Aircraft, spraying mechanism and spraying system

Abstract

An aircraft (1000), a spraying mechanism (100), and a spraying system (200) are disclosed. The aircraft (1000) includes a power mechanism (10), a frame (20), and a spray bar assembly I (30). The spray bar assembly I (30) includes a spray bar A (31) and a spray bar B (32) spaced apart. One end of the spray bar A (31) is rotatably connected to the frame (20) via a coupling part A (33), and one end of the spray bar B (32) is rotatably connected to the frame (20) via a coupling part B (34). The spray bar A (31) can rotate in a first direction to switch between an unfolded form and a folded form, and the spray bar B (32) can rotate in a second direction to switch between an unfolded form and a folded form. In the folded form, the free end A is closer to the coupling part B (34) than the free end B, and the free end B is closer to the coupling part A (33) than the free end A. The two spray booms of the aircraft can be folded together, and after folding, the free end of one spray boom is located near the coupling part of the other spray boom. This effectively utilizes the space between the coupling parts of the two spray booms. The two spray booms occupy little space after folding, which improves the overall structural compactness of the aircraft in the folded spray boom configuration.

Description

Aircraft, spraying mechanism and spraying system TECHNICAL FIELD

[0001] The present application relates to the technical field of spraying mechanism, and particularly relates to an aircraft, a spraying mechanism and a spraying system. BACKGROUND

[0002] The aircraft can spray materials into the environment during flight, thereby performing agricultural plant protection or fire control management tasks. However, in the related art, the layout of the spray bar in the aircraft is not reasonable enough, which limits the use performance of the aircraft.

[0003] SUMMARY

[0004] The present application provides an aircraft, a spraying mechanism and a spraying system, which aims to reduce the occupied volume of the whole machine when the spray bar is not needed, so as to make the structure of the whole machine compact.

[0005] In a first aspect, the present application provides an aircraft, comprising: a power mechanism, configured to provide flight power; a rack, wherein the power mechanism is arranged on the rack; and a spray bar group I, comprising a spray bar A and a spray bar B arranged at intervals, wherein one end of the spray bar A is rotatably connected to the rack through a coupling part A, and the other end of the spray bar A is a free end A, one end of the spray bar B is rotatably connected to the rack through a coupling part B, and the other end of the spray bar B is a free end B; wherein the spray bar A can rotate in a first direction to switch the spray bar A between an unfolded state and a folded state, the spray bar B can rotate in a second direction to switch the spray bar B between an unfolded state and a folded state, the first direction is one of a clockwise direction and a counterclockwise direction, and the second direction is the other of the clockwise direction and the counterclockwise direction; and in the folded state, the free end A is closer to the coupling part B than the free end B, and the free end B is closer to the coupling part A than the free end A.

[0006] The technical effect that can be achieved by the first aspect of the present application is that the two spray bars of the aircraft can be folded against each other, and the free ends of one spray bar are located near the coupling parts of the other spray bar after folding, which effectively utilizes the space between the coupling parts of the two spray bars, and the two spray bars occupy a small space after folding, thereby improving the structural compactness of the whole aircraft in the folded state of the spray bars.

[0007] In a second aspect, the application provides an aircraft, comprising: an arm, wherein a power mechanism is arranged on the arm, and the power mechanism comprises a paddle; a frame, wherein the arm is connected to the frame; and a spray rod, wherein the spray rod is rotatably connected to the frame to switch the spray rod between an unfolded state and a folded state, and the spray rod comprises a spray head, and the spray head is used to spray materials outwardly; and wherein, in the unfolded state, a projection of the spray head on a first paddle plane is located in a first paddle disc, the first paddle disc represents an area formed by rotation of a first paddle, the first paddle plane represents a plane on which the first paddle disc is located, and the first paddle represents a paddle closest to the spray head among the paddles.

[0008] The technical effect achieved by the second aspect of the application is that the spray rod of the aircraft is arranged on the frame, on the one hand, the spray rod is away from the vibration source of the power mechanism, and the vibration damage of the vibration source to the spray rod is avoided, and on the other hand, in the unfolded state, the projection of the spray head of the spray rod on the paddle plane is located in the paddle disc, so that the spray head of the spray rod can be located in the effective wind field range of the paddle closest to it, the penetration of the spray can be improved by fully utilizing the downward wind field of the paddle, and the spray materials can be prevented from drifting everywhere.

[0009] In a third aspect, the application provides a spraying mechanism, comprising:

[0010] a frame body; and a spray rod group I, wherein the spray rod group I comprises a spray rod A and a spray rod B arranged at intervals, one end of the spray rod A is rotatably connected to the frame body through a coupling part A, the other end of the spray rod A is a free end A, one end of the spray rod B is rotatably connected to the frame body through a coupling part B, and the other end of the spray rod B is a free end B; wherein the spray rod A can rotate in a first direction to switch the spray rod A between an unfolded state and a folded state, the spray rod B can rotate in a second direction to switch the spray rod B between the unfolded state and the folded state, the first direction is one of a clockwise direction and a counterclockwise direction, the second direction is the other of the clockwise direction and the counterclockwise direction, and in the folded state, the free end A is closer to the coupling part B than the free end B, and the free end B is closer to the coupling part A than the free end A.

[0011] In a fourth aspect, the application provides a spraying mechanism, comprising:

[0012] The landing gear is configured to be connected with a body of the aircraft, and the spray rod is rotatably connected with the landing gear to switch the spray rod between an unfolded state and a folded state, the spray rod comprising a spray head for spraying material outwardly; wherein, in a mounted state of the spraying mechanism mounted on the body of the aircraft, a projection of the spray head on a first blade plane is located in a first blade disc, the first blade disc representing an area formed by rotation of a first blade, and the first blade plane represents a plane on which the first blade disc is located, and the first blade represents a blade closest to the spray head in the aircraft.

[0013] In a fifth aspect, the present application provides a spraying system, comprising: a storage tank; a conveying pipeline; and the spraying mechanism of the third aspect; wherein the material in the storage tank can be conveyed to the spray rod group in the spraying mechanism through the conveying pipeline.

[0014] In a sixth aspect, the present application provides a spraying system, comprising: a storage tank; a conveying pipeline; and the spraying mechanism of the fourth aspect; wherein the material in the storage tank can be conveyed to the spray rod of the spraying mechanism through the conveying pipeline.

[0015] It should be understood that the general description above and the detailed description below are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0017] FIG. 1 is a structural schematic diagram of an aircraft according to an embodiment of the present application;

[0018] FIG. 2(A) is a partial structural schematic diagram of an aircraft according to an embodiment of the present application;

[0019] FIG. 2(B) is a partial structural schematic diagram of an aircraft according to an embodiment of the present application;

[0020] FIG. 3 is a structural schematic diagram of a second frame body and each spray rod according to an embodiment of the present application, wherein the second frame body is in an unfolded state;

[0021] FIG. 4 is a structural schematic diagram of a second frame body and each spray rod according to an embodiment of the present application, wherein the second frame body is in a folded state;

[0022] FIG. 5 is a partial structural schematic diagram of an aircraft according to an embodiment of the present application;

[0023] Fig. 6 is a structural schematic diagram of a spray rod and a coupling part according to an embodiment of the present application;

[0024] Fig. 7 is a partial sectional view of a spray rod and a coupling part according to an embodiment of the present application;

[0025] Fig. 8 is an exploded schematic diagram of a spray rod and a coupling part according to an embodiment of the present application;

[0026] Fig. 9 is a sectional view of a spray rod and a coupling part according to an embodiment of the present application;

[0027] Fig. 10 is an exploded schematic diagram of a spray head according to an embodiment of the present application;

[0028] Fig. 11 is a sectional view of a spray head according to an embodiment of the present application;

[0029] Fig. 12 is a structural schematic diagram of a spraying mechanism according to an embodiment of the present application;

[0030] Fig. 13 is a structural schematic diagram of a spraying system according to an embodiment of the present application.

[0031] Legend of reference signs:

[0032] 1000, an aircraft;

[0033] 10, a power mechanism; 11, a driving member; 12, a propeller; 13, a first blade; 14, a second blade;

[0034] 20, a frame; 21, a first frame body; 22, a second frame body;

[0035] 30, a spray rod group I; 301, a spray rod; 31, a spray rod A; 311, a free end A; 312, a rod body A; 313, a spray head A; 32, a spray rod B; 321, a free end B; 322, a rod body B; 323, a spray head B; 33, a coupling part A; 34, a coupling part B; 35, a first locking part; 351, a movable member; 352, an elastic member; 36, a second locking part; 361, a cam member; 37, a communication valve; 381, a spray head main body; 3811, a first fastener; 382, a flapper; 3821, a second fastener; 383, a limiting member; 3831, a first clamping member; 3832, a second clamping member; 3833, an external force contact area; 391, a first connecting part; 392, a rod main body; 393, a second connecting part;

[0036] 40, an arm; 41, a first arm; 42, a second arm; 43, a paddle A; 44, a paddle B;

[0037] 60, a spray rod group II; 61, a spray rod C; 62, a spray rod D; 63, a coupling part C; 64, a coupling part D;

[0038] 100, spraying mechanism; 101, frame body;

[0039] 200, spraying system; 201, storage tank; 202, conveying pipeline. 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 part of the embodiments of the present application, not all the embodiments of the present application.

[0041] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0042] It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in this specification and the appended claims, the singular forms "a," "an" and "the" include plural referents unless the context clearly dictates otherwise. In this application, "and / or" means "and" or "or", "at least one of A and / or B" means "A", "B", or "A and B", "one or more of A and / or B" means "A", "B", or "A and B", and "one or more of A, and / or B" means "A", "B", or "A and B". The term "plurality" means two or more. The term "approximately" means ±10% of the value stated. The term "substantially" means ±5% of the value stated. The term "generally" means ±20% of the value stated. The term "about" means ±10% of the value stated. The term "comprising" means "including, but not limited to". The term "coupled" means directly or indirectly connected. The term "substantially" means that the recited characteristic, parameter, or value need not be achieved exactly, but that deviations, including tolerances, measurement error, measurement accuracy, errors due to aliasing, numerical precision, and other factors, are to be expected. The term "generally parallel" means that the recited characteristic is parallel, or that the recited characteristic is not exactly parallel, but that there is a small included angle between the recited characteristic and the characteristic to which it is compared. For example, the small included angle can be less than or equal to 20 degrees.

[0043] Some embodiments of the present application will now be described in detail in connection with the accompanying drawings. The following embodiments and features can be combined with each other unless specifically stated otherwise.

