A tree whitewashing robot
By designing a tree whitening robot with omnidirectional wheel and robotic arms with spray heads and sensors, the problems of low whitening efficiency and difficult to guarantee quality in the prior art are solved, and efficient and accurate tree whitening effect is achieved, and equipment maintenance costs are reduced.
Patent Information
- Application Number
- CN202420530390.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-19
- Publication Date
- 2025-04-04
- Estimated Expiration
- 2034-03-19
AI Technical Summary
The existing tree whitening technology has problems such as low work efficiency, high labor intensity, difficulty in ensuring the whitening quality, poor robotic maneuverability, inability to shuttle between dense forests, difficulty turning around in place, and easy blockage of spraying raw materials.
A tree-whitening robot was designed, using omnidirectional wheels and coupling structures to achieve in-situ rotation and multi-angle linear movement. The robot arm is equipped with a nozzle, infrared ranging sensor and vision sensor to achieve 360° accurate spraying. At the same time, a stirring device is set up to remix uneven whitening raw materials to prevent the nozzle from being blocked, and a detachable power supply device is used for easy use and maintenance.
It achieves efficient, accurate and even whitening of trees, reduces labor intensity and equipment maintenance costs, improves work efficiency and whitening quality, and is suitable for whitening work in dense forests.
Smart Images
Figure CN222709943U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of agricultural machinery, and in particular relates to a tree whitewashing robot. Background Art
[0002] Trunk whitewashing means workers brush a layer of white liquid on the trunks. After the trunks are covered with white lime water, they can reflect 10% of the sunlight back. Whitewashing reduces the heat absorption of the trunks, so the trunks will not freeze and crack due to the huge temperature difference between day and night. It also has the function of sterilization and insect prevention. At the same time, the uniform whitewashing of trees is also a unique landscape in cities and towns.
[0003] At present, most of the whitewashing of trees is still done manually, which is not only inefficient but also labor-intensive. The physical damage caused by breathing the whitewashing gas is not conducive to large-scale promotion. At the same time, the quality of whitewashing is difficult to guarantee. During the manual whitewashing process, the thickness and uniformity of the brushing are difficult to control, resulting in uneven whitewashing quality, which affects the prevention and control effect. Traditional whitewashing materials contain a large number of chemical components, which may cause harm to the environment and human body. For the automatic and semi-automatic whitewashing robots or devices on the market, circular spraying is used, which has a certain limitation on the diameter of the trees, and the maneuverability is poor. It is impossible to shuttle between some dense forests, and it is impossible to turn around on the spot, which affects the work efficiency. Secondly, some robots will be blocked due to problems such as raw material allocation when whitewashing, which affects the efficiency and the whitewashing effect is not good. Utility Model Content
[0004] In order to overcome the above-mentioned deficiencies, a tree whitewashing robot is proposed, which can realize on-the-spot rotation and multi-angle linear movement between trees. A nozzle is arranged on the mechanical arm, and positioning is achieved through the cooperation of an infrared ranging sensor and a visual sensor, so as to achieve the effect of 360° precise spraying of the nozzle around the tree. The whitewashing raw materials can be remixed when they are unevenly mixed in the box and precipitated inside the box after a long period of work by a stirring device, so that the nozzle is not easy to be blocked and the spraying raw materials are mixed evenly. The modular design of the wheel group and the replaceable design of the power supply also facilitate its use and maintenance.
[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: to provide a tree whitewashing robot. It includes a frame, omnidirectional wheels, an omnidirectional wheel driving device, a mechanical arm, a spray head, a whitewash storage device, and a detachable power supply device. The lower end of the frame is provided with an omnidirectional wheel for movement, and the omnidirectional wheel is connected to the omnidirectional wheel driving device. The frame is provided with a mechanical arm, a whitewash storage device, and a detachable power supply device. The end of the mechanical arm is provided with a spray head, the mechanical arm is provided with a visual sensor, the whitewash storage device is provided with a stirring device, and the detachable power supply device is used for power supply.
