An agricultural unmanned vehicle for uniform spraying of liquid fertilizers

Abstract

This invention discloses an agricultural drone for uniformly spraying liquid fertilizer, relating to the field of agricultural drone technology. It includes a mounting base fixed to the drone body, and further includes: a spraying cylinder, both sides of which are rotatable on the mounting base via rotating shafts, with a sprayer at the end of the spraying cylinder; a medicine tank fixed to the drone body; a motor fixed within the rotating base; a swing mechanism connected to the motor for driving the spraying cylinder to pitch around the rotating shafts; and a rotation mechanism connected to the motor for driving the mounting base to rotate horizontally relative to the rotating base. This invention simultaneously drives pitch swing and horizontal rotation with a single motor, resulting in a compact structure, light weight, and multi-degree-of-freedom spraying capability adaptable to irregular terrain and changes in crop height at different growth stages.

Description

Technical Field

[0001] This invention relates to the field of agricultural drone technology, specifically to an agricultural drone for uniformly spraying liquid fertilizer. Background Technology

[0002] With the rapid development of modern precision agriculture, agricultural drones have become core equipment for spraying operations. However, most existing spraying devices adopt a fixed structure, resulting in poor uniformity of atomized medium coverage in the crop canopy and difficulty in adapting to irregular terrain and changes in crop height at different growth stages.

[0003] Most devices have their nozzles fixed at the bottom of the unit, and their spraying range is completely limited by the drone's flight path. They cannot autonomously adjust to the side of the crop or the canopy with slopes, which makes it easy to create spray dead zones when dealing with crops of different heights or with high planting density. The penetration of the pesticide solution is significantly reduced. Traditional solutions usually increase the number of motors, but this method significantly increases the overall load and energy consumption of the machine and shortens the flight time.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the above-mentioned defects and provide an agricultural drone for uniformly spraying liquid fertilizer.

[0006] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows: an agricultural drone for uniformly spraying liquid fertilizer, comprising a mounting base fixed to the drone body, and further comprising: a spraying cylinder, both sides of which are rotatable on the mounting base via rotating shafts, and a sprayer provided at the port of the spraying cylinder; a medicine tank, which is fixed to the drone body; a motor, which is fixed inside the rotating base; a swing mechanism, which is drivenly connected to the motor, for driving the spraying cylinder to swing in pitch around the rotating shafts; and a rotation mechanism, which is drivenly connected to the motor, for driving the mounting base to rotate horizontally relative to the rotating base.

[0007] Furthermore, the swing mechanism includes a first spur gear, two second spur gears, a first bevel gear, and a second bevel gear; the first spur gear is fixed to the bottom end of the output shaft of the motor, the two second spur gears are respectively meshed on both sides of the first spur gear, both second spur gears are rotatably connected to the mounting base, the first bevel gear is fixed to the bottom end of the second spur gear, and the second bevel gear meshes perpendicularly with the first bevel gear.

[0008] Furthermore, the swing mechanism also includes two swing rods and a drive rod. The two swing rods are respectively fixedly connected to the adjacent sides of the second bevel gears on both sides, and the drive rod is fixedly connected between the bottom ends of the two swing rods.

[0009] Furthermore, the swing mechanism also includes a connecting seat, which is fixed to the top of the spraying cylinder. Slide rails are fixedly connected to both sides of the top of the connecting seat, and the drive rod is slidably engaged in the slide rails.

[0010] Furthermore, the rotating mechanism includes a third spur gear, a turntable, and a plurality of fourth spur gears; the third spur gear is fixed on the output shaft of the motor and is positioned above the first spur gear; the turntable is rotatably connected to the mounting base and is positioned above the third spur gear; the plurality of fourth spur gears are circumferentially spaced and mesh with the outer side of the third spur gear, and the fourth spur gears are rotatably connected to the turntable.

