Feeding device and movable platform

Abstract

A feeding device and a movable platform, the feeding device comprises a driving mechanism (10) and at least two injection mechanisms (20), the injection mechanisms (20) are configured to be used for injecting materials to an operation area, and injection ports corresponding to the at least two injection mechanisms (20) are arranged at intervals, so that the feeding device can form different rows of material ejection during movement. 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 injection 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 injection mechanisms (20) to operate at the same time through the transmission mechanism (11), so that the at least two injection mechanisms (20) can share the driving force of the power device (12) to work at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of movable working platforms, in particular to a feeding device and a movable platform. Background Art

[0002] With the development of society, the use of aircraft for operations has become increasingly popular, such as spraying or spreading operations. However, the related art of aircraft operations has problems such as high cost and poor penetration of the sprayed materials. Utility Model Content

[0003] In view of this, the present invention proposes a feeding device and a movable platform.

[0004] The feeding device proposed in the first aspect of the present invention comprises:

[0005] At least two ejection mechanisms, each configured to eject material toward an operating area, wherein ejection ports corresponding to the at least two ejection mechanisms are spaced apart so that the feeding device can form different rows of material ejection when moving; and

[0006] A driving mechanism, comprising:

[0007] a transmission mechanism connected to the at least two injection mechanisms; and

[0008] A power device is connected to the transmission mechanism, and the power device is configured to simultaneously drive the at least two shooting mechanisms to operate through the transmission mechanism, so that the at least two shooting mechanisms can share the driving force of the power device and work simultaneously.

[0009] The movable platform proposed in the second aspect of the present invention includes a frame, a propulsion device and the above-mentioned feeding device. The propulsion device and the feeding device are arranged on the frame, and the propulsion device is used to provide thrust when the movable platform moves.

[0010] It can be seen from the above technical solutions that the feeding device proposed in the first aspect of the present invention, firstly, by providing a feeding device including at least two ejection mechanisms, the feeding device can form different rows of material ejection when moving, thereby improving the feeding efficiency of the feeding device. Secondly, by providing a power device that can simultaneously drive at least two ejection mechanisms to operate through a transmission mechanism, the number of power devices can be reduced, thereby achieving the effects of simplifying the device structure, reducing the weight of the device and reducing costs. Furthermore, by providing a driving mechanism to drive the ejection mechanism to operate, the ejection mechanism can accelerate the material when ejecting the material, so that the material can be embedded deeper in the working area, thereby avoiding the material being not embedded deeply in the working area, which makes the material easily moved by external forces, such as being moved by water flow or wind. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained from these drawings without creative work.

[0012] Figure 1 This is a schematic structural diagram of a feeding device proposed in one embodiment of the present utility model;

[0013] Figure 2 This is a partial structural diagram of a feeding device proposed in one embodiment of the present utility model;

[0014] Figure 3 This is a structural diagram of a spinning disc proposed in one embodiment of the present invention;

[0015] Figure 4 This is a schematic diagram of the coordination of the spinning disc, the pull rod and the guide tube proposed in one embodiment of the present invention;

[0016] Figure 5 This is a schematic diagram of the connection between the discharge mechanism and the injection mechanism proposed in one embodiment of the present utility model;

[0017] Figure 6 This is a schematic diagram of the connection between the discharge mechanism and the injection mechanism proposed in another embodiment of the present invention;

[0018] Figure 7 This is a schematic diagram of the connection between the discharge mechanism and the drive mechanism proposed in one embodiment of the present utility model;

[0019] Figure 8 This is a schematic diagram of the connection between the discharge mechanism, the injection mechanism and the drive mechanism proposed in another embodiment of the present invention;

[0020] Figure 9This is a structural diagram of a discharger proposed in another embodiment of the present invention;

[0021] Figure 10 This is a structural diagram of a discharger proposed in another embodiment of the present invention.

[0022] Figure 11 This is a schematic diagram of the connection between the discharge mechanism, the ejection mechanism and the airflow assist mechanism proposed in another embodiment of the present invention;

[0023] Figure 12 It is a block diagram of a method for controlling an aircraft according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] With the development of society, the use of aircraft for operations is becoming more and more popular. For example, aircraft can be used for spraying or sowing operations. However, aircraft operations in the related art have problems such as high cost and weak penetration of the sprayed materials. For example, the aircraft used for spraying or sowing operations in the related art have a large number of motors / servos, which are expensive and easily make the aircraft bulky and energy-consuming. As a result, the aircraft cannot be used for spraying or sowing operations for a long time. The same operation area requires a long time to complete the spraying or sowing operation, which is inefficient. For another example, the aircraft used for spraying or sowing operations in the related art mainly use gravity-feeding sowing solutions for seed sowing. Since the seeds rely on gravity to fall, the speed when they reach the soil is not enough and they can only be sown on the soil surface. This is not only not conducive to seed germination, but also makes the seeds easily eaten by birds. Secondly, to avoid the influence of wind fields, the flight altitude of the aircraft needs to be low, the flight safety is low, and the flight conditions are limited. In addition, in northern regions, paddy fields usually retain a 5cm to 10cm water-retention layer. Seeds that fall slowly will be displaced within the water layer due to surges, resulting in poor seed formation.

[0026] Based on this, the embodiments of the present invention provide a feeding device, a spinning tray, a movable platform and a control method for an aircraft.

[0027] like Figure 1 and Figure 2As shown, an embodiment of the present invention provides a feeding device 100, which includes a drive mechanism 10 and at least two ejection mechanisms 20. The ejection mechanisms 20 are configured to eject materials into an operating area. The ejection ports 221 corresponding to the at least two ejection mechanisms 20 are spaced apart so that the feeding device 100 can form different rows of material discharge when moving. 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 ejection mechanisms 20. The power unit 12 is connected to the transmission mechanism 11 and is configured to simultaneously drive the at least two ejection mechanisms 20 to operate through the transmission mechanism 11, so that the at least two ejection mechanisms 20 can share the driving force of the power unit 12 and operate simultaneously.

[0028] The feeding device 100 proposed in the embodiment of the present invention, firstly, by providing the feeding device 100 with at least two ejection mechanisms 20, the feeding device 100 can form different rows of material ejection when moving, thereby improving the feeding efficiency of the feeding device 100. Secondly, by providing a power device 12 that can simultaneously drive at least two ejection mechanisms 20 to operate through the transmission mechanism 11, the number of power devices 12 can be reduced, thereby achieving the effects of simplifying the device structure, reducing the weight of the device and reducing the cost. Furthermore, by providing a driving mechanism 10 to drive the ejection mechanism 20 to operate, the ejection mechanism 20 can accelerate the material when ejecting the material, so that the material can be embedded deeper in the working area, thereby avoiding the material being embedded shallowly in the working area, which makes the material easily moved by external forces, such as being moved by water flow or wind.

[0029] It should be noted that when the feeding device 100 is used for seed sowing, the ejection mechanism 20 can accelerate the seeds during seed dispensing, allowing the seeds to be embedded deeper in the working area, which is beneficial for improving the seed formation and uniformity during sowing. Deeper seed embedding in the working area is beneficial for seed implantation and improves surge resistance, thereby increasing the germination rate. High uniformity ensures uniform nutrient absorption for crops, and high row formation provides better ventilation and lighting conditions, increasing yield and lodging resistance, thereby achieving better sowing results.

[0030] It should be noted that the feeding device 100 proposed in the embodiment of the present invention can be installed on an aircraft, or on other mobile devices, such as a ground mobile device.

[0031] In some embodiments, the ejection ports 221 corresponding to at least two ejection mechanisms 20 are spaced apart so that when the feeding device 100 moves, the at least two ejection mechanisms 20 can form different rows of material ejection, thereby forming multiple rows of material projection, thereby improving work efficiency. The "row" in the "at least two ejection mechanisms 20 can form different rows of material ejection" refers to the trajectory formed by the material ejected by the ejection mechanism 20 along the forward direction of the feeding device 100 during the actual feeding process. Optionally, in some embodiments, the row spacing between two adjacent rows is 20 cm to 30 cm. It should be noted that the quantifier "multiple" in this article refers to a quantity of two or more.

