CN209950199U - Multi freedom spraying spray lance mechanism - Google Patents
Multi freedom spraying spray lance mechanism Download PDFInfo
- Publication number
- CN209950199U CN209950199U CN201920653046.1U CN201920653046U CN209950199U CN 209950199 U CN209950199 U CN 209950199U CN 201920653046 U CN201920653046 U CN 201920653046U CN 209950199 U CN209950199 U CN 209950199U
- Authority
- CN
- China
- Prior art keywords
- motion unit
- freedom
- movable
- spray
- motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a multi freedom spraying spray lance mechanism, including first motion unit, second motion unit, third motion unit, intelligent nozzle and movable support. The first, second and third motion units each comprise: steering engine, Contraband type support, multi-functional support, steering wheel. The three motion units are connected in series to form a motion unit group with three degrees of freedom, an intelligent nozzle is arranged at the tail end of the motion unit group, and then a plurality of motion unit groups with three degrees of freedom are arranged on the movable spray rod, so that the multi-degree-of-freedom pesticide application operation can be carried out. The utility model discloses can in time adjust according to the operation environment of difference and spray angle, height, implement accurate operation of giving medicine to poor free of charge, reduce the waste of pesticide, can combine intelligent robot to carry out the operation of giving medicine to poor free of charge simultaneously, have wide market prospect.
Description
Technical Field
The utility model relates to an agricultural accurate pesticide application technique especially relates to a multi freedom spray lance mechanism.
Background
In agricultural production life, pesticide spraying is an important link in pest control work, but pesticide residue in targeted organisms and pesticide entering ecological environment through various modes are dangerous and non-directional threats to human health, and with the development of advanced pesticide application technology and robot technology, an intelligent pesticide application robot is beginning to replace manpower to be applied to agricultural production, particularly pesticide application operation in a greenhouse operation environment. However, greenhouse crop varieties are different, the degree of freedom of a traditional pesticide spraying rod device carried on a robot chassis is small, the flexibility is low, accurate spraying is difficult to achieve, and pesticide waste and environmental pollution are easily caused.
SUMMERY OF THE UTILITY MODEL
To the problem that exists, the utility model aims at providing a multi freedom spraying spray lance mechanism, the utility model discloses can in time adjust according to the operation environment of difference and spray angle, height, implement accurate application of pesticides operation, reduce the waste of pesticide, have wide market prospect.
The utility model provides a technical scheme of problem is: a multi-degree-of-freedom spray boom mechanism is characterized by comprising a base, a movable boom connected with the base, a plurality of motion unit groups arranged on the movable boom, and nozzles arranged on the motion unit groups, wherein each motion unit group comprises a first motion unit, a second motion unit and a third motion unit; the first, second and third motion units respectively comprise a steering engine, a U-shaped support, a multifunctional support and a steering wheel, in each motion unit, the steering engine is fixedly connected with the multifunctional support, an output shaft of the steering engine is in transmission fit with the steering wheel, one side of the U-shaped support is fixedly connected with the steering wheel, and the other side of the U-shaped support is movably connected with the multifunctional support; the motion unit group is formed by connecting three motion units in series and has three degrees of freedom, and the nozzle is arranged at the tail end of the motion unit group.
Furthermore, in each motion unit, one side hole of the U-shaped support is movably connected with the multifunctional support through a rivet, the other side hole of the U-shaped support is fixed with the steering wheel through a bolt, the multifunctional support is fixed with the steering wheel through a bolt group to play a role in bearing the steering wheel, and an output shaft of the steering wheel is in transmission fit with the steering wheel.
Furthermore, the first moving unit and the second moving unit are connected by welding between the respective multifunctional brackets, one side of the Contraband-shaped bracket of the second moving unit is fixedly connected with the lower end of the Contraband-shaped bracket of the third moving unit by a bolt group through a short flange, and the nozzle is mounted on the multifunctional bracket of the third moving unit.
Furthermore, the lower end of the motion unit group (the bottom of the U-shaped bracket of the first motion unit) is fixed on the movable spray rod through a long flange by a bolt.
Furthermore, the movable spray bars are arranged in four groups, two groups of movable spray bars are arranged in parallel, the bottom of one group of movable spray bars is fixedly connected with the base, the top of the movable spray bars is respectively connected with the two movable spray bars of the other group through movable hinges, and the two movable spray bars in each group are reinforced by cross bars.
Furthermore, one group of movable spray bars is vertical to the base, and the other group of movable spray bars is horizontally arranged and can rotate 90 degrees upwards in a counterclockwise direction to reach the highest spraying height.
Furthermore, each movable spray rod is provided with a plurality of three-degree-of-freedom motion unit groups, and the motion unit groups are arranged in mirror symmetry in the same side direction.
Furthermore, the two groups of movable spray rods are symmetrically fixed on the base through corner pieces.
