CN112249332A

CN112249332A - High-stability crop spraying unmanned aerial vehicle

Info

Publication number: CN112249332A
Application number: CN202011274196.5A
Authority: CN
Inventors: 王明丹; 王金伟
Original assignee: Jinjiang Technology Co ltd
Current assignee: Jinjiang Technology Co ltd
Priority date: 2020-11-15
Filing date: 2020-11-15
Publication date: 2021-01-22

Abstract

The utility model provides a crops of high stability spray unmanned aerial vehicle, the focus of its medical kit and the holistic focus coincidence of unmanned aerial vehicle, and the medical kit is done similar "tumbler" action through medical kit guiding mechanism, and can not take place too big rocking and swing along with the change of unmanned aerial vehicle gesture, and simultaneously, the medical kit passes through medical kit lift adjustment mechanism and sets up in unmanned aerial vehicle's underframe, can be when the liquid medicine reduces, drive medical kit rebound, thereby the focus of having guaranteed the medical kit can not be along with the reduction of liquid medicine and skew downwards, unmanned aerial vehicle's flight stability has further been improved.

Description

High-stability crop spraying unmanned aerial vehicle

Technical Field

The invention relates to the field of agricultural machinery, in particular to a high-stability crop spraying unmanned aerial vehicle.

Background

Modern agricultural machinery generally develops towards automation and no humanization, and particularly for large-area crop drug spraying, the unmanned requirement is more urgent. The plant protection unmanned aerial vehicle has the advantages of low operation height, less drift, capability of suspending in the air, remote control operation and the like, so that the plant protection unmanned aerial vehicle has wide application range in crop spraying. But because unmanned aerial vehicle only leans on the oar wing flight operation aloft, its fuselage is often in the state of rocking, and the medicine bottle or the cartridge case that carry on the plant protection unmanned aerial vehicle also can be along with rocking, and the liquid medicine that the inside held except can shaking, it also can incline along with the slope of fuselage, influences unmanned aerial vehicle's flight stability at last. And to unmanned aerial vehicle flight stability problem, also made corresponding improvement to the medical kit structure among the prior art: as patent document 1, it discloses a plant protection unmanned aerial vehicle anti-shake liquid storage device, a plurality of criss-cross installation baffles are arranged in a liquid storage tank, the liquid storage tank is divided into a plurality of small space structures, and a fluorine rubber pad or a charging and discharging cushion is arranged on a fixing frame to further reduce the liquid medicine shake in the liquid storage tank, but the liquid medicine shake is reduced to a certain extent by the structure, but the liquid medicine in the liquid storage tank still tilts along with the inclination of the posture of the unmanned aerial vehicle, so that the gravity center of the liquid medicine still changes along with the change of the posture of the unmanned aerial vehicle, and although the problem of liquid medicine shake is solved, the problem of flight stability of the unmanned aerial vehicle cannot be well solved; as another patent document 2, it discloses a multi-rotor-wing pesticide box for plant protection unmanned aerial vehicle, which makes the pesticide box body into a hollow annular cavity structure formed by a closed curve rotating 360 degrees around a rotating shaft, and sets a spiral damping sheet around the rotating shaft in the annular cavity body, and sets the geometric center of the box body on the rotating shaft, coinciding with the central axis of the unmanned aerial vehicle, by this arrangement, it increases the flight stability of the unmanned aerial vehicle to a certain extent, and prevents the impact generated by the shaking of the pesticide liquid, but it does not consider the influence of the pesticide liquid on the gravity center of the liquid storage box, and because the box body is set to a similar trapezoidal structure, the pesticide outlet is set at one end of the bottom of the box body, it is not very good and can completely drain the pesticide liquid in the box body, there is the problem of pesticide liquid residue, meanwhile, because it does not consider the influence of the pesticide liquid gravity on the, therefore it also has the unmanned aerial vehicle stability not very good problem.

[ patent document 1] CN 103935518B;

[ patent document 2] CN 105235908B.

