The mounting bracket (17) has a locking component installed on the outside to lock the sliding plate (19).

4. The positioning sensing device according to claim 3, characterized in that: The locking component includes a screw (23) rotatably connected to the side of the mounting bracket (17). A connecting plate (22) is threadedly connected to the outer side of the screw (23). A plurality of locking rods (24) are fixedly connected to the connecting plate (22). A plurality of insertion holes (21) are provided on the side of the mounting bracket (17). The plurality of insertion holes (21) are respectively connected to a plurality of sliding grooves (18). The plurality of locking rods (24) are respectively slidably connected inside the plurality of insertion holes (21).

5. The positioning sensing device according to claim 1, characterized in that: The rotating bracket includes a vertical bracket mounted on a self-locking motor (16), a motor bracket (15) fixedly connected to the vertical bracket, a self-locking motor (16) fixedly connected to the motor bracket (15), and the output end of the self-locking motor (16) and the mounting bracket (17) fixedly connected.

6. The positioning sensing device according to claim 5, characterized in that: The vertical support is an electric telescopic rod (14) fixedly connected to the sliding support (13), and the motor support (15) is fixedly connected to the piston rod of the electric telescopic rod (14).

Images