CN108849130A - A kind of white vehicle of roadside greening - Google Patents

Abstract

The white vehicle of a kind of roadside greening of the invention, including the white mechanical arm of vehicle body, control room, Three Degree Of Freedom.It is single to drive the white work that efficiently complete roadside shade tree, labour is saved, white quality is improved.The white mechanical arm of Three Degree Of Freedom, cooperate single-degree-of-freedom turntable, make it is white during control it is more flexible.Vehicle is driven by electricity, environmentally protective.

Description

A road greening brush white car

technical field

The invention relates to the technical field of whitening street trees, in particular to a vehicle for whitening road greening.

Background technique

The "white things" painted on street trees are called whitening agents. Its main ingredients are milk of lime, salt, soybean powder, and lime sulfur. There are three reasons why trees are brushed with lime water. First, lime has a certain bactericidal and insecticidal effect, which can completely kill some bacteria and pests that have survived the winter on trees and prevent small insects on the ground from climbing up; second, winter weather In cold weather, after whitening the tree trunks, it can reflect sunlight on sunny days, reduce the temperature difference, and prevent or reduce frost damage; third, after whitening the street trees, they are still a landscape and a warning line, which can effectively improve the safety of pedestrians and vehicles. Every year, there are a large number of street trees on both sides of various roads, parks and colleges and universities that need to be manually whitened, which is time-consuming and laborious. Therefore, there is an urgent need for a street tree whitening equipment that can save time and effort. For example, the patent number CN201720081686.0 provides "A Spray Combination Planetary Automatic Tree Whitening Machine", which includes the main body of the water mixing tank, agitator, drawer locker door, electric pump, battery, handle and tree whitening device etc., its advantage is that the trunk is used as a sun wheel, and the rolling brush is used as a planetary wheel, and the rolling brush rotates while self-propagating, and the whitening effect is reliable; the disadvantage is that the fixing steps between the planetary rolling brush device and the tree trunk are cumbersome and reliable, and the diameter adaptability range is small.

Contents of the invention

In view of the above problems, the present invention provides a road greening and whitening vehicle, which can efficiently complete the whitening of roadside trees by a single driver, saves labor and improves the quality of whitening. The three-degree-of-freedom whitening mechanical arm, combined with the one-degree-of-freedom turntable, makes the control more flexible during the whitening process. The whole vehicle is driven by electricity, which is green and environmentally friendly.

The technical solution used in the present invention is: a road greening and whitening vehicle, including a vehicle body, a control room, and a three-degree-of-freedom whitening mechanical arm. The three-degree-of-freedom whitening mechanical arm is installed on the control room, and the control room is fixed on the vehicle. body.

The vehicle body includes a first chassis, a dust cover, a first gear, a second gear, a first servo motor, a whitening liquid tank, a biaxial motor, a first support, a wheel, a connecting rod, an L-shaped connecting rod, a pendulum Rod, the first pillar, the third gear, the fourth gear, the second servo motor, the support cover, the first gear and the second gear are respectively hinged on the first chassis and meshed with each other; the dust cover is fixedly installed on the On a chassis; the first servo motor is fixedly installed on the dust cover, and the output shaft of the motor is connected to the second gear; the whitening liquid tank is fixedly installed on the first chassis, used to hold the whitening liquid, and has a built-in pressure pump. For outputting whitening liquid; two first supports, two first pillars, a support cover and a two-axis motor are fixedly installed under the first chassis, and the extension shafts on both sides of the two-axis motor pass through the inner hole of the first support , and a wheel is hinged at both ends; an L-shaped connecting rod is hinged on each first pillar, and a wheel is hinged on the outside of the L-shaped connecting rod; the two ends of the connecting rod are hinged on the L-shaped connecting rods on both sides; The third gear and the fourth gear are hinged under the first chassis and mesh with each other; the second servo motor is fixedly installed on the support cover and the output shaft is connected with the fourth gear; one end of the swing rod is fixedly installed on the gear shaft of the third gear, and the other One end is hinged in the middle of the connecting rod.

