CN110816845A - A kind of unmanned aerial vehicle and its special spraying system and using method - Google Patents

Abstract

The invention relates to an unmanned aerial vehicle and its special spray system and use method. The spray system of the present invention includes a trip-type main hanger assembly and a spreader assembly. The trip-type main hanger assembly includes a trip mother block, on which is provided an on/off holding electromagnetic assembly, a pre-pressure ejection assembly and Liquid chamber, on/off keeps the electromagnetic component magnetic when on/off, and loses magnetism after off/on; pre-pressure ejector assembly can store elastic pre-pressure; liquid chamber is provided with a quick-plug connection port; spreader assembly It includes a magnetic suction cup, a pressing surface, a quick-plug joint and a spray rod. The magnetic suction cup is magnetically connected to the on/off maintaining electromagnetic assembly. The quick-plug connector is adapted to connect with the quick-plug connection port. The pressure ejector assembly is matched, and the pre-pressure ejector assembly is pressed down to apply elastic pre-pressure; the spray rod is provided with a nozzle. The invention can effectively improve the target-targeting accuracy of the spraying equipment of the unmanned aerial vehicle, reduce the drift of fog droplets, and at the same time ensure the safety of the unmanned aerial vehicle.

Description

A kind of unmanned aerial vehicle and its special spraying system and using method

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a dedicated spraying system thereof and a method of using the same.

Background technique

Due to the rising labor costs in my country's rural areas and the fragmented distribution of most arable land, plant protection drones with certain maneuverability and strong regional adaptability have begun to be widely used in recent years. Due to the influence of its own rotor wind field and natural wind field, the drift of droplets is relatively serious, especially when herbicides are used, which cause large-scale phytotoxicity of adjacent crop plots, which limits the comprehensive coverage of plant protection drones. Promote use. Statistics show that aerial spray will cause 50%-75% of liquid droplets to drift and fail to reach the target area, while ground spray is only 10%-35%.

The flying height of the plant protection drone is an important factor affecting the degree of droplet drift in its own rotor wind field and natural wind field, but the adjustment of its height cannot effectively solve the problem of droplet drift during its spraying operation. When it is high, both the natural wind field and the turbulent wind field formed by the rotor will obviously cause droplet drift, which cannot effectively deposit and attach to the target area; when the drone is flying at a low level, although the influence of the natural wind field can be weakened, its own rotor The turbulent wind field will cause the crop canopy to swing violently, the droplets cannot be effectively attached and will drift, and the too low flying height will cause the drone to crash and cause unnecessary losses.

Therefore, it is necessary to propose new solutions for one or more problems such as the loss of the whole machine or the drift of droplets caused by the unsuitable flying height and spray setting of the UAV.

SUMMARY OF THE INVENTION

In view of this, the present invention aims to provide a technical solution that can solve one or more problems such as the loss of the whole machine or the drift of fog droplets caused by the unsuitable flying height and spray setting of the UAV.

The present invention first proposes a spray system, the spray system mainly includes a trip-type main hanger assembly and a spreader assembly, wherein,

The tripping main hanger assembly includes a tripping mother block on which an on/off holding electromagnetic assembly, a pre-pressure ejecting assembly and a liquid chamber are arranged, and the on/off holding electromagnetic assembly is powered on or off. It has magnetism when it is powered off or is energized; the pre-pressure ejector assembly can store elastic pre-pressure; the liquid chamber is provided with a quick-plug connection port;

The spreader assembly includes a magnetic suction cup, a pressing surface, a quick-plug joint and a spray rod. The magnetic suction cup is magnetically connected with the power-on/off-holding electromagnetic assembly, and the quick-plug joint is adapted to the quick-plug connection port. The pressing surface is matched with the pre-pressure ejecting assembly, and the pressing surface applies elastic pre-pressure to the pre-pressure ejecting assembly; the spray rod is provided with a nozzle.

According to an embodiment of the present invention, the spreader assembly further includes a main connecting plate, and the magnetic suction cup, the pressing surface, the quick-plug joint and the spray bar are all connected to the main connecting plate respectively; the spreader assembly further includes It includes a telescopic device and a flexible infusion pipeline, the spray rod is connected to the main connecting board through the telescopic device, and the quick-plug connector is connected to the nozzle on the spray rod through the flexible infusion pipeline.

According to an embodiment of the present invention, the telescopic device includes a telescopic driving device and a telescopic rod, and the telescopic driving device drives the telescopic rod to extend up and down.

According to an embodiment of the present invention, the telescopic drive device is an electric screw nut transmission mechanism; the telescopic rod is a multi-section combined pull rod type telescopic structure or a parallelogram telescopic link structure.

According to an embodiment of the present invention, the flexible infusion pipeline includes a telescopic coil spring tube, the telescopic coil spring tube is arranged in parallel with the telescopic device, and the upper end of the telescopic coil spring tube is connected to the quick-plug connector, The lower end is connected to the nozzle.

According to an embodiment of the present invention, the spray rod is provided with a concave portion, the spray rod is connected to the main connecting plate through the concave portion, and the nozzle is provided on the non-concave portion.

According to an embodiment of the present invention, the pre-compression ejector assembly includes a pre-compression spring and a pre-compression ejector rod, one end of the pre-compression ejector rod abuts against the pre-compression spring, and the other side of the pre-compression ejector rod One end is provided with an ejection head.

According to an embodiment of the present invention, the liquid cavity is a cavity opened inside the female block body or a cavity provided on a component connected to the female block body.

According to an embodiment of the present invention, the trip-type main hanger assembly further includes a hanger connection module, and the hanger connection module includes a hanger positioning and fixing jacket, a mounting and fixing ear plate, and a hanger height adjustment hanging plate , the group of elements are connected in sequence, the hanger positioning and fixing jacket is fixedly connected with the connected piece, and the hanger height adjustment hanging plate is connected to the tripping mother block.

According to an embodiment of the present invention, the trip-type main hanger assembly further includes a liquid inlet hose, one end of the liquid inlet hose is connected to the liquid chamber of the trip block, and the other end is connected to the liquid Storage chamber or liquid pump.

The present invention also provides an unmanned aerial vehicle. The unmanned aerial vehicle includes a control system and the spray system. The spray system is connected to the unmanned aerial vehicle through the trip-type main pylon assembly. The system is connected to the spray system.

According to an embodiment of the present invention, the control system is a wireless control system, including an onboard control device and a remote control.

The present invention also provides a method for using the UAV based on the above, the method comprising:

In response to the resistance signal of the spreader assembly, the control system controls the tripping main pylon assembly to be energized or demagnetized, the spreader assembly loses its magnetic force and is ejected from the tripping main pylon. The hanger assembly has fallen off.

According to an embodiment of the present invention, the method further includes:

The control system controls the extension or retraction of the telescopic device of the spreader assembly.

According to an embodiment of the present invention, the method further includes one or more of the following:

The control system controls the spray boom of the spreader assembly to rotate an angle relative to the landing gear of the UAV;

The liquid pump outlet of the drone is connected to the liquid cavity of the tripping mother block through the liquid inlet hose, and the liquid cavity is connected to the telescopic coil spring tube through the quick-plug joint, and the telescopic coil spring tube is connected to the branch. Liquid tee, the liquid separation tee is connected to the nozzle on the spray rod;

When no spraying is required, the spreader assembly of the UAV is in a retracted state, the length direction of the spray boom is parallel to the length direction of the landing gear of the UAV, and the spray boom is retracted under the UAV and located at the bottom of the UAV. Above or below the landing gear of the UAV is close to the landing gear of the UAV;

When spraying is required, the telescopic rod of the drone spreader assembly moves to the bottom of the drone and stretches to a suitable length, and the length direction of the spray rod rotates to an orientation perpendicular to the length direction of the landing gear;

Send the retraction command of the spreader assembly or the rotation command of the spray boom or the on/off command of the liquid pump or the power-on command of the spreader assembly to the onboard control device through the remote control;

When the spreader assembly falls off, the control device controls the liquid pump of the drone to close;

When the spreader assembly does not fall off and needs to be sprayed, the control system controls the liquid pump of the drone to turn on. After the spraying is completed, the control system controls the liquid pump of the drone to turn off. The spreader assembly is controlled to retract.

