CN108849807B - A automatic folding device of compact for adjusting plant protection unmanned aerial vehicle spray lance height - Google Patents
A automatic folding device of compact for adjusting plant protection unmanned aerial vehicle spray lance height Download PDFInfo
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- CN108849807B CN108849807B CN201810465839.0A CN201810465839A CN108849807B CN 108849807 B CN108849807 B CN 108849807B CN 201810465839 A CN201810465839 A CN 201810465839A CN 108849807 B CN108849807 B CN 108849807B
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- 239000007921 spray Substances 0.000 title claims abstract description 114
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 3
- 230000001174 ascending effect Effects 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 claims 2
- 239000000575 pesticide Substances 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005507 spraying Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 4
- 239000003814 drug Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000008021 deposition Effects 0.000 description 2
- 229940079593 drug Drugs 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
- A01M7/0075—Construction of the spray booms including folding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The compact automatic folding device for adjusting the height of the spray boom of the plant protection unmanned aerial vehicle comprises a spray boom, a cover plate, a bearing, a screw rod group for adjusting the height of the spray boom, a motor, a square sleeve group, a spray boom seat and a cam ejector rod mechanism; the bearing outer ring is provided with a bearing seat; the bearing inner ring is connected with the screw rod group; the motor is fixedly connected with the bearing seat through a motor bracket, a motor gear is arranged at the output shaft end of the motor, a driving gear is further arranged at the outer edge of the screw rod group, and the motor gear is meshed with the driving gear; the Fang Taotong groups are sleeved outside the motor, and the number of the square sleeve groups corresponds to that of the screw rod groups; through the arrangement of the mechanism, the spray boom can be opened in the flying operation process and can adjust the expected height in the air; during non-operation, the whole device is folded in the undercarriage, the stable placement and transportation of the plant protection unmanned aerial vehicle are not affected, the device is simple in structure and convenient to operate, the spraying quantity of pesticide fogdrops is greatly improved, and the control effect of the plant protection unmanned aerial vehicle on the fly is enhanced.
Description
Technical Field
The invention belongs to the technical field of agricultural plant protection, and particularly relates to a compact automatic folding device for adjusting the height of a spray boom of a plant protection unmanned aerial vehicle.
Background
The plant protection unmanned aerial vehicle is an unmanned aerial vehicle for plant protection operation, carries out flight protection operation through ground remote control or autonomous navigation, and has the advantage of flexibility and high efficiency compared with traditional ground plant protection machinery. However, because the plant protection unmanned aerial vehicle has small drug loading, the pesticide has to be applied in a high-concentration ultralow-volume mode, and the pesticide fogdrop is obviously smaller than the fogdrop applied by the traditional machinery. Because plant protection unmanned aerial vehicle suspends on crop canopy, receives crop canopy turbulent flow's influence, flight stability is poor and far away from the canopy, and its shower nozzle can't press close to the canopy, and pesticide fog drop lag time is long, leads to fog drop evaporation easily, easily drift, target deposition quantity inadequately scheduling problem, has seriously influenced plant protection unmanned aerial vehicle flight prevention and control effect of operation. The chinese patent of application number CN2017206144212 discloses a plant protection unmanned aerial vehicle's spray lance telescopic machanism, drives drive gear through micro motor and rotates to further drive the lead screw and rotate, the forward and backward rotation of lead screw drives the fore-and-aft movement of rack, thereby realizes the flexible of spray lance, and this telescopic machanism has only realized the horizontal migration of spray lance, has solved the problem that plant protection unmanned aerial vehicle applied medicine is little and collide crops, consequently needs redesign a device that can adjust the spray lance height, in order to solve above-mentioned problem.
Disclosure of Invention
The invention aims to provide a compact automatic folding device for adjusting the height of a spray boom of a plant protection unmanned aerial vehicle, so as to solve the problems that a spray nozzle of the upper plant protection unmanned aerial vehicle cannot be close to a canopy, pesticide fog drops have long dead time, the fog drops are easy to evaporate and drift, and the target deposition amount is not uniform.