[0032] like Figure 1 and Figure 2 As shown, in some embodiments, the number of the ejection mechanisms 20 is five, and the feeding device 100 can feed five rows of materials at a time, which improves feeding efficiency. Of course, the number of the ejection mechanisms 20 is not limited to five, and can also be two, three, four, six, or more than six, depending on actual design requirements.

[0033] In some embodiments, the ejection mechanism 20 is swingably mounted on the feeding device 100, allowing for an adjustable ejection angle. In this embodiment, the user can adjust the angle of the ejection mechanism 20 based on actual needs, thereby adjusting the spacing between rows of materials. It should also be noted that by providing an adjustable ejection angle for the ejection mechanism 20, even if the ejection mechanism 20 is relatively compact, a wide range of ejection can be achieved by adjusting the ejection angle of the ejection mechanism 20.

[0034] like Figure 2 As shown, in some embodiments, at least two shooting mechanisms 20 are configured to be able to swing along the arrangement direction of the at least two shooting mechanisms 20. In some embodiments, the shooting mechanisms 20 are arranged along the left-right direction XX of the feeding device 100, and the shooting mechanisms 20 can swing along the left-right direction XX of the feeding device 100.

[0035] like Figure 2 As shown, in some embodiments, different injection mechanisms 20 have different injection directions to form a radial spreading width according to actual needs.

[0036] like Figure 2As shown, for example, in a specific embodiment, there are five ejection mechanisms 20, which are arranged along the left-right direction XX of the feeding device 100. From left to right, the five ejection mechanisms 20 are respectively the first ejection mechanism 20a, the second ejection mechanism 20b, the third ejection mechanism 20c, the fourth ejection mechanism 20d, and the fifth ejection mechanism 20e. The ejection direction of the third ejection mechanism 20c, located in the middle, is vertically downward, and the "vertical downward" refers to the orientation of the feeding device 100 in normal use. The ejection direction of the second ejection mechanism 20b is tilted toward the left side of the feeding device 100 and is arranged at a first angle to the ejection direction of the third ejection mechanism 20c. The ejection direction of the first ejection mechanism 20a is tilted toward the left side of the feeding device 100 and is arranged at a second angle to the ejection direction of the third ejection mechanism 20c, where the second angle is greater than the first angle. The fourth shooting mechanism 20d is tilted toward the right side of the feeding device 100 and is arranged at a third angle to the shooting direction of the third shooting mechanism 20c. The shooting direction of the fifth shooting mechanism 20e is tilted toward the right side of the feeding device 100 and is arranged at a fourth angle to the shooting direction of the third shooting mechanism 20c. The fourth angle is greater than the third angle.

[0037] Of course, according to actual use needs, it is also possible to adjust the angle of the shooting mechanism 20 so that the shooting directions of different shooting mechanisms 20 are the same. For example, it is also possible to adjust the angle of the shooting mechanism 20 so that the shooting directions of all shooting mechanisms 20 are vertically downward.

[0038] like Figure 2 As shown, in some embodiments, the transmission mechanism 11 includes at least two direction-changing transmission mechanisms 111 corresponding to at least two shooting mechanisms 20. The power device 12 is connected to the corresponding shooting mechanism 20 through each direction-changing transmission mechanism 111, so that the torque of the power device 12 is transmitted to each shooting mechanism 20 in a direction-changing manner, so that when the power of the power device 12 is shared, different shooting mechanisms 20 can adjust different shooting angles according to actual needs.

[0039] like Figure 2 As shown, in some embodiments, the direction-changing transmission mechanism 111 includes a first transmission component 112 and a second transmission component 113. The first transmission component 112 is connected to the power device 12, and the second transmission component 113 is connected to the shooting mechanism 20. The first transmission component 112 and the second transmission component 113 are connected in a transmission manner, and at least one first transmission component 112 is tilted relative to the second transmission component 113 to form an angle, so that torque can be transmitted in a directionally variable manner between the first transmission component 112 and the second transmission component 113.

[0040] like Figure 2As shown, in some embodiments, the second transmission assembly 113 can also rotate relative to the first transmission assembly 112 to change the size of the angle formed by the first transmission assembly 112 and the second transmission assembly 113, thereby adjusting the injection angle of the injection mechanism 20. Optionally, the angle between the first transmission assembly 112 and the second transmission assembly 113 ranges from greater than 0° to less than or equal to 180°.

[0041] like Figure 2 As shown, in some embodiments, the first transmission assembly 112 and the second transmission assembly 113 are connected via 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.

[0042] like Figure 2 As shown, in some embodiments, the first transmission assembly 112 includes a first bevel gear 1121 connected to the power device 12, a second bevel gear 1122 meshed with the first bevel gear 1121, and a first connecting rod 1123 connected to the second bevel gear 1122, the second transmission assembly 113 includes a third bevel gear 1131 connected to the shooting mechanism 20, a fourth bevel gear 1132 meshed with the third bevel gear 1131, and a second connecting rod 1133 connected to the fourth bevel gear 1132, and the first connecting rod 1123 is coupled to the second connecting rod 1133.

[0043] like Figure 2 As shown, in some embodiments, the transmission mechanism 11 further includes a coupling mechanism 115, and two adjacent direction-changing transmission mechanisms 111 are connected via the coupling mechanism 115. This embodiment facilitates the processing and manufacturing of the transmission mechanism 11. Specifically, different direction-changing transmission mechanisms 111 can be processed and manufactured separately during manufacturing and then assembled together via the coupling.

[0044] It should be noted that the present invention is not limited to the above-mentioned embodiment using the coupling mechanism 115 . For example, in some other embodiments, the transmission mechanism 11 may include a long shaft, and the long shaft may connect all the direction-changing transmission mechanisms 111 in series.

[0045] like Figure 2 and Figure 3As shown, in some embodiments, the actuating component of the shooting mechanism 20 includes a rotatable throwing disc 21, and the feeding device 100 has a strip sowing mode. In the strip sowing mode, the feeding device 100 can move so that different shooting mechanisms 20 correspondingly shoot out different rows of materials. The disk surface of the throwing disc 21 is arranged parallel to the moving direction of the feeding device 100, that is, in the strip sowing mode, the throwing disc 21 is arranged along the moving direction of the feeding device 100. Compared with the throwing disc 21 being arranged perpendicular to the moving direction of the feeding device 100, when the same number of rows of materials are projected, the embodiment of the utility model can reduce the occupied space of the entire shooting mechanism 20. Among them, the "disk surface of the throwing disc 21" refers to the rotation plane formed when the throwing disc 21 rotates.

[0046] like Figure 2 and Figure 3 As shown, in some embodiments, the shooting mechanism 20 further includes a housing 22 for accommodating the spinning disc 21 . The housing 22 is provided with a shooting port 221 arranged according to a preset shooting direction. The material thrown out by the spinning disc 21 is ejected from the shooting port 221 of the housing 22 .

[0047] like Figure 3 As shown, in some embodiments, the actuating component of the ejection mechanism 20 includes a rotatable spinning disc 21, which includes a disc body 211 and a guide mechanism 212. The disc body 211 is provided with a feed chamber A, which is arranged along its axial direction and located in the middle portion of the disc body 211, and an acceleration chamber B surrounding the feed chamber A. The feed chamber A and the acceleration chamber B are connected. A feed port C is provided on the outer side of the disc body 211 and is connected to the feed chamber A. The guide mechanism 212 includes a feed guide portion 2121 and an acceleration guide portion 2122 connected to the feed guide portion 2121. The feed guide portion 2121 is located at the outer periphery of the feed chamber A, and the acceleration guide portion 2122 is located within the acceleration chamber B. The feed guide portion 2121 is an arc-shaped structure, and the central axis of the feed guide portion 2121 substantially coincides with the rotation axis of the disc body 211. During actual operation, the swing disc 21 rotates, and the material enters the feed chamber A from the feed port C. The material hits the feed guide 2121 and moves to the acceleration guide 2122 under the guidance of the feed guide 2121. Then, the material is continuously accelerated along the acceleration guide 2122 under the action of the centrifugal force of the swing disc 21, and finally ejected from the ejection port 221.