The control room includes a turntable, a support sleeve, a second chassis, an outer frame, a seat, a brake pedal, a joystick, a drive pedal, an operating handle, a pulley support, a pulley, an AC motor, a double-groove traction wheel, and a speed reducer. device, counterweight, first wire rope, second wire rope, guide rail, the turntable is fixedly installed on the aforementioned first gear; the support sleeve is fixedly installed on the turntable, the second chassis is fixedly installed on the support sleeve, and the seat , brake foot brake, joystick, driving foot brake, guide rail and outer frame are fixedly installed on the second chassis; the operating handle is hinged on the joystick, and the rotation around the joystick is used to control the steering, and the panel buttons are used to control three degrees of freedom. The mechanical arm; two pulley supports and a reducer are fixedly installed on the top of the outer frame; the AC motor is fixedly installed on the reducer, and the output shaft of the motor is connected to the input shaft of the reducer; the double-groove traction wheel is fixedly installed on the output shaft of the reducer.

The three-degree-of-freedom whitening mechanical arm includes a support frame, a roof, a lead screw, a stepping motor, a guide rod, an electric push rod, a harmonic reducer, a support plate, a third servo motor, a whitening mechanical arm, a rolling brush, and a support There are four hinged supports on the frame, the left two are hinged with a lead screw, and one end is fixedly installed with a stepping motor, the output shaft of the motor is connected with the lead screw, and the right two hinged supports are fixed with a guide rod; The side inner holes are respectively matched with the lead screw and the guide rod, and can be translated along the guide road; the harmonic reducer is fixedly installed on the upper side of the roof; the third servo motor is fixedly installed on the lower side of the roof, and its output shaft is connected with the input of the harmonic reducer Shaft connection; the support plate is fixedly installed at the output end of the harmonic reducer, and there are four hinged pillars on it. An electric push rod is hinged on each of the two hinged pillars on the left and right sides, and two whitening machines are hinged on the two hinged pillars in the middle. The push rod end of the electric push rod is hinged on the whitening mechanical arm; the inner ring of the whitening mechanical arm is hinged with forty-four roller brushes.

Further, each pulley support is hinged with a pulley.

Further, the first steel wire rope is fixedly installed in the right groove of the double-groove traction wheel, and wound several times, and the extended end is placed on the rear pulley, and a counterweight is fixedly installed at the terminal, and the counterweight slides along the guide rail , used to balance the weight of the three-degree-of-freedom whitening robotic arm.

Further, the second steel wire rope is fixedly installed in the left groove of the double-groove traction wheel, and wound several times, the extended end is placed on the front pulley, and the terminal is fixedly installed on the three-degree-of-freedom whitening mechanical arm Pull it to move up and down along the outer frame pillars.

Further, the whitening mechanical arm includes an arc-shaped hollow plate, a three-way pipe joint, a second support, and a straight-through pipe joint, and the second support and the straight-through pipe joint are fixedly installed on the arc-shaped hollow plate; There are eleven tee pipe joints described above, which are evenly and fixedly installed on the arc-shaped hollow plate.

Further, the rolling brush includes a cylindrical spray head and a soft brush. The cylindrical spray head has eight uniformly distributed extending pipe joints, and a soft brush is fixedly installed on each pipe joint, and the soft brush can absorb whitening liquid.

Because the present invention adopts the above-mentioned technical scheme, the present invention has the following advantages: (1) A single driver can efficiently complete the whitening work of roadside trees, saving labor and improving the quality of whitening; (2) Three-degree-of-freedom whitening mechanical arm , combined with a one-degree-of-freedom turntable, makes the control more flexible during the whitening process; (3) The whole vehicle is driven by electricity, which is environmentally friendly.

Description of drawings

1 and 2 are schematic diagrams of the overall structure of the present invention.

Fig. 3, Fig. 4, Fig. 5 are the vehicle body structure schematic diagrams of the present invention.

