Spraying equipment

Abstract

The utility model discloses a spraying device, particularly relates to the technical field of traditional Chinese medicine manufacturing, and aims to solve the technical problem that a worker needs to stand at a high position to spray a medicinal material frame in the middle, so that large potential safety hazards exist. The device comprises a movable chassis and a controller, a first linear guide rail driven by a first stepping motor is arranged on the movable chassis, a second linear guide rail is arranged on a first sliding block of the first linear guide rail, and the second linear guide rail is driven by a second stepping motor; a second sliding block of the second linear guide rail is provided with a spraying mechanism electrically connected with the controller, and the spraying mechanism is connected with a water storage mechanism on the movable chassis; mecanum wheels independently driven by a motor are arranged at the bottom of the movable chassis, the motor is electrically connected with the controller, and a magnetic sensor electrically connected with the controller is arranged at the bottom of the chassis. According to the device, manual spraying is replaced by automatic spraying equipment, so that high-altitude operation of personnel is avoided.

Description

Technical Field

[0001] This utility model belongs to the field of traditional Chinese medicine manufacturing technology, specifically relating to a spraying device. Background Technology

[0002] In the production of traditional Chinese medicine, some raw materials need to be stacked together in storage crates and moistened by spraying water. However, the current spraying method involves manually holding a water hose to spray water onto the herbs in the storage crates to achieve the purpose of soaking the herbs. In order to save space, the storage crates are generally stacked, and the gaps between the crates are narrow, resulting in poor spraying effect for the herbs in the middle. In addition, in order to spray the herbs in the middle, the staff needs to stand at a high position, which poses a significant safety hazard. Utility Model Content

[0003] This invention provides a spraying device to replace manual spraying of centrally stacked storage boxes, thus avoiding significant safety hazards.

[0004] The technical solution adopted in this utility model is as follows:

[0005] A spraying device includes a mobile chassis and a controller. A first linear guide rail, driven by a first stepper motor, is vertically mounted above the mobile chassis. A second linear guide rail, parallel to the first linear guide rail, is mounted on a first slider of the first linear guide rail and is driven by a second stepper motor. A spraying mechanism, electrically connected to the controller, is mounted on a second slider of the second linear guide rail and is connected to a water storage mechanism on the mobile chassis. Mecanum wheels, independently driven by a motor, are mounted at the bottom of the mobile chassis and are electrically connected to the controller. A magnetic sensor, electrically connected to the controller, is also located at the bottom of the chassis.

[0006] Preferably, the spraying mechanism includes a connecting seat disposed on the second slider, an atomizing nozzle connected to the outside of the connecting seat, a connecting pipe connected to the connecting seat, the connecting pipe communicating with the atomizing nozzle through a channel inside the connecting seat, and one end of the connecting pipe being connected to the water storage mechanism.

[0007] Preferably, the water storage mechanism includes a water tank mounted on the mobile chassis, a water pump electrically connected to the controller is mounted on the water tank, the water pump is connected to the connecting pipeline, and a liquid filling port communicating with the water tank is provided on the top of the mobile chassis.

[0008] Preferably, a filter screen is detachably connected inside the liquid inlet.

[0009] Preferably, the outer side of the connector is also provided with a humidity sensor and an infrared camera that are electrically connected to the controller.

[0010] Preferably, the water tank is equipped with a capacitive water level sensor that is electrically connected to the controller, and the probe of the capacitive water level sensor extends into the interior of the water tank.

[0011] Preferably, the bottom of the water tank is also provided with a drain port, and the drain port is provided with a shut-off valve.

[0012] Preferably, the outer edge of the mobile chassis is provided with an elastic anti-collision pad.

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0014] 1. This device replaces manual spraying with automated spraying equipment, thereby avoiding personnel operating at heights and achieving spraying of the placement frames stacked in the middle while avoiding huge safety hazards. Attached Figure Description

[0015] This utility model will be described by way of example and with reference to the accompanying drawings, wherein:

[0016] Figure 1 This is a schematic diagram of the structure of a spraying device according to the present invention.