The invention is realized by the following technical scheme:
the compact automatic folding device for adjusting the height of the spray boom of the plant protection unmanned aerial vehicle comprises the spray boom, and further comprises a cover plate, a bearing, a screw rod group for adjusting the height of the spray boom, a motor, a square sleeve group, a spray boom seat and a cam ejector rod mechanism, wherein the cover plate is fixedly connected to the bottom of the plant protection unmanned aerial vehicle; the bearing outer ring is provided with a bearing seat which is fixedly connected with the cover plate through bolts; the bearing inner ring is connected with the screw rod group, a bearing retainer ring is arranged above the bearing, and one end of the bearing retainer ring is positioned in a shaft shoulder at the outer edge of the screw rod group; the motor is fixedly connected with the bearing seat through a motor bracket, a motor gear is arranged at the output shaft end of the motor, a driving gear is further arranged at the outer edge of the screw rod group, and the motor gear is meshed with the driving gear; the Fang Taotong groups are sleeved outside the motor, and the number of the square sleeve groups corresponds to that of the screw rod groups; a spray rod seat is arranged at the position, close to the bottom surface, below the diagonal angle of the motor installation position in the square sleeve group, the upper surface of the spray rod seat is provided with a spray rod seat guide rail, and the side surface of the spray rod seat is provided with a spray rod seat baffle; the cam ejector rod mechanism is positioned above the spray rod seat and is fixed at the bottom of the square sleeve group.
The invention further improves the scheme that the screw rod group consists of a screw rod I, a screw rod II and a screw rod III: the diameter of the first screw is the largest and is provided with an internal thread; the screw is provided with an internal thread and an external thread for secondary diameter; the three screws have the smallest diameter and are provided with external threads, and the three screws are nested in sequence; the internal threads of the first screw and the second screw extend from the end surface of one end of the screw to the inner end surface of the inner convex hole close to the other end of the screw; external threads of the second screw rod and the third screw rod are arranged on a shaft shoulder at one end of the screw rod, but the shaft shoulder is not fully distributed; all threads have the same rotation direction, the first screw internal thread and the first screw external thread are matched and rotated, and the second screw internal thread and the third screw external thread are matched and rotated. When the first screw and the third screw rotate relatively, the screw group stretches or contracts, and when the first screw and the third screw rotate reversely, the screw group contracts or stretches.
According to the invention, when the shaft shoulders of the second screw and the third screw are stretched to the bottom ends, the shaft shoulders are blocked by the inner convex holes of the first screw and the second screw respectively, so that the second screw and the third screw are prevented from being stretched too much and separated from the first screw and the second screw, and the outer edge of the second screw is provided with a screw retainer ring close to the end of the inner convex hole, so that the second screw is prevented from being shrunk too much and separated from the first screw.
The invention further improves the scheme that the square sleeve group consists of a square sleeve I, a square sleeve II and a square sleeve III, wherein each square sleeve is a cuboid with a square bottom surface, the side lengths of the square sleeves are sequentially reduced, the three square sleeves are sequentially nested and connected, the square sleeves only slide along the vertical direction, and the square sleeve group can only stretch and can not rotate; the outer flange of the square sleeve I is fixedly connected with the cover plate through a screw, the inner flange of the square sleeve I blocks the outer flange of the square sleeve II to prevent the square sleeve II from separating, and the inner flange of the square sleeve II blocks the outer flange of the square sleeve III to prevent the square sleeve III from separating; the three bottoms of the square sleeve are totally closed, and the square sleeve is fastened with the three bottoms of the screw rods through screws, so that the rotation of the screw rods can be limited. More screws and square sleeves can be added in the screw rod group and the square sleeve group in series, so that all the screws and square sleeves can be sequentially nested and installed, the telescopic length of the compact automatic folding device can be further increased, and therefore, the horizontal dimension of the device is only increased, the vertical dimension is not increased, and the whole device is ensured to be in the landing gear in a non-working period.
According to a further improved scheme, a long strip-shaped opening is formed in the position, close to the bottom surface, of the lower portion of the square sleeve, the long strip-shaped opening is horizontally arranged along the bottom surface, the long strip-shaped opening corresponding to the square sleeve is formed in the surface of the spray rod seat, the spray rod is fixed to the spray rod seat through a pin provided with a torsion spring, and the spray rod penetrates out of the long strip-shaped opening of the spray rod seat and the long strip-shaped opening in the lower portion of the square sleeve.
