Unmanned aerial vehicle bee killing device with automatic liquid medicine adding mechanism

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle bee killing device with an automatic liquid medicine adding mechanism, which comprises a tray, four arms are arranged on the tray, propellers are respectively arranged at the end parts of the four arms, bee killing equipment is arranged on the tray, the bee killing equipment comprises a launcher, a plurality of arrows are arranged on the launcher, and the launcher is connected with the unmanned aerial vehicle. The launching device is used for launching arrows into the honeycomb and can selectively and continuously launch multiple arrows or launch a single arrow; the angle adjusting assembly device is arranged on the tray, fixedly connected with the launching device and used for adjusting the launching angle of the launching device; the medicine supply device is arranged on the launching device and used for adding bee killing liquid medicine to the arrows; and the control module is electrically connected with the propellers, the launching device, the angle adjusting device and the medicament supply device. According to the bee killing equipment capable of automatically adding the liquid medicine, efficient and safe bee killing in a complex scene is facilitated, and environmental pollution is reduced.

Description

[0001] This application is a divisional application of the invention with application number "2025111638419", application date August 20, 2025, and invention title "A semi-automatic bee-killing device based on drone-launched residual arrows". Technical Field

[0002] This application relates to the field of bee eradication equipment technology, specifically to a drone-based bee eradication device equipped with an automatic pesticide dispensing mechanism. Background Technology

[0003] Currently, manual wasp extermination presents many difficulties and safety hazards when dealing with wasp nests in special locations such as long distances, high-altitude urban areas, narrow spaces, and among forest trees.

[0004] In existing technologies, drones are typically used to spray insecticides or drop pesticide packets onto beehives for targeted bee eradication. However, due to the large spraying area, this can easily cause disasters and environmental pollution. Furthermore, when facing beehives at high altitudes or inaccessible areas, it is impossible to accurately and continuously launch the insecticides, failing to meet the needs for efficient and safe bee eradication in complex scenarios. Therefore, there is an urgent need for a new type of bee-eradicating drone and its supporting launching device that can solve the above problems. Summary of the Invention

[0005] To meet the need for efficient and safe bee control in complex scenarios and reduce environmental pollution, this invention provides a drone-based bee control device with an automatic pesticide dispensing mechanism.

[0006] The drone-based bee-killing device with an automatic pesticide dispensing mechanism provided in this application adopts the following technical solution:

[0007] A drone-based bee-killing device with an automatic pesticide dispensing mechanism includes a tray on which four drone arms are mounted, each arm having a propeller at its end. The bee-killing equipment is fixedly mounted on the tray. The bee-killing equipment comprises:

[0008] A launching device is provided with a plurality of arrows, which is used to launch the arrows into a honeycomb. The launching device can selectively launch multiple arrows continuously or launch a single arrow. The launching device includes a housing, a launching drive, an arrow changing mechanism, a distance adjustment mechanism, a fixing ring, and an arrow magazine.

[0009] An angle adjustment component is disposed on the tray and fixedly connected to the transmitting device, and is used to adjust the transmitting angle of the transmitting device;

[0010] A drug supply device, mounted on the launching device, is used to add bee-killing medicine to the arrows. The drug supply device includes a drug chamber, a third drive motor, a third lead screw, a blocking block, and a drug delivery tube. The drug chamber is fixedly mounted on the top of the housing, and is located at the end of the housing near the opening. The drug chamber contains bee-killing medicine. A drug-adding hole is provided at the bottom of the drug chamber. The blocking block is embedded in the inner cavity of the drug chamber and can slide along the inner cavity of the drug chamber. The blocking block is used to block the drug-adding hole. The third drive motor is mounted on the top of the housing, and is located in the middle section of the housing along its length. One end of the third lead screw is connected to the output shaft of the third drive motor, and the other end passes through the drug chamber and is threadedly connected to the blocking block. The third drive motor can drive the third lead screw to rotate. The third drive motor is electrically connected to the control module.

[0011] One end of the drug delivery tube is connected to the drug addition port, and the other end is located above the opening of the housing;

[0012] The control module is electrically connected to the propeller, the launching device, the angle adjustment device, and the drug supply device.

[0013] In one specific implementation, the end of the housing is open, and the sidewall of the housing is fixedly connected to the inner wall of the fixing ring; the fixing collar is disposed at one end of the opening of the housing and is coaxially disposed with the housing, the fixing collar includes an inner ring and an outer ring, the inner ring is embedded in the inner ring of the outer ring, and the inner ring and the outer ring are rotatably connected; a plurality of arrow magazines are fixedly disposed in the inner cavity of the inner ring, and the plurality of arrow magazines are evenly distributed along the circumference of the inner ring, and the arrows are disposed in the inner cavity of the arrow magazines.

[0014] In one specific implementation, the head of the arrow is covered with rubber, and the shaft of the arrow is covered with a loose, porous material.