[0011] Furthermore, the rotating mechanism also includes a plurality of fifth spur gears and an internal gear ring. The plurality of fifth spur gears are respectively meshed with the side of the fourth spur gear away from the third spur gear. The plurality of fifth spur gears are separated from each other, and the side of the fifth spur gear away from the fourth spur gear is meshed with the internal gear ring. The internal gear ring is fixedly connected to the mounting base.

[0012] Furthermore, the rotating mechanism also includes a slot, a plug, and an electric push rod; the slot is circumferentially opened along the inner side of the top of the turntable, the plug is circumferentially fixedly connected to the lifting ring, the plug is aligned and engaged with the slot, and the lifting ring is driven to move up and down by the electric push rod, which is fixed to the mounting base.

[0013] Furthermore, a limiting groove is provided inside the mounting base, and the turntable is rotatably connected to the limiting groove.

[0014] Furthermore, the spray nozzle and the medicine tank are connected via a liquid pump and pipelines.

[0015] The advantages of this invention compared to the prior art are: 1. A single motor can simultaneously drive pitch and horizontal rotation, resulting in a compact structure and light weight.

[0016] 2. The rotation mode switching is achieved through a locking mechanism, which is simple and reliable to control.

[0017] 3. Multi-degree-of-freedom spraying, adapting to irregular terrain and changes in crop height at different growth stages. Attached Figure Description

[0018] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of this disclosure as detailed in the appended claims.

[0019] Figure 1 This is an overall schematic diagram provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the swing mechanism provided in an embodiment of the present invention; Figure 3 This is provided by the embodiments of the present invention. Figure 2 Enlarged view of area A in the middle; Figure 4 This is a schematic diagram of the interior of the mounting base provided in an embodiment of the present invention. Figure 1 ; Figure 5 This is provided by the embodiments of the present invention. Figure 5 Enlarged view of area B in the middle; Figure 6 This is a schematic diagram of the interior of the mounting base provided in an embodiment of the present invention. Figure 2 ; Figure 7 This is provided by the embodiments of the present invention. Figure 6 Enlarged view of area C; As shown in the figure: 1. UAV body; 2. Mounting base; 21. Rotating seat; 22. Limiting groove; 3. Spraying cylinder; 4. Rotating shaft; 5. Sprayer; 6. Medicine tank; 7. Motor; 8. Swinging mechanism; 81. First spur gear; 82. Second spur gear; 83. First bevel gear; 84. Second bevel gear; 85. Swing rod; 86. Drive rod; 87. Connecting seat; 88. Slide rail; 9. Rotating mechanism; 91. Third spur gear; 92. Turntable; 93. Fourth spur gear; 94. Fifth spur gear; 95. Internal gear ring; 96. Slot; 97. Insert block; 971. Lifting ring; 98. Electric push rod; 10. Liquid pump. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] First embodiment: Combined with appendix Figures 1 to 7As shown, this invention discloses an agricultural drone for uniformly spraying liquid fertilizer. The invention mainly includes: drone body 1, mounting base 2, rotating base 21, spraying cylinder 3, sprayer 5, medicine tank 6, liquid pump 10, motor 7, swing mechanism 8 and rotating mechanism 9.

[0022] The following section will elaborate on the composition, assembly relationship, and collaborative working method of each part.

[0023] Specifically, the mounting base 2 is set on the drone body 1, the spraying cylinder 3 is rotatably connected to the mounting base 2 on both sides through the rotating shaft 4, the spraying cylinder 3 is provided with a sprayer 5 at the port, the medicine tank 6 is fixed on the drone body 1, the motor 7 is fixed inside the rotating seat 21, the rotating seat 21 is rotatably sleeved on the outside of the mounting base 2 and fixedly connected to the drone body 1, the swing mechanism 8 is driven by the motor 7 and is used to drive the spraying cylinder 3 to swing in pitch around the rotating shaft 4, and the rotating mechanism 9 is driven by the motor 7 and is used to drive the mounting base 2 to rotate horizontally relative to the rotating seat 21.