To sum up, current crops spray unmanned aerial vehicle and only considered how to prevent that the liquid medicine in the medical kit from shaking and influencing unmanned aerial vehicle flight stability, and to the liquid medicine along with the focus excursion that unmanned aerial vehicle slope caused further increase the problem that unmanned aerial vehicle rocked then do not consider, simultaneously along with spraying the back of liquid medicine, the liquid medicine in the medical kit reduces gradually, and its focus also changes, and how can guarantee that the focus does not squint unmanned aerial vehicle focus also is the problem that needs to be considered. The utility model provides a pair of high stability's crops spray unmanned aerial vehicle has considered above-mentioned problem promptly, through setting up the medical kit into "tumbler" structure, and sets up the elastic adjustment piece bottom the medical kit for the automatic focus adjustment that comes the automatic realization medical kit of come of medical kit come to float when the liquid medicine reduces, thereby can make unmanned aerial vehicle have high stability.

Disclosure of Invention

In order to overcome the defects of the existing plant protection unmanned aerial vehicle, the invention provides a technical scheme, and the high-stability crop spraying unmanned aerial vehicle comprises: fuselage of constituteing by last frame and underframe, install in the screw on fuselage upper portion, spout medicine mechanism and install the medical kit in the underframe, it is used for spraying insecticide to spout medicine mechanism from the internal absorption liquid medicine of medical kit, the medical kit is spherical structure, including spherical shell and the fixed balancing weight that sets up in spherical shell bottom, the medical kit slides and sets up in medical kit guiding mechanism, medical kit guiding mechanism slides through medical kit lift adjustment mechanism and sets up in the underframe, its focus and unmanned aerial vehicle focus coincide after the medical kit fills with the liquid medicine, medical kit guiding mechanism can make the balancing weight of medical kit bottom installation for the fuselage down all the time, make the medical kit like "tumbler", it is down to keep the balancing weight all the time, the medical kit does not take place the wide range along with the transform of.

Preferably, the medicine chest guiding mechanism comprises a first annular bump, a first tail end hemispherical guide shell and a plurality of middle hemispherical guide shells, the first annular bump is arranged at the lower part of the spherical shell, and the middle hemispherical guide shells are arranged between the first annular bump and the first tail end hemispherical guide shells.

Preferably, the middle hemispherical guide shell is of a hemispherical structure, and each of the middle hemispherical guide shells comprises an annular groove located inside the sphere and an annular convex block located outside the sphere, and the annular convex block and the annular groove can be respectively clamped with the annular groove or the annular convex block of the adjacent middle hemispherical guide shell, so that one middle hemispherical guide shell can relatively slide relative to the other hemispherical guide shell, the annular convex block and the annular groove form a certain angle t, t of each hemispherical guide shell is the same, and the number N of the middle hemispherical guide shells is calculated in a manner of N = (180 °/t) -1, wherein N is a number greater than or equal to 0.

Preferably, when t is 45 degrees, the number of the middle hemispherical guide shells is 3, each hemispherical guide shell comprises a hemispherical guide shell I, an annular groove I is arranged inside each hemispherical guide shell I, an annular lug II is arranged outside each hemispherical guide shell I, and each annular lug I is clamped in the annular groove I in a sliding mode; the inner part of the hemispherical guide shell II is provided with a second annular groove, the outer part of the hemispherical guide shell II is provided with a third annular bump, and the second annular bump is clamped in the second annular groove in a sliding manner; the inner part of the hemispherical guide shell III is provided with a third annular groove, the outer part of the hemispherical guide shell III is provided with a fourth annular bump, and the third annular bump is slidably clamped in the third annular groove.

Preferably, the annular protrusion is 1/4 or less of a full hemispherical length, such that both ends of the annular recess are provided with detents.

Preferably, a horizontally arranged annular baffle is arranged in the spherical shell, the annular baffle is fixedly arranged on the inner wall of the spherical shell, and a circular opening is arranged in the middle of the annular baffle.

Preferably, a plurality of annular baffles are arranged in the spherical shell from top to bottom in sequence side by side.

