CN208880692U - A kind of tree trunk white paining robot adapting to a variety of landform - Google Patents
A kind of tree trunk white paining robot adapting to a variety of landform Download PDFInfo
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- CN208880692U CN208880692U CN201821283612.6U CN201821283612U CN208880692U CN 208880692 U CN208880692 U CN 208880692U CN 201821283612 U CN201821283612 U CN 201821283612U CN 208880692 U CN208880692 U CN 208880692U
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Abstract
The utility model discloses a kind of tree trunk white paining robot for adapting to a variety of landform comprising the chassis of driving tree trunk white paining robot walking, be mounted on chassis and can opposite chassis revolution Three Degree Of Freedom mobile framework mechanism, be mounted in Three Degree Of Freedom mobile framework mechanism and move horizontally the Three Degree Of Freedom mechanical claw Mechanism with vertical shift by the driving of Three Degree Of Freedom mobile framework mechanism；It is mounted in Three Degree Of Freedom mechanical claw Mechanism and is pitched by the driving of Three Degree Of Freedom mechanical claw Mechanism, the gripper of revolution, opening and closing；Interior splendid attire limewash supplies limewash, the lime water tank sprayed to trunk to gripper by conduit and pressure pump.Trees are sprayed using the utility model white, the probability that worker directly touches limewash can be reduced, reduce the injury to staff, medical fluid spraying can be carried out to different trunk simultaneously, easy to operate, spraying uniformly, it is strong flexibility, high-efficient, the prevention and treatment suitable for different terrain, variety classes trees sprays.
Description
Technical field
The utility model relates to a kind of robot more particularly to a kind of tree trunk white paining robots for adapting to a variety of landform.
Background technique
As weather turns cold, various pests just climb to ground along trunk and find suitable environment on tree, hide severe cold, and
It and is the important place for concealing pest, worm's ovum and pathogen in the bark of trunk.When waiting until that the coming year, during the warmth of spring, all the flowers bloom, these evils
Worm, which is returned to again on tree, endangers trees, and pathogen breeds infection trees.Trunk whitewashing is the effective means for preventing and treating disease pest and propagating, can be with
Substantially reduce the generation of next year pest and disease damage.
Trunk whitewashing can both be conducive to prevent and kill off pest and disease damage, moreover it is possible to be effectively prevented trees frostbite.Because white has after whitewashing
There is reflection action, heat absorption is few, and trees will not be significantly affected because of temperature drastic change round the clock, can prevent from and mitigate burning day, freezing
Evil, it is ensured that Health of Tree growth.
Trunk whitewashing specific method is to mix limewash and animal fat in proportion, after transplanting tree completion at once
It is carried out to whitewash processing, can eliminate parasitic germ, pest, and is conducive to overall beautiful, has become the winter in urban afforestation
A kind of common measures taken of Ji Miaomu maintenance.
Mainly by gardener, the mode of whitewashing operates tree whitening by hand at present, this need to spend a large amount of manpower,
Financial resources and material resources.Whitewash that work is loaded down with trivial details, working efficiency is low, labor intensity is larger by hand, an annual tree whitening in city is wanted
The financial resources of investment are a no small expenses.
When manually carrying out tree whitening, whitewashing quality can not unify, and the harmful substance pair that lime brushing agent contains
Human health has a significant impact.It is consulted by related data, it is artificial to smear (general two people cooperates), 3 minutes/are generally required,
If darg 8 hours, being only capable of within one day smearing 8*60/3=160.If rural large size shelter-forest, with a varied topography, then need
More human resources, more time are wanted to go to complete.
