Unmanned aerial vehicle's hoist subassembly
阅读说明:本技术 一种无人机的吊具组件 (Unmanned aerial vehicle's hoist subassembly ) 是由 崔海信 高飞 崔博 王琰 张燕卿 于 2019-12-04 设计创作,主要内容包括:本发明涉及一种无人机的吊具组件。本发明所述吊具组件包括主连接板、磁吸盘、快插接头和喷杆,其中,所述磁吸盘与所述主连接板固定连接,所述磁吸盘的磁吸面朝向所述主连接板的上方;所述快插接头与所述主连接板固定连接,所述快插接头的一端接口朝向所述主连接板的上方,另一端连通所述喷杆上的喷嘴;所述喷杆与所述主连接板连接,所述喷杆上设有喷嘴。本发明无人机的吊具组件设计成主动脱扣式结构,在无人机飞行遇阻时,喷洒吊具可自动脱落,能够保证无人机的安全。(The invention relates to a lifting appliance assembly of an unmanned aerial vehicle. The lifting appliance assembly comprises a main connecting plate, a magnetic suction disc, a quick connector and a spray rod, wherein the magnetic suction disc is fixedly connected with the main connecting plate, and a magnetic suction surface of the magnetic suction disc faces to the upper part of the main connecting plate; the quick connection-peg is fixedly connected with the main connecting plate, a port at one end of the quick connection-peg faces the upper part of the main connecting plate, and the other end of the quick connection-peg is communicated with a nozzle on the spray rod; the spray rod is connected with the main connecting plate, and a nozzle is arranged on the spray rod. The lifting appliance component of the unmanned aerial vehicle is designed into an active tripping structure, so that the spraying lifting appliance can automatically drop when the unmanned aerial vehicle encounters a blockage during flying, and the safety of the unmanned aerial vehicle can be ensured.)
1. A lifting appliance component is characterized by comprising a main connecting plate, a magnetic suction disc, a quick-connection connector and a spraying rod, wherein,
the magnetic suction disc is fixedly connected with the main connecting plate, and the magnetic suction surface of the magnetic suction disc faces to the upper part of the main connecting plate;
the quick connection-peg is fixedly connected with the main connecting plate, a port at one end of the quick connection-peg faces the upper part of the main connecting plate, and the other end of the quick connection-peg is communicated with a nozzle on the spray rod;
the spray rod is connected with the main connecting plate, and a nozzle is arranged on the spray rod.
2. The spreader assembly according to claim 1, further comprising a telescopic device and a flexible fluid line, wherein the spray bar is connected to the main connection plate through the telescopic device, and the quick connector is communicated with the nozzle on the spray bar through the flexible fluid line.
3. The spreader assembly according to claim 2, wherein the telescopic device comprises a telescopic driving device and a telescopic rod, and the telescopic driving device drives the telescopic rod to extend and retract up and down.
4. The spreader assembly according to claim 3, wherein the telescopic drive is an electric screw-nut drive or a steering servo motor.
5. A spreader assembly according to claim 3 or 4, wherein the telescopic rod is a multi-joint combined telescopic rod structure or a parallelogram telescopic link structure.
6. The lifting appliance component according to claim 5, wherein the electric screw and nut transmission mechanism comprises a steering engine or a motor, a coupler, a positive and negative tooth driving screw, a guide rod, a driving slider nut-left-handed rotation and a driving slider nut-right-handed rotation, the steering engine is connected with the positive and negative tooth driving screw through the coupler, the positive and negative tooth driving screw drives the driving slider nut-left-handed rotation and the driving slider nut-right-handed rotation which are sleeved on the positive and negative tooth driving screw to respectively move in opposite directions along the guide of the guide rod, the guide rod is fixedly connected with the main connecting plate, and the driving slider nut-left-handed rotation and the driving slider nut-right-handed rotation are respectively connected with the telescopic rods at two sides of the parallelogram telescopic connecting rod.
7. The spreader assembly according to claim 6, wherein the electric screw nut transmission mechanism further comprises a bearing seat beam, a front and back tooth driving screw end sliding bearing and a middle sliding bearing, the bearing seat beam is connected with the main connecting plate, the guide rod is fixedly connected with the bearing seat beam, the front and back tooth driving screw end sliding bearing is arranged at two ends of the front and back tooth driving screw, the middle sliding bearing is arranged at the middle part of the front and back tooth driving screw, and the front and back tooth driving screw end sliding bearing and the middle sliding bearing are both supported by the bearing seat beam.