Preferably, the medicine chest lifting adjusting mechanism comprises a compression spring and a guide locking loop bar, the lower end of the compression spring is fixedly arranged on a lower bottom plate of the lower frame, and the upper end of the guide locking loop bar is fixed on the tail end hemispherical guide shell.

Preferably, direction locking loop bar includes the guide pillar, the guide cylinder, three locking hornblocks and three hornblock locking mechanical system, three locking hornblocks evenly distributed are on the guide pillar, and the hypotenuse of three locking hornblocks up, the guide pillar slides and sets up in the guide cylinder, and three hornblock locking mechanical system can cooperate with three locking hornblocks, make liquid medicine in the medical kit when reducing, compression spring overcomes gravity drive guide pillar and moves upwards, three locking hornblocks drive three hornblocks locking mechanical system are in the open mode, thereby realize that the medical kit rises along with the reduction of liquid medicine, thereby guarantee that the medical kit focus can not deviate unmanned aerial vehicle focus along with the reduction of liquid medicine.

Preferably, the triangular block locking mechanism comprises a triangular lock head, a locking pressure spring, a locking guide rod and a pull ring, the triangular lock head is located at the left end of the locking guide rod, the pull ring is located at the right end of the locking guide rod, the bevel edge of the triangular lock head faces downwards and can be matched with the locking triangular block, the locking pressure spring is located between the triangular lock head and the guide cylinder, and the triangular lock head is pressed against the locking triangular block.

The invention has the beneficial effects that:

1) according to the high-stability crop spraying unmanned aerial vehicle, the pesticide box is innovatively designed into a tumbler structure, the pesticide box is arranged into a spherical structure, and the counterweight block is arranged at the bottom of the pesticide box, so that the pesticide box is always kept in a vertical posture, and the pesticide box and the liquid medicine in the pesticide box cannot change along with the change of the posture of the unmanned aerial vehicle, so that the problem that the liquid medicine is shaken is solved fundamentally;

2) furthermore, the application further considers the problem that the liquid medicine in the medicine box descends along with the pesticide spraying back surface, so that the gravity center of the medicine box is shifted downwards to cause the gravity center of the medicine box to be seriously deviated from the gravity center of the unmanned aerial vehicle, and the anti-bumping capability of the unmanned aerial vehicle descends, the medicine box is innovatively of a structure capable of sliding up and down, a spring structure is arranged at the bottom of the medicine box, when the liquid medicine in the medicine box is reduced, the weight of the medicine box is inevitably reduced, at the moment, the spring overcomes the gravity of the medicine box to drive the medicine box to correspondingly move upwards, so that the gravity center of the medicine box moves upwards, and the problem that the gravity center of the medicine;

3) furthermore, in the pesticide spraying process, the pesticide box has a large influence on the flight stability of the unmanned aerial vehicle, and the gravity center of the pesticide box is overlapped with the gravity center of the whole mechanism of the unmanned aerial vehicle when the pesticide box is filled with pesticide liquid in the design process, so that the problem of stable flight of the unmanned aerial vehicle can be better solved;

4) furthermore, in order to avoid the liquid medicine sloshing of the liquid medicine in the medicine box along with the swinging of the medicine box and simultaneously reduce the liquid medicine sloshing problem when adapting to different liquid medicine quantities, a plurality of parallel and horizontally arranged annular baffles are arranged in the medicine box, a round hole is arranged in the middle of each annular baffle, a discharging pipe and the liquid medicine can flow through the annular baffles, the annular baffles can prevent the liquid medicine from sloshing, and meanwhile, the annular baffles also adapt to the working at different liquid medicine heights to play a role in preventing sloshing;

5) furthermore, a plurality of hemispherical guide shell structures are arranged in the lower frames of the medicine chest and the unmanned aerial vehicle, the hemispherical guide shells are mutually stacked, the upper surface and the lower surface of each hemispherical guide shell are provided with guide grooves, and the guide grooves are arranged at a certain angle, so that the medicine chest can rotate in different directions, different inclination angles of the unmanned aerial vehicle can be adapted, the positions of the medicine chest are always ensured, the sensitivity of the movement of the medicine chest cannot be too high due to the arrangement of the structures, the structures and the annular baffle act together, and the liquid medicine in the medicine chest is enabled to have good anti-shaking effect on the whole;

