The production method of cotton bale intelligent truck

Technical implementation elements:

4. The purpose of this utility model patent is to provide a kind of intelligent cotton bale truck to solve the problems raised in the above-mentioned background technology.

5. In order to achieve the above object, the present utility model provides the following technical solutions: a cotton bale intelligent truck, characterized in that: comprising a vehicle frame, a positioning mechanism, a control device, a mechanical arm, a manipulator, a cotton bale placement detection frame and an intelligent identification device; the vehicle frame includes a vehicle chassis and a motor bracket, one side of the vehicle chassis has a set of cotton bale placement testing racks, and the other side has a robotic arm, the robotic arm includes an xy plane rotation mechanism robotic arm base, a disc, 1st 360°Steering gear, steering gear bracket, No. 2 steering gear, No. 3 steering gear, No. 1 rod, No. 2 rod, No. 3 rod, No. 1, No. 4 rod, No. 5 rod, No. 6 rod, and a tripod, the manipulator is provided with A pressure sensor and an openmv camera device are respectively used to detect the tightness of the clamping cotton bale and identify the position of the cotton bale. The front part of the chassis is provided with a two-dimensional code identification module and a control device; the two-dimensional code identification module identifies the cotton bale. bale information and handling position information, the manipulator grabs the cotton bale and places it in the corresponding cotton bale placement detection rack; composition; the intelligent identification device is composed of a rotatable binocular depth camera assembly, an openmv camera device and a full-field positioning system, and the binocular depth camera assembly includes a binocular depth camera, a binocular depth camera support plate, a rudder Machine fixing plate, 360°Steering gear; after the trolley reaches the target location through the intelligent identification device, the handling position information identified by the scanning code identification module is moved to the corresponding cotton bale storage area, and the manipulator grabs the cotton bale from the vehicle body cotton bale placement detection frame and places it in the corresponding factory. position, complete the function of bales handling.

6. Further, the chassis of the vehicle is provided with a through hole, which is convenient for screws to pass through for fixing the motor bracket and the base of the robot arm, the support plate of the binocular depth camera, the two-dimensional code identification module and the control device, and the cotton bale placement detection frame. Base, rectangular hole for easy installation of size 1 360°

Servo, the hexagonal hole is used to install the full-field positioning system, and the annular hole is convenient to install the 360 to control the rotation of the binocular depth camera°steering gear.

7. Further, the robotic arm adopts an arm that imitates a human, and the end is linked with the robotic arm.

8. Further, the manipulator adopts a hand-shaped manipulator that imitates a human being, and consists of a right manipulator, a left manipulator, a manipulator support plate, a No. 4 180°

Servo, manipulator link frame, openmv camera, camera link frame, among which the manipulator supports

Plate with No. 4 180°

There are rubber gaskets at the link of the steering gear, and pressure sensors are respectively provided on the left and right manipulators, including the openmv camera device set at the end of the manipulator and close to the manipulator.

9. Further, described a kind of cotton bale intelligent truck is characterized in that, the vertical angle of the upper link frame and the lower link frame of the openmv camera device is 10°, the openmv camera is bolted through the threaded hole 1 of the upper link frame and the threaded hole 2 of the upper link frame. In order to prevent the lens from being blocked and protected by the groove, the lower link frame and the manipulator support plate are bolted through the threaded hole of the lower link frame. its angle can be adjusted.

10. Further, the cotton bale placement detection frame includes a base, a reinforcing plate, a moisture content sensor, a support plate, a pressure sensor, and a cotton bale protection frame, wherein the cotton bale protection frame has a certain taper from top to bottom, and the upper opening is Greater than the bottom edge, the angle between the hypotenuse and the horizontal plane is 109.53°.

11. Further, the control device adopts a self-made double-layer pcb, the pcb is printed with a logo, and the size is 68×56mm, the control chip is stm32f407.

12. Compared with the prior art, the beneficial effects of the present utility model are: the utility model realizes the unmanned driving of the handling trolley through the intelligent identification device and the full-field positioning system, and realizes free movement in all directions by using Mecanumron, intelligent identification The binocular depth camera of the device rotates freely to identify obstacles and path information, and the openmv camera device can determine the position of the robotic arm and the cotton bales. It is safer and labor-saving to automatically put the cotton bales into the cotton bales and place them on the inspection rack through the robotic hands. Check the moisture content and weight of the bales. Using self-made double-layer pcb, small size, more convenient peripherals, the main control chip is stm32f407, using closed-loop control, the system is more stable. For improving the automation level of cotton processing plants, the intelligent development of factories is of great significance.

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