CN106984472B - Automatic tree brushing device and method - Google Patents
Automatic tree brushing device and method Download PDFInfo
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- CN106984472B CN106984472B CN201710189528.1A CN201710189528A CN106984472B CN 106984472 B CN106984472 B CN 106984472B CN 201710189528 A CN201710189528 A CN 201710189528A CN 106984472 B CN106984472 B CN 106984472B
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- synchronous belt
- moving assembly
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- 230000001680 brushing effect Effects 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims abstract description 45
- 239000007921 spray Substances 0.000 claims abstract description 39
- 238000005507 spraying Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims description 64
- 239000002994 raw material Substances 0.000 claims description 20
- 230000009467 reduction Effects 0.000 claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 229910052782 aluminium Inorganic materials 0.000 claims description 9
- 239000003595 mist Substances 0.000 claims description 9
- 229910000838 Al alloy Inorganic materials 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 8
- 238000005520 cutting process Methods 0.000 claims description 3
- 239000003973 paint Substances 0.000 claims description 3
- 238000004080 punching Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 18
- AXCZMVOFGPJBDE-UHFFFAOYSA-L calcium dihydroxide Chemical compound [OH-].[OH-].[Ca+2] AXCZMVOFGPJBDE-UHFFFAOYSA-L 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 238000003860 storage Methods 0.000 description 3
- 239000000779 smoke Substances 0.000 description 2
- 230000002087 whitening effect Effects 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 235000011941 Tilia x europaea Nutrition 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000004571 lime Substances 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides an automatic tree brushing device and method, and belongs to the field of gardens. The automatic tree brushing device comprises a rack assembly, a spray head moving assembly, an up-and-down moving assembly, a spraying assembly and a control assembly; the up-down moving assembly is arranged on the rack assembly and comprises a synchronous belt; the spray head moving assembly is arranged on the up-down moving assembly, can move up and down along with the transmission of the synchronous belt, and can be opened and closed; the spraying component is arranged on the rack component; the control assembly controls the speed of the synchronous belt and the pressure of the material spraying assembly. The device has the advantages of simple structure, high safety, easy operation and the like.
Description
Technical Field
The invention belongs to the field of gardens and particularly relates to an automatic tree brushing device and method.
Background
The tree lime brushing has important significance for trees, can reduce the occurrence of plant diseases and insect pests, has a protection effect on the trees, is very attractive, and has a good visual effect. The traditional tree brushing mode of manually brushing the tree with the brush is adopted, so that the labor intensity is high, the efficiency is low, and the machine is urgently required to replace the manual brush to brush the tree in the actual tree brushing work. The automatic tree brushing machine device can realize automatic tree brushing, reduce the labor intensity of workers and improve the tree brushing efficiency.
At present, domestic tree painting mainly adopts a manual mode, and a tree whitening device which is put into production on a large scale does not exist.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an automatic tree brushing device and method, which have the advantages of simple structure, easiness in operation, good spraying efficiency, high safety and the like.
The invention is realized by the following technical scheme:
the utility model provides an automatic device is applied paint with a brush to trees, includes that frame subassembly, shower nozzle move the subassembly, reciprocate the subassembly, spout material subassembly and control assembly:
the up-down moving assembly is arranged on the rack assembly and comprises a synchronous belt;
the spray head moving assembly is arranged on the up-down moving assembly, can move up and down along with the transmission of the synchronous belt, and can be opened and closed;
the spraying component is arranged on the rack component;
the control assembly controls the speed of the synchronous belt and the pressure of the material spraying assembly.
The rack assembly comprises a chassis, four stand columns and an upper beam; the four stand columns are arranged in parallel, the lower ends of the four stand columns are fixedly arranged on the chassis, and the upper portions of the four stand columns are connected through the upper beam to form a rectangular structure.
The chassis is formed by cutting and punching 960mm-950mm-8mm aluminum alloy plates, and a limit switch is arranged on the chassis; the four upright columns comprise two long upright columns with the length of 1500mm and two short upright columns with the length of 1200mm, which are all 3030 aluminum profiles, and are arranged above the chassis through aluminum profile connecting pieces and bolts; the upper beam comprises two beams with the length of 360mm and two vertical beams with the length of 546mm, the two beams are respectively used for connecting the upper ends of the two short columns and the upper ends of the two long columns, the two vertical beams are respectively used for connecting the upper ends of the short columns at one end, the other end of each vertical beam is connected with the long column, and the beams and the vertical beams are parallel to the horizontal plane.
