Tree anti-freezing solution automatic smearing robot

Abstract

The invention discloses an automatic tree anti-freezing solution smearing robot and belongs to the field of municipal automation equipment. The device is composed of wheels, a chassis frame, an anti-freezing solution box, a battery, a pump body, a first electric push rod, a flow dividing valve, a first sliding block, a first sliding rail, a differential mechanism, a smearing device, a recognition camera, a wheel shaft and a first motor. Through automatic operation, automatic movement and accurate tree alignment, the consistency and uniformity of anti-freezing solution smearing are ensured, the stability of the protection effect is enhanced, meanwhile, bark damage possibly caused by manual operation is avoided, smearing parameters are intelligently adjusted according to the diameter of the tree, the dosage of the anti-freezing solution is accurately controlled, waste or insufficiency is prevented, and the working efficiency is improved. The flexible design can adapt to trunks in different shapes, resource utilization is optimized, direct contact between personnel and chemical agents is reduced, and operation safety is improved.

Description

Technical Field

[0001] The invention relates to a robot for automatically applying antifreeze to trees, and specifically comprises wheels, a chassis frame, an antifreeze tank, a battery, a pump body, a first electric push rod, a diverter valve, a first slider, a first slide rail, a differential, an applying device, an identification camera, a wheel axle and a first motor, and belongs to the field of municipal automation equipment. Background Art

[0002] Tree antifreeze is a chemical agent designed to protect trees from low temperatures in winter. It regulates the physiological mechanisms inside the plant to enhance the tree's ability to resist cold, thereby reducing tree damage or death caused by cold weather. When using it, it is usually applied or sprayed in late autumn, before the plant enters its dormant period. For northern regions, it is generally between the end of September and October, when the temperature has not dropped sharply but is close to the time when the plant is ready for winter. The working principle of antifreeze is mainly to promote the tree to complete the lignification process ahead of schedule, improve its own stress resistance sensitivity, and promote the accumulation of more sugars and organic matter in the body, reduce the free water content, so as to increase the tree's cold resistance.

[0003] At present, the main way to apply municipal tree antifreeze is manual application, which has problems such as low efficiency, high labor intensity, and uneven application, resulting in unstable protection effect. Manual operation makes it difficult to ensure that each part is adequately covered, which may cause trees to still face the risk of frost damage in cold weather. In addition, manual application may also lead to increased costs because more manpower and time are required, especially in application scenarios with large green areas. At the same time, due to differences in experience and technical levels of different operators, the amount of antifreeze used may be improperly controlled, and the actual cold protection effect may be affected due to insufficient use. Frequent manual intervention may also cause certain physical damage to plants, such as scratching the bark, which in turn affects the health of trees. Summary of the invention

[0004] Aiming at the problems of low efficiency, high labor intensity, uneven application and the like in manual application of antifreeze liquid, the present invention provides a robot for automatically applying antifreeze liquid to trees.

[0005] The present invention is realized through the following technical scheme: a robot for automatically applying antifreeze to trees, which is composed of wheels, a chassis frame, an antifreeze tank, a battery, a pump body, a first electric push rod, a diverter valve, a first slider, a first slide rail, a differential, an application device, an identification camera, a wheel axle and a first motor. The differential has structures such as an output shaft and an input shaft, and the first motor has structures such as a transmission shaft. The transmission shaft of the first motor is connected to the input shaft of the differential, and the first motor is connected to the chassis frame through bolts. There are four wheels, which are respectively arranged on the left and right sides of the output shaft of the wheel axle and the differential, and the output shaft of the wheel axle and the differential passes through the chassis frame and is connected to the chassis frame through bearings. The antifreeze tank, the battery, and the first slide rail are all fixed on the chassis frame. The first slide rail can be used in conjunction with the first slider. There are multiple first sliders, and the application device is fixed. On the first slider, the pump body, the diverter valve, and the identification camera are all fixed on the aluminum profile frame of the coating device. One end of the first electric push rod is connected to the chassis frame, and the other end is connected to the aluminum profile frame of the coating device. The coating device is composed of a second electric push rod, a bearing plate, an aluminum profile frame, a second slider, a second slide rail, and a coating component. The second electric push rod is fixed on the bearing plate and connected to the coating component. The coating component is also connected to the second slider. The second slider is used in conjunction with the second slide rail. The aluminum profile frame has a first beam, a second beam, a third beam and other structures. The second slide rail is fixed on the third beam of the aluminum profile frame. The bearing plate is fixed on the second beam of the aluminum profile frame. The first beam of the aluminum profile frame is connected to the first slider. There are two coating components, which are arranged on the left and right sides. The coating device is arranged symmetrically about the middle plane.

