Shear force driven telescopic device and plant protection aircraft

Abstract

This invention relates to the field of plant protection equipment technology, specifically to a shear-driven telescopic device and a plant protection drone, comprising a first drive mechanism, a scissor mechanism, and a second drive mechanism. The scissor mechanism includes several scissor units, with adjacent scissor units hinged to each other. Any scissor unit is hinged to the working end of the first drive mechanism, which can drive all scissor units to extend and retract synchronously. At least one scissor unit includes two hinged long connecting rods, and the position of the hinge point between the two long connecting rods is adjustable. The second drive mechanism is used to adjust the relative position of the hinge point on any one or two long connecting rods. This invention utilizes the second drive mechanism to adjust the relative position of the hinge point on any one or two long connecting rods, which to a certain extent can adjust the height difference at the working end of the two long connecting rods, thereby achieving the tilt angle of the entire scissor mechanism's working end, adapting to the orientation of the working end of the scissor mechanism, and adapting to different operating conditions.

Description

Technical Field

[0001] This invention relates to the field of plant protection equipment, specifically to a shear-driven telescopic device and a plant protection drone. Background Technology

[0002] With the development of agricultural technology, drone spraying is now the primary method for controlling tobacco leaf diseases. This method, hereinafter referred to as aerial spraying, reduces the need for personnel to enter and exit tobacco fields, avoids the risk of disease spread, and improves the efficiency of plant protection operations.

[0003] Currently, most agricultural drones have their nozzles mounted directly on the bottom of the drone frame. During flight, the drone simply flies over the crops to spray. However, in practice, to avoid taller plants interfering with the drone's flight and to protect it, agricultural drones generally fly at a relatively high altitude, maintaining a safe distance from the top of the tobacco plant. Because of this relatively high altitude, many leaves remain untreated after spraying, resulting in poor spraying effectiveness and pesticide waste. The main reasons for this are the relatively large leaf area of ​​tobacco, with the top layers of leaves receiving sunlight effectively blocking the downward diffusion of the pesticide, and the fact that the spray nozzle's reach cannot exceed the drone's safe flight altitude. This makes it difficult for the middle and lower leaves of the tobacco plant to adhere to the pesticide. In actual pest control, the primary target of pesticide spraying is the tobacco leaf. Therefore, during spraying, workers also need to focus on areas with concentrated pests or diseased areas on individual plants, spraying repeatedly.

[0004] To address the aforementioned issues, patent CN112498719A discloses a tree-clearing flying robot with a scissor-fork suspended blade. This patent includes a flight platform, a suspension mechanism connected below the flight platform, and a blade system connected below the suspension mechanism. The suspension mechanism comprises a horizontally mounted I-beam, a telescopic device attached below the I-beam, and a lower connecting seat connected to the lower end of the telescopic device and docking with the blade system. The blade system is an array of M (M≥1) chainsaw components arranged in a left-right geometrically symmetrical or mass-symmetrical manner. A disengagement device is provided between the suspension mechanism and the blade system to allow them to be attached or detached. In this patent, the telescopic device enables basic telescopic functionality, allowing the flight platform to adjust the height of the blade system by adjusting the telescopic device, thus improving operational convenience. However, the telescopic device can only achieve basic vertical telescopic function. If the blade system is replaced with a spraying system, the technical solution disclosed in the patent cannot focus on spraying the concentrated areas of pests and diseases or the lesions on individual plants during flight, especially the back of tobacco leaves or the branches of plants. Summary of the Invention

[0005] In order to overcome one of the shortcomings of the prior art, the present invention aims to provide a shear-driven telescopic device and an agricultural drone. The shear-driven telescopic device can not only extend and retract but also bend; the agricultural drone can adjust the spraying direction and can spray the back of tobacco leaves.

