Pesticide spraying device based on agricultural unmanned aerial vehicle

Abstract

The invention provides a pesticide spraying device based on an agricultural unmanned aerial vehicle, and relates to the field of unmanned aerial vehicle pesticide spraying. The pesticide spraying device based on the agricultural unmanned aerial vehicle comprises an unmanned aerial vehicle body and a pesticide box installed on the unmanned aerial vehicle body, and further comprises a support and a traction rope fixed to the support, two L-shaped hoses are slidably installed in the support, a plurality of nozzles are installed on the outer surfaces of the two hoses, and a fixing rod is fixedly installed on the upper surface of the support; a fixing ring is mounted at one end of the fixing rod; according to the pesticide spraying device based on the agricultural unmanned aerial vehicle, only one unmanned aerial vehicle body is needed to pull a pull rope to drive the device to fly up, an operator does not need to deliberately control the flight attitude of the unmanned aerial vehicle body, pesticide spraying can be conducted, through the arranged wrapping cloth and the two side wings, in the take-off process, the distance between the two side wings can be increased, and the pesticide spraying effect is improved. Therefore, the pesticide spraying range is widened, large-range pesticide spraying is achieved, operation and installation difficulty is low, the pesticide spraying device is more stable, and cost is saved.

Description

Technical Field

[0001] The invention relates to the field of drone spraying, and in particular to a spraying device based on an agricultural drone. Background Art

[0002] Drone spraying is a modern agricultural plant protection technology. It uses unmanned aerial vehicles as carriers to evenly spray pesticides, fertilizers and other agricultural agents on crops or other vegetation to achieve the purpose of preventing and controlling pests and diseases, supplementing nutrition, etc. The drone spraying device consists of a drone platform and a spraying system. The drone platform includes the drone's fuselage, wings or rotors, power system, flight control system and other parts. The flight control system can ensure that the drone flies according to the preset route, altitude and speed to ensure the accuracy and stability of the spraying operation; the spraying system mainly consists of a medicine box, a nozzle, and a pressure The drone is composed of a pump and pipes; the medicine box is used to store the pesticide solution, and the pressure pump presses the medicine liquid to the nozzle, and the nozzle atomizes the pesticide and sprays it out; the operator first loads the prepared pesticide solution into the medicine box of the drone; before taking off, the flight parameters of the drone are set through the ground control station, such as flight altitude (usually about 1-5 meters above the crops, depending on the type of crop and growth stage), flight speed (usually 3-8 meters / second), spray flow rate, etc.; after the drone takes off, it flies according to the preset route. During the flight, the spraying system atomizes the pesticide and sprays it evenly on the crops below.

[0003] Traditional drone spraying devices usually install the medicine box and the spraying device directly on the drone body. The drone's spray head is generally fixed under the body or at a specific position around it, so that the pesticide can only be sprayed in a fixed direction, resulting in a small spraying range. In order to increase the spraying range, the prior art enables two or more drones to fly synchronously and maintain the same flight altitude, speed and flight attitude. A spraying device and a long pipeline are installed between the two drones. By connecting the medicine pumps and spray heads on the two drones, it is ensured that the pesticide can be smoothly transported from the medicine box to the spray head for spraying. The coordinated cooperation of the two drones requires the operator to simultaneously control the flight attitude, speed and altitude parameters of the two drones, which is difficult to operate. In addition, more energy is required to ensure the synchronization and stability between the two drones during the operation, which increases the risk of operational errors. In addition, drones are expensive, and spraying with two or more drones is costly. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a spraying device based on an agricultural drone, which can achieve large-scale spraying. It is not only less difficult to operate and more stable, but also saves costs.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a spraying device based on an agricultural drone, comprising a drone body and a medicine box installed on the drone body, a bracket and a traction rope fixed to the bracket, two L-shaped hoses are slidably installed in the bracket, and a number of nozzles are installed on the outer surfaces of the two hoses. A fixing rod is fixedly installed on the upper surface of the bracket, a fixing ring is installed at one end of the fixing rod, the hose is slidably connected to the fixing ring, both ends of the bracket are rotatably connected with a telescopic mechanism through a rotating shaft, a locking mechanism is installed between the bracket and the telescopic mechanism, the locking mechanism is used to stabilize the rotation angle of the telescopic mechanism, a number of positioning mechanisms are installed inside the telescopic mechanism, and the other ends of the two telescopic mechanisms are hinged with side wings through hinges.

[0006] A wrapping cloth for unfolding is fixedly installed between the two side wings to provide lift. Several positioning plates for keeping one end of the wrapping cloth bent and a scissor frame for keeping the two side wings parallel are fixedly installed inside the wrapping cloth. The scissor frame is a telescopic structure.

[0007] Preferably, the medicine box also includes a water pump, a telescopic tube and a tee pipe for drug delivery. The water pump is fixed to the drone, its pumping end is connected to the medicine box through a water pipe, its drainage end is connected to the telescopic tube, the other end of the telescopic tube is connected to the tee pipe, and the other two drainage ends of the tee pipe are respectively connected to two hoses.

[0008] Preferably, the two side wings are symmetrically arranged, one side of the side wing is a curved convex structure, and the other side is a flat structure.

[0009] Preferably, the positioning plate is convex on the top and flat on the bottom, with one side of its upper surface being more curved than the other side, and the outer periphery of the positioning plate is fixed to the inner wall of the wrapping cloth.

[0010] Preferably, the outer surfaces of the two fixing rods are fixedly connected with fixing blocks, the fixing blocks and the positioning plates adjacent thereto are in the same plane and are slidably connected to the wrapping cloth.

[0011] Preferably, the telescopic mechanism comprises a telescopic joint A, two telescopic joints B and two telescopic joints C, the two telescopic joints B are slidably connected to the telescopic joint A, and the two telescopic joints C are slidably connected to the two telescopic joints B respectively.

[0012] Preferably, a notch is provided at the bottom of the fixing ring for the nozzle to pass through.

[0013] Preferably, the positioning mechanism includes an elastic sheet and a positioning ball, which are fixedly connected to each other. The two telescopic joints A and the two telescopic joints B are each provided with a plurality of positioning holes that match the positioning balls. The plurality of elastic sheets are respectively fixedly connected to the two telescopic joints B and the two telescopic joints C.

[0014] Preferably, the scissors rack includes a fixed axis, two insertion rods, four sleeves, and four connecting pieces. The fixed axis is located at the center of the two insertion rods and is rotatably connected to the two insertion rods. The four sleeves are slidably connected to the two ends of the two insertion rods, respectively. Two of the connecting pieces are fixedly connected to the two positioning plates, respectively, and the other two connecting pieces are slidably connected to the two positioning plates, respectively. One end of the four sleeves is rotatably connected to the four connecting pieces, respectively.

[0015] Preferably, the locking mechanism includes a spring and a limit shaft, a mounting groove is provided inside the bracket, the locking mechanism is located in the mounting groove, both ends of the spring are fixedly connected to the mounting groove and the limit shaft respectively, the limit shaft is slidably connected to the mounting groove, and a socket compatible with the limit shaft is provided inside the telescopic joint C.

[0016] Compared with the prior art, the present invention has the following beneficial effects: pesticide spraying can be carried out by only requiring a drone body to fly up by pulling a pull rope to drive the device, without the need for an operator to deliberately control the flight posture of the drone body; by setting the wrapping cloth and two side wings, when taking off, not only can the distance between the two side wings be increased to increase the spraying range and achieve large-scale spraying, but the wrapping cloth can also be unfolded during flight to obtain sufficient lift, which is not only less difficult to operate and install, more stable, but also cost-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a front view of the drone body and side wings of the present invention;

[0018] Figure 2 A top view of the drone body, wrapping cloth and side wings of the present invention;

[0019] Figure 3 is a cross-sectional view of a side view of a wrapping cloth of the present invention;

[0020] Figure 4 It is a front view of the wrapping cloth and side wings of the present invention;

[0021] Figure 5 A bottom view of the wrapping cloth and side wings of the present invention;

[0022] Figure 6 A top view of the scissor frame and the positioning plate of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the positioning ball of the present invention when it is inserted into the positioning hole;

[0024] Figure 8 It is a schematic diagram of the structure when the limit shaft of the present invention is inserted into the insertion hole;

[0025] Fig. 9 It is a structural schematic diagram of the fixing rod and the fixing ring of the present invention;

[0026] Fig.10 It is a structural schematic diagram of the positioning plate of the present invention;

[0027] Fig.11 A top view of the wing, telescopic mechanism and hose of the present invention;

[0028] Fig.12 It is a schematic diagram of the structure of the telescopic mechanism of the present invention and the two side wings when they are opened.

[0029] Among them: 1. UAV body; 2. Medicine box; 201. Telescopic tube; 202. Tee pipe; 204. Water pump; 3. Bracket; 4. Towing rope; 5. Hose; 6. Wrapping cloth; 7. Nozzle; 8. Fixed rod; 9. Fixed ring; 10. Telescopic mechanism; 101. Telescopic section A; 102. Telescopic section B; 103. Telescopic section C; 11. Locking mechanism; 111. Spring; 112. Limiting shaft; 12. Positioning mechanism; 13. Positioning plate; 14. Scissor frame; 141. Fixed shaft; 142. Insert rod; 143. Sleeve; 144. Connector; 15. Elastic sheet; 16. Positioning ball; 17. Positioning hole; 18. Fixed block; 19. Socket; 20. Side wing. DETAILED DESCRIPTION

[0030] like Figure 1-Figure 12As shown, a spraying device based on an agricultural drone includes a drone body 1 and a medicine box 2 installed on the drone body 1. The medicine box 2 also includes a water pump 204 for delivering medicine, a telescopic tube 201 and a three-way pipe 202. The water pump 204 is fixed to the drone, and its water pumping end is connected to the medicine box 2 through a water pipe, and its drainage end is connected to the telescopic tube 201. The other end of the telescopic tube 201 is connected to the three-way pipe 202, and the other two drainage ends of the three-way pipe 202 are respectively connected to two hoses 5. The water pump 204 is used to extract the pesticide in the medicine box 2 and pressurize it into the hose 5. It also includes a bracket 3 and a traction rope 4 fixed to the bracket 3. Two L-shaped hoses 5 are slidably installed in the bracket 3. The outer surfaces of the two hoses 5 are installed with a plurality of nozzles 7. A fixing rod 8 is fixedly installed on the upper surface, a fixing ring 9 is installed at one end of the fixing rod 8, a notch is opened at the bottom of the fixing ring 9 for the nozzle 7 to pass through, the hose 5 is slidably connected to the fixing ring 9, and both ends of the bracket 3 are rotatably connected to a telescopic mechanism 10 through a rotating shaft. The telescopic mechanism 10 includes a telescopic section A101, two telescopic sections B102 and two telescopic sections C103. The two telescopic sections B102 are slidably connected to the telescopic section A101, and the two telescopic sections C103 are slidably connected to the two telescopic sections B102, respectively, so that the telescopic mechanism 10 can extend a longer distance, thereby increasing the distance between the two side wings 20. A locking mechanism 11 is installed between the bracket 3 and the two telescopic mechanisms 10, and the locking mechanism 11 includes a spring 111 and a limit shaft 112.The bracket 3 is provided with a mounting groove inside, and the locking mechanism 11 is located in the mounting groove. The two ends of the spring 111 are fixedly connected with the mounting groove and the limiting shaft 112 respectively. The limiting shaft 112 is slidably connected with the mounting groove. The expansion joint C103 is provided with a socket 19 adapted to the limiting shaft 112. When the socket 19 inside the expansion joint C103 is rotated to the position of the limiting shaft 112, the spring 111 pushes the limiting shaft 112 to be inserted into the socket 19, which limits the expansion joint C103, thereby fixing the rotation angle of the expansion mechanism 10. The locking mechanism 11 is used to stabilize the rotation angle of the expansion mechanism 10. A plurality of positioning mechanisms 12 are installed inside the expansion mechanism 10. The positioning mechanism 12 includes an elastic sheet 15 and a positioning ball 16. The elastic sheet 15 and the positioning ball 16 are provided inside the expansion joint C103. The elastic sheet 15 is fixedly connected to the positioning ball 16. The two telescopic joints A101 and the two telescopic joints B102 are provided with a plurality of positioning holes 17 adapted to the positioning ball 16. The plurality of elastic sheets 15 are respectively fixedly connected to the two telescopic joints B102 and the two telescopic joints C103. The other ends of the two telescopic mechanisms 10 are hinged with side wings 20 through hinges. When the two side wings 20 move in opposite directions, the two hoses 5 can effectively move along the two fixing rings 9 respectively to improve the spraying range. The two side wings 20 are symmetrically arranged. One side of the side wing 20 is a curved convex structure and the other side is a flat structure. The curvature of one side of the convex part is relatively large. During the movement, a pressure difference can be generated on both sides of the side wing 20, so that the two side wings 20 can move in opposite directions.

[0031] A wrapping cloth 6 for unfolding is fixedly installed between the two side wings 20, and the wrapping cloth 6 is used to provide lift. A plurality of positioning plates 13 for keeping one end of the wrapping cloth 6 bent and a scissor frame 14 for keeping the two side wings 20 parallel are fixedly installed inside the wrapping cloth 6. The scissor frame 14 is a telescopic structure. The positioning plate 13 is convex on the top and flat on the bottom. The bending degree of one side of its upper surface is greater than that of the other side. The outer periphery of the positioning plate 13 is fixed to the inner wall of the wrapping cloth 6. The outer surfaces of the two fixing rods 8 are fixedly connected with fixing blocks 18. A plurality of fixing blocks 18 are provided. The fixing blocks 18 are connected to the fixing blocks 18. The adjacent positioning plates 13 are in the same plane and are slidably connected to the wrapping cloth 6. The scissors frame 14 includes a fixed shaft 141, two insertion rods 142, four sleeves 143, and four connecting pieces 144. The fixed shaft 141 is located at the center of the two insertion rods 142 and is rotatably connected to the two insertion rods 142. The four sleeves 143 are slidably connected to the two ends of the two insertion rods 142, respectively. Two connecting pieces 144 are fixedly connected to the two positioning plates 13, respectively, and the other two connecting pieces 144 are slidably connected to the two positioning plates 13, respectively. One end of the four sleeves 143 is rotatably connected to the four connecting pieces 144, respectively.

[0032] Working principle:

[0033] First, the drone body 1 flies up, and the drone body 1 drives the bracket 3 to move through the pull rope, and the bracket 3 drives the two telescopic mechanisms 10 to move, and the telescopic mechanisms 10 drive the two side wings 20 to move, and then drive the wrapping cloth 6 to move. When the drone body 1 flies upward, the pull rope, the side wings 20 and the wrapping cloth 6 are in a vertical state. When the drone body 1 moves forward, the side wings 20 and the wrapping cloth 6 begin to be in an inclined state under the action of their inertia. It should be noted that the wrapping cloth 6 can be folded and compressed in the initial state, through the provision of multiple positioning plates 13, and the shape is convex on the top and flat on the bottom, and the curvature of one side of its upper surface is greater than that of the other side. The outer periphery of the positioning plate 13 is fixed to the inner wall of the wrapping cloth 6, such as Figure 3 As shown, the cross section of the wrapping cloth 6 is formed into the same shape as the wrapping cloth 6. The raised part of the upper surface of the wrapping cloth 6 is arc-shaped, and the lower surface is relatively flat. When the wrapping cloth 6 moves forward, the wrapping cloth 6 and the air produce relative motion. According to Bernoulli's principle, the faster the air flow rate, the smaller its static pressure, and the slower the flow rate, the greater the static pressure. On the upper surface of the wrapping cloth 6, due to the arc-shaped design, the distance the air flows through becomes longer. In the same time, the air flow rate is accelerated, so the static pressure on the upper surface is reduced, while the air flow rate on the lower surface of the wrapping cloth 6 is relatively slow, and the static pressure is larger. Therefore, a pressure difference is generated between the upper and lower surfaces of the side wing 20, and the pressure on the lower surface is greater than the pressure on the upper surface. The pressure difference generates an upward lift, which enables the wrapping cloth 6 to fly. For example, the wings of an airplane will deflect the air downward during flight. According to Newton's third law, the action force and the reaction force are equal in magnitude and opposite in direction. When the wing causes the air to move downward, the air will generate an upward reaction force on the wing, which is also a factor in the wing generating lift. When the airplane accelerates and glides on the runway, the interaction between the wing and the air gradually increases, and the wing generates a downward force on the air, which in turn provides sufficient lift to the wing. When the lift is greater than the airplane's own weight, the airplane leaves the ground and starts to fly. Thus, by adopting a structure similar to that of the wing, Figure 1 and Figure 2 As shown, the wrapping cloth 6 can fly like a kite under the traction of the pull rope. Similarly, since the two side wings 20 are symmetrically arranged, and one side of the side wing 20 is a curved convex structure, and the other side is a flat structure, and the degree of curvature of one side of the convex part is relatively large, a pressure difference can be generated on both sides of the side wing 20 during the moving flight, so that the two side wings 20 can move in opposite directions, and then the water pump 204 is started to transport the pesticide in the medicine box 2 to the telescopic tube 201. The pesticide passes through the telescopic tube 201, the three-way pipe 202, the hose 5 and the nozzle 7 in sequence, and the pesticide is sprayed out from the nozzle 7.

[0034] Then, if Fig.12As shown, when the two side wings 20 move in opposite directions, on the one hand, due to the fixed connection between the fixing rod 8 and the bracket 3, the position of the positioning ring remains unchanged, and the two side wings 20 can respectively pull the two hoses 5 to move along the positioning ring, so that one end of the hose 5 extends outward along the moving direction of the side wing 20. At this time, the hose 5 drives several nozzles 7 to pass through the gap at the bottom of the positioning ring in turn and move outward, so that the several nozzles 7 can spray pesticides over a larger range. On the other hand, the two side wings 20 can respectively drive the two telescopic mechanisms 10 to rotate, increasing the inclination amplitude of the telescopic mechanisms 10, which is conducive to increasing the distance between the two side wings 20. Since the bracket 3 will apply a dragging force to the telescopic mechanism 10, and one end of the telescopic mechanism 10 is connected to the side wing 20, the telescopic mechanism 10 can be extended, further increasing the distance between the two side wings 20. The distance between the side wings 20 is increased , the greater the distance that the hose 5 and the nozzle 7 move outward, the larger the spraying range is. When the telescopic mechanism 10 is extended, a number of positioning balls 16 slide along the inner walls of the two telescopic joints A101 and the two telescopic joints B102 respectively. When the positioning balls 16 slide to the position of the positioning holes 17, the positioning holes 17 are inserted into the positioning holes 17 under the elastic force pushed by the elastic sheet 15, which limits the telescopic mechanism 10 and keeps the telescopic mechanism 10 at the maximum length at all times; when the telescopic mechanism 10 rotates with one end of the bracket 3 as the fulcrum, the socket 19 in the telescopic mechanism 10 rotates to the positioning mechanism 12, and the spring 111 drives the limiting shaft 112 to be inserted into the socket 19, which positions the telescopic mechanism 10 and prevents the telescopic mechanism 10 from rotating again, thereby fixing the angle of the telescopic mechanism 10 and fixing the distance between the two side wings 20.

[0035] It should be noted that when the two side wings 20 move in opposite directions, they can drive the two ends of the wrapping cloth 6 to move, and then drive the two outermost positioning plates 13 to move. Since a plurality of fixing blocks 18 are fixed to the fixing rod 8, the fixing blocks 18 and the positioning plates 13 close to them are in the same plane and are slidably connected with the wrapping cloth 6, so that the wrapping cloth 6 can slide along the fixing blocks 18, but the two positioning plates 13 in the middle will not move sideways. Therefore, the distance between the two groups of positioning plates 13 will be lengthened. Since a scissor frame 14 is installed between the two groups of positioning plates 13, and the scissor frame 14 is a telescopic structure, The two sets of positioning plates 13 are always kept parallel, and then the two side wings 20 are always kept parallel, so as to improve the stability during flight and prevent deviation. Moreover, when the two side wings 20 move in opposite directions, the wrapping cloth 6 can be unfolded to increase the contact area with the air. The larger the area, the greater the lift of the wrapping cloth 6, and the easier it is to fly. In summary, only one UAV body 1 is needed to fly more stably by pulling the pull rope to drive the device to spray pesticides. There is no need for the operator to deliberately control the flight posture of the UAV body 1, so that large-scale spraying can be achieved. Not only is the operation difficulty low, the installation difficulty is low, but also the cost is saved.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pesticide spraying device based on an agricultural drone, comprising a drone body (1) and a pesticide box (2) mounted on the drone body (1), characterized in that: It also comprises a bracket (3) and a traction rope (4) fixed to the bracket (3); two L-shaped hoses (5) are slidably installed in the bracket (3); a plurality of nozzles (7) are installed on the outer surfaces of the two hoses (5); a fixing rod (8) is fixedly installed on the upper surface of the bracket (3); a fixing ring (9) is installed at one end of the fixing rod (8); the hose (5) and the fixing ring (9) are slidably connected; both ends of the bracket (3) are rotatably connected to a telescopic mechanism (10) via a rotating shaft; a locking mechanism (11) is installed between the bracket (3) and the telescopic mechanism (10); the locking mechanism (11) is used to stabilize the rotation angle of the telescopic mechanism (10); a plurality of positioning mechanisms (12) are installed inside the telescopic mechanism (10); and the other ends of the two telescopic mechanisms (10) are hinged to side wings (20) via hinges; A wrapping cloth (6) for unfolding is fixedly installed between the two side wings (20), and the wrapping cloth (6) is used to provide lifting force. A plurality of positioning plates (13) for keeping one end of the wrapping cloth (6) bent and a scissor frame (14) for keeping the two side wings (20) parallel are fixedly installed inside the wrapping cloth (6), and the scissor frame (14) is a telescopic structure.

2. The pesticide spraying device based on an agricultural drone according to claim 1, characterized in that: The medicine box (2) further comprises a water pump (204) for delivering medicine, a telescopic tube (201) and a three-way tube (202); the water pump (204) is fixed to the drone, a water pumping end thereof is connected to the medicine box (2) via a water pipe, a water discharge end thereof is connected to the telescopic tube (201), the other end of the telescopic tube (201) is connected to the three-way tube (202), and the other two water discharge ends of the three-way tube (202) are respectively connected to two hoses (5).

3. The pesticide spraying device based on an agricultural drone according to claim 1, characterized in that: The two side wings (20) are symmetrically arranged, one side of the side wing (20) is a curved convex structure, and the other side is a flat structure.

4. The pesticide spraying device based on an agricultural drone according to claim 1, characterized in that: The positioning plate (13) is convex on the top and flat on the bottom, and the curvature of one side of its upper surface is greater than that of the other side. The outer periphery of the positioning plate (13) is fixed to the inner wall of the wrapping cloth (6).

5. The pesticide spraying device based on an agricultural drone according to claim 1, characterized in that: The outer surfaces of the two fixing rods (8) are fixedly connected with fixing blocks (18), the fixing blocks (18) and the positioning plates (13) adjacent thereto are located in the same plane, and are slidably connected with the wrapping cloth (6).

6. The pesticide spraying device based on an agricultural drone according to claim 1, characterized in that: The telescopic mechanism (10) comprises a telescopic joint A (101), two telescopic joints B (102) and two telescopic joints C (103), wherein the two telescopic joints B (102) are both slidably connected to the telescopic joint A (101), and the two telescopic joints C (103) are respectively slidably connected to the two telescopic joints B (102).

7. The pesticide spraying device based on an agricultural drone according to claim 1, characterized in that: The bottom of the fixing ring (9) is provided with a notch for the nozzle (7) to pass through.

8. The pesticide spraying device based on an agricultural drone according to claim 6, characterized in that: The positioning mechanism (12) comprises an elastic sheet (15) and a positioning ball (16), wherein the elastic sheet (15) and the positioning ball (16) are fixedly connected, and a plurality of positioning holes (17) adapted to the positioning balls (16) are provided inside the two telescopic joints A (101) and the two telescopic joints B (102), and the plurality of elastic sheets (15) are respectively fixedly connected to the two telescopic joints B (102) and the two telescopic joints C (103).

9. The pesticide spraying device based on an agricultural drone according to claim 1, characterized in that: The scissor frame (14) comprises a fixed shaft (141), two insertion rods (142), four sleeves (143), and four connecting pieces (144); the fixed shaft (141) is located at the center of the two insertion rods (142) and is rotatably connected to the two insertion rods (142); the four sleeves (143) are respectively slidably connected to the two ends of the two insertion rods (142); two connecting pieces (144) are respectively fixedly connected to the two positioning plates (13); the other two connecting pieces (144) are respectively slidably connected to the two positioning plates (13); and one end of the four sleeves (143) is respectively rotatably connected to the four connecting pieces (144).

10. The pesticide spraying device based on an agricultural drone according to claim 6, characterized in that: The locking mechanism (11) comprises a spring (111) and a limiting shaft (112); a mounting groove is provided inside the bracket (3); the locking mechanism (111) is located in the mounting groove; two ends of the spring (111) are respectively fixedly connected to the mounting groove and the limiting shaft (112); the limiting shaft (112) is slidably connected to the mounting groove; and a socket (19) adapted to the limiting shaft (112) is provided inside the telescopic joint C (103).

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