CN109127259A - Trunk is coated lime robot - Google Patents

Trunk is coated lime robot Download PDF

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Publication number
CN109127259A
CN109127259A CN201810924619.XA CN201810924619A CN109127259A CN 109127259 A CN109127259 A CN 109127259A CN 201810924619 A CN201810924619 A CN 201810924619A CN 109127259 A CN109127259 A CN 109127259A
Authority
CN
China
Prior art keywords
turnover panel
trunk
pedestal
connecting rod
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810924619.XA
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Chinese (zh)
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CN109127259B (en
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Xiaozhong Outdoor Fine Engineering Technology Co.,Ltd.
Original Assignee
Foshan Xin Zhu Pu Si Machinery Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Foshan Xin Zhu Pu Si Machinery Technology Co Ltd filed Critical Foshan Xin Zhu Pu Si Machinery Technology Co Ltd
Priority to CN201810924619.XA priority Critical patent/CN109127259B/en
Publication of CN109127259A publication Critical patent/CN109127259A/en
Application granted granted Critical
Publication of CN109127259B publication Critical patent/CN109127259B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C1/00Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
    • B05C1/02Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to separate articles
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01GHORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G13/00Protecting plants
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/005Manipulators mounted on wheels or on carriages mounted on endless tracks or belts

Abstract

It coats lime robot the present invention relates to a kind of trunk, including moving trolley (1), it is characterized by: the moving trolley (1) is equipped with digging arm (2), the free end of digging arm (2) is equipped with coating unit, the coating unit includes pedestal (3), left turnover panel (4) and right turnover panel (5), the pedestal (3) is fixed on the free end of digging arm (2), the inner end of left turnover panel (4) and right turnover panel (5) is respectively hinged at the left and right sides of pedestal (3) and can swing, the outer end of left turnover panel (4) and right turnover panel (5) is rotatably equipped with can be around the round brush (6) that own axes rotate, the rotation axis of round brush (6) is parallel with the short transverse of trunk (10), the elastic construction for swinging left turnover panel (96) and right turnover panel (97) towards close direction is additionally provided on the pedestal.Robot is able to achieve the operation that mechanization carries out coating lime to trunk automatically, will not pollute operator in operating process, coat efficient quick, reduce human cost.

