CN110841824B

CN110841824B - Efficient garden operation device based on tree whitening

Info

Publication number: CN110841824B
Application number: CN201911150004.7A
Authority: CN
Inventors: 胡鑫; 栾厚泽; 袁小东; 颜鑫; 张景阳; 林森
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2021-06-01
Anticipated expiration: 2039-11-21
Also published as: CN110841824A

Abstract

The invention relates to a garden device, in particular to a high-efficiency garden operation device based on tree whitening, which aims to solve the problems that the application area is insufficient when trees are whitened, construction is inconvenient under a plurality of working conditions, the economic benefit is low and the like in the prior art; elevating gear links to each other with elevating gear has the controlling device to and through the spraying device that lifting chain and slider link to each other, adaptable different shape degree, the operation of whitewashing of different diameters trees, the operation of laminating, adaptability is strong, can ensure that whitewashing liquid is even at trunk surface distribution.

Description

Efficient garden operation device based on tree whitening

Technical Field

The invention relates to a garden device, in particular to a high-efficiency garden operation device based on tree whitening.

Background

In order to whiten trees, people generally dip a whitening agent in a brush, but due to low efficiency, people invent a sprayer operated by manual pressurization, although the spraying efficiency is improved, in the spraying process, workers need to always carry the sprayer filled with chemical liquid, and the working intensity is high. In both of these conventional whitening methods, landscaping workers are very likely to be exposed to chemicals harmful to the body, and the whitening efficiency of a single tree is to be improved. Therefore, in order to improve the tree whitening efficiency, the manual work is completely replaced by the machine, and a series of spraying machines compete. These whitewashing machines can be classified into two broad categories from the working principle: adaptive and non-adaptive.

In actual life, the larger part of the tree needing to be whitewashed is a planning tree, the trunk of the tree needing to be whitewashed is relatively straight, the bending degree is not violent, and the diameter deviation among different trees is not large, so that the spraying work can be well finished by improving a spraying assembly with a certain fixed shape, for example, according to different trunk diameters, a clamp with a relatively universal diameter is designed, different spraying pressures are adopted, the movement rate of a mechanical arm from top to bottom is changed, and the like.

The adaptive whitewashing machine can be analogized to the precise solution of some problems in mathematical computation, and the non-adaptive whitewashing machine can be regarded as an inaccurate, reliable and simple-to-compute solution meeting the practical application.

The diameters of the trees beside the road are different due to different varieties and planting years, and the same tree is also in an irregular shape from top to bottom, and even branches of some bush-shaped trees are scattered. Theoretically, the spraying device can completely and actively adapt to any irregular change, namely the spray head can well fit with the boundary track of the cross section of the trunk, and the whitewashing machine for completing the spraying work is called as a self-adaptive whitewashing machine; and other spray heads can not adapt to the irregular change of the surface of the tree, and the machine for spraying the surface of the irregular tree is indirectly finished by some improvements, such as controlling the discharge pressure, replacing the diameter of a mechanical arm and the like, starting from the actual problem condition, and is called as non-self-adaption.

A non-adaptive whitewashing machine.

In practical applications, tree whitening is not a delicate task, which requires a simple device structure and low production and maintenance costs, and therefore most of the spraying devices often use non-adaptive machines. The tree whitewashing machine is classified according to the design concept of a whitewashing machine core module-spraying module, and three representative non-adaptive tree whitewashing machines are listed.

One type is a non-adaptive machine with low automation degree, and the machine is characterized in that gardeners are required to hold a spraying component, and the spraying component contains the number of spray heads and the spraying area per unit time, which is more than that of the existing hand-held spraying type whitewashing machine. Gardeners sleeve the annular device provided with the spray head on a tree and then move along the surface of the trunk direction to finish the spraying work.

Compared with the first type, the machine is not manually held by a spray head any more, the efficiency is obviously improved, and the machine can adapt to trunks with different characteristics to a certain extent.

The third type of non-adaptive spraying machine fully combines the structural characteristics of other machines, surrounds the trunk with a certain height by means of a similar sleeve, is internally provided with a plurality of layers of nozzles from top to bottom, and simultaneously sprays the whitewashing agent.

In the non-core area working block, the novel modules such as a PLC all-in-one machine, a GPS module, a solar cell module and the like are combined, so that energy conservation and intellectualization are realized to a certain extent.

An adaptive whitewashing machine.

In addition, a lot of trees need to be whitewashed, such as roadside trees, gardens, parks and the like, various trees with large differences need to be whitewashed, and the non-adaptive whitewashing machine has poor actual working effect on the trees and still cannot replace manual painting.

Some researchers plan to develop a whitewashing machine which can adapt to different characteristics of a trunk in principle, and the design concept of a core of a spraying machine, namely a spraying module, can be divided into three types of self-adaptive whitewashing machines.

In the research and development of the first type of self-adaptive spraying machine, most instructions are finished by an operator, the application degree is the widest at present, the research and development idea is that the operator is used as a good module for processing information, namely a brain of the machine, replaces machine identification control circuits such as a sensor and a single chip microcomputer, and meanwhile, arms replace mechanical transmission devices, so that the mechanism is greatly simplified, the machine is used as an instruction sender, the spraying module is operated by hands, the spraying work completion degree is good, the cost is low, and the application range is wide. However, the spraying work is performed by more manpower than the traditional machine, and some improvements are brought about. The flexibility is guaranteed, meanwhile, the number of the spray heads and the volume of the medicine boxes are increased to improve the spraying area in unit time, and people do not need to bear on the material storage barrel.

The second type of self-adaptive machine is a first type of self-adaptive whitewashing machine with higher automation degree, and the design idea is that the spraying frame is deformed to a certain degree by contacting with the surface of the tree, so that the reasonable distance between the spray head and the surface of the tree is kept.