[0006] The chassis frame is composed of multiple sections of hot-rolled I-beams connected by bolts.

[0007] The aluminum profile frame is composed of multiple sections of aluminum profiles connected to each other, and plays a supporting role for the coating component.

[0008] The smearing assembly is composed of a shell, a third slide rail, a brush, a leakage pipe, a cylinder rod, a cylinder, an inclined plate, a circular slider, a circular slide rail, a connecting plate, a right-angle plate, a third slider, a second motor, a lead screw nut and a lead screw. The third slide rail is connected to the shell, the third slider can be used in conjunction with the third slide rail, the third slider is connected to the right-angle plate through bolts, the lead screw nut is connected to the right-angle plate through bolts, the lead screw nut can be used in conjunction with the lead screw, the lead screw is connected to the second motor through a coupling, the second motor is linked to the shell through bolts, the right-angle plate is also connected to the connecting plate through bolts, the circular slide rail is fixed on the connecting plate, the circular slider can be used in conjunction with the circular slide rail, the inclined plate is fixed on the circular slider, the cylinder is fixed on the inclined plate, the cylinder rod can be used in conjunction with the cylinder, the brush has a circular groove and a square groove, the cylinder rod can be fixed to the square groove of the brush, and the leakage pipe is embedded in the circular groove of the brush.

[0009] The leakage pipe is a pipe with multiple through holes, which evenly distributes the inflowing antifreeze liquid.

[0010] The circular slider has a groove structure, and the circular slide rail has a protrusion structure. The groove of the circular slider cooperates with the protrusion of the circular slide rail to ensure that the circular slider and the circular slide rail do not separate in the vertical direction.

[0011] The brush is also provided with a hole, and one end of the hole is connected with the circular groove.

[0012] The antifreeze tank is flexibly connected to the pump body through a pipeline, and the pump body is also flexibly connected to the diverter valve through a pipeline. The diverter valve has liquid outlets with the same number as the brushes of the coating assembly, and the liquid outlet of the diverter valve is connected to the hole on the brush through a pipeline.

[0013] The benefit of this invention is that it significantly improves work efficiency. By replacing manual application with an automated device, the vehicle can move on its own and aim at the trees for application, reducing manpower input and time costs, while greatly reducing labor intensity. Mechanical operation ensures the consistency of the amount of application each time and the uniformity of the coverage, thereby improving the stability of the protective effect, and will not cause physical damage such as scratches to the bark during the application process, which is beneficial to protecting the health of the trees. The equipment also achieves precise control of the amount of antifreeze used, and determines the number of working cylinders based on the diameter of the tree measured by the recognition camera, avoiding waste or insufficient use. The design of the circular slider and slide rail allows the angle of the brush to be adjusted to accommodate tree trunks of different shapes, increasing application flexibility. In addition, it optimizes resource utilization, can flexibly adjust working parameters according to actual conditions, helps to allocate and use resources more reasonably, and reduces the chances of direct contact between personnel and chemical agents, reducing potential safety risks, and providing a more efficient, safe and reliable solution for municipal greening. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attached Figure 1 It is a structural schematic diagram of the present invention; Attached Figure 2 A schematic diagram of the connection relationship of the chassis frame; Attached Figure 3 It is a structural schematic diagram of the coating device; Attached Figure 4 It is a structural schematic diagram of the aluminum profile frame; Attached Figure 5 It is a schematic diagram of the structure of the smear component; Attached Figure 6 It is a schematic diagram of the connection relationship between the brush and the leakage pipe, and the brush and the cylinder rod; Attached Figure 7 This is a schematic diagram of the pipeline connection relationship in this device.

[0015] In the figure, 1, wheel, 2, chassis frame, 3, antifreeze tank, 4, battery, 5, pump body, 6, first electric push rod, 7, diverter valve, 8, first slider, 9, first slide rail, 10, differential, 11, coating device, 12, identification camera, 13, wheel axle, 14, first motor; 1101, second electric push rod, 1102, bearing plate, 1103, aluminum profile frame, 1104, second slide block, 1105, second slide rail, 1106, coating assembly; 110501, first beam, 110502, second beam, 110503, third beam; 110601. Housing; 110602. Third slide rail; 110603. Brush; 110604. Drain pipe; 110605. Cylinder rod; 110606. Cylinder; 110607. Inclined plate; 110608. Circular slider; 110609. Circular slide rail; 110610. Connecting plate; 110611. Right-angle plate; 110612. Third slider; 110613. Second motor; 110614. Screw nut; 110615. Screw. DETAILED DESCRIPTION

[0016] A robot for automatically applying antifreeze to trees is composed of wheels 1, a chassis frame 2, an antifreeze tank 3, a battery 4, a pump body 5, a first electric push rod 6, a diverter valve 7, a first slider 8, a first slide rail 9, a differential 10, an application device 11, an identification camera 12, a wheel axle 13 and a first motor 14. The differential 10 has structures such as an output shaft and an input shaft, and the first motor 14 has structures such as a transmission shaft. The transmission shaft of the first motor 14 is connected to the input shaft of the differential, and the first motor 14 is connected to the chassis frame 2 by bolts. There are four sliders 1, which are arranged on the left and right sides of the output shaft of the wheel axle 13 and the differential 10 respectively. The output shaft of the wheel axle 13 and the differential 10 passes through the chassis frame 2 and is connected to the chassis frame 2 through bearings. The antifreeze tank 3, the battery 4, and the first slide rail 9 are all fixed on the chassis frame 2. The first slide rail 9 can be used in conjunction with the first slide block 8. There are multiple first slide blocks 8. The coating device 11 is fixed on the first slide block. The pump body 5, the diverter valve 7, and the identification camera 12 are all fixed on the aluminum profile frame 1103 of the coating device 11. One end of an electric push rod 6 is connected to the chassis frame 2, and the other end is connected to the aluminum profile frame 1103 of the coating device 11. The coating device 11 is composed of a second electric push rod 1101, a bearing plate 1102, an aluminum profile frame 1103, a second slider 1104, a second slide rail 1105 and a coating component 1106. The second electric push rod 1101 is fixed on the bearing plate 1102 and connected to the coating component 1106. The coating component 1106 is also connected to the second slider 1104. The second slider 1104 cooperates with the second slide rail 1105 to The aluminum profile frame 1103 has a first beam 110301, a second beam 110302, a third beam 110303 and other structures. The second slide rail 1105 is fixed on the third beam 110503 of the aluminum profile frame. The bearing plate 1102 is fixed on the second beam 110302 of the aluminum profile frame 1103. The first beam 110301 of the aluminum profile frame 1103 is connected to the first slider 8. There are two coating components 1106, which are arranged on the left and right sides. The coating device 11 is arranged symmetrically with respect to the middle plane.

[0017] The chassis frame 2 is composed of multiple sections of hot-rolled I-beams connected by bolts.

[0018] The aluminum profile frame 1103 is composed of multiple sections of aluminum profiles connected to each other, and supports the application component 1106.

[0019] The coating assembly is composed of a housing 110601, a third slide rail 110602, a brush 110603, a leakage pipe 110604, a cylinder rod 110605, a cylinder 110606, an inclined plate 110607, a circular slider 110608, a circular slide rail 110609, a connecting plate 110610, a right-angle plate 110611, a third slider 110612, a second motor 110613, a screw nut 110614 and a screw 110615. 10615, the third slide rail 110602 is connected to the housing 110601, the third slider 110612 can be used in conjunction with the third slide rail 110602, the third slider 110612 is connected to the right angle plate 110611 by bolts, the lead screw nut 110614 is connected to the right angle plate 110611 by bolts, the lead screw nut 110614 can be used in conjunction with the lead screw 110615, the lead screw 110615 is connected to the second motor 110613 through a coupling, the second motor 110613 is linked to the housing 110601 by bolts, the right angle plate 110611 is also connected to the connecting plate 110610 by bolts, the circular slide rail 110609 is fixed on the connecting plate 110610, the circular slider 110608 can be used in conjunction with the circular slide rail 110609, the inclined plate 110 607 is fixed on the circular slide block 110608, the cylinder 110606 is fixed on the inclined plate 110607, the cylinder rod 110605 can be used in conjunction with the cylinder 110608, the brush 110603 has a circular groove and a square groove, the cylinder rod 110605 can be fixed to the square groove of the brush 110603, and the leakage pipe 110604 is embedded in the circular groove of the brush 110603.

[0020] The upper surface of the inclined plate 110607 is horizontal, and the lower surface is inclined, that is, the thickness of the inclined plate 110607 gradually decreases from the inside to the outside. The cylinder 110606 is fixed on the lower surface of the inclined plate 110607, and the cylinder rod 110605 and the brush 110603 are both at a downward angle, thereby offsetting the height difference between the chassis frame 2 and the ground caused by the height, so that the brush 110603 can apply the antifreeze to the bottom of the trunk.

[0021] The cylinder 110606, cylinder rod 110605, brush 110603 and leakage tube 110604 are multiple and equal in number and are evenly arranged around the semicircular intersection of the inner surface and the lower surface of the inclined plate 110607. When the end faces of the inclined plates 110607 of the two smearing components 1106 are in contact, the semicircular intersection of the inner surface and the lower surface of the two inclined plates 110607 forms a circular intersection. The cylinder 110606, cylinder rod 110605, brush 110603 and leakage tube 110604 of the smearing component 1106 are symmetrical with the same parts installed in another smearing component about the center of the circular intersection. The symmetrical cylinders 110606 and cylinder rods 110605 perform the same actions when working.

[0022] The leakage pipe 110604 is a pipe with multiple through holes, which evenly distributes the inflowing antifreeze liquid.

[0023] The circular slider 110608 has a groove structure, and the circular slide rail 110609 has a protrusion structure. The groove of the circular slider 110608 cooperates with the protrusion of the circular slide rail 110609 to ensure that the circular slider 110608 and the circular slide rail 110609 do not separate in the vertical direction. The circular slider 110609 can slide along the circular slide rail 110609. Manually rotating the inclined plate 110607 or the circular slider 110608 can change the distribution angle of the brush 110603 to adapt to tree trunks with special shapes.

[0024] The brush 110603 also has a hole, and one end of the hole is connected to the circular groove.

[0025] The antifreeze tank 3 is flexibly connected to the pump body 5 through a pipeline, and the pump body 5 is also flexibly connected to the diverter valve 7 through a pipeline. The diverter valve 7 has a liquid outlet with the same number as the brushes 110603 of the application component 1106. The liquid outlet of the diverter valve 7 is connected to the hole on the brush 110603 through a pipeline. The pipeline connecting the liquid outlet of the diverter valve 7 and the brush 110603 is divided into two outlets at the end, which are respectively connected to two symmetrical brushes 110603.

[0026] When working, the recognition camera 12 recognizes the position of the target tree, the first motor 14 works to control the overall movement of the vehicle to a position suitable for applying paint to the target tree, the first electric push rod 6 works to push the applying device 11 to the point where the center of the semicircular intersection of the inner surface and the lower surface of the two inclined plates 110607 is in a straight line with the center of the tree in the same plane, the first electric push rod 6 stops working, the second electric push rod 1101 works to push the applying component 1106 toward the tree until the brush 110603 contacts the tree, the second electric push rod 1101 stops working, and the number of working cylinders 110606 is determined according to the tree diameter measured by the recognition camera 12, which are symmetrical to each other. The two cylinders 110606 are a working unit and work together. The cylinder rod 110605 extends out, and the pump body 5 works to extract the antifreeze from the antifreeze tank 3 and pump it into the diverter valve 7. The diverter valve 7 turns the pipeline corresponding to the cylinder 110606 in the working state into a passage. The second motor 110613 works to drive the screw 110615 to rotate, and then drives the right angle plate 110611 and the parts directly and indirectly connected to the right angle plate 110611 to move up and down to complete the coating process. The second motor 110613 and the pump body 5 stop working, and the second electric push rod 1101 works to drag the coating component 1106 until it contacts the aluminum profile frame 1103, and the working process ends.

[0027] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A robot for automatically applying antifreeze to trees, which is composed of wheels, a chassis frame, an antifreeze tank, a battery, a pump body, a first electric push rod, a diverter valve, a first slider, a first slide rail, a differential, an application device, an identification camera, a wheel axle and a first motor, and is characterized in that: The differential has structures such as an output shaft and an input shaft, the first motor has structures such as a transmission shaft, the transmission shaft of the first motor is connected to the input shaft of the differential, the first motor is connected to the chassis frame by bolts, there are four wheels, which are respectively arranged on the left and right sides of the wheel axle and the output shaft of the differential, the wheel axle and the output shaft of the differential pass through the chassis frame and are connected to the chassis frame by bearings, the antifreeze tank, the battery, and the first slide rail are all fixed on the chassis frame, the first slide rail can be used in conjunction with the first slider, there are multiple first sliders, the coating device is fixed on the first slider, the pump body, the diverter valve, and the identification camera are all fixed on the aluminum profile frame of the coating device, and one end of the first electric push rod is connected to The chassis frame is connected to an aluminum profile frame with the other end connected to a coating device. The coating device is composed of a second electric push rod, a bearing plate, an aluminum profile frame, a second slider, a second slide rail and a coating component. The second electric push rod is fixed on the bearing plate and connected to the coating component. The coating component is also connected to the second slider. The second slider is used in conjunction with the second slide rail. The aluminum profile frame has a first beam, a second beam, a third beam and other structures. The second slide rail is fixed on the third beam of the aluminum profile frame. The bearing plate is fixed on the second beam of the aluminum profile frame. The first beam of the aluminum profile frame is connected to the first slider. There are two coating components, which are arranged on the left and right sides. The coating device is arranged symmetrically about the middle plane.

2. The robot for automatically applying antifreeze liquid to trees as claimed in claim 1, characterized in that: The chassis frame is composed of multiple sections of hot-rolled I-beams connected by bolts.

3. The robot for automatically applying antifreeze liquid to trees as claimed in claim 1, characterized in that: The aluminum profile frame is composed of multiple sections of aluminum profiles connected to each other, and plays a supporting role for the coating component.

4. The robot for automatically applying antifreeze liquid to trees as claimed in claim 1, characterized in that: The smearing assembly is composed of a shell, a third slide rail, a brush, a leakage pipe, a cylinder rod, a cylinder, an inclined plate, a circular slider, a circular slide rail, a connecting plate, a right-angle plate, a third slider, a second motor, a lead screw nut and a lead screw. The third slide rail is connected to the shell, the third slider can be used in conjunction with the third slide rail, the third slider is connected to the right-angle plate through bolts, the lead screw nut is connected to the right-angle plate through bolts, the lead screw nut can be used in conjunction with the lead screw, the lead screw is connected to the second motor through a coupling, the second motor is linked to the shell through bolts, the right-angle plate is also connected to the connecting plate through bolts, the circular slide rail is fixed on the connecting plate, the circular slider can be used in conjunction with the circular slide rail, the inclined plate is fixed on the circular slider, the cylinder is fixed on the inclined plate, the cylinder rod can be used in conjunction with the cylinder, the brush has a circular groove and a square groove, the cylinder rod can be fixed to the square groove of the brush, and the leakage pipe is embedded in the circular groove of the brush.

5. The robot for automatically applying antifreeze liquid to trees as claimed in claim 4, characterized in that: The leakage pipe is a pipe with multiple through holes, which evenly distributes the inflowing antifreeze liquid.

6. The robot for automatically applying antifreeze liquid to trees as claimed in claim 4, characterized in that: The circular slider has a groove structure, and the circular slide rail has a protrusion structure. The groove of the circular slider cooperates with the protrusion of the circular slide rail to ensure that the circular slider and the circular slide rail do not separate in the vertical direction.

7. The robot for automatically applying antifreeze liquid to trees as claimed in claim 4, characterized in that: The brush is also provided with a hole, and one end of the hole is connected with the circular groove.

8. The robot for automatically applying antifreeze liquid to trees as claimed in claim 1, characterized in that: The antifreeze tank is flexibly connected to the pump body through a pipeline, and the pump body is also flexibly connected to the diverter valve through a pipeline. The diverter valve has liquid outlets with the same number as the brushes of the coating assembly, and the liquid outlet of the diverter valve is connected to the hole on the brush through a pipeline.

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