CN208016769U - It is a kind of to impart knowledge to students and contest spray robot - Google Patents
It is a kind of to impart knowledge to students and contest spray robot Download PDFInfo
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- CN208016769U CN208016769U CN201820276053.XU CN201820276053U CN208016769U CN 208016769 U CN208016769 U CN 208016769U CN 201820276053 U CN201820276053 U CN 201820276053U CN 208016769 U CN208016769 U CN 208016769U
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- spray
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- contest
- electric pushrod
- plate structure
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Abstract
The utility model is related to a kind of teaching and contest spray robot, which is characterized in that including chassis, and the chemical spraying device and control module that are arranged on the chassis, the showerhead of the chemical spraying device, which sets up separately, to be set on the telescoping mechanism of left and right；The chassis lower end is provided with running gear, and injection target detection module, the signal input output end pin connection corresponding with the main control chip of the control module respectively of the injection target detection module are respectively arranged at left and right sides of the chassis；The left and right telescoping mechanism includes a pair of electric pushrod being symmetrical set, and the telescopic end of the electric pushrod is connected with the spray plate of corresponding nozzle part；The two poles of the electric pushrod are connected to the current output terminal of corresponding electromagnetic relay, and the electromagnetic relay signal control terminal is connected to the corresponding pin of the main control chip.The utility model cost is relatively low, is particularly 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 to impart knowledge to students and contest spray machine
People.
Background technology
It is a sub-project of China services robot contest that orchard, which is imparted knowledge to students, and contest is with spray robot project, compares competition rules
It is then as follows：Place is green carpet, around there is the wooden enclosure wall of integration of 20CM high.Robot competition area, as shown in Figure 1.
During the games, robot is from sintering, and by the areas A, the areas B, the areas C, the areas D, autonomous completion is tree-like to target spray, fixation
Spray, becomes tree-like spray.
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, and it is therefore necessary to develop relevant orchard teaching and contest spray
Medicine robot guides student's competition.
Utility model content
In order to solve above-mentioned technical problem, the utility model devises a kind of impart knowledge to students and contest spray machine
People, the nozzle that may be implemented robot is flexible, fixed point spray, precisely spray, variable spray.
In order to solve above-mentioned technical problem, the utility model uses following scheme：
A kind of teaching and contest spray robot, including chassis, and the chemical spraying device that is arranged on the chassis and
Control module, the showerhead of the chemical spraying device, which sets up separately, to be set on the telescoping mechanism of left and right；The chassis lower end is provided with walking dress
It sets, injection target detection module is respectively arranged at left and right sides of the chassis, the signal of the injection target detection module is defeated
Enter output end pin connection corresponding with the main control chip of the control module respectively.
Further, the chemical spraying device includes booster pump, medicine-chest 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；The two poles of each solenoid valve are connected to the current output terminal of corresponding electromagnetic relay, the increasing
The two poles of press pump are connected to the current output terminal of corresponding 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 is divided to two groups of nozzles including being symmetrical set, two groups of nozzles to be distributed on respectively
On corresponding spray plate.
Further, two groups of nozzles difference vertical array is arranged on corresponding spray plate, and the nozzle passes through opposite
The nozzle connector answered is connected with corresponding spray plate.
Further, the spray plate is provided with connection boss, to be connect with the left and right telescoping mechanism.
Further, the ontology of the spray plate is a Rectangular Plate Structure, and the connection boss is arranged in Rectangular Plate Structure
Portion.
Further, the left and right telescoping mechanism includes a pair of electric pushrod being symmetrical set, the electric pushrod
Telescopic end is connected with the spray plate of corresponding nozzle part；The two poles of the electric pushrod are connected to corresponding electromagnetism relay
The current output terminal of device, the electromagnetic relay signal control terminal are connected to the corresponding pin of the main control chip.
Further, the electric pushrod is mounted on by corresponding mounting plate and support plate on the chassis, the electricity
The other end and corresponding mounting plate top of the dynamic push rod far from telescopic end are connected, and the support plate apical support simultaneously limits corresponding
The cylinder body of electric pushrod.
Further, the mounting plate is L shaped plate structure, and the transverse slat of L shaped plate structure is connect with the chassis, L shaped plate structure
Riser top connect with corresponding electric pushrod；The solenoid valve of the chemical spraying device is arranged in the riser lower part of L shaped plate structure.
Further, the support plate is L shaped plate structure, and the transverse slat of the L shaped plate structure is connect with the chassis, the L shaped plate
The riser top of structure is provided with semicircular arc groove.
