Intelligent tree whitewashing equipment

Abstract

The invention relates to the technical field of tree whitewashing equipment, in particular to intelligent tree whitewashing equipment which comprises a base, a lifting mechanism is arranged at the upper end of the base and connected with a connecting block, the connecting block is driven by the lifting mechanism to move up and down, and a clamping and spraying mechanism is connected to the lower end of the connecting block. A plurality of cleaning and brushing mechanisms are connected into the clamping and spraying mechanism, and the surfaces of the trees are cleaned through the cleaning and brushing mechanisms; the distance between the robot and a tree trunk is intelligently detected through a machine vision recognition sensor, after the robot moves to a proper distance, the clamping spraying mechanism surrounds the outer side of the tree trunk, the cleaning brushing mechanism downwards cleans the tree trunk in cooperation with the lifting mechanism, and after cleaning is completed, paint is sprayed to the surface of the tree trunk, so that the robot can clean the tree trunk conveniently. And the cleaning and brushing mechanism can uniformly brush the coating on the surface of the trunk, so that the surface of the trunk is firstly cleaned and then brushed, and the coating is ensured to uniformly cover the surface of the trunk.

Description

Technical Field

[0001] This invention relates to the field of tree whitewashing equipment technology, specifically to an intelligent tree whitewashing equipment. Background Technology

[0002] For example, Chinese patent CN208494689U discloses a tree whitening robot, which includes a frame. A vertical adjustment guide rail is installed between the top and bottom of the frame. A horizontal telescopic mounting device is connected to the vertical adjustment guide rail. A vertical drive device is provided between the horizontal telescopic mounting device and the frame. A horizontal telescopic adjustment guide rail is provided above the horizontal telescopic mounting device. A horizontal telescopic mechanical device is connected to the horizontal telescopic adjustment guide rail. A horizontal telescopic drive device is provided between the horizontal telescopic mechanical device and the horizontal telescopic mounting device. A mechanical clamping device is installed at the end of the horizontal telescopic mechanical device.

[0003] The aforementioned patent describes a method where the horizontal telescopic installation device is adjusted to the upper part of the frame by controlling the spraying controller, and the horizontal telescopic installation device is adjusted to the whitening working height by controlling the vertical drive device. The mechanical clamping device allows the adjustable clamping arm to surround the tree trunk, and the spraying device begins spraying. However, the above solution has the following shortcomings: simply spraying cannot evenly apply the paint to the gaps in the tree trunk. At the same time, when there is mud or other debris adhering to the surface of the tree trunk, the paint will be blocked by the mud or debris. After the spraying is completed and the mud or debris falls off, there will be an unpainted area on the surface of the tree trunk. Therefore, we have introduced an intelligent tree whitening device. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent tree whitening device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An intelligent tree whitening device includes a base, with a lifting mechanism at the upper end of the base. The lifting mechanism is connected to a connecting block, and the connecting block is moved up and down by the lifting mechanism. A clamping spraying mechanism is connected to the lower end of the connecting block. Several cleaning and brushing mechanisms are connected inside the clamping spraying mechanism. The cleaning and brushing mechanisms clean the tree surface and apply the paint sprayed by the clamping spraying mechanism to the tree surface. A connecting frame is fixedly connected to the upper end of the base, and a liquid supply mechanism is connected to the inner side of the connecting frame. One end of the liquid supply mechanism is connected to the clamping spray mechanism. A solar power supply component is fixedly connected to the upper end of the connecting frame, and a machine vision recognition sensor is fixedly installed on the upper end of the connecting block.

[0006] Preferably, the lifting mechanism includes a connecting rod, and two guide rods are slidably connected inside the connecting block. The upper and lower ends of the guide rods are fixedly connected to the connecting rod. A lead screw is screwed into the connecting block. The lower end of the lead screw is movably connected to the connecting rod, and the upper end is fixedly connected to the output end of the first motor. The first motor is fixedly installed on the upper end of the connecting rod.

[0007] Preferably, the clamping spray mechanism includes two arc-shaped rods. The upper end of the arc-shaped rod is fixedly connected to the output end of a second motor, and the second motor is fixedly connected to the lower end of a connecting block. A T-shaped guide groove is provided at the lower end of the arc-shaped rod, and a connecting toothed ring is slidably connected in the T-shaped guide groove. A sensing plate is fixedly connected to the upper end of the arc-shaped rod and in the T-shaped guide groove. A third motor is fixedly connected to the upper end of the arc-shaped rod, and a gear is fixedly connected to the output end of the third motor. The gear meshes with the connecting toothed ring. An arc-shaped spray pipe is fixedly connected to the inner side of the arc-shaped rod.