[0015] In one specific implementation, the arrow changing mechanism includes a rotating gear ring and a gear shaft. The rotating gear ring is rotatably disposed at one end of the housing opening, and one end of the rotating gear ring is provided with a receiving cavity, with one end of the arrow magazine disposed within the receiving cavity. The other end of the rotating gear ring is provided with an inner gear ring, the inner wall of which is uniformly provided with straight teeth, and the inner gear ring meshes with one end of the gear shaft. A plurality of firing holes are provided between the receiving cavity and the inner gear ring, and the plurality of firing holes are evenly distributed along the circumference of the rotating gear ring, with the firing holes penetrating the rotating gear ring axially.

[0016] The gear shaft is horizontally disposed in the inner cavity of the housing along the axial direction. One end of the gear shaft is provided with a spur gear and the other end is provided with a bevel gear. The spur gear extends into the rotating gear ring and meshes with the internal gear ring. The bevel gear is connected to the launching drive component.

[0017] In one specific implementation, the launch drive includes a servo motor, a transmission component, a rack and pinion, and a spring. The servo motor is fixedly mounted on the side wall of the housing and is electrically connected to the control module.

[0018] The transmission component is disposed in the inner cavity of the housing, and the output end of the servo motor is connected to the transmission component. One end of the transmission component is provided with a first drive gear, and the other end is provided with a second drive gear. Half of the first drive gear is configured as a spur tooth and the other half as a cam. Half of the second drive gear is configured as a bevel tooth and the other half as a cam.

[0019] The rack is horizontally positioned above the transmission component. Along its axial direction, the rack is sequentially provided with a firing pin, a transmission bar, a limiting flange, and a fixing post. The firing pin extends into the firing hole and abuts against the end of the arrow. The top wall of the transmission bar has a slide rail, and the bottom wall has a straight toothed portion that meshes with the first drive gear. One end of the spring is sleeved on the fixing post, and the other end abuts against the distance adjustment mechanism. A clearance groove is provided between the firing pin and the straight toothed portion.

[0020] The second drive gear meshes with the bevel gear.

[0021] In one specific implementation, the inner wall of the top of the housing is provided with a limiting groove along the length direction, the slide rail is embedded in the limiting groove, and the slide rail can slide along the length direction of the limiting groove;

[0022] When the first drive gear meshes with the end of the straight tooth portion away from the clearance groove, the limiting flange abuts against the end of the limiting groove.

[0023] In one specific implementation, the drug supply device further includes a sensor and a sensing plate; the sensor is embedded in the top of the housing and faces the inner cavity of the housing, the sensing plate is embedded in the side wall of the slide rail, and the sensor is electrically connected to the control module.

[0024] In one specific implementation, the side wall of the arrow magazine is provided with a propellant delivery hole, which communicates with the inner cavity of the arrow magazine; when the firing pin is inserted into the firing hole, the end of the propellant delivery tube away from the propellant chamber is located above the propellant delivery hole.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. The semi-automatic wasp eradication device based on drone-launched, delayed-release arrows provided in this application, in complex field scenarios, uses a control module propeller rotation to lift the wasp eradication device. The operator moves the device close to the beehive based on images captured by a camera. A distance sensor transmits the distance information between the device and the beehive to the control module, which adjusts the arrow's launch distance accordingly. The control module then drives a distance adjustment device to adjust the launch distance. Next, the control module controls an angle adjustment device to rotate the launch device until the laser sight is aligned with the beehive. At this point, the sensor is located within the sensor's sensing area, and a pesticide supply device drips wasp-killing pesticide into the arrow, which then penetrates the shaft. Finally, the launch device is activated, firing the arrow at the beehive. As the arrow enters and remains within the hive, the wasp-killing pesticide in the shaft gradually diffuses further, effectively killing wasps in a targeted manner. This avoids large-scale diffusion of the pesticide, reducing environmental impact, while improving the accuracy and efficiency of wasp eradication.

[0027] 2. The arrow-changing mechanism is designed so that when the servo motor drives the transmission component to rotate, the transmission component drives the gear shaft to rotate, and the gear shaft drives the rotating gear ring to rotate. The transmission component rotates 360°, and the rotating gear ring rotates 72°, ensuring that after one arrow is fired, the next arrow reaches the predetermined firing position. When continuous firing at the hive is required, the servo motor can be driven to continuously rotate the transmission component, firing multiple arrows in succession. When only a single arrow needs to be fired, the servo motor can be driven to rotate the transmission component 360°, firing a single arrow, thus facilitating efficient bee eradication. Attached Figure Description

[0028] The accompanying drawings are provided to further understand this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof.

[0029] Figure 1 This is a schematic diagram of the overall structure of a drone-based bee-killing device with an automatic pesticide dispensing mechanism according to an embodiment of this application.

[0030] Figure 2 yes Figure 1 The enlarged view of section A is intended to illustrate the tray.

[0031] Figure 3 This is a schematic diagram of the overall structure of a drone-based bee-killing device with an automatic pesticide dispensing mechanism, according to another embodiment of this application.

[0032] Figure 4 yes Figure 3 The enlarged view of section B is intended to illustrate the propeller and distance sensor.

[0033] Figure 5 This is a schematic diagram of the overall structure of the bee-killing device according to an embodiment of this application.

[0034] Figure 6 This is a schematic diagram of the overall structure of the angle adjustment device according to an embodiment of this application.

[0035] Figure 7 yes Figure 6 Enlarged view of part C.

