CN100415091C - Robot for spray coating medicated liquor on trunk - Google Patents
Robot for spray coating medicated liquor on trunk Download PDFInfo
- Publication number
- CN100415091C CN100415091C CNB2006100703515A CN200610070351A CN100415091C CN 100415091 C CN100415091 C CN 100415091C CN B2006100703515 A CNB2006100703515 A CN B2006100703515A CN 200610070351 A CN200610070351 A CN 200610070351A CN 100415091 C CN100415091 C CN 100415091C
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- China
- Prior art keywords
- guide rail
- ring
- shaped guide
- slide block
- spray gun
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- Expired - Fee Related
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Abstract
The invention discloses a trunk soup spraying robot, which comprises the following parts: ring-shaped rail, rack device, mobile device, spraying device and controller, wherein the support board is set on the bottom of ring-shaped rail and guide groove is set on the ring-shaped rail; the rack device is assembled on the guide groove of ring-shaped rail, which moves along guide groove; the mobile device is assembled on the rack device, which anchors rack device to move; the spraying device is set on the rack device, which moves along rack device; the mobile device and spraying device connect controller electrically.
Description
Technical field
The present invention relates to be used for robot, belong to the robot for spray coating medicated liquor technical field to the tree trunk spray coating soup of trees.
Background technology
For the infringement that prevents that damage by disease and insect from causing trees, some place all will be the soup of a kind of anti-insects of tree trunk spray coating of trees at spring and fall, and this soup is generally white, is sprayed on trunk and plays about about 1.2 meters height from ground.This soup viscosity is higher, is difficult to use atomizers spray, so the sanitationman smears with hairbrush usually, though this work is simple to operate, workload is very big, has increased sanitationman's labour intensity, is unfavorable for that also the sanitationman's is healthy.At present also there is not to substitute the robot of this work.
Summary of the invention
At the deficiency of existing trees spraying soup equipment, the invention provides a kind of simple to operate, trunk robot for spray coating medicated liquor that efficient is high.
Trunk robot for spray coating medicated liquor of the present invention adopts following technical solution:
The trunk robot for spray coating medicated liquor comprises ring-shaped guide rail, holder device, mobile device, spray equipment and controller, is provided with gripper shoe below the ring-shaped guide rail, and the upper surface of ring-shaped guide rail is provided with gathering sill; Holder device is installed on the gathering sill of ring-shaped guide rail, moves around ring-shaped guide rail along gathering sill; Mobile device is installed on the holder device, drives holder device and moves along ring-shaped guide rail; Spray equipment is installed on the holder device, moves up and down along holder device; Mobile device and spray equipment all are electrically connected with controller.
Holder device is made up of riser and motion base plate, and riser is installed on the motion base plate; The both sides of riser are separately installed with guide rail, and the two ends up and down of riser respectively are provided with a synchronizing wheel, between two synchronizing wheels lifting are installed and are with synchronously, and the synchronizing wheel of lower end and the motor shaft of stepper motor are installed together; Below the motion base plate support wheel is installed, support wheel is placed in the gathering sill of ring-shaped guide rail.
Mobile device is made up of direct current generator, synchronizing wheel, movement synchronous belt and directive wheel, direct current generator is installed in the outside, lower surface of motion base plate, synchronizing wheel is installed on the output shaft of direct current generator and with the movement synchronous belt that is installed on the ring-shaped guide rail lateral surface and is connected with a joggle, directive wheel is installed in the inboard of motion base plate, closely contacts with the inwall of ring-shaped guide rail.
Spray equipment is made up of stepper motor, weight slide block, spray gun slide block, soup feeder, soup spray gun, carrier pipe and travel switch, weight slide block and spray gun slide block are installed in respectively on the guide rail of riser both sides, wherein the spray gun slide block is installed in the inboard, and weight slide block and spray gun slide block all are with synchronously with lifting and are fixed together; The soup feeder is installed on the weight slide block, the soup spray gun is installed on the spray gun slide block, between soup feeder and the soup spray gun carrier pipe is installed; The bottom of riser both sides all is equipped with travel switch, and travel switch is electrically connected with controller.
The present invention drives holder device by controller control mobile device and moves along ring-shaped guide rail, controls spray equipment simultaneously and does on holder device and move up and down, and gives the tree trunk spray coating soup.Holder device moves a week along ring-shaped guide rail, and the soup spraying finishes.
The present invention can finish the tree trunk spray coating soup trees automatically, and is simple, convenient, and spraying is all fair, the efficient height.Can be fit to the trees of different tree-walks and different soup spraying height, quick detachable, easy installation.
