CN113277104A - Automatic supply device and intelligent self-service supply system of agricultural plant protection unmanned aerial vehicle - Google Patents

Automatic supply device and intelligent self-service supply system of agricultural plant protection unmanned aerial vehicle Download PDF

Info

Publication number
CN113277104A
CN113277104A CN202110781517.9A CN202110781517A CN113277104A CN 113277104 A CN113277104 A CN 113277104A CN 202110781517 A CN202110781517 A CN 202110781517A CN 113277104 A CN113277104 A CN 113277104A
Authority
CN
China
Prior art keywords
unmanned aerial
aerial vehicle
plant protection
protection unmanned
butt joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110781517.9A
Other languages
Chinese (zh)
Other versions
CN113277104B (en
Inventor
于伟龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Lairunda Technology Co ltd
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN202110781517.9A priority Critical patent/CN113277104B/en
Publication of CN113277104A publication Critical patent/CN113277104A/en
Application granted granted Critical
Publication of CN113277104B publication Critical patent/CN113277104B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/02—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring liquids other than fuel or lubricants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/02—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring liquids other than fuel or lubricants
    • B67D7/0288—Container connection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention discloses an automatic supply device and an intelligent self-service supply system of an agricultural plant protection unmanned aerial vehicle, wherein the automatic supply device comprises a base body, and an unmanned aerial vehicle docking device, a liquid supply device and a medicine cabin are mounted on the base body; the unmanned aerial vehicle docking device is docked with a plant protection unmanned aerial vehicle so that the plant protection unmanned aerial vehicle is fixedly positioned relative to the seat body; the liquid supplementing device is used for being in butt joint with a pesticide box of the plant protection unmanned aerial vehicle and drawing liquid medicine in the pesticide cabin to be injected into the pesticide box. According to the automatic supply device and the intelligent self-service supply system of the agricultural plant protection unmanned aerial vehicle, disclosed by the invention, the automatic supply device can automatically supply liquid medicine to the plant protection unmanned aerial vehicle, and the mobile vehicle body of the intelligent self-service supply system can carry the automatic supply device to move along with the plant protection unmanned aerial vehicle, so that the plant protection unmanned aerial vehicle can land nearby to supply the liquid medicine, unnecessary electric energy loss is reduced, the supply time is saved, and the working efficiency is improved.

Description

Automatic supply device and intelligent self-service supply system of agricultural plant protection unmanned aerial vehicle
Technical Field
The invention relates to the technical field of agricultural unmanned aerial vehicles, in particular to an automatic supply device and an intelligent self-service supply system of an agricultural plant protection unmanned aerial vehicle.
Background
Unmanned aerial vehicle has been sprayed medicine by the wide application in unmanned aerial vehicle because its flight is controlled convenient and stable high characteristics, because unmanned aerial vehicle spouts the liquid medicine that the medicine once can carry limited, therefore plant protection unmanned aerial vehicle need frequently reciprocal mend medicine and charge, not only extravagant electric energy, influences work efficiency moreover.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides an automatic supply device and an intelligent self-service supply system of an agricultural plant protection unmanned aerial vehicle, which can automatically supply liquid medicine to the plant protection unmanned aerial vehicle.
The technical scheme is as follows: in order to achieve the purpose, the automatic supply device of the agricultural plant protection unmanned aerial vehicle comprises a seat body, wherein an unmanned aerial vehicle docking device, a liquid supply device and a medicine cabin are arranged on the seat body; the unmanned aerial vehicle docking device is docked with a plant protection unmanned aerial vehicle so that the plant protection unmanned aerial vehicle is fixedly positioned relative to the seat body; the liquid supplementing device is used for being in butt joint with a pesticide box of the plant protection unmanned aerial vehicle and drawing liquid medicine in the pesticide cabin to be injected into the pesticide box.
Further, a first butt joint is mounted on the medicine box; the liquid supplementing device comprises a second butt joint capable of being butted with the first butt joint;
the second butt joint can be switched between a low position and a high position;
the second butt joint is arranged on the seat body through a pose conversion device; the posture conversion device enables the second butt joint to be in a horizontal state when being in a low position and to be in a vertical state when being in a high position.
Furthermore, the pose conversion device comprises a lifting seat, a rotating shaft is fixed on the second butt joint, and the rotating shaft is rotatably installed on the lifting seat;
the rotating shaft is also fixedly provided with an attitude conversion gear, the seat body is provided with an attitude conversion rack, and the attitude conversion gear rotates for 90 degrees after moving from one end of the attitude conversion rack to the other end; the posture conversion gear can be separated from the posture conversion rack, and when the posture conversion gear and the posture conversion rack are separated, the second butt joint is fixed relative to the seat body.
Furthermore, two ends of the posture conversion rack are provided with guide rails, and each guide rail is provided with a sliding groove penetrating through the length direction of the guide rail; the shaft end of the rotating shaft is square, namely the rotating shaft is provided with two groups of opposite planes; when the posture conversion gear is separated from the posture conversion rack, the shaft end of the rotating shaft is arranged in the sliding groove of the guide track on one side of the posture conversion rack.
Furthermore, an automatic battery replacing device is further installed on the seat body.
An intelligent self-service supply system of an agricultural plant protection unmanned aerial vehicle comprises the automatic supply device of the agricultural plant protection unmanned aerial vehicle, a supply main station and a movable vehicle body; the automatic supply device of the agricultural plant protection unmanned aerial vehicle is arranged on the movable vehicle body; the supply station can supply liquid medicine to the medicine cabin.
Has the advantages that: according to the automatic supply device and the intelligent self-service supply system of the agricultural plant protection unmanned aerial vehicle, disclosed by the invention, the automatic supply device can automatically supply liquid medicine to the plant protection unmanned aerial vehicle, and the mobile vehicle body of the intelligent self-service supply system can carry the automatic supply device to move along with the plant protection unmanned aerial vehicle, so that the plant protection unmanned aerial vehicle can land nearby to supply the liquid medicine, unnecessary electric energy loss is reduced, the supply time is saved, and the working efficiency is improved.
Drawings
FIG. 1 is a three-dimensional structure diagram of an automatic supply device of an agricultural plant protection unmanned aerial vehicle;
FIG. 2 is a front view of an automatic replenishment device of an agricultural plant protection unmanned aerial vehicle;
FIG. 3 is a view showing the construction of the fluid infusion apparatus;
FIG. 4 is a first state diagram of the fluid infusion device;
FIG. 5 is a second state diagram of the fluid infusion device;
FIG. 6 is a structural view of the rotating shaft;
fig. 7 is a structural diagram of the docking device of the unmanned aerial vehicle;
fig. 8 is a first state diagram of the docking device of the drone;
fig. 9 is a second state diagram of the docking device of the drone;
fig. 10 is a combined state diagram of the plant protection unmanned aerial vehicle and the unmanned aerial vehicle docking device after docking;
FIG. 11 is a structural view of an automatic battery changer;
FIG. 12 is a combination diagram of a battery charging dock and a lift drive assembly;
fig. 13 is a system configuration diagram of the intelligent self-service replenishment system.
In the figure: a seat body 1; an unmanned aerial vehicle docking device 2; a positioning claw 21; a finger portion 211; a V-shaped positioning portion 212; a link 213; a slider 214; a lead screw 215; a second transition gear 216; a drive gear 217; a lead screw motor 218; an opening and closing drive assembly 22; a drive shaft 221; an opening and closing motor 222; an intermediate shaft 223; a first transition gear 224; a timing belt assembly 225; a liquid supplementing device 3; a second butt joint 31; a lifting base 32; a rotating shaft 33; an attitude conversion gear 34; an attitude conversion rack 35; a guide rail 36; a chute 361; a lifting drive screw 37; a medicine cabin 4; a plant protection unmanned aerial vehicle 5; the medicine box 51; a first butt joint 52; a drone body 53; a pesticide spraying device 54; a shower head 541; a movable vehicle body 6; a head-up supply station 7; a third butt joint 71; an auxiliary positioning device 8; a landing gear 81; a transverse bar 811; a vertical rod 812; the automatic battery replacing device 9; a movable seat 91; pick and place fingers 92; a gripper seat 921; a pushing portion 9211; a push rod 922; gripping claws 923; a connecting rod 924; a return spring 925; a gear 93; a rack 94; a gear shaft 95; a holding portion 951; the retaining rail 96; a holding groove 961; a moving lead screw 97; a translation motor 98; a battery charging stand 10; a charging cabin 101; a lift drive assembly 20; a lifting slide 201; a lifting screw 202; and a lift motor 203.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The automatic supply device of the agricultural plant protection unmanned aerial vehicle shown in the attached drawings 1 and 2 comprises a base body 1, wherein an unmanned aerial vehicle docking device 2, a liquid supply device 3 and a medicine cabin 4 are mounted on the base body 1; the unmanned aerial vehicle docking device 2 is docked with a plant protection unmanned aerial vehicle 5 so that the plant protection unmanned aerial vehicle is fixedly positioned relative to the seat body 1; the liquid replenishing device 3 is used for being abutted against the medicine box 51 of the plant protection unmanned aerial vehicle 5, and drawing the liquid medicine in the medicine cabin 4 to be injected into the medicine box 51.
The plant protection unmanned aerial vehicle 5 comprises an unmanned aerial vehicle body 53 and a pesticide spraying device 54 besides a pesticide box 51, the pesticide box 51 is installed at the bottom of the unmanned aerial vehicle body 53, and a first butt joint 52 is installed at the lower end of the pesticide box 51; the spraying device 54 includes a plurality of spray heads 541, and the spraying device 54 is connected to the medicine box 51, and can draw the liquid medicine in the medicine box 51 and spray the liquid medicine from the spray heads 541 to spray the liquid medicine to the farm land.
As shown in fig. 3, the fluid infusion device 3 includes a second butt joint 31 capable of butting against the first butt joint 52; the second butt joint 31 can be switched between a low position and a high position; the second butt joint 31 is installed on the seat body 1 through a pose conversion device; the posture conversion device causes the second butt joint 31 to be in a flat state when in a low position, and causes the second butt joint 31 to be in a vertical state when in a high position. The second butt joint 31 is connected with the medicine cabin 4, and the liquid supplementing device 3 can not only output the liquid medicine to the medicine box 51 of the plant protection unmanned aerial vehicle 5 through the second butt joint 31, but also supplement the liquid medicine to the medicine cabin 4 through the second butt joint 31.
With the above arrangement, when the second docking head 31 is in the low position, it is in the horizontal state (as shown in fig. 4), and the third docking head 71 on the external supply station 7 can be conveniently docked with the second docking head 31 to deliver the liquid medicine into the medicine tank 4; when the second butt joint 31 is in the high position, it is in the upright position (as shown in fig. 5), and since the first butt joint 52 is at the bottom of the medicine boxes 51, it can be easily butted against the first butt joint 52.
Preferably, the posture conversion device comprises a lifting seat 32, a rotating shaft 33 is fixed on the second butt joint 31, and the rotating shaft 33 is rotatably installed on the lifting seat 32; the rotating shaft 33 is also fixedly provided with an attitude conversion gear 34, the seat body 1 is provided with an attitude conversion rack 35, and the attitude conversion gear 34 rotates for 90 degrees after moving from one end to the other end of the attitude conversion rack 35; the posture conversion gear 34 can be disengaged from the posture conversion rack 35, and when the two are disengaged, the second butt joint 31 is fixed relative to the seat body 1.
Through the structure, the posture conversion device can enable the second butt joint 31 to automatically complete posture conversion in the process of moving from a high position to a low position or in the process of moving from the low position to the high position, a power element is not required to be additionally arranged to control the second butt joint 31 to move, so that the control is simple, the relation between the posture and the position of the second butt joint 31 is established through a mechanical structure, the automatic supply device is stable in operation, and the situation that the posture of the second butt joint 31 is not butted to cause butt joint failure can be avoided. The elevating movement of the elevating base 32 is driven by an elevating driving screw 37.
Further, both ends of the posture conversion rack 35 are provided with guide rails 36, and the guide rails 36 are provided with sliding grooves 361 penetrating through the length direction thereof; the shaft end of the rotating shaft 33 is square, that is, the shaft end is provided with two groups of opposite planes, the distance between the two pairs of opposite planes is a first distance, and the groove width of the sliding groove 361 is also a first distance; when the posture switching gear 34 is disengaged from the posture switching rack 35, the shaft end of the rotating shaft 33 is disposed in the sliding groove 361 of the guide rail 36 on one of the two sides of the posture switching rack 35. Namely: when the posture conversion gear 34 is positioned on the first side of the posture conversion rack 35, the shaft end of the rotating shaft 33 is placed in the sliding groove 361 of the guide rail 36 on the first side of the posture conversion rack 35, and a set of opposite planes thereof are respectively in contact with two groove walls of the sliding groove 361; when the posture switching gear 34 is located on the second side of the posture switching rack 35, the shaft end of the rotary shaft 33 is placed in the sliding groove 361 of the guide rail 36 on the second side of the posture switching rack 35, and the other set of the opposite planes thereof are in contact with the two groove walls of the sliding groove 361, respectively.
Through the structure, after the posture conversion gear 34 is separated relative to the posture conversion rack 35, the second butt joint 31 is kept fixed relative to the lifting seat 32, so that the second butt joint 31 can be kept stable when the second butt joint 31 is butted with other butt joints, and the posture conversion gear 34 and the posture conversion rack 35 can be smoothly meshed without being blocked when the posture conversion gear 34 and the posture conversion rack 35 are transited from a separated state to a meshed state.
Plant protection unmanned aerial vehicle 5 is last to have the auxiliary positioning device 8 that is used for with the butt joint of unmanned aerial vehicle interfacing apparatus 2, and auxiliary positioning device 8 is installed including the symmetry two undercarriage 81 of unmanned aerial vehicle's lower extreme, undercarriage 81 is the U font, and it includes horizontal pole 811 and will respectively horizontal pole 811's both ends are connected pole 812 is put to two erects of unmanned aerial vehicle's body.
As shown in fig. 7-10, the unmanned aerial vehicle docking device 2 includes two sets of positioning claws 21 and an opening/closing driving assembly 22, where each set of positioning claws 21 includes two finger portions 211 capable of moving toward or away from each other; the finger part 211 is provided with a V-shaped positioning part 212; the opening and closing driving component 22 can drive the two sets of positioning claws 21 to open and close.
The opening and closing driving assembly 22 includes two driving shafts 221 which are parallel to each other and rotate in opposite directions at a constant speed, and the two driving shafts 221 are respectively used for driving the two positioning claws 21 to operate.
Adopt above-mentioned structure, the process that unmanned aerial vehicle interfacing apparatus 2 advances line location to protecting unmanned aerial vehicle 5 is as follows: in an initial state (as shown in fig. 8-9), the two sets of positioning claws 21 are in a closed state, and the two finger portions 211 included in each set of positioning claws 21 are in a mutually close state, the plant protection unmanned aerial vehicle 5 flies to a first designated position and hovers at the first designated position, and at this time, the V-shaped positioning portions 212 of the two sets of positioning claws 21 are all placed between the two transverse rods 811; then, the controller controls the two groups of positioning claws 21 to be switched to a scattered state, in the process, the two groups of V-shaped positioning parts 212 of the two groups of positioning claws 21 are mutually far away and respectively act on the two transverse rods 811, and when the distance between the two groups of V-shaped positioning parts 212 reaches the maximum, each transverse rod 811 is arranged at the groove bottom position of the V-shaped positioning part 212 contacted with the transverse rod; finally, the opening and closing driving assembly 22 operates to drive the two sets of positioning claws 21 to be switched from the closed state to the away state, and when the distance between the two sets of positioning claws 21 reaches the maximum, the two V-shaped positioning portions 212 of the same positioning claw 21 respectively abut against the two vertical rods 812 of the corresponding undercarriage 81, so that the positioning of the unmanned aerial vehicle is completed (as shown in fig. 10).
Preferably, the positioning claw 21 further comprises a connecting rod 213 and a sliding block 214; the V-shaped positioning part 212 is hinged on the finger part 211; the connecting rod 213 is always parallel to the finger part 211, two ends of the connecting rod 213 are respectively hinged to the V-shaped positioning part 212 and the sliding block 214, the sliding block 214 is slidably mounted relative to the driving shaft 221, and the sliding block 214 can axially slide relative to the driving shaft 221 but cannot rotate relative to the driving shaft 221. Thus, since the connecting rod 213 is always parallel to the finger part 211, two hinge centers on the connecting rod 213 and two hinge centers on the finger part 211 form four corner points of a parallelogram, when the driving shaft 221 rotates, the connecting rod 213 and the finger part 211 rotate synchronously, so that the two sets of positioning claws 21 make opening and closing movements, and the posture of the V-shaped positioning part 212 can be kept unchanged due to the characteristics of the parallelogram.
The driving shaft 221 is driven by an opening and closing motor 222 to operate, the opening and closing driving assembly 22 has two intermediate shafts 223, the two intermediate shafts 223 are respectively rotatably provided with first transition gears 224, the two first transition gears 224 are engaged with each other, and the two driving shafts 221 are respectively in driving connection with the two first transition gears 224 through two sets of synchronous belt assemblies 225. One of the driving shafts 221 is directly connected with the opening and closing motor 222 in a driving way, so that the two driving shafts 221 can rotate reversely at a constant speed;
the two intermediate shafts 223 are further respectively and rotatably provided with second transition gears 216, the two second transition gears 216 are mutually meshed, the two screw rods 215 are respectively and fixedly provided with transmission gears 217, the two transmission gears 217 are respectively meshed with the two second transition gears 216, one of the screw rods 215 is in driving connection with a screw rod motor 218, and thus, the two screw rods 215 can be driven to run by one screw rod motor 218.
Every group two that location claw hand 21 contains finger portion 211 is operated by lead screw 215 drive, the both ends of lead screw 215 set up left-handed screw and right-handed screw respectively, two on the finger portion 211 corresponding to the lead screw nut of left-handed screw and right-handed screw. Thus, the same lead screw 215 can drive the two finger parts 211 to move in an opening and closing manner.
Preferably, the base 1 is further provided with an automatic battery replacing device 9 and a battery charging seat 10. So, automatic supply device not only can supply the liquid medicine for plant protection unmanned aerial vehicle 5, can also change the battery for plant protection unmanned aerial vehicle 5, can solve plant protection unmanned aerial vehicle 5 duration simultaneously and frequently supply the problem of liquid medicine with the needs, need not artifical on duty and can realize that the battery changes and supply the liquid medicine. The battery charging base 10 is provided with a plurality of charging cabins 101 for accommodating batteries, and the automatic battery replacement device 9 is used for replacing the batteries between the unmanned aerial vehicle and the battery charging base 10.
The automatic battery replacing device 9 comprises a pick-and-place claw 92 which can move between the unmanned aerial vehicle docking device 2 and the battery charging seat 10 and is arranged on the automatic battery replacing device 9.
As shown in fig. 11, the automatic battery replacing device 9 further includes a moving seat 91 that reciprocates; the picking and placing claw 92 can rotate along with the moving seat 91 and can be turned over by a set angle relative to the moving seat 91, so that the head of the picked battery faces the plant protection unmanned aerial vehicle or the battery charging seat 10. When getting the claw 92 and needing to load and unload the battery on and off the unmanned aerial vehicle, the head of the claw 92 faces the unmanned aerial vehicle, and when getting the claw 92 and needing to load and unload the battery on and off the battery charging base 10, the head of the claw 92 faces the battery charging base 10.
Preferably, in order to make the control of the automatic battery replacing device 9 simple, the translational motion of the moving seat 91 and the turning motion of the picking and placing claw 92 can be linked, specifically, the picking and placing claw 92 comprises a claw seat 921, and the claw seat 921 is rotatably mounted on the moving seat 91 through a gear shaft 95; a gear 93 is further rotatably mounted on the movable seat 91, and a rack 94 capable of being meshed with the gear 93 is fixedly mounted on the machine seat 1; the gear 93 and the gripper seat 921 have a transmission relationship, so that the gripper seat 921 rotates along with the gear 93; a holding part 951 is formed on the gear shaft 95, and the holding part 951 is provided with two surfaces which are parallel to each other and have a first distance between the surfaces; two holding rails 96 are further mounted on the base 1, a holding groove 961 for the holding part 951 to go in and out is formed in the holding rail 96, and the width of the holding groove 961 is equal to the first distance; the two holding rails 96 are disposed at both ends of the rack gear 94, and when the gear 93 is disengaged from the rack gear 94, the holding part 951 enters the holding groove 961 of the holding rail 96 and slides with respect to the holding groove 961. The movable base 91 is driven to move by a movable lead screw 97, and the movable lead screw 97 is in driving connection with a translation motor 98.