The spray system of the unmanned aerial vehicle of the present invention is designed to have an active tripping structure and can be raised and lowered. When the flying of the unmanned aerial vehicle is blocked, the spraying spreader can automatically fall off to ensure the safety of the unmanned aerial vehicle; The spreader is retracted in the belly position, which does not affect the take-off and landing of the UAV; during operation, the telescopic rod is extended downward, the height of the boom is lowered and is perpendicular to the landing gear, and the nozzle is far away from the rotor and can be close to the crop canopy, which significantly reduces the rotor. And the droplet drift caused by the natural wind field, thereby reducing the dosage and unnecessary losses; the spray rod can be a long-rod spray structure, which can expand the one-way spray of the liquid medicine and effectively save the power consumption of the drone.

Description of drawings

1 is a schematic diagram of the connection structure between a spray system, an unmanned aerial vehicle and a landing gear support rod according to an embodiment of the present invention;

2 is a schematic plan view of a trip-type main hanger assembly according to an embodiment of the present invention;

3 is a schematic structural diagram of a partial enlarged cross-section (where a magnetic attraction element and a quick-plug connector, etc. are connected) of a tripping mother block and a connector according to an embodiment of the present invention;

FIG. 4a is a schematic top-view structural diagram of a trip-type main hanger assembly according to an embodiment of the present invention;

FIG. 4b is a schematic view of the bottom view of the trip-type main hanger assembly according to an embodiment of the present invention;

Fig. 5a is a left side structural schematic diagram of the right half of the trip-type main hanger assembly according to an embodiment of the present invention;

Fig. 5b is a schematic left side view of the left half of the trip-type main hanger assembly according to an embodiment of the present invention;

6 is a schematic diagram of the connection structure between the trip-type main pylon assembly and the UAV landing gear support rod according to an embodiment of the present invention;

7 is a front view (partial perspective) structural schematic diagram of an embodiment of the present invention when the spreader assembly is in an extended state and the spray rod is parallel to the rotating pin;

8 is a schematic top view of the structure when the spreader assembly is in an extended state and the spray rod is parallel to the rotating pin according to an embodiment of the present invention;

9a is a schematic top view (partial perspective) structure of an embodiment of the present invention when the spreader assembly is in an extended state and the spray rod is parallel to the rotating pin;

FIG. 9b is a partial enlarged structural schematic diagram of an embodiment of the present invention in FIG. 9a;

10 is a left-view structural schematic diagram of an embodiment of the present invention when the spreader assembly is in an extended state and the spray rod is parallel to the rotating pin;

FIG. 11 is a schematic structural diagram of the cross-sectional view of the front and back screw drive assembly of FIG. 8 according to an embodiment of the present invention D-D;

12 is a schematic cross-sectional structural diagram of the sliding bearing C-C in the middle of the positive and negative tooth drive screw according to an embodiment of the present invention;

13 is a schematic cross-sectional view of the sliding bearing A-A at the end of the positive and negative teeth drive screw according to an embodiment of the present invention;

14 is a schematic structural diagram of a spreader assembly in a retracted state according to an embodiment of the present invention;

FIG. 15 is a schematic structural diagram of an embodiment of the present invention when the spreader assembly is disengaged from the UAV and the tripping main pylon assembly;

Figure 16a is a schematic front view of the structure of the system spray spreader assembly in a retracted state according to an embodiment of the present invention;

Fig. 16b is a left side structural schematic diagram of the system spraying spreader assembly according to an embodiment of the present invention in a retracted state;

Figure 16c is a schematic front view of the structure of the spray spreader assembly of the system according to an embodiment of the present invention in a partially extended state;

Fig. 16d is a left side view of the structure of the spraying spreader assembly of the system according to an embodiment of the present invention in a partially extended state of Fig. 16c;

Figure 16e is a schematic front view of the structure of the system spray spreader assembly in a fully extended state according to an embodiment of the present invention;

Fig. 16f is a left structural schematic diagram of the system spraying spreader assembly according to an embodiment of the present invention in a fully extended state in Fig. 16e;

17 is a flow chart of the method for using the system according to Embodiment 1;

Description of reference numbers:

A tripping mother block, A1 main block body, 17 on/off holding solenoid assembly, 171 on/off holding electromagnet, 63 liquid chamber, A11 pre-pressure ejector assembly, 21 pre-pressure spring, 22 pre-pressure ejector rod , B hanger connection module, 1 hanger positioning and fixing jacket, 4 installation and fixed ear plate, 5 hanger height adjustment hanging plate, 9 liquid inlet hose, 10 joint, 14 connecting rod;

18 magnetic chuck, 25 main connecting plate, 251 lower surface, 26 push-in joint, 28 bearing seat beam, 30 end sliding bearing, 31 guide rod, 32 driving slider nut - left-handed, 33 middle sliding bearing, 35 driving slider Nut - right-hand, 36 positive and negative teeth drive screw, 37 coupling, 38 steering gear, 40 travel switch, 401 descending stop travel switch, 402 ascending stop travel switch, 44 basic turn pin, 46 middle turn pin, 47 middle long Rotary pin, 48 telescopic mechanism long link, 49 telescopic mechanism short link, 50 steering gear suspension, 52 steering servo motor, R spray rod, R1 concave part, 59 telescopic coil spring tube, 60 variable diameter liquid splitting tee, 61 Inner nozzle branch pipe, 62 outer nozzle branch pipe;

W1 landing gear, W2 landing gear strut.

Detailed ways

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to more clearly understand the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solutions of the present invention.

The spraying system of the present invention can be hung under the unmanned aerial vehicle to carry out plant protection operations. Because the conventional spray system is close to the UAV rotor, when the UAV is flying high, the turbulent wind field formed by the natural wind field and the rotor will obviously cause droplet drift, which cannot effectively deposit and adhere in the target area; Although the influence of the natural wind field can be weakened when the flight is low, its own rotor turbulent wind field will cause the crop canopy to swing violently, the droplets cannot be effectively attached and will drift, and the too low flight height will cause the drone to encounter obstacles. crash, causing unnecessary losses. Therefore, the design idea of the present invention is to enable the UAV spray device to operate at a lower position, while the UAV main body can maintain a certain flying height. To solve the problem of droplet drift caused by the spray system being close to the rotor, it can be designed to be away from the rotor when spraying. However, when the spray system is designed at a lower position, it is easy for objects such as crops below to obstruct the spray system, resulting in the failure of the whole machine and causing heavy losses. Therefore, the present invention first seeks a design scheme, which can set the nozzle of the spray system far away from the rotor, so that once the drone encounters resistance, the spray system below can be separated from the drone, so as not to affect the fuselage of the drone , to avoid major losses.

In order to set the nozzle of the spray system far away from the rotor, the present invention designs a spray device connected with a spreader, which can be hoisted on the landing gear of the UAV, and the spreader is designed as a magnetic release type In order to make the nozzle and other devices below fall off when the spreader encounters resistance, so as not to affect the whole UAV.

In order to solve the problem that the spreader under the drone of the above technical solution is designed to be far away from the fuselage of the drone, the structure occupies a large space and is inconvenient to manage when it is placed or not sprayed. The technical scheme of the present invention further designs a spreader It can be kept away from the fuselage of the UAV during operation, that is, it can descend a certain distance, and can be retracted close to the fuselage of the UAV when not working.

