CN115735887A - Automatic targeting spraying device and spraying weeding unmanned aerial vehicle - Google Patents
Automatic targeting spraying device and spraying weeding unmanned aerial vehicle Download PDFInfo
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- CN115735887A CN115735887A CN202211615243.7A CN202211615243A CN115735887A CN 115735887 A CN115735887 A CN 115735887A CN 202211615243 A CN202211615243 A CN 202211615243A CN 115735887 A CN115735887 A CN 115735887A
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- 238000005507 spraying Methods 0.000 title claims abstract description 52
- 230000008685 targeting Effects 0.000 title claims abstract description 24
- 238000009333 weeding Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 239000007921 spray Substances 0.000 claims description 78
- 230000005540 biological transmission Effects 0.000 claims description 57
- 230000033001 locomotion Effects 0.000 claims description 12
- 239000012530 fluid Substances 0.000 claims description 3
- 239000011148 porous material Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 abstract description 8
- 239000003814 drug Substances 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The invention discloses an automatic targeting spraying device and a spraying weeding unmanned aerial vehicle, which comprise a spraying mechanism, a spraying angle adjusting and executing assembly, a disturbed flow detection mechanism and a spraying angle adjusting and controlling mechanism, wherein the spraying angle adjusting and executing assembly is provided with a nozzle and is connected with the nozzle; the spraying weeding unmanned aerial vehicle is provided with an automatic targeting spraying device. The invention enables the sprayed liquid medicine to be accurately targeted on the target vegetation area, and avoids the condition that the target spraying effect of the spraying device is not good due to the interference of lateral airflow.
Description
Technical Field
The invention relates to the technical field of plant protection mechanical equipment, in particular to an automatic targeting spraying device and a spraying weeding unmanned aerial vehicle.
Background
The targeted spraying is an important mode for realizing the precise pesticide application technology in the field of agricultural aviation, integrates the advantages of variable spraying control flow and targeted spraying precise positioning, meets the requirement of precise spraying, and has important significance for agricultural sustainable development and ecological environment protection.
Usually, adopt unmanned aerial vehicle to carry out need in the windless environment when spraying to the target to ensure that spun liquid medicine can be accurately to the target in target vegetation area. However, in actual operation, in time and in good weather, the situation that gusts of wind blow occasionally exists, especially airflow blown by the unmanned aerial vehicle in the lateral direction can cause the sprayed liquid medicine to deviate from the target vegetation area seriously, and even target on the land between adjacent ridges.
Therefore, there is a need for a spraying device capable of automatically targeting, and automatically adjusting the spraying direction to ensure that the chemical liquid can be precisely targeted to the target vegetation area when spraying in a gusty environment.
Disclosure of Invention
The invention aims to provide an automatic targeting spraying device and a spraying weeding unmanned aerial vehicle, and aims to solve the technical problem that liquid medicine sprayed out in gusty weather is difficult to target a target vegetation area in the prior art.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
an automatic targeted spraying device comprising:
a nozzle;
the spray angle adjusting and executing assembly is connected with the nozzle and is used for adjusting the spray angle of the nozzle;
the turbulent flow detection mechanism is used for dynamically detecting the airflow direction and the airflow strength of the surrounding airflow when the carrier advances;
the turbulent flow detection mechanism is arranged on the unmanned aerial vehicle and is used for dynamically detecting the airflow direction and the airflow strength of the surrounding airflow when the carrier moves;
the spray angle adjusting and controlling mechanism acquires interference data including the airflow direction and the airflow strength, and controls the spray angle adjusting and controlling assembly to correct the angle of the nozzle according to the interference data.
As a preferred scheme of the invention, the turbulence detection mechanism comprises an air-driven shaft and a rudder-shaped plate, the front end of the rudder-shaped plate is rotatably arranged on the unmanned aerial vehicle through the air-driven shaft, the rudder-shaped plate is fixedly connected with the air-driven shaft, and the rudder-shaped plate is blown by lateral airflow of the unmanned aerial vehicle to drive the air-driven shaft to rotate;
the pneumatic shaft with the spray angle adjusting and executing assembly passes through the transmission of spray angle adjusting and controlling mechanism is connected, spray angle adjusting and controlling mechanism quilt the pneumatic shaft drive, just spray angle adjusting and controlling mechanism basis the direction of rotation and the rotation angle of pneumatic shaft control spray angle adjusting and executing assembly revises correspondingly the nozzle is at the ascending spraying angle of unmanned aerial vehicle side direction.
