CN113788146B - Intelligent unmanned aerial vehicle for agricultural sowing - Google Patents
Intelligent unmanned aerial vehicle for agricultural sowing Download PDFInfo
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- CN113788146B CN113788146B CN202111170450.1A CN202111170450A CN113788146B CN 113788146 B CN113788146 B CN 113788146B CN 202111170450 A CN202111170450 A CN 202111170450A CN 113788146 B CN113788146 B CN 113788146B
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- rotating shaft
- fixedly connected
- limiting groove
- brush
- brush strip
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- 238000009331 sowing Methods 0.000 title claims abstract description 15
- 239000003814 drug Substances 0.000 claims abstract description 89
- 238000003756 stirring Methods 0.000 claims abstract description 49
- 238000004140 cleaning Methods 0.000 claims abstract description 45
- 239000000575 pesticide Substances 0.000 claims abstract description 44
- 238000005507 spraying Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 133
- 230000000670 limiting effect Effects 0.000 claims description 96
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000007789 sealing Methods 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 239000007921 spray Substances 0.000 description 6
- 230000010405 clearance mechanism Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 4
- 230000001680 brushing effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 239000002917 insecticide Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000036961 partial effect Effects 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 125000003003 spiro group Chemical group 0.000 description 3
- 240000002234 Allium sativum Species 0.000 description 2
- 235000004611 garlic Nutrition 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000002363 herbicidal effect Effects 0.000 description 1
- 239000004009 herbicide Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
- A01M7/0085—Tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Remote Sensing (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention belongs to the technical field of intelligent manufacturing, and particularly discloses an intelligent unmanned aerial vehicle for agricultural sowing. The machine comprises a frame, wherein a medicine box is connected to the frame, a stirring disc is arranged in the medicine box, a cleaning device is connected to the inside of the medicine box, a medicine adding device is connected to the top end of the medicine box, and a medicine spraying device is connected to the bottom end of the medicine box. The invention provides an intelligent unmanned aerial vehicle for agricultural sowing, which can automatically scrub a pesticide box.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing, and particularly relates to an intelligent unmanned aerial vehicle for agricultural sowing.
Background
Along with the gradual maturity of unmanned aerial vehicle technique to and the popularization of modern agriculture theory, plant protection unmanned aerial vehicle's application is more and more extensive, utilizes plant protection unmanned aerial vehicle to spray insecticide, not only can use manpower sparingly material resources can also keep away from remote control operation, avoids spraying the operation personnel and contacts the insecticide, has improved the security that the insecticide sprayed the operation and has sprayed efficiency. Plant protection unmanned aerial vehicle has that the operation height is low, and it is few to drift, can hover in the air, need not special airport of taking off and land, and the downdraft that the rotor produced helps increasing fog and flows the penetrability to the crop, and prevention and cure effect is high, and remote control operation sprays the operation personnel and has avoided exposing in the danger of pesticide, has improved a great deal of advantages such as spraying operation security.
The existing pesticide box for the plant protection unmanned aerial vehicle has certain defects when in use, different pesticides need to be sprayed on different crops, the action effect of the same pesticide on different crops is different, for example, herbicide sprayed on corn is not suitable for garlic, and the growth of the garlic can be inhibited. Therefore, when crops and pesticides are switched to be sprayed and sown, the original pesticides in the pesticide box need to be cleaned up to prevent harm to the crops. At present, the pesticide box is generally washed by water, but the pesticide box is difficult to be washed cleanly by only using water due to the adhesion of the pesticide, the manual brushing is time-consuming and labor-consuming, and the body health of people can be influenced by the contamination of the pesticide.
Disclosure of Invention
The invention aims to provide an intelligent unmanned aerial vehicle for agricultural sowing, which can automatically brush a pesticide box.
Based on the purpose, the invention adopts the following technical scheme:
the utility model provides an agricultural is broadcast and is used intelligent unmanned aerial vehicle, includes the frame, is connected with the medical kit in the frame, is provided with the agitator disk in the medical kit, and the medical kit in-connection has cleaning device, and the medical kit top is connected with charge device, and the medical kit bottom is connected with spouts the medicine device.
Furthermore, the cleaning device comprises a rotating shaft movably connected with the stirring disc, and the rotating shaft and the stirring disc are coaxially arranged; the middle part of the rotating shaft is connected with a first cleaning mechanism matched with the inner wall of the medicine box; the lower part of the rotating shaft is provided with a second cleaning mechanism matched with the stirring disc; the bottom end of the rotating shaft and the stirring disc are provided with radial positioning mechanisms; the top end of the rotating shaft is connected with a lifting mechanism, the lifting mechanism is movably connected with the medicine box, and the lifting mechanism and the medicine box are provided with a quick connecting mechanism.
Further, the medicine chest is of a hollow cylindrical structure; the rotating shaft and the medicine box are coaxially and vertically arranged, and a vertical accommodating groove is formed in the peripheral surface of the rotating shaft; the first cleaning mechanism comprises a brush strip group arranged in the accommodating groove, the brush strip group comprises a first brush strip hinged with the top end of the accommodating groove, the other end of the first brush strip is arranged at the bottom of the accommodating groove, and the first brush strip is matched with the top end of the inner wall of the medicine box; the other end of the first brush bar is hinged with a third brush bar, and the third brush bar is matched with the bottom end of the inner wall of the medicine box; the brush strip group also comprises a second brush strip hinged with the bottom end of the accommodating groove, the other end of the second brush strip is arranged at the top of the accommodating groove, and the other end of the second brush strip is hinged with a fourth brush strip; the third brush strip is matched with the fourth brush strip and the cambered surface of the inner wall of the medicine box; one end of the fourth brush bar, which is far away from the third brush bar, is hinged with one end of the third brush bar, which is far away from the first brush bar; the third brush bar and the fourth brush bar are arranged between the first brush bar and the second brush bar in the horizontal direction; the third brush bar and the fourth brush bar are both shorter than the first brush bar and the second brush bar. The first brush strip and the second brush strip are both connected with a retraction mechanism.
Further, the retraction mechanism comprises a lead screw which is vertically arranged, the lead screw is arranged in the rotating shaft and is rotationally connected with the rotating shaft, and one end of the lead screw is connected with a first motor; the screw rod is connected with a nut, a vertical first limiting groove is formed in the rotating shaft, the nut and the screw rod are both arranged in the first limiting groove, and the nut moves along the length direction of the first limiting groove; a first connecting rod is hinged on the nut; one end, far away from the nut, of a first connecting rod in the retraction mechanism connected with the first brush strip is hinged with the first brush strip, and one end, far away from the nut, of the first connecting rod in the retraction mechanism connected with the second brush strip is hinged with the second brush strip.