A third type of adaptive machine: the higher class of machine of degree of automation, its design philosophy that realizes the self-adaptation is with the help of some sensors, like infrared distance sensor etc., borrow reasonable mechanical structure design again, make shower nozzle and trunk surface keep reasonable angle and distance, this type machine is installing infrared distance sensor from top to bottom at its two arms, through distance sensor, can control opening and shutting of two arc coaters, adjust the distance between two arc coaters and trunk, can adapt to the trunk of different thicknesses, and its pivot can rotate by different angles, adjust the angle between coater and trunk, with the trunk of adaptation different shapes.

However, some adaptive whitewashing machines with high automation degree are completely electromechanical integration products, and relate to problems, more are comprehensive application problems of electric control, vision, machinery and the like, the research and development difficulty is higher than that of common mechanical whitewashing devices, so that the final cost is high, and the actual whitewashing effect is still to be verified.

In the three typical types of non-adaptive spraying machines listed herein, the design is mostly used for spraying regular trees growing on both sides of the road, however, in practical cases, there are always some trunks exceeding the adjustment range of the non-adaptive spraying machine, such as large inclination, more than 30 degrees, large bending degree, more branches, large difference of diameters of different trees, and the ratio of these cases is not very low. Manual painting is still required at this time, which loses the meaning of the robot to work instead of a human. In addition, because the mechanical arm or the diameter of the sleeve of the spraying device is not adjustable, the spraying device can only adapt to trees with different diameters by controlling the size of the liquid spraying pressure during working, and the problem of consumption of spraying liquid caused by different nozzle sizes is not fully considered. In addition, trees which need to be whitened are not limited to the trees, but are whitened by other shrub trees, and the practical application effect is great.

For trees beside roads, most trees are protected by fences, the widths of the fences are different, and some fences are even higher than the trees by the height of the needed whitewash, such as 1m-1.2 m. Most machines are designed without this concern, so that their spray modules cannot approach the trees, resulting in spray failure. The likelihood of this being the case is still high for off-highway trees. In addition, the topography for planting trees is not fully considered, most of the trees beside the road are positioned on the sidewalk, steps exist between the trees and the road, the main body of the machine can only stay at the position of a fixed area when the machine whitewashes one tree, the spraying part is usually a circular ring with the angle less than 360 degrees, the main body of the machine needs to move to complete the spraying work, but the actual topography is not beneficial to the movement of the machine, and the machine cannot adapt to the complex topography where other trees beside the non-road are located.

For the non-adaptive whitewashing machine, the cost of the hand-held electric spraying machine which is generally used in the market is greatly lower than that of the machine of the type, in addition, the flexibility of the machine is much higher than that of the non-adaptive machine due to manual operation, the whitewashing effect is better, in addition, trees which can be whitewashed are not limited to roadside trees, and the application range of the machine is larger than that of the non-adaptive machine.

For the self-adaptive whitewashing machine, the hand-held electric sprayer can be regarded as a self-adaptive whitewashing machine with lower automation degree and lower spraying speed, the self-adaptive machine with higher automation degree is an electromechanical integrated product, the two types of the prior self-adaptive whitewashing machines, namely a pre-contact type and a sensor type, are only close to the definition of the self-adaptive machine in design concept, and the actual self-adaptive capability of the self-adaptive whitewashing machine is not yet better than that of a non-self-adaptive machine by analyzing the working principle of the self-adaptive whitewashing machine, the technology is immature, the cost is higher than that of the non-self-adaptive machine, and the economic benefit is lower.

In summary, the existing whitewashing device has the problems that the application surface is not enough when trees are whitewashed, construction is inconvenient under many working conditions, for example, trees in a fence and steps on a road are not easy to place a machine near the trees, and the economic benefit is low.

Disclosure of Invention

The purpose of the invention is as follows: in order to solve the problems that the application surface is not enough when trees are whitewashed, construction is inconvenient under a plurality of working conditions, economic benefits are low and the like in the prior art, and a tree whitewash-based efficient garden operation device is further provided.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a high-efficient gardens operation device based on trees are whitewashed, it includes the locomotive, feeding mechanism, two sets of storage mechanisms, two discharging pipes, two sets of lateral shifting mechanism, two sets of longitudinal shifting mechanism, two sets of material arm that spout, feeding mechanism, two sets of storage mechanisms and the lateral shifting mechanism of group are all fixed on the up end of locomotive, one side of locomotive up end is provided with two sets of storage mechanisms side by side, the opposite side of locomotive terminal surface is equipped with two sets of lateral shifting mechanisms side by side along the width direction, every group lateral shifting mechanism sets up along length direction respectively, a set of longitudinal shifting mechanism is connected respectively to every group lateral shifting mechanism's removal end, a set of arm is connected respectively to every group longitudinal shifting mechanism's removal end.

Each group of material storage mechanisms are respectively connected with the feeding end of the feeding mechanism through a discharging pipe.

The discharge end of the feeding mechanism is respectively connected with the feed inlet of the material spraying mechanical arm.

Further, the locomotive includes handle, automobile body and display screen, and handle fixed connection is at the automobile body rightmost end, and the display screen is connected with the handle.

Still further, the material storage system comprises a material storage box, a first motor, a first gear, a second gear, a rotating shaft, a propeller blade, a material inlet and a case cover, wherein the material storage box is fixedly connected to the front end of the vehicle body and is a rectangular shell with a hollow interior, the material inlet is formed in the upper end face of the material storage box, a material outlet is formed in the lower portion of the rear end face of the material storage box, one end of a material outlet pipe is connected with the material outlet, a circular groove is formed in the middle of the inner side of the lower end face of the material storage box, a through hole is formed in the upper end face of the material storage box, the circular groove and the through hole are coaxially arranged, the lower end of the rotating shaft is inserted into the circular groove, the upper end of the rotating shaft vertically penetrates through the through hole in the upper end face of the material storage box, the propeller blade is arranged inside the material storage box, the first gear is arranged above the shaft of the, the first motor rotating shaft is sleeved with the second gear, the first gear is meshed with the second gear, the case cover is buckled above the first gear and the second gear, and the case cover is fixedly connected with the material storage case.

