WO2021103723A1 - 一种悬臂式棉花打顶无人机 - Google Patents

一种悬臂式棉花打顶无人机 Download PDF

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Publication number
WO2021103723A1
WO2021103723A1 PCT/CN2020/112627 CN2020112627W WO2021103723A1 WO 2021103723 A1 WO2021103723 A1 WO 2021103723A1 CN 2020112627 W CN2020112627 W CN 2020112627W WO 2021103723 A1 WO2021103723 A1 WO 2021103723A1
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WIPO (PCT)
Prior art keywords
cantilever
topping
drone
cotton
push rod
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PCT/CN2020/112627
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English (en)
French (fr)
Inventor
王娟
刘照启
兰玉彬
罗莉
王皓
刘彤
张蔚然
韩鑫
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山东理工大学
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Publication of WO2021103723A1 publication Critical patent/WO2021103723A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/08—Other tools for pruning, branching or delimbing standing trees
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G7/00—Botany in general
    • A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Definitions

  • the invention relates to a cantilever type cotton topping drone.
  • the drone is used to install a cantilever, and two ends of the cantilever are respectively installed with blades for cotton topping, which can reduce cotton topping.
  • the drone presses down the wind field to disturb the cotton plants to achieve precise, efficient and unmanned cotton topping operation. More specifically, it refers to a cantilever cotton topping drone.
  • the patent application number 201711337839.4 is disclosed for the invention patent.
  • a cotton topping device and method; the invention patent with the patent application number 201910607867.6 discloses a cotton topping agent and its preparation method;
  • the invention patent with the patent application number 201710861395.8 discloses a drone as a carrier Cotton topping machine.
  • the UAV cotton topping operation system that can use the two ends of the cantilever to be out of the UAV wind field to reduce the impact of the UAV's downward pressure on the wind field, and use the high-speed rotating blade to accurately and quickly cut the cotton top core has not yet been seen Report.
  • UAVs with high ergonomics and precise operation capabilities are used for cotton topping operations, and motors are installed at both ends of the cantilever to connect the blades for cotton topping, reducing the impact of the UAV's downward pressure on the wind field, and then developing A cantilevered cotton topping drone will be a new direction worth exploring and with great prospects.
  • the purpose of the present invention is to provide a cantilever cotton topping drone to solve the problem that the existing manual topping operation is low in efficiency, the ground mechanical topping machine causes plant damage and ground compaction is large, and chemical medicine topping is easy. Real problems such as secondary growth of cotton tops, and instability of the topping caused by the impact of the down-pressure wind field on the cotton topping of ordinary drones.
  • the use of this cantilever cotton topping drone can reduce the impact of the drone's downward pressure on the wind field, and can achieve precise and efficient cotton topping operations.
  • a cantilever cotton topping drone including a drone body, a mounting component, and a topping component, both of which are mounted Mounted and fixed on the drone body;
  • the mounting components include an electric push rod mounting seat, an electric push rod, a cantilever, and a motor mounting seat.
  • the electric push rod mounting seat is bolted to the bottom of the drone body, and the electric push rod The upper end is bolted to the electric push rod mounting seat, which is used to extend and retract the cantilever to facilitate the take-off and landing of the drone.
  • the cantilever is bolted to the lower end of the electric push rod. The length of the cantilever can be adjusted before the drone takes off.
  • the range of the wind field is adjusted to reduce the disturbance to the cotton plants from the lower pressure wind field of the drone.
  • the topping assembly includes a motor ,
  • the connecting shaft, the blade, the motor has one at each end of the cantilever, which are bolted to the motor mounting base, the output shafts of the two motors are connected with the connecting shaft through a coupling, and the connecting shaft is connected with the blade screw under the cantilever.
  • the unmanned aerial vehicle body is one of an electric unmanned aerial vehicle body, an oil-powered unmanned aerial vehicle body, and an oil-electric hybrid unmanned aerial vehicle body.
  • the length adjustment range of the electric push rod is 10 cm to 60 cm.
  • the length adjustment range of the cantilever is 1.0 m to 3.5 m.
  • the rotation speed of the blade is 12000r/min-18000r/min.
  • the present invention is a cantilever cotton topping drone. Its working process is as follows: after the drone body is powered on and takes off, the electric push rod extends to extend the cutting components at both ends of the cantilever below the drone body tripod.
  • the UAV adjusts the flying height and cutting position of the UAV through the GPS positioning system.
  • the output shaft of the motor drives the blade to rotate at a high speed to cut the center of the cotton. Before the UAV descends, the electric push rod retracts to prevent the blade from touching the ground.
  • the present invention has the following advantages: (1)
  • the cantilever cotton topping drone proposed by the present invention solves the problem of low efficiency of the existing manual topping operation and the impact of ground mechanical topping machines on plants. Large damage and ground compaction, chemical topping can easily lead to secondary growth of cotton tops, and the impact of low-pressure wind field on ordinary drone cotton topping leads to practical problems such as unstable topping, which improves the work of cotton topping operations.
  • a cantilever cotton topping drone proposed by the present invention the blades installed in it rotate at a high speed and both sides have blades, reducing the cutting injury area of the plant;
  • the one proposed by the present invention Cantilever cotton topping UAV, the two ends of the mounted cantilever are not within the range of the UAV wind field, and the cutting components are used for cotton topping operation here, which reduces the disturbance of the cotton plants from the UAV downward pressure wind field;
  • the cantilever cotton topping drone provided by the present invention has an electric push rod that can solve the problem of difficulty in take-off and landing of the drone.
  • Fig. 1 is a structural view of the whole cantilever cotton topping drone of the present invention.
  • the present invention is a cantilever cotton topping drone, including a drone body 1, a mounting assembly, and a topping assembly.
  • the drone body 1 is an electric drone body, so The mounting components and the topping components are both mounted and fixed on the drone body 1.
  • the mounting assembly includes an electric push rod mounting base 2, an electric push rod 3, a cantilever 4, a motor mounting base 5.
  • the electric push rod mounting base 2 is bolted to the bottom of the drone body 1, and the upper end of the electric push rod 3 is connected to the electric push rod 3.
  • the pole mount 2 is connected by bolts for extending and retracting the cantilever 4 to facilitate the take-off and landing of the drone.
  • the length of the electric push rod 3 is 40cm, and the length of the electric push rod 3 is 15cm after the drone is landing.
  • the cantilever 4 is bolted to the lower end of the electric push rod 3, the length of the cantilever 4 is 2m, and the motor mounting seat 5 has one at each end of the cantilever 4, and is connected with the upper plane of the cantilever 4 by bolts.
  • the topping assembly includes a motor 6, a connecting shaft 7, and a blade 8.
  • the motor 6 has one at each end of the cantilever 4, which are all bolted to the motor mounting base 5, and the output shafts of the two motors and the connecting shaft 7 are connected by couplings.
  • the connecting shaft 7 is screwed to the blade 8 under the cantilever 4, and the blade 8 has blades on both sides, and the rotation speed is 15000r/min, which is used to cut the cotton top center.
  • this cantilever cotton topping UAV is as follows: After the UAV is powered on and takes off, the electric push rod 3 extends to extend the blades 8 at both ends of the cantilever 4 below the tripod of the UAV body 1. The drone adjusts the flying height and cutting position of the drone through the GPS positioning system. The output shaft of the motor 6 drives the blade 8 to rotate at a high speed to cut the top center of the cotton. Before the drone descends, retract the cantilever 4 to avoid the blade 8 from touching Touch the ground.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Remote Sensing (AREA)
  • Wood Science & Technology (AREA)
  • Botany (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

