CN105766877B - A kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people and spray method - Google Patents
A kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people and spray method Download PDFInfo
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- CN105766877B CN105766877B CN201610285764.9A CN201610285764A CN105766877B CN 105766877 B CN105766877 B CN 105766877B CN 201610285764 A CN201610285764 A CN 201610285764A CN 105766877 B CN105766877 B CN 105766877B
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- corner brace
- spray
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- mobile
- synchronous belt
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention provides a kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people and spray method, the upper end of the crawler belt tracking cart is provided with water tank, the upper end of the water tank is provided with frame, the water tank connection spray compressor, the spray compressor connects mobile spray head, the two sides of the frame are provided with symmetrical lead screw motor, lifting nut is provided on the screw rod of the lead screw motor, the two sides of the lifting nut pass through fixed link, symmetrical aluminum corner brace one is provided on the lifting nut, one end of one of them aluminum corner brace one is provided with stepper motor one, the stepper motor one connects active synchronization belt wheel one, the active synchronization belt wheel one is located at the driven synchronous pulley one of one other end of aluminum corner brace by the connection of conveyer belt one, each one connection sliding block one of the synchronous belt, two sliding blocks one are connected to aluminum corner brace two Downside, each sliding block one are located on the guide rail one of the aluminum corner brace one, are provided with transverse moving mechanism in the aluminum corner brace two.
Description
Technical field
The present invention relates to automatic machinery people fields, in particular, being related to a kind of white pretty young woman larva net curtain Intelligent target in the U.S.
Spray robot and spray method.
Background technique
Fall webworms also known as U.S. moths attracted by lamplight, its feeding habits is miscellaneous, and breeding amount is big, and adaptable, route of transmission is wide, to the garden in China
Woods trees, economic forest, agricultural protection forest etc. cause serious harm.Currently, big frequently with manual removal's net curtain and chemical agent
The control method that scale sprays.Extensive, the inefficient, high pollution mostly of these modes.This is in place of the deficiencies in the prior art.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of white pretty young woman larva net curtain intelligent targeting chemical spray machine device people in U.S. and
Spray method, it is autonomous to find fall webworms larva net curtain and dialogue moth larvae net curtain implementation spray.
The present invention realizes goal of the invention using following technological means:
A kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people, including crawler belt tracking cart, it is characterized in that: described
The upper end of crawler belt tracking cart is provided with water tank, and the upper end of the water tank is provided with frame, and the water tank connects spray compressor,
The spray compressor connects mobile spray head, and the two sides of the frame are provided with symmetrical lead screw motor, the lead screw motor
Lifting nut is provided on screw rod, the two sides of the lifting nut pass through fixed link, are provided on the lifting nut symmetrical
Aluminum corner brace one, one end of one of them aluminum corner brace one are provided with stepper motor one, and the stepper motor one connects active synchronization band
Wheel one, the active synchronization belt wheel one are located at the driven synchronous pulley one of one other end of aluminum corner brace by the connection of synchronous belt one,
Each one connection sliding block one of the synchronous belt, two sliding blocks one are connected to the downside of aluminum corner brace two, each sliding block one
In on the guide rail one of the aluminum corner brace one, it is provided with transverse moving mechanism in the aluminum corner brace two, is arranged on the transverse moving mechanism
There is mobile bracket, the mobile spray head and video camera are set on the mobile bracket；The transverse moving mechanism includes being located at institute
The stepper motor two in aluminum corner brace two is stated, the stepper motor two connects by active synchronization belt wheel two with synchronous belt two driven synchronous
Belt wheel two, two connection sliding block two of synchronous belt, the sliding block two are connected to the lower end of mobile bracket, and the sliding block two is located at
On the guide rail two of the aluminum corner brace two；Ultrasonic sensor and infrared sensor are provided on front side of the water tank.
A kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people's spray method, which is characterized in that including walking as follows
It is rapid:
Crawler belt tracking cart utilizes infrared sensor avoidance during close to target, spray robot close to target,
Target is accurately positioned using video camera, using ultrasonic sensor obtain trees distance, video camera lock onto target, away from
Under the premise of remaining unchanged, the position of mobile bracket is adjusted, makes mobile spray head forward direction in face of target to be painted, then according to target
Distance setting spray pressure, sprays to target by mobile spray head；
The position for adjusting mobile bracket specifically includes following process:
Stepper motor one is cooperated by active synchronization belt wheel one and synchronous belt one, and synchronous belt one is moved with movable slider one, from
And it realizes mobile spray head and is moved forward and backward；The rotation of screw rod can be driven when lead screw motor rotation, the rotation of screw rod can drive lifting
The vertical lifting of nut moves, and the vertical lifting movement of lifting nut drives the up and down motion of mobile spray head, stepper motor two-way
Crossing active synchronization belt wheel two drives synchronous belt two to move, and synchronous belt two realizes the movement of left and right directions with movable slider two, thus real
It is mobile now to move nozzle right.
Compared with prior art, the advantages and positive effects of the present invention are: stepper motor one of the invention is same by active
It walks belt wheel one and synchronous belt one cooperates, synchronous belt one is moved with movable slider one, to realize that mobile spray head is moved forward and backward；Work as screw rod
Motor can drive the rotation of screw rod when rotating, the rotation of screw rod can drive the vertical lifting of lifting nut to move, lifting nut
Vertical lifting movement drives the up and down motion of mobile spray head, and stepper motor two drives synchronous belt two to move by synchronous pulley two,
Synchronous belt two realizes the movement of left and right directions with movable slider two, to realize that mobile nozzle right is mobile.Crawler belt tracking cart band
Mobile robot is accurately positioned target close to target, using video camera, at the same using ultrasonic sensor obtain target away from
From under the premise of video camera lock onto target, distance remain unchanged, the position of the mobile bracket of adjustment makes mobile spray head forward direction face
To target to be painted, spray pressure is then arranged according to target range, is sprayed by mobile spray head to target.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is top view of the invention.
Fig. 3 is main view of the present invention.
1 in figure, crawler belt tracking cart, 2, ultrasonic sensor, 3, infrared sensor, 4, water tank, 5, spray compressor, 6,
Frame, 7, mobile spray head, 8, video camera, 9, mobile bracket, 10, screw rod, 11, guide rail one, 12, lead screw motor, 13, stepper motor
One, 14, stepper motor two, 15, aluminum corner brace one, 16, lifting nut, 17, aluminum corner brace two, 18, fixed link, 19, synchronous belt one, 20, same
Walk band two, 21, sliding block one, 22, sliding block two, 23, guide rail two.
Specific embodiment
Further be described in detail is made to the present invention with preferred embodiment with reference to the accompanying drawing.
Referring to figures 1-3, the present invention includes crawler belt tracking cart 1, and the upper end of the crawler belt tracking cart 1 is provided with water tank
4, the upper end of the water tank 4 is provided with frame 6, the connection of the water tank 4 spray compressor 5, the connection of spray compressor 5 movement
Spray head 7, the two sides of the frame 6 are provided with symmetrical lead screw motor 12, are provided with liter on the screw rod 10 of the lead screw motor 12
Nut 16 drops, and the two sides of the lifting nut 16 pass through fixed link 18, are provided with symmetrical aluminum corner brace one on the lifting nut 16
15, one end of one of them aluminum corner brace 1 is provided with stepper motor 1, and the stepper motor 1 connects active synchronization
Belt wheel one, the active synchronization belt wheel one are located at the driven synchronous belt of one 15 other end of aluminum corner brace by the connection of synchronous belt 1
Wheel one, each one 19 connection sliding block 1 of synchronous belt, two sliding blocks 1 are connected to the downside of aluminum corner brace 2 17, each
The sliding block 1 is located on the guide rail 1 of the aluminum corner brace 1, is provided with transverse moving mechanism in the aluminum corner brace 2 17, institute
It states and is provided with mobile bracket 9 on transverse moving mechanism, the mobile spray head 7 and video camera 8 are set on the mobile bracket 9.
