CN212397138U - Robot for whitewashing trunk - Google Patents

Abstract

The utility model provides a white robot is scribbled to trunk, including the chassis, still including setting up the indexing mechanism on the chassis, the hoist mechanism who is connected with indexing mechanism to and the arm mechanism who is connected with hoist mechanism, arm mechanism includes the armed lever the front end of armed lever is provided with first whitewashed arm and the whitewashed arm of second relatively, and first whitewashed arm and the whitewashed arm tail end department of second are scribbled to the first articulated setting of whitewashed arm, the whitewashed arm of second includes the arm pipe of circular arc shape, the inboard laminating of arm pipe is provided with the sponge, arm pipe inner chamber is provided with a flexible liquid pipe, equidistant a plurality of shower nozzles that are provided with on the liquid pipe, it is a plurality of the shower nozzle extends the inboard of arm pipe, and is located the sponge. The utility model discloses full-automatic completion has practiced thrift a large amount of manpower and materials resources to trees whitewash operation, and the trunk whitewash efficiency of improvement has avoided whitewash liquid and human contact, has avoided traditional artifical whitewash to cause the waste of whitewash liquid.

Description

Robot for whitewashing trunk

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to white robot is scribbled to trunk.

Background

The tree whitening is prepared by coating a layer of whitening preparation which is prepared by taking quick lime, vegetable oil, salt and the like as main components and fully stirring and mixing the main components and the base parts of main branches of the trees. The quicklime and the salt in the whitening agent have the functions of sterilization and disinfection, can kill various germs at the root of the trunk, and can accelerate the healing of the wound on the surface layer of the tree after whitening; in addition, the white coating also has the functions of killing worm eggs, preventing and controlling pests and preventing the livestock from biting the bark; meanwhile, the temperature difference between the daytime and the nighttime in winter is large, sufficient sunlight and ultraviolet rays in the daytime can be reflected out by whitewashing, the temperature difference between the day and the night of the base of the trunk is reduced, and the occurrence of freezing injury is avoided. After the surface layer of the tree is whited in summer, 40% -70% of sunlight and partial ultraviolet rays can be reflected out, and the occurrence of sunburn hazards can be effectively reduced. The whitewash has an important effect on the thriving of trees, and the whitewashed trees are tidy and consistent, so that the whitewash has a new effect on people and beautifies landscapes. However, at present, the trees are whitened in China by manual operation, two whitening modes, namely manual painting type whitening and manual paint spraying type whitening, are mainly adopted, but the two whitening modes are low in whitening efficiency, high in labor cost, time-consuming and labor-consuming, uneven whitening often occurs, too little whitening can not protect the trees, too much whitening can cause waste of whitening materials, and certain damage is caused to the surface layers of the trees. Moreover, when manual whitening is performed, some other adverse effects may be brought about when the whitening preparation splashed during the whitening process falls on the clothes or skin of the operator. However, the method of realizing full-automatic tree whitening by means of a mechanical device is not applied in China, so that the robot capable of automatically whitening the trunk is provided, and the problem to be solved is solved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem that the trunk whitewashing intensity of labour is big among the prior art, and degree of automation is not high, provide a trunk whitewashing robot of structural design novelty.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a white robot is scribbled to trunk, includes the chassis, still includes the indexing mechanism who sets up on the chassis, the hoist mechanism who is connected with indexing mechanism to and the arm mechanism who is connected with hoist mechanism, arm mechanism includes the armed lever the front end of armed lever is provided with first whitewashed arm and the whitewashed arm of second relatively, and first whitewashed arm and the whitewashed arm tail end department of second are articulated to be set up be provided with a linear electric motor above the armed lever, linear electric motor's output is articulated with first whitewashed arm and the whitewashed arm of second respectively through two connecting rods, the whitewashed arm of second includes the arm pipe of circular arc shape, the inboard laminating of arm pipe is provided with the sponge, the arm pipe inner chamber is provided with a flexible liquid pipe, the equidistant a plurality of shower nozzles that are provided with on the liquid pipe, and is a plurality of the shower nozzle extends the inboard of arm pipe, and is located the sponge.

Preferably, the indexing mechanism comprises a fixed cylinder arranged above the chassis, a rotating cylinder is arranged in the fixed cylinder, the upper end of the rotating cylinder is fixedly connected with an indexing disc, the indexing mechanism further comprises an indexing motor fixed on the wall of the chassis, and an output shaft of the indexing motor is connected with the rotating cylinder.