Description

Trunk is coated lime robot
Technical field
It coats lime robot the present invention relates to a kind of ornamental trees and shrubs management equipment more particularly to a kind of trunk, belongs to tree planting With ornamental trees and shrubs daily nursing auxiliary tool technology field.
Background technique
Current social improves urban afforestation and urban environment level requirement, and people have preferred to green plants to purify city City's air requires to improve to urban afforestation, and existing tree planting process is mostly to be planted trees using manpower, tree planting personnel master It will be by being digged pit with spade, in order to give tree anti-cold and deinsectization, trees need to coat stone within the scope of the above certain altitude of tree root Ash, tradition coating lime, which is all made of, manually directly takes brush brush, more time-consuming, and operator easy to pollute.
Therefore device is coated lime there is an urgent need to a kind of trunk that mechanization degree is high to accelerate to coat lime speed, and reduce Manpower carries out daily maintenance to trees.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of trunk for above-mentioned state of the art to coat lime machine Device people, trunk robot of coating lime are able to achieve automation coating lime, and will not pollute operator.
Robot, including row the technical scheme of the invention to solve the technical problem is: a kind of trunk is coated lime Mule carriage, it is characterised in that: the moving trolley is equipped with digging arm, and the free end of digging arm is equipped with coating unit, the coating dress Set including pedestal, left turnover panel and right turnover panel, the pedestal is fixed on the free end of digging arm, the left turnover panel and right turnover panel it is interior End is respectively hinged at the left and right sides of pedestal and can swing, and the outer end of left turnover panel and right turnover panel is rotatably equipped with can be around itself Axis rotation round brush, the rotation axis of round brush and the short transverse of trunk are parallel, be additionally provided on the pedestal make left turnover panel and The elastic construction that right turnover panel is swung towards close direction.
It is further improved, above-mentioned elastic construction includes being threaded through the drive rod that energy front and back slides on the pedestal, drive rod It connect by left connecting rod with left turnover panel, connect by right connecting rod with right turnover panel, so that the back-and-forth motion energy synchronous drive of drive rod Left turnover panel and right turnover panel swing;The spring for making drive rod keep moving back trend is arranged on drive rod, drive rod moves back energy The left turnover panel of synchronous drive and right turnover panel are swung towards close direction.The driving structure provides restoring force by spring, guarantees a dynamic left side Turnover panel and right turnover panel, which are remained towards close direction swing trend and left turnover panel and right turnover panel, remains in contact with one another trend, when During digging arm drives coating unit radially to move forward or move back along trunk, the round brush on left turnover panel and right turnover panel remains pressure Tight trunk trend, effect of coating lime are good.
Preferably, above-mentioned drive rod front end has the connecting rod being laterally arranged, the inner end of the left connecting rod is hinged on company The inner end of the left end of extension bar, the right connecting rod is hinged on the right end of connecting rod;The middle part of the left turnover panel inner surface has left company The middle part of socket part, the right turnover panel inner surface has right interconnecting piece, and the outer end of left connecting rod is hinged on left interconnecting piece, the right company The inner end of bar is hinged on right interconnecting piece.The structure can make the left turnover panel of the steady synchronous drive of the back-and-forth motion of drive rod and right turnover panel Left and right is opposite or backwards to deflection
To guarantee that drive rod is only moved forward and backward, the rear end of said base has the guide pad to rear projection, opens on guide pad There is the pilot hole passed through for drive rod, the end of the drive rod is fixed with retaining ring by screw, and the spring supporting is being oriented to Between the rear end face and retaining ring of block.
The outer end of above-mentioned left turnover panel and right turnover panel is equipped with the installing port being in U-shape, and the top and bottom of the round brush are equipped with The shaft of protrusion, the round brush are articulated in installing port by the shaft.The above are a kind of rotational installation knots of round brush Other way can also be used certainly and connect with turnover panel for structure.
