A spraying device and unmanned vehicle

Abstract

The application discloses a spraying device and an unmanned vehicle, and the spraying device comprises, from bottom to top, a mounting frame, a liquid storage tank and a spraying assembly, wherein the liquid storage tank is provided with a matching hole penetrating through the liquid storage tank, the spraying assembly is installed above the liquid storage tank through a support penetrating through the matching hole, and the support is fixedly installed on the mounting frame. In the embodiment of the application, the matching hole is arranged on the liquid storage tank, the spraying assembly is supported and installed through the support penetrating through the liquid storage tank, the spraying assembly can be conveniently arranged above the liquid storage tank, the overall structure of the spraying device is more compact, and the horizontal space occupied is smaller; the unmanned vehicle adopting the spraying device of the application is more compact in size, has stronger passing capacity in a narrow space, and can adapt to more application scenarios.

Description

Technical Field

[0001] This application relates to the field of agricultural autonomous driving equipment technology, and in particular to a spraying device and an unmanned vehicle that uses the installation structure to install a liquid storage tank. Background Technology

[0002] With the continuous development of the agricultural industry and the increasing emphasis placed on agriculture by the state, agricultural mechanization has gradually become widespread in some parts of my country. Traditional mechanized farming requires significant labor costs, and as labor costs continue to rise, autonomous driving technology is also being applied in the field of agricultural machinery.

[0003] Some existing unmanned vehicles are equipped with liquid storage tanks for spraying pesticides or watering crops. In order to spray the pesticide solution in the storage tank, the unmanned vehicle usually needs to be equipped with a spray component bracket. The spray component bracket is usually located on one side of the storage tank, which means that the vehicle body needs to reserve a certain amount of installation space in the horizontal direction, resulting in a large volume. Summary of the Invention

[0004] The purpose of this application is to provide a spraying device and an unmanned vehicle that can solve the above-mentioned problems existing in the prior art.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] On one hand, a spraying device is provided, including a mounting frame, a liquid storage tank, and a spraying assembly arranged sequentially from bottom to top. The liquid storage tank is provided with a mating hole penetrating the liquid storage tank. The spraying assembly is mounted above the liquid storage tank by a support member passing through the mating hole. The support member is fixedly mounted on the mounting frame.

[0007] Optionally, the liquid storage tank has a first surface and a second surface facing away from each other, with a receiving space formed between the first surface and the second surface; the mating hole penetrates the liquid storage tank, connecting the first surface and the second surface, and the first surface abuts against the mounting bracket.

[0008] Optionally, it also includes a connecting plate, which is fixedly connected to the support member, and the spray assembly is mounted on the connecting plate.

[0009] Optionally, it also includes a connecting pipe connecting the outlet of the liquid storage tank to the spray assembly, the connecting pipe passing through the mating hole;

[0010] And / or, it also includes a connecting wire connected to the spray assembly, the connecting wire passing through the mating hole.

[0011] Optionally, the connecting plate is provided with a through hole, the position of which corresponds to the position of the mating hole.

[0012] Optionally, the support member has a first connecting end and a second connecting end that are opposite to each other. A first limiting part is provided on the side of the first connecting end, and a second limiting part is provided on the mounting frame. The support member is limited relative to the mounting frame by the cooperation of the first limiting part and the second limiting part.

[0013] Optionally, the mounting bracket is provided with mounting clamps, and the support member passes through the mounting clamps and the mounting bracket.

[0014] Optionally, the first limiting part is a limiting protrusion provided on the first connecting end, and the second limiting part is a limiting hole provided on the mounting clamp.

[0015] Optionally, there are multiple mating holes, which are evenly distributed on the liquid storage tank.

[0016] Optionally, the first surface is formed with a mounting groove, and the mounting bracket is provided with a mounting guide rail corresponding to the mounting groove. The liquid storage tank can move along the length direction of the mounting bracket when the mounting groove and the mounting guide rail cooperate.

