CN210391565U

CN210391565U - Line structure, hydrojet system and unmanned aerial vehicle are walked to hydrojet device

Info

Publication number: CN210391565U
Application number: CN201921366439.0U
Authority: CN
Inventors: 苏吉贤; 陈星�
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2020-04-24
Anticipated expiration: 2029-08-21

Abstract

An embodiment of the utility model provides a hydrojet device walks line structure, hydrojet system and unmanned aerial vehicle relates to unmanned aerial vehicle technical field. The wiring structure of the liquid spraying device comprises the liquid spraying device and a circuit. Wherein, the liquid spraying device comprises a lifting device, a liquid spraying rod and a spray head. The spray head is arranged on the liquid spraying rod. The lifting device comprises at least two connecting rods hinged with each other and a driving device. Wherein, at least one connecting rod is connected with the liquid spraying rod, and the driving device is connected with at least one connecting rod. The circuit is arranged in the at least one connecting rod in a penetrating way and is connected with at least one of the spray head and the driving device. The embodiment of the utility model provides a hydrojet device walks line structure, hydrojet system and unmanned aerial vehicle and can arrange the circuit in the connecting rod as far as possible under the condition that does not influence the hydrojet device action to the line of walking that makes the circuit is more regular, and is more pleasing to the eye, and makes the structure of whole hydrojet device and circuit compacter.

Description

Line structure, hydrojet system and unmanned aerial vehicle are walked to hydrojet device

Technical Field

The utility model relates to an unmanned equipment technical field particularly, relates to a line structure, hydrojet system and unmanned aerial vehicle are walked to hydrojet device.

Background

At present, the liquid ejecting apparatus of the unmanned aerial vehicle is provided with some circuits, such as a pipeline for conveying liquid to the liquid ejecting apparatus. However, the existing lines are not only disorderly and disorderly but also occupy space when being arranged.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the utility model is to provide a line structure is walked to hydrojet device, and it can make walking of circuit more regular to the structure that makes hydrojet device and circuit is compacter.

Another object of the utility model is to provide a hydrojet system, it can make walking of circuit more regular to make the structure of hydrojet device and circuit compacter.

Yet another object of the present invention includes providing an unmanned aerial vehicle that enables routing of lines to be more regular and enables a structure of a liquid spraying device and lines to be more compact.

The embodiment of the utility model discloses a can realize like this:

in a first aspect, an embodiment of the present invention provides a wiring structure of a liquid spraying device, including a liquid spraying device and a circuit, where the liquid spraying device includes a lifting device, a liquid spraying rod and a nozzle;

the spray head is arranged on the liquid spraying rod;

the lifting device comprises at least two connecting rods and a driving device, wherein the connecting rods are hinged with each other, at least one connecting rod is connected with the liquid spraying rod, and the driving device is connected with at least one connecting rod;

the circuit is arranged in at least one connecting rod in a penetrating mode and is connected with at least one of the spray head and the driving device.

Further, the wire is inserted in the extending direction of at least one of the links.

Further, the line passes through the inside of at least one of the links from one side thereof and passes out from the other side thereof.

Further, the at least two connecting rods comprise a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the driving device comprises a telescopic first driving device;

the first connecting rod is hinged with one end of the second connecting rod, and the other end of the second connecting rod is hinged with the third connecting rod; one end of the fourth connecting rod is hinged with the third connecting rod, and the other end of the fourth connecting rod is hinged with the first connecting rod; the third connecting rod is connected with the liquid spraying rod, and two ends of the first driving device are respectively hinged to any two of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod;

the circuit is arranged in at least one of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod in a penetrating mode and is connected with at least one of the spray head and the first driving device.

Further, the first connecting rod is parallel to the third connecting rod, the second connecting rod is parallel to the fourth connecting rod, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod together form a parallel four-bar lifting mechanism, the second connecting rod and the fourth connecting rod form a long side of the parallel four-bar lifting mechanism, and the first connecting rod and the third connecting rod form a short side of the parallel four-bar lifting mechanism.

Further, the circuit is arranged in the second connecting rod in a penetrating mode, and the circuit is arranged in the second connecting rod in a penetrating mode along the extending direction of the second connecting rod.

Further, the second link has a first side plate, and the line includes a first electric wire;

the first side plate, the first connecting rod, the third connecting rod and the fourth connecting rod enclose an accommodating cavity, the first driving device is accommodated in the accommodating cavity, a first wire passing hole is formed in one end, close to the first connecting rod, of the first side plate, and a first operating hole is formed in one end, close to the third connecting rod, of the first side plate;

the first wire sequentially passes through the first wire passing hole, the inside of the second connecting rod and the first operating hole and is connected with the first driving device.

Further, the second connecting rod is provided with a first side plate and a second side plate which are arranged oppositely;

the first side plate, the first connecting rod, the third connecting rod and the fourth connecting rod enclose an accommodating cavity, and the first driving device is accommodated in the accommodating cavity;

a first wire passing hole is formed in one end, close to the first connecting rod, of the first side plate, and a second wire passing hole is formed in one end, close to the third connecting rod, of the second side plate;

the line sequentially passes through the first wire passing hole, the inside of the second connecting rod and the second wire passing hole.

Furthermore, the first side plate is provided with a first operation hole for operation at a position corresponding to the second wire passing hole.

Furthermore, a second operation hole for operation is formed in the position, corresponding to the first wire passing hole, of the second side plate.

Further, the first connecting rod is provided with a third side plate and a fourth side plate which are oppositely arranged;

the first side plate, the third connecting rod and the fourth connecting rod enclose the accommodating cavity, a third wire passing hole is formed in the third side plate, and a fourth wire passing hole is formed in the fourth side plate at a position corresponding to the third wire passing hole;

the line sequentially passes through the fourth line passing hole, the interior of the first connecting rod, the third line passing hole and the first line passing hole.