Further, the stirring disc is of a disc structure coaxial with the medicine box, the second cleaning mechanism comprises a first bearing sleeved on the rotating shaft, the outer ring of the first bearing is hinged with a fifth brush strip, the fifth brush strip is connected with a second motor, and the fifth brush strip is arranged on the vertical surface in a rotating mode; a second limiting groove is formed in one end, away from the first bearing, of the fifth brush strip, a first positioning column matched with the second limiting groove is fixedly connected to the bottom end of the medicine box, and the first positioning column is vertically arranged; the outer ring of the first bearing is connected with a first clamping mechanism matched with the rotating shaft.
Further, the first clamping mechanism comprises a pair of arc-shaped clamping plates which are horizontally arranged; a pair of coaxial first threaded holes are formed in the two ends of each arc-shaped clamping plate, and the first threaded holes are horizontally arranged; a pair of positive and negative screw rods are screwed in the two pairs of first threaded holes, each positive and negative screw rod is rotatably connected with the outer ring of the first bearing, and one end of one positive and negative screw rod is connected with a third motor; a pair of positive and negative lead screws are fixedly connected with a pair of first gears, and a synchronous belt is connected to the pair of first gears.
Further, the stirring disc is connected with a fourth motor, the radial positioning mechanism comprises a third limiting groove arranged in the center of the stirring disc, and the third limiting groove is vertically arranged; the bottom end of the third limiting groove is fixedly connected with a vertical first spring, the top end of the first spring is fixedly connected with an elastic block, the elastic block is vertically arranged, and the elastic block and the third limiting groove are both in a regular prism structure; the top end of the elastic block is fixedly connected with a positioning block which is of a vertical regular pyramid structure; the bottom end of the rotating shaft is provided with a fifth limiting groove matched with the positioning block, and the fifth limiting groove is of a vertically arranged regular pyramid structure.
Furthermore, the lifting mechanism comprises a lifting rod which is rotationally connected with the top end of the rotating shaft, and the lifting rod is of a vertical quadrangular prism structure; the bottom end of the lifting rod is provided with a second clamping mechanism matched with the rotating shaft; a radial positioning ring is sleeved on the lifting rod, a vertical rack is fixedly connected to the lifting rod, a second gear is meshed and connected to the rack, the second gear is connected with a fifth motor, and the fifth motor is fixedly connected with the positioning ring; a pair of symmetrical first supporting rods is fixedly connected to the positioning ring, each first supporting rod is horizontally arranged, and the bottom end of each first supporting rod is fixedly connected with a vertical second supporting rod; the top end of the medicine chest is fixedly connected with a pair of vertical fourth limiting grooves, and each fourth limiting groove is of a tubular structure matched with the second supporting rod.
Furthermore, the quick connecting mechanism comprises a first locking mechanism and a second locking mechanism which are respectively matched with the pair of second supporting rods, and the first locking mechanism and the second locking mechanism are arranged in a central symmetry manner; the bottom end of each second supporting rod is provided with a wedge-shaped groove, and each fourth limiting groove is provided with a first through hole communicated with the wedge-shaped groove; the first locking mechanism comprises a first sliding chute fixedly connected with the fourth limiting groove, and the first sliding chute is of a horizontally arranged barrel-shaped structure; a horizontal first wedge-shaped block is arranged in the first sliding groove, and the inclined surface of the wedge-shaped block faces upwards; one end of the first wedge-shaped block, which is far away from the fourth limiting groove, is fixedly connected with a horizontal second spring, and the length direction of the second spring is consistent with the first sliding groove and is fixedly connected with the first sliding groove; a first sliding hole consistent with the length direction of the first sliding groove is formed in the wall of the first sliding groove, a first handle fixedly connected with the first wedge-shaped block is arranged outside the first sliding groove, and the first handle is fixedly connected with the first wedge-shaped block through the first sliding hole.
Further, the second locking mechanism comprises a second sliding chute fixedly connected with the fourth limiting groove, and the second sliding chute is of a horizontally arranged barrel-shaped structure; a horizontal second wedge block is arranged in the second sliding groove, horizontal elastic plates are arranged at the top end and the bottom end of the second wedge block, a vertical second through hole is formed in the second wedge block, a third spring is arranged in the second through hole, and two ends of the third spring are fixedly connected with the two elastic plates respectively; and a second sliding hole consistent with the length direction of the second sliding groove is formed in the wall of the second sliding groove, a second handle fixedly connected with a second wedge-shaped block is arranged outside the second sliding groove, and the second handle is fixedly connected with the second wedge-shaped block through the second sliding hole.
Compared with the prior art, the invention has the following beneficial effects:
1. the pesticide feeding device can conveniently feed pesticides into the pesticide box, the stirring disc can stir the pesticides to enable the pesticides to be more uniform, and the pesticide spraying device can spray the stirred pesticides to crops; the cleaning device can automatically clean the pesticide box, and the effect of the replaced pesticide is guaranteed.
2. The first cleaning mechanism is matched with the medicine box and can clean the inner wall of the medicine box, and the second cleaning mechanism is matched with the stirring disc and can clean the stirring disc; the pesticide box and the pesticide box are matched for use, so that residual pesticide in the pesticide box can be cleaned up. Elevating system can reciprocate the axis of rotation with the axis of rotation hub connection, and the axis of rotation moves down to can be connected with the agitator disk on the agitator disk, and then clears up the medical kit, shifts out the medical kit in the axis of rotation and can drive first clearance mechanism and second clearance mechanism outward and shift out the medical kit, avoids influencing the pesticide stirring. The radial positioning mechanism can radially position the rotating shaft and the stirring disc, so that the stirring disc can drive the rotating shaft to rotate, power elements are reduced, the structure is simpler, and the disassembly and the assembly are convenient. Elevating system and medical kit swing joint can make things convenient for the dismouting, pull down elevating system and the reducible medical kit weight of axis of rotation, make things convenient for unmanned aerial vehicle work, improve the efficiency of scattering the pesticide to conveniently clear up first clearance mechanism and second clearance mechanism. The lifting mechanism and the rotating shaft are arranged, so that the inside of the medicine box can be cleaned. The lifting mechanism and the medicine box are provided with the quick connecting mechanism, so that the lifting mechanism and the rotating shaft can be quickly disassembled and assembled, and the working efficiency is improved.
3. The brush strip group is arranged in the accommodating groove, so that the brush strip group can be conveniently folded, and the brush strip group is conveniently put into or taken out of the medicine box. First brush strip is articulated on the holding tank top, can contact with the top of medical kit inner wall when first brush strip rotates to the horizontality, conveniently brushes the medical kit top. The second brush strip is articulated in the holding tank bottom, can contact with the bottom of medical kit inner wall when the second brush strip rotates to the horizontality, conveniently brushes the medical kit bottom. The third brush strip and the fourth brush strip are hinged to the first brush strip and the second brush strip, so that the first brush strip and the second brush strip can drive the third brush strip and the fourth brush strip to expand and retract when expanding and retracting, and the third brush strip and the fourth brush strip can be in contact with the arc surface (inner peripheral surface of the medicine box) of the inner wall of the medicine box when expanding, and the arc surface of the medicine box can be automatically scrubbed conveniently. The third brush strip is hinged with the fourth brush strip, so that the first brush strip and the second brush strip can conveniently drive the third brush strip and the fourth brush strip respectively, and the interference of the brush strips and the medicine box is avoided. The retraction mechanism can automatically retract and unfold the first brush strip and the second brush strip.