6 and 7 are schematic structural views of the control room of the present invention.

Fig. 8 and Fig. 9 are structural schematic diagrams of the three-degree-of-freedom whitening robotic arm of the present invention.

Fig. 10 is a schematic structural diagram of the whitening robotic arm of the present invention.

Fig. 11 is a structural schematic diagram of the rolling brush of the present invention.

Fig. 12 is a schematic diagram of the structure of the supporting frame parts of the present invention.

Fig. 13 is a schematic diagram of a cross-sectional structure of a cylindrical shower head part of the present invention.

Reference numerals: 1-body; 2-control room; 3-three-degree-of-freedom whitening mechanical arm; 101-first chassis; 102-dust cover; 103-first gear; 104-second gear; 105-first Servo motor; 106-whitening liquid tank; 107-two-axis motor; 108-first support; 109-wheel; 110-connecting rod; 111-L-shaped connecting rod; -Third gear; 115-fourth gear; 116-second servo motor; 117-support cover; 201-turntable; 202-support sleeve; 203-second chassis; Brake pedal; 207-joystick; 208-drive pedal; 209-operating handle; 210-pulley support; 211-pulley; 212-AC motor; Heavy block; 216-the first wire rope; 217-the second wire rope; 218-guide rail; 301-support frame; 302-roof; 303-screw; 304-stepper motor; 307-harmonic reducer; 308-support plate; 309-third servo motor; 310-whitening mechanical arm; 311-rolling brush; 31001-arc hollow plate; ; 31004-straight pipe joint; 31101-cylindrical nozzle; 31102-soft brush.

Detailed ways

The present invention will be further described below in conjunction with specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not as a limitation to the present invention.

Embodiment: a kind of road greening whitening as shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12 and Fig. 13 The car includes a vehicle body 1, a control room 2, and a three-degree-of-freedom whitening robot arm 3. The three-degree-of-freedom whitening robot arm 3 is installed on the control room 2, and the control room 2 is fixedly installed on the vehicle body 1.

The body 1 includes a first chassis 101, a dust cover 102, a first gear 103, a second gear 104, a first servo motor 105, a whitening liquid tank 106, a biaxial motor 107, a first support 108, a wheel 109, and a connecting rod 110, L-shaped connecting rod 111, swing rod 112, first pillar 113, third gear 114, fourth gear 115, second servo motor 116, support cover 117, described first gear 103, second gear 104 respectively Hinged on the first chassis 101 and meshed with each other; the dust cover 102 is fixedly installed on the first chassis 101; the first servo motor 105 is fixedly installed on the dust cover 102, and the motor output shaft is connected with the second gear 104; The liquid tank 106 is fixedly installed on the first chassis 101, and is used to hold the whitening liquid, and has a built-in pressure pump for outputting the whitening liquid; two first supports 108, two first pillars 113, a support cover 117 and A biaxial motor 107 is fixedly installed below the first chassis 101, and the outstretched shafts on both sides of the biaxial motor 107 pass through the inner hole of the first support 108, and a wheel 109 is hinged at both ends; each first pillar 113 is hinged There is an L-shaped connecting rod 111, and a wheel 109 is hinged on the outside of the L-shaped connecting rod 111; the two ends of the connecting rod 110 are hinged on the L-shaped connecting rods 111 on both sides; A chassis 101 is below and meshed with each other; the second servo motor 116 is fixedly installed on the support cover 117 and the output shaft is connected with the fourth gear 115; The middle part of the connecting rod 110 .

The control room 2 includes a turntable 201, a support sleeve 202, a second chassis 203, an outer frame 204, a seat 205, a brake pedal 206, a joystick 207, a driving pedal 208, an operating handle 209, a pulley support 210, a pulley 211, AC motor 212, double groove traction pulley 213, speed reducer 214, counterweight 215, first steel wire rope 216, second steel wire rope 217, guide rail 218, described turntable 201 is fixedly installed on the aforementioned first gear 103; 202 is fixedly installed on the turntable 201, the second chassis 203 is fixedly installed on the support sleeve 202, the seat 205, the brake foot brake 206, the joystick 207, the driving foot brake 208, the guide rail 218 and the outer frame 204 are fixedly installed on the second chassis 203; the operating handle 209 is hinged on the joystick 207, and the rotation around the joystick 207 is used to control the steering, and the panel buttons are used to control the three-degree-of-freedom whitening mechanical arm 3; two pulley supports 210 and a speed reducer 214 are fixedly installed outside The top of the frame 204; the AC motor 212 is fixedly installed on the reducer 214, and the output shaft of the motor is connected with the input shaft of the reducer 214;

The three-degree-of-freedom whitening mechanical arm 3 includes a support frame 301, a roof 302, a screw 303, a stepping motor 304, a guide rod 305, an electric push rod 306, a harmonic reducer 307, a support plate 308, a third servo motor 309, and a whitening machine. Mechanical arm 310, rolling brush 311, four hinge supports on the support frame 301, the left two are hinged with lead screw 303, and one end is fixedly installed with stepping motor 304, the motor output shaft is connected with lead screw 303, the right side Two hinge supports are fixedly installed with a guide rod 305; the inner holes on both sides of the roof 302 cooperate with the lead screw 303 and the guide rod 305 respectively, and can translate along the guide road; the harmonic reducer 307 is fixedly installed on the upper side of the roof 302; the third The servo motor 309 is fixedly installed on the lower side of the roof 302, and its output shaft is connected to the input shaft of the harmonic reducer 307; the support plate 308 is fixedly installed on the output end of the harmonic reducer 307, and there are four hinged pillars on it, the left and right sides An electric push rod 306 is hinged on each of the two hinge pillars, and two whitening mechanical arms 310 are hinged on the two hinge pillars in the middle. The push rod end of the electric push rod 306 is hinged on the whitening mechanical arm 310; There are forty four roller brushes 311 .

A pulley 211 is hinged on each pulley support 210 . The first wire rope 216 is fixedly installed in the groove on the right side of the double-groove traction pulley 213, and is wound several times. The extended end is placed on the rear pulley 211, and a counterweight 215 is fixedly installed at the end, and the counterweight 215 slides along the guide rail 218. , used to balance the weight of the three-degree-of-freedom whitening robotic arm 3 . The second wire rope 217 is fixedly installed in the left groove of the double-groove traction pulley 213, and is wound several times. Move up and down along the outer frame 204 pillars.

The whitening mechanical arm 310 includes an arc-shaped hollow plate 31001, a three-way pipe joint 31002, a second support 31003, and a straight-through pipe joint 31004. The second support 31003 and the straight-through pipe joint 31004 are fixedly installed on the arc-shaped hollow plate 31001 ; There are eleven tee pipe joints 31002, which are uniformly and fixedly installed on the arc-shaped hollow plate 31001. The rolling brush 311 includes a cylindrical nozzle 31101 and a soft brush 31102. The cylindrical nozzle 31101 has eight uniformly distributed overhanging pipe joints, and each pipe joint is fixedly equipped with a soft brush 31102, which can absorb whitening liquid.

Working principle of the present invention: the three-degree-of-freedom three-degree-of-freedom whitening mechanical arm 3 of the present invention cooperates with the one-degree-of-freedom turntable 201, and its effective degree of freedom is a total of three degrees of freedom of one movement and two rotations in the XOY plane, and the remaining A degree of freedom along the Z axis of is the degree of freedom to control the brush whitening up and down, and does not affect the pose of the brush.

The three degrees of freedom in the XOY plane are: the rotation of the whitening mechanism along the turntable 201 is driven by the first servo motor 105; the movement of the whitening mechanism along the lead screw 303 is driven by the stepper motor 304; The rotation of the center is driven by a third servo motor 309 .