As a preferred scheme of the present invention, the spray angle adjusting and controlling mechanism includes a pair of direction-changing transmission parts and hydraulic cylinder assemblies, one end of each hydraulic cylinder assembly is connected to the direction-changing transmission part, and the other end of each hydraulic cylinder assembly is connected to the spray angle adjusting and executing component;
the hydraulic cylinder assembly comprises a piston cylinder and a piston rod, wherein a piston is arranged in the piston cylinder in a sliding mode, the piston rod is arranged on the piston, one end of the piston rod is exposed out of the piston cylinder, the piston cylinder is detachably arranged on the unmanned aerial vehicle, the turning transmission part and the spray angle adjusting part are connected with the corresponding piston rods, and the two piston cylinders are connected through a hose, so that fluid media in the two piston cylinders can be transferred through the hose, and the two pistons and the piston rod can reciprocate;
the direction-changing transmission part is used for converting power output modes of the wind moving shaft in different directions of rotary motion into power output modes of reciprocating linear motion, so that the wind moving shaft can drive the piston to reciprocate through the direction-changing transmission part.
As a preferred scheme of the invention, the direction-changing transmission part comprises a driving gear, a crown gear, a hollow transmission shaft and a guide rod, the driving gear is coaxially and fixedly arranged on the wind-driven shaft, the crown gear is coaxially and fixedly arranged at one end of the hollow transmission shaft and is meshed and connected with the driving gear, the hollow transmission shaft is rotatably arranged at the bottom of the unmanned aerial vehicle, and the guide rod is circumferentially and fixedly arranged at the bottom of the unmanned aerial vehicle in a sliding manner;
the hollow transmission shaft is far away from the one end of crown gear is provided with the guiding hole, be provided with the helicla flute on the pore wall of guiding hole, the guide bar with be provided with on the lateral wall of the one end that the guiding hole was pegged graft with helicla flute sliding fit's slip pin, so that hollow transmission shaft can drive through reciprocal rotation the guide bar reciprocates and carries out linear motion, the guide bar with correspond the piston rod is connected.
As a preferable scheme of the present invention, a limiting groove is disposed on a side surface of the guide rod along a length direction of the guide hole, a slide hole communicated with the limiting groove is disposed in the guide rod, a slide block is slidably disposed in the slide hole, buffer springs connected to the slide block are disposed in both ends of the slide hole, the slide pins are disposed on a side surface of the slide block, and both ends of the limiting groove are symmetrical with respect to the slide pins located at the initial positions.
As a preferred scheme of the invention, the spray angle adjusting and executing assembly comprises an angle adjusting arm and a lever shaft, wherein two ends of the lever shaft are arranged on the unmanned aerial vehicle through a hoisting part, and the angle adjusting arm is rotatably arranged on the lever shaft so as to enable the angle adjusting arm to swing upwards at the side of the unmanned aerial vehicle;
and the two ends of the angle adjusting arm form a long arm driving section and a short arm transmission section which are divided by the lever shaft, the length of the long arm driving section is greater than that of the short arm transmission section, and one end of the long arm driving section, which is far away from the lever shaft, is connected with the guide rod.
As a preferable scheme of the present invention, a sliding shaft is slidably disposed on the long arm driving section along a length direction, and the guide rod is rotatably connected to the sliding shaft.
As a preferable scheme of the present invention, the nozzles are disposed on both sides of the unmanned aerial vehicle through the spray angle adjustment actuating assembly, and the crown gears are engaged and connected to both sides of the driving gear.
As a preferred scheme of the invention, the nozzles are arranged at both ends of the same side of the unmanned aerial vehicle through the spray angle adjusting and executing assembly, two linkage rods are arranged at one end of the guide rod away from the hollow transmission shaft, and the guide rod is connected with the two piston rods at the same side through the linkage rods.
As a preferable scheme of the invention, the hoisting part, the piston cylinder, the wind-driven shaft, the hollow transmission shaft and the guide rod are detachably arranged at the bottom of the unmanned aerial vehicle through mounting brackets.
