An automatic spraying device for agricultural unmanned aerial vehicles

Abstract

The application relates to the technical field of agricultural unmanned planes, and discloses an automatic spraying device for an agricultural unmanned plane, which comprises an unmanned plane body, a fixing plate fixed on the lifting foot stand of the unmanned plane body, and a pesticide supply assembly arranged on the fixing plate; the pesticide supply assembly comprises a folding water tank, a counterweight and a control assembly; the folding water tank comprises a bottom plate, a top plate and a folding box, and the folding box is fixed between the bottom plate and the top plate. According to the application, the spatial layout of the unmanned plane body and the spraying assembly is separated, the fuselage is kept away from crops by utilizing the high-altitude flight characteristics, the mechanical damage of crops caused by the strong airflow impact of the propeller is avoided, meanwhile, the lifting plate can position the mist spraying head to a suitable height above the crop canopy, so that the optimal deposition of the mist drops is realized under the balance of gravity and air resistance, and the pesticide deposition rate and the coverage uniformity are obviously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural unmanned aerial vehicle technology, and particularly relates to an automatic spraying device for agricultural unmanned aerial vehicle. BACKGROUND

[0002] The automatic spraying device for agricultural unmanned aerial vehicle is a modern agricultural equipment integrated in an unmanned aerial vehicle platform, and capable of realizing precise and efficient spraying operation through automatic technology.

[0003] According to the search, a pesticide spraying device for agricultural unmanned aerial vehicle is disclosed in Chinese patent No. CN211910272U, which comprises a machine body, a conduit and a connecting pipe. The upper end of the machine body is provided with a connecting head. The upper end of the connecting head is provided with a medicine storage tank. The side wall of the connecting head is provided with two conduits. The two conduits are symmetrically arranged with the machine body. The end of the two conduits close to the connecting head is fixedly connected with a rotary joint. The above-mentioned scheme can solve the problem that the process of modifying the unmanned aerial vehicle into a pesticide spraying device is often irreversible, and the unmanned aerial vehicle is difficult to remove the pesticide spraying device when it is not needed. However, the above-mentioned scheme still has the following disadvantages in actual use:

[0004] When the unmanned aerial vehicle flies close to crops at low altitude, the above-mentioned scheme can reduce the drift loss of pesticide and improve the deposition efficiency by shortening the spraying distance. However, the strong downward airflow generated by the high-speed rotation of the propeller will directly impact the crop canopy, causing damage to young leaves, stems and plants, especially economic crops such as trees and vegetables, which may cause physical damage and affect yield and quality. If the flight height is increased to weaken the airflow impact, the mechanical damage risk can be reduced, but the spraying target distance will be increased, causing the diffusion range of the atomized pesticide to be wider. Some of the pesticide will be lost due to air flow and evaporation before reaching the crop surface, resulting in a decrease in the utilization rate of the pesticide and an insufficient amount of pesticide per unit area. Therefore, it is necessary to increase the total amount of pesticide or repeat the operation, which not only increases the cost, but also may cause environmental pollution and pesticide residue problems.

[0005] Therefore, it is necessary to design an automatic spraying device for agricultural unmanned aerial vehicle to solve the above-mentioned problems. SUMMARY

[0006] The present application aims to solve the problems existing in the prior art and provides an automatic spraying device for agricultural unmanned aerial vehicle.

[0007] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0008] An automatic spraying device for agricultural unmanned aerial vehicle, comprising an unmanned aerial vehicle body, a fixed plate fixed on the lifting foot stand of the unmanned aerial vehicle body, and a pesticide supply assembly arranged on the fixed plate.

[0009] The medicine supply assembly comprises a folding water tank, a counterweight and a control assembly, the folding water tank comprises a bottom plate, a top plate and a folding tank fixed between the bottom plate and the top plate, the counterweight is fixed on the top plate, the control assembly comprises a magnetic plate and an electromagnet, the magnetic plate is fixed on the fixed plate and located on one side of the folding water tank, and the electromagnet is adsorbed on the magnetic plate and connected with the counterweight through a horizontal rod.

[0010] The fixed plate is provided with a limiting structure for limiting the counterweight.

[0011] The bottom of the fixed plate is provided with a spraying assembly for spraying medicine, and the spraying assembly comprises a plurality of mist nozzles.

[0012] The bottom surface of the fixed plate is provided with a lifting assembly for controlling the lifting of the plurality of mist nozzles.

[0013] As a preferred technical solution of the present application, the limiting structure comprises two guide rods and two guide seats, the two guide rods are fixed on the fixed plate, the two guide seats are respectively slidably sleeved on the two guide rods, and each guide seat is connected with the counterweight through a connecting rod.