As shown in FIG. 1 , the spray system of the present invention mainly includes a trip-type main hanger assembly T and a spreader assembly D.

The present invention is different from the form of connecting the spray device and the like under the rotor, and the present invention designs the newly designed spreader and connecting components under the belly of the drone and connects with the support rod of the landing gear of the drone.

Among them, the tripping main pylon assembly T is connected with the landing gear support rod W2 of the UAV, and the spreader assembly D is buckled and connected with the tripping main pylon assembly T. When it encounters resistance, it can be removed from the tripping main The hanger assembly T came off. The landing gear and landing gear support rod of the drone are shown in Figure 16b, where W1 is the landing gear of the drone, which can be placed horizontally on the ground, and W2 is the landing gear support rod, which is used to support and connect the landing gear W1.

As shown in FIG. 2 , the tripping main hanger assembly T mainly includes a tripping mother block A. As shown in FIG.

As shown in FIG. 3, according to an embodiment of the present invention, the trip mother block A is provided with an on/off holding electromagnetic assembly 17, a pre-pressure ejection assembly A11 and a liquid chamber 63, and the on/off holding The electromagnetic assembly 17 has magnetism when turned on/off, and loses magnetism after turning off/on; the pre-pressure ejection assembly A11 can store elastic pre-pressure; the liquid chamber 63 is provided with a quick-plug connection port.

Other components, such as spreader components, can be magnetically connected under the trip block A. The tripping female block may include a female block body A1, and the main block body A1 may be provided with an on/off holding electromagnetic assembly 17, a pre-pressure ejection assembly A11 and a liquid chamber 63.

The positional relationship between the on/off holding electromagnetic assembly 17 , the pre-pressure ejection assembly A11 and the liquid chamber 63 is not particularly limited, and may be arranged in the manner shown in FIG. 4 b or in other manners.

The on/off keeping the electromagnetic assembly 17 has magnetism when it is turned on/off, and loses its magnetism after turning off/on.

The pre-pressure ejection assembly A11 has elasticity, and the ejection elastic force is exerted by the ejection head provided on it, and the ejection head of the pre-pressure ejection assembly faces the lower part of the main block body.

The liquid cavity is provided with a quick-plug connection port facing the lower part of the main block body, and a pipe interface is provided on the side or/and the top of the liquid cavity. The hydraulic pipeline of the spreader assembly can be connected to the liquid cavity by means of quick insertion, and the liquid cavity is connected to the liquid storage chamber such as the liquid storage chamber or liquid pump on the drone through the pipeline interface.

In the present invention, other spreaders such as spray spreaders can be connected through the above-mentioned tripping mother block, and the electromagnetic assembly can be connected to the spreader by means of magnetism after power-on/power-off, while the power-on/power-off holding electromagnetic assembly is lost after power-off or power-on. Magnetic, and then the spreader is ejected by means of the pre-pressure ejection assembly, so the tripping mother block of the present invention can be quickly plugged and disconnected with the spreader such as the spray spreader.

According to an embodiment of the present invention, the liquid cavity is a cavity opened inside the female block body or a cavity provided on a component connected to the female block body.

As shown in FIG. 3 , the liquid cavity 63 is a cavity opened inside the main block body A1 .

The liquid chamber 63 is a chamber with a circular, square, polygonal or oval cross-section, or the liquid chamber is a chamber with an irregular cross-section.

Preferably, the liquid chamber 63 is a chamber with countersunk holes whose cross section is circular.

According to an embodiment of the present invention, the on/off holding electromagnet assembly 17 includes an on/off holding electromagnet 171 and a circuit element (not shown in the figure), the circuit element receives an electrical signal and transmits the electrical signal It is transmitted to the on/off holding electromagnet 171, which loses its magnetism after receiving the power-on signal.

The circuit elements can be integrated on the mother block body by using the prior art, and this content is easily known in the art and will not be repeated here.

The magnetic design is based on the ability to firmly hold the spray spreader below.

According to an embodiment of the present invention, the pre-compression ejector assembly A11 includes a pre-compression spring 21 and a pre-compression ejector rod 22, one end of the pre-compression ejector rod 22 abuts against the pre-compression spring 21, and the The other end of the pressure ejector rod 22 is provided with the ejector head.

According to an embodiment of the present invention, a cavity can be opened in the mother block body A1 to place the pre-pressure ejector assembly A11. One end of the pre-compression spring 21 can be abutted above the chamber, and the pre-compression ejector rod 22 can be placed under the pre-compression spring 21 . The spreader magnetically connected to the on/off holding electromagnetic assembly 17 exerts a pressing force on the pre-pressure ejector assembly A11. When the magnetism of the on/off holding electromagnetic assembly 17 disappears, the pre-pressure ejection assembly A11 converts the pre-pressure The ejection force is applied to the spreader, which facilitates the spreader to be better separated from the drone connected above the trip block.

Of course, one end of the pre-compression spring 21 can also be fixed on the female block body in other ways.

As shown in FIG. 2 , according to an embodiment of the present invention, the trip-type main hanger assembly T further includes a hanger connection module B.

The hanger connection module B can be different depending on different connected parts, and can be realized by adopting any conventional connection structure.

As shown in FIG. 2 , according to an embodiment of the present invention, the hanger connection module B includes a hanger positioning and fixing clip 1 , a mounting and fixing ear plate 4 and a hanger height adjustment hanging plate 5 . Connection, the hanger locates and fixes the jacket 1 to be fixedly connected with the connected piece, and the hanger height adjustment hanging plate 5 is connected to the tripping female block A.

The above-mentioned design method of the pylon connection module B can be designed according to the structure of the support rod of the landing gear of the UAV, as shown in FIG. 1 .

As shown in FIG. 2 , according to an embodiment of the present invention, the hanger positioning and fixing jacket 1 is fixedly connected to the mounting and fixing lug plate 4 , and the mounting and fixing lug plate 4 and the hanger height adjustment hanging plate 5 are adjustable Angle connection. The pylon positioning and fixing jacket 1 may be provided with a sleeve to cooperate with the landing gear support rod of the UAV. The number and setting method of the sleeves can be set according to the actual situation.

As shown in Fig. 4a, according to an embodiment of the present invention, the side where the fixing lug 4 is installed can be connected with the positioning and fixing jacket 1 by screws.

As shown in Fig. 5a, according to an embodiment of the present invention, the other end of the mounting and fixing lug 4 can be connected with the height-adjusting hanging plate 5 by bolts. By installing the fixed lug plate 4 and the height adjustment hanging plate 5, the angle can be adjusted according to actual needs. When the two pieces are properly angled, they are secured in place by bolts.

When the tripping mother block is connected to the installation and fixing lugs 4 and the height adjustment hanging plate 5, the number of height adjustment hanging plates 5 can be set according to the specific situation. As shown in Figures 5a and 5b, each tripping mother block is connected to the installation and fixed The lugs 4 can be connected by two height-adjustable hanging plates 5 .

According to an embodiment of the present invention, as shown in FIG. 2 , the other end of the mounting and fixing lug 4 can be pivotally connected to the height-adjusting hanging plate 5 , and the angle between the mounting and fixing lug 4 and the height-adjusting hanging plate 5 It can be adjusted by itself according to the gravity of the hanging object below, and the fixed lug plate 4 and the height adjustment hanging plate 5 maintain a rotational connection.

The hanger height adjustment hanging plate 5 may be provided with a position adjusting gear.

