A tree anti-freezing solution automatic smearing robot

Abstract

A kind of tree anti-freezing solution automatic smearing robot belongs to municipal automation equipment field.It is by wheel, chassis frame, anti-freezing solution tank, battery, pump body, first electric push rod, shunt valve, first sliding block, first slide rail, differential, smearing device, identification camera, wheel shaft and first motor composition.Through automation operation, self-moving and accurately aligning tree, ensure the consistency and uniformity of anti-freezing solution smearing, enhance the stability of protection effect, avoid the possible damage of tree bark caused by manual operation, according to the diameter of tree intelligent adjustment smearing parameter, accurately control the amount of anti-freezing solution, prevent waste or deficiency, flexible design can adapt to different shapes of tree trunk, optimize resource utilization, reduce the direct contact of personnel and chemical agent, improve the safety of operation.

Description

Technical Field

[0001] This invention relates to an automatic tree antifreeze application robot, specifically 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, a recognition camera, wheel axles, and a first motor, belonging to the field of municipal special vehicles. Background Technology

[0002] Tree antifreeze is a chemical preparation designed to protect trees from the damage caused by low winter temperatures. It enhances the tree's cold resistance by regulating its internal physiological mechanisms, thereby reducing damage or death caused by cold weather. It is typically applied in late autumn, before the plant enters dormancy, by smearing or spraying. In northern regions, this is generally done between late September and October, when temperatures have not yet dropped sharply but are close to the time when plants are preparing for winter. The antifreeze works primarily by promoting the early lignification process in trees, increasing their stress response, and encouraging the accumulation of more sugars and organic matter while reducing free water content, thus increasing the tree's cold hardiness.

[0003] Currently, the application of antifreeze to municipal trees is primarily done manually, which suffers from low efficiency, high labor intensity, and uneven application, leading to inconsistent protective effects. Manual operation makes it difficult to ensure sufficient coverage of every area, potentially leaving trees still at risk of frost damage in cold weather. Furthermore, manual application can increase costs due to the greater investment of manpower and time, especially in large-scale green areas. Additionally, differences in the experience and skill level of different operators can lead to improper control of antifreeze dosage, potentially resulting in insufficient application and affecting the actual frost protection effect. Frequent manual intervention can also cause physical damage to plants, such as scratching the bark, thus impacting tree health. Summary of the Invention

[0004] To address the problems of low efficiency, high labor intensity, and uneven application of antifreeze by manual application, this invention provides an automated antifreeze application robot for trees.

[0005] This invention is achieved through the following technical solution: an automatic tree antifreeze application robot, comprising 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, a recognition camera, a wheel axle, and a first motor. The differential has an output shaft and an input shaft, and the first motor has a drive shaft. The drive 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. Four wheels are 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 via bearings. The antifreeze tank, battery, and first slide rail are all fixed to the chassis frame. The first slide rail can be used in conjunction with multiple first sliders. The application device is fixed. On the first slider, the pump body, diversion valve, and recognition camera are all fixed to 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 consists of a second electric push rod, a support plate, an aluminum profile frame, a second slider, a second slide rail, and coating components. The second electric push rod is fixed to the support plate and connected to the coating components. The coating components are also connected to the second slider. The second slider works in conjunction with the second slide rail. The aluminum profile frame has a structure including a first beam, a second beam, and a third beam. The second slide rail is fixed to the third beam of the aluminum profile frame. The support plate is fixed to 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 arranged on the left and right sides. The coating device is symmetrically arranged about the central 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 interconnected aluminum profile sections, which provides support for the coating assembly.

[0008] The application assembly comprises a housing, a third slide rail, a brush, a drain tube, 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 housing, and the third slider can be used in conjunction with the third slide rail. The third slider is connected to the right-angle plate by bolts, and the lead screw nut is connected to the right-angle plate by bolts. The lead screw nut can be used in conjunction with the lead screw, and the lead screw is connected to the second motor via a coupling. The second motor is connected to the housing by bolts, and the right-angle plate is also connected to the connecting plate by bolts. The circular slide rail is fixed to the connecting plate, and the circular slider can be used in conjunction with the circular slide rail. The inclined plate is fixed to the circular slider, and the cylinder is fixed to the inclined plate. The cylinder rod can be used in conjunction with the cylinder. The brush has a circular groove and a square groove, and the cylinder rod can be fixed to the square groove of the brush. The drain tube is embedded in the circular groove of the brush.

[0009] The aforementioned drain pipe is a pipe with multiple through holes that evenly distributes the incoming antifreeze.

