WO2024008207A1 - 一种农业植保无人机 - Google Patents

一种农业植保无人机 Download PDF

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Publication number
WO2024008207A1
WO2024008207A1 PCT/CN2023/111514 CN2023111514W WO2024008207A1 WO 2024008207 A1 WO2024008207 A1 WO 2024008207A1 CN 2023111514 W CN2023111514 W CN 2023111514W WO 2024008207 A1 WO2024008207 A1 WO 2024008207A1
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WO
WIPO (PCT)
Prior art keywords
fixedly connected
unmanned aerial
agricultural plant
aerial vehicle
plant protection
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PCT/CN2023/111514
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English (en)
French (fr)
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WO2024008207A9 (zh
Inventor
胡秀琴
沈纪云
Original Assignee
六安祥川科技有限公司
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Priority to PCT/CN2023/111514 priority Critical patent/WO2024008207A1/zh
Publication of WO2024008207A1 publication Critical patent/WO2024008207A1/zh
Publication of WO2024008207A9 publication Critical patent/WO2024008207A9/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • 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
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides

Definitions

  • the invention relates to the technical field of plant protection drones, and in particular to an agricultural plant protection drone.
  • Plant protection UAV also known as unmanned aerial vehicle, as the name suggests, is an unmanned aircraft used for agricultural and forestry plant protection operations.
  • This type of unmanned aircraft consists of a flying platform (fixed wing, helicopter, multi-copter aircraft), navigation flight control, and spraying mechanism. It consists of three parts. It can realize spraying operations through ground remote control or navigation flight control. It can spray chemicals, seeds, powders, etc.
  • “agricultural drones” with a broader meaning are gradually replacing “plant protection drones”.
  • Agricultural drones are not only used for spraying pesticides, but also for spreading fertilizer, seeds, and Feed and other tasks can meet the diverse needs of farmers and improve production efficiency.
  • Many drone companies are actively exploring agricultural solutions based on drone technology to jointly promote the development, innovation and progress of global agriculture.
  • Chinese patent document CN211943745U discloses an agricultural plant protection drone, which includes a drone body.
  • the inner cavity of the drone body is provided with two grooves.
  • the outer end of the drone body is symmetrically provided with six connections.
  • One end of the rod and the other ends of the six connecting rods are equipped with rotors.
  • the inner ends of the rotors are equipped with motors.
  • the bottoms of the other ends of the four connecting rods at both ends are equipped with nozzles.
  • the drone body A pesticide box is provided in a groove, a battery box is provided in another groove of the drone body, and fixing mechanisms are provided on both sides of the top of the drone body.
  • the above-mentioned agricultural plant protection drone detects the ground height and surrounding obstacles through detection radar to prevent the drone from being damaged.
  • the fixing mechanism the pesticide box and battery box can be conveniently fixed and disassembled, which is practical strong; however, there are still the following shortcomings in the specific implementation process:
  • the drone needs to be manually added with water and medicine, which is relatively inconvenient.
  • the hose is not fixed during use, which may lead to uneven delivery of medicine, resulting in incomplete spraying, and the position of the nozzle is fixed.
  • the inability to move results in a low utilization rate of spraying the medicine.
  • the main purpose of the present invention is to provide an agricultural plant protection drone, which can effectively solve the problem of lack of fixed hoses and immovable nozzles.
  • An agricultural plant protection drone an agricultural plant protection drone, includes a drone shell, six brackets are fixedly connected to the outer surface of the drone shell, and propellers are fixedly connected to the upper ends of the six brackets, so A medicine tank is fixedly connected to the lower end of the drone casing, a chassis is fixedly connected to the lower end of the medicine tank, a water pump is fixedly connected to the upper end of the chassis, a water pump is fixedly connected to the front end of the water pump, and a water pump is fixedly connected to the upper end of the chassis. There is a driving mechanism, and a spraying mechanism is engaged and connected at the rear of the driving mechanism.
  • the driving mechanism includes a motor.
  • the output end of the motor is rotatably connected to a first bevel gear through a coupling.
  • the outer surface of the first bevel gear is meshed with a second bevel gear.
  • the second bevel gear is engaged with the second bevel gear.
  • a rotating shaft is fixedly connected to the inner surface, a fixed sleeve is connected to the outer surface of the rotating shaft, and a worm is fixedly connected to the upper end of the rotating shaft.
  • the spraying mechanism includes a connecting rod, a sprayer is fixedly connected to the lower end of the connecting rod, two hoses are fixedly connected to the front of the sprayer, and two hoses are movably connected to the outer surfaces of the two hoses. a fixed mechanism.
  • the sprayer is provided with two fixed sleeves, the inner surfaces of the two fixed sleeves are rotatably connected to hard tubes, the outer surfaces of the hard tubes are fixedly connected to worm gears, and the lower ends of the hard tubes are fixedly connected to Four sprinkler heads.
  • the fixing mechanism includes a connecting head and four arc-shaped plates.
  • the lower end of the connecting head is fixedly connected to the upper end of the arc-shaped plate.
  • the inner surfaces of the four arc-shaped plates are fixedly connected with silicone pads.
  • One end of the arc-shaped plates that is close to each other is fixedly connected with an arc-shaped telescopic rod.
  • the outer surface of the worm gear is meshed with the outer surface of the worm.