[0036] Figure 8 This is an axial sectional view of the bee-killing device according to an embodiment of this application.

[0037] Figure 9 yes Figure 8 The reverse view.

[0038] Figure 10 yes Figure 8 The enlarged view of section D is intended to illustrate the drug supply device.

[0039] Figure 11 yes Figure 9 The enlarged view of section E is intended to illustrate the distance adjustment mechanism.

[0040] Figure 12 This is a longitudinal sectional view of the bee-killing device according to an embodiment of this application.

[0041] Figure 13 This is a schematic diagram of the overall structure of the transmitter driver according to an embodiment of this application.

[0042] Figure 14 This is a schematic diagram of the overall structure of the fixing collar in an embodiment of this application.

[0043] Figure 15 These are schematic diagrams of the transmission component from two perspectives according to embodiments of this application.

[0044] Figure 16 This is a schematic diagram of the rotating gear ring from two perspectives according to an embodiment of this application.

[0045] Figure 17 This is a schematic diagram of a rack according to an embodiment of this application.

[0046] Figure descriptions: 1. Tray; 11. Arm; 111. Support assembly; 1111. Upright pole; 1112. Support rod; 12. Propeller; 121. Protective cover; 2. Bee-killing equipment; 21. Launching device; 211. Arrow; 212. Shell; 2121. Limiting groove; 213. Launching drive component; 2131. Servo motor; 2132. Transmission component; 21321. First drive gear; 21322. Second drive gear; 2133. Rack; 21331. Firing pin; 21332. Transmission bar; 21333. Limiting flange; 21334. Fixing post; 21335. Slide rail; 21336. Straight tooth section; 21337. Clearance groove; 2134. Spring; 214. Arrow changing mechanism; 2141. Rotating gear ring; 21411. Receiving cavity; 21412. Internal gear ring; 21413. Launching hole; 2142. Gear shaft; 21421. Straight gear; 21422. Bevel gear; 215. Distance adjustment mechanism; 2151. 2152. Second drive motor; 2153. Second lead screw; 2154. Stopping platform; 216. Fixed collar; 2161. Inner ring; 2162. Outer ring; 217. Arrow magazine; 2171. Drug delivery hole; 22. Angle adjustment device; 221. Fixed ring; 2211. Drive shaft; 22111. Cylindrical section; 22112. Square section; 222. U-shaped clamp; 2221. Connecting seat; 223. Drive mechanism; 2231. First drive motor; 2232. First lead screw; 22 33. Support base; 22331. Support plate; 22332. Ear plate; 22333. Slide groove; 22334. Slider; 2234. First connecting rod; 2235. Second connecting rod; 23. Drug supply device; 231. Drug chamber; 2311. Dosing port; 232. Third drive motor; 233. Third lead screw; 234. Blocking block; 235. Drug delivery pipe; 236. Sensor; 237. Sensor plate; 3. Camera; 4. Laser aiming device; 5. Distance sensor. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of this application, unless otherwise stated, "multiple" means two or more.

[0049] The following is in conjunction with the appendix Figure 1-15 This application will be described in further detail.

[0050] This application discloses a drone-based bee-killing device equipped with an automatic pesticide dispensing mechanism.

[0051] Reference Figures 1-4 A drone-based bee-killing device with an automatic pesticide dispensing mechanism includes a tray 1, a support assembly 111, and a bee-killing device 2. Four arms 11 are provided on the tray 1, and the four arms 11 are evenly arranged around the circumference of the tray 1. The ends of the four arms 11 are rotatably connected to the tray 1. A propeller 12 is provided at the end of the four arms 11 away from the tray 1. A protective cover 121 is provided on the outer periphery of the propeller 12. The protective cover 121 is hollowed out to prevent the propeller 12 from being damaged by foreign objects when the drone flies in complex environments. A distance sensor 5 is fixedly installed on the lower edge of the end of the arm 11 away from the tray 1 to determine the flight altitude of the drone and the distance between it and the hive. The support assembly 111 is located below the arm 11. The support assembly 111 includes a vertical pole 1111 and a support rod 1112. The vertical pole 1111 is vertically set and its top end is rotatably connected to the middle section of the arm 11. One end of the support rod 1112 is rotatably connected to the bottom of the tray 1, and the other end is rotatably connected to the middle section of the vertical pole 1111. By applying force to the vertical pole 1111, the vertical pole 1111 rotates around the arm 11. The vertical pole 1111 drives the support rod 1112 and the arm 11 to rotate around the tray 1, thereby realizing that the four arms 11 are brought closer together or extended, so as to facilitate the rapid storage and deployment of the drone.

[0052] Reference Figure 5 The bee-killing device 2 is fixedly mounted on the tray 1. The bee-killing device 2 includes a launching device 21, an angle adjustment device 22, a pesticide supply device 23, and a control module (not shown in the figure). The launching device 21 is equipped with multiple arrows 211, which are used to launch the arrows 211 into the beehive. The launching device 21 can selectively launch multiple arrows 211 continuously or launch a single arrow 211. The head of the arrow 211 is covered with rubber, and the shaft of the arrow 211 is covered with a loose, porous material to facilitate the absorption of bee-killing pesticide. The angle adjustment device is used to adjust the launching angle of the launching device 21. The pesticide supply device 23 is mounted on the launching device 21 and is used to add bee-killing pesticide to the arrows 211. The control module is electrically connected to the distance sensor 5, the propeller 12, the launching device 21, the angle adjustment device 22, and the pesticide supply device 23.