[0044] An aerial vehicle is provided. The aerial vehicle can be suitable for agricultural plant protection or fire control tasks. The aerial vehicle can be used for spraying materials, and the sprayed materials can be solid materials, liquid materials, or solid-liquid mixed materials. For example, the solid materials include at least one of solid fertilizers, solid feed, pollen, seeds, and solid pesticides, and the liquid materials include at least one of water, liquid fertilizers, liquid feed, and liquid pesticides. Thus, the aerial vehicle can be used for pest control, fire extinguishing, crop watering, and sowing operations.

[0045] For example, the aerial vehicle can include an unmanned aerial vehicle and a manned aerial vehicle.

[0046] For example, the aerial vehicle can include a rotary-wing aerial vehicle, a fixed-wing aerial vehicle, or a hybrid fixed-wing-rotary-wing aerial vehicle. The rotary-wing aerial vehicle can be a single-rotor aerial vehicle or a multi-rotor aerial vehicle. The multi-rotor aerial vehicle can include a dual-rotor aerial vehicle, a tri-rotor aerial vehicle, a quad-rotor aerial vehicle, a hexa-rotor aerial vehicle, an octo-rotor aerial vehicle, a deca-rotor aerial vehicle, a dodeca-rotor aerial vehicle, or the like.

[0047] The embodiments of the present application will be described below in conjunction with the drawings, taking the multi-rotor unmanned aerial vehicle as an example. It should be noted that this does not limit the protection scope of the present application, and any embodiment applying the principle of the embodiments of the present application will fall within the protection scope of the present application.

[0048] Referring to FIG. 1, in some embodiments, the aerial vehicle 1000 comprises a frame 20 and a power mechanism 10 arranged on the frame 20 for providing flight power. In some embodiments, the power mechanism 10 can comprise a driving member 11 for driving a propeller 12 to rotate, thereby providing flight power for the aerial vehicle 1000. Exemplarily, the driving member 11 comprises a motor or any other suitable actuator. Exemplarily, the propeller 12 comprises a blade, and the driving member 11 can drive the blade to rotate, thereby providing flight power for the aerial vehicle 1000. The number of propellers 12 or blades can be designed according to actual needs, which is not limited herein.

[0049] Referring to FIG. 1, in some embodiments, the aerial vehicle 1000 further comprises an arm 40 connected with the frame 20. Exemplarily, one end of the arm 40 is connected with the frame 20, and the driving member 11 is arranged at the other end of the arm 40. The arm 40 and the frame 20 can be fixedly connected or movably connected, and the movable connection can be a rotatable connection. When the rotatable connection is adopted, the arm 40 can be unfolded or folded relative to the frame 20, so as to reduce the space occupied by the aerial vehicle 1000 when the arm 40 is folded, reduce the volume of the aerial vehicle 1000, and facilitate carrying and storage. The number of arms 40 can be designed according to actual needs. Exemplarily, the number of arms 40 comprises a plurality of arms 40, and the plurality of arms 40 extend radially from the frame 20.

[0050] It can be understood that, for the aerial vehicle 1000 comprising at least two spray rods 301, in the related prior art, the spray rod 301 occupies a large space when not in use, resulting in that the overall structure of the aerial vehicle 1000 is not compact, which is not conducive to storage and transportation.

[0051] To this end, referring to FIGS. 3 and 4, in some embodiments, the aerial vehicle 1000 comprises a spray boom set I 30, which comprises a spray boom A 31 and a spray boom B 32 arranged at intervals, one end of the spray boom A 31 is rotatably connected to the rack 20 through a coupling portion A 33, the other end of the spray boom A 31 is a free end A 311, one end of the spray boom B 32 is rotatably connected to the rack 20 through a coupling portion B 34, the other end of the spray boom B 32 is a free end B 321. Among them, the spray boom A 31 can rotate in a first direction to realize the switching of the spray boom A 31 between the unfolded state and the folded state, the spray boom B 32 can rotate in a second direction to realize the switching of the spray boom B 32 between the unfolded state and the folded state, the first direction is one of the clockwise direction and the counterclockwise direction, and the second direction is the other of the clockwise direction and the counterclockwise direction; and in the folded state, the free end A 311 is closer to the coupling portion B 34 than the free end B 321, and the free end B 321 is closer to the coupling portion A 33 than the free end A 311.

[0052] The aerial vehicle 1000 of the above-mentioned embodiments, both spray booms have two states of folding and unfolding, and the spray booms can be switched between the folded state and the unfolded state. In the unfolded state, the spray boom A 31 and the spray boom B 32 are unfolded in place to perform spraying work; when the spray boom is not needed, the spray boom A 31 and the spray boom B 32 are folded against each other, and the free end of one spray boom is located near the coupling portion of the other spray boom after folding, which effectively utilizes the space between the corresponding coupling portions of the two spray booms, avoids the extension of the two spray booms to the periphery of the aerial vehicle and occupies the space of the periphery. The space occupied by the two spray booms after folding is small, which improves the overall structural compactness of the aerial vehicle in the spray boom folded state, and facilitates the storage and transportation of the aerial vehicle 1000.

[0053] For example, the first direction is the counterclockwise direction as shown by the dashed line ω1 in FIG. 3, and the second direction is the clockwise direction as shown by the dashed line ω2 in FIG. 3.

[0054] It should be noted that according to the installation position of the spray boom set I 30 on the rack 20, the first direction can also be counterclockwise, and the second direction correspondingly clockwise.

[0055] Referring to FIGS. 3 and 4, the spray boom A 31 can rotate in the first direction to switch the spray boom A 31 from the unfolded state to the folded state; the spray boom A 31 can rotate in the second direction to switch the spray boom A 31 from the folded state to the unfolded state.

[0056] Referring to FIGS. 3 and 4, the spray boom B 32 can rotate in the second direction to switch the spray boom B 32 from the unfolded state to the folded state; the spray boom B 32 can rotate in the first direction to switch the spray boom B 32 from the folded state to the unfolded state.

[0057] Referring to FIG. 4, in some embodiments, in the folded configuration, further, the projections of the spray bar A 31 and the spray bar B 32 on the plane formed by the roll axis of the aerial vehicle 1000 and the pitch axis of the aerial vehicle 1000 at least partially overlap, such that at least a portion of the spray bar A 31 and the spray bar B 32 are stacked together, the stacked portion of the two spray bars substantially sharing a portion of the occupied space, thereby reducing the total space occupied by the spray bar A 31 and the spray bar B 32 in the folded configuration, making the structure of the aerial vehicle 1000 more compact.

[0058] Exemplarily, the roll axis or the roll axis direction of the aerial vehicle 1000 is parallel to the X direction in FIG. 2(A) or FIG. 3. The pitch axis or the pitch axis direction of the aerial vehicle 1000 is parallel to the Y direction shown in FIG. 2(A) or FIG. 3. The heading axis or the heading axis direction of the aerial vehicle 1000 is parallel to the Z direction shown in FIG. 2(A) or FIG. 3.

[0059] Referring to FIG. 4, in some embodiments, further, the spray bar A 31 and the spray bar B 32 are staggered in the heading axis direction of the aerial vehicle 1000, on the one hand, which can avoid interference between the two spray bars during folding or unfolding, making the spray bar A 31 and the spray bar B 32 more smoothly switch between the unfolded configuration and the folded configuration; on the other hand, in the folded configuration, it can better utilize the height space in the heading axis direction, improving the utilization rate of the folding space.

[0060] In some embodiments, in the folded configuration, the spray bar A 31 and the spray bar B 32 are arranged to fit the rack 20.

[0061] In related prior art, the spray bar is arranged on the arm, which has many drawbacks, for example, the spray bar is close to the power mechanism on the arm, and the power mechanism will vibrate during work, so the spray bar close to the vibration source is easy to be affected by vibration and cause structural damage; for another example, the spray bar is subjected to tension during the flight of the aerial vehicle, which is borne by the front and rear arms. In the embodiments of the present application, the spray bar A 31 and the spray bar B 32 are rotatably connected to the rack 20. Compared with the case where the spray bar is arranged on the arm in the prior art, the spray bar is farther away from the power mechanism on the arm, and the spray bar is farther away from the vibration source to avoid damage caused by vibration.

[0062] Referring to FIG. 1 and FIG. 2(A), in some embodiments, the frame 20 includes a first frame body 21 and a second frame body 22, the first frame body 21 is provided with the power mechanism 10, and the second frame body 22 is installed below the first frame body 21 to provide a landing support force for the aircraft 1000. In this case, the second frame body 22 can also be referred to as a landing gear. For example, the second frame body 22 can support the aircraft 1000 during taxiing, parking, taxiing, taking off or landing of the aircraft 1000, and at the same time absorb the vibration of the aircraft 1000 during taxiing, parking, taxiing, taking off or landing. The arm 40 is installed on the first frame body 21, and the arm 40 and the second frame body 22 are installed at different positions of the first frame body 21, respectively. When the number of arms 40 includes multiple arms, the multiple arms 40 extend radially from the first frame body 21.

[0063] In some embodiments, the spray rod A31 is rotatably connected to the first frame body 21 or the second frame body 22, and the spray rod A31 and the spray rod B32 are rotatably connected to the first frame body 21 or the second frame body 22.

[0064] In some embodiments, the spray rod A31 and the spray rod B32 are rotatably connected to the second frame body 22. On the one hand, it can be more away from the source of vibration, so that the reliability of the spray rod is improved. On the other hand, it can minimize the interference between the corresponding spray rod 301 when rotating or disassembling and maintaining and the first frame body 21 and the arm 40 and other components.

[0065] In some embodiments, the first frame body 21 and the second frame body 22 are detachably connected. In this way, the mechanical decoupling of the second frame body 22 and the first frame body 21 can be achieved. When the components on the second frame body 22 or the second frame body 22 need to be maintained, the first frame body 21 and the second frame body 22 can be disassembled to facilitate separate operation. In the case of disassembling the first frame body 21 and the second frame body 22, if the spray rod is arranged on the arm, when the first frame body 21 is separated from the second frame body 22 and placed on the ground or platform alone, the spray rod below the arm will be in direct contact with the ground or platform, causing wear of the spray rod. In the embodiments of the present application, the spray rod is arranged on the second frame body 22, which can well overcome the above problems.

[0066] In some embodiments, the second frame body 22 and the first frame body 21 are connected through a quick release structure. In this way, the quick release of the first frame body 21 and the second frame body 22 can be realized, which is conducive to more quickly replacing the second frame body 22 and achieving more quickly replacing the load on the second frame body 22. For example, the quick release structure can include at least one of the following: a buckle structure, a magnetic attraction structure, a screw locking structure, a threaded connection structure, etc. It can be understood that the structure, shape and / or size and other attributes of the first frame body 21 and the second frame body 22 can be set according to actual needs. For example, the locking step or disassembly step of the quick release structure is less than or equal to 4.