  • the present invention has the following beneficial effects:
  • This device is equipped with a driving mechanism and a spraying mechanism.
  • the two cooperate with each other to achieve the effect of vertical swing of the sprinkler head.
  • the mode of swinging and spraying allows the medicine to contact the plants in a wider range.
  • It is equipped with a water pump and a water pipe.
  • the drone can be controlled to fly over the container containing the potion and the potion can be pumped into the potion tank, saving time and improving the practicality of the plant protection drone.
  • This device is equipped with a fixing mechanism to fix the hose connected to the sprinkler head. This can avoid the situation where the height of the hose or the extended length of the hose is too long, which affects the liquid delivery process. Keep the hose with the most suitable length after adjustment straight. The fixed position improves the work efficiency of plant protection drones.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic diagram of the overall structure of the present invention from another perspective
  • FIG. 3 is a schematic diagram of the driving mechanism of the present invention.
  • Figure 4 is a schematic diagram of the spray mechanism of the present invention.
  • FIG. 5 is a schematic diagram of the sprayer of the present invention.
  • Figure 6 is a schematic diagram of the fixing mechanism of the present invention.
  • an agricultural plant protection drone includes a drone shell 1.
  • Six brackets 3 are fixedly connected to the outer surface of the drone shell 1, and propellers 2 are fixedly connected to the upper ends of the six brackets 3.
  • a medicine tank 4 is fixedly connected to the lower end of the drone casing 1.
  • the medicine tank 4 stores the medicine used for spraying inside.
  • a base frame 5 is fixedly connected to the lower end of the medicine tank 4.
  • An elastic ring is provided on the base frame 5 to provide cushioning when landing.
  • a water pump 6 is fixedly connected to the upper end of the bottom frame 5, and the water pump 6 pumps the configured medicine into the medicine tank 4 through a water pumping pipe 7.
  • a water pumping pipe 7 is fixedly connected to the front end of the water pump 6, and a driving mechanism 9 is fixedly connected to the upper end of the bottom frame 5.
  • the driving mechanism 9 is used to drive the spraying mechanism 8 to swing vertically.
  • the rear part of the driving mechanism 9 is engaged and connected with the spraying mechanism 8.
  • the function of the spraying mechanism 8 is to spray the liquid medicine.
  • the driving mechanism 9 includes a motor 91.
  • the output end of the motor 91 is connected to a bevel gear 92 through a coupling.
  • the outer surface of the bevel gear 92 is meshed with a bevel gear 2 93 .
  • the inner surface of the bevel gear 93 is fixedly connected to a rotating shaft 94 .
  • the outer surface of the rotating shaft 94 is connected to a fixed sleeve 95 .
  • the upper end of the rotating shaft 94 is fixedly connected to a worm. 96.
  • the first bevel gear 92 rotates under the action of the motor to drive the second bevel gear 93 meshed with it to rotate, thereby causing the worm 96 located on the same rotation axis 94 as the second bevel gear 93 to rotate.
  • the spraying mechanism 8 includes a connecting rod 81, a sprayer 82 is fixedly connected to the lower end of the connecting rod 81, two hoses 83 are fixedly connected to the front of the sprayer 82, and two fixing mechanisms 84 are movably connected to the outer surfaces of the two hoses 83. .
  • the sprayer 82 is provided with two fixed sleeves 821.
  • the inner surfaces of the two fixed sleeves 821 are rotatably connected to a hard pipe 822.
  • the outer surface of the hard pipe 822 is fixedly connected to a worm gear 823.
  • the lower end of the hard pipe 822 is fixedly connected to four sprinkler heads. 824.
  • the outer surface of the worm gear 823 is meshed with the outer surface of the worm 96 .
  • the worm 96 meshes with the worm gear 823.
  • the worm 96 rotates laterally under the action of the motor 91, it will drive the worm gear 823 to rotate longitudinally.
  • the inner surface of sleeve 821 swings vertically, thereby driving the four spray heads 824 located on the hard pipe 822 to swing vertically to spray the liquid medicine.
  • the fixing mechanism 84 includes a connector 841 and four arc-shaped plates 842.
  • the lower end of the connector 841 and the arc-shaped plates 842 The upper ends are fixedly connected, the inner surfaces of the four arc-shaped plates 842 are fixedly connected with silicone pads 843, and the ends of the four arc-shaped plates 842 that are close to each other are fixedly connected with arc-shaped telescopic rods 844.
  • the hose for transporting the potion is placed in the inner cavity of the fixing mechanism 84.
  • the arc plate 842 is pulled, and the arc telescopic rod 844 opens outward under the action of tension, and the length of the hose can be adjusted.
  • the working principle of the present invention start the air pump 6 and pump the liquid into the liquid tank 4 through the water pumping pipe 7 .
  • the hose for transporting the potion is placed in the inner cavity of the fixing mechanism 84.
  • Pull the arc plate 842, and the arc telescopic rod 844 opens outwards under the pulling force. Adjust the length of the hose. After the adjustment is completed, move the arc plate 842 inward. Push tight to secure the hose for better potion transportation.
  • the first bevel gear 92 rotates under the action of the motor to drive the second bevel gear 93 meshed with it to rotate, thereby causing the worm 96 located on the same rotation axis 94 as the second bevel gear 93 to rotate.
  • the worm 96 meshes with the worm gear 823.
  • the worm 96 rotates laterally under the action of the motor 91, it will drive the worm gear 823 to rotate longitudinally.
  • the inner surface of sleeve 821 swings vertically, thereby driving the four spray heads 824 located on the hard pipe 822 to swing vertically to spray the liquid medicine.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Catching Or Destruction (AREA)

Abstract

本发明公开了一种农业植保无人机，具体涉及植保无人机技术领域，包括无人机外壳，所述无人机外壳外表面固定连接有六个支架，所述无人机外壳下端固定连接有药水箱，所述药水箱下端固定连接有底架，所述底架上端固定连接有水泵，所述水泵前端固定连接有抽水管，所述底架上端固定连接有驱动机构，所述驱动机构后部啮合连接有喷洒机构。本发明所述的一种农业植保无人机，有驱动机构和喷洒机构，相互配合使喷洒头达到边竖直摆动边喷洒的效果，有水泵和抽水管，药水消耗殆尽时，飞到装有药水的容器上方将药水抽入药水箱中，有固定机构，把与喷洒头连接的软管固定住，更好地输送药水，提升了植保无人机的效率和实用性。

Description

一种农业植保无人机 技术领域
本发明涉及植保无人机技术领域，特别涉及一种农业植保无人机。
 背景技术
植保无人机，又名无人飞行器，顾名思义是用于农林植物保护作业的无人驾驶飞机，该型无人飞机由飞行平台（固定翼、直升机、多轴飞行器）、导航飞控、喷洒机构三部分组成，通过地面遥控或导航飞控，来实现喷洒作业，可以喷洒药剂、种子、粉剂等。随着无人机技术高速发展，更具广泛意义的“农业无人机”逐步替代“植保无人机”，农业无人机不仅用于喷洒施药，还能进行撒肥、撒种、撒饲料等多种工作，满足农户多样化需求，提高生产效率，多家无人机公司正在积极探索基于无人机技术的农业解决方案，共同推动全球农业的发展革新和进步。
中国专利文献CN211943745U公开了一种农业植保无人机，包括无人机机体，所述无人机机体的内腔开设有两个凹槽，所述无人机机体的外端对称设置有六根连接杆的一端，六根所述连接杆的另一端均设置有旋翼，所述旋翼的内端设置有电机，两端的四个所述连接杆的另一端底部均设置有喷头，所述无人机机体的凹槽设置有农药箱，所述无人机机体的另一个凹槽设置有电池箱，所述无人机机体的顶端两侧均设置有固定机构。上述农业植保无人机，在工作过程中，通过检测雷达对地面高度和周围障碍物进行检测，防止无人机受损，通过固定机构，可以方便对农药箱和电池箱进行固定和拆卸，实用性强；但是在具体实施过程中还存在以下缺陷：
上述专利文献在实施过程中需要人工对无人机进行加水加药，较为不便，使用过程中对软管缺少固定，可能会出现药水输送不均而导致喷洒不彻底的情况，且喷头位置固定，不能移动导致对药水的喷洒利用率较低。
 发明内容
本发明的主要目的在于提供一种农业植保无人机，可以有效解决软管缺少固定、喷头不能移动的问题。
为实现上述目的，本发明采取的技术方案为：
一种农业植保无人机，一种农业植保无人机，包括无人机外壳，所述无人机外壳外表面固定连接有六个支架，六个所述支架上端均固定连接有螺旋桨，所述无人机外壳下端固定连接有药水箱，所述药水箱下端固定连接有底架，所述底架上端固定连接有水泵，所述水泵前端固定连接有抽水管，所述底架上端固定连接有驱动机构，所述驱动机构后部啮合连接有喷洒机构。
优选的，所述驱动机构包括电机，所述电机的输出端通过联轴器转动连接有伞形齿轮一，所述伞形齿轮一外表面啮合连接有伞形齿轮二，所述伞形齿轮二内表面固定连接有转动轴，所述转动轴外表面转动连接有固定套二，所述转动轴上端固定连接有蜗杆。
优选的，所述喷洒机构包括连杆，所述连杆下端固定连接有洒药器，所述洒药器前部固定连接有两个软管，两个所述软管外表面活动连接有两个固定机构。
优选的，所述洒药器设置有两个固定套一，两个所述固定套一内表面转动连接有硬管，所述硬管外表面固定连接有蜗轮，所述硬管下端固定连接有四个喷洒头。
优选的，所述固定机构包括连接头和四个弧形板，所述连接头下端与弧形板上端固定连接，四个所述弧形板内表面均固定连接有硅胶垫，四个所述弧形板两两之间相互靠近的一端均固定连接有弧形伸缩杆。
优选的，所述蜗轮外表面与蜗杆外表面啮合连接。
与现有技术相比，本发明具有如下有益效果：
本装置设置了驱动机构和喷洒机构，二者相互配合使喷洒头达到竖直摆动的效果，边摆动边喷洒的模式，使药水可以更大范围的的接触到植物，设置了水泵和抽水管，在药水消耗殆尽时，控制无人机飞到装有药水的容器上方，即可将药水抽入药水箱中，节约时间，提升了植保无人机的实用性。
本装置设置了固定机构，将与喷洒头连接的软管固定住，可以避免出现由于软管高低起伏或是伸出长度过长影响药水输送进程的情况，把调整过后长度最合适的软管笔直的固定住，提高了植保无人机工作效率。
 附图说明
图1为本发明的整体结构示意图；
