CN112455688A - Swing subassembly, shower nozzle swing unit and unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a swinging assembly, a spray head swinging unit and an unmanned aerial vehicle. The resettable connecting structure can comprise a tooth-shaped end cover which is fixedly connected with the swing arm connecting end; the tooth-shaped base is fixedly connected to the rotary output shaft; and the elastic reset element is arranged along the axial direction of the rotary output shaft and elastically pre-presses the tooth-shaped end cover. Adopt in unmanned aerial vehicle's the shower nozzle swing unit the swing subassembly to having brought into the swing subassembly and can resisting the impact and in time connecting the advantage that resets because of the connection structure that resets, can preventing swing arm or rotatory output shaft rigidity rupture when the swing arm receives external force and assaults, having promoted the product prevent external force impact ability and the viability of operation under adverse circumstances, still reducible maintenance cost.

Description

Swing subassembly, shower nozzle swing unit and unmanned aerial vehicle

Technical Field

The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a swinging assembly, a nozzle swinging unit and an unmanned aerial vehicle.

Background

Plant protection unmanned aerial vehicle type is when carrying out flight operation, for example spray the field work of pesticide, often brings the external force impact to unmanned aerial vehicle's part because of improper or complex environment, accident are controlled in the flight easily in the field environment, causes the part to break, even the complete machine damage of taking along.

Especially, in the existing plant protection unmanned aerial vehicle, additional components such as the spray head are fixedly installed on the body or the arm, or in order to be far away from the body, a connecting rod is extended outwards from the unmanned aerial vehicle to install the spray head. Such outwardly extending links and the like are more susceptible to breakage from external impacts.

Disclosure of Invention

Aiming at the defects or shortcomings in the prior art, the invention provides a swinging assembly, a nozzle swinging unit and an unmanned aerial vehicle, so that the external force impact resistance of parts or the whole unmanned aerial vehicle is improved, and the safety performance of a product is improved.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a swing assembly including a rotation output shaft that outputs rotation, and a swing arm that is connected to the rotation output shaft to swing, a connection portion between the swing arm and the rotation output shaft being formed as a resettable connection structure that is resistant to breakage.

In one embodiment, the repositionable coupling structure includes:

the tooth-shaped end cover is fixedly connected to the swing arm connecting end of the swing arm;

the tooth-shaped base is fixedly connected to the rotary output shaft; and

the elastic reset element is arranged along the axial direction of the rotary output shaft and elastically pre-presses the tooth-shaped end cover;

the tooth-shaped base and the tooth-shaped end cover are both end face gears which are coaxial with the rotary output shaft and the gear teeth of which are distributed along the circumferential direction.

In one embodiment, the repositionable coupling structure may further include:

the joint bearing is arranged in a bearing cavity in the tooth-shaped end cover; and

and the mandrel is connected between the rotary output shaft and the inner ring of the joint bearing.

In one embodiment, the mandrel is provided with a mandrel flange seat, and the elastic resetting element is sleeved on the mandrel and two ends of the elastic resetting element are elastically biased between the mandrel flange seat and the tooth-shaped base.

Further, the elastic return element may be a compression spring.

Optionally, the end of the mandrel is provided with an axial connecting shaft hole and a radial connecting pin hole, the swing assembly further comprises an inner ring connecting piece penetrating through the inner ring, and the inner ring connecting piece extends into the connecting shaft hole and is fixedly connected with the mandrel through a lock pin penetrating through the connecting pin hole.

Furthermore, the tooth-shaped end cover and the swing arm connecting end are integrally formed and fixedly sleeved on the swing arm body of the swing arm.

According to a second aspect of the present invention, there is also provided a head swing unit including:

the above-mentioned oscillating assembly;

the spray head is arranged at the end part of the swing arm; and

the steering engine comprises a steering engine output shaft which is used as the output of the rotary output shaft;

wherein, the steering wheel drive the swing arm drives the shower nozzle swing.

In one embodiment, the head swing unit further includes:

the steering engine output shaft penetrates out of the steering engine shell;

the steering engine motor is arranged on the steering engine shell; and

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

According to a third aspect of the present invention, there is also provided a drone including the above-described nozzle oscillating unit.

In one embodiment, the drone further comprises:

the steering engine is arranged on the horn;

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

the steering engine control unit is used for driving and controlling the steering engine to adjust the direction of the spray head, and the spray head swinging unit is correspondingly arranged below the rotor wing mechanism according to the direction of the rotor wing wind field of the rotor wing mechanism, so that the spraying direction of the spray head is the same as the direction of the flow direction of the rotor wing wind field.

In the swing assembly, the resettable connecting structure for preventing breakage is formed between the swing arm and the rotary output shaft, and compared with rigid connection of the swing arm and the rotary output shaft, when the swing arm is impacted by external force, the resettable connecting structure can resist the impact and timely connect and reset, so that the swing arm or the rotary output shaft is prevented from being rigidly broken, and the external force impact resistance of an assembly product is improved. After the unmanned aerial vehicle and the nozzle swinging unit adopt the swinging assembly, the survival ability of the unmanned aerial vehicle during spraying operation in severe environment can be improved, the safety performance of products is improved, and the maintenance cost is reduced.

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 perspective view of a swing assembly provided in accordance with one embodiment of the present invention;

FIG. 2 is an exploded perspective view of the swing assembly of FIG. 1;

FIG. 3 is an exploded perspective view of the swing assembly of FIG. 1 from a different perspective, with the rotating output shaft hidden for viewing of the internal structure;

FIGS. 4 and 5 are perspective views of the swing assembly of FIG. 3 from different perspectives, respectively, illustrating the state of the swing arm pivoting about the spindle and causing misalignment of the gear teeth due to the swing arm being impacted by an external force;

fig. 6 and 7 are perspective views of the swing assembly of fig. 3 at different viewing angles, respectively, wherein the states of the swing arm when the swing arm is impacted by an external force so that the bottom end of the swing arm moves to the left and the gear teeth are dislocated are shown;

fig. 8 is a perspective view of a head swing unit according to an embodiment of the present invention;

fig. 9 and 10 are perspective views of the steering engine in the nozzle swing unit shown in fig. 8 in a state where the casing of the steering engine is hidden and in a state where the casing of the steering engine is covered;

fig. 11 is a perspective view of an unmanned aerial vehicle provided in an embodiment of the present invention;

fig. 12 is a perspective view of the drone in a hover pose;

fig. 13 is a perspective view of the drone in a forward flight attitude; and

fig. 14 is a perspective view of the drone in a rear flight attitude.

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

9 elastic reset element 10 mandrel

11 joint bearing 12 dabber flange seats

13 connecting shaft hole and 14 connecting pin hole

15 inner ring connecting piece 16 pipe clamp

21 swing arm connecting end 51 limiting wall

31 steering engine motor 32 reduction gears

33 rotating output shaft

71 end cap gear teeth 81 base gear teeth

OO' axis of rotation

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.

Fig. 1 is a perspective view of a swing assembly provided in one embodiment of the present invention. As shown in fig. 1, the present invention provides a swing assembly comprising:

a rotation output shaft 33 for outputting rotation; and

the swing arm 2 is connected with the rotary output shaft 33 to realize swing;

wherein, the connection part between the swing arm 2 and the rotary output shaft 33 is formed into a resettable connection structure for preventing breakage.

In the swing assembly according to the invention, a snap-off resistant resettable connection is provided, in particular, between the swing arm 2 and the rotary output shaft 33, which serves as a buffer. Thus, even if the swing arm 2 is temporarily disconnected when it is subjected to an external impact, the connection transmission between the swing arm 2 and the rotation output shaft 33 can be restored by the resettable connection structure. Therefore, compared with a rigid connection mode without buffer, the shock-proof and fracture-proof connection structure can play a role in resisting shock and fracture.

The resettable connection structure firstly needs to play a role in connection transmission between the swing arm 2 and the rotary output shaft 33, and secondly needs to play a role in impact resistance buffering and resetting connection. It will be appreciated by those skilled in the art that the repositionable coupling structure may take various forms, such as a disc brake pad structure in an automotive braking system.

However, since the swing module of the present invention is required to have a simple and practical structure, in the present embodiment, the resettable connection structure is a combination structure of meshing connection transmission and elastic resetting. As shown in fig. 2 and 3, the resettable connection structure includes:

the tooth-shaped end cover 7 is fixedly connected to the swing arm connecting end 21 of the swing arm 2;

a tooth-shaped base 8 fixedly connected to the rotary output shaft 33; and

the elastic reset element 9 is arranged along the axial direction of the rotary output shaft 33 and elastically pre-tensions the tooth-shaped end cover 7;

the tooth-shaped base 8 and the tooth-shaped end cover 7 are face gears which are coaxial with the rotary output shaft 33 and the gear teeth of which are distributed along the circumferential direction.

When the rotary output shaft 33 rotates, the swing arm 2 is driven to do swing motion around the central axis of the rotary output shaft 33 through the full meshing transmission of the face gear between the tooth-shaped base 8 and the tooth-shaped end cover 7. When the gear teeth are meshed and dislocated, the end face gear meshing structure between the tooth-shaped base 8 and the tooth-shaped end cover 7 has a certain meshing reset capability through the sliding of the meshing tooth surface, and in addition, the elastic reset element 9 exerts an elastic pre-tightening effect on the tooth-shaped end cover 7 along the axial direction of the rotary output shaft 33, namely an axial pre-tightening force is exerted on the tooth-shaped end cover 7, so that the tooth-shaped base 8 and the tooth-shaped end cover 7 are further promoted to restore meshing transmission.

Wherein the teeth on the respective end faces of the toothed base 8 and the toothed end cap 7 (i.e. the end cap teeth 71, the base teeth 81) project towards each other. Typically, if the number of teeth of the face gear is too large, the tooth surface of a single tooth is too small, and when the sliding dislocation is large due to external force impact, the meshing cannot be recovered conveniently. If the number of teeth of the gear is too small, the fit clearance is easy to be large, and the transmission virtual position and the meshing transmission capability are not strong. Therefore, the number of teeth of each face gear is not more than 6, for example, the tooth-shaped base 8 and the tooth-shaped end cover 7 respectively have 4 teeth which are arranged at intervals along the circumferential direction.

Referring to fig. 2 and 3, in the present embodiment, the resettable connection structure further includes:

the oscillating bearing 11 is arranged in a bearing cavity in the tooth-shaped end cover 7; and

the spindle 10 is connected between the rotation output shaft 33 and the inner ring of the joint bearing 11.

Through additionally arranging the mandrel 10, the elastic pretightening force of the elastic resetting element 9 can be transmitted to the tooth-shaped end cover 7, and meanwhile, due to the arrangement of the joint bearing 11 with extremely high flexibility, the elastic pretightening force of the elastic resetting element 9 cannot generate additional unnecessary stress influence on the swinging of the swing arm 2.

Further, the mandrel 10 is provided with a mandrel flange seat 12 for installing and carrying the elastic reset element 9, as shown in fig. 2, the mandrel 10 is arranged at the end part of the mandrel 10, the elastic reset element 9 is sleeved on the mandrel 10, and two ends of the elastic reset element are elastically biased between the mandrel flange seat 12 and the tooth-shaped base 8.

The elastic restoring element 9 may be various elastic members such as various rubber sleeves, and in the present embodiment, a compression spring is used. When the mandrel flange seat 12 and the tooth-shaped base 8 are both fixedly mounted on the rotary output shaft 33, the length between the mandrel flange seat 12 and the tooth-shaped base 8 is fixed, the compression amount of the compression spring is fixed, and constant spring tension force can be provided for the tooth-shaped end cover 7, so that the tooth-shaped end cover 7 and the tooth-shaped base 8 form more sufficient gear tooth meshing and more reliable meshing restoring force.

In order to complete the installation of the oscillating bearing 11, a bearing cavity is formed in the toothed end cover 7. As will be appreciated by those skilled in the art, the spherical plain bearing 11 generally comprises an outer race having an inner spherical surface and an inner race having an outer spherical surface, the outer race being fixed in a bearing cavity in the toothed end cap 7, the spindle 10 extending through a central hole of the toothed base 8 and being connected to the inner race to transmit the elastic pre-load force of the elastic return element 9.

Furthermore, the end of the mandrel 10 is provided with an axial connecting shaft hole 13 and a radial connecting pin hole 14, the swing assembly further comprises an inner ring connecting piece 15 penetrating with the inner ring, and the inner ring connecting piece 15 extends into the connecting shaft hole 13 and is connected and fixed with the mandrel 10 through a lock pin penetrating through the connecting pin hole 14. This completes the drive connection of the spindle 10 to the inner ring of the spherical plain bearing 11.

In order to restore the meshing by elastic restoring force, the tooth-shaped base 8, the tooth-shaped end cover 7, the elastic reset element 9 and the mandrel 10 are coaxially arranged. Further, in order to facilitate installation of the joint bearing 11, the inner ring connecting piece 15 and the like, a right-angle included angle or an obtuse-angle included angle is formed between the toothed end cover 7 and the swing arm connecting end 21 of the swing arm 2. And the corner of the included angle forms an exposed cutting part so as to facilitate the joint bearing 11, the inner ring connecting piece 15 and the like to be plugged into a bearing cavity of the tooth-shaped end cover 7.

In this embodiment, for the convenience of disassembly and assembly, the tooth-shaped end cover 7 and the swing arm connecting end 21 are integrally formed to form a bent pipe connecting piece and fixedly sleeved on the swing arm body of the swing arm 2. In addition, the rotary output shaft 33 can be detachably fastened and connected with the end face of the tooth-shaped base 8 through an end face fastener, and the peripheral wall of the rotary output shaft 33 can be sleeved with transmission components such as gears and worm wheels and is in transmission connection with the rotary driving motor.

Fig. 4 and 5 are perspective views of the swing assembly of fig. 3 with the rotary output shaft 33 hidden for easy viewing, respectively, from different perspectives, wherein the swing arm is pivoted around the spindle and the gear teeth are dislocated due to the swing arm being impacted by external force; fig. 6 and 7 are perspective views of the swing assembly of fig. 3 at different viewing angles, respectively, wherein states of the swing arm when the swing arm is impacted by an external force so that the bottom end of the swing arm moves to the left and the gear teeth are dislocated are shown.

When the toothed end cap 7 and the toothed base 8 are displaced from each other in a circumferential direction around the central axis of the mandrel 10 due to an impact external force (e.g., an impact force along the swing plane of the swing arm 2) applied to the bottom end of the swing arm 2 in fig. 4 and 5, the end cap gear teeth 71 and the base gear teeth 81 are not completely disengaged, i.e., are not completely disengaged, but the end cap gear teeth 71 are further away from the base gear teeth 81 along the central axis of the mandrel 10 due to the larger gear teeth, so that the elastic restoring force of the elastic restoring element 9 is increased, and after the external impact force disappears, the larger elastic restoring force stretches the toothed end cap 7 to be close to the toothed base 8, so that the end cap gear teeth 71 and the base gear teeth 81 move toward the direction of minimum applied force, i.e., slide along the gear teeth, and return to.

When the toothed end cap 7 and the toothed base 8 are misaligned to each other due to an impact force (e.g., an impact force along the central axis of the mandrel 10) applied to the bottom end of the swing arm 2 in fig. 6 and 7, the end cap teeth 71 at the lower portion of the toothed end cap 7 are disengaged from the base teeth 81 along the central axis of the mandrel 10, and the end cap teeth 71 at the upper portion of the toothed end cap 7 are displaced downward and further embedded in the toothed base 8. Similarly, at this time, after the external impact force disappears, under the stretching of the elastic restoring force of the elastic restoring element 9, the toothed end cover 7 is urged to approach the toothed base 8, so that the end cover gear teeth 71 and the base gear teeth 81 move toward the force minimum direction, i.e., slide along the gear tooth flanks, until the fully meshed state is restored.

The swing assembly is suitable for various swing mechanisms, can avoid breakage and the like caused by external force impact on the swing arm 2 to the greatest extent, and can maintain normal operation of the mechanism and reduce equipment maintenance.

On the basis, the invention also correspondingly provides a spray head swinging unit. Referring to fig. 8, the head swing unit 101 includes:

the above-mentioned oscillating assembly;

the spray head 1 is arranged at the end part of the swing arm 2; and

a steering engine 3 including a steering engine output shaft as a rotary output shaft 33 output;

wherein, steering wheel 3 drive swing arm 2 drives shower nozzle 1 swing.

It can be seen that the above-mentioned swinging assembly is applied to the nozzle swinging unit 101, and the steering engine 3 drives the rotation output shaft 33 (i.e. the steering engine output shaft) of the swinging assembly to rotate so as to drive the nozzle 1 to swing. The steering engine output shaft and the swing arm 2 are in meshing transmission through the tooth-shaped end cover 7 and the tooth-shaped base 8, and the swing arm 2 can be prevented from being rigidly broken due to external force impact by combining the elastic restoring force of the elastic restoring element 9.

Referring to fig. 9 and 10, the head swing unit 101 may further include:

the steering engine outer shell 4 is used for enabling the steering engine output shaft to penetrate out of the steering engine outer shell 4;

the steering engine motor 31 is arranged on the steering engine shell 4; 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;

wherein, the spacing structure of leaning against is set up on steering wheel shell 4 and steering wheel output shaft.

This shower nozzle swing unit 101 leans on the structure through addding spacing, can solve the virtual position problem of swing, improves swing stability.

Specifically, as shown in fig. 9, the steering engine 3 incorporates a multistage transmission mechanism as the speed reduction mechanism 32, and therefore the steering engine virtual position is mainly embodied in the transmission mechanism in the steering engine. For eliminating the vibration problem of the free end of the swing arm 2 caused by the virtual position of the steering engine, the structure is abutted by additionally arranging a limit to form a limit abutment at a specific limit 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 shown in fig. 9 includes a two-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. The virtual position is enlarged to the transmission tail end of the steering engine, namely a tooth-shaped base 8 shown in the figure. Through the virtual position of being connected of steering wheel output shaft and swing arm 2 again, including the shaft-like amplification of swing arm 2 for the vibration range of the shower nozzle 1 at swing arm 2 end is nonnegligible. Of course, the worm gear type speed reduction mechanism 32 herein is merely exemplary, but not limited thereto.

More specifically, the limiting abutting structure of one embodiment shown in fig. 9 and 10 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. 9 and 10, the limiting column 6 is convexly and fixedly arranged on the end surface of the steering engine shell 4; the spacing groove is limited between the peripheral wall of the tooth-shaped base 8 and the end face of the steering engine 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 head swing unit 101 is used for spraying operations in an unmanned aerial vehicle, as will be explained in more detail below.

At the swing endpoint position of the swing arm 2, if the steering engine motor 31 stops running, the output shaft of the steering engine cannot be ensured not to rotate reversely, so that the limiting fixing is disabled. Therefore, further, the steering engine motor 31 may be configured to drive the steering engine output shaft to rotate according to a preset working current before determining that the swing arm 2 does not reach the swing end point position; when the swing arm 2 is determined to reach the swing end point position or contact the limiting abutting structure, the steering engine motor 31 is continuously driven by preset abutting current; wherein the preset pressing current is smaller than the preset working current.

It can be seen that when steering wheel 3 drive swing arm 2 normally swung, steering wheel motor 31 worked with predetermineeing operating current, and in swing endpoint position, when steering wheel output shaft stopped rotatory and fixed because spacing support to lean on the effect, steering wheel motor 31 can not stop, and continued work with the current of pressing of predetermineeing of undercurrent, for steering wheel output shaft with certain former direction rotation driving power, support to the structure to spacing applying certain support to the packing force to realize more reliable spacing fixed.

Like this, shower nozzle swing unit 101 supports through addding spacingly and leans on the structure, can eliminate the vibration problem at the transmission terminal that the steering wheel virtual position brought, can be at swing end point fixed swing arm 2, and this shower nozzle at unmanned aerial vehicle sprays the operation in great benefit.

Therefore, the invention further provides the unmanned aerial vehicle comprising the spray head swinging unit 101.

Fig. 11 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention. The unmanned aerial vehicle further comprises a body 600 and a rotor wing mechanism 400, the body 600 extends outwards to form a horn 500, and the steering engine 3 of the nozzle swinging unit 101 can be mounted on the horn 500 through a pipe clamp 16. Rotor mechanism 400 is mounted at the end of horn 500 and above steering engine 3 and spray head 1.

Further, the drone may further include a steering engine control unit for drive-controlling the steering engine 3 to adjust the orientation of the nozzle 1, and configured to adjust the nozzle swing unit 101 disposed below the rotor mechanism 400 accordingly according to the orientation of the rotor wind field of the rotor mechanism 400, so that the spraying direction of the nozzle 1 is the same as the direction of flow of the rotor wind field. 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.

Above-mentioned unmanned aerial vehicle can be plant protection unmanned aerial vehicle, and horn 500, rotor mechanism 400 and shower nozzle swing unit 101 can be a plurality of and one-to-one setting. For example, the drones shown in fig. 11-14 are two-wing drones, although four-wing drones, six-wing drones, and the like may also be used.

Further, as shown in fig. 12 to 14, under the different operating condition of unmanned aerial vehicle, the position of rotor mechanism 400 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, the invention relates the spraying direction of the spray head 1 to the direction of the rotor wing wind field through the steering engine control unit, and realizes the automatic control of the angle of the spray head 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.

Thus, as shown in fig. 11, a nozzle adjusting device 100 is added in the unmanned aerial vehicle, the nozzle adjusting device 100 includes a nozzle swinging unit 101 as an executing part and a steering engine control unit as a control part, the direction of the nozzle 1 is controlled to be adjusted in a swinging manner, and the swinging amplitude is adjusted by controlling a steering engine motor 31, so that the swinging endpoint position of the nozzle 1 is controlled.

It should be noted that the spraying direction of the nozzle 1 is the same as the flowing direction of the rotor wind field, and includes that the central axis of the nozzle 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 nozzle 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. 12 to 14, the drone structure in the hovering, forward flying, and backward flying states is illustrated, respectively. The propellers of rotor-wing mechanism 400 may be driven by a rotor motor to oscillate relative to horn 500 to control forward or reverse attitude. The nozzle adjusting device 100 can adjust the angle of the nozzle 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. 12, in the hovering state, the swing arm 2 connected to the nozzle 1 swings to a position directly below the rotor mechanism 400 and the horn 500, and the nozzle 1 sprays toward the lateral outside of the rotor mechanism 400, so that the mist ejected from the nozzle 1 can be fully boosted by the wind force of the rotor wind field, the utilization of the rotor wind field is maximized, and the pesticide mist and the like ejected from the nozzle 1 do not injure the body 600 and the like by spraying toward the lateral outside.

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. 13, when the front-flying operation is performed, the rotor mechanism 400 is adjusted in angle, and at this time, the rotor wind field generated by the propeller is located at the lower rear side, and the flow direction of the wind field faces the lower rear side, so that the front-flying of the unmanned aerial vehicle can be boosted. 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. 14, 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 steering engine 3 is correspondingly adjusted according to the angle of the wind field direction change, the spray head 1 and the swing arm 2 are controlled to swing by corresponding angles, so that the spray head 1 and the swing arm 2 also face the front and back of the rotor wing mechanism 400, and the boosting effect of the wind field can be utilized to the maximum extent.

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 (11)

1. A swing assembly is characterized by comprising a rotary output shaft (33) for rotary output and a swing arm (2) connected with the rotary output shaft (33) to realize swing, wherein a connecting part between the swing arm (2) and the rotary output shaft (33) is formed into a fracture-proof resettable connecting structure.

2. The swing assembly of claim 1, wherein the repositionable connection includes:

the tooth-shaped end cover (7) is fixedly connected to a swing arm connecting end (21) of the swing arm (2);

a tooth-shaped base (8) fixedly connected to the rotary output shaft (33); and

the elastic reset element (9) is arranged along the axial direction of the rotary output shaft (33) and elastically pre-presses the tooth-shaped end cover (7);

the tooth-shaped base (8) and the tooth-shaped end cover (7) are face gears which are coaxial with the rotary output shaft (33) and the gear teeth of which are distributed along the circumferential direction.

3. The swing assembly of claim 2, wherein the repositionable connection further comprises:

the oscillating bearing (11) is arranged in a bearing cavity in the tooth-shaped end cover (7); and

and the mandrel (10) is connected between the rotary output shaft (33) and the inner ring of the joint bearing (11).

4. The swing assembly according to claim 3, wherein the spindle (10) is provided with a spindle flange seat (12), the elastic reset element (9) is sleeved on the spindle (10) and both ends of the elastic reset element are elastically biased between the spindle flange seat (12) and the tooth-shaped base (8).

5. Swing assembly according to claim 4, wherein said elastic return element (9) is a compression spring.

6. The swing assembly according to claim 3, wherein the end of the mandrel (10) is provided with an axial connecting shaft hole (13) and a radial connecting pin hole (14), the swing assembly further comprises an inner ring connecting piece (15) penetrating the inner ring, and the inner ring connecting piece (15) extends into the connecting shaft hole (13) and is fixedly connected with the mandrel (10) through a locking pin penetrating the connecting pin hole (14).

7. The oscillating assembly according to claim 2, characterized in that said toothed end cap (7) is integral with said oscillating arm connection end (21) and is fixedly secured to the oscillating arm body of said oscillating arm (2).

8. A head swing unit, characterized in that the head swing unit (101) comprises:

the swing assembly of any one of claims 1 to 7;

the spray head (1) is arranged at the end part of the swing arm (2); and

a steering engine (3) including a steering engine output shaft as the output of the rotation output shaft (33);

the steering engine (3) drives the swing arm (2) to drive the spray head (1) to swing.

9. The head oscillating unit according to claim 8, wherein said head oscillating unit (101) further comprises:

the steering engine output shaft penetrates out of the steering engine shell (4);

the steering engine motor (31) is installed on the steering engine shell (4); 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 position of the swing arm (2);

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

10. A drone, characterized in that it comprises a jet oscillating unit (101) according to claim 8 or 9.

11. The drone of claim 10, further comprising:

the steering engine comprises a body (600) and a steering engine (3), wherein an organic arm (500) extends outwards, and the steering engine (3) is installed on the organic arm (500);

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

the steering engine control unit is used for driving and controlling the steering engine (3) to adjust the orientation of the spray head (1), and is configured to correspondingly adjust the spray head swinging unit (101) arranged below the rotor wing mechanism (400) according to the orientation of a rotor wing wind field of the rotor wing mechanism (400), 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.

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