Still further, the feeding mechanism comprises a liquid pump, a first three-way water separator, a second three-way water separator, two hoses, two valves and two tensioners, one end of each valve is connected with the other end of a discharge pipe, the other end of each valve is connected with a lower inlet of the first three-way water separator through a short pipe, an upper inlet of the first three-way water separator is connected with a lower inlet of the liquid pump, an upper outlet of the liquid pump is connected with a lower inlet of the second three-way water separator, two outlets above the second three-way water separator are connected with one end of a hose respectively, each hose is wound on one tensioner respectively, the two tensioners are coaxially arranged on the vehicle body in parallel, and the other end of each hose is connected with a feed inlet of a group of spraying mechanical arms respectively.

Still further, the transverse moving mechanism comprises a hand wheel, a first bevel gear, a second bevel gear, a first rotating rod, a second rotating rod, a pinion, a straight ruler strip, a steel rail, two connecting shafts, a first fixing block, a second fixing block, a first bearing and a second bearing, wherein the first rotating rod is vertically arranged, the upper end of the first rotating rod is fixedly connected with the hand wheel, the lower end of the first rotating rod is fixedly connected with the first bevel gear, the second rotating rod is horizontally arranged, one end of the second rotating rod is fixedly connected with the second bevel gear, the first bevel gear is mutually meshed with the second bevel gear, the other end of the second rotating rod is fixedly connected with the pinion, the upper end of the pinion is meshed with the horizontally arranged straight ruler strip, the upper end of one side of the straight ruler strip is provided with the first fixing block, the middle of the first fixing block penetrates, The first fixing block, the second fixing block and the second bearing are connected with the steel rail in a sliding mode.

Preferably, the steel rails in the two groups of transverse moving mechanisms are symmetrically arranged, and the second bearing in each group of transverse moving mechanisms is in sliding connection with the steel rails in the other group of transverse moving mechanisms.

Further, the longitudinal moving mechanism comprises a chain wheel, a guide rail, a vertical support, a sliding block, a hoisting chain, a balancing weight, a second motor, a motor cover and a supporting piece, wherein the vertical support is vertically arranged, the guide rail is fixedly connected to the front end face of the vertical support along the vertical direction, the edge of the upper part of the vertical support is higher than the edge of the upper end of the guide rail, a convex groove is formed in the position, higher than the guide rail, of the vertical support, a semicircular support is fixedly connected to the vertical support and is arranged on the outer side of the convex groove, the second motor is fixed to the semicircular support, the motor cover is sleeved outside the second motor, the chain wheel is sleeved on the second motor, penetrates through the inner part of the convex groove of the vertical support, the sliding block is sleeved on the outer side of the guide rail, the upper end of the sliding block is fixedly connected with one end of the hoisting chain, the, one side of the lower part of the vertical support is fixedly connected with the supporting piece, and the supporting piece is fixedly connected with the fixing block through two groups of fixing support frames.

Still further, the mechanical arm comprises a mechanical arm shell, a motor III, a straight gear, a rack, a long fixing plate, a U-shaped clamp, a shaft, a roller, a plurality of electromagnetic valves, a plurality of spraying mechanisms, an upper ratchet wheel, a lower ratchet wheel, a motor IV, a lead I and a lead II.

The inside wall of arm shell is equipped with two sets of gyro wheels along length direction side by side, arm shell and pulley sliding connection, every group gyro wheel is connected through a hub connection respectively, the one end of two radical shafts is passed the arm shell and is linked to each other with the slider, all be equipped with a U-shaped card on two radical shafts and embrace, two U-shaped cards are embraced the top and are connected with long fixed plate simultaneously, one of them U-shaped card is embraced and is connected with three fixed connection of motor, the motor shaft and the axle syntropy of three motors set up, the straight-teeth gear is established to one side cover of three motors, the top of straight-teeth gear is connected and is provided with the rack along arm length.

The other end of the hose penetrates through the end face of the mechanical arm shell and is arranged inside the mechanical arm shell along the length direction of the mechanical arm, a plurality of bent pipes are uniformly arranged on the hose inside the mechanical arm shell along the length direction, and the outlet ends of the bent pipes are connected with the spraying mechanism.

The middle part of the elbow is connected with an electromagnetic valve, the electromagnetic valve is connected with a motor IV, an upper ratchet wheel and a lower ratchet wheel are sleeved on a rotor of the motor IV, the upper ratchet wheel is connected with one end of the first lead, and the lower ratchet wheel is connected with one end of the second lead.

And the spraying mechanism is fixedly connected with the lower end face in the mechanical arm shell.

The spraying mechanism comprises a spraying pipe, a spray head and a spraying pipe frame, the spraying pipe is arranged in the spraying pipe frame, and one end of the spraying pipe is connected with the spray head.

The pipe body of the spray pipe is connected with the other end of the first lead and the other end of the second lead, and the winding direction of the first lead on the upper ratchet wheel is opposite to the winding direction of the second lead on the lower ratchet wheel.

Preferably, the mechanical arm further comprises a plurality of ultrasonic ranging sensors, and one ultrasonic ranging sensor is arranged above each spraying mechanism.

Preferably, the first motor, the second motor, the third motor and the fourth motor are speed reduction motors.

Has the advantages that: the device comprises a bearing chassis trolley, a PLC man-machine interaction touch screen positioned on the trolley, a double material storage barrel with the functions of stirring and storing two materials, and a liquid pump which is connected with the material storage barrel and is provided with double output ports, wherein the double material storage barrel is respectively connected with spraying mechanisms at the left end and the right end through a left hose strainer and a right hose strainer; the lifting device is connected with a left-right moving device and a spraying device connected with the sliding block through a hoisting chain. The spraying device comprises a left part straight mechanical arm and a right part straight mechanical arm, a certain number of telescopic spray pipes and a certain number of distance sensors which are distributed on the mechanical arms, wherein the distance from the mechanical arms to the surface of a trunk and the distance from the telescopic pipes to the surface are respectively controlled to carry out laminating operation. The tree whitewashing machine can adapt to whitewashing operation of trees with different diameters and different shapes, can be used for attaching, has strong adaptability, and can ensure that whitewashing liquid is uniformly distributed on the surface of a book trunk. In addition, the equipment also has the multifunctional characteristics that: the left and right storage barrels can be filled with different types of liquid respectively to perform different operations, so that the working efficiency is improved by more than eighty percent, and the application prospect is wide.

