Unmanned aerial vehicle, special spraying system thereof and use method
阅读说明:本技术 一种无人机及其专用喷雾系统与使用方法 (Unmanned aerial vehicle, special spraying system thereof and use method ) 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及其专用喷雾系统与使用方法。本发明所述喷雾系统包括脱扣式主挂架组件和吊具组件,脱扣式主挂架组件包括脱扣母块,其上设有通/断电保持电磁组件、预压力顶出组件和液腔,通/断电保持电磁组件在通/断电时具有磁性,在断/通电后失去磁性;预压力顶出组件能够储存弹性预压力;液腔设有快插连接口;吊具组件包括磁吸盘、压下面、快插接头和喷杆,磁吸盘与所述通/断电保持电磁组件磁吸连接,快插接头与所述快插连接口适配连接,压下面与所述预压力顶出组件相配合,压下面对预压力顶出组件施加弹性预压力;喷杆上设有喷嘴。本发明可有效提高无人机喷洒机具对靶精准率,减少雾滴漂移,同时保证无人机安全。(The invention relates to an unmanned aerial vehicle, a special spraying system thereof and a using method thereof. The spraying system comprises a trip type main hanger assembly and a lifting appliance assembly, wherein the trip type main hanger assembly comprises a trip female block, and an on/off power keeping electromagnetic assembly, a pre-pressure ejection assembly and a liquid cavity are arranged on the trip female block; the pre-pressure ejection assembly can store elastic pre-pressure; the liquid cavity is provided with a quick-insertion connecting port; the lifting appliance component comprises a magnetic chuck, a pressing surface, a quick connection and disconnection face and a spray rod, the magnetic chuck is in magnetic attraction connection with the on/off power keeping electromagnetic component, the quick connection and disconnection face is in adaptive connection with the quick connection and disconnection face, the pressing surface is matched with the pre-pressure ejection component, and the pressing surface applies elastic pre-pressure to the pre-pressure ejection component; the spray rod is provided with a nozzle. The invention can effectively improve the target aligning precision of the unmanned aerial vehicle spraying machine, reduce the fogdrop drifting and ensure the safety of the unmanned aerial vehicle.)
1. A spray system comprising a trip type main hanger assembly and a spreader assembly, wherein,
the tripping type main hanger assembly comprises a tripping female block, wherein an on/off power keeping electromagnetic assembly, a pre-pressure ejection assembly and a liquid cavity are arranged on the tripping female block, the on/off power keeping electromagnetic assembly has magnetism when being powered on/off, and loses magnetism after being powered off/on; the pre-pressure ejection assembly can store elastic pre-pressure; the liquid cavity is provided with a quick-insertion connecting port;
the lifting appliance component comprises a magnetic chuck, a pressing surface, a quick connection plug and a spray rod, the magnetic chuck is in magnetic attraction connection with the power-on/off maintaining electromagnetic component, the quick connection plug is in adaptive connection with the quick connection connector, the pressing surface is matched with the pre-pressure ejection component, and the pressing surface applies elastic pre-pressure to the pre-pressure ejection component; and a nozzle is arranged on the spray rod.
2. The spray system of claim 1, wherein the spreader assembly further comprises a main connection plate, and the magnetic chuck, the hold-down surface, the quick-connect coupling, and the spray bar are respectively connected to the main connection plate; the lifting appliance assembly 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-connection connector is communicated with the spray nozzles on the spray rod through the flexible infusion pipeline.
3. The spraying system of 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 spray system of claim 3, wherein the telescopic drive is an electric screw-nut drive; the telescopic rod is a multi-section combined pull rod type telescopic structure or a parallelogram telescopic connecting rod structure.
5. The spraying system of any one of claims 2 to 4, wherein the flexible infusion pipeline comprises a telescopic helical spring pipe, the telescopic helical spring pipe is arranged in parallel with the telescopic device, 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.
6. A spraying system according to any one of claims 1 to 4, wherein the spray bar is provided with a concave portion through which the spray bar is connected to the main connection plate, and the nozzles are provided on a non-concave portion.
7. The spraying system according to any one of claims 1 to 4, wherein the pre-pressure ejection assembly comprises a pre-pressure spring and a pre-pressure ejector rod, one end of the pre-pressure ejector rod abuts against the pre-pressure spring, and the other end of the pre-pressure ejector rod is provided with an ejection head.
8. A spraying system according to any one of claims 1 to 4, wherein the liquid chamber is a chamber open to the interior of the female block body or provided on an element connected to the female block body.
9. The spraying system of any one of claims 1 to 4, wherein the trip type main hanger assembly further comprises a hanger connection module, the hanger connection module comprises a hanger positioning fixing jacket, a mounting fixing lug plate and a hanger height adjusting hanging plate, the hanger positioning fixing jacket is connected in sequence, the hanger positioning fixing jacket is fixedly connected with a connected piece, and the hanger height adjusting hanging plate is connected with the trip female block.