[0006] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0007] A shear-driven telescopic device includes a first driving mechanism, a scissor mechanism, and a second driving mechanism. The scissor mechanism includes a plurality of scissor units, with adjacent scissor units hinged to each other. Any scissor unit is hinged to the actuating end of the first driving mechanism, and the first driving mechanism can drive all scissor units to extend and retract synchronously. At least one scissor unit includes two hinged long connecting rods, and the position of the hinge point between the two long connecting rods is adjustable. The second driving mechanism is used to adjust the relative position of the hinge point on any one or two of the long connecting rods.

[0008] Furthermore, a guide structure is provided on any of the long connecting rods in the same scissor lift unit, and a sliding structure is rotatably mounted on the other long connecting rod. The sliding structure is slidably mounted on the guide structure. The working end of the second drive mechanism is hinged to the sliding structure, and the second drive mechanism is used to adjust the position of the sliding structure on the guide structure.

[0009] Furthermore, the guide structure is a groove, the sliding structure is a slider, and the slider has receiving grooves at its opposite ends for accommodating the edge of the groove; the corresponding long connecting rod is rotatably mounted on the slider via a rotating shaft, and the working end of the second driving mechanism is rotatably connected to the rotating shaft.

[0010] Furthermore, two sets of scissor lift mechanisms are arranged in parallel, and the two corresponding scissor lift units in the two sets of scissor lift mechanisms are connected by a connecting rod.

[0011] Furthermore, it also includes a bridging mechanism and a working mechanism. The mounting end of the first drive mechanism is hinged to the bridging mechanism. The outward end of the scissor unit at the uppermost end of the scissor mechanism is hinged to the bridging mechanism. The working mechanism is hinged to the movable end of the scissor unit at the lowermost end of the scissor mechanism. The second drive mechanism is mounted on the long connecting rod or the bridging mechanism having the guide structure.

[0012] Furthermore, all scissor lift units are X-shaped scissor lifts hinged together by two long connecting rods. The outward ends of the two long connecting rods in the uppermost scissor lift unit are slidably hinged to the bridging mechanism, and the outward ends of the two long connecting rods in the lowermost scissor lift unit are slidably hinged to the working mechanism. The driving end of the first driving mechanism is hinged to the outward ends of the two long connecting rods in the uppermost scissor lift unit. The first driving mechanism can drive the hinge points of the two long connecting rods in the uppermost scissor lift unit to move closer to or further away from the bridging mechanism.

[0013] Furthermore, the bridging mechanism includes a storage rack and several adjustable connectors disposed on the top of the storage rack. The storage rack is provided with mounting positions, and the outward ends of the two long connecting rods in the uppermost scissor unit are slidably hinged to the mounting positions. The mounting end of the first drive mechanism is hinged to the storage rack.

[0014] Furthermore, the operating mechanism includes a mounting base plate, several spray seats disposed on the mounting base plate, and a spray pipe rotatably mounted on the spray seats. The mounting angle of the spray seats relative to the mounting base plate is adjustable. The mounting base plate is slidably hinged to the outward ends of the two long connecting rods in the lowest scissor unit. A mixing chamber is provided at the outward end of the spray pipe, and an atomizing mesh is provided at the outward end of the mixing chamber. Several air inlets are obliquely disposed on the side wall of the spray pipe, and all the air inlets are obliquely pointed to the outward end of the center line of the spray pipe and connected to the spray pipe.

[0015] Furthermore, both the first drive mechanism and the second drive mechanism are telescopic electric cylinders.

[0016] A plant protection aircraft, comprising the aircraft body and a shear-driven telescopic device.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] This invention provides a shear-driven telescopic device that improves upon a scissor mechanism by allowing adjustment of the hinge point between two long connecting rods in each unit. A second driving mechanism further adjusts the relative position of this hinge point on one or both long connecting rods, thereby adjusting the height difference at the action end of the two connecting rods and thus controlling the tilt angle of the entire scissor mechanism. By adjusting the position of the hinge point between two long connecting rods in multiple scissor units, the entire scissor mechanism can be bent either as a whole or partially, adapting to the orientation of the action end and different operating conditions. This invention also provides a simple plant protection drone capable of spraying at various angles.

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the agricultural drone in an embodiment of the present invention. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the structure of the agricultural drone in an embodiment of the present invention. Figure 2 ;

[0022] Figure 3 This is a schematic diagram of the shear force driven telescopic device in an embodiment of the present invention. Figure 1 ;

[0023] Figure 4 This is a schematic diagram of the shear force driven telescopic device in an embodiment of the present invention. Figure 2 ;

[0024] Figure 5 yes Figure 3 A magnified view of a section at point A in the middle;

[0025] Figure 6 This is a schematic diagram of the structure of the shear force driven telescopic device in the unfolded and bent state in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the scissor unit in an embodiment of the present invention. Figure 1 ;

[0027] Figure 8 This is a schematic diagram of the scissor unit in an embodiment of the present invention. Figure 2 ;

[0028] Figure 9 This is a schematic diagram of the internal structure of the nozzle in an embodiment of the present invention.

[0029] Explanation of icon numbers:

[0030] First drive mechanism 100, scissor mechanism 200, scissor unit 210, long connecting rod 211, guide structure 212, sliding structure 213, receiving slot 214, rotating shaft 215, connecting rod 220, second drive mechanism 300, bridging mechanism 400, storage rack 410, adjusting connector 420, mounting position 430, working mechanism 500, mounting base plate 510, spray seat 520, spray pipe 530, mixing chamber 540, atomizing net 550, air inlet 560, aircraft body 600 Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] See Figures 1 to 2 This application provides an agricultural drone, including a drone body 600 and a shear-driven telescopic device. The drone body 600 is a conventional unmanned aerial vehicle (UAV), which can be electrically or hydraulically driven. The shear-driven telescopic device includes a first drive mechanism 100, a scissor mechanism 200, and a second drive mechanism 300. The scissor mechanism 200 includes several scissor units 210, with adjacent scissor units 210 hinged to each other. Any scissor unit 210 is hinged to the actuating end of the first drive mechanism 100, which can drive all scissor units 210 to extend and retract synchronously. At least one scissor unit 210 includes two hinged long connecting rods 211, and the hinge point position between the two long connecting rods 211 is adjustable. The second drive mechanism 300 is used to adjust the relative position of the hinge point on any one or two of the long connecting rods 211. Specifically, under normal circumstances, it is preferable to adjust the position of the hinge point on a long connecting rod 211, which facilitates control of the outward tilt angle of the entire scissor lift unit 210. It should be noted that in the above description, this application uses the upper end of the entire scissor lift mechanism 200 as a reference, and describes the orientation of its lower end relative to the upper base.

[0033] In the above embodiments, the scissor unit 210 includes conventional X-shaped and V-shaped scissor units. However, in this application, to enable the entire scissor mechanism 200 to bend and adjust the orientation of its lowest end after unfolding, all scissor units 210 can be X-shaped scissor units. This allows each scissor unit 210 to adjust the orientation of the line connecting one end. Preferably, this application provides three scissor units 210, resulting in a simpler structure and easier explanation. It should be noted that the more scissor units 210 there are in this application, the greater the bending degree of the entire scissor mechanism 200. This allows the movable end of the entire scissor mechanism 200 to bypass the obstruction of tobacco as a branch, adapting to the more complex needs of localized spraying of pesticides on crops. It should also be noted that, to achieve folding, each scissor unit 210 capable of changing the hinge point position can be individually configured with a second drive mechanism 300, allowing the tilt angle of the working end of each scissor unit 210 to be arbitrarily adjusted according to actual usage.