[0067] In some embodiments, the rotation plane of the spray bar A31 and / or the spray bar B32 is substantially parallel to the plane where the first frame body 21 is located. Exemplarily, the rotation plane of the spray bar A31 and / or the spray bar B32 is substantially parallel to the plane where the first frame body 21 is located. The rotation plane of the spray bar B32 is substantially parallel to the plane where the first frame body 21 is located.

[0068] In some embodiments, the angle between the rotation plane of the spray bar A31 and / or the spray bar B32 and the heading axis of the aircraft 1000 is greater than 45 degrees, such as 50 degrees, 60 degrees, 90 degrees or any other suitable angle greater than 45 degrees.

[0069] In some embodiments, the rotation plane of the spray bar A31 and / or the spray bar B32 is substantially parallel to the plane formed by the roll axis of the aircraft 1000 and the pitch axis of the aircraft 1000.

[0070] The rotation plane of the spray bar A31 and / or the spray bar B32 is set as described above, which can improve the activity space of the spray bar, and enable the spray bar to move in a relatively large space below the arm, thereby facilitating the realization of the expected spraying effect.

[0071] In some embodiments, the spray bar A31 and the spray bar B32 can be mutually reusable. In this way, when the spray bar A31 or the spray bar B32 is assembled, the spray bar A31 and the spray bar B32 can be mutually reusable, without the need to distinguish the spray bar A31 and the spray bar B32, thereby reducing the assembly difficulty of the spray bar 301 and facilitating the improvement of the assembly efficiency; and without the need to use two sets of molds to process the spray bar A31 and the spray bar B32, thereby facilitating the reduction of the cost.

[0072] In some embodiments, the spray bar A31 and the spray bar B32 are substantially the same in structure, shape and / or size. In this way, the mutual reuse of the spray bar A31 and the spray bar B32 can be better realized, and the processing difficulty and the control difficulty of the spray bar 301 are reduced. Understandably, substantially the same means the same within an error allowable range, or the same with a small difference.

[0073] Referring to FIG. 2, in some embodiments, the spray bar A31 and the spray bar B32 are located on the same side of the frame 20. Exemplarily, the spray bar A31 and the spray bar B32 are located on the same side of the second frame body 22, which facilitates the consideration of compact structure and good spraying effect.

[0074] Referring to FIG. 5, in some embodiments, the gantry 20 has a front side corresponding to the head direction, a back side corresponding to the tail direction, a left side, and a right side, wherein the spray bar A 31 and the spray bar B 32 are both located on the left side of the gantry 20, or the spray bar A 31 and the spray bar B 32 are both located on the right side of the gantry 20, so as to make full use of the space on the left side or the right side of the gantry 20 and minimize the interference of the spray bar A 31 and the spray bar B 32 with other components of the aircraft 1000.

[0075] Referring to FIG. 3, in some embodiments, the spray bar A 31 comprises a bar body A 312 and at least one spray head A 313 arranged at an end of the bar body A 312 away from the gantry 20, and the spray bar B 32 comprises a bar body B 322 and at least one spray head B 323 arranged at an end of the bar body B 322 away from the gantry 20, and the spray head A 313 and the spray head B 323 are both used for spraying the material outward. In this way, on the one hand, the material sprayed by the spray head can be prevented from being blocked by the gantry 20 or the components on the gantry 20 as much as possible, which is conducive to improving the spraying effect; on the other hand, the coverage of the spraying can be improved. For example, the spray head A 313 is arranged at an end of the bar body A 312 away from the second gantry body 22, and the spray head B 323 is arranged at an end of the bar body B 322 away from the second gantry body 22.

[0076] In some embodiments, in the unfolded state, the angle between the bar body A 312 and the roll axis of the aircraft 1000 is an obtuse angle. In some embodiments, in the unfolded state, the angle between the bar body B 322 and the roll axis of the aircraft 1000 is an obtuse angle. In this way, the spray bar extends outward at a larger angle, which is conducive to improving the coverage of the spraying.

[0077] For example, in the unfolded state, the distance between the end of the bar body A 312 close to the gantry 20 and the end of the bar body B 322 close to the gantry 20 is less than the distance between the free end A 311 of the bar body A 312 and the free end B 321 of the bar body B 322.

[0078] Referring to FIG. 3, in some embodiments, in the unfolded state, the projection of the bar body A 312 on the plane formed by the pitch axis of the aircraft 1000 and the roll axis of the aircraft 1000 is symmetrically arranged with the projection of the bar body B 322 on the plane formed by the pitch axis of the aircraft 1000 and the roll axis of the aircraft 1000 relative to the pitch axis. In this way, on the one hand, it is conducive to balancing the center of gravity of the aircraft 1000 and maintaining the flight stability; on the other hand, it is conducive to improving the uniformity of the spraying.

[0079] In some embodiments, in the unfolded configuration, the rod body A312 is substantially parallel to the first arm 41 of the aerial vehicle 1000, the first arm 41 representing the arm 40 of the aerial vehicle 1000 closest to the spray head A313. For example, the arm closest to the spray head is the arm above the spray head closest to it. In this way, the interference between the spray rod A31 and the first arm 41 is less affected.

[0080] In some embodiments, in the unfolded configuration, the rod body B322 is substantially parallel to the second arm 42 of the aerial vehicle 1000, the second arm 42 representing the arm 40 of the aerial vehicle 1000 closest to the spray head B323. In this way, the interference between the spray rod B32 and the second arm 42 is less affected.

[0081] In some embodiments, in the unfolded configuration, the spray head A313 is arranged towards the lower or obliquely downward to more concentratedly achieve downward spraying.

[0082] In some embodiments, in the unfolded configuration, the spray head B323 is arranged towards the lower or obliquely downward to more concentratedly achieve downward spraying.

[0083] Referring to FIG. 1 and FIG. 3, in some embodiments, in the unfolded configuration, the projection of the spray head A313 on the first blade plane is located within the blade disc A43, wherein the blade disc A43 represents the area formed by the rotation of the first blade 13, the blade plane represents the plane on which the blade disc A43 is located, and the first blade 13 represents the blade of the aerial vehicle 1000 closest to the spray head A313. In this way, when the spray rod A31 is in the unfolded configuration, the effective downwash field of the first blade 13 can be used to press down the material sprayed by the spray head A313, avoid the material drifting around, improve the penetration of the sprayed material, and have better spraying effect under the same amount of material used.

[0084] It can be understood that the downwash field can also be referred to as the blade downwash field. The downwash field refers to the airflow flowing from the top of the blade to the bottom of the blade due to the rotation of the blade of the aerial vehicle 1000, and then flowing in the direction opposite to the pulling force, i.e., the direction of the ground.

[0085] In some embodiments, in the unfolded configuration, the spray head A313 is located within the preset intensity range of the downwash field of the first blade 13, wherein the first blade 13 represents the blade of the aerial vehicle 1000 closest to the spray head A313. In this way, the effective downwash field of the first blade 13 can be used as much as possible to press down the material sprayed by the spray head A313, further improve the penetration and spraying effect of the sprayed material.

[0086] Please refer to FIG. 1 and FIG. 3, in some embodiments, in the unfolded configuration, the projection of the spray head B323 on the second blade plane is located within the blade disc B44, wherein the blade disc B44 represents the area formed by the rotation of the second blade 14, the second blade plane represents the plane in which the blade disc B44 is located, and the second blade 14 represents the blade closest to the spray head B323 on the aircraft 1000. In this way, when the spray bar B32 is in the unfolded configuration, the effective downwash field of the second blade 14 can be used to press down the material sprayed by the spray head B323, avoid the material drifting around, improve the penetration of the sprayed material, and have better spraying effect under the same amount of material used.

[0087] For example, the first blade 13 is arranged on one of the left front arm and the left rear arm, and the second blade 14 is arranged on the other of the left front arm and the left rear arm. For example, the first blade 13 is arranged on one of the right front arm and the right rear arm, and the second blade 14 is arranged on the other of the right front arm and the right rear arm. For example, in the unfolded configuration, the arm 40 closest to the spray head A313 is the left front arm, the blade closest to the spray head A313 is the first blade 13, and the first blade 13 is arranged on the left front arm; the arm 40 closest to the spray head B323 is the left rear arm, the blade closest to the spray head B323 is the second blade 14, and the second blade 14 is arranged on the left rear arm.

[0088] In some embodiments, in the unfolded configuration, the spray head B323 is located within the preset intensity range of the downwash field of the second blade 14, wherein the second blade 14 represents the blade closest to the spray head B323 on the aircraft 1000. In this way, the effective downwash field of the first blade 13 can be used as much as possible to press down the material sprayed by the spray head B323, further improve the penetration and spraying effect of the sprayed material. For example, the spray head B323 is located at the strongest part of the downwash field of the second blade 14.

[0089] Please refer to FIG. 4, in some embodiments, in the folded configuration, the bar body A312 is substantially parallel to the roll axis of the aircraft 1000, so that the size of the bar body A312 in the pitch axis direction or the heading axis direction of the aircraft 1000 in the folded configuration can be reduced, so that the structure of the aircraft 1000 is more compact.

[0090] In some embodiments, in the folded configuration, the bar body B322 is substantially parallel to the roll axis of the aircraft 1000, so that the size of the bar body B322 in the pitch axis direction or the heading axis direction of the aircraft 1000 in the folded configuration can be reduced, so that the structure of the aircraft 1000 is more compact.

[0091] Referring to FIG. 4, in some embodiments, in the folded state, the rod A 312 and the rod B 322 are approximately parallel, which can reduce the mutual interference of the rod A 312 and the rod B 322 in the folded state, so that the folded state is more compact and orderly.

[0092] In some embodiments, in the folded state, the spray head A 313 and the spray head B 323 are arranged diagonally, which reduces the occupied volume of the rod A 312 and the rod B 322 in the folded state, so that the structure of the aircraft 1000 is more compact.

[0093] Referring to FIG. 4, in some embodiments, in the folded state, the spray head A 313 and / or the spray head B 323 are accommodated outside the rack 20. In this way, the spray head is protected from external force abrasion.

[0094] In some embodiments, the structure of at least one of the spray rods A 31 and the spray rods B 32 can be adjusted. Thus, the structure of the spray rod 301 can be adjusted according to actual needs, such as different crop types, different working distances, etc., so as to adjust the spraying parameters. The spray rod group in the embodiments of the present application has strong expandability and can achieve the expected spraying effect in various working scenarios. One rod has multiple uses, which expands the application range of the aircraft 1000 and has good cost advantage.

[0095] In some embodiments, the length of at least one of the spray rods A 31 and the spray rods B 32 is adjustable. In this way, the length of the spray rod 301 can be adjusted according to the required working row spacing of different crops, so as to realize spraying of the spray head at different positions, which has strong expandability. The length of the spray rod 301 can be adjusted in at least one of the following ways: replacing the spray rod 301 with different lengths, which has a simple structure of the spray rod 301; and at least part of the spray rod 301 is telescopic to adjust the length of the spray rod 301.

