CN109892055A - A kind of jungle cross-country spray robot and its method - Google Patents
A kind of jungle cross-country spray robot and its method Download PDFInfo
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- CN109892055A CN109892055A CN201910232702.5A CN201910232702A CN109892055A CN 109892055 A CN109892055 A CN 109892055A CN 201910232702 A CN201910232702 A CN 201910232702A CN 109892055 A CN109892055 A CN 109892055A
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- 239000007921 spray Substances 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 109
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000002347 injection Methods 0.000 claims abstract description 6
- 239000007924 injection Substances 0.000 claims abstract description 6
- 230000001105 regulatory effect Effects 0.000 claims description 40
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 9
- 238000004904 shortening Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000035939 shock Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000005507 spraying Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Abstract
The invention discloses a kind of jungle cross-countries to spray robot, including crawler-type traveling unit, is provided with tank unit on the crawler-type traveling unit, is additionally provided with water injection pipe in the tank unit；It further include water spray actuator, the water outlet of the tank unit is connect with the water spray actuator water inlet end by water system；Actuator height adjustment mechanism is also equipped on the upside of the tank unit, the water spray actuator is mounted on the actuator height adjustment mechanism；The spout certain amplitude of each high-pressure nozzle swings back and forth, and then increases its spray regime and the uniformity.
Description
Technical field
The invention belongs to robot fields.
Background technique
The equipment sprayed water in jungle, sprayed insecticide needs constantly to adjust it due to the diversified vegetation characteristics of jungle
Water spray height and spray angle, in order to have biggish projected area and the uniformity in course of injection, it is also necessary to sprayed to spray head
Certain width pendular motion is done during penetrating.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, it is uniform that the present invention provides a kind of injection, moreover it is possible to adjust
A kind of jungle cross-country spray robot and its method of jetting height.
Technical solution: to achieve the above object, a kind of jungle cross-country of the invention sprays robot, including crawler type row
Unit is walked, tank unit is provided on the crawler-type traveling unit, is additionally provided with water injection pipe in the tank unit；Further include
Water spray actuator, the water outlet of the tank unit is connect with the water spray actuator water inlet end by water system；The water
Actuator height adjustment mechanism is also equipped on the upside of box unit, the water spray actuator is mounted on the actuator height adjustment
In mechanism.
Further, roof platform is fixedly installed on the upside of the tank unit；The actuator height adjustment mechanism includes
First height regulating frame and the second height regulating frame；The lower end of first height regulating frame passes through the first articulation piece and the top
The front end of platform is hinged；The upper end of first height regulating frame and the lower end of second height regulating frame pass through the second articulation piece
Hingedly；The water spray actuator is mounted on second height regulating frame；
The water system includes water tank outlet tube, high-pressure hydraulic pump, riser, isocon, battery valve and outlet pipe；It is described
The water outlet of tank unit connects the water inlet end of the high-pressure hydraulic pump by water tank outlet tube, and the water outlet of the high-pressure hydraulic pump connects
Lead to the water inlet end of the riser, the water outlet of the riser shunts the water inlet end for being connected with two isocons；
Two battery valves are fixedly mounted on side by side respectively on second height regulating frame, the water outlet of two isocons
End is respectively communicated with the water inlet end of two battery valves；The water outlet of two battery valves be respectively communicated with two outlet pipes into
Liquid end, the water outlet of two outlet pipes are respectively communicated with the water inlet end of several high-pressure nozzles on water spray actuator；The promotion
Pipe and outlet pipe are catheter structure；
Further, the tail portion of the roof platform is fixedly installed with the first hinged seat, also solid on first height regulating frame
Dingan County is equipped with the second hinged seat；The actuator height adjustment mechanism further includes the first push rod linear motor and second straight line push rod
Linear motor；The tail end of the first push rod linear motor is articulated and connected by third articulation piece and first hinged seat；Institute
The end for stating the first straight line push rod of the first push rod linear motor passes through the 4th articulation piece articulated connection second hinged seat；Institute
The tail end for stating second straight line push rod linear motor passes through the 5th articulation piece articulated connection second hinged seat；The second straight line
The second straight line push rod end of push rod linear motor is hingedly connected to second height regulating frame by the 6th hinge member
Medium position.