[0017] The components are: 1-moving chassis, 3-first stepper motor, 4-first linear guide rail, 5-first slider, 6-second linear guide rail, 7-second stepper motor, 8-Mecanum wheel, 9-connecting seat, 10-atomizing nozzle, 11-connecting pipeline, 12-water tank, 13-water pump, 14-liquid filling port, 15-filter screen, 16-humidity sensor, 17-infrared camera, 18-capacitive water level sensor, 19-probe, 20-stop valve, 21-elastic anti-collision pad, 22-magnetic sensor. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only partial embodiments of this application, not the entire application. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] In the description of the embodiments of this application, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] The following is combined Figure 1 This utility model will be described in detail.

[0021] A spraying device, in some embodiments, such as Figure 1 As shown, the system includes a mobile chassis 1 and a controller. The controller is an industrial-grade computer (such as an Intel NUC i5). A first linear guide rail 4, driven by a first stepper motor 3, is vertically mounted above the mobile chassis 1. A second linear guide rail 6, parallel to the first slider 5 of the first linear guide rail 4, is mounted on a first slider 5. The second linear guide rail 6 is driven by a second stepper motor 7. A spray mechanism electrically connected to the controller is mounted on a second slider of the second linear guide rail 6. The spray mechanism is connected to a water storage mechanism on the mobile chassis. Mecanum wheels 8, independently driven by motors, are mounted at the bottom of the mobile chassis 1. The controller integrates a motion control unit, which includes an STM32H743 main controller and a six-axis motion control card. A steering angle sensor electrically connected to the controller is mounted on the Mecanum wheels 8. A magnetic sensor 22 electrically connected to the controller is mounted at the bottom of the chassis.

[0022] It should be noted that the overall height of the machine is between 200cm and 300cm, and the width is between 100cm and 120cm. This size design ensures sufficient stability without being overly bulky, facilitating movement and operation in various complex environments. The motor in this solution is powered externally via a plug-in connection. This power supply method is simple, reliable, and easy to implement, ensuring a stable power supply for the motor during long-term operation, thus guaranteeing continuous and stable operation of the equipment. In practical use, a magnetic strip track matching the magnetic sensor is pre-embedded around the perimeter of the stacking frame area, forming a clear and precise guide path. The spraying equipment senses the position information of the magnetic strip track through the magnetic sensor. The controller, based on this information and the analytical capabilities of the motion control unit, achieves precise control of the equipment's movement, enabling it to move stably along the magnetic strip track and accurately reach the placement frame area requiring spraying, thereby ensuring efficient execution of the spraying task. The motion control unit can parse path commands and achieve motion control. Through precise algorithms and high-speed data processing capabilities, it quickly converts the received path commands into specific motor drive signals, ensuring that the equipment's movement trajectory is highly consistent with the preset path, improving the equipment's motion accuracy and intelligence level. The steering angle sensor and Hall effect speed sensor form a steering feedback module, providing real-time feedback on the steering angle and speed of the wheel assembly, facilitating the control system's compensation for the Mecanum wheel's movement. This feedback mechanism allows the equipment to adjust its motion state promptly based on actual steering and speed conditions, effectively preventing motion deviations caused by wheel slippage or uneven ground, further improving the equipment's adaptability and reliability in complex environments. The first stepper motor controls the first slider of the first linear guide rail, moving the second linear guide rail and the spraying mechanism vertically to spray each of the stacked placement frames in a vertical row. When spraying frames of different heights is required, the first stepper motor precisely drives the first linear guide rail, causing the first slider to smoothly raise or lower the entire spraying mechanism vertically, ensuring accurate alignment of the spraying mechanism with each placement frame's height, achieving precise spraying and preventing missed or repeated spraying. The second stepper motor drives the second slider of the second linear guide rail horizontally, moving the spraying mechanism horizontally to spray a single placement frame along its length. When spraying a single placement frame, the second stepper motor precisely controls the movement of the second linear guide rail according to the controller's instructions. This causes the second slider to drive the spraying mechanism to move evenly horizontally, ensuring that the spray covers the entire length of the placement frame and that every corner is thoroughly sprayed, improving the uniformity and comprehensiveness of the spraying effect. This device replaces manual spraying with automated spraying equipment, thus avoiding high-altitude operations and eliminating significant safety hazards while effectively spraying placement frames stacked in the center.It not only improves work efficiency and reduces labor costs, but also significantly enhances the quality and stability of spraying, providing strong support for the automation upgrade of related industries.