Drawings

Fig. 1 is a first detailed view of the efficient garden operation device based on tree whitening according to the invention.

Fig. 2 is a detail view of a high-efficiency garden operation device based on tree whitening according to the invention.

FIG. 3 is a detailed view of the stocker system of the present invention.

Fig. 4 is a detailed view of the piping system of the present invention.

Fig. 5 is a first detailed view of the transverse moving mechanism and the longitudinal moving mechanism of the present invention.

Fig. 6 is a detailed view of the transverse moving mechanism and the longitudinal moving mechanism of the present invention.

Figure 7 is a detailed view of the first robot arm of the present invention.

Figure 8 is a detail view of the second robot arm of the present invention.

Fig. 9 is a detailed view of the spray coating device of the present invention.

Detailed Description

First embodiment, the present embodiment will be described with reference to fig. 1 to 8: the utility model provides a high-efficient gardens operation device based on trees are whitewashed, it includes locomotive 1, feeding mechanism 2, two sets of storage mechanism 3, two discharging pipes 4, two sets of lateral shifting mechanism 5, two sets of longitudinal movement mechanism 6, two sets of material spraying mechanical arm 7, feeding mechanism 2, two sets of storage mechanism 3 and group's lateral shifting mechanism 5 are all fixed on locomotive 1's up end, one side of locomotive 1 up end is provided with two sets of storage mechanism 3 side by side, the opposite side of locomotive 1 up end is equipped with two sets of lateral shifting mechanism 5 side by side along the width direction, every group's lateral shifting mechanism 5 sets up along length direction respectively, a set of longitudinal movement mechanism 6 is connected respectively to every group's lateral shifting mechanism 5 removal end, a set of mechanical arm 7 is connected respectively to every group's longitudinal movement mechanism 6 removal end.

Each group of material storage mechanisms 3 is respectively connected with the feeding end of the feeding mechanism 2 through a discharging pipe 4.

The discharge end of the feeding mechanism 2 is respectively connected with the feed inlet of the material spraying mechanical arm 7.

Second embodiment, this embodiment will be described with reference to fig. 1 to 6: the movable trolley 1 comprises a handle 1-1, a trolley body 1-2 and a display screen 1-3, wherein the handle 1-1 is fixedly connected to the rightmost end of the trolley body 1-2, and the display screen 1-3 is connected with the handle 1-1.

The display screen is a PLC man-machine interaction touch screen, and an operator can operate the device through the display screen.

Other embodiments are the same as the first embodiment.

Third embodiment, this embodiment will be described with reference to fig. 1 to 6: the material storage system 3 comprises a material storage box 3-1, a motor I3-2, a gear I3-3, a gear II 3-4, a rotating shaft 3-5, a propeller blade 3-6, a material inlet 3-7 and a case cover 3-8, wherein the material storage box 3-1 is fixedly connected with the front end of a vehicle body 1-1, the material storage box 3-1 is a rectangular shell with a hollow interior, the material inlet 3-7 is formed in the upper end surface of the material storage box 3-1, a material outlet is formed below the rear end surface of the material storage box 3-1, one end of a material outlet pipe 4 is connected with the material outlet, a circular groove is formed in the middle of the inner side of the lower end surface of the material storage box 3-1, a through hole is formed in the upper end surface of the material storage box 3-1, the circular groove and the through hole are coaxially arranged, the lower end of the rotating shaft 3-5 is inserted into the circular, the propeller blade 3-6 is sleeved on the shaft body 3-5 of the rotating shaft, the propeller blade 3-6 is arranged inside the material storage box 3-1, the first gear 3-3 is sleeved on the uppermost portion of the shaft body 3-5 of the rotating shaft, the first gear 3-3 is arranged outside the material storage box 3-1, the first motor 3-2 is fixedly connected to the outer side of the upper end face of the material storage box 3-1 in the upward vertical direction, the second gear 3-4 is sleeved on the first motor 3-2, the first gear 3-3 is meshed with the second gear 3-4, the box cover 3-8 is buckled above the first gear 3-3 and the second gear 3-4, and the box cover 3-8 is fixedly connected with the material storage box 3-1.

The storage tank is supplied with liquid coating from the feeding port, when the spraying device works, the first motor rotates to drive the second gear to rotate, the second gear drives the first gear to rotate, the gear drives the rotating shaft to rotate so as to control the propeller blades to rotate, and the liquid to be sprayed can be effectively prevented from settling. The liquid below flows out through the storage pipe.

Other embodiments are the same as the first embodiment.

Fourth embodiment, this embodiment will be described with reference to fig. 1 to 6: the feeding mechanism 2 comprises a liquid pump 2-2, a three-way water distributor I2-3, a three-way water distributor II 2-4, two hoses 2-1, two valves 2-5 and two tensioners 2-6, one end of each valve 2-5 is connected with the other end of a discharge pipe 4, the other end of each valve 2-5 is connected with a lower inlet of the three-way water distributor I2-3 through a short pipe, an upper inlet of the three-way water distributor I2-3 is connected with a lower inlet of the liquid pump 2-2, an upper outlet of the liquid pump 2-2 is connected with a lower inlet of the three-way water distributor II 2-4, two outlets above the three-way water distributor II 2-4 are connected with one end of one hose 2-1, each hose 2-1 is wound on one tensioner 2-6, the two tensioners 2-6 are coaxially arranged on the vehicle body 1-2 in parallel, and the other end of each hose 2-1 is respectively connected with the feed inlets of a group of material spraying mechanical arms 7.