一种悬臂式棉花打顶无人机，包括无人机机体（1）、搭载组件、打顶组件，挂载组件包括电动推杆安装座（2）、电动推杆（3）、悬臂（4）、电机安装座（5），电动推杆安装座（2）与无人机机体（1）底部螺栓连接，电动推杆（3）上端与电动推杆安装座（2）螺栓连接，用于伸出和缩回悬臂（4），以便于无人机起飞降落；打顶组件包括电机（6）、连接轴（7）、刀片（8），电机（6）在悬臂（4）的两端各有一个，均与电机安装座（5）螺栓连接，两个电机的输出轴与连接轴（7）通过联轴器连接，连接轴（7）在悬臂（4）的下方与刀片（8）螺丝连接，刀片（8）两侧均有刀刃，用于切割棉花顶心。上述悬臂式棉花打顶无人机消减了无人机下压风场对棉花植株的扰动，解决了无人机起飞降落困难的问题。

Description

一种悬臂式棉花打顶无人机
本申请要求中国申请号为201911180758.7，申请日2019.11.27，名称为一种悬臂式棉花打顶无人机的优先权，在先申请的全部方案被引用在此申请中。
技术领域
本发明涉及一种悬臂式棉花打顶无人机，在无人机棉花打顶作业过程中，利用无人机安装悬臂，在悬臂的两端分别安装有刀片进行棉花打顶，可消减棉花打顶过程中无人机下压风场对棉花植株的扰动，以实现精准、高效、无人化的棉花打顶作业。更特别地说，是指一种悬臂式棉花打顶无人机。
背景技术
随着农业生产过程中的机械化水平越来越高，人民更希望一种精准、高效的棉花打顶方式，国家也提出要大力开发市场需求大的工业级无人机，但是国内目前棉花打顶的方式主要有人工打顶、地面机械式打顶、化学药物打顶三种打顶方式。其中人工打顶作业效率低、地面机械式打顶机对植株损伤与地面压实较大、化学药物打顶易造成棉花顶尖二次生长。因此未来很长一段时期内，一种可以高效率完成棉花打顶作业的棉花打顶无人机具有很好的前景，但是，棉花打顶作业要想摆脱人工，仍有很长一段路要走。
目前，就棉花打顶作业系统而言，主要有地面机械式棉花打顶作业系统、化学药物棉花打顶作业系统和无人机棉花打顶作业系统，例如，专利申请号为201711337839.4的发明专利公开了一种棉花打顶装置及方法；专利申请号为201910607867.6的发明专利公开了一种棉花打顶剂及其制备方法；专利申请号为201710861395.8的发明专利公开了一种以无人机为载体的棉花打顶机。然而，能够利用悬臂两端不在无人机风场范围内，消减无人机下压风场的影响，利用高速旋转的刀片精准、快速切除棉花顶心的无人机棉花打顶作业系统尚未见报道。特别是，将具有高工效、精准作业能力的无人机用于棉花打顶作业，并且在悬臂两端安装电机进而连接刀片进行棉花打顶，消减无人机下压风场的影响，进而开发一种悬臂式棉花打顶无人机将是值得探索且具有远大前景的新方向。
发明内容
本发明的目的在于，提供一种悬臂式棉花打顶无人机，以解决现有人工打顶作业效率低、地面机械式打顶机对植株损伤与地面压实较大、化学药物打顶易造成棉花顶尖二次生长、普通无人机棉花打顶受下压风场影响导致打顶不稳定等现实问题。在棉花打顶过程中，利用这种悬臂式棉花打顶无人机，消减无人机下压风场的影响，可以实现棉花打顶的精准、高效作业。
本发明所解决的技术问题是通过以下技术方案实现的：一种悬臂式棉花打顶无人机，包括无人机机体、挂载组件、打顶组件，所述挂载组件、打顶组件均挂载、固定于无人机机体上；所述挂载组件包括电动推杆安装座、电动推杆、悬臂、电机安装座，电动推杆安装座与无人机机体底部螺栓连接，电动推杆上端与电动推杆安装座螺栓连接，用于伸出和缩回悬臂，以便于无人机起飞降落，悬臂与电动推杆下端螺栓连接，悬臂的长度可在无人机起飞前根据无人机风场的范围调整，以可以消减无人机下压风场对棉花植株的扰动为准，电机安装座在悬臂的两端各有一个，与悬臂上平面螺栓连接；所述打顶组件包括电机、连接轴、刀片，电机在悬臂的两端各有一个，均与电机安装座螺栓连接，2个电机的输出轴与连接轴通过联轴器连接，连接轴在悬臂的下方与刀片螺丝连接，两侧均有刀刃，用于切割棉花顶心。