In order to solve the above technical problems, the present invention further provides the following technical solutions:
a spraying weeding unmanned aerial vehicle using the automatic targeting spraying device comprises an unmanned aerial vehicle main body as the carrier and the automatic targeting spraying device detachably arranged at the bottom of the unmanned aerial vehicle main body through a mounting bracket;
the automatic targeting spraying device is connected with the mounting bracket through the hoisting part, the piston cylinder, the wind-driven shaft, the hollow transmission shaft and the guide rod.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the turbulent flow detection mechanism is used for detecting the lateral airflow which mainly influences the spraying effect, the spray angle adjusting and controlling mechanism is used for controlling the spray angle adjusting and executing assembly according to the size and the direction of the lateral airflow detected by the turbulent flow detection mechanism, the sprayed liquid medicine can accurately target a target vegetation area, and the situation that the target spraying effect of the spraying device is poor due to the interference of the lateral airflow is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a hydraulic cylinder assembly according to the present invention;
FIG. 3 is a schematic view of the direction changing transmission of the present invention;
FIG. 4 is a schematic view of the angle adjustment arm of the present invention;
FIG. 5 is a schematic structural diagram of the leading bar of the present invention;
fig. 6 is a schematic structural view of the hollow drive shaft of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-a nozzle; 2-a spray angle adjusting and executing assembly; 3-a turbulent flow detection mechanism; 4-a spray angle adjusting control mechanism; 5-a hose; 6-a guide hole; 7-spiral groove; 8-a sliding pin; 9-a limiting groove; 10-a slide hole; 11-a slide block; 12-a buffer spring; 13-a hoisting part; 14-a sliding shaft; 15-a linkage bar; 16-a mounting bracket;
201-an angle adjustment arm; 202-lever axis;
2011-long arm drive section; 2012-short arm drive section;
301-wind axis; 302-rudder plate;
401-a direction-changing transmission part; 402-a hydraulic cylinder assembly;
4021-a piston; 4022-a piston cylinder; 4023-a piston rod;
4011-drive gear; 4012-crown gear; 4013-hollow drive shaft; 4014-leading rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1 to 6, the present invention provides an automatic targeting spray apparatus, comprising:
a nozzle 1;
the spray angle adjusting and executing assembly 2 is connected with the nozzle 1, and the spray angle adjusting and executing assembly 2 is used for adjusting the spray angle of the nozzle 1;
the turbulent flow detection mechanism 3 is used for dynamically detecting the airflow direction and the airflow intensity of peripheral airflow when the carrier moves;
the turbulent flow detection mechanism 3 is arranged on the unmanned aerial vehicle, and the turbulent flow detection mechanism 3 is used for dynamically detecting the airflow direction and the airflow strength of the surrounding airflow when the carrier moves;
the spray angle adjusting and controlling mechanism 4, the spray angle adjusting and executing assembly 2 and the turbulent flow detecting mechanism 3 are all connected with the spray angle adjusting and controlling mechanism 4, the spray angle adjusting and controlling mechanism 4 obtains interference data including the airflow direction and the airflow strength, and controls the spray angle adjusting and executing assembly 2 to correct the angle of the nozzle 1 according to the interference data.
According to the invention, the turbulent flow detection mechanism 3 is used for detecting the lateral airflow which mainly influences the spraying effect, the spray angle adjusting and controlling mechanism 4 is used for controlling the spray angle adjusting and executing assembly 2 according to the size and the direction of the lateral airflow detected by the turbulent flow detection mechanism 3, for example, the turbulent flow detection mechanism 3 detects the airflow flowing from the right side to the left side of the unmanned aerial vehicle, and the spray angle adjusting and controlling mechanism 4 controls the nozzle 1 to adjust the spraying angle to the right side through the spray angle adjusting and executing assembly 2, so that the liquid medicine sprayed out to the right side can accurately target a target vegetation area under the action of the airflow, and the condition that the spraying effect of a spraying device on the target is poor due to the interference of the lateral airflow is avoided.