[0008] Preferably, the cleaning and brushing mechanism includes several mounting blocks. Two T-shaped rods are fixedly connected to the mounting blocks near the connecting toothed ring. The T-shaped rods are movably connected inside the connecting toothed ring. A connecting spring is fixedly connected to the outside of the T-shaped rod. One end of the connecting spring is fixedly connected to the mounting block, and the other end is fixedly connected to the connecting toothed ring.

[0009] Preferably, a mounting frame is movably connected to the lower end of the mounting block, and brush rollers are movably connected to both ends of the mounting frame. One end of each brush roller is fixedly connected to the output end of a connecting motor. The connecting motor is fixedly installed on the outside of the mounting frame. Two limiting through holes are opened at the upper end of the mounting frame. A telescopic cylinder is fixedly connected inside the mounting block, and the output end of the telescopic cylinder is inserted into the limiting through holes. A drive motor is fixedly installed inside the mounting block, and the output end of the drive motor is fixedly connected to the mounting frame.

[0010] Preferably, the liquid supply mechanism includes a liquid storage tank, a circulation pump is provided on the upper side of the liquid storage tank, the circulation pump is fixedly connected to the connecting frame, the input end of the circulation pump extends into the liquid storage tank, the output end of the circulation pump is fixedly connected to two telescopic hoses, the end of the telescopic hose away from the circulation pump is fixedly connected to a three-way solenoid valve, and the lower end of the three-way solenoid valve is fixedly connected to an arc-shaped spray pipe.

[0011] Preferably, an air pump is fixedly connected to the upper end of the base, and an air guide hose is fixedly connected to the output end of the air pump. The end of the air guide hose away from the air pump is fixedly connected to a three-way solenoid valve.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention uses a machine vision recognition sensor to intelligently detect the distance between itself and the tree trunk. When it moves to a suitable distance, the clamping spraying mechanism surrounds the outside of the tree trunk. In conjunction with the lifting mechanism, the cleaning and brushing mechanism cleans the tree trunk downwards. After cleaning, the paint is sprayed onto the surface of the tree trunk. The cleaning and brushing mechanism will evenly brush the paint onto the surface of the tree trunk, realizing the cleaning and brushing of the tree trunk surface first and then ensuring that the paint is evenly covered on the surface of the tree trunk. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the bottom three-dimensional structure of the present invention; Figure 3 This is a three-dimensional structural diagram illustrating the positional relationship between the connecting block and the arc-shaped rod of the present invention; Figure 4 This is a three-dimensional structural diagram illustrating the connection between the mounting bracket and the arc-shaped rod of the present invention; Figure 5 This is a three-dimensional structural diagram illustrating the connection relationship between the brush roller and the mounting frame of the present invention; Figure 6 This is a three-dimensional structural diagram of the arc-shaped rod in cross-section of the present invention; Figure 7 This is a three-dimensional structural diagram of the arc-shaped rod and the connecting toothed ring of the present invention in a separated state.

[0014] In the diagram: 1. Base; 2. Air pump; 3. Liquid storage tank; 4. Connecting frame; 5. Three-way solenoid valve; 6. Gear; 7. Connecting spring; 8. T-shaped rod; 9. Solar power supply component; 10. Connecting block; 11. Machine vision recognition sensor; 12. Mounting block; 13. Arc-shaped rod; 14. Brush roller; 15. Mounting frame; 16. Air guide hose; 17. Telescopic hose; 18. Lead screw; 19. Guide rod; 20. T-shaped guide groove; 21. Circulating pump; 22. First motor; 23. Connecting rod; 24. Limiting through hole; 25. Connecting gear ring; 26. Third motor; 27. Arc-shaped spray pipe; 28. Drive motor; 29. ​​Connecting motor; 30. Telescopic cylinder; 31. Second motor; 32. Induction plate. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figure 1-7 The present invention provides a technical solution: Example 1: An intelligent tree whitening device includes a base 1, with several electric wheels movably connected to the lower end of the base 1, enabling the device to move. A lifting mechanism is provided at the upper end of the base 1, and the lifting mechanism is connected to a connecting block 10. The lifting mechanism drives the connecting block 10 to move up and down. A clamping spraying mechanism is connected to the lower end of the connecting block 10, and several cleaning and brushing mechanisms are connected inside the clamping spraying mechanism. The cleaning and brushing mechanisms clean the tree surface and apply the paint sprayed by the clamping spraying mechanism to the tree surface.