4. The lead screw of the retraction mechanism is matched with the first limiting groove to drive the nut to move up and down, the nut can drive the first connecting rod and one end hinged with the nut to move up and down by moving up and down, and then the first connecting rod and one end hinged with the first brush strip (or the second brush strip) are driven to move up and down, so that the first brush strip (or the second brush strip) is unfolded or retracted.
5. Because the agitator disk needs to drive the axis of rotation synchronous revolution, therefore second clearance mechanism need not rotate along with the axis of rotation and just can clear up the agitator disk. The fifth brush strip is connected with the rotating shaft through the first bearing, so that the fifth brush strip and the rotating shaft can not rotate simultaneously. The fifth rotating shaft is hinged and connected with the second motor, so that the fifth brush strip can be conveniently folded and unfolded, the second limiting groove and the first positioning column are arranged, the fifth brush strip can be connected with the first positioning column, and the fifth brush strip is fixed in the horizontal direction and is enabled to keep relative rotation with the stirring disc. The bearing outer ring and the rotating shaft can be fixed by the first clamping mechanism, so that the fifth brush strip is fixed with the rotating shaft, the position of the fifth brush strip can be aligned to the position of the first positioning column, and the first positioning column can be stably matched with the fifth brush strip.
6. First fixture sets up a pair of arc splint and a pair of positive and negative lead screw of spiro union, and usable positive and negative lead screw drives two arc splint and keeps being close to in step, keeping away from the axis of rotation, avoids one of them arc splint to remove, another arc splint does not remove to lead to interfering, rubbing with the axis of rotation. The pair of positive and negative screw rods are arranged at two ends of the arc-shaped clamping plate to drive the arc-shaped clamping plate to stabilize the clamping rotating shaft, and the first gear and the synchronous belt are used for driving the two positive and negative screw rods to synchronously rotate, so that the arc-shaped clamping plate is moved to be kept stable.
7. An elastic block of the radial positioning mechanism is arranged in the third limiting groove and is connected with the third limiting groove through a first spring, so that the elastic block can move up and down along the third limiting groove, and a positioning block can move up and down; because the rotating position of the stirring disc is not fixed, when the rotating shaft descends to the stirring disc and the fifth limiting groove is not aligned with the positioning block, the positioning block can be pressed down by the fifth limiting groove, and after the stirring disc is started and rotates to the position where the positioning block is aligned with the fifth limiting groove, the positioning block can be popped out by the first spring to be clamped with the fifth limiting groove, so that the stirring disc drives the rotating shaft to rotate. The positioning block and the fifth limiting groove are arranged in a regular pyramid structure, and the bottom end of the fifth limiting groove is larger than the top end of the positioning block, so that the positioning block can conveniently enter the fifth positioning groove.
8. The lifting rod of the lifting mechanism is rotationally connected with the rotating shaft, so that the stirring disc only drives the rotating shaft to rotate, and the lifting mechanism is kept stable. The bottom end of the lifting rod is provided with a second clamping mechanism which has the same action with the first clamping mechanism, the rotating shaft can be fixed, and the position of the fifth brush strip is fixed, so that the first positioning column can be stably matched with the fifth brush strip. The fifth motor can drive the rack to rotate through the second gear, and then drives the lifting rod to lift. The first supporting rod and the second supporting rod are connected with the radial positioning ring and the medicine box through the fourth limiting groove, so that the radial positioning ring is kept stable, and the fifth motor stably drives the lifting rod to lift.
9. The first locking mechanism and the second locking mechanism are arranged in a central symmetry mode, different sides of the two second supporting rods can be fixed respectively, and the whole formed by connecting the two second supporting rods and the two fourth limiting grooves is more stable in connection. The first wedge-shaped block is arranged in the first sliding groove and is connected with the second spring, and in the process that the second supporting rod is inserted into the fourth limiting groove, the bottom end of the second supporting rod firstly extrudes the first wedge-shaped block into the fourth limiting groove, so that the first wedge-shaped block is prevented from interfering with the second supporting rod; offer the wedge groove on the second bracing piece, after the second bracing piece inserts the fourth spacing groove, first wedge can get into the removal of restriction second bracing piece in vertical direction in the wedge groove automatically under the effect of second spring, realizes automatic block location, prevents that operating personnel from forgetting to fix a position the second bracing piece, guarantees cleaning device steady operation. When the second supporting rod is taken out, the first handle can be pushed to withdraw the first wedge block from the wedge-shaped groove.
10. Two elastic plates are arranged on the second wedge-shaped block, a third spring is arranged between the two elastic plates, the elastic plates apply pressure to the inner wall of the second sliding groove under the elastic force of the third spring, the position of the elastic plates is kept fixed through the friction force between the second sliding groove and the elastic plates, and then the position of the second wedge-shaped block is kept fixed, so that an operator can only move the position of the second wedge-shaped block through the second handle. The first wedge block is set to be automatically clamped, and the second wedge block needs to be set to be drawn back to be clamped, so that an operator can conveniently disassemble and assemble the second supporting rod.
In conclusion, the cleaning device disclosed by the invention can automatically unfold and retract the brush strip, can automatically clean the pesticide box by driving the brush strip through the stirring disc, ensures the effect of the replaced pesticide, and belongs to the technical field of intelligent manufacturing.
Drawings
FIG. 1 is a schematic view of the working state of embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of embodiment 1 of the present invention;
fig. 3 is a schematic view of a first cleaning mechanism and a second cleaning mechanism according to embodiment 1 of the present invention;
FIG. 4 is a partial enlarged view IV of FIG. 3;
FIG. 5 is a partial enlarged view III of FIG. 3;
FIG. 6 is a schematic view of a first cleaning mechanism according to embodiment 1 of the present invention;
FIG. 7 is a schematic view of a rotary shaft according to embodiment 1 of the present invention;
FIG. 8 is a schematic view of a first clamping mechanism according to embodiment 1 of the present invention;
FIG. 9 is a schematic view of an arc splint according to embodiment 1 of the present invention;
FIG. 10 is a schematic view of the connection between the positioning block and the stirring plate in embodiment 1 of the present invention;
fig. 11 is a schematic view of a connection structure of a positioning block and a rotating shaft according to embodiment 1 of the present invention;
FIG. 12 is an enlarged view I of a portion of FIG. 2;
FIG. 13 is a partial enlarged view II of FIG. 2;
fig. 14 is a schematic view of a first locking mechanism of embodiment 1 of the invention;
fig. 15 is a schematic view of a first chute according to embodiment 1 of the invention;
fig. 16 is a schematic view of a second lock mechanism of embodiment 1 of the invention;
fig. 17 is a schematic view of a connection structure of the springboard and the second wedge-shaped block in embodiment 1 of the invention;
FIG. 18 is a schematic view showing the internal structure of a drug-adding tube according to example 3 of the present invention;
fig. 19 is a partially enlarged view of fig. 18.
In the figure: the cleaning device 1, the dosing device 2, the pesticide spraying device 3, the rotating shaft 4, the first cleaning mechanism 5, the second cleaning mechanism 6, the radial positioning mechanism 7, the lifting mechanism 8, the quick connecting mechanism 9, the frame 10, the pesticide box 11, the stirring disc 12, the water inlet 13, the pesticide feeding pipe 201, the piston 202, the positioning ring 203, the sliding rod 204, the sliding barrel 205, the fourth spring 206, the hose 207, the sealing block 208, the piston rod 209, the first check valve 210, the second check valve 211, the second connecting rod 212, the fourth through hole 214, the threaded section 215, the sliding block 216, the third sliding chute 217, the cross rod 218, the accommodating groove 401, the second spray head 402, the third through hole 403, the first limiting groove 404, the first brush bar 501, the third brush bar 502, the second brush bar 503, the fourth brush bar 504, the screw rod 505, the first motor 506, the nut 507, the first connecting rod 508, the first bearing 601, the fifth brush bar 602, the second motor 603, the second limiting groove 604, The positioning device comprises a first positioning column 605, an arc-shaped clamping plate 606, a first threaded hole 607, a positive and negative screw rod 608, a third motor 609, a first gear 610, a synchronous belt 611, a third limiting groove 701, a first spring 702, an elastic block 703, a positioning block 704, a fifth limiting groove 705, a lifting rod 801, a radial positioning ring 802, a rack 803, a second gear 804, a first supporting rod 805, a second supporting rod 806, a fourth limiting groove 807, a fifth motor 808, a wedge-shaped groove 901, a first sliding groove 903, a first wedge-shaped block 904, a second spring 905, a first sliding hole 906, a first handle 907, a second sliding groove 908, a second wedge-shaped block 909, an elastic plate 910 and a third spring 912.
Detailed Description
Example 1
An intelligent unmanned aerial vehicle for agricultural sowing, as shown in fig. 1-17, comprises a frame 10, a medicine box 11 is connected to the frame 10, the medicine box 11 is of a hollow cylindrical structure, a water inlet 13 is arranged at the top end of the medicine box 11, and a water outlet is arranged at the bottom end of the medicine box 11; a stirring disc 12 is arranged in the medicine box 11, the cleaning device 1 is connected in the medicine box 11, the top end of the medicine box 11 is connected with a medicine adding device 2, and the medicine adding device 2 comprises 3 medicine adding pipes 201 arranged at the top end of the medicine box 11; the bottom end of the medicine box 11 is connected with a medicine spraying device 3, the medicine spraying device 3 comprises a circular medicine spraying pipe, and a plurality of first spray heads are uniformly distributed on the medicine spraying pipe.
As shown in fig. 2, the cleaning device 1 comprises a rotating shaft 4 movably connected with a stirring disc 12, and the rotating shaft 4 is coaxially arranged with the stirring disc 12; the middle part of the rotating shaft 4 is connected with a first cleaning mechanism 5 matched with the inner wall of the medicine box 11; the lower part of the rotating shaft 4 is provided with a second cleaning mechanism 6 matched with the stirring disc 12; the bottom end of the rotating shaft 4 and the stirring disc 12 are provided with radial positioning mechanisms 7; the top end of the rotating shaft 4 is connected with a lifting mechanism 8, the lifting mechanism 8 is movably connected with a medicine box 11, and a quick connecting mechanism 9 is arranged on the lifting mechanism 8 and the medicine box 11.
As shown in fig. 3, 6, and 7, the rotating shaft 4 is provided coaxially and vertically with the medicine boxes 11, and the second nozzle 402 is provided on the rotating shaft 4; a vertical accommodating groove 401 is formed on the peripheral surface of the rotating shaft 4; the first cleaning mechanism 5 comprises a brush strip group arranged in the accommodating groove 401, the brush strip group comprises a first brush strip 501 hinged with the top end of the accommodating groove 401, the other end of the first brush strip 501 is arranged at the bottom of the accommodating groove 401, and the first brush strip 501 is matched with the top end of the inner wall of the medicine box 11; the other end of the first brush bar 501 is hinged with a third brush bar 502, and the third brush bar 502 is matched with the bottom end of the inner wall of the medicine box 11; the brush strip group further comprises a second brush strip 503 hinged with the bottom end of the accommodating groove 401, the other end of the second brush strip 503 is arranged at the top of the accommodating groove 401, and the other end of the second brush strip 503 is hinged with a fourth brush strip 504; the third brush bar 502 is fitted with the fourth brush bar 504 and the arc surface of the inner wall of the medicine box 11; one end of the fourth brush bar 504, which is far away from the third brush bar 502, is hinged with one end of the third brush bar 502, which is far away from the first brush bar 501; the third brush bar 502 and the fourth brush bar 504 are arranged between the first brush bar 501 and the second brush bar 503 in the horizontal direction; the third brush bar 502 and the fourth brush bar 504 have the same length and are both half of the first brush bar 501 and the second brush bar 503, and the first brush bar 501 and the second brush bar 503 have the same length. The bristles on the second brush bar 503 are arranged at positions avoiding the stirring disc 12; the first brush bar 501 and the second brush bar 503 are both connected with a retraction mechanism.
The retraction mechanism comprises a lead screw 505 which is vertically arranged, the lead screw 505 is arranged in the rotating shaft 4 and is rotationally connected with the rotating shaft 4, and one end of the lead screw 505 is connected with a first motor 506; a nut 507 is connected to the screw rod 505, a pair of vertical first limiting grooves 404 are formed in the rotating shaft 4, the nut 507 and the screw rod 505 are both arranged in the first limiting grooves 404, and the nut 507 moves along the length direction of the first limiting grooves 404; a first connecting rod 508 is hinged on the nut 507; the end of the first connecting rod 508 far away from the nut 507 in the retraction mechanism connected with the first brush bar 501 is hinged with the first brush bar 501, and the end of the first connecting rod 508 far away from the nut 507 in the retraction mechanism connected with the second brush bar 503 is hinged with the second brush bar 503. The first limiting grooves 404 are hexagonal prisms, third through holes 403 are further formed in the rotating shaft and are long in the vertical direction, the first limiting grooves 404 are communicated with the accommodating grooves through the third through holes 403, and the first connecting rods penetrate through the third through holes to connect the nuts with the first brush strips 501 and the second brush strips 503.
As shown in fig. 3, 4, and 5, the stirring plate 12 is a disc structure coaxial with the medicine box 11, the second cleaning mechanism 6 includes a first bearing 601 sleeved on the rotating shaft 4, the first bearing 601 is externally connected with a housing (the housing is hidden in fig. 3), the housing is hinged with a fifth brush bar 602, the fifth brush bar 602 is connected with a second motor 603, the second motor 603 is fixedly connected with the housing, and the fifth brush bar 602 is rotatably disposed on a vertical surface; a second limiting groove 604 is formed in one end, away from the first bearing 601, of the fifth brush bar 602, the bottom end of the medicine box 11 is fixedly connected with a pair of first positioning posts 605 matched with the second limiting groove 604, the first positioning posts 605 are all of a vertically arranged quadrangular prism structure, the two first positioning posts 605 are symmetrically arranged relative to the first bearing 601, and even if the second supporting rod 806 is inserted reversely, the first positioning posts 605 and the second limiting groove 604 can be positioned; the shell is internally connected with a first clamping mechanism matched with the rotating shaft 4.
As shown in fig. 5, 8, and 9, the first clamping mechanism includes a pair of horizontally disposed arc-shaped clamping plates 606; a pair of coaxial first threaded holes 607 are respectively formed at two ends of the pair of arc-shaped clamping plates 606, and the first threaded holes 607 are horizontally arranged; a pair of positive and negative screw rods 608 are screwed in the two pairs of first threaded holes 607, each positive and negative screw rod 608 is rotatably connected with the outer ring of the first bearing 601, and one end of one positive and negative screw rod 608 is connected with a third motor 609; the pair of positive and negative lead screws 608 is fixedly connected with a pair of first gears 610, and the pair of first gears 610 is connected with a synchronous belt 611.
As shown in fig. 10 and 11, the stirring plate 12 is connected to a fourth motor (the fourth motor is hidden in the drawing), the radial positioning mechanism 7 includes a third limiting groove 701 formed in the center of the stirring plate 12, and the third limiting groove 701 is vertically arranged; the bottom end of the third limiting groove 701 is fixedly connected with a vertical first spring 702, the top end of the first spring 702 is fixedly connected with an elastic block 703, the elastic block 703 is vertically arranged, and the elastic block 703 and the third limiting groove 701 are both in a regular quadrangular prism structure; the top end of the elastic block 703 is fixedly connected with a positioning block 704, and the positioning block 704 is of a vertical regular rectangular pyramid structure; the bottom end of the rotating shaft 4 is provided with a fifth limiting groove 705 matched with the positioning block 704, and the fifth limiting groove 705 is of a vertically arranged regular rectangular pyramid structure.
As shown in fig. 12, the lifting mechanism 8 includes a lifting rod 801 rotatably connected to the top end of the rotating shaft 4, and the lifting rod 801 has a vertical quadrangular prism structure; the bottom end of the lifting rod 801 is provided with a second clamping mechanism matched with the rotating shaft 4, and the second clamping mechanism has the same structure as the first clamping mechanism (is distinguished from the first clamping mechanism and is named as a second clamping mechanism); a radial positioning ring 802 is sleeved on the lifting rod 801, a vertical rack 803 is fixedly connected to the lifting rod 801, a second gear 804 is connected to the rack 803 in a meshed manner, a fifth motor 808 is connected to the second gear 804, and the fifth motor 808 is fixedly connected with the positioning ring; a pair of symmetrical first supporting rods 805 is fixedly connected to the positioning ring, each first supporting rod 805 is horizontally arranged, the bottom end of each first supporting rod 805 is fixedly connected with a vertical second supporting rod 806, and the second supporting rods 806 are of cylindrical structures; the top end of the medicine box 11 is fixedly connected with a pair of vertical fourth limiting grooves 807, and each fourth limiting groove 807 is a cylindrical structure matched with the second supporting rod 806.
As shown in fig. 13-15, the quick connection mechanism 9 includes a first locking mechanism and a second locking mechanism respectively engaged with the pair of second support rods 806, and the first locking mechanism and the second locking mechanism are arranged in a central symmetry; a wedge-shaped groove 901 is formed at the bottom end of each second support rod 806, and a first through hole communicated with the wedge-shaped groove 901 is formed in each fourth limiting groove 807; the first locking mechanism comprises a first sliding chute 903 fixedly connected with the fourth limiting groove 807, and the first sliding chute 903 is of a horizontally arranged square barrel-shaped structure; a horizontal first wedge block 904 is arranged in the first sliding groove 903, the inclined surface of the first wedge block 904 faces upwards, and the first wedge block 904 is connected with the wedge groove 901 through a first through hole; one end of the first wedge block 904, which is far away from the fourth limiting groove 807, is fixedly connected with a horizontal second spring 905, and the length direction of the second spring 905 is consistent with the first sliding groove 903 and is fixedly connected with the first sliding groove 903; a first sliding hole 906 which is consistent with the length direction of the first sliding chute 903 is formed in the wall of the first sliding chute 903, a first handle 907 fixedly connected with the first wedge-shaped block 904 is arranged outside the first sliding chute 903, and the first handle 907 is fixedly connected with the first wedge-shaped block 904 through the first sliding hole 906.
As shown in fig. 16-17, the second locking mechanism includes a second sliding slot 908 fixedly connected to the fourth limiting slot 807, and the second sliding slot 908 has a horizontally disposed barrel-shaped structure; a horizontal second wedge-shaped block 909 is arranged in the second sliding groove 908, vertical sixth limiting grooves are formed in the top end and the bottom end of the second wedge-shaped block 909, horizontal elastic plates 910 are arranged in the sixth limiting grooves, 3 vertical second through holes are formed in the second wedge-shaped block 909, the two sixth limiting grooves are communicated through the second through holes, a third spring 912 is arranged in each second through hole, and two ends of the third spring 912 are fixedly connected with the two elastic plates 910 respectively; a second sliding hole consistent with the length direction of the second sliding groove 908 is formed in the wall of the second sliding groove 908, a second handle fixedly connected with a second wedge block 909 is arranged outside the second sliding groove 908, and the second handle is fixedly connected with the second wedge block 909 through the second sliding hole.