[0017] Optionally, the mounting guide rail is provided with a T-slot, and a T-shaped limiting block is provided at the bottom of the mounting groove. The T-shaped limiting block can be engaged in the T-slot and slide in the T-slot.

[0018] Optionally, the mounting groove is provided with a mounting hole, and the T-shaped limiting block is engaged in the mounting hole.

[0019] Optionally, the mating hole has a hole sidewall, and the position where the hole sidewall connects with the first surface and the second surface is provided with a transition fillet.

[0020] Optionally, it also includes a buffer pad, which is sleeved on the support and located between the mating hole and the support.

[0021] Optionally, the cross-sectional area of ​​the mating hole gradually decreases and then gradually increases from top to bottom.

[0022] On the other hand, an unmanned vehicle is provided, which is equipped with a spray assembly using the spray device described above.

[0023] The beneficial effects of this application are as follows: In the embodiments of this application, by providing a mating hole on the liquid storage tank, the support member passes through the liquid storage tank to support and install the spray assembly, so that the spray assembly can be conveniently installed above the liquid storage tank, and the overall structure of the spray device is more compact and occupies less horizontal space.

[0024] The unmanned vehicle using the spray device of this application is more compact, has a stronger ability to move in confined spaces, and can adapt to more application scenarios. Attached Figure Description

[0025] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0026] Figure 1 This is a schematic diagram of the liquid storage tank structure described in the embodiments of this application.

[0027] Figure 2 This is another schematic diagram of the liquid storage tank structure described in the embodiments of this application;

[0028] Figure 3 This is another schematic diagram of the liquid storage tank structure described in the embodiments of this application;

[0029] Figure 4 This is a cross-sectional view of the liquid storage tank structure described in the embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the liquid storage tank installed on the mounting frame according to an embodiment of this application;

[0031] Figure 6 This is a top view of the liquid storage tank installed on the mounting frame according to an embodiment of this application;

[0032] Figure 7 This is a side view of the liquid storage tank installed on the mounting frame according to an embodiment of this application;

[0033] Figure 8 This is a three-dimensional structural diagram of the liquid storage tank installed on the mounting frame according to an embodiment of this application;

[0034] Figure 9 This is a schematic diagram showing the liquid storage tank installed on the mounting frame according to an embodiment of this application;

[0035] Figure 10 This is a schematic diagram of the three-dimensional structure of the connecting plate described in the embodiment of this application;

[0036] Figure 11 for Figure 9 Enlarged view of a section at point I;

[0037] Figure 12 This is a three-dimensional structural diagram of the spray assembly and liquid storage tank described in the embodiments of this application mounted on the mounting frame;

[0038] Figure 13 for Figure 12 Enlarged view of section II in the middle.

[0039] In the picture:

[0040] 100. Mounting bracket; 110. Mounting clamp; 111. Second limiting part; 120. Mounting guide rail; 121. T-slot; 200. Liquid storage tank; 210. Mating hole; 220. First surface; 221. Mounting groove; 2211. Mounting hole; 222. T-slot limiting block; 223. Hole sidewall; 224. Transition fillet; 230. Second surface; 231. Support platform; 300. Support component; 310. First connecting end; 311. First limiting part; 320. Second connecting end; 400. Connecting plate; 410. Through hole; 500. Spray assembly. Detailed Implementation

[0041] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0045] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0046] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0047] Some existing unmanned vehicles are equipped with liquid storage tanks for spraying pesticides or watering crops. In order to spray the pesticide solution in the storage tank, the unmanned vehicle usually needs to be equipped with a spray component bracket. The spray component bracket is usually located on one side of the storage tank, which means that the vehicle body needs to reserve a certain amount of installation space in the horizontal direction, resulting in a large volume.

[0048] Based on the above embodiments of this application, a spraying device is provided, which can realize the installation of a liquid storage tank and a spraying component through the same structure.