图2为本发明的整体结构另一视角示意图；
图3为本发明的驱动机构示意图；
图4为本发明的喷洒机构示意图；
图5为本发明的洒药器示意图；
图6为本发明的固定机构示意图。
图中：1、无人机外壳；2、螺旋桨；3、支架；4、药水箱；5、底架；6、水泵；7、抽水管；8、喷洒机构；81、连杆；82、洒药器；821、固定套一；822、硬管；823、蜗轮；824、喷洒头；83、软管；84、固定机构；841、连接头；842、弧形板；843、硅胶垫；844、弧形伸缩杆；9、驱动机构；91、电机；92、伞形齿轮一；93、伞形齿轮二；94、转动轴；95、固定套二；96、蜗杆。
 具体实施方式
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。
如图1-2所示，一种农业植保无人机，包括无人机外壳1，无人机外壳1外表面固定连接有六个支架3，六个支架3上端均固定连接有螺旋桨2，无人机外壳1下端固定连接有药水箱4，药水箱4内部储存喷洒所用药水，药水箱4下端固定连接有底架5，底架5上设置有弹性圈，降落时起到缓震的作用，底架5上端固定连接有水泵6，水泵6将配置好的药水通过抽水管7抽入药水箱4中，水泵6前端固定连接有抽水管7，底架5上端固定连接有驱动机构9，驱动机构9用于驱动喷洒机构8来进行竖向摆动，驱动机构9后部啮合连接有喷洒机构8，喷洒机构8的作用是将药水喷洒出去。
为了使喷洒头达到竖直摆动的效果，可以进行边摆动边喷洒，参阅图3-5，驱动机构9包括电机91，电机91的输出端通过联轴器转动连接有伞形齿轮一92，伞形齿轮一92外表面啮合连接有伞形齿轮二93，伞形齿轮二93内表面固定连接有转动轴94，转动轴94外表面转动连接有固定套二95，转动轴94上端固定连接有蜗杆96。
启动电机91，伞形齿轮一92在电机的作用下发生旋转来带动与之啮合的伞形齿轮二93进行旋转，从而使与伞形齿轮二93位于同一转动轴94上的蜗杆96进行旋转。
喷洒机构8包括连杆81，连杆81下端固定连接有洒药器82，洒药器82前部固定连接有两个软管83，两个软管83外表面活动连接有两个固定机构84。
洒药器82设置有两个固定套一821，两个固定套一821内表面转动连接有硬管822，硬管822外表面固定连接有蜗轮823，硬管822下端固定连接有四个喷洒头824。
蜗轮823外表面与蜗杆96外表面啮合连接。
蜗杆96与蜗轮823啮合，当蜗杆96在电机91的作用下发生横向转动时，会带动蜗轮823纵向转动，我们只需要调整电机91的输出时长和方向，就可以使硬管822在两个固定套一821内表面做出竖向的摆动，从而带动位于硬管822上的四个喷洒头824竖向摆动，来进行药水的喷洒。
为了避免出现由于软管高低起伏或是伸出长度过长影响药水输送进程的情况，参阅图6，固定机构84包括连接头841和四个弧形板842，连接头841下端与弧形板842上端固定连接，四个弧形板842内表面均固定连接有硅胶垫843，四个弧形板842两两之间相互靠近的一端均固定连接有弧形伸缩杆844。
运输药水的软管放置于固定机构84的内腔，需要调节软管长度时，拉动弧形板842，弧形伸缩杆844在拉力作用下向外打开，即可调整软管长度，调整完毕后，将弧形板842向内推紧，即可将软管固定，更好地进行药水的运输。
需要说明的是，本发明中电机91、水泵6的具体安装方法方式、油路的连接方式和电路的连接方式以及控制方法均属常规设计，本发明不作详细阐述。
本发明的工作原理：启动气泵6，将药水通过抽水管7抽入药水箱4中。
运输药水的软管放置于固定机构84的内腔，拉动弧形板842，弧形伸缩杆844在拉力作用下向外打开，调整好软管长度，调整完毕后，将弧形板842向内推紧，即可将软管固定，更好地进行药水的运输。
启动电机91，伞形齿轮一92在电机的作用下发生旋转来带动与之啮合的伞形齿轮二93进行旋转，从而使与伞形齿轮二93位于同一转动轴94上的蜗杆96进行旋转。
蜗杆96与蜗轮823啮合，当蜗杆96在电机91的作用下发生横向转动时，会带动蜗轮823纵向转动，我们只需要调整电机91的输出时长和方向，就可以使硬管822在两个固定套一821内表面做出竖向的摆动，从而带动位于硬管822上的四个喷洒头824竖向摆动，来进行药水的喷洒。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (6)