[0014] As a preferred technical solution of the present application, the spraying assembly further comprises a lifting plate and a liquid storage bag, the lifting plate is located directly below the fixed plate, the liquid storage bag is fixed on the top surface of the lifting plate, the plurality of mist nozzles are installed on the bottom surface of the lifting plate, each mist nozzle is connected with the liquid storage bag through a communication pipe, and the liquid storage bag is connected with the folding tank through a liquid supply pipe.

[0015] As a preferred technical solution of the present application, the lifting assembly is composed of a plurality of lifting structures, and the plurality of lifting structures are arranged in a circumferential array, each lifting structure comprises a wheel frame, a winding wheel and a servo motor, the wheel frame is fixed on the bottom surface of the fixed plate, the winding wheel is rotatably installed on the wheel frame, the servo motor is installed on the wheel frame, the output shaft of the servo motor is connected with the winding wheel, a pull wire is wound on the winding wheel, and one end of the pull wire away from the winding wheel is connected with the lifting plate.

[0016] As a preferred technical solution of the present application, the lifting plate and the fixed plate are provided with a positioning assembly, the positioning assembly comprises two first connecting frames, two first magnetic blocks, two second connecting frames and two second magnetic blocks, the two first connecting frames are fixed on the bottom surface of the fixed plate, the two first magnetic blocks are respectively fixed on the two first connecting frames, the two second connecting frames are fixed on the side surface of the lifting plate, and the two second magnetic blocks are respectively fixed on the two second connecting frames.

[0017] As a preferred technical scheme of the present application, a hole site is formed on the bottom plate, a rotating shaft is rotatably installed in the hole site, one end of the rotating shaft extends to the inside of the folding box and is fixed with a stirring head, the other end of the rotating shaft extends to the lower side of the fixed plate and is fixed with a pneumatic impeller, an avoiding opening adapted to the rotating shaft is formed on the fixed plate, a wind guide pipe is fixed to the bottom surface of the fixed plate, one end of the wind guide pipe is arranged opposite to the pneumatic impeller, the other end of the wind guide pipe is in a funnel structure, and the funnel end of the wind guide pipe extends to the lower side of one of the propellers of the unmanned aerial vehicle body.

[0018] As a preferred technical scheme of the present application, the side surface of the folding box is communicated with an air inlet pipe and an air outlet pipe, the air inlet pipe and the air outlet pipe are both installed with electromagnetic valves, the two ends of the air outlet pipe are respectively communicated with the upper and lower ends of the folding box, the flow limiting directions of the two electromagnetic valves are opposite, the electromagnetic valve installed on the air inlet pipe limits the gas to only enter the inside of the folding box, and the electromagnetic valve installed on the air outlet pipe limits the gas to only flow out of the folding box.

[0019] As a preferred technical scheme of the present application, a gear is fixedly sleeved on the rotating shaft, a first hydraulic telescopic piece is arranged on the bottom surface of the fixed plate, a second hydraulic telescopic piece is arranged on the side surface of the fixed plate, the first hydraulic telescopic piece and the second hydraulic telescopic piece are communicated through a connecting pipe, the telescopic end of the first hydraulic telescopic piece is fixed with a rack, and the teeth of the rack are arranged opposite to the teeth of the gear, the telescopic end of the second hydraulic telescopic piece is fixed with an end cap, an opening is formed in the end cap, a movable rod is inserted in the opening, a slot is formed in the side surface of the counterweight, and the slot is arranged opposite to the movable rod.

[0020] As a preferred technical scheme of the present application, the first hydraulic telescopic piece and the second hydraulic telescopic piece are the same in structure and both include a sealing cylinder, a sliding plug, a rod body and a spring, the sliding plug is sealingly and slidingly connected in the inside of the sealing cylinder, one end of the rod body is connected with the sliding plug, the other end of the rod body extends to the outside of the sealing cylinder, the sliding plug and the sealing cylinder are connected through the spring, the spring is used for automatic reset of the sliding plug, and oil liquid is accumulated between the sealing cylinder and the sliding plug.

[0021] As a preferred technical scheme of the present application, in the initial state, the rack and the gear do not contact each other.