[0049] Specifically, refer to Figure 1-13 As shown in the embodiment of this application, a spraying device includes a mounting frame 100, a liquid storage tank 200, and a spraying assembly 500 arranged sequentially from bottom to top. The liquid storage tank 200 is provided with a mating hole 210 penetrating the liquid storage tank 200. The spraying assembly 500 is mounted above the liquid storage tank 200 by a support member 300 passing through the mating hole 210. The support member 300 is fixedly mounted on the mounting frame 100.

[0050] In this embodiment, by providing a mating hole 210 on the liquid storage tank 200, the support member 300 passes through the liquid storage tank 200 to support and install the spray assembly 500, so that the spray assembly can be conveniently installed above the liquid storage tank, and the overall structure of the spray device is more compact and occupies less horizontal space.

[0051] Furthermore, in this application, the support member 300 can fix the liquid storage tank 200 while installing the spray assembly 500, avoiding the need for separate installation brackets for the spray assembly 500 and fixing structures for the liquid storage tank 200, thus simplifying the overall structure. The structure of the mating hole 210 can increase the structural strength of the liquid storage tank 200. The side wall of the mating hole 210 can support the liquid storage tank 200, preventing it from collapsing due to insufficient strength. At the same time, the inner wall of the mating hole 210 has a surge protection function inside the liquid storage tank 200. When the liquid inside the liquid storage tank 200 forms a surge, it can be blocked by the mating hole 210, thereby reducing the surge.

[0052] Specifically, refer to Figure 1-3 As shown, the liquid storage tank 200 has a first surface 220 and a second surface 230 facing away from each other, and a receiving space is formed between the first surface 220 and the second surface 230; the mating hole 210 penetrates the liquid storage tank 200 and connects the first surface 220 and the second surface 230, and the first surface 220 abuts against the mounting bracket 100.

[0053] In this embodiment, the mounting bracket 100 mainly supports the liquid storage tank 200 and is used to bear the weight of the liquid storage tank 200 and the spray assembly 500. The support member 300 is used to limit and fix the liquid storage tank 200 in the horizontal direction and to fix the liquid storage tank 200 and the mounting bracket 100.

[0054] The specific installation structure of the spray assembly 500 in this embodiment is as follows: Figure 1-9 As shown, a support platform 231 is provided on the second surface 230 and on one side of the mating hole 210. A connecting plate 400 is provided on the support platform 231. One end of the connecting plate 400 is fixedly connected to the support platform 231, and the other end is fixedly connected to the support member 300. The spray assembly 500 is installed on the connecting plate 400.

[0055] The support platform 231 provides a flat surface for mounting the connecting plate 400, thereby ensuring the positional accuracy between the connecting plate 400 and the support member 300 after installation. On the other hand, it can increase the thickness of the liquid storage tank 200 at this position, which increases the overall structural strength of the liquid storage tank 200 and facilitates the pre-setting of connection holes at this position, thus facilitating the installation of the connecting plate 400.

[0056] Preferably, this embodiment also includes a connecting pipe connecting the outlet of the liquid storage tank 200 to the spray assembly 500, the connecting pipe passing through the mating hole 210.

[0057] In this application, the connecting pipe is routed through the internal space of the mating hole 210, which avoids the connecting pipe being exposed and easily damaged when routed externally.

[0058] Preferably, the mating hole 210 in this application can also be used to run connecting wires, that is, the power line and control line for driving the spray assembly 500 can be passed through the mating hole 210.

[0059] It is understood that the aforementioned connecting pipe and connecting wire are inserted into the mating hole 210. Specifically, the support member 300 is a hollow structure, the support member 300 is inserted into the mating hole 210, and the connecting wire and / or connecting pipe are inserted into the support member 300.

[0060] Specifically, the connecting plate 400 is provided with a through hole 410, the position of which corresponds to the position of the mating hole 210. The through hole 410 is sleeved on the outside of the support member 300.