6) further, make the balancing weight be the iron plate, the end of discharging pipe is provided with the magnet structure, thus, after having added the liquid medicine, only need stretch into the inside back of medical kit with the discharging pipe, the balancing weight is inhaled promptly to the discharging pipe, it has overcome current discharging pipe and has taken place the problem that swing increase unmanned aerial vehicle rocked along with the unmanned aerial vehicle posture change on the one hand, another is convenient because the balancing weight is in the bottom all the time, combine the design of medical kit spherical structure, the liquid medicine receives the influence of gravity to assemble always in balancing weight department, make the discharging pipe can inhale the liquid medicine and can not produce the remaining problem of liquid medicine, the economic nature of spraying insecticide has further.

Drawings

Fig. 1 is a schematic structural view of a high-stability crop spraying unmanned aerial vehicle of the present invention;

FIG. 2 is a schematic view of the structure of the medicine chest of the present invention;

fig. 3 is a top view of the medicine boxes of fig. 2;

FIG. 4 is a top view of the hemispherical guide shell of the present invention;

fig. 5 is a schematic view of a guide lock sleeve rod structure.

Description of the reference symbols

1. An upper frame; 2. a lower frame; 3. a propeller; 4. a medicine chest; 5. a medicine chest guiding mechanism; 6. a medicine chest lifting adjusting mechanism; 7. a pesticide spraying mechanism; 8. a spherical shell; 9. a balancing weight; 10. an upper opening; 11. an annular baffle; 12. a circular opening; 13. a first annular bump; 14. a hemispherical guide shell I; 15. a second hemispherical guide shell; 16. a hemispherical guide shell III; 17. a tail end hemispherical guide shell; 18. a first annular groove; 19. a second annular bump; 20. a second annular groove; 21. a third annular bump; 22. a third annular groove; 23. a ring-shaped convex block IV; 24. a fourth annular groove; 25. a left lug; 26. a right lug; 27. a compression spring; 28. a guide locking loop bar; 29. a guide post; 30. a guide cylinder; 31. locking the triangular blocks; 32. a triangular block locking mechanism; 33. a triangular lock head; 34. locking the guide rod; 35. locking the pressure spring; 36. a pull ring; 37. driving the pump; 38. a discharge pipe; 39. a transfusion tube; 40. a spray rod; 41. a connecting seat; 42. a spray head; 43. a magnet; 44. a support; 45. the middle hemispherical guide shell.

Detailed Description

The present invention is further illustrated by the following examples, which are not intended to be limiting in any way, and any modifications or alterations based on the teachings of the present invention are intended to fall within the scope of the present invention.

As shown in fig. 1-3, the present invention provides a high stability crop spraying unmanned aerial vehicle, which comprises: the pesticide spraying device comprises a machine body consisting of an upper frame 1 and a lower frame 2, a propeller 3 arranged on the upper part of the machine body, a pesticide spraying mechanism 7 and a pesticide box 4 arranged in the lower frame 2, wherein the pesticide box 4 is arranged in a pesticide box guide mechanism 5 in a sliding manner, the pesticide box guide mechanism 5 is arranged in the lower frame 2 in a sliding manner through a pesticide box lifting adjusting mechanism 6, the pesticide spraying mechanism 7 sucks pesticide liquid from the pesticide box 4 for spraying pesticide, the pesticide box 4 is of a spherical structure and comprises a spherical shell 8 and a balancing weight 9 fixedly arranged at the bottom of the spherical shell 8, after the pesticide box 4 is filled with the pesticide liquid, the gravity center of the pesticide box is superposed with the gravity center of the unmanned aerial vehicle, the balancing weight 9 arranged at the bottom of the pesticide box 4 can be always downward relative to the machine body by the pesticide box guide mechanism 5, so that the pesticide box 4 is kept downward like a tumbler, the balancing, meanwhile, after the liquid medicine in the medicine chest is reduced, the medicine chest lifting adjusting mechanism 6 can automatically drive the medicine chest 4 to move upwards relative to the lower frame 2, so that the problem that the gravity center of the medicine chest gradually deviates from the gravity center of the machine body along with the reduction of the liquid medicine due to the fact that the gravity center of the medicine chest moves downwards relative to the machine body after the liquid medicine is reduced is solved, and the flying stability of the unmanned aerial vehicle can be further improved.

