CN115445824A - Tree whitewashing robot and control method thereof - Google Patents
Tree whitewashing robot and control method thereof Download PDFInfo
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- CN115445824A CN115445824A CN202211183335.2A CN202211183335A CN115445824A CN 115445824 A CN115445824 A CN 115445824A CN 202211183335 A CN202211183335 A CN 202211183335A CN 115445824 A CN115445824 A CN 115445824A
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- Prior art keywords
- mechanical claw
- paint
- spraying
- chassis
- tree
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/40—Filters located upstream of the spraying outlets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C1/00—Apparatus 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
- B05C1/04—Apparatus 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 work of indefinite length
- B05C1/06—Apparatus 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 work of indefinite length by rubbing contact, e.g. by brushes, by pads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
Abstract
The invention discloses a tree whitewashing robot mechanism and an operation method thereof. All the mechanisms are arranged on the chassis and driven by the driving mechanism. The beneficial technical effects are as follows: the tree whitening robot mechanism adopts the hydraulic lifting mechanism to be matched with the encircling mechanical claw, has the characteristic of high whitening efficiency, has two structures of a nozzle and a brush head, can improve the adhesiveness of a whitening agent, considers the large-area bark surface and the small-area bark gap, and has better whitening effect; the self-balancing paint tank mechanism is adopted to store and transmit the paint, so that the vibration of the paint tank in the advancing process can be effectively reduced, and the operating performance of the machine is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a tree whitewashing robot and a control method thereof.
Background
The tree whitening treatment is one of the indispensable tasks of garden workers before winter comes, and the tree whitening effect comprises sterilization, prevention of bacterial infection and acceleration of healing of tree wounds to a certain extent; can kill the dormant Chong warm and moth in the bark of the dead tree; prevent the frost damage of trees, delay the sprouting and flowering period of fruit trees and prevent the frost damage in early spring; the novel road is convenient to walk at night, the road can be seen more clearly and beautified, and a neat and uniform feeling is brought to people.
At present, the domestic tree trunk whitewashing machines are few in types, the existing whitewashing machines are large in size, and are inconvenient to carry by workers in the using process, the labor intensity of the workers is increased, the working efficiency of the workers is reduced, and then the trees are whitewashed by matching a paint bucket, so that the labor intensity of the workers is further increased, the white-washing machines are not suitable for being used on complex terrains, and the existing whitewashing machines are still manual.
The manual whitening process can cause irritation and influence on the skin and respiratory tract of the human body. It also causes pollution to the air and soil. In the manual brushing process, workers dip the whitewashing agent in the brush to brush the trunk surface of the tree, so that the labor intensity of the workers is high and the efficiency is low; the whitening agent has certain irritation to human skin, and is easy to cause discomfort of workers after long-time operation; the painting is not uniform enough, the effect of the whitewashing treatment is influenced, and the appearance is attractive, so that the design of the intelligent whitewashing machine which is uniform in spraying, rapid in whitewashing, strong in terrain adaptability, high in automation degree and convenient and fast to use is very important.
Automatic trees whitewash machine because it adopts the automatic shower nozzle that opens and shuts of environmental protection formula, carries out the mode of spraying through hydraulic pressure elevating gear, has possessed high automation for whitewash required manpower volume and reduce by a wide margin, whitewash efficiency simultaneously and show the promotion, can realize the demand that the whitewash of large tracts of land trees. In addition, the coating can be saved to the maximum extent by a spraying mode combining the spray head and the brush, so that the pollution to the environment is reduced, and the cost is saved. In addition, the crawler-type movable chassis is adopted, so that the automatic tree whitewashing machine has stronger terrain adaptability compared with the existing whitewashing machine, the application range is further improved, and the automatic tree whitewashing machine has wide application prospect based on the advantages.
Disclosure of Invention
The invention aims to make up for the defects of the existing structure and provides a tree whitewashing robot mechanism and an operation method thereof.
The invention is realized by the following technical scheme:
a tree whitewashing robot comprises a chassis 1, a self-balancing paint tank mechanism 2, a lifting mechanism 3, a parallel open-close type spraying mechanical claw (4) and a driving mechanism 5, wherein the self-balancing paint tank mechanism is arranged on the chassis; wherein: a self-balancing type coating tank mechanism 2, a lifting mechanism 3 and a driving mechanism 5 are respectively arranged on the chassis 1; a parallel open-close type spraying mechanical claw (4) is arranged on the lifting mechanism 3; the chassis 1 is used for moving to the position near the trees needing to be whitewashed; the self-balancing paint tank mechanism 2 stores paint for whitewashing; the lifting mechanism 3 is used for lifting or descending the parallel open-close type spraying mechanical claw (4) connected with the lifting mechanism along the vertical direction; the row open-close type spraying and brushing mechanical claw 4 is responsible for whitewashing the trees; the driving mechanism 5 is responsible for providing power for the chassis 1 to walk, the lifting mechanism 3 to lift and the parallel open-close type spraying mechanical claw (4) to open and close.
Further, the chassis 1 consists of a U-shaped bottom plate 11 and a crawler-type travelling mechanism 12; each crawler type traveling mechanism 12 comprises a main driving wheel 121, a guide wheel 122, a supporting pulley 123 and a crawler 124; a crawler 124 between the main driving wheel 121, the guide wheel 122, and the idler wheel 123; the crawler belt 124 surrounds the main driving wheel 121, the guide wheel 122 and the supporting roller 123, and is driven by the main driving wheel 121; in addition, each crawler type traveling mechanism 12 further includes a plurality of (more than two sets of) bogie wheels 125, springs 1251, and suspensions 1252; the suspension 1252 has one end fixed to the base plate 11 and the other end connected to the bogie wheel 125. The chassis realized by the structure ensures the cross-country capability of the robot in the traveling process, improves the stability of the device and reduces the vibration between the connections.