According to an embodiment of the present invention, as shown in FIG. 2 , the hanger height adjustment hanging plate 5 is provided with fastening holes at different positions. According to the different positions of the selected fastening holes, the tripping block and the The distance between the upper UAV landing gear support rods can be adjusted within a certain range. Of course, the position adjustment can also be done in other ways, such as a telescopic rod structure.

As shown in FIG. 6 , according to an embodiment of the present invention, the main hanger assembly may further include a liquid inlet hose 9 , and one end of the liquid inlet hose 9 is connected to the push-in type trip block A The liquid chamber 63 is connected to the other end, and the other end is connected to the liquid storage chamber or liquid pump on the drone. The quantity and connection method of the liquid inlet hoses 9 can be flexibly connected according to the situation.

The liquid inlet hose 9 makes the pipeline connection more flexible. Of course, the liquid cavity 63 of the trip mother block A can also be connected to the liquid medicine storage chamber or liquid pump on the drone through other pipeline connection methods.

As shown in Figures 2, 3, 4a, and 4b, according to an embodiment of the present invention, the main pylon assembly includes a set of the tripping female blocks A and a corresponding set of the pylon connection modules B, so The female block bodies of the tripping female blocks can be connected by connecting rods 14 . This design method can reduce the structure and mechanical parameters of a single tripping master block, and can also make the balance and stability of the overall structure better.

Preferably, according to an embodiment of the present invention, as shown in Figures 2, 3, 4a, and 4b, the main pylon assembly includes a set of two sets of the tripping mother blocks A that are left-right symmetrical, correspondingly, The hanger connection modules B are also two groups of left and right symmetrical.

The hanger assembly of the present invention mainly includes a magnetic suction cup, a pressing surface, a quick-plug joint and a spray rod. The magnetic suction cup is magnetically connected with the power-on/off-holding electromagnetic assembly, and the quick-plug joint is connected to the quick-plug connection. The connection port is adapted and connected, the pressing surface is matched with the pre-pressure ejecting assembly, and the pressing surface applies elastic pre-pressure to the pre-pressure ejecting assembly; the spray rod is provided with a nozzle.

According to an embodiment of the present invention, the spreader assembly further includes a main connecting plate, and the magnetic suction cup, the pressing surface, the quick-plug joint and the spray bar are all connected to the main connecting plate respectively; the spreader assembly further includes It includes a telescopic device and a flexible infusion pipeline, the spray rod is connected to the main connecting board through the telescopic device, and the quick-plug connector is connected to the nozzle on the spray rod through the flexible infusion pipeline.

As shown in FIG. 7 , the magnetic chuck 18 is fixedly connected to the main connecting plate 25 , and the magnetic attraction surface of the magnetic chuck 18 faces above the main connecting plate 25 . The number of the magnetic chucks 18 can be one or a group, preferably two symmetrically. Above the magnetic attraction surface, the trip-type main pylon of the drone can be connected and connected by magnetic attraction. The drone may include a trip main pylon assembly with an on/off holding electromagnetic assembly, which can actively trip the spreader assembly by demagnetizing the on/off holding electromagnetic assembly when the operation is blocked. The magnetic chuck can be an iron chuck or the like.

The pressing surface can be the surface on the element connected to the main connecting plate 25, or a surface of the main connecting plate 25 itself. As shown in FIG. 3, the pressing surface 251 is on the upper surface of the main connecting plate 25. part of the area.

The quick-plug connector 26 is fixedly connected with the main connecting plate 25 , one end of the quick-plug connector 26 faces the upper side of the main connecting plate 25 , and the other end communicates with the nozzle on the spray rod R. The quick-plug connector 26 can be quickly connected with the main hanger above, which is easy to install and easy to disengage, and can be connected with liquid solution to supply liquid to the nozzle below.

The spray rod R is connected with the main connecting plate 25, and the spray rod R is provided with a nozzle (or spray head).

In the present invention, the spray bar may be a long bar with a relatively large length and span, so that the spraying range of the nozzles arranged on it is larger.

According to an embodiment of the present invention, the middle part of the spray bar is connected to the main connecting plate, and nozzles are provided on both sides of the spray bar.

The above technical solution of the present invention enables the spreader assembly to be mounted on the trip main hanger assembly of the drone with the power-on/power-off holding electromagnetic assembly through the magnetic chuck and the quick-plug joint of the main connecting plate. When the operation is blocked, it will automatically trip by making the on/off holding electromagnetic components lose their magnetism, so that the drone can return home safely.

According to an embodiment of the present invention, the spreader assembly further includes a telescopic device and a flexible infusion pipeline, the spray rod is connected to the main connecting plate through the telescopic device, and the quick-plug joint 26 is connected to the main connecting plate through the flexible The infusion pipeline communicates with the nozzle on the spray rod R.

According to the above technical solution, the present invention can further shrink the main body of the spreader assembly to the belly position above the landing gear when not in operation, without affecting the take-off and landing of the drone; during operation, the spreader assembly is lowered downward through the telescopic device When deployed, the height of the boom can be lowered, the nozzle can be far away from the rotor and can be close to the crop canopy, and the spreader assembly can significantly reduce the droplet drift caused by itself and the natural wind field, thereby reducing the dosage and unnecessary losses.

According to an embodiment of the present invention, the telescopic device includes a telescopic driving device and a telescopic rod, and the telescopic driving device drives the telescopic rod to extend up and down.

According to an embodiment of the present invention, the telescopic drive device is an electric screw-nut transmission mechanism or a steering servo motor.

According to an embodiment of the present invention, the telescopic rod is a multi-section combined pull rod type telescopic structure or a parallelogram telescopic link structure.

The multi-section combined pull rod telescopic structure can be similar to the pull rod structure of the luggage.

As shown in Figures 8 and 11, according to an embodiment of the present invention, the electric screw nut transmission mechanism mainly includes a steering gear (or motor) 38, a coupling 37, a positive and negative tooth driving screw 36, a guide rod 31, Driving slider nut - left-handed 32, driving slider nut - right-handed 35, the steering gear 38 is connected to the positive and negative tooth driving screw 36 through the coupling 37, and the positive and negative tooth driving screw 36 drives the upper The sleeved driving slider nut-left-hand 32 and the driving slider nut-right-hand 35 move in opposite directions along the guide of the guide rod 31. The guide rod 31 is fixedly connected to the main connecting plate 25, and the The driving slider nut-left-hand 32 and the driving slider nut-right-hand 35 are respectively connected to the telescopic rods on both sides of the parallelogram telescopic link, as shown in FIG. 10 .

According to an embodiment of the present invention, in order to limit the degree of freedom of the telescopic rod in the direction of rotation around the axis of the positive and negative driving screw, guide rods 31 are provided on both sides of the screw to provide guidance for the driving slider nut.

As shown in Figures 8, 10 and 11, it can be seen that in the above technical solution, when the nuts 32 and 35 move to the middle, the parallelogram telescopic link structure can be stretched, and when the nuts move to both ends, the parallelogram telescopic connection The rod structure can be shortened. Figures 7 and 10 show the extended state of the parallelogram telescopic link, and Figure 14 shows the shortened state of the parallelogram telescopic link.

In an embodiment of the present invention, the parallelogram telescopic link has a one-stage or multi-stage structure. That is, it includes one or more sets of parallel link structures pivotally connected up and down. As shown in Figure 1, this embodiment includes a multi-stage parallel link structure.

As shown in FIGS. 7 and 10 , according to an embodiment of the present invention, the parallelogram telescopic links can be connected by rotating pins. The rod 48 , the telescopic mechanism short connecting rod 49 , the steering gear suspension pin 50 is connected to the telescopic mechanism short connecting rod 49 at both ends, and the middle part is connected to the steering servo motor 52 .

