CN112455659A

CN112455659A - Steering engine swinging mechanism, unmanned aerial vehicle and spraying operation method thereof

Info

Publication number: CN112455659A
Application number: CN202011483400.4A
Authority: CN
Inventors: 李堉龙; 吴旭民
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2021-03-09

Abstract

The invention discloses a steering engine swinging mechanism, an unmanned aerial vehicle and a spraying operation method of the unmanned aerial vehicle, wherein the steering engine swinging mechanism comprises a swinging arm, a steering engine and a limiting abutting structure, the steering engine comprises a steering engine motor, a speed reducing mechanism and a steering engine output shaft which are sequentially connected in a transmission manner, and the steering engine output shaft drives the swinging arm to swing; the limiting abutting structure is used for limiting and abutting against and fixing the steering engine output shaft and/or the swing arm at the swinging end point of the swing arm. The swinging mechanism of the steering engine can limit and fix the swinging arm at the swinging end point, so that the problem of vibration of a transmission terminal caused by the virtual position of the steering engine is solved, the vibration of the free end of the swinging arm is reduced or eliminated, and the stability of the swinging mechanism is improved. Use in unmanned aerial vehicle, can realize the position of shower nozzle and adjust and stably spray the operation, improve unmanned aerial vehicle's product property ability and operation effect.

Description

Steering engine swinging mechanism, unmanned aerial vehicle and spraying operation method thereof

Technical Field

The invention relates to a steering engine swinging mechanism, in particular to an unmanned aerial vehicle, a steering engine swinging mechanism and a spraying operation method thereof.

Background

In a multi-stage transmission system, transmission gaps and the like of all stages can be accumulated and amplified step by step, and finally, the instability of a terminal, large shaking amount and poor position precision are caused. Such transmission gaps, i.e., virtual positions, are gaps that are usually present between the connections of components such as gears, and the like, and can be attributed to component mounting requirements, insufficient machining precision, design defects, wear and tear in long-term use, and the like.

Plant protection unmanned aerial vehicle is at the during operation, for example when spraying the operation, and the shower nozzle as terminal operation equipment requires stability height, rocks for a short time, easily controls, therefore current shower nozzle generally adopts fixed mounting mode. If adopt adjustable mounting means, then intermediate drive mechanism or middle connection structure for adjusting can produce virtual position, especially when installing the shower nozzle through the connecting rod, more can enlarge the vibration that virtual position brought to the operation is sprayed in the influence, more harms unmanned aerial vehicle's overall stability.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a steering engine swinging mechanism and an unmanned aerial vehicle, so as to improve the overall stability of the steering engine swinging mechanism and the unmanned aerial vehicle and improve the product performance and operation effect of the unmanned aerial vehicle.

In order to achieve the above object, the present invention provides a steering engine swing mechanism, including:

swinging arms;

the steering engine comprises a steering engine motor, a speed reducing mechanism and a steering engine output shaft which are sequentially connected in a transmission manner, and the steering engine output shaft drives the swing arm to swing; and

and the limiting abutting structure is used for limiting and abutting against and fixing the output shaft of the steering engine and/or the swing arm at the swinging end point position of the swing arm.

In some embodiments, the steering engine further comprises:

the speed reducing mechanism is arranged in the steering engine shell, and the steering engine output shaft penetrates out of the steering engine shell;

the limiting abutting structure is arranged on the steering engine shell and the steering engine output shaft.

In some embodiments, the limit abutment structure comprises:

the limiting groove is arranged on one of the steering engine shell and the steering engine output shaft; and

the limiting column is arranged on the other one of the steering engine shell and the steering engine output shaft in a matched mode and extends into the limiting groove;

the position of the swing end point of the swing arm is limited by the limiting column and is abutted against the limiting wall of the limiting groove to fix the steering engine output shaft.

In some embodiments, the steering engine motor is a direct current gear motor, the limiting groove is an arc groove and includes a first circumferential end wall and a second circumferential end wall as the limiting wall, the steering engine motor can drive the swing arm to swing to a first swing end point position and enable the limiting column to be in limiting abutment on the first circumferential end wall under the action of forward voltage, and can drive the swing arm to swing to a second swing end point position and enable the limiting column to be in limiting abutment on the second circumferential end wall under the action of reverse voltage.

In some embodiments, the limit abutment structure further comprises:

the groove length adjusting ring piece is sleeved on the steering engine shell or the steering engine output shaft provided with the limiting groove in a circumferentially movable mode, and the groove length adjusting ring piece covers the end portion of the limiting groove, so that the end wall of the groove length adjusting ring piece forms the limiting wall of the limiting groove.