[0017] A connecting frame 4 is fixedly connected to the upper end of the base 1. A liquid supply mechanism is connected to the inner side of the connecting frame 4. One end of the liquid supply mechanism is connected to the clamping spray mechanism. The liquid supply mechanism includes a liquid storage tank 3. A circulation pump 21 is provided on the upper side of the liquid storage tank 3. The circulation pump 21 is fixedly connected to the connecting frame 4. The input end of the circulation pump 21 extends into the liquid storage tank 3. The output end of the circulation pump 21 is fixedly connected to two telescopic hoses 17. The end of the telescopic hose 17 away from the circulation pump 21 is fixedly connected to a three-way solenoid valve 5. The lower end of the three-way solenoid valve 5 is fixedly connected to an arc-shaped spray pipe 27. The paint is stored in the liquid storage tank 3. The circulation pump 21 will start to draw the paint in the liquid storage tank 3 into the telescopic hose 17. The paint is finally sprayed from the arc-shaped spray pipe 27 onto the surface of the tree trunk.

[0018] A solar power supply component 9 is fixedly connected to the upper end of the connecting frame 4. The solar power supply component 9 can rotate to track the position of the sun, so that the solar panel inside can always be in contact with sunlight. The solar power supply component 9 supplies power to the equipment. A machine vision recognition sensor 11 is fixedly installed on the upper end of the connecting block 10. In this embodiment, the machine vision recognition sensor 11 can be selected from a suitable existing conventional technology industrial CCD camera according to actual needs. When it recognizes a tree, it transmits the distance data to the STM32 microcontroller for calculation and processing to obtain the distance between the machine vision recognition sensor 11 and the tree trunk. When the appropriate distance is reached, the two arc rods 13 will move.

[0019] Example 2: Based on Embodiment 1, in order to ensure that the connecting toothed ring 25 can stop at a designated position after rotation, the lifting mechanism includes a connecting rod 23. Two guide rods 19 are slidably connected inside the connecting block 10. The upper and lower ends of the guide rods 19 are fixedly connected to the connecting rod 23. The connecting block 10 is limited by the two guide rods 19. A lead screw 18 is screwed inside the connecting block 10. The lower end of the lead screw 18 is movably connected to the connecting rod 23, and the upper end is fixedly connected to the output end of the first motor 22. The first motor 22 is fixedly installed on the upper end of the connecting rod 23. The first motor 22 drives the lead screw 18 to rotate. Under the drive of the lead screw 18, the connecting block 10 drives the two arc-shaped rods 13 to move downward. First, the surface of the tree trunk is cleaned by the brush roller 14, and then gas is sprayed outward through the arc-shaped spray pipe 27 to achieve double cleaning of the surface of the tree trunk.

[0020] The clamping spray mechanism includes two arc-shaped rods 13. The upper end of the arc-shaped rods 13 is fixedly connected to the output end of the second motor 31. The second motor 31 is fixedly connected to the lower end of the connecting block 10. A T-shaped guide groove 20 is provided at the lower end of the arc-shaped rods 13. A connecting toothed ring 25 is slidably connected in the T-shaped guide groove 20. A sensor plate 32 is fixedly connected to the upper end of the connecting toothed ring 25 and in the T-shaped guide groove 20. After the trees are sprayed, the third motor 26 will slowly reduce its speed. When it reaches the minimum speed, the sensor plate 32 located at the upper end of the connecting toothed ring 25 contacts the sensor plate 32 in the T-shaped guide groove 20. At this time, the third motor 26 will stop rotating and be in a self-locking state, so that the connecting 25 can return to the initial position after each rotation.

[0021] A third motor 26 is fixedly connected to the upper end of the arc-shaped rod 13. A gear 6 is fixedly connected to the output end of the third motor 26. The gear 6 meshes with the connecting gear ring 25. An arc-shaped spray pipe 27 is fixedly connected to the inner side of the arc-shaped rod 13. Several spray nozzles are provided on one side of the arc-shaped spray pipe 27. Through the setting of several spray nozzles, gas or coating can be sprayed outward.