As shown in Figures 8, 11 and 13, according to an embodiment of the present invention, the electric screw nut transmission mechanism further comprises a bearing seat beam 28, a sliding bearing 30 at the end of the driving screw with positive and negative teeth, and a sliding bearing 33 in the middle (Fig. 11), the bearing seat beam can be designed as a frame structure, and can be arranged on both sides of the screw rod and along the length of the screw rod to support the screw rod and the guide rod. The guide rod 31 can be fixedly connected with the bearing seat beam. Both the sliding bearing at the end of the positive and negative teeth driving screw and the sliding bearing in the middle can be supported by the bearing seat beam. The sliding bearings at the ends of the positive and negative teeth driving screw are arranged at both ends of the positive and negative teeth driving screw, and the middle sliding bearing is arranged at the middle of the positive and negative teeth driving screw.

According to an embodiment of the present invention, the positive and negative teeth drive screw is a three-point support structure, which is supported by bearings at both ends and the middle. The structure of the middle sliding bearing seat 33 is shown in FIG. 12 , the positive and negative teeth driving screw 36 is supported and rotated in the middle main sliding bearing 33 . Both sides of the driving screw are supported and rotated in the end sliding bearing 30, and the detailed structure is shown in FIG. 13 .

As shown in Figures 9a and 9b, according to an embodiment of the present invention, the electric screw nut transmission mechanism may further include a travel switch 40, and the travel switch is provided on the driving slider nut-left-hand or driving slider nut - End of right hand stroke.

According to an embodiment of the present invention, the travel switch 40 may include an ascending end travel switch 402 and a descending end travel switch 401, which may be installed on the mounting seat of the middle main sliding bearing 33 and the mounting seat of the end sliding bearing 30, respectively. It can be adjusted by screws to adjust the folding and unfolding limit positions of the telescopic device.

When the telescopic device rises or falls to the limit switch, it can be controlled to stop moving through signal detection and transmission.

According to an embodiment of the present invention, the manner in which the positive and negative teeth driving screw assembly drives the multi-stage parallelogram telescopic link is as follows: a steering gear or a motor can drive the positive and negative teeth screw to rotate through a single-diaphragm coupling, When turning clockwise, the nuts on both sides are closed to the middle, which drives the parallelogram connecting rod in the spreader assembly to expand downward, reducing the height of the boom. The height is reduced to the minimum; when turning counterclockwise, the nuts on both sides are separated to both sides, which drives the parallelogram connecting rod in the spreader assembly to fold upwards, and raises the height of the spray boom. Stroke switch, boom retracted.

According to an embodiment of the present invention, a steering servo motor 52 is provided at the lower end of the telescopic rod, and the steering servo motor 52 is connected to the spray rod R to drive the spray rod R to turn.

The spray rod R can be installed on the turning arm of the steering servo motor 52 through a pair of bolts. When the drone takes off or landed, the spray rod can be turned to the forward and backward direction of the drone, and is stored under the undercarriage of the landing gear. When working, the boom can be rotated 90 degrees and turned perpendicular to the direction of the drone.

As shown in FIG. 7 , according to an embodiment of the present invention, the spray rod R is provided with a concave portion R1, and the spray rod R is connected to the main connecting plate 25 through a telescopic device through the concave portion R1, so The spray head is arranged on the non-concave portion. The concave portion can be provided in the middle of the boom. This design can make full use of the space under the belly of the drone, so that the spray spreader can be completely retracted under the belly of the drone and above the landing gear when not in operation; at the same time, components such as nozzles are set on the non-concave parts on both sides. The height can also be designed to be the same height.

The width of the concave part of the concave rod is subject to the complete contraction of the spreader assembly without affecting the landing and take-off of the drone.

According to one embodiment of the present invention, the boom is stowed below the belly, above and parallel to the landing gear, wherein when the parallelogram link of the spreader assembly is deployed or retracted, it turns 90 degrees.

According to one embodiment of the present invention, the spray boom is immediately below and perpendicular to the undercarriage of the landing gear after being retracted, wherein when the parallelogram link of the spreader assembly is deployed or retracted, it does not turn.

As shown in FIG. 7 , according to an embodiment of the present invention, the flexible infusion pipeline may include a telescopic coil spring tube 59 , the telescopic coil spring tube 59 is arranged in parallel with the telescopic device, and the telescopic coil spring tube The upper end of 59 is connected to the quick-plug connector, and the lower end is connected to the nozzle. The telescopic coil spring tube 59 can be an elastic tube, which is convenient for extension and contraction.

As shown in FIG. 7 , the infusion pipeline at the spray bar may include a variable-diameter liquid-separating tee 60 and a spray head branch pipe, and the spray head branch pipe may further include an inner spray head branch pipe 61 and an outer spray head branch pipe 62, which are then connected to the spray head. The upper interface of the telescopic coil spring tube 59 can be inserted into the quick-plug joint 26, and the lower interface can be inserted into the variable diameter liquid-separating tee 60, and then sent to the spray head or nozzle respectively.

The flexible infusion pipelines can be provided with multiple sets according to the arrangement of the nozzles, and the arrangement form is also determined according to the shapes of the spray bars and the nozzles. According to an embodiment of the present invention, the flexible infusion pipeline is a symmetrical left and right pipeline. Correspondingly, the push-in connectors and the like may also be in multiple groups.

The technical scheme of the present invention enables the spreader assembly to be mounted on the trip main hanger assembly of the drone through the magnetic suction cup and the quick-plug joint of the main connecting plate, and the trip main hanger assembly has an on/off function. The electro-holding electromagnetic component can automatically trip the spreader component by making the on/off holding electromagnetic component lose its magnetism when the operation is blocked, as shown in Figure 15, so that the drone can return home safely; further, this The invention can also shrink the main body of the spreader assembly to the belly position above the landing gear when not in operation, as shown in Figures 16a and 16b, without affecting the take-off and landing of the drone; during operation, the spreader assembly passes through the telescopic device. Deploy downward, as shown in Figures 16c and 16d, the height of the boom can be lowered. Figures 16e and 16f are schematic diagrams of further lowering of the boom. The boom can be turned in a direction perpendicular to the length of the landing gear, and the nozzle (or nozzle) is far away from The rotor can be close to the crop canopy, and the spreader assembly can significantly reduce the droplet drift caused by itself and the natural wind field, thereby reducing the liquid consumption and unnecessary losses.

The tripping main hanger assembly of the present invention can realize the hanging and detachment of the spraying spreader assembly. The state of the spreader assembly after falling off is shown in Figure 15. The realization method is: when the spreader assembly is installed, the power is cut off. Keep the electromagnetic assembly unenergized and with strong magnetism. At this time, press the magnetic suction cup and quick-insertion tube connector in the spray spreader assembly to the lower surface of the trip block. Under the action of magnetic attraction, the quick-intubation tube connector is inserted. In the liquid cavity of the tripping mother block, the connection of the liquid circuit and the circuit is realized, and the connection state is maintained under the suction of the magnetic chuck. When the spreader assembly encounters resistance during operation, the control system sends a signal to keep the electromagnet energized when the power is off, and the magnetic attraction force of the magnetic chuck disappears. Under the action, it bounces open, so that the quick-insertion tube connector is pulled out of the liquid cavity of the tripping mother block, the spreader component falls off, and at the same time, the liquid pump of the plant protection drone can be controlled to close. In this way, the spreader that may be blocked is separated from the UAV, and the fuselage of the UAV is not affected. The working mode of the power-on holding electromagnetic assembly is just the opposite of that of the power-off holding electromagnetic assembly, that is, when the power is on, it has a strong magnetism. At this time, the magnetic suction cup and quick-insertion joint in the spray spreader assembly are pressed to the tripping mother block. Under the action of the magnetic attraction, the quick-insertion tube connector is inserted into the liquid cavity of the tripping mother block to realize the connection of the liquid circuit and the circuit, and maintain the connection state under the suction of the magnetic suction cup. When the spreader assembly encounters resistance during operation, the control system sends a signal to keep the electromagnet powered off, and the magnetic attraction force of the magnetic chuck disappears. Under the action, it bounces open, so that the quick-insertion tube connector is pulled out of the liquid cavity of the tripping mother block, the spreader component falls off, and at the same time, the liquid pump of the plant protection drone can be controlled to close.

