An anti-swing plant protection drone

Abstract

The present invention discloses an anti-swing type plant protection UAV. When the spray box oscillates left and right during spraying, and the force generated by the oscillation is transmitted to the rocker arm, the rocker arm is rotationally connected with the horizontal hydraulic rod through the connecting bearing, and the horizontal hydraulic rod is driven to extend and retract by force. At the same time, the lateral force drives the lateral slider to slide on the lateral slide rail. The lateral slider is subjected to the rebound force of the horizontal hydraulic rod and the return spring, and the damping slider is subjected to the rebound force of the first support spring and the second support spring. In this way, the oscillation of the spray box in multiple directions on the horizontal plane is damped, so that the UAV remains stable during flight.

Description

Technical Field

[0001] The invention relates to the field of agricultural spraying equipment, and in particular to an anti-swing type plant protection UAV. Background Art

[0002] At present, China needs a large amount of agricultural plant protection operations every year. In order to improve the efficiency of agricultural plant protection operations, people have begun to use plant protection drones for spraying operations; plant protection drones, also known as unmanned aerial vehicles, are unmanned aircraft used for agricultural and forestry plant protection operations. This type of unmanned aircraft consists of three parts: a flight platform (fixed-wing, helicopter, multi-axis aircraft), a navigation flight control, and a spraying mechanism. The spraying operation is achieved through ground remote control or navigation flight control, and can spray pesticides, seeds, powders, etc.

[0003] The rotors of multi-axis drones are located in multiple directions of the drone, causing the wind field to be scattered and the wind field coverage to be small. During the spraying process, due to the reduction of load, the drone is subjected to uneven force, resulting in unstable flight of the drone and causing the drone to crash. Summary of the invention

[0004] The purpose of the present invention is to provide an anti-sway plant protection UAV, which aims to solve the technical problem that during the spraying process of the multi-axis UAV in the prior art, the UAV is subjected to uneven force due to the reduction of load, thereby causing the UAV to fly unsteadily and leading to the occurrence of a crash accident.

[0005] To achieve the above-mentioned purpose, the present invention adopts an anti-sway type plant protection UAV, including a body, a spiral wing, a spray box and a mounting device; the spiral wing is fixedly connected to the body and is located on one side of the body, the spray box is slidably connected to the body and is located on the side of the body away from the spiral wing; the body has a storage cavity, the storage cavity is located inside the body, the mounting device includes a damping slider, a first supporting spring, a second supporting spring, a telescopic hydraulic rod, a rocker arm and a shock absorbing assembly, the damping slider is slidably connected to the body and is located inside the storage cavity, one side of the first supporting spring is fixedly connected to the damping slider, and the other side is fixedly connected to the body and is located between the body and the damping slider, one side of the second supporting spring is fixedly connected to the damping slider, and the other side is fixedly connected to the body and is located on the side of the damping slider close to the first supporting spring, one end of the telescopic hydraulic rod is fixedly connected to the damping slider, passes through the body, and is located between the first supporting spring and the The rocker arm is rotatably connected to the telescopic hydraulic rod and fixedly connected to the spray box between the second support springs, and is located at one end of the telescopic hydraulic rod away from the damping slider; the shock absorbing assembly includes a lateral slide rail, a lateral slider, a connecting bearing, a horizontal hydraulic rod and a return spring, the lateral slide rail is fixedly connected to the damping slider, penetrates the body, and is located on a side of the damping slider close to the telescopic hydraulic rod, the lateral slider is slidably connected to the lateral slide rail, and is fixedly connected to the telescopic hydraulic rod, and is located on a side of the lateral slide rail close to the telescopic hydraulic rod, the connecting bearing is fixedly connected to the telescopic hydraulic rod, and is rotatably connected to the rocker arm, and is located between the rocker arm and the telescopic hydraulic rod, one end of the horizontal hydraulic rod is fixedly connected to the lateral slide rail, and the other end is fixedly connected to the lateral slider, and is located between the lateral slider and the lateral slide rail, one side of the return spring is fixedly connected to the lateral slider, and the other end is fixedly connected to the lateral slider, and is located between the lateral slider and the lateral slide rail.

[0006] Among them, the body also has a horizontal groove, which is located on the side of the body close to the damping slider and is connected to the storage cavity; the damping slider has a limiting protrusion, which is located on the side of the damping slider close to the horizontal groove and cooperates with the horizontal groove.