The flow of the liquid coating from the storage pipe to the pipeline system is further controlled through the control valve, and the spraying liquid is conveyed into the mechanical arm by the liquid pump through the hose.

The water pipe is wound on a rotatable roller and then connected with the mechanical arm. When the arm moves down, the water pipe can be timely withdrawn, the water pipe can be tidied, and the problems of bending and the like are avoided.

Other embodiments are the same as the first embodiment.

Fifth embodiment, this embodiment will be described with reference to fig. 1 to 6: the transverse moving mechanism 5 comprises a hand wheel 5-1, a bevel gear I5-2, a bevel gear II 5-3, a rotating rod I5-4, a rotating rod II 5-5, a pinion 5-6, a straight rule strip 5-7, a steel rail 5-11, two connecting shafts 5-10, a fixed block I5-8, a fixed block II 5-12, two bearings I5-9 and two bearings II 5-13, wherein the rotating rod I5-4 is vertically arranged, the upper end of the selected rotating rod I5-4 is fixedly connected with the hand wheel 5-1, the lower end of the rotating rod I5-4 is fixedly connected with the bevel gear I5-2, the rotating rod II 5-5 is horizontally arranged, one end of the rotating rod II 5-5 is fixedly connected with the bevel gear II 5-3, and the bevel gear I5-2 is mutually meshed with the bevel, the other end of the second rotating rod 5-5 is fixedly connected with a pinion 5-6, the upper end of the pinion 5-6 is meshed with a horizontally arranged straight rack 5-7, the upper end of one side of the straight rack 5-7 is provided with a first fixing block 5-8, the middle part of the first fixing block 5-8 penetrates through two connecting shafts 5-10 which are arranged in parallel, the two connecting shafts 5-10 further penetrate through a second fixing block 5-12 which is symmetrically arranged with the first fixing block, the two connecting shafts 5-10 sequentially penetrate through a first bearing 5-9, a first fixing block 5-8, a second fixing block 12 and a second bearing 5-13 from one end to the other end, and the two first bearings 5-9 are in sliding connection with a steel.

And the rotating hand wheel is rotated to sequentially drive the first rotating rod, the first bevel gear, the second rotating rod and the pinion to rotate, and the pinion drives the rack to move left and right along the direction of the steel rail, so that the fixing block connected with the bearing is controlled to move back and forth along the steel rail.

And the transverse moving mechanism enables the mechanical arm to be aligned to the spraying position.

Other embodiments are the same as the first embodiment.

Sixth embodiment, the present embodiment will be described with reference to fig. 1 to 6: the steel rails 5-11 in the two groups of transverse moving mechanisms 5 are symmetrically arranged, and the bearings 5-13 in each group of transverse moving mechanisms are in sliding connection with the steel rails 5-11 in the other group of transverse moving mechanisms.

The other embodiments are the same as the fifth embodiment.

Seventh embodiment, the present embodiment will be described with reference to fig. 1 to 6: the longitudinal moving mechanism 6 comprises a chain wheel 6-1, a guide rail 6-2, a vertical support 6-3, a sliding block 6-4, a hoisting chain 6-5, a balancing weight 6-6, a motor II 6-7, a motor cover 6-8 and a supporting piece 6-9, wherein the vertical support 6-3 is vertically arranged, the guide rail 6-2 is fixedly connected to the front end face of the vertical support 6-3 along the vertical direction, the upper edge of the vertical support 6-3 is higher than the upper end edge of the guide rail 6-2, a convex groove is arranged at the position of the vertical support 6-3 higher than the guide rail 6-2, a semicircular support is fixedly connected to the vertical support 6-3 and arranged on the outer side of the convex groove, the motor II 6-7 is fixed on the semicircular support, and the motor cover 6-8 is sleeved on the outer part of the motor II, the chain wheel 6-1 is sleeved on the motor II 6-7, the chain wheel 6-1 penetrates through the inside of the convex groove of the vertical support 6-3, the sliding block 6-4 is sleeved on the outer side of the guide rail 6-2, the upper end of the sliding block 6-4 is fixedly connected with one end of the hoisting chain 6-5, the middle part of the hoisting chain 6-5 bypasses the chain wheel 6-1 and is meshed with the chain wheel 6-1, the other end of the hoisting chain 6-5 is fixedly connected with the balancing weight 6-6, the balancing weight 6-6 is arranged at the rear end of the vertical support 6-3, one side of the lower part of the vertical support 6-3 is fixedly connected with the support piece 6-9, and the support piece 6-9 is fixedly connected with.

The second motor rotates to drive the chain wheel to rotate, so that the hoisting chain is controlled to move back and forth, and the sliding block is controlled to move repeatedly on the guide rail fixed on the vertical support.

The device has the function of longitudinal movement and controls the mechanical arm to spray trees up and down.

The connecting part of the vertical support and the support is provided with a plurality of positioning holes, and the proper distance between the vertical support and the ground can be adjusted, so that the part at the lower position of the trunk can be sprayed.

The counterweight is connected to the hoist chain for balancing the weight of a portion of the robot arm.

The design of the balancing weight provides great scope for the selection of the motor, a speed reducing motor with the same performance can be selected, and the lifting speed and the acceleration can be adjusted only by replacing the mass of the balancing weight to a certain extent. The motor is controlled to rotate positively and negatively through plc control, and the mechanical arm connected with the hoisting chain is controlled to move vertically.

The other embodiments are the same as the fifth embodiment.

Eighth embodiment, this embodiment will be described with reference to fig. 1 to 6: the mechanical arm 7 comprises a mechanical arm shell 7-1, a motor III 7-2, a straight gear 7-3, a rack 7-4, a long fixing plate 7-5, a U-shaped clamping clasp 7-6, a shaft 7-7, a roller 7-8, a plurality of electromagnetic valves 7-9, a plurality of spraying mechanisms 7-10, an upper ratchet wheel 7-11, a motor IV 1-14, a lower ratchet wheel 7-15, a lead I7-12 and a lead II 7-13.

