CN210235325U - Device is put in to trichogrammatid ball based on unmanned aerial vehicle - Google Patents
Device is put in to trichogrammatid ball based on unmanned aerial vehicle Download PDFInfo
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- CN210235325U CN210235325U CN201921159061.7U CN201921159061U CN210235325U CN 210235325 U CN210235325 U CN 210235325U CN 201921159061 U CN201921159061 U CN 201921159061U CN 210235325 U CN210235325 U CN 210235325U
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Abstract
The utility model discloses a trichogrammatid bee ball throwing device based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle and a throwing device, wherein the ball-poking device comprises a cylindrical ball-poking shell, the upper part of the ball-poking shell is provided with an opening, the opening is communicated with a discharge hole, the center and the eccentric part of the bottom plate of the ball-poking shell are respectively provided with a shaft hole and a ball inlet hole, and a poking rod is arranged in the ball-poking shell; the center and the eccentric part of the top plate of the ball throwing shell are respectively provided with a round hole and a ball outlet hole, a movable ball arranging plate is arranged in the ball throwing shell, the outer periphery of the movable ball arranging plate is provided with a semi-circular arc-shaped poking opening, and the eccentric part of the bottom of the ball throwing shell is provided with a ball throwing opening; the ball inlet hole is communicated with the ball outlet hole through a buffer pipe; the U-shaped coupler is respectively fixed on the deflector rod rotating shaft and the movable volleyball disc rotating shaft so as to synchronously rotate; the steering engine is connected with the control mechanism to form the control system of the unmanned aerial vehicle and the steering engine, so that the workload of operators is reduced, the operation time is shortened, and the throwing is accurate and fast.
Description
The technical field is as follows:
the utility model belongs to the technical field of the device is put in to the trichogrammatid, concretely relates to device is put in to trichogrammatid based on unmanned aerial vehicle.
Background art:
trichogramma is the egg parasitic bee that is currently most widely used in production and release in the world. After emerging in the field, female trichogramma can actively search for insect eggs of pests, use an egg-laying tube to pierce the egg shells of the pests, lay own eggs in the eggs and absorb nutrient substances of the eggs of the pests to develop and grow. The parasitized pest eggs can not normally develop, and the purpose of controlling pests is achieved in the mode. The method can effectively control insect pests and achieve certain economic, ecological and social effects.
The trichogramma mainly adopts 'submerged' release, and the existing releasing mode is realized by hanging a bee card manually in the field for release. This approach is inefficient and less uniform; the releasing difficulty of close-planting high-stalk crops such as corn, sugarcane and the like and forest farms is high, and the working efficiency is low.
Civilian unmanned aerial vehicle technique is mature gradually and is popularized, begin to explore mechanized release trichogrammatid's possibility at home and abroad, current input device also has the trichogrammatid input device that uses unmanned aerial vehicle as the carrier, but owing to its structural defect that exists, the phenomenon of throwing and jam takes place to leak easily at the input in-process, and the structure is complicated, and volume and weight are big, resistance and load during flight operation are too big, the time that can flight operation is short, work efficiency is low, and break down easily, it is impractical. Therefore, it is obviously necessary to research a trichogrammatid releasing device based on an unmanned aerial vehicle, which has high working efficiency and is economical and practical.
The invention content is as follows:
defect and problem to existing equipment existence, the utility model provides a device is put in to trichogrammatid based on unmanned aerial vehicle, economical and practical, work efficiency is high, puts in accurately, effectual easy hourglass of having solved existing equipment existence throw, the load is big, put in the problem that work efficiency is low and easily breaks down.