According to a further improved scheme, the square sleeve three is provided with two strip-shaped openings, the two strip-shaped openings are respectively arranged on two perpendicular side surfaces of the square sleeve three, two spray bars are respectively arranged in the strip-shaped openings, and are in a gradual unfolding state along with the descending of the automatic folding device and in a gradual folding state along with the ascending of the automatic folding device. The spray rod has two extreme positions under the restriction of two rectangular mouths, and at leftmost, the spray rod is folding state, and at rightmost, the spray rod is the expansion state. The spray rod is in a folded state from an unfolded state, the pressure of the torsion spring is continuously increased, and the spray rod is pushed, so that the spray rod has a tendency of moving to the right side. After the spray boom is fully unfolded, the compact automatic folding device still has a certain space for allowing the spray boom in an unfolded state to descend or ascend, and the unfolded spray boom can be controlled to reach a desired height.
The invention further adopts the improvement that the position of the spray rod is controlled by a cam ejector rod mechanism consisting of a cam and ejector rods, and the cam ejector rod mechanism is provided with two; the cam is arranged on the bearing seat; the ejector rod is fixed at the bottom of the square sleeve three through the ejector rod guide groove by the guide rail of the ejector rod seat and horizontally slides along the guide rail of the ejector rod seat, the side surface of the ejector rod is provided with the ejector rod baffle, and when the ejector rod reaches the limit folding state, the ejector rod baffle can block the long strip-shaped opening of the square sleeve three to prevent dust from entering during storage and transportation of the device. In the limit shrinkage state of the compact automatic folding device, the cam compresses the ejector rod, the ejector rod is pushed to the leftmost side, and the spray rod is also pushed to the leftmost side; in the stretching process of the compact automatic folding device, the cam slowly upwards releases the ejector rod, the ejector rod is pushed to the right by the spray rod, and the spray rod is slowly unfolded from the folded state to the unfolded state; when the spray rod completely reaches the unfolding state, the ejector rod is blocked by the baffle plate of the spray rod seat and cannot slide rightwards any more, and the compact automatic folding device can be stretched continuously, and the cam is separated from the ejector rod and is gradually far away until the compact automatic folding device reaches the ultimate stretching state. Throughout the stretching process, the cams are always aligned with the ejector pins. In the contraction process of the compact automatic folding device, the cam is gradually close to the ejector rod, after the cam ejector rod contacts, the cam starts to press the ejector rod downwards, the ejector rod and the spray rod are pushed leftwards together and gradually push to the leftmost side, and when the spray rod reaches a folding state, the compact automatic folding device is contracted to a limit contraction state at the same time.
The invention further adopts the improvement that the connecting line of the central axis of the motor and the central axis of the screw rod group coincides with the diagonal line of the cover plate, and the motor gear drives the driving gear to rotate so as to provide rotary power for the screw rod I. The motor is positioned at the inner corner of the device, so that the space can be further saved.
According to a further improvement of the invention, the bearing is an angular contact ball bearing.
Compared with the prior art, the invention has the following advantages:
according to the compact automatic folding device for adjusting the height of the spray boom of the plant protection unmanned aerial vehicle, through the arrangement of the bearing, the screw rod group for adjusting the height of the spray boom, the motor, the square sleeve group, the spray boom seat and the cam ejector rod mechanism, the spray boom can be controlled to be vertically opened during flight operation of the unmanned aerial vehicle, the expected height can be adjusted in the air, and the spray nozzle can be attached to a canopy as close as possible under the condition that the unmanned aerial vehicle does not fly low, so that the problems of long pesticide mist drop time and uneven spraying are solved; in the flight process, when the spray boom is blocked by the obstacle, the spray boom can automatically fold backwards under the action of the torsion spring, and then automatically unfold to protect the spray boom from being damaged; when the folding type landing gear is not operated, the spray bars on the two sides are folded and collected at the rear part of the fuselage, so that the landing gear can be automatically avoided, the lifting amount of the spray bars is large, and the folding type landing gear is compact in structure. The invention has simple structure and convenient operation, greatly improves the spraying quantity of pesticide fogdrops and enhances the control effect of the plant protection unmanned aerial vehicle flight protection operation.
Drawings
FIG. 1 is a schematic view of an overall structure of a plant protection unmanned aerial vehicle according to the present invention;
FIG. 2 is a cross-sectional view of the extreme retraction device of the present invention;
FIG. 3 is a cross-sectional view of the ultimate tensile machine of the present invention;
FIG. 4 is a schematic view of the cam carrier mechanism of the present invention;
FIG. 5 is a schematic view of the structure of the boom seat of the present invention;
FIG. 6 is a schematic view of a three-structure square sleeve of the present invention;
FIG. 7 is a schematic view of the overall assembly of the folding device of the present invention;
FIG. 8 is a schematic view of the limit retraction device of the present invention;
FIG. 9 is a schematic view of a limiting stretching apparatus of the present invention;
in the figure, the serial numbers are 1-cover plate, 2-bearing seat, 3-bearing, 4-driving gear, 5-screw first, 6-screw second, 7-screw third, 8-bearing retainer ring, 9-motor bracket, 10-motor gear, 11-motor, 12-square sleeve first, 13-square sleeve second, 14-Fang Taotong third, 15-screw retainer ring, 16-cam, 17-ejector rod, 18-ejector rod guide groove, 19-ejector rod baffle, 20-ejector rod seat guide rail, 21-ejector rod seat, 22-pin, 23-ejector rod seat baffle, 24-ejector rod and 25-inner convex hole.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Referring to fig. 1-9, a compact automatic folding device for adjusting the height of a spray boom of a plant protection unmanned aerial vehicle comprises a spray boom 24, the folding device further comprises a cover plate 1, a bearing 3, a screw rod group for adjusting the height of the spray boom 24, a motor 11, a square sleeve group, a spray boom seat 21 and a cam ejector rod mechanism, wherein the cover plate 1 is fixedly connected to the bottom of the plant protection unmanned aerial vehicle; the outer ring of the bearing 3 is provided with a bearing seat 2, and the bearing seat 2 is fixedly connected with the cover plate 1 through bolts; the inner ring of the bearing 3 is connected with the screw rod group, a bearing retainer ring 8 is arranged above the bearing 3, and one end of the bearing retainer ring 8 is positioned in a shaft shoulder at the outer edge of the screw rod group; the motor 11 is fixedly connected with the bearing seat 2 through a motor bracket 9, a motor gear 10 is arranged at the output shaft end of the motor 11, a driving gear 4 is further arranged at the outer edge of the screw rod group, and the motor gear 10 is meshed with the driving gear 4; the Fang Taotong groups are sleeved outside the motor 11, and the number of square sleeve groups corresponds to the number of screw rod groups; a spray rod seat 21 is arranged at the position, close to the bottom surface, below the diagonal angle of the motor installation position in the square sleeve group, the upper surface of the spray rod seat 21 is provided with a spray rod seat guide rail 20, and the side surface of the spray rod seat is provided with a spray rod seat baffle 23; the cam ejector rod mechanism is positioned above the spray rod seat 21 and is fixed at the bottom of the square sleeve group.
In this embodiment, the screw group is composed of a screw one 5, a screw two 6 and a screw three 7: the first screw rod 5 has the largest diameter and is provided with an internal thread; the diameter of the second screw rod 6 is inferior and is provided with an internal thread and an external thread; the diameter of the screw rod III 7 is minimum, an external thread is arranged, and the three screw rods are sequentially nested; the internal threads of the first screw 5 and the second screw 6 extend from the end surface of one end of the screw to the inner end surface of the inner convex hole 25 close to the other end; external threads of the second screw rod 6 and the third screw rod 7 are arranged on a shaft shoulder at one end of the screw rod, but the shaft shoulders are not fully distributed; all threads are the same in rotation direction, the internal thread of the first screw rod 5 is matched with the external thread of the second screw rod 6 for rotation, and the internal thread of the second screw rod 6 is matched with the external thread of the third screw rod 7 for rotation.
In this embodiment, when the shoulders of the second screw rod 6 and the third screw rod 7 are stretched to the bottom ends, they are blocked by the inner protruding holes 25 of the first screw rod 5 and the second screw rod 6, and the outer edge of the second screw rod 6 is provided with a screw rod retainer ring 15 near the end of the inner protruding hole 25.
In this embodiment, the square sleeve group is composed of a square sleeve one 12, a square sleeve two 13 and a square sleeve three 14, each square sleeve is a cuboid with a square bottom surface, the side lengths of the square sleeves are sequentially reduced, the three square sleeves are sequentially nested and connected, and the square sleeves only slide along the vertical direction; the outer flange of the first Fang Taotong and the cover plate 1 are fixedly connected through screws, the outer flange of the second Fang Taotong is blocked by the inner flange of the first Fang Taotong, the second square sleeve 13 is prevented from being separated, the outer flange of the third square sleeve 14 is blocked by the inner flange of the second Fang Taotong, and the third square sleeve 14 is prevented from being separated; the bottom of the square sleeve III 14 is totally closed, and the square sleeve is fastened with the bottom of the screw rod III 7 through a screw.
In this embodiment, an elongated opening is formed at a position below the third square sleeve 14 and close to the bottom surface, the elongated opening is horizontally disposed along the bottom surface, an elongated opening corresponding to the third square sleeve 14 is disposed on the surface of the spray rod seat 21, the spray rod 24 is fixed to the spray rod seat 21 by a pin 22 with a torsion spring, and the spray rod 24 penetrates out of the elongated opening of the spray rod seat 21 and the elongated opening below the third square sleeve 14.
In this embodiment, the third square sleeve 14 is provided with two elongated openings, which are respectively disposed on two vertical sides of the third square sleeve 14, and two spray bars 24 are respectively disposed in the elongated openings, and the two spray bars 24 are in a gradually unfolded state along with the descent of the automatic folding device, and in a gradually folded state along with the ascent of the automatic folding device.
In this embodiment, the position of the spray rod 24 is controlled by a cam-ejector rod mechanism composed of a cam 16 and ejector rods 17, and two cam-ejector rod mechanisms are arranged; the cam 16 is arranged on the bearing seat 2; the ejector rod 17 is fixed at the bottom of the square sleeve three 14 through the ejector rod guide groove 18 by the ejector rod seat guide rail 20 and horizontally slides along the ejector rod seat guide rail 20, the side surface of the ejector rod 17 is provided with the ejector rod baffle 23, and when the ejector rod 24 reaches a limit folding state, the ejector rod baffle 23 can block the strip-shaped opening of the square sleeve three 14.
In this embodiment, the connection line between the central axis of the motor 11 and the central axis of the screw group coincides with the diagonal line of the cover plate 1, and the motor gear 10 drives the driving gear 4 to rotate, so as to provide rotary power for the screw one 5.
In this embodiment, the bearing 3 is an angular ball bearing.
The specific working process comprises the following steps:
when the unmanned aerial vehicle is used, an operator controls the plant protection unmanned aerial vehicle to enter a crop growing area through a ground remote control system, when the working flying height of the unmanned aerial vehicle is reached, a spray boom at the bottom is controlled by a motor to gradually descend and sequentially approach to crop crowns, at the moment, an automatic folding device in a square sleeve can control the spray boom to be unfolded in the descending process, as shown in fig. 9, a cam in the folding device gradually moves upwards to relax an ejector rod, so that the spray boom is further promoted to be unfolded outwards, after the spray boom is completely unfolded, the folding device is adjusted to finely adjust the spray boom in the completely unfolded state, the spray boom is controlled to reach the expected height to perform pesticide application operation, and the spray boos at two sides of the sleeve can simultaneously apply pesticide to crowns of crops at the left side and the right side, so that the working efficiency is improved; in the operation process, when the spray rod collides with crops, the spray rod automatically folds backwards, and then the spray rod automatically expands under the action of the torsion spring, so that the spray rod can be protected from being damaged; after the application is completed, the spray rod is controlled to gradually rise through the remote control system, and at the moment, the cam in the folding device presses the ejector rod, so that the ejector rod gradually moves inwards, and the spray rod is pushed to a contracted state until the spray rod is completely contracted, as shown in fig. 8; and finally, controlling the plant protection unmanned aerial vehicle which completes the operation to return to the ground by an operator to check and supplement new medicament.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and improvements could be made by those skilled in the art without departing from the inventive concept, which falls within the scope of the present invention.
