CN218617184U

CN218617184U - Flexible spraying device based on plant protection unmanned aerial vehicle

Info

Publication number: CN218617184U
Application number: CN202223218166.XU
Authority: CN
Inventors: 王金武; 蔡梦宸; 孙小博; 娄凡凡; 张攀利; 牛龙辉
Original assignee: Northeast Agricultural University
Current assignee: Northeast Agricultural University
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-03-14
Anticipated expiration: 2032-11-29

Abstract

A flexible spraying device based on a plant protection unmanned aerial vehicle comprises a medicine box, a medicine pump and a connecting rod, wherein the medicine box and the medicine pump are arranged on the unmanned aerial vehicle, and the upper end of the connecting rod is fixed below a rotor wing of the unmanned aerial vehicle; the lower part of the connecting rod is provided with a suspension, the position of the suspension relative to the connecting rod can move up and down, a tee joint is arranged below the suspension in a hinged mode, and the suspension is also provided with an inclination angle adjusting mechanism and a length adjusting mechanism; to sum up, the utility model discloses based on unmanned aerial vehicle geographical position information monitoring module, can judge unmanned aerial vehicle's flight inclination, and then judge angle and length that the spray lance needs to be adjusted to guarantee that whole operation in-process unmanned aerial vehicle sprays the angle perpendicular and ground always, and the relative height between shower nozzle and ground does not change, has reduced the droplet drift of pesticide, and has stopped when too big because of flying speed, lead to spraying the inclination too big, cause the phenomenon that local less spout, leak and spout, realized reducing and sprayed in-process flight inclination and to the spraying effect influence.

Description

Flexible spraying device based on plant protection unmanned aerial vehicle

Technical Field

The utility model belongs to the technical field of agricultural machine, concretely relates to flexible spraying device based on plant protection unmanned aerial vehicle.

Background

Current unmanned aerial vehicle sprinkler can't realize spraying angle and spray lance length adjustable function when the operation, unmanned aerial vehicle flight operation in-process easily appears, because the change at unmanned aerial vehicle's flight inclination leads to spraying the operation inhomogeneous and fog droplet drift phenomenon aggravation, influences the efficiency of spraying of pesticide, has reduced the rate of utilization and the polluted environment of pesticide.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a flexible spraying device based on plant protection unmanned aerial vehicle to unmanned aerial vehicle can't realize spraying angle and spray lance length adjustment, cause to spray the inhomogeneous technical problem of operation when spraying among the solution prior art.

In order to achieve the above object, the utility model provides a flexible spraying device based on plant protection unmanned aerial vehicle's technical scheme is:

a flexible spraying device based on a plant protection unmanned aerial vehicle comprises a pesticide box, a pesticide pump and a connecting rod, wherein the pesticide box and the pesticide pump are arranged on the unmanned aerial vehicle, the upper end of the connecting rod is fixed below a rotor wing of the unmanned aerial vehicle, and a suspension is arranged at the lower part of the connecting rod;

the suspension comprises two connecting plates which are arranged in parallel with the connecting rods, the positions of the connecting plates relative to the connecting rods can move up and down, a tee joint is arranged below the connecting plates in a hinged mode, centrifugal nozzles are arranged at two ends of the tee joint, cannula openings are arranged at two shoulders of the tee joint, a medicine pump is arranged in the medicine box and is respectively connected with the two cannula openings through two hoses; the suspension is also provided with an inclination angle adjusting mechanism for driving the tee joint to rotate around the hinged part of the tee joint and the suspension and a length adjusting mechanism for adjusting the position of the suspension relative to the connecting rod;

the length adjusting mechanism comprises a first motor, a gear, a vertical rack and a chain type rack, the connecting rod is positioned between the two connecting plates, a through hole is formed in the connecting rod, the first motor is positioned on one side of the connecting plates, the upper ends of the two connecting plates are installed on a main shaft of the first motor, and the main shaft of the first motor is rotatably connected with the connecting plates; the gear is installed on the main shaft of first motor, and vertical rack is fixed on the connecting rod, and the chain rack is installed on the connecting rod and can be driven, and chain rack and vertical rack are parallel to each other, the gear is located between vertical rack and the chain rack, and the gear meshes with vertical rack and chain rack respectively mutually.

Furthermore, the inclination angle adjusting mechanism comprises a second motor, the lower ends of the two connecting plates are arranged on a main shaft of the second motor, and the main shaft of the second motor is rotatably connected with the connecting plates; and a U-shaped piece is fixed at the end part of the tee joint and is fixed on a main shaft of the second motor.

Further, a magnetic locking disc is mounted on a main shaft of the second motor, the magnetic locking disc comprises a permanent magnetic disc and an electromagnetic disc, the permanent magnetic disc and the electromagnetic disc both comprise disc structures, permanent magnets are mounted on the disc structures, and embedded electromagnets are arranged on the permanent magnets of the electromagnetic disc;

the permanent magnet disc is sleeved on the second motor main shaft and can rotate relative to the second motor main shaft, the permanent magnet disc is fixed on a motor shell of the second motor, a flat key structure is arranged on the main shaft of the second motor, the electromagnetic disc is arranged on the flat key structure of the second motor main shaft, and the permanent magnet disc and the electromagnetic disc are fixed through the matching of two permanent magnets.