Compared with the prior art, the advantages of the present invention are as follows: robot is able to achieve mechanization and applies automatically to trunk The operation of lime is covered, operator will not be polluteed in operating process, coats efficient quick, reduces human cost.Worker need to drive It sails near moving trolley to the trees for needing to coat lime, starts program of coating lime, being moved to coating unit by process control needs It immediately ahead of the trees to be coated lime, and coats lime region highest point in trunk, is in trunk between two round brush, digging arm band Dynamic round brush is along trunk diameter direction scroll forward and backward, because left turnover panel and right turnover panel keep mutually drawing close under elastic construction effect Gesture, therefore round brush keeps impaction state with trunk always, and can circumferentially roll along trunk, to guarantee effectively coating lime, the Duan Shu After the completion of dry-coated covering, round brush is allowed to be detached from trunk, while digging arm drives coating unit to move down certain distance, to trunk lower section Position carries out the coating of lime, repeats above-mentioned movement, so that entire trunk 10 is all coated lime and is then completed and coats lime to trees Work.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the embodiment of the present invention;
Fig. 2 is the schematic perspective view of coating unit in the embodiment of the present invention;
Fig. 3 is the top view of coating unit in the embodiment of the present invention;
Fig. 4 is the stereogram exploded view of coating unit in the embodiment of the present invention;
Fig. 5 is the process chart of the embodiment of the present invention.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
It is a preferred embodiment of the present invention as shown in Fig. 1~5.
A kind of trunk is coated lime robot, including moving trolley 1, and moving trolley 1 is equipped with digging arm 2, moving trolley 1 and digging arm 2 can refer to excavator.The free end of digging arm 2 is equipped with coating unit, and coating unit includes that pedestal 3, left turnover panel 4 and the right side are turned over Plate 5, pedestal 3 are fixed on the free end of digging arm 2, and the inner end of left turnover panel 4 and right turnover panel 5 is respectively hinged at the left and right two of pedestal 3 Side and can swing, the outer end of left turnover panel 4 and right turnover panel 5 is rotatably equipped with can be around the round brush 6 that own axes rotate, round brush 6 Rotation axis it is parallel with the short transverse of trunk 10, being additionally provided on pedestal makes left turnover panel 96 and right turnover panel 97 towards close side To the elastic construction of swing.The outer end of left turnover panel 4 and right turnover panel 5 is equipped with the installing port 9 being in U-shape, the top and bottom of round brush 6 Shaft 61 equipped with protrusion, round brush 6 are articulated in installing port 9 by the shaft 61.
Elastic construction includes being threaded through the drive rod 7 that energy front and back slides on the pedestal 3, and the rear end of pedestal 3 has backward The guide pad 31 of protrusion, is provided with the pilot hole 311 passed through for drive rod 7 on guide pad 31, drive rod 7 by left connecting rod 71 with The left connection of turnover panel 4 is connect by right connecting rod 72 with right turnover panel 5, so that the left turnover panel 4 of back-and-forth motion energy synchronous drive of drive rod 7 It swings with right turnover panel 5;The spring 8 for making drive rod 7 keep moving back trend is arranged on drive rod 7, the end of drive rod 7 is logical It crosses screw and is fixed with retaining ring 74, spring 8 is supported between the rear end face of guide pad 31 and retaining ring 9.Drive rod 7 moves back can synchronous belt Left turnover panel 4 and right turnover panel 5 is moved to swing towards close direction.7 front end of drive rod has the connecting rod 73 being laterally arranged, the left company The inner end of bar 71 is hinged on the left end of connecting rod 73, and the inner end of the right connecting rod 72 is hinged on the right end of connecting rod 73;The left side The middle part of 4 inner surface of turnover panel has left interconnecting piece 41, and the middle part of right 5 inner surface of turnover panel has right interconnecting piece 51, the left side The outer end of connecting rod 71 is hinged on left interconnecting piece 41, and the inner end of the right connecting rod 72 is hinged on right interconnecting piece 51.
This trunk coat lime robot operation principle and process it is as follows:
As shown in figure 5, trees need to coat lime in the above certain altitude of tree root, in work for tree anti-cold and deinsectization Make personnel with robot coat lime work when, worker need to drive moving trolley 1 to needing near the trees coated lime, Start program of coating lime, coating unit is moved to 10 front of trees for needing to coat lime by process control, and in trunk 10 coat lime region highest point, are in trunk 10 between two round brush 6, and digging arm 2 drives round brush 6 along 10 diametrical direction of trunk Scroll forward and backward, because left turnover panel 4 and right turnover panel 5 keep mutually drawing close trend under the effect of spring 8, therefore round brush 6 always with trunk 10 Impaction state is kept, and can be along the circumferential rolling of trunk 10, to guarantee to have coated trunk 10 effectively coating lime, this section of trunk 10 Cheng Hou allows round brush 6 to be detached from trunk 10, while digging arm 2 drives coating unit to move down certain distance, to the lower section of trunk 10 The coating for carrying out lime is set, above-mentioned movement is repeated, so that entire trunk 10 is all coated lime and is then completed and coats lime to trees Work.
It should be noted that in the description of the present embodiment, the orientation of the instructions such as term " forward and backward ", " left and right ", " upper and lower " Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, it is only for is retouched convenient for the description present invention and simplification It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, Therefore it is not considered as limiting the invention.