10. The spray system of any one of claims 1 to 4, wherein the trip main hanger assembly further comprises a fluid inlet hose having one end connected to the fluid chamber of the trip female block and another end for connection to a fluid reservoir or a fluid pump.
11. An unmanned aerial vehicle comprising a control system and the misting system of any one of claims 1 to 10, the misting system being connected to the unmanned aerial vehicle through the trip type main cradle assembly, the control system being connected to the misting system.
12. A drone according to claim 11, characterised in that the control system is a wireless control system comprising onboard controls and a remote control.
13. A method for using the drone according to claim 11 or 12, the method comprising:
and responding to the signal that the hanger assembly is blocked, controlling the tripping type main hanger assembly to be switched on/off and demagnetized by the control system, and enabling the hanger assembly to lose magnetic force and be popped up to fall off from the tripping type main hanger assembly.
14. The method of claim 13, further comprising:
the control system controls the expansion and contraction of the telescopic device of the lifting appliance component.
15. The method of claim 13 or 14, further comprising one or more of:
the control system controls a spray rod of the lifting appliance assembly to rotate by an angle relative to a landing gear of the unmanned aerial vehicle;
a liquid pump outlet of the unmanned aerial vehicle is connected into a liquid cavity of the tripping female block through a liquid inlet hose, the liquid cavity is connected to a telescopic spiral spring pipe through a quick connector, the telescopic spiral spring pipe is connected with a liquid separating tee, and the liquid separating tee is connected with a nozzle on the spray rod;
when the unmanned aerial vehicle does not need to be sprayed, the lifting appliance assembly of the unmanned aerial vehicle is in a contraction state, the length direction of the spray rod is parallel to or perpendicular to the length direction of the undercarriage of the unmanned aerial vehicle, and the spray rod is retracted below the unmanned aerial vehicle and is positioned above or below the undercarriage of the unmanned aerial vehicle and clings to the undercarriage of the unmanned aerial vehicle;
when spraying is needed, the telescopic rod of the unmanned aerial vehicle lifting appliance component moves to the position below the unmanned aerial vehicle and extends to a proper length, and the length direction of the spray rod rotates to a direction perpendicular to the length direction of the undercarriage;
sending a contraction instruction of a lifting appliance assembly, a rotation instruction of a spray rod, an opening/closing instruction of a liquid pump or a power-on or power-off instruction of the lifting appliance assembly to an airborne control device through a remote controller;
when the lifting appliance assembly falls off, the control device controls the liquid pump of the unmanned aerial vehicle to be closed;
when the lifting appliance component does not fall off and needs to be sprayed, the control system controls the liquid pump of the unmanned aerial vehicle to be started, after spraying is completed, the control system controls the liquid pump of the unmanned aerial vehicle to be closed, and the control system controls the lifting appliance component to be contracted.
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle, a special spraying system and a using method thereof.
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 overall loss or droplet drift caused by improper flying height and spraying setting of the unmanned aerial vehicle.
The invention first provides a spraying system which mainly comprises a trip type main hanger component and a hanger component, wherein,
the tripping type main hanger assembly comprises a tripping female block, wherein an on/off power keeping electromagnetic assembly, a pre-pressure ejection assembly and a liquid cavity are arranged on the tripping female block, the on/off power keeping electromagnetic assembly has magnetism when being powered on or powered off, and loses magnetism after being powered off or powered on; the pre-pressure ejection assembly can store elastic pre-pressure; the liquid cavity is provided with a quick-insertion connecting port;
the lifting appliance component comprises a magnetic chuck, a pressing surface, a quick connection plug and a spray rod, the magnetic chuck is in magnetic attraction connection with the power-on/off maintaining electromagnetic component, the quick connection plug is in adaptive connection with the quick connection connector, the pressing surface is matched with the pre-pressure ejection component, and the pressing surface applies elastic pre-pressure to the pre-pressure ejection component; and a nozzle is arranged on the spray rod.
According to one embodiment of the invention, the hanger assembly further comprises a main connecting plate, and the magnetic chuck, the pressure surface, the quick connector and the spray rod are respectively connected with the main connecting plate; the lifting appliance assembly 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-connection connector is communicated with the spray nozzles on the spray rod through the flexible infusion pipeline.
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 driving device is an electric screw and nut transmission mechanism; the telescopic rod is a multi-section combined pull rod type telescopic structure or a parallelogram telescopic connecting rod structure.
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 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, and the nozzle is provided on a non-concave portion.
According to one embodiment of the invention, the pre-pressure ejection assembly comprises a pre-pressure spring and a pre-pressure ejector rod, one end of the pre-pressure ejector rod abuts against the pre-pressure spring, and the other end of the pre-pressure ejector rod is provided with an ejection head.
According to an embodiment of the invention, the liquid chamber is a chamber opening inside the female block body or a chamber provided on an element connected to the female block body.