Preferably, an upper opening 10 is provided at the top of the spherical housing 8 for facilitating the dosing and the outflow of the medical liquid. Preferably, in order to further reduce the slight sloshing of the liquid medicine, a horizontally arranged annular baffle 11 is arranged in the spherical shell 8, the annular baffle 11 is fixedly arranged on the inner wall of the spherical shell 8, and the middle of the annular baffle is provided with a circular opening 12, so that if the liquid medicine slightly sloshes, the annular baffle 11 can play a role of blocking, and meanwhile, when the medicine box slightly inclines, the annular baffle 11 can also timely block the liquid medicine, thereby further reducing the inclination and sloshing problems of the liquid medicine. Preferably, in order to enable accommodation of a constantly decreasing amount of liquid medicine and to enable the annular baffles 11 to quickly function as barriers to the liquid medicine in accordance with the liquid medicine at different heights, a plurality of annular baffles 11 are arranged side by side in the spherical housing 8 from top to bottom. Preferably, the annular baffles 11 are arranged at equal intervals within the spherical shell 8.

As shown in fig. 1 to 4, the guiding mechanism 5 of the medicine chest comprises a first annular protrusion 13, a first middle hemispherical guide shell 45 and a second end hemispherical guide shell 17, the first annular protrusion is disposed at the lower part of the spherical shell 8, the first middle hemispherical guide shell 45 is disposed between the first annular protrusion 13 and the second end hemispherical guide shell 17, as shown in fig. 4, the first middle hemispherical guide shell 45 is of a hemispherical structure and comprises an annular groove inside the sphere and an annular protrusion outside the sphere, and the annular protrusion and the annular groove can be engaged with the annular groove and the annular protrusion of the adjacent first middle hemispherical guide shell 45, respectively, so that the first middle hemispherical guide shell 45 can slide relative to the second hemispherical guide shell, the second end hemispherical guide shell 17 is provided with a second end annular groove 24 inside, the annular groove 24 is engaged with the annular protrusion of the first middle hemispherical guide shell 45, and the annular protrusion and the annular groove form a certain angle t, t of each hemispherical lead shell 45 is the same, and the number N of the intermediate hemispherical lead shells 45 is calculated in a manner of N = (180 °/t) -1, N being a number equal to or greater than 0, if there is 90 ° between the annular projection and the annular groove, the number of the intermediate hemispherical lead shells 45 is 1. By analogy, as shown in fig. 4, the number and arrangement of the middle hemispherical guide shells 45 when t =45 ° are illustrated, the hemispherical guide shells 45 include a first hemispherical guide shell 14, a first annular groove 18 is formed in the first hemispherical guide shell 14, a second annular protrusion 19 is formed on the outer portion of the first hemispherical guide shell 14, and the first annular protrusion 13 is slidably clamped in the first annular groove 18; a second hemispherical guide shell 15, wherein a second annular groove 20 is formed in the second hemispherical guide shell 15, a third annular bump 21 is formed on the outer part of the second hemispherical guide shell 15, and a second annular bump 19 is slidably clamped in the second annular groove 20; the inner part of the third hemispherical guide shell 16 is provided with a third annular groove 22, the outer part of the third hemispherical guide shell 16 is provided with a fourth annular convex block 23, and the third annular convex block 21 is slidably clamped in the third annular groove 22. Preferably, in order to prevent the middle hemispherically shaped guide shell from slipping out when sliding, the length of the annular projection is 1/4 or less of the whole hemispherically shape, and the two ends of the annular groove are provided with the catching blocks. Preferably, the terminal hemispherically shaped guide shell 17 is provided at both ends with a left lug 25 and a right lug 26, respectively. Further, in order to guarantee that middle hemisphere leads shell 45 can reset for middle hemisphere leads shell 45 also to be provided with the balancing weight equally, thereby resets after unmanned aerial vehicle posture level.

