CN208175655U - Robot is sprayed in greening based on AGV - Google Patents
Robot is sprayed in greening based on AGV Download PDFInfo
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- CN208175655U CN208175655U CN201820758118.4U CN201820758118U CN208175655U CN 208175655 U CN208175655 U CN 208175655U CN 201820758118 U CN201820758118 U CN 201820758118U CN 208175655 U CN208175655 U CN 208175655U
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- fixedly installed
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- bottom plate
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Abstract
The utility model discloses the greenings based on AGV to spray robot, belong to robotic technology field, including water chamber plate and bottom plate, the water chamber plate is located at the top of bottom plate, the upper end outer surface side of the water chamber plate is fixedly installed with water tank, the upper end outer surface other side of the water chamber plate is fixedly installed with T-type plate, and a side external surface of T-type plate is fixedly installed with suction pump, the inside of the suction pump is fixedly installed with bearing and first motor, and bearing is located at the side of first motor, one side external surface of the suction pump is fixedly installed with nozzle, the lower end outer surface of the bottom plate is movably installed with tire, the upper end outer surface middle position of the bottom plate is fixedly installed with battery case, the upper end outer surface side of the bottom plate is fixedly installed with tracing plate.The utility model makes it have the functions such as automatic identification, automatic water jetting, autonomous operation, Intelligent tracking by being provided with a series of structure, optimizes use process.
Description
Technical field
The utility model relates to robotic technology fields, and robot is sprayed in the greening specially based on AGV.
Background technique
Nowadays, Chinese people and government increasingly focus on environmental protection, the sprinkling truck as the important tool for irrigating plant
The very big share of automobile market can be all occupied in a very long time, unmanned delivery is to perceive road ring by vehicle-mounted sensor-based system
Border, automatic planning travelling line simultaneously controls the intelligent automobile that vehicle reaches predeterminated target, but domestic application is not extensive, but existing
Sprinkling truck be all much pilot steering, this wastes vast human resources significantly, reduces the service performance of device.
Utility model content
The purpose of this utility model is to provide the greenings based on AGV to spray robot, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the utility model provides the following technical solutions: robot, packet are sprayed in the greening based on AGV
Water chamber plate and bottom plate are included, the water chamber plate is located at the top of bottom plate, and the upper end outer surface side of the water chamber plate is fixedly installed with
Water tank, the upper end outer surface other side of the water chamber plate is fixedly installed with T-type plate, and a side external surface of T-type plate is fixedly mounted
There is suction pump, the inside of the suction pump is fixedly installed with bearing and first motor, and bearing is located at the side of first motor, institute
The side external surface for stating suction pump is fixedly installed with nozzle, and the lower end outer surface of the bottom plate is movably installed with tire, the bottom
The upper end outer surface middle position of plate is fixedly installed with battery case, and the upper end outer surface side of the bottom plate is fixedly installed with tracking
Plate, and sprocket drive spindle is fixedly mounted in the side of tracing plate, the upper end outer surface other side of the bottom plate is fixedly installed with the second electricity
Machine, and the upper end outer surface of the second motor is movably installed with deflecting plate, the upper end outer surface of the deflecting plate is fixedly installed with rudder
Machine, and the upper end outer surface of steering engine is fixedly installed with control mainboard.
Preferably, the upper end outer surface of the bottom plate is provided with guidance band, and it is red to guide the upper end outer surface of band to be provided with
Outer sensor.
Preferably, the upper end outer surface of the tracing plate is fixedly installed with tracking module, outside the upper end of the tracking module
Surface is fixedly installed with obstacle avoidance module.
Preferably, the inside of the battery case is fixedly installed with rechargeable battery, and the upper end outer surface of the battery case is solid
Dingan County is equipped with solar panel.
Preferably, the quantity of the infrared sensor is five groups, and it is arranged by U-shaped.
Preferably, the steering engine is internally provided with steering wheel, train of reduction gears, position feedback potentiometer, direct current generator and control
Circuit processed, the first motor and the second motor are direct current generator, and its nominal torque is 11Nm, and rated speed is
1000r/min, voltage rating 90V, rated current 15A, peak torque 88Nm.