Preferably, the up-and-down moving assembly includes: the device comprises an upper bracket, a longitudinal linear optical axis and a transverse linear optical axis;
the upper support comprises a left arm, a middle arm and a right arm, the middle arm is fixedly connected with a cross beam at the upper end of the long upright, one end of the left arm is a free end, the other end of the left arm is fixedly connected with one end of the middle arm, one end of the right arm is a free end, the other end of the right arm is fixedly connected with the other end of the middle arm, and included angles between the left arm and the middle arm and included angles between the right arm and the middle arm are more than or equal to 120 degrees;
the longitudinal linear optical axis comprises four linear optical axes arranged in parallel, the upper end of each longitudinal linear optical axis is connected with the upper bracket, and the lower end of each longitudinal linear optical axis is connected with the chassis; the upper end of a first longitudinal linear optical axis is connected with the free end of the left arm, the upper end of a second longitudinal linear optical axis is connected with the joint of the left arm and the middle arm, the upper end of a third longitudinal linear optical axis is connected with the joint of the right arm and the middle arm, and a fourth longitudinal linear optical axis is connected with the free end of the right arm;
an upper transverse straight line optical axis is arranged below the upper bracket, and the upper transverse straight line is parallel to the middle arm;
a lower transverse linear optical axis is arranged above the chassis, is parallel to the lower transverse linear optical axis and is respectively installed on the long upright post through horizontal bearings and bearing seats at two ends;
two synchronous belt wheels are respectively arranged on the upper transverse straight line optical axis, two synchronous belt wheels are arranged on the lower transverse straight line optical axis at positions corresponding to the two synchronous belt wheels on the upper transverse straight line optical axis, each pair of upper and lower belt wheels are connected through a synchronous belt, and a fixing clamp is arranged on each synchronous belt; a transmission belt wheel is arranged on the lower transverse straight line optical axis;
a direct current speed reducing motor is arranged on the chassis, and an output shaft of the direct current speed reducing motor is connected with the transmission belt wheel through a synchronous belt;
the direct current speed reduction motor drives the lower transverse linear optical axis to rotate through the transmission belt pulley, so as to drive two synchronous belt pulleys on the lower transverse linear optical axis to rotate, and then drives the synchronous belt pulleys on the upper transverse linear optical axis to rotate through the two synchronous belts respectively, so as to drive the upper transverse linear optical axis to rotate;
and each longitudinal straight line optical axis is provided with a sliding block.
Preferably, the spray head moving assembly comprises a moving part and a bracket body which are connected through four pairs of right-angled connecting pieces; the moving part is connected with the synchronous belt through the fixing clamp, is connected with a sliding block on a longitudinal linear optical axis and can move up and down along with the walking belt; a camera is arranged on the moving part;
the bracket body comprises a first bracket, a second bracket and a third bracket, the first bracket comprises a long edge and a short edge which are fixedly connected, the second bracket comprises a long edge, the third bracket comprises a long edge and short edges which are respectively and fixedly connected with the two ends of the long edge, the other end of the long edge of the first bracket is connected with the other end of the short edge of the third bracket through a hinge, the other end of the other short edge of the third bracket is connected with one end of the long edge of the second bracket through a hinge, and the other end of the long edge of the second bracket is close to the other end of the short edge of the first bracket; the first support, the second support and the third support are enclosed to form a hexagonal frame which can be opened or closed, the lengths of the three short sides are equal, the lengths of the three long sides are equal, and the length of the long side is greater than that of the short side;
a motor fixing seat, a gear fixing clamp, a sector gear and a speed reducing direct current motor are arranged at the joint of the two hinges, the motor fixing seat is arranged on the long edge, the gear fixing clamp is arranged on the short edge, the sector gear is arranged between the long edge and the short edge, the speed reducing direct current motor is arranged on the motor fixing seat, and an output shaft of the speed reducing direct current motor is connected with a transmission gear matched with the sector gear to realize the opening and closing of the bracket body; the speed reduction direct current motor is controlled by the control assembly.
The three short sides are respectively provided with a slide rail fixing seat and a fixed slide rail, the slide rail fixing seat is fixedly connected with the short sides, the fixed slide rail is arranged below the slide rail fixing seat, a sliding table is arranged below the fixed slide rail and can reciprocate along a straight line vertical to the short sides, a dovetail groove is arranged on the upper end face of the sliding table, and the fixed slide rail is arranged in the dovetail groove through a trapezoidal guide rail below the fixed slide rail; when the sliding table is closed, the included angle between two adjacent sliding tables is 120 degrees;
an ultrasonic sensor seat and a universal wheel seat are sequentially arranged at the other end above the sliding table, an ultrasonic sensor is arranged on the ultrasonic sensor seat, a universal wheel is arranged on the universal wheel seat, and the universal wheel is contacted with trees when the universal wheel is closed; a linear optical axis parallel to the sliding table is arranged between the ultrasonic sensor seat and the sliding rail fixing seat, one end of the linear optical axis is fixedly connected with the ultrasonic sensor seat, the other end of the linear optical axis penetrates through the sliding rail fixing seat and can move relative to the sliding rail fixing seat, and a spring is sleeved on the linear optical axis between the ultrasonic sensor seat and the sliding rail fixing seat;
the lower terminal surface of slip table is equipped with the rack, is equipped with at the slip table lower extreme and removes the nozzle holder, remove the nozzle holder the top with slip table sliding connection can remove along the slip table remove install the speed reduction direct current motor on removing the nozzle holder, this speed reduction direct current motor's output shaft and a gear connection, this gear with rack cooperation on the slip table, this speed reduction direct current motor drives the gear rotation, drives through the cooperation of gear and rack and removes the nozzle holder and remove along the slip table.