As shown in fig. 1 and 5, the medicine-box lifting adjusting mechanism 6 includes a compression spring 27 and a guide lock lever 28, and has a lower end fixed to the lower base of the lower frame 2 and an upper end fixed to the terminal semispherical guide shell 17. Preferably, the medicine-box lifting adjusting mechanism 6 includes two sets, and is connected to the left lug 25 and the right lug 26, respectively. Preferably, the guiding locking loop bar 28 includes a guide post 29, a guide tube 30, a locking triangle block 31 and a triangle block locking mechanism 32, the locking triangle block 31 is uniformly distributed on the guide post 29, the bevel edge of the locking triangle block 31 faces upward, the guide post 29 is slidably arranged in the guide tube 30, and the triangle block locking mechanism 32 can be matched with the locking triangle block 31, so that when the liquid medicine in the medicine box 4 is reduced, the compression spring 27 overcomes the gravity to drive the guide post 29 to move upward, the locking triangle block 31 drives the triangle block locking mechanism 32 to be in an open state, thereby realizing that the medicine box 4 ascends along with the reduction of the liquid medicine, and ensuring that the gravity center of the medicine box can not deviate from the gravity center of the unmanned aerial vehicle along with the. Preferably, the triangular lock mechanism 32 comprises a triangular lock head 33, a locking compression spring 35, a locking guide rod 34 and a pull ring 36, the triangular lock head 33 is positioned at the left end of the locking guide rod 34, the pull ring 36 is positioned at the right end of the locking guide rod 34, the inclined edge of the triangular lock head 33 faces downwards and can be matched with the locking triangular block 31, and the locking compression spring 35 is positioned between the triangular lock head 33 and the guide cylinder 30 to press the triangular lock head 33 against the locking triangular block 31.

As shown in fig. 1-2, the pesticide spraying mechanism 7 includes a driving pump 37, a discharging pipe 38, a liquid conveying pipe 39, a spraying rod 40, a connecting seat 41 and a spray head 42, the driving pump 37 is fixedly arranged on the upper frame 1, the lower end of the driving pump 37 is connected with the discharging pipe 38, the left end and the right end of the driving pump 37 are both connected with the liquid conveying pipe 39, the other end of the discharging pipe 38 is connected with the pesticide box 4, the other end of the liquid conveying pipe 39 is connected with the spraying rod 40, the spraying rod 40 is fixedly connected with the lower end of the lower frame 2 through the connecting seat 41, a plurality of spray heads 40 are uniformly arranged on the spraying rod 40, after the driving pump 37 sucks the pesticide liquid in the. Preferably, in order to avoid the residual liquid medicine in the medicine box 4, the counterweight 9 is made of iron, and the magnet 43 is arranged at the end of the discharge pipe 38, so that the discharge pipe 38 can be attracted and fixed to the counterweight 9 through the magnet 43, on one hand, the swing of the discharge pipe is avoided, and on the other hand, the liquid medicine at the bottom of the medicine box 4 can be sucked and taken. It should be emphasized that the weight 9 and the magnet 43 do not block the infusion tube 39, and the liquid medicine can still flow through the infusion tube 39 when the magnet 3 attracts the weight 9, for example, by providing a liquid medicine flowing channel in the weight, or by providing a liquid medicine suction port at the side, which is not important here and will not be described in detail.

Further, all be provided with support 44 in the bottom four corners department of lower frame 2 to guarantee that unmanned aerial vehicle also can be stable when landing and support. Preferably, the upper frame 1 and the lower frame 2 are detachably connected; preferably, the driving pump 37 is installed at the center of the upper frame.