Further, the self-balancing paint tank mechanism 2 is composed of a paint tank 21, a stirring device 22 and a self-balancing device 23; wherein, the inner wall of the paint tank 21 is connected with a stirring device 22; the outer wall of the paint tank 21 is connected with a self-balancing device 23; the stirring device 22 and the self-balancing device 23 are respectively connected with the driving mechanism 5.
Further, the paint tank 21 is formed of a paint tank body 211 and a seal cover 212, and is cylindrical; the driving mechanism 5 includes an upper agitation motor 541; the upper stirring motor 541 is disposed on the sealing cover 212; the stirring device 22 comprises a stainless steel fan blade 221; the upper stirring motor 541 is connected with the stainless steel fan blade 221 and drives the stainless steel fan blade 221 to rotate; further, the stainless steel fan blade 221 is disposed inside the paint tank 211;
furthermore, a filter screen 223 is arranged outside the stainless steel fan blade 221; the upper edge of the filter screen 223 is movably connected to the paint tank body 211;
further, the driving mechanism 5 further includes a lower stirring motor 542; a lower stirring motor 542 is also provided on the sealing cap 212; the stirring device 22 further comprises a stainless steel spiral stirring blade 222; the lower stirring motor 542 is connected with the stainless steel spiral stirring fan blade 222 and drives the stainless steel spiral stirring fan blade 222 to rotate; further, the stainless steel helical stirring fan blades 222 are arranged in the paint tank 211;
when in use, white paint is poured into the paint tank body 211 through the filter screen 223, the rotation directions of the stainless steel fan blade 221 and the stainless steel spiral stirring fan blade 222 are the same or opposite, uniform stirring is ensured, and the white paint is not hung on the filter screen 223 and the paint tank body 211;
further, the upper stirring motor 541 and the stainless steel fan blade 221 are movably connected together by a hollow circular tube; the lower stirring motor 542 is movably connected with the stainless steel spiral stirring fan blades 222 through a shaft; the shaft is collinear with the circular tube; the bottom of the filter screen 223 is provided with a hole; the shaft passes through the hole and extends below the filter mesh 223; the stainless steel fan blade 221 is located above the filter screen 223.
Further, in conjunction with fig. 10. Stainless steel flabellum 221 is located cube filter screen 223 center, and filter screen 223 filters the large granule material that wherein does not stir, avoids it to block up the discharging pipe. Better stirring of the coating and filtration is achieved overall.
Further, the self-balancing paint can mechanism 2 includes a self-balancing device 23; the self-balancing device 23 is composed of an upper balancing ring 231, a lower balancing ring 232, a balancing ring upper retainer 233, a balancing ring lower retainer 234, a balancing ring bearing 235 and a moving wheel 236; wherein the content of the first and second substances,
holes are reserved on two sides of the upper retainer 233 of the balance ring and used for placing the bearings 235 of the balance ring, shafts on two sides of the upper balance ring 231 are in transition fit with the bearings 235 of the balance ring, the bearings 235 of the balance ring are in interference fit with the holes of the upper retainer 233 of the balance ring, so that the positions of the bearings are kept fixed, and the bearings 235 of the balance ring are well aligned with the holes; the bottom of the upper retainer 233 of the balancing ring is connected with the chassis 1 in a welding mode, so that the position of the upper retainer is fixed, and the freedom degree of the paint tank 21 is limited; the shafts on both sides of the lower balance ring 232 are also in transition fit with the moving wheel 236, the moving wheel 236 is placed on the arc-shaped track of the balance ring lower holder 234, and the violent vibration of the paint tank 21 is avoided under the action of the moving wheel 236 and the balance ring lower holder 234; the upper retainer 233 of the balance ring is connected with the bottom plate 11 by bolts, and two sides of the upper retainer are symmetrical relative to the axis of the chassis 1; when the whitewashing robot moves, the upper part of the paint tank 21 can keep the rotational freedom degree of x, and the lower part can ensure the translational freedom degree of z through the moving wheel 236, so that the shaking of the paint tank 21 in the process of moving tends to be smooth, and further, the self-balancing function is realized.
Furthermore, the front end of the lifting structure (3) is connected with a parallel open-close type spraying mechanical claw mechanism 4, and the bottom of the lifting structure is fixed at the front part of the chassis 1 through screws; the lifting structure (3) consists of a lifting outer frame 31, a hydraulic cylinder 32, a hydraulic rod 33, a sliding guide rail 34 and a roller 35;
the lifting outer frame 31 is a rectangular structure, and a metal plate 311 is additionally arranged in the middle of the lifting outer frame 31 to enhance the stability of the lifting outer frame 31; the bottom of the lifting outer frame 31 is fixedly connected to the chassis 1 to ensure the stable lifting process;
a sliding guide rail 34, a hydraulic cylinder 32 and a roller 35 are arranged on the lifting outer frame 31; wherein, the lifting outer frame 31 and the hydraulic cylinder 32 are fixed together by adopting a bolt connection mode; the rollers 35 are embedded in the slide rail 34.
Furthermore, the hydraulic cylinder 32 is composed of a cylinder barrel 321, a cylinder cover 322, a piston 323 and a sealing device 324; the hydraulic rod 33 can reciprocate up and down along the lifting outer frame 31 when moving through the hydraulic cylinder 32; one end of the hydraulic rod 33 is connected with the open-close type spraying mechanical claw mechanism 4. The lifting mechanism 3 realized by the structure can ensure the stability of up-and-down spraying to the maximum extent.