Further, the injection target detection module includes optoelectronic switch.
When work, the injection target detection module detects the position of spray target, and sends a signal to the main control chip,
The main control chip sends a signal to corresponding electromagnetic relay, and described electronic push away is controlled by controlling electromagnetic relay
The telescopic end of bar stretches out, and at the same time, the main control chip controls the booster pump and institute by controlling electromagnetic relay
It states solenoid valve to power on, spray.Spray date is controlled by the main control chip internal timing and is completed.When robot is complete
After spray, the main control chip controls the booster pump by controlling corresponding electromagnetic relay and solenoid valve disconnects electricity
Source controls the electric pushrod and withdraws telescopic end, terminates spray.
The teaching and contest are had the advantages that with spray robot：
（1）The utility model can in the match scene of setting, according to laws of the game, realize the nozzle of robot stretch out,
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.
（3）In the utility model, nozzle is scalable, can not only realize fixed point precisely spray, but also the robot can be made not
It is compact-sized when spray, floor space is small.Moreover, in the utility model, each nozzle individually controls, and is vertically arranged, and operation is flexible,
Spray regime is wide, can avoid unnecessary waste.
Description of the drawings
Fig. 1：The spray robot competition venue schematic diagram of the utility model；
Fig. 2：Target schematic diagram is sprayed in the spray robot areas the A contest of the utility model；
Fig. 3：Target schematic diagram is sprayed in the spray robot area B, C contest of the utility model；
Fig. 4：The structural schematic diagram of teaching and contest spray robot in the utility model embodiment；
Fig. 5：The assembling structure schematic diagram of plate and nozzle is sprayed in the utility model embodiment；
Fig. 6：The front view of electric pushrod in the utility model embodiment；
Fig. 7：The vertical view of electric pushrod in the utility model embodiment；
Fig. 8：The left view of electric pushrod in the utility model embodiment.
Reference sign：
1-chassis；2-injection target detection modules；3-booster pumps；4-medicine-chests；5-solenoid valves；6-electromagnetism relays
Device；7-main control chips；8-nozzle parts；81-nozzles；82-spray plates；83-nozzle connectors；9-left and right telescoping mechanisms；
91-mounting plates；92-support plates；93-electric pushrods；931-cylinder bodies；932-telescopic ends.
Specific implementation mode
Below in conjunction with the accompanying drawings, the utility model is described further：
Fig. 4 to Fig. 8 shows a kind of embodiment of the utility model teaching and contest spray robot.Fig. 4 is this
The structural schematic diagram of teaching and contest spray robot in embodiment.
As shown in figure 4, teaching and contest the spray robot in present embodiment, including chassis 1, and be arranged the bottom of at
The nozzle part 8 of chemical spraying device on disk 1 and control module, the chemical spraying device is arranged on left and right telescoping mechanism 9；Chassis 1
Lower end is provided with running gear（Running gear is not drawn into the accompanying drawings）；The left and right sides on chassis 1 is respectively arranged with injection target
The signal input output end of detection module 2, injection target detection module 2 is opposite with the main control chip of the control module 7 respectively
The pin connection answered.The action of control module the control chemical spraying device, left and right telescoping mechanism 9 and running gear.
As shown in figure 4, the left and right sides on chassis 1 is respectively arranged with injection target detection module 2, injection target detection module
The pin connection corresponding on the main control chip of the control module 7 respectively of 2 input/output terminal.In the present embodiment, injection
Module of target detection 2 includes optoelectronic switch, and photoelectric switching signal input/output terminal is connected to 7 corresponding pin of main control chip
On.
As shown in figure 4, chemical spraying device includes booster pump 3, medicine-chest 4 and nozzle part 8, each nozzle difference of nozzle part 8
It is connected with the water outlet of booster pump 3 by corresponding water pipe, solenoid valve 5, the water outlet of the water inlet and medicine-chest 4 of booster pump 3
Connection；The two poles of each solenoid valve 5 are connected to the current output terminal of corresponding electromagnetic relay 6, the two poles of booster pump 3
It is connected to the current output terminal of corresponding electromagnetic relay 6,6 signal control terminal of electromagnetic relay is connected to master control by signal wire
On 7 corresponding pin of chip.