The spraying component comprises a raw material barrel, an air pump and a fan-shaped water mist spray head; the fan-shaped water mist spray head is arranged below the movable spray head seat;
the raw material barrel and the air pump are respectively fixed on the chassis, and a pressurizing opening, a discharging opening and a charging opening are arranged on the raw material barrel; the air pump is connected with the pressurizing port of the raw material barrel, and the discharge port of the raw material barrel is connected with the fan-shaped water mist spray head through a pipeline.
Preferably, the automatic tree brushing device further comprises a device moving assembly, which comprises a rear wheel driving mechanism and a steering mechanism;
the rear wheel driving mechanism comprises a large-torque direct-current speed reducing motor, a transmission gear, a rear wheel shaft and a rear wheel; an output shaft of the large-torque direct-current speed reducing motor is matched with a transmission gear, the transmission gear is fixedly connected with a rear wheel shaft, and two ends of the rear wheel shaft are connected with rear wheels; the large-torque direct-current speed reducing motor drives the rear wheel shaft to rotate through the transmission gear so as to drive the rear wheel to rotate; two bearings are arranged on the rear wheel shaft, a bearing seat matched with the two bearings is fixedly connected with the chassis,
the steering mechanism comprises wheels, a steering linkage rod, a crank rocker mechanism and a steering stepping motor; the steering linkage rod comprises a cross rod and two longitudinal rods, the middle part of the cross rod is connected with the movable part of the crank rocker mechanism, and two ends of the cross rod are respectively movably connected with one longitudinal rod; the other ends of the two longitudinal rods are respectively connected with a wheel; the crank rocker mechanism is connected with the steering stepping motor.
The control assembly comprises a control panel and a central control chip; the control panel is used for setting the spray head moving assembly, the moving speed of the up-down moving assembly, the direction and the moving speed of the device moving assembly and the air pressure of the air pump; the central control chip is arranged in the control panel, adopts STM32 series chips and is used for receiving and processing signals of the ultrasonic sensor, the camera and the limit switch and simultaneously controlling the air pump and each motor.
The automatic tree brushing method realized by utilizing the automatic tree brushing device comprises the following steps:
(1) The moving direction and speed of the device moving assembly, the up-and-down moving speed of the up-and-down moving assembly and the air pressure of the air pump are set through the control panel;
(2) Starting the ultrasonic sensor, the camera and the limit switch, automatically calculating the diameter of the tree and the distance between the automatic tree brushing device and the tree by the central control chip through the matching of the ultrasonic sensor and the camera, controlling the spray head moving assembly to be automatically opened when the automatic tree brushing device is close to the tree, and then controlling the device moving assembly to be pushed forward for a certain distance, so that the spray head moving assembly can be closed again to hold the tree;
(3) Adjusting the distance between the fan-shaped water mist spray head and the tree, starting the air pump, and brushing.
Compared with the prior art, the invention has the beneficial effects that: the device has the advantages of simple structure, high safety, easy operation and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;
FIG. 2 is a schematic view of a rack assembly according to an embodiment of the present invention;
FIG. 3-1 is a schematic view of a rear wheel drive mechanism in the moving assembly of the apparatus of an embodiment of the present invention;
3-2 are schematic views of a steering mechanism in the moving assembly of the apparatus of an embodiment of the present invention;
FIG. 4 is a schematic view of a showerhead movement assembly according to an embodiment of the present invention;
FIG. 5 is a schematic view of a support body opening and closing mechanism of a nozzle moving assembly according to an embodiment of the present invention;
FIG. 6 is a schematic view of a slide track and a slide table of a nozzle moving assembly according to an embodiment of the present invention;
FIG. 7 is a schematic view of the up-and-down moving assembly according to the embodiment of the present invention
1-a rack assembly; a long upright column of 101-1500 mm; 102-a chassis; 103-aluminum profile connecting piece; 104-1200mm long upright post; 105-a cross beam; 106-vertical beam;
2-a device moving assembly; 201-rear wheel; 202-vertical bearing seat; 203-speed reducing direct current motor; 204-2.5 model 24-tooth gear; 205-2.5 model 60 tooth gear; 206-crank rocker mechanism; 207-57 stepper motors; 208-short turn trace; 209-long steering linkage; 210-a steering wheel; 211-rear axle;