One degree of freedom in the Z-axis direction is: the three-degree-of-freedom whitening mechanical arm 3 is set on the two pillars in front of the outer frame 204, and the middle part is connected with the end of the second steel wire rope 217, which can be driven by the AC motor 212 and driven by the double-groove traction wheel 213 The second steel wire rope 217 is pulled to drive the three-degree-of-freedom whitening mechanical arm 3 to move up and down. While moving, the counterweight 215 connected to the first steel wire rope moves up and down to balance the load of the three-degree-of-freedom whitening mechanical arm 3 .

The two whitening mechanical arms 310 can be opened and closed under the action of the electric push rod 306, that is, the vehicle is driven to the working position, the two whitening mechanical arms 310 are opened, and moved forward so that the trunk is surrounded by the whitening mechanical arms 310, and then closed for whitening Robotic arm 310 . The straight-through pipe joint 31004 on the outside of the whitening mechanical arm 310 is used to connect the hose to the whitening liquid tank 106, and the whitening liquid is output by the pressure pump, and finally output from each three-way pipe joint 31002, and each three-way pipe joint 31002 has two sides. A rolling brush 311 is hinged. During the up and down movement of the three-degree-of-freedom whitening mechanical arm 3, the rolling brush 311 can rotate while flowing out the whitening liquid, thereby completing the painting, and adjust the position of the whitening mechanism in the three XOY planes. Under the synergistic effect of degrees of freedom, the tree trunk whitening work can be completed without dead ends.

Claims (6)

1. a kind of white vehicle of roadside greening, including vehicle body（1）, control room（2）, the white mechanical arm of Three Degree Of Freedom（3）, feature exists In：The white mechanical arm of the Three Degree Of Freedom（3）It is mounted on control room（2）On, control room（2）It is fixedly mounted on vehicle body（1）On；

The vehicle body（1）Including the first chassis（101）, dust cover（102）, first gear（103）, second gear（104）, One servo motor（105）, white liquid case（106）, dual-axle motor（107）, the first support（108）, wheel（109）, connecting rod （110）, L-type connecting rod（111）, swing rod（112）, the first pillar（113）, third gear（114）, the 4th gear（115）, second watch Take motor（116）, Supporting cover（117）, the first gear（103）, second gear（104）It is respectively hinged on the first chassis （101）And it is intermeshed；Dust cover（102）It is fixedly mounted on the first chassis（101）On；First servo motor（105）Fixed peace Mounted in dust cover（102）On, and motor output shaft and second gear（104）Connection；White liquid case（106）It is fixedly mounted on first Chassis（101）On, for holding white liquid, and built-in pressure pump, for exporting white liquid；Two the first supports（108）, two A first pillar（113）, a Supporting cover（117）With a dual-axle motor（107）It is fixedly mounted on the first chassis（101）Under Face, dual-axle motor（107）Two sides outrigger shaft passes through the first support（108）Inner hole, and each hinged wheel in both ends（109）；Each First pillar（113）On be hinged with a L-type connecting rod（111）, L-type connecting rod（111）Outside is hinged with a wheel（109）；Connecting rod （110）Both ends are hinged on two sides L-type connecting rod（111）On；The third gear（114）, the 4th gear（115）It is hinged on first Chassis（101）Below and it is intermeshed；Second servo motor（116）It is fixedly mounted on Supporting cover（117）Upper and output shaft and the Four gears（115）Connection；Swing rod（112）One end is fixedly mounted on third gear（114）Gear shaft on, the other end is hinged on company Bar（110）Middle part；