Wherein, vortex detection mechanism 3 includes that wind-driven shaft 301 and rudder form board 302, and the front end of rudder form board 302 passes through wind-driven shaft 301 and rotates the setting on unmanned aerial vehicle, and 1 rudder form board 302 and wind-driven shaft 301 fixed connection, and rudder form board 302 is blown by the air current of unmanned aerial vehicle side direction and drives wind-driven shaft 301 and rotate. The pneumatic shaft 301 is in transmission connection with the spray angle adjusting and executing assembly 2 through the spray angle adjusting and controlling mechanism 4, the spray angle adjusting and controlling mechanism 4 is driven by the pneumatic shaft 301, and the spray angle adjusting and controlling mechanism 4 controls the spray angle adjusting and executing assembly 2 according to the rotating direction and the rotating angle of the pneumatic shaft 301 to correspondingly correct the spraying angle of the nozzle 1 in the lateral direction of the unmanned aerial vehicle.
The rudder-shaped plate 302 is blown by airflows on two sides of the unmanned aerial vehicle to enable the front end of the pneumatic shaft 301 to rotate in a reciprocating mode, the rotating direction and the rotating angle of the pneumatic shaft 301 correspond to the airflow direction and the airflow strength, detection of the airflow direction and the airflow strength is achieved, and a foundation is provided for the spray angle adjusting and controlling mechanism 4 to control the spray angle adjusting and executing assembly 2 to correct the spray angle of the nozzle 1 according to the rotating direction and the rotating angle of the pneumatic shaft 301.
And, because of the vortex detection mechanism 3 adopts pure mechanical structure, it provides the basis to adopt pure mechanical structure for the spray angle regulation control mechanism 4, and the vortex detection mechanism 3 and the spray angle regulation control mechanism 4 of pure mechanical structure not only do benefit to and reduce hardware cost and installation, the debugging degree of difficulty, and adopt and blow rudder form board 302 by the air current, and drive wind axis 301 and provide power for spray angle regulation control mechanism 4 by rudder form board 302, do benefit to and reduce the energy resource consumption to unmanned aerial vehicle, thereby do benefit to and increase unmanned aerial vehicle's continuation of the journey.
Therefore, the spray angle adjusting and controlling mechanism 4 includes a direction-changing transmission portion 401 and a pair of hydraulic cylinder assemblies 402, wherein one end of the hydraulic cylinder assembly 402 is connected to the direction-changing transmission portion 401, and the other end of the hydraulic cylinder assembly 402 is connected to the spray angle adjusting and executing component 2.
The hydraulic cylinder assembly 402 comprises a piston cylinder 4022 with a piston 4021 arranged in the piston 4021 in a sliding mode, and a piston rod 4023 arranged on the piston 4021 and with one end exposed out of the piston cylinder 4022, the piston cylinder 4022 is detachably arranged on the unmanned aerial vehicle, the direction-changing transmission part 401 and the spray angle adjusting part are connected with the corresponding piston rod 4023, and the two piston cylinders 4022 are connected through a hose 5, so that fluid media in the two piston cylinders 4022 can be transferred through the hose 5, and reciprocating motion of the two pistons 4021 and the piston rod 4023 is achieved.
The direction-changing transmission part 401 is used for converting the power output mode of the rotary motion of the pneumatic shaft 301 in different directions into the power output mode of reciprocating linear motion, so that the pneumatic shaft 301 can drive the piston 4021 to reciprocate through the direction-changing transmission part 401, and the two piston cylinders 4022 connected through the hoses 5 are beneficial to flexibly adapting to the positions of the spray angle adjusting execution assembly 2 and the nozzle 1 for arrangement.
Wherein, diversion transmission portion 401 includes drive gear 4011, crown gear 4012, hollow transmission shaft 4013 and guide pole 4014, and drive gear 4011 is coaxial fixed to be set up on wind moving axis 301, and crown gear 4012 is coaxial fixed to be set up at hollow transmission shaft 4013 one end and be connected with drive gear 4011 meshing, and hollow transmission shaft 4013 rotates to be set up in the unmanned aerial vehicle bottom, and guide pole 4014 circumference is fixed and slide and set up in the unmanned aerial vehicle bottom. In addition, a guide hole 6 is formed in one end, far away from the crown gear 4012, of the hollow transmission shaft 4013, a spiral groove 7 is formed in the hole wall of the guide hole 6, a sliding pin 8 in sliding fit with the spiral groove 7 is arranged on the side wall of one end, inserted into the guide hole 6, of the guide rod 4014, so that the hollow transmission shaft 4013 can drive the guide rod 4014 to reciprocate to perform linear motion through reciprocating rotation, and the guide rod 4014 is connected with a corresponding piston rod 4023.