As shown in Figure 4 and Figure 5, Fig. 5 is the assembling structure schematic diagram that plate and nozzle are sprayed in present embodiment, nozzle part 8
Including two groups of nozzles 81 being symmetrical set, two groups of nozzles 81 are distributed on respectively on corresponding spray plate 82.In the present embodiment,
Two groups of nozzles 81 are distinguished vertical array and are arranged on corresponding spray plate 82, and nozzle 81 passes through corresponding 83 He of nozzle connector
Corresponding spray plate 82 connects.Spray plate 82 is provided with connection boss, to be connect with left and right telescoping mechanism 9.In the present embodiment, plate is sprayed
82 ontology is a Rectangular Plate Structure, and connection boss is arranged at the middle part of Rectangular Plate Structure, can guarantee spray robot in this way
Stability.
As shown in figure 4, left and right telescoping mechanism 9 includes a pair of electric pushrod 93 being symmetrical set, electric pushrod 93
Telescopic end 932 is connected with the spray plate 82 of corresponding nozzle part 8；The two poles of electric pushrod 93 are connected to corresponding electromagnetism
The current output terminal of relay 6, the 6 signal control terminal of electromagnetic relay are connected to 7 corresponding pin of main control chip.
Preferably, electric pushrod 93 is mounted on by corresponding mounting plate 91 and support plate 92 on chassis 1, electric pushrod
93 other ends and 91 top of corresponding mounting plate far from telescopic end 932 are connected, and 92 apical support of support plate simultaneously limits corresponding
The cylinder body 931 of electric pushrod 93.The structure of electric pushrod 93 is as shown in Figure 6 to 8, and Fig. 6 to Fig. 8 is electronic in present embodiment
The three-view diagram of push rod.
Preferably, mounting plate 91 is L shaped plate structure, and the transverse slat of L shaped plate structure is connect with chassis 1, the riser of L shaped plate structure
Top is connect with corresponding electric pushrod 93；The solenoid valve 5 of chemical spraying device is arranged in the riser lower part of L shaped plate structure, and structure is tight
It gathers, saves chassis arrangement space.
Preferably, support plate 92 is L shaped plate structure, and the transverse slat of the L shaped plate structure is connect with chassis 1, the L shaped plate structure
Riser top is provided with semicircular arc groove with before and after limiting electric pushrod 93, freely up and down spend.
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 7 is arranged in 1 front of chassis, and electromagnetic relay 6 is located at one side of main control chip 7, and medicine-chest 4 is located at the rear portion on chassis 1,
Booster pump 3 is located at the side of medicine-chest 4.Left and right telescoping mechanism is fixed on the center on chassis 1.
When work, if Fig. 1 shows, the fixed point spray work of the areas A, in robot traveling process, injection target detection module 2 detects
To spray target, high level signal can be become to the signal of main control chip 7 from original low level signal by exporting, and main control chip 7 is connecing
After the signal for receiving variation, control signal can be sent to corresponding electromagnetic relay 6, control electromagnetic relay 6 connects electronic push away
The telescopic end 932 of the power supply of bar 93, electric pushrod 93 stretches out；At the same time, corresponding electromagnetic relay 6 connects 3 He of booster pump
The power supply of solenoid valve 5,5 valve port of solenoid valve are opened, and booster pump 3 is started to work, and liquid sprays, and spray date is by main control chip 7
Portion's timer timing is completed, and when the time for reaching spray setting, main control chip 7 can send control signal to corresponding electromagnetism relay
Device 6, electromagnetic relay 6 disconnect the power supply of booster pump 3 and solenoid valve 5, and liquid stops spraying, while corresponding electromagnetic relay 6
The reverse electrical source of electric pushrod 93 can be connected, electric pushrod 93 is withdrawn, and terminates spray.
If Fig. 3 shows, the areas C of the areas B spray target is identical, but the 90% and 80% of the areas Pen Bashi B of the areas C, and corresponding spray value also should be the areas B
90% and 80%, and then spray date also should be the 90% and 80% of the areas B, pass through the time control for controlling 7 internal timing of main control chip
The spray value in the areas C of the areas B processed.
In the utility model, nozzle is scalable, can not only realize fixed point precisely spray, but also the robot can be made not spray
When it is compact-sized, floor space is small.Moreover, in the utility model, each nozzle individually controls, and is vertically arranged, and operation is flexible, injection
Range is wide.