Compared with prior art, the utility model has the beneficial effects that robot system should be sprayed based on the greening of AGV,
Outer signals are perceived by each sensor, data are transmitted between single-chip microcontroller by wireless serial, to controlling after signal analysis and processing
Corresponding dc motor movement is made, thus automatic identification and the correct route of selection, the traveling mode of trolley is tracking advance,
Be convenient to arrangement trolley running route, and by wheeled robot, road cleaning vehicle some function sets together, function
It is complete, the programing system for integration can also can be expanded by wireless data transmission, that is, pass through intelligent vehicle to background system
Road data is sent, existing labour can be replaced to operate the road cleaning device recycled under the environment such as avenue,
The popularization and application of the device will greatly reduce manual labor's cost, there is higher application value.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the forward sight structural schematic diagram of the utility model；
Fig. 3 is the rear-wheel differential steering flow chart of the utility model；
Fig. 4 is the sensing device arrangement and operational diagram of the utility model；
Fig. 5 is the driving device of the running gear of the utility model.
In figure: 1, nozzle；2, bearing；3, first motor；4, suction pump；5, T-type plate；6, water tank；7, water chamber plate；8, gear
Axis；9, obstacle avoidance module；10, tire；11, tracking module；12, tracing plate；13, bottom plate；14, battery case；15, rechargeable battery；
16, solar panel；17, the second motor；18, deflecting plate；19, steering engine；20, control mainboard；21, infrared sensor；22, band is guided.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside" " front end ", " after
The orientation or positional relationship of the instructions such as end ", " both ends ", " one end ", " other end " is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition,
Term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " being provided with ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, be also possible to detachably connect
It connects, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
Fig. 1-5 is please referred to, a kind of embodiment provided by the utility model: the greening sprinkling robot based on AGV, including water
Tire 10 is installed in the lower end outer surface activity of boxboard 7 and bottom plate 13, bottom plate 13, facilitates the movement of whole device, bottom plate 13 it is upper
Hold outer surface middle position that battery case 14 is fixedly mounted, tracing plate 12 is fixedly mounted in the upper end outer surface side of bottom plate 13, and follows
Gear shaft 8 is fixedly mounted in the side of mark plate 12, and the second motor 17, and second is fixedly mounted in the upper end outer surface other side of bottom plate 13
Deflecting plate 18 is installed in the upper end outer surface activity of motor 17, and steering engine 19, and steering engine is fixedly mounted in the upper end outer surface of deflecting plate 18
Control mainboard 20 is fixedly mounted in 19 upper end outer surface, and water chamber plate 7 is located at the top of bottom plate 13, the upper end outer surface of water chamber plate 7
Water tank 6 is fixedly mounted in side, and T-type plate 5, and the side appearance of T-type plate 5 is fixedly mounted in the upper end outer surface other side of water chamber plate 7
Suction pump 4 is fixedly mounted in face, and bearing 2 and first motor 3 is fixedly mounted in the inside of suction pump 4, and bearing 2 is located at first motor 3
Side, nozzle 1 is fixedly mounted in a side external surface of suction pump 4.
Further, the upper end outer surface of bottom plate 13 is provided with guidance band 22, and the upper end outer surface of band 22 is guided to be provided with
Infrared sensor 21, infrared sensor 21 are used to perceive outer signals.
Further, the upper end outer surface of tracing plate 12 is fixedly installed with tracking module 11, the upper end appearance of tracking module 11
Face is fixedly installed with obstacle avoidance module 9, the black line that device can be set by tracking module 11 and the scanning of obstacle avoidance module 9 lower section
Item converts signal, then by change two motors revolving speed and positive and negative rotation and steering engine 19 position feedback potentiometer come
The forward and turning of control device, while device can scan front obstacle by tracking module 11 and obstacle avoidance module 9, encounter
Then feedback signal changes the revolving speed of two motors and fills with the position feedback potentiometer positive and negative rotation of steering engine 19 to control obstacle
Set steering.
Further, the inside of battery case 14 is fixedly installed with rechargeable battery 15, and the upper end outer surface of battery case 14 is fixed
Solar panel 16,9V burning voltage needed for rechargeable battery 15 is used to provide control system are installed.
Further, the quantity of infrared sensor 21 is five groups, and it is arranged by U-shaped, wherein three intermediate infrared biographies
Sensor 21 is used for tracking black guide wire, other two infrared sensor 21 is for judging whether it is square crossing or right angle
Turning crossing.
Further, steering engine 19 is internally provided with steering wheel, train of reduction gears, position feedback potentiometer, direct current generator and control
Circuit, first motor 3 and the second motor 17 are direct current generator, and its nominal torque is 11Nm, rated speed 1000r/
Min, voltage rating 90V, rated current 15A, peak torque 88Nm, control circuit board receive the control from signal wire
Signal processed, control motor rotation, motor drive series of gears group, output steering wheel, the output shaft of steering engine 19 are driven to after deceleration
It is connected to position feedback potentiometer, while steering wheel rotates, drives position feedback potentiometer to set, potentiometer will export an electricity
It presses signal to control circuit board, is fed back, then control circuit board determines direction and the speed of motor rotation according to position
Degree, to reach target stopping.
It should be noted that the utility model is that robot is sprayed in greening based on AGV, in use, firstly, device is by can
Rechargeable battery 15 provides voltage, and 9V burning voltage needed for control system is steady through three terminal integrated voltage stabilizer by rechargeable battery 15
Voltage needed for providing first motor 3 and the second motor 17 after pressure, wherein first motor 3 and the model of the second motor 17 are
Whether GM37-520TB, then, device walk along straight line path, are detected by preposition infrared sensor device 21, preposition infrared biography
Sensor 21 (distance be 80mm) is all on the black line of 100mm, then device is walked along straight line path, wherein infrared sensor 21
Model PS-56T, when one of them preposition infrared sensor 21 detects not on black line, then preposition left side infrared sensor
21 detections are less than black line, and right side infrared sensor 21 detects black line, thinks that device is to the left at this time, and correcting method is to make device
First motor 3 is slowed down, and the second motor 17 accelerates, so that two preposition infrared sensors 21 return to black line, if device is to the right,
Similar approach processing can be used, if two preposition infrared sensors 21 are all outside black line, such case is usually infrared sensing
Device 21 is judged by accident, as soon as because the above method can correct device to come, root if a preposition infrared sensor 21 deviates black line
According to empirical data, when the angle that a preposition infrared sensor 21 deviates black line is within 50mm, it can correct, lead to automatically
Two motors of normal device rotate in same direction, infrared since the synchronism error of speed causes device direction of travel to have a small amount of deviation
Sensor 21 can slightly deflect away from black line, if infrared sensor 21 is judged by accident, will cause two preposition infrared sensors
21 all outside black line, can be set after infrared sensor 21 detects black line in, be determined according to the length of time, enable device to spy
It measures and sets the turning of 21 direction of infrared sensor in that of black line, until two preposition infrared sensors 21 return on black line,
At this point, the time delayed can be more slightly longer, the device black lines set by tracking module 11 and the scanning of obstacle avoidance module 9 lower section,
Signal is converted, is then controlled by the position feedback potentiometer of the revolving speed and positive and negative rotation and steering engine 19 that change two motors
The forward and turning of device, while device scans front obstacle by tracking module 11 and obstacle avoidance module 9, encounters obstacle then
Feedback signal changes the revolving speed of two motors and carrys out control device steering with the position feedback potentiometer positive and negative rotation of steering engine 19, most
Afterwards, when carrying out sprinkling cleaning, the water that water tank 6 stores is compressed to nozzle 1 by suction pump 4 and is sprayed, realizes spraying-rinsing road
Purpose, effectively increase the functionality of its own, it is more practical.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
Claims (6)
1. robot, including water chamber plate (7) and bottom plate (13) are sprayed in the greening based on AGV, it is characterised in that: the water chamber plate
(7) it is located at the top of bottom plate (13), the upper end outer surface side of the water chamber plate (7) is fixedly installed with water tank (6), the water tank
The upper end outer surface other side of plate (7) is fixedly installed with T-type plate (5), and a side external surface of T-type plate (5) is fixedly installed with pumping
Water pump (4), the inside of the suction pump (4) is fixedly installed with bearing (2) and first motor (3), and bearing (2) is located at the first electricity
One side external surface of the side of machine (3), the suction pump (4) is fixedly installed with nozzle (1), the lower end appearance of the bottom plate (13)
Face is movably installed with tire (10), and the upper end outer surface middle position of the bottom plate (13) is fixedly installed with battery case (14), institute
The upper end outer surface side for stating bottom plate (13) is fixedly installed with tracing plate (12), and the side fixed installation of tracing plate (12) is with teeth
The upper end outer surface other side of wheel shaft (8), the bottom plate (13) is fixedly installed with the second motor (17), and the second motor (17)
Upper end outer surface is movably installed with deflecting plate (18), and the upper end outer surface of the deflecting plate (18) is fixedly installed with steering engine (19),
And the upper end outer surface of steering engine (19) is fixedly installed with control mainboard (20).