[0024] The overall working principle is as follows: After the motor 7 starts, its output shaft drives the swing mechanism 8 and the rotating mechanism 9 to operate simultaneously. When the pitch angle needs to be adjusted, the rotating mechanism 9 is in an idle state, the mounting base 2 remains stationary, and the swing mechanism 8 drives the spray cylinder 3 to swing up and down around the rotating shaft 4. When the horizontal direction needs to be adjusted, the locking component in the rotating mechanism 9 is activated to fix the turntable 92, thereby forcing the internal gear ring 95 to drive the mounting base 2 to rotate horizontally. In the above way, a single motor 7 can achieve two degrees of freedom of spray direction adjustment.

[0025] Second embodiment: To clearly illustrate the technical solution of the present invention, the following detailed description is provided in conjunction with specific embodiments. The second embodiment is a basic implementation of the swing mechanism 8, as detailed below: The swing mechanism 8 includes a first spur gear 81, two second spur gears 82, a first bevel gear 83, and a second bevel gear 84. The first spur gear 81 is fixed to the bottom end of the output shaft of the motor 7. The two second spur gears 82 are respectively meshed on both sides of the first spur gear 81. Both second spur gears 82 are rotatably connected to the mounting base 2. The first bevel gear 83 is fixed to the bottom end of the second spur gear 82. The second bevel gear 84 is perpendicularly meshed with the first bevel gear 83. When the motor 7 drives the first spur gear 81 to rotate, the second spur gears 82 on both sides rotate accordingly. The first bevel gear 83 drives the second bevel gear 84 to change the direction of the rotation axis. This transmission method converts the vertical axis rotation of the motor 7 into horizontal axis rotation, providing driving force for the subsequent swing of the swing rod 85.

[0026] Furthermore, the swing mechanism 8 also includes two swing rods 85 and a drive rod 86. The two swing rods 85 are respectively fixedly connected to the same side of the two second bevel gears 84, for example, both are fixed to the side of the second bevel gear 84 facing the spray cylinder 3. The drive rod 86 is fixedly connected between the bottom ends of the two swing rods 85. By selecting the helical direction of the first bevel gear 83 and the second bevel gear 84 to be left-handed and right-handed, when the two second bevel gears 84 rotate in opposite directions, the swing rods 85 on the same side can swing forward or backward synchronously, thereby driving the drive rod 86 to perform reciprocating translational motion.

[0027] Furthermore, the swing mechanism 8 also includes a connecting seat 87, which is fixed to the top of the spraying cylinder 3. Slide rails 88 are fixedly connected to both sides of the top of the connecting seat 87. The drive rod 86 is slidably engaged in the slide rails 88. When the drive rod 86 moves horizontally, its two ends slide in the slide rails 88. The connecting seat 87 pushes the spraying cylinder 3 to swing around the rotating axis 4. The slide rails 88 can avoid rigid interference between the drive rod 86 and the connecting seat 87, and at the same time ensure the smoothness of power transmission.

[0028] Third embodiment: Based on the above-described basic implementation method, the present invention also provides a third embodiment, corresponding to the basic implementation method of the rotating mechanism 9, as follows: The rotating mechanism 9 includes a third spur gear 91, a turntable 92, and a plurality of fourth spur gears 93. The third spur gear 91 is fixed on the output shaft of the motor 7 and is positioned above the first spur gear 81. The turntable 92 is rotatably connected to the mounting base 2 and is positioned above the third spur gear 91. The plurality of fourth spur gears 93 are circumferentially spaced and meshed with the outer side of the third spur gear 91, and the fourth spur gears 93 are rotatably connected to the turntable 92.

[0029] Furthermore, the rotating mechanism 9 also includes a plurality of fifth spur gears 94 and an internal gear ring 95. The plurality of fifth spur gears 94 are respectively meshed with the fourth spur gear 93 on the side away from the third spur gear 91. The plurality of fifth spur gears 94 are separated from each other. The fifth spur gears 94 mesh with the internal gear ring 95 fixed on the inner wall of the mounting base 2 to drive the mounting base 2 to rotate relative to the rotating seat 21. When the third spur gear 91 rotates, the fourth spur gear 93 drives the fifth spur gear 94 to rotate. If the turntable 92 is not locked, the entire gear system rotates freely with the turntable 92, and the internal gear ring 95 is not subjected to force. If the turntable 92 is locked, the rotation of the fifth spur gear 94 forces the mounting base 2 to rotate through the internal gear ring 95.

[0030] Furthermore, the rotating mechanism 9 also includes a slot 96, a plug 97, and an electric push rod 98. The slot 96 is circumferentially opened along the inner side of the top of the turntable 92. The plug 97 is circumferentially fixedly connected to the lifting ring 971. The plug 97 is aligned and engaged with the slot 96. The lifting ring 971 is driven to move up and down by the electric push rod 98. The lifting ring 971 is fixedly connected to the output end of the electric push rod 98. The electric push rod 98 is fixed to the rotating seat 21. When the electric push rod 98 extends, the lifting ring 971 descends, the plug 97 engages with the slot 96, and the turntable 92 is locked. When the electric push rod 98 retracts, the plug 97 disengages from the slot 96, and the turntable 92 can rotate freely. This locking mechanism realizes the switching between the rotation mode and the idle mode, and the switching process is fast and reliable.

[0031] Fourth embodiment: Based on the above-described basic implementation method, the present invention also provides a fourth embodiment, which specifically implements the limiting groove 22 inside the mounting base 2 as follows:

[0032] The mounting base 2 has a limiting groove 22 inside, and the turntable 92 is rotatably connected to the limiting groove 22. The limiting groove 22 is an annular groove structure, and its inner wall forms a sliding fit with the outer edge of the turntable 92. The turntable 92 contacts the limiting groove 22 through balls or bearings (not shown in the figure). The limiting groove 22 can limit the axial displacement of the turntable 92, ensuring that it maintains a stable radial positioning during rotation and avoiding gear meshing deviation due to vibration or tilt.

[0033] Fifth embodiment: Based on the above-described basic implementation method, the present invention also provides a fifth embodiment, which corresponds to the connection method between the rotating seat 21, the mounting base 2, and the UAV body 1, as follows: The rotating base 21 has a cylindrical structure with its bottom end extending outward to form a flange surface. It is fixedly connected to the lower surface of the UAV body 1 by bolts. A bearing (not shown in the figure) is provided between the inner wall of the rotating base 21 and the outer wall of the mounting base 2, allowing the mounting base 2 to rotate freely relative to the rotating base 21. The housing of the motor 7 is fixed to the top of the inner cavity of the rotating base 21 by screws. The output shaft of the motor 7 extends downward and is connected to the swing mechanism 8 and the rotating mechanism 9. This structure fixes the motor 7 on the rotating base 21, which does not rotate with the mounting base 2, ensuring the relative position stability of the output shaft of the motor 7 and the transmission gear system, and avoiding cable entanglement or pipe twisting caused by the rotation of the mounting base 2.

[0034] Sixth embodiment: Based on the above-described basic implementation methods, the present invention also provides a sixth embodiment, which corresponds to the connection method of the drug delivery pipeline as follows:

[0035] The spraying cylinder 3 and the medicine tank 6 are connected by a liquid pump 10 and a pipeline. The inlet of the liquid pump 10 is connected to the outlet of the medicine tank 6 through a hose, and the outlet of the liquid pump 10 is connected to the inlet of the sprayer 5 through another hose. The liquid pump 10 is fixed to the outer wall of the medicine tank 6. The pipeline uses a flexible hose to accommodate the relative displacement when the spraying cylinder 3 swings and the mounting base 2 rotates, so as to avoid the pipeline from being blocked or broken due to bending.

[0036] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An agricultural drone for uniformly spraying liquid fertilizer, comprising a mounting base (2) disposed on the drone body (1), characterized in that, Also includes: The spraying cylinder (3) is rotatably connected to the mounting base (2) on both sides via a rotating shaft (4), and a sprayer (5) is provided at the port of the spraying cylinder (3). A medicine box (6) is fixed to the body (1) of the UAV; The motor (7) is fixed inside the rotating seat (21), which is rotatably sleeved on the outside of the mounting base (2) and fixedly connected to the UAV body (1); The swing mechanism (8) is connected to the motor (7) for driving the spraying cylinder (3) to swing about the rotating shaft (4); The rotating mechanism (9) is connected to the motor (7) for driving the mounting base (2) to rotate horizontally relative to the rotating seat (21).

2. The agricultural drone for uniformly spraying liquid fertilizer according to claim 1, characterized in that: The swing mechanism (8) includes a first spur gear (81), two second spur gears (82), a first bevel gear (83), and a second bevel gear (84); the first spur gear (81) is fixed to the bottom end of the output shaft of the motor (7), the two second spur gears (82) are respectively meshed on both sides of the first spur gear (81), the two second spur gears (82) are rotatably connected to the mounting base (2), the first bevel gear (83) is fixed to the bottom end of the second spur gear (82), and the second bevel gear (84) meshes perpendicularly with the first bevel gear (83).

3. The agricultural drone for uniformly spraying liquid fertilizer according to claim 2, characterized in that: The swing mechanism (8) further includes two swing rods (85) and a drive rod (86). The two swing rods (85) are respectively fixedly connected to the adjacent sides of the second bevel gear (84) on both sides, and the drive rod (86) is fixedly connected between the bottom ends of the two swing rods (85).

4. The agricultural drone for uniformly spraying liquid fertilizer according to claim 3, characterized in that: The swing mechanism (8) also includes a connecting seat (87), which is fixed to the top of the spraying cylinder (3). Slide rails (88) are fixedly connected to both sides of the top of the connecting seat (87), and the drive rod (86) is slidably engaged in the slide rails (88).

5. The agricultural drone for uniformly spraying liquid fertilizer according to claim 2, characterized in that: The rotating mechanism (9) includes a third spur gear (91), a turntable (92), and a plurality of fourth spur gears (93); the third spur gear (91) is fixed on the output shaft of the motor (7), the third spur gear (91) is disposed above the first spur gear (81), the turntable (92) is rotatably connected to the mounting base (2), the turntable (92) is disposed above the third spur gear (91), and the plurality of fourth spur gears (93) are circumferentially spaced and meshed with the outside of the third spur gear (91), and the fourth spur gears (93) are rotatably connected to the turntable (92).

6. The agricultural drone for uniformly spraying liquid fertilizer according to claim 5, characterized in that: The rotating mechanism (9) further includes a plurality of fifth spur gears (94) and an internal gear ring (95). The plurality of fifth spur gears (94) are respectively meshed on the side of the fourth spur gear (93) away from the third spur gear (91). The plurality of fifth spur gears (94) are separated from each other. The fifth spur gears (94) mesh with the internal gear ring (95) fixed on the inner wall of the mounting base (2) to drive the mounting base (2) to rotate relative to the rotating seat (21).

7. The agricultural drone for uniformly spraying liquid fertilizer according to claim 5, characterized in that: The rotating mechanism (9) also includes a slot (96), a plug (97), and an electric push rod (98); the slot (96) is circumferentially opened along the inner side of the top of the turntable (92), the plug (97) is circumferentially fixedly connected to the lifting ring (971), the plug (97) is aligned with the slot (96), and the lifting ring (971) is driven to move up and down by the electric push rod (98). The lifting ring (971) is fixedly connected to the output end of the electric push rod (98), and the electric push rod (98) is fixed on the rotating seat (21).

8. The agricultural drone for uniformly spraying liquid fertilizer according to claim 5, characterized in that: The mounting base (2) has a limiting groove (22) inside, and the turntable (92) is rotatably connected to the limiting groove (22).

9. The agricultural drone for uniformly spraying liquid fertilizer according to claim 1, characterized in that: The spraying cylinder (3) and the medicine tank (6) are connected by a liquid pump (10) and pipelines.

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