[0061] By providing a through hole 410 on the connecting plate 400 corresponding to the position of the mounting hole 2211, the mounting hole 2211 is not blocked, so that the connecting pipe for connecting the liquid storage tank 200 and the spray assembly 500, as well as the power line and control line for driving the spray assembly 500, can be passed through it.

[0062] It is understood that the connecting pipe described in the embodiments of this application can be a water pipe or a conduit, or both.

[0063] Figure 9 The diagram shows the specific structure of the support member 300 and the specific connection relationship between the support member 300 and the mounting bracket 100, the liquid storage tank 200, and the spray assembly 500. The support member 300 has a first connecting end 310 and a second connecting end 320 that are opposite to each other. A first limiting part 311 is provided on the side of the first connecting end 310, and a second limiting part 111 is provided on the mounting bracket 100. The support member 300 is limited relative to the mounting bracket 100 by the cooperation of the first limiting part 311 and the second limiting part 111.

[0064] In this embodiment, the first connecting end 310 extends below the first surface 220 for fixed connection with the mounting bracket 100. Specifically, refer to... Figure 5-11 As shown, the mounting bracket 100 is provided with a mounting clamp 110, and the support member 300 passes through the support clamp and the mounting bracket 100.

[0065] During the assembly of the liquid storage tank 200 and the mounting bracket 100, the mounting clamp 110 is first initially installed on the crossbeam, and the liquid storage tank 200 is placed in the preset position on the mounting bracket 100. At this time, the locking hole formed by the mounting clamp 110 and the mounting bracket 100 corresponds to the mating hole 210 on the liquid storage tank 200. Then, the support member 300 can be inserted into the mating hole 210 and the locking hole, so that the first limiting part 311 and the second limiting part 111 are aligned. Then, the connecting screws between the mounting clamp 110 and the mounting bracket 100 are tightened, so that the mounting buckle is fastened on the support member 300, and the first limiting part 311 and the second limiting part 111 achieve limiting engagement.

[0066] Specifically, refer to Figure 9 As shown, in this embodiment of the application, the first limiting part 311 is a limiting protrusion provided on the first connecting end 310, and the second limiting part 111 is a limiting hole provided on the mounting clamp 110.

[0067] It is understood that the first limiting part 311 being a limiting protrusion and the second limiting part 111 being a limiting hole are not intended to limit this application. In other embodiments, the first limiting part 311 may be configured as a limiting hole and the first limiting part 311 as a limiting protrusion that cooperates with it.

[0068] Furthermore, the limiting protrusion can also adopt an elastic and retractable structure. When using an elastic and retractable structure as the limiting protrusion, the limiting protrusion is preferably a spherical protrusion. Under this structure, the support member 300 can be disassembled and installed while the mounting clamp 110 and the mounting bracket 100 are locked, which can improve the replacement efficiency.

[0069] In this embodiment, there are multiple mating holes 210, which are evenly distributed on the liquid storage tank 200.

[0070] When there are multiple mating holes 210, the structure of all mating holes 210 can be the same or different. For example, all mating holes 210 can be two different sizes of mating holes 210, and the same size of mating holes 210 are evenly and symmetrically distributed along the center line of the length direction of the liquid storage tank 200.

[0071] Preferred, refer to Figure 1-9 As shown, in this embodiment of the application, there are four mating holes 210 of the same specification, and the four mating holes 210 are symmetrically distributed in pairs along the center line of the length direction of the liquid storage tank 200.