In some embodiments, the position limiting post is adjustably mounted on the steering engine housing or the steering engine output shaft.

In some embodiments, the reduction mechanism comprises a multi-stage worm gear mechanism.

In some embodiments, the steering engine swing mechanism further comprises:

a steering engine control unit for drive control of the steering engine motor and configured to:

determining that the swing arm does not reach the swing endpoint location;

controlling the steering engine motor to drive the steering engine output shaft to rotate according to a preset working current;

determining that the swing arm reaches the swing end point position or contacts the limit abutting structure;

and

continuously driving the steering engine motor by preset pressing current;

wherein the preset pressing current is smaller than the preset working current.

In addition, the present invention also provides an unmanned aerial vehicle, comprising:

the machine body extends out of the organic arm;

in the steering engine swinging mechanism, the steering engine is fixedly arranged on the horn; and

and the spray head is arranged at the end part of the swing arm to swing along with the swing.

In some embodiments, the drone further comprises:

and the rotor wing mechanism is arranged at the end part of the horn and positioned above the steering engine and the spray head.

In some embodiments, the horn, the rotor mechanism, and the nozzle tip oscillating unit are all provided in plurality and in one-to-one correspondence.

In addition, the invention also provides a spraying operation method of the unmanned aerial vehicle, which comprises the following steps:

controlling the rotor mechanism according to a flight control attitude command to adjust the orientation of the generated rotor wind field; and

correspondingly adjusting the steering engine swinging mechanism arranged below the rotor wing mechanism according to the direction of the rotor wing wind field, so that the spraying direction of the spray head is the same as the direction of the flow of the rotor wing wind field;

the swing arm is driven to swing to the position of the swing end point or contact with the limiting abutting structure by preset working current, and the swing arm is continuously driven by the preset pressing current to limit and abut against and fix the output shaft of the steering engine and/or the swing arm; the preset pressing current is smaller than the preset working current.

The steering engine swinging mechanism is additionally provided with a limiting abutting structure for limiting and abutting and fixing the steering engine output shaft and/or the swinging arm at the swinging end point of the swinging arm, so that the problem of vibration of a transmission terminal caused by the virtual position of the steering engine can be solved at a specific limiting point, and the vibration of the free end of the swinging arm is reduced or eliminated. Further, a small thrust can be applied through the driving motor, limiting abutting of a certain pre-pressure is achieved, and the fixing effect on the spray head is enhanced. When being applied to unmanned aerial vehicle, steering wheel swing mechanism can be used to drive the shower nozzle swing in order to adjust the position of shower nozzle to make the shower nozzle fix steadily in swing endpoint position, spray the operation in order to realize the stability of no rocking.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

fig. 1 is a front view of a drone provided by one embodiment of the present invention;

FIG. 2 is a perspective view of a steering engine swing mechanism according to an embodiment of the present invention;

fig. 3 and 4 are perspective views illustrating a steering engine of the steering engine swing mechanism of fig. 2 in a partially hidden state and a covering state of a steering engine shell respectively;

fig. 5 and 6 are perspective views illustrating a steering engine of the steering engine swing mechanism of fig. 2 in a partially hidden state and a covering state of a steering engine housing, respectively, and are different from the view angles of fig. 3 and 4;

FIG. 7 is a perspective view of another embodiment of a steering engine in a closed state of a steering engine housing; and

fig. 8, 9 and 10 are schematic structural diagrams illustrating the unmanned aerial vehicle in hovering, forward-flying and backward-flying states, respectively.

Description of the reference numerals

100 nozzle adjusting device 400 rotor mechanism

500 horn 600 fuselage

700 head 101 spray head swing unit

1 spray head 2 swing arm

3 steering engine 4 steering engine shell

5 spacing groove 6 spacing post

7 tooth-shaped end cover 8 tooth-shaped base

11 joint bearing 16 pipe clamp

21 swing arm connecting end

31 steering engine motor 32 reduction gears

51 limiting wall 52 groove length adjusting ring sheet

A1 primary worm A2 primary worm wheel

B1 two-stage worm B2 two-stage worm wheel

OO' rotation axis

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention.

It should be noted that, in the present invention, unless otherwise specified, terms of orientation such as "upper, lower, top, and bottom" are generally used with respect to the orientation shown in the drawings or the positional relationship between the components in the vertical, or gravitational direction. The relative positional relationship between the components of the unmanned aerial vehicle, i.e., "inside and outside", is determined based on the center of the body 600. The aircraft nose 700 of unmanned aerial vehicle sets up forward all the time, and the side direction of fuselage 600 is the left and right sides side direction of the fore-and-aft direction of perpendicular to fuselage 600 promptly.