[0007] Wherein, the lateral slide rail has a rectangular groove, and the rectangular groove is located on a side of the lateral slide rail close to the lateral slider and cooperates with the lateral slider.

[0008] Wherein, the installation device also includes a transverse slide rail, which is fixedly connected to the body and slidably connected to the damping slider and is located inside the storage cavity.

[0009] Among them, the anti-swing type plant protection UAV also includes a hydraulic cylinder and a vertical telescopic sleeve. The hydraulic cylinder is fixedly connected to the spray box and is located on the side of the spray box close to the body; the vertical telescopic sleeve is fixedly connected to the spray box and fixedly connected to the hydraulic cylinder, and is located on the side of the spray box away from the hydraulic cylinder.

[0010] Wherein, the anti-swing type plant protection UAV further includes a spray nozzle, which is fixedly connected to the vertical telescopic sleeve and is located on a side of the vertical telescopic sleeve away from the spray box.

[0011] The anti-sway type plant protection UAV of the present invention is that the spray box oscillates left and right during the spraying process, and the force generated by the oscillation is transmitted to the rocker arm. The rocker arm is rotationally connected with the horizontal hydraulic rod through the connecting bearing, and drives the horizontal hydraulic rod to extend and retract through force. At the same time, the lateral force drives the lateral slider to slide on the lateral slide rail. The lateral slider is subjected to the rebound force of the horizontal hydraulic rod and the return spring, and the damping slider is subjected to the rebound force of the first support spring and the second support spring. In this way, the oscillation of the spray box in multiple directions on the horizontal plane is damped, so that the UAV remains stable during flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 It is a schematic diagram of the overall structure of the anti-swing type plant protection UAV of the present invention.

[0014] Figure 2 It is a schematic structural diagram of the installation device of the present invention.

[0015] Figure 3 It is a structural schematic diagram of the shock absorbing assembly of the present invention.

[0016] In the figure: 1-body, 2-helical wing, 3-spray box, 4-installation device, 5-hydraulic cylinder, 6-vertical telescopic sleeve, 7-spray nozzle, 11-storage cavity, 12-horizontal groove, 13-lateral slide groove, 41-damping slider, 42-first support spring, 43-second support spring, 44-telescopic hydraulic rod, 45-rocker arm, 46-shock absorption assembly, 47-lateral slide rail, 100-anti-swing type plant protection UAV, 411-limiting protrusion, 441-fixed cylinder, 442-telescopic cylinder, 461-lateral slide rail, 462-lateral slider, 463-connecting bearing, 464-horizontal hydraulic rod, 465-return spring, 466-fixed plate, 467-telescopic spring, 4611-rectangular groove. DETAILED DESCRIPTION

[0017] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0018] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0019] See also Figures 1 to 3The present invention provides an anti-sway type plant protection UAV 100, comprising a body 1, a spiral wing 2, a spray box 3 and a mounting device 4; the spiral wing 2 is fixedly connected to the body 1 and is located on one side of the body 1, the spray box 3 is slidably connected to the body 1 and is located on a side of the body 1 away from the spiral wing 2; the body 1 has a storage cavity 11, the storage cavity 11 is located inside the body 1, the mounting device 4 comprises a damping slider 41, a first supporting spring 42, a second supporting spring 43, a telescopic hydraulic rod 44, a rocker arm 45 and a shock absorbing assembly 46, the damping slider 41 is slidably connected to the body 1 , and is located inside the storage cavity 11, one side of the first support spring 42 is fixedly connected to the damping slider 41, and the other side is fixedly connected to the body 1, and is located between the body 1 and the damping slider 41, one side of the second support spring 43 is fixedly connected to the damping slider 41, and the other side is fixedly connected to the body 1, and is located on the side of the damping slider 41 close to the first support spring 42, one end of the telescopic hydraulic rod 44 is fixedly connected to the damping slider 41, passes through the body 1, and is located between the first support spring 42 and the second support spring 43, the rocker arm 45 is fixedly connected to the damping slider 41, and the second support spring 43 is fixedly connected to the body 1, and ... The telescopic hydraulic rod 44 is rotatably connected and fixedly connected to the spray box 3, and is located at the end of the telescopic hydraulic rod 44 away from the damping slider 41; the shock absorbing assembly 46 includes a lateral slide rail 461, a lateral slider 462, a connecting bearing 463, a horizontal hydraulic rod 464 and a return spring 465, the lateral slide rail 461 is fixedly connected to the damping slider 41, and passes through the machine body 1, and is located on the side of the damping slider 41 close to the telescopic hydraulic rod 44, the lateral slider 462 is slidably connected to the lateral slide rail 461, and is fixedly connected to the telescopic hydraulic rod 44, and is located near the lateral slide rail 461. Near one side of the telescopic hydraulic rod 44, the connecting bearing 463 is fixedly connected to the telescopic hydraulic rod 44 and is rotatably connected to the rocker arm 45, and is located between the rocker arm 45 and the telescopic hydraulic rod 44; one end of the horizontal hydraulic rod 464 is fixedly connected to the lateral slide rail 461, and the other end is fixedly connected to the lateral slider 462, and is located between the lateral slider 462 and the lateral slide rail 461; one side of the return spring 465 is fixedly connected to the lateral slider 462, and the other end is fixedly connected to the lateral slider 462, and is located between the lateral slider 462 and the lateral slide rail 461.

[0020] In this embodiment, the body 1 is a rotary-wing UAV having four rotor shafts distributed at the four ends of the fuselage. The motor on each rotor shaft drives the rotor at the end to rotate, thereby generating thrust. The body 1 has a variety of components such as a signal receiver and a controller to ensure the controllability and collision prevention of the flight path. The rocker arm 45 is an inverted L-shaped connecting arm. The horizontal section of the rocker arm 45 is threadedly fixed to the spray box 3. There are four rocker arms 45, two on the left and two on the right, and they are arranged opposite to each other. The vertical section of the rocker arm 45 is vertically upward and rotatably connected to the telescopic hydraulic rod 44 through the connecting bearing 463, so that the rocker arm 45 with the spray box 3 and the telescopic hydraulic rod 44 can rotate axially The end of the telescopic hydraulic rod 44 is fixed to the surface of the lateral slider 462 by bolts, and the lateral slider 462 is slidably limited inside the lateral slide rail 461 and slides inside the lateral slide rail 461 along the long direction of the lateral slide rail 461. The lateral slider 462 is threadedly fixed on the damping slider 41, and the damping slider 41 is installed in the storage box of the body 1 for transverse sliding. The sliding direction of the damping slider 41 is perpendicular to the long direction of the lateral slide rail 461 on the horizontal plane, thereby driving the lateral slide rail 461 and the lateral slider 462 to slide transversely. The first support spring 42 and the second support spring 43 are respectively installed on the damping slider 41 at the same time. The left and right ends of the side are respectively abutted against the inner wall of the storage cavity 11 of the body 1, thereby buffering the sliding of the damping slider 41; the lateral slider 462 slides horizontally in the lateral slide rail 461, and abuts against the horizontal hydraulic rod 464 and the return spring 465 during the sliding process. The horizontal hydraulic rod 464 stores hydraulic oil inside and can be horizontally extended and retracted. During the extension and retraction process, it is resisted by the hydraulic oil, thereby slowing down the extension and retraction speed. The lateral slider 462 squeezes the return spring 465 during the sliding process, and the return spring 465 converts the elastic potential energy into kinetic energy and applies it to the lateral slider 462, thereby slowing down the sliding of the lateral slider 462. In this way, when the spray box 3 oscillates left and right during the spraying process, and transmits the force generated by the oscillation to the rocker arm 45, the rocker arm 45 is rotationally connected to the horizontal hydraulic rod 464 through the connecting bearing 463, and drives the horizontal hydraulic rod 464 to extend and retract through force. At the same time, the lateral force drives the lateral slider 462 to slide on the lateral slide rail 461. The lateral slider 462 is subjected to the rebound force of the horizontal hydraulic rod 464 and the return spring 465, and the damping slider 41 is subjected to the rebound force of the first support spring 42 and the second support spring 43. In this way, the oscillation of the spray box 3 in multiple directions on the horizontal plane is damped, so that the UAV remains stable during flight.

[0021] For further information, see Figure 2 The body 1 also has a horizontal groove 12, which is located on a side of the body 1 close to the damping slider 41 and is connected to the storage cavity 11; the damping slider 41 has a limiting protrusion 411, which is located on a side of the damping slider 41 close to the horizontal groove 12 and cooperates with the horizontal groove 12.

[0022] In this embodiment, the horizontal groove 12 is horizontally arranged in the storage cavity 11 of the body 1, and there are two of them, which are respectively located on the left and right sides of the damping slider 41. The number of the limiting protrusions 411 is two, which are respectively arranged on the left and right sides of the damping slider 41, and are slidably limited with the horizontal groove 12, so that the damping slider 41 slides more smoothly inside the body 1.

[0023] For further information, see Figure 1 The body 1 also has a lateral slide groove 13, which is located on a side of the body 1 close to the lateral slide rail 461, passes through the body 1, and is connected to the storage cavity 11; the lateral slide rail 461 is installed inside the lateral slide groove 13.

[0024] In this embodiment, the lateral slide groove 13 passes through the left and right sides of the body 1, so that the lateral slide rail 461 is slidably installed inside the lateral slide groove 13 and passes through the lateral slide groove 13, so that the lateral slide rail 461 slides inside the body 1 together with the damping slider 41.

[0025] For further information, see Figure 3 The telescopic hydraulic rod 44 includes a fixed cylinder 441 and a telescopic cylinder 442. The fixed cylinder 441 is fixedly connected to the lateral slider 462 and is located on the side of the lateral slider 462 away from the lateral slide rail 461; the telescopic cylinder 442 is slidably connected to the fixed cylinder 441 and is fixedly connected to the connecting bearing 463, and is located at one end of the fixed cylinder 441 away from the lateral slider 462.

[0026] For further information, see Figure 3 The shock absorbing assembly 46 also includes a fixed plate 466 and a telescopic spring 467. The fixed plate 466 is fixedly connected to the telescopic cylinder 442 and is located on the outside of the telescopic cylinder 442. One side of the telescopic spring 467 is fixedly connected to the fixed plate 466, and the other side is fixedly connected to the lateral slider 462, and is sleeved on the outer periphery of the telescopic cylinder 442.

[0027] In this embodiment, the end of the fixed cylinder 441 is threadedly fixed on the lateral slider 462, and the telescopic cylinder 442 can extend into the interior of the fixed cylinder 441 and squeeze the hydraulic oil inside the fixed cylinder 441. The outer periphery of the telescopic cylinder 442 is threadedly fixed with the fixed plate 466, and the fixed plate 466 is concentric with the telescopic cylinder 442. The telescopic spring 467 is installed between the fixed plate 466 and the lateral slider 462, and is sleeved on the outer periphery of the fixed cylinder 441 and the telescopic cylinder 442, so as to dampen the extension and retraction of the telescopic cylinder 442 and the fixed cylinder 441.

[0028] For further information, see Figure 2 The lateral slide rail 461 has a rectangular groove 4611 , and the rectangular groove 4611 is located on a side of the lateral slide rail 461 close to the lateral slider 462 and cooperates with the lateral slider 462 .

[0029] In this embodiment, the outer side of the lateral slide rail 461 has the rectangular groove 4611, and the lateral slider 462 cooperates with the rectangular groove 4611, so that the upper and lower sides of the lateral slider 462 slide and abut against the side walls of the rectangular groove 4611, so that the sliding of the lateral slider 462 is limited and can only slide along the long direction of the lateral slide rail 461.

[0030] For further information, see Figure 2 The mounting device 4 further includes a transverse slide rail 47 , which is fixedly connected to the body 1 , slidably connected to the damping slider 41 , and is located inside the storage cavity 11 .

[0031] In this embodiment, the transverse slide rail 47 is threadedly fixed to the bottom of the storage cavity 11 of the body 1, and is laterally arranged between the two left and right lateral slide grooves 13 of the body 1, so that the damping slider 41 slides on the transverse slide rail 47, thereby limiting the sliding of the damping slider 41, making the sliding of the damping slider 41 smoother.

[0032] For further information, see Figure 1 The anti-swing type plant protection UAV 100 also includes a hydraulic cylinder 5 and a vertical telescopic sleeve 6. The hydraulic cylinder 5 is fixedly connected to the spray box 3 and is located on a side of the spray box 3 close to the body 1; the vertical telescopic sleeve 6 is fixedly connected to the spray box 3 and fixedly connected to the hydraulic cylinder 5, and is located on a side of the spray box 3 away from the hydraulic cylinder 5.

[0033] For further information, see Figure 1The anti-sway type plant protection UAV 100 also includes a spray nozzle 7, which is fixedly connected to the vertical telescopic sleeve 6 and is located on a side of the vertical telescopic sleeve 6 away from the spray box 3.

[0034] In this embodiment, the hydraulic cylinder 5 is threadedly fixed to the top of the spray box 3, and drives the vertical telescopic sleeve 6 to telescope in the vertical direction, thereby driving the spray head 7 to telescope in the direction away from the body 1. The spray head 7 is connected to the spray box 3 through a conduit, so that the spray head 7 is further away from the position of the spiral wing 2, thereby reducing the influence of the airflow generated by the spiral wing 2 on the spraying.

[0035] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. An anti-swing plant protection drone, characterized in that: It includes the fuselage, propeller wings, spray box and mounting device; The spiral wing is fixedly connected to the body and is located on one side of the body, and the spray box is slidably connected to the body and is located on a side of the body away from the spiral wing; The machine body has a storage cavity, which is located inside the machine body. The installation device includes a damping slider, a first supporting spring, a second supporting spring, a telescopic hydraulic rod, a rocker arm and a shock absorbing assembly. The damping slider is slidably connected to the machine body and is located inside the storage cavity. One side of the first supporting spring is fixedly connected to the damping slider, and the other side is fixedly connected to the machine body and is located between the machine body and the damping slider. One side of the second supporting spring is fixedly connected to the damping slider, and the other side is fixedly connected to the machine body and is located on a side of the damping slider close to the first supporting spring. One end of the telescopic hydraulic rod is fixedly connected to the damping slider, passes through the machine body, and is located between the first supporting spring and the second supporting spring. The rocker arm is rotatably connected to the telescopic hydraulic rod, and is fixedly connected to the spray box, and is located at an end of the telescopic hydraulic rod away from the damping slider. The shock absorbing assembly comprises a lateral slide rail, a lateral slider, a connecting bearing, a horizontal hydraulic rod and a return spring. The lateral slide rail is fixedly connected to the damping slider, passes through the machine body, and is located on a side of the damping slider close to the telescopic hydraulic rod. The lateral slider is slidably connected to the lateral slide rail and is fixedly connected to the telescopic hydraulic rod and is located on a side of the lateral slide rail close to the telescopic hydraulic rod. The connecting bearing is fixedly connected to the telescopic hydraulic rod and is rotationally connected to the rocker arm and is located between the rocker arm and the telescopic hydraulic rod. One end of the horizontal hydraulic rod is fixedly connected to the lateral slide rail, and the other end is fixedly connected to the lateral slider and is located between the lateral slider and the lateral slide rail. One side of the return spring is fixedly connected to the lateral slider, and the other end is fixedly connected to the lateral slider and is located between the lateral slider and the lateral slide rail. The telescopic hydraulic rod includes a fixed cylinder and a telescopic cylinder. The fixed cylinder is fixedly connected to the lateral slider and is located on the side of the lateral slider away from the lateral slide rail; the telescopic cylinder is slidably connected to the fixed cylinder and fixedly connected to the connecting bearing, and is located at one end of the fixed cylinder away from the lateral slider.

2. The anti-sway type plant protection UAV according to claim 1, characterized in that: The body also has a horizontal groove, which is located on a side of the body close to the damping slider and is connected to the storage cavity; the damping slider has a limiting protrusion, which is located on a side of the damping slider close to the horizontal groove and cooperates with the horizontal groove.

3. The anti-sway type plant protection UAV according to claim 1, characterized in that: The lateral slide rail has a rectangular groove, which is located on a side of the lateral slide rail close to the lateral slider and cooperates with the lateral slider.

4. The anti-sway type plant protection UAV according to claim 1, characterized in that: The installation device also includes a transverse slide rail, which is fixedly connected to the body and slidably connected to the damping slider and is located inside the storage cavity.

5. The anti-sway type plant protection UAV according to claim 1, characterized in that: The anti-swing type plant protection UAV also includes a hydraulic cylinder and a vertical telescopic sleeve. The hydraulic cylinder is fixedly connected to the spray box and is located on a side of the spray box close to the body; the vertical telescopic sleeve is fixedly connected to the spray box and fixedly connected to the hydraulic cylinder, and is located on a side of the spray box away from the hydraulic cylinder.

6. The anti-sway type plant protection UAV according to claim 5, characterized in that: The anti-swing type plant protection UAV also includes a spray nozzle, which is fixedly connected to the vertical telescopic sleeve and is located on a side of the vertical telescopic sleeve away from the spray box.

Images