Further, the open-close type spraying mechanical claw mechanism 4 comprises a supporting piece 41, a guide rail 42, a screw rod 43, a mechanical claw 44, a raw material hose 45, a raw material nozzle 46, a raw material brush head 47, a diluted paint hose 48 and a diluted paint spray head 49;
the supporting member 41 is provided with an opening which is matched with the cross bar 411, and the cross bar 411 drives the supporting member 41 to realize reciprocating motion; the cross bar 411 is matched with a hole at the telescopic end head of the hydraulic rod 33 to realize the connection of the support piece 41 and the hydraulic rod 33; the supporting part 41 is connected with the hydraulic rod 33 through a cross bar 411, and two ends of the cross bar 411 are connected with rollers 35 embedded in the sliding guide rails 34 of the lifting mechanism 3;
the horizontal bar 411 is connected with the lifting mechanism 3; further, both ends of the bar 411 are respectively connected to rollers 35 embedded in the slide rails 34 of the lifting mechanism 3;
the guide rail 42 is welded with the support piece 41, so that the guide rail 42 can move longitudinally under the driving of the lifting mechanism 3; the guide rail 42 is horizontally arranged, and one end of the guide rail 42 in the length direction is fixedly connected with a motor 531; a rotating shaft of the motor 531 is connected with one end of the screw rod 43; the other end of the screw rod 43 is movably connected with the other end of the guide rail 42; the motor 531 belongs to the driving mechanism 5;
a pair of mechanical claws 44 are provided on the guide rail 42 and the lead screw 43; the lead screw 43 is driven by the motor 531 to rotate to drive the mechanical claw 44 to open and close;
the mechanical claws 44 are all semicircular, and the inner sides of the mechanical claws 44 are all provided with groove structures;
a raw material hose 45 is arranged along the groove of the mechanical claw 44; more than 2 groups of raw material nozzles 46 and raw material brush heads 47 are arranged on the tube body of the raw material hose 45 adjacent to the mechanical claw 44; the end of the stock hose 45 remote from the gripper 44 is connected to the self-balancing paint can mechanism 2. Further, the end of the raw material hose 45 remote from the gripper 44 extends into the paint tank 21; the end of the material hose 45 near the gripper 44 is closed; when the spraying machine is used, the hydraulic rod 32 pushes the hydraulic rod 33 to slide, so that the support 41 is pushed to drive the mechanical claw 44 to move up and down, and then a tree trunk is sprayed in an all-directional manner.
Further, 1 to 4 groove structures are additionally arranged on the inner side of the mechanical claw 44; a dilute paint hose 48 is provided in each groove; more than 2 groups of diluted paint spray heads 49 are arranged on the tube body of the diluted paint hose 48 adjacent to the mechanical claw 44; the end of the dilute paint hose 48 remote from the gripper 44 is connected to the water tank 6, the self balancing paint can mechanism 2. Further, the end portions of the dilute paint hose 48 remote from the gripper 44 communicate with the paint tank 21, the pressure pump 552, and/or the water tank 6, respectively; the end of the dilute paint hose 48 near the gripper 44 is closed; in use, if the dilute paint hose 48 is only connected to the pressure pump 552 and the water tank 6, according to the water pressure provided by the pressure pump 552, the following are provided: wetting the surface of the trunk to be whitewashed, improving the adhesion effect of the coating in the spraying process, flushing and removing rotten and old bark on the trunk to be whitewashed, or/and pre-coating the surface of the trunk to be whitewashed with a layer of pigment to promote the stability of the later-period overall coating.
The spraying mechanism realized by the structure can ensure the uniformity of white coating, and the diluted coating wetting spraying process is arranged to improve the adhesiveness of the coating in the white coating process; the surrounding type structure improves the whitewashing efficiency and reduces the operation difficulty.
The preferred scheme is as follows: the inner side of the mechanical claw 44 is additionally provided with 2 groove structures which are positioned at two sides or the same side of the original groove;
further, the driving mechanism 5 includes a power providing module 51, a chassis moving module 52, a spraying module 53, a stirring module 54, and a paint transferring module 55;
furthermore, the power supply device 51 takes electric energy as working power, the power output is mainly 24v, the 320mA lithium battery 511 (with a bare weight of 28kg and a power storage of 7.5 degrees) is moved, is tightly fixed with the bottom plate 11 and is arranged at the rear part of the chassis 1, and can provide a balance weight to prevent the chassis from tipping over during walking; in the spraying process, when the parallel open-close type spraying mechanical claw mechanism 4 moves upwards for spraying, the stability of the overall pose of the whitewashing machine is kept; the lithium battery 211 provides the work of a vacuum pump 551 of a crawler left wheel motor 521 and a crawler right wheel motor 522 for driving the chassis to move, the rotation of an upper stirring motor 541 and a lower stirring motor 542 for 12v, and controls the electric energy of a motor 531 for controlling the mechanical claw 44 to open and close in parallel;
the chassis moving module 52 is supplied with a 24v permanent magnet direct current brushless motor unit x by the power supply device 51 to drive a track left wheel motor 521 and a track right wheel motor 522 to drive the two main driving wheels 121 to rotate, so that the white coating machine moves, and the steering function is realized through the differential speed of the left motor and the right motor;
the spraying module 53 drives a pair of positive and negative screw rods positioned at the tail end of the mechanical claw 44 to horizontally move, the motor 531 is arranged on one side of the guide rail 42 and fixed through four positioning screws, the rotating shaft of the motor 531 drives the horizontal screw rod 43 to rotate, and the mechanical claw 44 is rapidly opened and closed through positive rotation and negative rotation;
the stirring module 54 drives the upper and lower speed-reducing stirring motors of the coating tank 21 to work, wherein the upper stirring motor 541 drives the stainless steel fan blade 221 at the center of the coating tank to rotate, and the lower stirring motor 542 drives the stainless steel spiral stirring fan blade 222 surrounding the wall of the coating tank, so that the double motors can work simultaneously, the inner fan blade and the outer fan blade rotate in opposite directions, and the deposition and blockage of the coating are avoided to the maximum extent;
the coating transmission module 55 drives a vacuum pump 551 arranged on a platform in front of the chassis 1, air is discharged out of the pump by utilizing the change of volume generated by rotation in the pump cavity by utilizing an eccentric rotor, mainly in the air suction process, the volume of the air suction cavity is increased, the vacuum degree is reduced, the air in a container is sucked into the pump cavity, the volume is reduced and the pressure is increased in the air discharge process, and finally the sucked air is discharged out of the pump through an oil seal; the paint in the paint tank 21 is extracted, the paint outlet at the bottom of the paint tank 21 is connected with 1 port of a vacuum pump 551 through a hose, the feeding port of a spraying hose 45 is connected with 2 ports of the vacuum pump 551 through a hose, so that the paint in the paint tank 21 is conveyed into the paint hose 45, and the vacuum negative pressure pump 551 can realize multi-stage water pressure regulation, so that the range and the speed of spraying the paint by a nozzle 46 are controlled.