Of course, the tripping mother block and tripping main pylon assembly of the present invention can be applied to different occasions or fields according to actual needs, and are not limited to the field of unmanned aerial vehicle application in the present invention, and the embodiments of the present invention are only examples illustrate.

The present invention also provides an unmanned aerial vehicle. The unmanned aerial vehicle includes a control system and the spray system. The spray system is connected to the unmanned aerial vehicle through the trip-type main pylon assembly. The system is connected to the spray system.

According to an embodiment of the present invention, the control system is a wireless control system, including an onboard control device and a remote control.

The remote controller is a remote controller for controlling the operation of the drone, and the remote controller can be realized by using the existing technology. The on-board control device is an on-board control device matched with the remote controller, and the on-board control device receives the instruction information sent by the remote controller. After receiving the take-off or landing command sent by the remote controller, the on-board control device controls the telescopic rod in the spreader assembly to extend and retract, and can rotate the spray rod; after receiving the instruction of flight obstruction, the spray spreader assembly and the main pylon assembly Separate and fall off, complete the tripping action, and ensure the safety of the drone.

According to an embodiment of the present invention, the control device may include a receiving module, a sending module and an analysis and processing module. There can also be obstacle detection equipment on the drone to detect whether the lower spreader assembly is blocked. Once the blockage is detected, the signal can be transmitted to the control device. After the receiving module of the control device receives the blockage signal, it is analyzed. The processing module recognizes, and after confirmation, the signal that controls the loss of magnetization of the tripping master block can be sent to the circuit components of the tripping master block through the sending module, so that the spreader assembly falls off. At the same time, the control device can control the liquid pump to be turned off. The control device can also receive commands such as take-off, landing, retraction, or detachment from the remote control, so that the drone can perform take-off, landing, retraction of its retractable device, and detachment of the spreader assembly.

The present invention also provides a method for using the UAV based on the above, the method comprising:

In response to the resistance signal of the spreader assembly, the control system controls the trip-type main pylon assembly to be turned on/off to lose its magnetism, and the spreader assembly loses its magnetic force and is ejected from the trip-type main pylon assembly. The hanger assembly has fallen off.

According to an embodiment of the present invention, the method further includes:

The control system controls the extension or retraction of the telescopic device of the spreader assembly.

According to an embodiment of the present invention, the method further includes one or more of the following:

The control system controls the spray boom of the spreader assembly to rotate an angle relative to the landing gear of the UAV;

The liquid pump outlet of the drone is connected to the liquid cavity of the tripping mother block through the liquid inlet hose, and the liquid cavity is connected to the telescopic coil spring tube through the quick-plug joint, and the telescopic coil spring tube is connected to the branch. Liquid tee, the liquid separation tee is connected to the nozzle on the spray rod;

When no spraying is required, the spreader assembly of the UAV is in a retracted state, the length direction of the spray boom is parallel or perpendicular to the length direction of the landing gear of the UAV, and the spray boom is retracted below the UAV , located above or below the landing gear of the UAV and close to the landing gear of the UAV;

When spraying is required, the telescopic rod of the drone spreader assembly moves to the bottom of the drone and stretches to a suitable length, and the length direction of the spray rod rotates to an orientation perpendicular to the length direction of the landing gear;

Send the retraction command of the spreader assembly or the rotation command of the spray boom or the on/off command of the liquid pump or the power-on command of the spreader assembly to the onboard control device through the remote control;

When the spreader assembly falls off, the control device controls the liquid pump of the drone to close;

When the spreader assembly does not fall off and needs to be sprayed, the control system controls the liquid pump of the drone to turn on. After the spraying is completed, the control system controls the liquid pump of the drone to turn off. The spreader assembly is controlled to retract.

In the above method, the spray rod of the spreader assembly can be rotated at any angle relative to the landing gear of the UAV. For the spraying effect, an embodiment of the present invention is rotated by 90 degrees.

According to an embodiment of the present invention, as shown in FIG. 17 , a method of using the above-mentioned UAV includes the steps: the wireless control system sends an instruction to control the multi-level parallelogram connecting rod to expand downward, and rotate the spray rod to Vertical to the landing gear, then turn on the spray device to control the drone to spray; when the flight encounters obstacles, the wireless control system sends an instruction to make the spray spreader fall off the tripping main pylon, and the drone returns safely and landed , the spray spreader is recovered, repaired and reinstalled, and then the take-off operation is performed again; after the operation is completed, the wireless control system sends an instruction, the spray boom rotates to be parallel to the landing gear, the multi-stage parallelogram link retracts upward, and the spray spreader Retracted below the belly and above the landing gear, the aircraft lands.

A use method based on the above-mentioned plant protection drone, specifically:

a. After the plant protection UAV takes off over the operating area, the remote control sends a downward extension command to the airborne controller, and the airborne controller receives the downward extension command and sends the command information to the spraying spreader assembly; initial In the state, the spraying spreader of the plant protection drone is retracted, parallel to the landing gear and retracted below the drone, and the height is higher than the landing gear height of the drone;

b. The multi-stage parallelogram connecting rod in the spraying spreader assembly moves down to just below the drone, stretches to a suitable length, and rotates the spray rod to be perpendicular to the landing gear;

c. The spraying device is turned on, and the drone is controlled to carry out the spraying operation;

d. When the drone is blocked during the operation, the remote control sends a command to the onboard control device. After the onboard control device receives the tripping command, the quick-plug trip electromagnet is turned on/off and loses its magnetic field, and the spring preloads the ejector rod. Open the spraying spreader, the spraying spreader will fall off, and the liquid pump will be turned off at the same time, and the drone will safely return and land.

e. Recycle the overhaul/reinstall the spray spreader and start over from step a.

f. After the spraying operation is completed, the remote control sends the retraction command to the airborne control device. After the airborne control device receives the retraction command information, the spray boom is rotated to be parallel to the landing gear, and the multi-level parallelogram in the spraying spreader assembly is connected. The rod is retracted upward, the spray spreader is retracted, and is retracted under the drone parallel to the landing gear, and the height is higher than the landing gear height of the drone.

g. After the plant protection UAV system is completely retracted, the UAV will land to complete the spraying operation.

Another method of using the above-mentioned plant protection drone system is basically the same as the above steps, except that the concave integrated spray boom is always perpendicular to the landing gear of the drone The multi-level parallelogram link of the medicine spreader does not turn when it contracts or expands.

The spray system of the unmanned aerial vehicle of the present invention is designed to have an active tripping structure and can be raised and lowered. When the flying of the unmanned aerial vehicle is blocked, the spraying spreader can automatically fall off to ensure the safety of the unmanned aerial vehicle; The main part of the spreader is retracted in the belly position, which does not affect the take-off and landing of the UAV; during operation, the telescopic rod is extended downward, the height of the spray rod is lowered and is perpendicular to the landing gear, and the spray head is far away from the rotor and can be close to the crop canopy, which is remarkable Reduce the droplet drift caused by the rotor and natural wind field, thereby reducing the dosage and unnecessary losses; the spray rod can be a long-rod spray structure, which can expand the one-way spray of the liquid medicine, effectively saving the power consumption of the drone.

