Sunflower pest atomization spraying device

Abstract

The present application provides a sunflower disease and insect pest atomization spraying device, which belongs to the technical field of sunflower disease and insect pest control equipment. The sunflower disease and insect pest atomization spraying device comprises a variable UAV and a load mechanism; a variable directional spraying mechanism, and the variable directional spraying mechanism is arranged at the lower end of the variable UAV and the load mechanism. The present application adopts a UAV device with a variable center of gravity to drive the atomization spraying equipment, which is convenient for targeted atomization spraying operations on sunflower flower discs, can better break away from the limitations of sunflower plant density and height, and realize adjustable and adaptable precise application of pesticides to the flower discs, significantly improve the control effect and economic output of sunflower diseases and insect pests, and avoid the adverse limitations of automatic walking devices or manual atomization spraying.

Description

Technical Field

[0001] The present application relates to the technical field of sunflower pest control equipment, and in particular to a sunflower pest atomization spraying device. Background Art

[0002] Sunflower is a plant of the Asteraceae family and the genus Helianthus. It is named for its inflorescence that rotates with the sun and is an annual tall herb. Sunflower is also a beautiful and bright ornamental flower. Its flowers and disks are large. The fruits in the disk are achenes, which are usually called seeds, melon seeds, and commonly known as sunflower seeds. They are edible and can be processed into a source of oil or fat for human consumption. They can also be used as animal feed and a possible alternative fuel source. They have extremely high social and economic value. The disk is the growth part of the sunflower fruit, so it is the focus of sunflower disease and insect pest control. The effectiveness of prevention and control is directly related to the economic output of sunflower planting. At present, the more economical and efficient method of sunflower disk disease and insect pest control mostly uses atomization spraying.

[0003] At present, many traditional atomizing spraying equipment commonly used on the market rely heavily on walking platforms or manual labor. The sunflower plant is sturdy and can reach a height of 1-3 meters. The automated walking platform can improve the efficiency of atomizing spraying, but it is difficult to operate in a high plant density. If the plant density is reduced, it will undoubtedly seriously affect the yield; if the atomizing spraying is carried out manually, the cost is high and the efficiency is low. The surface of the sunflower plant is densely covered with velvet thorns, which is extremely inconvenient for the operator. The above-mentioned commonly used sunflower atomizing spraying methods are not very suitable for actual use. Moreover, the plant density in the sunflower field is large, the plant height is ups and downs, and the height difference is also large, which is also extremely unfavorable for accurate atomizing spraying on the flower disk, which is not conducive to improving the disease and insect pest control effect of the sunflower flower disk, and seriously affects the output. Therefore, it is urgent to develop a device that is easy to operate and accurately apply medicine to the sunflower flower disk. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a sunflower pest atomization spraying device, which uses a variable center of gravity drone device to drive the atomization spraying equipment, which is convenient for targeted atomization spraying operations on sunflower disks, can better break away from the restrictions of sunflower plant density and height, and significantly improve the prevention and control effect and economic output of sunflower pests and diseases.

[0005] This application is implemented as follows:

[0006] The present application provides a sunflower pest atomizing spraying device comprising

[0007] Variable UAV and payload mechanism;

[0008] A variable-direction spraying mechanism is arranged at the lower end of the variable UAV and the load mechanism.

[0009] In one embodiment of the present application, the variable UAV and load mechanism include a wing-arm assembly, a connecting assembly, a first electric push rod, a battery and a medicine box, and a plurality of the wing-arm assemblies are movably arranged on the connecting assembly in a circularly uniform manner, the upper end of the rod body of the first electric push rod is coaxially fixedly connected to the lower end of the connecting assembly, the upper end of the piston rod of the first electric push rod is movably connected to the inner end of the wing-arm assembly, and the battery and the medicine box are both arranged at the lower end of the first electric push rod; the battery is electrically connected to the wing-arm assembly, the first electric push rod and the medicine box.

[0010] In one embodiment of the present application, the wing arm assembly includes an arm, a first connecting fork, a first motor, a second motor and a third motor, the first motor is fixedly coaxially arranged at the outer end of the arm, the outer end of the output end of the first motor is fixedly connected to the middle part of the outer side of the first connecting fork, the second motor is rotatably arranged inside the first connecting fork, the third motor is fixedly arranged on the outer side of one end of the first connecting fork and its output end rotates through the first connecting fork, and the output end of the third motor is fixedly connected to one side of the second motor; the first motor, the second motor and the third motor are all electrically connected to the battery.

[0011] In one embodiment of the present application, a propeller is disposed at the upper end of the output end of the second motor.