[0034] This shear-driven telescopic device improves upon the scissor mechanism 200 by enhancing individual scissor units 210. This allows the hinge point between the two long connecting rods 211 in each scissor unit 210 to be adjusted relative to any one or both long connecting rods 211. Furthermore, the second drive mechanism 300 adjusts the relative position of the hinge point on any one or both long connecting rods 211, thereby adjusting the height difference at the working end of the two long connecting rods 211 to a certain extent, thus achieving the tilt angle of the entire scissor mechanism 200 at its working end. By adjusting the position of the hinge point between the two long connecting rods 211 in multiple scissor units 210, the entire scissor mechanism 200 can be bent either as a whole or partially, adapting to the orientation of the working end of the scissor mechanism 200 and different operating conditions. This agricultural drone has a simple structure and can adapt to spraying requirements at different angles.

[0035] See further Figures 3 to 8 To improve the overall strength of the shear-driven telescopic device, two sets of scissor lift mechanisms 200 are arranged in parallel, with corresponding scissor lift units 210 in each set connected by a connecting rod 220. When the two sets of scissor lift mechanisms 200 are arranged in parallel, each scissor lift unit 210 in one set corresponds one-to-one with the scissor lift unit 210 in the other set. Furthermore, the connecting rod 220 can serve as a hinged connection structure between two long connecting rods 211 in one scissor lift unit 210 and two long connecting rods 211 in an adjacent scissor lift unit 210, thus simplifying the structure.

[0036] For ease of explanation, this application uses Figure 6 Taking an example, the left-right, up-down, and front-back directions are defined based on the specific view seen by the observer. To facilitate the explanation of how a single scissor lift unit 210 achieves the height difference between its two working ends, i.e., the tilt angle of the working ends, a guide structure 212 is provided on one of the long connecting rods 211 in the same scissor lift unit 210, and a sliding structure 213 is rotatably mounted on the other long connecting rod 211. The sliding structure 213 is slidably mounted on the guide structure 212. The working end of the second drive mechanism 300 is hinged to the sliding structure 213, and the second drive mechanism 300 is used to adjust the position of the sliding structure 213 on the guide structure 212. In this embodiment, the second drive mechanism 300 can adopt a driving method parallel to the guide structure 212, or it can adopt a non-parallel driving method. The non-parallel driving method can be a link drive, which is arranged parallel to the scissor lift mechanism 200 and will not affect the unfolding or folding of the scissor lift mechanism 200 itself.

[0037] See Figures 6 to 8More specifically, for design simplicity and to reduce the weight of the long connecting rods 211, all long connecting rods 211 are actually hollowed out. Only the guide structure 212 is entirely hollowed out; long connecting rods 211 without the guide structure 212 can be partially hollowed out. The guide structure 212 is a groove, and the sliding structure 213 is a slider. The slider has receiving grooves 214 at its opposite ends to accommodate the edges of the groove. The corresponding long connecting rods 211 are rotatably mounted on the slider via a rotating shaft 215, and the actuating end of the second driving mechanism 300 is rotatably connected to the rotating shaft 215. A step is provided on one side of the slider, and a locking block is used to form the receiving groove 214, facilitating the removal and replacement of the slider from the groove.

[0038] Of course, in some embodiments, the guide structure 212 is a guide rail structure, and the sliding structure 213 is a slider structure that cooperates with the guide rail structure, as long as the above-mentioned sliding function can be achieved.

[0039] See further Figures 2 to 4 This shear-driven telescopic device also includes a bridging mechanism 400 and a working mechanism 500. The mounting end of the first driving mechanism 100 is hinged to the bridging mechanism 400. One outward end of the scissor unit 210 at the uppermost end of the scissor mechanism 200 is hinged to the bridging mechanism 400. The working mechanism 500 is hinged to the movable end of the scissor unit 210 at the lowermost end of the scissor mechanism 200. The second driving mechanism 300 is mounted on the long connecting rod 211 with the guide structure 212 or on the bridging mechanism 400. The second driving mechanism 300 is mounted on the long connecting rod 211 with the guide structure 212, a design that allows the second driving mechanism 300 to directly drive the sliding structure 213 to slide on the guide structure 212. Furthermore, the bridging mechanism 400 is a structure designed for easy connection to the bottom of the aircraft body 600. The bridging mechanism 400 can be a conventional mounting bracket structure or a quick-release base, as long as it facilitates installation with the scissor mechanism 200. If, in actual use, the uppermost scissor unit 210 also uses a conventional X-shaped scissor, and the hinge points in this X-shaped scissor can change position, then the second drive mechanism 300 configured in the scissor unit 210 can be mounted on the bridging mechanism 400.

[0040] Furthermore, in order to achieve the maximum orientation angle of the working end of the shear force driven telescopic device, in one embodiment of this application, all scissor units 210 are X-shaped scissor units formed by hinged connection of two long connecting rods 211, and the hinge points of the two long connecting rods 211 in all scissor units 210 are adjustable. The two long connecting rods 211 in the uppermost scissor lift unit 210 are slidably hinged at their outward ends to the bridging mechanism 400, and the two long connecting rods 211 in the lowermost scissor lift unit 210 are slidably hinged at their outward ends to the working mechanism 500. The driving end of the first driving mechanism 100 is hinged to the outward ends of the two long connecting rods 211 in the uppermost scissor lift unit 210; or the driving end of the first driving mechanism 100 is hinged to the hinge point of the two long connecting rods 211 in the uppermost scissor lift unit 210. The first driving mechanism 100 can drive the hinge point of the two long connecting rods 211 in the uppermost scissor lift unit 210 to move closer to or further away from the bridging mechanism 400. Of course, in order to facilitate the extension and retraction, the hinge point of the two long connecting rods 211 in the uppermost scissor unit 210 can also be not adjustable, so that the first drive mechanism 100 can drive the scissor unit 210 to fold or unfold.

[0041] Specifically, both the first drive mechanism 100 and the second drive mechanism 300 are telescopic electric cylinders. Since the first drive mechanism 100 needs to simultaneously drive both long connecting rods 211 in the uppermost scissor unit 210 to slide synchronously on the bridging mechanism 400, it can be a double-headed telescopic electric cylinder. In this application, the two drive ends of the first drive mechanism 100 are respectively hinged to the connecting rods 220 between the corresponding two scissor units 210 in the two sets of scissor mechanisms 200, thus simultaneously driving both sets of scissor mechanisms 200 to perform telescopic movements. The second drive mechanism 300 only needs to control the hinge point of the two long connecting rods 211 in the scissor unit 210 to slide in one direction, therefore a single-headed telescopic electric cylinder is sufficient. Furthermore, to prevent the second drive mechanism 300 from causing instability in the center of gravity of its installed long connecting rod 211, traditional single-head telescopic electric cylinders are insufficient. Therefore, in this application, the second drive mechanism 300 adopts a rodless drive electric cylinder. The rodless drive electric cylinder enables rodless drive and has a relatively symmetrical structure, facilitating the aligning of its center of gravity with that of the installed long connecting rod 211. In this embodiment, both ends of the first drive mechanism 100 are hinged to the ends of the two long connecting rods 211 in the uppermost scissor unit 210, and the ends of the two long connecting rods 211 are slidably mounted on the bridging mechanism 400 via sliders. Similarly, the outward ends of the two long connecting rods 211 in the lowermost scissor unit 210 are hinged to sliders, which slide on the sliding structure of the working mechanism 500.

[0042] Of course, in some improved embodiments, all scissor units 210 are X-shaped scissor units formed by hinged two long connecting rods 211. One end of the long connecting rod 211 of the uppermost scissor unit 210 is hinged to the bridging mechanism 400, and the other end of the long connecting rod 211 is slidably hinged to the bridging mechanism 400. One end of the long connecting rod 211 of the lowermost scissor unit 210 is hinged to the working mechanism 500, and the other end of the long connecting rod 211 is slidably mounted on the working mechanism 500. The driving end of the first driving mechanism 100 is hinged to the long connecting rod 211 of the uppermost scissor unit 210 that is slidably mounted to the bridging mechanism 400. The first driving mechanism 100 can drive the long connecting rod 211 that is slidably hinged to the bridging mechanism 400 to move closer to or away from the other long connecting rod 211. In this embodiment, only one long connecting rod 211 of the uppermost scissor unit 210 slides relative to the bridging mechanism 400, and only one long connecting rod 211 of the lowermost scissor unit 210 slides relative to the working mechanism 500. However, in this embodiment, the center of the scissor unit 210 changes relative to the bridging mechanism 400 and the working mechanism 500, which can easily cause instability in the flight of the entire aircraft 600. Therefore, this technical solution is not preferred in this application.

[0043] See further Figures 2 to 5 The bridging mechanism 400 includes a storage rack 410 and several adjusting connectors 420 disposed on the top of the storage rack 410. The storage rack 410 has mounting positions 430. The outward ends of the two long connecting rods 211 of the uppermost scissor unit 210 are slidably hinged to the mounting positions 430. The mounting end of the first drive mechanism 100 is hinged to the storage rack 410. In fact, the adjusting connector 420 is an adjusting telescopic screw, with its outward end connected to the bottom of the aircraft body 600. The main function of adjusting the connector 420 is to improve the flatness of the connection between the storage rack 410 and the bottom of the aircraft body 600, thereby adjusting the normal flatness of the shear-driven telescopic device at the bottom and improving the levelness of the working mechanism 500 when the shear-driven telescopic device is not bent.

[0044] See further Figure 3 , Figure 4 and Figure 9The operating mechanism 500 includes a mounting base plate 510, a plurality of spray seats 520 disposed on the mounting base plate 510, and a spray pipe 530 rotatably mounted on the spray seats 520. The mounting angle of the spray seats 520 relative to the mounting base plate 510 is adjustable. The mounting base plate 510 is slidably hinged to the outward ends of the two long connecting rods 211 in the lowest scissor unit 210. A mixing chamber 540 is provided at the outward end of the spray pipe 530, and an atomizing net 550 is provided at the outward end of the mixing chamber 540. A plurality of air inlets 560 are obliquely disposed on the side wall of the spray pipe 530, and all the air inlets 560 are obliquely pointed to the outward end of the center line of the spray pipe 530 and connected to the spray pipe 530.

[0045] See Figure 9 In the above embodiments, the number of spray nozzles 520 is installed according to requirements, and all spray nozzles 520 are connected to the liquid tank on the aircraft body 600 through connecting pipes to facilitate the supply of liquid. In addition, the inner diameter of the nozzle 530 is very small, which allows the fluid sprayed in the nozzle 530 to have a high speed. According to Bernoulli's principle, when the fluid speed is high, a large amount of air can be drawn in through the air inlet 560. The fluid and air enter the mixing chamber 540 together and mix. At this time, some fluid will continue to be ejected forward. Some of this fluid will pass directly through the atomizing net 550, while some will be blocked by the atomizing net 550 and reflected back into the mixing chamber 540. However, the nozzle 530 continuously ejects high-pressure fluid. At this time, the air pressure in the atomizing net 550 is very high, which will cause some of the reflected droplets to be squeezed out of the mixing chamber 540, and some of the reflected droplets will be carried by the high-speed ejected fluid to continue to impact the atomizing net 550. Therefore, by designing the nozzle 530 in this application, the atomization effect of the entire liquid can be effectively improved.

[0046] In an improved embodiment, the shear-driven telescopic device includes a V-shaped scissor fork unit 210. This V-shaped scissor fork comprises two short connecting rods hinged at one end. The non-hinged ends of these two short connecting rods are respectively hinged to the outward ends of two long connecting rods 211 within the corresponding scissor fork unit 210. This V-shaped scissor fork is installed at the lowest part of the entire shear-driven telescopic device and connected to the mounting base plate 510 on the working mechanism 500. The design that allows the hinged ends of the two short connecting rods to be connected to the mounting base plate 510 via connecting seats simplifies the structural design.

[0047] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A shear-driven telescopic device, characterized in that, include First drive mechanism; A scissor lift mechanism includes several scissor lift units, with adjacent scissor lift units hinged to each other. Each scissor lift unit is hinged to the actuating end of a first driving mechanism, which can drive all scissor lift units to extend and retract synchronously. At least one scissor lift unit includes two hinged long connecting rods, and the hinge point between the two long connecting rods is adjustable. The second drive mechanism is used to adjust the relative position of the hinge point on any one or two of the long connecting rods; A guide structure is provided on any one of the long connecting rods in the same scissor lift unit, and a sliding structure is rotatably mounted on the other long connecting rod. The sliding structure is slidably mounted on the guide structure. The working end of the second drive mechanism is hinged to the sliding structure, and the second drive mechanism is used to adjust the position of the sliding structure on the guide structure. It also includes a bridging mechanism and a working mechanism. The mounting end of the first drive mechanism is hinged to the bridging mechanism. The outward end of the scissor lift unit at the uppermost end of the scissor lift mechanism is hinged to the bridging mechanism. The working mechanism is hinged to the movable end of the scissor lift unit at the lowermost end of the scissor lift mechanism. The second drive mechanism is mounted on the long connecting rod with the guide structure or the bridging mechanism. The operating mechanism includes a mounting base plate, several spray seats mounted on the mounting base plate, and spray pipes rotatably mounted on the spray seats. The mounting angle of the spray seats relative to the mounting base plate is adjustable. The mounting base plate is slidably hinged to the outward ends of the two long connecting rods in the lowest scissor unit. A mixing chamber is provided at the outward end of the spray pipe, and an atomizing mesh is provided at the outward end of the mixing chamber. Several air inlets are obliquely arranged on the side wall of the spray pipe, and all the air inlets are obliquely pointed to the outward end of the center line of the spray pipe and connected to the spray pipe.

2. The shear force driven telescopic device according to claim 1, characterized in that: The guide structure is a groove, the sliding structure is a slider, and the slider has receiving grooves at its opposite ends for accommodating the edges of the groove; the corresponding long connecting rod is rotatably mounted on the slider via a rotating shaft, and the working end of the second driving mechanism is rotatably connected to the rotating shaft.

3. The shear force driven telescopic device according to claim 1, characterized in that: The scissor mechanism is arranged in two parallel sets, and the two corresponding scissor units in the two sets of scissor mechanisms are connected by a connecting rod.

4. The shear force driven telescopic device according to claim 1, characterized in that: All scissor lift units are X-shaped scissor lifts formed by hinged two long connecting rods. The outward ends of the two long connecting rods in the uppermost scissor lift unit are slidably hinged to the bridging mechanism, and the outward ends of the two long connecting rods in the lowermost scissor lift unit are slidably hinged to the working mechanism. The driving end of the first driving mechanism is hinged to the outward ends of the two long connecting rods in the uppermost scissor lift unit. The first driving mechanism can drive the hinge points of the two long connecting rods in the uppermost scissor lift unit to move closer to or further away from the bridging mechanism.

5. A shear-driven telescopic device according to claim 4, characterized in that: The bridging mechanism includes a storage rack and several adjustable connectors disposed on the top of the storage rack. The storage rack is provided with mounting positions. The two long connecting rods of the uppermost scissor unit are slidably hinged at their outward ends to the mounting positions. The mounting end of the first drive mechanism is hinged to the storage rack.

6. A shear-driven telescopic device according to any one of claims 1-5, characterized in that, Both the first drive mechanism and the second drive mechanism are telescopic electric cylinders.

7. A plant protection aircraft, characterized in that: Includes the aircraft body and the shear-driven telescopic device as described in any one of claims 1-6.

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