进一步的，所述无人机机体是电动无人机机体、油动无人机机体、油电混动无人机机体中的一种。
进一步的，所述电动推杆的长度调节范围为10cm～60cm。
进一步的，所述悬臂的长度调节范围为1.0m～3.5m。
进一步的，所述刀片的转速为12000r/min～18000r/min。
本发明是一种悬臂式棉花打顶无人机，其工作过程为：无人机机体加电、起飞后，电动推杆伸长将悬臂两端的切割组件伸长至无人机机体脚架以下，无人机通过GPS定位系统调整无人机飞行高度和切割位置，电机的输出轴带动刀片高速旋转进行切割棉花顶心，无人机下降前，电动推杆缩回避免刀片触碰地面。
本发明与现有技术相比，具有如下优点：(1)本发明提出的一种悬臂式棉花打顶无人机，解决了现有人工打顶作业效率低、地面机械式打顶机对植株损伤与地面压实较大、化学药物打顶易造成棉花顶尖二次生长、普通无人机棉花打顶受下压风场影响导致打顶不稳定等现实问题，提高了棉花打顶作业的工作效率；(2)本发明提出的一种悬臂式棉花打顶无人机，其安装的刀片高速旋转且两侧均有刀刃，减少了植株的切割受伤面积；(3)本发明提出的一种悬臂式棉花打顶无人机，挂载的悬臂两端不在无人机风场范围内，切割组件在这里进行棉花打顶作业，消减了无人机下压风场对棉花植株的扰动；(4)本发明提出的一种悬臂式棉花打顶无人机，其电动推杆可以解决无人机起飞降落困难的问题。
附图说明
图1是本发明的一种悬臂式棉花打顶无人机的整机结构视图。
图中：1、无人机机体 2、电动推杆安装座 3、电动推杆 4、悬臂 5、电机安装座 6、电机 7、连接轴 8、刀片。
具体实施方式
下面将结合附图和实施例对本发明作进一步的详细说明。
参照图1所示，本发明是一种悬臂式棉花打顶无人机，包括无人机机体1、挂载组件、打顶组件，所述无人机机体1是电动无人机机体，所述挂载组件、打顶组件均搭载、固定于无人机机体1上。
所述挂载组件包括电动推杆安装座2、电动推杆3、悬臂4、电机安装座5，电动推杆安装座2与无人机机体1底部螺栓连接，电动推杆3上端与电动推杆安装座2螺栓连接，用于伸出和缩回悬臂4，以便于无人机起飞降落，无人机工作时电动推杆3长度为40cm，无人机降落后电动推杆3长度为15cm，悬臂4与电动推杆3下端螺栓连接，悬臂4的长度为2m，电机安装座5在悬臂4的两端各有一个，与悬臂4上平面螺栓连接。
所述打顶组件包括电机6、连接轴7、刀片8，电机6在悬臂4的两端各有一个，均与电机安装座5螺栓连接，2个电机的输出轴与连接轴7通过联轴器连接，连接轴7在悬臂4的下方与刀片8螺丝连接，刀片8两侧均有刀刃，转速为15000r/min，用于切割棉花顶心。
该一种悬臂式棉花打顶无人机的工作过程为：无人机加电、起飞后，电动推杆3伸长将悬臂4两端的刀片8伸长至无人机机体1脚架以下，无人机通过GPS定位系统调整无人机飞行高度和切割位置，电机6的输出轴带动刀片8高速旋转进行切割棉花顶心，无人机下降前，将悬臂4缩回，以避免刀片8触碰地面。
最后应当说明的是：以上实施例仅用以显示和描述本发明的基本原理、主要特征和本发明的优点，所属领域的普通技术人员应当了解，本发明不受上述实施例的限制，在不脱离本发明精神和范围的前提下，本发明还会有各种修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求范围当中。

Claims (5)

  1. 一种悬臂式棉花打顶无人机，其特征在于，包括：无人机机体(1)、挂载组件、打顶组件，所述挂载组件、打顶组件均搭载、固定于无人机机体(1)上；所述挂载组件包括电动推杆安装座(2)、电动推杆(3)、悬臂(4)、电机安装座(5)，电动推杆安装座(2)与无人机机体(1)底部螺栓连接，电动推杆(3)上端与电动推杆安装座(2)螺栓连接，用于伸出和缩回悬臂(4)，以便于无人机起飞降落，悬臂(4)与电动推杆(3)下端螺栓连接，电机安装座(5)在悬臂(4)的两端各有一个，与悬臂(4)上平面螺栓连接；所述打顶组件包括电机(6)、连接轴(7)、刀片(8)，电机(6)在悬臂(4)的两端各有一个，均与电机安装座(5)螺栓连接，2个电机的输出轴与连接轴(7)通过联轴器连接，连接轴(7)在悬臂(4)的下方与刀片(8)螺丝连接，刀片(8)两侧均有刀刃，用于切割棉花顶心。
  2. 根据权利要求1所述的一种悬臂式棉花打顶无人机，其特征在于：所述无人机机体(1)为电动无人机机体、油动无人机机体、油电混动无人机机体中的一种。
  3. 根据权利要求1所述的一种悬臂式棉花打顶无人机，其特征在于：所述电动推杆(3)的长度调节范围为10cm～60cm。
  4. 根据权利要求1所述的一种悬臂式棉花打顶无人机，其特征在于：所述悬臂(4)的长度调节范围为1.0m～3.5m。
  5. 根据权利要求1所述的一种悬臂式棉花打顶无人机，其特征在于：所述刀片(8)的转速为12000r/min～18000r/min。
PCT/CN2020/112627 2019-11-27 2020-08-31 一种悬臂式棉花打顶无人机 WO2021103723A1 (zh)

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