[0022] The present application has the following beneficial effects:

[0023] 1. By separating the spatial layout of the unmanned aerial vehicle body and the spraying assembly, using the high-altitude flight characteristics to keep the fuselage away from the crops, avoiding the mechanical damage to the crops caused by the strong airflow impact of the propeller, at the same time, the liftable lifting plate can position the mist spraying head to the appropriate height above the crop canopy, ensuring that the droplets realize optimal deposition under the balance of gravity and air resistance, significantly improving the deposition rate and uniformity of the pesticide;

[0024] 2. The liquid storage bag not only serves as a pesticide transfer container, but also gradually expands after being injected with the pesticide when it is placed under the lifting plate. The gravitational force of the liquid inside forms an adjustable counterweight balance, effectively counteracting the torsional moment generated by the long cantilever structure under flight vibration or air flow disturbance, maintaining the stability of the lifting plate during operation, and avoiding the increase in the overall weight caused by the additional fixed counterweight, ensuring the endurance of the machine;

[0025] 3. By driving the compression and stretching of the folding box through the up and down movement of the top plate, gas circulation is used to form bubbles in the pesticide, promoting rapid mixing of the pesticide powder and water. This design avoids the pollution or splashing of the pesticide that may be caused by traditional mechanical stirring, and achieves sufficient mixing through gas turbulence, especially suitable for pesticide preparation that needs to avoid vigorous stirring, with the advantages of high efficiency, uniformity and easy operation;

[0026] 4. Based on the formation of bubbles by aeration, the first hydraulic telescopic member and the second hydraulic telescopic member are used to drive the stirring head to rotate synchronously during the mixing stage, assisting in the stirring of the pesticide. The synergistic effect of the two significantly improves the mixing efficiency of the pesticide and shortens the mixing time;

[0027] 5. The strong airflow generated by the high-speed rotation of the propeller during the flight of the unmanned aerial vehicle is used to drive the gas turbine to rotate through the guide pipe, and then the stirring head is used to stir the pesticide to prevent the pesticide from settling. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 Structure diagram of an automatic spraying device for an agricultural unmanned aerial vehicle Figure 1 ;

[0029] Figure 2 Structure diagram of an automatic spraying device for an agricultural unmanned aerial vehicle Figure 2 ;

[0030] Figure 3 Structure diagram of an automatic spraying device for an agricultural unmanned aerial vehicle Figure 2 ;

[0031] Figure 4 Structure diagram of an automatic spraying device for an agricultural unmanned aerial vehicle

[0032] Figure 5 Structure diagram of an automatic spraying device for an agricultural unmanned aerial vehicle

[0033] Figure 6 Structure diagram of the medicine supply assembly Figure 1 ;

[0034] Figure 7 Structure diagram of the medicine supply assembly Figure 2 ;

[0035] Figure 8 Structure diagram of the medicine supply assembly Figure 7 ;

[0036] Figure 9 Structure diagram of the medicine supply assembly

[0037] Figure 10 Structure diagram of the medicine supply assembly

[0038] Figure 11 Structure diagram of the medicine supply assembly

[0039] In the figure: 1, unmanned aerial vehicle body; 2, fixed plate; 21, first connecting frame; 22, first magnetic block; 31, bottom plate; 32, folding box; 33, top plate; 34, counterweight; 35, guide rod; 36, guide seat; 37, connecting rod; 38, magnetic plate; 39, electromagnet; 310, crossbar; 41, lifting plate; 411, second connecting frame; 412, second magnetic block; 42, liquid storage bag; 421, liquid supply pipe; 43, mist nozzle; 44, communication pipe; 51, wheel frame; 52, winding wheel; 53, servo motor; 54, pull wire; 61, rotating shaft; 62, stirring head; 63, pneumatic impeller; 64, air guide pipe; 71, air inlet pipe; 72, air outlet pipe; 73, electromagnetic valve; 81, gear; 82, rack; 83, first hydraulic telescopic member; 84, second hydraulic telescopic member; 85, connecting pipe; 86, end cap; 87, movable rod; 88, slot. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0041] Referring to Figures 1-11 , an automatic spraying device for agricultural unmanned aerial vehicles, comprising an unmanned aerial vehicle body 1, a fixed plate 2 is fixed on the lifting foot stand of the unmanned aerial vehicle body 1, a medicine supply assembly is arranged on the fixed plate 2, the medicine supply assembly comprises a folding water tank, a counterweight 34 and a control assembly, the folding water tank comprises a bottom plate 31, a top plate 33 and a folding box 32, the folding box 32 is fixed between the bottom plate 31 and the top plate 33 (such as Figure 10As shown), the folding box 32 can be folded in the height direction of the UAV body 1. For the top plate 33, a medicine filling port can be opened on it (which is existing technology and is not shown in the figure, and will not be described in detail here) to facilitate the filling of medicine into the folding box 32. The counterweight 34 is fixed on the top plate 33. The fixed plate 2 is provided with a limiting structure for providing a limit for the counterweight 34. The limiting structure includes two guide rods 35 and two guide seats 36. The two guide rods 35 are fixed on the fixed plate 2. The two guide seats 36 are slidably sleeved on the two guide rods 35 respectively. Each guide seat 36 is connected to the counterweight 34 through a connecting rod 37. During the movement of the counterweight 34, the two guide rods 35 and the two guide seats 36 provide a limit for it to ensure the stability of the counterweight 34 during the movement.