Two groups of rollers 7-8 are arranged in parallel on the inner side wall of a mechanical arm shell 7-1 along the length direction, the mechanical arm shell 7-1 is connected with pulleys 7-8 in a sliding mode, each group of rollers 7-8 is connected with one shaft 7-7, one end of each of two shafts 7-7 penetrates through the mechanical arm shell 7-1 to be connected with a sliding block 6-4, a U-shaped clamp 7-6 is arranged on each shaft 7-7, the upper portions of the two U-shaped clamps 7-6 are connected with a long fixing plate 7-5 at the same time, one U-shaped clamp 7-6 is fixedly connected with a motor three 7-2, a motor shaft of the motor three 7-2 is arranged in the same direction as the shafts 7-7, a straight gear 7-3 is sleeved on one side of the motor three 7-2, a rack 7-4 is arranged above the straight gear 7-3 along the length direction of the mechanical, the rack 7-4 is fixed inside the mechanical arm shell 7-1.

The other end of the hose 2-1 penetrates through the end face of the mechanical arm shell 7-1 and is arranged inside the mechanical arm shell 7-1 along the length direction of the mechanical arm 7, a plurality of bent pipes are uniformly arranged on the hose 2-1 inside the mechanical arm shell 7-1 along the length direction, and the outlet ends of the bent pipes are connected with the spraying mechanism 7-10.

The middle part of the elbow is connected with an electromagnetic valve 7-9, the electromagnetic valve 7-9 is connected with a motor IV 7-14, an upper ratchet 7-11 and a lower ratchet 7-15 are sleeved on a rotor of the motor IV 7-14, the upper ratchet 7-11 is connected with one end of a lead I7-12, and the lower ratchet 7-15 is connected with one end of a lead II 7-13.

The spraying mechanism 7-10 is fixedly connected with the lower end face of the interior of the mechanical arm shell 7-1.

The spraying mechanism 7-10 comprises a spraying pipe 7-10-1, a spray head 7-10-2 and a spraying pipe frame 7-10-3, the spraying pipe 7-10-1 is arranged in the spraying pipe frame 7-10-3, and one end of the spraying pipe 7-10-1 is connected with the spray head 7-10-2.

The tube body of the spray tube 7-10-1 is connected with the other end of the first lead wire 7-12 and the other end of the second lead wire 7-13, and the winding direction of the first lead wire 7-12 on the upper ratchet wheel 7-11 is opposite to the winding direction of the second lead wire 7-13 on the lower ratchet wheel 7-15.

The motor three rotates to drive the straight gear to further control the rack to move, the rack drives the shaft to rotate to further control the idler wheel to rotate along the shell of the mechanical arm, and one side of the shaft is connected with the sliding block, so that the mechanical arm can move repeatedly relative to the longitudinal moving mechanism.

The electromagnetic valve controls the forward and reverse rotation of the motor IV, the winding direction of the lead I on the upper ratchet wheel is opposite to the winding direction of the lead II on the lower ratchet wheel, the stretching directions of the lead I and the lead II on the pipe body of the spray pipe are different, when the motor IV rotates in the forward direction, the upper ratchet wheel rotates to pull back the lead I, the lower ratchet wheel rotates to release the lead II, the lead I drives the spray pipe to retract along the length direction of the spray pipe frame, when the motor IV rotates in the reverse direction, the upper ratchet wheel rotates to release the lead I, the lower ratchet wheel rotates to retract the lead II, and the lead II drives the.

The mechanical arm of the device can move back and forth to spray the leakage points of the spraying.

The other embodiments are the same as the seventh embodiment.

Ninth embodiment, the present embodiment will be described with reference to fig. 1 to 6: the mechanical arm 7 further comprises a plurality of ultrasonic ranging sensors 7-16, and one ultrasonic ranging sensor 7-16 is arranged above each spraying mechanism 7-10.

Ultrasonic distance sensor: the ultrasonic distance sensor is used for detecting the distance from the mechanical arm to the surface of the tree, and can transmit a received signal to the electromagnetic valve so as to control the opening and closing of the electromagnetic valve.

The other embodiments are the same as the eighth embodiment.

Tenth embodiment, the present embodiment will be described with reference to fig. 1 to 6: the first motor 3-2, the second motor 6-7, the third motor 7-2 and the fourth motor 7-14 are speed reducing motors.

Other embodiments are the same as the third, seventh or eighth embodiments.

The working principle is as follows.

Spraying raw materials: the device is moved to the position of trees to be sprayed by the moving vehicle, a motor in the storage box rotates to drive a gear II, power is transmitted to the gear I, the gear drives a rotating shaft to rotate, further controlling the rotation of the rotary fan blades, ensuring that the spraying raw materials in the storage box do not precipitate by the continuous rotation of the rotary fan blades, supplying the spraying raw materials to the feeding mechanism through the storage pipe, controlling whether to feed or not by the valve, opening the valve, the liquid pump conveys the spraying raw materials into a hose through a storage pipe, the hose is connected with a mechanical arm, the hose is particularly arranged in a shell of the mechanical arm and is connected with a bent pipe, the bent pipe is connected with a spraying device, when the mechanical arm moves to a spraying position, an ultrasonic ranging sensor detects trees, further controlling the electromagnetic valve to open the motor IV, the motor IV rotates in a reciprocating way to drive the upper ratchet wheel and the lower ratchet wheel to rotate repeatedly, and then the first lead and the second lead are driven to move so as to control the spray pipe to repeatedly stretch and retract to finish the spraying of the trees.