[0048] In this embodiment, by setting the feed guide portion 2121 to be located at the outer periphery of the feed chamber A and having an arc-shaped structure, the feed guide portion 2121 can gather the material on the wall of the feed guide portion 2121 in a relatively gentle manner, and then transport the material to the acceleration guide portion 2122 under the action of centrifugal force. During this process, the wall of the feed guide portion 2121 will not form a high-speed impact on the material, which can effectively avoid damage to the material.

[0049] like Figure 3 As shown, in some embodiments, one end of the acceleration guide 2122 is used to connect to the feed guide 2121, and the other end extends to the outer edge of the spinner 21. In this embodiment, the guide mechanism 212 can continue to accelerate the material until it leaves the spinner 21, so that the material can achieve a higher ejection speed. Of course, in other embodiments, the acceleration guide 2122 may not extend to the outer edge of the spinner 21, which can be determined according to actual design requirements.

[0050] like Figure 3 As shown, in some embodiments, the acceleration guide 2122 is at least partially arranged along a direction tangential to the circumference of the feed guide 2121. In this embodiment, the direction of the material when it leaves the feed guide 2121 is consistent with the direction when it enters the acceleration guide 2122. The material can naturally transition from the feed guide 2121 to the acceleration guide 2122 without changing direction, thereby preventing the acceleration guide 2122 from damaging the material during the transition from the feed guide 2121 to the acceleration guide 2122. Moreover, the direction of the material when it leaves the feed guide 2121 is consistent with the direction when it enters the acceleration guide 2122, which does not affect the running speed of the material when entering the acceleration guide 2122.

[0051] like Figure 3 As shown, in some embodiments, the acceleration guide portion 2122 extends to the outer edge of the spinner 21 along a direction tangential to the circumference of the feed guide portion 2121. In this embodiment, the running direction of the material on the acceleration guide portion 2122 does not change. After being accelerated on the acceleration guide portion 2122, the material can be directly ejected along the acceleration guide portion 2122. In addition, the linear acceleration guide portion 2122 has little resistance to the material, so that the material can achieve a better acceleration effect.

[0052] It should be noted that the acceleration guide portion 2122 is not limited to being set to extend to the outer edge of the spin tray 21 along a direction tangential to the circumference of the feed guide portion 2121. For example, in some other embodiments, the acceleration guide portion 2122 can also be set to bend and extend to the outer edge of the spin tray 21, which can be determined according to actual design requirements.

[0053] like Figure 3 As shown, in some embodiments, the acceleration guide portion 2122 has a curved cross-section perpendicular to its length. In this embodiment, the curved structure has a gathering effect on the material, so that the material is more concentrated when it is ejected from the injection port 221, which can improve the accuracy of material delivery and prevent the material from being scattered during delivery, thereby improving the alignment of the material delivery.

[0054] like Figure 3As shown, in some embodiments, the cross-section of the feed guide 2121 perpendicular to its respective length direction is curved. Similarly, in this embodiment, the curved structure has a gathering effect on the material, so that the material can be concentrated from the feed guide 2121 into the acceleration guide 2122.

[0055] like Figure 3 As shown, in some embodiments, the curved structure includes a V-shaped structure. Of course, it is not limited to the V-shaped structure. In some other embodiments, the curved structure includes a C-shaped structure or a U-shaped structure.

[0056] like Figure 3 As shown, in some embodiments, the acceleration guide portion 2122 and the feed guide portion 2121 are integrally formed. In this embodiment, by integrally forming the acceleration guide portion 2122 and the feed guide portion 2121, the connection between the acceleration guide portion 2122 and the feed guide portion 2121 can be easily controlled during the manufacturing process, allowing the material to transition naturally between the feed guide portion 2121 and the acceleration guide portion 2122.

[0057] Of course, the acceleration guide portion 2122 and the feed guide portion 2121 are not limited to being set as an integrally formed structure. For example, in some other embodiments, the acceleration guide portion 2122 and the feed guide portion 2121 can also be connected by a curved connecting portion, which can be determined according to actual design requirements.

[0058] like Figure 3 As shown, in some embodiments, the feed guide portion 2121 forms a side wall of the feed chamber A. Of course, the side wall of the feed chamber A is not limited to being formed by the feed guide portion 2121. For example, in some other embodiments, the feed chamber A is additionally provided with a side wall, and the feed guide portion 2121 only serves as a feed guide in the feed chamber A.

[0059] like Figure 3 As shown, in some embodiments, the outer periphery of the feed chamber A is circular, and the feed guide 2121 extends along the outer periphery of the feed chamber A. In this embodiment, by providing the feed guide 2121 extending along the outer periphery of the feed chamber A, the feed guide 2121 does not hit the material when the material enters the feed chamber A, thereby effectively preventing the feed guide 2121 from damaging the material.

[0060] In some embodiments, the feed chamber A is cylindrical, that is, the feed chamber A is a hollow structure. Of course, the feed chamber A is not limited to being cylindrical. For example, in some other embodiments, the feed chamber A can also be annular.

[0061] like Figure 3As shown, in some embodiments, the disc 211 is disc-shaped, with the feed chamber A located at the center of the disc 211. As can be appreciated, the linear velocity at the center of the disc 211 is relatively low. By locating the feed chamber A at the center of the disc 211, it is possible to avoid a sudden increase in the velocity of the material after it enters the feed chamber A, which could cause significant damage to the material. It should be noted that the disc 211 is not limited to a disc-shaped configuration and may also be configured in other configurations, such as rectangular or polygonal, depending on actual design requirements.

[0062] like Figure 3 As shown, in some embodiments, there are multiple guide mechanisms 212, and the multiple guide mechanisms 212 are arranged around the outer periphery of the feed chamber A. For example, in one embodiment, there are two guide mechanisms 212, and the two guide mechanisms 212 are arranged around the outer periphery of the feed chamber A. Of course, the number of guide mechanisms 212 is not limited to two, and can also be three or more, and the specific number can be determined according to actual design requirements.

[0063] like Figure 3 As shown, in some embodiments, a plurality of guide mechanisms 212 are spaced apart and distributed around the outer periphery of the feed chamber A.

[0064] like Figure 3 As shown, in some embodiments, the spacing between the multiple guide mechanisms 212 is equal. This means that any guide mechanism 212, after rotating through the same angle, will overlap with another adjacent guide mechanism 212. In this embodiment, the intervals between materials discharged from the injection port 221 are consistent. Therefore, along the material trajectory in the working area, the spacing between any two adjacent materials is consistent, achieving uniform material delivery.

[0065] like Figure 2As shown, in some embodiments, the feeding device 100 further includes a conduit 30, which is connected to the injection port 221 of the injection mechanism 20. The conduit 30 is configured to be at least partially movable so that the conduit 30 can switch between a first state and a second state. In the first state, the conduit 30 is deployed along the injection direction of the injection mechanism 20 to guide the material ejected by the injection mechanism 20. In the second state, the conduit 30 is at least partially movable to reduce the distance between the end of the conduit 30 and the injection mechanism 20 along the injection direction of the injection mechanism 20 (hereinafter referred to as the distance between the end of the conduit 30 and the injection mechanism 20). In this embodiment, first, by providing the conduit 30 to guide the material, the material can be better formed into rows and the concentration of the material landing point can be improved, thereby achieving uniform material delivery. Secondly, by making the conduit 30 at least partially movable so as to reduce the distance between the end of the conduit 30 and the shooting mechanism 20 along the shooting direction of the shooting mechanism 20, when the feeding device 100 is not in use or has completed use, the distance between the end of the conduit 30 and the shooting mechanism 20 can be shortened to avoid the end of the conduit 30 protruding from the aircraft's tripod, causing the end of the conduit 30 to touch the ground when the aircraft lands.