In addition to artificial brush, the equipment research and development of the environmental protection machinerys such as trunk whitewashing are attached great importance to both at home and abroad, and application is more extensive
The tool of whitewashing is back-pack electric spraying device.Such device spray efficiency is lower, in the lesser trees of the spraying diameter of a cross-section of a tree trunk 1.3 meters above the ground, from spray
The white-out agent that mouth sprays greatly has been sprayed onto air, causes waste.Moreover, this backpack device is needed by artificial
It operates, load is larger, painting efficiency is low.Another whitewashes device as mobile white wash machine, and the characteristic of the device is interior
There is the tank of whitewashing of blender to be arranged on motor vehicle, motor vehicle is instead of manually bearing.The liquid output pipe of tank is whitewashed with spraying
Device is connected, and the pump housing is provided on liquid output pipe.It needs manpower handheld mechanical Spray Application to be moved, can not reasonably control
The speed whitewashed easily causes the waste of white-out agent vulnerable to the influence of external environment and human factor.And during whitewashing still
Man-hour manually hand-held spray head is needed, is sprayed around trees.Since volume is larger, motor vehicle is difficult to move in the intensive protection forest of trees
Dynamic, flexibility is low.
Utility model content
It is mentioned for the necessity and the defect of directly touching white-out agent easy when artificial brush, the utility model of tree whitening
For a kind of tree trunk white paining robot for adapting to a variety of landform.
The utility model is implemented with the following technical solutions: a kind of tree trunk white paining robot adapting to a variety of landform, packet
It includes:
Chassis, driving tree trunk white paining robot walking；
Three Degree Of Freedom mobile framework mechanism comprising: the rotatable platform being mounted on chassis；It is rotatably installed in rotatable platform
The upper and braced frame by being turned round by rotatable platform driving；The sliding rail being fixed in braced frame；It is slidably mounted on sliding rail
Two-dimentional ball-screw platform；
Three Degree Of Freedom mechanical claw Mechanism comprising pitch joint and linked component；Pitching joint includes locating piece one, two
Rotating arm, locating piece two；Locating piece one is fixed on two-dimentional ball-screw platform, and two rotating arms are separately positioned on locating piece one
Opposite sides on, and rotating arm is rotatably installed on locating piece one, and locating piece two is fixed on two rotating arms；Linked component
Including rotary shaft, connecting plate, two the first bars, two the second bars；One end of rotary shaft is rotatably installed on locating piece two, rotation
The other end of axis is fixed on connecting plate, and one end symmetrical expression of two the first bars is rotatably installed on connecting plate, two the first bars
The other end be rotatablely connected one end of two the second bars respectively；
Gripper, opposite sides are rotatablely connected with the other end symmetrical expression of two the second bars respectively；
Lime water tank, it is interior to contain limewash, limewash is supplied to gripper by conduit and pressure pump, trunk is carried out
Spraying.
As a further improvement of the foregoing solution, two-dimentional ball-screw platform includes:
Vertical shift platform, basal sliding formula are installed on the slide rail；
Sliding block is mounted on vertical shift platform, drives vertical shift by vertical shift platform；
Horizontal shifting platform is connected by sliding block with vertical shift platform antarafacial cross, and locating piece one is mounted on horizontal shifting
On moving platform, moved horizontally by horizontal shifting platform driving.
As a further improvement of the foregoing solution, two the first bars symmetrical expression by the way of gear engagement is rotatably installed in
On connecting plate.
Further, the length of the first bar is greater than the length of the second bar.
Further, the first bar opens up mounting groove, and the second bar protrudes into the phase in the mounting groove and with the mounting groove
Two cell walls are rotatablely connected.
As a further improvement of the foregoing solution, locating piece one is rotatablely connected by pin shaft and two rotating arms.
As a further improvement of the foregoing solution, chassis includes bottom plate, is symmetricly set on the opposite sides side of bottom plate
Two crawler type walking mechanisms；Three Degree Of Freedom mobile framework mechanism and lime water tank are mounted on bottom plate, two crawler-type travelings
Mechanism drives bottom plate mobile.
Further, each crawler type walking mechanism includes the driven wheel of driving wheel and driving wheel pairing, the master by matching
The crawler belt of driving wheel and the walking of driven wheel drive.