Claims (5)
1. A automatic folding device of compact for adjusting plant protection unmanned aerial vehicle spray lance height, including spray lance (24), its characterized in that: the folding device further comprises a cover plate (1), a bearing (3), a screw rod group for adjusting the height of the spray boom (24), a motor (11), a square sleeve group, a spray boom seat (21) and a cam ejector rod mechanism, wherein the cover plate (1) is fixedly connected to the bottom of the plant protection unmanned aerial vehicle; the outer ring of the bearing (3) is provided with a bearing seat (2), and the bearing seat (2) is fixedly connected with the cover plate (1) through bolts; the inner ring of the bearing (3) is connected with the screw rod group, a bearing retainer ring (8) is arranged above the bearing (3), and one end of the bearing retainer ring (8) is positioned in a shaft shoulder at the outer edge of the screw rod group; the motor (11) is fixedly connected with the bearing seat (2) through a motor bracket (9), a motor gear (10) is arranged at the output shaft end of the motor (11), a driving gear (4) is further arranged at the outer edge of the screw rod group, and the motor gear (10) is meshed with the driving gear (4); the Fang Taotong groups are sleeved outside the motor (11), and the number of the square sleeve groups corresponds to that of the screw rod groups; a spray rod seat (21) is arranged at the position, close to the bottom surface, below the diagonal angle of the motor installation position in the square sleeve group, a spray rod seat guide rail (20) is arranged on the upper surface of the spray rod seat (21), and a spray rod seat baffle (23) is arranged on the side surface of the spray rod seat guide rail; the cam ejector rod mechanism is positioned above the spray rod seat (21) and is fixed at the bottom of the square sleeve group;
the screw rod group consists of a screw rod one (5), a screw rod two (6) and a screw rod three (7): the first screw (5) has the largest diameter and is provided with an internal thread; the second screw (6) has internal thread and external thread; the diameter of the screw rod III (7) is minimum, external threads are arranged, and the three screw rods are nested in sequence; the internal threads of the first screw (5) and the second screw (6) extend from the end surface of one end of the screw to the inner end surface of an inner convex hole (25) close to the other end; external threads of the screw II (6) and the screw III (7) are arranged on a shaft shoulder at one end of the screw, but the shaft shoulder is not fully distributed; all threads have the same rotation direction, the internal thread of the first screw rod (5) is matched with the external thread of the second screw rod (6), and the internal thread of the second screw rod (6) is matched with the external thread of the third screw rod (7);
when the shoulders of the screw II (6) and the screw III (7) are stretched to the bottom ends, the shoulders are blocked by the screw I (5) and the inner convex holes (25) of the screw II (6), and screw check rings (15) are arranged at the positions, close to the ends of the inner convex holes (25), of the outer edges of the screw II (6);
the square sleeve group consists of Fang Taotong I (12), fang Taotong II (13) and Fang Taotong III (14), each square sleeve is a cuboid with a square bottom surface, the side length is sequentially reduced, the three square sleeves are sequentially nested and connected, and the square sleeves only slide along the vertical direction; the outer flange of the first Fang Taotong (12) is fixedly connected with the cover plate (1) through screws, the inner flange of the first Fang Taotong is used for blocking the outer flange of the second Fang Taotong (13) to prevent the second square sleeve (13) from being separated, and the inner flange of the second Fang Taotong (13) is used for blocking the outer flange of the third square sleeve (14) to prevent the third square sleeve (14) from being separated; the bottom of the Fang Taotong III (14) is totally closed, and is fastened with the bottom of the screw rod III (7) through a screw;
the long strip-shaped opening is formed in the position, close to the bottom surface, of the lower portion of the third Fang Taotong (14), the long strip-shaped opening is horizontally arranged along the bottom surface, long strip-shaped openings corresponding to the third square sleeve group (14) are formed in the surface of the spray rod seat (21), the spray rod (24) is fixed to the spray rod seat (21) through a pin (22) provided with a torsion spring, and the spray rod (24) penetrates out of the long strip-shaped opening of the spray rod seat (21) and the long strip-shaped opening below the third square sleeve group (14).
2. The compact automatic folding device for adjusting the height of a plant protection unmanned aerial vehicle spray boom according to claim 1, wherein: the Fang Taotong III (14) is provided with two strip-shaped openings which are respectively arranged on two vertical side surfaces of the square sleeve III (14), two spray bars (24) are respectively arranged in the strip-shaped openings, the two spray bars (24) are in a gradual unfolding state along with the descending of the automatic folding device, and are in a gradual folding state along with the ascending of the automatic folding device.
3. The compact automatic folding device for adjusting the height of a plant protection unmanned aerial vehicle spray boom according to claim 2, wherein: the spray rod (24) is controlled to be positioned by virtue of a cam ejector rod mechanism consisting of a cam (16) and ejector rods (17), and the cam ejector rod mechanism is provided with two; the cam (16) is arranged on the bearing seat (2); the ejector rod (17) is fixed at the bottom of the square sleeve III (14) through an ejector rod guide groove (18) by a spray rod seat guide rail (20) and horizontally slides left and right along the spray rod seat guide rail (20), an ejector rod baffle (23) is arranged on the side surface of the ejector rod (17), and when the spray rod (24) reaches a limit folding state, the ejector rod baffle (23) can block a strip-shaped opening of the square sleeve III (14).
4. The compact automatic folding device for adjusting the height of a plant protection unmanned aerial vehicle spray boom according to claim 1, wherein: the connecting line of the central axis of the motor (11) and the central axis of the screw group coincides with the diagonal line of the cover plate (1), and the motor gear (10) drives the driving gear (4) to rotate so as to provide rotary power for the screw I (5).
5. The compact automatic folding device for adjusting the height of a plant protection unmanned aerial vehicle spray boom according to claim 1, wherein: the bearing (3) is an angular contact ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465839.0A CN108849807B (en) | 2018-05-16 | 2018-05-16 | A automatic folding device of compact for adjusting plant protection unmanned aerial vehicle spray lance height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465839.0A CN108849807B (en) | 2018-05-16 | 2018-05-16 | A automatic folding device of compact for adjusting plant protection unmanned aerial vehicle spray lance height |
Publications (2)
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| CN111679581B (en) * | 2019-06-15 | 2022-06-24 | 沈阳工业大学 | Non-linear control method for spray rod position profiling of plant protection machine |
| CN110171572B (en) * | 2019-06-21 | 2024-05-14 | 农业农村部南京农业机械化研究所 | Deformable air-land plant protection unmanned aerial vehicle |
| CN113277086B (en) * | 2021-05-11 | 2023-05-23 | 中国热带农业科学院橡胶研究所 | Many rotor smog formula plant protection unmanned aerial vehicle |
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| KR20130002076U (en) * | 2011-09-23 | 2013-04-02 | 김성남 | Agricultural chemicals spraying device |
| CN205837204U (en) * | 2016-08-03 | 2016-12-28 | 安徽啄木鸟无人机科技有限公司 | A kind of plant protection unmanned plane rotatable spray boom and plant protection unmanned plane thereof |
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| CN208258856U (en) * | 2018-05-16 | 2018-12-21 | 农业部南京农业机械化研究所 | For adjusting the compact automatic folding device of plant protection drone spray boom height |
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| KR20130002076U (en) * | 2011-09-23 | 2013-04-02 | 김성남 | Agricultural chemicals spraying device |
| CN205837204U (en) * | 2016-08-03 | 2016-12-28 | 安徽啄木鸟无人机科技有限公司 | A kind of plant protection unmanned plane rotatable spray boom and plant protection unmanned plane thereof |
| CN207173973U (en) * | 2017-07-25 | 2018-04-03 | 云南熙祥航空科技有限公司 | A kind of variable spray formula plant protection unmanned plane |
| CN208258856U (en) * | 2018-05-16 | 2018-12-21 | 农业部南京农业机械化研究所 | For adjusting the compact automatic folding device of plant protection drone spray boom height |
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