[0023] In some embodiments, such as Figure 1 As shown, the spraying mechanism includes a connecting seat 9 mounted on the second slider. An atomizing nozzle 10 is connected to the outer side of the connecting seat 9. A connecting pipe 11 is also connected to the connecting seat 9, communicating with the atomizing nozzle 10 through a channel inside the connecting seat 9. One end of the connecting pipe 11 is connected to the water storage mechanism. The connecting pipe 11 can be made of antibacterial PPR pipe. In this design, there is only one atomizing nozzle 10. This design provides concentrated and efficient spraying effects in various application scenarios. The selection of the atomizing nozzle 10 model is crucial for the spraying effect. Different models of atomizing nozzles 10 differ in spray range, spray particle size, and working pressure. When adjustments to the spray range, spray intensity, or coverage density are required, the number of atomizing nozzles 10 can be flexibly adjusted according to actual needs. For example, when a larger coverage area or higher spray intensity is required, the number of atomizing nozzles 10 can be increased, achieving a wider spray range and denser spray coverage through the simultaneous operation of multiple nozzles.

[0024] In practical use, the controller controls the water storage mechanism to spray water through the connecting pipe 11, the internal channel of the connecting seat 9, and then through the atomizing nozzle 10.

[0025] In some embodiments, such as Figure 1 As shown, the water storage mechanism includes a water tank 12 mounted on the mobile chassis 1, a water pump 13 electrically connected to the controller is mounted on the water tank 12, the water pump 13 is connected to the connecting pipeline 11, and a liquid filling port 14 communicating with the water tank 12 is provided above the mobile chassis 1.

[0026] In practical use, the controller controls the water pump 13 to send liquid from the water tank 12 into the connecting pipe 11 and spray it out from the atomizing nozzle 10. Liquid is added to the water tank 12 through the liquid filling port 14 to prepare for spraying.

[0027] In some embodiments, such as Figure 1 As shown, a filter screen 15 is detachably connected inside the liquid inlet 14.

[0028] In practical use, the liquid entering the water tank 12 is filtered through the filter screen 15 to increase the cleanliness of the spray water and improve the spraying effect of the medicinal materials.

[0029] In some embodiments, such as Figure 1As shown, the outer side of the connector 9 is also provided with a humidity sensor 16 and an infrared camera 17 that are electrically connected to the controller.

[0030] In practical use, the humidity sensor 16 detects the humidity of the spray placement frame, and the infrared camera 17 detects the spray position of the placement frame, so that the controller can dynamically adjust the water pressure of the water pump 13 in real time to meet the spraying requirements.

[0031] In some embodiments, such as Figure 1 As shown, in some embodiments, such as Figure 1 As shown, the water tank 12 is equipped with a capacitive water level sensor 18 that is electrically connected to the controller, and the probe 19 of the capacitive water level sensor 18 extends into the interior of the water tank 12.

[0032] In practical use, the capacitive water level sensor 18 detects the water level in the water tank 12 and provides timely feedback to the controller to ensure that the spray liquid is sufficient, so that staff can add more liquid.

[0033] In some embodiments, such as Figure 1 As shown, the bottom of the water tank 12 is also provided with a drain port, and the drain port is provided with a shut-off valve 20.

[0034] In practical use, the liquid in the water tank 12 can be drained through the drain port for easy maintenance. In addition, when cleaning the water tank 12, the cleaning liquid enters from the filling port 14 and exits from the drain port, thereby completing the flushing and cleaning of the water tank 12.