[0022] The cleaning and brushing mechanism includes several mounting blocks 12. Two T-shaped rods 8 are fixedly connected to the side of the mounting block 12 near the connecting toothed ring 25. The T-shaped rods 8 are movably connected inside the connecting toothed ring 25. A connecting spring 7 is fixedly connected to the outside of the T-shaped rods 8. One end of the connecting spring 7 is fixedly connected to the mounting block 12, and the other end is fixedly connected to the connecting toothed ring 25. A mounting frame 15 is movably connected to the lower end of the mounting block 12. Brush rollers 14 are movably connected to both ends of the mounting frame 15. One end of the brush roller 14 is fixedly connected to the output end of the connecting motor 29. The connecting motor 29 is fixedly installed on the outside of the mounting frame 15. Two limiting through holes 24 are opened at the upper end of the mounting frame 15. A telescopic cylinder 30 is fixedly connected inside the mounting block 12. The output end of the telescopic cylinder 30 is inserted into the limiting through holes 24. A drive motor 28 is fixedly installed inside the mounting block 12. The output end of the drive motor 28 is fixedly connected to the mounting frame 15.

[0023] An air pump 2 is fixedly connected to the upper end of the base 1. An air guide hose 16 is fixedly connected to the output end of the air pump 2. The end of the air guide hose 16 away from the air pump 2 is fixedly connected to a three-way solenoid valve 5. The air guide hose 16 is connected to the arc-shaped spray pipe 27 by the switching of the three-way solenoid valve 5. After the air pump 2 is started, it delivers gas into the air guide hose 16. The gas that enters the air guide hose 16 is finally sprayed out through the arc-shaped spray pipe 27 to clean the surface of the tree trunk.

[0024] Working principle: During use, the coating is stored in the liquid storage tank 3, and the equipment can be moved by several electric wheels at the bottom of the base 1. When the machine vision recognition sensor 11 recognizes a tree, the two second motors 31 will start and drive the arc rod 13 to move synchronously. When the two arc rods 13 contact each other to form a complete circle, the second motors 31 will stop driving the arc rods 13 to move and will be in a self-locking state. The three-way solenoid valve 5 will switch the air guide hose 16 to the arc spray pipe 27. After the air pump 2 starts, it will deliver gas into the air guide hose 16. The gas that enters the air guide hose 16 will finally be sprayed out through the arc spray pipe 27 to clean the surface of the tree trunk. As the two arc-shaped rods 13 approach each other, the brush roller 14 will first come into contact with the tree trunk. As the two arc-shaped rods 13 approach each other, the mounting frame 15 on which the brush roller 14 is mounted will be driven to move outward. The movement of the mounting frame 15 drives the mounting block 12 to move synchronously. The movement of the mounting block 12 drives the two T-shaped rods 8 to move. At this time, the connecting spring 7 is compressed. Through the elastic force of the connecting spring 7, the brush roller 14 is always in contact with the surface of the tree trunk. By turning on the connecting motor 29, the brush roller 14 is driven to rotate. The rotating brush roller 14 cleans the impurities adhering to the surface of the tree trunk. The third motor 26 is turned on to drive the gear 6 to rotate. The rotating gear 6 drives the connecting gear ring 25 to rotate. The setting of the third motor 26 in the two arc rods 13 makes the two connecting gear rings 25 rotate along the two T-shaped guide grooves 20. At this time, several brush rollers 14 will rotate synchronously to achieve a comprehensive cleaning of the tree trunk surface. The first motor 22 drives the lead screw 18 to rotate. Driven by the lead screw 18, the connecting block 10 drives the two arc rods 13 to move downward. First, the brush roller 14 cleans the surface of the tree trunk, and then the arc spray pipe 27 sprays gas outward to achieve double cleaning of the tree trunk surface. When the two arc rods 13 move to the root of the tree, the air pump 2 is turned off. At the same time, the two arc rods 13 will open. The telescopic cylinder 30 moves its output end out of the limiting through hole 24. The drive motor 28 starts to drive the mounting frame 15 to rotate, so that the two brush rollers 14 exchange positions. After the conversion is completed, the output end of the telescopic cylinder 30 is reinserted into the limiting through hole 24 to limit the mounting frame 15. At the same time, the two arc rods 13 will move closer to each other again. The three-way solenoid valve 5 controls the connection between the telescopic hose 17 and the arc-shaped spray pipe 27, the air pump 2 stops, and the circulation pump 21 starts to draw the paint in the storage tank 3 into the telescopic hose 17. The paint is finally sprayed from the arc-shaped spray pipe 27 onto the surface of the tree trunk. The first motor 22 drives the lead screw 18 to rotate in the opposite direction, causing the two arc-shaped rods 13 to move upward. At this time, the rotating brush roller 14 will evenly coat the paint onto the surface of the tree trunk. When the coating is completed, the circulation pump 21 is turned off, and the two arc-shaped rods 13 open.

