CN108157340A - A kind of teaching and contest spray robot - Google Patents
A kind of teaching and contest spray robot Download PDFInfo
- Publication number
- CN108157340A CN108157340A CN201810160296.1A CN201810160296A CN108157340A CN 108157340 A CN108157340 A CN 108157340A CN 201810160296 A CN201810160296 A CN 201810160296A CN 108157340 A CN108157340 A CN 108157340A
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- Prior art keywords
- spray
- contest
- chassis
- electric pushrod
- teaching
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- 239000007921 spray Substances 0.000 title claims abstract description 87
- 238000005507 spraying Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000002347 injection Methods 0.000 claims abstract description 15
- 239000007924 injection Substances 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000000126 substance Substances 0.000 claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 239000003814 drug Substances 0.000 claims description 4
- 229940079593 drug Drugs 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 230000005611 electricity Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005245 sintering Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/006—Mounting of the nozzles
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention relates to a kind of teaching and contest spray robot, which is characterized in that including chassis and the chemical spraying device being arranged on the chassis and control module, the showerhead point of the chemical spraying device is arranged on the telescoping mechanism of left and right；The chassis lower end is provided with running gear, and injection target detection module is respectively arranged at left and right sides of the chassis, and the signal input output end of the injection target detection module is connect respectively with the corresponding pin of the main control chip of the control module；The left and right telescoping mechanism includes a pair of electric pushrod being symmetrical set, and the telescopic end of the electric pushrod is connect with the spray plate of corresponding nozzle part；The two poles of the electric pushrod are connected to the current output terminal of corresponding electromagnetic relay, and the electromagnetic relay signal control terminal is connected to the corresponding pin of the main control chip.Cost of the present invention is relatively low, is particularly suitable for teaching and contest, is easy to student's left-hand seat.
Description
Technical field
The invention belongs to robot used for teaching technical fields, and in particular to a kind of teaching and contest spray robot.
Background technology
Orchard is imparted knowledge to students and contest is a sub-project of China services robot contest with spray robot project, compares competition rules
It is then as follows：Place is green carpet, around there is the wooden enclosure wall of integration of 20CM high.Robot competition area, as shown in Figure 1.
During the games, robot is from sintering, and by A areas, B areas, C areas, D areas, autonomous completion is tree-like to target spray, fixation
Spray, becomes tree-like spray.
The requirement of A areas sprays to target, has 3 to target spray drug operation point, it is as shown in Figure 2 to spray target structure.B areas are required to fixation
Tree-like spray, for tree structure it is known that as shown in figure 3, wherein 04, No. 07 target is tree-like for triangle, 05, No. 08 target is perpendicular ellipse
Tree-like, 06, No. 09 target is tree-like for flat oval shape；It is required that robot respectively sprays to 6 tree-like targets, each is tree-like not
There is different spray requirements at same position.C areas tree target shape is identical with B areas, but size is the 90% and 80% of B areas respectively.
The experimental facilities of current experimental facilities, particularly higher education, for the experimental facilities ratio of contest link exploitation
It is less, just start the student to enter the lists, proximate nutrition obscures, and it is therefore necessary to develop relevant orchard teaching and contest spray
Medicine robot guides student's competition.
Invention content
In order to solve above-mentioned technical problem, the present invention devises a kind of teaching and contest spray robot, can
It stretched with the nozzle for realizing robot, pinpoint spray, precisely spray, variable spray.
In order to solve above-mentioned technical problem, present invention employs following scheme：
A kind of teaching and contest spray robot, including chassis and the chemical spraying device being arranged on the chassis and control
Module, the showerhead point of the chemical spraying device are arranged on the telescoping mechanism of left and right；The chassis lower end is provided with running gear, institute
It states and injection target detection module is respectively arranged at left and right sides of chassis, the signal input and output of the injection target detection module
End is connect respectively with the corresponding pin of the main control chip of the control module.
Further, the chemical spraying device includes booster pump, medicine-chest and nozzle part, and each nozzle of the nozzle part is distinguished
It is connected by corresponding water pipe, solenoid valve with the water outlet of the booster pump, the water inlet of the booster pump and the medicine-chest
Water outlet connection；The two poles of each solenoid valve are connected to the current output terminal of corresponding electromagnetic relay, the increasing
The two poles of press pump are connected to the current output terminal of corresponding electromagnetic relay, and the electromagnetic relay signal control terminal passes through
Signal wire is connected on the corresponding pin of the main control chip.
Further, the showerhead is divided to two groups of nozzles including being symmetrical set, and two groups of nozzles are distributed on respectively
On corresponding spray plate.
Further, vertical array is arranged on corresponding spray plate two groups of nozzles respectively, and the nozzle passes through opposite
The nozzle connector answered is connected with corresponding spray plate.
