CN208016768U - A kind of spray robot - Google Patents
A kind of spray robot Download PDFInfo
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- CN208016768U CN208016768U CN201820271829.9U CN201820271829U CN208016768U CN 208016768 U CN208016768 U CN 208016768U CN 201820271829 U CN201820271829 U CN 201820271829U CN 208016768 U CN208016768 U CN 208016768U
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Abstract
The utility model is related to a kind of spray robots, it is characterized in that, including chassis, and the chemical spraying device and control module that are arranged on the chassis, the nozzle part of the chemical spraying device can be moved up and down with up and down adjustment device to adjust the height of the nozzle part；The chassis lower end is provided with running gear, and spray target detection module, the input/output terminal pin connection corresponding on the main control chip of the control module respectively of the spray target detection module are respectively arranged at left and right sides of the chassis.The up and down adjustment device includes the lead screw being vertically arranged and feed screw nut, and the screw lower end is connect by shaft coupling with stepper motor, and the nozzle part of the chemical spraying device is connect with the feed screw nut.The utility model cost is relatively low, easy to operate, is suitable for teaching and contest, is easy to student's left-hand seat.
Description
Technical field
The utility model belongs to robot used for teaching technical field, and in particular to a kind of spray robot.
Background technology
Orchard spray robot project is a sub-project of China services robot contest, and laws of the game are as follows：Place
For green carpet, around there is the wooden enclosure wall of integration of 20CM high.Robot competition area, as shown in Figure 1.In heat
In, robot is from sintering, autonomous to complete, to target spray, fixed tree-like spray, to become tree by the areas A, the areas B, the areas C, the areas D
Shape sprays.
The areas A require to spray to target, have 3 to target spray drug operation point, spray target structure is as shown in Figure 2.The areas B are required to fixation
Tree-like spray, for tree structure it is known that as shown in figure 3, wherein 04, No. 07 target is that triangle is tree-like, 05, No. 08 target is perpendicular ellipse
Tree-like, 06, No. 09 target is that flat oval shape is tree-like；It is required that robot respectively sprays to 6 tree-like targets, each is tree-like not
There is different spray requirements at same position.The areas C tree target shape is identical with the areas B, but size is the 90% and 80% of the areas B respectively.
The experimental facilities of current experimental facilities, especially higher education, for the experimental facilities ratio of contest link exploitation
It is less, just start the student to enter the lists, proximate nutrition is fuzzy, right it is therefore necessary to develop relevant orchard spray robot
Student's competition guides.
Utility model content
In order to solve above-mentioned technical problem, the utility model devises a kind of spray robot, machine may be implemented
The sprinkler height of device people is adjusted, fixed point sprays, is precisely sprayed, variable spray.
In order to solve above-mentioned technical problem, the utility model uses following scheme：
A kind of spray robot, including chassis, and the chemical spraying device and control module that are arranged on the chassis, it is described
The showerhead of chemical spraying device, which sets up separately, to be set on up and down adjustment device；The chassis lower end is provided with running gear, the chassis
The left and right sides be respectively arranged with spray target detection module, it is described spray target detection module input/output terminal respectively with the control module
Main control chip corresponding pin connection；The control module controls the chemical spraying device, up and down adjustment device and walking dress
The action set.
Further, the chemical spraying device includes medicine-chest, booster pump and nozzle part, each nozzle difference of the nozzle part
It is connected with the water outlet of the booster pump by corresponding water pipe, solenoid valve, the water inlet of the booster pump and the medicine-chest
Water outlet connection；Described power of electromagnetic valve the two poles of the earth are connected to electromagnetic relay, and the electromagnetic relay signal control terminal passes through
Signal wire is connected on the corresponding pin of the main control chip.
Further, the showerhead point includes several nozzles for spraying plate and being arranged on the spray plate, and the spray plate passes through
Spray plate connector is connected with the up and down adjustment device, and the nozzle is connected by nozzle connector with the spray plate.
Further, the spray plate is a U-board structure, and nozzle, U-board are respectively arranged on the both side plate of U-board structure
The bottom plate center of structure is provided with several connecting holes.