8. The spreader assembly according to claim 6, wherein the parallelogram pantograph linkage is of one-stage or multi-stage construction.
9. The spreader assembly according to claim 6 or 7, wherein the electric screw nut transmission further comprises a travel switch, and the travel switch is provided at the end of the left-hand or right-hand travel of the driving slider nut.
10. The spreader assembly according to claim 5, wherein a steering servo motor is provided at the lower end of the telescopic rod, the steering servo motor being connected to the spray bar to drive the spray bar to steer.
11. A spreader assembly according to any one of claims 1 to 4 or 6 to 8 or 10, wherein the spray bars are provided with a concave portion through which the spray bars are connected to the main connection plate, and the nozzles are provided on a non-concave portion.
12. The spreader assembly according to any one of claims 2 to 4 or 6 to 8 or 10, wherein the flexible infusion line comprises a telescopic helical spring tube, the telescopic helical spring tube is arranged in parallel with the telescopic device, the upper end of the telescopic helical spring tube is connected with the quick connector, and the lower end of the telescopic helical spring tube is connected with the nozzle.
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a lifting appliance assembly of an unmanned aerial vehicle.
Background
Because the labor cost of rural areas in China rises and most of the culturable land is fragmented and distributed, the plant protection unmanned aerial vehicle with certain flexibility and strong regional adaptability starts to be popularized and used on a large scale in recent years, however, in the operation process of the unmanned aerial vehicle, fog drop drifting is serious due to the influence of a rotor wing wind field and a natural wind field, and particularly when herbicide is used, the large-area phytotoxicity of different adjacent crop plots is caused, so that the comprehensive popularization and use of the plant protection unmanned aerial vehicle are limited. Statistics show that aerial sprays can cause 50% -75% of the droplets of the liquid medicine to drift and fail to reach the target area, while ground sprays are only 10% -35%.
The flight height of the plant protection unmanned aerial vehicle is an important factor influencing the fog drop drifting degree of a rotor wind field and a natural wind field, but the problem of fog drop drifting in the spraying operation process cannot be effectively solved by adjusting the flight height of the plant protection unmanned aerial vehicle, and when the unmanned aerial vehicle flies higher, the fog drop drifting can be obviously caused by the turbulent wind field formed by the natural wind field and the rotor, and the deposit adhesion in a target area cannot be effectively realized; although can weaken the influence of natural wind field when unmanned aerial vehicle flight is lower, its self rotor turbulent flow wind field can cause the violent swing of crop canopy, and the droplet can not effectively adhere to and can take place the drift, and low flight height excessively can cause unmanned aerial vehicle to meet to hinder the crash moreover, causes the unnecessary loss.
Therefore, it is necessary to provide a new solution to one or more problems of overall loss or droplet drift caused by improper flying height and spraying setting of the unmanned aerial vehicle.
Disclosure of Invention
In view of this, the present invention aims to provide a technical solution that can solve one or more problems of complete machine loss or droplet drifting and the like of an aerial plant protection unmanned aerial vehicle due to improper flying height and spraying setting.
The invention provides a lifting appliance component which mainly comprises a main connecting plate, a magnetic suction disc, a quick-connection connector and a spraying rod, wherein,
the magnetic suction disc is fixedly connected with the main connecting plate, and the magnetic suction surface of the magnetic suction disc faces to the upper part of the main connecting plate;
the quick connection-peg is fixedly connected with the main connecting plate, a port at one end of the quick connection-peg faces the upper part of the main connecting plate, and the other end of the quick connection-peg is communicated with a nozzle on the spray rod;
the spray rod is connected with the main connecting plate, and a nozzle is arranged on the spray rod.
According to the technical scheme, the lifting appliance component can be hung on a tripping main hanging rack component with an on/off electricity keeping electromagnetic component of the unmanned aerial vehicle through the magnetic suction disc of the main connecting plate and the quick connector buckle, and the on/off electricity keeping electromagnetic component can lose magnetism to actively trip when the operation is blocked, so that the unmanned aerial vehicle can safely return to the home.
According to an embodiment of the invention, the spreader component further comprises a telescopic device and a flexible infusion pipeline, the spray rod is connected with the main connecting plate through the telescopic device, and the quick connector is communicated with a nozzle on the spray rod through the flexible infusion pipeline.