The working process of the high-stability crop spraying unmanned aerial vehicle comprises the following steps: first, the upper frame 1 is detached from the lower frame 2, then the medicine boxes 4 are taken down and the medicine boxes 4 are mounted with the medicine liquid being fed from the upper opening 10, or the medicine liquid is directly fed from the upper opening 10, the pull ring 36 is pulled to compress the compression spring 27 by the medicine boxes 4, so that the medicine boxes 4 move down, and after the downward movement is stabilized, the pull ring 36 is released to lock the guide lock lever 28, the medicine feeding operation is completed, and then the discharge pipe 38 is inserted into the medicine boxes 4 and the upper frame 1 is mounted on the lower frame 2 again, thereby completing the preparation work. Then the propeller 3 is started to make the unmanned aerial vehicle fly to the high altitude, when the unmanned aerial vehicle reaches the crops needing to be sprayed with pesticide, the driving pump 37 is started to work, the pesticide liquid enters the spray rod 40 from the pesticide box 4, and finally the spraying work is carried out through the spray head 42. Unmanned aerial vehicle is spraying the in-process, and when the liquid medicine reduces, compression spring 27 overcomes the gravity drive medical kit 4 rebound of medical kit 4 to guaranteed that the focus in medical kit 4 can not squint downwards along with the reduction of liquid medicine, simultaneously, unmanned aerial vehicle when the gesture is swayd, medical kit 4 also can do similar "tumbler" action through medical kit guiding mechanism 5, and can not take place too big rocking and swing along with the change of gesture.

Can know through the above description, the high stability's of this application crops spray unmanned aerial vehicle, make the focus of medical kit and the holistic focus coincidence of unmanned aerial vehicle during the design, and the medical kit does similar "tumbler" action through medical kit guiding mechanism, and can not take place too big rocking and swing along with the change of unmanned aerial vehicle gesture, and simultaneously, the medical kit passes through medical kit lift adjustment mechanism and sets up in unmanned aerial vehicle's underframe, can be when the liquid medicine reduces, drive medical kit rebound, thereby guaranteed that the focus of medical kit can not be along with the reduction of liquid medicine and skew downwards, unmanned aerial vehicle's flight stability has further been improved.

Claims

1. A high stability crop spray drone, comprising: the fuselage of constituteing by last frame (1) and underframe (2), install in screw (3) on fuselage upper portion, spout medicine mechanism (7) and install medical kit (4) in underframe (2), spout medicine mechanism (7) and absorb the liquid medicine from medical kit (4) and be used for spraying the pesticide, its characterized in that: medical kit (4) are spherical structure, including spherical casing (8) and fixed balancing weight (9) that set up in spherical casing (8) bottom, medical kit (4) slide and set up in medical kit guiding mechanism (5), medical kit guiding mechanism (5) slide through medical kit lift adjustment mechanism (6) and set up in underframe (2), its focus and unmanned aerial vehicle focus coincidence after medical kit (4) are filled with the liquid medicine, medical kit guiding mechanism (5) can make balancing weight (9) of medical kit (4) bottom installation down for the fuselage all the time, the medical kit does not take place the wide range change along with the transform of unmanned aerial vehicle posture.

2. The high stability crop spray drone of claim 1, characterized in that: the medicine box guiding mechanism (5) comprises a first annular convex block (13), a tail end hemispherical guide shell (17) and a plurality of middle hemispherical guide shells (45), the first annular convex block (13) is arranged at the lower part of the spherical shell (8), and the middle hemispherical guide shells (45) are arranged between the first annular convex block (13) and the tail end hemispherical guide shell (17).