[0053] Reference Figures 5-7The angle adjustment device 22 includes a fixing ring 221, a U-shaped clamp 222, and two sets of drive mechanisms 223; the two sets of drive mechanisms 223 are symmetrically arranged on the tray 1; the fixing ring 221 is fixedly connected to the launching device 21 and is located between the two sets of drive mechanisms 223, and the U-shaped clamp 222 is engaged with the side wall of the fixing ring 221; the drive mechanism 223 includes a drive assembly and a transmission component; the drive assembly includes a first drive motor 2231 and a first lead screw 2232, the first drive motor 223... 1. Fixedly mounted on tray 1, with the output shaft of the first drive motor 2231 vertically upward; the first lead screw 2232 is connected to the output shaft of the first drive motor 2231, and the first drive motor 2231 can drive the first lead screw 2232 to rotate; the first drive motor 2231 is electrically connected to the control module; the transmission assembly includes a support base 2233, a first connecting rod 2234, and a second connecting rod 2235; the support base 2233 is vertically mounted on tray 1, and the support base 2233 includes an integrally formed support plate 223. 31 and ear piece 22332, the support plate 22331 is provided with a vertical groove 22333, a slider 22334 is slidably connected in the groove 22333, one end of the first connecting rod 2234 is rotatably connected to the ear piece 22332, and the other end is rotatably connected to the second connecting rod 2235; the fixed ring 221 is symmetrically provided with drive shafts 2211 on both sides, and the axes of the two drive shafts 2211 pass through the center of the fixed ring 221; the drive shaft 2211 includes an integrally coaxial cylindrical section 22111 and a square section 22111. The square segment 22112 is located at the end of the drive shaft 2211 away from the fixed ring 221, and the square segment 22112 is fixedly connected to the end of the second connecting rod 2235 away from the first connecting rod 2234; the two ends of the U-shaped clamp 222 are respectively fixedly provided with connecting seats 2221, and the first lead screw 2232 is threadedly connected to the connecting seats 2221; the two ends of the U-shaped clamp 222 are respectively rotatably connected to the cylindrical segments 22111 of the two drive shafts 2211, and the U-shaped clamp 222 is fixedly connected to the slider 22334. When it is necessary to raise the launch angle of the launching device 21, the first drive motor 2231 can be activated. The output shaft of the first drive motor 2231 drives the first lead screw 2232 to rotate. The first lead screw 2232 and the connecting seat 2221 rotate relative to each other, so that the connecting seat 2221 drives the U-shaped clamp 222 to move upward along the height direction of the first lead screw 2232. The U-shaped clamp 222 drives the slider 22334 to slide in the groove 22333. The slider 22334 limits the movement direction of the U-shaped clamp 222 to prevent the U-shaped clamp 222 from shaking or deviating during movement.When the U-shaped clamp 222 moves, the fixed ring 221 moves synchronously via the transmission shaft 2211. As the transmission shaft 2211 moves, the square segment 22112 causes a positional change in the first connecting rod 2234. The first connecting rod 2234 then causes the second connecting rod 2235 to rotate around the lug 22332. Under the drive of force, the square segment 22112 rotates, causing the fixed ring 221 to rotate upwards. The fixed ring 221 then causes the launching device 21 to rotate upwards, thereby raising the launching angle of the launching device 21. When the first connecting rod 2234 and the second connecting rod 2235 rotate to their dead points, the launcher reaches its maximum launching angle, and the first drive motor 2231 stops rotating. To lower the launching angle of the launching device 21, simply reverse the rotation of the first drive motor 2231.

[0054] Reference Figure 8 and Figure 9 The launching device 21 includes a housing 212, a launching drive 213, an arrow changing mechanism 214, a distance adjustment mechanism 215, a fixing ring 216, and an arrow magazine 217. The end of the housing 212 is open, and the side wall of the housing 212 is fixedly connected to the inner wall of the fixing ring 211. The fixing ring 216 is disposed at one open end of the housing 212 and is coaxially arranged with the housing 212. The fixing ring 216 includes an inner ring 2161 and an outer ring 2162. The inner ring 2161 is embedded in the inner ring of the outer ring 2162, and the inner ring 2161 and the outer ring 2162 are rotatably connected. Multiple arrow magazines 217 are fixedly disposed in the inner ring cavity of the inner ring 2161, and the multiple arrow magazines 217 are evenly distributed along the circumference of the inner ring 2161. Arrows 211 are disposed in the inner cavity of the arrow magazine 217.

[0055] Reference Figure 9 as well as Figure 12-17The arrow changing mechanism 214 includes a rotating gear ring 2141 and a gear shaft 2142. The rotating gear ring 2141 is rotatably disposed at one end of the opening of the housing 212, and a laser sight 4 is fixedly disposed at the center of the rotating gear ring 2141. One end of the rotating gear ring 2141 is provided with a receiving cavity 21411, and one end of the arrow magazine 217 is provided in the receiving cavity 21411; the other end of the rotating gear ring 2141 is provided with an internal gear ring 21412, the inner wall of the internal gear ring 21412 is uniformly provided with straight teeth, and the internal gear ring 21412 meshes with one end of the gear shaft 2142; a plurality of firing holes 21413 are provided between the receiving cavity 21411 and the internal gear ring 21412, and the plurality of firing holes 21413 are evenly distributed along the circumference of the rotating gear ring 2141, and the firing holes 21413 penetrate the rotating gear ring 2141 axially; in this embodiment, there are five firing holes 21413, and each of the five firing holes 21413 is provided with an arrow magazine 217. The gear shaft 2142 is horizontally disposed in the inner cavity of the housing 212 along the axial direction. One end of the gear shaft 2142 is provided with a spur gear 21421 and the other end is provided with a bevel gear 21422. The spur gear 21421 extends into the rotating gear ring 2141 and meshes with the internal gear ring 21412. The bevel gear 21422 is connected to the launching drive component 213. The launch drive unit 213 includes a servo motor 2131, a transmission component 2132, a rack 2133, and a spring 2134. The servo motor 2131 is fixedly installed on the side wall of the housing 212 and is electrically connected to the control module. The transmission component 2132 is disposed in the inner cavity of the housing 212, and the output end of the servo motor 2131 is connected to the transmission component 2132. One end of the transmission component 2132 is provided with a first drive gear 21321, and the other end is provided with a second drive gear 21322. Half of the circumference of the first drive gear 21321 is set as spur teeth, and the other half is set as a cam. Half of the circumference of the second drive gear 21322 is set as bevel teeth, and the other half is set as a cam. The rack 2133 is horizontally disposed above the transmission component 2132. 3. Along the axial direction, a firing pin 21331, a transmission bar 21332, a limiting flange 21333, and a fixing post 21334 are arranged sequentially. The firing pin 21331 extends into the firing hole 21413 and abuts against the end of the arrow 211. A slide rail 21335 is provided on the top wall of the transmission bar 21332, and a straight tooth 21336 is provided on the bottom wall of the transmission bar 21332. The straight tooth 21336 meshes with the first drive gear 21321. One end of the spring 2134 is sleeved on the fixing post 21334, and the other end abuts against the distance adjustment mechanism 215. An avoidance groove 21337 is provided between the firing pin 21331 and the straight tooth 21336. The second drive gear 21322 meshes with the bevel gear 21422.The inner wall of the top of the housing 212 is provided with a limiting groove 2121 along the length direction. The slide rail 21335 is embedded in the limiting groove 2121 and can slide along the length direction of the limiting groove 2121. When the first drive gear 21321 meshes with the end of the spur tooth 21336 away from the avoidance groove 21337, the limiting flange 21333 abuts against the end of the limiting groove 2121.

[0056] Specifically, in the initial state, the spring 2134 is compressed, and the spur teeth of the first drive gear 21321 mesh with the end of the spur tooth portion 21336 near the clearance groove 21337. The firing pin 21331 disengages from the firing hole 21413. When it is necessary to launch the arrow 211, the servo motor 2131 is first driven, which drives the transmission component 2132 to rotate. The first drive gear 21321 and the second drive gear 21322 on the transmission component 2132 rotate synchronously. The first drive gear 21321, through meshing with the spur tooth portion 21336, drives the rack 2133 to slide along the limiting groove 2121. The rack 2133 moves towards the end of the housing 212 away from the opening. At this time, the bevel teeth of the second drive gear 21322 mesh with the bevel gear 21422, driving the bevel gear 21422 to rotate. The bevel gear 21422 drives the spur gear 21421 to rotate. The spur gear 21421 drives the rotating gear ring 2141 to rotate, and the rotating gear ring 2141 drives the arrow magazine 217 to rotate to the firing position. When the transmission component 2132 continues to rotate, the spur teeth of the first drive gear 21321 drive the rack 2133 to continue to move, and the spring 2134 continues to be compressed. When the rack 2133 rotates to the point where the first drive gear 21321 contacts the clearance groove 21337, the first drive gear 21321 disengages from the spur tooth part 21336. Under the action of the restoring force, the spring 2134 pushes the rack 2133 to move towards the opening end of the housing 212. When the limiting flange 21333 abuts against the end of the limiting groove 2121, the rack 2133 stops moving. At this time, the firing pin 21331 extends into the firing hole 21413, and the end of the firing pin 21331 pushes the tail of the arrow 211, so that the arrow 211 is fired from the arrow magazine 217. While the rack 2133 moves toward the opening end of the housing 212, the transmission component 2132 continues to rotate. At this time, the cam position of the first drive gear 21321 rotates to the bottom of the rack 2133, and the rack 2133 and the cam position of the first drive gear 21321 do not mesh. The second drive gear 21322 also rotates to disengage from the bevel gear 21422. The cam position of the second drive gear 21322 does not mesh with the bevel gear 21422, so that the gear shaft 2142 stops rotating and the arrow magazine 217 remains fixed in the firing position.After arrow 211 is fired, transmission component 2132 rotates until the spur teeth of the first drive gear 21321 mesh with the end of rack 2133 away from firing pin 21331, and the bevel teeth of the second drive gear 21322 mesh with bevel gear 21422. Transmission component 2132 continues to rotate, and it drives rack 2133 away from rotating gear ring 2141. Firing pin 21331 disengages from firing hole 21413. Bevel gear 21422 drives rotating gear ring 2141 to rotate 72°. The next arrow magazine 217 rotates and moves to the firing position. The firing device 21 is in a ready-to-fire state, completing one round of firing. At this time, transmission component 2132 has rotated 360°. When the next arrow 211 needs to be fired, transmission component 2132 continues to rotate 360° to form the next firing cycle.

[0057] Reference Figure 11 The distance adjustment mechanism 215 includes a second drive motor 2151, a second lead screw 2152, and a blocking platform 2153. The second drive motor 2151 is located at the end of the inner cavity of the housing 212 away from the opening and is horizontally positioned. The second lead screw 2152 is connected to the output shaft of the second drive motor 2151, and the second drive motor 2151 can drive the second lead screw 2152 to rotate. The second drive motor 2151 is electrically connected to the control module. The blocking platform 2153 is embedded in the inner cavity of the housing 212 and is located at the end of the housing 212 away from the opening. The blocking platform 2153 can slide along the inner cavity of the housing 212. The blocking platform 2153 is threadedly connected to the end of the second lead screw 2152 away from the second drive motor 2151, and the end face of the blocking platform 2153 abuts against the end of the spring 2134 away from the rack 2133.

[0058] Specifically, when it is necessary to change the launching distance of the arrow 211, the second drive motor 2151 can be driven to rotate. The second drive motor 2151 drives the second lead screw 2152 to rotate. The second lead screw 2152 and the blocking platform 2153 rotate relative to each other, causing the blocking platform 2153 to slide along the inner cavity of the housing 212. This changes the distance between the blocking platform 2153 and the rack 2133, and the compression of the spring 2134 changes accordingly, thereby adjusting the launching distance.

[0059] Reference Figure 10The medicine supply device 23 includes a medicine chamber 231, a third drive motor 232, a third lead screw 233, a blocking block 234, and a medicine delivery pipe 235. The medicine chamber 231 is fixedly installed on the top of the housing 212, and the medicine chamber 231 is located at the end of the housing 212 near the opening. The medicine chamber 231 contains bee-killing medicine. A medicine addition hole 2311 is opened at the bottom of the medicine chamber 231. The blocking block 234 is embedded in the inner cavity of the medicine chamber 231 and can slide along the inner cavity of the medicine chamber 231. The blocking block 234 is used to block the medicine addition. Hole 2311; The third drive motor 232 is located on the top of the housing 212 and in the middle section along the length of the housing 212. One end of the third lead screw 233 is connected to the output shaft of the third drive motor 232, and the other end passes through the medicine chamber 231 and is threadedly connected to the blocking block 234. The third drive motor 232 can drive the third lead screw 233 to rotate. The third drive motor 232 is electrically connected to the control module. One end of the medicine delivery tube 235 is connected to the medicine delivery hole 2311, and the other end is located above the opening of the housing 212. The medicine supply device 23 also includes a sensor 236 and a sensing plate 237. The sensor 236 is embedded in the top of the housing 212 and faces the inner cavity of the housing 212. The sensing plate 237 is embedded in the side wall of the slide rail 21335. The sensor 236 is electrically connected to the control module. The side wall of the arrow magazine 217 is provided with a drug delivery hole 2171, which is connected to the inner cavity of the arrow magazine 217. When the firing pin 21331 is inserted into the firing hole 21413, the end of the drug delivery tube 235 away from the drug tank 231 is located above the drug delivery hole 2171.

[0060] Specifically, before launching the arrow 211, the rack 2133 moves away from the rotating gear ring 2141, compressing the spring 2134. The sensing plate 237 moves synchronously with the slide rail 21335. When the sensing plate 237 moves to the sensing area of ​​the sensor 236, the rotating gear ring 2141 rotates to the firing position. The sensor 236 sends a signal to the control module, which then controls the third drive motor 232 to start. The output shaft of the third drive motor 232 drives the third lead screw 233 to rotate. The third lead screw 233 rotates relative to the blocking block 234, and the blocking block 234 moves along the medicine chamber 2... 31. The inner cavity slides. When the blocking block 234 moves to a certain position, the blocking block 234 releases the blockage of the drug injection hole 2311. The bee-killing drug in the drug chamber 231 flows into the drug delivery pipe 235 through the drug injection hole 2311 and then into the drug delivery hole 2171 from the drug delivery pipe 235. The bee-killing drug accumulates in the inner cavity of the arrow chamber 217 and penetrates into the shaft of the arrow 211. When the arrow 211 is launched into the beehive and stays in the beehive, the bee-killing drug in the shaft gradually diffuses into the beehive, thereby killing the wasps in the beehive in a targeted manner and avoiding the large-scale diffusion of the bee-killing drug, thus avoiding damage to the environment.

[0061] Reference Figure 8It also includes a camera 3, which is fixedly installed on the top of the housing 212 and located on the side of the medicine compartment 231 near the opening of the housing 212. The camera 3 is electrically connected to the control module. The camera 3 captures images of the beehive in real time and sends them to the control module. The operator can use the image information to accurately locate the beehive and kill the wasps.

[0062] The working principle of the drone-based bee-killing device with an automatic pesticide dispensing mechanism described in this application is as follows:

[0063] When it is necessary to kill wasps, the operator first applies force to the pole 1111, causing the pole 1111 to rotate around the arm 11. The pole 1111 drives the support rod 1112 and the arm 11 to rotate around the tray 1, thereby causing the four arms 11 to unfold accordingly, enabling the rapid deployment of the drone. Multiple arrows 211 are inserted into the arrow magazine 217. Then, the operator starts the propeller 12 through the control module. The propeller 12 rotates, driving the bee-killing device 2 upward. The operator moves the bee-killing device 2 closer to the beehive based on the image information captured by the camera 3. The distance sensor 5 transmits the distance information between the bee-killing device 2 and the beehive to the control module. The operator adjusts the firing distance of the arrows 211 according to the distance information. The control module drives the second drive motor 2151 to rotate. The second drive motor 2151 drives the second lead screw 2152 to rotate. The second lead screw 2152 and the blocking platform 2153 rotate relative to each other, causing the blocking platform 2153 to slide along the inner cavity of the housing 212. This changes the distance between the blocking platform 2153 and the rack 2133, and the compression of the spring 2134 changes accordingly. Then, the control module controls the first drive motor 2231 to start, causing the angle adjustment device 22 to move and drive the launching device 21 to rotate until the laser sight 4 is aligned with the beehive. At this time, the sensor 237 is located in the sensing area of ​​the sensor 236. The control module controls the agent supply device 23 to drip bee-killing liquid onto the arrow 211, and the bee-killing liquid penetrates into the shaft of the arrow 211. Finally, the control module controls the servo motor 2131 to start, and the launching device 21 launches the arrow 211 towards the beehive. When the arrow 211 is launched into the beehive and stays there, the bee-killing liquid in the shaft gradually diffuses into the beehive, thereby killing the wasps in the beehive. When continuous launching is needed, the servo motor 2131 can be driven to make the transmission component 2132 rotate continuously, and multiple arrows 211 are launched continuously. When a single arrow 211 needs to be launched, the servo motor 2131 can be driven to rotate the transmission component 2132 360°. After the single arrow 211 is launched, the transmission component 2132 stops rotating, and the spur teeth of the first drive gear 21321 mesh with the end of the spur tooth portion 21336 near the avoidance groove 21337, while the rack 2133 remains stationary. After the bee extermination is completed, the control module drives the propeller 12 to make the device fly back, and the operator stores the drone.

[0064] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. This application is not limited to the exact structures described above and illustrated in the accompanying drawings, and it should not be considered that the specific implementation of this application is limited to these descriptions. For those skilled in the art, various changes and modifications made without departing from the concept of this application should be considered to fall within the protection scope of this application.

Claims

1. A drone-based bee-killing device with an automatic pesticide dispensing mechanism, comprising a tray (1), on which four arms (11) are mounted, and at the ends of the four arms (11) are respectively provided propellers (12), and a bee-killing device (2) is fixedly mounted on the tray (1), characterized in that, The bee-killing device (2) includes: The launching device (21) is equipped with a plurality of arrows (211) and is used to launch the arrows (211) into the honeycomb. The launching device (21) can selectively launch multiple arrows (211) continuously or launch a single arrow (211) individually. The launching device (21) includes a housing (212), a launching drive (213), an arrow changing mechanism (214), a distance adjustment mechanism (215), a fixing ring (216), and an arrow magazine (217). An angle adjustment component is disposed on the tray (1) and fixedly connected to the transmitting device (21) for adjusting the transmitting angle of the transmitting device (21); A drug supply device (23) is installed on the launching device (21) for adding bee-killing medicine to the arrow (211); the drug supply device (23) includes a drug chamber (231), a third drive motor (232), a third lead screw (233), a blocking block (234), and a drug delivery pipe (235); the drug chamber (231) is fixedly installed on the top of the housing (212), and the drug chamber (231) is located at the end of the housing (212) near the opening; the drug chamber (231) contains bee-killing medicine; a drug addition hole (2311) is opened at the bottom of the drug chamber (231); the blocking block (234) is embedded in the drug chamber (231). The blocking block (234) can slide along the inner cavity of the medicine chamber (231) and is used to block the dosing hole (2311); the third drive motor (232) is disposed on the top of the housing (212) and is located in the middle section of the housing (212) along the length direction; one end of the third lead screw (233) is connected to the output shaft of the third drive motor (232), and the other end passes through the medicine chamber (231) and is threadedly connected to the blocking block (234); the third drive motor (232) can drive the third lead screw (233) to rotate; the third drive motor (232) is electrically connected to the control module; One end of the drug delivery tube (235) is connected to the drug delivery hole (2311), and the other end is located above the opening of the housing (212); The control module is electrically connected to the propeller (12), the launching device (21), the angle adjustment device (22), and the drug supply device (23).

2. The drone-based bee-killing device with an automatic pesticide dispensing mechanism according to claim 1, characterized in that, The end of the housing (212) is open, and the side wall of the housing (212) is fixedly connected to the inner wall of the fixing ring (221). The fixing collar (216) is disposed at one end of the opening of the housing (212) and is coaxially disposed with the housing (212). The fixing collar (216) includes an inner ring (2161) and an outer ring (2162). The inner ring (2161) is embedded in the inner circle of the outer ring (2162), and the inner ring (2161) and the outer ring (2162) are rotatably connected. A plurality of arrow magazines (217) are fixedly disposed in the inner cavity of the inner ring (2161), and the plurality of arrow magazines (217) are evenly distributed along the circumference of the inner ring (2161). The arrows (211) are disposed in the inner cavity of the arrow magazines (217).

3. The drone-based bee-killing device with an automatic pesticide dispensing mechanism according to claim 1, characterized in that, The head of the arrow (211) is covered with rubber, and the shaft of the arrow (211) is covered with a loose, porous material.

4. A drone-based bee-killing device with an automatic pesticide dispensing mechanism according to claim 1, characterized in that, The arrow changing mechanism (214) includes a rotating gear ring (2141) and a gear shaft (2142). The rotating gear ring (2141) is rotatably disposed at one end of the opening of the housing (212). One end of the rotating gear ring (2141) is provided with a receiving cavity (21411), and one end of the arrow magazine (217) is disposed within the receiving cavity (21411). The other end of the rotating gear ring (2141) is provided with an internal gear ring (21412). The inner wall of the ring (21412) is uniformly provided with straight teeth, and the internal tooth ring (21412) meshes with one end of the gear shaft (2142); a plurality of emission holes (21413) are provided between the receiving cavity (21411) and the internal tooth ring (21412), and the plurality of emission holes (21413) are uniformly distributed along the circumference of the rotating tooth ring (2141), and the emission holes (21413) penetrate the rotating tooth ring (2141) axially; The gear shaft (2142) is horizontally disposed in the inner cavity of the housing (212) along the axial direction. One end of the gear shaft (2142) is provided with a spur gear (21421) and the other end is provided with a bevel gear (21422). The spur gear (21421) extends into the rotating gear ring (2141) and meshes with the internal gear ring (21412). The bevel gear (21422) is connected to the launching drive (213).

5. A drone-based bee-killing device with an automatic pesticide dispensing mechanism according to claim 1, characterized in that, The launch drive unit (213) includes a servo motor (2131), a transmission component (2132), a rack (2133), and a spring (2134). The servo motor (2131) is fixedly installed on the side wall of the housing (212), and the servo motor (2131) is electrically connected to the control module. The transmission component (2132) is disposed in the inner cavity of the housing (212). The output end of the servo motor (2131) is connected to the transmission component (2132). One end of the transmission component (2132) is provided with a first drive gear (21321), and the other end is provided with a second drive gear (21322). Half of the first drive gear (21321) is configured as a spur tooth along its circumference, and the other half is configured as a cam. Half of the second drive gear (21322) is configured as a bevel tooth along its circumference, and the other half is configured as a cam. The rack (2133) is horizontally positioned above the transmission component (2132). Along its axial direction, the rack (2133) is sequentially provided with a firing pin (21331), a transmission bar (21332), a limiting flange (21333), and a fixing post (21334). The firing pin (21331) extends into the firing hole (21413), and the firing pin (21331) abuts against the end of the arrow (211). The top wall of the transmission bar (21332) The slide rail (21335) is provided, and the bottom wall of the transmission bar (21332) is provided with a straight tooth (21336), which meshes with the first drive gear (21321); one end of the spring (2134) is sleeved on the fixed post (21334), and the other end abuts against the distance adjustment mechanism (215); an avoidance groove (21337) is provided between the striker (21331) and the straight tooth (21336); The second drive gear (21322) meshes with the bevel gear (21422).

6. A drone-based bee-killing device with an automatic pesticide dispensing mechanism according to claim 5, characterized in that, The inner wall of the top of the housing (212) is provided with a limiting groove (2121) along the length direction. The slide rail (21335) is embedded in the limiting groove (2121) and the slide rail (21335) can slide along the length direction of the limiting groove (2121). When the first drive gear (21321) meshes with the straight tooth portion (21336) at the end away from the clearance groove (21337), the limiting flange (21333) abuts against the end of the limiting groove (2121).

7. A drone-based bee-killing device with an automatic pesticide dispensing mechanism according to claim 5, characterized in that, The drug supply device (23) further includes a sensor (236) and a sensor plate (237); the sensor (236) is embedded in the top of the housing (212) and the sensor (236) is disposed facing the inner cavity of the housing (212); the sensor plate (237) is embedded in the side wall of the slide rail (21335); and the sensor (236) is electrically connected to the control module.

8. A drone-based bee-killing device with an automatic pesticide dispensing mechanism according to claim 5, characterized in that, The arrow magazine (217) has a drug delivery hole (2171) on its side wall, which is connected to the inner cavity of the arrow magazine (217). When the firing pin (21331) is inserted into the firing hole (21413), the end of the drug delivery tube (235) away from the drug tank (231) is located above the drug delivery hole (2171).

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