The utility model provides a scheme that its technical problem adopted is: a pinkeye bee ball throwing device based on an unmanned aerial vehicle comprises the unmanned aerial vehicle and a throwing device, a bee ball storage box is mounted on a frame of the unmanned aerial vehicle, a feed inlet and a discharge outlet are formed in the bee ball storage box, the throwing device comprises a ball poking device on the upper portion, a material conveying area in the middle portion and a ball throwing device on the lower portion, the ball poking device comprises a cylindrical ball poking shell, the upper portion of the ball poking shell is open, the opening is communicated with the discharge outlet, a shaft hole and a ball inlet hole are formed in the center and the eccentric position of a bottom plate of the ball poking shell respectively, a poking rod is arranged in the ball poking shell, a poking rod rotating shaft is arranged at the root; the ball throwing device comprises a sealed cylindrical ball throwing shell, a round hole and a ball outlet hole are respectively arranged at the center and the eccentric part of a top plate of the ball throwing shell, a movable ball arranging plate is arranged in the ball throwing shell, a semi-circular arc-shaped poking port is formed in the outer periphery of the movable ball arranging plate, a ball throwing port is arranged at the eccentric part of the bottom of the ball throwing shell, and the semi-circular arc-shaped poking port can rotate to the upper part of the ball throwing port and the bottom of the buffer pipe; the ball inlet hole and the ball outlet hole are communicated through a cache pipe, a movable volleyball disc rotating shaft is arranged at the center of the upper part of the movable volleyball disc, and the movable volleyball disc rotating shaft is sleeved in the round hole; a steering machine frame and a plurality of support rods are vertically arranged between the top plate of the ball throwing shell and the bottom plate of the ball shifting shell, a steering engine is arranged in the steering machine frame, a positioning shaft is arranged on the steering machine shell on the opposite side of an output shaft of the steering engine, the positioning shaft and the output shaft are coaxially arranged, the output shaft is in transmission connection with a shifting rod rotating shaft, the positioning shaft is sleeved in a movable volleyball disc rotating shaft, and a U-shaped coupler is respectively fixed on the shifting rod rotating shaft and the movable volleyball disc rotating shaft so as to enable; the steering engine is connected with the control mechanism to form the control system of the unmanned aerial vehicle and the steering engine.
Furthermore, control mechanism, including flight controller, wireless transceiver module, unmanned aerial vehicle motor group, BEC module and group battery, flight controller respectively with steering wheel, BEC module, group battery and unmanned aerial vehicle motor group link, flight controller's signal end and wireless transceiver module's signal end, wireless transceiver module and ground basic station wireless connection.
Furthermore, the ball inlet hole, the ball outlet hole and the ball throwing port are circular with the same diameter, and chamfers are arranged on the edges of inlets of the ball inlet hole and the ball throwing port.
Furthermore, the buffer tube is a cylindrical tubular structure, the diameter of the bee ball is D, the diameter of the buffer tube is D, the diameter of the buffer tube is equal to the diameter of the ball inlet hole, and D < D < 2D.
Furthermore, the rotation angle of the semi-circular arc-shaped poking opening from the upper part of the ball throwing opening to the bottom of the ball outlet hole is 90 degrees.
Furthermore, an optical sensor is arranged in the pitching shell and is arranged at the d/2 position of the upper part of the bottom plate of the ball poking shell.
Furthermore, the shape of the deflector rod is a concave arc with large root and end parts and small middle part, and the distance between the outer side surface of the root and the inner wall of the deflector ball shell is d1The diameter of the bee ball is d, d<d1<2d。
Furthermore, the height of the ball throwing shell is H, the diameter of the bee ball is d, and d < H <2d is satisfied.
The utility model has the advantages that: the utility model adopts the unmanned aerial vehicle as a carrier to carry and put in the bee balls, the flying operation of the unmanned aerial vehicle is convenient for the field operation, the workload of operators is reduced, the operation time is shortened, the putting device comprises a ball throwing device, a material conveying area and a ball throwing device, the working area is clear, the structure is reasonable, the maintenance is convenient, the steering engine is simultaneously provided with an output shaft and a positioning shaft, and simultaneously drives a deflector rod and a movable volleyball disc through a U-shaped coupler, the design is reasonable, the volume is small, the weight is light, the load generated to the unmanned aerial vehicle is lightened, chamfers are arranged at the inlet edges of a ball inlet hole and a ball throwing port, the bee balls are more easily filled into a buffer pipe and thrown to the outside from the ball throwing port, the blocking condition can not occur, the buffer pipe is vertically arranged, the bee balls can be lined up along the gravity direction, the balls are continuously supplied for the movable volleyball disc, the missing throwing condition can not occur, steering wheel drive driving lever and move the volleyball dish, have the moment of torsion big, throw in characteristics accurate and that the input is fast, effectual solved the easy problem of lou throwing, load big, throwing work efficiency low and easily breaking down that existing equipment exists.