[0012] In one embodiment of the present application, two column heads are symmetrically arranged on both sides of the inner end of the arm.

[0013] In one embodiment of the present application, the connecting assembly includes a connecting seat and a second connecting fork, and several pairs of the second connecting forks are evenly arranged on the circumferential side of the connecting seat. The upper end of the rod body of the first electric push rod is coaxially fixedly connected to the inside of the connecting seat, and one of the machine arms is rotatably arranged between a pair of the second connecting forks.

[0014] In one embodiment of the present application, a frame is provided at the lower end of the first electric push rod, and the battery and the medicine box are detachably arranged inside the frame.

[0015] In one embodiment of the present application, a connecting head is provided at the upper end of the piston rod of the first electric push rod, and a plurality of pairs of third connecting forks are evenly provided on the circumference of the connecting head, and the third connecting forks are each provided with an oblong hole, an inner end of the machine arm is provided between a pair of third connecting forks, and the column head is provided inside the oblong hole.

[0016] In one embodiment of the present application, the medicine box is provided with a delivery pump, which is detachably fixed on the lower side of the frame and connected to the lower side of the medicine box; the delivery pump is electrically connected to the battery.

[0017] In one embodiment of the present application, the variable-directional spraying mechanism includes a mechanical arm, an electric slip ring, a second electric push rod and a nozzle; the upper end of the mechanical arm is fixedly arranged on the lower side of the frame; the electric slip ring is arranged at the end of the mechanical arm; the tail end of the rod body of the second electric push rod is coaxially fixedly connected to the rotor of the electric slip ring; a plurality of groups of nozzles are evenly arranged on the circumferential side of the end of the piston rod of the second electric push rod and are connected to the delivery pump; the mechanical arm and the electric slip ring are both electrically connected to the battery; and the second electric push rod is electrically connected to the electric slip ring.

[0018] In one embodiment of the present application, the sunflower pest atomization spraying device further includes

[0019] A variable spray range and flow mechanism, wherein the variable spray range and flow mechanism is movably arranged at the end of the second electric push rod, and a plurality of groups of nozzles are evenly arranged on the variable spray range and flow mechanism.

[0020] In one embodiment of the present application, the variable spray range and flow mechanism includes a variable support assembly and a pipe head, several groups of the variable support assemblies are evenly and movably arranged at the end of the second electric push rod, the two ends of the variable support assembly are respectively rotatably connected to the outside of the rod body end and the outside of the piston rod end of the second electric push rod, and several nozzles in a group are evenly and movably arranged on the variable support assembly, and the spraying end is facing away from the second electric push rod; the pipe head is fixedly arranged at the end of the rod body of the second electric push rod, and the variable support assembly is arranged between the end of the rod body of the second electric push rod and the pipe head.

[0021] In one embodiment of the present application, the variable support assembly includes a fourth connecting fork, a first connecting rod, a second connecting rod and a third connecting rod, the fourth connecting fork is colinearly arranged at the end of the piston rod of the second electric push rod, and several groups of the fourth connecting forks are evenly distributed circumferentially; one end of the first connecting rod is rotatably connected to the outer side of the rod body end of the second electric push rod, two second connecting rods are a group and are arranged parallel to each other, the inner end of a group of second connecting rods can be rotatably arranged between a group of the fourth connecting forks, the third connecting rod is rotatably arranged at the outer end of the first connecting rod, and the outer ends of two second connecting rods in a group are respectively rotatably connected to the two ends of the third connecting rod.

[0022] In one embodiment of the present application, a plurality of pairs of connecting plates are evenly arranged on a group of the second connecting rods, the connecting plates and the fourth connecting forks are arranged in parallel, and the two connecting plates in a pair are symmetrically arranged on both sides of a group of the second connecting rods, one end of the connecting plate is rotatably connected to a second connecting rod close to the robotic arm, and the other second connecting rod is also rotatably connected to the connecting plate, and a nozzle is arranged between the outer ends of a pair of the connecting plates, and the spray direction of the nozzle is away from the robotic arm and in the same direction as the connecting plate.

[0023] In one embodiment of the present application, a plug is detachably provided at the outer end of the tube head, and a plurality of connecting rods are evenly provided on the circumference of the tube head, wherein the connecting rods pass through the gap of the variable support assembly and the tail ends thereof are fixedly connected to the outer side of the rod body end of the second electric push rod; a first cylindrical inner cavity is provided inside the tail end of the tube head, and a second truncated cone-shaped inner cavity is provided at the outer end of the first inner cavity, and the second inner cavity gradually increases outward from the end away from the first inner cavity; and the nozzles are all connected to the first inner cavity.