The transverse moving mechanism includes the stepper motor 2 14 in the aluminum corner brace 2 17, the stepper motor 2 14
Driven synchronous pulley two is connected by active synchronization belt wheel two and conveyer belt 2 20,2 20 connection sliding block 2 22 of synchronous belt,
The sliding block 2 22 is connected to the lower end of mobile bracket 9, the sliding block 2 22 on the guide rail 2 23 of the aluminum corner brace 2 17.
The side of the water tank 4 is provided with ultrasonic sensor 2 and infrared sensor 3.
Frame 6 is built by 3030 aluminum profile of national standard, and lead screw motor 12 is bolted on frame 6, screw rod
Motor 12 is connected with screw rod 10, and screw rod 10 and lifting nut 16 cooperate, and aluminum corner brace 1 is mounted on lifting nut 16, guide rail one
11 are fixed in aluminum corner brace 1, and stepper motor 1 is cooperated by active synchronization belt wheel one and synchronous belt 1, synchronous belt 1
Band movable slider 1 moves, to realize that mobile spray head 7 is moved forward and backward.Turning for screw rod 10 can be driven when lead screw motor 12 rotates
Dynamic, the rotation of screw rod 10 can drive the vertical lifting of lifting nut 16 to move, and the vertical lifting movement of lifting nut 16, which drives, to move
The up and down motion of dynamic spray head 7, stepper motor 2 14 drive conveyer belt 2 20 to move by driving pulley two, and conveyer belt 2 20 drives
Sliding block 2 22 realizes the movement of left and right directions, to realize that mobile spray head 7 moves left and right.
The specific embodiment of above-mentioned intelligent targeting chemical spray machine device people's control system；Robot is integrated with video camera 8, ultrasound
Wave sensor 2 and infrared sensor 3, robot are accurately positioned target using video camera 8 close to after target, while benefit
Target range is obtained with ultrasonic sensor 2, under the premise of video camera lock onto target, distance remain unchanged, adjusts mobile branch
The position of frame 9 keeps mobile spray head 7 positive in face of target to be painted, spray pressure then is arranged according to target range, sprayed by mobile
First 7 pairs of targets spray.
Claims (2)
1. a kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people, including crawler belt tracking cart, it is characterized in that: the shoe
Upper end with tracking cart is provided with water tank, and the upper end of the water tank is provided with frame, the water tank connection spray compressor, institute
It states spray compressor and connects mobile spray head, the two sides of the frame are provided with symmetrical lead screw motor, the silk of the lead screw motor
Lifting nut is provided on bar, the two sides of the lifting nut pass through fixed link, are provided with symmetrical angle on the lifting nut
Aluminium one, one end of one of them aluminum corner brace one are provided with stepper motor one, and the stepper motor one connects active synchronization belt wheel
One, the active synchronization belt wheel one is located at the driven synchronous pulley one of one other end of aluminum corner brace by the connection of synchronous belt one, often
A one connection sliding block one of the synchronous belt, two sliding blocks one are connected to the downside of aluminum corner brace two, and each sliding block one is located at
On the guide rail one of the aluminum corner brace one, it is provided with transverse moving mechanism in the aluminum corner brace two, is provided on the transverse moving mechanism
Bracket is moved, the mobile spray head and video camera are set on the mobile bracket；The transverse moving mechanism includes positioned at described
Stepper motor two in aluminum corner brace two, the stepper motor two connect driven synchronous belt by active synchronization belt wheel two and synchronous belt two
Wheel two, two connection sliding block two of synchronous belt, the sliding block two are connected to the lower end of mobile bracket, and the sliding block two is located at described
On the guide rail two of aluminum corner brace two；Ultrasonic sensor and infrared sensor are provided on front side of the water tank.
