CN201211510Y - Trunk Automatic Spraying Machine - Google Patents

Abstract

An automatic tree trunk brushing machine for spraying medicinal liquid for trees. The manipulator structure is installed on the opening and closing movement device of the manipulator, which drives the manipulator structure to open and close; the manipulator structure and the opening and closing movement device of the manipulator are installed on the steel plate, and the steel plate The up and down moving device of the manipulator moves up and down along the vertical sliding rod; the front and rear swing device of the manipulator is installed between the support rod and the frame, driving the manipulator to swing back and forth; Swing left and right; the manipulator is formed to be connected with the liquid supply device. The utility model can spray and brush the tree trunk with liquid medicine, and has the advantages of simple operation, uniform spray and brush, strong flexibility and high efficiency. It is suitable for trees with different tree diameters and shapes, and is easy to disassemble and install.

Description

Trunk Automatic Spraying Machine

Technical field

The utility model relates to an automatic tree trunk brushing machine for spraying liquid on tree trunks or cylindrical objects.

Background technique

In order to prevent insect damage and frostbite, the trees are painted with liquid medicine every year in a certain season, commonly known as "whitening". At present, the work of brushing trees still adopts the method of manual brushing, and the work efficiency is low, and it takes a lot of manpower, material resources and financial resources to complete this work. The patent No. 200610070351.5 discloses a tree trunk liquid medicine spraying robot. The robot consists of a circular guide rail, a support device, a mobile device, a spraying device and a controller. During work, the circular guide rail and the support device need to be installed around the trunk and placed under the trunk. , and then the mobile device, the spraying device and the controller are installed on the circular guide rail, and the spraying device moves around the circular guide rail under the control of the mobile device and the controller to complete the spraying work on the trunk. Before doing this on the next tree trunk, the robot needs to be disassembled and then reinstalled around the next tree trunk. Although this robot can replace manual brushing work, repeated installation and disassembly are still labor-intensive and time-consuming.

Contents of the invention

In order to overcome the above disadvantages, the utility model provides an automatic tree trunk spraying machine with simple operation, uniform spraying, strong flexibility and high efficiency.

The technical scheme that the utility model solves its technical problem adopts is:

The manipulator structure is installed on the opening and closing movement device of the manipulator, and the opening and closing movement device of the manipulator drives the opening and closing movement of the manipulator. 9 is socketed in the chute, and the steel plate 17 moves up and down along the vertical sliding rod 9 through the manipulator on the vertical sliding rod 9; Between the frame 7, the manipulator on the vertical sliding rod 9 is driven to swing back and forth; the support rod 6 is fixedly connected with the left and right swing device of the manipulator through the worm gear shaft 21, and drives the support rod 6, the vertical sliding rod 9 and the manipulator to swing left and right; The manipulator is formed to be connected with the liquid supply device.

The manipulator is composed of a left manipulator 16 and a right manipulator 19. The left manipulator 16 and the right manipulator 19 are respectively installed on the left slider 11 and the right slider 20 of the manipulator opening and closing movement device. The left manipulator 16 and the right manipulator 19 are evenly distributed inside Nozzle and brush.

The manipulator opening and closing movement device is made up of steel plate 17, left slider 11, right slider 20, small motor 12, elastic band 18, steel wire rope, and left slider 11 and right slider 20 are contained in the front end face of steel plate 17, left and right two Two small motors 12 are installed on the rear end face of the steel plate 17, and the left and right two small motors 12 are connected with the left manipulator 16 and the right manipulator 19 respectively with steel wires, and the elastic band 18 is fixedly connected between the left manipulator 16 and the right manipulator 19. The left end of block 11 and the right end of right slide block 20 are installed respectively by travel switch.

The up and down moving device of the manipulator is composed of a chain 1, a sprocket 2, a DC rotary motor 3 and a travel switch. The chain 1 is wound on the sprocket 2 and connected with the steel plate 17. The two ends of the vertical sliding rod 9 are respectively equipped with a travel switch and a DC rotary motor. 3 joins with sprocket 2.