The control room（2）Including turntable（201）, support sleeve（202）, the second chassis（203）, outline border（204）, seat （205）, brake it is foot-operated（206）, control stick（207）, driving it is foot-operated（208）, operation handle（209）, pulley support（210）, it is sliding Wheel（211）, alternating current generator（212）, double flute traction wheel（213）, retarder（214）, clump weight（215）, the first wirerope （216）, the second wirerope（217）, guide rail（218）, the turntable（201）It is fixedly mounted on first gear above-mentioned（103） On；Support sleeve（202）It is fixedly mounted on turntable（201）On, the second chassis（203）It is fixedly mounted on support sleeve（202）On, seat （205）, brake service brake（206）, control stick（207）, driving service brake（208）, guide rail（218）And outline border（204）It is fixedly mounted on Second chassis（203）On；Operation handle（209）It is hinged on control stick（207）On, around control stick（207）Rotation turns for controlling To, panel button for controlling the white mechanical arm of Three Degree Of Freedom（3）；Two pulley supports（210）With a retarder（214）Gu Dingan County is mounted in outline border（204）Top；Alternating current generator（212）It is fixedly mounted on retarder（214）On, motor output shaft and retarder （214）Input axis connection；Double flute traction wheel（213）It is fixedly mounted on retarder（214）On output shaft；

The white mechanical arm of the Three Degree Of Freedom（3）Including support frame（301）, balcony（302）, lead screw（303）, stepper motor （304）, guide rod（305）, electric pushrod（306）, harmonic speed reducer（307）, support plate（308）, third servo motor（309）, White mechanical arm（310）, round brush（311）, support frame（301）Upper there are four hinged-supports, and two, left side is hinged with a lead screw （303）, and one end is fixedly installed with a stepper motor（304）, motor output shaft and lead screw（303）Connection, two, right side are hinged Seat is fixedly installed with a guide rod（305）；Balcony（302）Two sides inner hole respectively with lead screw（303）And guide rod（305）Cooperation, can edge Guide passage translation；Harmonic speed reducer（307）It is fixedly mounted on balcony（302）Upside；Third servo motor（309）It is fixedly mounted on day Platform（302）Downside, and its output shaft and harmonic speed reducer（307）Input axis connection；Support plate（308）Harmonic wave is fixedly mounted on to subtract Fast device（307）Output end is respectively hinged with an electric pushrod on the pivoted end column of the left and right sides two thereon there are four pivoted end column （306）, hingedly there are two white mechanical arms for intermediate two pivoted end columns（310）, electric pushrod（306）Push rod end is hinged on white machine Tool arm（310）On；White mechanical arm（310）Inner ring is hinged with 44 round brush（311）.

2. a kind of white vehicle of roadside greening as described in claim 1, it is characterised in that：Each pulley support（210） On be hinged with a pulley（211）.

3. a kind of white vehicle of roadside greening as described in claim 1, it is characterised in that：First wirerope（216）Gu Dingan County is mounted in double flute traction wheel（213）In right side groove, and several circles are wound, overhanging end is placed on rear side pulley（211）On, terminal It is fixedly installed with a clump weight（215）, clump weight（215）Along guide rail（218）Sliding, for balancing the white mechanical arm of Three Degree Of Freedom （3）Weight.

4. a kind of white vehicle of roadside greening as described in claim 1, it is characterised in that：Second wirerope（217）Gu Dingan County is mounted in double flute traction wheel（213）In left side groove, and several circles are wound, overhanging end is placed on front side pulley（211）On, terminal It is fixedly mounted on the white mechanical arm of Three Degree Of Freedom（3）On, for drawing it along outline border（204）Pillar moves up and down.

5. a kind of white vehicle of roadside greening as described in claim 1, it is characterised in that：The white mechanical arm（310）Packet Bracket hollow plate（31001）, tee pipe coupling（31002）, the second support（31003）, free flow coupling（31004）, described The second support（31003）With free flow coupling（31004）It is fixedly mounted on arc hollow plate（31001）On；The threeway Pipe fitting（31002）There are 11, is equably fixedly mounted on arc hollow plate（31001）On.

6. a kind of white vehicle of roadside greening as described in claim 1, it is characterised in that：The round brush（311）Including cylinder Spray head（31101）, soft brush（31102）, cylinder spray head（31101）With eight uniformly distributed overhanging pipe fittings, on each pipe fitting It is fixedly installed with a soft brush（31102）, soft brush（31102）Adsorbable white liquid.