And (3) position movement: the transverse moving mechanism rotates a hand wheel to enable power to be transmitted to the first rotating rod, the first bevel gear, the second rotating rod, the pinion and the straight ruler strip in sequence, finally the first bearing and the second bearing are driven by the straight ruler strip to reciprocate in the two groups of steel rails respectively, the control mechanism transversely moves, the first fixing block and the second fixing block are arranged on the straight ruler strip and connected with the longitudinal moving mechanism, the longitudinal moving mechanism drives a chain wheel through rotation of the second motor, the chain wheel drives a hoisting chain to move, the hoisting chain drives a sliding block to reciprocate on a guide rail, the sliding block moves up and down to drive the mechanical arm to move up and down, the third motor drives a straight gear to move, the straight gear drives a rack to move, the motor and the shaft are relatively fixed, the.

Claims

1. The utility model provides a high-efficient gardens operation device based on trees are whitewashed which characterized in that: it comprises a moving vehicle (1), a feeding mechanism (2), two groups of material storing mechanisms (3), two discharging pipes (4), two groups of transverse moving mechanisms (5), two groups of longitudinal moving mechanisms (6) and two groups of material spraying mechanical arms (7), the feeding mechanism (2), the two storage mechanisms (3) and the two transverse moving mechanisms (5) are all fixed on the upper end face of the moving vehicle (1), the two storage mechanisms (3) are arranged on one side of the upper end face of the moving vehicle (1) in parallel, the two transverse moving mechanisms (5) are arranged on the other side of the upper end face of the moving vehicle (1) in parallel along the width direction, each transverse moving mechanism (5) is arranged along the length direction respectively, the moving end of each transverse moving mechanism (5) is connected with one longitudinal moving mechanism (6) respectively, and the moving end of each longitudinal moving mechanism (6) is connected with one mechanical arm (7) respectively;

each group of material storage mechanisms (3) is respectively connected with the feed end of the material supply mechanism (2) through a material discharge pipe (4);

the discharge end of the feeding mechanism (2) is respectively connected with the feed inlet of the material spraying mechanical arm (7),

the transverse moving mechanism (5) comprises a hand wheel (5-1), a first bevel gear (5-2), a second bevel gear (5-3), a first rotating rod (5-4), a second rotating rod (5-5), a pinion (5-6), a straight rack (5-7), a steel rail (5-11), two connecting shafts (5-10), a first fixing block (5-8), a second fixing block (5-12), a first two bearings (5-9) and a second two bearings (5-13), wherein the first rotating rod (5-4) is vertically arranged, the upper end of the first rotating rod (5-4) is fixedly connected with the hand wheel (5-1), the lower end of the first rotating rod (5-4) is fixedly connected with the first bevel gear (5-2), the second rotating rod (5-5) is horizontally arranged, one end of the second rotating rod (5-5) is fixedly connected with the second bevel gear (5, the first bevel gear (5-2) is mutually meshed with the second bevel gear (5-3), the other end of the second rotating rod (5-5) is fixedly connected with a pinion (5-6), the upper end of the pinion (5-6) is meshed with a horizontally arranged spur rack (5-7), the upper end of one side of the spur rack (5-7) is provided with a first fixing block (5-8), the middle part of the first fixing block (5-8) penetrates through two connecting shafts (5-10) which are arranged in parallel, the two connecting shafts (5-10) also penetrate through a second fixing block (5-12) which is symmetrically arranged with the first fixing block, the two connecting shafts (5-10) respectively penetrate through a first bearing (5-9), the first fixing block (5-8), the second fixing block (5-12) and a second bearing (5-13) from, the two bearings I (5-9) are connected with the steel rails (5-11) in a sliding way,

the longitudinal moving mechanism (6) comprises a chain wheel (6-1), a guide rail (6-2), a vertical support (6-3), a sliding block (6-4), a hoisting chain (6-5), a balancing weight (6-6), a motor II (6-7), a motor cover (6-8) and a support piece (6-9), wherein the vertical support (6-3) is vertically arranged, the guide rail (6-2) is fixedly connected to the front end face of the vertical support (6-3) along the vertical direction, the upper edge of the vertical support (6-3) is higher than the upper end edge of the guide rail (6-2), a convex groove is arranged at the position, higher than the guide rail (6-2), of the vertical support (6-3), a semicircular support is fixedly connected to the vertical support (6-3), and the semicircular support is arranged on the outer side of the convex groove, a second motor (6-7) is fixed on the semicircular support, a motor cover (6-8) is sleeved outside the second motor, a chain wheel (6-1) is sleeved on the second motor (6-7), the chain wheel (6-1) penetrates through the inside of the convex groove of the vertical support (6-3), a sliding block (6-4) is sleeved outside the guide rail (6-2), the upper end of the sliding block (6-4) is fixedly connected with one end of a hoisting chain (6-5), the middle part of the hoisting chain (6-5) bypasses the chain wheel (6-1) and is meshed with the chain wheel (6-1), the other end of the hoisting chain (6-5) is fixedly connected with a balancing weight (6-6), the balancing weight (6-6) is arranged at the rear end of the vertical support (6-3), one side below the vertical support (6-3) is fixedly connected with a support piece (6-9), the supporting pieces (6-9) are fixedly connected with the fixed block through two groups of fixed supporting frames,

the mechanical arm (7) comprises a mechanical arm shell (7-1), a motor III (7-2), a straight gear (7-3), a rack (7-4), a long fixing plate (7-5), a U-shaped clamping hoop (7-6), a shaft (7-7), a roller (7-8), a plurality of electromagnetic valves (7-9), a plurality of spraying mechanisms (7-10), an upper ratchet wheel (7-11), a motor IV (7-14), a lower ratchet wheel (7-15), a lead I (7-12) and a lead II (7-13);

two groups of rollers (7-8) are arranged in parallel on the inner side wall of a mechanical arm shell (7-1) along the length direction, the mechanical arm shell (7-1) is connected with the rollers (7-8) in a sliding mode, each group of rollers (7-8) is connected with one shaft (7-7), one end of each shaft (7-7) penetrates through the mechanical arm shell (7-1) to be connected with a sliding block (6-4), a U-shaped clamping hoop (7-6) is arranged on each shaft (7-7), the upper portions of the two U-shaped clamping hoops (7-6) are connected with a long fixing plate (7-5) at the same time, one U-shaped clamping hoop (7-6) is fixedly connected with a motor III (7-2), a motor shaft of the motor III (7-2) is arranged in the same direction as the shafts (7-7), a straight gear (7-3) is sleeved on one side of the motor III (7-2), a rack (7-4) is connected above the straight gear (7-3) and arranged along the length direction of the mechanical arm (7), and the rack (7-4) is fixed inside the mechanical arm shell (7-1);

the other end of the hose (2-1) penetrates through the end face of the mechanical arm shell (7-1) and is arranged inside the mechanical arm shell (7-1) along the length direction of the mechanical arm (7), a plurality of bent pipes are uniformly arranged on the hose (2-1) inside the mechanical arm shell (7-1) along the length direction, the outlet ends of the bent pipes are connected with the spraying mechanism (7-10),

the middle part of the elbow is connected with an electromagnetic valve (7-9), the electromagnetic valve (7-9) is connected with a motor four (7-14), a rotor of the motor four (7-14) is sleeved with an upper ratchet wheel (7-11) and a lower ratchet wheel (7-15), the upper ratchet wheel (7-11) is connected with one end of a lead wire I (7-12), the lower ratchet wheel (7-15) is connected with one end of a lead wire II (7-13),

the spraying mechanism (7-10) is fixedly connected with the lower end surface in the mechanical arm shell (7-1),

the spraying mechanism (7-10) comprises a spray pipe (7-10-1), a spray head (7-10-2) and a spraying pipe frame (7-10-3), the spray pipe (7-10-1) is arranged in the spraying pipe frame (7-10-3), one end of the spray pipe (7-10-1) is connected with the spray head (7-10-2),

the tube body of the spray tube (7-10-1) is connected with the other end of the first lead wire (7-12) and the other end of the second lead wire (7-13), and the winding direction of the first lead wire (7-12) on the upper ratchet wheel (7-11) is opposite to the winding direction of the second lead wire (7-13) on the lower ratchet wheel (7-15).

2. The efficient garden operation device based on tree whitening according to claim 1, characterized in that: the movable trolley (1) comprises a handle (1-1), a trolley body (1-2) and a display screen (1-3), wherein the handle (1-1) is fixedly connected to the rightmost end of the trolley body (1-2), and the display screen (1-3) is connected with the handle (1-1).

3. The efficient garden operation device based on tree whitening according to claim 1, characterized in that: the material storage mechanism (3) comprises a material storage box (3-1), a motor I (3-2), a gear I (3-3), a gear II (3-4), a rotating shaft (3-5), a propeller blade (3-6), a material inlet (3-7) and a case cover (3-8), wherein the material storage box (3-1) is fixedly connected to the front end of the vehicle body (1-2), the material storage box (3-1) is a rectangular shell with a hollow interior, the material inlet (3-7) is formed in the upper end face of the material storage box (3-1), a material outlet is formed below the rear end face of the material storage box (3-1), one end of a material outlet pipe (4) is connected with the material outlet, a circular groove is formed in the middle of the inner side of the lower end face of the material storage box (3-1), a through hole is formed in the upper end face of the material storage box (3-1), the lower end of a rotating shaft (3-5) is inserted into the circular groove, the upper end of the rotating shaft (3-5) vertically penetrates through a through hole in the upper end face of the storage box (3-1), a propeller blade (3-6) is sleeved on the shaft body of the rotating shaft (3-5), the propeller blade (3-6) is arranged inside the storage box (3-1), a first gear (3-3) is sleeved on the uppermost direction of the shaft body of the rotating shaft (3-5), the first gear (3-3) is arranged outside the storage box (3-1), a first motor (3-2) is fixedly connected to the outer side of the upper end face of the storage box (3-1) along the vertical direction, a second gear (3-4) is sleeved on the rotating shaft of the first motor (3-2), the first gear (3-3) is meshed with the second gear (3-4), and a case cover (3-8) is buckled on the first gear (3-3) and the second gear (3-4) Above, the case cover (3-8) is fixedly connected with the storage case (3-1).

4. The efficient garden operation device based on tree whitening according to claim 1, characterized in that: the feeding mechanism (2) comprises a liquid pump (2-2), a three-way water distributor I (2-3), a three-way water distributor II (2-4), two hoses (2-1), two valves (2-5) and two tensioners (2-6), one end of each valve (2-5) is connected with the other end of a discharge pipe (4), the other end of each valve (2-5) is connected with a lower inlet of the three-way water distributor I (2-3) through a short pipe, an upper inlet of the three-way water distributor I (2-3) is connected with a lower inlet of the liquid pump (2-2), an upper outlet of the liquid pump (2-2) is connected with a lower inlet of the three-way water distributor II (2-4), two outlets above the three-way water distributor II (2-4) are connected with one end of one hose (2-1), each hose (2-1) is wound on one strainer (2-6), the two strainers (2-6) are coaxially arranged on the vehicle body (1-2) in parallel, and the other end of each hose (2-1) is connected with a feeding hole of one group of material spraying mechanical arms (7) respectively.

5. The efficient garden operation device based on tree whitening according to claim 1, characterized in that: the steel rails (5-11) in the two groups of transverse moving mechanisms (5) are symmetrically arranged, and the second bearing (5-13) in each group of transverse moving mechanisms is in sliding connection with the steel rails (5-11) in the other group of transverse moving mechanisms.

6. The efficient garden operation device based on tree whitening according to claim 1, characterized in that: the mechanical arm (7) further comprises a plurality of ultrasonic ranging sensors (7-16), and one ultrasonic ranging sensor (7-16) is arranged above each spraying mechanism (7-10).

7. The efficient garden operation device based on tree whitening according to claim 3, characterized in that: the first motor (3-2), the second motor (6-7), the third motor (7-2) and the fourth motor (7-14) are speed reducing motors.