Claims (5)

  1. The robot 1. a kind of trunk is coated lime, including moving trolley (1), it is characterised in that: the moving trolley (1) is equipped with digging arm (2), the free end of digging arm (2) is equipped with coating unit, and the coating unit includes pedestal (3), left turnover panel (4) and right turnover panel (5), the pedestal (3) is fixed on the free end of digging arm (2), and the inner end of the left turnover panel (4) and right turnover panel (5) is respectively articulated with It can swing in the left and right sides of pedestal (3), the outer end of left turnover panel (4) and right turnover panel (5) is rotatably equipped with can be around itself The round brush (6) of axis rotation, the rotation axis of round brush (6) is parallel with the short transverse of trunk (10), is additionally provided on the pedestal The elastic construction for swinging left turnover panel (96) and right turnover panel (97) towards close direction.
  2. The robot 2. trunk according to claim 1 is coated lime, it is characterised in that: the elastic construction includes being threaded through institute The drive rod (7) that energy front and back slides on pedestal (3) is stated, drive rod (7) is connect with left turnover panel (4), passed through by left connecting rod (71) Right connecting rod (72) is connect with right turnover panel (5), so that the left turnover panel of back-and-forth motion energy synchronous drive (4) of drive rod (7) and right turnover panel (5) it swings;The spring (8) for making drive rod (7) to keep moving back trend is arranged on drive rod (7), drive rod (7) moves back energy The left turnover panel of synchronous drive (4) and right turnover panel (5) are swung towards close direction.
  3. The robot 3. trunk according to claim 2 is coated lime, it is characterised in that: drive rod (7) front end has cross To the connecting rod (73) of setting, the inner end of the left connecting rod (71) is hinged on the left end of connecting rod (73), the right connecting rod (72) Inner end be hinged on the right ends of connecting rod (73);The middle part of left turnover panel (4) inner surface has left interconnecting piece (41), the right side The middle part of turnover panel (5) inner surface has right interconnecting piece (51), and the outer end of the left connecting rod (71) is hinged on left interconnecting piece (41), The inner end of the right connecting rod (72) is hinged on right interconnecting piece (51).
  4. The robot 4. trunk according to claim 3 is coated lime, it is characterised in that: the rear end of the pedestal (3) have to The guide pad (31) of rear projection is provided with the pilot hole (311) passed through for drive rod (7), the drive rod (7) on guide pad (31) End be fixed with retaining ring (74) by screw, the spring (8) be supported on guide pad (31) rear end face and retaining ring (9) it Between.
  5. The robot 5. trunk according to claim 1 is coated lime, it is characterised in that: the left turnover panel (4) and right turnover panel (5) Outer end be equipped with the installing port (9) being in U-shape, the top and bottom of the round brush (6) are equipped with the shaft (61) of protrusion, described Round brush (6) is articulated in installing port (9) by the shaft (61).
CN201810924619.XA 2018-08-14 2018-08-14 Robot for coating lime on trunk Active CN109127259B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810924619.XA CN109127259B (en) 2018-08-14 2018-08-14 Robot for coating lime on trunk

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810924619.XA CN109127259B (en) 2018-08-14 2018-08-14 Robot for coating lime on trunk

Publications (2)

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CN109127259A true CN109127259A (en) 2019-01-04
CN109127259B CN109127259B (en) 2021-06-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115487993A (en) * 2022-09-28 2022-12-20 上海赛威德机器人有限公司 Wall-climbing roller coating robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005087909A (en) * 2003-09-18 2005-04-07 Denki Kagaku Kogyo Kk Applying tool and applying method using the same
CN205466276U (en) * 2016-03-02 2016-08-17 丰汉电子(上海)有限公司 Anti -drop mechanism of manipulator centre gripping goods
CN206028088U (en) * 2016-09-07 2017-03-22 中冶建工集团有限公司 A round brush for applying paint steel pipe
CN207104934U (en) * 2017-07-12 2018-03-16 安徽大地环保科技有限公司 A kind of manipulator for capturing tubing
CN207189696U (en) * 2017-09-14 2018-04-06 新疆大学 A kind of robotic gripping device
CN107899859A (en) * 2017-12-25 2018-04-13 郑州默尔电子信息技术有限公司 A kind of ornamental trees and shrubs with roller brush spray white device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005087909A (en) * 2003-09-18 2005-04-07 Denki Kagaku Kogyo Kk Applying tool and applying method using the same
CN205466276U (en) * 2016-03-02 2016-08-17 丰汉电子(上海)有限公司 Anti -drop mechanism of manipulator centre gripping goods
CN206028088U (en) * 2016-09-07 2017-03-22 中冶建工集团有限公司 A round brush for applying paint steel pipe
CN207104934U (en) * 2017-07-12 2018-03-16 安徽大地环保科技有限公司 A kind of manipulator for capturing tubing
CN207189696U (en) * 2017-09-14 2018-04-06 新疆大学 A kind of robotic gripping device
CN107899859A (en) * 2017-12-25 2018-04-13 郑州默尔电子信息技术有限公司 A kind of ornamental trees and shrubs with roller brush spray white device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115487993A (en) * 2022-09-28 2022-12-20 上海赛威德机器人有限公司 Wall-climbing roller coating robot

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Effective date of registration: 20210615

Address after: 276100 High-tech Electronic Industry Park, Tancheng County, Linyi City, Shandong Province

Applicant after: Shandong Xiaozhong Outdoor Fine Engineering Technology Co.,Ltd.

Address before: No. 255, 1st floor, building 1, Fengshou street, Chaoan South Road, zumiao street, Chancheng District, Foshan City, Guangdong Province

Applicant before: FOSHAN XINZHUO PAISI MACHINERY TECHNOLOGY Co.,Ltd.

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