The invention discloses a steering engine swinging mechanism, aiming at solving the problem of swinging virtual position and improving the swinging stability. As shown in fig. 2 to 7, a steering engine swing mechanism according to an embodiment of the present invention includes:

a swing arm 2;

the steering engine 3 comprises a steering engine motor 31, a speed reducing mechanism 32 and a steering engine output shaft which are sequentially connected in a transmission manner, and the steering engine output shaft is connected with and drives the swing arm 2 to swing; and

the limiting abutting structure is used for limiting abutting and fixing the steering engine output shaft and/or the swing arm 2 at the swinging end point position of the swing arm 2.

As shown in fig. 3 and 5, a multistage transmission mechanism is built in the steering engine 3, and therefore the virtual position of the steering engine swing mechanism is mainly embodied in the steering engine. In order to eliminate the problem of vibration of the free tail end of the swing arm 2 caused by the virtual position of the steering engine, the invention is particularly additionally provided with a limiting abutting structure to form limiting abutting at a specific limiting point, so that the output shaft of the steering engine and/or the swing arm 2 are fixed, and the vibration of the tail end of the swing arm is eliminated.

As an example, the speed reducing mechanism 32 includes a multi-stage worm gear mechanism, and the worm gear has a self-locking characteristic, but a gap virtual position still exists, and the gap virtual position can be amplified step by step. As shown in fig. 3 and 5, the speed reducing mechanism 32 includes a first-stage worm a1, a first-stage worm wheel a2, a second-stage worm B1, and a second-stage worm wheel B2, which are driven in a stepwise manner, a first-stage virtual position is formed by a fit clearance between the first-stage worm a1 and the first-stage worm wheel a2, a second-stage virtual position is formed by superimposing a fit clearance between the second-stage worm B1 and the second-stage worm wheel B2, and the virtual position is enlarged to a drive end of the steering engine, that is, the illustrated tooth-shaped. And the vibration amplitude of the spray head 1 at the tail end of the swing arm 2 can not be ignored through the transmission connection of the output shaft of the steering engine and the swing arm 2 and the rod-shaped amplification of the swing arm 2. Of course, the worm gear type speed reduction mechanism 32 herein is merely exemplary, but not limited thereto.

In some embodiments, the limit abutting structure may be a separately arranged limit structure driven by an electric control device to push out the limit rod at a proper time, so as to clamp the steering engine output shaft and/or the swing arm 2 at a specific limit point. However, those skilled in the art can understand that the independent electric control driving structure itself has end vibration caused by the virtual position influence, so that the position of the final abutting against the fixed specific limit point is not accurate, and the virtual position influence is superposed under the condition that the virtual position influence of the steering engine is not eliminated.

In this embodiment, the spacing structure of leaning on seeks to be non-independent drive structure, seeks to carry out the institutional advancement design on the limited steering wheel in design space. The steering engine output shaft or the swing arm 2 which is fixed for rotating or swinging movement is relatively difficult in a limited space.

In the embodiment of fig. 3 to 6, the part of the limiting abutting structure is arranged on the steering engine housing 4 of the steering engine 3, and the steering engine housing 4 is a static component and is reserved with a relatively larger design space. Wherein, steering wheel 3 embeds has reduction gears 32, and steering wheel output shaft (not shown in the figure) is worn out and is worn out the end from steering wheel shell 4 and install profile of tooth base 8. Therefore, the limiting abutting structure is arranged on the steering engine shell 4 and the steering engine output shaft selectively.

In order to simplify the structure and save the design space and position, the limiting and abutting structure of the figure adopts a sliding block and sliding groove limiting structure. Specifically, referring to fig. 3 and 5, the limit abutting structure includes:

the limiting groove 5 is arranged on one of the steering engine shell 4 and the steering engine output shaft; and

the limiting column 6 is arranged on the other one of the steering engine shell 4 and the steering engine output shaft in a matched mode and extends into the limiting groove 5;

wherein, at the swing endpoint position of the swing arm 2, the limit post 6 is limited and supported against the limit wall 51 of the limit groove 5 to fix the output shaft of the steering engine.