  1. 一种农业植保无人机，包括无人机外壳（1），其特征在于：所述无人机外壳（1）外表面固定连接有六个支架（3），六个所述支架（3）上端均固定连接有螺旋桨（2），所述无人机外壳（1）下端固定连接有药水箱（4），所述药水箱（4）下端固定连接有底架（5），所述底架（5）上端固定连接有水泵（6），所述水泵（6）前端固定连接有抽水管（7），所述底架（5）上端固定连接有驱动机构（9），所述驱动机构（9）后部啮合连接有喷洒机构（8）。
  2. 根据权利要求1所述的一种农业植保无人机，其特征在于：所述驱动机构（9）包括电机（91），所述电机（91）的输出端通过联轴器转动连接有伞形齿轮一（92），所述伞形齿轮一（92）外表面啮合连接有伞形齿轮二（93），所述伞形齿轮二（93）内表面固定连接有转动轴（94），所述转动轴（94）外表面转动连接有固定套二（95），所述转动轴（94）上端固定连接有蜗杆（96）。
  3. 根据权利要求1所述的一种农业植保无人机，其特征在于：所述喷洒机构（8）包括连杆（81），所述连杆（81）下端固定连接有洒药器（82），所述洒药器（82）前部固定连接有两个软管（83），两个所述软管（83）外表面活动连接有两个固定机构（84）。
  4. 根据权利要求2所述的一种农业植保无人机，其特征在于：所述洒药器（82）设置有两个固定套一（821），两个所述固定套一（821）内表面转动连接有硬管（822），所述硬管（822）外表面固定连接有蜗轮（823），所述硬管（822）下端固定连接有四个喷洒头（824）。
  5. 根据权利要求3所述的一种农业植保无人机，其特征在于：所述固定机构（84）包括连接头（841）和四个弧形板（842），所述连接头（841）下端与弧形板（842）上端固定连接，四个所述弧形板（842）内表面均固定连接有硅胶垫（843），四个所述弧形板（842）两两之间相互靠近的一端均固定连接有弧形伸缩杆（844）。
  6. 根据权利要求4所述的一种农业植保无人机，其特征在于：所述蜗轮（823）外表面与蜗杆（96）外表面啮合连接。
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