[0025] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent tree whitewashing device, comprising a base, characterized in that: The upper end of the base is provided with a lifting mechanism, which is connected to the connecting block. The lifting mechanism drives the connecting block to move up and down. The lower end of the connecting block is connected to a clamping spraying mechanism, which is connected to several cleaning and brushing mechanisms. The cleaning and brushing mechanisms clean the surface of the tree and apply the paint sprayed by the clamping spraying mechanism to the surface of the tree. A connecting frame is fixedly connected to the upper end of the base, and a liquid supply mechanism is connected to the inner side of the connecting frame. One end of the liquid supply mechanism is connected to the clamping spray mechanism. A solar power supply component is fixedly connected to the upper end of the connecting frame, and a machine vision recognition sensor is fixedly installed on the upper end of the connecting block.

2. The intelligent tree whitewashing device according to claim 1, characterized in that: The lifting mechanism includes a connecting rod, and two guide rods are slidably connected inside the connecting block. The upper and lower ends of the guide rods are fixedly connected to the connecting rod. A lead screw is screwed into the connecting block. The lower end of the lead screw is movably connected to the connecting rod, and the upper end is fixedly connected to the output end of the first motor. The first motor is fixedly installed on the upper end of the connecting rod.

3. The intelligent tree whitewashing device according to claim 1, characterized in that: The clamping spray mechanism includes two arc-shaped rods. The upper end of the arc-shaped rod is fixedly connected to the output end of a second motor. The second motor is fixedly connected to the lower end of a connecting block. A T-shaped guide groove is provided at the lower end of the arc-shaped rod. A connecting toothed ring slides in the T-shaped guide groove. A sensing plate is fixedly connected to the upper end of the connecting toothed ring and to the T-shaped guide groove. A third motor is fixedly connected to the upper end of the arc-shaped rod. A gear is fixedly connected to the output end of the third motor. The gear meshes with the connecting toothed ring. An arc-shaped spray pipe is fixedly connected to the inner side of the arc-shaped rod.

4. The intelligent tree whitewashing device according to claim 3, characterized in that: The cleaning and brushing mechanism includes several mounting blocks. Two T-shaped rods are fixedly connected to the mounting blocks near the connecting toothed ring. The T-shaped rods are movably connected inside the connecting toothed ring. A connecting spring is fixedly connected to the outside of the T-shaped rods. One end of the connecting spring is fixedly connected to the mounting block, and the other end is fixedly connected to the connecting toothed ring.

5. The intelligent tree whitewashing device according to claim 4, characterized in that: The mounting block is movably connected to a mounting frame at its lower end. Both ends of the mounting frame are movably connected to brush rollers. One end of each brush roller is fixedly connected to the output end of a connecting motor. The connecting motor is fixedly mounted on the outside of the mounting frame. Two limiting through holes are opened at the upper end of the mounting frame. A telescopic cylinder is fixedly connected inside the mounting block. The output end of the telescopic cylinder is inserted into the limiting through holes. A drive motor is fixedly mounted inside the mounting block. The output end of the drive motor is fixedly connected to the mounting frame.

6. The intelligent tree whitewashing device according to claim 3, characterized in that: The liquid supply mechanism includes a liquid storage tank, a circulation pump is provided on the upper side of the liquid storage tank, the circulation pump is fixedly connected to the connecting frame, the input end of the circulation pump extends into the liquid storage tank, the output end of the circulation pump is fixedly connected to two telescopic hoses, the end of the telescopic hose away from the circulation pump is fixedly connected to a three-way solenoid valve, and the lower end of the three-way solenoid valve is fixedly connected to an arc-shaped spray pipe.

7. The intelligent tree whitewashing device according to claim 6, characterized in that: An air pump is fixedly connected to the upper end of the base, and an air guide hose is fixedly connected to the output end of the air pump. The end of the air guide hose away from the air pump is fixedly connected to a three-way solenoid valve.

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