As shown in fig. 3 and 4, the limiting column 6 is convexly and fixedly arranged on the end surface of the steering engine shell 4; because the tail end of the output shaft of the steering engine is provided with the tooth-shaped base 8 which rotates synchronously, the limiting groove 5 is arranged on the peripheral wall of the tooth-shaped base 8. More specifically, the spacing groove is injectd between the periphery wall of profile of tooth base 8 and the terminal surface of steering wheel shell 4. Both end walls of the stopper groove 5 may serve as stopper walls 51. The limiting groove 5 rotates along with the steering engine output shaft, and the limiting wall 51 abuts against the limiting column 6, so that the steering engine output shaft is prevented from further rotating. In other words, the steering engine output shaft is fixed at a specific limit point.

Optionally, the steering engine motor 31 is a direct current speed reduction motor, the limiting groove 5 is an arc groove and includes a first circumferential end wall and a second circumferential end wall serving as the limiting wall 51, the steering engine motor 31 can drive the swing arm 2 to swing to a first swing end point position under the action of forward voltage and enable the limiting column 6 to be limited and abutted on the first circumferential end wall, and can drive the swing arm 2 to swing to a second swing end point position under the action of reverse voltage and enable the limiting column 6 to be limited and abutted on the second circumferential end wall. Therefore, the end points of the swing arm 2 which does pendulum swinging at the two ends of the pendulum can be used as specific limiting points, so that the output shaft of the steering engine is fixed at the swinging end points, and the swing arm 2 is further fixed. This is particularly advantageous when the steering engine swing mechanism is used as a nozzle swing unit 101 in an unmanned aerial vehicle for spraying operations, as will be described in more detail below.

Those skilled in the art will appreciate that the size of the limiting groove 5 and the position of the limiting wall 51 are not changeable in the limiting abutting structure. Under the condition that specific limiting points need to be changed, for a steering engine swinging mechanism, tooth-shaped bases 8 of limiting grooves 5 with different specifications and/or steering engine shells 4 of limiting columns 6 with different positions need to be replaced, so that the replacement and maintenance cost is greatly increased, and the universality is insufficient.

In view of this, as shown in fig. 7, in another alternative embodiment, the limit abutting structure may further include, in addition to the above-mentioned slide block and slide groove limit structure:

the groove length adjusting ring piece 52 is sleeved on the steering engine shell 4 or the steering engine output shaft provided with the limiting groove 5 in a circumferentially movable mode, the end portion of the limiting groove 5 is covered by the groove length adjusting ring piece 52, and therefore the end wall of the groove length adjusting ring piece 52 forms a limiting wall 51 of the limiting groove 5.

In fig. 7, the inner wall surface of the groove length adjusting ring piece 52 can form sliding teeth which are circumferentially and continuously arranged at intervals with the outer peripheral wall of the tooth-shaped base 8, so that the groove length adjusting ring piece 52 can move along the circumferential direction and be fixed at each sliding tooth position, and the length of the end part of the groove length adjusting ring piece 52 which covers the limiting groove 5 can be adjusted, that is, the position of the end wall of the groove length adjusting ring piece 52 which is used as the limiting wall 51 is changed, that is, the position of the characteristic limiting point which is abutted and matched with the limiting column 6 is changed.

On this basis, to the steering wheel swing mechanism that the swing angle is different, need not to change the part, only need slide adjusting groove length adjusting ring piece 52, can be so that the angular range and the swing angle adaptation of spacing groove 5.

Of course, it will be appreciated by those skilled in the art that alternatively, in another embodiment, the position limiting post 6 is position adjustably mounted on the steering engine housing 4 or steering engine output shaft. For example, an elongated slot is arranged on the steering engine shell 4, and the limiting column 6 is adjustably mounted on different positions of the elongated slot and is fastened.

In addition, the steering engine output shaft can be fixed at a specific limit point (particularly the position of the swinging end point of the swinging arm 2) by additionally arranging a limit abutting structure, but the influence of a connection virtual position between the steering engine output shaft and the swinging arm 2 also exists between the tail end of the swinging arm and the steering engine output shaft, so in some embodiments, the swinging arm 2 and the steering engine output shaft can also be in rigid connection, for example, the steering engine output shaft and the swinging arm 2 are integrally formed into an L-shaped rod. Or, as shown in fig. 2 and 3, besides the pivot connection through the knuckle bearing 11, the tooth meshing connection between the tooth-shaped base tooth 8 and the tooth-shaped end cover 7 is additionally arranged, which not only has the function of fracture-preventing reset, but also can reduce the virtual position of the pivot connection.

Through addding spacing to lean on the structure, at the swing endpoint position of swing arm 2, can make steering wheel output shaft stop rotatory and fixed because spacing support to lean on the effect. However, it is conceivable that if the steering engine motor 31 stops operating, it is not ensured that the steering engine output shaft will not rotate reversely, resulting in failure of limiting and fixing. Therefore, further, the steering engine swing mechanism may further include:

a steering engine control unit for drive-controlling the steering engine motor 31 and configured to:

determining the position of the swing arm 2 not reaching the swing end point;

controlling a steering engine motor 31 to drive a steering engine output shaft to rotate according to a preset working current;

determining that the swing arm 2 reaches the swing end point position or contacts a limiting abutting structure; and

the steering engine motor 31 is continuously driven by preset pressing current;

wherein the preset pressing current is smaller than the preset working current.

In other words, when the swing arm 2 is normally swung by the driving of the steering engine 3, the steering engine motor 31 works with a preset working current, and at the position of a swing end point, when the steering engine output shaft stops rotating and is fixed due to the limiting abutting effect, the steering engine motor 31 cannot stop, and works continuously with a small current preset abutting current, and applies a certain abutting pressing force to the limiting abutting structure with a certain original direction rotating driving force to the steering engine output shaft, so that more reliable limiting fixing is realized. Generally speaking, the steering engine motor 31 is a direct current speed reduction motor with large output torque, and the preset pressing current is preferably applied to the steering engine output shaft to apply a rotary pressing force to the steering engine output shaft without damaging the steering engine output shaft.

Among the foretell steering wheel swing mechanism, support and lean on the structure through addding spacingly, can eliminate the vibration problem at the transmission terminal that the steering wheel virtual position brought at specific limit point, reduce or eliminate the vibration of swing arm free end. Especially, a specific limit point can be arranged at the position of the swinging end point, the motor can fix the swinging arm 2 at the swinging end point under the condition of forward rotation or reverse rotation, and then the driving motor applies small thrust to realize the limit abutting of certain pre-pressure and enhance the fixing effect of the position of the swinging end point on the sprayer, so that the unmanned aerial vehicle sprayer is beneficial to the sprayer spraying operation of the unmanned aerial vehicle.

Therefore, the invention further provides the unmanned aerial vehicle correspondingly. As shown in fig. 1, the drone comprises:

a body 600 extending the horn 500;

in the steering engine swinging mechanism, the steering engine 3 is fixedly arranged on the arm 500; and

and the spray head 1 is arranged at the end part of the swing arm 2 so as to follow the swing.

In this unmanned aerial vehicle, steering wheel swing mechanism is as shower nozzle adjusting device 100 for swing drive shower nozzle 1, with the position of change shower nozzle 1. In the head adjusting apparatus 100, the top end of the head swing unit 101 is fixed to the horn 500 by the pipe clamp 16, and the bottom end of the swing arm 2 mounts the head 1. Like this, when adjusting the shower nozzle position through shower nozzle adjusting device 100, can eliminate the steering wheel virtual position and give the vibration influence that shower nozzle 1 brought in place, more be favorable to stably spraying the operation, also improve unmanned aerial vehicle's complete machine stability.

In the embodiment shown in fig. 1, the drone further comprises a rotor mechanism 400, the rotor mechanism 400 being mounted at the end of the horn 500 and above the steering engine 3 and the spray head 1. Like this, but the operation of spraying of rotor wind field helping hand shower nozzle 1 that rotor mechanism 400 brought promotes and sprays the operating efficiency.

The unmanned aerial vehicle can be a plant protection unmanned aerial vehicle, and the horn 500, the rotor wing mechanism 400 and the nozzle swinging unit 101 can be arranged in a one-to-one correspondence manner. For example, the drones shown in fig. 1, 8-10 are two-wing drones, although four-wing drones, six-wing drones, and so on may also be used.

Therefore, the invention also correspondingly provides a spraying operation method of the unmanned aerial vehicle. The method comprises the following steps:

controlling rotor mechanism 400 to adjust the orientation of the generated rotor wind field according to the flight control attitude command; and

correspondingly adjusting a steering engine swinging mechanism arranged below the rotor wing mechanism 400 according to the direction of the rotor wing wind field, so that the spraying direction of the spray head 1 is the same as the direction of the flow of the rotor wing wind field;

the steering engine motor 31 is driven by preset working current, so that the swing arm 2 swings to a swing end point position or contacts with a limiting abutting structure, the steering engine motor 31 is continuously driven by the preset abutting current, and the steering engine output shaft and/or the swing arm 2 are abutted and fixed in a limiting manner; the preset pressing current is smaller than the preset working current.

Wherein, as shown in fig. 8 to 10, under unmanned aerial vehicle's different operating condition, rotor mechanism 400's position can change to bring the change in position of rotor wind field, when shower nozzle 1 position is unchangeable like this, can influence the helping hand degree of wind field to spraying, play reverse helping hand effect even, the fog droplet that sprays injures fuselage 600 etc.. Therefore, according to the invention, the steering engine swing mechanism is applied to the unmanned aerial vehicle as the spray head adjusting device 100, the spraying direction of the spray head 1 is related to the direction of the rotor wing wind field, and the automatic control of the angle of the spray head is realized by using the change of the rotor wing wind field, so that the direction of the spray head 1 can be adaptively adjusted even when the angle of the rotor wing mechanism 400 is changed, and the spraying operation of the spray head can continuously keep the force-borrowing effect on the rotor wing wind field. And when the direction of the spray head 1 is adjusted through the steering engine swinging mechanism, the position of the swinging end point can be limited by the limit leaning structure to lean against and fix the steering engine output shaft and/or the swinging arm 2, so that the influence of vibration brought to the spray head 1 by the virtual position of the steering engine is eliminated, and the spray head 1 can stably and continuously spray at the position of the swinging end point.

As shown in fig. 1, a nozzle adjusting device 100 is additionally arranged in the unmanned aerial vehicle, the nozzle adjusting device 100 comprises a nozzle swinging unit 101 serving as an executing part and a steering engine control unit serving as a control part, the direction of the nozzle 1 is controlled to be adjusted in a swinging mode, the swinging amplitude is adjusted by controlling a steering engine motor 31, and therefore the position of the swinging end point of the nozzle 1 is controlled.

Further, the showerhead adjustment apparatus 100 is configured to: acquiring the orientation of each rotor wind field generated by each rotor mechanism 400 of the unmanned aerial vehicle; the orientation of spray head 1 arranged below rotor mechanism 400 is adjusted accordingly according to the orientation of the rotor wind field, so that the spray direction of spray head 1 is the same as the direction of flow of the rotor wind field.

In other embodiments, the nozzle adjustment device may be further configured to enable the spraying direction of the nozzle 1 to face a direction away from the main body 600 of the drone, so as to prevent the sprayed liquid from damaging the main body 600 and the like. And/or, the nozzle tip adjustment device may be further configured such that nozzle tip 1 is centered in the rotor wind field to maximize its ability to borrow force from the rotor wind field.

It should be noted that, the same orientation between the spraying direction of the spray head 1 and the flow direction of the rotor wind field includes that the central axis of the spray head 1 is parallel to or coincident with the rotation axis OO 'of the corresponding rotor mechanism 400, or the acute included angle between the central axis of the spray head 1 and the rotation axis OO' of the corresponding rotor mechanism 400 is within a preset included angle range, for example, within an included angle range of 0 to 15 ° or 0 to 30 °.

Specifically, the orientation of the rotor wind field can be obtained directly by detection means or indirectly. A tilt sensor is provided, for example, in the pivotal connection between rotor mechanism 400 and horn 500, to measure the orientation of the axis of rotation OO' of the propeller, i.e., to know the orientation of the rotor wind field generated by rotor mechanism 400.

In an indirect manner, the orientation of the rotor wind field generated by each rotor mechanism 400 may be known, for example, via flight control attitude commands. Unmanned aerial vehicle's flight control module, rotor control module and shower nozzle adjusting device 100 intercommunication, after receiving corresponding flight control gesture instruction, the relative horn 500 swing of rotor mechanism 400 of rotor control module to form the rotor wind field of certain orientation, thereby realize advancing, retreat, hover etc. flight gesture of unmanned aerial vehicle with the help of the thrust in rotor wind field. Therefore, the flight control attitude corresponds to the orientation of the rotation axis OO' of rotor mechanism 400, and the orientation of nozzle head 1 can be directly adjusted according to the flight control attitude.

Accordingly, the showerhead adjustment device 100 may be further configured to: and acquiring the received flight control attitude instruction to determine the azimuth of each rotor wing wind field. Furthermore, when the flight control gesture instruction is a hover gesture instruction, a forward flight gesture instruction, or a backward flight gesture instruction, the showerhead adjustment apparatus 100 may be further configured to: the acquired flight control attitude instruction is a hovering attitude instruction; controlling the spraying direction of the spray head 1 to face to the position right below or side below the rotor wing mechanism 400; the acquired flight control attitude instruction is a front flight attitude instruction; controlling the spraying direction of the spray head 1 to face the lower rear part of the corresponding rotor wing mechanism 400; the acquired flight control attitude instruction is a rear flight attitude instruction; and controlling the spraying direction of the spray head 1 to face towards the front lower part of the corresponding rotor wing mechanism 400.

As an example, in the dual-rotor plant protection drone shown in fig. 8 to 10, the drone structure in the hovering, forward flying, and backward flying states is illustrated, respectively. The unmanned aerial vehicle comprises the spray head adjusting device 100. The spray head 1 is arranged below the machine arm 500, and the machine arm 500 is fixedly connected with the machine body 600; the propeller of rotor mechanism 400 is disposed above horn 500, and the propeller is swung by the rotor motor with respect to horn 500, thereby controlling the forward or reverse attitude. Under ideal conditions, the rotation axis OO' of the propeller is parallel to or even coincident with the central axis of the spray head 1, a downward pressing wind field is formed below the propeller, and the fog drops sprayed out of the spray head 1 are pushed by the wind field to spray in an accelerating manner, so that ideal spraying efficiency is realized.

The nozzle adjusting device 100 can adjust the nozzle angle in real time according to the change of a rotor wind field generated by the rotor of the unmanned aerial vehicle, so that the maximum utilization rate of the wind field is achieved, and the problem of pollution to the body caused by medicine sprayed by the nozzle is solved.

As shown in fig. 1 and 8, when hovering, ideally, the swing arm 2 to which the head 1 is attached extends vertically downward, and the central axis of the swing arm 2 coincides with or is parallel to the rotation axis OO' of the rotor mechanism 400. However, in the illustrated embodiment, since the steering gear 3 of the head swing unit 101 is mounted on the horn 500, and the swing arm 2 extends laterally outward and downward perpendicular to the horn 500, the central axis of the swing arm 2 forms an acute angle with the rotation axis OO' of the rotor mechanism 400. Under the state of hovering, swing arm 2 that shower nozzle 1 connects swings to rotor mechanism 400 and horn 500 under, and shower nozzle 1 sprays towards the outside of the side of rotor mechanism 400, and the wind-force boosting of rotor wind field can be fully utilized to the blowout fog droplet of shower nozzle 1 like this, reaches the maximize to the utilization in rotor wind field, owing to spray towards the outside of the side, fuselage 600 etc. can not be hindered to pesticide fog droplet, etc. that shower nozzle 1 spouts moreover.

When unmanned aerial vehicle need go forward or retreat, the rotor motor under rotor mechanism 400's the screw drives the screw pivot and swings on the vertical plane along fore-and-aft direction, and the relative horizontal plane slope of rotation plane of screw, according to the interact of power, the opposite direction swing of screw swing direction is followed to fuselage 600. As shown in fig. 1 and 9, when the front-flying operation is performed, the angle of the rotor mechanism 400 is adjusted, the rotor wind field generated by the propeller is located at the lower rear part, and the flow direction of the wind field faces the lower rear part, so that the unmanned aerial vehicle can be boosted to fly forward. At this moment, because the steering engine control units of the flight control module, the rotor wing control module and the nozzle adjusting device communicate with each other, the steering engine control unit can directly receive a detection signal of the azimuth change of the rotor wing wind field, and also can identify the change angle information of the rotation axis OO' of the rotor wing mechanism through the flight control module or the rotor wing control module, namely the azimuth change information of the rotor wing wind field. Therefore, the steering engine control spray head 1 can be continuously adjusted according to the angle of the azimuth change of the rotor wing wind field to connect the swing arm 2 to swing by a corresponding angle, so that the spray head 1 and the swing arm 2 also face the lower rear part of the rotor wing mechanism 400, the position of the spray head swing arm is guaranteed to be always perpendicular to the rotating plane of the propeller, the effect of the wind field can be maximally utilized, and meanwhile, the pollution to the body can be avoided.

Similarly, as shown in fig. 1 and 10, when the rear flight operation is performed, the two rotor mechanisms 400 are also adjusted in angle, and the direction of the rotor wind field generated at this time is the front-lower direction. The flight control module, the rotor control module communicates with the steering engine control unit of the spray nozzle adjusting device, the steering engine control unit can directly receive the detection signal of the azimuth change of the rotor wind field, the change angle information of the rotation axis OO' of the rotor mechanism 400 can also be identified through the flight control module or the rotor control module, namely the azimuth change information of the rotor wind field, the steering engine 3 is correspondingly adjusted according to the angle of the azimuth change of the wind field, the spray nozzle 1 is controlled, the swing arm 2 swings by a corresponding angle, the position of the swing arm of the spray nozzle is always perpendicular to the rotation plane of the propeller of the rotor mechanism, and the boosting effect of the wind field can be utilized to the maximum.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

Claims

1. The utility model provides a steering wheel swing mechanism which characterized in that, steering wheel swing mechanism includes:

a swing arm (2);

the steering engine (3) comprises a steering engine motor (31), a speed reducing mechanism (32) and a steering engine output shaft which are sequentially connected in a transmission manner, and the steering engine output shaft drives the swing arm (2) to swing; and

and the limiting abutting structure is used for limiting and abutting against and fixing the steering engine output shaft and/or the swing arm (2) at the swinging end point position of the swing arm (2).