The control method of the tree whitewashing robot provided by the invention comprises the following steps:
(1) the chassis is controlled by a remote controller and moves to send the robot to the front of the tree to be whitewashed;
(2) adjusting a lifting mechanism, and placing the parallel open-close type spraying mechanical claw mechanism to a specified whitewashing height;
(3) adjusting the parallel open-close type spraying mechanical claw mechanism to the diameter of the tree;
(4) the coating transmission module provides power to transmit the coating from the coating tank to a spraying hose in the mechanical claw and then drives the spraying module to realize the vertical reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw;
(5) after the spraying and brushing are finished, the mechanical claw is opened, the chassis is started, and the robot is moved to the next tree to be whitewashed.
The second control method of the tree whitening robot provided by the invention comprises the following steps:
(1) the chassis is controlled by a remote controller, and the chassis moves to convey the robot to the front of the tree to be whitewashed;
(2) adjusting a lifting mechanism, and placing the parallel open-close type spraying mechanical claw mechanism to a specified whitewashing height;
(3) adjusting the parallel open-close type spraying mechanical claw mechanism to the diameter of the tree;
(4) judging the skin adhesion condition of the tree to be whitewashed:
if the tree bark is rotten and falls off by hand, entering the step 5;
if the bark is new and compact, entering the step 6;
(5) the paint transmission module provides power, sucks water out of the water bucket through a diluted paint hose 48, transmits the water to a diluted paint spray nozzle 49 in the mechanical claw, and sprays the water towards the trunk rapidly; meanwhile, the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw; further washing the rotten and easy-to-fall old leather;
then the water and the paint are respectively transferred to a diluted paint spray head 49 in the mechanical claw from a water bucket and a paint tank and are slowly sprayed out towards the trunk; meanwhile, the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw; ensuring that the surface of the trunk is pre-coated with a thin layer of coating;
then entering step 6;
(6) judging the temperature condition of the area to be whitewashed:
if the humidity is high, the coating transmission module provides power to directly transmit the coating from the coating tank to a spraying hose in the mechanical claw, and then the spraying module is driven to realize the vertical reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw;
if the temperature is 15 ℃ lower, the paint is viscous, and water and the paint are required to be respectively conveyed to a diluted paint spray head 49 in the mechanical claw from a water barrel and a paint tank, and the paint is conveyed to a raw material spray nozzle 46 in the mechanical claw from the paint tank through a raw material hose 45 to be sprayed to the tree trunk together; meanwhile, the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw; ensuring that the surface of the trunk is covered with a layer of coating, and going to step 7;
if the humidity is higher than 15 ℃, directly conveying the coating from the coating tank to a raw material nozzle 46 in the mechanical claw, and spraying the coating to the tree trunk; meanwhile, the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw; ensuring that the surface of the trunk is covered with a layer of coating, and entering the step 7;
(7) after the spraying and brushing are finished, the mechanical claw is opened, the chassis is started, and the robot is moved to the next tree to be whitewashed.
The invention has the advantages that:
1. the parallel open-close type painting mechanical claw structure is adopted for whitewashing, and the parallel open-close type painting mechanical claw structure is suitable for whitewashing operation of trees with different diameters; the diluted paint hoses are arranged at the upper and lower positions of the raw material hose to wet the surface of the bark, so that the adhesiveness of the whitening agent can be improved; the spraying mode of combining the spray head and the brush head can meet the whitening of bark gaps; the surrounding structure increases the primary white coating area and improves the operation efficiency;
2. the innovative design of the self-balancing paint tank structure keeps the translational degree of freedom of the paint tank z and reduces the vibration of the paint tank.
3. The coating tank is internally provided with a filter screen for filtering large granular substances which are difficult to stir in the coating, and the substances are prevented from blocking a hose or a spray head.
4. The crawler-type chassis improves the cross-country ability of the machine, makes the adaptability to different terrains stronger, guarantees to scribble white robot and avoids producing acutely because of the uneven topography and rocking and then influence the spraying process in the course of the work.
Drawings
FIG. 1 is a perspective view of the integrated mechanism of the present invention;
FIG. 2 is a cross-sectional view of the integrated mechanism of the present invention;
FIG. 3 is a schematic perspective view of the chassis of FIG. 1;
FIG. 4 is a schematic perspective view of the lift mechanism of FIG. 1;
FIG. 5 is a schematic perspective view of the parallel opening and closing spray robot gripper mechanism of FIG. 1;
FIG. 6 is a cross-sectional view of the guide rail of FIG. 5
FIG. 7 is a cross-sectional view of the nozzle of FIG. 5
FIG. 8 is a schematic perspective view of the self-balancing paint canister mechanism of FIG. 1;
FIG. 9 is a general assembly view of the self-balancing paint can mechanism of FIG. 1;
FIG. 10 is a cross-sectional view of the paint can of FIG. 8
FIG. 11 is an overall view of FIG. 1
The self-balancing type paint tank mechanism 2, the paint tank 21, the stirring device 22, the self-balancing device 23, the water tank 6, the paint tank body 211, the sealing cover 212, the stainless steel fan blade 221, the stainless steel spiral stirring fan blade 222, the filter screen 223, the upper balance ring 231, the lower balance ring 232, the upper balance ring retainer 233, the lower balance ring retainer 234, the balance ring bearing 235, the moving wheel 236
A parallel open-close type spraying mechanical claw mechanism 4, a supporting piece 41, a guide rail 42, a screw rod 43, a mechanical claw 44, a raw material hose 45, a raw material nozzle 46, a raw material brush head 47, a diluted paint hose 48, a diluted paint spray head 49 and a cross bar 411
The device comprises a driving mechanism 5, a power supply module 51, a chassis moving module 52, a spraying module 53, a stirring module 54, a paint conveying module 55, a lithium battery 511, a crawler left wheel motor 521, a crawler right wheel motor 522, a motor 531, an upper stirring motor 541, a lower stirring motor 542, a vacuum pump 551 and a pressure pump 552
Detailed Description
Referring to fig. 1, a robot structure for whitening trees comprises a chassis 1, a self-balancing paint tank mechanism 2, a lifting mechanism 3, a parallel open-close type spraying mechanical claw (4), a driving mechanism 5 and a water storage tank 6.