Description of drawings
Fig. 1 is the perspective view of trees robot for spray coating medicated liquor of the present invention.
Fig. 2 is the structural representation of front and back ring-shaped guide rail among the present invention.
Fig. 3 is the upward view of Fig. 2.
Fig. 4 is the vertical view of Fig. 2.
Fig. 5 is the structural representation of gripper shoe among the present invention.
Fig. 6 is the schematic block circuit diagram of middle controller of the present invention.
Among Fig. 1: 1, gripper shoe, 2, preceding ring-shaped guide rail, 3, movement synchronous belt, 4, support wheel, 5, support, 6, synchronizing wheel, 7, direct current generator, 8, the motion base plate, 9, controller, 10, riser, 11, travel switch, 12, weight slide block, 13, the soup feeder, 14, circular guideway, 15, lifting is with synchronously, 16, synchronizing wheel, 17, the soup spray gun, 18, the spray gun slide block, 19, carrier pipe, 20, the restriction seat, 21, stepper motor, 22, directive wheel, 23, back ring-shaped guide rail, 24, gathering sill, 25, locating hole, 26, reference column, 27, adjusting nut, 28, single-chip microcomputer, 29, relay.
Embodiment
Embodiment
The structure of trees robot for spray coating medicated liquor of the present invention as shown in Figure 1.This trees robot for spray coating medicated liquor comprises ring-shaped guide rail, holder device, mobile device, spray equipment and the controller of being made up of preceding ring-shaped guide rail 2 and back ring-shaped guide rail 23 9.Preceding ring-shaped guide rail 2 and back ring-shaped guide rail 23 are installed together the formation ring-shaped guide rail when using, the underneath of ring-shaped guide rail is equipped with four gripper shoes 1, be used to the level that supports ring-shaped guide rail and adjust ring-shaped guide rail, the top of gripper shoe 1 has reference column 26, and the bottom has adjusting nut 27 (referring to Fig. 5).The upper surface of preceding ring-shaped guide rail 2 and back ring-shaped guide rail 23 is provided with the gathering sill 24 (referring to Fig. 2 and Fig. 3) of three different depths, support wheel 4 with three different-diameters of placing rack device, the lower surface is provided with locating hole 25 (referring to Fig. 3), to place the reference column 26 on the gripper shoe 1, be convenient to lay gripper shoe 1.Be installed with movement synchronous belt 3 on the lateral surface of preceding ring-shaped guide rail 2 and back ring-shaped guide rail 23.
Riser 10 and motion base plate 8 are formed holder device, and riser 10 is installed on the motion base plate 8 by screw.The both sides of riser 10 are separately installed with two circular guideways 14.The two ends up and down of riser 10 respectively are equipped with and between 16, two synchronizing wheels 16 of a synchronizing wheel lifting are installed and are with 15 synchronously, and lifting is synchronously with 15 in the centre of two circular guideways 14, and the synchronizing wheel of lower end is installed on the motor shaft of stepper motor 21.Motion base plate 8 below by support 5 support wheel 4 of three different-diameters, the support wheel diameter maximum in the outside, the diameter minimum in the inboard are installed.The support wheel 4 of different-diameter is placed in three gathering sills of different depth on the ring-shaped guide rail, the little gathering sill of the corresponding degree of depth of support wheel that diameter is big.
Direct current generator 7, synchronizing wheel 6 and directive wheel 22 are formed mobile device, direct current generator 7 is installed in the outside, lower surface of motion base plate 8, synchronizing wheel 6 is installed on the output shaft of direct current generator 7 and with movement synchronous belt 3 and is connected with a joggle, directive wheel 22 is installed in the inboard of motion base plate 8, closely contacts with the inwall of ring-shaped guide rail.
Spray equipment is made up of stepper motor 21, weight slide block 12, spray gun slide block 18, soup feeder 13, soup spray gun 17, carrier pipe 19 and travel switch 11.Weight slide block 12 and spray gun slide block 18 are installed in respectively on two circular guideways 14 of riser 10 both sides, and wherein spray gun slide block 18 is installed in the inboard.Weight slide block 12 and spray gun slide block 18 all be with 15 to be fixed together synchronously.Soup feeder 13 is installed on the weight slide block 12, soup spray gun 17 is installed on the spray gun slide block 18.The carrier pipe 19 of carrying the high pressure soup is installed between soup feeder 13 and the soup spray gun 17.In order to retrain the position of carrier pipe 19, restriction seat 20 free to rotate is installed at the middle part, side of riser 10.The bottom of riser 10 both sides all is equipped with travel switch 11, so that whether detection weight slide block 12 and spray gun slide block 18 arrive spacing point, the position of two travel switches is according to the spray medicine adjustable height of trees.Travel switch 11 is connected with controller 9.Be provided with air pump and soup in the soup feeder 13, air pump provides the pressure of spraying soup.