The front and rear swing device of the manipulator is composed of a hydraulic cylinder 5, a piston 4, a support rod 6 and a frame 7. One end of the piston 4 is inserted in the hydraulic cylinder 5, and the other end is connected with the support rod 6. The hydraulic cylinder 5 is fixed on the frame 7 to form a rocker. block mechanism.

Manipulator left and right rocking device is made of motor 14, worm screw 10, worm gear 15, worm gear shaft 21, and motor 14 links to each other with worm screw 10, and worm screw 10 meshes with worm gear 15, and worm gear shaft 21 is connected with support frame 6.

Liquid supply device is made up of water pump 13, water tank 8 and conveying pipe, and water pump 13 is placed in water tank 8, and one end of conveying pipe links to each other with water pump 13, and the other end links to each other with the nozzle in left manipulator 16 and right manipulator 19.

The beneficial effects of the utility model are: 1. The brushing machine simulates human hands to surround the tree trunk, the nozzles are evenly distributed on the upper part of the manipulator, and the lower part is equipped with a brush, which can realize the combination of water spraying and brushing, and make the liquid medicine distribution more uniform , and can recover the sprayed liquid medicine. 2. The size of the manipulator can be adjusted: the motor and steel wire drive the slider to move outwards to open the manipulator, and use the elastic belt to close the manipulator. It can spray trees with different diameters, and the action is simple and reliable. 3. It can be applied to trees of different shapes: the worm gear is used to engage the manipulator to make the manipulator swing left and right, and the rocker mechanism is used to realize the manipulator to swing back and forth. The structure is compact and reasonable, and the degree of freedom of the manipulator is increased to improve the flexibility of the manipulator. Not only suitable for upright trees, but also for "crooked trees". 4. Using a DC motor, the chain drive drives the manipulator to move up and down. The bearing is installed in the hub of the sprocket, which makes the structure more compact. 5. The travel switch is used to control the up and down movement and opening and closing of the manipulator, and the double-pole switch is used to realize the positive and negative rotation of the motor.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Fig. 1 is the assembly front view of the utility model;

Fig. 2 is the assembly top view of the utility model;

Fig. 3 is the schematic diagram of the swinging device back and forth of the manipulator;

Fig. 4 is the connection schematic diagram of manipulator and slide block;

Fig. 4 is a three-dimensional view of the structure of the manipulator and the opening and closing movement device of the manipulator.

In the figure 1. chain, 2. sprocket, 3. DC rotary motor, 4. piston, 5. hydraulic cylinder, 6. support rod, 7. frame, 8. water tank, 9. vertical slide rod, 13. water pump 10 .worm, 11. left slider, 12. small motor, 14. motor, 15. worm gear, 16. left manipulator, 17. steel plate, 18. elastic belt, 19. right manipulator. 20. right slider, 21. worm gear axis.

Detailed ways

The water pump 13 is fixed on the water tank 8, extracts the lime liquid, flows into the left manipulator 16 and the right manipulator 19 through the water pipe, and sprays out from the small holes evenly distributed in the manipulator, and the bottom of the manipulator is equipped with a brush; The manipulator 19 imitates the human hands to embrace the tree trunk. The left manipulator 16 and the right manipulator 19 are installed on the left slide block 11 and the right slide block 20 respectively. The left slide block 11 and the right slide block 20 are installed on the front end face of the steel plate 17, 17, two DC motors 12 are installed on the rear end surface, and reels are installed on the extension shafts of the two DC motors 12. The steel wire rope is wound on the reel, and the two motors 12 rotate. Open, when reaching the outermost end, touch the switch to stop the motion, press the forward and reverse switch to make the two DC motors 12 reverse, the wire rope is relaxed, and the elastic band 18 installed on the slider drives the left manipulator 16 and the right manipulator 19 to close together; The steel plate 17 is connected with the chain 1, the sprocket 2 is fixed on the support frame 6, the DC rotating motor 3 drives the sprocket 2 to rotate, the chain 1 and the left manipulator 16 and the right manipulator 19 move accordingly, when the left manipulator 16 and the right manipulator 19 When moving to the highest point or the lowest point, touch the travel switch to stop the movement, press the forward and reverse switch to make the DC rotary motor 3 reverse, and the manipulator 16, 19 moves in the opposite direction, thereby realizing the automatic up and down movement of the manipulator; hydraulic cylinder 5, piston 4. The support rod 6 and the frame 7 constitute a rocking block mechanism, and when the shape of the trunk changes, the left and right manipulators 19 can swing back and forth through the rocking block mechanism; On the frame 7, the extended shaft of the motor 14 is connected with the worm screw 10, and the motor 14 drives the worm screw 10 to rotate, and the worm wheel 15 rotates, and the left manipulator 16 and the right manipulator 19 are driven to swing left and right by the worm wheel shaft 21.