According to an embodiment of the invention, the trip type main hanger assembly further comprises a hanger connecting module, wherein the hanger connecting module comprises a hanger positioning fixing jacket, a mounting fixing lug plate and a hanger height adjusting hanging plate, the group of components are sequentially connected, the hanger positioning fixing jacket is fixedly connected with a connected component, and the hanger height adjusting hanging plate is connected with the trip female block.
According to an embodiment of the present invention, the trip type main rack assembly further comprises a liquid inlet hose, one end of the liquid inlet hose is connected to the liquid cavity of the trip female block, and the other end of the liquid inlet hose is connected to the liquid storage chamber or the liquid pump.
The invention further provides an unmanned aerial vehicle which comprises a control system and the spraying system, wherein the spraying system is connected with the unmanned aerial vehicle through the trip type main hanger assembly, and the control system is connected with the spraying system.
According to one embodiment of the invention, the control system is a wireless control system, comprising an onboard control device and a remote controller.
The invention also provides a using method based on the unmanned aerial vehicle, which comprises the following steps:
and responding to the resistance signal of the lifting appliance component, the control system controls the power-on or power-off magnetic loss of the trip type main hanger component, and the lifting appliance component loses magnetic force and is popped up to fall off from the trip type main hanger component.
According to an embodiment of the invention, the method further comprises:
the control system controls the expansion and contraction of the telescopic device of the lifting appliance component.
According to an embodiment of the invention, the method further comprises one or more of:
the control system controls a spray rod of the lifting appliance assembly to rotate by an angle relative to a landing gear of the unmanned aerial vehicle;
a liquid pump outlet of the unmanned aerial vehicle is connected into a liquid cavity of the tripping female block through a liquid inlet hose, the liquid cavity is connected to a telescopic spiral spring pipe through a quick connector, the telescopic spiral spring pipe is connected with a liquid separating tee, and the liquid separating tee is connected with a nozzle on the spray rod;
when the unmanned aerial vehicle does not need to be sprayed, the lifting appliance assembly of the unmanned aerial vehicle is in a contraction state, the length direction of the spray rod is parallel to the length direction of the undercarriage of the unmanned aerial vehicle, and the spray rod is retracted below the unmanned aerial vehicle and is positioned above or below the undercarriage of the unmanned aerial vehicle and clings to the undercarriage of the unmanned aerial vehicle;
when spraying is needed, the telescopic rod of the unmanned aerial vehicle lifting appliance component moves to the position below the unmanned aerial vehicle and extends to a proper length, and the length direction of the spray rod rotates to a direction perpendicular to the length direction of the undercarriage;
sending a contraction instruction of a lifting appliance assembly, a rotation instruction of a spray rod, an opening/closing instruction of a liquid pump or a power-on or power-off instruction of the lifting appliance assembly to an airborne control device through a remote controller;
when the lifting appliance assembly falls off, the control device controls the liquid pump of the unmanned aerial vehicle to be closed;
when the lifting appliance component does not fall off and needs to be sprayed, the control system controls the liquid pump of the unmanned aerial vehicle to be started, after spraying is completed, the control system controls the liquid pump of the unmanned aerial vehicle to be closed, and the control system controls the lifting appliance component to be contracted.
The spraying system of the unmanned aerial vehicle is designed into an active tripping structure and can be lifted, and when the unmanned aerial vehicle is in a blockage situation, the spraying lifting appliance can automatically drop, so that the safety of the unmanned aerial vehicle is ensured; the spraying lifting appliance can be contracted to the belly position when the operation is not carried out, and the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the telescopic rod is unfolded downwards, the height of the spray rod is reduced and is vertical to the undercarriage, the spray head is far away from the rotor wing and can be close to a crop canopy, liquid drop drifting caused by the rotor wing and a natural wind field is obviously reduced, and further the dosage and unnecessary loss are reduced; the spray rod can be a long-rod type spraying structure, so that the one-way spray spoke of the liquid medicine can be enlarged, and the power consumption of the unmanned aerial vehicle is effectively saved.
Drawings
Fig. 1 is a schematic view of a connection structure of a spraying system, an unmanned aerial vehicle and a landing gear support rod according to an embodiment of the invention;
FIG. 2 is a schematic view of a head-up view of a trip primary hanger assembly in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural view of a partial enlarged cross section at the position I of the tripping female block and the connecting member (where a magnetic element, a quick connector and the like are connected) in accordance with the embodiment of the present invention shown in fig. 6;
FIG. 4a is a schematic top view of a main hanger assembly according to an embodiment of the present invention;
FIG. 4b is a schematic bottom view of a trip type main hanger assembly according to an embodiment of the present invention;
FIG. 5a is a left side view of the right half of the main hanger assembly of FIG. 2 in accordance with the present invention;
FIG. 5b is a left side view of the left half of the trip type main hanger assembly of FIG. 2 in accordance with one embodiment of the present invention;
fig. 6 is a schematic view of a connection structure of a trip type main hanger assembly and an unmanned aerial vehicle landing gear support rod according to an embodiment of the invention;
fig. 7 is a schematic view of a front (partially perspective) configuration of a spreader assembly according to an embodiment of the invention in an extended state with the spray bar parallel to the pivot pins;
FIG. 8 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 parallel to the pivot pins;
fig. 9a is a schematic top view (partially in perspective) of a spreader assembly according to an embodiment of the present invention in an extended position with the spray bar parallel to the pivot pins;
FIG. 9b is an enlarged partial schematic view of the embodiment of the present invention shown in FIG. 9 a;
fig. 10 is a left side structural schematic view 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. 11 is a cross-sectional schematic view of the positive and negative teeth screw drive assembly D-D of FIG. 8 in accordance with one embodiment of the present invention;
FIG. 12 is a schematic cross-sectional view of a C-C sliding bearing at the middle of the driving screw of the front and back teeth of FIG. 8 according to one embodiment of the present invention;
FIG. 13 is a schematic cross-sectional view of a-A of the end sliding bearing of the positive and negative teeth drive screw of FIG. 8 according to one embodiment of the present invention;
FIG. 14 is a schematic illustration of a spreader assembly according to an embodiment of the invention in a contracted condition;
fig. 15 is a schematic structural view of a spreader assembly in a disengaged state with respect to an unmanned aerial vehicle and a main release hanger assembly in accordance with an embodiment of the present invention;
FIG. 16a is a schematic diagram of a front view of a chemical spray spreader assembly of the system in a retracted state in accordance with an embodiment of the present invention;
FIG. 16b is a schematic left side view of the system of FIG. 16a with the chemical spray spreader assembly in a retracted position in accordance with one embodiment of the present invention;
figure 16c is a front elevational view of a chemical spray spreader assembly of the system in accordance with one embodiment of the present invention in a partially extended position;
FIG. 16d is a schematic left side elevational view of the chemical spray spreader assembly of the system of FIG. 16c in a partially extended position in accordance with one embodiment of the present invention;
figure 16e is a front elevational view of the chemical spray spreader assembly of the system of one embodiment of the present invention in a fully extended position;
FIG. 16f is a schematic left side elevational view of the chemical spray spreader assembly of the system of FIG. 16e in a fully extended position in accordance with one embodiment of the present invention;
FIG. 17 is a flow chart of a method of using the system described in example 1;
the reference numbers illustrate:
a tripping female block, A1 female block body, 17 on/off power keeping electromagnetic assembly, 171 on/off power keeping electromagnet, 63 liquid cavity, A11 pre-pressure ejection assembly, 21 pre-pressure spring, 22 pre-pressure ejector rod, B hanger connecting module, 1 hanger positioning fixing jacket, 4 mounting fixing lug plate, 5 hanger height adjusting hanging plate, 9 liquid inlet hose, 10 joint and 14 connecting rod;
18 magnetic suction discs, 25 main connecting plates, 251 press faces, 26 quick plug connectors, 28 bearing seat cross beams, 30 end sliding bearings, 31 guide rods, 32 driving slider nuts to rotate left, 33 middle sliding bearings, 35 driving slider nuts to rotate right, 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 separating tee joints, 61 inner spray head branch pipes and 62 outer spray head branch pipes;
w1 landing gear, W2 landing gear support bar.
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 spraying system can be hung below an unmanned aerial vehicle to perform plant protection operation. Because the conventional spraying system is close to the rotor wing of the unmanned aerial vehicle, when the unmanned aerial vehicle flies high, fog drops can obviously drift due to a natural wind field and a turbulent wind field formed by the rotor wing, and can not be effectively deposited and attached in a target area; 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, the unmanned aerial vehicle spraying device can operate at a lower position, and the main body of the unmanned aerial vehicle can keep a certain flying height. In order to solve the problem that the spraying system leads to the drift of liquid drops because of being close to the rotor wing, the spraying system can be designed to be far away from the rotor wing during spraying operation. However, when the spraying system is designed at a lower position, the situation that objects such as crops below block the spraying system is easy to occur, so that the whole machine fails and serious loss is caused. Therefore, the invention firstly seeks a design scheme, the nozzle of the spraying system can be arranged far away from the rotor wing, and once the unmanned aerial vehicle is blocked, the spraying system below can be separated from the unmanned aerial vehicle, so that the body of the unmanned aerial vehicle is not influenced, and the great loss is avoided.
In order to arrange the nozzle of the spraying system far away from the rotor wing, the invention designs the spraying device connected with the lifting appliance, the spraying device can be lifted on the landing gear of the unmanned aerial vehicle, and the lifting appliance is designed into a magnetic-attraction release type device, so that the nozzles and other devices below the lifting appliance fall off when the lifting appliance is blocked, and the whole unmanned aerial vehicle is prevented from being influenced.
In order to solve the problems that when the lower lifting appliance of the unmanned aerial vehicle is designed to be far away from the body of the unmanned aerial vehicle, the structure occupies a large space during placement or non-spraying operation and is inconvenient to manage, the lower lifting appliance of the unmanned aerial vehicle is further designed to be far away from the body of the unmanned aerial vehicle during operation, namely, the lower lifting appliance can descend for a certain distance and can be contracted to be close to the body of the unmanned aerial vehicle during non-operation.
As shown in fig. 1, the spraying system of the present invention mainly comprises a trip type main hanger assembly T and a spreader assembly D.
The invention is different from the mode of connecting a spraying device and the like below a rotor wing, and the invention designs a newly designed lifting appliance and a connecting assembly below the belly of the unmanned aerial vehicle and is connected with a supporting rod of an undercarriage of the unmanned aerial vehicle.
The tripping type main hanger assembly T is connected with an undercarriage supporting rod W2 of the unmanned aerial vehicle, the lifting appliance assembly D is connected with the tripping type main hanger assembly T in a buckling and hanging mode, and the lifting appliance assembly D can drop from the tripping type main hanger assembly T after being blocked. The landing gear and landing gear support rod of the unmanned aerial vehicle are shown in fig. 16b, wherein W1 is the landing gear of the unmanned aerial vehicle, and can be horizontally placed on the ground, and W2 is the landing gear support rod, and is used for supporting and connecting the landing gear W1.
As shown in fig. 2, the trip type main hanger assembly T mainly includes a trip female block a.
As shown in fig. 3, according to an embodiment of the present invention, the tripping master block a is provided with an on/off holding
Other elements, such as a lifting appliance assembly, can be connected below the tripping female block A through magnetic force. The tripping female block can comprise a female block body A1, and an on/off holding
The positional relationship of the on/off maintaining
The on/off keeping
The pre-pressure ejection assembly A11 has elasticity, and ejection elasticity is exerted by an ejection head arranged on the pre-pressure ejection assembly A11, and the ejection head of the pre-pressure ejection assembly faces to the lower part of the female block body.
The liquid cavity is provided with a quick-plug connector facing the lower part of the female block body, and a pipeline connector is arranged on the side surface or/and the upper part of the liquid cavity. The hydraulic pressure pipeline accessible of hoist subassembly is inserted the mode soon and is connected the sap cavity, and the sap cavity passes through the pipe connection again and is connected with liquid storage room like the liquid medicine storage room or the liquid pump on the unmanned aerial vehicle.
The invention can be connected with other lifting appliances such as a spraying lifting appliance through the tripping female block, the electromagnetic assembly is kept to be connected with the lifting appliance through magnetism when the power is on or off, the magnetism of the electromagnetic assembly is kept to be lost when the power is off or off, and the lifting appliance is ejected by the pre-pressure ejection assembly, so that the tripping female block can be quickly connected and disconnected with the lifting appliance such as the spraying lifting appliance.
According to an embodiment of the invention, the liquid chamber is a chamber opening inside the female block body or a chamber provided on an element connected to the female block body.
As shown in fig. 3, the
The
Preferably, the
According to one embodiment of the present invention, the on/off holding
The circuit elements can be integrated on the mother block body by adopting the prior art, which is a matter of knowledge in the field and is not described herein again.
The magnetic design is based on the drug spraying lifting appliance which can firmly suck the lower part.
According to one embodiment of the present invention, the pre-pressure ejection assembly a11 includes a
According to an embodiment of the present invention, a cavity may be provided in the female block body a1 to accommodate the pre-pressure ejection assembly a 11. One end of the
Of course, the
As shown in fig. 2, the trip type main hanger assembly T further includes a hanger connection module B according to an embodiment of the present invention.
The rack connecting module B can be different according to different connected pieces and can be realized by adopting any conventional connecting structure.
As shown in fig. 2, according to an embodiment of the present invention, the hanger connecting module B includes a hanger
Foretell stores pylon link module B's design mode can design to the structure of unmanned aerial vehicle undercarriage bracing piece, as shown in figure 1.
As shown in fig. 2, according to an embodiment of the present invention, the rack positioning fixing
As shown in fig. 4a, according to an embodiment of the present invention, one side of the installation fixing
As shown in fig. 5a, according to an embodiment of the present invention, the other end of the installation fixing
When the tripping female block is connected with the installation fixing
According to an embodiment of the present invention, as shown in fig. 2, the other end of the mounting and fixing
The hanging rack height adjusting hanging
According to an embodiment of the invention, as shown in fig. 2, fastening holes at different positions are arranged on the hanging rack height adjusting hanging
As shown in fig. 6, according to an embodiment of the present invention, the main cradle assembly may further include a
The
As shown in fig. 2, 3, 4a and 4B, according to an embodiment of the present invention, the main hanger assembly includes a set of the trip female block a and a corresponding set of the hanger connection module B, and the female block bodies of the trip female block may be connected to each other through a
Preferably, according to an embodiment of the present invention, as shown in fig. 2, 3, 4a, and 4B, the main rack assembly includes two sets of the tripping female blocks a, and correspondingly, the rack connecting modules B are also two sets of the rack connecting modules B.
The lifting appliance component mainly comprises a magnetic chuck, a pressure surface, a quick plug and a spray rod, wherein the magnetic chuck is in magnetic attraction connection with the power-on/off maintaining electromagnetic component; and a nozzle is arranged on the spray rod.
According to one embodiment of the invention, the hanger assembly further comprises a main connecting plate, and the magnetic chuck, the pressure surface, the quick connector and the spray rod are respectively connected with the main connecting plate; the lifting appliance assembly 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-connection connector is communicated with the spray nozzles on the spray rod through the flexible infusion pipeline.
As shown in fig. 7, the
The press-down face may be a face on a member connected to the
The quick-
The spray rod R is connected with the main connecting
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 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 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 main body part of the lifting appliance assembly can be further contracted 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. 8 and 11, according to an embodiment of the present invention, the electric screw-nut transmission mechanism mainly includes a steering engine (or a motor) 38, 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. 8, 10 and 11, in the above-described embodiment, the parallelogram pantograph linkages are extended when the nuts 32, 35 are moved toward the middle and shortened when the nuts are moved toward the opposite ends. The extended state of the parallelogram pantograph telescopic links is shown in fig. 7 and 10, and the shortened state of the parallelogram telescopic links is shown in fig. 14.
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. 7 and 10, 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. 8, 11 and 13, 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. 9a and 9b, 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 forward and reverse drive screw assembly drives the multi-stage parallelogram telescopic link in a manner that: the steering engine or the motor can drive the positive and negative screw rods to rotate through the single diaphragm coupling, when the screw rods rotate clockwise, the nuts on 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, when the nut on the left side moves to the rightmost end, the nut on the left side can be pressed down to stop the stroke switch, 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 steering servo motor 52 is provided at the lower end of the telescopic rod, and the steering servo motor 52 is connected to the spray bar R to drive the spray bar R to steer.
Spray lance R accessible bolt pair is installed on the rocking arm that turns to servo motor 52, and when unmanned aerial vehicle takes off or lands, the direction that unmanned aerial vehicle gos forward and retreat can be changeed to the spray lance, accepts in undercarriage below belly below position, and during the spraying operation, the rotatable 90 degrees of spray lance turns to the direction that perpendicular to unmanned aerial vehicle gos forward.
According to one embodiment of the invention, as shown in fig. 7, the spray bar R is provided with a concave portion R1, the spray bar R is connected with 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. 7, according to an embodiment of the present invention, the flexible infusion tube may include a flexible
As shown in FIG. 7, the liquid delivery pipe at the spray bar may include a three-
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 assembly can be hung on a tripping main hanger assembly of the unmanned aerial vehicle through a magnetic suction disc of a main connecting plate and a quick connector buckle, the tripping main hanger assembly is provided with an on/off electricity keeping electromagnetic assembly, the lifting appliance assembly can be actively tripped by enabling the on/off electricity keeping electromagnetic assembly to lose magnetism when the operation is blocked, and as shown in figure 15, the unmanned aerial vehicle can safely return to the home; further, the invention can also retract the main body part of the spreader component to the belly position above the undercarriage when not in operation, as shown in fig. 16a and 16b, so that the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the hanger assembly is unfolded downwards through the telescopic device, as shown in fig. 16c and 16d, the height of the spray rod can be reduced, as shown in fig. 16e and 16f, the spray rod can be turned to the direction perpendicular to the length direction of the undercarriage, the spray head (or the spray nozzle) is far away from the rotor wing and can be close to a crop canopy, and the hanger assembly can remarkably reduce liquid drop drifting caused by the hanger assembly and a natural wind field, so that liquid consumption and unnecessary loss are reduced.
The main tripping hanger component can realize the hanging and falling of the pesticide spraying hanger component, the state of the fallen medicine spraying hanger component is shown in figure 15, and the realization mode is as follows: when the installation of hoist subassembly, the outage keeps the electromagnetism subassembly not to circular telegram, takes strong magnetism, at this moment will spout magnetic chuck, the quick pipe nipple in the medicine hoist subassembly and press to the lower surface of the female piece of dropout, under the effect of magnetic attraction force, quick pipe nipple inserts the liquid intracavity of the female piece of dropout, realizes liquid way and circuit connection to keep laminating connection state under the suction effect of magnetic chuck. When the hoist subassembly meets hindering in the operation, control system gives the signal and makes the outage keep the electro-magnet circular telegram, and the magnetic attraction of magnetic chuck disappears, and integrated magnetic chuck, quick intubate connect spout the medicine hoist and bounce off under the elastic force effect of precompression ejector pin, make quick intubate connect extract the sap cavity of dropout female piece, and the hoist subassembly drops to steerable plant protection unmanned aerial vehicle liquid pump is closed simultaneously. So, just make the hoist and the unmanned aerial vehicle separation that probably meet the resistance, ensured that the unmanned aerial vehicle fuselage is not influenced. The working method that the circular telegram kept the electromagnetism subassembly just in time keeps the opposite of electromagnetism subassembly with the outage, that is to say when the circular telegram, takes strong magnetism, at this moment will spout magnetic chuck, the quick tube joint in the medicine hoist subassembly and press to the lower surface of the female piece of dropout, under the effect of magnetic attraction, quick tube joint inserts the liquid intracavity of the female piece of dropout, realizes liquid way and circuit connection to keep laminating connection state under the effect of suction of magnetic chuck. When the hoist subassembly meets hindering in the operation, control system gives the signal and makes the circular telegram keep the electro-magnet outage, and the magnetic attraction of magnetic chuck disappears, and integrated magnetic chuck, quick intubate connect spout the medicine hoist and bounce off under the elastic force effect of precompression ejector pin, make quick intubate connect extract the sap cavity of dropout female piece, and the hoist subassembly drops to steerable plant protection unmanned aerial vehicle liquid pump is closed simultaneously.
Of course, the tripping master block and the tripping master rack assembly provided by the invention can be applied to different occasions or fields according to actual needs, and are not limited to the field of unmanned aerial vehicle pesticide application provided by the invention, and the embodiment of the invention is only an example.
The invention further provides an unmanned aerial vehicle which comprises a control system and the spraying system, wherein the spraying system is connected with the unmanned aerial vehicle through the trip type main hanger assembly, and the control system is connected with the spraying system.
According to one embodiment of the invention, the control system is a wireless control system, comprising an onboard control device and a remote controller.
The remote controller is the remote controller of control unmanned aerial vehicle operation, and this kind of remote controller can adopt prior art to realize. The onboard control device is an onboard control device matched with the remote controller, and receives the instruction information sent by the remote controller. After the airborne control device receives a takeoff or landing instruction sent by the remote controller, the telescopic rod in the lifting appliance assembly is controlled to stretch and retract, and the spray rod can be rotated; after receiving the command that the flight meets the resistance, the pesticide spraying lifting appliance component is separated from the main hanging frame component and falls off, so that the tripping action is completed, and the safety of the unmanned aerial vehicle is ensured.
According to an embodiment of the present invention, the control device may include a receiving module, a sending module, and an analyzing module. The unmanned aerial vehicle can also be provided with obstacle detection equipment for whether the hoist assembly below is met and blocked, in case of detecting meeting and blocking, can convey the signal to controlling means, after controlling means's receiving module received and met and blocked the signal, discerned through analysis processing module, and accessible sending module will control the signal transmission that the female piece of dropout lost magnetism to the circuit component of the female piece of dropout after confirming, makes the hoist assembly drop. At the same time, the control device can control the liquid pump to be closed. The control device can also receive commands of the remote controller such as take-off, landing, stretching or falling, and the like, so that the unmanned aerial vehicle can perform the actions of take-off and landing, stretching of the stretching device and falling of the lifting appliance component.
The invention also provides a using method based on the unmanned aerial vehicle, which comprises the following steps:
and responding to the signal that the hanger assembly is blocked, controlling the tripping type main hanger assembly to be switched on/off and demagnetized by the control system, and enabling the hanger assembly to lose magnetic force and be popped up to fall off from the tripping type main hanger assembly.
According to an embodiment of the invention, the method further comprises:
the control system controls the expansion and contraction of the telescopic device of the lifting appliance component.
According to an embodiment of the invention, the method further comprises one or more of:
the control system controls a spray rod of the lifting appliance assembly to rotate by an angle relative to a landing gear of the unmanned aerial vehicle;
a liquid pump outlet of the unmanned aerial vehicle is connected into a liquid cavity of the tripping female block through a liquid inlet hose, the liquid cavity is connected to a telescopic spiral spring pipe through a quick connector, the telescopic spiral spring pipe is connected with a liquid separating tee, and the liquid separating tee is connected with a nozzle on the spray rod;
when the unmanned aerial vehicle does not need to be sprayed, the lifting appliance assembly of the unmanned aerial vehicle is in a contraction state, the length direction of the spray rod is parallel to or perpendicular to the length direction of the undercarriage of the unmanned aerial vehicle, and the spray rod is retracted below the unmanned aerial vehicle and is positioned above or below the undercarriage of the unmanned aerial vehicle and clings to the undercarriage of the unmanned aerial vehicle;
when spraying is needed, the telescopic rod of the unmanned aerial vehicle lifting appliance component moves to the position below the unmanned aerial vehicle and extends to a proper length, and the length direction of the spray rod rotates to a direction perpendicular to the length direction of the undercarriage;
sending a contraction instruction of a lifting appliance assembly, a rotation instruction of a spray rod, an opening/closing instruction of a liquid pump or a power-on or power-off instruction of the lifting appliance assembly to an airborne control device through a remote controller;
when the lifting appliance assembly falls off, the control device controls the liquid pump of the unmanned aerial vehicle to be closed;
when the lifting appliance component does not fall off and needs to be sprayed, the control system controls the liquid pump of the unmanned aerial vehicle to be started, after spraying is completed, the control system controls the liquid pump of the unmanned aerial vehicle to be closed, and the control system controls the lifting appliance component to be contracted.
In the method, the spray rod of the lifting appliance assembly can rotate at any angle relative to the landing gear of the unmanned aerial vehicle, and in order to achieve the spraying effect, the spray rod of the lifting appliance assembly rotates 90 degrees.
According to an embodiment of the invention, as shown in fig. 17, a using method based on the unmanned aerial vehicle comprises the following steps: the wireless control system sends an instruction to control the multistage parallelogram connecting rod to expand downwards, the spray rod is rotated to be perpendicular to the undercarriage, and then the spraying device is opened to control the unmanned aerial vehicle to carry out spraying operation; when the flight meets the resistance, the wireless control system sends an instruction to enable the pesticide spraying lifting appliance to fall off from the tripping main hanging frame, the unmanned aerial vehicle safely returns to the air and lands, and the pesticide spraying lifting appliance is recovered, overhauled and reinstalled and then carries out the operation of taking off again; after the operation is finished, the wireless control system sends an instruction, the spray rod rotates to be parallel to the undercarriage, the multi-stage parallelogram connecting rods shrink upwards, the pesticide spraying lifting appliance is retracted below the belly and above the undercarriage, and the airplane lands.
A use method based on the plant protection unmanned aerial vehicle specifically can be as follows:
a. after the plant protection unmanned aerial vehicle takes off from the air above the operation land, the remote controller sends a downward extension instruction to the airborne controller, and the airborne controller sends instruction information to the pesticide spraying lifting appliance component after receiving the downward extension instruction; in an initial state, the pesticide spraying lifting appliance of the plant protection unmanned aerial vehicle is retracted, is parallel to the undercarriage and is retracted below the unmanned aerial vehicle, and the height of the pesticide spraying lifting appliance is higher than that of the undercarriage of the unmanned aerial vehicle;
b. the multi-stage parallelogram connecting rods in the pesticide spraying lifting appliance component move downwards to the position right below the unmanned aerial vehicle and extend to a proper length, and the spray rod rotates to be perpendicular to the undercarriage;
c. the spraying device is opened, and the unmanned aerial vehicle is controlled to carry out spraying operation;
d. when unmanned aerial vehicle meets the resistance in the operation process, the remote controller sends an instruction to the airborne control device, after the airborne control device receives a tripping instruction, the quick-insertion type tripping electromagnet is switched on/off and demagnetized, the spring pre-pressure ejector rod pushes the pesticide spraying lifting appliance to open, the pesticide spraying lifting appliance falls off, and meanwhile, the liquid pump is closed, and the unmanned aerial vehicle safely returns to the air and lands.
e. And (4) recovering, overhauling/reinstalling the spraying lifting appliance, and restarting from the step a.
f. After the spraying operation is accomplished, the remote controller sends the shrink instruction and gives machine-mounted control device, and machine-mounted control device receives shrink instruction information after, and the spray lance rotates to and is parallel with the undercarriage, spouts the multistage parallelogram connecting rod upwards to shrink in the medicine hoist subassembly, it packs up to spout the medicine hoist, is on a parallel with the undercarriage and receives in the unmanned aerial vehicle below, and highly is higher than the unmanned aerial vehicle undercarriage height.
g. After the plant protection unmanned aerial vehicle system is completely packed up, the unmanned aerial vehicle descends to complete spraying operation.
The other use method based on the plant protection unmanned aerial vehicle system is basically the same as the steps, and is different in that the concave integrated spray rod is always perpendicular to an unmanned aerial vehicle undercarriage and is tightly attached to the lower portion of the undercarriage after being retracted, and the concave integrated spray rod does not turn when the multistage parallelogram connecting rod of the pesticide spraying lifting appliance contracts or expands.
The spraying system of the unmanned aerial vehicle is designed into an active tripping structure and can be lifted, and when the unmanned aerial vehicle is in a blockage situation, the spraying lifting appliance can automatically drop, so that the safety of the unmanned aerial vehicle is ensured; the main body part of the spraying lifting appliance can be contracted to the belly position when the operation is not carried out, and the takeoff and landing of the unmanned aerial vehicle are not influenced; during operation, the telescopic rod is unfolded downwards, the height of the spray rod is reduced and is vertical to the undercarriage, the spray head is far away from the rotor wing and can be close to a crop canopy, liquid drop drifting caused by the rotor wing and a natural wind field is obviously reduced, and further, the dosage and unnecessary loss are reduced; the spray rod can be a long-rod type spraying structure, so that the one-way spray spoke of the liquid medicine can be enlarged, and the power consumption of the unmanned aerial vehicle is effectively saved.
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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