3-a spray head moving assembly; 301-middle frame bar, 302-short frame bar, 303-long frame bar; 304-a retaining clip; 306-lower right-angle connector, 307-upper right-angle connector; 309-motor fixing seat; 310-gear retaining clip; 311-2.5 model sector gear; 312-a reduced speed dc motor; 313-2.5 die 15-tooth gear; 314-a nozzle base; 315-1 mold 20 tooth gear; 316-a deceleration dc motor; 317-a rack; 318-a slide table; 319-slide rail; 320-a slide rail fixing seat; 321-5mm straight optical axis; 323-spring; 326-universal wheel; 327-universal wheel seat; a light shaft seat of 328-5 mm;
4-up and down moving component; 401-linear optical axis mount; 402-5M 20-tooth synchronous belt wheel with 12mm aperture; 403-transverse optical axis; 404-vertical axis; 405-horizontal bearing seats; 406-long synchronous belt; 407-a slide block; 408-a horizontal linear optical axis fixing seat; 409-short synchronous belt; a 410-5M 60-tooth synchronous pulley; a synchronous pulley with 411-5M20 teeth and 8mm aperture; 412 dc gear motor;
5, an air pump; 7-a raw material barrel; 308-a spray head; 6-control panel; 8-a limit switch; 305-a camera; 322-ultrasonic signal reflector plate; 324-an ultrasonic sensor; 325-ultrasonic sensor seat.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the technical scheme of the invention is as follows: an automatic tree whitewashing machine device, comprising: the rack assembly consists of standard aluminum profiles and aluminum alloy plates; the device moving assembly is used for driving the device to move and is arranged below the chassis of the frame; the sprayer moving assembly is used for placing a sprayer, the diameter of the tree can be calculated through a sensor on the bracket, and then the sprayer is positioned at a determined position through the matching of the sliding rail and the gear system; the up-down moving component is driven by a direct current speed reduction motor and drives the spray head moving component to move up and down through the movement of the synchronous belt, so that trees above the ground for a certain distance are whitened; the lime water spraying device comprises a material spraying assembly formed by connecting an air pump, a raw material barrel and a spray head through a hose, wherein the air pump works to increase the internal pressure of the raw material barrel so as to press out lime water; and the electronic control system component is used for analyzing and calculating the diameter of the tree, controlling the spraying amount of the lime water and controlling the up-and-down movement speed of the lime water spraying bracket.
As shown in fig. 1 to 7, the present embodiment includes: a frame component 1 composed of standard aluminum profiles and aluminum alloy plates 102; the device moving assembly 2 is used for driving the device to move and is arranged below the rack chassis 102; the spray head moving assembly 3 for placing the spray head 308 can calculate the diameter of the tree through a sensor on the bracket, and then the sliding table 318 is matched with the gear 315 and the rack 317 to position the spray head 308 to a determined position; the up-down moving assembly 4 for realizing the movement of the nozzle moving assembly 3 is driven by the direct current speed reducing motor 412, and the nozzle moving assembly 3 is driven to move up and down by the movement of the synchronous belt 406, so that trees above the ground by a certain distance are whitened; the lime water spraying device comprises a material spraying assembly formed by connecting an air pump 5, a raw material barrel 7 and a spray head through a hose 308, wherein the air pump 5 works to press out lime water by increasing the internal pressure of the raw material barrel 7; the electronic control system component for analyzing and calculating the diameter of the tree, controlling the spraying amount of the lime water and the up-down moving speed of the lime water spraying bracket consists of a control panel 6, an ultrasonic sensor 324 and a camera 305 limit switch 8.
When far away from trees, by the removal of operator through the direction key control device on the control panel 6, when being close to trees, according to the signal of camera 305 feedback, by central controller self control, realize that shower nozzle removes subassembly 3 and opens automatically, remove the subassembly 3 with trees lock in the shower nozzle automatically, confirm manual control trees whitewashing or carry out trees whitewashing automatically through setting up.
Further, the rack assembly 1 includes: a chassis 102 formed by cutting and punching a 960mm-950mm-8mm aluminum alloy plate; two of the 1500mm long upright columns 101 and two of the 1200mm long upright columns 104 are 3030 aluminum profiles and are arranged above the chassis through aluminum profile connecting pieces 103 and bolts; the top crossbeam 105, 360mm long, two, are 3030 aluminium alloy, erect 106 long 546mm of roof beam, two, 3030 aluminium alloy, install respectively on long stand through aluminium alloy connecting piece 103 and bolt.
Further, the device moving assembly 2 comprises a power part and a steering part, which are composed of a servo motor, a gear set, a connecting rod and wheels, and is fixedly installed below the chassis through bolts, and is used for realizing device movement and direction change, and specifically comprises: the rear wheel driving mechanism, the large-torque direct-current speed reducing motor 203 and the shaft diameter are 12mm and are matched with a gear train for transmission; the transmission gear train is composed of two gears 204 and 205 with 2.5 modules and 25 teeth and 60 teeth respectively, forms a speed reduction gear train and outputs power to a rear wheel shaft 211; the rear wheel 201 is formed by connecting two wheels with the diameter of 265mm through a 35mm alloy steel rear shaft 211 and is fixed on the rack assembly chassis 102 through two bearing blocks 202 matched with bearings; the steering mechanism consists of two 6-inch wheels 210, steering linkage rods 208 and 209, a crank rocker mechanism 206 and a steering power device 207, wherein the steering linkage rods are respectively formed by processing 200mm steel materials 15mm steel materials and 750mm steel materials 20mm steel materials 15mm steel materials, the crank rocker mechanism 206 is formed by processing steel materials, and in order to achieve rapid and accurate steering and easy control, the power input of the steering mechanism is 57 stepping motors 207.
Here, the rear wheel drive motor 203, the steering mechanism stepping motor 207 are individually controlled by the MCU through a drive circuit.
Further, shower nozzle removes subassembly 3 install in on the subassembly reciprocates, constitute by stake body, shower nozzle slide rail, nozzle seat, gear, rack, sensor, the cooperation reciprocate the subassembly with electronic control system realizes that the support is automatic to be opened and the lock, embraces trees, makes the shower nozzle be in constantly with the suitable distance of trees, saves spraying material, particularly, includes: a moving part, a bracket body, which are connected together by four pairs of right-angle connectors 306 and 307; the moving part is connected with a synchronous belt 406 through a fixing clamp 304, a bracket body is formed by combining three processed steel materials 301, 302 and 303 into a hexagonal frame which can be opened or closed through hinges, a motor fixing seat 309, a gear fixing clamp 310,2.5 die sector gear 311 and a speed reduction direct current motor 312 are arranged at the joint of the two hinges to form a bracket body opening and closing mechanism which is used for realizing the automatic opening and closing of the bracket body when encountering trees; the three short sides of the hexagonal frame are respectively fixed with a slide rail 319 by a slide rail fixing seat 320, a spring 323, a 5mm linear optical axis 321 (the sliding table can slide towards the direction of the slide rail, so that under the extrusion of trees, the sliding table slides along the slide rail, and meanwhile, the spring is prevented from being extruded out by pressing the spring 321, so that the spring stretches and retracts along the slide rail 321), a rack 317, a 1-die 20-tooth gear 315, a speed-reducing direct current motor 316, a nozzle seat 314 and a universal wheel 326 are arranged on the slide rail fixing seat 320 and the 5mm optical axis seat 328, wherein the 5mm linear optical axis 321 is arranged on the slide rail fixing seat 320 and the 5mm optical axis seat 328, so that the sliding table 318 changes along with the diameter of the trees, and friction in contact with the trees can be reduced by the universal wheel 326, so that the support body can move up and down more easily; the rack 317 is added on the back of the sliding table and is matched with a movable spray head seat 314 provided with a speed reduction direct current motor 316 and a gear 315, so that the spray head 308 can move on the sliding table, and the distance from the spray head 308 to the tree can be more flexibly controlled; the contained angle between the three slip table is 120 degrees, can make spun spraying even be 120 degrees through changing raw materials bucket 7 pressure, and three cooperation forms 360 degrees annular water smoke, covers trees completely.
Further, it in to reciprocate subassembly 4 through bolt fixed mounting in the top on frame subassembly chassis is driven by synchronous pulley and hold-in range cooperation, through the hold-in range drive the shower nozzle removes the subassembly and reciprocates, particularly, includes: the number of the horizontal bearing seats 405 is 4, the number of the synchronous pulleys 402 with the aperture of 5M20 teeth is 4, the number of the synchronous pulleys 411 with the aperture of 5M20 teeth is 8mm is 1, the number of the synchronous pulleys 410 with the aperture of 5M60 teeth is 12mm is 1, the number of the linear optical axes 404 with the length of 1500mm and the diameter of 12mm is 4, the number of the linear optical axes with the length of 360mm and the diameter of 12mm is 2, and the number of the synchronous belts 409 and 406 is 3; the parts are fixedly arranged on the frame component 1 through bolts respectively; the power device of the up-down moving component 4 is a direct current speed reducing motor 412, and the power device drives the spray head moving component 3 to move up and down through the matching transmission of synchronous belts 409 and 406 and synchronous belt wheels 402 and 410.
Further, spout the material subassembly and constitute by raw materials bucket, air pump, fan-shaped water smoke shower nozzle, on fixed respectively and device chassis and shower nozzle moving bracket, with the cooperation of shower nozzle moving assembly, through reciprocating, realize spouting the material to trees and brush white, particularly, include: the raw material storage barrel 7 is made of a water barrel with the diameter of 350mm and good sealing performance, and the upper surface of the raw material storage barrel consists of a pressurizing opening, a discharge opening and a feeding opening; the pressure generating device is 320mm, 200mm, 85mm and a small air pump 5 with power of 140w, can generate 100PSI pressure at most, pressurizes the raw material storage barrel through a pressurizing port and sprays out through the spray head 308; the spray head 308 can spray 60 degrees of water mist, and the spray angle can be adjusted by changing the liquid pressure.