Further, the third connecting rod is provided with a fifth side plate and a sixth side plate which are oppositely arranged;

the first side plate, the first connecting rod, the fifth side plate and the fourth connecting rod enclose the accommodating cavity, a fifth wire passing hole is formed in the fifth side plate, and a sixth wire passing hole is formed in the position, corresponding to the fifth wire passing hole, of the sixth side plate;

the line penetrates through the second line passing hole and sequentially passes through the fifth line passing hole, the inside of the third connecting rod and the sixth line passing hole.

Further, the third link includes a first segment and a second segment;

two ends of the first section are respectively hinged with the second connecting rod and the fourth connecting rod, and the first connecting rod, the second connecting rod, the fourth connecting rod and the first section form the parallel four-bar lifting mechanism;

the second section protrudes out of the parallel four-bar lifting mechanism, and one end, far away from the parallel four-bar lifting mechanism, of the second section is hinged with the liquid spraying rod;

the fifth wire passing hole is formed in the part, corresponding to the second section, of the fifth side plate, and the sixth wire passing hole is formed in the part, corresponding to the second section, of the sixth side plate.

Furthermore, the line penetrates through the sixth line passing hole, extends along the liquid spraying rod and is connected with the spray head.

Furthermore, the wiring structure of the liquid spraying device also comprises a three-way joint, and the circuit comprises a liquid conveying pipe, a first liquid conveying branch pipe and a second liquid conveying branch pipe;

the third connecting rod is hinged with the middle part of the liquid spraying rod, and the liquid spraying rod is divided into a first liquid spraying supporting rod and a second liquid spraying supporting rod at the hinged part of the liquid spraying rod and the third connecting rod;

the transfer line by the sixth cross the line hole and wear out and pass through three way connection respectively with first infusion branch pipe with second infusion branch connection, first infusion branch pipe is followed first hydrojet branch extension, and with install in on the first hydrojet branch the shower nozzle is connected, second infusion branch pipe is followed second hydrojet branch extension, and with install in on the second hydrojet branch the shower nozzle is connected.

Furthermore, the third connecting rod is hinged with the middle part of the liquid spraying rod, and the liquid spraying rod is divided into a first liquid spraying support rod and a second liquid spraying support rod by the hinged part of the liquid spraying rod and the third connecting rod;

the circuit comprises a plurality of gas conveying pipes;

at least one of the gas pipes penetrates through the sixth wire passing hole, extends along the first liquid spraying support rod and is connected with the spray head arranged on the first liquid spraying support rod;

at least one other gas pipe penetrates through the sixth wire passing hole, extends along the second liquid spraying support rod and is connected with the spray head arranged on the second liquid spraying support rod.

Furthermore, the third connecting rod is also provided with a mounting side plate connected between the fifth side plate and the sixth side plate, and a seventh wire passing hole is formed in the mounting side plate;

the driving device comprises a telescopic second driving device, one end of the second driving device is hinged with the mounting side plate, the other end of the second driving device is hinged with the liquid spraying rod, and the third connecting rod is hinged with the liquid spraying rod;

the circuit comprises a second wire, the second wire sequentially passes through the fifth wire passing hole and the inside of the third connecting rod and passes through the seventh wire passing hole, and the second wire extends along the liquid spray rod until being connected with the second driving device.

Further, the line includes at least one of an electric wire, an infusion tube, and an air delivery tube.

Furthermore, an eighth wire passing hole and a ninth wire passing hole are formed in the liquid spraying rod, and the circuit sequentially penetrates through the eighth wire passing hole, the interior of the liquid spraying rod and the ninth wire passing hole and is connected with the spray head.

In a second aspect, the embodiment of the present invention provides a liquid spraying system, which includes a liquid storage tank, a gas generating device and a liquid spraying device routing structure as in any one of the above embodiments, wherein the circuit includes an infusion tube and a gas tube, the liquid storage tank passes through the infusion tube with the nozzle is connected, and the gas generating device passes through the gas tube with the nozzle is connected.

In a third aspect, embodiments of the present invention provide an unmanned device, including a liquid spraying system as described in the previous embodiments.

The embodiment of the utility model provides a line structure, hydrojet system and unmanned aerial vehicle's beneficial effect is walked to hydrojet device includes: but relative rotation between at least two articulated connecting rods each other to drive the liquid spray pole and go up and down, drive arrangement is used for driving the connecting rod, in order to drive the liquid spray pole through the connecting rod and go up and down or adjust inclination. The connecting rod of the lifting device accommodates the line, and the line penetrates through the connecting rod and can be connected with at least one of the spray head and the driving device. Therefore, the embodiment of the utility model provides a line structure, hydrojet system and unmanned aerial vehicle are walked to hydrojet device can be under the condition that does not influence the hydrojet device action, arrange the circuit in the connecting rod as far as possible to the line of walking that makes the circuit is more regular, and is more pleasing to the eye, and makes the structure of whole hydrojet device and circuit compacter.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a liquid spraying system of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic view of a lifting device of the liquid spraying device in FIG. 1;

FIG. 3 is a first perspective view of the first link of FIG. 2;

FIG. 4 is a second perspective view of the first link of FIG. 2;

FIG. 5 is a schematic diagram of a first perspective view of the second link of FIG. 2;

FIG. 6 is a second perspective structural view of the second link of FIG. 2;

FIG. 7 is a first perspective structural view of the third link of FIG. 2;

FIG. 8 is a second perspective view of the fourth link of FIG. 2;

FIG. 9 is a schematic view of a routing structure of the circuit of FIG. 1 on the lifting device;

FIG. 10 is a schematic view of the structure of FIG. 9 from another perspective;

fig. 11 is an enlarged schematic view at XI in fig. 10.

Icon: 1-a liquid spray system; 10-a liquid spraying device wiring structure; 20-a liquid path mechanism; 201-a liquid storage tank; 202-a first one-way valve; 203-a liquid flow on-off valve; 30-a gas generating device; 301-an air compressor; 302-a second one-way valve; 303-a gas storage tank; 304-a pressure regulating valve; 305-a bus bar; 306-a solenoid valve; 101-a liquid spraying device; 100-a lifting device; 110-a connecting rod; 111-a first link; 1111-a third side panel; 1112-a fourth side plate; 1113. 1113a, 1113b, 1113 c-a third wire through hole; 1114. 1114a, 1114b, 1114 c-a fourth via hole; 112-a second link; 1121-a first side panel; 1122-a second side panel; 1123. 1123a, 1123b, 1123 c-a first via hole; 1124-a first handling hole; 1125. 1125a, 1125b, 1125 c-a second wire passing hole; 1126-second access hole; 113-a third link; 1131-fifth side panel; 1132 — a sixth side plate; 1133. 1133a, 1133b, 1133c — a fifth wire hole; 1134. 1134a, 1134 b-sixth via hole; 1135-first stage; 1136 — second section; 1137, installing a side plate; 1138-a seventh via hole; 114-a fourth link; 120-a drive device; 121-a first drive; 122-a second drive; 102-liquid spray bar; 1021-a first spray bar; 1022-a second spray bar; 103-a spray head; 200-lines; 210-an infusion tube; 211-a three-way joint; 212-a first infusion branch; 213-a second infusion branch; 220-gas conveying pipe; 230-an electrical wire; 231 — a first wire; 232-second wire.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the products of the present invention are used, the description is only for convenience of description and simplification, but the indication or suggestion that the indicated device or element must have a specific position, be constructed and operated in a specific orientation, and thus, should not be interpreted as a limitation of the present invention.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

Referring to fig. 1, an embodiment of the present invention provides an unmanned device (not shown), which may be an unmanned vehicle, an unmanned aerial vehicle, or the like. The unmanned equipment can be applied to the agricultural field for plant protection operation and other works, such as spraying liquid on a target object or a target position, wherein the liquid sprayed by the unmanned equipment can be liquid medicine, water and the like. In this embodiment, the unmanned vehicle is taken as an example to specifically describe, and the unmanned vehicle is a field plant protection vehicle and can be operated to the field to spray pesticide on crops under the unmanned condition.

The unmanned aerial vehicle includes a vehicle body (not shown) and a liquid jet system 1 mounted on the vehicle body. The liquid spraying system 1 comprises a liquid spraying device wiring structure 10, a liquid path mechanism 20 and a gas generating device 30. The liquid spraying device routing structure 10 includes a liquid spraying device 101. The liquid ejecting apparatus 101 is mounted on the vehicle body. The liquid path mechanism 20 and the gas generator 30 are provided on the vehicle body and are connected to the liquid ejecting device 101, respectively.

The liquid path mechanism 20 is connected to the liquid ejecting apparatus 101 through a liquid conveying pipe 210, and is configured to supply the liquid to be ejected to the liquid ejecting apparatus 101. In this embodiment, the fluid path mechanism 20 may include a reservoir 201, a first check valve 202, and a fluid on-off valve 203. Wherein, the liquid storage tank 201 is used for storing the liquid to be sprayed, such as liquid medicine, and when the liquid storage tank 201 is used for storing the liquid medicine, the liquid storage tank 201 is the medicine chest. A first check valve 202 is connected between the tank 201 and the flow on/off valve 203. The liquid flow on-off valve 203 is connected to one end of a liquid transport tube 210, and the other end of the liquid transport tube 210 is connected to the liquid ejecting apparatus 101. The liquid flow on-off valve 203 controls the liquid in the liquid storage tank 201 to enter the liquid pipe 210 and to be delivered to the liquid ejecting apparatus 101 through the liquid pipe 210, or controls the liquid path to be cut off so as to control the liquid in the liquid storage tank 201 to stop entering the liquid pipe 210.

The gas generator 30 is connected to the liquid ejecting apparatus 101 through a gas pipe 220, and is used for delivering gas to the liquid ejecting apparatus 101 so that the liquid ejecting apparatus 101 ejects the liquid delivered by the liquid conveying pipe 210. In this embodiment, the gas generator 30 may include an air compressor 301, a second check valve 302, an air tank 303, a pressure regulating valve 304, a manifold plate 305, and a plurality of solenoid valves 306. The second check valve 302 is connected between the air compressor 301 and the air storage tank 303. The air compressor 301 is used to compress air. The gas storage tank 303 is used for storing gas compressed by the air compressor 301. The second check valve 302 limits the compressed gas to flow from the air compressor 301 to the air storage tank 303 in one direction. The air tank 303 is connected to a manifold plate 305 via a pressure regulating valve 304. The pressure regulating valve 304 is used for regulating the pressure of the gas flow output from the gas storage tank 303 to the confluence plate 305, so that the gas flowing through the confluence plate 305 and the solenoid valve 306 enters the liquid spraying device 101 to form negative pressures with different magnitudes. The manifold plate 305 has a plurality of air outlet holes, and the plurality of solenoid valves 306 communicate with the plurality of air outlet holes in a one-to-one correspondence. The plurality of electromagnetic valves 306 are used for respectively controlling the corresponding gas outlet holes to output compressed gas or stopping outputting the compressed gas. In this embodiment, there are a plurality of air delivery pipes 220, and the plurality of air delivery pipes 220 are connected to the plurality of electromagnetic valves 306 in a one-to-one correspondence. A plurality of air pipes 220 are connected with the liquid spraying device 101, and the air pipes 220 are used for conveying air to the liquid spraying device 101.

In addition, the routing structure 10 of the liquid spraying device further includes a line 200, and the line 200 is disposed on the liquid spraying device 101 and connected to the liquid spraying device 101. It should be noted that the line 200 may include the above-mentioned infusion tube 210 and air tube 220, and may also include an electric wire 230, and the electric wire 230 is used for supplying power to the liquid spraying device 101. That is, the circuit 200 may include at least one of an electrical cord 230, an infusion tube 210, and an air delivery tube 220. The routing structure 10 of the liquid spraying device in the embodiment can optimize the layout of the circuit 200 on the liquid spraying device 101, so that the circuit 200 is beautiful in layout and compact in structure.

In addition, the liquid ejecting apparatus 101 includes an elevating apparatus 100, a liquid ejecting bar 102, and an ejection head 103. Wherein, the spray head 103 is arranged on the liquid spray rod 102. Optionally, in this embodiment, there are a plurality of spray heads 103, and the plurality of spray heads 103 are sequentially distributed along the liquid spray bar 102 at intervals. The lifting device 100 is connected with the liquid spraying rod 102 and used for driving the liquid spraying rod 102 to lift, so that the distance between the spray head 103 and the crops can be adjusted according to the heights of the crops in the plant protection operation process, and the liquid spraying effect is guaranteed.

The lifting device 100 includes at least two links 110 hinged to each other and a driving device 120. Wherein, at least one connecting rod 110 is connected with the liquid spray rod 102, and the driving device 120 is connected with at least one connecting rod 110. It should be understood that at least two links 110 hinged to each other can rotate relative to each other, thereby lifting the spray bar 102. That is, the lifting device 100 adopted in the present embodiment is a device that realizes lifting based on relative rotation between at least two links 110. In addition, the driving device 120 is used for driving the connecting rod 110, so as to drive the liquid spray rod 102 to lift or adjust the inclination angle through the connecting rod 110.

The line 200 is inserted into at least one of the rods 110 and connected to at least one of the spray head 103 and the driving unit 120. In this way, the link 110 of the lift device 100 accommodates the line 200, and the line 200 can be connected to at least one of the head 103 and the drive device 120 through the link 110. By adopting the wiring structure 10 of the liquid spraying device, the circuit 200 can be arranged in the connecting rod 110 as much as possible without influencing the action of the liquid spraying device 101, so that the wiring of the circuit 200 is more regular and more beautiful, and the whole structure of the liquid spraying device 101 and the circuit 200 is more compact.

It should be understood that when the circuit 200 includes the infusion tube 210 and the gas delivery tube 220, the infusion tube 210 and the gas delivery tube 220 are inserted into at least one of the connecting rods 110 and connected to the spray head 103 after passing through the connecting rods 110 to deliver liquid and gas to the spray head 103, respectively, so that the spray head 103 sprays the liquid under the action of the gas. When the circuit 200 includes the electric wire 230, the electric wire 230 is inserted into at least one of the connecting rods 110 and connected to the driving device 120 after passing through the connecting rods 110, so as to supply power to the driving device 120. That is to say, the routing structure provided in this embodiment can be adopted for the line 200 regardless of any one or more of the infusion tube 210, the air tube 220 and the electric wire 230, and the link 110 of the lifting device 100 is used to accommodate the line 200, so that the routing of the line 200 is more beautiful and compact.

In this embodiment, circuit 200 includes infusion tube 210, a plurality of air delivery tubes 220, and electrical cord 230. One end of the infusion tube 210 is connected to the head 103, and the other end is connected to the liquid flow on-off valve 203. One end of each air delivery pipe 220 is used for one-to-one corresponding connection of the spray heads 103, and the other end of each air delivery pipe is used for one-to-one corresponding connection of the electromagnetic valves 306. In this embodiment, four gas pipes 220 are taken as an example. The wires 230 include a first wire 231 and a second wire 232. The first wire 231 and the second wire 232 are used for connecting with the driving device 120. Wherein, the first wire 231 and the second wire 232 are bundled together to be routed when being routed, and can be separately routed.

In addition, the threading of the line 200 in the at least one link 110 may include the following two types:

the penetrating mode A: the wire 200 is inserted inside at least one link 110 in the extending direction of the link 110.

That is, the wire 200, after passing through the inside of at least one link 110, extends for a distance along the extending direction of the link 110 (the link 110 through which the wire 200 passes) and passes out of the link 110. The penetrating mode can enable the circuit 200 to be accommodated in the connecting rod 110 in a larger amount, the number of parts exposed outside the connecting rod 110 is less, the negative influence of the part exposed out of the connecting rod 110 on the liquid spraying device 101 is greatly reduced, the routing of the circuit 200 is more regular and beautiful, and the structure of the whole liquid spraying device 101 and the circuit 200 is more compact.

The penetrating mode B: the line 200 passes from one side of at least one link 110 into the interior of the link 110 and out the other side of the link 110.

In this manner, the insertion point and the extraction point of the wire harness 200 substantially correspond to each other, and the wire harness 200 extends inside the link 110 substantially perpendicularly to the extending direction of the link 110. The wire harness 200 can be partially accommodated in the connecting rod 110 by the penetrating way; when the line 200 passes through the connecting rod 110, the line 200 can not bypass the connecting rod 110, so that the influence on the movement of the connecting rod 110, which is possibly caused by the fact that the line 200 is bypassed by the connecting rod 110, is avoided; and link 110 can act to limit radial displacement of trace 200 so that trace 200 can be routed in a predetermined trace 200 path without significant distance or erratic movement with the movement of link 110.

The two penetrating modes can be adopted independently or in a mixed mode, and the two penetrating modes can be selected correspondingly according to actual conditions.

In order to more clearly describe the structure and principle of the wiring structure 10 of the liquid spraying apparatus provided in this embodiment, the following description specifically describes the specific structure of the lifting apparatus 100.

Referring to fig. 2, in the embodiment, the lifting device 100 adopts a four-bar mechanism, and the driving device 120 includes a first driving device 121. That is, the at least two links 110 of the lifting device 100, which are hinged to each other, include a first link 111, a second link 112, a third link 113, and a fourth link 114. The first link 111 is used for being fixedly connected with the vehicle body. The first link 111 is hinged to one end of the second link 112, and the other end of the second link 112 is hinged to the third link 113. One end of the fourth link 114 is hinged to the third link 113, and the other end is hinged to the first link 111. The third link 113 is connected to the liquid ejecting bar 102. Both ends of the first driving device 121 are respectively hinged to any two of the first link 111, the second link 112, the third link 113 and the fourth link 114. The first driving device 121 is used for rotating the second connecting rod 112 and the fourth connecting rod 114 relative to the first connecting rod 111, so that the third connecting rod 113 drives the liquid spray rod 102 to perform lifting movement, so as to adjust the distance between the spray head 103 and the crops.

In this embodiment, the first link 111, the second link 112, the third link 113, and the fourth link 114 are located in the same vertical plane. The fourth link 114 is located above the second link 112. When the first link 111 is mounted on the vehicle body and the unmanned aerial device is placed on a horizontal plane, the plane is perpendicular to the horizontal plane. It should be understood that, at this time, the first link 111 and the third link 113 are both in a vertical state. In this way, it is ensured that the lifting movement takes place in a vertical plane.

Optionally, in this embodiment, the first link 111, the second link 112, the third link 113, and the fourth link 114 are all made of a section bar with a rectangular cross section, which is low in cost, and can facilitate the connection between the respective rod members and the connection between the first driving device 121.

In this embodiment, the first link 111 is parallel to the third link 113, and the second link 112 is parallel to the fourth link 114. The first link 111, the second link 112, the third link 113, and the fourth link 114 together form a parallel four-bar lifter mechanism. It should be understood that the parallelogram, the second link 112 and the fourth link 114 form the long side of the parallelogram, and the first link 111 and the third link 113 form the short side of the parallelogram. It should be understood that the length of the parallelogram formed by the second link 112 and the fourth link 114 is greater than the length of the parallelogram formed by the first link 111 and the third link 113. In this way, the second link 112 and the fourth link 114 rotate relative to the first link 111 in a larger range, so that the third link 113 moves in a larger range, and the liquid spray bar 102 can adjust in a larger height range.

In addition, the first driving device 121 is located in the same vertical plane as the first link 111, the second link 112, the third link 113, and the fourth link 114. Moreover, the first link 111, the second link 112, the third link 113 and the fourth link 114 enclose an accommodating cavity, and the first driving device 121 is accommodated in the accommodating cavity. Alternatively, the first driving means 121 may employ a retractable linear driving means 120, for example, an electric push rod, a hydraulic cylinder, an air cylinder, or the like may be employed. It should be understood that the first driving device 121 may be any device capable of performing a linear telescopic motion. In this embodiment, the first driving device 121 is an electric push rod. The first wire 231 is used to connect with the first driving device 121 to supply power to the first driving device 121.

It should be noted that two ends of the first driving device 121 may be connected to any two of the first link 111, the second link 112, the third link 113 and the fourth link 114, that is, one end of the first driving device 121 may be connected to one of the first link 111, the second link 112, the third link 113 and the fourth link 114, the other end of the first driving device 121 may be connected to another one of the first link 111, the second link 112, the third link 113 and the fourth link 114, and two ends of the first driving device 121 may not be connected to the same link 110.

In this embodiment, two ends of the first driving device 121 are respectively hinged to the second link 112 and the fourth link 114. Alternatively, one end of the first driving device 121 is hinged to one end of the second link 112 close to the third link 113, and the other end of the first driving device 121 is hinged to one end of the fourth link 114 close to the first link 111. Since the second link 112 and the fourth link 114 form the long side of the parallelogram linkage, the parallelogram linkage can be made smaller while the range of the lifting height of the head 103 is ensured, and the structure is made more compact.

In addition, in order to adjust the tilt angle of the spray bar 102 with respect to the horizontal, the driving device 120 may further include a retractable second driving device 122. One end of the second driving device 122 is hinged to the third connecting rod 113, the other end is hinged to the liquid spray rod 102, and the third connecting rod 113 is hinged to the liquid spray rod 102. When the second driving device 122 extends and retracts, the liquid spray rod 102 can be driven to rotate relative to the third connecting rod 113, so that the liquid spray rod 102 is in a horizontal state or an inclined state, and the inclination angle of the liquid spray rod 102 can be adjusted. Alternatively, the second driving device 122 may employ a retractable linear driving device 120, for example, an electric push rod, a hydraulic cylinder, an air cylinder, or the like may be employed. It should be understood that the second driving device 122 may be any device as long as it can perform a linear telescopic motion. In this embodiment, the second driving device 122 is an electric push rod. The second wire 232 is used to connect with the second driving device 122 to supply power to the second driving device 122.

Referring to fig. 3 and 4, the first link 111 has a third side plate 1111 and a fourth side plate 1112 disposed opposite to each other. The third side plate 1111, the second link 112, the third link 113 and the fourth link 114 enclose an accommodating cavity. That is, the third side plate 1111 is located at an inner side of the first link 111, and the fourth side plate 1112 is located at an outer side of the first link 111.

A third wire passing hole 1113 is formed in the third side plate 1111, and the third wire passing hole is used for allowing the line 200 to pass through the first connecting rod 111. The third threading holes 1113 are plural, and the plural third threading holes 1113 include a third threading hole 1113a for threading the infusion tube 210, plural third threading holes 1113b for threading the air tube 220, and a third threading hole 1113c for threading the electric wire 230. The third wire holes 1113a and the third wire holes 1113c are arranged in parallel, and the number of the third wire holes 1113b is four, and the third wire holes are arranged in two rows and two columns. The arrangement of the wire holes on the connecting rods 110 is similar to that of the third wire holes 1113, and thus the description thereof is omitted.

The fourth side plate 1112 is provided with a fourth wire through hole 1114 at a position corresponding to the third wire through hole 1113. The fourth wire hole 1114 is used for the wire 200 to penetrate into the first link 111. The fourth threading holes 1114 are all plural, and the plural fourth threading holes 1114 include a fourth threading hole 1114a for threading the infusion tube 210, a plural fourth threading holes 1114b for threading the air tube 220, and a fourth threading hole 1114c for threading the electric wire 230.

Referring to fig. 5 and fig. 6, the second link 112 has a first side plate 1121 and a second side plate 1122 disposed opposite to each other. The first side plate 1121, the first link 111, the third link 113, and the fourth link 114 enclose an accommodation cavity. That is, the first side plate 1121 is located inside the second link 112, and the second side plate 1122 is located outside the second link 112.

The first side plate 1121 is provided with a first wire passing hole 1123 at an end close to the first link 111, and the first wire passing hole 1123 is used for allowing the wire 200 to pass through the second link 112. The first threading holes 1123 are plural, and the plural first threading holes 1123 include a first threading hole 1123a for passing through the infusion tube 210, a plurality of first threading holes 1123b for passing through the air tube 220, and a first threading hole 1123c for passing through the electric wire 230. The first side plate 1121 is provided with a first operating hole 1124 at the other end, the first operating hole 1124 is used for operation, and the opening area of the first operating hole 1124 is larger than the first wire through hole 1123, so that an operator can perform a wiring operation through the first operating hole 1124. It should be noted that the first operating hole 1124 is also used for the first wire 231 to pass through the second link 112 for connecting with the first driving device 121.

The second side plate 1122 is provided with a second line passing hole 1125 at an end close to the third link 113, and the second line passing hole 1125 is used for the line 200 to pass through the second link 112. The second line passing hole 1125 is positioned to correspond to the first manipulation hole 1124. The second passing holes 1125 are plural, and the plural second passing holes 1125 include a second passing hole 1125a for passing the infusion tube 210, a plurality of second passing holes 1125b for passing the air tube 220, and a second passing hole 1125c for passing the electric wire 230. It should be noted that the wire 230 is separated into a first wire 231 and a second wire 232 in the second link 112, wherein the first wire 231 passes through the second link 112 through the first operation hole 1124, and the second wire 232 passes through the second link 112 through the second wire passing hole 1125 c. In addition, the second side plate 1122 is provided at the other end with a second operation hole 1126, and the position of the second operation hole 1126 corresponds to the position of the first wire through hole 1123. The second operation hole 1126 is used for operation, and the opening area of the second operation hole 1126 is larger than the first wire through hole 1123, so that an operator can perform wiring operation through the first operation hole 1124.

Referring to fig. 7 and 8, the third link 113 has a fifth side plate 1131 and a sixth side plate 1132 opposite to each other. The first side plate 1121, the first connecting rod 111, the fifth side plate 1131, and the fourth connecting rod 114 form an accommodating cavity. That is, the fifth side plate 1131 is located inside the third link 113, and the sixth side plate 1132 is located outside the third link 113.

The fifth side plate 1131 is provided with a fifth wire passing hole 1133. The fifth wire hole 1133 is used for the wire 200 to pass through the third link 113. The fifth wire holes 1133 are multiple, and the multiple fifth wire holes 1133 include a fifth wire hole 1133a for passing through the infusion tube 210, multiple fifth wire holes 1133b for passing through the air delivery tube 220, and a fifth wire hole 1133c for passing through the electric wire 230. Wherein, the fifth wire hole 1133c is used for the second wire 232 to pass through the third link 113.

The sixth side plate 1132 is provided with a sixth string passing hole 1134 at a position corresponding to the fifth string passing hole 1133. The sixth wire passing hole 1134 is used for the wire 200 to pass through the third link 113. The sixth threading holes 1134 are plural, and the plural sixth threading holes 1134 include a sixth threading hole 1134a for passing through the infusion tube 210 and a plurality of sixth threading holes 1134b for passing through the air delivery tube 220.

In addition, with continued reference to fig. 2, the third link 113 includes a first segment 1135 and a second segment 1136. The two ends of the first segment 1135 are hinged to the second link 112 and the fourth link 114, respectively, and the first link 111, the second link 112, the fourth link 114 and the first segment 1135 form a parallelogram four-bar lifting mechanism. The second section 1136 protrudes from the parallelogram linkage, and one end of the second section 1136 away from the parallelogram linkage is hinged to the spray bar 102. The fifth wire passing hole 1133 is opened at a portion of the fifth side plate 1131 corresponding to the second section 1136, and the sixth wire passing hole 1134 is opened at a portion of the sixth side plate 1132 corresponding to the second section 1136. Thus, after the wire 200 passes through the second link 112, the passed portion is located outside the parallelogram linkage so as to pass through the third link 113 via the fifth wire passing hole 1133 and the sixth wire passing hole 1134.

In addition, referring to fig. 5 and fig. 6, the third link 113 further has a mounting side plate 1137 connected between the fifth side plate 1131 and the sixth side plate 1132, and one end of the second driving device 122 is hinged to the mounting side plate 1137, and the other end is hinged to the spray bar 102. The mounting side plate 1137 is provided with a seventh wire passing hole 1138, and the seventh wire passing hole 1138 is used for the second wire 232 to pass through the third link 113 and be connected with the second driving device 122.

Referring to fig. 2, the third link 113 is hinged to the middle of the liquid ejecting bar 102, and the liquid ejecting bar 102 is divided into a first liquid ejecting bar 1021 and a second liquid ejecting bar 1022 by the hinged portion of the third link 113. Thus, the middle of the spray rod 102 rotates around the hinge with the third link 113, and one end of the spray rod 102 rotates to rise while the other end rotates to fall. Thus, the liquid ejecting bar 102 has a small radius of rotation, and the second driving device 122 having a short length can be used.

Referring to fig. 9, the specific routing of the circuit 200 of the routing structure 10 of the liquid spraying apparatus on the lifting apparatus 100 according to the present embodiment is described in detail as follows:

the wiring 200 passes through the fourth wiring hole 1114, the inside of the first connecting rod 111 and the third wiring hole 1113 in sequence, and enters the accommodating cavity. The wire 200 is bent toward the second link 112 after passing through the third wire through hole 1113, and extends to the first wire through hole 1123. Thus, the routing of the line 200 can be more regular and beautiful, the structure is more compact, the influence of the line 200 on the movement of the lifting device 100 is prevented, and the first link 111 can play a role in limiting the up-and-down swing of the line 200.

It should be understood that the threading of the line 200 through the first link 111 is in the threading B described above. The infusion tube 210 passes through the fourth wire through hole 1114a, enters the first link rod 111, and passes through the first link rod 111 through the third wire through hole 1113 a. The air pipes 220 correspondingly pass through the fourth wire through holes 1114b one by one, enter the first connecting rod 111, and pass through the first connecting rod 111 from the third wire through holes 1113 b. The electric wire 230 (here, the electric wire 230 is the first electric wire 231 and the second electric wire 232 bundled together) passes through the fourth wire passing hole 1114c, enters the inside of the first link 111, and passes out of the first link 111 through the third wire passing hole 1113 c.

The line 200 passes through the first line passing hole 1123, enters the inside of the second link 112, and can pass through the second link 112 from the second line passing hole 1125 or the first operation hole 1124. When the line 200 passes through the second line passing hole 1125, it bends and extends toward the third link 113. Thus, the circuit 200 can be accommodated in the second connecting rod 112 as much as possible, so that the routing is more neat and beautiful, the structure is more compact, and the influence of the circuit 200 on the movement of the lifting device 100 is prevented.

It should be understood that the wiring 200 is threaded through the second link 112, and the wiring 200 is threaded through the inside of the second link 112 in the extending direction of the second link 112. That is, the threading manner of the line 200 in the second link 112 is the aforementioned threading manner a. In addition, when the line 200 passes through the first wire passing hole 1123, the line 200 is routed through the second operation hole 1126; when the line 200 passes through the second line passing hole 1125, the line 200 is routed through the first operation hole 1124.

The infusion tube 210 passes through the first threading hole 1123a, enters the inside of the second link 112, extends along the extending direction of the second link 112, and passes through the second threading hole 1125a and out of the second link 112. The air pipe 220 passes through the first line passing hole 1123b, enters the inside of the second link 112, extends along the extending direction of the second link 112, and passes through the second link 112 from the second line passing hole 1125 b. In addition, the first wire 231 passes through the first wire passing hole 1123c, the inside of the second link 112, the first operation hole 1124 in sequence, and is connected to the first driving device 121. That is, the first wire 231 passes through the second link 112 via the first operation hole 1124, and is connected to one end of the first driving device 121 near the third link 113. The second electric wire 232 passes through the first wire passing hole 1123c, enters the inside of the second link 112, extends in the extending direction of the second link 112, and passes out of the second link 112 through the second wire passing hole 1125 c. It should be noted that the electric wire 230 extends inside the second link 112 to a position close to the first operation hole 1124 and the second wire passing hole 1125, and is separated into the first electric wire 231 and the second electric wire 232 which are separately threaded, the first electric wire 231 extends upward through the first operation hole 1124, and the second electric wire 232 extends downward through the second wire passing hole 1125 c.

The wire 200 passes through the second wire passing hole 1125, and sequentially passes through the fifth wire passing hole 1133, the inside of the third link 113 and the sixth wire passing hole 1134. Thus, the routing of the line 200 can be more regular and beautiful, the structure is more compact, the influence of the line 200 on the movement of the lifting device 100 is prevented, and the third connecting rod 113 can play a role in limiting the vertical swing of the line 200.

It should be understood that the line 200 is threaded through the third link 113 in the manner described above with reference to B. After the infusion tube 210 passes through the second threading hole 1125a, it passes through the fifth threading hole 1133a, enters the third link 113, and passes through the sixth threading hole 1134 a. The air pipe 220 passes through the second threading hole 1125b, then passes through the fifth threading hole 1133b, enters the third link 113, and passes through the sixth threading hole 1134 b. After passing through second wire passing hole 1125c, second wire 232 passes through fifth wire passing hole 1133c, enters inside third link 113, passes through seventh wire passing hole 1138, passes through third link 113, and extends along spray bar 102 until being connected to second driving device 122. The second wire 232 extends over the spray bar 102 and can be fixed to the spray bar 102 by a fixing member.

Referring to fig. 9-11, the liquid spraying device routing structure 10 may further include a tee joint 211, and the circuit 200 may further include a first liquid feeding branch pipe 212 and a second liquid feeding branch pipe 213. The infusion tube 210 passes through the sixth threading hole 1134a and is connected to the first infusion branch tube 212 and the second infusion branch tube 213 through the three-way joint 211. Wherein, the first infusion branch pipe 212 extends along the first liquid spraying support rod 1021 and is connected with the spray head 103 arranged on the first liquid spraying support rod 1021; the second feeding branch pipe 213 extends along the second liquid ejecting lever 1022 and is connected to the head 103 mounted on the second liquid ejecting lever 1022. Thus, the route of the infusion tube 210 can be more regular and beautiful, and the structure can be more compact.

At least one of the air pipes 220 penetrates through the sixth through hole 1134b, extends along the first liquid spraying support rod 1021, and is connected with the spray head 103 mounted on the first liquid spraying support rod 1021; at least another one of the air pipes 220 passes through the sixth through hole 1134b, extends along the second liquid spraying support bar 1022, and is connected with the spray head 103 mounted on the second liquid spraying support bar 1022. In this embodiment, there are four nozzles 103, two of the nozzles are disposed on the first liquid spraying support rod 1021, the other two nozzles are disposed on the second liquid spraying support rod 1022, and two air pipes 220 located on one side of the air pipes 220 penetrate through the sixth wire passing hole 1134b, extend along the first liquid spraying support rod 1021, and are connected to the two nozzles 103 mounted on the first liquid spraying support rod 1021; two air pipes 220 on the other side of the plurality of air pipes 220 penetrate through the sixth threading hole 1134b, extend along the second liquid spraying support bar 1022, and are connected with the two nozzles 103 mounted on the second liquid spraying support bar 1022. Thus, the routing of the air pipe 220 can be more regular and beautiful, and the structure is more compact.

The first branch fluid feeding pipe 212, the second branch fluid feeding pipe 213 and the air feeding pipe 220 extend on the spray bar 102, and can be fixed on the spray bar 102 through fixing members.

In addition, in other embodiments of the present invention, an eighth wire hole (not shown) and a ninth wire hole (not shown) may be disposed on the liquid spray rod 102. The line 200 passes through the eighth line passing hole, the inside of the liquid spray bar 102 and the ninth line passing hole in sequence, and is connected with the spray head 103. That is, the infusion tube 210 and the air tube 220 can enter the liquid spray rod 102 through the eighth line passing hole, extend inside the liquid spray rod 102 along the extending direction of the liquid spray rod 102, pass through the liquid spray rod 102 through the ninth line passing hole, and then are respectively connected with the corresponding nozzles 103. Since the liquid spray rod 102 is long, in order to facilitate threading, operation holes may be respectively disposed at positions corresponding to the eighth wire passing hole and the ninth wire passing hole. In addition, the eighth wire hole and the ninth wire hole may be located on the same side of the liquid spray rod 102, or may be located on different two sides of the liquid spray rod 102.

To sum up, the embodiment of the present invention provides a wiring structure 10, a liquid spraying system 1 and an unmanned device for a liquid spraying apparatus, which can arrange a circuit 200 in a connecting rod 110 as much as possible under the condition that the action of the liquid spraying apparatus 101 is not affected, so that the wiring of the circuit 200 is more regular and more beautiful, and the structure of the whole liquid spraying apparatus 101 and the circuit 200 is more compact.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A wiring structure of a liquid spraying device is characterized by comprising the liquid spraying device and a circuit, wherein the liquid spraying device comprises a lifting device, a liquid spraying rod and a spray head;

the spray head is arranged on the liquid spraying rod;

2. The hydrojet routing structure of claim 1, wherein the at least two links include a first link, a second link, a third link, and a fourth link, and the drive comprises a first retractable drive;

3. The hydrojet routing structure of claim 2, wherein the first link is parallel to the third link, the second link is parallel to the fourth link, the first link, the second link, the third link, and the fourth link collectively form a parallelogram linkage, the second link and the fourth link form a long side of the parallelogram linkage, and the first link and the third link form a short side of the parallelogram linkage.

4. The cabling structure of the liquid spraying device according to claim 3, wherein the circuit is disposed through the second link, and the circuit is disposed inside the second link along an extending direction of the second link.

5. The hydrojet device trace structure of claim 4, wherein the second link has a first side plate, and the line comprises a first wire;

6. The hydrojet device trace structure according to claim 4, wherein the second link has a first side plate and a second side plate that are disposed opposite to each other;

7. The hydrojet device trace structure according to claim 6, wherein the first link has a third side plate and a fourth side plate that are disposed opposite to each other;

8. The hydrojet device trace structure according to claim 6, wherein the third link has a fifth side plate and a sixth side plate that are disposed opposite to each other;

9. The hydrojet routing structure of claim 8, further comprising a tee joint, the circuit comprising an infusion tube, a first infusion branch tube, and a second infusion branch tube;

10. The routing structure of liquid spraying devices according to claim 8, wherein the third connecting rod is hinged to a middle portion of the liquid spraying rod, and the liquid spraying rod is divided into a first liquid spraying support rod and a second liquid spraying support rod by a hinge of the liquid spraying rod and the third connecting rod;

the circuit comprises a plurality of gas conveying pipes;

11. The hydrojet device trace structure according to claim 8, wherein the third link further has a mounting side plate connected between the fifth side plate and the sixth side plate, and a seventh wire passing hole is disposed on the mounting side plate;

12. A liquid spraying system, which is characterized by comprising a liquid storage tank, a gas generating device and a liquid spraying device routing structure according to any one of claims 1 to 11, wherein the circuit comprises a liquid conveying pipe and a gas conveying pipe, the liquid storage tank is connected with the spray head through the liquid conveying pipe, and the gas generating device is connected with the spray head through the gas conveying pipe.

13. An unmanned apparatus comprising the liquid spraying system of claim 12.