The present invention will be described in further detail below with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Example 1

Referring to Figures 1-17, a plant protection drone in this embodiment mainly includes a drone body and a wireless control system, a trip-type main pylon assembly, and a spraying spreader assembly. Among them: the wireless control system includes the on-board control device and the remote control; the tripping main hanger assembly includes the left and right hanger positioning and fixing jackets 1, the ear plate 4, the hanger height adjustment hanging plate 5, the left and right quick plug Type release mother block A, left and right release mother block connecting rods 14, liquid inlet hose 9 and joint 10; spray spreader assembly includes left and right magnetic suction cups 18 and liquid outlet quick-connect joint 26, main connecting plate 25 , Positive and negative screw drive assembly, multi-stage parallelogram telescopic link, 90-degree steering servo motor 52 for spray rod, concave integrated spray rod. An infusion hose is provided at the tripping main hanger and the spraying spreader assembly, wherein the infusion pipeline at the multi-stage parallelogram telescopic link of the spraying spreader is a telescopic coil spring tube 59 . The fixing and connection of the components described in this embodiment are mainly realized by screws and nuts.

The remote controller is a remote controller for controlling the operation of the plant protection drone, the onboard control device is an onboard controller matched with the remote controller, and the onboard controller receives the instruction information sent by the remote controller. After receiving the take-off or landing command sent by the remote control system, the airborne control system controls the parallelogram row multi-stage linkage in the spray spreader to extend and retract and rotate the boom; The main pylon components are separated and detached to complete the tripping action to ensure the safety of the aircraft.

The tripping mother block A is composed of the on/off holding electromagnetic assembly 17 , the ejector rod pre-compression spring 21 , the pre-pressure ejector rod 22 , and the circular counterbore liquid cavity 63 .

Among them, in the combined state, the power-on/power-off holding electromagnetic assembly 17 sucks the magnetic suction cup 18 of the spray spreader on the main connecting plate 25, and the quick-plug connector 26 of the liquid outlet is inserted into the circular counterbore liquid cavity of the tripping mother block A. In 63, the liquid circuit and the circuit are connected. After the on-board control system receives the flight obstacle signal of the drone, the power on/off keeps the electromagnetic assembly 17 on/off and loses its magnetism, the attractive force of the magnetic chuck 18 disappears, and the integrated magnetic chuck 18 and the quick-insertion tube connector 26 The main connecting plate 25 bounces open under the elastic force of the pre-pressure ejector rod 22, so that the quick-insertion pipe joint 26 is released from the circular counterbore liquid chamber 63 of the tripping mother block A, the spraying spreader assembly falls off, and the plant protection unmanned is controlled. The fluid pump is turned off. Through this structure, the mounting and falling off of the spraying spreader can be realized, and the safety of the aircraft can be ensured at the same time.

The positive and negative teeth drive screw assembly is composed of the bearing seat beam 28, the positive and negative teeth drive screw end sliding bearing 30, the guide rod 31, the driving slider nut - left-handed 32, the middle sliding bearing 33, and the driving slider nut - right-handed 35 , positive and negative teeth drive screw 36, single-diaphragm coupling 37, steering gear 38, travel switch 40 and other components.

The multi-stage parallelogram telescopic connecting rod is composed of a base rotating pin 44, a middle rotating pin 46, a middle long rotating pin 47, a long connecting rod 48 of a telescopic mechanism, a short connecting rod 49 of a telescopic mechanism, and a steering gear suspension 50.

The positive and negative teeth driving screw assembly drives the multi-stage parallelogram telescopic link in the following way: the steering gear 38 or the motor drives the positive and negative teeth screw 36 to rotate through the single diaphragm coupling 37, and when it rotates clockwise, the nuts on both sides. 35 and 32 are closed to the middle, driving the multi-stage parallelogram connecting rod in the spray spreader to expand downward, reducing the height of the spray rod. When the left nut 35 moves to the far right end, it will press down the descending end travel switch, and the height of the spray rod will drop. When turned counterclockwise, the nuts 35 and 32 on both sides are separated to both sides, which drives the multi-stage parallelogram connecting rod in the spray spreader to fold upwards, and raises the height of the spray rod. When the left nut 35 moves to the extreme left, it will Depress the lower end travel switch and the boom is retracted.

The concave integrated spray rod is composed of a concave rod member 57, a spray head 58 and an infusion pipeline. The infusion pipeline is composed of a variable diameter liquid separation tee 60 , an inner nozzle branch pipe 61 and an outer nozzle branch pipe 62 . Wherein, the width of the concave portion of the concave rod is subject to the fact that after the spray spreader is completely retracted, it does not affect the landing and take-off of the drone. The spray heads are distributed on the non-recessed end of the concave rod. In the concave spray rod, the left and right infusion pipelines are respectively connected with the spray head through a variable diameter shunt tee and a branch pipe.

The connection of the liquid path of the plant protection drone is as follows: the upper interface of the telescopic coil spring tube 59 is sleeved on the quick-insertion tube joint 26, the lower interface is sleeved on the variable diameter liquid separation tee 60, and the two parts of the variable diameter liquid separation tee are sleeved. There are two outlets, one outlet is connected to the inner nozzle through the inner nozzle branch pipe 61, and the other outlet is connected to the outer nozzle through the outer nozzle branch pipe 62 to complete the connection of the liquid circuit. Among them, the outlet of the spray pump of the plant protection drone is connected to the circular counterbore liquid cavity 63 of the trip mother block A through the liquid inlet hose 9, and the circular counterbore liquid cavity is connected to the telescopic screw through the quick-insertion tube joint 26. The spring tube 59 is then sent into the variable diameter liquid separating tee 60, and then sent to the four fan-shaped atomizing nozzles respectively to realize spraying.

A use method based on the above-mentioned plant protection unmanned aerial vehicle system, comprising the steps of: the wireless control system sends an instruction to control the multi-level parallelogram connecting rod to unfold downward, and rotate the spray rod to be perpendicular to the landing gear, and then turn on the spray device to control the unmanned aerial vehicle. The spraying operation is carried out by man and machine; when the flight encounters an obstacle, the wireless control system sends an instruction to make the spraying spreader fall off the tripping main pylon, and the drone returns and landed safely. Take-off operation; after the operation is completed, the wireless control system sends an instruction, the boom rotates to be parallel with the landing gear, the multi-stage parallelogram connecting rod retracts upward, the spray spreader is retracted under the belly and above the landing gear, and the aircraft lands.

Specifically, it includes the following steps:

a. After the plant protection UAV takes off over the operating area, the remote control sends a downward extension command to the airborne controller, and the airborne control device receives the downward extension command and sends the command information to the spraying spreader assembly; initial In the state, the spraying spreader of the plant protection drone is retracted, parallel to the landing gear and retracted below the drone, and the height is higher than the landing gear height of the drone;

b. The multi-stage parallelogram connecting rod in the spraying spreader assembly moves down to just below the drone, stretches to a suitable length, and rotates the spray rod to be perpendicular to the landing gear;

c. The spraying device is turned on, and the drone is controlled to carry out the spraying operation;

d. When the drone is blocked during the operation, the remote control sends a command to the onboard control device. After the onboard control device receives the tripping command, the quick-plug trip electromagnet is turned on/off and loses its magnetic field, and the spring preloads the ejector rod. Open the spraying spreader, the spraying spreader will fall off, the liquid pump will be turned off, and the drone will return and land safely.

e. Recycle the overhaul/reinstall the spray spreader and start over from step a.

f. After the spraying operation is completed, the remote control sends the retraction command to the airborne control device. After the airborne control device receives the retraction command information, the spray boom is rotated to be parallel to the landing gear, and the multi-level parallelogram in the spraying spreader assembly is connected. The rod is retracted upward, the spray spreader is retracted, and is retracted under the drone parallel to the landing gear, and the height is higher than the landing gear height of the drone.

g. After all the spraying systems of the plant protection drone are completely retracted, the drone will land to complete the spraying operation.