The helicla configuration that helicla flute 7 is for along 6 pore wall circumferences of guiding hole and axial extension to when making hollow transmission shaft 4013 reciprocating rotation, slide pin 8 moves along helicla flute 7 passively, and is provided with the pilot rod 4014 circumference of slide pin 8 and fixes, thereby makes pilot rod 4014 can carry out axial reciprocating motion.
In order to avoid that the accuracy of target spraying is affected by continuous reciprocating swing of the rudder-shaped plate 302 caused by lateral weak airflow in the advancing process of a carrier, a limit groove 9 arranged along the length direction of the guide hole 6 is arranged on the side surface of the guide rod 4014, a slide hole 10 communicated with the limit groove 9 is arranged in the guide rod 4014, a slide block 11 is arranged in the slide hole 10 in a sliding manner, buffer springs 12 connected with the slide block 11 are arranged in two ends of the slide hole 10, a slide pin 8 is arranged on the side surface of the slide block 11, and two ends of the limit groove 9 are symmetrical with respect to the slide pin 8 located at the initial position. When the wind axis 301 rotates forward or backward rapidly with a small amplitude, the sliding pin 8 compresses the buffer spring 12 at one end under the action of the instantly increased resistance, so as to avoid the situation that the guide rod 4014 moves rapidly at the initial stage of movement, which leads to the related components being easily damaged due to the impact force for a long time. When the air shaft 301 rapidly reciprocates in a small amplitude, the slide pin 8 can be kept stationary or can move only in a small amplitude by reciprocally compressing the buffer springs 12 at both ends, so that the angle adjustment arm 201 can be kept relatively stable, and the purpose of ensuring the accuracy of targeted spraying can be achieved.
Because the force for the wind power to drive the rudder-shaped plate 302 to swing is limited and mechanical loss exists in the power transmission process, the pneumatic shaft 301 can drive the nozzle 1 to carry out angle correction through the spray angle adjusting control mechanism 4 and the spray angle adjusting execution assembly 2 by optimally designing the spray angle adjusting execution assembly 2.
Specifically, the spray angle adjusting actuating assembly 2 includes angle adjusting arm 201 and lever shaft 202, and the both ends of lever shaft 202 all set up on unmanned aerial vehicle through hoist and mount portion 13, and angle adjusting arm 201 rotates and sets up on lever shaft 202 to make angle adjusting arm 201 can upwards swing at unmanned aerial vehicle side. Moreover, a long arm driving section 2011 and a short arm transmission section 2012 which are demarcated by the lever shaft 202 are formed at two ends of the angle adjusting arm 201, the length of the long arm driving section 2011 is greater than that of the short arm transmission section 2012, and one end, far away from the lever shaft 202, of the long arm driving section 2011 is connected with the guide rod 4014, so that the guide rod 4014 can drive the short arm transmission section 2012 provided with the nozzle 1 to swing with smaller power, and the purpose of correcting the angle of the nozzle 1 is achieved.
The length of the long arm driving section 2011 is twice or even higher than that of the short arm transmission section 2012, and correspondingly, in order to adapt to the stroke required by the guide rod 4014 to drive the long arm driving section 2011, the number of the teeth of the driving gear 4011 is much more than that of the crown gear 4012, namely, the stroke of the guide rod 4014 is increased by increasing the rotation angles of the crown gear 4012 and the hollow transmission shaft 4013.
In addition, in order to adapt to the rotation of the angle adjusting arm 201, the long arm driving section 2011 is connected with the guide rod 4014 to be displaced in the vertical direction, the long arm driving section 2011 is provided with the sliding shaft 14 in a sliding manner along the length direction, and the guide rod 4014 is connected with the sliding shaft 14 in a rotating manner.
Further optimize on above-mentioned embodiment, unmanned aerial vehicle's both sides all are provided with nozzle 1 through spray angle regulation executive component 2, and drive gear 4011's both sides all mesh and are connected with crown gear 4012 to the adaptation unmanned aerial vehicle both sides all are provided with the condition of nozzle 1. And further, both ends of the unmanned aerial vehicle homonymy are provided with nozzles 1 through the spray angle adjusting and executing assembly 2, one end of the guide rod 4014 far away from the hollow transmission shaft 4013 is provided with two linkage rods 15, and the guide rod 4014 is connected with two piston rods 4023 on the homonymy through the linkage rods 15 so as to adapt to the situation that the nozzles 1 are arranged at both ends of the homonymy.
In addition, in order to facilitate the assembly and disassembly of the whole device, the hoisting part 13, the piston cylinder 4022, the pneumatic shaft 301, the hollow transmission shaft 4013 and the guide rod 4014 are detachably arranged at the bottom of the unmanned aerial vehicle through the mounting bracket 16.
The invention also provides a spraying weeding unmanned aerial vehicle using the automatic targeting spraying device, which comprises the following components in parts by weight:
the unmanned aerial vehicle comprises an unmanned aerial vehicle main body used as the carrier and an automatic targeting spraying device which is detachably arranged at the bottom of the unmanned aerial vehicle main body through a mounting bracket;
the automatic targeting spraying device is connected with the mounting bracket 16 through a hoisting part 13, a piston cylinder 4022, a pneumatic shaft 301, a hollow transmission shaft 4013 and a guide rod 4014.
Compared with a common nozzle adjusting mode, the invention can adjust the angle of the nozzle 1 based on the airflow direction and the airflow intensity detected by the turbulent flow detection mechanism 3 based on the wind-driven rudder-shaped plate 302, thereby accurately spraying the liquid medicine to a target area.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.
Claims (10)
1. An automatic targeting spray device, comprising:
a nozzle (1);
the spray angle adjusting and executing assembly (2) is connected with the nozzle (1), and the spray angle adjusting and executing assembly (2) is used for adjusting the spray angle of the nozzle (1);
the turbulent flow detection mechanism (3) is used for dynamically detecting the airflow direction and the airflow intensity of the surrounding airflow when the carrier moves;
and the spray angle adjusting and controlling mechanism (4), the spray angle adjusting and executing component (2) and the turbulent flow detecting mechanism (3) are connected with the spray angle adjusting and controlling mechanism (4), the spray angle adjusting and controlling mechanism (4) acquires interference data comprising the airflow flow direction and the airflow strength, and controls the spray angle adjusting and executing component (2) to correct the angle of the nozzle (1) according to the interference data.
2. The device for automatically targeting and spraying according to claim 1, characterized in that the turbulence detection mechanism (3) comprises a pneumatic shaft (301) and a rudder-shaped plate (302), the front end of the rudder-shaped plate (302) is rotatably arranged on the carrier through the pneumatic shaft (301), the rudder-shaped plate (302) is fixedly connected with the pneumatic shaft (301), and the rudder-shaped plate (302) is blown by the lateral air flow to rotate the pneumatic shaft (301);
the pneumatic shaft (301) is in transmission connection with the spray angle adjusting and executing assembly (2) through the spray angle adjusting and controlling mechanism (4), the spray angle adjusting and controlling mechanism (4) is driven by the pneumatic shaft (301), and the spray angle adjusting and controlling mechanism (4) controls the spray angle adjusting and executing assembly (2) to correspondingly correct the spray angle of the nozzle (1) in the lateral direction according to the rotating direction and the rotating angle of the pneumatic shaft (301).
3. The automatic targeting sprayer according to claim 2, characterized in that the spray angle adjusting control mechanism (4) comprises a direction-changing transmission part (401) and a hydraulic cylinder assembly (402), the hydraulic cylinder assembly (402) is provided with a pair, one end of the hydraulic cylinder assembly (402) is connected with the direction-changing transmission part (401), and the other end of the hydraulic cylinder assembly (402) is connected with the spray angle adjusting execution component (2);
the hydraulic cylinder assembly (402) comprises a piston cylinder (4022) with a piston (4021) arranged in the piston cylinder in a sliding mode, and a piston rod (4023) arranged on the piston (4021) and with one end exposed out of the piston cylinder (4022), the piston cylinder (4022) is detachably arranged on a carrier, the direction-changing transmission part (401) and the spray angle adjusting part are connected with the corresponding piston rod (4023), and the two piston cylinders (4022) are connected through a hose (5), so that fluid media in the two piston cylinders (4022) can be transferred through the hose (5) to realize reciprocating motion of the two pistons (4021) and the piston rod (4023);
the direction-changing transmission part (401) is used for converting power output modes of the wind moving shaft (301) in different directions into power output modes of reciprocating linear motion, so that the wind moving shaft (301) can drive the piston (4021) to reciprocate through the direction-changing transmission part (401).
4. The automatic targeting spray device according to claim 3, characterized in that the direction-changing transmission part (401) comprises a driving gear (4011), a crown gear (4012), a hollow transmission shaft (4013) and a guide rod (4014), the driving gear (4011) is coaxially and fixedly arranged on the wind-driven shaft (301), the crown gear (4012) is coaxially and fixedly arranged at one end of the hollow transmission shaft (4013) and is meshed with the driving gear (4011), the hollow transmission shaft (4013) is rotatably arranged at the bottom of the carrier, and the guide rod (4014) is circumferentially and slidably arranged at the bottom of the carrier;
keep away from hollow transmission shaft (4013) the one end of crown gear (4012) is provided with guiding hole (6), be provided with on the pore wall of guiding hole (6) helicla flute (7), guide rod (4014) with be provided with on the lateral wall of the one end that guiding hole (6) were pegged graft with helicla flute (7) sliding fit's slip pin (8), so that hollow transmission shaft (4013) can drive through reciprocal rotation guide rod (4014) is reciprocal carries out linear motion, guide rod (4014) and corresponding piston rod (4023) are connected.
5. The automatic targeting spraying device according to claim 4, wherein a limiting groove (9) is formed in the side face of the guide rod (4014) along the length direction of the guide hole (6), a sliding hole (10) communicated with the limiting groove (9) is formed in the guide rod (4014), a sliding block (11) is arranged in the sliding hole (10) in a sliding mode, buffer springs (12) connected with the sliding block (11) are arranged in two ends of the sliding hole (10), the sliding pin (8) is arranged on the side face of the sliding block (11), and two ends of the limiting groove (9) are symmetrical with respect to the sliding pin (8) located at the initial position.
6. The automatic target-aiming spraying device according to claim 4, characterized in that the spray angle adjusting actuator assembly (2) comprises an angle adjusting arm (201) and a lever shaft (202), both ends of the lever shaft (202) are arranged on the carrier through a sling portion (13), and the angle adjusting arm (201) is rotatably arranged on the lever shaft (202) so that the angle adjusting arm (201) can swing in the lateral direction of the carrier;
and the both ends of angle modulation arm (201) form with long arm drive section (2011) and short arm transmission section (2012) of boundary are taken as lever shaft (202), the length of long arm drive section (2011) is greater than the length of short arm transmission section (2012), long arm drive section (2011) is kept away from the one end of lever shaft (202) with pilot rod (4014) are connected.
7. The automatic targeting sprayer according to claim 6, wherein a sliding shaft (14) is slidably arranged on the long arm driving section (2011) along the length direction, and the guiding rod (4014) is rotatably connected with the sliding shaft (14).
8. An automatic target-aiming spray device according to claim 4, characterized in that both sides of the carrier are provided with the spray nozzles (1) through the spray angle adjustment actuating assembly (2), and both sides of the driving gear (4011) are in meshing connection with the crown gear (4012).
9. The automatic targeting spraying device according to claim 4, wherein both ends of the carrier same side are provided with the nozzle (1) through the spray angle adjusting and executing assembly (2), one end of the guide rod (4014) far away from the hollow transmission shaft (4013) is provided with a linkage rod (15), and the guide rod (4014) is connected with the two piston rods (4023) on the same side through the linkage rod (15).
10. A spray weeding drone with an automatic targeting sprayer according to any one of claims 1-9, characterized by comprising a drone main body as the carrier, and an automatic targeting sprayer detachably arranged at the bottom of the drone main body through a mounting bracket (16);
the automatic targeting spraying device is connected with the mounting support (16) through the hoisting part (13), the piston cylinder (4022), the wind moving shaft (301), the hollow transmission shaft (4013) and the guide rod (4014).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211615243.7A CN115735887B (en) | 2022-12-15 | 2022-12-15 | Automatic target-alignment spraying device and spraying weeding unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211615243.7A CN115735887B (en) | 2022-12-15 | 2022-12-15 | Automatic target-alignment spraying device and spraying weeding unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115735887A true CN115735887A (en) | 2023-03-07 |
| CN115735887B CN115735887B (en) | 2024-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211615243.7A Active CN115735887B (en) | 2022-12-15 | 2022-12-15 | Automatic target-alignment spraying device and spraying weeding unmanned aerial vehicle |
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| CN (1) | CN115735887B (en) |
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