[0024] In one embodiment of the present application, a valve plate is provided inside the second inner cavity, and a connecting shaft is provided on the side of the valve plate close to the second electric push rod, the connecting shaft and the rod body and the piston rod of the second electric push rod are coaxially arranged, and the two ends of the connecting shaft are respectively fixedly connected to the middle part of the valve plate and the middle part of the outer end of the second electric push rod, the connecting shaft slides through the middle part of the tail end of the pipe head and through the central axis of the first inner cavity, and the valve plate is arranged inside the second inner cavity; a plurality of through holes are evenly opened on the valve plate in a circular shape, and the distribution radius of the plurality of through holes is not greater than the radius of the first inner cavity, and the radius of the valve plate is greater than the radius of the first inner cavity.

[0025] In one embodiment of the present application, a rotary joint is provided in the middle part of the outer side of the plug, and the inner end of the rotary joint is connected to the second inner cavity; a connecting component is provided outside the rotary joint, and the connecting component includes a bracket and a connecting pipe, the bracket is provided outside the variable support component and its two ends are respectively fixedly connected to one side of the outer end of the rotary joint and the outer side of the end of the robotic arm, the connecting pipe passes through the outer side of the bracket and its two ends are respectively connected to the outer end of the rotary joint and the delivery pump; the connecting pipe is in the shape of a retractable spring.

[0026] The beneficial effect of the present application is that the sunflower pest atomization spraying device obtained by the present application through the above-mentioned design, when in use, uses the variable drone and the load mechanism to bring the variable directional spraying mechanism to perform precise atomization spraying toward the sunflower disc from the air, without the need for a ground platform and manual spraying, so that the sunflower planting can freely choose the plant density, and the large height difference of the sunflower plants will not limit the flight of the drone. The variable drone and the load mechanism can adaptively change the height of the variable directional spraying mechanism, and cooperate with its own direction adjustment to freely perform precise atomization spraying on sunflower discs of different heights, directions and sizes, which can conveniently break through the limitations of sunflower plant density and height, and significantly improve the prevention and control effect and economic output of sunflower pests and diseases. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the drawings required for use in the implementation methods will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 2. It is a schematic diagram of the three-dimensional structure of a sunflower pest atomizing spraying device provided in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of the structure of a variable drone and a load mechanism, a mechanical arm, and a connecting component provided in an embodiment of the present application;

[0030] Figure 3 A schematic diagram of the structure of a variable UAV and a load mechanism provided in an embodiment of the present application;

[0031] Figure 4 A schematic diagram of the enlarged structure of point A provided in the implementation mode of the present application;

[0032] Figure 5 This is a schematic diagram of the enlarged structure of point B provided in the implementation manner of this application;

[0033] Figure 6 A schematic diagram of the structure of a variable directional spraying mechanism and a variable spraying range and flow rate mechanism provided in an embodiment of the present application;

[0034] Figure 7 A schematic diagram of the structure of a variable-direction spraying mechanism and a variable support assembly provided in an embodiment of the present application;

[0035] Figure 8 A schematic diagram of a variable spray range and flow rate mechanism structure provided for an embodiment of the present application;

[0036] Fig. 9A schematic diagram of the valve plate structure provided for an embodiment of the present application;

[0037] Fig.10 A schematic diagram of the cross-sectional structure of a tube head provided in an embodiment of the present application.

[0038] In the figure: 10, variable drone and load mechanism; 11, wing arm assembly; 111, machine arm; 1111, column head; 112, first connecting fork; 113, first motor; 114, second motor; 115, third motor; 116, propeller; 12, connecting assembly; 121, connecting seat; 122, second connecting fork; 13, first electric push rod; 131, frame; 132, connector; 133, third connecting fork; 134, oblong hole; 14, battery; 15, medicine box; 151, delivery pump; 20, variable direction spraying mechanism; 21, Robotic arm; 22. Electric slip ring; 23. Second electric push rod; 24. Nozzle; 30. Variable spray range and flow mechanism; 31. Variable support assembly; 311. Fourth connecting fork; 312. First connecting rod; 313. Second connecting rod; 314. Third connecting rod; 315. Connecting plate; 32. Pipe head; 321. Plug; 322. Connecting rod; 323. First inner cavity; 324. Second inner cavity; 33. Valve plate; 331. Connecting shaft; 332. Through hole; 34. Rotary joint; 35. Connecting assembly; 351. Bracket; 352. Connecting pipe. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0040] In order to make the purpose, technical solutions and advantages of the implementation methods of this application clearer, the technical solutions in the implementation methods of this application will be clearly and completely described below in conjunction with the drawings in the implementation methods of this application. Obviously, the described implementation methods are part of the implementation methods of this application, not all of the implementation methods. Based on the implementation methods in this application, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] Example

[0042] like Figure 1As shown, the sunflower pest atomization spraying device according to the embodiment of the present application includes a variable UAV and load mechanism 10, a variable directional spraying mechanism 20 and a variable spraying range and flow mechanism 30. The variable directional spraying mechanism 20 is arranged at the lower end of the variable UAV and load mechanism 10, and the variable spraying range and flow mechanism 30 is movably arranged at the lower end of the variable directional spraying mechanism 20. The variable UAV and load mechanism 10 drives the variable directional spraying mechanism 20 and the variable spraying range and flow mechanism 30 to fly, and accurately sprays pesticides toward the sunflower disk from the air. The coverage range and spraying amount of the atomization spraying can be adaptively adjusted according to the height and size of the disk, breaking through the limitations of the density and height difference of the sunflower plants, and improving the prevention and control level of sunflower pests and diseases.

[0043] According to some embodiments of the present application, Figure 2-Figure 5 As shown, the variable UAV and load mechanism 10 include a wing-arm assembly 11, a connecting assembly 12, a first electric push rod 13, a battery 14 and a medicine box 15, a plurality of wing-arm assemblies 11 are movably arranged on the connecting assembly 12 in a circumferentially uniform manner, the upper end of the rod body of the first electric push rod 13 is coaxially fixedly connected to the lower end of the connecting assembly 12, the upper end of the piston rod of the first electric push rod 13 is movably connected to the inner end of the wing-arm assembly 11, and the battery 14 and the medicine box 15 are both arranged at the lower end of the first electric push rod 13; the battery 14 is electrically connected to the wing-arm assembly 11, the first electric push rod 13 and the medicine box 15, the wing-arm assembly 11 includes an arm 111, a first connecting fork 112, a first motor 113, a second motor 114 and a third motor 115, the first motor 113 is fixedly coaxially arranged at the outer end of the arm 111, the outer end of the output end of the first motor 113 is fixedly connected to the middle part of the outer side of the first connecting fork 112, and the second motor 114 is rotatably arranged at the first connecting fork 1 12, the third motor 115 is fixedly arranged on the outside of one end of the first connecting fork 112 and its output end rotates and penetrates the first connecting fork 112, and the output end of the third motor 115 is fixedly connected to one side of the second motor 114; the first motor 113, the second motor 114 and the third motor 115 are all electrically connected to the battery 14, and the upper end of the output end of the second motor 114 is provided with a propeller 116, the first motor 113 can adjust the rotation angle of the first connecting fork 112 perpendicular to the direction of the arm 111, and the third motor 115 can adjust the deflection angle of the second motor 114 in the first connecting fork 112, thereby realizing the adjustment of the direction of the propeller 116, ensuring that the variable UAV and the load mechanism 10 can complete the necessary flight actions, and when performing atomizing spraying operations, all propellers 116 can synchronously adjust the deflection direction, realizing the force balance and hovering of the variable UAV and the load mechanism 10 while avoiding blowing to the direction of the flower disk, thereby improving the spraying effect.

[0044] Among them, two column heads 1111 are symmetrically arranged on both sides of the inner end of the machine arm 111, the connecting component 12 includes a connecting seat 121 and a second connecting fork 122, and a plurality of pairs of second connecting forks 122 are evenly arranged on the circumference of the connecting seat 121. The upper end of the rod body of the first electric push rod 13 is coaxially fixedly connected to the inside of the connecting seat 121, and one machine arm 111 is rotatably arranged between a pair of second connecting forks 122. A frame 131 is arranged at the lower end of the first electric push rod 13, and the battery 14 and the medicine box 15 are detachably arranged inside the frame 131. A connecting head 132 is arranged on the upper end of the piston rod of the first electric push rod 13, and a plurality of pairs of third connecting forks 133 are evenly arranged on the circumference of the connecting head 132. The third connecting forks 133 are all provided with oblong holes 134. The inner end of one machine arm 111 is arranged between a pair of third connecting forks 133, and the column head 1111 is arranged inside the oblong hole 134. The medicine box 15 is provided with a delivery pump 151, which is detachably fixed on the lower side of the frame 131 and connected to the lower side of the medicine box 15; the delivery pump 151 is electrically connected to the battery 14, and when the piston rod of the first electric push rod 13 is extended, the column head 1111 is set inside the oblong hole 134 and slides, and several arms 111 synchronously realize angle changes, thereby changing the distribution radius of all propellers 116. When the height difference between the propeller 116 and the battery 14 and the medicine box 15 is small, the stability of the variable UAV and the load mechanism 10 is better, which helps to resist wind, maintain the stability of the hovering state, and facilitate atomization spraying operations; if necessary, for example, when spraying the flower disk of a shorter plant, increasing the height difference between the propeller 116 and the battery 14 and the medicine box 15 can make the height of the variable spraying mechanism 20 further lower, so as to facilitate the spraying of the flower disk of the short plant.

[0045] According to some embodiments of the present application, Figure 2 and Figure 6-Figure 8 As shown, the variable-direction spraying mechanism 20 is arranged at the lower end of the variable UAV and the load mechanism 10. The variable-direction spraying mechanism 20 includes a mechanical arm 21, an electric slip ring 22, a second electric push rod 23 and a nozzle 24. The upper end of the mechanical arm 21 is fixedly arranged at the lower side of the frame 131, the electric slip ring 22 is arranged at the end of the mechanical arm 21, the tail end of the rod body of the second electric push rod 23 is coaxially fixedly connected to the rotor of the electric slip ring 22, and a plurality of groups of nozzles 24 are evenly arranged on the end circumference of the piston rod of the second electric push rod 23 and connected to the delivery pump 151; the mechanical arm 21 and the electric slip ring 22 are both electrically connected to the battery 14, and the second electric push rod 23 is electrically connected to the electric slip ring 22.

[0046] It should be noted that the technology of the robot arm 21 is relatively mature and can be implemented using existing products sold on the market, such as the UR3e model of Universal Robots or similar existing products. The direction and height of the end of the robot arm 21 will be adjusted accordingly according to the height and direction of the sunflower disk, and the variable drone and the load mechanism 10 are hovering or lifting, so that the height and spray direction of the nozzle 24 set at the end of the robot arm 21 are facing the sunflower disk, thereby achieving accurate and efficient pesticide application. Therefore, the height and spray direction of the nozzle 24 can be conveniently adjusted through the robot arm 21, and the electric slip ring 22 can drive the second electric push rod 23 and the nozzle 24 to rotate, thereby achieving uniform pesticide application on the sunflower disk.

[0047] According to some embodiments of the present application, Figure 2 and Figure 6-Figure 10As shown, the plants in the sunflower field are not only different in density and height, but also in the size of the flower disk. If the spraying range cannot be adjusted according to the size and radius of the flower disk, the atomization spraying effect of the sunflower flower disk pest control will still be affected, and the purpose of further improving the control level cannot be achieved. Variable spraying range and flow mechanism 30, the variable spraying range and flow mechanism 30 is movably arranged at the end of the second electric push rod 23, and several groups of nozzles 24 are evenly arranged on the variable spraying range and flow mechanism 30. The variable spraying range and flow mechanism 30 includes a variable support assembly 31 and a pipe head 32, several groups of variable support assemblies 31 are evenly and movably arranged at the end of the second electric push rod 23, and the two ends of the variable support assembly 31 are respectively rotatably connected to the outside of the rod body end and the outside of the piston rod end of the second electric push rod 23, and several nozzles 24 in one group are evenly and movably arranged on the variable support assembly 31, and the spraying end faces the direction away from the second electric push rod 23; the pipe head 32 is fixedly arranged at the end of the rod body of the second electric push rod 23, and the variable support assembly 31 is arranged at the rod of the second electric push rod 23. The variable support assembly 31 includes a fourth connecting fork 311, a first connecting rod 312, a second connecting rod 313 and a third connecting rod 314 between the end of the body and the pipe head 32. The fourth connecting fork 311 is colinearly arranged at the end of the piston rod of the second electric push rod 23, and a plurality of groups of fourth connecting forks 311 are evenly distributed on the circumference; one end of the first connecting rod 312 is rotatably connected to the outer side of the rod end of the second electric push rod 23, and the two second connecting rods 313 are a group and are arranged parallel to each other. The inner end of a group of second connecting rods 313 can be rotatably arranged between a group of fourth connecting forks 311, and the third connecting rod 314 is rotatably arranged The outer ends of the first connecting rod 312 and the outer ends of the two second connecting rods 313 in a group are respectively rotatably connected to the two ends of the third connecting rod 314. A plurality of pairs of connecting plates 315 are evenly arranged on a group of second connecting rods 313. The connecting plates 315 and the fourth connecting fork 311 are arranged in parallel. The two connecting plates 315 in a pair are symmetrically arranged on both sides of a group of second connecting rods 313. One end of the connecting plate 315 is rotatably connected to a second connecting rod 313 close to the robot arm 21. The other second connecting rod 313 is also rotatably connected to the connecting plate 315. A nozzle 24 is arranged at the outer ends of a pair of connecting plates 315. The spray direction of the nozzle 24 is away from the mechanical arm 21 and in the same direction as the connecting plate 315. The outer end of the pipe head 32 is detachably provided with a plug 321. A plurality of connecting rods 322 are evenly provided on the circumference of the pipe head 32. The connecting rods 322 pass through the gap of the variable support assembly 31 and the tail ends thereof are fixedly connected to the outer side of the rod end of the second electric push rod 23. A first cylindrical inner cavity 323 is provided inside the tail end of the pipe head 32. The outer end of the first inner cavity 323 is connected to a second inner cavity 324 in the shape of a truncated cone. The second inner cavity 324 gradually increases outward from the end away from the first inner cavity 323.The nozzles 24 are all connected to the first inner cavity 323, and a valve plate 33 is arranged inside the second inner cavity 324. A connecting shaft 331 is arranged on the side of the valve plate 33 close to the second electric push rod 23. The connecting shaft 331 and the rod body and the piston rod of the second electric push rod 23 are coaxially arranged. The two ends of the connecting shaft 331 are respectively fixedly connected to the middle part of the valve plate 33 and the middle part of the outer end of the second electric push rod 23. The connecting shaft 331 slides through the middle part of the tail end of the pipe head 32 and through the central axis of the first inner cavity 323. The valve plate 33 is arranged inside the second inner cavity 324; a plurality of through holes 332 are evenly opened on the valve plate 33 in a circumferential manner, and the distribution radius of the plurality of through holes 332 is not greater than the first inner cavity 324. The radius of the first inner cavity 323, the radius of the valve plate 33 is greater than the radius of the first inner cavity 323, a rotary joint 34 is arranged in the middle of the outer side of the plug 321, and the inner end of the rotary joint 34 is connected to the second inner cavity 324; a connecting component 35 is arranged outside the rotary joint 34, and the connecting component 35 includes a bracket 351 and a connecting pipe 352, the bracket 351 is arranged outside the variable support component 31, and its two ends are respectively fixedly connected to one side of the outer end of the rotary joint 34 and the outer side of the end of the mechanical arm 21, and the connecting pipe 352 passes through the outer side of the bracket 351 and its two ends are respectively connected to the outer end of the rotary joint 34 and the delivery pump 151; the connecting pipe 352 is in the shape of a retractable spring, and is connected to the outer end of the rotary joint 34 and the delivery pump 151 by the fourth The connecting fork 311, the first connecting rod 312, the second connecting rod 313 and the third connecting rod 314 form a variable parallelogram frame structure. When the piston rod of the second electric push rod 23 is extended or retracted, the fourth connecting fork 311 will drive the first connecting rod 312, the second connecting rod 313 and the third connecting rod 314 to deform. Since the direction of the fourth connecting fork 311 is colinear and fixed with the piston rod of the second electric push rod 23, when the second connecting rod 313 expands, the gap of the connecting plate 315 will increase and the distribution range will become larger, but the spray direction of the nozzle 24 will still be parallel to the second electric push rod 23 and will not change, thereby ensuring the stability and Adjustability of the spray range; when the distribution range of the nozzle 24 becomes larger and the spray area becomes larger, the valve plate 33 will move away from the first inner cavity 323 and gradually increase the gap between the valve plate 33 and the inner wall of the second inner cavity 324, and the flow rate of the liquid medicine through the pipe head 32 will increase, so that the spray area can be increased while the spray amount can be increased, ensuring that the atomized spray flow rate is sufficient, avoiding the spray density being affected by the increase in the spray range, and affecting the pest control effect; on the contrary, the spray area becomes smaller and the amount of medicine is also reduced. When the valve plate 33 seals the first inner cavity 323 and the second inner cavity 324, a certain amount of liquid medicine will still flow through the through hole 332 to ensure a smaller spray amount;The second electric push rod 23 is powered by the electric slip ring 22, and the liquid of the nozzle 24 is supplied by the rotating joint 34 through the pipe head 32. The bracket 351 cooperates with the electric slip ring 22 and the rotating joint 34, and does not rotate with the rotation but does not hinder the rotation of the second electric push rod 23 and the variable support assembly 31, while ensuring power supply and liquid supply. In this way, it is convenient to adjust the spray range and spray amount according to the size of the flower disc, ensure the uniform spraying effect of flower discs of different sizes, and further improve the level of sunflower disease and insect pest control. ;

[0048] Specifically, the working principle of the sunflower pest atomization spraying device is as follows: when in use, the first motor 113 is used to adjust the rotation angle of the first connecting fork 112 perpendicular to the direction of the arm 111, and the third motor 115 is used to adjust the deflection angle of the second motor 114 in the first connecting fork 112, thereby adjusting the direction of the propeller 116 to ensure that the variable UAV and the load mechanism 10 can complete the necessary flight movements; the delivery pump 151 is used to supply the spray liquid to the nozzle 24 through the connecting pipe 352, the rotating joint 34 and the pipe head 32 to perform the spraying operation; the spray direction of the nozzle 24 is adjusted by the mechanical arm 21, and the electric slip ring 22 drives the second electric push rod 23 and the variable support assembly 31 to rotate to maintain the uniformity of the spraying. At the same time, according to the size of the flower disk, the second connecting rod 313 can be driven to expand by the second electric push rod 23, the gap of the connecting plate 315 will increase accordingly, and the distribution range of the nozzle 24 will also increase accordingly, but the spray direction of the nozzle 24 will still be parallel to the second electric push rod 23 and will not change, so as to ensure the stability of the atomization spray direction and the adjustability of the spray range. When the distribution range of the nozzle 24 becomes larger and the spray area becomes larger, the valve plate 33 will move away from the first inner cavity 323 and gradually increase the gap between the inner wall of the second inner cavity 324, and the flow rate of the liquid medicine through the pipe head 32 will increase, so that the spray area can be increased while the spray amount is increased, ensuring that the atomization spray flow rate is sufficient, avoiding affecting the spray density due to the increase in the spray range and affecting the pest control effect; on the contrary, the spray area becomes smaller and the amount of medicine becomes smaller at the same time. When the valve plate 33 seals the first inner cavity 323 and the second inner cavity 324, a certain amount of liquid medicine will still flow through the through hole 332 to ensure a smaller spray amount. In this way, precise and uniform atomization spraying can be carried out on sunflower disks of different heights, directions, densities and sizes, which can conveniently break through the limitations of sunflower plant density and height, and significantly improve the prevention and control effects of sunflower diseases and pests and economic output.

[0049] It should be noted that the specific models and specifications of the first motor 113, the second motor 114, the third motor 115, the first electric push rod 13, the battery 14, the delivery pump 151, the robotic arm 21, the electric slip ring 22 and the second electric push rod 23 need to be selected and determined according to the actual specifications of the device, etc. The specific selection and calculation method adopts the existing technology in the field, so it will not be described in detail.

[0050] The power supply and principles of the first motor 113, the second motor 114, the third motor 115, the first electric push rod 13, the battery 14, the delivery pump 151, the robot arm 21, the electric slip ring 22 and the second electric push rod 23 are clear to those skilled in the art and will not be described in detail herein.

[0051] The above are only preferred implementations of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A sunflower pest atomization spraying device, characterized in that: include A variable unmanned aerial vehicle and a load mechanism (10), the variable unmanned aerial vehicle and the load mechanism (10) comprising a wing-arm assembly (11), a connecting assembly (12), a first electric push rod (13), a battery (14) and a medicine box (15), wherein the upper end of the rod body of the first electric push rod (13) is coaxially fixedly connected to the lower end of the connecting assembly (12), the upper end of the piston rod of the first electric push rod (13) is movably transmission-connected to the inner end of the wing-arm assembly (11), the battery (14) and the medicine box (15) are both arranged at the lower end of the first electric push rod (13); and the medicine box (15) is provided with a delivery pump (151) in addition; A variable-direction spraying mechanism (20), the variable-direction spraying mechanism (20) being arranged at the lower end of the variable UAV and the load mechanism (10), the variable-direction spraying mechanism (20) comprising a mechanical arm (21), an electric slip ring (22), a second electric push rod (23) and a nozzle (24); A variable spray range and flow mechanism (30), wherein the variable spray range and flow mechanism (30) is movably arranged at the end of the second electric push rod (23), and the variable spray range and flow mechanism (30) comprises a variable support component (31) and a pipe head (32), wherein the two ends of the variable support component (31) are rotatably connected to the outside of the rod end and the outside of the piston rod end of the second electric push rod (23), respectively, and a plurality of the nozzles (24) in a group are evenly and movably arranged on the variable support component (31); the pipe head (32) is fixedly arranged at the end of the rod body of the second electric push rod (23), and the variable support component (31) is arranged on the second The variable support assembly (31) comprises a fourth connecting fork (311), a first connecting rod (312), a second connecting rod (313) and a third connecting rod (314) between the end of the rod body of the electric push rod (23), the fourth connecting fork (311) being colinearly arranged at the end of the piston rod of the second electric push rod (23), and a plurality of groups of the fourth connecting forks (311) being evenly distributed on the circumference; one end of the first connecting rod (312) being rotatably connected to the outer side of the end of the rod body of the second electric push rod (23), two second connecting rods (313) forming a group and being arranged parallel to each other, and the inner ends of a group of the second connecting rods (313) being rotatably arranged in a group of the fourth connecting rods (314). The third connecting rod (314) is rotatably arranged at the outer end of the first connecting rod (312), the outer ends of two second connecting rods (313) in a group are rotatably connected to the two ends of the third connecting rod (314), a group of second connecting rods (313) are evenly arranged with a plurality of pairs of connecting plates (315), the connecting plates (315) and the fourth connecting fork (311) are arranged in parallel, the two connecting plates (315) in a pair are symmetrically arranged on both sides of a group of second connecting rods (313), a nozzle (24) is arranged between the outer ends of a pair of connecting plates (315), and the spray direction of the nozzle (24) is away from the machine The mechanical arm (21) is in the same direction as the connecting plate (315), the outer end of the tube head (32) is detachably provided with a plug (321), a plurality of connecting rods (322) are evenly provided on the circumference of the tube head (32), the connecting rods (322) pass through the gap of the variable support assembly (31) and the tail ends thereof are fixedly connected to the outer side of the rod body end of the second electric push rod (23); a first cylindrical inner cavity (323) is provided inside the tail end of the tube head (32), the outer end of the first inner cavity (323) is connected to a second truncated cone-shaped inner cavity (324), and the second inner cavity (324) gradually increases outwards from one end away from the first inner cavity (323);The nozzles (24) are all connected to the first inner cavity (323), a valve plate (33) is arranged inside the second inner cavity (324), a connecting shaft (331) is arranged on the side of the valve plate (33) close to the second electric push rod (23), the connecting shaft (331) and the rod body and piston rod of the second electric push rod (23) are all coaxially arranged, the two ends of the connecting shaft (331) are respectively fixedly connected to the middle part of the valve plate (33) and the middle part of the outer end of the second electric push rod (23), the connecting shaft (331) slides through the middle part of the tail end of the pipe head (32) and penetrates the first inner cavity (323), ), the valve plate (33) is arranged inside the second inner cavity (324); a plurality of through holes (332) are evenly opened on the valve plate (33) in a circumferential manner; a rotary joint (34) is arranged in the middle of the outer side of the plug (321); the inner end of the rotary joint (34) is connected to the second inner cavity (324); a connecting component (35) is arranged outside the rotary joint (34); the connecting component (35) comprises a bracket (351) and a connecting pipe (352); and the liquid medicine is supplied to the nozzle (24) through the connecting pipe (352), the rotary joint (34) and the pipe head (32) by a delivery pump (151); 2. The sunflower pest atomizing spraying device according to claim 1, characterized in that: The wing-arm assembly (11) comprises an arm (111), a first connecting fork (112), a first motor (113) and a second motor (114); the first motor (113) is fixedly arranged coaxially at the outer end of the arm (111); the outer end of the output end of the first motor (113) is fixedly connected to the middle part of the outer side of the first connecting fork (112); the second motor (114) is rotatably arranged inside the first connecting fork (112); and a propeller (116) is arranged at the upper end of the output end of the second motor (114).

3. The sunflower pest atomizing spraying device according to claim 2, characterized in that: Two column heads (1111) are symmetrically arranged on both sides of the inner end of the machine arm (111).

4. The sunflower pest atomizing spraying device according to claim 3, characterized in that: The connection assembly (12) comprises a connection seat (121) and a second connection fork (122), wherein a plurality of pairs of the second connection forks (122) are evenly arranged on the circumference of the connection seat (121), the upper end of the rod body of the first electric push rod (13) is coaxially fixedly connected to the inside of the connection seat (121), and one of the machine arms (111) is rotatably arranged between the pair of the second connection forks (122).

5. The sunflower pest atomizing spraying device according to claim 3, characterized in that: A connecting head (132) is provided at the upper end of the piston rod of the first electric push rod (13), a plurality of pairs of third connecting forks (133) are evenly arranged around the connecting head (132), and each of the third connecting forks (133) is provided with an oblong hole (134); an inner end of one of the machine arms (111) is arranged between the pair of third connecting forks (133), and the column head (1111) is arranged inside the oblong hole (134).

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