2. The steering engine swing mechanism of claim 1, wherein the steering engine (3) further comprises:

the speed reducing mechanism (32) is arranged in the steering engine shell (4), and the steering engine output shaft penetrates out of the steering engine shell (4);

the limiting abutting structure is arranged on the steering engine shell (4) and the steering engine output shaft.

3. The steering engine swing mechanism of claim 2, wherein the limiting abutting structure comprises:

the limiting groove (5) is arranged on one of the steering engine shell (4) and the steering engine output shaft; and

the limiting column (6) is arranged on the other one of the steering engine shell (4) and the steering engine output shaft in a matched mode and extends into the limiting groove (5);

the swing end point position of the swing arm (2) is that the limiting column (6) is limited and abutted against the limiting wall (51) of the limiting groove (5) to fix the steering engine output shaft.

4. The steering engine swing mechanism according to claim 3, wherein the steering engine motor (31) is a direct current speed reduction motor, the limiting groove (5) is an arc groove and comprises a first circumferential end wall and a second circumferential end wall serving as the limiting wall (51), the steering engine motor (31) can drive the swing arm (2) to swing to a first swing end point position and enable the limiting column (6) to be in limit abutment on the first circumferential end wall under the action of forward voltage, and can drive the swing arm (2) to swing to a second swing end point position and enable the limiting column (6) to be in limit abutment on the second circumferential end wall under the action of reverse voltage.

5. The steering engine swing mechanism of claim 3, wherein the limiting abutting structure further comprises:

the groove length adjusting ring piece (52) is sleeved on the steering engine shell (4) or the steering engine output shaft, which is provided with the limiting groove (5), in a circumferentially movable manner, and the groove length adjusting ring piece (52) covers the end part of the limiting groove (5), so that the end wall of the groove length adjusting ring piece (52) forms the limiting wall (51) of the limiting groove (5).

6. The steering engine swing mechanism according to claim 3, wherein the position-limiting post (6) is adjustably mounted on the steering engine housing (4) or the steering engine output shaft.

7. The steering engine swing mechanism of claim 1, wherein the reduction mechanism (32) comprises a multi-stage worm and gear mechanism.

8. The steering engine swing mechanism of any one of claims 1 to 7, further comprising:

a steering engine control unit for drive control of the steering engine motor (31) and configured to:

determining that the swing arm (2) does not reach the swing end point position;

the steering engine motor (31) is controlled to drive the steering engine output shaft to rotate according to preset working current;

determining that the swing arm (2) reaches the swing end point position or contacts the limit abutting structure; and

continuously driving the steering engine motor (31) by preset pressing current;

wherein the preset pressing current is smaller than the preset working current.

9. A drone, characterized in that it comprises:

a body (600) with an organic arm (500) extending outwards;

the steering engine swinging mechanism according to any one of claims 1 to 8, wherein the steering engine (3) is fixedly arranged on the horn (500); and

and the spray head (1) is arranged at the end part of the swing arm (2) to swing along with the swing.

10. The drone of claim 9, further comprising:

and the rotor wing mechanism (400) is arranged at the end part of the horn (500) and is positioned above the steering engine (3) and the spray head (1).

11. A method of drone spraying operations according to claim 10, the method comprising:

controlling the rotor mechanism (400) according to a flight control attitude command to adjust an orientation of the generated rotor wind field; and

correspondingly adjusting the steering engine swinging mechanism arranged below the rotor wing mechanism (400) according to the direction of the rotor wing wind field, so that the spraying direction of the spray head (1) is the same as the direction of the flow of the rotor wing wind field;

the swing arm (2) swings to the swinging end point position or contacts the limit abutting structure by driving the steering engine motor (31) with preset working current, and the steering engine motor (31) is continuously driven by preset pressing current to limit and abut against and fix the steering engine output shaft and/or the swing arm (2); the preset pressing current is smaller than the preset working current.