Further, the electronic control system subassembly install in the frame subassembly with the shower nozzle removes on the subassembly, constitute by control panel, central control chip, sensor, limit switch and electronic components for realize that the device removes with automation, the intelligent control of trees whitewashing, specifically, include: the control panel 6 is used for man-machine interaction, the moving direction and the moving speed of the tree whitening device can be set through the panel, the moving speed of the up-and-down moving part 4 can be set, the air pressure of the air pump 5 can be set, and the like; the central control part is arranged in the control panel, the main control chip adopts an STM32 series chip and is used for receiving and processing signals of the ultrasonic sensor 324, the camera 305 and the limit switch 8, and meanwhile, signals are sent to the air pump 5 and the servo motor through user setting to control air pressure and motor rotation; the sensor consists of an ultrasonic sensor 324, a camera 305 and a limit switch 8 and is used for collecting equipment and environmental signals; through ultrasonic sensor 324 and camera 305 cooperation, control chip can calculate trees diameter and device and the distance of trees automatically, and when being close to trees, the shower nozzle removes subassembly 3 and opens automatically, and then trees whitewash the device and impel certain distance forward for shower nozzle removes subassembly 3 and can be closed once more, then by device automatic identification, makes shower nozzle removes subassembly 3 and can be closed once more, embraces trees, accomplishes trees whitewash work.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An automatic device is applied paint with a brush to trees which characterized in that: automatic device is applied paint with a brush to trees includes frame subassembly, shower nozzle removal subassembly, reciprocates the subassembly, spouts material subassembly and control assembly: the up-down moving assembly is arranged on the rack assembly and comprises a synchronous belt; the spray head moving assembly is arranged on the up-down moving assembly, can move up and down along with the transmission of the synchronous belt, and can be opened and closed; the spraying component is arranged on the rack component; the control component controls the speed of the synchronous belt and the pressure of the material spraying component; the rack assembly comprises a chassis, four stand columns and an upper beam; the four upright posts are arranged in parallel, the lower ends of the four upright posts are fixedly arranged on the chassis, and the upper parts of the four upright posts are connected through an upper beam to form a rectangular structure; the chassis is formed by cutting and punching 960mm-950mm-8 mm aluminum alloy plates, and a limit switch is arranged on the chassis; the four upright columns comprise two long upright columns with the length of 1500mm and two short upright columns with the length of 1200mm, and are all 3030 aluminum profiles, and the four upright columns are arranged above the chassis through aluminum profile connecting pieces and bolts; the upper beam comprises two cross beams with the length of 360mm and two vertical beams with the length of 546mm, the two cross beams are respectively used for connecting the upper ends of the two short stand columns and the upper ends of the two long stand columns, the two vertical beams are respectively used for connecting one end of each vertical beam with the upper end of the corresponding short stand column, the other end of each vertical beam is connected with the corresponding long stand column, and the cross beams and the vertical beams are parallel to the horizontal plane; the up-and-down moving assembly includes: the device comprises an upper bracket, a longitudinal linear optical axis and a transverse linear optical axis; the upper bracket comprises a left arm, a middle arm and a right arm, the middle arm is fixedly connected with a cross beam at the upper end of the long upright column, one end of the left arm is a free end, the other end of the left arm is fixedly connected with one end of the middle arm, one end of the right arm is a free end, the other end of the right arm is fixedly connected with the other end of the middle arm, and included angles between the left arm and the middle arm and included angles between the right arm and the middle arm are all larger than or equal to 120 degrees; the longitudinal linear optical axis comprises four linear optical axes arranged in parallel, the upper end of each longitudinal linear optical axis is connected with the upper bracket, and the lower end of each longitudinal linear optical axis is connected with the chassis; the upper end of a first longitudinal linear optical axis is connected with the free end of the left arm, the upper end of a second longitudinal linear optical axis is connected with the joint of the left arm and the middle arm, the upper end of a third longitudinal linear optical axis is connected with the joint of the right arm and the middle arm, and a fourth longitudinal linear optical axis is connected with the free end of the right arm; an upper transverse straight line optical axis is arranged below the upper bracket, and the upper transverse straight line is parallel to the middle arm; a lower transverse straight line optical axis is arranged above the chassis, is parallel to the upper transverse straight line optical axis and is respectively arranged on the long upright post through horizontal bearings and bearing blocks at two ends; two synchronous belt wheels are respectively arranged on the upper transverse straight line optical axis, two synchronous belt wheels are arranged on the lower transverse straight line optical axis at positions corresponding to the two synchronous belt wheels on the upper transverse straight line optical axis, each pair of upper and lower belt wheels are connected through a synchronous belt, and a fixing clamp is arranged on each synchronous belt; a transmission belt wheel is arranged on the lower transverse linear optical axis; a direct current speed reducing motor is arranged on the chassis, and an output shaft of the direct current speed reducing motor is connected with the transmission belt wheel through a synchronous belt; the direct current speed reducing motor drives the lower transverse linear optical axis to rotate through the transmission belt pulley, further drives the two synchronous belt pulleys on the lower transverse linear optical axis to rotate, and then respectively drives the synchronous belt pulleys on the upper transverse linear optical axis to rotate through the two synchronous belts, further drives the upper transverse linear optical axis to rotate; each longitudinal straight line optical axis is provided with a sliding block; the control assembly comprises a control panel and a central control chip; the control panel is used for setting the spray head moving assembly, the moving speed of the up-down moving assembly, the direction and the moving speed of the device moving assembly and the air pressure of the air pump; the central control chip is arranged in the control panel, adopts STM32 series chips and is used for receiving and processing signals of the ultrasonic sensor, the camera and the limit switch and simultaneously controlling the air pump and each motor.