The utility model, according to laws of the game, can realize that the nozzle of robot is stretched out, pinpointed in the match scene of setting
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 (9)
1. a kind of teaching and contest spray robot, which is characterized in that including chassis, and the spray that is arranged on the chassis
Medicine device and control module, the showerhead of the chemical spraying device, which sets up separately, to be set on the telescoping mechanism of left and right；The chassis lower end setting
There is running gear, injection target detection module, the injection target detection module are respectively arranged at left and right sides of the chassis
Signal input output end corresponding with the main control chip of control module pin connection respectively；
The left and right telescoping mechanism includes a pair of electric pushrod being symmetrical set, the telescopic end of the electric pushrod with it is opposite
The spray plate for the nozzle part answered connects；The two poles of the electric pushrod are connected to the electric current output of corresponding electromagnetic relay
End, the electromagnetic relay signal control terminal are connected to the corresponding pin of the main control chip.
2. teaching according to claim 1 and contest spray robot, which is characterized in that the chemical spraying device includes increasing
Each nozzle of press pump, medicine-chest and nozzle part, the nozzle part passes through corresponding water pipe, solenoid valve and the supercharging respectively
The water outlet of pump connects, and the water inlet of the booster pump is connect with the water outlet of the medicine-chest；The power supply two of each solenoid valve
Pole is connected to the current output terminal of corresponding electromagnetic relay, and the two poles of the booster pump are connected to corresponding electromagnetism relay
The current output terminal of device, the electromagnetic relay signal control terminal are connected to the corresponding pin of the main control chip by signal wire
On.
3. teaching according to claim 1 or 2 and contest spray robot, which is characterized in that the showerhead subpackage
Two groups of nozzles being symmetrical set are included, two groups of nozzles are distributed on respectively on corresponding spray plate.
4. teaching according to claim 3 and contest spray robot, which is characterized in that two groups of nozzles erect respectively
To being arranged on corresponding spray plate, the nozzle is connected by corresponding nozzle connector with corresponding spray plate.
5. teaching according to claim 4 and contest spray robot, which is characterized in that the spray plate is provided with connection
Boss, to be connect with the left and right telescoping mechanism.
6. teaching according to claim 5 and contest spray robot, which is characterized in that the ontology of the spray plate is one
Rectangular Plate Structure, the connection boss are arranged at the middle part of Rectangular Plate Structure.
7. teaching and contest the spray robot according to claim 1,2,4,5 or 6, which is characterized in that described electronic
Push rod is mounted on by corresponding mounting plate and support plate on the chassis, the other end of the electric pushrod far from telescopic end
It is connected with corresponding mounting plate top, the support plate apical support and the cylinder body for limiting corresponding electric pushrod.
8. teaching according to claim 7 and contest spray robot, which is characterized in that the mounting plate is L shaped plate
Structure, the transverse slat of L shaped plate structure are connect with the chassis, and the riser top of L shaped plate structure is connect with corresponding electric pushrod；Institute
The solenoid valve for stating chemical spraying device is arranged in the riser lower part of L shaped plate structure.
9. teaching according to claim 7 and contest spray robot, which is characterized in that the support plate is L shaped plate
Structure, the transverse slat of the L shaped plate structure are connect with the chassis, and the riser top of the L shaped plate structure is provided with semicircular arc groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820276053.XU CN208016769U (en) | 2018-02-27 | 2018-02-27 | It is a kind of to impart knowledge to students and contest spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820276053.XU CN208016769U (en) | 2018-02-27 | 2018-02-27 | It is a kind of to impart knowledge to students and contest spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208016769U true CN208016769U (en) | 2018-10-30 |
Family
ID=63904544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820276053.XU Expired - Fee Related CN208016769U (en) | 2018-02-27 | 2018-02-27 | It is a kind of to impart knowledge to students and contest spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208016769U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108157340A (en) * | 2018-02-27 | 2018-06-15 | 西北农林科技大学 | A kind of teaching and contest spray robot |
| CN109109023A (en) * | 2018-10-31 | 2019-01-01 | 西北农林科技大学 | A kind of pollination robot competition venue |
| CN109109024A (en) * | 2018-10-31 | 2019-01-01 | 西北农林科技大学 | A kind of orchard spray robot competition venue |
-
2018
- 2018-02-27 CN CN201820276053.XU patent/CN208016769U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108157340A (en) * | 2018-02-27 | 2018-06-15 | 西北农林科技大学 | A kind of teaching and contest spray robot |
| CN109109023A (en) * | 2018-10-31 | 2019-01-01 | 西北农林科技大学 | A kind of pollination robot competition venue |
| CN109109024A (en) * | 2018-10-31 | 2019-01-01 | 西北农林科技大学 | A kind of orchard spray robot competition venue |
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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 |
Granted publication date: 20181030 Termination date: 20200227 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |