CN110816845A

CN110816845A - Unmanned aerial vehicle, special spraying system thereof and use method

Info

Publication number: CN110816845A
Application number: CN201911232821.7A
Authority: CN
Inventors: 崔海信; 高飞; 崔博; 王琰; 张燕卿
Original assignee: Institute of Environment and Sustainable Development in Agriculturem of CAAS
Current assignee: Institute of Environment and Sustainable Development in Agriculturem of CAAS
Priority date: 2019-12-04
Filing date: 2019-12-04
Publication date: 2020-02-21
Anticipated expiration: 2039-12-04
Also published as: CN110816845B

Abstract

The invention relates to an unmanned aerial vehicle, a special spraying system thereof and a using method thereof. The spraying system comprises a trip type main hanger assembly and a lifting appliance assembly, wherein the trip type main hanger assembly comprises a trip female block, and an on/off power keeping electromagnetic assembly, a pre-pressure ejection assembly and a liquid cavity are arranged on the trip female block; the pre-pressure ejection assembly can store elastic pre-pressure; the liquid cavity is provided with a quick-insertion connecting port; the lifting appliance component comprises a magnetic chuck, a pressing surface, a quick connection and disconnection face and a spray rod, the magnetic chuck is in magnetic attraction connection with the on/off power keeping electromagnetic component, the quick connection and disconnection face is in adaptive connection with the quick connection and disconnection face, the pressing surface is matched with the pre-pressure ejection component, and the pressing surface applies elastic pre-pressure to the pre-pressure ejection component; the spray rod is provided with a nozzle. The invention can effectively improve the target aligning precision of the unmanned aerial vehicle spraying machine, reduce the fogdrop drifting and ensure the safety of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle, special spraying system thereof and use method

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle, a special spraying system and a using method thereof.

Background

Because the labor cost of rural areas in China rises and most of the culturable land is fragmented and distributed, the plant protection unmanned aerial vehicle with certain flexibility and strong regional adaptability starts to be popularized and used on a large scale in recent years, however, in the operation process of the unmanned aerial vehicle, fog drop drifting is serious due to the influence of a rotor wing wind field and a natural wind field, and particularly when herbicide is used, the large-area phytotoxicity of different adjacent crop plots is caused, so that the comprehensive popularization and use of the plant protection unmanned aerial vehicle are limited. Statistics show that aerial sprays can cause 50% -75% of the droplets of the liquid medicine to drift and fail to reach the target area, while ground sprays are only 10% -35%.

The flight height of the plant protection unmanned aerial vehicle is an important factor influencing the fog drop drifting degree of a rotor wind field and a natural wind field, but the problem of fog drop drifting in the spraying operation process cannot be effectively solved by adjusting the flight height of the plant protection unmanned aerial vehicle, and when the unmanned aerial vehicle flies higher, the fog drop drifting can be obviously caused by the turbulent wind field formed by the natural wind field and the rotor, and the deposit adhesion in a target area cannot be effectively realized; although can weaken the influence of natural wind field when unmanned aerial vehicle flight is lower, its self rotor turbulent flow wind field can cause the violent swing of crop canopy, and the droplet can not effectively adhere to and can take place the drift, and low flight height excessively can cause unmanned aerial vehicle to meet to hinder the crash moreover, causes the unnecessary loss.

Therefore, it is necessary to provide a new solution to one or more problems of overall loss or droplet drift caused by improper flying height and spraying setting of the unmanned aerial vehicle.

Disclosure of Invention

In view of this, the present invention aims to provide a technical solution that can solve one or more problems of overall loss or droplet drift caused by improper flying height and spraying setting of the unmanned aerial vehicle.

The invention first provides a spraying system which mainly comprises a trip type main hanger component and a hanger component, wherein,

the tripping type main hanger assembly comprises a tripping female block, wherein an on/off power keeping electromagnetic assembly, a pre-pressure ejection assembly and a liquid cavity are arranged on the tripping female block, the on/off power keeping electromagnetic assembly has magnetism when being powered on or powered off, and loses magnetism after being powered off or powered on; the pre-pressure ejection assembly can store elastic pre-pressure; the liquid cavity is provided with a quick-insertion connecting port;

the lifting appliance component comprises a magnetic chuck, a pressing surface, a quick connection plug and a spray rod, the magnetic chuck is in magnetic attraction connection with the power-on/off maintaining electromagnetic component, the quick connection plug is in adaptive connection with the quick connection connector, the pressing surface is matched with the pre-pressure ejection component, and the pressing surface applies elastic pre-pressure to the pre-pressure ejection component; and a nozzle is arranged on the spray rod.

According to one embodiment of the invention, the hanger assembly further comprises a main connecting plate, and the magnetic chuck, the pressure surface, the quick connector and the spray rod are respectively connected with the main connecting plate; the lifting appliance assembly further comprises a telescopic device and a flexible infusion pipeline, the spray rod is connected with the main connecting plate through the telescopic device, and the quick-connection connector is communicated with the spray nozzles on the spray rod through the flexible infusion pipeline.

According to one embodiment of the invention, the telescopic device comprises a telescopic driving device and a telescopic rod, and the telescopic driving device drives the telescopic rod to extend and retract up and down.

According to one embodiment of the invention, the telescopic driving device is an electric screw and nut transmission mechanism; the telescopic rod is a multi-section combined pull rod type telescopic structure or a parallelogram telescopic connecting rod structure.

According to an embodiment of the invention, the flexible infusion pipeline comprises a telescopic helical spring pipe, the telescopic helical spring pipe and the telescopic device are arranged in parallel, the upper end of the telescopic helical spring pipe is connected with the quick-connection plug, and the lower end of the telescopic helical spring pipe is connected with the nozzle.

According to one embodiment of the invention, the spray bar is provided with a concave portion, the spray bar is connected with the main connecting plate through the concave portion, and the nozzle is provided on a non-concave portion.

According to one embodiment of the invention, the pre-pressure ejection assembly comprises a pre-pressure spring and a pre-pressure ejector rod, one end of the pre-pressure ejector rod abuts against the pre-pressure spring, and the other end of the pre-pressure ejector rod is provided with an ejection head.

According to an embodiment of the invention, the liquid chamber is a chamber opening inside the female block body or a chamber provided on an element connected to the female block body.

According to an embodiment of the invention, the trip type main hanger assembly further comprises a hanger connecting module, wherein the hanger connecting module comprises a hanger positioning fixing jacket, a mounting fixing lug plate and a hanger height adjusting hanging plate, the group of components are sequentially connected, the hanger positioning fixing jacket is fixedly connected with a connected component, and the hanger height adjusting hanging plate is connected with the trip female block.

According to an embodiment of the present invention, the trip type main rack assembly further comprises a liquid inlet hose, one end of the liquid inlet hose is connected to the liquid cavity of the trip female block, and the other end of the liquid inlet hose is connected to the liquid storage chamber or the liquid pump.

The invention further provides an unmanned aerial vehicle which comprises a control system and the spraying system, wherein the spraying system is connected with the unmanned aerial vehicle through the trip type main hanger assembly, and the control system is connected with the spraying system.

According to one embodiment of the invention, the control system is a wireless control system, comprising an onboard control device and a remote controller.

The invention also provides a using method based on the unmanned aerial vehicle, which comprises the following steps:

and responding to the resistance signal of the lifting appliance component, the control system controls the power-on or power-off magnetic loss of the trip type main hanger component, and the lifting appliance component loses magnetic force and is popped up to fall off from the trip type main hanger component.

According to an embodiment of the invention, the method further comprises:

the control system controls the expansion and contraction of the telescopic device of the lifting appliance component.

According to an embodiment of the invention, the method further comprises one or more of:

the control system controls a spray rod of the lifting appliance assembly to rotate by an angle relative to a landing gear of the unmanned aerial vehicle;

a liquid pump outlet of the unmanned aerial vehicle is connected into a liquid cavity of the tripping female block through a liquid inlet hose, the liquid cavity is connected to a telescopic spiral spring pipe through a quick connector, the telescopic spiral spring pipe is connected with a liquid separating tee, and the liquid separating tee is connected with a nozzle on the spray rod;

when the unmanned aerial vehicle does not need to be sprayed, the lifting appliance assembly of the unmanned aerial vehicle is in a contraction state, the length direction of the spray rod is parallel to the length direction of the undercarriage of the unmanned aerial vehicle, and the spray rod is retracted below the unmanned aerial vehicle and is positioned above or below the undercarriage of the unmanned aerial vehicle and clings to the undercarriage of the unmanned aerial vehicle;

when spraying is needed, the telescopic rod of the unmanned aerial vehicle lifting appliance component moves to the position below the unmanned aerial vehicle and extends to a proper length, and the length direction of the spray rod rotates to a direction perpendicular to the length direction of the undercarriage;

sending a contraction instruction of a lifting appliance assembly, a rotation instruction of a spray rod, an opening/closing instruction of a liquid pump or a power-on or power-off instruction of the lifting appliance assembly to an airborne control device through a remote controller;

when the lifting appliance assembly falls off, the control device controls the liquid pump of the unmanned aerial vehicle to be closed;

when the lifting appliance component does not fall off and needs to be sprayed, the control system controls the liquid pump of the unmanned aerial vehicle to be started, after spraying is completed, the control system controls the liquid pump of the unmanned aerial vehicle to be closed, and the control system controls the lifting appliance component to be contracted.

The spraying system of the unmanned aerial vehicle is designed into an active tripping structure and can be lifted, and when the unmanned aerial vehicle is in a blockage situation, the spraying lifting appliance can automatically drop, so that the safety of the unmanned aerial vehicle is ensured; the spraying lifting appliance can be contracted to the belly position when the operation is not carried out, and the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the telescopic rod is unfolded downwards, the height of the spray rod is reduced and is vertical to the undercarriage, the spray head is far away from the rotor wing and can be close to a crop canopy, liquid drop drifting caused by the rotor wing and a natural wind field is obviously reduced, and further the dosage and unnecessary loss are reduced; the spray rod can be a long-rod type spraying structure, so that the one-way spray spoke of the liquid medicine can be enlarged, and the power consumption of the unmanned aerial vehicle is effectively saved.

Drawings

Fig. 1 is a schematic view of a connection structure of a spraying system, an unmanned aerial vehicle and a landing gear support rod according to an embodiment of the invention;

FIG. 2 is a schematic view of a head-up view of a trip primary hanger assembly in accordance with an embodiment of the present invention;

fig. 3 is a schematic structural view of a partial enlarged cross section at the position I of the tripping female block and the connecting member (where a magnetic element, a quick connector and the like are connected) in accordance with the embodiment of the present invention shown in fig. 6;

FIG. 4a is a schematic top view of a main hanger assembly according to an embodiment of the present invention;

FIG. 4b is a schematic bottom view of a trip type main hanger assembly according to an embodiment of the present invention;

FIG. 5a is a left side view of the right half of the main hanger assembly of FIG. 2 in accordance with the present invention;

FIG. 5b is a left side view of the left half of the trip type main hanger assembly of FIG. 2 in accordance with one embodiment of the present invention;

fig. 6 is a schematic view of a connection structure of a trip type main hanger assembly and an unmanned aerial vehicle landing gear support rod according to an embodiment of the invention;

fig. 7 is a schematic view of a front (partially perspective) configuration of a spreader assembly according to an embodiment of the invention in an extended state with the spray bar parallel to the pivot pins;

FIG. 8 is a schematic top view of a spreader assembly according to an embodiment of the present invention in an extended position with the spray bar parallel to the pivot pins;

fig. 9a is a schematic top view (partially in perspective) of a spreader assembly according to an embodiment of the present invention in an extended position with the spray bar parallel to the pivot pins;

FIG. 9b is an enlarged partial schematic view of the embodiment of the present invention shown in FIG. 9 a;

fig. 10 is a left side structural schematic view of a spreader assembly according to an embodiment of the present invention in an extended state with the spray bar and pivot pins parallel;

FIG. 11 is a cross-sectional schematic view of the positive and negative teeth screw drive assembly D-D of FIG. 8 in accordance with one embodiment of the present invention;

FIG. 12 is a schematic cross-sectional view of a C-C sliding bearing at the middle of the driving screw of the front and back teeth of FIG. 8 according to one embodiment of the present invention;

FIG. 13 is a schematic cross-sectional view of a-A of the end sliding bearing of the positive and negative teeth drive screw of FIG. 8 according to one embodiment of the present invention;

FIG. 14 is a schematic illustration of a spreader assembly according to an embodiment of the invention in a contracted condition;

fig. 15 is a schematic structural view of a spreader assembly in a disengaged state with respect to an unmanned aerial vehicle and a main release hanger assembly in accordance with an embodiment of the present invention;

FIG. 16a is a schematic diagram of a front view of a chemical spray spreader assembly of the system in a retracted state in accordance with an embodiment of the present invention;

FIG. 16b is a schematic left side view of the system of FIG. 16a with the chemical spray spreader assembly in a retracted position in accordance with one embodiment of the present invention;

figure 16c is a front elevational view of a chemical spray spreader assembly of the system in accordance with one embodiment of the present invention in a partially extended position;

FIG. 16d is a schematic left side elevational view of the chemical spray spreader assembly of the system of FIG. 16c in a partially extended position in accordance with one embodiment of the present invention;

figure 16e is a front elevational view of the chemical spray spreader assembly of the system of one embodiment of the present invention in a fully extended position;

FIG. 16f is a schematic left side elevational view of the chemical spray spreader assembly of the system of FIG. 16e in a fully extended position in accordance with one embodiment of the present invention;

FIG. 17 is a flow chart of a method of using the system described in example 1;

the reference numbers illustrate:

a tripping female block, A1 female block body, 17 on/off power keeping electromagnetic assembly, 171 on/off power keeping electromagnet, 63 liquid cavity, A11 pre-pressure ejection assembly, 21 pre-pressure spring, 22 pre-pressure ejector rod, B hanger connecting module, 1 hanger positioning fixing jacket, 4 mounting fixing lug plate, 5 hanger height adjusting hanging plate, 9 liquid inlet hose, 10 joint and 14 connecting rod;

18 magnetic suction discs, 25 main connecting plates, 251 press faces, 26 quick plug connectors, 28 bearing seat cross beams, 30 end sliding bearings, 31 guide rods, 32 driving slider nuts to rotate left, 33 middle sliding bearings, 35 driving slider nuts to rotate right, 36 positive and negative tooth driving screw rods, 37 couplers, 38 steering engines, 40 travel switches, 401 descending stop travel switches, 402 ascending stop travel switches, 44 basic rotating pins, 46 middle rotating pins, 47 middle long rotating pins, 48 telescopic mechanism long connecting rods, 49 telescopic mechanism short connecting rods, 50 steering engine lifting pins, 52 steering servo motors, R spray rods, R1 concave parts, 59 telescopic spiral spring pipes, 60 reducing liquid separating tee joints, 61 inner spray head branch pipes and 62 outer spray head branch pipes;

w1 landing gear, W2 landing gear support bar.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.

The spraying system can be hung below an unmanned aerial vehicle to perform plant protection operation. Because the conventional spraying system is close to the rotor wing of the unmanned aerial vehicle, when the unmanned aerial vehicle flies high, fog drops can obviously drift due to a natural wind field and a turbulent wind field formed by the rotor wing, and can not be effectively deposited and attached in a target area; although can weaken the influence of natural wind field when unmanned aerial vehicle flight is lower, its self rotor turbulent flow wind field can cause the violent swing of crop canopy, and the droplet can not effectively adhere to and can take place the drift, and low flight height excessively can cause unmanned aerial vehicle to meet to hinder the crash moreover, causes the unnecessary loss. Therefore, the unmanned aerial vehicle spraying device can operate at a lower position, and the main body of the unmanned aerial vehicle can keep a certain flying height. In order to solve the problem that the spraying system leads to the drift of liquid drops because of being close to the rotor wing, the spraying system can be designed to be far away from the rotor wing during spraying operation. However, when the spraying system is designed at a lower position, the situation that objects such as crops below block the spraying system is easy to occur, so that the whole machine fails and serious loss is caused. Therefore, the invention firstly seeks a design scheme, the nozzle of the spraying system can be arranged far away from the rotor wing, and once the unmanned aerial vehicle is blocked, the spraying system below can be separated from the unmanned aerial vehicle, so that the body of the unmanned aerial vehicle is not influenced, and the great loss is avoided.

In order to arrange the nozzle of the spraying system far away from the rotor wing, the invention designs the spraying device connected with the lifting appliance, the spraying device can be lifted on the landing gear of the unmanned aerial vehicle, and the lifting appliance is designed into a magnetic-attraction release type device, so that the nozzles and other devices below the lifting appliance fall off when the lifting appliance is blocked, and the whole unmanned aerial vehicle is prevented from being influenced.

In order to solve the problems that when the lower lifting appliance of the unmanned aerial vehicle is designed to be far away from the body of the unmanned aerial vehicle, the structure occupies a large space during placement or non-spraying operation and is inconvenient to manage, the lower lifting appliance of the unmanned aerial vehicle is further designed to be far away from the body of the unmanned aerial vehicle during operation, namely, the lower lifting appliance can descend for a certain distance and can be contracted to be close to the body of the unmanned aerial vehicle during non-operation.

As shown in fig. 1, the spraying system of the present invention mainly comprises a trip type main hanger assembly T and a spreader assembly D.

The invention is different from the mode of connecting a spraying device and the like below a rotor wing, and the invention designs a newly designed lifting appliance and a connecting assembly below the belly of the unmanned aerial vehicle and is connected with a supporting rod of an undercarriage of the unmanned aerial vehicle.

The tripping type main hanger assembly T is connected with an undercarriage supporting rod W2 of the unmanned aerial vehicle, the lifting appliance assembly D is connected with the tripping type main hanger assembly T in a buckling and hanging mode, and the lifting appliance assembly D can drop from the tripping type main hanger assembly T after being blocked. The landing gear and landing gear support rod of the unmanned aerial vehicle are shown in fig. 16b, wherein W1 is the landing gear of the unmanned aerial vehicle, and can be horizontally placed on the ground, and W2 is the landing gear support rod, and is used for supporting and connecting the landing gear W1.

As shown in fig. 2, the trip type main hanger assembly T mainly includes a trip female block a.

As shown in fig. 3, according to an embodiment of the present invention, the tripping master block a is provided with an on/off holding electromagnetic assembly 17, a pre-pressure ejection assembly a11 and a liquid chamber 63, wherein the on/off holding electromagnetic assembly 17 has magnetism when it is powered on/off and loses magnetism after it is powered off/on; the pre-pressure ejection assembly A11 is capable of storing an elastic pre-pressure; the liquid cavity 63 is provided with a quick-insertion connecting port.

Other elements, such as a lifting appliance assembly, can be connected below the tripping female block A through magnetic force. The tripping female block can comprise a female block body A1, and an on/off holding electromagnetic assembly 17, a pre-pressure ejection assembly A11 and a liquid chamber 63 can be arranged on the female block body A1.

The positional relationship of the on/off maintaining solenoid assembly 17, pre-pressure ejector assembly a11, and chamber 63 is not particularly limited and may be arranged as shown in fig. 4b or otherwise.

The on/off keeping electromagnetic assembly 17 has magnetism when it is turned on/off and loses magnetism after it is turned off/on, and its magnetic attraction surface faces the lower part of the female block body.

The pre-pressure ejection assembly A11 has elasticity, and ejection elasticity is exerted by an ejection head arranged on the pre-pressure ejection assembly A11, and the ejection head of the pre-pressure ejection assembly faces to the lower part of the female block body.

The liquid cavity is provided with a quick-plug connector facing the lower part of the female block body, and a pipeline connector is arranged on the side surface or/and the upper part of the liquid cavity. The hydraulic pressure pipeline accessible of hoist subassembly is inserted the mode soon and is connected the sap cavity, and the sap cavity passes through the pipe connection again and is connected with liquid storage room like the liquid medicine storage room or the liquid pump on the unmanned aerial vehicle.

The invention can be connected with other lifting appliances such as a spraying lifting appliance through the tripping female block, the electromagnetic assembly is kept to be connected with the lifting appliance through magnetism when the power is on or off, the magnetism of the electromagnetic assembly is kept to be lost when the power is off or off, and the lifting appliance is ejected by the pre-pressure ejection assembly, so that the tripping female block can be quickly connected and disconnected with the lifting appliance such as the spraying lifting appliance.

As shown in fig. 3, the liquid chamber 63 is a chamber opened inside the female block a 1.

The liquid cavity 63 is a cavity with a circular or square or polygonal or oval cross section, or the liquid cavity is a cavity with an irregular cross section.

Preferably, the fluid chamber 63 is a counterbored chamber that is circular in cross-section.

According to one embodiment of the present invention, the on/off holding electromagnet assembly 17 includes an on/off holding electromagnet 171 and a circuit element (not shown in the drawings) that receives an electrical signal and transmits the electrical signal to the on/off holding electromagnet 171, and the on/off holding electromagnet 171 loses its magnetism upon receiving the energization signal.

The circuit elements can be integrated on the mother block body by adopting the prior art, which is a matter of knowledge in the field and is not described herein again.

The magnetic design is based on the drug spraying lifting appliance which can firmly suck the lower part.

According to one embodiment of the present invention, the pre-pressure ejection assembly a11 includes a pre-pressure spring 21 and a pre-pressure ejector rod 22, one end of the pre-pressure ejector rod 22 abuts against the pre-pressure spring 21, and the other end of the pre-pressure ejector rod 22 is provided with the ejection head.

According to an embodiment of the present invention, a cavity may be provided in the female block body a1 to accommodate the pre-pressure ejection assembly a 11. One end of the pre-pressure spring 21 may abut on the upper side of the chamber, and the pre-pressure jack 22 may be placed below the pre-pressure spring 21. The lifting appliance magnetically connected with the on/off keeping electromagnetic assembly 17 applies a pressing force to the pre-pressure ejection assembly A11, and when the magnetism of the on/off keeping electromagnetic assembly 17 disappears, the pre-pressure ejection assembly A11 converts the pre-pressure into an ejection force to be applied to the lifting appliance, so that the lifting appliance can be separated from the unmanned aerial vehicle connected above the tripping master block better.

Of course, the pre-stressing spring 21 can also be fixed to the female body at one end in other ways.

As shown in fig. 2, the trip type main hanger assembly T further includes a hanger connection module B according to an embodiment of the present invention.

The rack connecting module B can be different according to different connected pieces and can be realized by adopting any conventional connecting structure.

As shown in fig. 2, according to an embodiment of the present invention, the hanger connecting module B includes a hanger positioning fixing jacket 1, a mounting fixing lug 4 and a hanger height adjusting hanging plate 5, which are connected in sequence, the hanger positioning fixing jacket 1 is fixedly connected to a connected member, and the hanger height adjusting hanging plate 5 is connected to the tripping female block a.

Foretell stores pylon link module B's design mode can design to the structure of unmanned aerial vehicle undercarriage bracing piece, as shown in figure 1.

As shown in fig. 2, according to an embodiment of the present invention, the rack positioning fixing clamping sleeve 1 is fixedly connected to the mounting fixing ear plate 4, and the mounting fixing ear plate 4 is connected to the rack height adjusting hanging plate 5 in an angle adjustable manner. The fixed sleeve that can be equipped with on pressing from both sides 1 of stores pylon location to with unmanned aerial vehicle's undercarriage bracing piece cooperation. The number and the arrangement mode of the sleeves can be set according to actual conditions.

As shown in fig. 4a, according to an embodiment of the present invention, one side of the installation fixing ear plate 4 can be connected with the positioning fixing jacket 1 by screws.

As shown in fig. 5a, according to an embodiment of the present invention, the other end of the installation fixing lug plate 4 may be connected with the height adjustment hanging plate 5 by a bolt. The angle can be adjusted according to actual needs by installing the fixed ear plate 4 and the height adjusting hanging plate 5. When the angles of the two pieces are proper, the two pieces are fixed and positioned by bolts.

When the tripping female block is connected with the installation fixing ear plate 4, the height adjustment hanging plates 5 and the like, the number of the height adjustment hanging plates 5 can be set according to specific conditions, and as shown in fig. 5a and 5b, each tripping female block is connected with the installation fixing ear plate 4 through two height adjustment hanging plates 5.

According to an embodiment of the present invention, as shown in fig. 2, the other end of the mounting and fixing ear plate 4 can be pivotally connected to the height adjusting hanging plate 5, the angle between the mounting and fixing ear plate 4 and the height adjusting hanging plate 5 can be adjusted by itself according to the gravity of the object to be hung therebelow, and the mounting and fixing ear plate 4 and the height adjusting hanging plate 5 are rotatably connected.

The hanging rack height adjusting hanging plate 5 can be provided with a position adjusting gear.

According to an embodiment of the invention, as shown in fig. 2, fastening holes at different positions are arranged on the hanging rack height adjusting hanging plate 5, and the distance between the tripping female block and the above unmanned aerial vehicle undercarriage supporting rod can be adjusted within a certain range according to the selected positions of the fastening holes. Of course, the position adjustment can also be realized in other manners, such as a telescopic rod type structure and the like.

As shown in fig. 6, according to an embodiment of the present invention, the main cradle assembly may further include a liquid inlet hose 9, one end of the liquid inlet hose 9 is connected to the liquid cavity 63 of the quick-insertion type tripping female block a, and the other end of the liquid inlet hose is connected to a liquid storage chamber or a liquid pump on the drone. The number and connection mode of the liquid inlet hoses 9 can be flexibly connected according to the situation.

The liquid inlet hose 9 enables the pipeline connection mode to be more flexible. Of course, the liquid cavity 63 of the tripping master block a can also be connected with a liquid medicine storage chamber or a liquid pump on the unmanned aerial vehicle in other pipeline connection modes.

As shown in fig. 2, 3, 4a and 4B, according to an embodiment of the present invention, the main hanger assembly includes a set of the trip female block a and a corresponding set of the hanger connection module B, and the female block bodies of the trip female block may be connected to each other through a connection rod 14. The design mode can reduce the structure and mechanical parameters of a single tripping female block, and can also ensure that the balance and the stability of the whole structure are better.

Preferably, according to an embodiment of the present invention, as shown in fig. 2, 3, 4a, and 4B, the main rack assembly includes two sets of the tripping female blocks a, and correspondingly, the rack connecting modules B are also two sets of the rack connecting modules B.

The lifting appliance component mainly comprises a magnetic chuck, a pressure surface, a quick plug and a spray rod, wherein the magnetic chuck is in magnetic attraction connection with the power-on/off maintaining electromagnetic component; and a nozzle is arranged on the spray rod.

As shown in fig. 7, the magnetic attraction disc 18 is fixedly connected to the main connecting plate 25, and a magnetic attraction surface of the magnetic attraction disc 18 faces to the upper side of the main connecting plate 25. The number of magnetic attraction discs 18 may be one or a set, preferably two symmetrically. Magnetism is inhaled face top and can be connected unmanned aerial vehicle's trip formula main stores pylon, inhales through magnetism and connects. The unmanned aerial vehicle can include the main hanger subassembly of dropout that has the power-on/off and keeps electromagnetic assembly, can make hoist subassembly initiative dropout through making power-on/off and keep electromagnetic assembly to lose magnetism when the operation meets hindering. The magnetic chuck can be an iron chuck or the like.

The press-down face may be a face on a member connected to the main connection plate 25 or a face of the main connection plate 25 itself, as shown in fig. 3, and the press-down face 251 is a partial area on the upper face of the main connection plate 25.

The quick-connection plug 26 is fixedly connected with the main connecting plate 25, one end of the quick-connection plug 26 faces the upper part of the main connecting plate 25, and the other end of the quick-connection plug is communicated with the nozzle on the spray rod R. The quick-connect connector 26 can be quickly connected with the main hanger above, is convenient to install and easy to separate, and can be connected with liquid solution to supply liquid for the nozzle below.

The spray rod R is connected with the main connecting plate 25, and a nozzle (or a spray head) is arranged on the spray rod R.

In the invention, the spray rod can be a long rod with a larger length span, so that the spraying range of the spray nozzle arranged on the spray rod is larger.

According to one embodiment of the invention, the middle of the spray bar is connected to the main connecting plate, and nozzles are arranged in the two side areas of the spray bar.

According to the technical scheme, the lifting appliance component can be hung on a tripping main hanging rack component with an on/off electricity keeping electromagnetic component of the unmanned aerial vehicle through the magnetic suction disc of the main connecting plate and the quick connector buckle, and the on/off electricity keeping electromagnetic component can lose magnetism to actively trip when the operation is blocked, so that the unmanned aerial vehicle can safely return to the home.

According to an embodiment of the present invention, the spreader assembly further includes a telescopic device and a flexible infusion pipeline, the spray rod is connected to the main connection plate through the telescopic device, and the quick connector 26 is communicated with the nozzle on the spray rod R through the flexible infusion pipeline.

According to the technical scheme, the main body part of the lifting appliance assembly can be further contracted to the belly position above the undercarriage when the operation is not carried out, and the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the lifting appliance component is downwards unfolded through the telescopic device, the height of the spray rod can be reduced, the spray head is far away from the rotor wing and can be close to a crop canopy, the lifting appliance component can obviously reduce liquid drop drifting caused by self and a natural wind field, and further the dosage and unnecessary loss are reduced.

According to one embodiment of the invention, the telescopic drive is an electric spindle nut drive or a steering servomotor.

According to an embodiment of the present invention, the telescopic rod is a multi-section combined telescopic rod structure or a parallelogram telescopic link structure.

The multi-section combination drawbar type telescoping structure may be similar to the drawbar structure of a luggage case.

As shown in fig. 8 and 11, according to an embodiment of the present invention, the electric screw-nut transmission mechanism mainly includes a steering engine (or a motor) 38, a coupler 37, a driving screw 36 with positive and negative teeth, a guide rod 31, a driving slider nut-left-handed screw 32, and a driving slider nut-right-handed screw 35, where the steering engine 38 is connected to the driving screw 36 with positive and negative teeth through the coupler 37, the driving screw 36 with positive and negative teeth drives the driving slider nut-left-handed screw 32 and the driving slider nut-right-handed screw 35 sleeved thereon to move in opposite directions along the guide rod 31, respectively, the guide rod 31 is fixedly connected to the main connecting plate 25, and the driving slider nut-left-handed screw 32 and the driving slider nut-right-handed screw 35 are connected to two sides of the parallelogram telescopic link, respectively, as shown in fig. 10.

According to an embodiment of the present invention, in order to limit the degree of freedom of the telescopic rod in the rotation direction around the axis of the forward and backward tooth driving screw, guide rods 31 are provided on both sides of the screw to provide guidance for the driving slider nut.

As can be seen from fig. 8, 10 and 11, in the above-described embodiment, the parallelogram pantograph linkages are extended when the nuts 32, 35 are moved toward the middle and shortened when the nuts are moved toward the opposite ends. The extended state of the parallelogram pantograph telescopic links is shown in fig. 7 and 10, and the shortened state of the parallelogram telescopic links is shown in fig. 14.

In an embodiment of the present invention, the parallelogram telescopic link has a one-stage or multi-stage structure. I.e. comprises one or more groups of parallel connecting rod structures pivoted up and down. As shown in fig. 1, this embodiment comprises a multi-stage parallel linkage configuration.

As shown in fig. 7 and 10, according to an embodiment of the present invention, the parallelogram telescopic links can be connected by a pivot pin, for example, a base pivot pin 44, a middle pivot pin 46, and a middle long pivot pin 47 can be connected to a telescopic mechanism long link 48 and a telescopic mechanism short link 49, both ends of a steering engine suspension pin 50 are connected to the telescopic mechanism short link 49, and the middle part is connected to a steering servo motor 52.

As shown in fig. 8, 11 and 13, according to an embodiment of the present invention, the electric screw-nut transmission further includes a bearing block beam 28, a front-back drive screw end sliding bearing 30 and a middle sliding bearing 33 (fig. 11), and the bearing block beam may be designed as a frame structure, and may be disposed on both sides of the screw and along the length direction of the screw to support the screw and the guide bar. The guide rod 31 may be fixedly connected with the bearing block cross beam. The sliding bearing at the end part of the driving screw rod with the positive and negative teeth and the sliding bearing at the middle part can be supported by the beam of the bearing seat. The end sliding bearings of the positive and negative tooth driving screw rods are arranged at two ends of the positive and negative tooth driving screw rods, and the middle sliding bearings are arranged in the middle of the positive and negative tooth driving screw rods.

According to one embodiment of the present invention, the forward and reverse drive screws are three-point supported by bearings at both ends and in the middle. The intermediate slide bearing housing 33 is constructed as shown in fig. 12, and the forward and reverse drive screws 36 are supported for rotation in the central main slide bearing 33. The drive screw is supported for rotation on both sides in end slide bearings 30, the detail of which is shown in figure 13.

As shown in fig. 9a and 9b, according to an embodiment of the present invention, the electric screw nut transmission mechanism may further include a travel switch 40 provided at an end of the left-hand or right-hand travel of the driving slider nut.

According to an embodiment of the present invention, the travel switch 40 may include a rising end travel switch 402 and a falling end travel switch 401, which may be mounted on the mounting seats of the middle main sliding bearing 33 and the end sliding bearing 30, respectively, and the positions may be adjusted by screws to adjust the folding and unfolding limit positions of the telescopic device.

When the telescopic device ascends or descends to the travel switch, the stop motion of the telescopic device can be controlled through signal detection and transmission.

According to an embodiment of the present invention, the forward and reverse drive screw assembly drives the multi-stage parallelogram telescopic link in a manner that: the steering engine or the motor can drive the positive and negative screw rods to rotate through the single diaphragm coupling, when the screw rods rotate clockwise, the nuts on two sides are folded towards the middle, the parallelogram connecting rod in the lifting appliance component is driven to be unfolded downwards, the height of the spray rod is reduced, when the nut on the left side moves to the rightmost end, the nut on the left side can be pressed down to stop the stroke switch, and the height of the spray rod is reduced to the lowest; when anticlockwise rotating, the nuts on the two sides are separated towards the two sides, the parallelogram connecting rod in the lifting appliance component is driven to be folded upwards, the height of the spray rod is lifted, the left nut can be pressed down to lift the travel switch when moving to the leftmost end, and the spray rod is folded.

According to an embodiment of the present invention, a steering servo motor 52 is provided at the lower end of the telescopic rod, and the steering servo motor 52 is connected to the spray bar R to drive the spray bar R to steer.

Spray lance R accessible bolt pair is installed on the rocking arm that turns to servo motor 52, and when unmanned aerial vehicle takes off or lands, the direction that unmanned aerial vehicle gos forward and retreat can be changeed to the spray lance, accepts in undercarriage below belly below position, and during the spraying operation, the rotatable 90 degrees of spray lance turns to the direction that perpendicular to unmanned aerial vehicle gos forward.

According to one embodiment of the invention, as shown in fig. 7, the spray bar R is provided with a concave portion R1, the spray bar R is connected with the main connection plate 25 through a telescopic device via the concave portion R1, and the spray head is provided on a non-concave portion. The concave portion may be disposed in the middle of the spray bar. By the design, the space below the belly of the unmanned aerial vehicle can be fully utilized, so that the pesticide spraying lifting appliance is completely retracted below the belly of the unmanned aerial vehicle and positioned above the undercarriage when the pesticide spraying lifting appliance is not operated; meanwhile, the heights of the components such as the nozzles arranged on the non-concave parts at the two sides can be designed to be consistent.

The width of the concave part of the concave rod piece takes the landing and the taking off of the unmanned aerial vehicle as the standard without influencing after the lifting appliance component is completely contracted.

According to one embodiment of the invention, the boom bar is retracted below the belly and above and parallel to the landing gear, wherein the parallelogram linkages of the spreader assembly turn 90 degrees when deployed or retracted.

According to one embodiment of the invention, the boom bar is retracted to lie immediately below and perpendicular to the landing gear, wherein the parallelogram linkages of the spreader assembly do not steer when deployed or retracted.

As shown in FIG. 7, according to an embodiment of the present invention, the flexible infusion tube may include a flexible helical spring tube 59, the flexible helical spring tube 59 is disposed in parallel with the telescopic device, the upper end of the flexible helical spring tube 59 is connected to the quick connector, and the lower end of the flexible helical spring tube 59 is connected to the nozzle. The telescoping coil spring tube 59 may be a flexible tube that is easily extended and retracted.

As shown in FIG. 7, the liquid delivery pipe at the spray bar may include a three-way pipe 60 with variable diameter and branch pipes for nozzles, and the branch pipes for nozzles may further include an inner branch pipe 61 and an outer branch pipe 62 for nozzles, which are connected to the branch pipes. The upper interface of the flexible spiral spring tube 59 can be sleeved on the quick connector 26, and the lower interface can be sleeved on the variable diameter liquid-separating tee 60 and then respectively sent to the spray head or the spray nozzle.

The flexible liquid conveying pipeline can be provided with a plurality of sets according to the arrangement of the nozzles, and the arrangement form is determined according to the shapes of the spray rod and the nozzles. According to one embodiment of the invention, the flexible infusion line is a symmetrical left and right line. Correspondingly, the fast plug connectors and the like can also be in multiple groups.

According to the technical scheme, the lifting appliance assembly can be hung on a tripping main hanger assembly of the unmanned aerial vehicle through a magnetic suction disc of a main connecting plate and a quick connector buckle, the tripping main hanger assembly is provided with an on/off electricity keeping electromagnetic assembly, the lifting appliance assembly can be actively tripped by enabling the on/off electricity keeping electromagnetic assembly to lose magnetism when the operation is blocked, and as shown in figure 15, the unmanned aerial vehicle can safely return to the home; further, the invention can also retract the main body part of the spreader component to the belly position above the undercarriage when not in operation, as shown in fig. 16a and 16b, so that the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the hanger assembly is unfolded downwards through the telescopic device, as shown in fig. 16c and 16d, the height of the spray rod can be reduced, as shown in fig. 16e and 16f, the spray rod can be turned to the direction perpendicular to the length direction of the undercarriage, the spray head (or the spray nozzle) is far away from the rotor wing and can be close to a crop canopy, and the hanger assembly can remarkably reduce liquid drop drifting caused by the hanger assembly and a natural wind field, so that liquid consumption and unnecessary loss are reduced.

The main tripping hanger component can realize the hanging and falling of the pesticide spraying hanger component, the state of the fallen medicine spraying hanger component is shown in figure 15, and the realization mode is as follows: when the installation of hoist subassembly, the outage keeps the electromagnetism subassembly not to circular telegram, takes strong magnetism, at this moment will spout magnetic chuck, the quick pipe nipple in the medicine hoist subassembly and press to the lower surface of the female piece of dropout, under the effect of magnetic attraction force, quick pipe nipple inserts the liquid intracavity of the female piece of dropout, realizes liquid way and circuit connection to keep laminating connection state under the suction effect of magnetic chuck. When the hoist subassembly meets hindering in the operation, control system gives the signal and makes the outage keep the electro-magnet circular telegram, and the magnetic attraction of magnetic chuck disappears, and integrated magnetic chuck, quick intubate connect spout the medicine hoist and bounce off under the elastic force effect of precompression ejector pin, make quick intubate connect extract the sap cavity of dropout female piece, and the hoist subassembly drops to steerable plant protection unmanned aerial vehicle liquid pump is closed simultaneously. So, just make the hoist and the unmanned aerial vehicle separation that probably meet the resistance, ensured that the unmanned aerial vehicle fuselage is not influenced. The working method that the circular telegram kept the electromagnetism subassembly just in time keeps the opposite of electromagnetism subassembly with the outage, that is to say when the circular telegram, takes strong magnetism, at this moment will spout magnetic chuck, the quick tube joint in the medicine hoist subassembly and press to the lower surface of the female piece of dropout, under the effect of magnetic attraction, quick tube joint inserts the liquid intracavity of the female piece of dropout, realizes liquid way and circuit connection to keep laminating connection state under the effect of suction of magnetic chuck. When the hoist subassembly meets hindering in the operation, control system gives the signal and makes the circular telegram keep the electro-magnet outage, and the magnetic attraction of magnetic chuck disappears, and integrated magnetic chuck, quick intubate connect spout the medicine hoist and bounce off under the elastic force effect of precompression ejector pin, make quick intubate connect extract the sap cavity of dropout female piece, and the hoist subassembly drops to steerable plant protection unmanned aerial vehicle liquid pump is closed simultaneously.

Of course, the tripping master block and the tripping master rack assembly provided by the invention can be applied to different occasions or fields according to actual needs, and are not limited to the field of unmanned aerial vehicle pesticide application provided by the invention, and the embodiment of the invention is only an example.

The remote controller is the remote controller of control unmanned aerial vehicle operation, and this kind of remote controller can adopt prior art to realize. The onboard control device is an onboard control device matched with the remote controller, and receives the instruction information sent by the remote controller. After the airborne control device receives a takeoff or landing instruction sent by the remote controller, the telescopic rod in the lifting appliance assembly is controlled to stretch and retract, and the spray rod can be rotated; after receiving the command that the flight meets the resistance, the pesticide spraying lifting appliance component is separated from the main hanging frame component and falls off, so that the tripping action is completed, and the safety of the unmanned aerial vehicle is ensured.

According to an embodiment of the present invention, the control device may include a receiving module, a sending module, and an analyzing module. The unmanned aerial vehicle can also be provided with obstacle detection equipment for whether the hoist assembly below is met and blocked, in case of detecting meeting and blocking, can convey the signal to controlling means, after controlling means's receiving module received and met and blocked the signal, discerned through analysis processing module, and accessible sending module will control the signal transmission that the female piece of dropout lost magnetism to the circuit component of the female piece of dropout after confirming, makes the hoist assembly drop. At the same time, the control device can control the liquid pump to be closed. The control device can also receive commands of the remote controller such as take-off, landing, stretching or falling, and the like, so that the unmanned aerial vehicle can perform the actions of take-off and landing, stretching of the stretching device and falling of the lifting appliance component.

and responding to the signal that the hanger assembly is blocked, controlling the tripping type main hanger assembly to be switched on/off and demagnetized by the control system, and enabling the hanger assembly to lose magnetic force and be popped up to fall off from the tripping type main hanger assembly.

According to an embodiment of the invention, the method further comprises:

when the unmanned aerial vehicle does not need to be sprayed, the lifting appliance assembly of the unmanned aerial vehicle is in a contraction state, the length direction of the spray rod is parallel to or perpendicular to the length direction of the undercarriage of the unmanned aerial vehicle, and the spray rod is retracted below the unmanned aerial vehicle and is positioned above or below the undercarriage of the unmanned aerial vehicle and clings to the undercarriage of the unmanned aerial vehicle;

In the method, the spray rod of the lifting appliance assembly can rotate at any angle relative to the landing gear of the unmanned aerial vehicle, and in order to achieve the spraying effect, the spray rod of the lifting appliance assembly rotates 90 degrees.

According to an embodiment of the invention, as shown in fig. 17, a using method based on the unmanned aerial vehicle comprises the following steps: the wireless control system sends an instruction to control the multistage parallelogram connecting rod to expand downwards, the spray rod is rotated to be perpendicular to the undercarriage, and then the spraying device is opened to control the unmanned aerial vehicle to carry out spraying operation; when the flight meets the resistance, the wireless control system sends an instruction to enable the pesticide spraying lifting appliance to fall off from the tripping main hanging frame, the unmanned aerial vehicle safely returns to the air and lands, and the pesticide spraying lifting appliance is recovered, overhauled and reinstalled and then carries out the operation of taking off again; after the operation is finished, the wireless control system sends an instruction, the spray rod rotates to be parallel to the undercarriage, the multi-stage parallelogram connecting rods shrink upwards, the pesticide spraying lifting appliance is retracted below the belly and above the undercarriage, and the airplane lands.