Further, the spray plate connector is a L shaped plate structure, and the transverse slat of L shaped plate structure is connect with the spray plate, L-shaped
The riser of harden structure is connect with the up and down adjustment device.
Further, the up and down adjustment device includes the lead screw being vertically arranged and feed screw nut, and the screw lower end passes through
Shaft coupling is connect with stepper motor, and the stepper motor is by controllor for step-by-step motor drive control, the controllor for step-by-step motor
Signal control terminal be connected on the corresponding pin of the main control chip；The nozzle part of the chemical spraying device and the lead screw spiral shell
Mother's connection.
Further, the up and down adjustment device further includes upper bottom plate and guide rail, the lead screw upper and lower ends respectively with
Upper bottom plate is rotatably connected, and the bottom plate is connected on the shell of the stepper motor；The guide rail is arranged upper
Between bottom plate, the feed screw nut passes through sliding block and the guide rail slidable connection.
Further, the guide rail is arranged by rail brackets between the upper bottom plate, the sheet of the rail brackets
Body is a rectangle Strip block pattern, and longitudinal U-type groove is machined on rectangle Strip block pattern, and U-type groove slot bottom is provided with several mounting holes
To install the guide rail, the both ends of rectangle Strip block pattern are both provided with connecting hole to be connect respectively with the upper bottom plate.
Further, the ontology of the guide rail is a rectangular list structure, and the two sides of rectangular list structure are respectively arranged with
Step surface is to form sliding rail；Multiple threaded connection holes are additionally provided in rectangular list structure to be connect with the rail brackets.
Further, sliding slot, the oral area approximation "eight" shape structure of the sliding slot are provided on the sliding block.
Further, the sliding block is a rectangular block architecture, and the sliding slot is disposed longitudinally on the sliding block, the sliding slot
Bottom is provided with connecting hole to be connect with the feed screw nut.
Further, the spray target detection module includes optoelectronic switch.
The spray robot has the advantages that：
（1）The utility model can realize the sprinkler height tune of robot in the match scene of setting according to laws of the game
Section, fixed point spray, precisely spray, variable spray.
（2）The utility model cost is relatively low, is particularly suitable for teaching and contest, is easy to student's left-hand seat.
Description of the drawings
Fig. 1：The orchard spray robot competition venue schematic diagram of the utility model；
Fig. 2：Target schematic diagram is sprayed in the orchard spray robot areas the A contest of the utility model；
Fig. 3：Target schematic diagram is sprayed in the orchard spray robot area B, C contest of the utility model；
Fig. 4：The structural schematic diagram of spray robot in the utility model embodiment；
Fig. 5：The structural schematic diagram of up and down adjustment device in the utility model embodiment；
Fig. 6：The structural schematic diagram of the utility model embodiment middle guide holder；
Fig. 7：The structural schematic diagram of the utility model embodiment middle guide；
Fig. 8：The structural schematic diagram of feed screw nut in the utility model embodiment；
Fig. 9：The front view of sliding block in the utility model embodiment；
Figure 10：The vertical view of sliding block in the utility model embodiment；
Figure 11：The left view of sliding block in the utility model embodiment；
Figure 12：The structural schematic diagram of nozzle part in the utility model embodiment.
Reference sign：
1-chassis；2-electromagnetic relays；3-spray target detection modules；4-solenoid valves；5-stepper motors；6-superchargings
Pump；7-medicine-chests；8-up and down adjustment devices；81-upper mounted plates；82-rail brackets；83-feed screw nuts；84-sliding blocks；
85-guide rails；851-step surfaces；86-lead screws；87-bottom plates；9-nozzle parts；91-nozzle connectors；92-sprays
Plate；93-spray plate connectors；94-nozzles；10-controllor for step-by-step motor；11-main control chips.
Specific implementation mode
Below in conjunction with the accompanying drawings, the utility model is described further：
Fig. 4 to Figure 12 shows a kind of embodiment of the utility model spray robot.Fig. 4 is sprayed in present embodiment
The structural schematic diagram of medicine robot.