Fig. 6 has provided the schematic block circuit diagram of controller.The control core of controller 9 has adopted single-chip microcomputer 28.When a start, single-chip microcomputer 28 control step motors 21 setting in motions, spray gun slide block 18 motions from bottom to top this moment, weight slide block 12 is moved from top to bottom, when single-chip microcomputer 28 receives the signal that travel switch 11 sends, show that weight slide block 12 has arrived the bottommost of guide rail, spray gun slide block 18 has then arrived the top of guide rail.At this moment, single-chip microcomputer 28 control spray guns 17 are opened, and begin to spray soup.Stepper motor 21 counter-rotatings are simultaneously moved spray gun slide block 18 from the top down.When single-chip microcomputer 28 receives the signal that travel switch 11 sends again, show that spray gun slide block 18 has arrived bottommost, at this moment, single-chip microcomputer 28 sends instruction, rotate by relay 29 control direct current generators 7, by on the synchronizing wheel on the direct current generator 76 and the ring-shaped guide rail synchronously with 3 engagement, drive the entire bracket device and on ring-shaped guide rail, begin to move.Simultaneously, stepper motor 21 works on, and by synchronizing wheel 16, is with 15 drive spray gun slide blocks 18 to move up and down synchronously, spray gun 17 spraying soups.When the motion of direct current generator 7 around ring-shaped guide rail during one week, the soup spraying of whole trunk finishes.Single-chip microcomputer 28 control direct current generators 7 and stepper motor 21 stop operating, and close spray gun 17, finish the spraying work of one tree.
Gripper shoe 4, front and back ring-shaped guide rail and other parts were not placed apart when this robot did not work.In use, four gripper shoes 1 are placed on the tree that will spray around, ring-shaped guide rail 2 before placing then, one end of holder device the past ring-shaped guide rail 2 is placed up three support wheels 4, synchronizing wheel 6 and directive wheel 22 along the gathering sill on each comfortable preceding ring-shaped guide rail 2, place back ring-shaped guide rail 23 then, adjust four gripper shoes 1 and make the guide rail basic horizontal.At this moment, open the switch on the controller 9, robot starts working.At first, 21 motions of controller 9 control step motors, stepper motor drives and is with 15 motions synchronously, be fixed on synchronously with on spray gun slide block 18 and weight slide block 12 setting in motions, when running into the travel switch 11 that is installed on the riser 10 for one in weight slide block 12 or the spray gun slide block 18, stepper motor 21 begins counter-rotating.Soup feeder 13 work this moment, soup sprays from soup spray gun 17.When travel switch 11 is triggered once more, stepper motor 21 conversion rotation directions, controller 9 control direct current generators 7 rotate simultaneously, since on the synchronizing wheel 6 on direct current generator 7 output shafts and the front and back ring-shaped guide rail synchronously with 3 be meshing with each other, the motion parts that makes robot repeats spraying work at the effect lower edge of directive wheel 22 and the support wheel 4 ring-shaped guide rail segment distance that moves.When the motion parts of robot around trees after one week, the spraying end-of-job.
Claims (4)
1. a trunk robot for spray coating medicated liquor comprises ring-shaped guide rail, holder device, mobile device, spray equipment and controller, it is characterized in that: be provided with gripper shoe below the ring-shaped guide rail, the upper surface of ring-shaped guide rail is provided with gathering sill; Holder device is installed on the gathering sill of ring-shaped guide rail, moves around ring-shaped guide rail along gathering sill; Mobile device is installed on the holder device, drives holder device and moves along ring-shaped guide rail; Spray equipment is installed on the holder device, moves up and down along holder device; Mobile device and spray equipment all are electrically connected with controller.
2. according to claims 1 described trunk robot for spray coating medicated liquor, it is characterized in that: described holder device is made up of riser and motion base plate, and riser is installed on the motion base plate; The both sides of riser are separately installed with guide rail, and the two ends up and down of riser respectively are provided with a synchronizing wheel, between two synchronizing wheels lifting are installed and are with synchronously, and the synchronizing wheel of lower end and the motor shaft of stepper motor are installed together; Below the motion base plate support wheel is installed, support wheel is placed in the gathering sill of ring-shaped guide rail.
3. according to claims 1 described trunk robot for spray coating medicated liquor, it is characterized in that: described mobile device is made up of direct current generator, synchronizing wheel, movement synchronous belt and directive wheel, direct current generator is installed in the outside, lower surface of motion base plate, synchronizing wheel is installed on the output shaft of direct current generator and with the movement synchronous belt that is installed on the ring-shaped guide rail lateral surface and is connected with a joggle, directive wheel is installed in the inboard of motion base plate, closely contacts with the inwall of ring-shaped guide rail.
