Centrifugal spreading disc, spreading device and agricultural drone

Abstract

The application provides a centrifugal spreading disc, a spreading device and an agricultural unmanned aerial vehicle, and relates to the field of agriculture.The centrifugal spreading disc comprises a circular center disc body, a rotating shaft vertically arranged at the center of the center disc body, at least one annular disc body arranged at the outer edge of the center disc body, the at least one annular disc body being concentrically arranged with the center disc body and being located in the same plane as the center disc body, and a driving member connected to the rotating shaft and used for driving the rotating shaft to rotate so as to drive the center disc body and the at least one annular disc body to rotate; wherein at least one guide rail is arranged on each disc body of the center disc body and the at least one annular disc body, and the guide rails located on the outer disc body of the center disc body and the at least one annular disc body do not interfere with the movement track of the material passing through the inner disc body.Compared with the spreading disc formed by a single disc in the prior art, the spreading disc provided by the application and having multiple concentric disc bodies can have better spreading uniformity.

Description

Technical Field

[0001] This application relates to the agricultural field, and more specifically, to centrifugal seeding discs, seeding devices, and agricultural drones. Background Technology

[0002] The seeding disc is a key component of modern agricultural seeding machinery. Utilizing advanced physical principles and engineering design, it achieves efficient and uniform seed sowing. The main function of the seeding disc is to remove seeds from the storage bin and accurately sow them into the soil at a specific speed and spacing. This equipment plays a vital role in agricultural production, helping to increase crop yields, save seeds, reduce labor intensity, and achieve agricultural modernization.

[0003] Currently, centrifugal seeding discs are widely used in agricultural drones for fertilization and seeding. In some conventional centrifugal seeding disc designs, the disc is circular and rotates at a certain angular velocity. After the material falls into the disc, it is thrown outward under the action of centrifugal force. When using this type of seeding disc, the material distribution after landing is circular. This shape causes the material to be distributed unevenly along the seeding path, with more material on the sides and less in the middle.

[0004] Therefore, improving the uniformity of centrifugal seeding discs is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a centrifugal seeding disc, a seeding device, and an agricultural drone, which can achieve better seeding uniformity.

[0006] In a first aspect, a centrifugal spreading disc is provided, comprising: a circular central disc; a rotating shaft perpendicularly disposed at the center of the central disc; at least one annular disc disposed at the outer edge of the central disc, the at least one annular disc being concentrically disposed with the central disc and located in the same plane as the central disc; and a driving member connected to the rotating shaft for driving the rotating shaft to rotate, thereby causing the central disc and the at least one annular disc to rotate; wherein, each of the central disc and the at least one annular disc is provided with at least one guide rail, and the guide rail on the outer ring disc of the central disc and the at least one annular disc does not interfere with the movement trajectory of the material passing through the inner ring disc.

[0007] The technical solution of this application improves the existing integrated disc-structured spreading disc into a spreading disc with multiple concentric discs. The material spread by each disc can cover a circular area of ​​a specific width and size. Compared with the circular spreading area formed by a single disc in the prior art, the hollow area of ​​the circular spreading area formed by the central disc in this application is smaller. The outer circular discs can cooperate with the central disc, so that the circular spreading areas generated by the outer discs and the circular spreading areas generated by the central disc overlap, thereby forming a larger ring, reducing the area of ​​the hollow area and improving the uniformity of spreading distribution.

[0008] In some possible implementations, the trajectory equation of the material moving along the guide rail of the i-th disc from the inside to the outside in the centrifugal spreading disc is:

[0009]

[0010] Where, r x (t) represents the position of the material along the x-axis of the i-th disk, r y (t) represents the position of the material along the y-axis of the i-th disk, t represents the time of movement of the material on the i-th disk, and k i Let ω be the radius of the i-th disk, ω be the angular velocity of the centrifugal seeding disk, and v be the radius of the i-th disk. i Let be the radial velocity of the material leaving the i-th disk, where i is a positive integer.

[0011] The technical solution of this embodiment can calculate the motion trajectory of the material spread through the inner ring disc according to the motion trajectory equation, and then arrange the guide rails on the outer ring disc according to the trajectory, so that the guide rails and the material trajectory do not interfere with each other, thereby avoiding the material emitted by the inner ring guide rail being blocked by the outer ring guide rail or being emitted a second time, and ensuring the spreading effect of the centrifugal spreading disc.