[0066] In some embodiments, in the second state, the catheter 30 is in a contracted state or a folded state. In the first state, the catheter 30 is in an extended state or an expanded state. The "contracted state" refers to the movement of the catheter 30 as a whole or in part, so that the distance between the end of the catheter 30 and the ejection mechanism 20 is reduced. The "folded state" refers to the at least partial change in the shape of the catheter 30, for example, the catheter 30 is partially rolled or rotated and folded, so that the distance between the end of the catheter 30 and the ejection mechanism 20 is reduced. Conversely, the "extended state" refers to the movement of the catheter 30 as a whole or in part, so that the distance between the end of the catheter 30 and the ejection mechanism 20 is increased. The "expanded state" refers to the at least partial change in the shape of the catheter 30, for example, the partially rolled or folded catheter 30 is straightened, so that the distance between the end of the catheter 30 and the ejection mechanism 20 is increased.

[0067] In some embodiments, the conduit 30 and the injection mechanism 20 are movably connected to enable the conduit 30 to switch between the first state and the second state. For example, in one embodiment, the conduit 30 and the injection mechanism 20 can be slidably connected or rotatably connected, and the conduit 30 can be switched between the first state and the second state by sliding or rotating the conduit 30.

[0068] In some other embodiments, the catheter 30 itself is at least partially deformable to enable the catheter 30 to switch between the first state and the second state. For example, in one embodiment, the catheter 30 is at least partially retractable or foldable to enable the catheter 30 to switch between the first state and the second state.

[0069] In some embodiments, the feeding device 100 further includes a conduit drive mechanism (not shown), which is used to drive the conduit 30 to move relative to the ejection mechanism 20 or to drive the conduit 30 to deform. Of course, the feeding device 100 may also not be provided with a conduit drive mechanism, and the movement or deformation of the conduit 30 relative to the ejection mechanism 20 may be achieved manually.

[0070] In some embodiments, the conduit 30 is configured to be interlocked with the ejection mechanism 20. Movement of the actuating component of the ejection mechanism 20 simultaneously causes the conduit 30 to move or deform relative to the ejection mechanism 20, thereby placing the conduit 30 in the first or second state. This embodiment eliminates the need for an additional drive device to move or deform the conduit 30, reducing the number of power devices 12 and simplifying the device structure, reducing weight, and lowering costs.

[0071] like Figure 4 As shown, in some embodiments, the actuating component of the ejection mechanism 20 includes a rotatable ejector disc 21, the first state of the conduit 30 is associated with the first rotation direction F1 of the ejector disc 21, and the second state of the conduit 30 is associated with the second rotation direction F2 of the ejector disc 21. The first rotation direction F1 is the working direction in which the ejector disc 21 ejects the material, and the first rotation direction F1 and the second rotation direction F2 are opposite.

[0072] That is, when the disc 21 rotates along the first rotation direction F1 to throw out the material, the conduit 30 is driven by the disc 21 to be in an extended or unfolded state; when the disc 21 rotates along the second rotation direction F2, the conduit 30 is driven by the disc 21 to be in a retracted or folded state.

[0073] like Figure 4As shown, in some embodiments, one end of the conduit 30 is rotatably connected to the ejection mechanism 20, for example, via a hinge S. A pull rod 40 is disposed between the conduit 30 and the ejection mechanism 20. The spinning disc 21 is provided with a guide slot 213 having a first position P1 and a second position P2. The distance between the second position P2 and the edge of the spinning disc 21 closest to the conduit 30 is greater than the distance between the first position P1 and the edge of the spinning disc 21 closest to the conduit 30. The pull rod 40 includes an embedded portion 41 positioned within the guide slot 213. The embedded portion 41 moves within the guide slot 213 to adjust its position relative to the spinning disc 21. When the spinning disc 21 rotates along a first rotational direction F1 until the embedded portion 41 is in the first position P1, the conduit 30 is in a first state. When the spinning disc 21 rotates along a second rotational direction F2 until the embedded portion 41 is in the second position P2, the pull rod 40 pulls up the conduit 30, placing the conduit 30 in a second state.

[0074] In some embodiments, the distance between the first position P1 and the center of the spinner 21 is greater than the distance between the second position P2 and the center of the spinner 21 .

[0075] like Figure 4 As shown, in some embodiments, the guide groove 213 includes an outer groove 2131 and an inner groove 2132 located inside the outer groove 2131. The first position P1 is located in the outer groove 2131, and the second position P2 is located in the inner groove 2132. The outer groove 2131 has an outlet connected to the inlet D of the inner groove 2132. When the spinner 21 rotates in the first rotation direction F1, the embedded portion 41 is configured to be located only within the outer groove 2131 and at the first position P1. When the spinner 21 rotates in the second rotation direction F2, the embedded portion 41 is configured to enter the inner groove 2132 through the inlet D and ultimately reach the second position P2.

[0076] like Figure 4 As shown, in some embodiments, the inlet D is a one-way inlet, so that when the spinner 21 rotates along the first rotation direction F1, the embedded portion 41 is only in the outer ring groove 2131 and does not enter the inner ring groove 2132 through the inlet D. When the spinner 21 rotates along the second rotation direction F2, the embedded portion 41 can enter the inner ring groove 2132 through the inlet D.

[0077] like Figure 4 As shown, in some embodiments, the feeding device 10 further includes a driving member T, which is used to generate a driving force to act on the pull rod 40 so that the embedded portion 41 abuts against the groove wall of the inner ring groove 2132 near the center of the spinner 21, so that when the spinner 21 rotates along the second rotation direction F2, the embedded portion 41 can easily enter the inner ring groove 2132 from the entrance D. The driving member T can be, but is not limited to, a spring.

[0078] like Figure 4 As shown, in some embodiments, the outer ring groove 2131 is an annular groove.

[0079] like Figure 4 As shown, in some embodiments, the inner groove 2132 is a spiral groove.

[0080] like Figure 1 As shown, in some embodiments, the feeding device 100 further includes a discharge mechanism 50, which is connected to at least two injection mechanisms 20. The discharge mechanism 50 is configured to deliver material to the at least two injection mechanisms 20 according to a preset flow rate. In this embodiment, by providing the discharge mechanism 50 to quantitatively deliver material to the injection mechanism 20, the feeding device 100 can achieve uniform feeding.

[0081] In some embodiments, the ejection mechanism 20 is rotatably connected to the discharge mechanism 50, allowing the ejection direction of the ejection mechanism 20 to be adjustable. As described above, by providing adjustable ejection direction of the ejection mechanism 20, the user can adjust the angle of the ejection mechanism 20 according to actual needs, thereby adjusting the spacing between different rows of materials. It should be noted that the user can manually adjust the ejection direction of the ejection mechanism 20 relative to the discharge mechanism 50. Of course, adjustment is not limited to manual methods. For example, in other embodiments, automatic adjustment can also be achieved by adding an actuator.

[0082] like Figure 5 and Figure 6 As shown, in some embodiments, the shooting mechanism 20 is rotatably connected to the discharge mechanism 50 via a hinge mechanism 60, and the hinge mechanism 60 is configured to enable the shooting mechanism 20 to be rotatable relative to the discharge mechanism 50 and to maintain the preset angle after rotating to the preset angle.

[0083] like Figure 5 As shown, in some embodiments, the articulated mechanism 60 includes a rotating shaft 61 and a damping assembly 62. The shooting mechanism 20 can be rotatably mounted on the discharge mechanism 50 via the rotating shaft 61. The damping assembly 62 is mounted on the discharge mechanism 50 and / or the shooting mechanism 20. The damping assembly 62 is used to generate resistance when the shooting mechanism 20 rotates relative to the discharge mechanism 50.