4. according to claims 1 described trunk robot for spray coating medicated liquor, it is characterized in that: described spray equipment is made up of stepper motor, weight slide block, spray gun slide block, soup feeder, soup spray gun, carrier pipe and travel switch, weight slide block and spray gun slide block are installed in respectively on the guide rail of riser both sides, wherein the spray gun slide block is installed in the inboard, and weight slide block and spray gun slide block all are with synchronously with lifting and are fixed together; The soup feeder is installed on the weight slide block, the soup spray gun is installed on the spray gun slide block, between soup feeder and the soup spray gun carrier pipe is installed; The bottom of riser both sides all is equipped with travel switch, and travel switch is electrically connected with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100703515A CN100415091C (en) | 2006-11-28 | 2006-11-28 | Robot for spray coating medicated liquor on trunk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100703515A CN100415091C (en) | 2006-11-28 | 2006-11-28 | Robot for spray coating medicated liquor on trunk |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1969621A CN1969621A (en) | 2007-05-30 |
| CN100415091C true CN100415091C (en) | 2008-09-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100703515A Expired - Fee Related CN100415091C (en) | 2006-11-28 | 2006-11-28 | Robot for spray coating medicated liquor on trunk |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100415091C (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101722130B (en) * | 2008-10-22 | 2013-01-30 | 郭照沛 | Garden whitewashing machine |
| CN102771462B (en) * | 2012-07-11 | 2013-12-25 | 深圳市真和丽生态环境建设有限公司 | Liquid medicine spraying equipment for vehicular trees |
| CN102754637A (en) * | 2012-08-07 | 2012-10-31 | 石河子大学 | Insecticide-spraying machine spraying trees white |
| CN102960214A (en) * | 2012-11-22 | 2013-03-13 | 管剑雷 | Stirring, lime coating and watering device for trees |
| CN103331223A (en) * | 2012-12-20 | 2013-10-02 | 李健 | Tree trunk and telegraph pole whitewashing machine |
| CN104273112B (en) * | 2014-09-10 | 2016-08-03 | 湖州中安农业智能科技有限公司 | A kind of vineyard automatic medicine sprayer |
| CN104542133B (en) * | 2014-12-27 | 2017-05-24 | 宁夏大学 | Multi-applicability tree whitening device |
| CN106070149B (en) * | 2016-06-29 | 2019-08-16 | 谢秀英 | A kind of farm reagent feeder device people |
| CN106171588A (en) * | 2016-08-24 | 2016-12-07 | 马卓娅 | A kind of tree transfusion device |
| CN108114851A (en) * | 2017-12-20 | 2018-06-05 | 郑州国知网络技术有限公司 | A kind of white device of close contact trunk convenient for adjusting |
| CN108499783A (en) * | 2018-03-28 | 2018-09-07 | 朱兰英 | A kind of trees automatic spray apparatus |
| CN109365207B (en) * | 2018-12-07 | 2020-12-01 | 淄博职业学院 | Landscape tree prevents frostbite and scribbles device with liquid |
| CN112337683A (en) * | 2020-10-19 | 2021-02-09 | 卢鑫圆 | Small-size arm spraying device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1080571A (en) * | 1992-06-27 | 1994-01-12 | 谢承林 | Portable power driven sprayer |
| JPH0799875A (en) * | 1993-10-01 | 1995-04-18 | Tosa Noki:Kk | Unmanned controlling method and device therefor |
| US6209257B1 (en) * | 1996-10-17 | 2001-04-03 | Maquinas Agricolas Jacto | Spraying apparatus for agricultural chemicals |
| CN2587601Y (en) * | 2002-11-29 | 2003-11-26 | 陕西科技大学 | Cam steel ball type robot |
-
2006
- 2006-11-28 CN CNB2006100703515A patent/CN100415091C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1080571A (en) * | 1992-06-27 | 1994-01-12 | 谢承林 | Portable power driven sprayer |
| JPH0799875A (en) * | 1993-10-01 | 1995-04-18 | Tosa Noki:Kk | Unmanned controlling method and device therefor |
| US6209257B1 (en) * | 1996-10-17 | 2001-04-03 | Maquinas Agricolas Jacto | Spraying apparatus for agricultural chemicals |
| CN2587601Y (en) * | 2002-11-29 | 2003-11-26 | 陕西科技大学 | Cam steel ball type robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1969621A (en) | 2007-05-30 |
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