Further, the water spray actuator includes the gear stand being obliquely installed, and the short end of the gear stand passes through
7th articulation piece is indirectly connected with the top of second height regulating frame；The apical position of second height regulating frame is also fixed
Lead screw motor is installed, the output end of the lead screw motor has screw rod by first shaft coupling drive connection, further include with it is described
The vertical displaced block of screw rod, perforation is provided with wire rod thread hole in the displaced block, and the screw rod transmission connects the screw rod spiral shell
Pit；The two sides of the displaced block are symmetrically fixedly connected with two guide rods；In the two sides beam body of second height regulating frame respectively
Two guide grooves are symmetrically arranged with, activity is protruded into two guide groove respectively for the end of two two guide rods, and the guide rod can be along institute
State the length direction sliding of guide groove；It further include connecting rod, the lower end of the connecting rod passes through the 8th articulation piece articulated connection displacement
The upper end of block；The upper end of the connecting rod is articulated and connected the upper end of the gear stand by the 9th articulation piece；
Left gear and right gear are rotatably equipped in the gear stand respectively, the left gear is mutually nibbled with right gear
It closes；The gear stand two sides further include symmetrical left actuating arm and right actuating arm, the left actuating arm and right actuating arm
Root be respectively fixedly connected with the left gear and right gear；The gear stand two sides further include symmetrical left connecting rod arm
With right connecting rod arm, the root of the left connecting rod arm and right connecting rod arm is hingedly connected the gear stand；The gear stand
It is also fixedly installed with gear drive motor, the gear drive motor is drivingly connected the left gear or right gear；
The gear stand two sides are also symmetrically arranged with left sprinkling seat and right sprinkling seat, the left actuating arm and left connecting rod
The end of arm is hingedly connected the both ends of the left sprinkling seat, and the end of the right actuating arm and right connecting rod arm is respectively articulated with
Connect the both ends of the right sprinkling seat；Several high-pressure nozzles, each institute are respectively arranged on the left sprinkling seat and right sprinkling seat
The spout for stating high-pressure nozzle is arranged outwardly.
Further, the crawler-type traveling unit includes traveling machine body, and the tank unit is fixed on the vehicle with walking machine
Above body；The two sides of the traveling machine body are respectively arranged with Athey wheel unit；
The Athey wheel unit includes rubber belt track；Several anti-skid bulges are provided on the outside of the rubber belt track, and each
Contour direction equidistant array of the anti-skid bulge along the rubber belt track；Along profile side in the middle part of the medial surface of the rubber belt track
There are several convex sections of engagement to equidistant array；Crawler driving whell, tensioning guide wheel, Zhi Chong are provided on the inside of the rubber belt track
Wheel, the support of thrust wheel support link, elastic dampers, damper and support sprocket wheel；The crawler driving whell and tensioning guide wheel point
Be not tensioned to the rear and front end on the inside of the rubber belt track, and crawler driving whell and tensioning guide wheel with the inside of rubber belt track
The convex section of several engagements on face is meshed；Downside of the upper section of the support sprocket wheel and the rubber belt track with, which rolls, to be connected；Four
A thrust wheel being placed equidistant with along the longitudinal direction rolls the lower section for connecting the rubber belt track with the upper side of；
Each thrust wheel is corresponding with a thrust wheel support link, the length direction of the thrust wheel support link
With ground at spending 45 angles；The upper end of the thrust wheel support link passes through the tenth articulation piece articulated connection vehicle with walking machine side
Wall, the lower end of the thrust wheel support link thrust wheel corresponding by the concentric rotation connection of shaft；The thrust wheel branch
The 11st articulation piece is fixedly installed in the middle part of supporting rod；It is hinged that the lower end of vertical elastic dampers is hinged on the described 11st
On part, the upper end articulated connection of the elastic dampers damper support, the shock-absorbing support is fixedly connected on the row
Walk the side wall of body；
Track drive motor and retarder are additionally provided in the traveling machine body, the output end of the track drive motor connects
The power intake of the retarder is connect, the power output end of the retarder is drivingly connected the crawler belt by second shaft coupling
Driving wheel.