[0096] In some embodiments, in the unfolded state, the rotation angle of at least one of the spray rods A 31 and the spray rods B 32 is adjustable to correspond to different spraying states, so as to adapt to different working scenarios.

[0097] Please refer to FIG. 3 and FIG. 4, in some embodiments, the position of coupling part A33 on the frame 20 is higher than the position of coupling part B34 on the frame 20 in the heading axis direction of the aircraft 1000. Exemplarily, the position of coupling part A33 on the second frame body 22 is higher than the position of coupling part B34 on the second frame body 22 in the heading axis direction of the aircraft 1000, so that the mutual interference of the spray bar A31 and the spray bar B32 in the folding or unfolding process can be reduced as much as possible in the limited space, which guarantees the smooth rotation of the spray bar A31 and the spray bar B32, and reduces the interference between the spray bar A31 and the spray bar B32 during assembly.

[0098] In some embodiments, the position of the coupling part closer to the nose direction of the aircraft 1000 among the coupling part A33 and the coupling part B34 on the frame 20 is higher than the position of the coupling part farther from the nose direction of the aircraft 1000 among the coupling part A33 and the coupling part B34. For example, the coupling part A33 is closer to the nose direction of the aircraft 1000 than the coupling part B34, and the position of the coupling part A33 on the frame 20 is higher than the position of the coupling part B34 on the frame 20. In other embodiments, the position of the coupling part closer to the nose direction of the aircraft 1000 among the coupling part A33 and the coupling part B34 on the frame 20 is lower than the position of the coupling part farther from the nose direction of the aircraft 1000 among the coupling part A33 and the coupling part B34. The purpose of such arrangement is that the aircraft is usually in a slightly lowered attitude during flight, and the position of the coupling part closer to the nose direction of the aircraft 1000 on the frame 20 is higher than the position of the coupling part farther from the nose direction of the aircraft 1000, so as to compensate for the slightly lowered attitude, and to keep the distance between the spray bar and the lower working object basically the same.

[0099] Please refer to FIG. 1, in some embodiments, the power mechanism 10 includes a first machine arm 41 and a second machine arm 42, the first machine arm 41 represents the machine arm closest to the spray bar A31 in the unfolded state, and the second machine arm 42 represents the machine arm closest to the spray bar B32 in the unfolded state. The first machine arm 41 and the second machine arm 42 can be arranged in staggered layers in the heading axis direction of the aircraft 1000 when the machine arms are folded, and the coupling part corresponding to the machine arm arranged in the lower layer on the frame 20 is higher. Exemplarily, in the machine arm folded state, the second machine arm 42 is arranged in the lower layer relative to the first machine arm 41, and the coupling part B34 corresponding to the second machine arm 42 is higher than the coupling part A33 corresponding to the first machine arm 41 on the second frame body 22. The purpose of such arrangement is that in the machine arm folded state, the second machine arm 42 is arranged in the lower layer relative to the first machine arm 41, and the blades on the second machine arm 42 are closer to the coupling part A33, so that the mounting position of the coupling part A33 on the frame 20 is lower than the mounting position of the coupling part B34, to avoid interference with the folded blades.

[0100] In some embodiments, at least one of the rod body A 312 and the rod body B 322 is detachably connected to the second frame body 22 through the corresponding coupling part, so that different specifications of the spray rod 301 can be replaced to adapt to more working scene requirements; in addition, when the corresponding spray rod 301 is damaged, the spray rod 301 can be replaced without replacing the second frame body 22 or the entire aircraft 1000, which is conducive to reducing the use cost; in addition, when the spray rod 301 needs to be maintained, the spray rod 301 can be detached from the second frame body 22, which is convenient for better maintenance of the spray rod 301. Exemplarily, the rod body A 312 is detachably connected to the second frame body 22 through the coupling part A 33. Exemplarily, the rod body B 322 is detachably connected to the second frame body 22 through the coupling part B 34.

[0101] Please refer to FIG. 6, in some embodiments, at least one of the rod body A 312 and the rod body B 322 is provided with a first locking part 35, and the corresponding coupling part is provided with a second locking part 36, the first locking part 35 and the second locking part 36 cooperate with each other to lock the corresponding rod body in a preset state, the preset state including at least one of the folded state and the unfolded state. The corresponding coupling part can be at least one of the coupling part A 33 and the coupling part B 34. The first locking part 35 and the second locking part 36 can lock the corresponding rod body in the preset state, so that the corresponding rod body can be reliably kept in the preset state. Exemplarily, the first locking part 35 and the second locking part 36 cooperate with each other to lock the corresponding rod body in the folded state, so that the corresponding rod body can be reliably kept in the folded state, preventing the corresponding rod body from being abnormally opened in the folded state, and facilitating storage or transportation. Exemplarily, the first locking part 35 and the second locking part 36 cooperate with each other to lock the corresponding rod body in the unfolded state, so that the corresponding rod body can be reliably kept in the unfolded state, preventing the corresponding rod body from being abnormally folded in the unfolded state, and facilitating reliable and stable spraying. Exemplarily, when the rod body switches to the folded state, the first locking part 35 and the second locking part 36 cooperate with each other to lock the rod body; when the rod body switches to the unfolded state, the first locking part 35 and the second locking part 36 cooperate with each other to lock the rod body; in this way, it is not necessary to design two locking structures respectively to realize the locking of the rod body in the unfolded state and the locking of the rod body in the folded state, which is conducive to simplifying the structure. For example, the rod body A 312 is provided with the first locking part 35, and the coupling part A 33 is provided with the second locking part 36. The rod body B 322 is provided with the first locking part 35, and the coupling part B 34 is provided with the second locking part 36.

[0102] Please refer to FIG. 7 and FIG. 8, in some embodiments, one of the first locking part 35 and the second locking part 36 comprises a cam member 361, the other of the first locking part 35 and the second locking part 36 comprises a movable member 351 and a resilient member 352, one end of the movable member 351 abuts against the cam member 361, the other end of the movable member 351 is connected with the resilient member 352, so that in a first state of applying an external force, the cam member 361 can rotate against the action of the resilient member 352; and in a second state of removing the external force, the resilient member 352 can provide a pre-tightening force to the cam member 361 through the movable member 351 to lock the corresponding rod body in a preset state. The first locking part 35 and the second locking part 36 of such structure are simple in structure, convenient in locking the rod body, and increase the reliability and service life. In other embodiments, the first locking part 35 and / or the second locking part 36 can also be any other suitable structure. For example, one of the first locking part 35 and the second locking part 36 comprises a locking protrusion, and the other comprises a locking groove, when the corresponding rod body is switched to the preset state, the locking protrusion can be clamped with the locking groove to lock the corresponding rod body.

[0103] Please refer to FIG. 7 and FIG. 8, in some embodiments, the second locking part 36 comprises a cam member 361, the first locking part 35 comprises a movable member 351 and a resilient member 352, and the movable member 351 can move along the axial direction of the rod body. It can be understood that the coupling part is used to connect the rack 20 and the corresponding rod body, and the corresponding rod body generally has more space compared to the coupling part. In this embodiment, the second locking part 36 comprises a cam member 361, and the first locking part 35 comprises a movable member 351 and a resilient member 352, which is beneficial to make the structure more compact. For example, the resilient member 352 can comprise a spring, a spring piece, a torsion spring or other structure with elasticity.

[0104] Please refer to FIG. 9, in some embodiments, the rod body A312 is detachably connected with a nozzle A313 away from the rack 20, and / or the rod body B322 is detachably connected with a nozzle B323 away from the rack 20. In this way, different specifications of nozzles can be replaced to adapt to more job scene requirements; in addition, when the corresponding nozzle is damaged, the nozzle can be replaced without replacing the entire spray rod 301, which is beneficial to reduce the use cost; in addition, when the nozzle needs to be maintained, the nozzle can be detached from the corresponding rod body, which is beneficial to better maintain the nozzle.

[0105] Referring to FIG. 9, in some embodiments, a communication valve 37 is arranged between the rod body A 312 and the spray head A 313 to adjust the flow rate into the spray head A 313, so as to adjust the flow rate into the spray head A 313 according to actual needs, and facilitate to achieve better spraying effect. In some embodiments, a communication valve 37 is arranged between the rod body B 322 and the spray head B 323 to adjust the flow rate into the spray head B 323. For example, the communication valve 37 includes at least one of the following: a solenoid valve, an electric valve, and a communication valve 37 of such structure, which can improve the control accuracy and flexibility of the flow rate. In other embodiments, the communication valve 37 can also include a mechanical communication valve or a manual communication valve, etc. For example, the communication valve 37 is detachably connected to the corresponding spray head or rod body, so as to facilitate quick disassembly and replacement.

[0106] Referring to FIG. 10, in some embodiments, at least one of the spray head A 313 and the spray head B 323 includes a spray head body 381 and a disc 382, and the disc 382 is detachably connected to the spray head body 381. In this way, discs 382 of different specifications can be replaced to adapt to more operation scenarios; in addition, when the corresponding disc 382 is damaged, the disc 382 can be easily replaced, so as to realize quick replacement of the vulnerable components and improve the maintenance efficiency without the need to replace the entire spray head, which is conducive to reducing the use cost; in addition, when the components on the spray head body 381 or the disc 382 need to be maintained, the disc 382 is detached from the spray head body 381, so as to realize quick maintenance of the vulnerable components and improve the maintenance efficiency.

[0107] Referring to FIG. 10, in some embodiments, the spray head body 381 is provided with a first fastener 3811, and the disc 382 is provided with a second fastener 3821, and the first fastener 3811 and the second fastener 3821 are matched with each other to detachably connect the disc 382 to the spray head body 381. The first fastener 3811 and the second fastener 3821 can realize quick disassembly of the disc 382 and the spray head body 381, and can realize reliable assembly connection of the disc 382 and the spray head body 381, which facilitates maintenance or replacement of the components of the spray head 38.

[0108] In some embodiments, the first fastener 3811 and the second fastener 3821 are matched in a rotating manner, so that when the disc 382 is connected to the spray head body 381, the first fastener 3811 and the second fastener 3821 matched in a rotating manner can ensure reliable connection of the disc 382 and the spray head body 381; when it is necessary to disassemble the disc 382 and the spray head body 381, the first fastener 3811 and the second fastener 3821 matched in a rotating manner can facilitate easy disassembly of the disc 382 and the spray head body 381, so as to realize quick disassembly. In other embodiments, the first fastener 3811 and the second fastener 3821 can also not be matched in a rotating manner, such as plug-in connection, etc.

[0109] In some embodiments, one of the first fastener 3811 and the second fastener 3821 comprises a ratchet, and the other of the first fastener 3811 and the second fastener 3821 comprises a pawl, facilitating quick disassembly of the spinning disc 382 and the nozzle body 381, and realizing quick maintenance or replacement of the nozzle. Referring to FIG. 10, by way of example, the first fastener 3811 is a ratchet, and the second fastener 3821 is a pawl.

[0110] Referring to FIG. 10, in some embodiments, the second fastener 3821 further connects a limiting member 383. The limiting member 383 can be deformed under the action of centrifugal force of the spinning disc 382 to lock and limit the spinning disc 382, so that the spinning disc 382 can be reliably connected with the nozzle body 381, and the spinning disc 382 and the nozzle body 381 can be easily disassembled.

[0111] Referring to FIGS. 10 and 11, in some embodiments, the limiting member 383 comprises a first clamping member 3831 and a second clamping member 3832 arranged at intervals. The first clamping member 3831 and the second clamping member 3832 are respectively opened outward along the radial direction under the action of centrifugal force of the spinning disc 382 to be clamped with the periphery of the nozzle body 381. The limiting member 383 of this structure is simple in structure; the limiting member 383 is simple to cooperate with the nozzle body 381, and the nozzle is compact in structure.

[0112] In some embodiments, in the clamped state, the first clamping member 3831 and the second clamping member 3832 are arranged in substantially outer "8" symmetry relative to the rotation axis of the spinning disc 382. In this way, it is beneficial to realize clamping or disengagement of the limiting member 383 and the nozzle body 381 in a limited space.

[0113] Referring to FIG. 10, in some embodiments, the free end of the limiting member 383 away from the nozzle body 381 is provided with an external force contact area 3833 for transmitting external force to make the first fastener 3811 and the second fastener 3821 cooperate in place. The provision of the external force contact area 3833 facilitates transmission of external force to the second fastener 3821 to make the first fastener 3811 and the second fastener 3821 cooperate in place or disengage. For example, the user can contact the external force contact area 3833 with force to tighten, so as to achieve the effect of relative rotation of the first fastener 3811 and the second fastener 3821 to cooperate in place. By way of example, the external force contact area 3833 can be textured to facilitate tightening.

[0114] Referring to FIGS. 7-9, in an example, at least one of the rod body A 312 and the rod body B 322 includes a first connecting portion 391, a rod body 392, and a second connecting portion 393, the first connecting portion 391 and the second connecting portion 393 being connected to the rod body 392 respectively, the first connecting portion 391 being connected to the corresponding coupling portion, and the second connecting portion 393 being connected to the corresponding spray head. The first connecting portion 391 and the rod body 392 are detachably connected, and / or the second connecting portion 393 and the rod body 392 are detachably connected, so as to facilitate disassembly and replacement of the vulnerable components. In other embodiments, the first connecting portion 391 and the rod body 392 can also be non-detachably connected, and the second connecting portion 393 and the rod body 392 can also be non-detachably connected.

[0115] Referring to FIGS. 7 and 8, in an example, the first connecting portion 391 is detachably connected to the rod body 392 through a locking member 394. The first connecting portion 391 is threadedly connected to the locking member 394, one end of the rod body 392 penetrates the first connecting portion 391, and the locking member 394 is threadedly connected to the first connecting portion 391 to reduce the inner diameter of the first connecting portion 391, so that the first connecting portion 391 tightly holds the rod body 392. In an example, the movable member 351 is sleeved outside the first connecting portion 391 and can move along the axial direction of the rod body 392. The two ends of the elastic member 352 abut against the movable member 351 and the locking member 394 respectively. The locking member 394 is sleeved outside the first connecting portion 391.

[0116] In an example, the coupling portion can be rotatably connected to the corresponding rod body through a rotating shaft. The coupling portion can be detachably connected to the second frame body, or non-detachably connected to the second frame body.

[0117] Referring to FIGS. 3 and 4, in some embodiments, the aerial vehicle 1000 further includes a spray rod group II 60, the spray rod group II 60 being mounted to the frame 20, and the spray rod group II 60 including a spray rod C 61 and a spray rod D 62. The arrangement of the spray rod group I 30 can effectively improve the spraying efficiency of the aerial vehicle 1000.

[0118] In an example, the spray rod C 61 can refer to the spray rod A 31 or the spray rod B 32 of any one of the above-described embodiments. The spray rod D 62 can refer to the spray rod A 31 or the spray rod B 32 of any one of the above-described embodiments. The relative relationship between the spray rod C 61 and the spray rod D 62 can refer to the relative relationship between the spray rod A 31 and the spray rod B 32 of any one of the above-described embodiments. The relative relationship between the spray rod C 61 and the frame 20 can refer to the relative relationship between the spray rod A 31 and the frame 20 of any one of the above-described embodiments. The relative relationship between the spray rod D 62 and the frame 20 can refer to the relative relationship between the spray rod B 32 and the frame 20 of any one of the above-described embodiments. The embodiments of the present application will not be repeated here.

[0119] Please refer to FIG. 3 and FIG. 4, in some embodiments, one end of the spray bar C61 is connected with the frame 20 through the coupling part C63, and one end of the spray bar D62 is connected with the frame 20 through the coupling part D64, so as to install the spray bar C61 and the spray bar D62 on the frame 20. For example, one end of the spray bar C61 is connected with the second frame body 22 through the coupling part C63, and one end of the spray bar D62 is connected with the second frame body 22 through the coupling part D64.

[0120] Please refer to FIG. 3 and FIG. 4, in some embodiments, the position of the coupling part A33 on the frame 20 and the position of the coupling part B34 on the frame 20 are different in the heading axis direction of the aircraft 1000, and the position of the coupling part C63 on the frame 20 and the position of the coupling part D64 on the frame 20 are different in the heading axis direction of the aircraft 1000, so that the mutual interference of the spray bar A31 and the spray bar B32 in the folding or unfolding process can be reduced as much as possible in the limited space, and the mutual interference of the spray bar C61 and the spray bar D62 in the folding or unfolding process can be reduced.

[0121] In some embodiments, the coupling part which is at the lower position among the coupling part A33 and the coupling part B34 and the coupling part which is at the lower position among the spray bar C61 and the spray bar D62 are symmetrically arranged relative to the plane formed by the roll axis of the aircraft 1000 and the heading axis of the aircraft 1000 in the unfolded state, which is beneficial to balance the center of gravity of the aircraft 1000 along the pitch axis of the aircraft 1000 in the unfolded state, and provides guarantee for the stable and reliable flight of the aircraft 1000 or the spraying operation. For example, the position of the coupling part B34 is lower than that of the coupling part A33, and the position of the coupling part D64 is lower than that of the coupling part C63; in the unfolded state, the coupling part B34 and the coupling part D64 are symmetrically arranged relative to the plane formed by the roll axis of the aircraft 1000 and the heading axis of the aircraft 1000.

[0122] In some embodiments, the coupling part which is at the higher installation position among the coupling part A33 and the coupling part B34 and the coupling part which is at the higher position among the coupling part C63 and the coupling part D64 are symmetrically arranged relative to the plane formed by the roll axis of the aircraft 1000 and the heading axis of the aircraft 1000 in the unfolded state, which is beneficial to balance the center of gravity of the aircraft 1000 along the pitch axis of the aircraft 1000 in the unfolded state, and provides guarantee for the stable and reliable flight of the aircraft 1000 or the spraying operation. For example, the coupling part A33 is at a higher installation position than the coupling part B34, and the coupling part C63 is at a higher installation position than the coupling part D64; in the unfolded state, the coupling part A33 and the coupling part C63 are symmetrically arranged relative to the plane formed by the roll axis of the aircraft 1000 and the heading axis of the aircraft 1000.

[0123] In some embodiments, the spray bar A31, the spray bar B32, the spray bar C61 and the spray bar D62 correspond to the left front boom, the left rear boom, the right front boom and the right rear boom of the aircraft 1000 respectively. In this way, the effective downwash wind field of the blades on each boom 40 can be fully utilized to press the material sprayed by the corresponding spray head downward, effectively improving the penetration and spraying effect of the sprayed material. In addition, the influence of the setting of each spray bar 301 on the overall shape of the aircraft 1000 can be reduced as much as possible while achieving good spraying effect and spraying efficiency. The structure design is simple, compact and practical.

[0124] In some embodiments, one end of the spray bar C61 is rotatably connected to the frame 20 through the coupling part C63 to realize switching between the unfolded state and the folded state of the spray bar C61; and / or one end of the spray bar D62 is rotatably connected to the frame 20 through the coupling part D64 to realize switching between the unfolded state and the folded state of the spray bar D62. In this way, when the spray bar C61 and the spray bar D62 are needed, the spray bar C61 and the spray bar D62 can be unfolded to perform spraying operation. When the spray bar C61 and the spray bar D62 are not needed, the spray bar C61 and the spray bar D62 can be folded, effectively reducing the total occupied volume of the spray bar C61 and the spray bar D62 in the folded state, and further reducing the occupied volume of the whole machine in the folded state, thereby improving the compactness of the whole machine in the folded state.

[0125] In some embodiments, the coupling part in the lower position in the coupling part A33 and the coupling part B34 is symmetrically arranged with the coupling part in the lower position in the coupling part C63 and the coupling part D64 relative to the plane formed by the roll axis of the aircraft 1000 and the heading axis of the aircraft 1000 in the folded state, which is beneficial to balance the center of gravity of the aircraft 1000 along the pitch axis of the aircraft 1000 in the folded state, and provides a guarantee for the stable and reliable flight of the aircraft 1000. For example, the position of the coupling part B34 is lower than that of the coupling part A33, and the position of the coupling part D64 is lower than that of the coupling part C63. In the folded state, the coupling part B34 and the coupling part D64 are symmetrically arranged relative to the plane formed by the roll axis of the aircraft 1000 and the heading axis of the aircraft 1000.

[0126] In some embodiments, the spray rod 301 in the higher position in the coupling portion A33 and the coupling portion B34 is symmetrically arranged relative to the plane formed by the roll axis of the aircraft 1000 and the heading axis of the aircraft 1000 in the folded mode, which is beneficial to balance the center of gravity of the aircraft 1000 in the direction of the pitch axis of the aircraft 1000 in the folded mode, and provides a guarantee for stable and reliable flight of the aircraft 1000. For example, the coupling portion A33 is in a higher installation position than the coupling portion B34, and the coupling portion C63 is in a higher installation position than the coupling portion D64; in the folded mode, the coupling portion A33 and the coupling portion C63 are symmetrically arranged relative to the plane formed by the roll axis of the aircraft 1000 and the heading axis of the aircraft 1000.

[0127] The coupling portion A33, the coupling portion B34, the coupling portion C63 and the coupling portion D64 can adopt any suitable structure as long as the corresponding spray rod 301 can be rotatably connected to the rack 20. For example, at least one of the coupling portion A33, the coupling portion B34, the coupling portion C63 and the coupling portion D64 comprises a rotating shaft structure. The structure, shape and / or size of the coupling portion A33, the coupling portion B34, the coupling portion C63 and the coupling portion D64 can be the same, completely different, or partially the same and partially different, which is not limited herein.

[0128] Exemplarily, the root of the spray rod 301 is connected with the second rack body 22, and the spray head is connected with the coupling portion through the rod body. The load platform is decoupled from the whole machine (the rack 20, the machine arm 40 and the driving member 11), the position of the spray head can be moved in a relatively large range, the range can be reasonably adjusted according to the product performance requirements, and the optimization of the spraying effect is realized.

[0129] Exemplarily, the spray rod 301 is composed of a first connecting portion 391, a rod body 392, a second connecting portion 393, a communication valve 37 and a spray head. The communication valve and the spray head module are independent, and can be quickly disassembled and replaced.

[0130] Exemplarily, the cam member 361 and the movable member 351 are a pair of opposite grinding parts, and the outer shape of the cam member 361 is a cam surface.

[0131] In order to meet the fixing requirements in the folded mode and the unfolded mode, avoid the folding phenomenon in the unfolded mode or the abnormal opening phenomenon in the folded mode, the spring force value of the elastic member 352 needs to be greater than the force of the spray rod 301 folding or abnormally opening, and there is a force value mutation process in the unfolded mode and the folded mode.

[0132] In order to meet the user's maintenance and replacement requirements, reduce the number of screw disassembly, and improve the reliability and service life, the rod body is disconnected with the first connecting part 391, relies on the locking piece 394 to threadedly hold, fixes the rod body and the first connecting part 391, and can realize quick replacement of the rod body.

[0133] Exemplarily, the length of the spray rod 301 is adjustable, and / or the rotation angle of the spray rod 301 is adjustable; the spray head can be adjusted in the spatial position, can adapt to the required working row spacing of different crops, is decoupled from the spray particle size, can realize adjustment of different row spacings and flight speeds under different particle sizes, is more suitable for spray effects of various working scenes (fruit trees, fields and forestry), and has strong expansibility.

[0134] Understandably, the wind field will change with the blade layout for different aircraft configurations, and the scheme of the embodiment of the application is more conducive to realizing that the spray head is located at the strongest wind field of the blade, is more conducive to spraying down, and has better spraying effect.

[0135] Exemplarily, the first fastener 3811 and the second fastener 3821 are in ratchet and toothed engagement to limit and realize locking by material deformation of the limiting piece 383, so that the parts of the spray head are convenient to replace or maintain.

[0136] Understandably, the rack 20, the first rack body 21 and the second rack body 22 in FIGS. 2(A) to 5 are only exemplary, but do not limit the structure, number, shape and / or size of the rack 20, the first rack body 21 and the second rack body 22. In actual application, the structure, number, shape and / or size of the rack 20, the first rack body 21 and the second rack body 22 can be changed according to actual application scenes.

[0137] Understandably, the spray rod 301, the spray rod A31, the spray rod B32, the spray rod C61 and the spray rod D62 in FIGS. 2(A) and 2(B) are only exemplary, but do not limit the structure, mounting position, shape, number, shape and / or size thereof. In actual application, the structure, mounting position, shape, number, shape and / or size of the spray rod 301, the spray rod A31, the spray rod B32, the spray rod C61 and the spray rod D62 can be changed according to actual application scenes.

[0138] Understandably, FIGS. 6 to 8 only show the specific structure of the spray rod A31, and the structures of other spray rods 301 of the embodiment can refer to the structure of the spray rod A31, which is not limited herein. The structures of other spray rods 301 can be the same as the structure of the spray rod A31, or can not be the same as the structure of the spray rod A31.

[0139] Understandably, when the material sprayed by the spray rod 301 of the aircraft 1000 is liquid, if the spray material has insufficient permeability, the spray effect of the material will be poor, and the problem of mist drifting everywhere will occur.

[0140] The embodiment of the present application also provides a flying device, which comprises:

[0141] an arm, wherein the arm is provided with a power mechanism, and the power mechanism comprises a paddle;

[0142] a frame, wherein the frame is connected with the arm; and

[0143] a spray rod, wherein the spray rod is rotatably connected with the frame to realize switching of the spray rod between an unfolded state and a folded state, and the spray rod comprises a spray head, and the spray head is used for spraying materials outwardly;

[0144] In the unfolded state, a projection of the spray head on a first paddle plane is located in a first paddle disc, the first paddle disc represents a region formed by rotation of a first paddle, the first paddle plane represents a plane where the first paddle disc is located, and the first paddle represents a paddle closest to the spray head among the paddles.

[0145] For example, referring to FIGS. 1-2(B), a flying device 1000 comprises a power mechanism 10, a frame 20 and a spray rod 301. The arm is provided with the power mechanism 10, the power mechanism 10 comprises a paddle; the frame 20 is connected with the arm; and the spray rod 301 is rotatably connected with the frame 20 to realize switching of the spray rod 301 between an unfolded state and a folded state, and the spray rod 301 comprises a spray head A313, and the spray head 323 is used for spraying materials outwardly. In the unfolded state, a projection of the spray head 313 on a first paddle plane is located in a paddle disc A43, the paddle disc A43 represents a region formed by rotation of a first paddle 13, the first paddle plane represents a plane where the paddle disc A43 is located, and the first paddle 13 represents a paddle closest to the spray head A313 among the paddles.

[0146] In some embodiments, the frame 20 comprises a first frame body 21 and a second frame body 22, the second frame body 22 is installed below the first frame body 21 to provide take-off support force for the flying device 1000, and further, the spray rod 301 is rotatably connected with the second frame 22.

[0147] The aircraft 1000 of the above embodiment can be unfolded to perform spraying operation when the spray bar 301 is needed to be used, and can be folded to effectively reduce the occupied volume of the whole machine when the spray bar 301 is in the folded form, improve the structural compactness of the whole machine in the folded form, and facilitate the storage and transportation. In addition, in the unfolded form, the projection of the spray bar 301 on the first plane is located in the first disc, so that the effective downwash field of the first blade 13 can be used to press the material sprayed by the spray head downward to improve the penetration of the sprayed material, and has better spraying effect under the same use amount of liquid.

[0148] It should be noted that the aircraft of the present embodiment and the aircraft or spray bar group of all the foregoing embodiments have the same or similar structure and principle. It can be clearly understood by those skilled in the art that one or more embodiments of the foregoing embodiments can be applied to the aircraft or spray bar group of the present embodiment, and the present embodiment will not be described here.

[0149] The present application also provides a separate spraying mechanism to protect the spraying mechanism from being assembled with a working platform.

[0150] The present application also provides a spraying mechanism, which comprises:

[0151] a frame body; and

[0152] a spray bar group I, which comprises a spray bar A and a spray bar B arranged at intervals, one end of the spray bar A is rotatably connected to the frame body through a coupling part A, the other end of the spray bar A is a free end A, one end of the spray bar B is rotatably connected to the frame body through a coupling part B, and the other end of the spray bar B is a free end B;

[0153] The spray bar A can rotate in a first direction to switch between the unfolded form and the folded form, the spray bar B can rotate in a second direction to switch between the unfolded form and the folded form, the first direction is one of the clockwise direction and the counterclockwise direction, the second direction is the other of the clockwise direction and the counterclockwise direction, and in the folded form, the free end A is closer to the coupling part B than the free end B, and the free end B is closer to the coupling part A than the free end A.

[0154] It should be noted that the aircraft described in the present embodiment and the spray system or spray rod group of all the foregoing embodiments have the same or similar structure and principle, and one or more embodiments of the foregoing embodiments can be applied to the spray system or spray rod group of the present embodiment, which will not be described herein.

[0155] The present application also provides a spraying mechanism, which comprises:

[0156] a landing gear configured to be connected to a body of the aircraft; and

[0157] a spray rod rotatably connected to the landing gear to switch the spray rod between an unfolded state and a folded state, the spray rod comprising a spray head for spraying material outwardly;

[0158] In the mounted state of the spraying mechanism mounted on the body of the aircraft, a projection of the spray head on a first blade plane is located within a first blade disc, the first blade disc representing an area formed by rotation of a first blade, the first blade plane representing a plane on which the first blade disc is located, and the first blade representing a blade closest to the spray head in the aircraft.

[0159] It should be noted that the aircraft described in the present embodiment and the spray system or spray rod group of all the foregoing embodiments have the same or similar structure and principle, and one or more embodiments of the foregoing embodiments can be applied to the spray system or spray rod group of the present embodiment, which will not be described herein.

[0160] Referring to FIG. 13, the present application also provides a spraying system 200, which comprises a storage tank 201, a conveying pipeline 202, and a spraying mechanism 100. The spraying mechanism 100 comprises the spraying mechanism 100 of any one of the foregoing embodiments. In the spraying system 200, the material in the storage tank 201 can be conveyed to the spray rod group in the spraying mechanism 100 through the conveying pipeline 202; or the material in the storage tank 201 can be conveyed to the spray rod 301 of the spraying mechanism 100 through the conveying pipeline 202.

[0161] In the description of the present application, it is necessary to explain that, unless explicitly defined and limited, the terms "mount", "connect", "connection", "mechanically coupled", "coupled" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected. It can be mechanical connection, or electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through transmission mechanism, etc. The mechanical coupling of two components can be understood as the existence of mechanical connection and / or mechanical interaction between two components. Mechanical connection includes but is not limited to at least one of the following: rotating connection, movable connection, sliding connection and abutment, etc. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0162] In the present application, unless explicitly defined and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0163] The above disclosure provides many different implementations or examples for implementing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described in the above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0164] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific method steps, features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Also, the specific method steps, features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0165] The above description is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An aircraft, characterized in that The utility model relates to an aerial vehicle, comprising: a power mechanism for providing flight power; a frame, wherein the power mechanism is arranged on the frame; and a spray rod group I, wherein the spray rod group I comprises a spray rod A and a spray rod B arranged at intervals, one end of the spray rod A is rotatably connected to the frame through a coupling part A, the other end of the spray rod A is a free end A, one end of the spray rod B is rotatably connected to the frame through a coupling part B, and the other end of the spray rod B is a free end B; wherein the spray rod A can rotate in a first direction to switch the spray rod A between an unfolded state and a folded state, the spray rod B can rotate in a second direction to switch the spray rod B between an unfolded state and a folded state, the first direction is one of a clockwise direction and an anticlockwise direction, the second direction is the other of the clockwise direction and the anticlockwise direction, and in the folded state, the free end A is closer to the coupling part B than the free end B, and the free end B is closer to the coupling part A than the free end A. In the folded state, the spray rod A and the spray rod B at least partially overlap in a plane formed by a roll axis of the aerial vehicle and a pitch axis of the aerial vehicle.

2. The aircraft of claim 1, wherein, And / or, the spray rod A and the spray rod B are arranged in layers in a heading direction of the aerial vehicle. The frame comprises a first frame body and a second frame body, the power mechanism is arranged on the first frame body, and the second frame body is mounted below the first frame body to provide a take-off support force of the aerial vehicle.

3. The aircraft of claim 1, wherein, The second frame body is detachably connected to the first frame body.

4. The aircraft of claim 3, wherein, The second frame body and the first frame body are connected through a quick release structure, and the locking step or the dismounting step of the quick release structure is less than or equal to 4.

5. The aircraft of claim 3, wherein, The spray rod A and / or the spray rod B are rotatably connected to the second frame body.

6. The aircraft of claim 4 or 5, wherein, The rotation plane of the spray rod A and / or the spray rod B is substantially parallel to a plane where the frame is located.

7. The aircraft of claim 1, wherein, The rotation plane of the spray rod A and / or the spray rod B is greater than 45 degrees relative to an included angle of a heading axis of the aerial vehicle.

8. The aircraft of claim 1, wherein, The rotation plane of the spray rod A and / or the spray rod B is substantially parallel to a plane formed by a roll axis of the aerial vehicle and a pitch axis of the aerial vehicle.

9. The aircraft of claim 8, wherein, The spray rod A and the spray rod B can be mutually reused.

10. The aircraft of claim 1, wherein, The structure, shape and / or size of the spray rod A and the spray rod B are substantially the same.

11. The aircraft of claim 10, wherein, The spray rod A and the spray rod B are located on the same side of the frame.

12. The aircraft of claim 11, wherein, The frame has a front side corresponding to a nose direction, a rear side corresponding to a tail direction, a left side and a right side, wherein the spray rod A and the spray rod B are located on the left side of the frame, or the spray rod A and the spray rod B are located on the right side of the frame.

13. The aircraft of claim 11, wherein, The spray rod A comprises a rod body A and at least one spray head A, the spray head A is arranged at one end of the rod body A away from the frame, the spray rod B comprises a rod body B and at least one spray head B, the spray head B is arranged at one end of the rod body B away from the frame, and the spray head A and the spray head B are used for spraying materials outward.

14. The aircraft of claim 1, wherein, In the unfolded state, at least one of the following conditions is met:

15. The aircraft of claim 14, wherein, ​ The angle between the rod A and the roll axis of the aircraft is substantially equal to the angle between the rod B and the roll axis of the aircraft; The angle between the rod A and the roll axis of the aircraft is an obtuse angle; The angle between the rod B and the roll axis of the aircraft is an obtuse angle; The projection of the rod A on the plane formed by the pitch axis of the aircraft and the roll axis of the aircraft is symmetrically arranged with the projection of the rod B on the plane formed by the pitch axis of the aircraft and the roll axis of the aircraft relative to the pitch axis; The rod A is substantially parallel to a first arm of the aircraft, the first arm representing the arm of the aircraft closest to the nozzle A; The rod B is substantially parallel to a second arm of the aircraft, the second arm representing the arm of the aircraft closest to the nozzle B; The nozzle A is arranged towards the lower or obliquely lower direction; The nozzle B is arranged towards the lower or obliquely lower direction; The projection of the nozzle A on a first plane of the first blade is located within a first blade disc, wherein the first blade disc represents the area formed by the rotation of the first blade, the first plane of the first blade represents the plane on which the first blade disc is located, and the first blade represents the blade of the aircraft closest to the nozzle A; The nozzle A is located within a preset intensity range of the downwash field of the first blade, wherein the first blade represents the blade of the aircraft closest to the nozzle A; The projection of the nozzle B on a second plane of the second blade is located within a second blade disc, wherein the second blade disc represents the area formed by the rotation of the second blade, the second plane of the second blade represents the plane on which the second blade disc is located, and the second blade represents the blade of the aircraft closest to the nozzle B; The nozzle B is located within a preset intensity range of the downwash field of the second blade, wherein the second blade represents the blade of the aircraft closest to the nozzle B.

16. The aircraft of claim 14, wherein, In the folded state, at least one of the following conditions is met: The rod A is substantially parallel to the roll axis of the aircraft; The rod B is substantially parallel to the roll axis of the aircraft; The rod A and the rod B are substantially parallel to each other; The nozzle A and the nozzle B are arranged diagonally; The nozzle A is accommodated on the outside of the frame; The nozzle B is accommodated on the outside of the frame.

17. The aircraft of claim 1, wherein, The structure of at least one of the spray rods A and B is adjustable.

18. The aircraft of claim 17, wherein, The length of at least one of the spray rods A and B is adjustable.

19. The aircraft of claim 17, wherein, In the unfolded state, the rotation angle of at least one of the spray rods A and B is adjustable to correspond to different spraying states.

20. The aircraft of claim 1, wherein, The position of the coupling part A on the frame is higher than the position of the coupling part B on the frame in the heading direction of the aircraft.

21. The aircraft of claim 20, wherein, The position of the coupling part closer to the nose direction of the aircraft among the coupling parts A and B on the frame is higher than the position of the coupling part farther from the nose direction of the aircraft among the coupling parts A and B.

22. The aircraft of claim 20, wherein, The power mechanism comprises a first arm and a second arm, the first arm represents an arm closest to the spray rod A in the unfolded state, the second arm represents an arm closest to the spray rod B in the unfolded state, the first arm and the second arm can be arranged in a staggered manner in the heading axis direction of the aircraft in the arm folded state, and the position of the coupling part corresponding to the arm arranged in the lower layer on the frame is higher.

23. The aircraft of claim 14, wherein, At least one of the rod body A and the rod body B is detachably connected to the frame through the corresponding coupling part.

24. The aircraft of claim 14, wherein, At least one of the rod body A and the rod body B is provided with a first locking part, and the corresponding coupling part is provided with a second locking part, the first locking part and the second locking part are matched with each other to lock the corresponding rod body in a preset state, the preset state includes at least one of the folded state and the unfolded state.

25. The aircraft of claim 24, wherein, One of the first locking part and the second locking part comprises a cam member, the other of the first locking part and the second locking part comprises a movable member and an elastic member, one end of the movable member abuts against the cam member, and the other end is connected with the elastic member, so that in a first state in which an external force is applied, the cam member can rotate against the action of the elastic member, and in a second state in which the external force is removed, the elastic member can provide a pre-tightening force to the cam member through the movable member to lock the corresponding rod body in the preset state.

26. The aircraft of claim 25, wherein, The second locking part comprises the cam member, the first locking part comprises the movable member and the elastic member, and the movable member can move in the axial direction of the rod body.

27. The aircraft of claim 14, wherein, The end of the rod body A away from the frame is detachably connected with the spray head A, and / or the end of the rod body B away from the frame is detachably connected with the spray head B.

28. The aircraft of claim 27, wherein, A communication valve is arranged between the rod body A and the spray head A to adjust the flow entering the spray head A, and / or a communication valve is arranged between the rod body B and the spray head B to adjust the flow entering the spray head B.

29. The aircraft of claim 14, wherein, At least one of the spray head A and the spray head B comprises: a spray head body; a spinning disc detachably connected to the spray head body.

30. The aircraft of claim 29, wherein, The spray head body is provided with a first fastener, the spinning disc is provided with a second fastener, and the first fastener and the second fastener are matched with each other to detachably connect the spinning disc to the spray head body.

31. The aircraft of claim 30, wherein, The first fastener and the second fastener are rotationally matched.

32. The aircraft of claim 31, wherein, One of the first fastener and the second fastener comprises a ratchet, and the other of the first fastener and the second fastener comprises a ratchet tooth.

33. The aircraft of any one of claims 30 to 32, wherein, The second fastener is further connected with a limiting member, and the limiting member can be deformed under the action of the centrifugal force of the spinning disc to lock and limit the spinning disc.

34. The aircraft of claim 33, wherein, The limiting member comprises a first clamping member and a second clamping member arranged at intervals, and the first clamping member and the second clamping member respectively expand outward in the radial direction under the action of the centrifugal force of the spinning disc to be clamped with the circumference of the spray head body.

35. The aircraft of claim 34, wherein, In the engaged state, the first and second engaging members are arranged substantially as outer "8" symmetry relative to the rotation axis of the swash plate.

36. The aircraft of any one of claims 33 to 35, wherein, The limiting member is provided with an external force contact area at the free end away from the spray head body, for transmitting external force to enable the first and second fasteners to be fitted in place.

37. The aircraft of claim 1, wherein, A second spray bar group II is also included, which is mounted on the frame, and the second spray bar group II includes a spray bar C and a spray bar D.

38. The aircraft of claim 37, wherein, One end of the spray bar C is connected to the frame through a coupling part C, and one end of the spray bar D is connected to the frame through a coupling part D.

39. The aircraft of claim 38, wherein, The positions of the coupling parts A and B on the frame have a height difference in the heading axis direction of the aircraft, and the positions of the coupling parts C and D on the frame have a height difference in the heading axis direction of the aircraft.

40. The aircraft of claim 39, wherein, The coupling parts A, B, C and D meet at least one of the following conditions: The coupling part in the lower position of the coupling parts A and B and the coupling part in the lower position of the coupling parts C and D are symmetrically arranged relative to the plane formed by the roll axis of the aircraft and the heading axis of the aircraft in the unfolded state; The coupling part in the higher position of the coupling parts A and B and the coupling part in the higher position of the coupling parts C and D are symmetrically arranged relative to the plane formed by the roll axis of the aircraft and the heading axis of the aircraft in the unfolded state; The spray bars A, B, C and D correspond to the left front arm, left rear arm, right front arm and right rear arm of the aircraft respectively.

41. The aircraft of claim 38, wherein, One end of the spray bar C is rotatably connected to the frame through a coupling part C to realize switching of the spray bar C between the unfolded state and the folded state; and / or one end of the spray bar D is rotatably connected to the frame through a coupling part D to realize switching of the spray bar D between the unfolded state and the folded state.

42. The aircraft of claim 41, wherein, The coupling parts A, B, C and D meet at least one of the following conditions: The coupling part in the lower position of the coupling parts A and B and the coupling part in the lower position of the coupling parts C and D are symmetrically arranged relative to the plane formed by the roll axis of the aircraft and the heading axis of the aircraft in the folded state; The coupling part in the higher position of the coupling parts A and B and the coupling part in the higher position of the coupling parts C and D are symmetrically arranged relative to the plane formed by the roll axis of the aircraft and the heading axis of the aircraft in the folded state.

43. An aircraft characterized by, It includes: An arm, which is provided with a power mechanism, and the power mechanism includes a paddle; A frame, which is connected with the arm; And A spray bar, which is rotatably connected to the frame to realize switching of the spray bar between the unfolded state and the folded state, and the spray bar includes a spray head for spraying material outwardly. In the unfolded state, a projection of the spray head on a first paddle plane is located in a first paddle disc, the first paddle disc represents an area formed by rotation of the first paddle, and the first paddle plane represents a plane on which the first paddle disc is located, and the first paddle represents a paddle closest to the spray head among the paddles.

44. The aircraft of claim 43, wherein, The machine frame comprises a first frame body and a second frame body, the first frame body is connected with the machine arm, and the second frame body is installed below the first frame body to provide take-off support force for the aircraft.

45. The aircraft of claim 44, wherein, The second frame body is detachably installed on the first frame body.

46. The aircraft of claim 43, wherein, The number of spray rods includes multiple, and at least two of the multiple spray rods form a spray rod group I, the spray rod group I includes spray rod A and spray rod B arranged at intervals, one end of the spray rod A is rotatably connected with the second frame body of the machine frame through a coupling part A, the other end of the spray rod A is a free end A, one end of the spray rod B is rotatably connected with the second frame body through a coupling part B, and the other end of the spray rod B is a free end B. In the unfolded state, a projection of the spray head on a first paddle plane is located in a first paddle disc, the first paddle disc represents an area formed by rotation of the first paddle, and the first paddle plane represents a plane on which the first paddle disc is located, and the first paddle represents a paddle closest to the spray head among the paddles.

47. The aircraft of claim 46, wherein, In the folded state, the free end A is closer to the coupling part B than the free end B, and the free end B is closer to the coupling part A than the free end A. In the folded state, the spray rod A and the spray rod B at least partially overlap in a plane formed by a roll axis of the aircraft and a pitch axis of the aircraft.

48. The aircraft of claim 47, wherein, And / or, the spray rod A and the spray rod B are staggered in the heading axis direction of the aircraft.

49. The aircraft of claim 48, wherein, The spray rod A comprises a rod body A and at least one spray head A, the spray head A is arranged at one end of the rod body A away from the second frame body, the spray rod B comprises a rod body B and at least one spray head B, the spray head B is arranged at one end of the rod body B away from the second frame body, and the spray head A and the spray head B are used for spraying material outward. In the unfolded state, at least one of the following conditions is met: An included angle between the rod body A and the roll axis of the aircraft is substantially equal to an included angle between the rod body B and the roll axis of the aircraft; The included angle between the rod body A and the roll axis of the aircraft is an obtuse angle; The included angle between the rod body B and the roll axis of the aircraft is an obtuse angle; A projection of the rod body A on a plane formed by the pitch axis of the aircraft and the roll axis of the aircraft is symmetrically arranged with respect to the pitch axis with a projection of the rod body B on the plane formed by the pitch axis of the aircraft and the roll axis of the aircraft; The rod body A is substantially parallel to a first machine arm of the aircraft, and the first machine arm represents a machine arm closest to the spray head A among the machine arms of the aircraft. The rod body B is substantially parallel to a second arm of the aircraft, the second arm representing an arm of the aircraft closest to the nozzle B; The nozzle A is arranged towards the lower side or obliquely downwards; The nozzle B is arranged towards the lower side or obliquely downwards; The nozzle A is located within a preset intensity range of a downwash wind field of a first blade, the first blade representing a blade of the aircraft closest to the nozzle A; The nozzle B is located within a preset intensity range of a downwash wind field of a second blade, the second blade representing a blade of the aircraft closest to the nozzle B.

50. The aircraft of claim 48, wherein, In the folded mode, at least one of the following conditions is met: The rod body A is substantially parallel to a roll axis of the aircraft; The rod body B is substantially parallel to the roll axis of the aircraft; The rod body A and the rod body B are substantially parallel to each other; The nozzle A and the nozzle B are arranged diagonally; The nozzle A is accommodated on the outer side of the second frame body; The nozzle B is accommodated on the outer side of the second frame body.

51. The aircraft of claim 48, wherein, At least one of the rod body A and the rod body B is provided with a first locking portion, and a corresponding coupling portion is provided with a second locking portion, the first locking portion and the second locking portion cooperate to lock the corresponding rod body in a preset state, the preset state including at least one of the folded mode and the unfolded mode.

52. The aircraft of claim 51, wherein, One of the first locking portion and the second locking portion includes a cam member, the other of the first locking portion and the second locking portion includes a movable member and a resilient member, one end of the movable member abuts the cam member, and the other end of the movable member is connected to the resilient member, so that in a first state in which an external force is applied, the cam member can rotate against the action of the resilient member, and in a second state in which the external force is removed, the resilient member can provide a pre-tightening force to the cam member through the movable member to lock the corresponding rod body in the preset state.

53. The aircraft of claim 52, wherein, The second locking portion includes the cam member, the first locking portion includes the movable member and the resilient member, and the movable member can move along the axial direction of the rod body.

54. A spraying mechanism characterized by, It comprises: a frame body; and a spray rod group I, the spray rod group I comprising a spray rod A and a spray rod B arranged at intervals, one end of the spray rod A being rotatably connected to the frame body through a coupling portion A, the other end of the spray rod A being a free end A, one end of the spray rod B being rotatably connected to the frame body through a coupling portion B, the other end of the spray rod B being a free end B; wherein the spray rod A can rotate in a first direction to switch the spray rod A between an unfolded mode and a folded mode, the spray rod B can rotate in a second direction to switch the spray rod B between an unfolded mode and a folded mode, the first direction being one of a clockwise direction and a counterclockwise direction, the second direction being the other of the clockwise direction and the counterclockwise direction; and in the folded mode, the free end A is closer to the coupling portion B than the free end B, and the free end B is closer to the coupling portion A than the free end A. The frame body comprises a landing gear of an aircraft.

55. The spray mechanism of claim 54, wherein, ​ 56. The spray mechanism of claim 54, wherein, The projection of the spray rod A and the spray rod B on a plane formed by the roll axis of the aircraft and the pitch axis of the aircraft at least partially overlaps when the spraying mechanism is installed on the aircraft and in the folded configuration; And / or, the spray rod A and the spray rod B are staggered in the heading axis direction of the aircraft.

57. The spray mechanism of claim 54, wherein, The spray rod A and the spray rod B can be mutually reusable.

58. The spray mechanism of claim 57, wherein, The spray rod A and the spray rod B are substantially the same in structure, shape and / or size.

59. The spray mechanism of claim 54, wherein, The structure of at least one of the spray rod A and the spray rod B is adjustable.

60. The spray mechanism of claim 59, wherein, The length of at least one of the spray rod A and the spray rod B is adjustable.

61. The spray mechanism of claim 59, wherein, In the unfolded configuration, the rotation angle of at least one of the spray rod A and the spray rod B is adjustable to correspond to different spraying states.

62. The spray mechanism of claim 54, wherein, Further comprising a spray rod group II, the spray rod group II is installed on the frame body, and the spray rod group II comprises a spray rod C and a spray rod D.

63. The spray mechanism of claim 62, wherein, One end of the spray rod C is connected to the frame body through a coupling part C, and one end of the spray rod D is connected to the frame body through a coupling part D.

64. The spray mechanism of claim 54, wherein, The frame body comprises a landing gear of an aircraft, the spray rod A comprises a rod body A and at least one spray head A, the spray head A is arranged at one end of the rod body A away from the landing gear, the spray rod B comprises a rod body B and at least one spray head B, the spray head B is arranged at one end of the rod body B away from the landing gear, and the spray head A and the spray head B are used for spraying materials outward.

65. A spraying mechanism characterized by, Comprise: a landing gear configured to be connected to a body of an aircraft; and a spray rod rotatably connected to the landing gear to realize switching of the spray rod between an unfolded configuration and a folded configuration, the spray rod comprising a spray head for spraying materials outward; wherein, in the mounted state of the spraying mechanism installed on the body of the aircraft, the projection of the spray head on a first blade plane is located within a first blade disc, the first blade disc represents an area formed by rotation of a first blade, the first blade plane represents a plane on which the first blade disc is located, and the first blade represents a blade closest to the spray head in the aircraft.

66. The spray mechanism of claim 65, wherein, The landing gear is detachably connected to the body.

67. The spray mechanism of claim 65, wherein, The number of the spray rods comprises a plurality of spray rods, at least two of the plurality of spray rods forming a spray rod group I, the spray rod group I comprising a spray rod A and a spray rod B arranged at intervals, one end of the spray rod A being rotatably connected to the landing gear through a coupling part A, the other end of the spray rod A being a free end A, one end of the spray rod B being rotatably connected to the landing gear through a coupling part B, and the other end of the spray rod B being a free end B. The spray rod A is capable of rotating in a first direction to switch the spray rod A between an unfolded configuration and a folded configuration, and the spray rod B is capable of rotating in a second direction to switch the spray rod B between an unfolded configuration and a folded configuration, the first direction being one of a clockwise direction and an anticlockwise direction, and the second direction being the other of the clockwise direction and the anticlockwise direction; and in the folded configuration, the free end A is closer to the coupling portion B than the free end B, and the free end B is closer to the coupling portion A than the free end A.

68. The spray mechanism of claim 65, wherein, The spray mechanism, when installed on an aircraft and in the folded configuration, the projections of the spray rod A and the spray rod B on a plane formed by a roll axis of the aircraft and a pitch axis of the aircraft at least partially overlap each other; And / or, the spray rod A and the spray rod B are staggered in a heading axis direction of the aircraft.

69. The spray mechanism of claim 65, wherein, The spray rod A and the spray rod B are mutually reusable.

70. The spray mechanism of claim 69, wherein, The spray rod A and the spray rod B are substantially identical in structure, shape and / or size.

71. The spray mechanism of claim 65, wherein, The spray rod A includes a rod body A and at least one spray head A, the spray head A being arranged at an end of the rod body A distal to the landing gear, and the spray rod B includes a rod body B and at least one spray head B, the spray head B being arranged at an end of the rod body B distal to the landing gear, the spray head A and the spray head B being configured to spray material outwardly.

72. A spraying system characterized by, Comprising: a storage tank; a delivery pipeline; and the spray mechanism of any one of claims 54-64; wherein the material in the storage tank is deliverable to the spray rod group in the spray mechanism via the delivery pipeline. Comprising:

73. A spraying system characterized by, a storage tank; a delivery pipeline; and the spray mechanism of any one of claims 65-71; wherein the material in the storage tank is deliverable to the spray rod in the spray mechanism via the delivery pipeline. ​ ​

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