3. The high stability crop spray drone of claim 2, characterized in that: middle hemisphere leads shell (45) and is the hemisphere structure, all include the annular groove that is located spheroid inside and the annular lug that is located the spheroid outside, and this annular lug and annular groove can lead shell (45) annular groove or the mutual block of annular lug with the middle hemisphere that closes on respectively, thereby can make middle hemisphere lead shell (45) relative slip for other hemisphere lead shell, terminal hemisphere lead the inside terminal annular groove (24) that is provided with of shell (17), this annular groove (24) and the cooperation of the annular lug of middle hemisphere lead shell (45), annular lug and annular groove are certain angle t, the t of every hemisphere lead shell (45) all is the same, and the calculation mode of the number N of middle hemisphere lead shell (45) is N = (180/t) -1, N is the number more than or equal to 0.

4. The high stability crop spray drone of claim 3, characterized in that: when t is 45 degrees, the number of the middle hemispherical guide shells (45) is three, each hemispherical guide shell (45) comprises a hemispherical guide shell I (14), an annular groove I (18) is formed in the hemispherical guide shell I (14), an annular bump II (19) is formed in the outer part of the hemispherical guide shell I (14), and the annular bump I (13) is clamped in the annular groove I (18) in a sliding mode; a second hemispherical guide shell (15), wherein a second annular groove (20) is formed in the second hemispherical guide shell (15), a third annular bump (21) is formed in the outer part of the second hemispherical guide shell, and a second annular bump (19) is slidably clamped in the second annular groove (20); the semi-spherical guide shell III (16), the inner part of the semi-spherical guide shell III (16) is provided with a third annular groove (22), the outer part of the semi-spherical guide shell III (16) is provided with a fourth annular bump (23), the third annular bump (21) is slidably clamped in the third annular groove (22), and the fourth annular bump (23) is slidably clamped in the tail end annular groove (24).

5. The high stability crop spraying drone of claim 3 or 4, characterized in that: the length of the annular convex block is 1/4 or less than the whole hemispherical arc length, and the two ends of the annular groove are provided with clamping blocks, so that the hemispherical guide shells can slide mutually and cannot slide out of the hemispherical guide shells.

6. The high stability crop spray drone of claim 1, characterized in that: the spherical shell (8) is internally provided with a horizontally arranged annular baffle (11), the annular baffle (11) is fixedly arranged on the inner wall of the spherical shell (8), and the middle of the annular baffle is provided with a circular opening.

7. The high stability crop spraying drone of claim 6, wherein: a plurality of annular baffles (11) are arranged in the spherical shell (8) from top to bottom in sequence.

8. The high stability crop spray drone of claim 2, characterized in that: the medicine chest lifting adjusting mechanism (6) comprises a compression spring (27) and a guide locking loop bar (28), the lower end of the compression spring is fixedly arranged on the lower bottom plate of the lower frame (2), and the upper end of the guide locking loop bar is fixed on the tail end hemispherical guide shell (17).

9. The high stability crop spray drone of claim 8, wherein: guide locking loop bar (28) include guide pillar (29), guide cylinder (30), locking triangle piece (31) and triangle piece locking mechanical system (32), locking triangle piece (31) evenly distributed is on guide pillar (29), and the hypotenuse of locking triangle piece (31) up, guide pillar (29) slide to set up in guide cylinder (30), and triangle piece locking mechanical system (32) can cooperate with locking triangle piece (31), make when the liquid medicine in medical kit (4) reduces, gravity drive guide pillar (29) upward movement is overcome in compression spring (27), locking triangle piece (31) drive triangle piece locking mechanical system (32) are in the open mode, thereby realize that medical kit (4) rise along with the reduction of liquid medicine, thereby guarantee that the medical kit focus can not deviate from unmanned aerial vehicle focus along with the reduction of liquid medicine.

10. The high stability crop spray drone of claim 9, wherein: the triangular block locking mechanism (32) comprises a triangular lock head (33), a locking pressure spring (35), a locking guide rod (34) and a pull ring (36), the triangular lock head (33) is located at the left end of the locking guide rod (34), the pull ring (36) is located at the right end of the locking guide rod (34), the inclined edge of the triangular lock head (33) faces downwards and can be matched with the locking triangular block (31), the locking pressure spring (35) is located between the triangular lock head (33) and the guide cylinder (30), and the triangular lock head (33) is pressed against the locking triangular block (31).