According to the technical scheme, the lifting appliance component can be contracted to the belly position of the unmanned aerial vehicle when the unmanned aerial vehicle does not operate, so that the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the lifting appliance component is downwards unfolded through the telescopic device, the height of the spray rod below the lifting appliance component can be reduced, the spray head is far away from the rotor wing and can be close to a crop canopy, and therefore the lifting appliance component can obviously reduce liquid drop drifting caused by self and a natural wind field, and further reduces dosage and unnecessary loss.
According to one embodiment of the invention, the telescopic device comprises a telescopic driving device and a telescopic rod, and the telescopic driving device drives the telescopic rod to extend and retract up and down.
According to one embodiment of the invention, the telescopic drive is an electric spindle nut drive or a steering servomotor.
According to an embodiment of the present invention, the telescopic rod is a multi-section combined telescopic rod structure or a parallelogram telescopic link structure.
The multi-section combination drawbar type telescoping structure may be similar to the drawbar structure of a luggage case.
According to one embodiment of the invention, the electric screw and nut transmission mechanism mainly comprises a steering engine (or a common motor), a coupler, a positive and negative tooth driving screw, a guide rod, a driving slider nut-left-handed rotation and a driving slider nut-right-handed rotation, wherein the steering engine is connected with the positive and negative tooth driving screw through the coupler, the positive and negative tooth driving screw drives the driving slider nut-left-handed rotation and the driving slider nut-right-handed rotation sleeved on the positive and negative tooth driving screw to respectively move in opposite directions along the guide direction of the guide rod, the guide rod is fixedly connected with the main connecting plate, and the driving slider nut-left-handed rotation and the driving slider nut-right-handed rotation are respectively connected with telescopic rods at two sides of the parallelogram telescopic connecting rod.
According to the technical scheme, when the nut moves towards the middle, the parallelogram telescopic connecting rod structure extends, and when the nut moves towards the two ends, the parallelogram telescopic connecting rod structure shortens.
According to an embodiment of the present invention, the electric screw nut transmission mechanism further includes a bearing seat beam, a front and back teeth driving screw end sliding bearing and a middle sliding bearing, the bearing seat beam is connected to the main connecting plate, the guide rod is fixedly connected to the bearing seat beam, the front and back teeth driving screw end sliding bearing is disposed at two ends of the front and back teeth driving screw, the middle sliding bearing is disposed at a middle portion of the front and back teeth driving screw, and the front and back teeth driving screw end sliding bearing and the middle sliding bearing are both supported by the bearing seat beam.
In an embodiment of the present invention, the parallelogram telescopic link has a one-stage or multi-stage structure. I.e. comprises one or more groups of parallel connecting rod structures pivoted up and down.
According to one embodiment of the invention, the electric screw nut transmission mechanism further comprises a travel switch, and the travel switch is arranged at the end of the left-hand or right-hand travel of the driving slider nut.
When the telescopic device ascends or descends to the travel switch, the telescopic device can be controlled to stop moving.
According to one embodiment of the invention, a steering servo motor is arranged at the lower end of the telescopic rod and connected with the spray rod to drive the spray rod to steer.
In the invention, the spray rod can be a long rod with a larger length span, so that the spraying range of the spray nozzle arranged on the spray rod is larger.
According to one embodiment of the invention, the middle of the spray bar is connected to the main connecting plate, and nozzles are arranged in the two side areas of the spray bar.
According to one embodiment of the invention, the spray bar is provided with a concave portion, the spray bar is connected with the main connecting plate through the concave portion by a telescopic device, and the nozzle is arranged on the non-concave portion.
According to an embodiment of the invention, the flexible infusion pipeline comprises a telescopic helical spring pipe, the telescopic helical spring pipe and the telescopic device are arranged in parallel, the upper end of the telescopic helical spring pipe is connected with the quick-connection plug, and the lower end of the telescopic helical spring pipe is connected with the nozzle.
According to the technical scheme, the lifting appliance component can be hung on a tripping main hanger component with an on/off electricity keeping electromagnetic component of the unmanned aerial vehicle through the magnetic suction disc of the main connecting plate and the quick connector buckle, and the on/off electricity keeping electromagnetic component can lose magnetism to actively trip when the operation is blocked, so that the unmanned aerial vehicle can safely return to the air; furthermore, the main body part of the lifting appliance assembly can be contracted to the belly position above the undercarriage when the unmanned aerial vehicle does not operate, so that the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the spray rod below the lifting appliance component is downwards unfolded through the telescopic device, the height of the spray rod can be reduced, the spray rod can turn to the direction perpendicular to the undercarriage, the spray head is far away from the rotor wing and can be close to a crop canopy, the lifting appliance component can obviously reduce liquid drop drifting caused by the self and a natural wind field, and further liquid consumption and unnecessary loss are reduced.