Further, the third articulation piece is A, and the 4th articulation piece is B, and the first articulation piece is C；5th hinge
Fitting is a, and the 6th hinge member is b, and second articulation piece is c；The triangle that line between the ABC is constituted is
The triangle that line between triangle D, the abc is constituted is triangle d；Meet triangle D and triangle d congruence.
Further, a kind of method of jungle cross-country spray robot:
If desired the height for actuator of spraying water is turned down or is turned up, control while control the first push rod linear motor and second
Line handspike linear motor makes first straight line push rod do the movement of synchronous shortening or synchronous elongation with second straight line push rod, and then makes
Water spray actuator does down or up movement, realizes and the height for actuator of spraying water is turned down or is turned up, due to first straight line
Push rod is synchronous shortening or synchronous elongation, the triangle D and abc that the line between the ABC is constituted with second straight line push rod
Between the triangle d that is constituted of line still maintain the state of congruence, as long as according to its structure it is found that guaranteeing that first straight line pushes away
Bar and second straight line push rod do synchronous shorten or the movement of synchronous elongation ensures that inclining for the second height regulating frame and ground
Angle remains constant, so realize change water spray actuator height while do not change water spray actuator posture；
First freedom degree adjusting method of water spray actuator: control lead screw motor, and then screw rod is rotated, and then screw rod
Rotation drives displaced block to be displaced along screw rod, and the guide rod adaptability of the two sides of displaced block is slided in two guide grooves at the same time；Position
The movement for moving block drives gear stand to rotate along the 7th articulation piece by connecting rod, and then changes gear stand posture, Jin Ershi
Now the spout spray angle of each high-pressure nozzle is adjusted；
Second freedom degree movement technique of water spray actuator: control gear drive motor driving left gear or right gear do and are in
Gear motion periodically back and forth, and then so that the spout certain amplitude of each high-pressure nozzle is swung back and forth, and then increase its spray
Penetrate range and the uniformity.
The utility model has the advantages that structure of the invention is simple, cross-country walking unit is able to achieve and crosses over mountain after mountain；The first of the device
Line handspike is synchronous shortening or synchronous elongation, the triangle D and abc that the line between ABC is constituted with second straight line push rod
Between the triangle d that is constituted of line still maintain the state of congruence, as long as guaranteeing that first straight line push rod and second straight line push away
Bar does the synchronous movement shortened or synchronize elongation and ensures that the inclination angle on the second height regulating frame and ground remains constant,
And then do not change the posture of water spray actuator while realizing the height for changing water spray actuator；The spout of each high-pressure nozzle is done
Certain amplitude swings back and forth, and then increases its spray regime and the uniformity.
Detailed description of the invention
Attached drawing 1 is robot overall structure diagram；
Attached drawing 2 is actuator height adjustment mechanism and water spray actuator structure schematic diagram；
Attached drawing 3 is water spray actuator structure schematic diagram；
Attached drawing 4 is that attached drawing 3 conceals the schematic diagram after outlet tube；
Attached drawing 5 is the first schematic diagram of tilt adjustment of gear stand；
Attached drawing 6 is the second schematic diagram of tilt adjustment of gear stand；
Attached drawing 7 is crawler-type traveling unit front view；
Attached drawing 8 is Athey wheel cell schematics；
Attached drawing 9 is that Athey wheel unit conceals the schematic diagram of internal structure after external crawler belt；
Attached drawing 10 is the top view of crawler-type traveling unit；
Attached drawing 11 is water system structural schematic diagram.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
A kind of jungle cross-country spray robot as shown in attached drawing 1 to 11, including crawler-type traveling unit 41, the crawler belt
It is provided with tank unit 38 in formula walking unit 41, is additionally provided with water injection pipe 29 in the tank unit 38；It further include that water spray is held
Row device 26, the water outlet of the tank unit 38 are connect with 26 water inlet end of water spray actuator by water system；The water
The upside of box unit 38 is also equipped with actuator height adjustment mechanism 27, and it is high that the water spray actuator 26 is mounted on the actuator
It spends on regulating mechanism 27.
The upside of the tank unit 38 is fixedly installed with roof platform 101；The actuator height adjustment mechanism 27 includes the
One height regulating frame 66 and the second height regulating frame 73；The lower end of first height regulating frame 66 by the first articulation piece 63 with
The front end of the roof platform 101 is hinged；The lower end of the upper end of first height regulating frame 66 and second height regulating frame 73
It is hinged by the second articulation piece 71；The water spray actuator 26 is mounted on second height regulating frame 73；
The water system includes water tank outlet tube 43, high-pressure hydraulic pump 46, riser 67, isocon 74,75 and of battery valve
Outlet pipe 76；The water outlet of the tank unit 38 connects the water inlet end of the high-pressure hydraulic pump 46, institute by water tank outlet tube 43
The water outlet for stating high-pressure hydraulic pump 46 is connected to the water inlet end of the riser 67, and the water outlet of the riser 67, which shunts, is connected with two
The water inlet end of the isocon 74；
Two battery valves 75 are fixedly mounted on side by side respectively on second height regulating frame 73, two isocons 74
Water outlet be respectively communicated with the water inlet ends of two battery valves 75；The water outlet of two battery valves 75 has been respectively communicated with described in two
The liquid feeding end of outlet pipe 76, the water outlet of two outlet pipes 76 are respectively communicated with several high-pressure nozzles 79 on water spray actuator 26
Water inlet end；The riser 67 and outlet pipe 76 are catheter structure；
The tail portion of the roof platform 101 is fixedly installed with the first hinged seat 59, also fixes on first height regulating frame 66
Second hinged seat 64 is installed；The actuator height adjustment mechanism 27 further includes the first push rod linear motor 60 and second straight line
Push rod linear motor 69；The tail end of the first push rod linear motor 60 passes through third articulation piece 58 and first hinged seat 59
Articulated connection；The end of the first straight line push rod 61 of the first push rod linear motor 60 is articulated and connected by the 4th articulation piece 62
Second hinged seat 64；The tail end of the second straight line push rod linear motor 69 is articulated and connected described by the 5th articulation piece 65
Second hinged seat 64；70 end of second straight line push rod of the second straight line push rod linear motor 69 passes through the 6th hinge member 72
It is hingedly connected to the medium position of second height regulating frame 73.
The water spray actuator 26 includes the gear stand 83 being obliquely installed, and the short end of the gear stand 83 passes through the 7th
Articulation piece 078 is indirectly connected with the top of second height regulating frame 73；The apical position of second height regulating frame 73 is also
It is fixedly installed with lead screw motor 92, the output end of the lead screw motor 92 has screw rod 94 by the drive connection of first shaft coupling 93,
It further include the displaced block 90 vertical with the screw rod 94, perforation is provided with wire rod thread hole, the screw rod in the displaced block 90
The 94 transmission connection wire rod thread holes；The two sides of the displaced block 90 are symmetrically fixedly connected with two guide rods 89；Described second is high
It spends in the two sides beam body of adjusting bracket 73 and has been symmetrically arranged two guide grooves 8, activity is protruded into respectively for the end of two two guide rods 89
In two guide groove 8, and the guide rod 89 can be slided along the length direction of the guide groove 8；It further include connecting rod 91, the connecting rod 91
Lower end be articulated and connected the upper end of the displaced block 90 by the 8th articulation piece 080；The upper end of the connecting rod 91 passes through the 9th hinge
Fitting 079 is articulated and connected the upper end of the gear stand 83；
Left gear 86 and right gear 87, the left gear 86 and right gear are rotatably equipped in the gear stand 83 respectively
87 intermeshings；83 two sides of gear stand further include symmetrical left actuating arm 78 and right actuating arm 84, the left drive
The root of swing arm 78 and right actuating arm 84 is respectively fixedly connected with the left gear 86 and right gear 87；83 two sides of gear stand
It further include symmetrical left connecting rod arm 77 and right connecting rod arm 85, the root of the left connecting rod arm 77 and right connecting rod arm 85 is cut with scissors respectively
The gear stand 83 is connect in succession；The gear stand 83 is also fixedly installed with gear drive motor 82, the gear driving electricity
Machine 82 is drivingly connected the left gear 86 or right gear 87；
83 two sides of gear stand are also symmetrically arranged with left sprinkling seat 81.1 and right sprinkling seat 81.2, the left actuating arm
78 and the end of left connecting rod arm 77 be hingedly connected the both ends of the left sprinkling seat 81.1, the right actuating arm 84 and right connecting rod
The end of arm 85 is hingedly connected the both ends of the right sprinkling seat 81.2；On the left sprinkling seat 81.1 and right sprinkling seat 81.2
Several high-pressure nozzles 79 are respectively arranged with, the spout 80 of each high-pressure nozzle 79 is arranged outwardly.
The crawler-type traveling unit 41 includes traveling machine body 3, and the tank unit 38 is fixed in the traveling machine body 3
Side；The two sides of the traveling machine body 3 are respectively arranged with Athey wheel unit 2；
The Athey wheel unit 2 includes rubber belt track 12；The outside of the rubber belt track 12 is provided with several anti-skid bulges
13, and each anti-skid bulge 13 is along the equidistant array of contour direction of the rubber belt track 12；The inside of the rubber belt track 12
Middle face has several convex sections 11 of engagement along the equidistant array of contour direction；The inside of the rubber belt track 12 is provided with crawler driving whell
1, tensioning guide wheel 14, thrust wheel 9, thrust wheel support link 8, elastic dampers 4, damper support 5 and support sprocket wheel 6；It is described
Crawler driving whell 1 and tensioning guide wheel 14 are tensioned to the rear and front end of 12 inside of rubber belt track, and crawler driving whell 1 respectively
Convex section 11 is engaged with several on the medial surface of rubber belt track 12 with tensioning guide wheel 14 to be meshed；The support sprocket wheel 6 and institute
The downside for stating the upper section band 14.1 of rubber belt track 12 rolls connection；Four thrust wheels 9 being placed equidistant with along the longitudinal direction roll
Connect the upper side of the lower section band 14.2 of the rubber belt track 12；
Each thrust wheel 9 is corresponding with a thrust wheel support link 8, the length of the thrust wheel support link 8
Direction and ground are in angle of 45 degrees；The upper end of the thrust wheel support link 8 is articulated and connected the walking by the tenth articulation piece 7
3 side wall of body, the lower end of the thrust wheel support link 8 thrust wheel 9 corresponding by the concentric rotation connection of shaft；It is described
The middle part of thrust wheel support link 8 is fixedly installed with the 11st articulation piece 10；The lower end of vertical elastic dampers 4 is hinged on institute
It states on the 11st articulation piece 10, the upper end articulated connection of the elastic dampers 4 damper support 5, the shock-absorbing support 5
It is fixedly connected on the side wall of the traveling machine body 3；Track drive motor 39 and retarder are additionally provided in the traveling machine body 3
39, the output end of the track drive motor 39 connects the power intake of the retarder 39, the power of the retarder 39
Output end is drivingly connected the crawler driving whell 1 by second shaft coupling 40.
The third articulation piece 58 is A, and the 4th articulation piece 62 is B, and the first articulation piece 63 is C；Described 5th is hinged
Part 65 is a, and the 6th hinge member 72 is b, and second articulation piece 71 is c；The triangle that line between the ABC is constituted
Shape is triangle D, and the triangle that the line between the abc is constituted is triangle d；Meet triangle D and triangle d is complete
Deng.
The operating method of this programme, process and technological progress arrange:
If desired the height for actuator 26 of spraying water is turned down or is turned up, control while control 60 He of the first push rod linear motor
Second straight line push rod linear motor 69 makes first straight line push rod 61 do synchronous shortening with second straight line push rod 70 or synchronize elongation
Movement, and then water spray actuator 26 is made to do down or up movement, it realizes and the height for actuator 26 of spraying water is turned down or adjusted
Height, since first straight line push rod 61 is synchronous shortening with second straight line push rod 70 or synchronizes elongation, the line between the ABC
The triangle d that line between the triangle D and abc of composition is constituted still maintain congruence state, according to its structure it is found that
As long as guaranteeing that first straight line push rod 61 and second straight line push rod 70 do synchronous shortening or the synchronous movement extended ensures that the
Two height regulating frames 73 and the inclination angle on ground remain constant, so realize change water spray actuator 26 height while
Do not change the posture of water spray actuator 26；
First freedom degree adjusting method of water spray actuator 2: control lead screw motor 92, and then screw rod 94 is rotated, in turn
The rotation of screw rod 94 drives displaced block 90 to be displaced along screw rod 94, at the same time 89 adaptability of guide rod of the two sides of displaced block 90
Sliding in two guide grooves 8；The movement of displaced block 90 drives gear stand 83 to rotate along the 7th articulation piece 078 by connecting rod 91, in turn
Change 83 posture of gear stand, and then realizes and 80 spray angle of spout of each high-pressure nozzle 79 is adjusted；
Second freedom degree movement technique of water spray actuator 2: control gear drive motor 82 drives left gear 86 or right tooth
Wheel 87 is done in gear motion periodically back and forth, and then 80 certain amplitude of spout of each high-pressure nozzle 79 is made to swing back and forth,
And then increase its spray regime and the uniformity.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of jungle cross-country sprays robot, it is characterised in that: including crawler-type traveling unit (41), the crawler type row
It walks and is provided on unit (41) tank unit (38), be additionally provided with water injection pipe (29) on the tank unit (38)；It further include spray
Water actuator (26), the water outlet of the tank unit (38) and water spray actuator (26) water inlet end are connected by water system
It connects；It is also equipped with actuator height adjustment mechanism (27) on the upside of the tank unit (38), water spray actuator (26) peace
On the actuator height adjustment mechanism (27).
2. a kind of jungle cross-country spray robot shown according to claim 1, it is characterised in that: the tank unit (38)
Upside be fixedly installed with roof platform (101)；The actuator height adjustment mechanism (27) include the first height regulating frame (66) and
Second height regulating frame (73)；The lower end of first height regulating frame (66) passes through the first articulation piece (63) and the roof platform
(101) front end is hinged；The upper end of first height regulating frame (66) and the lower end of second height regulating frame (73) are logical
It is hinged to cross the second articulation piece (71)；The water spray actuator (26) is mounted on second height regulating frame (73)；
The water system includes water tank outlet tube (43), high-pressure hydraulic pump (46), riser (67), isocon (74), battery valve
(75) and outlet pipe (76)；The water outlet of the tank unit (38) connects the high-pressure hydraulic pump by water tank outlet tube (43)
(46) water inlet end, the water outlet of the high-pressure hydraulic pump (46) are connected to the water inlet end of the riser (67), the riser
(67) water outlet shunts the water inlet end for being connected with two isocons (74)；
Two battery valves (75) are fixedly mounted on side by side respectively on second height regulating frame (73), two isocons
(74) water outlet is respectively communicated with the water inlet end of two battery valves (75)；The water outlet of two battery valves (75) is respectively communicated with
There is the liquid feeding end of two outlet pipes (76), the water outlet of two outlet pipes (76) is respectively communicated on water spray actuator (26)
The water inlet end of several high-pressure nozzles (79)；The riser (67) and outlet pipe (76) are catheter structure.
3. a kind of jungle cross-country spray robot according to shown in claim 2, it is characterised in that: the crawler-type traveling list
First (41) include traveling machine body (3), and the tank unit (38) is fixed on above the traveling machine body (3)；The traveling machine body
(3) two sides are respectively arranged with Athey wheel unit (2)；
The Athey wheel unit (2) includes rubber belt track (12)；It is provided on the outside of the rubber belt track (12) several anti-skidding convex
It rises (13), and each anti-skid bulge (13) is along the equidistant array of contour direction of the rubber belt track (12)；The rubber belt track
(12) there are several convex sections (11) of engagement along the equidistant array of contour direction in the middle part of medial surface；It is set on the inside of the rubber belt track (12)
It is equipped with crawler driving whell (1), tensioning guide wheel (14), thrust wheel (9), thrust wheel support link (8), elastic dampers (4), subtracts
Shake device support (5) and support sprocket wheel (6)；The crawler driving whell (1) and tensioning guide wheel (14) are tensioned to the rubber respectively and carry out
Rear and front end on the inside of band (12), and the medial surface of crawler driving whell (1) and tensioning guide wheel (14) with rubber belt track (12)
On the convex section of several engagements (11) be meshed；Under the upper section band (14.1) of support sprocket wheel (6) and the rubber belt track (12)
Side rolls connection；Four thrust wheels (9) being placed equidistant with along the longitudinal direction roll the lower section for connecting the rubber belt track (12)
The upper side of band (14.2)；
Each thrust wheel (9) is corresponding with a thrust wheel support link (8), the length of the thrust wheel support link (8)
Spend direction and ground in angle of 45 degrees；The upper end of the thrust wheel support link (8) passes through the tenth articulation piece (7) articulated connection institute
State traveling machine body (3) side wall, the lower end of the thrust wheel support link (8) branch corresponding by the concentric rotation connection of shaft
Roller (9)；The 11st articulation piece (10) is fixedly installed in the middle part of the thrust wheel support link (8)；Vertical elastic shock attenuation
The lower end of device (4) is hinged on the 11st articulation piece (10), is subtracted described in the upper end articulated connection of the elastic dampers (4)
Device support (5) is shaken, the shock-absorbing support (5) is fixedly connected on the side wall of the traveling machine body (3)；
Track drive motor (39) and retarder (39), the track drive motor are additionally provided in the traveling machine body (3)
(39) output end connects the power intake of the retarder (39), and the power output end of the retarder (39) passes through second
Shaft coupling (40) is drivingly connected the crawler driving whell (1).
4. a kind of jungle cross-country spray robot according to shown in claim 3, it is characterised in that: the roof platform (101)
Tail portion is fixedly installed with the first hinged seat (59), is also fixedly installed with the second hinged seat on first height regulating frame (66)
(64)；The actuator height adjustment mechanism (27) further includes the first push rod linear motor (60) and second straight line push rod straight-line electric
Machine (69)；The tail end of the first push rod linear motor (60) is cut with scissors by third articulation piece (58) and first hinged seat (59)
It connects in succession；The end of the first straight line push rod (61) of the first push rod linear motor (60) is hinged by the 4th articulation piece (62)
Connect second hinged seat (64)；The tail end of the second straight line push rod linear motor (69) is cut with scissors by the 5th articulation piece (65)
Second hinged seat (64) is connect in succession；Second straight line push rod (70) end of the second straight line push rod linear motor (69) is logical
Cross the medium position that the 6th hinge member (72) is hingedly connected to second height regulating frame (73).
5. a kind of jungle cross-country spray robot according to shown in claim 4, it is characterised in that: the water spray actuator
It (26) include the gear stand (83) being obliquely installed, the short end of the gear stand (83) is indirect by the 7th articulation piece (078)
Connect the top of second height regulating frame (73)；The apical position of second height regulating frame (73) is also fixedly installed with
Lead screw motor (92), the output end of the lead screw motor (92) is drivingly connected by first shaft coupling (93) screw rod (94), also
Including the displaced block (90) vertical with the screw rod (94), perforation is provided with wire rod thread hole on the displaced block (90), described
Screw rod (94) the transmission connection wire rod thread hole；The two sides of the displaced block (90) are symmetrically fixedly connected with two guide rods (89)；
It has been symmetrically arranged two guide grooves (8) in the two sides beam body of second height regulating frame (73), two two guide rods (89)
Activity is protruded into two guide groove (8) respectively for end, and the guide rod (89) can be slided along the length direction of the guide groove (8)；
It further include connecting rod (91), the lower end of the connecting rod (91) passes through the 8th articulation piece (080) the articulated connection displaced block (90)
Upper end；The upper end that the upper end of the connecting rod (91) passes through the 9th articulation piece (079) the articulated connection gear stand (83)；
Left gear (86) and right gear (87), the left gear (86) and the right side are rotatably equipped in the gear stand (83) respectively
Gear (87) intermeshing；Gear stand (83) two sides further include symmetrical left actuating arm (78) and right actuating arm
(84), the root of the left actuating arm (78) and right actuating arm (84) is respectively fixedly connected with the left gear (86) and right gear
(87)；Gear stand (83) two sides further include symmetrical left connecting rod arm (77) and right connecting rod arm (85), the left company
The root of lever arm (77) and right connecting rod arm (85) is hingedly connected the gear stand (83)；The gear stand (83) is also solid
Dingan County is equipped with gear drive motor (82), and the gear drive motor (82) is drivingly connected the left gear (86) or right gear
(87)；
Gear stand (83) two sides are also symmetrically arranged with left sprinkling seat (81.1) and right sprinkling seat (81.2), the left driving
The end of arm (78) and left connecting rod arm (77) is hingedly connected the both ends of the left sprinkling seat (81.1), the right actuating arm
(84) and the end of right connecting rod arm (85) is hingedly connected the both ends of the right sprinkling seat (81.2)；The left sprinkling seat
(81.1) and on right sprinkling seat (81.2) it is respectively arranged with several high-pressure nozzles (79), the spout of each high-pressure nozzle (79)
(80) it is arranged outwardly.