[0072] It is understood that having multiple mating holes 210 is not a limitation of this solution. In other embodiments of this application, a solution with only one mating hole 210 can also be used. When there is only one mating hole 210, it is necessary to place the mating hole 210 at the geometric center of the liquid storage tank 200 as much as possible, and to avoid setting the shape of the mating hole 210 as a rotating body structure. When there is only one mating hole 210, placing the mating hole 210 at the geometric center of the liquid storage tank 200 can ensure the force balance when fixing the liquid storage tank 200 through the mating hole 210, avoiding problems such as tilting of the liquid storage tank 200 due to uneven force, and deformation and damage to the mating hole 210 due to excessive load. At the same time, setting the mating hole 210 as a non-rotating body structure can prevent the liquid storage tank 200 from rotating around the circumference of the mating hole 210.

[0073] Furthermore, referring to Figure 3 As shown, the first surface 220 has a mounting groove 221, and the mounting bracket 100 is provided with a mounting guide rail 120 corresponding to the mounting groove 221. The liquid storage tank 200 can move along the length direction of the mounting bracket 100 when the mounting groove 221 and the mounting guide rail 120 cooperate.

[0074] In this application, the liquid storage tank 200 and the mounting bracket 100 are pre-positioned by the mounting groove 221 cooperating with the mounting guide rail 120, so that the liquid storage tank 200 is locked on the mounting bracket 100 and limited in the width direction of the mounting bracket 100. The installation position in this direction can be adjusted by sliding along the length direction of the mounting bracket 100, so that the mating hole 210 on the liquid storage tank 200 corresponds to the installation position on the mounting bracket 100.

[0075] Specifically, refer to Figure 7-13 As shown in the embodiment of this application, there are two mounting rails 120, which are arranged along the length of the mounting frame 100 and are parallel to each other. Each mounting rail 120 is provided with a T-shaped groove 121, and a T-shaped limiting block 222 is provided at the bottom of the groove. The T-shaped limiting block 222 can be engaged in the T-shaped groove 121 and slide within it.

[0076] In this embodiment, the T-shaped limiting block 222 is installed by having a mounting hole 2211 on the mounting groove 221, and the T-shaped limiting block 222 is snapped into the mounting hole 2211.

[0077] Preferably, in this embodiment of the application, the T-shaped limiting block 222 is snapped into the mounting hole 2211 by the elastic part. The elastic snapping installation method can provide a certain error space for the cooperation between the T-shaped limiting block and the T-shaped groove 121. At the same time, it is also more convenient to assemble and disassemble the T-shaped limiting block and the mounting hole 2211.

[0078] Furthermore, the mating hole 210 has a hole sidewall 223, and the hole sidewall 223 is provided with a transition fillet 224 at the position where it connects with the first surface 220 and the second surface 230.

[0079] In this embodiment, the transition fillet 224 provided on the first surface 220 can be used as a guide when the support 300 is inserted into the mating hole 210. A buffer can be filled in the gap between the liquid storage tank 200 and the support 300 at the transition fillet 224, forming a flexible connection between the liquid storage tank 200 and the support 300. This prevents excessive gaps between them from causing wobbling, and also prevents hard contact between the support 300 and the liquid storage tank 200, which could cause friction and damage to the liquid storage tank 200 during relative movement.

[0080] Optionally, this embodiment of the application further includes a buffer pad, which is sleeved on the support member 300 and located between the mating hole 210 and the support member 300.

[0081] Filling the gap between the mating hole 210 and the support member 300 can effectively prevent the liquid storage tank 200 from shaking relative to the support member 300. At the same time, it can make the diameter of the mating hole 210 larger than the diameter of the support member 300, thereby facilitating the insertion of the support member 300 into the mating hole 210.

[0082] Preferred, refer to Figure 4 As shown, in this embodiment, the cross-sectional area of ​​the mating hole 210 gradually decreases and then gradually increases from top to bottom. This arrangement facilitates the assembly of the mating hole 210 with the support member 300.

[0083] Meanwhile, this application provides an unmanned vehicle equipped with a spray assembly 500 using the spraying device described above. In some embodiments, the mounting bracket 100 may be part of the unmanned vehicle body.