Drawings
Fig. 1 is a schematic front view (partially in perspective) of a spreader assembly according to an embodiment of the invention in an extended position with the spray bar parallel to the pivot pins;
FIG. 2 is a schematic top view of a spreader assembly according to an embodiment of the present invention in an extended position with the spray bar and pivot pins parallel;
fig. 3a is a schematic top view (partially in perspective) of a spreader assembly according to an embodiment of the present invention in an extended state with the spray bar and pivot pins parallel;
FIG. 3b is a partial enlarged view of FIG. 3a according to one embodiment of the present invention;
FIG. 4 is a schematic left side view of a spreader assembly according to an embodiment of the invention in an extended position with the spray bar parallel to the pivot pins;
FIG. 5 is a cross-sectional schematic view of the positive and negative teeth screw drive assembly D-D of FIG. 2 in accordance with one embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a sliding bearing C-C in the middle of the driving screw with positive and negative teeth of FIG. 2 according to an embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of a-A of the end sliding bearing of the positive and negative teeth driving screw of FIG. 2 according to one embodiment of the present invention;
FIG. 8 is a flow chart of a method of use according to an embodiment of the present invention;
FIG. 9 is a schematic illustration of a spreader assembly according to an embodiment of the invention in a contracted condition;
the reference numbers illustrate:
18 magnetic chucks, 25 main connecting plates, 26 quick connectors, 28 bearing seat beams, 30 end sliding bearings, 31 guide rods, 32 driving slide block nuts-left rotation, 33 middle sliding bearings, 35 driving slide block nuts-right rotation, 36 positive and negative tooth driving screw rods, 37 couplers, 38 steering engines, 40 travel switches, 401 descending stop travel switches, 402 ascending stop travel switches, 44 basic rotating pins, 46 middle rotating pins, 47 middle long rotating pins, 48 telescopic mechanism long connecting rods, 49 telescopic mechanism short connecting rods, 50 steering engine lifting pins, 52 steering servo motors, R spray rods, R1 concave parts, 59 telescopic spiral spring pipes, 60 reducing liquid separation tee joints, 61 inner spray head branch pipes and 62 outer spray head branch pipes.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
The invention aims to provide a lifting appliance component for a plant protection unmanned aerial vehicle, which is applied to the field of pesticide spraying or other fields, so as to effectively improve the target aiming accuracy of a spraying machine of the unmanned aerial vehicle, reduce the fogdrop drifting, automatically drop and ensure the safety of the unmanned aerial vehicle.
As shown in fig. 1, the present invention proposes a spreader assembly which mainly comprises a
The
The quick-
The spray rod R is connected with the main connecting
According to the technical scheme, the lifting appliance component can be hung on the tripping main hanging rack component with the outage holding electromagnetic component of the unmanned aerial vehicle through the magnetic suction disc of the main connecting plate and the quick connector buckle, and the outage holding electromagnetic component can lose magnetism to actively trip when the unmanned aerial vehicle is in operation and is blocked, so that the unmanned aerial vehicle can safely return to the home.
According to an embodiment of the present invention, the spreader assembly further includes a telescopic device and a flexible infusion pipeline, the spray rod is connected to the main connection plate through the telescopic device, and the
According to the technical scheme, the lifting appliance assembly can be further retracted to the belly position above the undercarriage when the operation is not carried out, and the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the lifting appliance component is downwards unfolded through the telescopic device, the height of the spray rod can be reduced, the spray head is far away from the rotor wing and can be close to a crop canopy, the lifting appliance component can obviously reduce liquid drop drifting caused by self and a natural wind field, and further the dosage and unnecessary loss are reduced.
According to one embodiment of the invention, the telescopic device comprises a telescopic driving device and a telescopic rod, and the telescopic driving device drives the telescopic rod to extend and retract up and down.
According to one embodiment of the invention, the telescopic drive is an electric spindle nut drive or a steering servomotor.
According to an embodiment of the present invention, the telescopic rod is a multi-section combined telescopic rod structure or a parallelogram telescopic link structure.
The multi-section combination drawbar type telescoping structure may be similar to the drawbar structure of a luggage case.