Referring to fig. 3, the chassis 1 is composed of a U-shaped bottom plate 11 and two symmetrical crawler-type traveling mechanisms 12 on two sides of the bottom plate. Each crawler travel mechanism 12 includes a main drive wheel 121, a leading wheel 122 and a idler wheel 123 paired with the drive wheel, and a crawler 124 driven to travel by the paired drive wheel 121 and leading wheel 122. Each crawler-type traveling mechanism 12 further comprises a plurality of bogie wheels 125, a plurality of springs 1251 and suspensions 1252 corresponding to the plurality of bogie wheels; one end of the suspension 1252 is fixed to a corresponding side of the base plate 11 and the other end of the suspension 1252 mounts a corresponding bogie wheel 125.
The chassis realized by the structure ensures the cross-country capability of the robot in the traveling process, improves the stability of the device and reduces the vibration between the connections.
Referring to fig. 8, the self-balancing paint tank mechanism is composed of a paint tank 21, a stirring device 22, and a self-balancing device 23.
Referring to fig. 9, the paint can 21 is formed of a paint can 211 and a seal cap 212, and has a cylindrical structure. In which the stirring device 22 and the paint are placed in the inner space. The outside is connected with the driving mechanism 5 and the self-balancing device 23.
Referring to fig. 10, the stirring device further comprises an upper stirring motor 541, a lower stirring motor 542, a stainless steel blade 221, a stainless steel helical stirring blade 222, and a filter screen 223. Stainless steel flabellum 221 is located cube filter screen 223 center, goes up agitator motor 541 and drives the rotation of stainless steel flabellum 221 and make the coating mix and stir, and filter screen 223 filters the large granule material that wherein does not stir and open, avoids it to block up the discharging pipe. The stainless steel spiral stirring fan blades 222 play a role in assisting stirring under the action of the lower stirring motor 542, so that the coating is prevented from being adhered to the wall of the tank. Overall, better stirring of the coating and a better filtering action are achieved.
Further, the self-balancing device 23 is composed of an upper balance ring 231, a lower balance ring 232, a balance ring upper holder 233, a balance ring lower holder 234, a balance ring bearing 235, and a moving wheel 236. Holes are reserved on two sides of the upper retainer 233 of the balance ring and used for placing the bearing 235 of the balance ring, the shaft on two sides of the upper retainer 231 of the balance ring is in transition fit with the bearing 235 of the balance ring, the bearing 235 of the balance ring is in interference fit with the hole of the upper retainer 233 of the balance ring, the position of the bearing is kept fixed, and the balance ring bearing 235 and the hole are well aligned. The bottom of the upper retainer 233 of the balance ring is connected to the chassis 1 by welding, so that the position of the upper retainer is fixed, thereby limiting the degree of freedom of the paint can 21. The shafts on both sides of the lower balance ring 232 are also in transition fit with the moving wheel 236, and the moving wheel 236 is placed on the arc-shaped track of the balance ring lower holder 234, so that the violent vibration of the paint tank 21 is avoided under the action of the moving wheel 236 and the balance ring lower holder 234. The upper retainer 233 of the balancing ring is connected with the bottom plate 11 by bolts, and the two sides of the upper retainer are symmetrical about the axis of the chassis 1. When the painting robot moves, the upper part of the paint tank 21 can keep the rotational degree of freedom of x, and the lower part can ensure the translational degree of freedom of z through the movable wheel 236, so that the shaking of the paint tank 21 in the process of moving tends to be smooth, and further, the self-balancing function is realized.
Referring to fig. 4, the lifting structure (3) is composed of a lifting outer frame 31, a hydraulic cylinder 32, a hydraulic rod 33, a sliding guide 34 and a roller 35. The front end of the lifting structure (3) is connected with a parallel open-close type spraying mechanical claw mechanism 4, and the bottom of the lifting structure is fixed on the front part of the chassis 1 through screws.
Furthermore, the lifting frame 31 is a rectangular structure, and a metal plate 311 is additionally installed in the middle to enhance the stability of the lifting frame 31. The bottom is fixed on the chassis 1 by adopting a plurality of bolts to ensure that the lifting process is carried out stably, and the lifting outer frame is used for assembling a sliding guide rail 34, a hydraulic cylinder 32 and a roller 35. The lifting outer frame 31 and the hydraulic cylinder 32 are connected by bolts, wherein the hydraulic cylinder 32 is composed of a cylinder barrel 321, a cylinder cover 322, a piston 323 and a sealing device 324, so that the hydraulic rod 33 can reciprocate up and down along the lifting outer frame 3 when moving. Wherein, one end of the hydraulic rod 33 is connected with the parallel open-close type spraying mechanical claw mechanism 4.
The lifting mechanism 3 realized by the structure can ensure the stability of up-and-down spraying to the maximum extent.
Referring to fig. 5, the parallel open-close type spray painting mechanical claw mechanism 4 includes a support member 41, a guide rail 42, a screw 43, a mechanical claw 44, a raw material hose 45, a raw material nozzle 46, a raw material brush head 47, a diluted paint hose 48, and a diluted paint spray head 49.