Example 2
The embodiment is an intelligent unmanned aerial vehicle for agricultural sowing, which adopts the following method, and comprises the following steps:
And 4, unfolding the first cleaning mechanism 5. After the second cleaning mechanism 6 is unfolded, the two first motors 506 of the retraction mechanism, which are connected with the first brush bar 501 and the second brush bar 503, are started. The first motor 506 connected to the first brush bar 501 rotates forward to drive the nut 507 to move upward, the nut 507 drives the hinged first connecting rod 508 to move upward, the first connecting rod 508 moves upward and rotates around the nut 507 to the horizontal direction, meanwhile, the end of the first connecting rod 508 connected to the first brush bar 501 moves upward and moves in the direction away from the rotating shaft 4 in the horizontal direction, and the first brush bar 501 rotates to the horizontal state around the position hinged to the first limiting groove 404. Similarly, the first motor 506 connected to the second brush bar 503 rotates forward to drive the nut 507 to move downward, the nut 507 drives the hinged first connecting rod 508 to move downward, the first connecting rod 508 moves downward and rotates around the nut 507 to the horizontal direction, meanwhile, the end of the first connecting rod 508 connected to the second brush bar 503 moves downward and moves in the direction away from the rotating shaft 4 in the horizontal direction, and the second brush bar 503 rotates to the horizontal state around the hinged position with the first limiting groove 404. The first brush bar 501 and the second brush bar 503 are unfolded synchronously and drive the third brush bar 502 and the fourth brush bar 504 to rotate and unfold respectively, and the third brush bar 502 and the fourth brush bar 504 rotate and move (rotate and move simultaneously) to be in a vertical state along with the first brush bar 501 and the second brush bar 503.
And 5, setting the rotating shaft 4, the lifting mechanism 8 and the second cleaning mechanism 6 to be in a rotating connection state. After the first cleaning mechanism 5 is unfolded, a third motor 609 of the first clamping mechanism and the second clamping mechanism is started, the third motor 609 rotates forward to drive a forward and reverse screw rod 608 connected with the third motor to rotate, and the forward and reverse screw rod 608 drives another forward and reverse screw rod 608 connected with the third motor to rotate synchronously through a first gear 610 and a synchronous belt 611; the two positive and negative screw rods 608 synchronously rotate to drive the pair of arc-shaped clamping plates 606 connected with the two positive and negative screw rods to be far away from the rotating shaft 4, the first clamping mechanism and the second clamping mechanism are not used for clamping the rotating shaft 4, and the rotating shaft 4, the second cleaning mechanism 6 and the lifting mechanism 8 are in a rotating connection state.
And step 6, starting the stirring disc 12 to drive the cleaning device 1 to brush the medicine box 11. Starting a fourth motor, driving the stirring disc 12 to rotate, driving the elastic block 703 and the positioning block 704 to rotate by the stirring disc 12 through the third limiting groove 701, when the positioning block 704 rotates to be aligned with the fifth limiting groove 705 and a gap exists, the positioning block 704 and the elastic block 703 move upwards under the action of the first spring 702 until the positioning block 704 moves to be completely clamped with the fifth limiting groove 705; when the fifth limiting groove 705 is completely engaged with the positioning block 704, the stirring disc 12 drives the rotating shaft 4 to rotate, and the rotating shaft 4 drives the first brush bar 501, the second brush bar 503, the third brush bar 502 and the fourth brush bar 504 to rotate and scrub the inner wall of the medicine box 11; after the stirring board 12 rotates, the fifth brush 602 rotates relative to the stirring board 12 to scrub the stirring board 12, and the second nozzle 402 is turned on to spray water into the medicine box 11, and the water is discharged through the water outlet. After the brushing is performed for the set time, the fourth motor and the second nozzle 402 are turned off, the brushing is stopped, and then the drain opening is closed.
And 7, fixing the rotating shaft 4, the lifting mechanism 8 and the second cleaning mechanism 6. After the brushing is finished, a third motor 609 of the first clamping mechanism and the second clamping mechanism is started, the third motor 609 rotates reversely to drive a positive and negative screw rod 608 connected with the third motor to rotate, and the positive and negative screw rod 608 drives another positive and negative screw rod 608 connected with the positive and negative screw rod to rotate synchronously through a first gear 610 and a synchronous belt 611; the two positive and negative screw rods 608 synchronously rotate to drive the pair of arc-shaped clamping plates 606 connected with the positive and negative screw rods to move towards the direction close to the rotating shaft 4, the first clamping mechanism and the second clamping mechanism clamp the rotating shaft 4, and the rotating shaft 4, the second cleaning mechanism 6 and the lifting mechanism 8 are fixedly connected.
And 8, withdrawing the first cleaning mechanism 5 and the second cleaning mechanism 6. After the rotating shaft 4 is relatively fixed, the second motor 603 is started to rotate reversely by 90 degrees, and the second motor 603 drives the fifth brush bar 602 to rotate to the vertical direction to complete resetting. Two first motors 506 are started, the first motors 506 rotate reversely to drive the two retraction mechanisms to reset, the screw rod 505 connected with the first brush bar 501 rotates to drive the nut 507 to move downwards, the nut 507 drives the hinged first connecting rod 508 to move downwards, the first connecting rod 508 moves downwards and rotates around the nut 507 to the vertical direction, meanwhile, one end, connected with the first brush bar 501, of the first connecting rod 508 moves downwards and moves in the direction close to the rotating shaft 4 in the horizontal direction, and the first brush bar 501 rotates to the vertical state around the position hinged with the first limiting groove 404. Similarly, the lead screw 505 connected to the second brush bar 503 rotates to drive the nut 507 to move upward, the nut 507 drives the hinged first connecting rod 508 to move upward, the first connecting rod 508 moves upward and rotates around the nut 507 to the vertical direction, and meanwhile, the end of the first connecting rod 508 connected to the second brush bar 503 moves upward and moves in the direction close to the rotating shaft 4 in the horizontal direction to drive the second brush bar 503 to rotate to the vertical state around the hinged position with the first limiting groove 404. The first brush bar 501 and the second brush bar 503 are retracted synchronously and drive the third brush bar 502 and the fourth brush bar 504 to rotate and retract respectively, and the third brush bar 502 and the fourth brush bar 504 rotate and move (rotate and move simultaneously) along with the first brush bar 501 and the second brush bar 503 into the first limiting groove 404.
Example 3
The dosing tube 201 of this example is different from that of example 1. As shown in fig. 18 to 19, each medicine feeding pipe 201 is a vertically arranged barrel-shaped structure, the top end of each medicine feeding pipe 201 is closed, the bottom end of each medicine feeding pipe 201 is open, each medicine feeding pipe 201 is made of transparent material, each medicine feeding pipe 201 is provided with a graduated scale, the graduated scale is gradually increased from top to bottom in numerical value (the upper part is 0 ml, the lower part is 100 ml, other scales can be set), and the bottom end of each medicine feeding pipe 201 is communicated with the medicine chest. The dosing pipe 201 is internally provided with pistons 202, each piston 202 is provided with a first one-way valve 210, the upper part of each piston 202 is communicated with the lower part of the corresponding piston 202 through the first one-way valve 210, and the first one-way valve 210 is connected with a hose 207; be connected with vertical piston rod 209 on the piston 202, every adds cartridge 201 top and has all seted up and think the complex hole with piston rod 209, all be provided with the sealed piece 208 coaxial with piston 202 in every adds cartridge 201, every sealed piece 208 is the cylindric structure of vertical setting, every sealed piece 208 all with the inner wall sliding seal who adds cartridge 201 is connected, every sealed piece 208 all sets up in piston 202 below, all be provided with second check valve 211 on every sealed piece 208, every second check valve 211 all communicates sealed piece 208's top and below. The inner wall of each dosing pipe 201 is fixedly connected with a circular positioning ring 203, each positioning ring 203 is arranged below the sealing block 208 and is coaxial with the sealing block 208, and each positioning ring 203 is arranged in the middle of the dosing pipe 201. The bottom end of each sealing block 208 is fixedly connected with a vertical sliding rod 204, each sliding rod 204 is of a vertically arranged quadrangular prism structure, a sliding barrel 205 is sleeved outside each sliding rod 204, the bottom end of each sliding barrel is closed, and the top end of each sliding barrel is open; each sliding barrel 205 is quadrangular prism-shaped, each sliding barrel 205 is arranged at the bottom of the dosing tube 201, and each sliding barrel 205 is fixedly connected with the inner wall of the dosing tube 201 through a cross rod 218. A fourth spring 206 is arranged between the bottom end of each sliding barrel 205 and the bottom end of the sliding rod 204, two ends of the fourth spring 206 are fixedly connected with the sliding rods 204 and the sliding barrels 205 respectively, and each fourth spring 206 is arranged in the sliding barrel 205. The top of each sliding barrel 205 is provided with a fixing mechanism matched with the sliding rod 204; each fixing mechanism comprises a third sliding chute 217 and a fourth through hole 214 which are formed in the wall of the sliding barrel 205, each third sliding chute 217 and each fourth through hole 214 are horizontally arranged, each third sliding chute 217 is communicated with each fourth through hole 214, each third sliding chute 217 is arranged on one side (inner side) of the sliding barrel 205 close to the sliding rod 204, each fourth through hole 214 is arranged on the outer side of the sliding barrel 205, and each fourth through hole 214 is communicated with the two sides of the sliding barrel 205 through the third sliding chutes 217. All be provided with slider 216 in every third spout 217, every slider 216 is the quadrangular prism column structure, all the spiro union has horizontally second connecting rod 212 on every slider 216, all sets up horizontally second screw hole on every slider 216, and every second connecting rod 212 one end all is provided with the screw thread section 215 with second screw hole spiro union, and the other end all sets up outside adding medicine pipe 201. Each second connecting rod 212 is rotatably connected with the fourth through hole 214 and is coaxially arranged with the fourth through hole 214, and each second connecting rod 212 is axially and fixedly connected with the fourth through hole 214.
When adding pesticide, if 50 ml of pesticide needs to be added, the piston rod 209 is pulled upwards (or pressed downwards) to the position with the scale of 50, and the sealing block 208 is lifted to the position contacting with the bottom end of the piston 202 under the elastic force of the fourth spring 206. The piston rod 209 is kept still, the second connecting rod 212 is rotated forward, the second connecting rod 212 rotates and drives the sliding block 216 to slide in the third sliding slot 217, the sliding block 216 moves towards the direction close to the sliding rod 204, the sliding rod 204 is extruded, and the sliding rod 204 is fixed in the sliding barrel 205. After the sliding rod 204 is fixed, the top end of the sealing block 208 is located at the position with the scale of 50, the hose 207 is placed into pesticide, the piston rod 209 is pulled to the topmost end of the pesticide tube, and the pesticide flows into the space between the piston 202 and the sealing block 208 through the first one-way valve 210; the second connecting rod 212 is reversed, the sliding block 216 moves in the direction away from the sliding rod 204, after the sliding block 216 leaves the sliding rod 204, the piston rod 209 is pressed downwards to the bottommost end, the sealing block 208 is pressed downwards to the positioning ring 203, the fourth spring 206 is compressed, after the piston 202 is pressed to the bottommost end, the pesticide is extruded out through the second one-way valve 211, the pesticide falls below the sealing block 208, and the pesticide enters the pesticide box through the pesticide feeding pipe 201 to finish quantitative dosing.
Claims (8)
1. An intelligent unmanned aerial vehicle for agricultural sowing is characterized by comprising a rack, wherein a medicine box is connected to the rack, a stirring disc is arranged in the medicine box, and the medicine box is connected with a cleaning device; the top end of the medicine box is connected with a medicine adding device; the bottom end of the medicine box is connected with a medicine spraying device; the cleaning device comprises a rotating shaft movably connected with the stirring disc, and the rotating shaft and the stirring disc are coaxially arranged; the middle part of the rotating shaft is connected with a first cleaning mechanism matched with the inner wall of the medicine box; a second cleaning mechanism matched with the stirring disc is arranged at the lower part of the rotating shaft; the bottom end of the rotating shaft and the stirring disc are provided with radial positioning mechanisms; the top end of the rotating shaft is connected with a lifting mechanism, the lifting mechanism is movably connected with the medicine box, and the lifting mechanism and the medicine box are provided with a quick connecting mechanism; the medicine chest is of a hollow cylindrical structure; the rotating shaft and the medicine box are coaxially and vertically arranged, and a vertical accommodating groove is formed in the peripheral surface of the rotating shaft; the first cleaning mechanism comprises a brush strip group arranged in the accommodating groove, the brush strip group comprises a first brush strip hinged with the top end of the accommodating groove, and the other end of the first brush strip is hinged with a third brush strip; the brush strip group also comprises a second brush strip hinged with the bottom end of the accommodating groove, and the other end of the second brush strip is hinged with a fourth brush strip; one end of the fourth brush bar, which is far away from the third brush bar, is hinged with one end of the third brush bar, which is far away from the first brush bar; the third brush bar and the fourth brush bar are arranged between the first brush bar and the second brush bar in the horizontal direction; and the first brush strip and the second brush strip are both connected with retraction mechanisms.
2. The intelligent unmanned aerial vehicle for agricultural sowing of claim 1, wherein the retraction mechanism comprises a vertically arranged lead screw, the lead screw is arranged in the rotating shaft and is rotationally connected with the rotating shaft, and one end of the lead screw is connected with a first motor; the screw rod is connected with a nut, a vertical first limiting groove is formed in the rotating shaft, the nut and the screw rod are both arranged in the first limiting groove, and the nut moves along the length direction of the first limiting groove; a first connecting rod is hinged to the nut; a first connecting rod in the retraction mechanism connected with the first brush strip is hinged with the first brush strip, and a first connecting rod in the retraction mechanism connected with the second brush strip is hinged with the second brush strip.
3. The intelligent unmanned aerial vehicle for agricultural sowing of claim 2, wherein the stirring disc is a disc structure coaxial with the pesticide box, the second cleaning mechanism comprises a first bearing sleeved on the rotating shaft, an outer ring of the first bearing is hinged with a fifth brush strip, and a second motor is connected to the fifth brush strip; a second limiting groove is formed in one end, away from the first bearing, of the fifth brush strip, a first positioning column matched with the second limiting groove is fixedly connected to the bottom end of the medicine box, and the first positioning column is vertically arranged; the outer ring of the first bearing is connected with a first clamping mechanism matched with the rotating shaft.