To sum up, the utility model discloses can carry out multi freedom's application of drug operation, can in time adjust according to the operation environment of difference and spray angle, height, implement accurate application of drug operation, reduce the waste of pesticide, can combine intelligent robot to carry out more intelligent application of drug operation simultaneously, consequently will have wide market prospect and economic benefits.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:
FIG. 1 is a three-dimensional view of a multi-degree-of-freedom spray boom mechanism of the present invention;
FIG. 2 is a structural diagram of a middle kinematic unit group of the present invention;
FIG. 3 is a view of the first movement unit of the present invention;
FIG. 4 is a connection diagram of the movable unit group and the movable spray rod;
labeled as: the device comprises a moving unit group 1, a movable spray rod 2, a base 3, a movable hinge 4, an angle piece 5, a cross rod 6, a first moving unit 7, a second moving unit 8, a third moving unit 9, a nozzle 10, a steering engine 11, a steering wheel 12, a long law plate 13, a bolt 14, a multifunctional support 15, a rivet 16, a U-shaped support 17, a short law plate 18, a bolt group 19 and a bolt 20.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, fig. 2 and fig. 3, it is shown that the multi-degree-of-freedom spray boom mechanism provided in the present embodiment includes a first moving unit 7, a second moving unit 8, a third moving unit 9, a nozzle 10, a movable spray boom 2 and a base 3. The first, second and third motion units comprise steering engines 11 and Contraband type (namely U-shaped) brackets 17, multifunctional brackets 15 and a steering wheel 12. Three motion units are connected in series to form a motion unit group 1 with three degrees of freedom, a nozzle 10 is arranged at the tail end of the motion unit group, and then the motion unit groups 1 with the three degrees of freedom are arranged on a movable spray rod 2.
Referring to fig. 2, 3 and 4, in the first movement unit 7, the second movement unit 8 and the third movement unit 9, one side hole of the Contraband-shaped bracket 17 is movably connected with the multifunctional bracket 15 by a rivet 16, and the other side hole is fixed with the rudder plate 12 by a bolt group 19. The multifunctional support 15 and the steering engine 11 are fixed through bolts 14 and play a role in bearing the steering engine 11. In the embodiment, dynamixel AX-12+ steering engine is selected, and 7075 aluminum alloy is selected as the Contraband type bracket 17 and the multifunctional bracket 15. The output shaft of the steering engine 11 is in transmission fit with the steering wheel 12, so that the steering engine can rotate relative to the Contraband-type bracket 17 or the Contraband-type bracket 17 to generate a degree of freedom.
In the process of connecting the motion units, the first motion unit 7 and the second motion unit 8 are connected by welding the multifunctional brackets 15, and two degrees of freedom are obtained by freely rotating the two steering engines 11. One side of the second motion unit 8 Contraband type bracket 17 is fixedly connected with the lower end of the third motion unit 9 Contraband type bracket 17 by a bolt group 19 and a short flange 18, and the steering engine drives the Contraband type bracket 17 of the third motion unit to perform free rotation motion to form a third degree of freedom. The steering engine of the first motion unit is driven to enable the multifunctional support of the first motion unit to rotate around an X axis, the steering engine of the second motion unit is driven to enable the multifunctional support of the second motion unit to rotate around a Z axis, the steering engine of the third motion unit is driven to enable the multifunctional support of the third motion unit to rotate around a Y axis, and finally the motion unit group can complete rotation with three degrees of freedom. The lower end of the moving unit group 1 is fixed on the movable spray rod 2 by using a bolt 20 and a long flange 13.
Referring to fig. 1, four movable spray bars 2 are selected for arrangement, every two movable spray bars are connected through a movable hinge 4 and reinforced by a cross bar 6, and the movable spray bars 2 arranged in the horizontal direction are rotated by 90 degrees in the counterclockwise direction to reach the highest spraying height. Each movable spray rod 2 is provided with a certain number of three-degree-of-freedom motion unit groups 1, and the motion unit groups 1 which are mirror-symmetrical are arranged in the same side direction. Two groups of movable spray rods 2 are symmetrically fixed on a base 3 through corner pieces 5.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention is included in the protection scope of the present invention.
Claims (8)
1. A multi-degree-of-freedom spray boom mechanism is characterized by comprising a base (3), a movable boom (2) connected with the base, a plurality of motion unit groups (1) arranged on the movable boom and a nozzle (10) arranged on the motion unit groups, wherein each motion unit group comprises a first motion unit (7), a second motion unit (8) and a third motion unit (9); the first, second and third motion units respectively comprise a steering engine (11), a U-shaped support (17), a multifunctional support (15) and a steering wheel (12), in each motion unit, the steering engine is fixedly connected with the multifunctional support, an output shaft of the steering engine is in transmission fit with the steering wheel, one side of the U-shaped support is fixedly connected with the steering wheel, and the other side of the U-shaped support is movably connected with the multifunctional support; the motion unit group is a motion unit group (1) with three degrees of freedom formed by connecting three motion units in series, and the nozzle (10) is installed at the tail end of the motion unit group.