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

[0011] The brush also has a hole, one end of which is connected to a circular groove.

[0012] The antifreeze tank is flexibly connected to the pump body via a pipe, and the pump body is also flexibly connected to the diversion valve via a pipe. The diversion valve has the same number of outlets as the brushes of the application assembly, and the outlets of the diversion valve are connected to the holes on the brushes via pipes.

[0013] The advantages of this invention are that it significantly improves work efficiency. By replacing manual application with an automated device, the vehicle can move autonomously and apply the antifreeze to the trees, reducing manpower and time costs while greatly reducing labor intensity. Mechanical operation ensures consistency in the amount applied and uniformity of coverage, thus improving the stability of the protective effect. Furthermore, it avoids physical damage to the bark, such as scratches, during the application process, which is beneficial for protecting tree health. The device also achieves precise control over the amount of antifreeze used, determining the number of cylinders to operate based on the tree diameter measured by a recognition camera, avoiding waste or insufficient application. The design of the circular slider and rail allows for adjustment of the brush angle to accommodate different tree trunk shapes, increasing application flexibility. In addition, it optimizes resource utilization, allowing for flexible adjustment of working parameters according to actual conditions, which helps to allocate and use resources more rationally, and reduces the opportunity for personnel to directly contact chemical agents, lowering potential safety risks. This provides a more efficient, safe, and reliable solution for municipal greening. Attached Figure Description

[0014] Appendix Figure 1 This is a schematic diagram of the structure of the present invention;

[0015] Appendix Figure 2 This is a schematic diagram showing the connection relationships of the chassis frame;

[0016] Appendix Figure 3 This is a schematic diagram of the application device.

[0017] Appendix Figure 4 This is a structural schematic diagram of an aluminum profile frame;

[0018] Appendix Figure 5 This is a schematic diagram of the coating component.

[0019] Appendix Figure 6 This is a schematic diagram showing the connection relationship between the brush and the drain pipe, and between the brush and the cylinder rod;

[0020] Appendix Figure 7 This is a schematic diagram of the pipe connections in this device.

[0021] In the diagram, 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. Spreading device, 12. Recognition camera, 13. Axle, 14. First motor.

[0022] 1101, Second electric push rod; 1102, Support plate; 1103, Aluminum profile frame; 1104, Second slider; 1105, Second slide rail; 1106, Coating assembly;

[0023] 110301, First beam; 110302, Second beam; 110303, Third beam;

[0024] 110801, Outer shell; 110802, Third slide rail; 110803, Brush; 110804, Drain pipe; 110805, Cylinder rod; 110806, Cylinder; 110807, Inclined plate; 110808, Circular slider; 110809, Circular slide rail; 110810, Connecting plate; 110811, Right angle plate; 110812, Third slider; 110813, Second motor; 110814, Lead screw nut; 110815, Lead screw. Detailed Implementation

[0025] An automatic tree antifreeze application robot comprises 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, a recognition camera 12, a wheel axle 13, and a first motor 14. The differential 10 has an output shaft and an input shaft, and the first motor 14 has a drive shaft. The drive shaft of the first motor 14 is connected to the input shaft of the differential. The first motor 14 is connected to the chassis frame 2 by bolts. There are four components 1, respectively arranged on the left and right sides of the output shaft of the wheel axle 13 and the differential 10. The wheel axle 13 and the output shaft of the differential 10 pass through the chassis frame 2 and are connected to the chassis frame 2 through bearings. The antifreeze tank 3, battery 4, and first slide rail 9 are all fixed on the chassis frame 2. The first slide rail 9 can be used with the first slider 8. There are multiple first sliders 8. The application device 11 is fixed on the first slider. The pump body 5, diverter valve 7, and recognition camera 12 are all fixed on the aluminum profile frame 1103 of the application device 11. An electric push rod 6 is connected at one end to the chassis frame 2 and at the other end 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 support plate 1102, an aluminum profile frame 1103, a second slider 1104, a second slide rail 1105, and a coating assembly 1106. The second electric push rod 1101 is fixed on the support plate 1102 and connected to the coating assembly 1106. The coating assembly 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, etc. The second slide rail 1105 is fixed on the third beam 110303 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, and the coating device 11 is arranged symmetrically about the middle plane.

[0026] The chassis frame 2 is composed of multiple sections of hot-rolled I-beams connected by bolts.

[0027] The aluminum profile frame 1103 is composed of multiple interconnected aluminum profiles and provides support for the coating component 1106.

[0028] The application assembly consists of a housing 110801, a third slide rail 110802, a brush 110803, a drain tube 110804, a cylinder rod 110805, a cylinder 110806, an inclined plate 110807, a circular slider 110808, a circular slide rail 110809, a connecting plate 110810, a right-angle plate 110811, a third slider 110812, a second motor 110813, a lead screw nut 110814, and a lead screw 1. Composed of 10815, the third slide rail 110802 is connected to the outer shell 110801. The third slider 110812 can be used in conjunction with the third slide rail 110802. The third slider 110812 is connected to the right angle plate 110811 by bolts. The lead screw nut 110814 is connected to the right angle plate 110811 by bolts. The lead screw nut 110814 can be used in conjunction with the lead screw 110815. The lead screw 110815 is connected to the second motor 110813 by a coupling. The second motor 110813 is connected to the outer shell 110801 by bolts. The right angle plate 110811 is also connected to the connecting plate 110810 by bolts. The circular slide rail 110809 is fixed on the connecting plate 110810. The circular slider 110808 can be used in conjunction with the circular slide rail 110809. The inclined plate 110... 807 is fixed on the circular slider 110808, the cylinder 110806 is fixed on the inclined plate 110807, the cylinder rod 110805 can be used in conjunction with the cylinder 110808, the brush 110803 has a circular groove and a square groove, the cylinder rod 110805 can be fixed with the square groove of the brush 110803, and the drain tube 110804 is embedded in the circular groove of the brush 110803.

[0029] The upper surface of the inclined plate 110807 is horizontal, and the lower surface is inclined, that is, the thickness of the inclined plate 110807 gradually decreases from the inside to the outside. The cylinder 110806 is fixed on the lower surface of the inclined plate 110807. The cylinder rod 110805 and the brush 110803 both have a downward angle, which cancels the height difference between the chassis frame 2 and the ground, so that the brush 110803 can apply antifreeze to the bottom of the tree trunk.

[0030] The cylinders 110806, cylinder rods 110805, brushes 110803, and drain tubes 110804 are all multiple and equal in number, and are evenly arranged around the semi-circular intersection line of the inner and lower surfaces of the inclined plate 110807. When the end faces of the inclined plates 110807 of the two coating components 1106 are in contact, the semi-circular intersection lines of the inner and lower surfaces of the two inclined plates 110807 form a circular intersection line. The cylinders 110806, cylinder rods 110805, brushes 110803, and drain tubes 110804 of the coating component 1106 are all symmetrical about the center of the circular intersection line with the same parts installed in the other coating component. The symmetrical cylinders 110806 and cylinder rods 110805 perform the same actions during operation.

[0031] The aforementioned drain pipe 110804 is a pipe with multiple through holes that distributes the incoming antifreeze evenly.

[0032] The circular slider 110808 has a groove structure, and the circular slide rail 110809 has a protrusion structure. The groove of the circular slider 110808 and the protrusion of the circular slide rail 110809 cooperate to ensure that the circular slider 110808 and the circular slide rail 110809 do not separate in the vertical direction. The circular slider 110809 can slide along the circular slide rail 110809. Manually rotating the inclined plate 110807 or the circular slider 110808 can change the distribution angle of the brush 110803 to adapt to the special shape of the tree trunk.

[0033] The brush 110803 also has a hole, one end of which is connected to a circular groove.

[0034] The antifreeze tank 3 is flexibly connected to the pump body 5 via a pipe. The pump body 5 is also flexibly connected to the diversion valve 7 via a pipe. The diversion valve 7 has the same number of outlets as the brushes 110803 of the application assembly 1106. The outlets of the diversion valve 7 are connected to the holes on the brushes 110803 via pipes. The pipes connecting the outlets of the diversion valve 7 and the brushes 110803 split into two outlets at the end, which are respectively connected to two symmetrical brushes 110803.

[0035] During operation, the recognition camera 12 identifies the location of the target tree. The first motor 14 operates, controlling the overall movement of the vehicle to a suitable position for applying the coating to the target tree. The first electric push rod 6 operates, pushing the coating device 11 until the center of the semi-circular intersection line between the inner and lower surfaces of the two inclined plates 110807 aligns with the center of the tree's circle in the same plane. At this point, the first electric push rod 6 stops operating. The second electric push rod 1101 operates, pushing the coating assembly 1106 towards the tree until the brush 110803 contacts the tree. At this point, the second electric push rod 1101 stops operating. The number of working cylinders 110806 is determined based on the tree diameter calculated by the recognition camera 12, and they are symmetrically arranged. Two cylinders 110806 work together as one unit. When the cylinder rod 110805 extends, the pump body 5 operates to draw antifreeze from the antifreeze tank 3 and pump it into the diverter valve 7. The diverter valve 7 makes the pipeline of the corresponding cylinder 110806 in the working state open. The second motor 110813 operates, driving the lead screw 110815 to rotate, which in turn drives the right angle plate 110811 and the parts directly and indirectly connected to the right angle plate 110811 to move up and down, completing the coating process. The second motor 110813 and the pump body 5 stop working, and the second electric push rod 1101 operates, dragging the coating component 1106 to contact the aluminum profile frame 1103, and the workflow ends.

[0036] For those skilled in the art, any changes, modifications, substitutions, and variations made to the embodiments without departing from the principles and spirit of the present invention, based on the teachings of the present invention, still fall within the protection scope of the present invention.

Claims

1. An automatic tree antifreeze application robot, comprising 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, a recognition camera, a wheel axle, and a first motor, characterized in that: The differential has an output shaft and an input shaft structure, the first motor has a transmission shaft structure, the transmission shaft of the first motor is connected with the input shaft of the differential, the first motor is connected with the chassis frame through bolts, the wheels are four, which are arranged on the left and right sides of the wheel shaft and the output shaft of the differential respectively, the wheel shaft and the output shaft of the differential pass through the chassis frame and are connected with the chassis frame through bearings, the antifreeze tank, the battery and the first sliding rail are fixed on the chassis frame, the first sliding rail can be used with the first sliding block, the first sliding block has a plurality of first sliding blocks, the smearing device is fixed on the first sliding block, the pump body, the flow divider and the identification camera are fixed on the aluminum profile frame of the smearing device, one end of the first electric push rod is connected with the chassis frame, and the other end is connected with the aluminum profile frame of the smearing device, the smearing device is composed of a second electric push rod, a bearing plate, an aluminum profile frame, a second sliding block, a second sliding rail and a smearing assembly, the second electric push rod is fixed on the bearing plate and connected with the smearing assembly, the smearing assembly is also connected with the second sliding block, the second sliding block is used with the second sliding rail, the aluminum profile frame has a first beam, a second beam and a third beam structure, the second sliding 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 with the first sliding block, the smearing assembly has two smearing assemblies arranged on the left and right sides, and the smearing device is arranged symmetrically about the middle plane; the smearing assembly is composed of a shell, a third sliding rail, a brush, a leakage pipe, a cylinder rod, a cylinder, an inclined plate, a circular slider, a circular sliding rail, a connecting plate, a right angle plate, a third sliding block, a second motor, a screw nut and a screw, the third sliding rail is connected with the shell, the third sliding block can be used with the third sliding rail, the third sliding block is connected with the right angle plate through bolts, the screw nut is connected with the right angle plate through bolts, the screw nut can be used with the screw, the screw is connected with the second motor through a shaft coupling, the second motor is connected with the shell through bolts, the right angle plate is also connected with the connecting plate through bolts, the circular sliding rail is fixed on the connecting plate, the circular slider can be used with the circular sliding rail, the inclined plate is fixed on the circular slider, the cylinder is fixed on the inclined plate, the cylinder rod can be used with the cylinder, the brush has a circular groove and a square groove, the cylinder rod can be fixed with the square groove of the brush, and the leakage pipe is embedded in the circular groove of the brush; the leakage pipe is a pipeline with a plurality of through holes, which can evenly distribute the flowing antifreeze; the circular slider has a groove structure, the circular sliding rail has a protrusion structure, the groove of the circular slider is matched with the protrusion of the circular sliding rail, so that the circular slider and the circular sliding rail cannot be separated in the vertical direction; the brush also has a hole, and one end of the hole communicates with the circular groove.The anti-freezing liquid tank is flexibly connected with the pump body through a pipeline, the pump body is also flexibly connected with the flow divider valve through a pipeline, the flow divider valve has the same number of liquid outlets as the number of the brushes of the painting assembly, and the liquid outlets of the flow divider valve are connected with the holes on the brushes through pipelines.

2. The tree anti-freezing solution automatic smearing robot according to claim 1, characterized in that: The bottom frame is composed of multiple hot-rolled I-beams connected by bolts.

3. The tree anti-freezing solution automatic smearing robot according to claim 1, characterized in that: The aluminum profile frame is composed of multiple aluminum profiles connected to each other and supports the smearing assembly.

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