Description of the drawings:
fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a top view of fig. 1.
Fig. 4 is a side view of fig. 1.
Fig. 5 is a schematic view of a three-dimensional structure of a feeding device.
Fig. 6 is another angle schematic of fig. 5.
Fig. 7 is a top view of fig. 5.
Fig. 8 is a side view of fig. 5.
Fig. 9 is a schematic structural view of the shift lever according to the present invention.
Fig. 10 is a schematic structural view of the dynamic volleyball disc of the present invention.
Fig. 11 is a top view of fig. 10.
Fig. 12 is a schematic structural diagram of the steering engine of the present invention.
Fig. 13 is a schematic structural view of the rudder mount according to the present invention.
Fig. 14 is a schematic structural diagram of a cache pipe according to the present invention.
FIG. 15 shows a ball entry hole or ball injection port without a chamfer.
FIG. 16 shows a chamfered ball entry hole or ball injection port.
The reference numbers in the figures are: 1 is a frame, 2 is a bee ball storage box, 3 is a ball poking shell, 4 is a bottom plate, and 5 is a poking rod; a deflector rod rotating shaft 6, a ball inlet hole 7, a steering engine 8, a steering engine frame 9 and a buffer pipe 10; the device comprises a U-shaped coupler 11, a movable volleyball disc 12, a movable volleyball disc rotating shaft 13, a semicircular arc poking opening 14 and a ball outlet 15; 16 is a ball throwing port, 17 is an output shaft, 18 is a positioning shaft, 19 is a ball throwing shell, and 20 is a support rod.
The specific implementation mode is as follows:
the present invention will be further explained with reference to the drawings and examples.
Example 1: the embodiment aims to provide an unmanned aerial vehicle throwing device capable of throwing trichogrammatid balls in the field, and as shown in fig. 1-4, the trichogrammatid ball throwing device based on the unmanned aerial vehicle comprises the unmanned aerial vehicle and a throwing device, wherein the unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle; the frame 1 of the unmanned aerial vehicle comprises a body, a horn and undercarriage, wherein the bottom of the body is provided with a bee ball storage box 2 through a connecting rod, and the bee ball storage box 2 is arranged between the undercarriage; the utility model discloses a honeycomb ball storage box 2, including honeycomb ball storage box 2, feed inlet and discharge gate have been opened respectively to the upper portion and the lower part of honeycomb ball storage box 2 for big-end-up's hourglass hopper-shaped, the discharge gate be cylindrical and put in the upper end fixed connection and the intercommunication of device, the angle of inclination of honeycomb ball storage box 2 bottom plate is greater than the natural angle of repose of honeycomb to guarantee that the honeycomb flows discharge gate department, rational in infrastructure smoothly.
The throwing device comprises a ball poking device on the upper portion, a material conveying area in the middle portion and a ball throwing device on the lower portion, wherein the ball poking device comprises a ball poking shell 3, the ball poking shell 3 is cylindrical, the upper portion of the ball poking shell is provided with an opening, the bottom of the ball poking shell is sealed, the opening in the upper portion of the ball throwing shell 3 is communicated with a material outlet, a poking rod 5 is arranged in the ball throwing shell, as shown in figures 7 and 9, the poking rod 5 is large in root and end portion, concave arc in the middle portion and arc in shape, meanwhile, the root portion is arc-shaped, and1the diameter of the bee ball is d, d<d1<2d, the width along the radius direction only allows one bee ball to be filled, so that the bee balls can be smoothly filled into the cache tube 10, and the bee balls cannot be blocked when being filled into the cache tube 10. The center and the eccentric position of the bottom plate 4 of the ball shifting shell are respectively provided with a shaft hole and a ball inlet hole 7, the root part of the shifting lever 5 is vertical to the shifting lever 5 and is provided with a shifting lever rotating shaft 6, and as shown in figure 6, the shifting lever rotating shaft 6 is sleeved in the shaft hole and extends into the material conveying area.
The ball throwing device comprises a sealed cylindrical ball throwing shell 19, a round hole and a ball outlet hole 15 are respectively formed in the center and the eccentric position of a top plate of the ball throwing shell, a movable volleyball disc 12 is arranged in the ball throwing shell 19, a movable volleyball disc rotating shaft 13 is vertically arranged in the center of the upper portion of the movable volleyball disc 12, and the movable volleyball disc rotating shaft 13 is sleeved in the round hole in a matched mode and extends to a material conveying area.
A plurality of support rods 20 and a steering engine frame 9 are arranged between the ball throwing shell and the ball shifting shell, and the upper part and the lower part of each support rod 20 are respectively fixed on the lower bottom surface of the bottom plate of the ball shifting shell 3 and the upper top surface of the top plate of the ball throwing shell 19 through a support for supporting and reinforcing the ball throwing device. The rudder rack 9 is a U-shaped piece, the steering engine 8 is fixed on the inner side of the vertical plate of the rudder rack 9 through bolts, and the transverse plates at the upper end and the lower end of the steering engine rack 9 are respectively fixed on the bottom of the bottom plate of the ball poking shell and the upper part of the top plate of the ball throwing shell through bolts; as shown in fig. 12, an output shaft 17 is arranged on the upper portion of the steering engine 8, the output shaft 17 is a power output shaft of the steering engine, a positioning shaft is arranged on the lower portion of the steering engine shell, the positioning shaft does not provide power, but has a centering function, and the positioning shaft and the output shaft are coaxially arranged, so that stable operation of the equipment is ensured.
The fixed suit of output shaft 17 upper portion and the lower part of driving lever pivot 6 and transmission are connected, the lower part of location axle 18 and the upper portion suit of moving volleyball dish pivot 13, moving volleyball dish pivot can rotate for location axle 18, driving lever pivot 6 and moving volleyball dish pivot 13 simultaneously and U type shaft coupling 11 fixed connection, output shaft 17 on upper portion can drive driving lever 5 and move volleyball dish 12 synchronous rotation simultaneously like this, the output shaft 17 of steering wheel provides pivoted power, location axle 18 has ensured the stability of U type shaft coupling, and driving lever pivot 6, location axle 18, output shaft 17 and moving volleyball dish pivot 12, the four-axis coaxial line sets up, the rotation process is steady, a steering wheel 8 can drive driving lever 5 and move two loads of volleyball dish 12 simultaneously, and is rational in infrastructure, the structure of equipment is simplified, unmanned aerial vehicle's load has. Meanwhile, the steering engine 8 is a digital steering engine, a crystal oscillator and a microprocessor are added on a control circuit relative to a traditional analog steering engine, the digital control type beehive ball throwing device has the advantages of large torque, high accuracy, quick response and the like, effectively eliminates the problems of weakness, shaking and the like of the steering engine, and is accurate in bee ball throwing.
As shown in fig. 6 and 8, the buffer pipe 10 is vertically arranged in the delivery area, the upper part of the buffer pipe 10 is communicated with the ball inlet hole 7, and the lower part of the buffer pipe 10 is communicated with the ball outlet hole and is arranged above the movable ball discharging disc 12. The buffer tube 10 is a cylindrical tubular structure, a semi-circular arc-shaped poking opening 14 is formed in the outer periphery of the movable volleyball disc 12, a pitching opening 16 is formed in the eccentric position of the bottom of the pitching shell 19, the diameters of the semi-circular arc-shaped poking opening 14, the buffer tube 10 and the pitching opening 16 are matched with the diameter of the bee ball, the circle centers of the three are projected on the same circumference, the semi-circular arc-shaped poking opening 14 is initially positioned at the pitching opening 16 and is positioned under the buffer tube 10 after rotating for a certain angle, the bee ball in the buffer tube 10 falls into the semi-circular arc-shaped poking opening 14 due to the self gravity and then rotates to the pitching opening to throw the bee ball, meanwhile, the height of the pitching shell 19 is H, the movable volleyball disc is positioned at the position of H/2, the diameter of the bee ball is d, d < H <2d is satisfied, only one bee ball in the buffer tube is allowed to fall into the pitching device each time, the structure is reasonable, no blockage occurs during the throwing process.
In order to drive the steering engine 8, the control mechanism comprises a flight controller, a wireless transceiver module, an unmanned aerial vehicle motor set, a BEC module and a battery pack, wherein the flight controller is respectively connected with the steering engine, the BEC module, the battery pack and the unmanned aerial vehicle motor set, a signal end of the flight controller is connected with a signal end of the wireless transceiver module, and the wireless transceiver module is in wireless connection with a ground base station.
The flight controller is Pixhawk, and the Pixhawk is provided with 6 auxiliary channels which can output Servo (Servo) or Relay (Relay) signals, namely AUX1-AUX6, and RC9-RC14 are respectively and correspondingly arranged in the Session Planner. In the implementation, a signal wire of the steering engine is connected to AUX2/RC10, and the anode and the ground wire of the steering engine 8 are connected with the flight controller. Because the current output by the flight controller is limited and is not enough to drive the steering engine to operate, an independent BEC module (battery-free circuit) is needed to supply power to the steering engine, and the voltage is 5V.
In order to realize the fixed-distance triggering throwing device, the rotation angle of the semi-circular arc-shaped poking opening 14 from the upper 16 part of the throwing ball opening to the bottom of the cache pipe 10 is 90 degrees. When the bee ball is rotated for 90 degrees, the semi-circular arc poking port is positioned at the upper part of the ball throwing port and corresponds to the ball throwing port, the bee ball in the cache pipe falls into the semi-circular arc poking port, and then is rotated for 90 degrees, so that the semi-circular arc poking port is positioned at the upper part of the ball throwing port, and the bee ball falls from the ball throwing port and circulates in sequence.
Specifically, a shutter trigger signal is adjusted to be a servo signal, pulse widths of PWM signals when an initial position and a maximum rotation angle are set to be 1000 microseconds and 2000 microseconds respectively, and a steering engine is required to rotate 90 degrees when a beeball is thrown into a beeball throwing device, so that the pulse width value of the PWM signal when a camera shutter is not pressed is set to be 1000 microseconds, the angle of an output shaft of the steering engine corresponds to-45 degrees, the pressing clock width value is set to be 2000 microseconds, and the angle of the output shaft of the steering engine corresponds to 45 degrees. In order to ensure that the steering engine has enough time to rotate to a target position, the pressing time of the camera shutter is set to be 2s, so that fixed-distance feeding is realized, and feeding is accurate.
Example 2: this example is substantially the same as example 1, except that: this example further illustrates the bee ball storage bin, the height of the buffer tube and the diameter of the buffer tube.
The capacity of the bee ball storage box 2 is determined by the size of the bee ball, the putting distance of the bee ball, the flight speed of the unmanned aerial vehicle and the endurance time of the unmanned aerial vehicle. When the device works, the bee balls are not required to be thrown completely, otherwise the throwing at the tail of a flight mission is missed, and at least 5% of allowance is reserved. The volume of the ball storage box 2 is calculated by the formula V1.05X 60D3tv/a, wherein d is the diameter of the bee ball and the unit is cm; t is the endurance time of the unmanned aerial vehicle, and the unit is min; v is the flight speed of the unmanned aerial vehicle, and the unit is m/s; and a is the putting distance of the bee balls, and the unit is cm. The diameter of the cache tube 10 is d1The diameter of the buffer tube is equal to the diameter of the ball inlet hole, and d<d1<2d, so that the bee balls can only enter the cache pipe one by one, and the structure is reasonable without blockage; meanwhile, 3 beehives can be cached in the cache pipe 10. Considering that the gap between the movable volleyball disc 12 and the bottom of the buffer pipe 10 is 5mm and the thickness of the bottom plate of the pitching shell is 3mm, the height h of the buffer pipe is 3 d-8.
Taking the conventional diameter of the bee ball as an example, the endurance time of the unmanned aerial vehicle is 15min, the flight speed of the unmanned aerial vehicle is 5m/s, the putting distance of the bee ball is 15m, the volume of the ball storage box obtained by calculation is at least 5536mL, and the height h of the buffer tube is 68 mm.
Example 3: this example is substantially the same as example 1, except that: and chamfers are arranged on the inlet edges of the ball inlet hole and the ball throwing port.
Speed v of the bee ball relative to the shaped hole in the process of ball fillingrOf crucial importance, if vrIf the size of the bee balls is too small, the bee balls can be smoothly filled into the holes, but the throwing efficiency is low;if v isrIf it is too large, the bee ball will not reach the filling hole, resulting in missing. Therefore, to ensure that the feeding device has good feeding performance, the limit speed of the bee ball which can be filled into the ball inlet or the ball feeding port is researched. In the in-process of puting in the bee ball, no matter the bee ball in the bee ball storage box 2 is stirred by the driving lever and is filled into the ball hole, fall into buffer tube 10, still the bee ball in buffer tube 10 is because move the volleyball dish and rotate the transport and fill into and throw ball mouth 16, all can regard the bee ball to be the parabola motion for going into the ball hole or throwing ball mouth when the kinematics analysis, when the bee ball barycenter moves directly over the origin of coordinates, the bee ball begins free fall under the action of gravity, the barycenter is less than and just thinks that the bee ball has fallen into ball hole or throwing ball mouth in the ball hole or throwing ball mouth upper surface, then the equation of motion of bee ball barycenter is:
wherein L is the width of the ball inlet or the ball throwing port, r is the radius of the bee ball, x is the movement distance of the mass center of the bee ball in the horizontal direction, z is the movement distance of the mass center of the bee ball in the vertical direction, and the distance unit is mm; v. ofrThe speed of the bee ball relative to the ball inlet or the ball throwing port in the horizontal direction is in the unit of m/s; t is the time of the movement of the mass center of the bee ball, and the time unit is mm; g is the acceleration of gravity in m/s. The time t required for filling the bee ball into the ball inlet hole or the ball throwing port is as follows:
the condition of smoothly filling the ball inlet hole or the ball throwing port is that the relative speed of the bee ball to the ball inlet hole or the ball throwing port is less than a limit value:
if a chamfer with a certain angle is processed on the upper edge of the ball inlet or the ball throwing port, the motion equation of the center of mass of the bee ball is as follows:
in the formula L1Is the length of the chamfer, thereby obtaining
Therefore, the chamfer is arranged at the entrance of the ball inlet hole or the ball throwing port, so that the limit speed of the bee ball relative to the ball inlet hole or the ball throwing port is increased, and the bee ball is more stably filled into the ball inlet hole or the ball throwing port; the radius r of the bee ball used in this example is 13mm, and the gravity acceleration g is 9.8m/s2The diameter L of the ball inlet hole or ball throwing port is 32mm, and the length L of the chamfer angle13mm, calculated by the formula:
vrmax＝0.43m/s。
example 4: this example is substantially the same as example 1, except that: this embodiment enables the close-to-end of a bee ball.
The ball poking device is internally provided with an optical sensor, the optical sensor is arranged on the inner side wall of the ball poking device and is positioned at the d/2 position of the upper part of the bottom plate of the ball poking shell, so that when the optical sensing area cannot detect the bee ball, only the bee ball in the buffer pipe is left, a signal can be sent, and an operator is reminded to add the bee ball.
Claims (8)
1. The utility model provides a device is put in to bareeye bee ball based on unmanned aerial vehicle, includes unmanned aerial vehicle and puts in the device, unmanned aerial vehicle's rack-mount has bee ball storage box, and it has feed inlet and discharge gate, its characterized in that to open on the bee ball storage box: the throwing device comprises a ball poking device at the upper part, a material conveying area at the middle part and a ball throwing device at the lower part, wherein the ball poking device comprises a cylindrical ball poking shell, the upper part of the ball poking shell is provided with an opening, the opening is communicated with a discharge hole, the center and the eccentric part of a bottom plate of the ball poking shell are respectively provided with a shaft hole and a ball inlet hole, a poking rod is arranged in the ball poking shell, the root part of the poking rod is provided with a poking rod rotating shaft, and the poking rod; the ball throwing device comprises a sealed cylindrical ball throwing shell, a round hole and a ball outlet hole are respectively arranged at the center and the eccentric part of a top plate of the ball throwing shell, a movable ball arranging plate is arranged in the ball throwing shell, a semi-circular arc-shaped poking port is formed in the outer periphery of the movable ball arranging plate, a ball throwing port is arranged at the eccentric part of the bottom of the ball throwing shell, and the semi-circular arc-shaped poking port can rotate to the upper part of the ball throwing port and the bottom of the buffer pipe; the ball inlet hole and the ball outlet hole are communicated through a cache pipe, a movable volleyball disc rotating shaft is arranged at the center of the upper part of the movable volleyball disc, and the movable volleyball disc rotating shaft is sleeved in the round hole; a steering machine frame and a plurality of support rods are vertically arranged between the top plate of the ball throwing shell and the bottom plate of the ball shifting shell, a steering engine is arranged in the steering machine frame, a positioning shaft is arranged on the steering machine shell on the opposite side of an output shaft of the steering engine, the positioning shaft and the output shaft are coaxially arranged, the output shaft is in transmission connection with a shifting rod rotating shaft, the positioning shaft is sleeved in a movable volleyball disc rotating shaft, and a U-shaped coupler is respectively fixed on the shifting rod rotating shaft and the movable volleyball disc rotating shaft so as to enable; the steering engine is connected with the control mechanism to form the control system of the unmanned aerial vehicle and the steering engine.
2. The drone-based trichogrammatid ball launching device of claim 1, wherein: the control mechanism comprises a flight controller, a wireless transceiver module, an unmanned aerial vehicle motor set, a BEC module and a battery pack, wherein the flight controller is respectively connected with a steering engine, the BEC module, the battery pack and the unmanned aerial vehicle motor set, a signal end of the flight controller is connected with a signal end of the wireless transceiver module, and the wireless transceiver module is in wireless connection with a ground base station.
3. The drone-based trichogrammatid ball launching device of claim 1, wherein: the ball inlet hole, the ball outlet hole and the ball throwing port are circular and have the same diameter, and chamfers are arranged on the edges of inlets of the ball inlet hole and the ball throwing port.
4. The drone-based trichogrammatid ball launching device of claim 1, wherein: the buffer tube is a cylindrical tubular structure, the diameter of the bee ball is D, the diameter of the buffer tube is D, the diameter of the buffer tube is equal to the diameter of the ball inlet hole, and D < D < 2D.
5. The drone-based trichogrammatid ball launching device of claim 1, wherein: the rotation angle of the semi-circular arc-shaped poking opening from the upper part of the ball throwing opening to the bottom of the ball outlet hole is 90 degrees.
6. The device is put in to trichogrammatid ball based on unmanned aerial vehicle of claim 4, characterized in that: an optical sensor is arranged in the ball throwing shell and is arranged at the d/2 position of the upper part of the bottom plate of the ball pulling shell.
7. The drone-based trichogrammatid ball launching device of claim 1, wherein: the shape of the deflector rod is a concave arc with large root and end parts and small middle part, and the distance between the outer side surface of the root and the inner wall of the deflector ball shell is d1The diameter of the bee ball is d, d<d1<2d。
8. The drone-based trichogrammatid ball launching device of claim 1, wherein: the height of the ball throwing shell is H, the diameter of the bee ball is d, and d < H <2d is satisfied.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921159061.7U CN210235325U (en) | 2019-07-23 | 2019-07-23 | Device is put in to trichogrammatid ball based on unmanned aerial vehicle |
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| CN201921159061.7U CN210235325U (en) | 2019-07-23 | 2019-07-23 | Device is put in to trichogrammatid ball based on unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316378A (en) * | 2019-07-23 | 2019-10-11 | 河南农业大学 | A kind of trichogramma ball delivery device based on unmanned plane |
| CN111994274A (en) * | 2020-08-20 | 2020-11-27 | 云南恒草生物科技有限公司 | Unmanned aerial vehicle puts in device with buffer function |
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2019
- 2019-07-23 CN CN201921159061.7U patent/CN210235325U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316378A (en) * | 2019-07-23 | 2019-10-11 | 河南农业大学 | A kind of trichogramma ball delivery device based on unmanned plane |
| CN110316378B (en) * | 2019-07-23 | 2024-04-05 | 河南农业大学 | Trichogramma ball throwing device based on unmanned aerial vehicle |
| CN111994274A (en) * | 2020-08-20 | 2020-11-27 | 云南恒草生物科技有限公司 | Unmanned aerial vehicle puts in device with buffer function |
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