Preferably, if each crawler type walking mechanism further include several elastic guide wheels, it is corresponding with several elasticity guide wheels
Dry swing arm；One end of swing arm is fixed on the corresponding side of bottom plate, the corresponding elastic guide wheel of the other end installation of swing arm, elastic conducting
Wheel supports crawler belt to adjust the tension of crawler belt.
More preferably, each crawler type walking mechanism further includes damping spring；Damping spring is mounted on bottom plate corresponding one
On side, between bottom plate and swing arm.
The tree trunk white paining robot of a variety of landform of adaptation of the utility model, can directly touch white-out agent to avoid worker,
And the portable spraying that may be implemented to trees is white, average 20 seconds one tree used times, greatly improves the work of brushing
Efficiency reduces the injury to staff, while can carry out medical fluid spraying, easy to operate, spray to different trunk
Apply uniformly, it is strong flexibility, high-efficient, be applicable to the different terrains such as city, rural area, gardens, the prevention and treatment spray of variety classes trees
It applies.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the tree trunk white paining robot of embodiment 1.
Fig. 2 is the schematic perspective view at another visual angle of tree trunk white paining robot in Fig. 1.
Fig. 3 is the top view of tree trunk white paining robot in Fig. 1.
Fig. 4 is the front view of tree trunk white paining robot in Fig. 1.
Fig. 5 is the rearview of tree trunk white paining robot in Fig. 1.
Fig. 6 is the side view of tree trunk white paining robot in Fig. 1.
Fig. 7 is the schematic perspective view on the chassis of tree trunk white paining robot in Fig. 1.
Fig. 8 is the schematic perspective view of the Three Degree Of Freedom mechanical claw Mechanism of tree trunk white paining robot in Fig. 1.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this
Utility model is not used to limit the utility model.
The tree trunk white paining robot of the utility model is used to substitute manually to trunk whitewashing, adapts to a variety of landform, and
Robot operation stability.
Embodiment 1
Fig. 1 and Fig. 2 is please referred to, the tree trunk white paining robot of the present embodiment mainly includes chassis 1, Three Degree Of Freedom gripper machine
Structure 2, Three Degree Of Freedom mobile framework mechanism 3, lime water tank 4, power supplying apparatus, gripper 24.Chassis 1 drives trunk whitewashing machine
Device people walking；Three Degree Of Freedom mobile framework mechanism 3 is mounted on chassis 1, and can be rotated relative to chassis 1；Three Degree Of Freedom gripper
Mechanism 2 is mounted in Three Degree Of Freedom mobile framework mechanism 3, and is moved horizontally and erected by the driving of Three Degree Of Freedom mobile framework mechanism 3
Translation is dynamic；Gripper 24 is mounted in Three Degree Of Freedom mechanical claw Mechanism 2, and is pitched, returned by the driving of Three Degree Of Freedom mechanical claw Mechanism 2
Turn, opening and closing；Lime water tank 4 is mounted on chassis 1 and draws the water pipe being fixed on gripper 24, is realized and is set by gripper 24
It is dry-coated white；Power supplying apparatus provides the power of mechanical movement to entire robot.
Incorporated by reference to Fig. 3, Fig. 4, Fig. 5, Fig. 6, chassis 1 includes bottom plate 11, is symmetricly set on the opposite sides side of bottom plate 11
Two crawler type walking mechanisms.
The overall dimension on chassis 1 should match with the size of the upper end executing agency part, and tree trunk white paining robot is held
Row mechanism can be mainly made of Three Degree Of Freedom mobile framework 3, lime water tank 4, power supplying apparatus.In the present embodiment, true
When determining 1 overall dimension of chassis, it is desirable that bottom plate 11 is that long 1000mm, the workbench of wide 500mm are reserved in upper end executing agency part
Range.Simultaneously in order to which robot upper part point be adjusted flexibly can, the length of bottom plate 11 can be 1350mm, width 600mm.Bottom
Plate 11 is used as braced frame, it is desirable that higher strength and stiffness can be manufactured using carbon steel sheet.The opposite sides of bottom plate 11 is distinguished
The installation side plate 18 extended downwardly is set, as shown in Figure 7.