Further, the spray plate is provided with connection boss, to be connect with the left and right telescoping mechanism.
Further, the ontology of the spray plate is a Rectangular Plate Structure, and the connection boss is arranged in Rectangular Plate Structure
Portion.
Further, the left and right telescoping mechanism includes a pair of electric pushrod being symmetrical set, the electric pushrod
Telescopic end is connect with the spray plate of corresponding nozzle part；The two poles of the electric pushrod are connected to corresponding electromagnetism relay
The current output terminal of device, the electromagnetic relay signal control terminal are connected to the corresponding pin of the main control chip.
Further, the electric pushrod is mounted on by corresponding installing plate and support plate on the chassis, the electricity
The dynamic other end and corresponding installing plate top of the push rod far from telescopic end are connected, and the support plate apical support simultaneously limits corresponding
The cylinder body of electric pushrod.
Further, the installing plate is L shaped plate structure, and the transverse slat of L shaped plate structure is connect with the chassis, L shaped plate structure
Riser top connect with corresponding electric pushrod；The solenoid valve of the chemical spraying device is arranged on the riser lower part of L shaped plate structure.
Further, the support plate is L shaped plate structure, and the transverse slat of the L shaped plate structure is connect with the chassis, the L shaped plate
The riser top of structure is provided with semicircular arc groove.
Further, the injection target detection module includes optoelectronic switch.
During work, the injection target detection module detects the position of spray target, and sends a signal to the main control chip,
The main control chip sends a signal to corresponding electromagnetic relay, and described electronic push away is controlled by controlling electromagnetic relay
The telescopic end of bar stretches out, and at the same time, the main control chip controls the booster pump and institute by controlling electromagnetic relay
It states solenoid valve to power on, spray.Spray date is controlled by the main control chip internal timing and completed.When robot is complete
Into after spray, the main control chip controls the booster pump and solenoid valve to disconnect electricity by controlling corresponding electromagnetic relay
Source controls the electric pushrod to withdraw telescopic end, terminates spray.
The teaching and contest are had the advantages that with spray robot：
（1）The present invention in the match scene of setting, according to laws of the game can realize that the nozzle of robot stretches, pinpoint spray,
Precisely spray, variable spray.
（2）Cost of the present invention is relatively low, is particularly suitable for teaching and contest, is easy to student's left-hand seat.
（3）In the present invention, nozzle is scalable, can not only realize fixed point precisely spray, but also the robot can be made not spray
When it is compact-sized, floor space is small.Moreover, in the present invention, each nozzle individually controls, and is vertically arranged, and operation is flexible, spray regime
Extensively, unnecessary waste can be avoided.
Description of the drawings
Fig. 1：The spray robot competition venue schematic diagram of the present invention；
Fig. 2：The spray robot A areas contest spray target schematic diagram of the present invention；
Fig. 3：Spray robot B, C area contest spray target schematic diagram of the present invention；
Fig. 4：The structure diagram of teaching and contest spray robot in embodiment of the present invention；
Fig. 5：The assembling structure schematic diagram of plate and nozzle is sprayed in embodiment of the present invention；
Fig. 6：The front view of electric pushrod in embodiment of the present invention；
Fig. 7：The vertical view of electric pushrod in embodiment of the present invention；
Fig. 8：The left view of electric pushrod in embodiment of the present invention.
Reference sign：
1-chassis；2-injection target detection module；3-booster pump；4-medicine-chest；5-solenoid valve；6-electromagnetic relay；7—
Main control chip；8-nozzle part；81-nozzle；82-spray plate；83-nozzle connector；9-left and right telescoping mechanism；91-peace
Loading board；92-support plate；93-electric pushrod；931-cylinder body；932-telescopic end.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention will be further described：
Fig. 4 to Fig. 8 shows a kind of embodiment of present invention teaching and contest spray robot.Fig. 4 is present embodiment
Middle teaching and the structure diagram of contest spray robot.
As shown in figure 4, teaching and contest the spray robot in present embodiment, including chassis 1 and are arranged on bottom
Chemical spraying device and control module on disk 1, the nozzle part 8 of the chemical spraying device are arranged on left and right telescoping mechanism 9；Chassis 1
Lower end is provided with running gear（Running gear is not drawn into the accompanying drawings）；The left and right sides on chassis 1 is respectively arranged with injection target
Detection module 2, the signal input output end of injection target detection module 2 are opposite with the main control chip of the control module 7 respectively
The pin connection answered.The action of the control module control chemical spraying device, left and right telescoping mechanism 9 and running gear.
As shown in figure 4, the left and right sides on chassis 1 is respectively arranged with injection target detection module 2, injection target detection module
2 input/output terminal is connect respectively with pin corresponding on the main control chip of the control module 7.In the present embodiment, injection
Module of target detection 2 includes optoelectronic switch, and photoelectric switching signal input/output terminal is connected to 7 corresponding pin of main control chip
On.