As shown in figure 4, the spray robot in present embodiment, including chassis 1, and be arranged in the One On The Chassis spray
The nozzle part 9 of device and control module, the chemical spraying device is arranged on up and down adjustment device 8 and can be with up and down adjustment device
8 move up and down with the height of adjusting shower nozzle part 9；1 lower end of chassis is provided with running gear（Running gear is not drawn in the accompanying drawings
Go out）；The action of control module the control chemical spraying device, up and down adjustment device 8 and running gear.
As shown in figure 4, the left and right sides on chassis 1 is respectively arranged with spray target detection module 3, the input of spray target detection module 3
Output end pin connection corresponding on the main control chip of the control module 11 respectively.In the present embodiment, spray target detects mould
Block 3 includes optoelectronic switch, and photoelectric switching signal input/output terminal is connected on 11 corresponding pin of main control chip.
As shown in figure 4, the chemical spraying device includes medicine-chest 7, booster pump 6 and nozzle part 9, each nozzle of nozzle part 9
94 are connected by corresponding water pipe, solenoid valve 4 with the water outlet of booster pump 6 respectively, water inlet and the medicine-chest 7 of booster pump 6
Water outlet connects；The two poles of solenoid valve 4 are connected to electromagnetic relay 2, and the signal control terminal of electromagnetic relay 2 passes through signal
Line is connected on the 11 corresponding pin of main control chip of the control module.
As shown in figure 12, Figure 12 is the structural schematic diagram of nozzle part in present embodiment, and nozzle part 9 includes spray plate 92
With several nozzles 94 being arranged on spray plate 92, spray plate 92 is connected by spraying plate connector 93 and up and down adjustment device 8, nozzle 94
It is connected by corresponding nozzle connector 91 and spray plate 92.
In the present embodiment, spray plate 92 is a U-board structure, and nozzle 94, U is respectively arranged on the both side plate of U-board structure
The bottom plate center of shape harden structure is provided with several connecting holes to be connect with spray plate connector 93.
In the present embodiment, spray plate connector 93 is a L shaped plate structure, and the transverse slat of L shaped plate structure is connect with spray plate 92, L-shaped
The riser of harden structure is connect with up and down adjustment device 8.
As shown in Figure 4 and Figure 5, Fig. 5 is the structural schematic diagram of up and down adjustment device in present embodiment, up and down adjustment device
8 include that the lead screw 86 being vertically arranged and feed screw nut 83,86 lower end of lead screw are connect by shaft coupling with stepper motor 5, stepping electricity
Machine 5 is connected to the control module by 10 drive control of controllor for step-by-step motor, the signal control terminal of controllor for step-by-step motor 10
11 corresponding pin of main control chip on；The nozzle part 9 of chemical spraying device is connect with feed screw nut 83.
As shown in Figure 4 and Figure 5, up and down adjustment device 8 further includes upper mounted plate 81, bottom plate 87 and guide rail 85, lead screw
86 upper and lower ends are rotatably connected with upper mounted plate 81 and bottom plate 87 respectively, and bottom plate 87 is connected in stepper motor 5
On shell；Guide rail 85 is arranged between upper bottom plate, and feed screw nut 83 passes through sliding block 84 and 85 slidable connection of guide rail.This reality
It applies in example, rolling bearing is provided between 86 upper end of lead screw and upper mounted plate 81.
Specifically, guide rail 85 is arranged by rail brackets 82 between upper mounted plate 81 and bottom plate 87.Rail brackets
82 ontology is a rectangle Strip block pattern, and longitudinal U-type groove is machined on rectangle Strip block pattern, and U-type groove slot bottom is provided with several
Mounting hole to install guide rail 85, the both ends of rectangle Strip block pattern be both provided with connecting hole with respectively with upper mounted plate 81 and lower fixation
Plate 87 connects, as shown in fig. 6, Fig. 6 is the structural schematic diagram of present embodiment middle guide holder.
As shown in fig. 7, Fig. 7 is the structural schematic diagram of present embodiment middle guide, the ontology of guide rail 85 is a rectangular strip
The two sides of structure, rectangular list structure are respectively arranged with step surface 851 to form sliding rail；It is additionally provided in rectangular list structure
Multiple threaded connection holes with rail brackets 82 to connect.