With reference to fig. 6 and 7, further, the supporting member 41 is connected to the hydraulic rod 33 through a cross bar 411, and both ends of the cross bar 411 are connected to rollers 35 embedded in the sliding guide rails 34 of the lifting mechanism 3; the guide rail 42 is transversely arranged at the middle position of the support member 41 and is connected with the support member 41 through bolts; the mechanical claw 44 has a certain thickness and a groove structure for placing the main body of the raw material hose 45 and the main body of the diluted coating hose 48, one section of the mechanical claw 44 is connected to the screw rod 43, and the screw rod 43 is driven by the motor 531 to control the mechanical claw 44 to open and close; the hydraulic rod 32 pushes the hydraulic rod 33 to slide, so that the support 41 is pushed to drive the mechanical claw 44 to move up and down, and then the tree trunk is sprayed in an all-directional manner. The raw material hose 45 is used for conveying the paint in the paint tank 21, and the diluted paint hose 48 is connected to the water tank 6 and the paint tank 21 by the pressure pump 552, so that the paint in the paint tank 21 is diluted to wet the bark, thereby improving the adhesion of the paint during the spraying process.
The spraying mechanism realized by the structure can ensure the uniformity of white coating, and the diluted coating wetting spraying process is arranged to improve the adhesiveness of the coating in the white coating process; the surrounding type structure improves the whitewashing efficiency and reduces the operation difficulty.
Referring to fig. 1, the driving mechanism 5 includes a power supply module 51, a chassis moving module 52, a spraying module 53, a stirring module 54, and a paint transferring module 55.
Furthermore, the power supply device 51 uses electric energy as working power, the power output is mainly 24v, and the 320mA lithium battery 511 (with a bare weight of 28kg and a stored power of 7.5 degrees) is tightly fixed with the bottom plate 11 and is arranged at the rear part of the chassis 1, so that a counterweight can be provided to prevent the chassis from tipping over during walking. In the spraying process, when the parallel open-close type spraying mechanical claw mechanism 4 moves upwards for spraying, the stability of the overall pose of the whitewashing machine is kept. The lithium battery 211 provides electric energy for the operation of a vacuum pump 551 of a crawler left wheel motor 521 and a crawler right wheel motor 522 for driving the chassis to move, the rotation of an upper stirring motor 541 and a lower stirring motor 542, and a motor 531 for controlling the parallel opening and closing of the mechanical claw 44.
Further, the chassis moving module 52 is supplied with 24v permanent magnet dc brushless motor unit x from the power supply device 51 to drive the track left wheel motor 521 and the track right wheel motor 522, so as to drive the two main driving wheels 121 to rotate, thereby implementing the movement of the white painting machine, and implementing the steering function through the differential speed of the left and right motors.
Further, the spraying module 53 drives a pair of positive and negative screw rods located at the tail end of the gripper 44 to move horizontally, the motor 531 is arranged on one side of the guide rail 42 and fixed through four positioning screws, the rotating shaft of the motor 531 drives the horizontal screw rod 43 to rotate, and the gripper 44 is rapidly opened and closed through positive rotation and negative rotation.
Further, the stirring module 54 drives the upper and lower deceleration stirring motors of the paint tank 21 to operate, wherein the upper stirring motor 541 drives the stainless steel fan 221 at the center of the paint tank to rotate, and the lower stirring motor 542 drives the stainless steel helical stirring fan 222 surrounding the wall of the paint tank, so that the two motors can operate simultaneously, the inner fan and the outer fan rotate in opposite directions, and the deposition and blockage of the paint can be avoided to the greatest extent.
Further, the paint transfer module 55 drives a vacuum pump 551 disposed on a platform in front of the chassis 1, and the eccentric rotor is used to form a volume change in the pump cavity by rotation to discharge air out of the pump. The paint in the paint tank 21 is extracted, the paint outlet at the bottom of the paint tank 21 is connected with 1 port of a vacuum pump 551 through a hose, the feeding port of a spraying hose 45 is connected with 2 ports of the vacuum pump 551 through a hose, so that the paint in the paint tank 21 is conveyed into the paint hose 45, and the vacuum negative pressure pump 551 can realize multi-stage water pressure regulation, so that the range and the speed of spraying the paint by a nozzle 46 are controlled.
Claims (10)
1. A tree whitewashing robot comprises a chassis (1), and is characterized by further comprising a self-balancing paint tank mechanism (2), a lifting mechanism (3), a parallel open-close type spraying mechanical claw (4) and a driving mechanism (5); wherein:
a self-balancing paint tank mechanism (2), a lifting mechanism (3) and a driving mechanism (5) are respectively arranged on the chassis (1); a parallel open-close type spraying mechanical claw (4) is arranged on the lifting mechanism (3);
the chassis (1) is used for moving to the position near the trees needing to be whitewashed;
the self-balancing type paint tank mechanism (2) stores paint for whitewashing;
the lifting mechanism (3) is used for lifting or descending the parallel open-close type spraying mechanical claw (4) connected with the lifting mechanism along the vertical direction;
the row open-close type spraying and brushing mechanical claw 4 is responsible for whitewashing the trees;
the driving mechanism (5) is responsible for providing power for the chassis (1) to walk, the lifting mechanism (3) to lift and the parallel open-close type spraying mechanical claw (4) to open and close.
2. A tree whitening robot as claimed in claim 1, characterized in that the chassis (1) consists of a U-shaped base plate (11) and a crawler-type running gear (12);
each crawler-type travelling mechanism (12) comprises a main driving wheel (121), a guide wheel (122), a supporting belt wheel (123) and a crawler (124); a crawler belt (124) is arranged among the main driving wheel (121), the guide wheel (122) and the supporting wheel (123)
The crawler belt (124) surrounds the main driving wheel (121), the guide wheel (122) and the supporting wheel (123) and is driven by the main driving wheel (121);
in addition, each crawler-type travelling mechanism (12) also comprises a plurality of loading wheels (125), springs (1251) and suspensions (1252); one end of the suspension (1252) is fixed on the bottom plate 11, and the other end thereof is connected with the loading wheel (125).
The chassis realized by the structure ensures the cross-country capability of the robot in the traveling process, improves the stability of the device and reduces the vibration between the connections.