[0084] like Figure 5 As shown, in some embodiments, the damping assembly 62 includes an elastic member 621 and a friction member 622, which are installed on the discharge mechanism 50. The friction member 622 abuts against the shooting mechanism 20 under the elastic force of the elastic member 621, and generates friction force that hinders the rotation of the shooting mechanism 20 when the shooting mechanism 20 rotates.

[0085] When the angle of the shooting mechanism 20 needs to be adjusted, a rotational force is applied to the shooting mechanism. When the applied rotational force is greater than the friction force of the friction member 622, the shooting mechanism 20 starts to rotate. When the shooting mechanism 20 rotates to the preset angle, the external force is removed. The friction force of the friction member 622 prevents the shooting mechanism 20 from rotating automatically, thereby maintaining the shooting mechanism 20 at the preset angle.

[0086] like Figure 6 As shown, in some other embodiments, the hinge mechanism 60 includes a rotating shaft 61, an elastic member 621 and a positioning member 623. The shooting mechanism 20 can be rotatably mounted on the discharge mechanism 50 through the rotating shaft 61. The shooting mechanism 20 is provided with at least two recessed portions W along the rotation direction of the shooting mechanism 20. The elastic member 621 and the positioning member 623 are installed on the discharge mechanism 50. When the shooting mechanism 20 is rotated to the point where the positioning member 623 is opposite to the recessed portion W, the positioning member 623 is embedded in the recessed portion W under the elastic force of the elastic member 621 to generate resistance when the shooting mechanism 20 rotates relative to the discharge mechanism 50.

[0087] When the angle of the shooting mechanism 20 needs to be adjusted, a rotational force is applied to the shooting mechanism. When the applied rotational force is greater than the force between the positioning member 623 and the recessed portion W, the positioning member 623 withdraws from the current recessed portion W, and the shooting mechanism 20 starts to rotate. When the shooting mechanism 20 rotates to a preset angle, that is, the positioning member 623 is opposite to another recessed portion W, the positioning member 623 is embedded in the recessed portion W under the elastic force of the elastic member 621. When the external force is removed, the force between the positioning member 623 and the recessed portion W prevents the shooting mechanism 20 from rotating automatically, thereby maintaining the shooting mechanism 20 at the preset angle.

[0088] In some embodiments, the hinge mechanism 60 includes a spring positioning pin, and the spring positioning pin includes the elastic member 621 and the positioning member 623 .

[0089] like Figure 2 and Figure 7 As shown, in some embodiments, the discharge mechanism 50 includes at least two dischargers 51 corresponding to the at least two shooting mechanisms 20 , and the driving mechanism 10 is further configured to drive the at least two dischargers 51 to operate.

[0090] like Figure 2 and Figure 7 As shown, in some embodiments, the number of the dischargers 51 and the number of the injection mechanisms 20 may both be five, with the five dischargers 51 corresponding to the five injection mechanisms 20 in a one-to-one manner.

[0091] like Figure 2 and Figure 7As shown, in some embodiments, the transmission mechanism 11 is a first transmission mechanism S1, the power device 12 is a first power device S2, and the drive mechanism 10 further includes a second transmission mechanism S3 and a second power device S4. The second transmission mechanism S3 is connected to at least two dischargers 51, and the second power device S4 is connected to the second transmission mechanism S3. 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 and operated by one second power device S4, which can reduce the number of power devices 12, thereby simplifying the device structure, reducing the device weight, and reducing costs.

[0092] Optionally, the first power device S2 and the second power device S4 are motors.

[0093] like Figure 7 As shown, in some embodiments, the second transmission mechanism S3 includes a drive shaft S5, at least two dischargers 51 are arranged along the axial direction of the drive shaft S5 and connected to the drive shaft S5, and the drive shaft S5 is configured to drive at least two dischargers 51 to operate when it rotates, so that at least two dischargers 51 can share the driving force of the second power device S4 and work simultaneously.

[0094] like Figure 8 As shown, the embodiment of the present invention also provides another feeding device 100, including a discharger 51, a shooting mechanism 20 and a drive mechanism 10. The discharger 51 and the shooting mechanism 20 are connected to allow the material to enter the shooting mechanism 20 through the discharger 51 and be discharged through the shooting mechanism 20. Among them, the drive mechanism 10 includes a third transmission mechanism S6. The discharger 51 is connected to the corresponding shooting mechanism 20 through the third transmission mechanism S6, so as to share a power source with the shooting mechanism 20. In this embodiment, the discharger 51 and the shooting mechanism 20 can share a power source, further reducing the number of power devices, thereby achieving the effect of simplifying the device structure, reducing the device weight and reducing costs. It should be noted that the embodiment of the present invention can be coupled with any of the aforementioned embodiments. For example, on the basis of the aforementioned at least two shooting mechanisms 20 sharing the power device 12, the discharger 51 can be further connected to the corresponding shooting mechanism 20 through the third transmission mechanism S6, so that the final shooting mechanism 20 and the discharge mechanism 50 also share power.

[0095] like Figure 8As shown, in some embodiments, the third transmission mechanism S6 includes a transmission shaft S61, a driving pulley S62, a driven pulley S63, and a transmission belt S64. The transmission shaft S61 is connected to the discharger 51, the driving pulley S62 is connected to the power device 12, the driven pulley S63 is connected to the transmission shaft S61, and the transmission belt S64 is wrapped around the driving pulley S62 and the driven pulley S63. It should be noted that the third transmission mechanism S6 can also be set to other transmission methods according to actual needs, such as gear transmission.

[0096] In some embodiments, the number of power units 12 can be set to match the number of injection mechanisms 20. Each power unit 12 drives a injection mechanism 20 and its corresponding discharger 51 through a third transmission mechanism S6 to operate synchronously. In this embodiment, the injection speed of each injection mechanism 20 can be independently controlled, and the spacing between adjacent materials in each row of material and the injection flow rate of each row of material can be dynamically adjusted. This can be applied to work areas of different shapes and achieve variable feeding.

[0097] In some embodiments, the discharge mechanism 50 includes an auger-type discharge mechanism (not shown in the drawings) or a rotary-type discharge mechanism.

[0098] like Figure 9 As shown, in some embodiments, the rotary discharge mechanism 50 includes an outer shell 521 and a rotating wheel 523. The outer shell 521 has a material channel 5211, an inlet 5212 and an outlet 5213 connected to the material channel 5211. The inlet 5212 is connected to the material storage box 80, and the outlet 5213 is connected to the ejection mechanism 20. The rotating wheel 523 is rotatably disposed within the material channel 5211, and the rotating wheel 523 divides the material channel 5211 into a feed area E1 connected to the inlet 5212 and an ejection area E2 connected to the outlet 5213. The outer wall of the rotating wheel 523 is provided with at least one recessed hole 5231. When the rotating wheel 523 rotates, the recessed hole 5231 is driven to load and unload material from the feed area E1 and transport the loaded material to the ejection area E2. Material in the ejection area E2 enters the ejection mechanism 20 through the outlet 5213.

[0099] like Figure 10As shown, in some embodiments, the rotary discharge mechanism 50 includes an outer shell 521 and a rotor 523. The outer shell 521 has a material channel 5211, an inlet 5212 and an outlet 5213 connected to the material channel 5211. The inlet 5212 is connected to the material storage box 80, and the outlet 5213 is connected to the ejection mechanism 20. The rotor 523 is rotatably disposed in the material channel 5211 and divides the material channel 5211 into a feeding area E1 connected to the inlet 5212 and an outlet E2 connected to the outlet 5213. Among them, the wheel 523 includes a wheel body 5232 and multiple partitions 5233. The multiple partitions 5233 are arranged at intervals along the axial direction of the wheel body 5232. A groove 5234 is formed between two adjacent partitions 5233. When the wheel 523 rotates, the groove 5234 is driven to load and take materials from the feeding area E1 and transport the loaded materials to the discharging area E2. The materials located in the discharging area E2 enter the shooting mechanism 20 from the discharge port 5213.