[0042] The control components include a magnetic plate 38 and an electromagnet 39 (such as...). Figure 7 As shown), the magnetic plate 38 is fixed on the fixed plate 2 and is located on one side of the folding box 32. The electromagnet 39 is attracted to the magnetic plate 38 and is connected to the counterweight 34 through the crossbar 310. When the electromagnet 39 is energized, the magnetism generated by the electromagnet 39 allows it to be attracted to the magnetic plate 38. At this time, the electromagnet 39 fixes the counterweight 34, preventing the counterweight 34 from moving downward under the action of gravity. When the position of the counterweight 34 is fixed, the position of the top plate 33 is also fixed, which prevents the folding box 32 from folding. When the electromagnet 39 is de-energized, the electromagnet 39 loses its magnetism, that is, the magnetic attraction between the electromagnet 39 and the magnetic plate 38 disappears. At this time, the electromagnet 39 no longer provides a fixing effect for the counterweight 34. The counterweight 34 will move downward under the action of gravity and drive the top plate 33 to descend, causing the folding box 32 to be compressed and folded.

[0043] A spraying assembly is installed below the fixed plate 2. The spraying assembly is used to spray the pesticide. The spraying assembly includes a lifting plate 41, a liquid storage bladder 42, and several misting nozzles 43. The lifting plate 41 is located directly below the fixed plate 2. The liquid storage bladder 42 is fixed to the top surface of the lifting plate 41. Several misting nozzles 43 are installed on the bottom surface of the lifting plate 41. Each misting nozzle 43 is connected to the liquid storage bladder 42 via a connecting pipe 44. The liquid storage bladder 42 is connected to the folding box 32 via a supply pipe 421. 1 is a retractable tube, such as a corrugated pipe. When the folding box 32 is compressed and folded, the agent inside the folding box 32 can be pressed into the reservoir 42 through the liquid supply pipe 421, causing the reservoir 42 to expand. When the agent is sprayed, the mist nozzle 43 can draw the agent from the reservoir 42 through the connecting pipe 44 and spray the agent in a mist. The specific structure and working principle of the mist nozzle 43 are existing technologies, and the implementation method adopts conventional means. It is not shown in the figure and will not be described in detail here.

[0044] The lifting plate 41 and the fixed plate 2 are provided with a positioning assembly, the positioning assembly comprises two first connecting frames 21, two first magnetic blocks 22, two second connecting frames 411 and two second magnetic blocks 412, the two first connecting frames 21 are fixed on the bottom surface of the fixed plate 2, the two first magnetic blocks 22 are fixed on the two first connecting frames 21 respectively, the two second connecting frames 411 are fixed on the side surface of the lifting plate 41, and the two second magnetic blocks 412 are fixed on the two second connecting frames 411 respectively, and in the initial state, as shown in Figure 1 and Figure 2 The lifting plate 41 is kept in the retracted state, at this time, the two first magnetic blocks 22 and the two second magnetic blocks 412 are mutually adsorbed, in this state, the two first magnetic blocks 22 and the two second magnetic blocks 412 jointly provide the positioning effect for the lifting plate 41, so as to ensure the position stability of the lifting plate 41, and in the subsequent process of recycling the lifting plate 41, the two first magnetic blocks 22 and the two second magnetic blocks 412 also make the lifting plate 41 be accurately reset;

[0045] The bottom surface of the fixed plate 2 is provided with a lifting assembly acting on the lifting plate 41, for controlling the lifting of the lifting plate 41, the lifting assembly is composed of a plurality of lifting structures, and the plurality of lifting structures are distributed in a circumferential array, each lifting structure comprises a wheel frame 51, a winding wheel 52 and a servo motor 53, the wheel frame 51 is fixed on the bottom surface of the fixed plate 2 (as shown in Figure 8 The winding wheel 52 is rotatably installed on the wheel frame 51, the servo motor 53 is installed on the wheel frame 51, and the output shaft of the servo motor 53 is connected with the winding wheel 52, when the servo motor 53 operates, the winding wheel 52 can be driven to rotate, so that the winding wheel 52 performs the winding and unwinding action, the winding wheel 52 is wound with a pull wire 54, one end of the pull wire 54 away from the winding wheel 52 is connected with the lifting plate 41;

