基于人机协作的树干涂白装置研制与开发

唐磊生 侯静 崔一帆

摘 要：树干涂白已然成为保护树木的必要手段，通过对树干的涂白，可以有效防止树干受到自然界的侵害。本文基于SolidWorks、CAD等软件设计适应性更广的树干涂白装置，通过数据采集与分析，确定结构尺寸，将石灰水勾兑与灌装机构、便携背负式涂白机等机构集中在树干涂白装置整机上。通过树莓派与电源管理板，控制单向与双向开关，实现对整个装置的控制。所设计雾化喷涂机械手可将树干360°包裹，实现树干涂白工作的高效作业。完成树干涂白装置与便携背负式树干涂白机设计。树干涂白装置与便携背负式树干涂白机的设计旨在克服人工进行树干涂白工作时效率低、喷涂不均匀、涂白质量差的缺点，实现利用机器辅助人工完成树干涂白工作，具有结构精巧、操作简单、生产成本低、绿色环保和稳定可靠等优点。

关键词：树干涂白;人机协作;石灰水勾兑;便携式

中图分类号：S776.28    文献标识码：A   文章编号：1006-8023（2021）01-0038-07

Abstract：Whitening the tree trunk has become a necessary means of protecting trees. By whitening the trunk， it can effectively prevent the trunk from being damaged by nature. This paper designs a more adaptable tree trunk whitening device based on SolidWorks， CAD and other software. Through data collection and analysis， the structure size is determined， and the lime water blending and filling structure， portable knapsack whitening machine and other institutions are concentrated on the whole trunk whitening device. Through raspberry PI and power management board， one-way and two-way switches are controlled to realize the control of the whole device. The designed atomized spraying manipulator can wrap the trunk 360° to realize the efficient operation of whitening the trunk. Complete the design of trunk whitening device and portable backpack trunk whitening machine. The design of the tree trunk whitening device and portable knapsack whitening machine aims to overcome the shortcomings of low efficiency， uneven spraying， and poor whitening quality when manually doing trunk whitening work， and realize the use of machine-assisted manual completion of trunk whitening work or the trunk whitening machine to complete the whitening work autonomously. The trunk whitening device has the advantages of exquisite structure， simple operation， low production cost， environmental protection， stability and reliability.

Keywords：Tree trunk whitening; man-machine collaboration; lime water blending; portable

0 引言

树干涂白是通过在树干表面刷涂树干涂白剂，预防早春霜冻对树干造成危害[1]，避免树木被日灼[2]，防止树干病菌感染，杀灭树干寄生病菌[3]，给树干涂白是一种高效绿色的树干保护方式，为森林的经营发展提供有力支持[4]。然而目前树干涂白工作还是通过人工涂白的方式进行，涂白工作劳动强度大、效率低，涂白质量差和涂白高度层次不一[5]，而且随着人工工资的增长，树干涂白作业的投入逐年增加。

由翟家怡[6]发明的一种适应多种地形的树干涂白机器人，通过三自由度机械爪配合移动式履带底盘与石灰水箱实现树干的涂白作业，涂白一棵树需要20 s。……