[0035] In some embodiments, such as Figure 1 As shown, the outer edge of the mobile chassis 1 is surrounded by an elastic anti-collision pad 21.

[0036] In actual use, avoid moving the chassis 1 to avoid collisions with external objects during movement to prevent equipment damage caused by collisions.

[0037] In other embodiments, unlike the embodiments described above, the water tank 12 is equipped with an ultraviolet lamp electrically connected to the controller to irradiate and disinfect the liquid inside the water tank 12, thereby further improving the cleanliness of the liquid.

[0038] The specific operating principle of this device is as follows:

[0039] A magnetic strip track matching the magnetic sensor 22 is pre-embedded around the perimeter of the stacking frame area, allowing the spraying equipment to move according to the magnetic strip track. The motion control unit can parse path commands to achieve motion control. The steering angle sensor and Hall effect speed sensor form a steering feedback module, providing real-time feedback on the steering angle and speed of the wheel assembly, facilitating the control system to compensate for the movement of the Mecanum wheel 8. The first stepper motor 3 controls the first slider 5 of the first linear guide rail 4 to move the second linear guide rail 6 and the spraying mechanism vertically, thereby spraying each stacked frame in a vertical row. The second stepper motor 7 drives the second slider of the second linear guide rail 6 to slide horizontally, moving the spraying mechanism horizontally, thereby spraying a single frame along its length. This device replaces manual spraying with automated spraying equipment, avoiding high-altitude operations and eliminating significant safety hazards while spraying frames stacked in the middle.

[0040] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A spraying apparatus, characterized in that, The system includes a mobile chassis (1) and a controller. A first linear guide rail (4) driven by a first stepper motor (3) is vertically mounted above the mobile chassis (1). A second linear guide rail (6) is parallel to the first slider (5) of the first linear guide rail (4). The second linear guide rail (6) is driven by a second stepper motor (7). A spraying mechanism electrically connected to the controller is mounted on the second slider of the second linear guide rail (6). The spraying mechanism is connected to a water storage mechanism on the mobile chassis (1). A Mecanum wheel (8) driven independently by a motor is mounted at the bottom of the mobile chassis (1). The motor is electrically connected to the controller. A magnetic sensor (22) electrically connected to the controller is mounted at the bottom of the mobile chassis (1).

2. A spraying apparatus according to claim 1, wherein The spraying mechanism includes a connecting seat (9) disposed on the second slider. An atomizing nozzle (10) is connected to the outside of the connecting seat (9). A connecting pipe (11) is also connected to the connecting seat (9). The connecting pipe (11) communicates with the atomizing nozzle (10) through a channel inside the connecting seat (9). One end of the connecting pipe (11) is connected to the water storage mechanism.

3. The spraying device according to claim 2, characterized in that, The water storage mechanism includes a water tank (12) mounted on the mobile chassis (1), a water pump (13) electrically connected to the controller is mounted on the water tank (12), the water pump (13) is connected to the connecting pipeline (11), and a liquid filling port (14) communicating with the water tank (12) is provided above the mobile chassis (1).

4. A spraying apparatus according to claim 3, wherein A filter screen (15) is detachably connected inside the liquid inlet (14).

5. A spraying apparatus according to claim 2, wherein The outer side of the connector (9) is also provided with a humidity sensor (16) and an infrared camera (17) that are electrically connected to the controller.

6. A spraying apparatus according to claim 3, wherein The water tank (12) is equipped with a capacitive water level sensor (18) that is electrically connected to the controller, and the probe (19) of the capacitive water level sensor (18) extends into the interior of the water tank (12).

7. A spraying apparatus according to claim 3, wherein The bottom of the water tank (12) is also provided with a drain port, and a shut-off valve (20) is provided on the drain port.

8. A spraying apparatus according to claim 2, wherein The outer edge of the mobile chassis (1) is surrounded by an elastic anti-collision pad (21).

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