CN115735887B - Automatic target-alignment spraying device and spraying weeding unmanned aerial vehicle - Google Patents
Automatic target-alignment spraying device and spraying weeding unmanned aerial vehicle Download PDFInfo
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- CN115735887B CN115735887B CN202211615243.7A CN202211615243A CN115735887B CN 115735887 B CN115735887 B CN 115735887B CN 202211615243 A CN202211615243 A CN 202211615243A CN 115735887 B CN115735887 B CN 115735887B
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- 238000005507 spraying Methods 0.000 title claims abstract description 50
- 238000009333 weeding Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 239000007921 spray Substances 0.000 claims description 84
- 230000005540 biological transmission Effects 0.000 claims description 52
- 238000001514 detection method Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000008685 targeting Effects 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 3
- 239000003814 drug Substances 0.000 abstract description 8
- 239000007788 liquid Substances 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The invention discloses an automatic target-alignment spraying device and a spraying weeding unmanned aerial vehicle, which comprise a spraying mechanism, a spraying angle adjusting and executing assembly, a turbulence detecting mechanism and a spraying angle adjusting and executing assembly, wherein the spraying mechanism is provided with a nozzle and a spraying angle adjusting and executing assembly connected with the nozzle; the spraying weeding unmanned aerial vehicle is provided with an automatic target-alignment spraying device. The invention can accurately target the sprayed liquid medicine on the target vegetation area, and avoid the situation that the spraying effect of the spraying device on the target is poor due to the interference of lateral airflow.
Description
Technical Field
The invention relates to the field of plant protection mechanical equipment operation, in particular to an automatic targeting spraying device and a spraying weeding unmanned aerial vehicle.
Background
The method is an important mode for realizing the precise pesticide application technology in the agricultural aviation field, integrates the advantages of variable spraying control flow and precise positioning of target spraying, meets the requirement of precise spraying, and has important significance for sustainable development of agriculture and ecological environment protection.
In general, when the unmanned aerial vehicle is used for spraying the target, the unmanned aerial vehicle needs to be in a windless environment so as to ensure that the sprayed liquid medicine can accurately target the target vegetation area. However, in actual operation, the weather is good in time, and occasionally gusts of air blow, especially the air flow blown by the unmanned aerial vehicle side direction can cause the sprayed liquid medicine to deviate from the target vegetation area seriously, even land between adjacent ridges.
Therefore, there is a need for a spraying device capable of automatically targeting a target, which can automatically adjust the spraying direction when spraying in a gust environment, and ensure that the liquid medicine can be accurately targeted to the target vegetation area.
Disclosure of Invention
The invention aims to provide an automatic targeting spraying device and a spraying weeding unmanned aerial vehicle, so as to solve the technical problem that in the prior art, liquid medicine sprayed in gust weather is difficult to target in a target vegetation area.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
an automatic targeting spray 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 turbulence detection mechanism is used for dynamically detecting the airflow direction and the airflow intensity of surrounding airflows when the carrier advances;
the turbulence detection mechanism is arranged on the unmanned aerial vehicle and is used for dynamically detecting the airflow direction and the airflow intensity of surrounding airflow when the carrier moves;
the spray angle adjusting and controlling mechanism is connected with the spray angle adjusting and controlling mechanism, and the spray angle adjusting and controlling mechanism obtains interference data comprising the airflow direction and the airflow intensity and controls the spray angle adjusting and executing assembly to correct the angle of the nozzle according to the interference data.
As a preferable scheme of the invention, the turbulence detection mechanism comprises a wind shaft and a rudder plate, wherein the front end of the rudder plate is rotatably arranged on the unmanned aerial vehicle through the wind shaft, the rudder plate is fixedly connected with the wind shaft, and the rudder plate is blown by the air flow of the side direction of the unmanned aerial vehicle to drive the wind shaft to rotate;
the pneumatic shaft is in transmission connection with the spray angle adjusting and executing assembly through the spray angle adjusting and controlling mechanism, the spray angle adjusting and controlling mechanism is driven by the pneumatic shaft, and the spray angle adjusting and controlling mechanism controls the spray angle adjusting and executing assembly to correspondingly correct the spray angle of the nozzle on the unmanned aerial vehicle side according to the rotating direction and the rotating angle of the pneumatic shaft.