[0084] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A spraying device, characterized in that, The device includes a mounting bracket (100), a liquid storage tank (200), and a spray assembly (500) arranged sequentially from bottom to top. The liquid storage tank (200) has a mating hole (210) that penetrates the liquid storage tank (200). The spray assembly (500) is mounted above the liquid storage tank (200) by a support member (300) that passes through the mating hole (210). The support member (300) is fixedly mounted on the mounting bracket (100).

2. The spraying device according to claim 1, characterized in that, The liquid storage tank (200) has a first surface (220) and a second surface (230) facing away from each other, and a receiving space is formed between the first surface (220) and the second surface (230); the mating hole (210) penetrates the liquid storage tank (200) and connects the first surface (220) and the second surface (230), and the first surface (220) abuts against the mounting bracket (100).

3. The spraying device according to claim 1, characterized in that, It also includes a connecting plate (400), which is fixedly connected to the support member (300), and the spray assembly (500) is mounted on the connecting plate (400).

4. The spraying device according to claim 1, characterized in that, It also includes a connecting pipe that connects the outlet of the liquid storage tank (200) to the spray assembly (500), and the connecting pipe passes through the mating hole (210); And / or, it also includes a connecting wire connected to the spray assembly (500), the connecting wire passing through the mating hole (210).

5. The spraying device according to claim 3, characterized in that, The connecting plate (400) is provided with a through hole (410), and the position of the through hole (410) corresponds to the position of the mating hole (210).

6. The spraying device according to any one of claims 1-5, characterized in that, The support member (300) has a first connecting end (310) and a second connecting end (320) facing away from each other. A first limiting part (311) is provided on the side of the first connecting end (310), and a second limiting part (111) is provided on the mounting frame (100). The support member (300) is limited relative to the mounting frame (100) by the cooperation of the first limiting part (311) and the second limiting part (111).

7. The spraying device according to claim 6, characterized in that, The mounting bracket (100) is provided with a mounting clamp (110), and the support member (300) passes between the mounting clamp (110) and the mounting bracket (100).

8. The spraying device according to claim 7, characterized in that, The first limiting part (311) is a limiting protrusion provided on the first connecting end (310), and the second limiting part (111) is a limiting hole provided on the mounting clamp (110).

9. The spraying device according to any one of claims 1-5, characterized in that, There are multiple mating holes (210), and the multiple mating holes (210) are evenly distributed on the liquid storage tank (200).

10. The spraying device according to claim 2, characterized in that, The first surface (220) has a mounting groove (221), and the mounting bracket (100) is provided with a mounting guide rail (120) corresponding to the mounting groove (221). The liquid storage tank (200) can move along the length direction of the mounting bracket (100) when the mounting groove (221) and the mounting guide rail (120) cooperate.

11. The spraying device according to claim 10, characterized in that, The mounting guide rail (120) is provided with a T-shaped groove (121), and a T-shaped limiting block (222) is provided at the bottom of the mounting groove (221). The T-shaped limiting block (222) can be engaged in the T-shaped groove (121) and slide in the T-shaped groove (121).

12. The spraying device according to claim 11, characterized in that, The mounting groove (221) is provided with a mounting hole (2211), and the T-shaped limiting block (222) is engaged in the mounting hole (2211).

13. The spraying device according to claim 2, characterized in that, The mating hole (210) has a hole sidewall (223), and the hole sidewall (223) is provided with a transition fillet (224) at the position where it connects with the first surface (220) and the second surface (230).

14. The spraying device according to claim 1, characterized in that, It also includes a buffer pad, which is sleeved on the support (300) and located between the mating hole (210) and the support (300).

15. The spraying device according to claim 1, characterized in that, The cross-sectional area of ​​the mating hole (210) gradually decreases and then gradually increases from top to bottom.

16. An unmanned vehicle, characterized in that, The spraying device according to any one of claims 1-15 is equipped with a spraying assembly (500).

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