[0100] like Figure 1 As shown, in some embodiments, the feeding device 100 further includes a material dividing mechanism 70 and a material storage box 80. The material dividing mechanism 70 is connected between the material storage box 80 and the discharge mechanism 50. The material in the material storage box 80 is distributed to each discharge mechanism 50 through the material dividing mechanism 70. In this embodiment, by providing the material dividing mechanism 70 to divert the material, the material in the material storage box 80 can be evenly distributed to each discharge mechanism 50, which is ultimately conducive to achieving uniform feeding of the feeding device 100.

[0101] like Figure 11 As shown, in some embodiments, the feeding device 100 further includes an airflow assisting mechanism 90, which is disposed between the discharge mechanism 50 and the injection mechanism 20. The airflow assisting mechanism 90 is used to introduce airflow into the communication pipe between the discharge mechanism 50 and the injection mechanism 20 to assist in conveying the material in the discharge mechanism 50 to the injection mechanism 20. In actual use, if the material is damp or contains foreign matter, it is easy to form a blockage between the discharge mechanism 50 and the injection mechanism 20. In this embodiment, by providing the airflow assisting mechanism 90, wind power can be used to assist in conveying the material, thereby preventing the material from forming a blockage between the discharge mechanism 50 and the injection mechanism 20.

[0102] like Figure 11 As shown, in some embodiments, the airflow assist mechanism 90 includes a fan 91 and an air duct 92, the air duct 92 is connected to the channel between the discharge mechanism 50 and the shooting mechanism 20, the fan 91 is connected to the air duct 92, and the airflow generated when the fan 91 is running enters the channel between the discharge mechanism 50 and the shooting mechanism 20 through the air duct 92 to assist in transporting the material in the discharge mechanism 50 to the shooting mechanism 20.

[0103] like Figures 1 to 11 As shown, an embodiment of the present invention further provides a feeding device 100, which includes a feeding mechanism 20 and a conduit 30. The feeding mechanism 20 is provided with a feeding port 221, and the conduit 30 is connected to the feeding port 221. The conduit 30 is configured to be at least partially movable so that the conduit 30 can switch between a first state and a second state. In the first state, the conduit 30 is deployed along the feeding direction of the feeding mechanism 20 to guide the material ejected by the feeding mechanism 20. In the second state, the conduit 30 is at least partially movable to reduce the distance between the end of the conduit 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 conduit 30 and the feeding mechanism 20).

[0104] The feeding device 100 proposed in this embodiment, firstly, provides a guide tube 30 to guide the material, thereby achieving a better line formation effect and a higher concentration of material landing points, thereby achieving uniform material delivery. Secondly, by making the guide tube 30 at least partially movable, the distance between the end of the guide tube 30 and the ejection mechanism 20 can be reduced. When the feeding device 100 is not in use or after use, the distance between the end of the guide tube 30 and the ejection mechanism 20 can be reduced, thereby preventing the end of the guide tube 30 from protruding from the aircraft's footrest, causing the end of the guide tube 30 to contact the ground during landing.

[0105] In some embodiments, in the second state, the catheter 30 is in a contracted state or a folded state. In the first state, the catheter 30 is in an extended state or an expanded state. The "contracted state" refers to the movement of the catheter 30 as a whole or in part, so that the distance between the end of the catheter 30 and the ejection mechanism 20 is reduced. The "folded state" refers to the at least partial change in the shape of the catheter 30, for example, the catheter 30 is partially rolled or rotated and folded, so that the distance between the end of the catheter 30 and the ejection mechanism 20 is reduced. Conversely, the "extended state" refers to the movement of the catheter 30 as a whole or in part, so that the distance between the end of the catheter 30 and the ejection mechanism 20 is increased. The "expanded state" refers to the at least partial change in the shape of the catheter 30, for example, the partially rolled or folded catheter 30 is straightened, so that the distance between the end of the catheter 30 and the ejection mechanism 20 is increased.

[0106] In some embodiments, the conduit 30 and the injection mechanism 20 are movably connected to enable the conduit 30 to switch between the first state and the second state. For example, in one embodiment, the conduit 30 and the injection mechanism 20 can be slidably connected or rotatably connected, and the conduit 30 can be switched between the first state and the second state by sliding or rotating the conduit 30.

[0107] In some other embodiments, the catheter 30 itself is at least partially deformable to enable the catheter 30 to switch between the first state and the second state. For example, in one embodiment, the catheter 30 is at least partially retractable or foldable to enable the catheter 30 to switch between the first state and the second state.

[0108] In some embodiments, the feeding device 100 further includes a conduit drive mechanism, which is used to drive the conduit 30 to move relative to the injection mechanism 20 or to drive the conduit 30 to deform. Of course, the feeding device 100 may also be provided with a conduit drive mechanism, and the movement or deformation of the conduit 30 relative to the injection mechanism 20 can be achieved manually.

[0109] In some embodiments, the conduit 30 is configured to be interlocked with the ejection mechanism 20. Movement of the actuating component of the ejection mechanism 20 simultaneously causes the conduit 30 to move or deform relative to the ejection mechanism 20, thereby placing the conduit 30 in the first or second state. This embodiment eliminates the need for an additional drive device to move or deform the conduit 30, reducing the number of power devices 12 and simplifying the device structure, reducing weight, and lowering costs.

[0110] In some embodiments, the actuating component of the ejection mechanism 20 includes a rotatable disc 21. The first state of the conduit 30 is associated with a first rotational direction F1 of the disc 21, and the second state of the conduit 30 is associated with a second rotational direction F2 of the disc 21. The first rotational direction F1 is the working direction of the disc 21 for ejecting material, and the first rotational direction F1 and the second rotational direction F2 are opposite. That is, when the disc 21 rotates in the first rotational direction F1 to eject material, the conduit 30 is driven by the disc 21 to extend or expand. When the disc 21 rotates in the second rotational direction F2, the conduit 30 is driven by the disc 21 to retract or collapse.

[0111] In some embodiments, one end of the conduit 30 is rotatably connected to the ejection mechanism 20, for example, via a hinge S. A pull rod 40 is disposed between the conduit 30 and the ejection mechanism 20. The spinning disc 21 is provided with a guide slot 213 having a first position P1 and a second position P2. The distance between the second position P2 and the edge of the spinning disc 21 closest to the conduit 30 is greater than the distance between the first position P1 and the edge of the spinning disc 21 closest to the conduit 30. The pull rod 40 includes an embedded portion 41 positioned within the guide slot 213. The embedded portion 41 moves within the guide slot 213 to adjust its position relative to the spinning disc 21. When the spinning disc 21 rotates along a first rotational direction F1 until the embedded portion 41 is in the first position P1, the conduit 30 is in a first state. When the spinning disc 21 rotates along a second rotational direction F2 until the embedded portion 41 is in the second position P2, the pull rod 40 pulls up the conduit 30, placing the conduit 30 in a second state.

[0112] In some embodiments, the distance between the first position P1 and the center of the spinner 21 is greater than the distance between the second position P2 and the center of the spinner 21 .

[0113] In some embodiments, the guide groove 213 includes an outer groove 2131 and an inner groove 2132 located inside the outer groove 2131. The first position P1 is located in the outer groove 2131, and the second position P2 is located in the inner groove 2132. The outer groove 2131 has an outlet connected to the inlet D of the inner groove 2132. When the spinner 21 rotates in the first rotation direction F1, the embedded portion 41 is configured to be located only within the outer groove 2131 and at the first position P1. When the spinner 21 rotates in the second rotation direction F2, the embedded portion 41 is configured to enter the inner groove 2132 through the inlet D and ultimately reach the second position P2.