As shown in figure 4, chemical spraying device includes booster pump 3, medicine-chest 4 and nozzle part 8, each nozzle of nozzle part 8 is distinguished
It is connected by corresponding water pipe, solenoid valve 5 with the water outlet of booster pump 3, the water inlet of booster pump 3 and the water outlet of medicine-chest 4
Connection；The two poles of each solenoid valve 5 are connected to the current output terminal of corresponding electromagnetic relay 6, the two poles of booster pump 3
The current output terminal of corresponding electromagnetic relay 6 is connected to, 6 signal control terminal of electromagnetic relay is connected to master control by signal wire
On 7 corresponding pin of chip.
As shown in Figure 4 and Figure 5, Fig. 5 is the assembling structure schematic diagram that plate and nozzle are sprayed in present embodiment, nozzle part 8
Including two groups of nozzles 81 being symmetrical set, two groups of nozzles 81 are distributed on respectively on corresponding spray plate 82.In the present embodiment,
Vertical array is arranged on corresponding spray plate 82 two groups of nozzles 81 respectively, and nozzle 81 passes through corresponding 83 He of nozzle connector
Corresponding spray plate 82 connects.Spray plate 82 is provided with connection boss, to be connect with left and right telescoping mechanism 9.In the present embodiment, plate is sprayed
82 ontology is a Rectangular Plate Structure, and connection boss is arranged on the middle part of Rectangular Plate Structure, can guarantee spray robot in this way
Stability.
As shown in figure 4, left and right telescoping mechanism 9 includes a pair of electric pushrod 93 being symmetrical set, electric pushrod 93
Telescopic end 932 is connect with the spray plate 82 of corresponding nozzle part 8；The two poles of electric pushrod 93 are connected to corresponding electromagnetism
The current output terminal of relay 6, the 6 signal control terminal of electromagnetic relay are connected to 7 corresponding pin of main control chip.
Preferably, electric pushrod 93 is mounted on by corresponding installing plate 91 and support plate 92 on chassis 1, electric pushrod
93 other ends and 91 top of corresponding installing plate far from telescopic end 932 are connected, and 92 apical support of support plate simultaneously limits corresponding
The cylinder body 931 of electric pushrod 93.As shown in Figure 6 to 8, Fig. 6 to Fig. 8 is electronic in present embodiment to the structure of electric pushrod 93
The three-view diagram of push rod.
Preferably, installing plate 91 is L shaped plate structure, and the transverse slat of L shaped plate structure is connect with chassis 1, the riser of L shaped plate structure
Top is connect with corresponding electric pushrod 93；The solenoid valve 5 of chemical spraying device is arranged on the riser lower part of L shaped plate structure, and structure is tight
It gathers, saves chassis arrangement space.
Preferably, support plate 92 is L shaped plate structure, and the transverse slat of the L shaped plate structure is connect with chassis 1, the L shaped plate structure
Riser top is provided with semicircular arc groove with before and after limiting electric pushrod 93, freely up and down spend.
In the present embodiment, chassis 1 is made of aluminium sheet, and the ontology on chassis 1 is the harden structure of Rectangular Plate Structure or approximate ellipse.
Main control chip 7 is arranged on 1 forepart of chassis, and electromagnetic relay 6 is located at one side of main control chip 7, and medicine-chest 4 is located at the rear portion on chassis 1,
Booster pump 3 is located at the side of medicine-chest 4.Left and right telescoping mechanism is fixed on the center on chassis 1.
During work, if Fig. 1 shows, the fixed point spray work of A areas, in robot traveling process, injection target detection module 2 detects
To spray target, high level signal can be become to the signal of main control chip 7 from original low level signal by exporting, and main control chip 7 is connecing
After the signal for receiving variation, control signal can be sent to corresponding electromagnetic relay 6, control electromagnetic relay 6 connects electronic push away
The power supply of bar 93, the telescopic end 932 of electric pushrod 93 stretch out；At the same time, corresponding electromagnetic relay 6 connects 3 He of booster pump
The power supply of solenoid valve 5,5 valve port of solenoid valve are opened, and booster pump 3 is started to work, and liquid sprays, and spray date is by main control chip 7
Portion's timer timing is completed, and when the time for reaching spray setting, main control chip 7 can send control signal to corresponding electromagnetism relay
Device 6, electromagnetic relay 6 disconnect the power supply of booster pump 3 and solenoid valve 5, and liquid stops spraying, while corresponding electromagnetic relay 6
The reverse electrical source of electric pushrod 93 can be connected, electric pushrod 93 is withdrawn, and terminates spray.
If Fig. 3 shows, C areas of B areas spray target is identical, but the 90% and 80% of Pen Bashi B areas of C areas, and corresponding spray value also should be B areas
90% and 80%, and then spray date also should be the 90% and 80% of B areas, be controlled by the time for controlling 7 internal timing of main control chip
The spray value in C areas of B areas processed.
In the present invention, nozzle is scalable, can not only realize fixed point precisely spray, but also the robot can be made to be tied when not spraying
Structure is compact, floor space is small.Moreover, in the present invention, each nozzle individually controls, and is vertically arranged, and operation is flexible, and spray regime is wide.
The present invention, according to laws of the game, can realize that the nozzle of robot stretches out, fixed point spray in the match scene of setting
Medicine, precisely spray, variable spray.
Cost of the present invention is relatively low, is particularly suitable for teaching and contest, is easy to student's left-hand seat.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as employ the inventive concept and technical scheme of the present invention progress various improvement or it is not improved will be of the invention
Design and technical solution directly apply to other occasions, within the scope of the present invention.
Claims (10)
1. a kind of teaching and contest spray robot, which is characterized in that including chassis and the spray being arranged on the chassis
Medicine device and control module, the showerhead point of the chemical spraying device are arranged on the telescoping mechanism of left and right；The chassis lower end setting
There is running gear, injection target detection module, the injection target detection module are respectively arranged at left and right sides of the chassis
Signal input output end connect respectively with the corresponding pin of the main control chip of the control module.
2. teaching according to claim 1 and contest spray robot, which is characterized in that the chemical spraying device includes increasing
Press pump, medicine-chest and nozzle part, each nozzle of the nozzle part pass through corresponding water pipe, solenoid valve and the supercharging respectively
The water outlet connection of pump, the water inlet of the booster pump are connect with the water outlet of the medicine-chest；The power supply two of each solenoid valve
Pole is connected to the current output terminal of corresponding electromagnetic relay, and the two poles of the booster pump are connected to corresponding electromagnetism relay
The current output terminal of device, the electromagnetic relay signal control terminal are connected to the corresponding pin of the main control chip by signal wire
On.
3. teaching according to claim 1 or 2 and contest spray robot, which is characterized in that the showerhead subpackage
Two groups of nozzles being symmetrical set are included, two groups of nozzles are distributed on respectively on corresponding spray plate.
4. teaching according to claim 3 and contest spray robot, which is characterized in that two groups of nozzles erect respectively
To being arranged on corresponding spray plate, the nozzle is connected by corresponding nozzle connector with corresponding spray plate.
5. teaching according to claim 4 and contest spray robot, which is characterized in that the spray plate is provided with connection
Boss, to be connect with the left and right telescoping mechanism.
6. teaching according to claim 5 and contest spray robot, which is characterized in that the ontology of the spray plate is one
Rectangular Plate Structure, the connection boss are arranged on the middle part of Rectangular Plate Structure.
7. teaching and contest the spray robot according to claim 1,2,4,5 or 6, which is characterized in that the left and right
Telescoping mechanism includes a pair of electric pushrod being symmetrical set, the telescopic end of the electric pushrod and corresponding nozzle part
Spray plate connection；The two poles of the electric pushrod are connected to the current output terminal of corresponding electromagnetic relay, the electromagnetism
Relay signal control terminal is connected to the corresponding pin of the main control chip.
8. teaching according to claim 7 and contest spray robot, which is characterized in that the electric pushrod passes through phase
Corresponding installing plate and support plate are mounted on the chassis, the other end and corresponding peace of the electric pushrod far from telescopic end
Loading board top is connected, the support plate apical support and the cylinder body for limiting corresponding electric pushrod.
9. teaching according to claim 8 and contest spray robot, which is characterized in that the installing plate is L shaped plate
Structure, the transverse slat of L shaped plate structure are connect with the chassis, and the riser top of L shaped plate structure is connect with corresponding electric pushrod；Institute
The solenoid valve for stating chemical spraying device is arranged on the riser lower part of L shaped plate structure.
10. teaching according to claim 8 and contest spray robot, which is characterized in that the support plate is L shaped plate
Structure, the transverse slat of the L shaped plate structure are connect with the chassis, and the riser top of the L shaped plate structure is provided with semicircular arc groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810160296.1A CN108157340A (en) | 2018-02-27 | 2018-02-27 | A kind of teaching and contest spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810160296.1A CN108157340A (en) | 2018-02-27 | 2018-02-27 | A kind of teaching and contest spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108157340A true CN108157340A (en) | 2018-06-15 |
Family
ID=62511514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810160296.1A Pending CN108157340A (en) | 2018-02-27 | 2018-02-27 | A kind of teaching and contest spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108157340A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109156464A (en) * | 2018-11-13 | 2019-01-08 | 西北农林科技大学 | A kind of spray robot |
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| CN109156464A (en) * | 2018-11-13 | 2019-01-08 | 西北农林科技大学 | A kind of spray robot |
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