3. The tree whitewashing robot as claimed in claim 1, characterized in that the self-balancing paint tank mechanism 2 is composed of a paint tank (21), a stirring device (22) and a self-balancing device (23); wherein, the inner wall of the paint tank (21) is connected with a stirring device (22); the outer wall of the paint tank (21) is connected with a self-balancing device (23); the stirring device (22) and the self-balancing device (23) are respectively connected with the driving mechanism (5).
Stainless steel flabellum (221) are located cube filter screen (223) center, and filter screen (223) are filtered the large particulate matter that wherein does not stir and open, avoid it to block up the discharging pipe. Better stirring of the coating and filtration is achieved overall.
4. A tree whitening robot as claimed in any one of claims 1 or 3, characterized in that the self-balancing paint can mechanism 2 comprises a self-balancing device (23); the self-balancing device (23) is composed of an upper balancing ring (231), a lower balancing ring (232), a balancing ring upper retainer (233), a balancing ring lower retainer (234), a balancing ring bearing (235) and a moving wheel (236); wherein the content of the first and second substances,
holes are reserved on two sides of the upper retainer (233) of the balance ring and used for placing a bearing (235) of the balance ring, two side shafts of the upper balance ring (231) are in transition fit with the bearing (235) of the balance ring, the bearing (235) of the balance ring is in interference fit with the hole of the upper retainer (233) of the balance ring, the position of the bearing is kept fixed, and the bearing (235) of the balance ring is well aligned with the hole; the bottom of the upper retainer (233) of the balance ring is connected with the chassis (1) in a welding mode, so that the position of the upper retainer is fixed, and the freedom degree of the paint tank (21) is limited; two side shafts of the lower balance ring (232) are also in transition fit with a moving wheel (236), the moving wheel (236) is placed on an arc-shaped track of the balance ring lower retainer (234), and violent vibration of the paint tank (21) is avoided under the action of the moving wheel (236) and the balance ring lower retainer (234); the upper retainer (233) of the balance ring is connected with the bottom plate (11) by bolts, and the two sides of the upper retainer are symmetrical about the axis of the chassis (1); when the painting robot moves, the upper part of the paint tank (21) can keep the rotational freedom degree of x, and the lower part can ensure the translational freedom degree of z through the moving wheel (236), so that the shaking of the paint tank (21) in the process of moving tends to be smooth, and further, the self-balancing function is realized.
5. The tree whitewashing robot according to claim 1, characterized in that the front end of the lifting structure (3) is connected with a parallel open-close type spraying mechanical claw mechanism (4), and the bottom of the lifting structure is fixed on the front part of the chassis (1) through screws; the lifting structure (3) consists of a lifting outer frame (31), a hydraulic cylinder (32), a hydraulic rod (33), a sliding guide rail (34) and a roller (35);
the lifting outer frame (31) is of a rectangular structure, and a metal plate (311) is additionally arranged in the middle of the lifting outer frame to enhance the stability of the lifting outer frame (31); the bottom of the lifting outer frame (31) is fixedly connected to the chassis (1) to ensure the stable lifting process;
a sliding guide rail (34), a hydraulic cylinder (32) and a roller (35) are assembled on the lifting outer frame (31); wherein, the lifting outer frame (31) and the hydraulic cylinder (32) are fixed together by adopting a bolt connection mode; the roller (35) is embedded in the sliding guide rail (34).
6. The tree whitening robot according to claim 1, characterized in that the open-close type spray painting mechanical claw mechanism 4 comprises a support member (41), a guide rail (42), a screw rod (43), a mechanical claw (44), a raw material hose (45), a raw material nozzle (46), a raw material brush head (47), a diluted paint hose (48) and a diluted paint spray head (49);
the supporting piece (41) is connected with the hydraulic rod (33) through a cross bar (411), and two ends of the cross bar (411) are connected with rollers (35) embedded in sliding guide rails (34) of the lifting mechanism (3);
the horizontal bar (411) is connected with the lifting mechanism (3); the guide rail (42) is horizontally arranged, and one end of the guide rail (42) in the length direction is fixedly connected with a motor (531); a rotating shaft of the motor (531) is connected with one end of the screw rod (43); the other end of the screw rod (43) is movably connected with the other end of the guide rail (42); the motor (531) belongs to a driving mechanism (5);
a pair of mechanical claws (44) are arranged on the guide rail (42) and the screw rod (43); a screw rod (43) is driven by a motor (531) to rotate to drive a mechanical claw (44) to open and close;
the mechanical claws (44) are all semicircular, and the inner sides of the mechanical claws (44) are all provided with groove structures;
a raw material hose (45) is arranged along the groove of the mechanical claw (44); more than 2 groups of raw material nozzles (46) and raw material brush heads (47) are arranged on the tube body of the raw material hose (45) adjacent to the mechanical claw (44); the end of the raw material hose (45) far away from the mechanical claw (44) is connected with the self-balancing paint tank mechanism 2.
7. The tree whitewashing robot of claim 6,
1 to 4 groove structures are additionally arranged on the inner side of the mechanical claw (44); a dilute paint hose (48) is provided in each recess; more than 2 groups of diluted paint spray heads (49) are arranged on the tube body of the diluted paint hose (48) adjacent to the mechanical claw (44); the end of the diluted paint hose (48) far away from the mechanical claw (44) is connected with the water tank (6) and the self-balancing paint tank mechanism 2.