Compared with the prior art, the utility model discloses following beneficial effect has: the utility model discloses based on unmanned aerial vehicle geographical position information monitoring module, can judge unmanned aerial vehicle's flight inclination, and then judge angle and length that the spray lance needs to be adjusted, with guarantee that whole operation in-process unmanned aerial vehicle sprays angle perpendicular and ground always, and the relative height between shower nozzle and ground does not change, the droplet drift of pesticide has been reduced, and stopped when too big because of the flying speed, lead to spraying the inclination too big, cause the local phenomenon of spouting less, the phenomenon of leaking and spouting, the reduction has been realized and has been sprayed the in-process flight inclination and to the influence of spraying effect.

Drawings

Fig. 1 is an installation schematic diagram of a flexible spraying device based on a plant protection unmanned aerial vehicle provided by the present invention;

fig. 2 is a schematic structural diagram of the flexible spraying device based on the plant protection unmanned aerial vehicle provided by the present invention;

FIG. 3 is an assembled schematic view of the length adjustment mechanism;

FIG. 4 is an assembled schematic view of the recliner mechanism;

fig. 5 is a structural view of a permanent magnet disc;

fig. 6 is a structural view of the electromagnetic disk.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the embodiments described are only some, but not all embodiments of the invention. The components of the embodiments of the present invention 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 embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

The present invention will be described in further detail with reference to examples.

The utility model provides a flexible spraying device's based on plant protection unmanned aerial vehicle embodiment 1:

as shown in fig. 1 to 6, in this embodiment, a flexible spraying device with an adjustable spray pipe inclination angle and length based on a plant protection unmanned aerial vehicle includes a pesticide box 1, a pesticide pump and a connecting rod 2, the pesticide box 1 and the pesticide pump are arranged on an unmanned aerial vehicle 3, the upper end of the connecting rod 2 is mounted below a rotor of the unmanned aerial vehicle 3 through a flange, and a suspension is mounted on the lower portion of the connecting rod 2;

the suspension comprises two connecting plates 8 which are arranged in parallel with the connecting rods, the positions of the connecting plates relative to the connecting rods 2 can move up and down, a tee joint 4 is arranged below the connecting plates in a hinged mode, centrifugal spray heads 5 are arranged at two ends of the tee joint 4, cannula openings 6 are arranged at two shoulders of the tee joint 4, the medicine pump is arranged in the medicine box 1 and is respectively connected with the two cannula openings 6 through two hoses 7;

in the embodiment, the medicine box 1, the medicine pump, the hose 7, the tee joint 4 and the centrifugal nozzle 5 form a spraying system, and the medicine liquid in the medicine box 1 is pumped into the hose 7 through the medicine pump and then reaches the centrifugal nozzle 5 through the hose 7 and the tee joint 4; and the suspension is also provided with an inclination angle adjusting mechanism and a length adjusting mechanism, the inclination angle adjusting mechanism is used for driving the tee joint 4 to rotate around the hinged part of the suspension, and the length adjusting mechanism is used for adjusting the position of the suspension relative to the connecting rod 2.

The length adjusting mechanism comprises a first motor 9, a gear 10, a vertical rack 11 and a chain rack 12, the connecting rod 2 is positioned between the two connecting plates 8, a through hole 13 is formed in the connecting rod 2, the first motor 9 is positioned on one side of the connecting plates 8, the upper ends of the two connecting plates 8 are installed on a main shaft of the first motor 9, and the main shaft of the first motor 9 is rotatably connected with the connecting plates 8;

the gear 10 is installed on a main shaft of the first motor 9, the vertical rack 11 is fixed on the connecting rod 2, the chain type rack 12 is installed on the connecting rod 2 and can be driven, the chain type rack 12 and the vertical rack 11 are parallel to each other, the gear 10 is located between the vertical rack 11 and the chain type rack 12, the gear 10 is respectively meshed with the vertical rack 11 and the chain type rack 12, the vertical rack 11 and the chain type rack 12 are used together and are symmetrical about the gear 10, and the working stability is guaranteed; in order to improve the stability of the first motor 9 and the suspension, the vertical rack 11 and the chain rack 12 can be provided in two sets, respectively on opposite sides of the connecting rod 2, and the gears 10 are also provided in two sets, respectively engaged with the two sets of racks.

The inclination angle adjusting mechanism comprises a second motor 14, the lower ends of the two connecting plates 8 are arranged on a main shaft of the second motor 14, and the main shaft of the second motor 14 is rotatably connected with the connecting plates 8; the end of the tee joint 4 is fixed with a U-shaped piece 15, and the U-shaped piece 15 is fixed on the main shaft of the second motor 14.

According to the embodiment, the flexible spraying device with the adjustable spray pipe inclination angle and length uses the pan-tilt technology of the lens of the unmanned aerial vehicle 3 as a reference, and realizes real-time control over two motors according to the acquisition of the geographic information and flight state information of the unmanned aerial vehicle 3, so that the control over the length and the spraying angle of the spray bar is completed, and a better spraying effect is achieved; specifically, the whole mechanism is mainly characterized in that a vertical rack 11 is fixedly connected with a connecting rod 2, the whole mechanism is connected below a rotor wing of an unmanned aerial vehicle 3 through a flange, for the length adjusting mechanism, through the control of a first motor 9, a control gear 10 is meshed with a rack fixedly connected on the connecting rod 2 and a chain rack 12, then a spindle of the first motor 9 moves up and down in a through hole 13 of the connecting rod 2, and a suspension and a tee joint 4 are arranged on the spindle of the first motor 9, so that the whole mechanism moves up and down along with the first motor 9, and the length adjustment within a certain range is realized;

when the second motor 14 receives a control signal, the U-shaped part 15 is controlled through the main shaft of the second motor 14, when the angle reaches the target requirement, the second motor 14 is powered off, the second motor 14 has a self-locking function and can limit the rotation of the main shaft, and finally the change of the inclination angle of the spray head is realized, so that the function of controlling the spraying angle is ensured; the inclination angle adjusting mechanism and the length adjusting mechanism are connected by taking two connecting plates 8 as media, and in the flight process, the whole mechanism realizes the flexible spraying device for adjusting the inclination angle and the length of the spray pipe.

As another embodiment of the present invention, after the spraying angle is adjusted, in order to avoid the second motor 14 having too large power and damaging the motor, a magnetic locking disc 16 may be installed on the main shaft of the second motor 14, specifically, the magnetic locking disc 16 includes a permanent magnetic disc 17 and an electromagnetic disc 18, both the permanent magnetic disc 17 and the electromagnetic disc 18 include a disc structure 19, a permanent magnetic magnet 20 is installed on the disc structure 19, wherein an embedded electromagnet 21 is installed on the permanent magnetic magnet 20 of the electromagnetic disc 18;

the permanent magnet disc 17 is sleeved on the main shaft of the second motor 14, the permanent magnet disc 17 can rotate relative to the main shaft of the second motor 14, the permanent magnet disc 17 is fixed on a motor shell of the second motor 14, a flat key structure is arranged on the main shaft of the second motor 14, the electromagnetic disc 18 is arranged on the flat key structure of the main shaft of the second motor 14, and the permanent magnet disc 17 and the electromagnetic disc 18 are fixed in a matched mode through two permanent magnets 20;

when the main shaft of the second motor 14 rotates, the permanent magnet disc 17 and the electromagnetic disc 18 are assembled and fixed through the permanent magnets 20 in the permanent magnet disc 17 and the electromagnetic disc 18, at this time, the embedded electromagnet 21 does not work, when the second motor 14 stops working, the embedded electromagnet 21 is electrified, the magnetic force between the permanent magnet disc 17 and the electromagnetic disc 18 is increased, and therefore locking is conducted, the main shaft of the second motor 14 is locked, the main shaft of the second motor 14 is blocked, and the change of the angle is prevented.

Claims

1. The utility model provides a flexible spraying device based on plant protection unmanned aerial vehicle which characterized in that: the unmanned aerial vehicle comprises a medicine box, a medicine pump and a connecting rod, wherein the medicine box and the medicine pump are arranged on the unmanned aerial vehicle, the upper end of the connecting rod is fixed below a rotor wing of the unmanned aerial vehicle, and a suspension is arranged at the lower part of the connecting rod;

the suspension comprises two connecting plates which are arranged in parallel with the connecting rods, the positions of the connecting plates relative to the connecting rods can move up and down, a tee joint is arranged below the connecting plates in a hinged mode, centrifugal nozzles are arranged at two ends of the tee joint, cannula openings are arranged at two shoulders of the tee joint, a medicine pump is arranged in the medicine box and is respectively connected with the two cannula openings through two hoses; the suspension is also provided with an inclination angle adjusting mechanism for driving the tee joint to rotate around the hinged part of the suspension and a length adjusting mechanism for adjusting the position of the suspension relative to the connecting rod;

2. The plant protection unmanned aerial vehicle-based flexible spraying device of claim 1, characterized in that: the inclination angle adjusting mechanism comprises a second motor, the lower ends of the two connecting plates are arranged on a main shaft of the second motor, and the main shaft of the second motor is rotatably connected with the connecting plates; and a U-shaped piece is fixed at the end part of the tee joint and is fixed on a main shaft of the second motor.

3. The plant protection unmanned aerial vehicle based flexible spraying device of claim 2, characterized in that: a main shaft of the second motor is provided with a magnetic locking disc, the magnetic locking disc comprises a permanent magnetic disc and an electromagnetic disc, the permanent magnetic disc and the electromagnetic disc both comprise disc structures, and permanent magnets are arranged on the disc structures, wherein embedded electromagnets are arranged on the permanent magnets of the electromagnetic disc;