As a preferable scheme of the invention, the spray angle adjusting control mechanism comprises a turning transmission part and a hydraulic cylinder assembly, wherein the hydraulic cylinder assembly is provided with a pair, one end of the hydraulic cylinder assembly is connected with the turning transmission part, and the other end of the hydraulic cylinder assembly is connected with the spray angle adjusting execution assembly;
the hydraulic cylinder assembly comprises a piston cylinder, a piston rod and a piston rod, wherein the piston cylinder is arranged in the piston in a sliding manner, 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 hoses, so that fluid media in the two piston cylinders can be transferred through the hoses to realize reciprocating motion of the two pistons and the piston rods;
the direction-changing transmission part is used for converting the power output modes of the rotary motion of the pneumatic shaft in different directions into the power output modes of the reciprocating linear motion, so that the pneumatic shaft can drive the piston to reciprocate through the direction-changing transmission part.
As a preferable scheme of the invention, the direction-changing transmission part comprises a driving gear, a crown gear, a hollow transmission shaft and a guide rod, wherein 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 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 one end of the crown gear is provided with a guide hole, the hole wall of the guide hole is provided with a spiral groove, the side wall of one end of the guide rod, which is spliced with the guide hole, is provided with a sliding pin which is in sliding fit with the spiral groove, so that the hollow transmission shaft can drive the guide rod to reciprocate through reciprocating rotation, and the guide rod is connected with a corresponding piston rod.
As a preferable scheme of the invention, the side surface of the guide rod is provided with a limit groove arranged along the length direction of the guide hole, a slide hole communicated with the limit groove is arranged in the guide rod, a slide block is arranged in the slide hole in a sliding manner, buffer springs connected with the slide block are arranged in two ends of the slide hole, the slide pin is arranged on the side surface of the slide block, and two ends of the limit groove are symmetrical with the slide pin at the initial position.
As a preferable scheme of the invention, the spray angle adjusting execution assembly comprises an angle adjusting arm and a lever shaft, wherein both ends of the lever shaft are arranged on the unmanned aerial vehicle through hoisting parts, and the angle adjusting arm is rotatably arranged on the lever shaft so that the angle adjusting arm can swing upwards on 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 driving section which are separated by the lever shaft, the length of the long arm driving section is larger than that of the short arm driving 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 mode of the invention, a sliding shaft is arranged on the long arm driving section in a sliding manner along the length direction, and the guide rod is rotatably connected with the sliding shaft.
As a preferable scheme of the invention, the nozzles are arranged on two sides of the unmanned aerial vehicle through the spray angle adjusting execution assembly, and the crown gears are connected on two sides of the driving gear in a meshed mode.
As a preferable scheme of the invention, the nozzles are arranged at the two ends of the same side of the unmanned aerial vehicle through the spray angle adjusting execution assembly, two linkage rods are arranged at one end of the guide rod, which is far 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 all detachably arranged at the bottom of the unmanned aerial vehicle through mounting brackets.
In order to solve the technical problems, the invention further provides the following technical scheme:
the spraying weeding unmanned aerial vehicle using the automatic target-alignment spraying device comprises an unmanned aerial vehicle main body serving as a carrier and the automatic target-alignment spraying device which is detachably arranged at the bottom of the unmanned aerial vehicle main body through a mounting bracket;
the automatic target alignment spraying device is connected with the mounting bracket through the lifting 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 lateral airflow which mainly influences the spraying effect is detected through the turbulence detection mechanism, the spray angle adjustment control mechanism controls the spray angle adjustment execution assembly according to the size and the direction of the lateral airflow detected by the turbulence detection mechanism, and the sprayed liquid medicine can accurately target a target vegetation area, so that the situation that the spraying effect of the spraying device on the target 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 will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a hydraulic cylinder assembly according to the present invention;
FIG. 3 is a schematic view of the direction-changing transmission part of the present invention;
FIG. 4 is a schematic view of the angle adjusting arm according to the present invention;
FIG. 5 is a schematic view of the structure of the guide rod of the present invention;
fig. 6 is a schematic structural view of the hollow drive shaft of the present invention.
Reference numerals in the drawings are respectively as follows:
1-a nozzle; 2-a spray angle adjustment execution assembly; 3-a turbulence detecting mechanism; 4-a spray angle adjusting and controlling mechanism; 5-hose; 6-a guide hole; 7-spiral grooves; 8-a sliding pin; 9-a limit groove; 10-slide holes; 11-a slider; 12-a buffer spring; 13-a hoisting part; 14-sliding shaft; 15-linkage rod; 16-mounting a bracket;
201-an angle adjustment arm; 202-a lever shaft;
2011-a long arm drive section; 2012—short arm drive section;
301-wind axis; 302-rudder plate;
401-a turning transmission part; 402-a hydraulic cylinder assembly;
4021-a piston; 4022-a piston cylinder; 4023-a piston rod;
4011-a drive gear; 4012-crown gear; 4013-hollow drive shaft; 4014-guide bar.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 6, the present invention provides 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 turbulence detection mechanism 3 is used for dynamically detecting the airflow direction and the airflow intensity of surrounding airflows when the carrier moves;
the turbulence detection mechanism 3 is arranged on the unmanned aerial vehicle, and the turbulence detection mechanism 3 is used for dynamically detecting the airflow direction and the airflow intensity of surrounding airflow when the carrier moves;
the spray angle adjusting and controlling mechanism 4, the spray angle adjusting and executing assembly 2 and the turbulence detecting mechanism 3 are connected with the spray angle adjusting and controlling mechanism 4, the spray angle adjusting and controlling mechanism 4 obtains interference data comprising airflow direction and airflow intensity, and the spray angle adjusting and executing assembly 2 is controlled to correct the angle of the nozzle 1 according to the interference data.
According to the invention, the turbulence 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 turbulence detection mechanism 3, for example, the turbulence 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 is used for controlling the spray 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 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 the spraying device to the target is poor due to the interference of the lateral airflow is avoided.
The turbulence detecting mechanism 3 includes a wind axis 301 and a rudder plate 302, the front end of the rudder plate 302 is rotatably disposed on the unmanned aerial vehicle through the wind axis 301, and the rudder plate 302 is fixedly connected with the wind axis 301, and the rudder plate 302 is blown by the air flow of the unmanned aerial vehicle side to drive the wind axis 301 to rotate. The wind-driven shaft 301 is in transmission connection with the spray angle adjusting executing assembly 2 through the spray angle adjusting control mechanism 4, the spray angle adjusting control mechanism 4 is driven by the wind-driven shaft 301, and the spray angle adjusting control mechanism 4 controls the spray angle adjusting executing assembly 2 to correspondingly correct the spray angle of the nozzle 1 in the unmanned side direction according to the rotation direction and the rotation angle of the wind-driven shaft 301.
The rudder plate 302 is blown by airflows at two sides of the unmanned plane to enable the front end of the pneumatic shaft 301 to reciprocally rotate, the rotation direction and the rotation angle of the pneumatic shaft 301 correspond to the airflow direction and the airflow intensity, namely, the detection of the airflow direction and the airflow intensity is realized, and a foundation is provided for the spray angle adjusting control mechanism 4 to control the spray angle adjusting execution assembly 2 to correct the spray angle of the nozzle 1 according to the rotation direction and the rotation angle of the pneumatic shaft 301.
Moreover, because the turbulence detecting mechanism 3 adopts a purely mechanical structure, a foundation is provided for the spray angle adjusting and controlling mechanism 4 by adopting the purely mechanical structure, and the turbulence detecting mechanism 3 and the spray angle adjusting and controlling mechanism 4 with the purely mechanical structure are beneficial to reducing the hardware cost and the installation and debugging difficulty, and the rudder plate 302 is blown by air flow, and the wind turbine shaft 301 is driven by the rudder plate 302 to provide power for the spray angle adjusting and controlling mechanism 4, thereby being beneficial to reducing the energy consumption of the unmanned aerial vehicle and further being beneficial to increasing the cruising duration of the unmanned aerial vehicle.
Therefore, the spray angle adjustment control mechanism 4 includes a direction changing transmission portion 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 portion 401, and the other end of the hydraulic cylinder assembly 402 is connected with the spray angle adjustment execution component 2.
The hydraulic cylinder assembly 402 includes a piston cylinder 4022 in which a piston 4021 is slidably disposed, and a piston rod 4023 disposed on the piston 4021 and having one end exposed to the piston cylinder 4022, the piston cylinder 4022 is detachably disposed on the unmanned aerial vehicle, the direction-changing transmission part 401 and the spray angle adjusting part are connected to 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 modes of the rotational motion of the wind-driven shaft 301 in different directions into the power output modes of the reciprocating linear motion, so that the wind-driven 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 hose 5 are beneficial to flexibly adapting to the positions of the spray angle adjusting execution assembly 2 and the spray nozzle 1 for arrangement.
Wherein, diversion drive portion 401 includes drive gear 4011, crown gear 4012, hollow transmission shaft 4013 and guide rod 4014, and drive gear 4011 coaxial fixed setting is on air-moving axle 301, crown gear 4012 coaxial fixed setting and with drive gear 4011 meshing connection in hollow transmission shaft 4013 one end, hollow transmission shaft 4013 rotates the setting in the unmanned aerial vehicle bottom, guide rod 4014 circumference is fixed and the slip setting is in the unmanned aerial vehicle bottom. And, one end of the hollow transmission shaft 4013 far away from the crown gear 4012 is provided with a guide hole 6, the hole wall of the guide hole 6 is provided with a spiral groove 7, the side wall of one end of the guide rod 4014 spliced with the guide hole 6 is provided with a sliding pin 8 in sliding fit with the spiral groove 7, 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 spiral groove 7 is a spiral structure extending circumferentially and axially along the wall of the guide hole 6, so that when the hollow transmission shaft 4013 is reciprocally rotated, the sliding pin 8 passively moves along the spiral groove 7, and the guide rod 4014 provided with the sliding pin 8 is circumferentially fixed, so that the guide rod 4014 can axially reciprocally move.
In order to prevent the rudder plate 302 from continuously reciprocating to influence the accuracy of target spraying due to weak lateral air flow in the carrier advancing process, a limiting groove 9 arranged along the length direction of the guide hole 6 is arranged on the side surface of the guide rod 4014, a sliding hole 10 communicated with the limiting groove 9 is arranged in the guide rod 4014, a sliding block 11 is arranged in the sliding hole 10 in a sliding manner, buffer springs 12 connected with the sliding block 11 are arranged in two ends of the sliding hole 10, a sliding pin 8 is arranged on the side surface of the sliding block 11, and two ends of the limiting groove 9 are symmetrical with respect to the sliding pin 8 positioned at an initial position. When the wind-driven shaft 301 rotates rapidly forward or backward with a small amplitude, the sliding pin 8 compresses the one-end buffer spring 12 under the action of the instantaneously increased resistance, so that the situation that the relevant components are easily damaged due to long-term impact force caused by rapid movement of the guide rod 4014 in the initial stage of movement is avoided. When the air shaft 301 is reciprocally rotated rapidly with a small amplitude, the slide pin 8 can be kept stationary or operated only with a small amplitude by reciprocally compressing the buffer springs 12 at both ends, so that the angle adjusting arm 201 can be kept relatively stable, and the purpose of ensuring the accuracy of spraying the target can be achieved.
Because the force of the wind power driving the rudder plate 302 to swing is limited and mechanical loss exists in the power transmission process, the air shaft 301 can drive the nozzle 1 to perform angle correction through the spray angle adjusting control mechanism 4 and the spray angle adjusting executing assembly 2 by optimally designing the spray angle adjusting executing assembly 2.
Specifically, the spray angle adjustment execution assembly 2 includes an angle adjustment arm 201 and a lever shaft 202, both ends of the lever shaft 202 are provided on the unmanned aerial vehicle through the hoist portion 13, and the angle adjustment arm 201 is rotatably provided on the lever shaft 202 so that the angle adjustment arm 201 can swing in the unmanned aerial vehicle side direction. In addition, the two ends of the angle adjusting arm 201 form a long arm driving section 2011 and a short arm transmission section 2012 which are delimited by the lever shaft 202, the length of the long arm driving section 2011 is longer than that of the short arm transmission section 2012, and one end of the long arm driving section 2011, which is far away from the lever shaft 202, 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.
Wherein the length of the long arm drive section 2011 is twice or even more than the length of the short arm drive section 2012, and correspondingly, in order to accommodate the stroke required by the guide rod 4014 to drive the long arm drive section 2011, the number of teeth of the drive gear 4011 is also much greater than the number of teeth of the crown gear 4012, i.e. the stroke of the guide rod 4014 is increased by increasing the rotational angle of the crown gear 4012 and the hollow drive shaft 4013.
In order to accommodate the displacement of the angle adjusting arm 201 in the vertical direction when the long arm driving section 2011 is connected to the guide rod 4014, the long arm driving section 2011 is provided with a sliding shaft 14 in a sliding manner in the longitudinal direction, and the guide rod 4014 is rotatably connected to the sliding shaft 14.
Further optimized on the above embodiment, the two sides of the unmanned aerial vehicle are provided with the nozzles 1 through the spray angle adjusting and executing assembly 2, and the two sides of the driving gear 4011 are connected with the crown gear 4012 in a meshed manner so as to adapt to the situation that the two sides of the unmanned aerial vehicle are provided with the nozzles 1. And further, both ends of unmanned aerial vehicle homonymy all are provided with nozzle 1 through spouting angle regulation execution subassembly 2, and the one end that hollow transmission shaft 4013 was kept away from to guide rod 4014 is provided with two gangbars 15, and guide rod 4014 passes through gangbar 15 and is connected with two piston rods 4023 of homonymy to adapt to the condition that the both ends office of homonymy is provided with nozzle 1.
In addition, in order to facilitate the overall disassembly and assembly of the device, the lifting part 13, the piston cylinder 4022, the pneumatic shaft 301, the hollow transmission shaft 4013 and the guide rod 4014 are all detachably arranged at the bottom of the unmanned aerial vehicle through the mounting bracket 16.
The invention also provides a spray weeding unmanned aerial vehicle using the automatic target spraying device:
the automatic target alignment spraying device is characterized by comprising an unmanned aerial vehicle main body serving as the carrier and an automatic target alignment spraying device which is detachably arranged at the bottom of the unmanned aerial vehicle main body through a mounting bracket;
wherein, the automatic target alignment spraying device is connected with the mounting bracket 16 through the lifting part 13, the piston cylinder 4022, the pneumatic shaft 301, the hollow transmission shaft 4013 and the guide rod 4014.
Compared with the common nozzle adjusting mode, the invention can enable the nozzle 1 to perform angle adjustment based on the airflow direction and the airflow intensity detected by the turbulence detecting mechanism 3 based on the wind driven rudder plate 302, thereby being capable of accurately spraying the liquid medicine to the target area.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements may be made to the present application by those skilled in the art, which modifications and equivalents are also considered to be within the scope of the present application.
Claims (7)
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 turbulence detection mechanism (3) is used for dynamically detecting the airflow direction and the airflow intensity of surrounding airflows when the carrier advances;
the spray angle adjusting and controlling mechanism (4), the spray angle adjusting and executing assembly (2) and the turbulence detecting mechanism (3) are connected with the spray angle adjusting and controlling mechanism (4), the spray angle adjusting and controlling mechanism (4) obtains interference data comprising the airflow direction and the airflow intensity, and the spray angle adjusting and executing assembly (2) is controlled to correct the angle of the nozzle (1) according to the interference data;
the turbulence detection mechanism (3) comprises a wind shaft (301) and a rudder plate (302), the front end of the rudder plate (302) is rotatably arranged on a carrier through the wind shaft (301), the rudder plate (302) is fixedly connected with the wind shaft (301), and the rudder plate (302) is blown by lateral airflow to drive the wind shaft (301) to rotate;
the pneumatic shaft (301) is in transmission connection with the spray angle adjustment execution assembly (2) through the spray angle adjustment control mechanism (4), the spray angle adjustment control mechanism (4) is driven by the pneumatic shaft (301), and the spray angle adjustment control mechanism (4) controls the spray angle adjustment execution assembly (2) to correspondingly correct the spray angle of the nozzle (1) in the lateral direction according to the rotation direction and the rotation angle of the pneumatic shaft (301);
the spray angle adjusting control mechanism (4) comprises a turning transmission part (401) and a hydraulic cylinder assembly (402), wherein the hydraulic cylinder assembly (402) is provided with a pair, one end of the hydraulic cylinder assembly (402) is connected with the turning transmission part (401), and the other end of the hydraulic cylinder assembly (402) is connected with the spray angle adjusting execution assembly (2);
the turning transmission part (401) comprises a driving gear (4011), a crown gear (4012), a hollow transmission shaft (4013) and a guide rod (4014);
the hydraulic cylinder assembly (402) comprises a piston cylinder (4022) with a piston (4021) arranged in the hydraulic cylinder assembly in a sliding manner, 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 turning 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 the power output modes of the rotary motion of the pneumatic shaft (301) in different directions into the power output modes of the reciprocating linear motion, so that the pneumatic shaft (301) can drive the piston (4021) to reciprocate through the direction-changing transmission part (401);
the spray angle adjusting execution assembly (2) comprises an angle adjusting arm (201) and a lever shaft (202), wherein both ends of the lever shaft (202) are arranged on a carrier through a hoisting part (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 side direction of the carrier;
and both ends of the angle adjusting arm (201) form a long arm driving section (2011) and a short arm transmission section (2012) which are delimited by the lever shaft (202), 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).
2. The automatic target-aligning spraying device according to claim 1, wherein the driving gear (4011) is coaxially and fixedly arranged on the pneumatic 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;
one end of the hollow transmission shaft (4013) far away from the crown gear (4012) is provided with a guide hole (6), the hole wall of the guide hole (6) is provided with a spiral groove (7), the side wall of one end of the guide rod (4014) spliced with the guide hole (6) is provided with a sliding pin (8) which is in sliding fit with the spiral groove (7), 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).
3. The automatic target-aligning spraying device according to claim 2, wherein a limit groove (9) arranged along the length direction of the guide hole (6) is formed in the side surface of the guide rod (4014), a slide hole (10) communicated with the limit groove (9) is formed in the guide rod (4014), a sliding block (11) is slidably arranged in the slide hole (10), buffer springs (12) connected with the sliding block (11) are arranged in two ends of the slide hole (10), the sliding pin (8) is arranged on the side surface of the sliding block (11), and two ends of the limit groove (9) are symmetrical with respect to the sliding pin (8) located at an initial position.
4. The automatic target-aligning spraying device according to claim 2, wherein a sliding shaft (14) is slidably arranged on the long arm driving section (2011) along the length direction, and the guide rod (4014) is rotatably connected with the sliding shaft (14).
5. An automatic target-alignment spraying device according to claim 2, characterized in that both sides of the carrier are provided with the nozzle (1) through the spray angle adjustment execution assembly (2), both sides of the driving gear (4011) are in meshed connection with the crown gear (4012).
6. The automatic target alignment spraying device according to claim 2, wherein the nozzles (1) are arranged at two ends of the same side of the carrier through the spray angle adjusting and executing assembly (2), a linkage rod (15) is arranged at one end, far away from the hollow transmission shaft (4013), of the guide rod (4014), and the guide rod (4014) is connected with two piston rods (4023) at the same side through the linkage rod (15).
7. A spray weeding unmanned aerial vehicle with an automatic targeting spray device according to any one of claims 1-6, characterized by comprising an unmanned aerial vehicle body as the carrier, and an automatic targeting spray device detachably arranged at the bottom of the unmanned aerial vehicle body through a mounting bracket (16);
the automatic target alignment spraying device is connected with the mounting bracket (16) through the lifting part (13), the piston cylinder (4022), the pneumatic shaft (301), the hollow transmission shaft (4013) and the guide rod (4014).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211615243.7A CN115735887B (en) | 2022-12-15 | 2022-12-15 | Automatic target-alignment spraying device and spraying weeding unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211615243.7A CN115735887B (en) | 2022-12-15 | 2022-12-15 | Automatic target-alignment spraying device and spraying weeding unmanned aerial vehicle |
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| CN115735887A CN115735887A (en) | 2023-03-07 |
| CN115735887B true CN115735887B (en) | 2024-01-02 |
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| CN117585181A (en) * | 2024-01-18 | 2024-02-23 | 沈阳迎新网络科技有限公司 | Unmanned aerial vehicle for air monitoring |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN216070527U (en) * | 2021-07-21 | 2022-03-18 | 安徽科技学院 | Thermal imaging type wind control agricultural unmanned aerial vehicle |
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| CN206081417U (en) * | 2016-09-24 | 2017-04-12 | 绍兴市上虞仁良消防配件有限公司 | Automatic change spray direction's section of thick bamboo that spouts |
| KR101950401B1 (en) * | 2018-10-02 | 2019-02-20 | 플러스파운틴(주) | Levitation water fountain apparatus using drone |
| WO2020116442A1 (en) * | 2018-12-05 | 2020-06-11 | 株式会社ナイルワークス | Moving body |
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| CN216070527U (en) * | 2021-07-21 | 2022-03-18 | 安徽科技学院 | Thermal imaging type wind control agricultural unmanned aerial vehicle |
| CN216025797U (en) * | 2021-08-10 | 2022-03-15 | 鄂尔多斯市凯图科技有限公司 | Rotatable formula shower nozzle of unmanned aerial vehicle |
| CN113951230A (en) * | 2021-10-12 | 2022-01-21 | 施俊婷 | Windage compensation device suitable for agricultural equipment |
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| CN115735887A (en) | 2023-03-07 |
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