As shown in fig. 2 and 5, according to an embodiment of the present invention, the electric screw-nut transmission mechanism mainly includes a steering engine 38 (or a common motor), a
According to an embodiment of the present invention, in order to limit the degree of freedom of the telescopic rod in the rotation direction around the axis of the forward and backward tooth driving screw, guide
As can be seen from fig. 2 and 5, in the above-described embodiment, when the nuts 32, 35 are moved toward the middle, the parallelogram pantograph linkages can be extended, and when the nuts are moved toward the opposite ends, the parallelogram linkages can be shortened. The extended state of the parallelogram pantograph linkages is shown in fig. 1 and 4, and the shortened state of the parallelogram linkages is shown in fig. 9.
In an embodiment of the present invention, the parallelogram telescopic link has a one-stage or multi-stage structure. I.e. comprises one or more groups of parallel connecting rod structures pivoted up and down. As shown in fig. 1, this embodiment comprises a multi-stage parallel linkage configuration.
As shown in fig. 1 and 4, according to an embodiment of the present invention, the parallelogram telescopic links can be connected by a pivot pin, for example, a
As shown in fig. 2, 5 and 7, according to an embodiment of the present invention, the electric screw-nut transmission further includes a
According to one embodiment of the present invention, the forward and reverse drive screws are three-point supported by bearings at both ends and in the middle. The intermediate
As shown in fig. 3a, 3b, according to an embodiment of the present invention, the electric screw-nut transmission mechanism may further include a
According to an embodiment of the present invention, the
When the telescopic device ascends or descends to the travel switch, the stop motion of the telescopic device can be controlled through signal detection and transmission.
According to an embodiment of the present invention, the driving screw assembly of the front and back teeth drives the multi-stage parallelogram telescopic link rod in a manner that: the steering engine can drive the positive and negative screw rods to rotate through the single diaphragm coupler, when the steering engine rotates clockwise, the nuts on the two sides are folded towards the middle, the parallelogram connecting rod in the lifting appliance component is driven to be unfolded downwards, the height of the spray rod is reduced, the nut on the left side moves to the rightmost end, the travel switch is pressed down to stop descending, and the height of the spray rod is reduced to the lowest; when anticlockwise rotating, the nuts on the two sides are separated towards the two sides, the parallelogram connecting rod in the lifting appliance component is driven to be folded upwards, the height of the spray rod is lifted, the left nut can be pressed down to lift the travel switch when moving to the leftmost end, and the spray rod is folded.
According to an embodiment of the present invention, a
Spray lance R accessible bolt pair is installed on the rocking arm that turns to
According to one embodiment of the invention, as shown in fig. 1, the spray bar R is provided with a concave portion R1, the spray bar R is connected to the
The width of the concave part of the concave rod piece takes the landing and the taking off of the unmanned aerial vehicle as the standard without influencing after the lifting appliance component is completely contracted.
According to one embodiment of the invention, the boom bar is retracted below the belly and above and parallel to the landing gear, wherein the parallelogram linkages of the spreader assembly turn 90 degrees when deployed or retracted.
According to one embodiment of the invention, the boom bar is retracted to lie immediately below and perpendicular to the landing gear, wherein the parallelogram linkages of the spreader assembly do not steer when deployed or retracted.
As shown in FIG. 1, according to an embodiment of the present invention, the flexible infusion tube may include a flexible
As shown in FIG. 1, the liquid delivery pipeline at the spray bar may include a variable diameter
The flexible liquid conveying pipeline can be provided with a plurality of sets according to the arrangement of the nozzles, and the arrangement form is determined according to the shapes of the spray rod and the nozzles. According to one embodiment of the invention, the flexible infusion line is a symmetrical left and right line. Correspondingly, the fast plug connectors and the like can also be in multiple groups.
According to the technical scheme, the lifting appliance component can be hung on a tripping main hanger component of the unmanned aerial vehicle through a magnetic suction disc of a main connecting plate and a quick connector buckle, the tripping main hanger component is provided with an on/off electricity keeping electromagnetic component, and the lifting appliance component can be actively tripped by enabling the on/off electricity keeping electromagnetic component to lose magnetism when the operation is blocked, so that the unmanned aerial vehicle can safely return to the home; furthermore, the lifting appliance component can be retracted to the belly position above the undercarriage when the unmanned aerial vehicle does not operate, so that the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the lifting appliance component is downwards unfolded through the telescopic device, the height of the spray rod can be reduced, the spray rod can turn to the direction perpendicular to the undercarriage, the spray head is far away from the rotor wing and can be close to a crop canopy, the lifting appliance component can obviously reduce liquid drop drifting caused by the lifting appliance component and a natural wind field, and liquid consumption and unnecessary loss are reduced.
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
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