[0006] According to the tree whitewashing robot described in the utility model, a further preferred technical solution is: the omnidirectional wheel and the omnidirectional wheel driving device are connected by a coupling and are arranged in a symmetrical structure.
[0007] According to the tree whitewashing robot described in the utility model, a further preferred technical solution is: the whitewashing storage device is arranged in the middle position of the frame, the mechanical arm is arranged in the front, and the detachable power supply device is arranged in the rear, and the whitewashing storage device, the mechanical arm, and the detachable power supply device are arranged closely.
[0008] According to the tree whitewashing robot described in the utility model, a further preferred technical solution is: the shape of the whitewashing storage device corresponds to the remaining shape after the mechanical arm and the detachable power supply device are installed on the vehicle body to increase the capacity.
[0009] According to the tree whitewashing robot described in the utility model, a further preferred technical solution is: the installation plane on the vehicle body is symmetrically arranged, and the whitewashing storage device, the mechanical arm, and the detachable power supply device are symmetrically arranged along the axis of the vehicle body.
[0010] According to the tree whitewashing robot described in the utility model, a further preferred technical solution is: there are two stirring devices, which are located on the top of the storage tank of the whitewashing storage device, and the two stirring devices are symmetrically arranged along the axis of the vehicle body.
[0011] According to the tree whitewashing robot described in the utility model, a further preferred technical solution is: the stirring device is composed of a stirring driving device and a stirring working device connected to a storage sealing device through a stirring fixing mechanism.
[0012] According to the tree whitewashing robot described in the utility model, a further preferred technical solution is: the detachable power supply device includes a battery storage structure and a detachable battery, and the battery storage structure is provided with a quick interface for connecting the detachable battery to a power source.
[0013] According to the tree whitewashing robot described in the utility model, its further preferred technical solution is: the mechanical arm includes a mechanical main arm and an intermediate arm, the intermediate arm connects the mechanical main arm and the spray head, the mechanical main arm is connected to the steering lifting device and embedded with a visual sensor, and the spray head is attached with an infrared ranging sensor.
[0014] According to the tree whitewashing robot described in the utility model, a further preferred technical solution is: the nozzle is a linear nozzle, and the initial position of the nozzle is vertically set.
[0015] Compared with the prior art, the technical solution of the utility model has the following advantages / benefits:
[0016] 1. The middle arm connects the mechanical arm and the nozzle. The mechanical arm is connected to the steering lifting device and embedded with a visual sensor. The nozzle device is attached with an infrared distance sensor. The visual sensor identifies the trees that need to be whitewashed, and the arm is rotated to identify the trees that need to be whitewashed, and the feedback is given to the control system. The control system feeds back to the universal wheel drive system, drives the whitewashing robot to the front of the tree, and uses the infrared distance sensor to feed back the distance to the control system, so that the nozzle is aimed at the central axis of the whitewashed tree and maintains a fixed distance. The nozzle sprays whitewash through the liquid storage work, and under the work of the control system, the mechanical arm and the middle arm coordinate through the degree of freedom adjustment to cooperate with the nozzle work, so that the nozzle sprays 360° around the tree in this cycle. After the work is completed, the nozzle is closed and the next target is found through the rotation of the mechanical arm.
[0017] 2. A stirring device is provided, which is connected by the driving device and the working device through the storage sealing device and is installed on the whitening storage device. When the whitening is unevenly mixed in the box and the whitening raw materials in the box are precipitated after working for a long time, the whitening can be re-mixed evenly, so that the nozzle can be used more smoothly and is not easy to be blocked, which also provides convenience for the subsequent cleaning of the box.
[0018] 3. The omnidirectional wheel is connected to the omnidirectional wheel drive device by a coupling. The symmetrical distribution structure can realize in-situ rotation and multi-angle linear movement. The cross-structure omnidirectional wheel device adopts a unique cross-cross design, which enables the wheel to evenly transmit torque in all directions, effectively reducing friction loss during transmission and improving transmission efficiency. The omnidirectional wheel frame adopts a lightweight design of hollow hardness material to reduce manufacturing costs, while reducing equipment weight, facilitating installation and maintenance, reducing equipment energy consumption, and helping to save energy and reduce carbon emissions. The cross-structure omnidirectional wheel device adopts a modular design. When some parts are damaged, they can be quickly repaired and replaced, reducing downtime and improving maintenance and work efficiency.
[0019] 4. A detachable power supply device is provided, including a battery storage structure and a detachable power supply. At a time when battery life is the biggest shortcoming, when the robot runs out of power, the user only needs to replace a fully charged battery to ensure the normal use of the robot and improve efficiency. It also solves the problem that the integrated machine is bulky and difficult to move after shutdown. The detachable power supply device includes a battery storage structure and a detachable power supply. The battery capacity of the detachable mobile power supply can be customized according to the needs of the user, and batteries of different capacities can meet the needs of different users. The detachable mobile power supply is also conducive to environmental protection and sustainable development. During the use of traditional mobile power supplies, the batteries are difficult to degrade and cause serious pollution to the environment. The batteries of the detachable mobile power supply can be replaced, and damaged batteries can also be recycled, thereby reducing the impact of waste on the environment. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0021] Figure 1 The figure is a schematic structural diagram of the tree whitewashing robot of the present invention.
[0022] Figure 2 This is a top view of the tree whitewashing robot at its working limit of 180°.
[0023] Figure 3 The figure is a three-axis measurement of the tree whitewashing robot of the present invention.
[0024] Figure 4 The figure is a schematic structural diagram of the stirring device of the tree whitewashing robot of the present invention.
[0025] Figure 5 This is a schematic diagram of the front structure of the nozzle.
[0026] The markings in the figure are: 1-nozzle; 2-infrared ranging sensor; 3-middle arm; 4-visual sensor; 5-mechanical arm; 6-storage sealing device; 7-stirring device; 8-white coating storage device; 9-detachable power supply device; 10-omnidirectional wheel drive device; 11-omnidirectional wheel; 51-steering lifting device; 71-stirring drive device; 72-stirring working device; 73-stirring fixing device; 92-detachable battery; 91-battery storage structure. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical scheme and advantages of the utility model clearer, the technical scheme in the embodiment of the utility model is clearly and completely described below. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Therefore, the detailed description of the embodiment of the utility model provided below is not intended to limit the scope of the utility model claimed for protection, but only represents the selected embodiment of the utility model.
[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, it may not be further defined or explained in the subsequent drawings.
[0029] Example:
[0030] like Figure 1-Figure 5 As shown, a tree whitening robot comprises a frame, an omnidirectional wheel 11, an omnidirectional wheel driving device 10, a mechanical arm, a spray head 1, a whitening storage device 8, and a detachable power supply device 9. The lower end of the frame is provided with an omnidirectional wheel 11 for movement, and the omnidirectional wheel 11 is connected to the omnidirectional wheel driving device 10. The frame is provided with a mechanical arm, a whitening storage device 8, and a detachable power supply device 9. The end of the mechanical arm is provided with a spray head 1, the mechanical arm is provided with a visual sensor 4, and the whitening storage device 8 is provided with a stirring device 7. The detachable power supply device 9 is used to power all electrical equipment of the robot, and a corresponding transformer can be provided according to needs.
[0031] The omnidirectional wheel 11 and the omnidirectional wheel driving device 10 are connected by a coupling and are arranged in a symmetrical structure. The symmetrical structure can achieve more stable walking and is also convenient for the layout of equipment on the vehicle body. At the same time, the symmetrical structure is convenient for operation control, so that the robot can achieve on-the-spot rotation and multi-angle linear movement.
[0032] The white paint storage device 8 is arranged in the middle position of the frame, the mechanical arm is arranged in the front, and the detachable power supply device 9 is arranged in the rear. The white paint storage device 8, the mechanical arm, and the detachable power supply device 9 are arranged closely, so that space can be saved as much as possible. The utility model adopts a diamond-shaped body because the mechanical arm can be installed in the corner.
[0033] The shape of the white paint storage device 8 corresponds to the remaining shape after the robot arm and the detachable power supply device 9 are installed on the vehicle body to increase the capacity. The white paint storage device 8 of the utility model adopts a storage tank, and the storage tank is roughly arc-shaped. The bending direction of the arc is toward the position of the robot arm, and the arc space formed is used for the rotation of the robot arm.
[0034] The installation plane on the vehicle body is symmetrically arranged, and the white paint storage device 8, the mechanical arm, and the detachable power supply device 9 are symmetrically arranged along the axis of the vehicle body. The symmetrical arrangement facilitates adjustment of the center of the entire robot. The frame of the utility model is rhombus-shaped (four-pointed star-shaped), and the omnidirectional wheels 11 are arranged at the four corners for easy rotation in place. Of course, the vehicle body can also be arranged in other structures such as a triangle.
[0035] There are two stirring devices 7, which are located on the top of the storage tank of the white paint storage device 8. The two stirring devices 7 are symmetrically arranged along the axis of the vehicle body, and are used to remix the unevenly mixed white paint or the white paint that has been stratified after staying in the storage tank for a long time, so that it can be sprayed evenly, avoiding blockage of the pipe connected to the spray head 1, or blocking of the spray head 1, and also avoiding poor spraying effect caused by uneven mixing. The number of spray heads 1 can be set according to actual conditions, such as only one or three or even more if the storage tank is large.
[0036] The stirring device 7 is composed of a stirring driving device 71 and a stirring working device 72 which are connected to the storage sealing device 6 through a stirring fixing mechanism 73, that is, the stirring fixing mechanism 73 of the stirring device 7 and the lid can be designed as an integral whole, and is also used to seal the storage tank, which can be regarded as a lid connected to the stirring device 7 and can be used to pour in white paint.
[0037] The detachable power supply device 9 includes a battery storage structure 91 and a detachable battery 92. The battery storage structure 91 is provided with a quick interface for connecting the detachable battery 92 to a power source, so that the battery can be quickly replaced, and the quick interface facilitates power supply.
[0038] The mechanical arm includes a mechanical arm 5 and an intermediate arm 3. The intermediate arm 3 connects the mechanical arm 5 and the nozzle 1. The mechanical arm 5 is connected to the steering lifting device 51 and is embedded with a visual sensor 4. The nozzle 1 is attached with an infrared ranging sensor 2. The mechanical arm 5 is arranged perpendicular to the frame and can only rotate perpendicular to the upper plane of the frame. The visual sensor 4 is located at the upper end of the arm, and the rotation can realize the rotation of the visual sensor 4. The intermediate arm 3 can be a one-stage structure, a two-stage structure or a three-stage structure or even more. It is mainly used to adjust the position of the nozzle 1 so that it can move in an arc around the trunk. In this way, spraying can be achieved by rotating around the trunk. It is simple and quick. Once the position of the trunk is determined, the vehicle body no longer moves and can also achieve the ability to move in an arc around the trunk by relying on the intermediate arm 3. Of course, for tree trunks that are too thick, spraying can be achieved in conjunction with the movement of the vehicle body, which has good adaptability.
[0039] The nozzle 1 is a linear nozzle 1, and the initial position of the nozzle 1 is vertically set, so that the spraying height and the spraying range can be taken into account to adapt to tree trunks with different diameters.
[0040] At the same time, in order to better control the operation surface of the robot, a control chip is set up, and a control system is formed by using the control chip. The control chip is connected to the omnidirectional wheel drive device 10, the robotic arm, the nozzle 1 (or the pump of the nozzle 1), the sensor, etc., and the robot is controlled according to the induction of the sensor to realize automatic spraying.