2. The automatic tree brushing device according to claim 1, wherein: the spray head moving assembly comprises a moving part and a support body which are connected through four pairs of right-angle connecting pieces; the moving part is connected with the synchronous belt through the fixing clamp, is connected with a sliding block on a longitudinal linear optical axis and can move up and down along with the synchronous belt; a camera is arranged on the moving part; the bracket body comprises a first bracket, a second bracket and a third bracket, the first bracket comprises a long edge and a short edge which are fixedly connected, the second bracket comprises a long edge, the third bracket comprises a long edge and short edges which are respectively and fixedly connected with the two ends of the long edge, the other end of the long edge of the first bracket is connected with the other end of the short edge of the third bracket through a hinge, the other end of the other short edge of the third bracket is connected with one end of the long edge of the second bracket through a hinge, and the other end of the long edge of the second bracket is close to the other end of the short edge of the first bracket; the first support, the second support and the third support are enclosed to form a hexagonal frame which can be opened or closed, the three short sides are equal in length, the three long sides are equal in length, and the long sides are longer than the short sides; a motor fixing seat, a gear fixing clamp, a sector gear and a speed reduction direct current motor are arranged at the joint of the two hinges, the motor fixing seat is arranged on the long edge, the gear fixing clamp is arranged on the short edge, the sector gear is arranged between the long edge and the short edge, the speed reduction direct current motor is arranged on the motor fixing seat, the output shaft of the speed reduction direct current motor is connected with a transmission gear matched with the sector gear, and the opening and the closing of the bracket body are realized; the speed reduction direct current motor is controlled by the control assembly.
3. An automatic tree brushing device according to claim 2, wherein: a sliding rail fixing seat and a fixed sliding rail are respectively arranged on the three short sides, the sliding rail fixing seat is fixedly connected with the short sides, the fixed sliding rail is arranged below the sliding rail fixing seat, a sliding table is arranged below the fixed sliding rail and can reciprocate along a straight line perpendicular to the short sides, a dovetail groove is arranged on the upper end face of the sliding table, and the fixed sliding rail is arranged in the dovetail groove through a trapezoidal guide rail below the fixed sliding rail; when the sliding table is closed, the included angle between two adjacent sliding tables is 120 degrees; an ultrasonic sensor seat and a universal wheel seat are sequentially arranged at the other end above the sliding table, an ultrasonic sensor is arranged on the ultrasonic sensor seat, a universal wheel is arranged on the universal wheel seat, and the universal wheel is contacted with trees when the universal wheel is closed; a linear optical axis parallel to the sliding table is arranged between the ultrasonic sensor seat and the sliding rail fixing seat, one end of the linear optical axis is fixedly connected with the ultrasonic sensor seat, the other end of the linear optical axis penetrates through the sliding rail fixing seat and can move relative to the sliding rail fixing seat, and a spring is sleeved on the linear optical axis between the ultrasonic sensor seat and the sliding rail fixing seat; the lower terminal surface of slip table is equipped with the rack, is equipped with at the slip table lower extreme and removes the nozzle holder, remove the nozzle holder the top with slip table sliding connection can remove along the slip table remove install the speed reduction direct current motor on removing the nozzle holder, this speed reduction direct current motor's output shaft and a gear connection, this gear with rack cooperation on the slip table, this speed reduction direct current motor drives the gear rotation, drives through the cooperation of gear and rack and removes the nozzle holder and remove along the slip table.
4. An automatic tree brushing device according to claim 3, wherein: the spraying component comprises a raw material barrel, an air pump and a fan-shaped water mist spray head; the fan-shaped water mist spray head is arranged below the movable spray head seat; the raw material barrel and the air pump are respectively fixed on the chassis, and a pressurizing port, a discharging port and a feeding port are arranged on the raw material barrel; the air pump is connected with the pressurizing port of the raw material barrel, and the discharge port of the raw material barrel is connected with the fan-shaped water mist spray head through a pipeline.
5. An automatic tree brushing method implemented by using the automatic tree brushing device according to claim 4, characterized in that: the method comprises the following steps: (1) The moving direction and speed of the device moving assembly, the up-and-down moving speed of the up-and-down moving assembly and the air pressure of the air pump are set through the control panel; (2) Starting the ultrasonic sensor, the camera and the limit switch, automatically calculating the diameter of the tree and the distance between the automatic tree brushing device and the tree by the central control chip through the matching of the ultrasonic sensor and the camera, controlling the spray head moving assembly to be automatically opened when the automatic tree brushing device is close to the tree, and then controlling the device moving assembly to be pushed forward for a certain distance, so that the spray head moving assembly can be closed again to hold the tree; (3) Adjusting the distance between the fan-shaped water mist spray head and the tree, starting the air pump and brushing.
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| CN201710189528.1A CN106984472B (en) | 2017-03-27 | 2017-03-27 | Automatic tree brushing device and method |
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| CN201710189528.1A CN106984472B (en) | 2017-03-27 | 2017-03-27 | Automatic tree brushing device and method |
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| CN106984472B true CN106984472B (en) | 2023-01-06 |
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| CN107899826B (en) * | 2017-11-24 | 2019-05-17 | 石瑞敏 | A kind of machining plate surface spray-painting plant |
| CN108021074A (en) * | 2018-01-10 | 2018-05-11 | 聊城大学 | A kind of automatic tree whitewashing machine control device |
| CN108176555A (en) * | 2018-02-09 | 2018-06-19 | 南京工业职业技术学院 | A kind of Intelligent tree brushing whitewashes device |
| CN108480091B (en) * | 2018-04-10 | 2024-04-02 | 浙江亚特电器股份有限公司 | Trunk white spraying equipment and spraying control method thereof |
| CN109433454B (en) * | 2018-12-06 | 2023-10-27 | 南京新淳农业发展有限公司 | Semi-automatic tree whitewashing machine and whitewashing method |
| CN109622281B (en) * | 2019-01-18 | 2020-06-23 | 绍兴市米莉农业科技有限公司 | Tree whitening device for municipal garden and control method thereof |
| CN113615459A (en) * | 2021-09-01 | 2021-11-09 | 临沂人民公园 | Afforestation small-size trees spraying device |
| CN113798078A (en) * | 2021-09-22 | 2021-12-17 | 聊城大学 | Automatic tree whitewashing machine based on self-adaptive multiple spray heads |
| CN113798080A (en) * | 2021-09-22 | 2021-12-17 | 聊城大学 | Backpack tree whitewashing machine |
| CN114158408A (en) * | 2021-12-09 | 2022-03-11 | 江西智盛科技有限公司 | Quick coiling mechanism of cotton system sewing thread |
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| GB1093385A (en) * | 1965-05-10 | 1967-11-29 | William Hobart Stout | Mobile irrigation system |
| CN102151634B (en) * | 2011-03-02 | 2012-12-19 | 上海大学 | Intelligent tree trunk white paining robot |
| CN203725309U (en) * | 2014-03-15 | 2014-07-23 | 德州学院 | White lime water sprayer for tree trunk |
| CN204119901U (en) * | 2014-10-16 | 2015-01-28 | 杨永建 | Tree brushing brush |
| CN104542133B (en) * | 2014-12-27 | 2017-05-24 | 宁夏大学 | Multi-applicability tree whitening device |
| CN105127036B (en) * | 2015-10-15 | 2017-05-03 | 杭州电子科技大学 | Automatic spraying device for lime washing of trunk |
| CN105393858B (en) * | 2015-11-27 | 2018-03-20 | 吉林省公路机械有限公司 | A kind of highway planting tree sprays lime sizing device automatically |
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| CN205570603U (en) * | 2016-04-18 | 2016-09-14 | 湖南农业大学 | Car was paintd to trunk lime wash winter |
| CN205570616U (en) * | 2016-05-04 | 2016-09-14 | 东北林业大学 | Electronic trunk whitewash device |
| CN205628410U (en) * | 2016-05-23 | 2016-10-12 | 云南农业大学 | Automatic white machine of over -and -under type trees |
| CN106238253A (en) * | 2016-07-30 | 2016-12-21 | 徐雪宜 | A kind of roadside greening trees fast brushing Calx device |
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Effective date of registration: 20240514 Address after: 230000 Woye Garden Commercial Building B-1017, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI JINGLONG ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Liaocheng University, No.1, Hunan Road, Liaocheng City, Shandong Province Patentee before: LIAOCHENG University Country or region before: China |