[0114] In some embodiments, the inlet D is a one-way inlet D, so that when the spinner 21 rotates along the first rotation direction F1, the embedded portion 41 is only in the outer ring groove 2131 and does not enter the inner ring groove 2132 through the inlet D. When the spinner 21 rotates along the second rotation direction F2, the embedded portion 41 can enter the inner ring groove 2132 through the inlet D.

[0115] In some embodiments, the outer groove 2131 is an annular groove.

[0116] In some embodiments, the inner groove 2132 is a spiral groove.

[0117] The structures, connection relationships, extended descriptions and beneficial effects of other components of the feeding device 100 proposed in this embodiment can refer to the above embodiments and will not be described in detail here.

[0118] like Figure 2As shown, an embodiment of the present invention further provides a spinning tray 21, comprising a tray body 211 and a guide mechanism 212. The tray body 211 is provided with a feed chamber A, which is axially arranged in the middle portion of the tray body 211, and an acceleration chamber B surrounding the feed chamber A. The feed chamber A and the acceleration chamber B are connected. A feed port C is provided on the outer side of the tray body 211 and communicates with the feed chamber A. The guide mechanism 212 includes a feed guide portion 2121 and an acceleration guide portion 2122 connected to the feed guide portion 2121. The feed guide portion 2121 is located at the outer periphery of the feed chamber A, and the acceleration guide portion 2122 is located within the acceleration chamber B. The feed guide portion 2121 is an arc-shaped structure, and the central axis 5221 of the feed guide portion 2121 substantially coincides with the rotation axis 61 of the tray body 211. During actual operation, the swing disc 21 rotates, and the material enters the feed chamber A from the feed port C. The material hits the feed guide 2121 and moves to the acceleration guide 2122 under the guidance of the feed guide 2121. Then, the material is continuously accelerated along the acceleration guide 2122 under the action of the centrifugal force of the swing disc 21, and finally ejected from the ejection port 221.

[0119] This embodiment proposes a spinner 21. By setting a feed guide portion 2121 located at the outer periphery of the feed chamber A and having an arc-shaped structure, the feed guide portion 2121 can gather the material on the wall of the feed guide portion 2121 in a relatively gentle manner, and then transport the material to the acceleration guide portion 2122 under the action of centrifugal force. During this process, the wall of the feed guide portion 2121 will not form a high-speed impact on the material, which can effectively avoid damage to the material.

[0120] In some embodiments, one end of the acceleration guide 2122 is connected to the feed guide 2121, and the other end extends to the outer edge of the spinner 21. In this embodiment, the guide mechanism 212 can continue to accelerate the material until it leaves the spinner 21, allowing the material to achieve a higher ejection velocity. Of course, in other embodiments, the acceleration guide 2122 may not extend to the outer edge of the spinner 21, depending on actual design requirements.

[0121] In some embodiments, the acceleration guide 2122 is at least partially arranged along a direction tangential to the circumference of the feed guide 2121. In this embodiment, the direction in which the material leaves the feed guide 2121 is the same as the direction in which it enters the acceleration guide 2122. The material can naturally transition from the feed guide 2121 to the acceleration guide 2122 without changing direction, thereby preventing the acceleration guide 2122 from damaging the material during the transition from the feed guide 2121 to the acceleration guide 2122. Furthermore, the direction in which the material leaves the feed guide 2121 is the same as the direction in which it enters the acceleration guide 2122, thereby not affecting the running speed of the material when entering the acceleration guide 2122.

[0122] In some embodiments, the acceleration guide 2122 extends to the outer edge of the spinner 21 in a direction tangential to the circumference of the feed guide 2121. In this embodiment, the running direction of the material on the acceleration guide 2122 does not change. After being accelerated on the acceleration guide 2122, the material can be ejected straight along the acceleration guide 2122. In addition, the linear acceleration guide 2122 has little resistance to the material, so that the material can achieve a better acceleration effect.

[0123] It should be noted that the acceleration guide portion 2122 is not limited to being set to extend to the outer edge of the spin tray 21 along a direction tangential to the circumference of the feed guide portion 2121. For example, in some other embodiments, the acceleration guide portion 2122 can also be set to bend and extend to the outer edge of the spin tray 21, which can be determined according to actual design requirements.

[0124] In some embodiments, the acceleration guides 2122 have a curved cross-section perpendicular to their respective lengths. In this embodiment, the curved structure has a gathering effect on the material, making it more concentrated when ejected from the ejection port 221, thereby improving the accuracy of material delivery and preventing scattered material delivery, thereby facilitating improved alignment of the material delivery.

[0125] In some embodiments, the cross section of the feed guide 2121 perpendicular to its length is curved. Similarly, in this embodiment, the curved structure has a gathering effect on the material, so that the material can be concentrated from the feed guide 2121 into the acceleration guide 2122.

[0126] In some embodiments, the curved configuration includes a V-shaped configuration, a C-shaped configuration, or a U-shaped configuration.

[0127] In some embodiments, the acceleration guide 2122 and the feed guide 2121 are integrally formed. In this embodiment, by integrally forming the acceleration guide 2122 and the feed guide 2121, the connection between the acceleration guide 2122 and the feed guide 2121 can be easily controlled during the manufacturing process, allowing the material to flow naturally between the feed guide 2121 and the acceleration guide 2122.

[0128] Of course, the acceleration guide portion 2122 and the feed guide portion 2121 are not limited to being set as an integrally formed structure. For example, in some other embodiments, the acceleration guide portion 2122 and the feed guide portion 2121 can also be connected by a curved connecting portion, which can be determined according to actual design requirements.

[0129] In some embodiments, the feed guide 2121 forms a sidewall of the feed chamber A. Of course, the sidewall of the feed chamber A is not limited to being formed by the feed guide 2121. For example, in some other embodiments, the feed chamber A is additionally provided with a sidewall, and the feed guide 2121 only serves as a feed guide in the feed chamber A.

[0130] In some embodiments, the outer periphery of the feed chamber A is circular, and the feed guide 2121 extends along the outer periphery of the feed chamber A. In this embodiment, by providing the feed guide 2121 extending along the outer periphery of the feed chamber A, the feed guide 2121 does not hit the material when the material enters the feed chamber A, thereby effectively preventing the feed guide 2121 from damaging the material.

[0131] In some embodiments, the feed chamber A is cylindrical. Of course, the feed chamber A is not limited to being cylindrical. For example, in some other embodiments, the feed chamber A can also be annular.

[0132] In some embodiments, the disc 211 is disc-shaped, with the feed chamber A located at the center of the disc 211. As will be appreciated, the linear velocity at the center of the disc 211 is relatively low. By locating the feed chamber A at the center of the disc 211, it is possible to avoid a sudden increase in the velocity of the material after it enters the feed chamber A, which could significantly damage the material. It should be noted that the disc 211 is not limited to a disc-shaped configuration and may also be configured in other configurations, such as rectangular or polygonal, depending on actual design requirements.

[0133] In some embodiments, there are multiple guide mechanisms 212, and the multiple guide mechanisms 212 are arranged around the outer periphery of the feed chamber A. For example, in one embodiment, there are two guide mechanisms 212, and the two guide mechanisms 212 are arranged around the outer periphery of the feed chamber A. Of course, the number of guide mechanisms 212 is not limited to two, and can also be three or more, depending on actual design requirements.

[0134] In some embodiments, a plurality of guide mechanisms 212 are spaced apart and distributed around the outer periphery of the feed chamber A.

[0135] In some embodiments, the spacing between the multiple guide mechanisms 212 is equal. This means that any guide mechanism 212, after rotating through the same angle, will overlap with another adjacent guide mechanism 212. In this embodiment, the intervals between materials discharged from the injection port 221 are consistent. Therefore, along the material trajectory in the work area, the spacing between any two adjacent materials is consistent, achieving uniform material delivery.

[0136] The other structures, connection relationships, extended descriptions and beneficial effects of the spinning tray 21 proposed in this embodiment can be referred to the above embodiments and will not be described in detail here.

[0137] The present invention also provides a movable platform in an embodiment. The movable platform includes a frame, a propulsion device, and the aforementioned feeding device 100. The propulsion device and the feeding device 100 are mounted on the frame, and the propulsion device is used to provide thrust for the movable platform to move. The mobile platform provided in this embodiment, due to the use of the aforementioned feeding device 100, has the advantages of improving feeding efficiency, reducing the number of power devices 12, thereby simplifying the device structure, reducing the device weight, and reducing costs. In addition, the material can be embedded deeper in the working area, avoiding the material being easily moved by external forces due to the material not being embedded deeply in the working area.

[0138] In some embodiments, the propulsion device includes a propeller and the movable platform can be an aircraft. In other embodiments, the propulsion device can also be a wheeled mobile device and the movable platform can be a ground mobile device.

[0139] The structure, connection relationship, extended description and beneficial effects of the feeding device 100 in this embodiment can refer to the above embodiments and will not be described in detail here.

[0140] like Figure 12 As shown, an embodiment of the present invention further provides a method S100 for controlling an aircraft, the method S100 comprising:

[0141] S10, controlling the flight of the aircraft;

[0142] S20, controlling the ejection mechanism 20 of the aircraft to eject material; during the ejection process of the ejection mechanism 20, controlling the conduit 30 docked with the ejection port 221 of the ejection mechanism 20 to be in an expanded state, and the expanded conduit 30 extending along the ejection direction; and

[0143] S30 , in response to the completion of the ejection of the ejection mechanism 20 , the control guide tube 30 is retracted to enter the undercarriage of the aircraft, and the undercarriage is used to support the aircraft on the landing surface.

[0144] The control method for an aircraft proposed in this embodiment controls the expansion of a conduit 30, which is connected to the injection port 221 of the injection mechanism 20, during the injection process. After the injection mechanism 20 completes injection, the conduit 30 is controlled to retract and enter the aircraft's footrest. First, by guiding the material through the conduit 30, the material can be better arranged in rows and the concentration of the material landing points can be increased, achieving uniform material delivery. Second, by controlling the retraction of the conduit 30 after the injection mechanism 20 completes injection and enters the aircraft's footrest, the distal end of the conduit 30 can be prevented from protruding from the aircraft's footrest, causing the distal end of the conduit 30 to contact the ground during landing.

[0145] The control method S100 in this embodiment can refer to the structure, connection relationship, extended description and beneficial effects of the feeding device 100 in the above embodiment, and will not be described in detail here.

[0146] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A feeding device, characterized in that: include: At least two ejection mechanisms, each configured to eject material toward an operating area, wherein ejection ports corresponding to the at least two ejection mechanisms are spaced apart so that the feeding device can form different rows of material ejection when moving; as well as, A driving mechanism, comprising: a transmission mechanism connected to the at least two injection mechanisms; as well as A power device is connected to the transmission mechanism, and the power device is configured to simultaneously drive the at least two shooting mechanisms to operate through the transmission mechanism, so that the at least two shooting mechanisms can share the driving force of the power device and work simultaneously.

2. The feeding device according to claim 1, characterized in that The shooting mechanism is swingably arranged on the feeding device, so that the shooting angle of the shooting mechanism is adjustable.

3. The feeding device according to claim 2, characterized in that The transmission mechanism includes at least two direction-changing transmission mechanisms corresponding to the at least two shooting mechanisms. The power device is connected to the corresponding shooting mechanism through each direction-changing transmission mechanism, so that the torque of the power device is transmitted to each shooting mechanism in a direction-changing manner.

4. The feeding device according to claim 3, characterized in that The direction-changing transmission mechanism includes a first transmission assembly and a second transmission assembly. The first transmission assembly is connected to the power device, and the second transmission assembly is connected to the shooting mechanism. The first transmission assembly and the second transmission assembly are in transmission connection with each other, and at least one of the first transmission assemblies is tilted relative to the second transmission assembly to form an angle, so that torque can be transmitted between the first transmission assembly and the second transmission assembly in a variably manner.

5. The feeding device according to claim 4, characterized in that: The second transmission assembly can also rotate relative to the first transmission assembly to change the size of the angle formed by the first transmission assembly and the second transmission assembly, thereby adjusting the shooting angle of the shooting mechanism.

6. The feeding device according to claim 5, characterized in that: The first transmission assembly and the second transmission assembly are connected via a universal joint.

7. The feeding device according to any one of claims 1 to 6, characterized in that The actuating parts of the shooting mechanism include a rotatable swinging disc, and the feeding device has a strip sowing mode. In the strip sowing mode, the feeding device can move so that different shooting mechanisms correspondingly eject different rows of materials, and the disc surface of the swinging disc is set parallel to the moving direction of the feeding device.

8. The feeding device according to any one of claims 1 to 6, characterized in that: The actuating component of the ejection mechanism includes a rotatable throwing disc, which includes a disc body and a guide mechanism. The disc body is provided with a feeding cavity arranged along its axial direction and located in the middle part of the disc body, and an acceleration cavity surrounding the feeding cavity. The feeding cavity is connected to the acceleration cavity. A feeding port connected to the feeding cavity is provided on the outer side of the disc body. The guide mechanism includes a feed guide portion and an acceleration guide portion connected to the feed guide portion, the feed guide portion is located at the outer periphery of the feed cavity, and the acceleration guide portion is located in the acceleration cavity; The feed guide portion is an arc-shaped structure, and the central axis of the feed guide portion substantially coincides with the rotation axis of the disc body.

9. The feeding device according to claim 8, characterized in that: The acceleration guide portion is at least partially arranged along a direction tangential to the circumference of the feed guide portion; and / or, The cross section of the acceleration guide portion and / or the feeding guide portion perpendicular to the length direction of each is of a curved structure.

10. The feeding device according to any one of claims 1 to 6, characterized in that: The device further comprises a conduit connected to the injection port of the injection mechanism, wherein 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 shooting direction of the shooting mechanism to guide the material shot by the shooting mechanism; in the second state, the conduit is at least partially movable to reduce the distance between the end of the conduit and the shooting mechanism along the shooting direction of the shooting mechanism.

11. The feeding device according to claim 10, characterized in that: The conduit is configured to be linked with the shooting mechanism, and when the actuating component of the shooting mechanism moves, the conduit is simultaneously driven to move or deform relative to the shooting mechanism, so that the conduit is in the first state or the second state.

12. The feeding device according to claim 11, characterized in that: The actuating component of the ejection mechanism includes a rotatable throwing disc, the first state of the conduit is associated with the first rotation direction of the throwing disc, and the second state of the conduit is associated with the second rotation direction of the throwing disc. The first rotation direction is the working direction of the throwing disc to throw out the material, and the first rotation direction is opposite to the second rotation direction.

13. The feeding device according to any one of claims 1 to 6, characterized in that: It also includes a discharge mechanism, which is connected to the at least two shooting mechanisms and is used to transport materials to the at least two shooting mechanisms according to a preset flow rate.

14. The feeding device according to claim 13, characterized in that: It also includes a material distribution mechanism and a material storage box, wherein the material distribution mechanism is connected between the material storage box and the material discharging mechanism, and the material in the material storage box is distributed to each of the material discharging mechanisms through the material distribution mechanism; and / or, It also includes an airflow assist mechanism, which is arranged between the discharge mechanism and the shooting mechanism. The airflow assist mechanism is used to introduce airflow into the connecting pipe between the discharge mechanism and the shooting mechanism to assist in transporting the material in the discharge mechanism to the shooting mechanism.

15. A movable platform, characterized in that: It comprises a frame, a propulsion device and the feeding device according to any one of claims 1 to 14, wherein the propulsion device and the feeding device are arranged on the frame, and the propulsion device is used to provide thrust when the movable platform moves.

Images