2. fall webworms larva net curtain intelligent targeting chemical spray machine device people's spray method as described in claim 1, which is characterized in that
Include the following steps:
Crawler belt tracking cart utilizes infrared sensor avoidance during close to target, and spray robot is utilized close to target
Video camera is accurately positioned target, at the same using ultrasonic sensor obtain target range, video camera lock onto target, away from
Under the premise of remaining unchanged, the position of mobile bracket is adjusted, makes mobile spray head forward direction in face of target to be painted, then according to target
Distance setting spray pressure, sprays to target by mobile spray head；
The position for adjusting mobile bracket specifically includes following process:
Stepper motor one is cooperated by active synchronization belt wheel one and synchronous belt one, and synchronous belt one is moved with movable slider one, thus real
Now move spray head back-and-forth motion；The rotation of screw rod can be driven when lead screw motor rotation, the rotation of screw rod can drive lifting nut
Vertical lifting movement, the vertical lifting movement of lifting nut drives the up and down motion of mobile spray head, and stepper motor two passes through master
Dynamic synchronous pulley two drives synchronous belt two to move, and synchronous belt two realizes the movement of left and right directions with movable slider two, to realize shifting
Dynamic nozzle right is mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610285764.9A CN105766877B (en) | 2016-05-03 | 2016-05-03 | A kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people and spray method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610285764.9A CN105766877B (en) | 2016-05-03 | 2016-05-03 | A kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people and spray method |
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| Publication Number | Publication Date |
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| CN105766877A CN105766877A (en) | 2016-07-20 |
| CN105766877B true CN105766877B (en) | 2019-05-17 |
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| CN201610285764.9A Active CN105766877B (en) | 2016-05-03 | 2016-05-03 | A kind of fall webworms larva net curtain intelligent targeting chemical spray machine device people and spray method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107296031B (en) * | 2017-07-19 | 2020-11-10 | 济南大学 | Double-arm fruit tree plant protection robot device |
| CN108098779A (en) * | 2018-02-27 | 2018-06-01 | 西北农林科技大学 | A kind of control system for the robot that sprays |
| CN113057154A (en) * | 2021-03-23 | 2021-07-02 | 山东理工大学 | Greenhouse liquid medicine spraying robot |
| CN115363005B (en) * | 2022-09-21 | 2024-01-16 | 安徽德昌苗木有限公司 | Efficient pesticide spraying equipment for tea-oil tree seedling planting |
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| CN202962742U (en) * | 2012-09-14 | 2013-06-05 | 金晖(中山)金属制造有限公司 | Three-axis linkage spraying equipment |
| CN204426459U (en) * | 2015-02-09 | 2015-07-01 | 聊城大学 | A kind of fall webworm larva net curtain spraying machine device people mechanical system |
| CN204599109U (en) * | 2015-05-13 | 2015-09-02 | 西南大学 | A kind of automatic medicine sprayer |
| CN204907628U (en) * | 2015-04-12 | 2015-12-30 | 陈田来 | Equipment is put to intelligence biological activity thing cloth |
| CN205161664U (en) * | 2015-10-09 | 2016-04-20 | 天津宇晨兴隆农业科技有限公司 | Intelligence pesticide spraying machine ware people |
| CN205667286U (en) * | 2016-05-03 | 2016-11-02 | 聊城大学 | A kind of fall webworms larva net curtain Intelligent targeting chemical spray machine device people |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110091048A (en) * | 2010-02-05 | 2011-08-11 | 주식회사 세웅 | High-place worktable for trailer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202962742U (en) * | 2012-09-14 | 2013-06-05 | 金晖(中山)金属制造有限公司 | Three-axis linkage spraying equipment |
| CN204426459U (en) * | 2015-02-09 | 2015-07-01 | 聊城大学 | A kind of fall webworm larva net curtain spraying machine device people mechanical system |
| CN204907628U (en) * | 2015-04-12 | 2015-12-30 | 陈田来 | Equipment is put to intelligence biological activity thing cloth |
| CN204599109U (en) * | 2015-05-13 | 2015-09-02 | 西南大学 | A kind of automatic medicine sprayer |
| CN205161664U (en) * | 2015-10-09 | 2016-04-20 | 天津宇晨兴隆农业科技有限公司 | Intelligence pesticide spraying machine ware people |
| CN205667286U (en) * | 2016-05-03 | 2016-11-02 | 聊城大学 | A kind of fall webworms larva net curtain Intelligent targeting chemical spray machine device people |
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| CN105766877A (en) | 2016-07-20 |
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