4. The intelligent unmanned agricultural broadcast vehicle of claim 3, wherein the first gripper mechanism comprises a pair of horizontally disposed arcuate clamping plates; a pair of coaxial first threaded holes are formed in the two ends of each pair of arc-shaped clamping plates, and the first threaded holes are horizontally arranged; a pair of positive and negative screw rods are connected in the two pairs of first threaded holes in a threaded manner, each positive and negative screw rod is rotatably connected with the outer ring of the first bearing, and one end of one positive and negative screw rod is connected with a third motor; a pair of positive and negative lead screws are fixedly connected with a pair of first gears, and a synchronous belt is connected to the first gears.
5. The intelligent unmanned aerial vehicle for agricultural sowing of claim 4, wherein the stirring disc is connected with a fourth motor, the radial positioning mechanism comprises a third limiting groove arranged in the center of the stirring disc, and the third limiting groove is vertically arranged; the bottom end of the third limiting groove is fixedly connected with a vertical first spring, the top end of the first spring is fixedly connected with an elastic block, the elastic block is vertically arranged, and the elastic block and the third limiting groove are both in a regular prism structure; the top end of the elastic block is fixedly connected with a positioning block which is of a vertical regular pyramid structure; the bottom end of the rotating shaft is provided with a fifth limiting groove matched with the positioning block, and the fifth limiting groove is of a vertically arranged regular pyramid structure.
6. The intelligent unmanned aerial vehicle for agricultural sowing of claim 5, wherein the lifting mechanism comprises a lifting rod rotatably connected with the top end of the rotating shaft, and the lifting rod is of a vertical quadrangular prism-shaped structure; the bottom end of the lifting rod is provided with a second clamping mechanism matched with the rotating shaft; the lifting rod is sleeved with a radial positioning ring, a vertical rack is fixedly connected to the lifting rod, a second gear is connected to the rack in a meshed mode, the second gear is connected with a fifth motor, and the fifth motor is fixedly connected with the positioning ring; a pair of symmetrical first supporting rods is fixedly connected to the positioning ring, each first supporting rod is horizontally arranged, and the bottom end of each first supporting rod is fixedly connected with a vertical second supporting rod; the top end of the medicine box is fixedly connected with a pair of vertical fourth limiting grooves, and each fourth limiting groove is of a tubular structure matched with the second supporting rod.
7. The intelligent unmanned aerial vehicle for agricultural sowing of claim 6, wherein the quick connection mechanism comprises a first locking mechanism and a second locking mechanism respectively matched with the pair of second support rods, and the first locking mechanism and the second locking mechanism are arranged in a central symmetry manner; a wedge-shaped groove is formed in the bottom end of each second supporting rod, and a first through hole communicated with the wedge-shaped groove is formed in each fourth limiting groove; the first locking mechanism comprises a first sliding chute fixedly connected with the fourth limiting groove, and the first sliding chute is of a horizontally arranged barrel-shaped structure; a horizontal first wedge-shaped block is arranged in the first sliding groove, a horizontal second spring is fixedly connected to one end, far away from the fourth limiting groove, of the first wedge-shaped block, and the length direction of the second spring is consistent with that of the first sliding groove and is fixedly connected with the first sliding groove; the wall of the first sliding groove is provided with a first sliding hole consistent with the length direction of the first sliding groove, a first handle fixedly connected with a first wedge-shaped block is arranged outside the first sliding groove, and the first handle is fixedly connected with the first wedge-shaped block through the first sliding hole.
8. The intelligent unmanned aerial vehicle for agricultural sowing of claim 7, wherein the second locking mechanism comprises a second sliding chute fixedly connected with a fourth limiting groove, and the second sliding chute is a horizontally arranged barrel-shaped structure; a horizontal second wedge-shaped block is arranged in the second sliding groove, horizontal elastic plates are arranged at the top end and the bottom end of the second wedge-shaped block, a vertical second through hole is formed in the second wedge-shaped block, a third spring is arranged in the second through hole, and two ends of the third spring are fixedly connected with the two elastic plates respectively; and a second sliding hole consistent with the length direction of the second sliding groove is formed in the wall of the second sliding groove, a second handle fixedly connected with a second wedge-shaped block is arranged outside the second sliding groove, and the second handle is fixedly connected with the second wedge-shaped block through the second sliding hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111170450.1A CN113788146B (en) | 2021-10-08 | 2021-10-08 | Intelligent unmanned aerial vehicle for agricultural sowing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111170450.1A CN113788146B (en) | 2021-10-08 | 2021-10-08 | Intelligent unmanned aerial vehicle for agricultural sowing |
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| CN113788146A CN113788146A (en) | 2021-12-14 |
| CN113788146B true CN113788146B (en) | 2022-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111170450.1A Active CN113788146B (en) | 2021-10-08 | 2021-10-08 | Intelligent unmanned aerial vehicle for agricultural sowing |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836129A (en) * | 2016-03-21 | 2016-08-10 | 中国农业大学 | Agricultural unmanned sowing machine |
| CN107323671A (en) * | 2017-07-11 | 2017-11-07 | 黄铁 | A kind of rotary wind type unmanned plane for spraying insecticide |
| CN108041013A (en) * | 2017-12-20 | 2018-05-18 | 南京菱亚汽车技术研究院 | A kind of agricultural unmanned plane loading attachment sprayed convenient for drug |
| CN207940265U (en) * | 2018-01-22 | 2018-10-09 | 南通知航机电科技有限公司 | A kind of agricultural spray unmanned plane |
| CN208318042U (en) * | 2018-04-11 | 2019-01-04 | 清远市巨劲科技有限公司 | A kind of plant protection drone convenient for cleaning medicine-chest |
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2021
- 2021-10-08 CN CN202111170450.1A patent/CN113788146B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836129A (en) * | 2016-03-21 | 2016-08-10 | 中国农业大学 | Agricultural unmanned sowing machine |
| CN107323671A (en) * | 2017-07-11 | 2017-11-07 | 黄铁 | A kind of rotary wind type unmanned plane for spraying insecticide |
| CN108041013A (en) * | 2017-12-20 | 2018-05-18 | 南京菱亚汽车技术研究院 | A kind of agricultural unmanned plane loading attachment sprayed convenient for drug |
| CN207940265U (en) * | 2018-01-22 | 2018-10-09 | 南通知航机电科技有限公司 | A kind of agricultural spray unmanned plane |
| CN208318042U (en) * | 2018-04-11 | 2019-01-04 | 清远市巨劲科技有限公司 | A kind of plant protection drone convenient for cleaning medicine-chest |
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| CN113788146A (en) | 2021-12-14 |
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