[0012] In some possible implementations, the radial velocity v of the material leaving the i-th disk i satisfy: Among them, b i Let k be the radius of the material at the point where it lands on the i-th disk. When i is greater than 1, k... i-1 Let k be the radius of the (i-1)th disk from the inside to the outside in the centrifugal seeding disk. When i equals 1, k0 = 0.

[0013] In some possible implementations, the guide rails on the central disc and at least one annular disc are staggered from each other along the radial direction of the centrifugal spreading disc.

[0014] In some possible implementations, the radius of the central disc is different from the width of at least one annular disc; and / or, in the case where the centrifugal spreading disc includes multiple annular discs, the widths of the multiple annular discs are different from each other.

[0015] In some possible implementations, the centrifugal spreading disc comprises: n-1 annular discs, where n is a positive integer greater than 1, and the overall radius of the centrifugal spreading disc is c; the radius of the central disc is...

[0016] In some possible implementations, the width of the j-th annular disk, which is the distance from the central disk among the n-1 annular disks, is... Where j is a positive integer less than or equal to n-1 and greater than 0.

[0017] Through the above implementation method, the size of each disc in the centrifugal spreading disc can be specially designed so that the corresponding annular spreading areas of each disc can be connected to each other, thereby achieving the best spreading effect.

[0018] In some possible implementations, the material distributed in the central disc and the n-1 annular discs is in a continuous circular pattern.

[0019] In some possible implementations, the overall distribution of material spread by the centrifugal spreading disc is in the form of hollow rings, the inner diameter of which is related to the number of at least one annular discs; the greater the number of at least one annular discs, the smaller the inner diameter of the hollow rings.

[0020] In this embodiment, the smaller the inner diameter of the hollow ring, the more uniform the spreading effect of the centrifugal spreading disc.

[0021] In some possible implementations, the outer diameter of the hollow ring is related to the angular velocity of the centrifugal spreading disk; the greater the angular velocity, the larger the outer diameter of the hollow ring.

[0022] In this embodiment, the outer diameter of the hollow ring can be increased by increasing the angular velocity of the centrifugal spreading disc, thereby maximizing the spreading effect while ensuring the spreading area.

[0023] In some possible implementations, each of the central disk and at least one annular disk is provided with multiple guide rails, which are centrally symmetrical with respect to the axis of rotation.

[0024] In some possible implementations, the number of annular disks is between 1 and 4.

[0025] In this embodiment, taking into account both system complexity and spreading uniformity, the number of annular disks is set between 1 and 4, which can achieve the desired effect of both.

[0026] In a second aspect, a spreading device is provided, comprising: a material box, and a centrifugal spreading disc as described in the first aspect or any possible embodiment of the first aspect; the material box is disposed above the centrifugal spreading disc, and the material in the material box falls into the centrifugal spreading disc and is spread out under the action of centrifugal force.

[0027] Thirdly, an agricultural drone is provided, comprising: a power unit, and a spreading device as provided in the second aspect, wherein the power unit is used to drive the agricultural drone to move, and the spreading device is used to spread materials while the agricultural drone is moving.

[0028] Installing centrifugal seeding discs with uniform seeding effect in seeding devices and agricultural drones can improve seeding efficiency, reduce material waste (such as seeds), and help improve crop yield and quality. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of a centrifugal spreading disc provided in an embodiment of this application.

[0030] Figure 2 yes Figure 1 A schematic top view of the spreading disk shown.

[0031] Figure 3 yes Figure 1 The image shows a top view of a seeding area corresponding to the seeding disk.

[0032] Figure 4 yes Figure 1 A top view of another spreading area corresponding to the spreading disk shown.

[0033] Figure 5 This is a schematic structural diagram of a centrifugal spreading disc provided in an embodiment of this application.

[0034] Figure 6 This is a schematic diagram of the movement trajectory of a material provided in an embodiment of this application.

[0035] Figure 7 This is a schematic diagram of the force analysis of the material on the spreading disc provided in an embodiment of this application.

[0036] Figure 8 This is a schematic diagram of the distribution range of the movement trajectory of a material provided in an embodiment of this application.

[0037] Figure 9 This is a schematic top view of a centrifugal spreading disc provided in an embodiment of this application.

[0038] Figure 10 This is a schematic diagram showing the distribution of the two types of guide rails provided in the embodiments of this application.

[0039] Figure 11 This is a schematic top view of a centrifugal spreading disc provided in an embodiment of this application.

[0040] Figure 12 This is a schematic structural block diagram of a spreading device provided in an embodiment of this application.

[0041] Figure 13 This is a schematic structural block diagram of an agricultural drone provided in an embodiment of this application. Detailed Implementation

[0042] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0043] This application relates to seeding discs, and more specifically, to centrifugal seeding discs. The working principle of a centrifugal seeding disc is simple and effective. Seeds on the disc are subjected to centrifugal force, thus gaining sufficient speed and power to be evenly distributed in the soil. The rotational speed of the seeding disc, the aperture size, and the forward speed of the seeder can all be adjusted according to the characteristics of the seeds and the sowing requirements to ensure uniformity and accuracy of sowing. Centrifugal seeding discs are suitable for sowing large seeds, such as corn, soybeans, and rapeseed. They offer efficient, uniform, and reliable sowing results, increasing crop yield, saving seeds, reducing labor intensity, and achieving agricultural modernization. Of course, in some special applications, centrifugal seeding discs can also be used to sow fertilizers, such as granular solid fertilizers.

[0044] Figure 1 A schematic diagram of a centrifugal spreading disc 100 provided in an embodiment of this application is shown.

[0045] like Figure 1 As shown, the spreading disc 100 is a circular design with a ring of guide rails 101 arranged symmetrically around its center. During operation, the spreading disc 100 rotates at a certain angular velocity ω. After the material falls from above, it is propelled by the guide rails 101 on the disc and thrown outwards along the guide rails under centrifugal force. With this design, at a certain angular velocity, the speed at which the material leaves the spreading disc 100 is within a certain range, ensuring that the material distributed within a specific area after landing.

[0046] Figure 2 It shows Figure 1 A schematic top view of the spreading disk 100 shown. Figure 3 It shows Figure 1 A top view of the spreading area corresponding to the spreading disk 100 shown.

[0047] See Figure 2 and Figure 3As shown, let the plane containing the spreading disk 100 be a horizontal plane with an angular velocity of ω. Assume the material falls vertically onto the spreading disk 100, and let the radius of the landing point be b. The material is immediately driven by the guide rail 101 upon landing on the spreading disk 100, and rotates with the spreading disk 100. Finally, it moves outward along the guide rail 101 and is thrown out at the outer edge of the guide rail 101. The radius of the spreading disk 100 is c.

[0048] When the material leaves the spreading disc by 100°, its tangential velocity (or linear velocity) v t =ωc, radial velocity 100 degrees away from the seeding disk Assuming the time it takes for the material to fall to the ground after being thrown out is t, then its linear velocity v t The distance d of the motion along the tangential direction t =tωc, the distance traveled radially is

[0049] Ignoring the influence of the radius of the spreading disk 100, the radius of the material distribution can be considered as follows: Right now Therefore, it can be seen that its distribution area is a ring, and the width of the ring is...

[0050] In the above calculation formula, the unit of angular velocity ω is rad / s, the units of radius b and radius c are m, and the unit of linear velocity v is... t and radial velocity v r The unit is m / s, and the distance is d. t d r The units for the radius d of the material distribution and the width Δd of the ring are meters.

[0051] When equipped with the above Figure 1 When the agricultural machinery with the spreading disc 100 spreads the material along the set route, the distribution of the material along the spreading route can be as follows: Figure 4 As shown, the distribution shows a trend of more seeds on both sides and less in the middle, resulting in uneven sowing.

[0052] In view of this, this application provides a new centrifugal spreading disc that can achieve better spreading uniformity.

[0053] Figure 5 A schematic structural diagram of a centrifugal spreading disc 200 provided in an embodiment of this application is shown.

[0054] like Figure 5 As shown, the centrifugal spreading disc 200 includes: a circular central disc 210, at least one annular disc 220, a rotating shaft 230, and a driving component (not shown in the figure).

[0055] Specifically, the rotating shaft 230 is perpendicularly disposed at the center of the central disk 210. At least one annular disk 220 is disposed on the outer edge of the central disk 210, and the at least one annular disk 220 is concentrically disposed with the central disk 210, and the at least one annular disk 220 and the central disk 210 are located in the same plane. A driving member is connected to the rotating shaft 230 to drive the rotating shaft 230 to rotate, thereby causing the central disk 210 and the at least one annular disk 220 to rotate.

[0056] In addition, each of the central disc 210 and at least one annular disc 220 is provided with at least one guide rail 240. The arrangement of the guide rail 240 on the outer disc of the central disc 210 and at least one annular disc 220 is related to the movement trajectory of the material on the inner disc.

[0057] In this embodiment, the centrifugal spreading disc 200 is not a single disc structure, but includes a central disc 210 and at least one annular disc 220 concentrically arranged with the central disc 210. In some specific implementations, the at least one annular disc 220 and the central disc 210 may be arranged on the same horizontal plane.

[0058] In addition, in this embodiment of the application, the rotating shaft 230 may be located at the center of the central disk 210. The rotating shaft 230 may be fixedly connected to the central disk 210. When the driving member drives the rotating shaft 230 to rotate, the rotating shaft 230 drives the central disk 210 and at least one annular disk 220 to rotate together.

[0059] To ensure that the central disc 210 and each annular disc 220 can independently distribute material, each of the central disc 210 and each annular disc 220 is equipped with a guide rail 240. The guide rail 240 is arranged radially along the disc and can be used to guide the movement direction of the material falling onto the disc, so that the material can be more evenly distributed into the soil. As analyzed above, each of the central disc 210 and each annular disc 220 corresponds to an annular material distribution area.

[0060] However, when designing multiple guide rails 240 on the same plane, the material emitted from the inner guide rail 240 may be impacted by the outer guide rail 240, interfering with the distribution of the material ejected from the inner guide rail 240. To avoid this, this application first calculates the trajectory of the material emitted from each guide rail 240 relative to the spreading disk 200, and then arranges each guide rail 240 according to this trajectory, so that the guide rails 240 and the emission trajectory do not interfere with each other, thereby preventing the material emitted from the inner guide rail 240 from being blocked by the outer guide rail 240 or being re-emitted, ensuring the spreading effect of the centrifugal spreading disk 200.

[0061] The technical solution of this application improves the existing integrated disc-structured spreading disc into a spreading disc with multiple concentric discs, where the material spread by each disc can cover a circular area of ​​a specific width and size. As analyzed in the above application embodiment, for a spreading disc consisting of only a single disc, the radius of the hollow area in the hollow ring of material distribution is tωc. That is, with ω and t constant, the smaller the radius c of the spreading disc, the smaller the inner diameter of the hollow ring of material distribution, and the smaller the area of ​​the hollow area. Compared to the spreading disc in the prior art consisting of only a single disc, the radius of the central disc in this application embodiment is smaller. Therefore, compared to the annular spreading area formed by a single disc in the prior art, the hollow area in the annular spreading area formed by the central disc in this application embodiment is smaller. The outer annular disc can cooperate with the central disc, so that the annular spreading area generated by the annular disc and the annular spreading area generated by the central disc overlap, thereby forming a larger ring, reducing the area of ​​the hollow area and improving the uniformity of spreading distribution.

[0062] The following calculations illustrate the arrangement of the guide rails 240 on each disk in this embodiment of the application.

[0063] In an inertial frame of reference, after the material is launched from the guide rail 240 of the spreading disc 200, it undergoes uniform linear motion due to inertia (ignoring air resistance). Simultaneously, the spreading disc 200 also rotates. Therefore, as... Figure 6 As shown, the trajectory of the material relative to the spreading disc 200 is an involute.

[0064] In order to obtain the equation of motion of the material relative to the spreading disk 200 after it is launched, a rotating coordinate system needs to be introduced for force analysis. Figure 7 This diagram illustrates a force analysis of the material on the spreading disc 200.

[0065] like Figure 7 As shown, a rectangular coordinate system is established with the center of the spreading disk 200 as the origin. The material is launched from the guide rail at a position with radius b' and an initial velocity of v. When performing force analysis on the object in the rotating coordinate system, it is assumed that the object is affected by two imaginary forces: inertial centrifugal force L = mω. 2 The material moves under the influence of two imaginary forces: r and Coriolis force C = 2mωV, after leaving the guide rail at 240°. Here, m is the mass of the material, ω is the angular velocity of rotation, r is the position vector of the material, and V is the velocity of the material in the rotating coordinate system. C⊥V.

[0066] The components of the inertial centrifugal force L and the Coriolis force C along the X and Y axes are:

[0067] L x =Lcosα,L y=Lsinα;

[0068]

[0069] Then the acceleration 'a' of the material along the X and Y axes x and a y for:

[0070]

[0071]

[0072] Because the material's position vector r has components r along the X and Y axes x and r y for:

[0073] r x =rcosα,r y =rsinα;

[0074] And the components of velocity V along the X and Y axes V x and V y for:

[0075] V x =Vcosβ,V y =Vsinβ;

[0076] The above component r x r y V x and V y Substitute the above a x and a y The expression can be obtained as follows:

[0077] a x =ω 2 r x -2ωV y ;

[0078] a y =ω 2 r y +2ωV x .

[0079] Based on the above a x and a y The kinematic equations are established as follows:

[0080] X direction:

[0081]

[0082] Y direction:

[0083]

[0084] in, For r x Perform two-order differentiation, For r x Perform the first derivative. akin, For r y Perform two-order differentiation, For r y Perform the first derivative.

[0085] Solving the above trajectory parametric equations, we can obtain:

[0086]

[0087] Where b′ represents the position where the material leaves the guide rail 240, which is the radius of the outer edge of the disc. In the centrifugal spreading disc 200, b′ represents the position where the material leaves the i-th disc from the inside out. i ′=k i , where k i Let be the radius of the i-th disk from the inside out in the 200 spreading disks, where i is a positive integer.

[0088] v is the radial velocity of the material leaving the guide rail. r The radial velocity corresponding to a single turn of the guide rail mentioned above. Extending this to multi-turn guide rails, we know that the radial velocity v of the material leaving the i-th guide rail on the i-th disc is... i for:

[0089]

[0090] Among them, b i Let k be the radius of the material at the point where it lands on the i-th disk. When i is greater than 1, k... i-1 Let k0 be the radius of the (i-1)th disk from the inside to the outside in the centrifugal seeding disk 200. When i equals 1, k0 = 0.

[0091] In the above formula, the radius b′, b i k i The unit is m, the unit of angular velocity ω is rad / s, the position vector r, and the r component r x and r y The unit is meters (m), and the velocity is V and the radial velocity is v. i The unit is m / s², and the acceleration a is... x and a y The unit is m / s 2 .

[0092] Based on the trajectory equations described above, the range of material ejection trajectories within a given ω interval can be calculated for different disks. As an example, Figure 8 A schematic diagram of the trajectory distribution range of a material is shown.

[0093] Depend on Figure 8 It can be seen that when setting up the guide rails, if the outer ring guide rail is placed on the exit trajectory of the inner ring guide rail, it will obstruct the original trajectory of the material, thus disrupting the material distribution design of the multi-ring guide rails. To avoid this situation, the guide rails can be arranged ring by ring from the inside out. The range of the material trajectory line is drawn after each ring of guide rails is arranged, and the material is avoided when arranging the next ring of guide rails.

[0094] The technical solution of this application embodiment can calculate the motion trajectory of the material spread through the inner ring disk according to the motion trajectory equation, and then arrange the guide rails 240 on the outer ring disk according to the trajectory, so that the guide rails 240 and the material trajectory do not interfere with each other, thereby avoiding the material emitted by the inner ring guide rails 240 from being blocked by the outer ring guide rails 240 or being emitted a second time, thus ensuring the spreading effect of the centrifugal spreading disk 200.

[0095] Optionally, in some embodiments, the guide rails 240 on the central disc 210 and at least one annular disc 220 are staggered from each other along the radial direction of the centrifugal spreading disc 200.

[0096] Figure 9 A schematic top view of a centrifugal spreading disc 200 provided in an embodiment of this application is shown.

[0097] As an example, Figure 9 The diagram shows three discs: a central disc 210 located in the innermost circle, and two annular discs 220 located in the outermost circle. Each of these three discs may have multiple guide rails 240, but in the same radial direction of the spreading disc 200, the guide rails 240 on each disc are not continuously arranged, but rather staggered.

[0098] In the process of setting the guide rail 240, the guide rail 240 on the innermost central disk 210 can be set first, and the launch trajectories of the two adjacent guide rails (guide rail 240a, guide rail 240b) can be drawn according to the motion trajectory equation.

[0099] Based on the trajectory of guide rail 240a, the range that guide rail 240c can be set is between rays OA and OB. In this way, the outer edge of guide rail 240c can avoid the trajectory line of guide rail 240a, and the inner edge of guide rail 240c can avoid the trajectory line of guide rail 240b.

[0100] After determining the position of guide rail 240c, its trajectory line is drawn according to the trajectory equation. At this point, it can be determined that the settable range of guide rail 240d is between rays OB and OC. This ensures that the outer edge of guide rail 240d avoids the trajectory line of guide rail 240a, and the inner edge of guide rail 240d avoids the trajectory line of guide rail 240b. Furthermore, within this range, the trajectory line of guide rail 240c will not be affected.

[0101] Figure 10 A schematic diagram showing the distribution of the two types of guide rails 240 provided in embodiments of this application is shown. Figure 10 This can be a schematic top view of the centrifugal spreading disc 200.

[0102] like Figure 10 As shown, each disc can be provided with multiple guide rails 240, and the multiple guide rails 240 on each disc can be centrally symmetrical with respect to the rotation axis 230.

[0103] like Figure 10 As shown in section (a), the multiple guide rails 240 on each disk can be linear guide rails. Or, as... Figure 10 As shown in part (b), the multiple guide rails 240 on each disc can be arc-shaped guide rails.

[0104] Optionally, in some embodiments, the number of annular disks 220 is between 1 and 4. As an example, Figure 5 , Figure 9 and Figure 10 The diagram shows two annular disks 220. The number of annular disks 220 can be designed according to actual needs. A higher number of annular disks 220 results in a more complex overall spreading disk, but better spreading uniformity. Conversely, a lower number of annular disks 220 results in a lower overall complexity, but also lower spreading uniformity. Therefore, in this embodiment, considering both complexity and spreading uniformity, the number of annular disks 220 is set between 1 and 4, achieving a balance between the effects of both.

[0105] Optionally, in some embodiments, the radius of the central disk 210 is the same as the radius of at least one annular disk 220.

[0106] Alternatively, in other embodiments, the radius of the central disc 210 may be different from the width of at least one annular disc 220; and / or, in the case where the centrifugal spreading disc 200 includes a plurality of annular discs 220, the widths of the plurality of annular discs 220 are different from each other.

[0107] In this embodiment, the dimensions of each disc in the centrifugal spreading disc 200 can be specially designed so that the corresponding annular spreading areas of each disc can be connected to each other, thereby achieving the best spreading effect. Specifically, the dimensions of each disc can be calculated through the following process.

[0108] Figure 11 A schematic top view of a centrifugal spreading disc 200 provided in an embodiment of this application is shown. As an example, such as... Figure 11 As shown, each layer of the disk has two guide rails.

[0109] In polar coordinates, let the seeding disk 200 be the unit circle with a radius of 1. Divide it into several parts along the radial direction to form multiple concentric circles, and set guide rails between adjacent concentric circles. For example... Figure 11 As shown, the starting point of the first guide rail 241 in the innermost ring is k0 = 0, and the ending point is k1, meaning the radius of the central disk 210 in the innermost ring is k1. The starting point of the second guide rail 242 in the middle ring is k1, and the ending point is k2, meaning the radius of the annular disk 220 in the middle ring is k2. And so on. If the radius is divided into n parts, with n disks and n rings of guide rails, then the starting point of the i-th guide rail in the i-th ring is k0 = 0. i-1 The endpoint is k i The radius of the i-th annular disk 220 is k. i The starting point of the nth guide rail on the outermost ring is k. n-1 The endpoint is k n =1, the radius of the nth annular disk 220 on the outermost ring is 1. In Figure 11 In the middle, the outermost guide rail is the third guide rail 243, with its starting point at k2 and its ending point at k1. The radius of the outermost ring disk 220 is 1.

[0110] See above Figure 2 and Figure 3 Analysis of the material distribution on a single disk shows that the radius of the material distribution corresponding to a single disk is... Extending this to multiple disks yields the following results.

[0111] The radius d of the i-th annulus of material distribution formed by the i-th disk is... i for:

[0112]

[0113] Among them, b i Let be the radius of the material at the point where it lands on the i-th disk.

[0114] Therefore, d i The scope is:

[0115]

[0116] In order for two adjacent rings to be connected without overlapping, it is required that d i The upper limit is equal to d i+1 The lower limit, that is:

[0117]

[0118] After sorting, we get:

[0119] 2k i 2 -k i-1 2 =k i+1 2 ;

[0120] Based on the condition k0=0, k n =1, solving for the general term gives:

[0121]

[0122] The radius d of the circular distribution ring formed by the i-th disk i The scope is:

[0123]

[0124] Using n discs, n annular distributions of material can be obtained. These annular distributions are superimposed to form a whole. The innermost annular distribution is generated by the first disc (i.e., the central disc 210) located in the innermost circle of the spreading disc 200. The radius of this innermost annular distribution is... The outermost ring distribution is generated by the nth disk (i.e., the ring disk 220 with the largest radius) located on the outermost ring of the spreading disk 200, and the radius of this outermost ring is...

[0125] Because of d i The upper limit is equal to d i+1 The lower limit is such that all the rings form a continuous, non-overlapping splicing ring. Therefore, the radius of the splicing ring of the material distribution is... Width of splicing ring

[0126] The theoretical range of values ​​for n is 1, 2, 3, ..., ∞.

[0127] When n=1,

[0128] When n=2,

[0129] When n approaches ∞, D ∞ ∈[0,tω],ΔD ∞ =tω.

[0130] The above derivation shows that by increasing the number of discs, the width of the splicing ring in the material distribution can be gradually increased, meaning the material distribution gradually concentrates towards the center. The radius of the splicing ring will gradually decrease, starting from D1. Reduce to D ∞ The loss is tω, but this loss can be compensated by increasing ω.

[0131] Therefore, in this embodiment of the application, the overall distribution of the material spread by the centrifugal spreading disc 200 is a hollow ring. The inner diameter of the hollow ring is related to the number of at least one annular disc 220. The larger the number of at least one annular disc 220, the smaller the inner diameter of the hollow ring, and the more uniform the spreading effect of the centrifugal spreading disc 200.

[0132] Furthermore, the outer diameter of the hollow ring is also related to the number of at least one annular disc 220. The larger the number of at least one annular disc 220, the smaller the outer diameter of the hollow ring, which may affect the spreading area and thus reduce the spreading efficiency. However, the outer diameter of the hollow ring is also related to the angular velocity ω of the centrifugal spreading disc 200. The larger the angular velocity ω, the larger the outer diameter of the hollow ring. The outer diameter of the hollow ring can be increased by increasing the angular velocity ω of the centrifugal spreading disc 200, thereby maximizing the spreading effect while ensuring the spreading area.

[0133] The above example uses a centrifugal seeding disc 200 with a radius of 1 for calculation. When the radius of the centrifugal seeding disc 200 is c, the radius k of the i-th disc from the inside out... i The calculation is as follows:

[0134]

[0135] The first disk is the central disk 210, and its radius is...

[0136] When i is greater than 1, the i-th disk is a ring disk, that is, the radius of the i-th ring disk is... The radius of the hollow circle in the i-th annular disk is equal to the radius k of the (i-1)-th disk. i-1 Therefore, the width Δk of the i-th annular disk is... i The following can be calculated:

[0137]

[0138] In other words, the centrifugal spreading disc 200 may include n-1 annular discs 220, wherein the width of the j-th annular disc 220, which is located at a distance from the central disc 210, is... Where j is a positive integer less than or equal to n-1 and greater than 0.

[0139] In the above calculation formula, the radius c of the centrifugal spreading disc 200 is in meters, and the radii k1, k2, ..., k of each disc in the centrifugal spreading disc 200 are... i ... k n The unit is also m, and d is the radius of the i-th annulus of material distribution formed by the i-th disk. i The radius D of the splicing ring of the material distribution n Width ΔD of the splicing ring n The unit is m, and the unit of angular velocity ω is rad / s.

[0140] This application also provides a spreading device. Figure 12 A schematic structural block diagram of a spreading device 300 provided in an embodiment of this application is shown.

[0141] like Figure 12 As shown, the spreading device 300 includes a material box 310 and a centrifugal spreading disc 200 provided in any of the embodiments above. The material box 310 can be disposed above the centrifugal spreading disc 200, and the material contained therein can fall onto the surface of the centrifugal spreading disc 200 under the action of gravity. When the centrifugal spreading disc 200 rotates, the material can be spread out under the action of centrifugal force.

[0142] Optionally, the material contained in the material bin 310 may be granular seeds or fertilizer, etc.

[0143] Optionally, in addition to the material bin 310 and the centrifugal spreading disc 200, the spreading device 300 may further include a material distribution device, an adjusting device, a control device, and a monitoring device, etc. The material distribution device distributes the material from the material bin 310 to the centrifugal spreading disc 200. The adjusting device can adjust the rotational speed of the centrifugal spreading disc 200 to regulate the spreading speed. The control device may include an electronic control system for automatically adjusting sowing parameters, such as sowing rate and sowing quantity. The monitoring device can monitor the sowing rate and sowing quantity in real time to ensure the accuracy and uniformity of sowing.

[0144] This application also provides an agricultural drone. Figure 13 A schematic structural block diagram of an agricultural drone 400 provided in an embodiment of this application is shown.

[0145] like Figure 13 As shown, the agricultural drone 400 may include a power unit 410 and a spreading device 300 provided in the above embodiment. The power unit 410 is used to drive the agricultural drone 400 to move, and the spreading device 300 is used to spread materials when the agricultural drone 400 moves.

[0146] Optionally, the agricultural drone 400 can be a drone that flies in the sky, or it can be an unmanned agricultural machine that travels on land.

[0147] By incorporating a centrifugal spreading disc 200 with uniform spreading effect into the aforementioned spreading device 300 and agricultural drone 400, spreading efficiency can be improved, material (such as seeds) waste can be reduced, and crop yield and quality can be increased.

[0148] In the description of this application, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not vertical in the strict sense, but within the allowable tolerance range. "Parallel" is not parallel in the strict sense, but within the allowable tolerance range.

[0149] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0150] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0151] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0152] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A centrifugal spreading disc, characterized in that, include: A circular central disc; The rotation axis is vertically positioned at the center of the central disk. At least one annular disk is disposed on the outer edge of the central disk, the at least one annular disk is concentrically disposed with the central disk, and the at least one annular disk and the central disk are located in the same plane; A driving component, connected to the rotating shaft, is used to drive the rotating shaft to rotate, thereby causing the central disk and the at least one annular disk to rotate; Wherein, each of the central disk and the at least one annular disk is provided with at least one guide rail, and the guide rail located on the outer ring disk of the central disk and the at least one annular disk does not interfere with the movement trajectory of the material passing through the inner ring disk; The trajectory equation of the material moving along the guide rail of the i-th disc from the inside to the outside in the centrifugal spreading disc is: in, The position of the material along the x-axis of the i-th disk. The position of the material along the y-axis of the i-th disk. The time it takes for the material to move on the i-th disc is denoted as . Let be the radius of the i-th disk. The angular velocity of the centrifugal seeding disc is... The radial velocity of the material leaving the i-th disk is given by the given value, where i is a positive integer. The radial velocity of the material leaving the i-th disk satisfy: ； in, Let be the radius of the material at the point where it lands on the i-th disk, where i is greater than 1. Let i be the radius of the (i-1)th disc from the inside to the outside in the centrifugal spreading disc, where i equals 1. ; Along the radial direction of the centrifugal spreading disc, the guide rails on the central disc and the at least one annular disc are staggered from each other.

2. The centrifugal spreading disc according to claim 1, characterized in that, The radius of the central disk is different from the width of the at least one annular disk; and / or, In the case where the centrifugal spreading disc comprises multiple annular discs, the widths of the multiple annular discs are different from each other.

3. The centrifugal spreading disc according to claim 1, characterized in that, The centrifugal spreading disc includes: n-1 annular discs, where n is a positive integer greater than 1, and the overall radius of the centrifugal spreading disc is c; The radius of the central disk is .

4. The centrifugal spreading disc according to claim 3, characterized in that, The width of the j-th annular disk, which is the distance from the central disk among the n-1 annular disks, is , where j is a positive integer less than or equal to n-1 and greater than 0.

5. The centrifugal spreading disc according to claim 4, characterized in that, The material distributed in the central disc and the n-1 annular discs is in a continuous circular pattern.

6. The centrifugal spreading disc according to claim 4, characterized in that, The overall distribution of the material spread by the centrifugal spreading disc is a hollow ring. The inner diameter of the hollow ring is related to the number of the at least one annular disc. The larger the number of the at least one annular disc, the smaller the inner diameter of the hollow ring.

7. The centrifugal spreading disc according to claim 6, characterized in that, The outer diameter of the hollow ring is related to the angular velocity of the centrifugal spreading disk; the greater the angular velocity, the larger the outer diameter of the hollow ring.

8. The centrifugal spreading disc according to claim 1, characterized in that, Each of the central disk and the at least one annular disk is provided with multiple guide rails, and the multiple guide rails are centrally symmetrical with respect to the rotation axis.

9. The centrifugal spreading disc according to claim 1, characterized in that, The number of the annular disks is between 1 and 4.

10. A spreading device, characterized in that, include: The material bin, and the centrifugal spreading disc as described in any one of claims 1 to 9; The material box is positioned above the centrifugal spreading disc. After the material in the material box falls into the centrifugal spreading disc, it is spread out under the action of centrifugal force.

11. An agricultural unmanned aerial vehicle, characterized in that, include: The power unit and the spreading device as claimed in claim 10, wherein the power unit is used to drive the agricultural drone to move, and the spreading device is used to spread materials while the agricultural drone is moving.

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