[0046] As Figures 1 to 3As shown, in this invention, the lifting plate 41 has a lifting function. In the initial state, the lifting plate 41 is in a retracted state, and at this time, the lifting plate 41 is located close to the fixed plate 2. Before spraying pesticides on crops, the operator first pulls up the counterweight 34, causing the counterweight 34 and the top plate 33 to move upward until the folding box 32 is fully unfolded. Then, pesticides are added into the folding box 32, and the electromagnet 39 is energized. When the electromagnet 39 is energized, it attracts to the magnetic plate 38, and the position of the counterweight 34 is fixed. Further, the operator controls the drone body 1 to fly to the work area, and then uses the lifting assembly to control the lifting plate 41 to move downward until it is raised. The lowering plate 41 is moved to a position close to the crops. After adjusting the position of the drone body 1 and the lowering plate 41, the staff controls the electromagnet 39 to be de-energized. When the electromagnet 39 is de-energized and demagnetized, the counterweight 34 will drive the top plate 33 to move downward and press down the folding box 32. During this process, the medicine in the folding box 32 can be pressed into the storage bladder 42 through the liquid supply pipe 421, causing the storage bladder 42 to expand. When a certain amount of medicine is accumulated inside the storage bladder 42, the staff controls the electromagnet 39 to be energized again, so that the electromagnet 39 is re-adsorbed onto the magnetic plate 38. Correspondingly, the counterweight 34 can no longer press down the folding box 32. At this point, the preliminary preparation work for spraying the medicine is completed.

[0047] When spraying pesticides on crops, the operator controls the drone 1 to fly horizontally in the work area. Simultaneously, several misting nozzles 43 are activated, drawing pesticide from the reservoir 42 through the connecting pipe 44 and spraying it out as a mist. At the same time, the operator de-energizes the electromagnet 39, causing the counterweight 34 to continue descending. Based on this process, as the misting nozzles 43 consume the pesticide in the reservoir 42, the folding box 32 continuously supplies pesticide to the reservoir 42, ensuring a continuous flow of pesticide from the misting nozzles 43. In summary, this invention, by separating the spatial layout of the drone body 1 and the spraying components, utilizes the characteristics of high-altitude flight to keep the drone away from the crops to avoid the impact of strong airflow from the propeller, and positions the misting nozzle 43 at a suitable height above the crop canopy through the liftable lifting plate 41, ensuring that the droplets achieve optimal deposition under the balance of gravity and air resistance. This design not only eliminates the risk of mechanical damage to crops from low-altitude operations, but also significantly improves the pesticide deposition rate and coverage uniformity through close-range operation of the nozzle.

[0048] It should be noted that the design of the liquid reservoir 42 is not just a simple transfer of medicine, but is used to improve the stability of the lifting plate 41 during operation. Since the lifting plate 41 is far away from the drone body 1 after being lowered, and the total weight of the lifting plate 41 and its auxiliary structures is limited, the lifting plate 41 may sway randomly during the movement of the drone body 1 without adding counterweight. In order to avoid this situation, this solution sets the liquid reservoir 42 above the lifting plate 41. When the lifting plate 41 is lowered to the working position far away from the drone body 1, the liquid reservoir 42 gradually expands as medicine is injected. The gravity of the liquid inside forms an adjustable counterweight balance, which effectively counteracts the torsional torque generated by the long cantilever structure under flight vibration or airflow disturbance. This design can maintain the stability of the lifting plate 41 during operation and avoid the increase in the weight of the whole machine caused by adding additional fixed counterweight, thus ensuring the machine's endurance.

[0049] It is worth noting that the operating principles and control methods of the electronic components (electromagnet 39, mist nozzle 43, servo motor 53) involved in this device are all existing technologies and are implemented using conventional methods. They are not shown in the figure and will not be described in detail here.

[0050] The base plate 31 has holes, and a rotating shaft 61 is rotatably installed in the holes (e.g., Figure 9 As shown), one end of the rotating shaft 61 extends into the interior of the folding box 32 and is fixed with a stirring head 62. The other end of the rotating shaft 61 extends to the bottom of the fixing plate 2 and is fixed with a pneumatic impeller 63. The fixing plate 2 has an clearance opening that is compatible with the rotating shaft 61. The bottom surface of the fixing plate 2 is fixed with a guide pipe 64. One end of the guide pipe 64 is set directly opposite the pneumatic impeller 63. The other end of the guide pipe 64 has a funnel-shaped structure. The funnel end of the guide pipe 64 extends to the bottom of one of the propellers of the UAV body 1.

[0051] The drone spraying device proposed in this invention also has the function of agitating the pesticide, which can prevent the pesticide from settling. Specifically, when the drone body 1 is in flight, the airflow generated by the drone body 1 can enter the air guide duct 64 and be sprayed towards the pneumatic impeller 63 through the air guide duct 64. Figure 9As shown, the pneumatic impeller 63 is provided with a plurality of axial flow blades arranged in a circumferential array, when the airflow is sprayed out through the air guide pipe 64, the airflow can blow the pneumatic impeller 63 to rotate, so that the pneumatic impeller 63 drives the rotating shaft 61 to rotate, when the rotating shaft 61 rotates, the stirring head 62 rotates accordingly, therefore, when the unmanned aerial vehicle body 1 is flying, the stirring head 62 can rotate under the action of the airflow, and the medicine stored in the folding box 32 is stirred, so as to avoid the phenomenon of medicine precipitation, it is worth mentioning that during the flight of the unmanned aerial vehicle, the propeller rotates at high speed to generate upward lift to maintain the flight state, this high-speed rotating action can strongly stir the surrounding air, thereby forming a strong airflow with sufficient flow rate, these airflows flow rapidly around the unmanned aerial vehicle body, and the air guide pipe 64 is designed skillfully, the opening position and the internal structure thereof can capture and guide this part of airflow, the shape and direction of the air guide pipe 64 enable the airflow to smoothly pass along the predetermined path after entering, reduce energy loss, and accelerate the airflow by virtue of the reasonable necking or flow guiding design, so that sufficient airflow can be sprayed out at high speed, thereby providing sufficient power for subsequent driving of the pneumatic impeller 63 to rotate;

[0052] The side of the folding box 32 is communicated with the air inlet pipe 71 and the air outlet pipe 72, the air inlet pipe 71 and the air outlet pipe 72 are both provided with electromagnetic valves 73, the two ends of the air outlet pipe 72 are communicated with the upper and lower ends of the folding box 32 respectively, the flow directions of the two electromagnetic valves 73 are opposite, the electromagnetic valve 73 installed on the air inlet pipe 71 limits the gas to only enter the inside of the folding box 32, the electromagnetic valve 73 installed on the air outlet pipe 72 limits the gas to only flow out of the folding box 32, on the basis, the present application provides the function of quickly mixing the medicament, specifically, when the medicament is configured, the staff first adjusts the top plate 33 to the upper limit position, so that the folding box 32 is completely unfolded, then a proper amount of powder and water are put into the inside of the folding box 32, the liquid level reaching the middle part of the folding box 32 is the best, then the staff controls the top plate 33 to move up and down, when the top plate 33 moves downward, the top plate 33 will compress the folding box 32, in this process, the gas in the upper half of the folding box 32 can be pressed out through the air outlet pipe 72 and re-flow into the inside of the folding box 32 through the bottom of the folding box 32, when the top plate 33 moves upward, the folding box 32 is stretched, at this time, the folding box 32 can perform the air suction action through the air inlet pipe 71, so that the gas is supplemented into the inside of the folding box 32, based on the above process, with the up and down movement of the top plate 33, the gas can continuously flow back into the inside of the folding box 32 through the air outlet pipe 72, when the gas flows back into the inside of the folding box 32, the gas can form bubbles in the medicament, so that the powder and water are quickly mixed, the present application drives the compression and stretching of the folding box 32 through the up and down movement of the top plate 33, uses the gas circulation flow to form bubbles in the medicament and promotes the quick mixing of the powder and water, has the advantages of high efficiency, uniformity and simple operation, the design avoids the pollution or medicament splashing that may be caused by the traditional mechanical stirring, at the same time, the gentle and sufficient mixing is realized through the gas turbulence, especially suitable for the preparation of medicaments that need to avoid violent stirring, it can be understood that, when the medicament spraying operation is performed, the two electromagnetic valves 73 are both in the closed state, so that the medicament in the folding box 32 can only enter the inside of the liquid storage bag 42 through the liquid supply pipe 421;

[0053] The rotating shaft 61 is fixedly sleeved with a gear 81 (as shown in Figure 9 The bottom surface of the fixed plate 2 is provided with a first hydraulic telescopic piece 83 (as shown in Figure 6 The side surface of the fixed plate 2 is provided with a second hydraulic telescopic piece 84, the first hydraulic telescopic piece 83 and the second hydraulic telescopic piece 84 are communicated through a connecting pipe 85, the telescopic end of the first hydraulic telescopic piece 83 is fixedly provided with a gear rack 82, and the gear teeth of the gear rack 82 are opposite to the gear teeth of the gear 81, so that the gear rack 82 can be engaged with the gear 81 in the moving process, the telescopic end of the second hydraulic telescopic piece 84 is fixedly provided with an end cap 86, the end cap 86 is provided with a through opening, a movable rod 87 is inserted into the through opening, the side surface of the counterweight 34 is provided with a slot 88, and the slot 88 is opposite to the movable rod 87;

[0054] The first hydraulic telescopic component 83 and the second hydraulic telescopic component 84 have the same structure, both including a sealing cylinder, a sliding plug, a rod and a spring. The sliding plug is slidably connected inside the sealing cylinder. One end of the rod is connected to the sliding plug, and the other end extends to the outside of the sealing cylinder. The sliding plug and the sealing cylinder are connected by a spring, which is used for the automatic reset of the sliding plug. Oil is stored between the sealing cylinder and the sliding plug. By setting the first hydraulic telescopic component 83 and the second hydraulic telescopic component 84, the transmission between the counterweight 34 and the rack 82 can be realized.

[0055] Based on the above-mentioned use of aeration to mix the agent, the present invention can also utilize a rotating stirring head 62 to assist in the mixing of the agent during the mixing stage, thereby improving the mixing efficiency of the agent. Specifically, when preparing the agent, the operator can pull the movable rod 87 so that one end of the movable rod 87 is inserted into the slot 88, forming a... Figure 10 In the state shown, when the counterweight 34 moves, it can drive the movable rod 87 to move. When the counterweight 34 moves downward, the movable rod 87 moves accordingly and drives the corresponding rod body to move. This allows the oil in the second hydraulic telescopic member 84 to be pressed into the first hydraulic telescopic member 83 through the connecting pipe 85. When the oil enters the first hydraulic telescopic member 83, the oil can push the sliding plug in the first hydraulic telescopic member 83 to move, which in turn causes the corresponding rod body to drive the rack 82 to move. When the rack 82 moves, it can drive the gear 81 to rotate, which ultimately causes the rotating shaft 61 to rotate. When the rotating shaft 61 rotates, the stirring head 62 connected to it rotates accordingly. Therefore, on the basis of aeration to make the agent churn and form bubbles for mixing, the stirring head 62 simultaneously stirs the agent. The synergistic effect of the two significantly improves the agent mixing efficiency and shortens the mixing time.

[0056] It is worth noting that in the initial state, the rod in the first hydraulic telescopic component 83 is in a retracted state under the action of the corresponding spring. At this time, the rack 82 will not mesh with the gear 81. The purpose is to avoid the rack 82 from obstructing the high-speed airflow ejected through the air duct 64 from driving the pneumatic impeller 63 to rotate. Only when the operator uses the first hydraulic telescopic component 83 and the second hydraulic telescopic component 84 for transmission will the rack 82 mesh with the gear 81.

[0057] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automated spraying device for agricultural drones, characterized by, Including unmanned aerial vehicle body (1), the elevating foot stand of unmanned aerial vehicle body (1) is fixed with fixed plate (2), and the fixed plate (2) is provided with medicament supply assembly; The medicament supply assembly includes folding water tank, counterweight (34) and control assembly, the folding water tank includes bottom plate (31), top plate (33) and folding tank (32), the folding tank (32) is fixed between bottom plate (31) and top plate (33), the counterweight (34) is fixed on top plate (33), the control assembly includes magnetic plate (38) and electromagnet (39), the magnetic plate (38) is fixed on the fixed plate (2), and the magnetic plate (38) is located on one side of the folding water tank, the electromagnet (39) is adsorbed on the magnetic plate (38), and the electromagnet (39) is connected with the counterweight (34) through the cross bar (310); The fixed plate (2) is provided with a limiting structure for providing a limit for the counterweight (34); The lower portion of the fixed plate (2) is provided with a spraying assembly, and the spraying assembly is used for spraying medicaments, and the spraying assembly includes a plurality of mist sprayers (43); The bottom surface of the fixed plate (2) is provided with a lifting assembly for controlling the lifting of the plurality of mist sprayers (43); The spraying assembly further includes a lifting plate (41) and a liquid storage bag (42), the lifting plate (41) is located directly below the fixed plate (2), the liquid storage bag (42) is fixed to the top surface of the lifting plate (41), and the plurality of mist sprayers (43) are installed on the bottom surface of the lifting plate (41), each of the mist sprayers (43) and the liquid storage bag (42) are connected by a communication pipe (44), and the liquid storage bag (42) and the folding tank (32) are connected by a liquid supply pipe (421).

2. The automatic spraying device for agricultural unmanned aerial vehicles according to claim 1, characterized in that, The limiting structure includes two guide rods (35) and two guide seats (36), the two guide rods (35) are fixed on the fixed plate (2), and the two guide seats (36) are slidably sleeved on the two guide rods (35), and each guide seat (36) is connected with the counterweight (34) by a connecting rod (37).

3. The automatic spraying device for agricultural unmanned aerial vehicle according to claim 1, characterized in that, The lifting assembly is composed of a plurality of lifting structures, and the plurality of lifting structures are arranged in a circumferential array, each lifting structure includes a wheel carrier (51), a winding wheel (52) and a servo motor (53), the wheel carrier (51) is fixed to the bottom surface of the fixed plate (2), the winding wheel (52) is rotatably installed on the wheel carrier (51), the servo motor (53) is installed on the wheel carrier (51), and the output shaft of the servo motor (53) is connected with the winding wheel (52), the winding wheel (52) is wound with a pull wire (54), and one end of the pull wire (54) away from the winding wheel (52) is connected with the lifting plate (41).

4. The automatic spraying device for agricultural unmanned aerial vehicles according to claim 1, characterized in that, The lifting plate (41) is provided with a positioning assembly on the fixed plate (2), the positioning assembly comprises two first connecting frames (21), two first magnetic blocks (22), two second connecting frames (411) and two second magnetic blocks (412), both of the first connecting frames (21) are fixed on the bottom surface of the fixed plate (2), the first magnetic blocks (22) are fixed on the first connecting frames (21) respectively, both of the second connecting frames (411) are fixed on the side surface of the lifting plate (41), and the second magnetic blocks (412) are fixed on the second connecting frames (411) respectively.

5. The automated spraying device for agricultural drones according to any one of claims 1-4, characterized in that, The bottom plate (31) is provided with a hole position, a rotating shaft (61) is rotatably installed in the hole position, one end of the rotating shaft (61) extends into the inside of the folding box (32) and is fixedly provided with a stirring head (62), the other end of the rotating shaft (61) extends below the fixed plate (2) and is fixedly provided with a pneumatic impeller (63), the fixed plate (2) is provided with an avoiding opening matched with the rotating shaft (61), the bottom surface of the fixed plate (2) is fixedly provided with an air guide pipe (64), one end of the air guide pipe (64) is arranged opposite to the pneumatic impeller (63), the other end of the air guide pipe (64) is in a funnel structure, and the funnel end of the air guide pipe (64) extends below one of the propellers of the unmanned aerial vehicle body (1).

6. The automatic spraying device for agricultural unmanned aerial vehicles according to claim 5, characterized in that, The side surface of the folding box (32) is communicated with an air inlet pipe (71) and an air outlet pipe (72), the air inlet pipe (71) and the air outlet pipe (72) are both provided with electromagnetic valves (73), the air outlet pipe (72) is communicated with the upper and lower ends of the folding box (32) respectively, the flow directions of the two electromagnetic valves (73) are opposite, the electromagnetic valve (73) installed on the air inlet pipe (71) limits the gas to only enter the inside of the folding box (32), and the electromagnetic valve (73) installed on the air outlet pipe (72) limits the gas to only flow out of the folding box (32).

7. The automatic spraying device for agricultural unmanned aerial vehicles according to claim 6, characterized in that, A gear (81) is fixedly provided on the rotating shaft (61), the bottom surface of the fixed plate (2) is provided with a first hydraulic telescopic piece (83), the side surface of the fixed plate (2) is provided with a second hydraulic telescopic piece (84), the first hydraulic telescopic piece (83) and the second hydraulic telescopic piece (84) are communicated through a connecting pipe (85), the telescopic end of the first hydraulic telescopic piece (83) is fixedly provided with a rack (82), the teeth of the rack (82) are arranged opposite to the teeth of the gear (81), the telescopic end of the second hydraulic telescopic piece (84) is fixedly provided with an end cap (86), the end cap (86) is provided with an opening, a movable rod (87) is inserted into the opening, the side surface of the counterweight (34) is provided with a slot (88), and the slot (88) is arranged opposite to the movable rod (87).

8. The automatic spraying device for agricultural unmanned aerial vehicle according to claim 7, characterized in that, The first hydraulic telescopic part (83) and the second hydraulic telescopic part (84) are identical in structure, and each comprises a sealing cylinder, a sliding plug, a rod body and a spring.

9. The automatic spraying device for agricultural unmanned aerial vehicle according to claim 7, characterized in that, In the initial state, the rack (82) and the gear (81) are not in contact with each other.

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