As shown in Fig. 9, Figure 10, Figure 11, Fig. 9 to Figure 11 is the three-view diagram of sliding block in present embodiment, is arranged on sliding block 84
There are sliding slot, the oral area approximation "eight" shape structure of the sliding slot.In the present embodiment, sliding block 84 is a rectangular block architecture, the cunning
On sliding block 84, the bottom of sliding slot is provided with connecting hole to be connect with feed screw nut 83 for the setting of slot longitudinal direction.
As shown in figure 8, Fig. 8 is the structural schematic diagram of feed screw nut in present embodiment, it is and silk among feed screw nut 83
The threaded hole that bar 86 coordinates, the side of feed screw nut 83 are provided with threaded connection hole to be connect with sliding block 84, feed screw nut's 83
The other side is also equipped with threaded hole to be connect with spray plate connector 93.
In the present embodiment, chassis 1 is made of aluminium sheet, and the ontology on chassis 1 is the harden structure of Rectangular Plate Structure or approximate ellipse.
Main control chip 11 is arranged in 1 front of chassis, and controllor for step-by-step motor 10 is located at one side of main control chip 11, electromagnetic relay 2
In another side of main control chip 11, medicine-chest 7 is located at the rear portion on chassis 1, and booster pump 6 is located at the side of medicine-chest 7.Stepper motor 5 is solid
It is scheduled on the center on chassis 1, stepper motor pulse signal control terminal is connected to controllor for step-by-step motor 10 by signal wire.
When work, if Fig. 1 shows, the areas A are that fixed point sprays, when robot spray target detection module 3 detects spray target, spray target inspection
The signal that survey module 3 is transmitted to main control chip 11 can be become detecting spray target from low level state when spray target being not detected originally
When high level state, main control chip 11 upon receipt of the signals, by control controllor for step-by-step motor 10, and then control stepping
The angle that motor 5 is rotated and reverse and rotated, when stepper motor 5 rotates, lead screw 86 can and then rotate, and then lead screw
Nut 83 can be moved up and down along lead screw 86, and main control chip 11 is controlled by controlling the umber of pulse that controllor for step-by-step motor 10 exports
The corner and steering of stepper motor 5 and lead screw 86, and then the distance of 83 raising and lowering of feed screw nut is controlled, to adjusting shower nozzle
The height of part 9；When nozzle 94 rises to the proper height of spray, main control chip 11 sends a signal to electromagnetic relay 2, electricity
Magnetic relay 2 controls booster pump 6 and is connected with solenoid valve 4, and liquid sprays, and spray date is controlled by 11 internal timing of main control chip；
When completing spray task, main control chip 11 sends a signal to electromagnetic relay 2, and electromagnetic relay 2 disconnects booster pump 6 and solenoid valve
4 power supply terminates spray.
The areas B, the areas C are to become tree-like spray, and the areas B, the areas C spray target are identical, but the areas C spray target size is the areas B 90% and 80%, corresponding C
The spray date in area is also the 90% and 80% of the areas B.When match, when the spray plate detection module 3 of robot detects spray target, send
The pulse nc throwing stem nut 83 that signal is exported to main control chip 11, main control chip 11 by control controllor for step-by-step motor 10
It is moved up and down along lead screw 86, and then the height of adjusting shower nozzle 94；When nozzle 94 rises to the proper height of spray, master control core
Piece 11 controls the power supply that electromagnetic relay 2 connects booster pump 6 and solenoid valve 4, and liquid sprays, and spray date is by main control chip 11
Portion's timing controlled；When completing spray task, main control chip 11 controls the electricity that electromagnetic relay 2 disconnects booster pump 6 and solenoid valve 4
Spray is terminated in source.
The utility model can in the match scene of setting, according to laws of the game, realize the sprinkler height of robot adjust,
Fixed point spray, precisely spray, variable spray.
The utility model cost is relatively low, is particularly suitable for teaching and contest, is easy to student's left-hand seat.
Illustrative description has been carried out to the utility model above in conjunction with attached drawing, it is clear that the realization of the utility model not by
The limitation of aforesaid way, if the various improvement of the methodology and technical solution progress of the utility model are used, or without
It improves and the design of the utility model and technical solution is directly applied into other occasions, in the scope of protection of the utility model
It is interior.