The structure almost symmetry of two crawler type walking mechanisms, each crawler type walking mechanism include damping spring 12, master
Driving wheel 13, driven wheel 14, several elastic guide wheels 15, several swing arms 16, crawler belt 17 and several fasteners for assembling.Its
In, the quantity of elastic guide wheel 15 is illustrated for four in the present embodiment, and swing arm 16 and elastic guide wheel 15 are one by one
It is corresponding, therefore the quantity of swing arm 16 in the present embodiment is also four.Fastener can be bolt and nut and pin, as long as can rise
To the installation fastening to component.The component of the same creeper undercarriage, such as damping spring 12, driving wheel 13, driven wheel
14, several elastic guide wheels 15, several swing arms 16, crawler belt 17 etc., are mounted in the installation side plate 18 of the corresponding side of bottom plate 11.
Driving wheel 13 and driven wheel 14 occur in pairs.Driving wheel 13 can have 12 gear teeth, and (particular number is not limited to
12, can more or suitably reduce), for engaging with crawler belt 17, power is transmitted, while also having guiding role, driven wheel 14
Only it play the guiding role.Motor driven can be used in driving wheel 13.Crawler belt 17 preferably uses rubber material, is made into rubber belt track, not only
Quality is light and handy, and adhesion property is considerable, can play larger power.One end of swing arm 16 is fixed on corresponding installation side plate
On 18, the other end of swing arm 16 installs elastic guide wheel 15, the installation requirement of elastic guide wheel 15 be can opposed swing arms 16 freely revolve
Turn.Elastic guide wheel 15 and swing arm 16 are all located between driving wheel 13 and driven wheel 14, and for adjusting the tension of crawler belt 17, auxiliary is real
Existing caterpillar drive control.Damping spring 12 is mounted in corresponding installation side plate 18, is located at corresponding installation side plate 18 and swing arm
Vibration between 16, when for reducing crawler type walking mechanism movement to bottom plate 11.
Referring to Fig. 8, Three Degree Of Freedom mechanical claw Mechanism 2 has 3 freedom degrees, includes mounting plate 21 in structure, pitches
Joint 22, linked component 23.
Mounting plate 21 can be an aluminium alloy base plate, for entire Three Degree Of Freedom mechanical claw Mechanism 2 to be fixed on Three Degree Of Freedom
In mobile framework mechanism 3.21 intensity of mounting plate is high, light weight.Pitching joint 22 mainly can drive turbine and worm by decelerating motor
The mode of reduction gearbox is realized.
In the present embodiment, pitching joint 22 includes locating piece one 221, two rotating arms 222, locating pieces 2 223.Positioning
Block 1 is fixed on mounting plate 21, and two rotating arms 222 are separately positioned in the opposite sides of locating piece 1, and is rotated
Arm 222 is rotatably installed on locating piece 1, thus this rotates 222 energy relative positioning block 1 of rotating arm, realizes and pitches
Rotation of the Three Degree Of Freedom mechanical claw Mechanism 2 in the first freedom degree is realized in movement.Locating piece 1 can pass through pin shaft and two
Rotating arm 222 is rotatablely connected.Locating piece 2 223 is fixed on two rotating arms 222, thus it is synchronous to control two rotating arms 222
Rotation, and locating piece 2 223 is rotated with two rotating arms 222.Each rotating arm 222 connects that of locating piece 2 223
End can extend along the surface of locating piece 2 223, to increase the mounting area with locating piece 2 223, two rotating arms 222 and positioning
Block 2 223 can be also integrally formed structures.Mounting plate 21 can be not provided with, but by locating piece 1 will entire three oneself
It is fixed in Three Degree Of Freedom mobile framework mechanism 3 by degree mechanical claw Mechanism 2.