6. a kind of jungle cross-country spray robot according to shown in claim 5, it is characterised in that: the third articulation piece
It (58) is A, the 4th articulation piece (62) is B, and the first articulation piece (63) is C；5th articulation piece (65) is a, described the
Six hinge members (72) are b, and second articulation piece (71) is c；The triangle that line between the ABC is constituted is triangle
The triangle that line between D, the abc is constituted is triangle d；Meet triangle D and triangle d congruence.
7. the method for a kind of jungle cross-country spray robot according to shown in claim 6, it is characterised in that:
If desired by spray water actuator (26) height turn down or be turned up, control simultaneously control the first push rod linear motor (60) and
Second straight line push rod linear motor (69) makes first straight line push rod (61) do synchronous shortening with second straight line push rod (70) or synchronize
The movement of elongation, and then water spray actuator (26) is made to do down or up movement, it realizes the height of water spray actuator (26)
Degree is turned down or is turned up, since first straight line push rod (61) is synchronous shortening or synchronous elongation, institute with second straight line push rod (70)
The state that the triangle d that the line between the triangle D and abc that the line between ABC is constituted is constituted still maintains congruence is stated,
As long as according to its structure it is found that guaranteeing that first straight line push rod (61) do synchronous shortening or synchronous elongation with second straight line push rod (70)
Movement ensure that the second height regulating frame (73) and the inclination angle on ground remain constant, and then realize change water spray
Do not change the posture of water spray actuator (26) while the height of actuator (26)；
First freedom degree adjusting method of water spray actuator (2): control lead screw motor (92), and then screw rod (94) are rotated, into
And the rotation of screw rod (94) drives displaced block (90) to be displaced along screw rod (94), the guide rod of the two sides of displaced block (90) at the same time
(89) sliding in two guide grooves (8) of adaptability；The movement of displaced block (90) drives gear stand (83) edge by connecting rod (91)
The rotation of 7th articulation piece (078), and then change gear stand (83) posture, and then realize the spout to each high-pressure nozzle (79)
(80) spray angle is adjusted；
Second freedom degree movement technique of water spray actuator (2): control gear drive motor (82) driving left gear (86) is right
Gear (87) is done in gear motion periodically back and forth, and then the spout (80) of each high-pressure nozzle (79) is made to do coming for certain amplitude
Backswing is dynamic, and then increases its spray regime and the uniformity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910232702.5A CN109892055B (en) | 2019-03-26 | 2019-03-26 | Jungle cross-country type spraying robot and method thereof |
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|---|---|---|---|
| CN201910232702.5A CN109892055B (en) | 2019-03-26 | 2019-03-26 | Jungle cross-country type spraying robot and method thereof |
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| CN109892055A true CN109892055A (en) | 2019-06-18 |
| CN109892055B CN109892055B (en) | 2023-06-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111316894A (en) * | 2020-04-08 | 2020-06-23 | 广州微景园林绿化工程有限公司 | Full-automatic watering lorry high-pressure water cannon |
| CN112470883A (en) * | 2019-09-11 | 2021-03-12 | 沈阳新松机器人自动化股份有限公司 | Portable intelligent watering car |
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| Publication number | Publication date |
|---|---|
| CN109892055B (en) | 2023-06-23 |
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