A kind of combined multifunctional spray rod structure

Abstract

The invention discloses a combinable multifunctional spray boom structure; it comprises two symmetrically arranged basic units and a flexible connecting component in between; the basic unit comprises a support rod (7), and an auxiliary rotor assembly, an adjustment rotor assembly, a tripod (12) and a main lift rotor assembly arranged in sequence on the support rod (7); the auxiliary rotor assembly is arranged at both ends of the spray boom structure, the main lift rotor assembly is arranged on both sides of the flexible connecting component in the middle, and the adjustment rotor assembly is arranged between the auxiliary rotor assembly and the tripod (12); the invention controls multiple pairs of rotors to be in different postures, and when it works in the corner area of ​​a farmland, it can control the rotors to make them yaw, and at the same time control its multiple nozzles according to the density of crops to achieve precise variable spraying.

Description

Technical Field

[0001] The invention relates to a multi-rotor spray boom structure capable of controlling rotors to make them yaw when working in a farmland corner area, and belongs to the technical field of agricultural machinery automation and flight control. Background Art

[0002] In the process of spraying pesticides on crops, traditional ground agricultural machinery faces difficulties such as heavy machines and the need for special roads, which has made plant protection drones increasingly popular among growers in recent years. However, plant protection drones also encounter some difficulties during operation, such as short flight time, waste of pesticides in irregular operation areas, or repeated spraying. Summary of the invention

[0003] Based on the above-mentioned deficiencies of the prior art, the present invention discloses a convenient and flexible combinable multifunctional spray boom structure which can control the rotor to make its yaw motion.

[0004] The technical solution of the present invention includes: a modular multifunctional spray boom structure, including two symmetrically arranged basic units and a flexible connecting component in the middle; the basic unit includes a support rod 7, and an auxiliary rotor assembly, an adjustment rotor assembly, a tripod 12 and a main lift rotor assembly arranged on the support rod 7 in sequence;

[0005] The auxiliary rotor assembly is arranged at both ends of the boom structure, the main lift rotor assembly is arranged on both sides of the middle flexible connection component, and the adjustment rotor assembly is arranged between the auxiliary rotor assembly and the tripod 12;

[0006] The auxiliary rotor includes two rotor motors 2 and a bracket 3 and a blade 1 matched therewith. The blade 1 is connected to the rotor motor 2. The two rotor motors 2 are connected to the support rod 7 at a certain angle through the bracket 3. There is a liquid medicine pipeline between the two rotor motors 2, one end of which is connected to the support rod 7 and the other end is connected to the vertically downward nozzle 5 for spraying operation. The two rotor motors 2 provide lateral force to the structure while also providing upward lift.

[0007] The adjusting rotor assembly includes a fixing flange 10, a second rotor motor 9, a second blade 8, a liquid medicine pipeline 11, and a second nozzle; the lower end of the second blade 8 is connected to the second rotor motor 9, the lower end of the second rotor motor 9 is connected to the fixing flange 10, and the lower end of the fixing flange 10 is sequentially provided with a liquid medicine pipeline 11 and a second nozzle connected to the support rod 7, and the second rotor motor 9 and the liquid medicine pipeline 11 are fixed to the support rod 7 through the fixing flange 10;

[0008] The main lift rotor assembly includes a second fixed flange 15, a third rotor motor 13, a third blade 14, a medicine liquid pipeline, and a third nozzle 16; the lower end of the third blade 14 is connected to the third rotor motor 13, and the lower end of the third rotor motor 13 is connected to the second fixed flange 15. The lower end of the second fixed flange 15 is sequentially provided with a medicine liquid pipeline and a third nozzle 16 connected to the support rod 7. The third rotor motor 13 and the medicine liquid pipeline are fixed to the support rod 7 through the second fixed flange 15.

[0009] Furthermore, the support rod 7 is formed by connecting a hollow tube with two tripods, which provides support and load-bearing function for the entire spray rod structure. The hollow structure of the support rod 7 also serves as a passage for liquid medicine and electric wires.

[0010] Furthermore, the support rod 7 is a carbon fiber tube.

[0011] Furthermore, the installation angles of the main rotor and the regulating rotor are adjusted to be axially vertical.

[0012] Furthermore, the flexible connection component includes a support rod joint 17, a hose 20, and a hose joint 19, and the support rod joint 17 and the hose joints 19 at both ends of the hose 20 are connected by threads.

[0013] The present invention has the following technical effects:

[0014] This design not only takes into account the characteristics of UAV such as flexibility, speed and low cost, but also has the following features that conventional plant protection UAVs do not have:

[0015] 1. Multiple pairs of nozzles are arranged in a linear pattern, which can spray a larger area per unit time and effectively improve work efficiency.

[0016] 2. By controlling multiple pairs of rotors, it can be placed in different postures. When it works in the corners of farmland, the rotors can be controlled to make it yaw, and at the same time, multiple nozzles can be controlled by variables to achieve precise spraying and reduce the loss and waste of liquid medicine.

[0017] 3. Made of carbon fiber, it has a simple structure and light weight. With the same weight, more lift can be used to distribute more liquid medicine or larger capacity batteries.

[0018] 4. This design can be used as a basic unit. When necessary, multiple basic units can be connected through quick connectors to achieve operations over a larger area.

[0019] 5. The connection parts between the main lift rotor and the spray boom can adopt a connector with damping, so that when the multi-rotor spray boom is working, even if it is occasionally affected by gusts of wind, the attitude change can be weakened by the connector with damping, thereby increasing the stability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the overall structure diagram of the combinable multifunctional spray boom;

[0021] Figure 2 This is a detailed view of the auxiliary rotor;

[0022] Figure 3 A flexible connecting component;

[0023] In the figure, 1-auxiliary rotor; 2-rotor motor; 3-bracket; 5-nozzle; 7-support rod; 8-support rod; 9-second rotor motor; 10-fixing flange; 11-medicine pipeline; 12-tripod; 13-third rotor motor; 14-third blade; 15-second fixed flange; 16-third nozzle; 17-support rod joint; 19-hose joint; 20-hose. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] like Figure 1 As shown, a combinable multifunctional spray boom structure includes two symmetrically arranged basic units and a flexible connecting part in the middle; the basic unit includes a support rod 7, and an auxiliary rotor assembly, an adjustment rotor assembly, a tripod 12 and a main lift rotor assembly arranged in sequence on the support rod 7; the auxiliary rotor assembly is arranged at both ends of the spray boom structure, the main lift rotor assembly is arranged on both sides of the middle flexible connecting part, and the adjustment rotor assembly is arranged between the auxiliary rotor assembly and the tripod 12. The adjustment rotor assembly includes a fixing flange 10, a second rotor motor 9, a second blade 8, a liquid medicine pipeline 11, and a second nozzle; the lower end of the second blade 8 is connected to the second rotor motor 9, the lower end of the second rotor motor 9 is connected to the fixing flange 10, the lower end of the fixing flange 10 is sequentially provided with a liquid medicine pipeline 11 and a second nozzle connected to the support rod 7, and the second rotor motor 9 and the liquid medicine pipeline 11 are fixed to the support rod 7 through the fixing flange 10; the main lift rotor assembly includes a second fixing flange 15, a third rotor motor 13, a third blade 14, a liquid medicine pipeline, and a third nozzle 16; the lower end of the third blade 14 is connected to the third rotor motor 13, the lower end of the third rotor motor 13 is connected to the second fixing flange 15, the lower end of the second fixing flange 15 is sequentially provided with a liquid medicine pipeline and a third nozzle 16 connected to the support rod 7, and the third rotor motor 13 and the liquid medicine pipeline are fixed to the support rod 7 through the second fixing flange 15. The installation angles of the above-mentioned main rotor and adjustment rotor are adjusted to be axially vertical.

[0026] like Figure 2As shown, the auxiliary rotor includes two rotor motors 2 and a matching bracket 3 and a blade 1. The blade 1 is connected to the rotor motor 2. The two rotor motors 2 are connected to the support rod 7 at a certain angle through the bracket 3. There is a liquid medicine pipeline between the two rotor motors 2, one end of which is connected to the support rod 7 and the other end is connected to the vertically downward nozzle 5 for spraying operations. The two rotor motors 2 provide lateral force to the structure while also providing upward lift.

[0027] As a specific embodiment of the present invention, the support rod 7 is formed by connecting a hollow tube with two tripods, which provides support and load-bearing function for the entire spray rod structure. The hollow structure of the support rod 7 also serves as a passage for liquid medicine and wires. The support rod 7 can be made of carbon fiber tube material.

[0028] like Figure 3 As shown, the flexible connection component includes a support rod joint 17, a hose 20, and a hose joint 19, and the support rod joint 17 and the hose joint 19 are connected by threads.

[0029] Working process:

[0030] When expanding the multifunctional spray boom, two or more basic units can be connected through flexible connecting parts according to actual needs. When only two basic units are connected ( Figure 1 ), it is only necessary to configure auxiliary rotors at the other end where the two basic units are connected to the flexible connection component; when connecting multiple basic units, it is necessary to consider the size of the attitude adjustment and add auxiliary rotors on both sides of the flexible connection component to ensure that the attitude can be adjusted in time during flight.

[0031] The multifunctional spray boom can be equipped with sensors widely used on current quad-rotor drones and controlled by ordinary flight controllers. Each basic unit can be used as a device on the bus, and there are two different ways to control each basic unit: one, multiple basic units use a general controller to centrally control each basic unit; two, each basic unit is independently controlled, and data exchange and attitude coordination are carried out through wired or wireless communication.

[0032] When in flight, the regulating rotor and the main lift rotor provide the main lift to the multi-function spray boom, and the auxiliary rotor adjusts the attitude. At the same time, since the auxiliary rotor provides upward force when working, the regulating rotor and the main lift rotor need to perform feedforward control or adaptive control according to the lift changes.

[0033] This design uses flexible components to connect the two basic units ( Figure 3 ), its advantages are as follows:

[0034] 1. The manufacturing cost of a single long carbon fiber tube is high and difficult. The use of flexible connecting components is helpful to reduce costs.

[0035] 2. The use of flexible components for connection can make the basic unit easy to transport and store, and is also conducive to repair after the parts are damaged.

[0036] 3. Flexible connection is conducive to the basic unit having local posture differences during flight, and can perform better terrain-simulating operations on uneven ground.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0038] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A combinable multifunctional spray boom structure, characterized in that: It comprises two symmetrically arranged basic units and a flexible connecting component therebetween; the basic unit comprises a support rod (7), and an auxiliary rotor assembly, an adjustment rotor assembly, a tripod (12) and a main lift rotor assembly arranged in sequence on the support rod (7); The auxiliary rotor assembly is arranged at both ends of the spray boom structure, the main lift rotor assembly is arranged on both sides of the middle flexible connection component, and the adjustment rotor assembly is arranged between the auxiliary rotor assembly and the tripod (12); The auxiliary rotor comprises two rotor motors (2) and a bracket (3) matched therewith, and a blade (1); the blade (1) is connected to the rotor motor (2); the two rotor motors (2) are connected to the bottom of a support rod (7) at a certain angle through the bracket (3); a liquid medicine pipeline is provided between the two rotor motors (2), one end of which is connected to the support rod (7) and the other end is connected to a spray head (5) pointing vertically downward for spraying operations; the two rotor motors (2) provide lateral force to the structure while also providing upward lift; The adjusting rotor assembly comprises a fixing flange (10), a second rotor motor (9), a second blade (8), a liquid medicine pipeline (11), and a second nozzle; the lower end of the second blade (8) is connected to the second rotor motor (9), the lower end of the second rotor motor (9) is connected to the fixing flange (10), the lower end of the fixing flange (10) is provided with a liquid medicine pipeline (11) and a second nozzle which are connected to the support rod (7) in sequence, and the second rotor motor (9) and the liquid medicine pipeline (11) are fixed to the support rod (7) via the fixing flange (10); The main lift rotor assembly comprises a second fixed flange (15), a third rotor motor (13), a third blade (14), a liquid medicine pipeline, and a third nozzle (16); the lower end of the third blade (14) is connected to the third rotor motor (13), the lower end of the third rotor motor (13) is connected to the second fixed flange (15), the lower end of the second fixed flange (15) is sequentially provided with a liquid medicine pipeline and a third nozzle (16) which are connected to the support rod (7), and the third rotor motor (13) and the liquid medicine pipeline are fixed to the support rod (7) through the second fixed flange (15); The support rod (7) is formed by connecting a hollow tube with two tripods, providing support and load-bearing functions for the entire spray rod structure. The hollow structure of the support rod (7) also serves as a passage for liquid medicine and electric wires. The installation angles of the main rotor and the regulating rotor are adjusted to be axially vertical.

2. A combinable multifunctional spray boom structure according to claim 1, characterized in that: The support rod (7) is a carbon fiber tube.

3. The combinable multifunctional spray boom structure according to claim 1, characterized in that: The flexible connection component comprises a support rod joint (17), a hose 20, and a hose joint (19). The support rod joint (17) and the hose joints (19) at both ends of the hose (20) are connected by threads.

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