CN210746842U - Single-rail moving device and plant protection robot - Google Patents
Single-rail moving device and plant protection robot Download PDFInfo
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- CN210746842U CN210746842U CN201921225923.1U CN201921225923U CN210746842U CN 210746842 U CN210746842 U CN 210746842U CN 201921225923 U CN201921225923 U CN 201921225923U CN 210746842 U CN210746842 U CN 210746842U
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- seat plate
- guide rail
- driving mechanism
- guide rod
- motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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Abstract
The utility model provides a single track mobile device and plant protection robot, this single track mobile device's characterized in that contains: a seat plate; a slider disposed on the seat plate and connected to a guide rail in a suspended manner so that the seat plate can freely slide along the guide rail; the driving mechanism is connected with the seat plate and drives the seat plate to move along the guide rail by outputting power to the guide rail; and the force application mechanism is elastically connected with the seat plate and the driving mechanism and used for adjusting the pressure of the driving mechanism and the guide rail. Through the single track mobile device who uses suspended structure, can reduce plant protection robot's area to improve the homogeneity of spraying, irrigating.
Description
Technical Field
The utility model relates to the technical field of agricultural machinery, specifically be a single track mobile device and plant protection robot.
Background
The first greenhouse vegetable production area in China shows the trend of regional and large-scale development gradually. The facility vegetables are mainly out-of-season vegetables, and have the advantages of high yield, good benefit and the like. The problems of high temperature and high humidity of the environment, continuous cropping of soil, soil-borne diseases and the like exist in the sunlight greenhouse, diseases and pests are easily caused, the yield and the quality of vegetables are seriously influenced, and therefore the disease and pest control task in each season in the greenhouse is heavy.
At present, the domestic facility vegetable pest control machinery has a large gap with developed countries, and has a lot of defects and defects, ① old aging prevention equipment is mainly operated manually, the labor intensity is high, the operation efficiency is low, the phenomena of 'running, overflowing, dripping and leaking' cause serious pollution, under the diversified planting mode of ② facility vegetables, the existing plant protection machinery has low automation degree, unreasonable design of spraying mode, can not realize accurate spraying, the pest control effect is poor, the liquid medicine coverage density is not uniform, the effective utilization rate of pesticide is only 20-30%, ③ the existing equipment has low automation and intelligence degree, and because an operator controls the spraying direction, the pesticide and a human body are not completely isolated in the spraying process, the plant protection machinery has large personal injury to the operator under the closed environment of a greenhouse, and the poisoning phenomenon is easy to occur.
The intelligent spraying machine is used for realizing fine spraying operation, and the method becomes one of important means for increasing and reducing the pesticide efficiency. Spraying operation is carried out in a sunlight greenhouse by adopting a plant protection robot technology, and accurate spraying operation is carried out according to growth information such as plant distribution positions, branch and leaf distribution density, canopy contours and the like or position information of diseases, pests, weeds and the like, so that the use amount of liquid medicine is reduced, liquid medicine drift is reduced, the physical health of workers is protected, the environment is protected, and sustainable agricultural production is realized.
Therefore, the greenhouse plant protection robot is urgently needed to be invented, has a light structure, high adaptability, high intelligent degree and high working efficiency, realizes efficient and autonomous spraying in a greenhouse, is suitable for accurate spraying of different plants in different periods, and aims of accurate positioning and spraying in a sunlight greenhouse, improves the universality of the greenhouse plant protection robot, reduces the workload of labor force, improves the personal safety in the production process, and has great economic and social significance for improving the working efficiency.
Disclosure of Invention
The utility model aims at providing a guide tracked mobile device that the motion is nimble improves the operating stability who realizes the plant protection robot and the convenience that the part was changed, makes operation step and later stage maintenance more simple, swift, improves production efficiency.
The utility model relates to a single-rail moving device and a plant protection robot.
The sliding block is arranged on the seat board and is connected with the guide rail in a suspension way, so that the seat board can freely slide along the guide rail,
the driving mechanism is connected with the seat plate and drives the seat plate to move along the guide rail by outputting power to the guide rail.
The seat plate and the driving mechanism keep synchronous operation, and the device is more stable in operation.
Further, the force application mechanism comprises a guide rod arranged above the seat plate,
the force application spring is sleeved on the guide rod, and the bracket bears the driving mechanism;
the support is arranged on the guide rod, can move along the axial direction of the guide rod, and adjusts the pressure of the driving mechanism and the guide rail by pressing the force application spring.
When the pressure of the force application structure and the guide rail is too large and the force application mechanism is inconvenient to slide on the guide rail, the force application spring can be pressed to reduce the pressure of the driving structure and the guide rail;
after the force application structure and the guide rail are installed and operated, the pressure of the force application structure and the guide rail is reduced, the elasticity of the force application spring is naturally released, and the pressure of the driving structure and the guide rail is increased; and the stable operation of the force application structure on the guide rail is ensured.
Further, the bracket has a guide bar supporting part disposed in parallel with the seat plate, and a motor balance maintaining part disposed perpendicular to the guide bar supporting part, the guide bar supporting part being provided with a guide hole through which the guide bar passes, the balance maintaining part vertically contacting with respect to an end of the seat plate;
the limit screw passes through a vertically extending long hole provided in the balance maintaining part to limit the bracket to be movable only in the vertical direction.
The bracket is more stably connected with the seat board, and the force application spring is more convenient to adjust.
Further, the driving mechanism comprises a motor arranged on the bracket and a Foley wheel which receives the rotation of the motor and presses the guide rail from the lower side to output power to the guide rail.
The sliding of the driving mechanism on the guide rail is realized.
Further, the motor is connected with the Foley wheel through a coupling,
the enhanced comes wheel and the motor rotate synchronously.
Furthermore, the seat board is coaxially provided with two sliding blocks,
the stability and the load capacity of the operation of the device are enhanced.
Further, a robot body is connected to a lower side of the seat plate.
The personal safety in the production process is improved, and the working efficiency is improved.
The utility model has the advantages that:
the utility model discloses adjust the pressure of fortune wheel and guide rail through application of force mechanism in work engineering, furtherly, the even running of guarantee equipment.
Through the fixed connection among the seat board, the slide block, the driving mechanism, the force applying mechanism and the Foley wheel,
the equipment is enabled to be better stressed and moved on the guide rail.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the force applying mechanism;
FIG. 3 is a schematic view of the structure of the present invention;
fig. 4 is a schematic view of the drive mechanism.
Description of the symbols
100-seat plate, 20-slide block, 21-first slide block, 22-second slide block, 10-guide rail, 200-force application structure, 300-guide rod, 310-force application spring, 400-bracket, 410-spring pressure plate, 411-guide hole, 412-screw hole, 420-motor support frame, 421-fixing hole, 422-long hole, 430-limit screw hole, 431-motor bearing extending hole, 500-driving mechanism, 510-motor, 520-coupler and 530-Fulai wheel.
Detailed Description
Next, the structure of the monorail movement device and the plant protection robot according to the present embodiment will be described in detail with reference to the drawings.
In this embodiment, the structure of the monorail moving device will be described in detail by taking a plant protection robot as an example. The single-rail moving device adopts a hoisting structure as a walking system of the plant protection robot, the guide rail is arranged above the single-rail moving device, the single-rail moving device is connected with the function body of the plant protection robot through the hoisting structure, and the function body of the plant protection robot is driven to move along the guide rail to realize the functions of irrigation, pesticide spraying and the like. Has important effect on modern agriculture.
In the plant protection robot of the present embodiment, the rail 10 is provided above, and in order to reduce the development cost, a commercially available SNS R1607403613776 mm rail (manufactured by bosch-lac corporation) is used in the present embodiment, and the plant protection robot is mounted upside down. The slider unit 20 slides along the lower side of the guide rail 10 by being fitted to the guide rail 10 in cooperation with the guide rail 10.
In order to ensure the stability of the movement of the single-rail moving device, the slider unit 20 in this embodiment includes two sliders 21 and 22 provided along the rail, and similarly, a FNS-45R205A 42320 (manufactured by Philippines corporation) standard type slider matched with the commercially available rail 10 is used, and a SNS R1607403613776 mm rail (manufactured by Philippines corporation) matched with the slider unit 20 is also used as the rail 10.
The first slider 21 and the second slider 22 are connected by a seat plate 100, and further, the first slider 21 and the second slider 22 are provided on the center line of the upper surface of the seat plate 100, which is parallel to the guide rail 10 and is located directly below the guide rail 10. The seat plate 100 is used for connecting a plant protection robot functional body below, and bears a driving mechanism 500, and the driving mechanism 500 outputs power to the guide rail 10 to drive the seat plate 100 and the plant protection robot body to slide along the guide rail 10.
In order to ensure that the driving mechanism 500 can stably apply the driving force to the rail 10, the driving mechanism 500 is connected to the seat plate 100 by the urging mechanism 200.
The biasing mechanism 200 includes a guide bar 300 provided above the seat plate 100, a biasing spring 310 fitted around the guide bar 300, and a bracket 400 for supporting the driving mechanism 500. The holder 400 is attached to the guide rod 300, is movable up and down in the axial direction of the guide rod 300, and adjusts the pressing force of the driving mechanism 500 and the guide rail 10 by the urging spring 310.
In order to fix the force applying mechanism 200 on the seat plate 100 better and ensure sufficient adjusting force transmitted to the driving structure 500;
two guide rods 300 arranged in parallel perpendicular to the extending direction of the guide rail 10 are provided on the upper surface of the seat plate 100 through screw holes, and the same urging springs 310 are fitted to the two guide rods 300, respectively.
The guide rod 300 is connected with a bracket 400 of the driving mechanism, the bracket 400 comprises a spring pressing plate 410 and a motor supporting frame 420, the spring pressing plate 410 is provided with a guide hole 411 for the guide rod 300 to pass through, and the deformation of the force application spring 310 is adjusted through nut locking.
The driving mechanism 500 of the present embodiment includes a motor 510 provided on the motor support frame 420, and a pickup wheel 530 that receives the rotation of the motor 510 and presses the guide rail from below to output power to the guide rail.
In the embodiment, forward and reverse movement and fixed-point position pause of the monorail moving device are realized, and after intelligent setting is carried out, the position with a memory function is found, and all spraying and sterilizing effects are completed; the motor adopts a 57J1880-450 type stepping motor,
in order to reduce the test cost and the matching degree with the guide rail 10, the Foley wheel in the embodiment adopts a GYK-48 Foley wheel (Dongguan Shandong automation).
To ensure that the position of the drive mechanism 500 is better adjusted by the apply spring 310 in the apply mechanism 200,
in this embodiment, the motor support frame 420 is vertically connected to the spring pressing plate 410, the motor support frame 420 and the spring pressing plate 410 are locked by 2 nuts, two screw holes 412 extending inwards are formed on the contact surface of the spring pressing plate 410, and two corresponding fixing holes 421 are formed on the motor support frame 420.
The screw hole 412 is located on the central axis of the contact surface of the spring pressing plate 410, and the depth of the screw hole 412 is smaller than the distance from the guide hole 411 to the contact surface, so that the connection between the spring pressing plate 410 and the motor supporting frame 420 is more stable.
The motor support bracket 420 is vertically contacted with the end of the seat plate 100, and the limit screw passes through the vertically extending slot 422 provided in the motor support bracket 420 to limit the motor support bracket 420 to be movable only in the vertical direction.
When the limit screw is fixed on the seat plate 100, it does not contact the guide bar 300, and the rigidity of the seat plate 100 is enhanced.
The motor support frame 420 is fixed at the motor end and is provided with 4 limit screw holes 430 matched with the motor and motor bearing extension holes 431;
the motor 510 is locked and fixed on the motor support frame 420 through a nut.
The motor bearing extending hole 431 is arranged on the central axis of the motor support frame 420 at the end where the motor is fixed, so that the motor can be kept stable in the movement process of the device.
In order to reduce the development cost, a commercially available coupler is adopted in the embodiment as an SGS-C34-8 single-film coupler (shenzhen shanghai automation equipment ltd).
The motor 510 is externally connected with a coupling 520 on a bearing, the other end of the coupling 520 is fixed with a Foley wheel 530, the Foley wheel 530 is arranged on the guide rail 10,
and the motor 510 bearing is coupled to the coupling 520 by a protrusion through a hole 431.
When the device is installed, the height of the motor supporting frame 420 in the vertical direction is adjusted by reducing the distance between the spring pressing plate 410 and the seat plate 100, so that the wheel 530 is more conveniently installed on the guide rail,
and when the Foley wheel 530 is seriously worn and the coupling 520 is worn, the replacement of corresponding parts is convenient.
After the monorail moving device is installed, the height of the spring pressing plate 410 from the seat plate 100 is adjusted, so that the slot 422 of the motor supporting frame 420 is at the lowest position in the vertical direction, the prepressing force of the Fowler wheel 530 on the guide rail is realized, the monorail moving device can be ensured to run stably on the guide rail,
meanwhile, after the device operates, when the Foley wheel 530 is worn, the force application spring 310 naturally releases the elastic force, and the height of the motor support frame 420 in the vertical direction is increased through the spring pressing plate 410, so that the height of the Foley wheel 530 is increased, the high Foley wheel 530 and the guide rail 10 are naturally pressed, and the normal operation of the device is maintained.
The motor cover which is completely sleeved with the fixed end of the motor support frame 420 is arranged outside the motor 510 body, so that the motor 510 body is prevented from being damaged by the outside in the operation process of the device.
A robot body is connected to a lower side of the seat plate 100.
The operation can be realized according to the above steps, the installation of the monorail movement device is convenient, and the device can automatically adjust the pressure of the driving mechanism and the guide rail through the force application mechanism in the operation process, so that the operation of the device is more stable.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A monorail movement apparatus, comprising:
a seat plate;
a slider disposed on the seat plate and connected to a guide rail in a suspended manner so that the seat plate can freely slide along the guide rail;
the driving mechanism is connected with the seat plate and drives the seat plate to move along the guide rail by outputting power to the guide rail; and
and the force application mechanism is elastically connected with the seat plate and the driving mechanism and used for adjusting the pressure of the driving mechanism and the guide rail.
2. The monorail movement apparatus of claim 1, wherein:
the force application mechanism comprises:
the guide rod is arranged above the seat plate;
the force application spring is sleeved on the guide rod; and
a bracket for bearing the driving mechanism, wherein the bracket is provided with a plurality of driving mechanisms,
the support is arranged on the guide rod, can move along the axial direction of the guide rod, and adjusts the pressure of the driving mechanism and the guide rail through the force application spring.
3. The monorail movement apparatus of claim 2, wherein:
the driving mechanism comprises a motor arranged on the bracket; and
a Fourring wheel which receives the rotation of the motor and presses the guide rail from the lower side to output power to the guide rail.
4. The monorail movement apparatus of claim 3, wherein:
the motor is connected with the Foley wheel through a coupling.
5. The monorail movement apparatus of claim 4, wherein:
the bracket is provided with a guide rod supporting part which is arranged in parallel with the seat plate and a motor balance maintaining part which is arranged vertically to the guide rod supporting part,
the guide rod supporting part is provided with a guide hole for the guide rod to pass through,
the balance maintaining part is perpendicularly contacted with respect to the end of the seat plate,
the limit screw passes through a vertically extending long hole provided in the balance maintaining part to limit the bracket to be movable only in the vertical direction.
6. The monorail movement apparatus of claim 1, wherein:
the seat board is coaxially provided with two sliding blocks.
7. A plant protection robot having a monorail movement device as defined in any one of claims 1-6, characterized in that:
the lower side of the seat plate is connected with a robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921225923.1U CN210746842U (en) | 2019-07-31 | 2019-07-31 | Single-rail moving device and plant protection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921225923.1U CN210746842U (en) | 2019-07-31 | 2019-07-31 | Single-rail moving device and plant protection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210746842U true CN210746842U (en) | 2020-06-16 |
Family
ID=71031826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921225923.1U Active CN210746842U (en) | 2019-07-31 | 2019-07-31 | Single-rail moving device and plant protection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210746842U (en) |
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2019
- 2019-07-31 CN CN201921225923.1U patent/CN210746842U/en active Active
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