Claims (10)
1. a kind of spray robot, which is characterized in that including chassis, and the chemical spraying device being arranged on the chassis and control
Module, the showerhead of the chemical spraying device, which sets up separately, to be set on up and down adjustment device；The chassis lower end is provided with running gear, institute
State be respectively arranged at left and right sides of chassis spray target detection module, it is described spray target detection module input/output terminal respectively with it is described
The corresponding pin connection of main control chip of control module.
2. spray robot according to claim 1, which is characterized in that the chemical spraying device include medicine-chest, booster pump and
Each nozzle of nozzle part, the nozzle part passes through corresponding water pipe, the water outlet of solenoid valve and the booster pump respectively
Connection, the water inlet of the booster pump are connect with the water outlet of the medicine-chest；Described power of electromagnetic valve the two poles of the earth be connected to electromagnetism after
Electric appliance, the electromagnetic relay signal control terminal are connected to by signal wire on the corresponding pin of the main control chip.
3. spray robot according to claim 1 or 2, which is characterized in that the showerhead point includes spray plate and setting
Several nozzles on the spray plate, the spray plate are connected by spraying plate connector with the up and down adjustment device, the nozzle
It is connected with the spray plate by nozzle connector.
4. spray robot according to claim 3, which is characterized in that the spray plate is a U-board structure, U-board knot
Nozzle is respectively arranged on the both side plate of structure, the bottom plate center of U-board structure is provided with several connecting holes to connect with the spray plate
Fitting connects.
5. spray robot according to claim 3, which is characterized in that the spray plate connector is a L shaped plate structure, L
The transverse slat of shape harden structure is connect with the spray plate, and the riser of L shaped plate structure is connect with the up and down adjustment device.
6. spray robot according to claim 1,2,4 or 5, which is characterized in that the up and down adjustment device includes perpendicular
The lead screw being directly arranged and feed screw nut, the screw lower end are connect by shaft coupling with stepper motor, and the stepper motor is by step
Stepper motor controller drive control, the signal control terminal of the controllor for step-by-step motor are connected to that the main control chip is corresponding to be drawn
On foot；The nozzle part of the chemical spraying device is connect with the feed screw nut.
7. spray robot according to claim 6, which is characterized in that the up and down adjustment device further includes fixation up and down
Plate and guide rail, the lead screw upper and lower ends are rotatably connected with upper bottom plate respectively, and the bottom plate is connected in the step
On the shell of stepper motor；The guide rail is arranged between upper bottom plate, and the feed screw nut can by sliding block and the guide rail
It is slidably connected.
8. spray robot according to claim 7, which is characterized in that the guide rail is arranged by rail brackets described
Between upper bottom plate, the ontology of the rail brackets is a rectangle Strip block pattern, and longitudinal U is machined on rectangle Strip block pattern
Type groove, U-type groove slot bottom are provided with several mounting holes to install the guide rail, and the both ends of rectangle Strip block pattern are both provided with connecting hole
To be connect respectively with the upper bottom plate.
9. spray robot according to claim 7 or 8, which is characterized in that the ontology of the guide rail is a rectangular strip
The two sides of structure, rectangular list structure are respectively arranged with step surface to form sliding rail；It is additionally provided in rectangular list structure more
A threaded connection hole with the rail brackets to connect.
10. spray robot according to claim 9, which is characterized in that be provided with sliding slot, the sliding slot on the sliding block
Oral area approximation "eight" shape structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820271829.9U CN208016768U (en) | 2018-02-27 | 2018-02-27 | A kind of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820271829.9U CN208016768U (en) | 2018-02-27 | 2018-02-27 | A kind of spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208016768U true CN208016768U (en) | 2018-10-30 |
Family
ID=63905971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820271829.9U Expired - Fee Related CN208016768U (en) | 2018-02-27 | 2018-02-27 | A kind of spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208016768U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108207901A (en) * | 2018-02-27 | 2018-06-29 | 西北农林科技大学 | A kind of spray robot |
-
2018
- 2018-02-27 CN CN201820271829.9U patent/CN208016768U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108207901A (en) * | 2018-02-27 | 2018-06-29 | 西北农林科技大学 | A kind of spray robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181030 Termination date: 20200227 |