2. The multi-degree-of-freedom spray boom mechanism according to claim 1, characterized in that in each motion unit, one side hole of a U-shaped support (17) is movably connected with a multifunctional support (15) through a rivet (16), the other side hole of the U-shaped support is fixed with a steering wheel (12) through a bolt group (19), and the multifunctional support (15) and the steering engine (11) are fixed through a bolt (14) to play a role in bearing the steering engine (11).
3. The multi-degree-of-freedom spray boom mechanism is characterized in that the first moving unit (7) and the second moving unit (8) are connected through welding of respective multifunctional supports (15), the outer side of a U-shaped support (17) of the second moving unit (8) is fixedly connected with the lower end of a U-shaped support (17) of the third moving unit (9) through a short flange (18) by a bolt group (19), and the nozzle is mounted on the multifunctional support of the third moving unit.
4. A multiple degree of freedom spray boom mechanism according to claim 3, characterized in that the bottom of the U-shaped bracket of the first motion unit (7) is fixed to the movable boom (2) by bolts (20) through a long flange (13).
5. The multi-degree-of-freedom spray lance mechanism according to claim 1 or 4, wherein the number of the movable spray lances (2) is four, two movable spray lances are arranged in parallel to form two groups, the bottom of one group of the movable spray lances is fixedly connected with the base, the top of the one group of the movable spray lances is connected with the other group of the two movable spray lances through a movable hinge (4), and the two movable spray lances in each group of the movable spray lances are reinforced by a cross rod (6).
6. The multiple degree of freedom spray boom mechanism of claim 5 wherein one set of movable spray booms is perpendicular to the base and the other set of movable spray booms is horizontally disposed and rotatable 90 ° in an upward counterclockwise direction to a maximum spray height.
7. The multiple degree of freedom spray boom mechanism according to claim 6, characterized in that each movable boom (2) is equipped with several three degree of freedom motion unit groups (1), and mirror symmetry motion unit groups (1) are installed in the same side direction.
8. A multiple degree of freedom spray boom mechanism according to claim 5, characterized in that the two sets of movable spray booms (2) are symmetrically fixed to the base (3) via corner pieces (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920653046.1U CN209950199U (en) | 2019-05-08 | 2019-05-08 | Multi freedom spraying spray lance mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920653046.1U CN209950199U (en) | 2019-05-08 | 2019-05-08 | Multi freedom spraying spray lance mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209950199U true CN209950199U (en) | 2020-01-17 |
Family
ID=69244772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920653046.1U Active CN209950199U (en) | 2019-05-08 | 2019-05-08 | Multi freedom spraying spray lance mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209950199U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111820125A (en) * | 2020-07-27 | 2020-10-27 | 扬州大学 | Multi freedom vegetable pollination support |
-
2019
- 2019-05-08 CN CN201920653046.1U patent/CN209950199U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111820125A (en) * | 2020-07-27 | 2020-10-27 | 扬州大学 | Multi freedom vegetable pollination support |
| CN111820125B (en) * | 2020-07-27 | 2022-05-13 | 扬州大学 | Multi freedom vegetable pollination support |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101072661B (en) | Parallel kinematic device | |
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| CN201979513U (en) | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism | |
| CN209950199U (en) | Multi freedom spraying spray lance mechanism | |
| CN201881377U (en) | Five-degree of freedom twelve-rod welded robot mechanism with controllable space | |
| CN109531552B (en) | Two-degree-of-freedom pure rotation parallel mechanism | |
| CN203984949U (en) | Portable mini-size tillage machine rear wheel assembly and engine arrangement structure | |
| CN205905021U (en) | Multi freedom installation device | |
| CN107344359B (en) | Generalized decoupling parallel mechanism with three rotating shafts and two moving shafts not meeting | |
| CN203996516U (en) | Portable tiller handle bracket, rear wheel assembly and transmission gearbox arrangement structure | |
| CN203996515U (en) | Portable tiller handle bracket, rear wheel assembly and engine position structure | |
| CN203984931U (en) | Portable mini-size tillage machine rear wheel assembly and engine and screw drive case arrangement | |
| CN203996517U (en) | Tiller driving engine and handle bracket mounting structure | |
| CN203984939U (en) | Portable mini-size tillage machine handle bracket and rear wheel assembly arrangement | |
| CN104589329A (en) | Gear-driven electric cylinder high-speed two-dimensional translational manipulator | |
| CN203984938U (en) | Portable mini-size tillage machine handle bracket, rear wheel assembly and power assembly arrangement | |
| CN104081901A (en) | Rear wheel assembly installation structure of portable micro-cultivator | |
| CN204525443U (en) | Gear drive space four mobility manipulator | |
| CN204487564U (en) | Gear drive electric cylinder is two translation manipulators at a high speed | |
| CN204525442U (en) | V belt translation space four mobility manipulator | |
| CN204525449U (en) | Band drives electric cylinder heavy duty two translation manipulators | |
| CN204047072U (en) | Portable mini-size tillage machine support assembly | |
| CN202377141U (en) | Spraying robot with eight spatial ranges of motion | |
| CN204047083U (en) | Portable mini-size tillage machine screw drive case and support assembly | |
| CN204487566U (en) | The swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |