Control methods for feeding devices, slingers, mobile platforms, and aircraft

Abstract

A control method for a feeding device, a throwing disc, a mobile platform, and an aircraft is disclosed. The feeding device includes a drive mechanism (10) and at least two injection mechanisms (20). The injection mechanisms (20) are configured to inject material into a working area, and the injection nozzles of the at least two injection mechanisms (20) are spaced apart. The drive mechanism (10) includes a transmission mechanism (11) and a power unit (12). The transmission mechanism (11) is connected to the at least two injection mechanisms (20). The power unit (12) is connected to the transmission mechanism (11) and is configured to simultaneously drive the at least two injection mechanisms (20) through the transmission mechanism (11), so that the at least two injection mechanisms (20) can share the driving force of the power unit (12) to work simultaneously.

Description

Control method of feeding device, centrifugal disc, movable platform and aircraft TECHNICAL FIELD

[0001] The present application relates to the technical field of movable working platforms, and in particular to a control method of a feeding device, a centrifugal disc, a movable platform and an aircraft. BACKGROUND

[0002] With the development of society, using aircraft for work is becoming a trend, for example, spraying or sowing work can be performed by aircraft. However, the aircraft work in the related art has problems such as high cost and weak penetration of sprayed materials.

[0003] SUMMARY

[0004] Therefore, the present application provides a control method of a feeding device, a centrifugal disc, a movable platform and an aircraft.

[0005] The first aspect of the present application provides a feeding device, comprising:

[0006] at least two material shooting mechanisms configured to shoot materials to a working area, the at least two material shooting mechanisms being arranged at intervals corresponding to material shooting ports; and

[0007] a driving mechanism, comprising:

[0008] a transmission mechanism connected to the at least two material shooting mechanisms; and

[0009] a power device connected to the transmission mechanism, the power device being configured to drive the at least two material shooting mechanisms to operate simultaneously through the transmission mechanism, so that the at least two material shooting mechanisms can share the driving force of the power device to work simultaneously.

[0010] The second aspect of the present application provides a feeding device, comprising:

[0011] a material shooting mechanism provided with a material shooting port; and

[0012] a guide pipe connected to the material shooting port, the guide pipe being configured to be at least partially movable to switch between a first state and a second state;

[0013] wherein, in the first state, the guide pipe is unfolded along the material shooting direction of the material shooting mechanism to guide the materials shot by the material shooting mechanism; and in the second state, the guide pipe is at least partially movable to reduce the distance between the end of the guide pipe and the material shooting mechanism along the material shooting direction of the material shooting mechanism.

[0014] The disc of the third aspect of the present application comprises a disc body and a guide mechanism. The disc body is provided with a feeding cavity located at the middle part of the disc body along the axial direction and an acceleration cavity surrounding the feeding cavity. The feeding cavity is in communication with the acceleration cavity. The disc body is provided with a feeding port in communication with the feeding cavity.

[0015] The guide mechanism comprises a feeding guide part and an acceleration guide part connected with the feeding guide part. The feeding guide part is located at the outer periphery of the feeding cavity. The acceleration guide part is located in the acceleration cavity.

[0016] The feeding guide part is in the form of a circular arc, and the central axis of the feeding guide part is substantially coincident with the rotation axis of the disc body.

[0017] The fourth aspect of the present application provides a movable platform, which comprises a rack, a propulsion device and the above-mentioned feeding device. The propulsion device and the feeding device are arranged on the rack. The propulsion device is used to provide the thrust for the movement of the movable platform.

[0018] The fifth aspect of the present application provides a control method of an aircraft, which comprises:

[0019] controlling the flight of the aircraft;

[0020] controlling the feeding of the feeding mechanism of the aircraft; during the feeding of the feeding mechanism, the guide pipe in communication with the feeding port of the feeding mechanism is in an unfolded state, and the unfolded guide pipe extends along the feeding direction; and

[0021] in response to the end of the feeding of the feeding mechanism, the guide pipe is controlled to be folded into the landing leg of the aircraft, and the landing leg is used to support the aircraft on the landing surface.

[0022] As can be seen from the above technical solutions, the feeding device of the first aspect of the present application can improve the feeding efficiency of the feeding device by arranging the feeding device to comprise at least two feeding mechanisms. The number of power devices can be reduced by arranging the power device to drive at least two feeding mechanisms to operate simultaneously through the transmission mechanism, so as to simplify the structure of the device, reduce the weight of the device and reduce the cost. In addition, the driving mechanism is arranged to drive the feeding mechanism to operate, so that the feeding mechanism can accelerate the material during the ejection of the material, so that the material can be deeply embedded in the working area, and the material is not easily moved by external force, such as water flow or wind force. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor.

[0024] Fig. 1 is a structural schematic diagram of a feeding device according to an embodiment of the present application;

[0025] Fig. 2 is a partial structural schematic diagram of the feeding device according to an embodiment of the present application;

[0026] Fig. 3 is a structural schematic diagram of a spinning disc according to an embodiment of the present application;

[0027] Fig. 4 is a cooperation schematic diagram of the spinning disc, a pull rod and a guide pipe according to an embodiment of the present application;

[0028] Fig. 5 is a connection schematic diagram of a discharging mechanism and a shooting mechanism according to an embodiment of the present application;

[0029] Fig. 6 is a connection schematic diagram of a discharging mechanism and a shooting mechanism according to another embodiment of the present application;

[0030] Fig. 7 is a connection schematic diagram of a discharging mechanism and a driving mechanism according to an embodiment of the present application;

[0031] Fig. 8 is a connection schematic diagram of a discharging mechanism, a shooting mechanism and a driving mechanism according to another embodiment of the present application;

[0032] Fig. 9 is a structural schematic diagram of a discharger according to another embodiment of the present application;

[0033] Fig. 10 is a structural schematic diagram of a discharger according to another embodiment of the present application

[0034] Fig. 11 is a connection schematic diagram of a discharging mechanism, a shooting mechanism and an airflow auxiliary mechanism according to another embodiment of the present application;

[0035] Fig. 12 is a block schematic diagram of a control method of an aircraft according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, and all other embodiments obtained by those skilled in the art without creative labor based on the embodiments in the present application are within the scope of protection of the present application.

[0037] With the development of society, it is more and more a trend to use an aircraft to perform an operation, for example, spraying or sowing operation can be performed by an aircraft. However, the aircraft operation in the related art has problems such as high cost and low penetration of sprayed material. For example, the aircraft for spraying or sowing operation in the related art has a large number of motors / rudders, high cost, and is prone to cause the aircraft to be heavy and consume a large amount of energy, so that the aircraft cannot perform spraying or sowing operation for a long time, and the same operation area needs a long time to complete the spraying or sowing operation, which is low in efficiency. For another example, the aircraft for spraying or sowing operation in the related art mainly has a gravity dropping sowing scheme for seed sowing. Since the seed relies on gravity dropping, the speed of the seed when reaching the soil is not enough, and the seed can only be sown on the soil surface, which is not conducive to seed germination, and the seed is easy to be eaten by birds. Secondly, in order to avoid the influence of wind field, the flight height of the aircraft needs to be low, the safety of flight is low, and the flight condition is limited. In addition, for the northern region, the water field usually retains a 5cm to 10cm water retaining layer, and the seed falling at zero speed will be affected by the surge in the water layer and be displaced, resulting in poor row effect of the seed.

[0038] Based on this, the embodiment of the present application proposes a control method of a feeding device, a disc, a movable platform and an aircraft.

[0039] As shown in FIGS. 1 and 2, the embodiment of the present application proposes a feeding device 100, which comprises a driving mechanism 10 and at least two material shooting mechanisms 20. The material shooting mechanism 20 is configured to shoot material to an operation area, and the at least two material shooting mechanisms 20 are arranged at intervals corresponding to the material shooting ports 221. The driving mechanism 10 comprises a transmission mechanism 11 and a power device 12, and the transmission mechanism 11 is connected with the at least two material shooting mechanisms 20. The power device 12 is connected with the transmission mechanism 11, and the power device 12 is configured to drive the at least two material shooting mechanisms 20 to operate simultaneously through the transmission mechanism 11, so that the at least two material shooting mechanisms 20 can work simultaneously by sharing the driving force of the power device 12.

[0040] The feeding device 100 proposed by the embodiment of the present application can improve the feeding efficiency of the feeding device 100 by arranging the feeding device 100 to comprise at least two material shooting mechanisms 20. Secondly, the power device 12 can drive the at least two material shooting mechanisms 20 to operate simultaneously through the transmission mechanism 11, which can reduce the number of power devices 12, thereby achieving the effects of simplifying the device structure, reducing the device weight and reducing the cost. Furthermore, the driving mechanism 10 drives the material shooting mechanism 20 to operate, so that the material shooting mechanism 20 can accelerate the material when the material is ejected, so that the material can be embedded deeply in the operation area, avoiding the material from being easily moved by external force due to the material being embedded shallowly in the operation area, for example, being moved by water flow or wind force.

[0041] It should be noted that when the feeding device 100 is used for seed sowing, the material shooting mechanism 20 can accelerate the seed when the seed is shot, and the seed can be embedded in the working area more deeply, which is beneficial to improve the row degree and uniformity of the seed during sowing. Among them, the seed is embedded in the working area more deeply, which is beneficial to seed bed and improves the anti-surge ability, so as to improve the germination rate. High uniformity can make the crop nutrient absorption uniform, high row degree can provide better ventilation and light conditions, improve yield and anti-lodging ability, so as to achieve better sowing effect.

[0042] It should be noted that the feeding device 100 proposed in the embodiment of the application can be provided on an aircraft, or on other mobile equipment, such as ground mobile equipment.

[0043] In some embodiments, the at least two material shooting mechanisms 20 are arranged at intervals corresponding to the material shooting ports 221, so that the at least two material shooting mechanisms 20 can form different rows of material shooting when the feeding device 100 moves, thereby forming the projection of multiple rows of material and improving the working efficiency. Among them, the "row" in the "at least two material shooting mechanisms 20 can form different rows of material shooting" refers to the track formed by the material shot by the material shooting mechanism 20 along the advancing direction of the feeding device 100 in the actual feeding process. Alternatively, in some embodiments, the row spacing between adjacent two rows is 20cm to 30cm. It should be noted that in some embodiments, the at least two material shooting mechanisms 20 are arranged at intervals corresponding to the material shooting ports 221, but the projected materials can be mixed together, so as to form single row of material shooting when the feeding device 100 moves. It should be noted that the quantity word "multiple" in this paper refers to two or more quantities.

[0044] As shown in FIGS. 1 and 2, in some embodiments, the number of material shooting mechanisms 20 is five, and the feeding device 100 can feed five rows of materials at a time, which is high in feeding efficiency. Of course, the number of material shooting mechanisms 20 is not limited to five, and can be two, three, four, six or more, which can be determined according to actual design needs.

[0045] In some embodiments, the material shooting mechanism 20 is swingably arranged on the feeding device 100, so that the shooting angle of the material shooting mechanism 20 is adjustable. With this implementation, the user can adjust the angle of the material shooting mechanism 20 according to the actual use needs, so as to adjust the spacing between different rows of materials. It should be noted that by adjusting the shooting angle of the material shooting mechanism 20, even if the structure of the material shooting mechanism 20 is relatively compact, a large range of feeding can be achieved by adjusting the shooting angle of the material shooting mechanism 20.

[0046] As shown in FIG. 2, in some embodiments, the at least two material shooting mechanisms 20 are configured to be able to swing along the arrangement direction of the at least two material shooting mechanisms 20. In some embodiments, the material shooting mechanisms 20 are arranged along the left-right direction X-X of the material feeding device 100, and the material shooting mechanisms 20 are able to swing along the left-right direction X-X of the material feeding device 100.

[0047] As shown in FIG. 2, in some embodiments, the material shooting directions of different material shooting mechanisms 20 are different, so as to form a radial sowing width according to actual needs.

[0048] As shown in FIG. 2, for example, in a specific embodiment, the number of material shooting mechanisms 20 is five, and the five material shooting mechanisms 20 are arranged along the left-right direction X-X of the material feeding device 100. From left to right, the five material shooting mechanisms 20 are respectively a first material shooting mechanism 20a, a second material shooting mechanism 20b, a third material shooting mechanism 20c, a fourth material shooting mechanism 20d, and a fifth material shooting mechanism 20e. Among them, the material shooting direction of the third material shooting mechanism 20c located in the middle is vertically downward, and the “vertically downward” is for the orientation of the material feeding device 100 in the normal use state. The material shooting direction of the second material shooting mechanism 20b is inclined to the left side of the material feeding device 100 and is arranged at a first angle with the material shooting direction of the third material shooting mechanism 20c. The material shooting direction of the first material shooting mechanism 20a is inclined to the left side of the material feeding device 100 and is arranged at a second angle with the material shooting direction of the third material shooting mechanism 20c. The second angle is greater than the first angle. The fourth material shooting mechanism 20d is inclined to the right side of the material feeding device 100 and arranged at a third angle with the material shooting direction of the third material shooting mechanism 20c. The material shooting direction of the fifth material shooting mechanism 20e is inclined to the right side of the material feeding device 100 and arranged at a fourth angle with the material shooting direction of the third material shooting mechanism 20c. The fourth angle is greater than the third angle.

[0049] Of course, according to actual use needs, it is also possible to adjust the angles of the material shooting mechanisms 20 so that the material shooting directions of different material shooting mechanisms 20 are the same. For example, it is also possible to adjust the angles of the material shooting mechanisms 20 so that the material shooting directions of all the material shooting mechanisms 20 are vertically downward.

[0050] As shown in FIG. 2, in some embodiments, the transmission mechanism 11 includes at least two direction-changing transmission mechanisms 111 corresponding to the at least two material shooting mechanisms 20. The power device 12 is connected to the corresponding material shooting mechanism 20 through each direction-changing transmission mechanism 111, so that the torque of the power device 12 is directionally transmitted to each material shooting mechanism 20, so that different material shooting mechanisms 20 can adjust different material shooting angles according to actual needs under the power of the common power device 12.

[0051] As shown in FIG. 2, in some embodiments, the variable direction transmission mechanism 111 includes a first transmission assembly 112 connected with the power device 12 and a second transmission assembly 113 connected with the material shooting mechanism 20, the first transmission assembly 112 and the second transmission assembly 113 are transmissionally connected, and at least one of the first transmission assembly 112 is arranged to be inclined to the second transmission assembly 113 to form an included angle, so that the first transmission assembly 112 and the second transmission assembly 113 can variably transmit torque.

[0052] As shown in FIG. 2, in some embodiments, the second transmission assembly 113 can also rotate relative to the first transmission assembly 112 to change the size of the included angle formed by the first transmission assembly 112 and the second transmission assembly 113, thereby adjusting the material shooting angle of the material shooting mechanism 20. Optionally, the included angle range of the first transmission assembly 112 and the second transmission assembly 113 is greater than 0° and less than or equal to 180°.

[0053] As shown in FIG. 2, in some embodiments, the first transmission assembly 112 and the second transmission assembly 113 are connected through a universal joint 114. The universal joint 114 can be, but is not limited to, a spherical universal joint 114, a rod-shaped universal joint 114 and a ring-shaped universal joint 114.

[0054] As shown in FIG. 2, in some embodiments, the first transmission assembly 112 includes a first bevel gear 1121 connected with the power device 12, a second bevel gear 1122 engaged with the first bevel gear 1121, and a first connecting rod 1123 connected with the second bevel gear 1122, the second transmission assembly 113 includes a third bevel gear 1131 connected with the material shooting mechanism 20, a fourth bevel gear 1132 engaged with the third bevel gear 1131, and a second connecting rod 1133 connected with the fourth bevel gear 1132, the first connecting rod 1123 and the second connecting rod 1133 are coupled.

[0055] As shown in FIG. 2, in some embodiments, the transmission mechanism 11 further includes a shaft coupling mechanism 115, and two adjacent variable direction transmission mechanisms 111 are connected through the shaft coupling mechanism 115. In this embodiment, it is convenient for the processing and manufacturing of the transmission mechanism 11. Specifically, different variable direction transmission mechanisms 111 can be processed and manufactured separately, and then assembled together through the shaft coupling mechanism.

[0056] It should be noted that the above-mentioned embodiment using the shaft coupling mechanism 115 is not limited, for example, in some other embodiments, the transmission mechanism 11 can include a long shaft, and it is also possible that all the variable direction transmission mechanisms 111 are connected in series by the long shaft.

[0057] As shown in FIG. 2 and FIG. 3, in some embodiments, the actuating component of the material shooting mechanism 20 comprises a rotatable flinger 21, and the material shooting device 100 has a row planting mode, in which the material shooting device 100 can move so that different material shooting mechanisms 20 correspondingly shoot different rows of material. The disc surface of the flinger 21 is arranged parallel to the moving direction of the material shooting device 100, that is, in the row planting mode, the flinger 21 is arranged along the moving direction of the material shooting device 100. Compared with the case where the flinger 21 is arranged perpendicular to the moving direction of the material shooting device 100, the present application can reduce the occupied space of the entire material shooting mechanism 20 in the case of shooting the same number of rows of material.

[0058] As shown in FIG. 2 and FIG. 3, in some embodiments, the material shooting mechanism 20 further comprises a housing 22 for accommodating the flinger 21, and the housing 22 is provided with a material shooting port 221 arranged according to a preset material shooting direction, and the material shot by the flinger 21 is shot out of the material shooting port 221 of the housing 22.

[0059] As shown in FIG. 3, in some embodiments, the actuating component of the material shooting mechanism 20 comprises a rotatable flinger 21, and the flinger 21 comprises a disc body 211 and a guide mechanism 212. The disc body 211 is provided with a feeding cavity A arranged along the axial direction thereof and located at the middle part of the disc body 211, and an acceleration cavity B surrounding the feeding cavity A. The feeding cavity A is in communication with the acceleration cavity B, and the disc body 211 is provided with a feeding port C in communication with the feeding cavity A. The guide mechanism 212 comprises a feeding guide part 2121 and an acceleration guide part 2122 connected with the feeding guide part 2121. The feeding guide part 2121 is located at the outer periphery of the feeding cavity A, and the acceleration guide part 2122 is located in the acceleration cavity B. The feeding guide part 2121 is in a circular arc structure, and the central axis of the feeding guide part 2121 substantially coincides with the rotation axis of the disc body 211. In actual operation, the flinger 21 rotates, the material enters the feeding cavity A from the feeding port C, the material collides with the feeding guide part 2121 and moves to the acceleration guide part 2122 under the guidance of the feeding guide part 2121, and then the material continuously accelerates along the acceleration guide part 2122 under the action of the centrifugal force of the flinger 21, and finally is shot out of the material shooting port 221.

[0060] In the present embodiment, by arranging the feeding guide part 2121 at the outer periphery of the feeding cavity A and in a circular arc structure, the feeding guide part 2121 can gather the material on the wall surface of the feeding guide part 2121 in a relatively gentle manner, and then deliver the material to the acceleration guide part 2122 under the action of the centrifugal force. In this process, the wall surface of the feeding guide part 2121 does not form a high-speed impact on the material, which can effectively avoid the impact injury to the material.

[0061] As shown in FIG. 3, in some embodiments, one end of the acceleration guide portion 2122 is connected with the inlet guide portion 2121, and the other end extends to the outer edge of the spinning disc 21. In this implementation, the guide mechanism 212 can accelerate the material all the way until the material leaves the spinning disc 21, so that the material can obtain a larger exit speed. Of course, in other embodiments, the acceleration guide portion 2122 can also not extend to the outer edge of the spinning disc 21, which can be determined according to actual design needs.

[0062] As shown in FIG. 3, in some embodiments, the acceleration guide portion 2122 is at least partially arranged along a direction tangential to the circumference of the inlet guide portion 2121. In this implementation, the direction of the material when leaving the inlet guide portion 2121 is consistent with the direction when entering the acceleration guide portion 2122, so that the material can be naturally transitioned from the inlet guide portion 2121 to the acceleration guide portion 2122 without changing direction, avoiding the acceleration guide portion 2122 from causing impact to the material during the transition of the material from the inlet guide portion 2121 to the acceleration guide portion 2122, and the consistent direction of the material when leaving the inlet guide portion 2121 and entering the acceleration guide portion 2122 will not affect the running speed of the material when entering the acceleration guide portion 2122.

[0063] As shown in FIG. 3, in some embodiments, the acceleration guide portion 2122 extends to the outer edge of the spinning disc 21 along a direction tangential to the circumference of the inlet guide portion 2121. In this implementation, the running direction of the material on the acceleration guide portion 2122 does not change, and the material can be directly shot out along the acceleration guide portion 2122 after being accelerated on the acceleration guide portion 2122, and the straight acceleration guide portion 2122 has smaller resistance to the material, so that the material can obtain better acceleration effect.

[0064] It should be noted that the acceleration guide portion 2122 is not limited to being arranged to extend to the outer edge of the spinning disc 21 along a direction tangential to the circumference of the inlet guide portion 2121, for example, in other embodiments, the acceleration guide portion 2122 can also be arranged to extend to the outer edge of the spinning disc 21 in a curved manner, which can be determined according to actual design needs.

[0065] As shown in FIG. 3, in some embodiments, the acceleration guide portion 2122 has a curved cross-section perpendicular to the respective length direction. In this implementation, the curved cross-section has a gathering effect on the material, so that the material is more concentrated when being shot out from the material shooting port 221, which can improve the accuracy of the material feeding, avoid the material being scattered during feeding, and thus be beneficial to improving the row degree of the material feeding.

[0066] As shown in FIG. 3, in some embodiments, the cross section of the material entry guide 2121 in the direction perpendicular to the respective length direction is a curved configuration. In this way, the curved configuration has a converging effect on the material, so that the material can be concentrated to enter the acceleration guide 2122 from the material entry guide 2121.

[0067] As shown in FIG. 3, in some embodiments, the curved configuration includes a V-shaped configuration. Of course, the curved configuration is not limited to the V-shaped configuration, and in other embodiments, the curved configuration includes a C-shaped configuration or a U-shaped configuration.

[0068] As shown in FIG. 3, in some embodiments, the acceleration guide 2122 and the material entry guide 2121 are integrally formed in a co-molding manner. In this way, by integrally forming the acceleration guide 2122 and the material entry guide 2121, the connection between the acceleration guide 2122 and the material entry guide 2121 can be easily controlled during the manufacturing process, so that the material can be naturally transitioned between the material entry guide 2121 and the acceleration guide 2122.

[0069] Of course, the acceleration guide 2122 and the material entry guide 2121 are not limited to being integrally formed in the co-molding manner, and for example, in other embodiments, the acceleration guide 2122 and the material entry guide 2121 can also be connected by a curved connection portion, which can be determined according to actual design needs.

[0070] As shown in FIG. 3, in some embodiments, the material entry guide 2121 forms a side wall of the feeding cavity A. Of course, the side wall of the feeding cavity A is not limited to being formed by the material entry guide 2121, and for example, in other embodiments, the feeding cavity A is additionally provided with a side wall, and the material entry guide 2121 only plays a role of material entry guide in the feeding cavity A.

[0071] As shown in FIG. 3, in some embodiments, the outer periphery of the feeding cavity A is circular, and the material entry guide 2121 extends along the outer periphery of the feeding cavity A. In this way, by arranging the material entry guide 2121 to extend along the outer periphery of the feeding cavity A, the material entry guide 2121 will not beat the material when the material enters the feeding cavity A, and the material entry guide 2121 can effectively avoid injuring the material.

[0072] In some embodiments, the feeding cavity A is a cylindrical body, that is, the feeding cavity A is a hollow structure. Of course, the feeding cavity A is not limited to being a cylindrical body, and for example, in other embodiments, the feeding cavity A can also be a circular ring body.

[0073] As shown in FIG. 3, in some embodiments, the disc body 211 is configured in a circular disc type, and the feeding cavity A is located at the center of the disc body 211. It can be understood that the linear speed of the center of the disc body 211 is small, and by setting the feeding cavity A at the center of the disc body 211, the situation that the material is damaged due to the sudden increase of the speed after entering the feeding cavity A can be avoided. It should be noted that the disc body 211 is not limited to be configured in a circular disc type, and can also be configured in other types, such as a rectangular type, a polygonal type, etc., which can be determined according to actual design needs.

[0074] As shown in FIG. 3, in some embodiments, the guide mechanism 212 is multiple, and the multiple guide mechanisms 212 are arranged around the outer periphery of the feeding cavity A. For example, in an embodiment, the number of the guide mechanisms 212 is two, and the two guide mechanisms 212 are arranged around the outer periphery of the feeding cavity A. Of course, the number of the guide mechanisms 212 is not limited to two, and can also be three or more, which can be determined according to actual design needs.

[0075] As shown in FIG. 3, in some embodiments, the multiple guide mechanisms 212 are arranged at intervals around the outer periphery of the feeding cavity A.

[0076] As shown in FIG. 3, in some embodiments, the intervals between the multiple guide mechanisms 212 are equal. It can be understood that any one guide mechanism 212 coincides with another adjacent guide mechanism 212 after rotating a same angle. In this embodiment, the interval time of the material discharged from the material ejection port 221 is consistent, and the interval between any two adjacent materials on the material track in the working area is consistent, so that the uniform feeding of the material can be realized.

[0077] As shown in FIG. 2, in some embodiments, the feeding device 100 further comprises a guide pipe 30 connected to the feeding port 221 of the feeding mechanism 20, and the guide pipe 30 is configured to be movable at least partially so as to enable the guide pipe 30 to switch between a first state and a second state. In the first state, the guide pipe 30 is unfolded along the feeding direction of the feeding mechanism 20 for guiding the material ejected by the feeding mechanism 20. In the second state, the guide pipe 30 is movable at least partially so as to reduce the distance between the end of the guide pipe 30 and the feeding mechanism 20 along the feeding direction of the feeding mechanism 20 (hereinafter referred to as the distance between the end of the guide pipe 30 and the feeding mechanism 20). With this implementation, firstly, by providing the guide pipe 30 to guide the material, the material can obtain better rowing effect and improve the concentration of the material landing point, achieving uniform feeding of the material. Secondly, by providing the guide pipe 30 to be movable at least partially so as to reduce the distance between the end of the guide pipe 30 and the feeding mechanism 20, the distance between the end of the guide pipe 30 and the feeding mechanism 20 can be reduced when the feeding device 100 is not in use or after use is completed, avoiding the end of the guide pipe 30 protruding from the landing gear of the aircraft, causing the end of the guide pipe 30 to contact the ground when the aircraft lands.

[0078] In some embodiments, in the second state, the guide pipe 30 is in a retracted state or a folded state. In the first state, the guide pipe 30 is in an extended state or an unfolded state. The "retracted state" refers to the movement of the guide pipe 30 as a whole or in part, so as to reduce the distance between the end of the guide pipe 30 and the feeding mechanism 20. The "folded state" refers to the change in shape of the guide pipe 30 at least partially, for example, the guide pipe 30 is partially wound or folded, so as to reduce the distance between the end of the guide pipe 30 and the feeding mechanism 20. Conversely, the "extended state" refers to the movement of the guide pipe 30 as a whole or in part, so as to increase the distance between the end of the guide pipe 30 and the feeding mechanism 20. The "unfolded state" refers to the change in shape of the guide pipe 30 at least partially, for example, the guide pipe 30 is partially wound or folded, so as to increase the distance between the end of the guide pipe 30 and the feeding mechanism 20.

[0079] In some embodiments, the guide pipe 30 is movably connected to the feeding mechanism 20 to enable the guide pipe 30 to switch between the first state and the second state. For example, in one embodiment, the guide pipe 30 and the feeding mechanism 20 can be connected by sliding or rotating, and the guide pipe 30 can be switched between the first state and the second state by sliding or rotating.

[0080] In some other embodiments, the conduit 30 is itself at least partially deformable to enable the conduit 30 to switch between the first state and the second state. For example, in one embodiment, the conduit 30 is at least partially extendable or foldable to enable the conduit 30 to switch between the first state and the second state.

[0081] In some embodiments, the feeding device 100 further comprises a conduit driving mechanism (not shown) for driving the conduit 30 to move relative to the material shooting mechanism 20 or for deforming the conduit 30. Of course, the feeding device 100 can also be provided without the conduit driving mechanism, and the conduit 30 can be moved relative to the material shooting mechanism 20 or deformed by manual operation.

[0082] In some embodiments, the conduit 30 is configured to be coupled with the material shooting mechanism 20 so that the conduit 30 is moved relative to the material shooting mechanism 20 or deformed when the actuating member of the material shooting mechanism 20 is operated to enable the conduit 30 to be in the first state or the second state. With this embodiment, no additional driving mechanism is needed to drive the conduit 30 to move or deform, and the number of power devices 12 can be reduced, thereby achieving the effects of simplifying the structure of the device, reducing the weight of the device and reducing the cost.

[0083] As shown in FIG. 4, in some embodiments, the actuating member of the material shooting mechanism 20 comprises a rotatable flinger 21, the first state of the conduit 30 is associated with a first rotation direction F1 of the flinger 21, the second state of the conduit 30 is associated with a second rotation direction F2 of the flinger 21, the first rotation direction F1 is a working direction of the flinger 21 for shooting the material, and the first rotation direction F1 and the second rotation direction F2 are opposite to each other.

[0084] That is, when the flinger 21 is rotated along the first rotation direction F1 to shoot the material, the conduit 30 is in the extended state or the unfolded state under the driving of the flinger 21, and when the flinger 21 is rotated along the second rotation direction F2, the conduit 30 is in the contracted state or the folded state under the driving of the flinger 21.

[0085] As shown in FIG. 4, in some embodiments, one end of the conduit 30 is rotatably connected with the material throwing mechanism 20, for example, through the hinged site S. A pull rod 40 is arranged between the conduit 30 and the material throwing mechanism 20. The flinger 21 is provided with a guide slot 213, which has a first position P1 and a second position P2. The distance between the second position P2 and the edge of the flinger 21 closest to the conduit 30 is greater than the distance between the first position P1 and the edge of the flinger 21 closest to the conduit 30. The pull rod 40 is provided with an embedded part 41 located in the guide slot 213. The embedded part 41 moves in the guide slot 213 to adjust the position of the embedded part 41 relative to the flinger 21. When the flinger 21 rotates along the first rotation direction F1 until the embedded part 41 is located at the first position P1, the conduit 30 is in the first state. When the flinger 21 rotates along the second rotation direction F2 until the embedded part 41 is located at the second position P2, the pull rod 40 pulls up the conduit 30 so that the conduit 30 is in the second state.

[0086] In some embodiments, the distance between the first position P1 and the center of the flinger 21 is greater than the distance between the second position P2 and the center of the flinger 21.

[0087] As shown in FIG. 4, in some embodiments, the guide slot 213 includes an outer ring slot 2131 and an inner ring slot 2132 located inside the outer ring slot 2131. The first position P1 is located in the outer ring slot 2131, and the second position P2 is located in the inner ring slot 2132. The outer ring slot 2131 is provided with an outlet connected with the inlet D of the inner ring slot 2132. When the flinger 21 rotates along the first rotation direction F1, the embedded part 41 is configured to be located only in the outer ring slot 2131 and at the first position P1. When the flinger 21 rotates along the second rotation direction F2, the embedded part 41 is configured to be able to enter the inner ring slot 2132 through the inlet D and eventually reach the second position P2.

[0088] As shown in FIG. 4, in some embodiments, the inlet D is a one-way inlet, so that when the flinger 21 rotates along the first rotation direction F1, the embedded part 41 is only located in the outer ring slot 2131 and cannot enter the inner ring slot 2132 through the inlet D. When the flinger 21 rotates along the second rotation direction F2, the embedded part 41 can enter the inner ring slot 2132 through the inlet D.

[0089] As shown in FIG. 4, in some embodiments, the feeding device 10 further includes a driving member T for generating a driving force acting on the pull rod 40 so that the embedded part 41 abuts against the slot wall of the inner ring slot 2132 close to the center of the flinger 21, so that when the flinger 21 rotates along the second rotation direction F2, the embedded part 41 is easy to enter the inner ring slot 2132 from the inlet D. The driving member T can be, but is not limited to, a spring.

[0090] As shown in FIG. 4, in some embodiments, the outer ring slot 2131 is an annular slot.

[0091] As shown in FIG. 4, in some embodiments, the inner ring groove 2132 is a helical groove.

[0092] As shown in FIG. 1, in some embodiments, the feeding device 100 further comprises a discharging mechanism 50 connected with the at least two material shooting mechanisms 20, and the discharging mechanism 50 is configured to deliver the material to the at least two material shooting mechanisms 20 according to a preset flow rate. With this implementation, the feeding device 100 can realize uniform feeding by setting the discharging mechanism 50 to quantitatively deliver the material to the material shooting mechanisms 20.

[0093] In some embodiments, the material shooting mechanism 20 is rotatably connected to the discharging mechanism 50, so that the shooting direction of the material shooting mechanism 20 is adjustable. As described above, by setting the shooting direction of the material shooting mechanism 20 to be adjustable, the user can adjust the angle of the material shooting mechanism 20 according to the actual use requirement, so as to adjust the spacing between different rows of material. It should be noted that the user can manually adjust the shooting direction of the material shooting mechanism 20 relative to the discharging mechanism 50. Of course, it is not limited to manual adjustment, for example, in other embodiments, an actuator can be additionally provided to automatically adjust the shooting direction.

[0094] As shown in FIGS. 5 and 6, in some embodiments, the material shooting mechanism 20 is rotatably connected to the discharging mechanism 50 through a hinging mechanism 60, and the hinging mechanism 60 is configured to enable the material shooting mechanism 20 to rotate relative to the discharging mechanism 50 and to be kept at a preset angle after being rotated to the preset angle.

[0095] As shown in FIG. 5, in some embodiments, the hinging mechanism 60 comprises a rotating shaft 61 and a damping assembly 62, the material shooting mechanism 20 is rotatably installed on the discharging mechanism 50 through the rotating shaft 61, and the damping assembly 62 is installed on the discharging mechanism 50 and / or the material shooting mechanism 20, and the damping assembly 62 is configured to generate resistance when the material shooting mechanism 20 rotates relative to the discharging mechanism 50.

[0096] As shown in FIG. 5, in some embodiments, the damping assembly 62 comprises an elastic member 621 and a friction member 622, the elastic member 621 and the friction member 622 are installed on the discharging mechanism 50, the friction member 622 abuts against the material shooting mechanism 20 under the elastic force of the elastic member 621, and generates a friction force that hinders the rotation of the material shooting mechanism 20 when the material shooting mechanism 20 rotates.

[0097] When it is necessary to adjust the angle of the material shooting mechanism 20, a rotating force is applied to the material shooting mechanism, when the applied rotating force is greater than the friction force of the friction member 622, the material shooting mechanism 20 starts to rotate, and when the material shooting mechanism 20 is rotated to a preset angle, the external force is removed, and the friction force of the friction member 622 makes the material shooting mechanism 20 unable to automatically rotate, so that the material shooting mechanism 20 is kept at the preset angle.

[0098] As shown in FIG. 6, in some other embodiments, the hinged mechanism 60 comprises a rotating shaft 61, an elastic member 621 and a positioning member 623, the injection mechanism 20 is rotatably installed on the discharging mechanism 50 through the rotating shaft 61, the injection mechanism 20 is provided with at least two recesses W along the rotating direction of the injection mechanism 20, the elastic member 621 and the positioning member 623 are installed on the discharging mechanism 50, when the injection mechanism 20 rotates to the position that the positioning member 623 is opposite to the recess W, the positioning member 623 is embedded into the recess W under the elastic force of the elastic member 621 to generate the resistance when the injection mechanism 20 rotates relative to the discharging mechanism 50.

[0099] When it is needed to adjust the angle of the injection mechanism 20, a rotating force is applied to the injection mechanism 20, when the applied rotating force is greater than the force between the positioning member 623 and the recess W, the positioning member 623 is withdrawn from the current recess W, and the injection mechanism 20 starts to rotate, when the injection mechanism 20 rotates to a preset angle, i.e. the positioning member 623 is opposite to another recess W, the positioning member 623 is embedded into the recess W under the elastic force of the elastic member 621, and the force between the positioning member 623 and the recess W makes the injection mechanism 20 unable to automatically rotate, so that the injection mechanism 20 is kept at the preset angle.

[0100] In some embodiments, the hinged mechanism 60 comprises a spring positioning pin, the spring positioning pin comprises the elastic member 621 and the positioning member 623.

[0101] As shown in FIG. 2 and FIG. 7, in some embodiments, the discharging mechanism 50 comprises at least two dischargers 51 corresponding to the at least two injection mechanisms 20 one by one, and the driving mechanism 10 is further configured to drive the at least two dischargers 51 to operate.

[0102] As shown in FIG. 2 and FIG. 7, in some embodiments, the number of the dischargers 51 and the number of the injection mechanisms 20 can both be five, and the five dischargers 51 and the five injection mechanisms 20 correspond to each other one by one.

[0103] As shown in FIG. 2 and FIG. 7, in some embodiments, the transmission mechanism 11 is a first transmission mechanism S1, the power device 12 is a first power device S2, the driving mechanism 10 further comprises a second transmission mechanism S3 and a second power device S4, the second transmission mechanism S3 is connected with the at least two dischargers 51, the second power device S4 is connected with the second transmission mechanism S3, and the second power device S4 drives the at least two dischargers 51 to operate through the second transmission mechanism S3. In this embodiment, all the dischargers 51 are driven to operate by one second power device S4, which can reduce the number of the power devices 12, so as to achieve the effects of simplifying the structure of the device, reducing the weight of the device and reducing the cost.

[0104] Optionally, the first power device S2 and the second power device S4 are motors.

[0105] As shown in FIG. 7, in some embodiments, the second transmission mechanism S3 includes a driving shaft S5, at least two material dispensers 51 are arranged along the axial direction of the driving shaft S5 and connected with the driving shaft S5, and the driving shaft S5 is configured to rotate to drive the at least two material dispensers 51 to operate, so that the at least two material dispensers 51 can share the driving force of the second power device S4 to work simultaneously.

[0106] As shown in FIG. 8, the embodiment of the present application further provides another material dispensing device 100, which includes a material dispenser 51, a material shooting mechanism 20 and a driving mechanism 10. The material dispenser 51 and the material shooting mechanism 20 are communicated to allow the material to enter the material shooting mechanism 20 through the material dispenser 51 and be discharged through the material shooting mechanism 20. The driving mechanism 10 includes a third transmission mechanism S6, and the material dispenser 51 is connected with the corresponding material shooting mechanism 20 through the third transmission mechanism S6 to share the power source with the material shooting mechanism 20. In this embodiment, the material dispenser 51 and the material shooting mechanism 20 can share one power, which further reduces the number of power devices, so as to achieve the effects of simplifying the structure of the device, reducing the weight of the device and reducing the cost. It should be noted that the embodiment of the present application can be coupled in any of the foregoing embodiments, for example, on the basis of the foregoing at least two material shooting mechanisms 20 sharing the power device 12, the material dispenser 51 can be further connected to the corresponding material shooting mechanism 20 through the third transmission mechanism S6, so that the final material shooting mechanism 20 and the material dispensing mechanism 50 also share the power.

[0107] As shown in FIG. 8, in some embodiments, the third transmission mechanism S6 includes a transmission shaft S61, a driving wheel S62, a driven wheel S63 and a transmission belt S64. The transmission shaft S61 is connected with the material dispenser 51, the driving wheel S62 is connected with the power device 12, the driven wheel S63 is connected with the transmission shaft S61, and the transmission belt S64 is wound around the driving wheel S62 and the driven wheel S63. It should be noted that the third transmission mechanism S6 can also be provided in other transmission modes according to actual needs, such as gear transmission.

[0108] In some embodiments, the number of power devices 12 can also be set to be consistent with the number of material shooting mechanisms 20, and each power device 12 drives one material shooting mechanism 20 and the corresponding material dispenser 51 to operate synchronously through one third transmission mechanism S6. In this embodiment, the seed shooting speed of each material shooting mechanism 20 can be independently controlled, the spacing between two adjacent materials of each row of materials shot and the dispensing flow of each row of materials can be dynamically adjusted, which can be suitable for different shapes of work areas and realize variable material dispensing.

[0109] In some embodiments, the material dispensing mechanism 50 includes a screw conveyor type material dispensing mechanism (not shown in the drawings) or a wheel rotating type material dispensing mechanism.

[0110] As shown in FIG. 9, in some embodiments, the wheel rotating discharging mechanism 50 comprises an outer housing 521 and a rotating wheel 523, the outer housing 521 has a material passage 5211, an inlet 5212 and an outlet 5213, the inlet 5212 is communicated with the storage tank 80, and the outlet 5213 is communicated with the material injecting mechanism 20. The rotating wheel 523 is rotatably arranged in the material passage 5211, and the rotating wheel 523 divides the material passage 5211 into a feeding area E1 communicated with the inlet 5212 and a discharging area E2 communicated with the outlet 5213. The rotating wheel 523 is provided with at least one recess 5231 on the outer side wall, and the rotating wheel 523 drives the recess 5231 to pick up the material from the feeding area E1 and deliver the picked-up material to the discharging area E2, and the material in the discharging area E2 enters the material injecting mechanism 20 from the outlet 5213.

[0111] As shown in FIG. 10, in some embodiments, the wheel rotating discharging mechanism 50 comprises an outer housing 521 and a rotating wheel 523, the outer housing 521 has a material passage 5211, an inlet 5212 and an outlet 5213, the inlet 5212 is communicated with the storage tank 80, and the outlet 5213 is communicated with the material injecting mechanism 20. The rotating wheel 523 is rotatably arranged in the material passage 5211, and the rotating wheel 523 divides the material passage 5211 into a feeding area E1 communicated with the inlet 5212 and a discharging area E2 communicated with the outlet 5213. The rotating wheel 523 comprises a wheel body 5232 and a plurality of partition pieces 5233, the plurality of partition pieces 5233 are arranged along the axial direction of the wheel body 5232, and a recess 5234 is formed between two adjacent partition pieces 5233, the rotating wheel 523 drives the recess 5234 to pick up the material from the feeding area E1 and deliver the picked-up material to the discharging area E2, and the material in the discharging area E2 enters the material injecting mechanism 20 from the outlet 5213.

[0112] As shown in FIG. 1, in some embodiments, the material feeding device 100 further comprises a distributing mechanism 70 and a storage tank 80, the distributing mechanism 70 is connected between the storage tank 80 and the discharging mechanism 50, and the material in the storage tank 80 is distributed to each discharging mechanism 50 through the distributing mechanism 70. In this embodiment, the distributing mechanism 70 is arranged to distribute the material, so that the material in the storage tank 80 can be evenly distributed to each discharging mechanism 50, which is beneficial to realize the uniform feeding of the material feeding device 100.

[0113] As shown in FIG. 11, in some embodiments, the feeding device 100 further comprises an airflow assisting mechanism 90, which is arranged between the discharging mechanism 50 and the shooting mechanism 20, and is configured to introduce airflow into the communication channel between the discharging mechanism 50 and the shooting mechanism 20 to assist the delivery of the material in the discharging mechanism 50 to the shooting mechanism 20. In actual use, if the material is wet or contains impurities, it is easy to form a blockage between the discharging mechanism 50 and the shooting mechanism 20. In the present embodiment, the airflow assisting mechanism 90 is provided to use wind power to assist the delivery of the material and avoid the formation of a blockage between the discharging mechanism 50 and the shooting mechanism 20.

[0114] As shown in FIG. 11, in some embodiments, the airflow assisting mechanism 90 comprises a fan 91 and an air pipe 92, the air pipe 92 is in communication with the channel between the discharging mechanism 50 and the shooting mechanism 20, and the fan 91 is connected to the air pipe 92. When the fan 91 is running, the airflow generated thereby enters the channel between the discharging mechanism 50 and the shooting mechanism 20 through the air pipe 92 to assist the delivery of the material in the discharging mechanism 50 to the shooting mechanism 20.

[0115] As shown in FIGS. 1-11, the present application further provides a feeding device 100, which comprises a shooting mechanism 20 and a guide pipe 30. The shooting mechanism 20 is provided with a shooting port 221, and the guide pipe 30 is in abutment with the shooting port 221. The guide pipe 30 is configured to be at least partially movable so as to switch the guide pipe 30 between a first state and a second state. In the first state, the guide pipe 30 is unfolded along the shooting direction of the shooting mechanism 20 to guide the material shot by the shooting mechanism 20. In the second state, the guide pipe 30 is at least partially movable to reduce the distance between the end of the guide pipe 30 and the shooting mechanism 20 along the shooting direction of the shooting mechanism 20 (hereinafter referred to as the distance between the end of the guide pipe 30 and the shooting mechanism 20).

[0116] The feeding device 100 provided by the present application can guide the material through the guide pipe 30, so that the material can obtain a better rowing effect and improve the concentration of the material landing points, thereby achieving uniform feeding of the material. In addition, the guide pipe 30 is at least partially movable to reduce the distance between the end of the guide pipe 30 and the shooting mechanism 20. When the feeding device 100 is not in use or has completed use, the distance between the end of the guide pipe 30 and the shooting mechanism 20 can be reduced, so as to avoid the end of the guide pipe 30 protruding from the landing gear of the aircraft, which may

[0117] In some embodiments, in the second state, the conduit 30 is in a retracted state or a folded state. In the first state, the conduit 30 is in an extended state or an unfolded state. The "retracted state" means that the conduit 30 is moved as a whole or in part so that the distance between the end of the conduit 30 and the material injection mechanism 20 is reduced. The "folded state" means that the shape of the conduit 30 is changed at least in part, for example, the conduit 30 is partially wound or folded so that the distance between the end of the conduit 30 and the material injection mechanism 20 is reduced. Conversely, the "extended state" means that the conduit 30 is moved as a whole or in part so that the distance between the end of the conduit 30 and the material injection mechanism 20 is increased. The "unfolded state" means that the shape of the conduit 30 is changed at least in part, for example, the partially wound or folded conduit 30 is stretched so that the distance between the end of the conduit 30 and the material injection mechanism 20 is increased.

[0118] In some embodiments, the conduit 30 is movably connected to the material injection mechanism 20 to switch the conduit 30 between the first state and the second state. For example, in one embodiment, the conduit 30 and the material injection mechanism 20 can be connected by sliding or rotating, etc. The conduit 30 can be switched between the first state and the second state by sliding or rotating the conduit 30.

[0119] In other embodiments, the conduit 30 is at least partially deformable to switch the conduit 30 between the first state and the second state. For example, in one embodiment, the conduit 30 is at least partially stretchable or foldable to switch the conduit 30 between the first state and the second state.

[0120] In some embodiments, the material injection device 100 further comprises a conduit driving mechanism for driving the conduit 30 to move relative to the material injection mechanism 20 or for driving the conduit 30 to deform. Of course, the material injection device 100 can also not be provided with a conduit driving mechanism, and the conduit 30 can be moved relative to the material injection mechanism 20 or deformed by manual operation.

[0121] In some embodiments, the conduit 30 is configured to be movably connected to the material injection mechanism 20, and the conduit 30 is moved relative to the material injection mechanism 20 or deformed when the actuating part of the material injection mechanism 20 moves, so that the conduit 30 is in the first state or the second state. In this embodiment, no additional driving device is needed to drive the conduit 30 to move or deform, which can reduce the number of power devices 12, thereby achieving the effects of simplifying the structure of the device, reducing the weight of the device, and reducing the cost.

[0122] In some embodiments, the actuating component of the material shooting mechanism 20 comprises a rotatable flinger 21, the first state of the guide pipe 30 is associated with a first rotation direction F1 of the flinger 21, the second state of the guide pipe 30 is associated with a second rotation direction F2 of the flinger 21, the first rotation direction F1 is a working direction of the flinger 21 for shooting out the material, and the first rotation direction F1 and the second rotation direction F2 are opposite. That is, when the flinger 21 rotates along the first rotation direction F1 to shoot out the material, the guide pipe 30 is in an extended state or an unfolded state under the driving of the flinger 21, and when the flinger 21 rotates along the second rotation direction F2, the guide pipe 30 is in a contracted state or a folded state under the driving of the flinger 21.

[0123] In some embodiments, one end of the guide pipe 30 is rotatably connected with the material shooting mechanism 20, for example, through the hinge site S. A pull rod 40 is arranged between the guide pipe 30 and the material shooting mechanism 20. The flinger 21 is provided with a guide groove 213, the guide groove 213 has a first position P1 and a second position P2, the distance between the second position P2 and the edge of the flinger 21 closest to the guide pipe 30 is greater than the distance between the first position P1 and the edge of the flinger 21 closest to the guide pipe 30. The pull rod 40 is provided with an embedded part 41 located in the guide groove 213, the embedded part 41 moves in the guide groove 213 to adjust the position of the embedded part 41 relative to the flinger 21. When the flinger 21 rotates along the first rotation direction F1 until the embedded part 41 is located at the first position P1, the guide pipe 30 is in the first state. When the flinger 21 rotates along the second rotation direction F2 until the embedded part 41 is located at the second position P2, the pull rod 40 pulls up the guide pipe 30 so that the guide pipe 30 is in the second state.

[0124] In some embodiments, the distance between the first position P1 and the center of the flinger 21 is greater than the distance between the second position P2 and the center of the flinger 21.

[0125] In some embodiments, the guide groove 213 comprises an outer ring groove 2131 and an inner ring groove 2132 located on the inner side of the outer ring groove 2131, the first position P1 is located in the outer ring groove 2131, the second position P2 is located in the inner ring groove 2132, and the outer ring groove 2131 is provided with an outlet connected with the inlet D of the inner ring groove 2132. When the flinger 21 rotates along the first rotation direction F1, the embedded part 41 is configured to be located only in the outer ring groove 2131 and at the first position P1. When the flinger 21 rotates along the second rotation direction F2, the embedded part 41 is configured to be able to enter the inner ring groove 2132 through the inlet D and finally reach the second position P2.

[0126] In some embodiments, the inlet D is a one-way inlet D, such that when the spinning disc 21 rotates along the first rotation direction F1, the embedded portion 41 is only in the outer ring groove 2131 and cannot enter the inner ring groove 2132 via the inlet D, and when the spinning disc 21 rotates along the second rotation direction F2, the embedded portion 41 can enter the inner ring groove 2132 via the inlet D.

[0127] In some embodiments, the outer ring groove 2131 is an annular groove.

[0128] In some embodiments, the inner ring groove 2132 is a spiral groove.

[0129] The structures, connection relationships, extension descriptions, and beneficial effects of other components of the feeding device 100 according to the embodiments can be referred to the above embodiments, and will not be described herein.

[0130] As shown in FIG. 2, the embodiments of the present application also provide a spinning disc 21, which comprises a disc body 211 and a guide mechanism 212. The disc body 211 is provided with a feeding cavity A located at a middle portion of the disc body 211 along an axial direction thereof and an acceleration cavity B surrounding the feeding cavity A. The feeding cavity A and the acceleration cavity B are in communication. The disc body 211 is provided with a feeding port C in communication with the feeding cavity A. The guide mechanism 212 comprises an inlet guide portion 2121 and an acceleration guide portion 2122 connected with the inlet guide portion 2121. The inlet guide portion 2121 is located at an outer periphery of the feeding cavity A, and the acceleration guide portion 2122 is located in the acceleration cavity B. The inlet guide portion 2121 is in a circular arc structure, and a central axis 5221 of the inlet guide portion 2121 is substantially coincident with a rotation axis 61 of the disc body 211. In actual operation, the spinning disc 21 rotates, and the material enters the feeding cavity A from the feeding port C. The material collides with the inlet guide portion 2121 and moves to the acceleration guide portion 2122 under the guidance of the inlet guide portion 2121. Then, the material is continuously accelerated along the acceleration guide portion 2122 under the action of the centrifugal force of the spinning disc 21, and finally is shot out from a shooting port 221.

[0131] The embodiments provide the spinning disc 21. By setting the inlet guide portion 2121 at the outer periphery of the feeding cavity A and in a circular arc structure, the inlet guide portion 2121 can gather the material on the wall surface of the inlet guide portion 2121 in a relatively gentle manner, and then deliver the material to the acceleration guide portion 2122 under the action of the centrifugal force. In this process, the wall surface of the inlet guide portion 2121 does not form a high-speed impact on the material, which can effectively avoid the impact injury to the material.

[0132] In some embodiments, one end of the acceleration guide portion 2122 is connected with the material inlet guide portion 2121, and the other end extends to the outer edge of the spinning disc 21. In this implementation, the guide mechanism 212 can accelerate the material all the way until the material leaves the spinning disc 21, so that the material can obtain a larger exit speed. Of course, in other embodiments, the acceleration guide portion 2122 can also not extend to the outer edge of the spinning disc 21, which can be determined according to actual design needs.

[0133] In some embodiments, the acceleration guide portion 2122 is at least partially arranged along a direction tangential to the circumference of the material inlet guide portion 2121. In this implementation, the direction of the material when leaving the material inlet guide portion 2121 is consistent with the direction when entering the acceleration guide portion 2122, so that the material can be naturally transitioned from the material inlet guide portion 2121 to the acceleration guide portion 2122 without changing direction, avoiding the acceleration guide portion 2122 from causing impact to the material during the transition of the material from the material inlet guide portion 2121 to the acceleration guide portion 2122, and the direction of the material when leaving the material inlet guide portion 2121 is consistent with the direction when entering the acceleration guide portion 2122, which will not affect the running speed of the material when entering the acceleration guide portion 2122.

[0134] In some embodiments, the acceleration guide portion 2122 extends to the outer edge of the spinning disc 21 along a direction tangential to the circumference of the material inlet guide portion 2121. In this implementation, the running direction of the material on the acceleration guide portion 2122 does not change, and the material can be directly shot out along the acceleration guide portion 2122 after being accelerated on the acceleration guide portion 2122, and the linear acceleration guide portion 2122 has smaller resistance to the material, so that the material can obtain better acceleration effect.

[0135] It should be noted that the acceleration guide portion 2122 is not limited to being arranged to extend to the outer edge of the spinning disc 21 along a direction tangential to the circumference of the material inlet guide portion 2121, for example, in other embodiments, the acceleration guide portion 2122 can also be arranged to extend to the outer edge of the spinning disc 21 in a curved manner, which can be determined according to actual design needs.

[0136] In some embodiments, the acceleration guide portion 2122 has a curved cross-section perpendicular to the respective length direction. In this implementation, the curved cross-section has a gathering effect on the material, so that the material can be concentrated when being shot out of the material shooting port 221, which can improve the accuracy of material feeding and avoid the material being scattered when being fed, thereby facilitating to improve the row degree of the material feeding.

[0137] In some embodiments, the material inlet guide portion 2121 has a curved cross-section perpendicular to the respective length direction. Similarly, in this implementation, the curved cross-section has a gathering effect on the material, so that the material can be concentrated when entering the acceleration guide portion 2122 from the material inlet guide portion 2121.

[0138] In some embodiments, the curved configuration includes a V-shaped configuration, a C-shaped configuration, or a U-shaped configuration.

[0139] In some embodiments, the acceleration guide portion 2122 and the material entry guide portion 2121 are integrally formed. In this embodiment, by integrally forming the acceleration guide portion 2122 and the material entry guide portion 2121, the connection between the acceleration guide portion 2122 and the material entry guide portion 2121 can be easily controlled during manufacturing, so that the material can naturally transition between the material entry guide portion 2121 and the acceleration guide portion 2122.

[0140] Of course, the acceleration guide portion 2122 and the material entry guide portion 2121 are not limited to being integrally formed. For example, in some other embodiments, the acceleration guide portion 2122 and the material entry guide portion 2121 can be connected by a curved connection portion, which can be determined according to actual design needs.

[0141] In some embodiments, the material entry guide portion 2121 forms a side wall of the feeding cavity A. Of course, the side wall of the feeding cavity A is not limited to being formed by the material entry guide portion 2121. For example, in some other embodiments, the feeding cavity A is additionally provided with a side wall, and the material entry guide portion 2121 only serves as a material entry guide in the feeding cavity A.

[0142] In some embodiments, the outer periphery of the feeding cavity A is circular, and the material entry guide portion 2121 extends along the outer periphery of the feeding cavity A. In this embodiment, by arranging the material entry guide portion 2121 to extend along the outer periphery of the feeding cavity A, the material entry guide portion 2121 will not beat the material when the material enters the feeding cavity A, which can effectively prevent the material entry guide portion 2121 from injuring the material.

[0143] In some embodiments, the feeding cavity A is cylindrical. Of course, the feeding cavity A is not limited to being cylindrical. For example, in some other embodiments, the feeding cavity A can also be annular.

[0144] In some embodiments, the disc body 211 is a circular disc configuration, and the feeding cavity A is located at the center of the disc body 211. It can be understood that the linear speed at the center of the disc body 211 is small, and by arranging the feeding cavity A at the center of the disc body 211, the situation that the material is suddenly accelerated after entering the feeding cavity A and is damaged can be avoided. It should be noted that the disc body 211 is not limited to being a circular disc configuration, and can also be other configurations, such as a rectangular shape, a polygonal shape, etc., which can be determined according to actual design needs.

[0145] In some embodiments, the plurality of guide mechanisms 212 are arranged around the outer periphery of the feeding cavity A. For example, in one embodiment, the number of guide mechanisms 212 is two, and the two guide mechanisms 212 are arranged around the outer periphery of the feeding cavity A. Of course, the number of guide mechanisms 212 is not limited to two, and can be three or more, which can be determined according to actual design needs.

[0146] In some embodiments, the plurality of guide mechanisms 212 are arranged at intervals around the outer periphery of the feeding cavity A.

[0147] In some embodiments, the intervals between the plurality of guide mechanisms 212 are equal. It can be understood that any one guide mechanism 212 coincides with another adjacent guide mechanism 212 after rotating by the same angle. In this embodiment, the interval time of the material discharged from the material ejection port 221 is consistent, and the interval between any two adjacent materials on the material track in the work area is consistent, so that the uniform feeding of the material can be achieved.

[0148] The other structures, connection relationships, extension explanations and beneficial effects of the spinning disc 21 in the present embodiment can be referred to the above-mentioned embodiments, and will not be repeated here.

[0149] The present embodiment also proposes a movable platform, which comprises a rack, a propulsion device and the above-mentioned feeding device 100. The propulsion device and the feeding device 100 are arranged on the rack, and the propulsion device is used to provide the thrust when the movable platform moves. The movable platform in the present embodiment has the advantages of improving the feeding efficiency, reducing the number of power devices 12, simplifying the structure of the device, reducing the weight of the device and reducing the cost, and embedding the material deeply into the work area, avoiding the material from being easily moved due to the shallow embedding of the material in the work area.

[0150] In some embodiments, the propulsion device comprises a propeller, and the movable platform can be an aircraft. In other embodiments, the propulsion device can be a wheel-type moving device, and the movable platform can be a ground moving device.

[0151] The structure, connection relationship, extension explanation and beneficial effect of the feeding device 100 in the present embodiment can be referred to the above-mentioned embodiments, and will not be repeated here.

[0152] As shown in FIG. 12, the present embodiment also proposes a control method S100 of an aircraft, which comprises:

[0153] S10, controlling the aircraft to fly;

[0154] S20, controlling the material shooting mechanism 20 of the aircraft to shoot material; in the process of shooting material by the material shooting mechanism 20, the guide pipe 30 that is in abutment with the material outlet 221 of the material shooting mechanism 20 is controlled to be in an unfolded state, and the guide pipe 30 in the unfolded state extends along the material shooting direction; and

[0155] S30, in response to the end of the material shooting by the material shooting mechanism 20, the guide pipe 30 is controlled to be retracted into the landing leg of the aircraft, and the landing leg is used to support the aircraft on the landing surface.

[0156] The control method of the aircraft provided in the embodiment, by setting the material shooting mechanism 20 to control the guide pipe 30 in abutment with the material outlet 221 of the material shooting mechanism 20 to be in an unfolded state in the process of shooting material, and by setting the guide pipe 30 to be retracted into the landing leg of the aircraft after the end of the material shooting by the material shooting mechanism 20, firstly, the material can be guided by the guide pipe 30, so that the material can obtain better rowing effect and improve the concentration of the material landing point, and the uniform distribution of the material can be realized. Secondly, by setting the guide pipe 30 to be retracted into the landing leg of the aircraft after the end of the material shooting by the material shooting mechanism 20, the end of the guide pipe 30 can be avoided to protrude from the landing leg of the aircraft, so that the end of the guide pipe 30 can not contact the ground when the aircraft lands.

[0157] The control method S100 in the embodiment can refer to the structure, connection relationship, expansion description and beneficial effects of the material feeding device 100 in the above-described embodiments, and will not be described here.

[0158] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered 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. A dosing device, characterized in that The application relates to a material feeding device, comprising: at least two material injection mechanisms configured to inject material to a working area, the at least two material injection mechanisms being arranged at intervals corresponding to the material injection ports; a driving mechanism connected with the at least two material injection mechanisms; and a power device connected with the driving mechanism, the power device being configured to drive the at least two material injection mechanisms to operate simultaneously through the driving mechanism, so that the at least two material injection mechanisms can share the driving force of the power device to work simultaneously. The material injection mechanisms are swingably arranged on the material feeding device, so that the material injection angles of the material injection mechanisms can be adjusted. The driving mechanism comprises at least two variable direction driving mechanisms corresponding to the at least two material injection mechanisms, the power device being connected with each of the material injection mechanisms through each of the variable direction driving mechanisms, so that the torque of the power device is transmitted to each of the material injection mechanisms in a variable direction. The variable direction driving mechanism comprises a first driving assembly and a second driving assembly, the first driving assembly being connected with the power device, the second driving assembly being connected with the material injection mechanism, the first driving assembly and the second driving assembly being drivingly connected, and at least one of the first driving assemblies being arranged at an angle relative to the second driving assembly, so that the torque can be transmitted between the first driving assembly and the second driving assembly in a variable direction.

2. The dosing device of claim 1, wherein The second driving assembly can also rotate relative to the first driving assembly to change the angle between the first driving assembly and the second driving assembly, thereby adjusting the material injection angle of the material injection mechanism.

3. The dosing device of claim 2, wherein The first driving assembly and the second driving assembly are connected through a universal joint.

4. The dosing device of claim 3, wherein The first driving assembly comprises a first bevel gear connected with the power device, a second bevel gear meshing with the first bevel gear, and a first connecting rod connected with the second bevel gear, the second driving assembly comprises a third bevel gear connected with the material injection mechanism, a fourth bevel gear meshing with the third bevel gear, and a second connecting rod connected with the fourth bevel gear, and the first connecting rod is coupled with the second connecting rod.

5. The dosing device of claim 4, wherein, The driving mechanism further comprises a shaft coupling mechanism, and adjacent two variable direction driving mechanisms are connected through the shaft coupling mechanism.

6. The dosing device of claim 5, wherein, The at least two material injection mechanisms are configured to swing along the arrangement direction of the at least two material injection mechanisms.

7. The dosing device of claim 4, wherein, The material injection directions of different material injection mechanisms are different.

8. The dosing device of claim 3, wherein, The actuating part of the material injection mechanism comprises a rotatable flinger, and the material feeding device has a strip sowing mode, in which the material feeding device can move to make different material injection mechanisms correspondingly inject material in different rows, and the disc surface of the flinger is arranged parallel to the moving direction of the material feeding device.

9. The dosing device of claim 2, wherein, The material injection mechanism further comprises a shell for accommodating the flinger, and the shell is provided with the material injection port arranged according to a preset material injection direction.

10. The dosing device of any one of claims 1 to 9, wherein ​ 11. The dosing device according to any one of claims 1 to 9, characterized in that ​ 12. The dosing device of claim 11, wherein, ​ 13. The dosing device of any one of claims 1 to 9, wherein The actuating component of the material injection mechanism comprises a rotatable flinger, which comprises a disc body and a guide mechanism, the disc body is provided with a feeding cavity arranged along the axial direction and located at the middle part of the disc body, and an acceleration cavity surrounding the feeding cavity, the feeding cavity and the acceleration cavity are in communication, and the disc body is provided with a feeding port outside the disc body and in communication with the feeding cavity; The guide mechanism comprises a feeding guide part and an acceleration guide part connected with the feeding guide part, the feeding guide part is located at the outer periphery of the feeding cavity, and the acceleration guide part is located in the acceleration cavity; The feeding guide part is in a circular arc structure, and the central axis of the feeding guide part is substantially coincided with the rotation axis of the disc body.

14. The dosing device of claim 13, wherein, The acceleration guide part is arranged at least partially along a direction tangential to the circumferential direction of the feeding guide part.

15. The dosing device of claim 14, wherein, The acceleration guide part extends to the outer edge of the flinger along a direction tangential to the circumferential direction of the feeding guide part; or the acceleration guide part is bent to extend to the outer edge of the flinger.

16. The dosing device of claim 15, wherein, One end of the acceleration guide part is used to connect with the feeding guide part, and the other end extends to the outer edge of the flinger.

17. The dosing device of claim 13, wherein, The acceleration guide part and / or the feeding guide part is in a curved structure in the cross section perpendicular to the length direction.

18. The dosing device of claim 17, wherein, The curved structure comprises a V-shaped structure, a C-shaped structure or a U-shaped structure.

19. The dosing device of claim 13, wherein, The acceleration guide part and the feeding guide part are in a common forming integrated forming structure; or the acceleration guide part and the feeding guide part are connected through a curved connecting part.

20. The dosing device of claim 13, wherein, The feeding guide part forms the side wall of the feeding cavity.

21. The dosing device of claim 13, wherein, The outer periphery of the feeding cavity is circular, and the feeding guide part extends along the outer periphery of the feeding cavity.

22. The dosing device of claim 21, wherein, The feeding cavity is in a cylindrical shape or a circular ring shape.

23. The dosing device of claim 13, wherein, The disc body is in a circular disc structure, and the feeding cavity is located at the center of the disc body.

24. The dosing device of claim 13, wherein, The guide mechanism is multiple, and the multiple guide mechanisms are arranged around the outer periphery of the feeding cavity.

25. The dosing device of claim 24, wherein, The multiple guide mechanisms are arranged at intervals around the outer periphery of the feeding cavity.

26. The dosing device of claim 25, wherein, The intervals between the multiple guide mechanisms are equal.

27. The dosing device of any one of claims 1 to 9, wherein, Further comprising a conduit connected to the material injection port of the material injection mechanism, the conduit is configured to be at least partially movable so that the conduit can be switched between a first state and a second state; In the first state, the conduit is unfolded along the material injection direction of the material injection mechanism for guiding the material ejected by the material injection mechanism; in the second state, the conduit is at least partially movable to reduce the distance between the end of the conduit and the material injection mechanism along the material injection direction of the material injection mechanism.

28. The dosing device of claim 27, wherein, The conduit is movably connected with the material injection mechanism, and / or the conduit itself is at least partially deformable to realize the switching of the conduit between the first state and the second state.

29. The dosing device of claim 28, wherein, Further comprising a conduit driving mechanism for driving the conduit to move relative to the material injection mechanism or driving the conduit to deform.

30. The dosing device of claim 27, wherein, In the second state, the conduit is in a contracted state or a folded state; in the first state, the conduit is in an extended state or an unfolded state.

31. The dosing device of claim 27, wherein, The conduit is configured to be in linkage with the material injection mechanism, and is driven to move or deform relative to the material injection mechanism when the actuating part of the material injection mechanism moves, so that the conduit is in the first state or the second state.

32. The dosing device of claim 31, wherein, The actuating part of the material injection mechanism comprises a rotatable flinger, the first state of the conduit is associated with a first rotation direction of the flinger, the second state of the conduit is associated with a second rotation direction of the flinger, the first rotation direction is a working direction of the flinger to eject material, and the first rotation direction and the second rotation direction are opposite.

33. The dosing device of claim 32, wherein, One end of the conduit is rotatably connected to the material injection mechanism, and a pull rod is arranged between the conduit and the material injection mechanism. The flinger is provided with a guide groove, the guide groove has a first position and a second position, the distance between the second position and the edge of the flinger closest to the conduit is greater than the distance between the first position and the edge of the flinger closest to the conduit. The pull rod is provided with an embedded part located in the guide groove, the embedded part moves in the guide groove to adjust the position of the embedded part relative to the flinger. When the flinger rotates along the first rotation direction until the embedded part is located at the first position, the conduit is in the first state; when the flinger rotates along the second rotation direction until the embedded part is located at the second position, the pull rod pulls up the conduit so that the conduit is in the second state.

34. The dosing device of claim 33, wherein, The distance between the first position and the center of the flinger is greater than the distance between the second position and the center of the flinger.

35. A dosing device according to claim 33 or 34, characterised in that The guide groove comprises an outer ring groove and an inner ring groove located on the inner side of the outer ring groove, the first position is located in the outer ring groove, and the second position is located in the inner ring groove, the outer ring groove is provided with an outlet connected to the inlet of the inner ring groove. When the flinger rotates along the first rotation direction, the embedded part is configured to be only in the outer ring groove and located at the first position; when the flinger rotates along the second rotation direction, the embedded part is configured to be able to enter the inner ring groove through the inlet and finally reach the second position. The inlet is a one-way inlet, so that when the flinger rotates along the first rotation direction, the embedded part is only in the outer ring groove and cannot enter the inner ring groove through the inlet, and when the flinger rotates along the second rotation direction, the embedded part can enter the inner ring groove through the inlet.

36. The dosing device of claim 35, wherein, The outer ring groove is an annular groove; and / or, the inner ring groove is a spiral groove.

37. The dosing device of claim 35, wherein, Further comprising a material discharging mechanism connected with the at least two material injection mechanisms, the material discharging mechanism is used to deliver material to the at least two material injection mechanisms according to a preset flow rate.

38. The dosing device of any one of claims 1 to 9, wherein, The material injection mechanism is rotatably connected to the material discharging mechanism, so that the material injection direction of the material injection mechanism is adjustable.

39. The dosing device of claim 38, wherein, The material injection mechanism is rotatably connected to the material discharging mechanism through a hinged mechanism, the hinged mechanism is configured to enable the material injection mechanism to rotate relative to the material discharging mechanism and to be kept at a preset angle after being rotated to the preset angle.

40. The dosing device of claim 39, wherein, ​ 41. The dosing device of claim 38, wherein, The discharging mechanism comprises at least two dischargers corresponding to the at least two material shooting mechanisms respectively, and the driving mechanism is further configured to drive the at least two dischargers to operate.

42. The dosing device of claim 41, wherein, The transmission mechanism is a first transmission mechanism, and the driving mechanism further comprises: a second transmission mechanism connected with the at least two dischargers; and a second power device connected with the second transmission mechanism, the second power device driving the at least two dischargers to operate through the second transmission mechanism.

43. The dosing device of claim 42, wherein, The second transmission mechanism comprises a driving shaft, and the at least two dischargers are arranged along the axial direction of the driving shaft and connected with the driving shaft, the driving shaft being configured to rotate to drive the at least two dischargers to operate, so that the at least two dischargers can simultaneously work by sharing the driving force of the second power device.

44. The dosing device of claim 41, wherein, The transmission mechanism is a first transmission mechanism, and the driving mechanism further comprises: a third transmission mechanism, the discharger being connected with the corresponding material shooting mechanism through the third transmission mechanism to share the power source with the material shooting mechanism.

45. The dosing apparatus of claim 38, wherein, The discharging mechanism comprises a screw conveyor type discharging mechanism or a rotary wheel type discharging mechanism.

46. The dosing apparatus of claim 38, wherein, Further comprising a material distributing mechanism and a material storage tank, the material distributing mechanism being connected between the material storage tank and the discharging mechanism, and the material in the material storage tank being distributed to each of the discharging mechanisms through the material distributing mechanism.

47. The dosing apparatus of claim 38, wherein, Further comprising an airflow assisting mechanism, the airflow assisting mechanism being arranged between the discharging mechanism and the material shooting mechanism, and the airflow assisting mechanism being used to introduce airflow into the connecting pipeline between the discharging mechanism and the material shooting mechanism to assist the material in the discharging mechanism to be delivered to the material shooting mechanism.

48. The dosing device of any one of claims 1 to 9, wherein, The corresponding material shooting ports of the at least two material shooting mechanisms are arranged at intervals, so that the at least two material shooting mechanisms can form different rows of material shooting when the material feeding device moves.

49. A dosing device, characterized in that Comprise: a material shooting mechanism provided with a material shooting port; and a guide pipe connected with the material shooting port; The guide pipe is configured to be movable at least partially to enable the guide pipe to switch between a first state and a second state; In the first state, the guide pipe is unfolded along the material shooting direction of the material shooting mechanism to guide the material shot by the material shooting mechanism; in the second state, the guide pipe is movable at least partially to reduce the distance between the end of the guide pipe and the material shooting mechanism along the material shooting direction of the material shooting mechanism.

50. The dosing device of claim 49, wherein, The guide pipe is movably connected with the material shooting mechanism, and / or the guide pipe is at least partially deformable to enable the guide pipe to switch between the first state and the second state.

51. The dosing device of claim 50, wherein, Further comprising a guide pipe driving mechanism for driving the guide pipe to move relative to the material shooting mechanism or driving the guide pipe to deform.

52. The dosing device of claim 49, wherein, In the second state, the guide pipe is in a contracted state or a folded state; In the first state, the guide pipe is in an extended state or an unfolded state.

53. The dosing device of claim 49 or 50, wherein, The conduit is configured to be in linkage with the material injection mechanism, and is driven to move or deform relative to the material injection mechanism when the actuating part of the material injection mechanism moves, so that the conduit is in the first state or the second state.

54. The dosing device of claim 53, wherein, The actuating part of the material injection mechanism comprises a rotatable flinger, the first state of the conduit is associated with a first rotation direction of the flinger, the second state of the conduit is associated with a second rotation direction of the flinger, the first rotation direction is a working direction of the flinger, and the first rotation direction and the second rotation direction are opposite.

55. The dosing device of claim 54, wherein, One end of the conduit is rotatably connected with the material injection mechanism, and a pull rod is arranged between the conduit and the material injection mechanism. The flinger is provided with a guide groove, the guide groove has a first position and a second position, the distance between the second position and the edge of the flinger closest to the conduit is greater than the distance between the first position and the edge of the flinger closest to the conduit. The pull rod is provided with an embedded part located in the guide groove, and the embedded part moves in the guide groove to adjust the position of the embedded part relative to the flinger. When the flinger rotates along the first rotation direction until the embedded part is located at the first position, the conduit is in the first state; when the flinger rotates along the second rotation direction until the embedded part is located at the second position, the pull rod pulls up the conduit so that the conduit is in the second state.

56. The dosing device of claim 55, wherein, The guide groove comprises an outer ring groove and an inner ring groove located inside the outer ring groove, the first position is located in the outer ring groove, and the second position is located in the inner ring groove, the outer ring groove is provided with an outlet connected with the inlet of the inner ring groove; when the flinger rotates along the first rotation direction, the embedded part is configured to be located only in the outer ring groove and at the first position; when the flinger rotates along the second rotation direction, the embedded part is configured to be able to enter the inner ring groove through the inlet and finally reach the second position.

57. The dosing device of claim 56, wherein, The inlet is a one-way inlet, so that when the flinger rotates along the first rotation direction, the embedded part is only located in the outer ring groove and cannot enter the inner ring groove through the inlet, and when the flinger rotates along the second rotation direction, the embedded part can enter the inner ring groove through the inlet.

58. The dosing device of claim 55, wherein, The outer ring groove is a ring groove; and / or, the inner ring groove is a spiral groove.

59. The dosing apparatus of claim 55, wherein, The distance between the first position and the center of the flinger is greater than the distance between the second position and the center of the flinger.

60. A centrifugal disc characterized in that, The disc body is provided with a feeding cavity located at the middle part of the disc body along the axial direction and an acceleration cavity surrounding the feeding cavity, the feeding cavity and the acceleration cavity are in communication, and the outer side of the disc body is provided with a feeding port in communication with the feeding cavity. The guide mechanism comprises a feeding guide part and an acceleration guide part connected with the feeding guide part, the feeding guide part is located at the outer periphery of the feeding cavity, and the acceleration guide part is located in the acceleration cavity. The feed guide is an arc-shaped structure, and the central axis of the feed guide is substantially coincident with the rotation axis of the disc.

61. The disc of claim 60 wherein, The acceleration guide is at least partially arranged along a direction tangent to the circumferential direction of the feed guide.

62. The disc of claim 61 wherein, The acceleration guide extends to the outer edge of the sling plate in a direction tangential to the circumference of the feed guide; or, the acceleration guide extends to the outer edge of the sling plate in a curved manner.

63. The disc of claim 62 wherein, One end of the acceleration guide is used to connect with the feed guide, and the other end extends to the outer edge of the slinger.

64. The disc of claim 60 wherein, The acceleration guide and / or the feed guide have a curved cross-section perpendicular to their respective length directions.

65. The disc of claim 64 wherein, The bending structure includes a V-shaped structure, a C-shaped structure, or a U-shaped structure.

66. The disc of claim 60 wherein, The acceleration guide and the feed guide are integrally formed; or the acceleration guide and the feed guide are connected by a bent connecting part.

67. The disc of claim 60 wherein, The feed guide portion forms the sidewall of the feed chamber.

68. The disc of claim 60 wherein, The outer periphery of the feeding chamber is circular, and the feeding guide extends along the outer periphery of the feeding chamber.

69. The disc of claim 68 wherein, The feed chamber is cylindrical or annular in shape.

70. The disc of claim 60 wherein, The disc body has a disc-shaped structure, and the feeding chamber is located at the center of the disc body.

71. The disc of claim 60 wherein, There are multiple guiding mechanisms, and the multiple guiding mechanisms are arranged around the outer periphery of the feeding chamber.

72. The disc of claim 71 wherein, The multiple guiding mechanisms are arranged at intervals around the outer periphery of the feeding chamber.

73. The disc of claim 72 wherein, The spacing between the multiple guiding mechanisms is equal.

74. A movable platform, characterized by It includes a frame, a propulsion device, and a feeding device as described in claims 1 to 58, wherein the propulsion device and the feeding device are disposed on the frame, and the propulsion device is used to provide thrust when the movable platform moves.

75. The moveable platform of claim 74, wherein, The propulsion device includes a propeller.

76. A control method for an aircraft, characterized in that include: Control the flight of the aircraft; Control the ejection mechanism of the aircraft to eject material; During the injection process of the injection mechanism, the guide tube connected to the injection port of the injection mechanism is controlled to be in an extended state, and the extended guide tube extends along the injection direction. as well as In response to the end of the injection of the injection mechanism, the guide tube is controlled to retract and enter the landing gear of the aircraft, the landing gear being used to support the aircraft on the landing surface.

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