8. The tree whitewashing robot as claimed in claim 1, characterized in that the driving mechanism (5) comprises a power supply module (51), a chassis moving module (52), a spraying module (53), a stirring module (54), a paint transfer module (55);
the power supply device 51 takes electric energy as working power, is tightly fixed with the bottom plate 11, is arranged at the rear part of the chassis (1), and can provide counter weight to prevent the tipping during walking; in the spraying process, when the parallel open-close type spraying mechanical claw mechanism (4) moves upwards for spraying, the stability of the overall pose of the whitewashing machine is kept; the lithium battery 211 provides the work of a vacuum pump (551) of a crawler left wheel motor (521) and a right wheel motor 522, 12v for driving the chassis to move, the rotation of an upper stirring motor 541 and a lower stirring motor 542, and controls the electric energy of a motor (531) which is parallelly opened and closed by a mechanical claw (44);
the chassis moving module (52) is supplied with a 24v permanent magnet direct current brushless motor unit x by a power supply device 51 to drive a track left wheel motor (521) and a track right wheel motor (522) to drive two main driving wheels (121) to rotate, so that the white coating machine moves, and the steering function is realized through the differential speed of a left motor and a right motor;
the spraying module (53) drives a pair of positive and negative tooth lead screws positioned at the tail end of the mechanical claw (44) to horizontally move, the motor (531) is arranged on one side of the guide rail (42) and is fixed through four positioning screws, a rotating shaft of the motor (531) drives the horizontal lead screw (43) to rotate, and the mechanical claw (44) is rapidly opened and closed through positive rotation and negative rotation;
the stirring module (54) drives an upper speed-reducing stirring motor and a lower speed-reducing stirring motor of the coating tank (21) to work, wherein the upper stirring motor (541) drives a stainless steel fan blade 221 at the center of the coating tank to rotate, and the lower stirring motor (542) drives a stainless steel spiral stirring fan blade (222) which surrounds the wall of the coating tank, so that double motors can work simultaneously, the inner fan blade and the outer fan blade rotate reversely, and the deposition and the blockage of the coating are avoided to the maximum extent;
the coating transmission module (55) drives a vacuum pump machine (551) arranged on a platform in front of the chassis (1), air is discharged out of the pump by utilizing the volume change generated by rotation in the pump cavity through an eccentric rotor, mainly in the air suction process, the volume of an air suction cavity is increased, the vacuum degree is reduced, the air in a container is sucked into the pump cavity, the volume is reduced and the pressure is increased in the air discharge process, and finally the sucked air is discharged out of the pump through an oil seal; the extraction of the paint in the paint tank (21) is realized, the paint outlet at the bottom of the paint tank (21) is connected with 1 port of a vacuum pump 551 through a hose, the feeding port of a spraying hose 45 is connected with 2 ports of the vacuum pump 551 through a hose, so that the paint in the paint tank (21) is conveyed into the paint hose 45, and the vacuum negative pressure pump 551 can realize multi-stage water pressure regulation, so that the range and the speed of spraying the paint by a nozzle 46 are controlled.
9. The control method of the tree whitewashing robot as claimed in claim 6, characterized by comprising the following steps:
(1) the chassis is controlled by a remote controller, and the chassis moves to convey the robot to the front of the tree to be whitewashed;
(2) adjusting a lifting mechanism, and placing the parallel open-close type spraying mechanical claw mechanism to a specified whitewashing height;
(3) adjusting the parallel open-close type spraying mechanical claw mechanism to the diameter of the tree;
(4) the coating transmission module provides power, the coating is transmitted to a spraying hose in the mechanical claw from the coating tank, and then the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw;
(5) after the spraying and brushing are finished, the mechanical claw is opened, the chassis is started, and the robot is moved to the next tree to be whitewashed.
10. The method for controlling a tree whitewashing robot as claimed in claim 7, characterized by the following steps:
(1) the chassis is controlled by a remote controller and moves to send the robot to the front of the tree to be whitewashed;
(2) adjusting a lifting mechanism, and placing the parallel open-close type spraying mechanical claw mechanism to a specified whitewashing height;
(3) adjusting the parallel open-close type spraying mechanical claw mechanism to the diameter of the tree;
(4) judging the skin adhesion condition of the tree to be whitewashed:
if the tree bark is rotten and falls off by hand, entering the step 5;
if the bark is new and compact, entering the step 6;
(5) the paint transmission module provides power, sucks water out of the water bucket through a diluted paint hose (48), transmits the water onto a diluted paint spray head (49) in the mechanical claw and sprays the water towards the tree trunk rapidly; meanwhile, the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw; further washing the rotten and easy-to-fall old leather;
then, water and paint are respectively conveyed to a diluted paint spray head (49) in the mechanical claw from a water bucket and a paint tank and are sprayed out slowly towards the tree trunk; meanwhile, the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw; ensuring that the surface of the trunk is pre-coated with a thin layer of coating;
then entering step 6;
(6) judging the temperature condition of the area to be whitewashed:
if the humidity is high, the coating transmission module provides power to directly transmit the coating from the coating tank to a spraying hose in the mechanical claw, and then the spraying module is driven to realize the vertical reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw;
if the temperature is 15 ℃ lower, the paint is viscous, water and the paint are required to be respectively conveyed to a diluted paint spray head (49) in the mechanical claw from a water bucket and a paint tank, the paint is conveyed to a raw material spray nozzle (46) in the mechanical claw from the paint tank through a raw material hose (45), and the paint is sprayed to the tree trunk together; meanwhile, the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw; ensuring that the surface of the trunk is covered with a layer of coating, and going to step 7;
if the humidity is higher than 15 ℃, directly conveying the coating from the coating tank to a raw material nozzle (46) in the mechanical claw, and then spraying the coating to the tree trunk; meanwhile, the spraying module is driven to realize the up-and-down reciprocating motion of the mechanical claw and the diameter adjustment of the mechanical claw; ensuring that the surface of the trunk is covered with a layer of coating, and going to step 7;
(7) after the spraying and brushing are finished, the mechanical claw is opened, the chassis is started, and the robot is moved to the next tree to be whitewashed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211183335.2A CN115445824A (en) | 2022-09-27 | 2022-09-27 | Tree whitewashing robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211183335.2A CN115445824A (en) | 2022-09-27 | 2022-09-27 | Tree whitewashing robot and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN115445824A true CN115445824A (en) | 2022-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211183335.2A Pending CN115445824A (en) | 2022-09-27 | 2022-09-27 | Tree whitewashing robot and control method thereof |
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| Country | Link |
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| CN (1) | CN115445824A (en) |
Cited By (1)
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| CN116493164A (en) * | 2023-06-29 | 2023-07-28 | 四川能投建工集团水利水电工程有限公司 | Paint spraying equipment for house construction |
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