2. robot is sprayed in greening according to claim 1 based on AGV, it is characterised in that: the bottom plate (13) it is upper
End outer surface is provided with guidance band (22), and the upper end outer surface of band (22) is guided to be provided with infrared sensor (21).
3. robot is sprayed in the greening according to claim 1 based on AGV, it is characterised in that: the tracing plate (12)
Upper end outer surface is fixedly installed with tracking module (11), and the upper end outer surface of the tracking module (11) is fixedly installed with avoidance mould
Block (9).
4. robot is sprayed in the greening according to claim 1 based on AGV, it is characterised in that: the battery case (14)
Inside is fixedly installed with rechargeable battery (15), and the upper end outer surface of the battery case (14) is fixedly installed with solar panel (16).
5. robot is sprayed in the greening according to claim 2 based on AGV, it is characterised in that: the infrared sensor
(21) quantity is five groups, and it is arranged by U-shaped.
6. robot is sprayed in the greening according to claim 1 based on AGV, it is characterised in that: the steering engine (19) is internal
It is provided with steering wheel, train of reduction gears, position feedback potentiometer, direct current generator and control circuit, the first motor (3) and second
Motor (17) is direct current generator, and its nominal torque be 11Nm, rated speed 1000r/min, voltage rating 90V,
Rated current is 15A, peak torque 88Nm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820758118.4U CN208175655U (en) | 2018-05-21 | 2018-05-21 | Robot is sprayed in greening based on AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820758118.4U CN208175655U (en) | 2018-05-21 | 2018-05-21 | Robot is sprayed in greening based on AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208175655U true CN208175655U (en) | 2018-12-04 |
Family
ID=64427400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820758118.4U Expired - Fee Related CN208175655U (en) | 2018-05-21 | 2018-05-21 | Robot is sprayed in greening based on AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208175655U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819958A (en) * | 2019-02-21 | 2019-05-31 | 山东理工大学 | A kind of high pressure ionization wind spraying aid type AGV system plant protection vehicle for adding water that pesticide is not added |
| CN111226764A (en) * | 2020-03-18 | 2020-06-05 | 福建省云宇机电有限公司 | Unmanned irrigation machine for plain farmland |
| CN113769136A (en) * | 2021-08-21 | 2021-12-10 | 刘刚民 | Intelligent tracking multifunctional disinfection robot |
| CN114557267A (en) * | 2022-03-31 | 2022-05-31 | 广州大学 | Automatic tracking vehicle for irrigation |
-
2018
- 2018-05-21 CN CN201820758118.4U patent/CN208175655U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819958A (en) * | 2019-02-21 | 2019-05-31 | 山东理工大学 | A kind of high pressure ionization wind spraying aid type AGV system plant protection vehicle for adding water that pesticide is not added |
| CN111226764A (en) * | 2020-03-18 | 2020-06-05 | 福建省云宇机电有限公司 | Unmanned irrigation machine for plain farmland |
| CN113769136A (en) * | 2021-08-21 | 2021-12-10 | 刘刚民 | Intelligent tracking multifunctional disinfection robot |
| CN114557267A (en) * | 2022-03-31 | 2022-05-31 | 广州大学 | Automatic tracking vehicle for irrigation |
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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: 20181204 Termination date: 20190521 |