Linked component 23 includes rotary shaft 230, connecting plate 231, two the first bars, 232, two the second bars 233.Rotary shaft
230 one end passes through locating piece 2 223 and is rotatably installed on locating piece 2 223, and the other end of rotary shaft 230 is fixed on connection
On plate 231.Therefore, 230 energy relative positioning block 2 223 of rotary shaft rotates, and realizes Three Degree Of Freedom mechanical claw Mechanism 2 second freely
Rotation on degree.One end symmetrical expression of two the first bars 232 is rotatably installed on connecting plate 231, two the first bars 232 it is another
End is rotatablely connected one end of two the second bars 233 respectively, and the other end symmetrical expression of two the second bars 233 is rotatably connected on a machine
In the opposite sides of machinery claw 24.Three Degree Of Freedom mechanical claw Mechanism is realized by the first bar 232 of linked component 23 and the second bar 233
2 opening and closing in third freedom degree.
In the present embodiment, two the first bars 232 are mounted on the side that the both ends on the mounting plane use gear engagement
Formula is connected with each other, and the length of the first bar 232 is greater than the length of the second bar 233.First bar 232 is rotatablely connected the one of the second bar 233
End opens up mounting groove, and the second bar 233 protrudes into the mounting groove, and by being rotatably connected on the two opposite of the mounting groove
It is rotatably installed on cell wall in the mounting groove.
In other embodiments, rotary shaft 230 and connecting plate 231 can be set and be an integral molding structure, it can also give up
Rotary shaft 230, directly sets rotary shaft for one end of connecting plate, and the rotary shaft passes through locating piece 2 223 and is rotatablely installed
On locating piece 2 223, thus connecting plate energy relative positioning block 2 223 rotates, and realizes Three Degree Of Freedom mechanical claw Mechanism 2 second
Rotation in freedom degree, the other end of connecting plate are set as the mounting plane coplanar with the rotary shaft.Two the first bars 232
One end symmetrical expression is rotatably installed on the mounting plane of connecting plate, and the other end is rotatablely connected one end of two the second bars 233 respectively,
The other end symmetrical expression of two the second bars 233 is rotatably connected on the opposite sides of gripper 24, passes through the first of linked component 23
Bar 232 and the second bar 233 realize opening and closing of the Three Degree Of Freedom mechanical claw Mechanism 2 in third freedom degree.
Therefore, the Three Degree Of Freedom of Three Degree Of Freedom mechanical claw Mechanism 2 realizes the flexion-extension of manipulator 24, revolution, opening and closing respectively.Machine
Machinery claw 24 is open and close type manipulator, has rotary freedom and opening and closing freedom degree, wherein motor and reduction gearbox, provide gripper 24
Rotary freedom；When motor-driven gear, which provides power, to be rotated, gripper 24 carries out opening and closing, to adapt to different thicknesses
Trunk.Entire gripper 24 can be using acrylic as material, and light weight, intensity is high, meets functional requirement.
Three Degree Of Freedom mobile framework mechanism 3 includes braced frame 31, two-dimentional ball-screw platform 32, rotatable platform 33, slides
Rail 34, gear-wheel gear-ring revolute pair 35.Rotatable platform 33 is mounted on chassis 1；Braced frame 31 is rotatably installed in rotatable platform 33
On, it is driven and is turned round by rotatable platform 33；Sliding rail 34 is fixed in braced frame 31；Two-dimentional 32 slidingtype of ball-screw platform installation
On sliding rail 34；The mounting plate 21 of Three Degree Of Freedom mechanical claw Mechanism 2 is fixed on two-dimentional ball-screw platform 32, by two-dimentional ball
The driving of lead screw platform 32 moves horizontally and vertical shift.Gear-wheel gear-ring revolute pair 35 is mounted on braced frame 31 and rotatable platform 33
Between, platform 33, which is relatively rotated, for realizing braced frame 31 turns round.
The overall dimensions of braced frame 31 can be 1200*500*400, and height is moderate, can satisfy whitewashing for main trunk
Highly.To mitigate weight, braced frame 31 can be spliced using aluminium alloy extrusions, stable structure.Two-dimentional ball-screw is flat
Platform 32 can pass through sliding block 323 by two individual ball-screw platforms (such as horizontal shifting platform 321 and vertical shift platform 322)
Cross links together, it can be achieved that horizontal, vertical direction two-freedom movement.
322 basal sliding formula of vertical shift platform is mounted on sliding rail 34；Sliding block 323 is mounted on vertical shift platform 322
On, vertical shift is driven by vertical shift platform 322；Horizontal shifting platform 321 passes through sliding block 323 and vertical shift platform 322
The connection of antarafacial cross, the mounting plate 21 of Three Degree Of Freedom mechanical claw Mechanism 2 is mounted on horizontal shifting platform 321, by moving horizontally
The driving of platform 321 moves horizontally.
The horizontal shifting platform 321 1 of two-dimentional ball-screw platform 32 terminates spray coating mechanical pawl 24, can make flush coater machinery claw
24 realize horizontal, vertical direction movement.The stroke of the horizontal shifting platform 321 of two-dimentional ball-screw platform 32 is 500mm, is erected
The vertical stroke of translation moving platform 322 is 1200mm, and the width of sliding block 233 is 200mm, therefore flush coater machinery claw 24 can be realized
The stroke of 300mm and the brushing of 1000mm height.The vertical shift platform of braced frame 31 and two-dimentional ball-screw platform 32
322 are bolted, so that two-dimentional ball-screw platform 32 can be moved based on braced frame 31 with braced frame 31
It is dynamic.
The structure of rotatable platform 33 is mainly made of rotation seat shaft 331, deep groove ball bearing 332, pedestal 333.Pedestal 333
It can be bolted on the bottom plate 11 on chassis 1, rotation seat shaft 331 is connect with braced frame 31, Three Degree Of Freedom movable frame
Body mechanism 3 may be implemented in the One On The Chassis relative rotation.When braced frame 31 rotates, need to consider the dynamic balancing of braced frame 31
Problem should have enough support forces to prevent braced frame 31 from toppling.
To sum up, the two-dimentional ball-screw platform 32 in braced frame 31 is connect with gripper 24 by mounting plate 21,
Gripper 24 realizes that horizontal 300mm is flexible, lifting 1000mm is mobile, and the rotation of horizontal plane is realized by rotatable platform 33, leads to
Horizontal, vertical shift is crossed, is moved in conjunction with horizontal rotation, to reach three-degree-of-freedom motion target.
Lime water tank 4 can be the structural frames of aluminum alloy frame manufacture, and inside is plastic box, contain limewash, pass through conduit
And pressure pump supplies limewash to the gripper 24 of Three Degree Of Freedom mechanical claw Mechanism 2, sprays to trunk.It can also be by lime
High water level is arranged in water tank 4, need to only control the circulation of limewash by the valve on water pipe in this way.
Power supplying apparatus is mainly 48V DC power supply unit, and 48V DC power supply unit and bottom plate 11 are tightly fastened, and
Lime water tank 4 is placed on the rear portion on chassis 1 together, provides counterweight, prevents tumbling when walking, while providing the revolution of pump, motor,
The revolution of braced frame 31, the pitching, revolution and opening and closing of two-dimentional ball-screw platform 32 to move up and down with manipulator 24
The electric energy of movement.Therefore, power supplying apparatus also sets up what two driving wheels 13 of driving rotated in addition to 48V DC power supply unit
Crawler belt revolver motor and crawler belt right wheel motor, that of driving pitching joint 22 rotate rotating arm 222 and realize gripper 24 and face upward
The gripper bowed pitches motor, and the connecting plate 231 of driving linked component 23 rotates and realize the gripper revolution of gripper revolution
Motor, that of driving linked component 23 rotate and realize the gripper opening and closing motor of gripper opening and closing, driving two to the first bar 232
The lead screw that the horizontal shifting platform 321 of dimension ball-screw platform 32 moves horizontally moves horizontally motor, drives two-dimentional ball-screw
The lead screw vertical shift motor of 322 vertical shift of vertical shift platform of platform 32 drives the rotation seat shaft of rotatable platform 33
331 rotate and realize the frame turning motor that braced frame 31 is turned round, and driving lime water tank 4 supplies the lime water pump of limewash.
All these motors and water pump can be using artificial controls, in order to possess better control effect, on stroke
Various corresponding locating parts can be set, the gripper as limit mechanical pawl 24 pitches stroke pitches locating part, limit mechanical pawl
The gripper slewing limit part of 24 revolution strokes, the gripper opening and closing locating part of 24 opening and closing stroke of limit mechanical pawl, limit levels
Mobile platform 321 moves horizontally the lead screw Horizontal limiting part of stroke, limits the lead screw of 322 vertical shift stroke of vertical shift platform
Vertical locating part, limitation braced frame 31 turn round the frame slewing limit part of stroke.Trunk is touched in order to avoid gripper 24 is hit, it can
It, can warning note when the distance between gripper 24 and trunk reach preset value Anticollision Radar is arranged.
A kind of more landform multiple degrees of freedom tree trunk white paining robots derive from real daily life, need specific to function, this tree
Dry-coated white robot is mainly by gripper 24, chassis 1, Three Degree Of Freedom mechanical claw Mechanism 2, Three Degree Of Freedom mobile framework mechanism 3, stone
Gray water tank 4 and power supplying apparatus composition.Convenience of the crawler type walking mechanism on complex road surface can be made full use of, by it
Applied to uneven meadow environment locating for arboreal growth, the advantage that chassis 1 has bottom plate high effectively improves chassis 1
Passability.Tree trunk white paining robot is provided with rotary freedom, the adjustable direction whitewashed will not be influenced because of machine travel
Spray efficiency, and this flush coater machinery claw 24 uses multiple degrees of freedom, realizes and protects special shape trunk.
Tree trunk white paining robot can reduce the probability that worker directly touches white-out agent, can meet different terrain different shape tree
The dry spraying of ebon, it can also be used to the daily pest and disease damage monitoring of trees pesticide spraying, trees is carried out, it is multiple functional, it is environment protection field
Important mechanized equipment.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of tree trunk white paining robot for adapting to a variety of landform, it is characterised in that: comprising:
Chassis (1), driving tree trunk white paining robot walking；
Three Degree Of Freedom mobile framework mechanism (3) comprising: the rotatable platform (33) being mounted on chassis (1)；It is rotatably installed in
On moving platform (33) and by the braced frame (31) by rotatable platform (33) driving revolution；The cunning being fixed in braced frame (31)
Rail (34)；The two-dimentional ball-screw platform (32) being slidably mounted on sliding rail (34)；
Three Degree Of Freedom mechanical claw Mechanism (2) comprising pitch joint (22) and linked component (23)；It includes fixed for pitching joint (22)
Position block one (221), two rotating arms (222), locating pieces two (223)；Locating piece one (221) is fixed on two-dimentional ball-screw platform
(32) on, two rotating arms (222) are separately positioned in the opposite sides of locating piece one (221), and rotating arm (222) rotation peace
On locating piece one (221), locating piece two (223) is fixed on two rotating arms (222)；Linked component (23) includes rotation
Axis (230), connecting plate (231), two the first bars (232), two the second bars (233)；One end of rotary shaft (230) is rotatablely installed
On locating piece two (223), the other end of rotary shaft (230) is fixed on connecting plate (231), and the one of two the first bars (232)
End symmetrical expression is rotatably installed on connecting plate (231), and the other end of two the first bars (232) is rotatablely connected two the second bars respectively
(233) one end；
Gripper (24), opposite sides are rotatablely connected with the other end symmetrical expression of two the second bars (233) respectively；
Lime water tank (4), it is interior to contain limewash, limewash is supplied to gripper (24) by conduit and pressure pump, to trunk
It is sprayed.
2. adapting to the tree trunk white paining robot of a variety of landform as described in claim 1, it is characterised in that: two-dimentional ball-screw is flat
Platform (32) includes:
Vertical shift platform (322), basal sliding formula are mounted on sliding rail (34)；
Sliding block (323) is mounted on vertical shift platform (322), drives vertical shift by vertical shift platform (322)；
Horizontal shifting platform (321) is connected by sliding block (323) with vertical shift platform (322) antarafacial cross, locating piece one
(221) it is mounted on horizontal shifting platform (321), is moved horizontally by horizontal shifting platform (321) driving.
3. adapting to the tree trunk white paining robot of a variety of landform as described in claim 1, it is characterised in that: two the first bars
(232) symmetrical expression is rotatably installed on connecting plate (231) by the way of gear engagement.
4. adapting to the tree trunk white paining robot of a variety of landform as claimed in claim 3, it is characterised in that: the first bar (232)
Length is greater than the length of the second bar (233).
5. adapting to the tree trunk white paining robot of a variety of landform as claimed in claim 3, it is characterised in that: the first bar (232) is opened
If mounting groove, the second bar (233) is protruded into the mounting groove and opposite two cell walls are rotatablely connected with the mounting groove.
6. adapting to the tree trunk white paining robot of a variety of landform as described in claim 1, it is characterised in that: locating piece one (221)
It is rotatablely connected by pin shaft and two rotating arms (222).
7. adapting to the tree trunk white paining robot of a variety of landform as described in claim 1, it is characterised in that: chassis (1) includes bottom
Plate (11), two crawler type walking mechanisms being symmetricly set on the opposite sides side of bottom plate (11)；Three Degree Of Freedom mobile framework
Mechanism (3) and lime water tank (4) are mounted on bottom plate (11), and two crawler type walking mechanism drivings bottom plate (11) are mobile.
8. adapting to the tree trunk white paining robot of a variety of landform as claimed in claim 7, it is characterised in that: each crawler-type traveling
Mechanism includes driven wheel (14), the driving wheel (13) and driven wheel by matching of driving wheel (13) and driving wheel (13) pairing
(14) crawler belt (17) of driving walking.
9. adapting to the tree trunk white paining robot of a variety of landform as claimed in claim 8, it is characterised in that: each crawler-type traveling
Mechanism further includes several elastic guide wheels (15), several swing arms (16) corresponding with several elastic guide wheel (15)；Swing arm (16)
One end is fixed on the corresponding side of bottom plate (11), the corresponding elastic guide wheel (15) of the other end installation of swing arm (16), elastic conducting
Wheel (15) supports crawler belt (17) to adjust the tension of crawler belt (17).
10. adapting to the tree trunk white paining robot of a variety of landform as claimed in claim 9, it is characterised in that: each crawler type row
Walking mechanism further includes damping spring (12)；Damping spring (12) is mounted on the corresponding side of bottom plate (11), is located at bottom plate (11)
Between swing arm (16).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201721683728 | 2017-12-06 | ||
| CN2017216837284 | 2017-12-06 |
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| CN208880692U true CN208880692U (en) | 2019-05-21 |
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| CN201821283612.6U Active CN208880692U (en) | 2017-12-06 | 2018-08-09 | A kind of tree trunk white paining robot adapting to a variety of landform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216140A (en) * | 2019-11-27 | 2020-06-02 | 燕山大学 | Hold in palm formula multi-arm cooperation and transport nursing robot |
| CN112894878A (en) * | 2021-01-19 | 2021-06-04 | 重庆文理学院 | High-speed heavy-load mechanical arm |
-
2018
- 2018-08-09 CN CN201821283612.6U patent/CN208880692U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216140A (en) * | 2019-11-27 | 2020-06-02 | 燕山大学 | Hold in palm formula multi-arm cooperation and transport nursing robot |
| CN112894878A (en) * | 2021-01-19 | 2021-06-04 | 重庆文理学院 | High-speed heavy-load mechanical arm |
| CN112894878B (en) * | 2021-01-19 | 2024-01-30 | 重庆文理学院 | High-speed heavy-load mechanical arm |
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