Example 2

The present embodiment is a planting protection unmanned aerial vehicle system, which is basically the same as the embodiment 1, except that:

The positive and negative teeth driving screw assembly in the spray spreader is replaced by a 90-degree steering servo motor, which pushes the multi-stage parallelogram connecting rod to expand downward or contract upward.

Example 3

The present embodiment is a planting protection unmanned aerial vehicle system, which is basically the same as the embodiment 1, except that:

The concave integrated boom is always perpendicular to the length of the landing gear and closes under the landing gear after retraction and does not turn when the spray spreader multi-stage parallelogram linkage retracts or deploys.

Example 4

The present embodiment, a plant protection drone system, is basically the same as the second embodiment, except that:

The concave integrated boom is always perpendicular to the length of the landing gear and closes under the landing gear after retraction and does not turn when the spray spreader multi-stage parallelogram linkage retracts or deploys.

Example 5

Compared with Embodiments 1-4, the difference between this embodiment is that the multi-stage parallelogram connecting rod is a one-stage parallelogram connecting rod.

It should be noted that, in this document, relational terms such as "first" and "second" etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. The "connection" in the present invention may be a direct connection or an indirect connection, that is, an element may be connected to the connected piece through other elements.

The above-mentioned embodiments are only used to illustrate the present invention, and the various parts and devices of the embodiments can be changed to some extent, and each embodiment can be combined or deleted as required, and not all components in the accompanying drawings are necessary. However, the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments described herein, and all equivalent transformations and improvements based on the technical solutions of the present invention should not be excluded from the protection scope of the present invention.

Claims (15)

1. A spray system comprising a trip type main hanger assembly and a spreader assembly, wherein,

the tripping type main hanger assembly comprises a tripping female block, wherein an on/off power keeping electromagnetic assembly, a pre-pressure ejection assembly and a liquid cavity are arranged on the tripping female block, the on/off power keeping electromagnetic assembly has magnetism when being powered on/off, and loses magnetism after being powered off/on; the pre-pressure ejection assembly can store elastic pre-pressure; the liquid cavity is provided with a quick-insertion connecting port;

the lifting appliance component comprises a magnetic chuck, a pressing surface, a quick connection plug and a spray rod, the magnetic chuck is in magnetic attraction connection with the power-on/off maintaining electromagnetic component, the quick connection plug is in adaptive connection with the quick connection connector, the pressing surface is matched with the pre-pressure ejection component, and the pressing surface applies elastic pre-pressure to the pre-pressure ejection component; and a nozzle is arranged on the spray rod.

2. The spray system of claim 1, wherein the spreader assembly further comprises a main connection plate, and the magnetic chuck, the hold-down surface, the quick-connect coupling, and the spray bar are respectively connected to the main connection plate; the lifting appliance assembly further comprises a telescopic device and a flexible infusion pipeline, the spray rod is connected with the main connecting plate through the telescopic device, and the quick-connection connector is communicated with the spray nozzles on the spray rod through the flexible infusion pipeline.

3. The spraying system of claim 2, wherein the telescopic device comprises a telescopic driving device and a telescopic rod, and the telescopic driving device drives the telescopic rod to extend and retract up and down.

4. The spray system of claim 3, wherein the telescopic drive is an electric screw-nut drive; the telescopic rod is a multi-section combined pull rod type telescopic structure or a parallelogram telescopic connecting rod structure.

5. The spraying system of any one of claims 2 to 4, wherein the flexible infusion pipeline comprises a telescopic helical spring pipe, the telescopic helical spring pipe is arranged in parallel with the telescopic device, the upper end of the telescopic helical spring pipe is connected with the quick-connection plug, and the lower end of the telescopic helical spring pipe is connected with the nozzle.

6. A spraying system according to any one of claims 1 to 4, wherein the spray bar is provided with a concave portion through which the spray bar is connected to the main connection plate, and the nozzles are provided on a non-concave portion.

7. The spraying system according to any one of claims 1 to 4, wherein the pre-pressure ejection assembly comprises a pre-pressure spring and a pre-pressure ejector rod, one end of the pre-pressure ejector rod abuts against the pre-pressure spring, and the other end of the pre-pressure ejector rod is provided with an ejection head.

8. A spraying system according to any one of claims 1 to 4, wherein the liquid chamber is a chamber open to the interior of the female block body or provided on an element connected to the female block body.

9. The spraying system of any one of claims 1 to 4, wherein the trip type main hanger assembly further comprises a hanger connection module, the hanger connection module comprises a hanger positioning fixing jacket, a mounting fixing lug plate and a hanger height adjusting hanging plate, the hanger positioning fixing jacket is connected in sequence, the hanger positioning fixing jacket is fixedly connected with a connected piece, and the hanger height adjusting hanging plate is connected with the trip female block.

10. The spray system of any one of claims 1 to 4, wherein the trip main hanger assembly further comprises a fluid inlet hose having one end connected to the fluid chamber of the trip female block and another end for connection to a fluid reservoir or a fluid pump.

11. An unmanned aerial vehicle comprising a control system and the misting system of any one of claims 1 to 10, the misting system being connected to the unmanned aerial vehicle through the trip type main cradle assembly, the control system being connected to the misting system.

12. A drone according to claim 11, characterised in that the control system is a wireless control system comprising onboard controls and a remote control.

13. A method for using the drone according to claim 11 or 12, the method comprising:

and responding to the signal that the hanger assembly is blocked, controlling the tripping type main hanger assembly to be switched on/off and demagnetized by the control system, and enabling the hanger assembly to lose magnetic force and be popped up to fall off from the tripping type main hanger assembly.

14. The method of claim 13, further comprising:

the control system controls the expansion and contraction of the telescopic device of the lifting appliance component.

15. The method of claim 13 or 14, further comprising one or more of:

the control system controls a spray rod of the lifting appliance assembly to rotate by an angle relative to a landing gear of the unmanned aerial vehicle;

a liquid pump outlet of the unmanned aerial vehicle is connected into a liquid cavity of the tripping female block through a liquid inlet hose, the liquid cavity is connected to a telescopic spiral spring pipe through a quick connector, the telescopic spiral spring pipe is connected with a liquid separating tee, and the liquid separating tee is connected with a nozzle on the spray rod;

when the unmanned aerial vehicle does not need to be sprayed, the lifting appliance assembly of the unmanned aerial vehicle is in a contraction state, the length direction of the spray rod is parallel to or perpendicular to the length direction of the undercarriage of the unmanned aerial vehicle, and the spray rod is retracted below the unmanned aerial vehicle and is positioned above or below the undercarriage of the unmanned aerial vehicle and clings to the undercarriage of the unmanned aerial vehicle;

when spraying is needed, the telescopic rod of the unmanned aerial vehicle lifting appliance component moves to the position below the unmanned aerial vehicle and extends to a proper length, and the length direction of the spray rod rotates to a direction perpendicular to the length direction of the undercarriage;

sending a contraction instruction of a lifting appliance assembly, a rotation instruction of a spray rod, an opening/closing instruction of a liquid pump or a power-on or power-off instruction of the lifting appliance assembly to an airborne control device through a remote controller;

when the lifting appliance assembly falls off, the control device controls the liquid pump of the unmanned aerial vehicle to be closed;

when the lifting appliance component does not fall off and needs to be sprayed, the control system controls the liquid pump of the unmanned aerial vehicle to be started, after spraying is completed, the control system controls the liquid pump of the unmanned aerial vehicle to be closed, and the control system controls the lifting appliance component to be contracted.

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