[0041] Working principle: an intermediate arm 3 is provided to connect the mechanical arm 5 and the nozzle 1, the mechanical arm 5 is connected to the steering lifting device and embedded with the visual sensor 4, the nozzle device 1 is attached with the infrared distance sensor 2, the visual sensor 4 identifies the trees that need to be whitewashed, and relies on the mechanical arm 5 to realize a single degree of freedom, identifies the trees that need to be whitewashed, and feeds back to the control system, the control system feeds back to the universal wheel drive system 10, drives the whitewashing robot to move forward to the front of the tree, and uses the infrared distance sensor 2 to feed back the distance to the control system, so that the nozzle 1 is aligned with the central axis of the whitewashed tree and maintains a fixed distance, and the nozzle sprays white through the liquid storage work 7, and under the operation of the control system, the mechanical arm 5 and the middle arm 3 coordinate with the nozzle to work through the degree of freedom adjustment, so that the nozzle 1 is at a constant distance from the tree and sprays 360° around the tree in this cycle, and the nozzle is closed after the work is completed, and the next target is found through the rotation of the mechanical arm 5.
[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0043] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0044] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. A tree whitewashing robot, characterized in that: It includes a frame, an omnidirectional wheel, an omnidirectional wheel driving device, a mechanical arm, a nozzle, a white paint storage device, and a detachable power supply device. The lower end of the frame is provided with an omnidirectional wheel for movement, and the omnidirectional wheel is connected to the omnidirectional wheel driving device. The frame is provided with a mechanical arm, a white paint storage device, and a detachable power supply device. A nozzle is provided at the end of the mechanical arm, a visual sensor is provided on the mechanical arm, a stirring device is provided on the white paint storage device, and the detachable power supply device is used for power supply.
2. A tree whitewashing robot according to claim 1, characterized in that: The omnidirectional wheel and the omnidirectional wheel driving device are connected by a coupling and are arranged in a symmetrical structure.
3. The tree whitewashing robot according to claim 1, characterized in that: The white paint storage device is arranged in the middle of the frame, the mechanical arm is arranged in the front, and the detachable power supply device is arranged in the rear. The white paint storage device, the mechanical arm and the detachable power supply device are arranged closely.
4. A tree whitewashing robot according to claim 3, characterized in that: The shape of the whitewash storage device corresponds to the remaining shape after the vehicle body is installed with the mechanical arm and the detachable power supply device to increase the capacity.
5. A tree whitewashing robot according to claim 4, characterized in that: The installation plane on the vehicle body is symmetrically arranged, and the white-coated storage device, the mechanical arm, and the detachable power supply device are symmetrically arranged along the axis of the vehicle body.
6. The tree whitewashing robot according to claim 1, characterized in that: There are two stirring devices, which are located on the top of the storage tank of the white paint storage device, and the two stirring devices are symmetrically arranged along the axis of the vehicle body.
7. The tree whitewashing robot according to claim 1, characterized in that: The stirring device is composed of a stirring driving device and a stirring working device which are connected to a storage sealing device through a stirring fixing mechanism.
8. The tree whitewashing robot according to claim 1, characterized in that: The detachable power supply device comprises a battery storage structure and a detachable battery. The battery storage structure is provided with a quick interface for connecting the detachable battery to a power source.
9. The tree whitewashing robot according to claim 1, characterized in that: The mechanical arm comprises a mechanical main arm and an intermediate arm. The intermediate arm is connected to the mechanical main arm and the nozzle. The mechanical main arm is connected to a steering lifting device and embedded with a visual sensor. The nozzle is attached with an infrared ranging sensor.
10. The tree whitewashing robot according to claim 1, characterized in that: The nozzle is a linear nozzle, and the initial position of the nozzle is vertical.