A use method based on the plant protection unmanned aerial vehicle specifically can be as follows:

a. after the plant protection unmanned aerial vehicle takes off from the air above the operation land, the remote controller sends a downward extension instruction to the airborne controller, and the airborne controller sends instruction information to the pesticide spraying lifting appliance component after receiving the downward extension instruction; in an initial state, the pesticide spraying lifting appliance of the plant protection unmanned aerial vehicle is retracted, is parallel to the undercarriage and is retracted below the unmanned aerial vehicle, and the height of the pesticide spraying lifting appliance is higher than that of the undercarriage of the unmanned aerial vehicle;

b. the multi-stage parallelogram connecting rods in the pesticide spraying lifting appliance component move downwards to the position right below the unmanned aerial vehicle and extend to a proper length, and the spray rod rotates to be perpendicular to the undercarriage;

c. the spraying device is opened, and the unmanned aerial vehicle is controlled to carry out spraying operation;

d. when unmanned aerial vehicle meets the resistance in the operation process, the remote controller sends an instruction to the airborne control device, after the airborne control device receives a tripping instruction, the quick-insertion type tripping electromagnet is switched on/off and demagnetized, the spring pre-pressure ejector rod pushes the pesticide spraying lifting appliance to open, the pesticide spraying lifting appliance falls off, and meanwhile, the liquid pump is closed, and the unmanned aerial vehicle safely returns to the air and lands.

e. And (4) recovering, overhauling/reinstalling the spraying lifting appliance, and restarting from the step a.

f. After the spraying operation is accomplished, the remote controller sends the shrink instruction and gives machine-mounted control device, and machine-mounted control device receives shrink instruction information after, and the spray lance rotates to and is parallel with the undercarriage, spouts the multistage parallelogram connecting rod upwards to shrink in the medicine hoist subassembly, it packs up to spout the medicine hoist, is on a parallel with the undercarriage and receives in the unmanned aerial vehicle below, and highly is higher than the unmanned aerial vehicle undercarriage height.

g. After the plant protection unmanned aerial vehicle system is completely packed up, the unmanned aerial vehicle descends to complete spraying operation.

The other use method based on the plant protection unmanned aerial vehicle system is basically the same as the steps, and is different in that the concave integrated spray rod is always perpendicular to an unmanned aerial vehicle undercarriage and is tightly attached to the lower portion of the undercarriage after being retracted, and the concave integrated spray rod does not turn when the multistage parallelogram connecting rod of the pesticide spraying lifting appliance contracts or expands.

The spraying system of the unmanned aerial vehicle is designed into an active tripping structure and can be lifted, and when the unmanned aerial vehicle is in a blockage situation, the spraying lifting appliance can automatically drop, so that the safety of the unmanned aerial vehicle is ensured; the main body part of the spraying lifting appliance can be contracted to the belly position when the operation is not carried out, and the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the telescopic rod is unfolded downwards, the height of the spray rod is reduced and is vertical to the undercarriage, the spray head is far away from the rotor wing and can be close to a crop canopy, liquid drop drifting caused by the rotor wing and a natural wind field is obviously reduced, and further, the dosage and unnecessary loss are reduced; the spray rod can be a long-rod type spraying structure, so that the one-way spray spoke of the liquid medicine can be enlarged, and the power consumption of the unmanned aerial vehicle is effectively saved.

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.

Example 1

Referring to fig. 1-17, the plant protection unmanned aerial vehicle of the embodiment mainly includes an unmanned aerial vehicle body, a wireless control system, a trip type main hanger component and a pesticide spraying hanger component. Wherein: the wireless control system comprises an airborne control device and a remote controller; the trip type main hanger component comprises a left hanger positioning fixing jacket 1, a right hanger positioning fixing jacket 1, an ear plate 4, a hanger height adjusting hanging plate 5, a left quick-insertion type trip female block A, a right quick-insertion type trip female block A, a left trip female block connecting rod 14, a right trip female block connecting rod 14, a liquid inlet hose 9 and a joint 10; the pesticide spraying lifting tool component comprises a left magnetic suction disc 18, a right magnetic suction disc 18, a liquid outlet quick connector 26, a main connecting plate 25, a positive and negative tooth screw driving component, a multi-stage parallelogram telescopic connecting rod, a spraying rod 90-degree steering servo motor 52 and a concave integrated spraying rod. And infusion hoses are arranged at the tripping main hanger and the spraying hanger assembly, wherein the infusion pipeline at the multi-stage parallelogram telescopic connecting rod of the spraying hanger is a telescopic spiral spring pipe 59. The fixing and connection of the components are mainly realized by screws and nuts.

The remote controller is the remote controller of control plant protection unmanned aerial vehicle operation, airborne control device is the supporting airborne control device with the remote controller, and the instruction information that the remote controller sent is received to airborne control device. After receiving a take-off or landing instruction sent by a remote controller, the airborne control system controls the parallelogram row multistage connecting rods in the pesticide spraying lifting appliance to stretch and rotate the spray rods; after receiving the command of meeting the resistance in flight, the pesticide spraying lifting appliance component is separated from the main hanging rack component and falls off, so that the tripping action is completed, and the safety of the airplane is ensured.

The tripping female block A consists of an on/off maintaining electromagnetic assembly 17, a mandril pre-pressing spring 21, a pre-pressing mandril 22 and a circular counter bore liquid cavity 63.

Wherein, the on/off electricity keeping electromagnetic assembly 17 sucks the magnetic suction disc 18 of the pesticide spraying lifting appliance on the main connecting plate 25 in the combined state, the quick liquid outlet plug 26 is inserted into the circular counter bore liquid cavity 63 of the tripping female block A, and the liquid path and the circuit are connected. After the airborne control system receives a signal that the unmanned aerial vehicle is in a blockage situation, the on/off circuit keeps the on/off circuit of the electromagnetic assembly 17 to lose magnetism, the attraction force of the magnetic disc 18 disappears, the main connecting plate 25 integrating the magnetic disc 18 and the fast inserting pipe joint 26 bounces off under the elastic action of the pre-pressure ejector rod 22, the fast inserting pipe joint 26 is made to be separated from the circular counter bore liquid cavity 63 of the tripping master block A, the pesticide spraying lifting appliance assembly falls off, and the liquid pump of the plant protection unmanned aerial vehicle is controlled to be closed. The hanging and the falling of the pesticide spraying lifting appliance are realized through the structure, and the safety of the airplane is ensured.

The positive and negative tooth driving screw assembly comprises a bearing seat cross beam 28, a positive and negative tooth driving screw end sliding bearing 30, a guide rod 31, a driving slide block nut-left-handed rotation 32, a middle sliding bearing 33, a driving slide block nut-right-handed rotation 35, a positive and negative tooth driving screw 36, a single diaphragm coupling 37, a steering engine 38, a travel switch 40 and the like.

The multi-stage parallelogram telescopic connecting rod comprises a basic rotating pin 44, a middle rotating pin 46, a middle long rotating pin 47, a telescopic mechanism long connecting rod 48, a telescopic mechanism short connecting rod 49, a steering engine hanging pin 50 and the like.

The mode that the multi-stage parallelogram telescopic connecting rod is driven by the positive and negative tooth driving screw rod assembly is that a steering engine 38 or a motor drives a positive and negative tooth screw rod 36 to rotate through a single diaphragm coupler 37, when the positive and negative tooth driving screw rod assembly rotates clockwise,

nuts

35 and 32 on two sides are folded towards the middle to drive the multi-stage parallelogram connecting rod in the pesticide spraying hanger to expand downwards, the height of the spray rod is reduced, a descending stop travel switch is pressed down when the nut 35 on the left side moves to the rightmost end, and the height of the spray rod is reduced to the; when anticlockwise rotating, the nuts 35 and 32 on the two sides are separated towards the two sides, the multi-stage parallelogram connecting rod in the pesticide spraying lifting appliance is driven to be folded upwards, the height of the spray rod is lifted, the left nut 35 can be pressed down to descend when moving to the leftmost end, the travel switch is stopped, and the spray rod is folded.

The concave integrated spray rod consists of a concave rod piece 57, a spray head 58 and a transfusion pipeline. Wherein the infusion tube is composed of a variable diameter liquid-separating tee 60, an inner spray head branch tube 61 and an outer spray head branch tube 62. The width of the concave part of the concave rod piece is based on the principle that the unmanned aerial vehicle does not influence the landing and take-off of the unmanned aerial vehicle after the spraying lifting appliance is completely contracted. The spray heads are distributed at the non-concave ends of the concave rod pieces. And the left and right transfusion pipelines in the concave spray rod are respectively connected with the spray head through a reducing and shunting tee joint and a branch pipe.