Preferably, hoist mechanism includes the promotion motor of a vertical promotion frame, lifting plate and the promotion frame rear side that sets up, promotion frame front side parallel arrangement has two tracks, lifting plate and two guide rail sliding connection, the lower extreme all is provided with a band pulley on the promotion frame, hoist mechanism still includes an open-ended belt, the belt both ends link firmly with the upper and lower both ends of lifting plate respectively, the belt passes the band pulley at both ends about the promotion frame to be connected with the promotion motor transmission.

Preferably, the tail part of the arm rod of the mechanical arm mechanism is connected with an arm tail seat, the front surface of the lifting plate is provided with a fixed seat, a rotating motor is further arranged in the fixed seat, and the arm tail seat is arranged in the fixed seat and is connected with the rotating motor.

Preferably, the automatic white painting device further comprises a white painting liquid barrel, a liquid pump is arranged in the white painting liquid barrel, a liquid inlet of the liquid pump is located in the white painting liquid barrel, and a liquid outlet of the liquid pump is communicated with the tail end of a liquid pipe in the mechanical arm mechanism.

Compared with the prior art, the beneficial effects of the utility model are that:

1) the utility model has novel structural design, realizes full-automatic tree whitening operation, saves a large amount of manpower and material resources, improves the tree trunk whitening efficiency, and avoids the whitening liquid from contacting with human body;

2) through the precise control of the liquid pump and the arrangement of the sponge on the inner side of the arm pipe, the waste of lime water whitening solution caused by the traditional manual whitening is avoided.

3) By arranging the indexing mechanism, the lifting mechanism and the mechanical arm mechanism, the spatial postures of the first white painting arm and the second white painting arm can be adjusted, and the requirements of different terrains can be met; the requirement of whitening trunks with different thicknesses; the tree trunks with different heights are whitewashed; the requirement of trunk whitewashing with different inclination degrees.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the front structure of the lifting mechanism of the present invention;

fig. 3 is a schematic view of the back structure of the lifting mechanism of the present invention;

fig. 4 is a schematic structural view of the indexing mechanism of the present invention;

fig. 5 is a schematic structural view of the robot arm mechanism of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5;

FIG. 7 is a schematic diagram of the main control principle of the present invention;

in the figure: 1. a chassis; 2. a control system; 3. a data transmission antenna; 4. electrically adjusting; 5. positioning an antenna; 6. a whitewashing liquid barrel; 7. a liquid pump; 8. an indexing mechanism; 9. a lifting mechanism; 10. a mechanical arm mechanism; 101. an arm tailstock; 102. an arm lever; 103. a linear motor; 104. a first whitewash arm; 105. a second whitewash arm; 106. a connecting rod; 1051. an arm tube; 1052. a liquid pipe; 1053. a spray head; 1054. a sponge; 801. a transposition motor; 802. a chassis wall; 803. a fixed cylinder; 804. a rotary drum; 805. a rotating bearing; 806. a support bearing; 901. lifting the frame; 902. a track; 903. a pulley; 904. a belt; 905. a lifting plate; 906. a fixed seat; 907. a hoisting motor; 908. a rotating electric machine; 909. a rotating disk.

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. 1-6, the present invention provides the following technical solutions: a trunk whitewashing robot comprises a chassis 1, the chassis 1 is a crawler structure (prior art) driven by a traveling motor, a transposition mechanism 8 arranged on the chassis 1, a lifting mechanism 9 connected with the transposition mechanism 8, and a mechanical arm mechanism 10 connected with the lifting mechanism 9, wherein the mechanical arm mechanism 10 comprises an arm rod 102, a first whitewashing arm 104 and a second whitewashing arm 105 are oppositely arranged at the front end of the arm rod 102, the first whitewashing arm 104 and the second whitewashing arm 105 are structurally symmetrical, the tail ends of the first whitewashing arm 104 and the second whitewashing arm 105 are hinged, a linear motor 103 is arranged above the arm rod 102, the output end of the linear motor 103 is respectively hinged with the first whitewashing arm 104 and the second whitewashing arm 105 through two connecting rods 106, the second whitewashing arm 105 comprises an arc-shaped arm tube 1051, the inner side of the arm tube 1051 is provided with a sponge 1054 in a fitting manner, the inner cavity of the arm pipe 1051 is provided with a flexible liquid pipe 1052, the liquid pipe 1052 is provided with a plurality of spray heads 1053 at equal intervals, and the plurality of spray heads 1053 extend out of the inner side of the arm pipe 1051 and are positioned in the sponge 1054. The first white coating arm 104 and the second white coating arm 105 are rotated up and down, left and right, in the horizontal direction and in the vertical direction by arranging the indexing mechanism 8, the lifting mechanism 9 and the mechanical arm mechanism 10, and then the first white coating arm 104 and the second white coating arm 105 are moved back and forth by moving the chassis 1 back and forth, so that the first white coating arm 104 and the second white coating arm are driven to reach any working positions; the requirements of different terrains can be met; the requirement of whitening trunks with different thicknesses; the tree trunks with different heights are whitewashed; the requirement of trunk whitewashing with different inclination degrees.

Further, in order to realize that the first white coating arm 104 and the second white coating arm rotate in the vertical direction, the indexing mechanism 8 comprises a fixed cylinder 803 arranged above the chassis 1, a rotating cylinder 804 is arranged in the fixed cylinder 803, the rotating cylinder is arranged in the fixed cylinder through a rotating bearing, the rotating cylinder 804 and the fixed cylinder 803 can rotate relatively, the fixed cylinder 803 and the rotating cylinder 804 are axially connected through a supporting bearing 806, the upper end of the rotating cylinder 804 is fixedly connected with an indexing disc 909, the indexing disc 909 is connected with the bottom of a lifting frame 901 of the lifting mechanism 9, the indexing mechanism 8 further comprises an indexing motor 801 fixed on the chassis wall 802, and an output shaft of the indexing motor 801 is connected with the rotating cylinder 804. By controlling the rotation angle and speed of the index motor 801, the rotation of the lift mechanism 9 in the vertical direction is controlled.

Further, in order to drive the mechanical arm mechanism 10 to move up and down to achieve the up-and-down whitening of the trunk, the lifting mechanism 9 includes a vertically arranged lifting frame 901, a lifting plate 905, and a lifting motor 907 at the rear side of the lifting frame 901, two rails 902 are arranged in parallel at the front side of the lifting frame 901, the lifting plate 905 is slidably connected with the two guide rails, a belt pulley 903 is arranged at each of the upper and lower ends of the lifting frame 901, the lifting mechanism 9 further includes an open belt 904, both ends of the belt 904 are respectively fixedly connected with the upper and lower ends of the lifting plate 905 at the front side, the belt 904 passes through the belt pulleys 903 at the upper and lower ends of the lifting frame 901 and is in transmission connection with the lifting motor 907 at the rear side of the lifting frame 901, specifically, a belt pulley is mounted on an output shaft of the lifting motor 907, the belt 904 is in transmission connection with the belt pulleys at the upper and lower ends of the lifting, therefore, the displacement and the speed of the mechanical arm mechanism 10 moving up and down are controlled, a belt transmission mode is adopted, the structure is simple, the transmission is accurate, and the damage of a moving part caused by overload is avoided.

Further, the tail of the arm 102 of the robot arm mechanism 10 is connected to an arm tail seat 101, a fixed seat 906 is disposed on the front surface of the lifting plate 905, and a rotating motor 908 is further disposed in the fixed seat 906, wherein the arm tail seat 101 is disposed in the fixed seat 906 and connected to the rotating motor 908. The rotational displacement and speed of the first and second whitewash arms 104 and 104 along the horizontal line are controlled by controlling the rotational angle and speed of the rotary motor 908 to accommodate for uneven terrain or a tilted trunk.

Further, the automatic white-coating machine further comprises a white-coating liquid barrel 6, a liquid pump 7 is arranged in the white-coating liquid barrel 6, a liquid inlet of the liquid pump 7 is located in the white-coating liquid barrel 6, and a liquid outlet of the liquid pump 7 is communicated with the tail end of a liquid pipe 1052 in the mechanical arm mechanism 10.

Further, the tree trunk whitewashing robot further comprises a control system 2, a ground station, a receiver, a transmitter, a data transmission antenna 3, an electric speed controller 4 and a positioning antenna 5, wherein the control system 2 comprises a main control module, an inertial navigation module, a wireless communication module and a network RTK real-time dynamic differential positioning module, and the ground station comprises a computer.

Furthermore, the main control module is in communication connection with the ground station in a wireless mode through the receiver, the data transmission antenna 3, the wireless communication module and the transmitter.

Further, the main control module is connected with the chassis advancing motor, the lifting motor 907, the rotating motor, the linear motor 103 and the indexing motor 801 through the electric regulator 4, and controls and drives the motion displacement and the motion speed of the output ends of the chassis advancing motor, the lifting motor, the rotating motor, the linear motor 103 and the indexing motor 801.

Through the cooperative work of all parts of the modules of the control system 2, the full-automatic navigation route planning and the automatic whitewashing operation of the robot arm of the tree trunk are realized together. In the control system 2, the network RTK real-time dynamic difference module is matched with the positioning antenna 5, so that the positioning error of the robot can be kept within 5cm, and the tree whitening accuracy can be effectively improved. The application of the inertial navigation module enhances the stability and reliability of the robot in tree whitening work.

The ground station, the receiver, the transmitter, the main control module, the inertial navigation module, the wireless communication module, the network RTK real-time dynamic differential positioning module, the electronic controller, the data transmission antenna 3 and the control modes of the motors used in the embodiment are all the prior art, but the present embodiment does not detail the specific structure.

The working process is as follows: the tree trunk whitewashing robot moves to a working area, after the tree trunk whitewashing robot is started, the positioning antenna 5 can automatically position the position of the robot, an acquired information can be processed by a ground station, data are transmitted to the main control module through the data transmission antenna 3 and the wireless communication module, meanwhile, an infrared optical positioning camera is designed at the front end of the robot and is connected with the main control module to recognize, position and capture trees in the positioning area, the acquired data are transmitted to the main control module, the main control module uniformly processes the received information, the moving route of the robot is automatically planned, an electric speed regulator is controlled to drive a moving motor in a chassis to rotate, the automatic route planning and navigation of the robot are realized, and when the robot moves to a certain proper distance of the trees, the rotating motor, the lifting motor, the rotating motor and the rotating motor can be adjusted, The movement direction and displacement of the rotary motor enable the mechanical arm mechanism to achieve an ideal white coating posture, the linear motor 103 is further controlled to move, the opening and closing angle between the first white coating arm and the second white coating arm is adjusted, then the liquid pump 7 is automatically started, white coating liquid is conveyed to the spray heads 1053 on the first white coating arm and the second white coating arm from the white coating liquid barrel, the sponge 1054 is attached to the innermost sides of the arm pipes 1051 of the first white coating arm and the second white coating arm, the white coating liquid sprayed out by the spray heads 1053 is adsorbed, and uniform white coating operation is carried out. The first whitewashing arm and the second whitewashing arm are combined to form a nearly circular structure, and the opening and closing angles of the first whitewashing arm and the second whitewashing arm can be adjusted through a linear motor so as to adapt to trunks with different thicknesses.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A trunk whitewash robot, includes the chassis, its characterized in that: the automatic painting device is characterized by further comprising a transposition mechanism arranged on the chassis, a lifting mechanism connected with the transposition mechanism and a mechanical arm mechanism connected with the lifting mechanism, wherein the mechanical arm mechanism comprises an arm rod, the front end of the arm rod is relatively provided with a first white painting arm and a second white painting arm, the tail end of the first white painting arm and the tail end of the second white painting arm are hinged, a linear motor is arranged above the arm rod, the output end of the linear motor is hinged to the first white painting arm and the second white painting arm respectively through two connecting rods, the second white painting arm comprises an arc-shaped arm pipe, the inner side of the arm pipe is attached with a sponge, a flexible liquid pipe is arranged in the inner cavity of the arm pipe, a plurality of spray heads are arranged on the liquid pipe at equal intervals, and extend out of the inner side of the arm pipe and are located in the sponge.

2. The trunk whitewashing robot of claim 1, wherein: the indexing mechanism comprises a fixed cylinder arranged above the chassis, a rotating cylinder is arranged in the fixed cylinder, the upper end of the rotating cylinder is fixedly connected with an indexing disc, the indexing mechanism further comprises an indexing motor fixed on the wall of the chassis, and an output shaft of the indexing motor is connected with the rotating cylinder.

3. A trunk whitewashing robot as claimed in claim 1 or 2, characterized in that: the lifting mechanism comprises a lifting frame, a lifting plate and a lifting motor, the lifting frame is vertically arranged, the lifting motor is arranged on the rear side of the lifting frame, two rails are arranged on the front side of the lifting frame in parallel, the lifting plate is connected with the two guide rails in a sliding mode, a belt wheel is arranged at the upper end and the lower end of the lifting frame, the lifting mechanism further comprises an open belt, the two ends of the belt are fixedly connected with the upper end and the lower end of the lifting plate respectively, and the belt passes through the belt wheels at the upper end and the lower end of the lifting frame and is connected with.

4. The trunk whitewashing robot of claim 3, wherein: the tail part of the arm rod of the mechanical arm mechanism is connected with an arm tail seat, the front surface of the lifting plate is provided with a fixed seat, a rotating motor is further arranged in the fixed seat, and the arm tail seat is arranged in the fixed seat and is connected with the rotating motor.

5. The trunk whitewashing robot of claim 1, wherein: the automatic white-painting machine further comprises a white-painting liquid barrel, a liquid pump is arranged in the white-painting liquid barrel, a liquid inlet of the liquid pump is located in the white-painting liquid barrel, and a liquid outlet of the liquid pump is communicated with the tail end of a liquid pipe in the mechanical arm mechanism.

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