Claims (7)

1, a kind of trunk automatic brushing machine, it is characterized in that: manipulator constitutes and is installed on the manipulator opening and closing motion device; Manipulator constitutes and manipulator opening and closing motion device is installed on the steel plate (17), steel plate (17) is provided with chute, vertical The straight sliding rod (9) is sleeved in the chute, and the steel plate (17) moves up and down along the vertical sliding rod (9) through the manipulator on the vertical sliding rod (9); the vertical sliding rod (9) is hinged on the support rod ( 6), the front and rear swing device of the manipulator is installed between the support rod (6) and the frame (7); the support rod (6) is fixedly connected with the left and right swing device of the manipulator through the worm gear shaft (21); the manipulator is connected to the liquid supply device . 2. The trunk automatic brushing machine according to claim 1, characterized in that: the manipulator is composed of a left manipulator (16) and a right manipulator (19), and the left manipulator (16) and the right manipulator (19) are installed on the manipulator sheet respectively. On the left slide block (11) and the right slide block (20) of combined kinematic device, nozzles and hair brushes are uniformly distributed inside the left manipulator (16) and the right manipulator (19). 3. The trunk automatic brushing machine according to claim 1, characterized in that: the opening and closing movement device of the manipulator consists of a steel plate (17), a left slider (11), a right slider (20), a small motor (12), an elastic Belt (18) and steel wire rope are composed, left slide block (11) and right slide block (20) are contained in the front end face of steel plate (17), and left and right two small motors (12) are contained in the rear end face of steel plate (17) , the two small motors (12) on the left and right are respectively connected with the left manipulator (16) and the right manipulator (19) with steel wires, and the elastic belt (18) is fixedly connected between the left manipulator (16) and the right manipulator (19). The left end of block (11) and right slide block (20) right end are installed respectively by travel switch. 4. The trunk automatic brushing machine according to claim 1, characterized in that: the up and down moving device of the manipulator is composed of a chain (1), a sprocket (2), a DC rotating motor (3) and a travel switch, and the chain (1) winds Join with steel plate (17) on chain wheel (2), travel switch is installed respectively at vertical slide bar (9) two ends, direct-current rotary motor (3) joins with chain wheel (2). 5. The trunk automatic brushing machine according to claim 1, characterized in that: the front and rear rocking device of the manipulator is composed of a hydraulic cylinder (5), a piston (4), a support rod (6) and a frame (7), and the piston (4 ) one end is inserted in the hydraulic cylinder (5), and one end is connected with the support rod (6), and the hydraulic cylinder (5) is fixed on the frame (7) to form a rocking block mechanism. 6. The trunk automatic spraying machine according to claim 1, characterized in that: the left and right swinging device of the manipulator is composed of a motor (14), a worm (10), a worm wheel (15), and a worm shaft (21), and the motor (14) and The worm (10) is connected, the worm (10) meshes with the worm wheel (15), and the worm wheel shaft (21) is fixedly connected with the support frame (6). 7. The trunk automatic brushing machine according to claim 1, characterized in that: the liquid supply device is composed of a water pump (13), a water tank (8) and a delivery pipe, the water pump (13) is placed in the water tank (8), and the delivery pipe One end links to each other with water pump (13), and the other end links to each other with the nozzle in left manipulator (16) and right manipulator (19).

Images