Plant protection unmanned aerial vehicle's liquid way connection condition is as follows: the upper part interface of the telescopic spiral spring tube 59 is sleeved on the quick insertion tube joint 26, the lower part interface is sleeved on the reducing liquid-separating tee 60, one outlet of the two outlets of the reducing liquid-separating tee is connected to the inner spray head through the inner spray head branch tube 61, and the other outlet is connected to the outer spray head through the outer spray head branch tube 62, so that the connection of liquid paths is completed. Wherein, plant protection unmanned aerial vehicle's hydrojet pump export is connected to the circular counter bore liquid chamber 63 of the female piece A of dropout through going into liquid hose 9 in, and the circular counter bore liquid chamber passes through quick-insertion pipe joint 26 and connects to flexible helical spring pipe 59, send into in reducing liquid tee bend 60 again, on the four fan-shaped atomizing nozzles are respectively sent to the subdividing, realize the spraying.

A use method based on the plant protection unmanned aerial vehicle system comprises the following steps: the wireless control system sends an instruction to control the multistage parallelogram connecting rod to expand downwards, the spray rod is rotated to be perpendicular to the undercarriage, and then the spraying device is opened to control the unmanned aerial vehicle to carry out spraying operation; when the flight meets the resistance, the wireless control system sends an instruction to enable the pesticide spraying lifting appliance to fall off from the tripping main hanging frame, the unmanned aerial vehicle safely returns to the air and lands, and the pesticide spraying lifting appliance is recovered, overhauled and reinstalled and then carries out the operation of taking off again; after the operation is finished, the wireless control system sends an instruction, the spray rod rotates to be parallel to the undercarriage, the multi-stage parallelogram connecting rods shrink upwards, the pesticide spraying lifting appliance is retracted below the belly and above the undercarriage, and the airplane lands.

Specifically, the method comprises the following steps:

a. after the plant protection unmanned aerial vehicle takes off from the air above the operation land, the remote controller sends a downward extension instruction to the airborne controller, and the airborne control device sends instruction information to the pesticide spraying lifting appliance component after receiving the downward extension instruction; in an initial state, the pesticide spraying lifting appliance of the plant protection unmanned aerial vehicle is retracted, is parallel to the undercarriage and is retracted below the unmanned aerial vehicle, and the height of the pesticide spraying lifting appliance is higher than that of the undercarriage of the unmanned aerial vehicle;

d. when unmanned aerial vehicle meets the resistance in the operation process, the remote controller sends an instruction to the airborne control device, after the airborne control device receives a tripping instruction, the quick-insertion type tripping electromagnet is switched on/off and is de-energized, the spring pre-pressure ejector rod jacks the spraying lifting appliance to be opened, the spraying lifting appliance drops, the liquid pump is closed, and the unmanned aerial vehicle safely returns to the air and lands.

g. After all spraying systems of plant protection unmanned aerial vehicle packed up completely, unmanned aerial vehicle descends, accomplishes the spraying operation.

Example 2

This embodiment a plant protection unmanned aerial vehicle system, basically with embodiment 1, the difference lies in:

the driving screw assembly of the positive and negative teeth in the pesticide spraying lifting appliance is replaced by a 90-degree steering servo motor, and the multistage parallelogram connecting rod is pushed to expand downwards or contract upwards.

Example 3

the concave integrated spray rod is always perpendicular to the length direction of the undercarriage, is tightly attached to the lower part of the undercarriage after being retracted, and does not turn when the multistage parallelogram connecting rod of the pesticide spraying lifting appliance contracts or expands.

Example 4

This embodiment a plant protection unmanned aerial vehicle system, basically with embodiment 2, the difference lies in:

Example 5

This example differs from examples 1-4 in that: the multi-stage parallelogram connecting rod is a one-stage parallelogram connecting rod.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "coupled" as used herein may be either a direct connection or an indirect connection, i.e., an element may be coupled to a connected element via another element.

The foregoing embodiments are merely illustrative of the present invention, and various components and devices of the embodiments may be changed or eliminated as desired, not all components shown in the drawings are necessarily required, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments described herein, and all equivalent changes and modifications based on the technical solutions of the present invention should not be excluded from the scope of the present invention.

Claims

1. A spray system comprising a trip type main hanger assembly and a spreader assembly, wherein,

the tripping type main hanger assembly comprises a tripping female block, wherein an on/off power keeping electromagnetic assembly, a pre-pressure ejection assembly and a liquid cavity are arranged on the tripping female block, the on/off power keeping electromagnetic assembly has magnetism when being powered on/off, and loses magnetism after being powered off/on; the pre-pressure ejection assembly can store elastic pre-pressure; the liquid cavity is provided with a quick-insertion connecting port;

2. The spray system of claim 1, wherein the spreader assembly further comprises a main connection plate, and the magnetic chuck, the hold-down surface, the quick-connect coupling, and the spray bar are respectively connected to the main connection plate; the lifting appliance assembly further comprises a telescopic device and a flexible infusion pipeline, the spray rod is connected with the main connecting plate through the telescopic device, and the quick-connection connector is communicated with the spray nozzles on the spray rod through the flexible infusion pipeline.

3. The spraying system of claim 2, wherein the telescopic device comprises a telescopic driving device and a telescopic rod, and the telescopic driving device drives the telescopic rod to extend and retract up and down.

4. The spray system of claim 3, wherein the telescopic drive is an electric screw-nut drive; the telescopic rod is a multi-section combined pull rod type telescopic structure or a parallelogram telescopic connecting rod structure.

5. The spraying system of any one of claims 2 to 4, wherein the flexible infusion pipeline comprises a telescopic helical spring pipe, the telescopic helical spring pipe is arranged in parallel with the telescopic device, the upper end of the telescopic helical spring pipe is connected with the quick-connection plug, and the lower end of the telescopic helical spring pipe is connected with the nozzle.

6. A spraying system according to any one of claims 1 to 4, wherein the spray bar is provided with a concave portion through which the spray bar is connected to the main connection plate, and the nozzles are provided on a non-concave portion.

7. The spraying system according to any one of claims 1 to 4, wherein the pre-pressure ejection assembly comprises a pre-pressure spring and a pre-pressure ejector rod, one end of the pre-pressure ejector rod abuts against the pre-pressure spring, and the other end of the pre-pressure ejector rod is provided with an ejection head.

8. A spraying system according to any one of claims 1 to 4, wherein the liquid chamber is a chamber open to the interior of the female block body or provided on an element connected to the female block body.

9. The spraying system of any one of claims 1 to 4, wherein the trip type main hanger assembly further comprises a hanger connection module, the hanger connection module comprises a hanger positioning fixing jacket, a mounting fixing lug plate and a hanger height adjusting hanging plate, the hanger positioning fixing jacket is connected in sequence, the hanger positioning fixing jacket is fixedly connected with a connected piece, and the hanger height adjusting hanging plate is connected with the trip female block.

10. The spray system of any one of claims 1 to 4, wherein the trip main hanger assembly further comprises a fluid inlet hose having one end connected to the fluid chamber of the trip female block and another end for connection to a fluid reservoir or a fluid pump.

11. An unmanned aerial vehicle comprising a control system and the misting system of any one of claims 1 to 10, the misting system being connected to the unmanned aerial vehicle through the trip type main cradle assembly, the control system being connected to the misting system.

12. A drone according to claim 11, characterised in that the control system is a wireless control system comprising onboard controls and a remote control.

13. A method for using the drone according to claim 11 or 12, the method comprising:

14. The method of claim 13, further comprising:

15. The method of claim 13 or 14, further comprising one or more of: