CN113277104B - 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 PDFInfo
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- CN113277104B CN113277104B CN202110781517.9A CN202110781517A CN113277104B CN 113277104 B CN113277104 B CN 113277104B CN 202110781517 A CN202110781517 A CN 202110781517A CN 113277104 B CN113277104 B CN 113277104B
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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 replenish the medicine cabin with liquid medicine.
Has the beneficial effects 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 view showing the construction of a rotary 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 for 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 fluid infusion device 3; a second butt joint 31; a lifting base 32; a rotating shaft 33; a posture switching 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; a medicine box 51; a first butt joint 52; an unmanned aerial vehicle body 53; a pesticide spraying device 54; a shower head 541; a moving 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 changing device 9; a movable base 91; pick-and-place gripper 92; a paw holder 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; a retaining rail 96; a holding groove 961; the lead screw 97 is moved; 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 mounted on the base 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; a posture conversion gear 34 is further fixedly mounted on the rotating shaft 33, a posture conversion rack 35 is mounted on the base body 1, and the posture conversion gear 34 rotates for 90 degrees after moving from one end of the posture conversion rack 35 to the other end; 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 base body 1.
Through the structure, the posture conversion device can enable the second butt joint connector 31 to automatically complete posture conversion in the process of moving from the high position to the 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 connector 31 to move, the control is simple, the relation between the posture and the position of the second butt joint connector 31 is established through a mechanical structure, the automatic supply device is stable in operation, and the situation that the butt joint failure is not caused by the posture of the second butt joint connector 31 in butt joint 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 conversion gear 34 is disengaged 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 of the two sides of the posture conversion rack 35. Namely: when the posture conversion gear 34 is located on the first side of the posture conversion rack 35, the shaft end of the rotary shaft 33 is placed in the chute 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 side groove walls of the chute 361; when the posture conversion gear 34 is located on the second side of the posture conversion 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 conversion rack 35, and the other set of the opposing planes thereof are respectively in contact with the two side groove walls of the sliding groove 361.
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 in butt joint with other butt joints, and on the other hand, when the posture conversion gear 34 and the posture conversion rack 35 are transited from a separated state to a meshed state, the second butt joint 31 and the posture conversion rack can be smoothly meshed without being blocked.
Plant protection unmanned aerial vehicle 5 is last to have the auxiliary positioning device 8 that is used for with 2 docks of unmanned aerial vehicle interfacing apparatus, 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 in the same speed and opposite directions;
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.
Each set the two fingers 211 that the positioning claw hand 21 contains are operated by the drive of lead screw 215, the both ends of lead screw 215 set up left-handed screw and right-handed screw respectively, two on the fingers 211 correspond 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 be for plant protection unmanned aerial vehicle 5 change batteries, can solve 5 continuation of the journey weak points of plant protection unmanned aerial vehicle and the problem that need frequently supply the liquid medicine simultaneously, 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 replacing 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 turn over 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 on the holding rails 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 lifting driving component 20 is controlled to operate to enable the charging cabin 101 above the battery charging seat 10 to be flush with the taking 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 taking and placing claw 92 takes an old battery, the translation motor 98 is driven to rotate reversely, the moving seat 91 moves 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 meshing relationship with the rack 94 in a butt joint mode, 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 taking and placing claw 92 faces the battery charging seat 10. After the claw hand seat 921 is turned over 180 degrees, the gear 93 is separated from the rack 94, the holding part 951 enters the holding groove 961 of the holding guide rail 96 at one side close to the battery charging seat 10, so that the claw hand seat 921 can only slide relative to the machine base 1 and can not rotate relative to the moving seat 91 subsequently, and when the moving seat 91 moves to the second limit position, the picking and placing claw hand 92 loads the used battery into the empty charging cabin 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 main supply station 7 can supply liquid medicine to the medicine cabin 4, the main 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 moving vehicle body 6 carries the automatic supply device to move to a specific position beside the main supply station 7, then the third butt joint 71 of the main supply station 7 is in butt joint with the second butt joint 31 to achieve connection of the main supply station 7 and the medicine cabin 4, and then the main supply station 7 outputs the liquid medicine to the medicine cabin 4 to achieve 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 (3)
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);
the unmanned aerial vehicle docking device (2) comprises two groups of positioning claws (21) and an opening and closing driving assembly (22), wherein each group of positioning claws (21) comprises two finger parts (211) which can move close to or away from each other relatively; the finger part (211) is provided with a V-shaped positioning part (212); the opening and closing driving component (22) can drive the two groups of positioning claws (21) to move in an opening and closing manner; the opening and closing driving assembly (22) comprises two driving shafts (221) which are parallel to each other and rotate in a constant speed and reverse direction, and the two driving shafts (221) are respectively used for driving the two positioning claws (21) to operate; 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 on the V-shaped positioning part (212) and the sliding block (214), the sliding block (214) is installed in a sliding mode relative to the driving shaft (221), and the sliding block (214) can axially slide relative to the driving shaft (221) and cannot rotate relative to the driving shaft (221);
a first butt joint (52) is mounted on the medicine box (51); the liquid supplementing device (3) comprises a second butt joint (31) capable of being 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 pose 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;
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);
guide rails (36) are arranged at two ends of the posture conversion rack (35), 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).
2. The automatic supply device of agricultural plant protection unmanned aerial vehicle of claim 1, characterized in that still install automatic battery replacing device on the pedestal (1).
3. 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 1-2, 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.
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| WO2013072794A1 (en) * | 2011-11-04 | 2013-05-23 | Koninklijke Philips Electronics N.V. | Docking device |
| CN106184801B (en) * | 2016-07-20 | 2018-08-10 | 李昌友 | A kind of aircraft carrier and fighter plane dock and supplying structure |
| US10953555B2 (en) * | 2016-10-14 | 2021-03-23 | IAM Robotics, LLC | Field replaceable battery pack and lift counterbalance for a mobile manipulation robot |
| GB201713415D0 (en) * | 2017-08-21 | 2017-10-04 | Herotech8 Ltd | Method and device |
| CN109760846B (en) * | 2017-11-09 | 2024-01-23 | 湖南农业大学 | Automatic field replenishing device and method for plant protection unmanned aerial vehicle |
| CN110342451B (en) * | 2019-07-11 | 2020-12-22 | 安徽科技学院 | Based on farmland topdressing unmanned aerial vehicle is with butt joint material loading platform device |
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