As shown in fig. 12, the battery charging base 10 is mounted on the base 1 through a lifting driving assembly 20, the lifting driving assembly 20 includes a lifting slide 201, a lifting screw 202 and a lifting motor 203, and the battery charging base 10 is mounted on the lifting slide 201; the lifting slide 201 is driven by the lifting screw 202 to move up and down, and the lifting motor 203 is in driving connection with the lifting screw 202.
With the above structure, the automatic battery replacement device 9 performs the battery replacement process as follows: in an idle state without task execution, the head of the picking and placing claw 92 faces the plant protection unmanned aerial vehicle positioning device 2, the holding part 951 is placed in the holding groove 961 of the holding guide rail 96 close to the plant protection unmanned aerial vehicle positioning device 2, and at the moment, the claw seat 921 cannot rotate relative to the moving seat 91 and can only slide relative to the base 1; when the plant protection unmanned aerial vehicle is fixed by the plant protection unmanned aerial vehicle positioning device 2, the operation of the lifting drive component 20 is controlled to enable the charging cabin 101 above the battery charging seat 10 to be flush with the picking and placing claw 92, the translation motor 98 is driven to operate, the moving seat 91 is controlled to move to a first limit position to the plant protection unmanned aerial vehicle, the picking and placing claw 92 picks up an old battery, the translation motor 98 is driven to rotate reversely, the moving seat 91 translates reversely, in the translation process, the holding part 951 moves to the tail end of the current holding groove 961 and is separated from the holding groove 961, when the holding part 951 is separated from the holding groove 961, the gear 93 is in butt joint with the rack 94 to establish a meshing relationship, along with the movement of the moving seat 91, the meshing relationship between the gear 93 and the rack 94 enables the claw 921 to turn over for 180 degrees, and therefore, the end part of the picking and placing claw 92 faces the battery charging seat 10. After the claw seat 921 is turned over 180 degrees, the gear 93 is disengaged from the rack 94, and the holding part 951 enters the holding groove 961 of the holding guide rail 96 at the side close to the battery charging seat 10, so that the claw seat 921 can only slide relative to the base 1 and can not rotate relative to the movable seat 91, and when the movable seat 91 moves to the second limit position, the picking and placing claw 92 loads the used battery into the empty charging chamber 101. Then, the movable seat 91 is controlled to move reversely for a set distance, the lifting driving assembly 11 is controlled to operate, a charging cabin 101 which is arranged on the battery charging seat 10 and is filled with fully charged batteries is flush with the picking and placing claw 92, and then the movable seat 91 is controlled to move to a second limit position, so that the picking and placing claw 92 picks up new batteries; then, the movable seat 91 is controlled to move reversely to the first limit position, the battery is loaded into the battery cabin of the plant protection unmanned aerial vehicle, and finally, the movable seat 91 is controlled to return to the initial position.
An intelligent self-service supply system of an agricultural plant protection unmanned aerial vehicle is shown in figure 13, and comprises the automatic supply device of the agricultural plant protection unmanned aerial vehicle, a supply main station 7 and a movable vehicle body 6; the automatic supply device of the agricultural plant protection unmanned aerial vehicle is mounted on the movable vehicle body 6, so that the movable vehicle body 6 can move along with the automatic supply device, the movable vehicle body 6 is provided with an automatic navigation module, the automatic navigation module can intelligently perform intelligent obstacle avoidance walking in a walking area in a field according to a scheduling task, and the automatic navigation module is close to the plant protection unmanned aerial vehicle 5 as much as possible, so that the plant protection unmanned aerial vehicle 5 can conveniently stop at any time; the supply station 7 can supply liquid medicine to the medicine cabin 4, the supply station 7 is provided with a third butt joint 71 which can be in butt joint with the second butt joint 31, when the liquid medicine in the automatic supply device is insufficient, the movable vehicle body 6 drives the automatic supply device to move to a specific position beside the supply station 7, then the third butt joint 71 of the supply station 7 is in butt joint with the second butt joint 31 to realize connection between the supply station 7 and the medicine cabin 4, and then the supply station 7 outputs the liquid medicine to the medicine cabin 4 to realize supply of the medicine cabin 4.
According to the automatic supply device and the intelligent self-service supply system of the agricultural plant protection unmanned aerial vehicle, disclosed by the invention, the automatic supply device can automatically supply liquid medicine to the plant protection unmanned aerial vehicle, and the mobile vehicle body of the intelligent self-service supply system can carry the automatic supply device to move along with the plant protection unmanned aerial vehicle, so that the plant protection unmanned aerial vehicle can land nearby to supply the liquid medicine, unnecessary electric energy loss is reduced, the supply time is saved, and the working efficiency is improved.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (6)

1. An automatic supply device of an agricultural plant protection unmanned aerial vehicle is characterized by comprising a base body (1), wherein an unmanned aerial vehicle docking device (2), a liquid supplementing device (3) and a medicine cabin (4) are mounted on the base body (1); the unmanned aerial vehicle docking device (2) is docked with a plant protection unmanned aerial vehicle (5) so that the plant protection unmanned aerial vehicle is fixedly positioned relative to the seat body (1); the liquid supplementing device (3) is used for being in butt joint with a medicine box (51) of the plant protection unmanned aerial vehicle (5) and drawing liquid medicine in the medicine cabin (4) to be injected into the medicine box (51).
2. The automatic replenishment device of an agricultural plant protection unmanned aerial vehicle according to claim 1, wherein a first butt joint (52) is mounted on the medicine box (51); the liquid supplementing device (3) comprises a second butt joint (31) which can be butted with the first butt joint (52);
the second butt joint (31) can be switched between a low position and a high position;
the second butt joint (31) is arranged on the seat body (1) through a pose conversion device; the posture conversion device enables the second butt joint (31) to be in a horizontal state when in a low position, and enables the second butt joint (31) to be in a vertical state when in a high position.
3. The automatic supply device of the agricultural plant protection unmanned aerial vehicle of claim 2, wherein the pose conversion device comprises a lifting seat (32), a rotating shaft (33) is fixed on the second butt joint (31), and the rotating shaft (33) is rotatably installed on the lifting seat (32);
an attitude conversion gear (34) is further fixedly mounted on the rotating shaft (33), an attitude conversion rack (35) is mounted on the base body (1), and the attitude conversion gear (34) rotates for 90 degrees after moving from one end to the other end of the attitude conversion rack (35); the posture conversion gear (34) can be separated from the posture conversion rack (35), and when the posture conversion gear and the posture conversion rack are separated, the second butt joint (31) is fixed relative to the seat body (1).
4. The automatic supply device of the agricultural plant protection unmanned aerial vehicle of claim 3, wherein the two ends of the attitude conversion rack (35) are provided with guide rails (36), and each guide rail (36) is provided with a sliding groove (361) penetrating through the length direction of the guide rail; the shaft end of the rotating shaft (33) is square, namely, the shaft end is provided with two groups of opposite planes; when the posture conversion gear (34) is separated from the posture conversion rack (35), the shaft end of the rotating shaft (33) is placed in the sliding groove (361) of the guide rail (36) on one side of the posture conversion rack (35).
5. The automatic supply device of agricultural plant protection unmanned aerial vehicle of claim 1, characterized in that, still install automatic battery replacement device on pedestal (1).
6. An intelligent self-service supply system of an agricultural plant protection unmanned aerial vehicle, which is characterized by comprising the automatic supply device of the agricultural plant protection unmanned aerial vehicle as claimed in any one of claims 1 to 5, and further comprising a supply main station (7) and a movable vehicle body (6); the automatic supply device of the agricultural plant protection unmanned aerial vehicle is arranged on the movable vehicle body (6); the supply station (7) can supply the medicine cabin (4) with medicine liquid.
CN202110781517.9A 2021-07-12 2021-07-12 Automatic supply device and intelligent self-service supply system of agricultural plant protection unmanned aerial vehicle Active CN113277104B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110781517.9A CN113277104B (en) 2021-07-12 2021-07-12 Automatic supply device and intelligent self-service supply system of agricultural plant protection unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110781517.9A CN113277104B (en) 2021-07-12 2021-07-12 Automatic supply device and intelligent self-service supply system of agricultural plant protection unmanned aerial vehicle

Publications (2)

Publication Number Publication Date
CN113277104A true CN113277104A (en) 2021-08-20
CN113277104B CN113277104B (en) 2022-12-06

Family

ID=77286593

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110781517.9A Active CN113277104B (en) 2021-07-12 2021-07-12 Automatic supply device and intelligent self-service supply system of agricultural plant protection unmanned aerial vehicle

Country Status (1)

Country Link
CN (1) CN113277104B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013072794A1 (en) * 2011-11-04 2013-05-23 Koninklijke Philips Electronics N.V. Docking device
CN106184801A (en) * 2016-07-20 2016-12-07 李昌友 A kind of aircraft carrier docks and supply technology with fighter plane
US20180104829A1 (en) * 2016-10-14 2018-04-19 IAM Robotics, LLC Field replaceable battery pack and lift counterbalance for a mobile manipulation robot
CN109760846A (en) * 2017-11-09 2019-05-17 湖南农业大学 A kind of plant protection drone field automatically supplying apparatus and method
CN110342451A (en) * 2019-07-11 2019-10-18 安徽科技学院 One kind is based on farmland top dressing unmanned plane docking material loading platform device
US20200290753A1 (en) * 2017-08-21 2020-09-17 Herotech8 Ltd Method and device for docking an unmanned aerial vehicle with a moveable docking station

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013072794A1 (en) * 2011-11-04 2013-05-23 Koninklijke Philips Electronics N.V. Docking device
CN106184801A (en) * 2016-07-20 2016-12-07 李昌友 A kind of aircraft carrier docks and supply technology with fighter plane
US20180104829A1 (en) * 2016-10-14 2018-04-19 IAM Robotics, LLC Field replaceable battery pack and lift counterbalance for a mobile manipulation robot
US20200290753A1 (en) * 2017-08-21 2020-09-17 Herotech8 Ltd Method and device for docking an unmanned aerial vehicle with a moveable docking station
CN109760846A (en) * 2017-11-09 2019-05-17 湖南农业大学 A kind of plant protection drone field automatically supplying apparatus and method
CN110342451A (en) * 2019-07-11 2019-10-18 安徽科技学院 One kind is based on farmland top dressing unmanned plane docking material loading platform device

Also Published As

Publication number Publication date
CN113277104B (en) 2022-12-06

Similar Documents

Publication Publication Date Title
WO2021068576A1 (en) Solar-powered energy autonomous base station supporting autonomous take-off/landing and battery replacement of unmanned aerial vehicle
CN103331759B (en) Large-allowance capturing mechanism for end effector of spatial large manipulator
CN107021240B (en) Unmanned aerial vehicle ground management system
CN112172595B (en) Unmanned aerial vehicle battery replacement base station and method based on parallel mechanism
CN218113025U (en) Unmanned aerial vehicle hangar
CN110371291B (en) Stable wire feeding and discharging mechanism of high-voltage transmission line flying inspection robot
CN214062518U (en) Automatic airport of unmanned aerial vehicle
CN113277104B (en) Automatic supply device and intelligent self-service supply system of agricultural plant protection unmanned aerial vehicle
CN209225411U (en) Rechargeable type logistics unmanned plane logistics airplane parking area platform
CN113361820B (en) Multi-unmanned aerial vehicle cooperative scheduling method, controller and medium applied to agricultural pesticide spraying
CN113276725B (en) Unmanned on duty power station that trades of unmanned aerial vehicle is patrolled and examined to electric power
CN210503212U (en) Aerial battery system of changing of unmanned aerial vehicle
CN113359854B (en) Multi-unmanned aerial vehicle collaborative operation scheduling method, system and storage medium
CN106005408A (en) Wall-climbing aircraft with all-wheel-drive supporting wheels
CN209366488U (en) Unmanned plane lifting gear and automobile
CN113511102B (en) Intelligent battery replacement station and intelligent battery replacement method for inspection unmanned aerial vehicle
CN109986983A (en) It is a kind of that adaptive AGV automatic charge device is adjusted
CN115743665A (en) Unmanned aerial vehicle hangar with mechanical battery replacement function
CN215554252U (en) Parking machine for miniature unmanned aerial vehicle
CN114715400A (en) High-altitude operation equipment based on tethered unmanned aerial vehicle and control method thereof
CN114801867A (en) Unmanned aerial vehicle full-automatic battery replacement airport based on multi-axis manipulator
CN110700668B (en) Solar intelligent unmanned aerial vehicle hangar
RU217321U1 (en) DEVICE OF AUTOMATED UNMANNED AIRCRAFT SERVICE SYSTEM
CN220164199U (en) Electricity exchanging structure of unmanned aerial vehicle automatic airport
CN112829611A (en) Parking charging system and automatic parking garage

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20221110

Address after: 518000 201, Phase II, Huiheng Building, No. 12, Gaoxin South 7th Road, High tech Zone Community, Yuehai Street, Nanshan District, Shenzhen, Guangdong

Applicant after: Shenzhen Lairunda Technology Co.,Ltd.

Address before: 301900 No. 37, zone 2, qibaihu village, wubaihu Town, Jixian County, Tianjin

Applicant before: Yu Weilong

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant