CN112173120B - A kind of combined multifunctional spray rod structure - Google Patents
A kind of combined multifunctional spray rod structure Download PDFInfo
- Publication number
- CN112173120B CN112173120B CN202011171703.2A CN202011171703A CN112173120B CN 112173120 B CN112173120 B CN 112173120B CN 202011171703 A CN202011171703 A CN 202011171703A CN 112173120 B CN112173120 B CN 112173120B
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- Prior art keywords
- rotor
- liquid medicine
- medicine pipeline
- rotor assembly
- spray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000007921 spray Substances 0.000 title claims abstract description 43
- 238000005507 spraying Methods 0.000 claims abstract description 7
- 239000003814 drug Substances 0.000 claims description 33
- 239000007788 liquid Substances 0.000 claims description 33
- 230000000712 assembly Effects 0.000 claims description 12
- 238000000429 assembly Methods 0.000 claims description 12
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 5
- 239000004917 carbon fiber Substances 0.000 claims description 5
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
本发明公开了一种可组合式多功能喷杆结构；包括两个对称设置的基本单元及其中间的柔性连接部件；所述基本单元包括支撑杆(7)，及其支撑杆(7)上依次设置的辅助旋翼组件、调整旋翼组件、脚架(12)和主升旋翼组件；所述辅助旋翼组件设置在喷杆结构两端，主升旋翼组件设置在中间的柔性连接部件的两侧，调整旋翼组件设置在辅助旋翼组件和脚架(12)之间；本发明通过控制多对旋翼其处于不同的姿态，当它在农田边角区域工作时，可以控制旋翼使其偏航运动，同时根据作物稠密程度控制其多个喷头，实现精准变量喷雾。
The invention discloses a combinable multifunctional spray boom structure; it comprises two symmetrically arranged basic units and a flexible connecting component in between; the basic unit comprises a support rod (7), and an auxiliary rotor assembly, an adjustment rotor assembly, a tripod (12) and a main lift rotor assembly arranged in sequence on the support rod (7); the auxiliary rotor assembly is arranged at both ends of the spray boom structure, the main lift rotor assembly is arranged on both sides of the flexible connecting component in the middle, and the adjustment rotor assembly is arranged between the auxiliary rotor assembly and the tripod (12); the invention controls multiple pairs of rotors to be in different postures, and when it works in the corner area of a farmland, it can control the rotors to make them yaw, and at the same time control its multiple nozzles according to the density of crops to achieve precise variable spraying.
Description
Technical Field
The invention relates to a multi-rotor spray rod structure capable of controlling rotors to enable the rotors to yaw when a farmland corner area works, and belongs to the technical field of agricultural machinery automation and flight control.
Background
In the process of pesticide spraying on crops, the traditional ground agricultural machinery faces the difficulties of heavy machinery, special roads and the like, so that the plant protection unmanned aerial vehicle is increasingly popular with growers in recent years. However, plant protection unmanned aerial vehicles also encounter some difficulties in the operation process, such as short duration, waste of liquid medicine in irregular operation areas, repeated spraying, and the like.
Disclosure of Invention
Based on the defects in the prior art, the invention discloses a combined type multifunctional spray rod structure which is convenient and flexible and can control a rotor wing to make the rotor wing move in a yaw mode.
The technical scheme of the invention comprises a combined type multifunctional spray boom structure, a main lifting rotor assembly, a foot rest 12 and a main lifting rotor assembly, wherein the combined type multifunctional spray boom structure comprises two symmetrically arranged basic units and flexible connecting parts in the middle of the basic units, each basic unit comprises a supporting rod 7, and an auxiliary rotor assembly, an adjusting rotor assembly, the foot rest 12 and the main lifting rotor assembly which are sequentially arranged on the supporting rods 7;
The auxiliary rotor wing assemblies are arranged at two ends of the spray boom structure, the main lifting rotor wing assemblies are arranged at two sides of the middle flexible connecting part, and the adjusting rotor wing assemblies are arranged between the auxiliary rotor wing assemblies and the foot stand 12;
The auxiliary rotor comprises two rotor motors 2, a bracket 3 and blades 1 matched with the two rotor motors, wherein the blades 1 are connected with the rotor motors 2, the two rotor motors 2 are connected below a supporting rod 7 through the bracket 3 in a certain included angle, a liquid medicine pipeline is arranged between the two rotor motors 2, one end of the liquid medicine pipeline is communicated with the supporting rod 7, and the other end of the liquid medicine pipeline is connected with a vertical downward spray head 5 for spraying operation;
The adjusting rotor assembly comprises a fixed flange 10, a second rotor motor 9, a second blade 8, a liquid medicine pipeline 11 and a second spray head, wherein the lower end of the second blade 8 is connected with the second rotor motor 9, the lower end of the second rotor motor 9 is connected with the fixed flange 10, the lower end of the fixed flange 10 is sequentially provided with the liquid medicine pipeline 11 and the second spray head which are communicated with the supporting rod 7, and the second rotor motor 9 and the liquid medicine pipeline 11 are fixed on the supporting rod 7 through the fixed flange 10;
The main lift rotor assembly comprises a second fixing flange 15, a third rotor motor 13, a third blade 14, a liquid medicine pipeline and a third spray head 16, wherein the lower end of the third blade 14 is connected with the third rotor motor 13, the lower end of the third rotor motor 13 is connected with the second fixing flange 15, the liquid medicine pipeline and the third spray head 16 which are communicated with the support rod 7 are sequentially arranged at the lower end of the second fixing flange 15, and the third rotor motor 13 and the liquid medicine pipeline are fixed on the support rod 7 through the second fixing flange 15.
Further, the supporting rod 7 is formed by connecting a hollow pipe with two foot frames, the supporting and bearing functions are provided for the whole spray rod structure, and the hollow structure of the supporting rod 7 is also used as a passing pipeline for liquid medicine and electric wires.
Further, the supporting rod 7 is a carbon fiber tube.
Further, the installation angle of the main force rotor wing and the adjusting rotor wing is adjusted to be axially and vertically arranged.
Further, the flexible connection parts include a support bar joint 17, a hose 20, and a hose joint 19, and the support bar joint 17 is connected with the hose joints 19 at both ends of the hose 20 by threads.
The invention has the following technical effects:
The design has the characteristics of flexibility, rapidness, low cost and the like of the unmanned aerial vehicle, and also has the characteristics that the conventional plant protection unmanned aerial vehicle does not have:
1. The spray heads are arranged linearly, and can spray a larger area in unit time, so that the working efficiency is effectively improved.
2. The rotary wings can be controlled to make the rotary wings in different postures, when the rotary wings work in corner areas of farmlands, the rotary wings can be controlled to make the rotary wings move in a yawing mode, and meanwhile, the variable control of the spray heads can realize accurate spraying and reduce the loss and waste of liquid medicine.
3. The carbon fiber material is adopted, so that the structure is simple and the dead weight is small. More lift force can be used to dispense more medical fluid or a larger capacity battery at the same weight.
4. The design can be used as a basic unit, and a plurality of basic units can be connected through quick connectors when needed, so that operation with a larger area is realized.
5. The connection part of the main lift rotor wing and the spray rod can adopt a connector with damping, so that when the multi-rotor wing spray rod works, even if the multi-rotor wing spray rod is affected by gusts occasionally, the gesture change can be weakened by the connector with damping, and the stability of equipment is improved.
Drawings
FIG. 1 is a diagram of the overall construction of a sectional multi-functional spray boom;
FIG. 2 is a detail view of the auxiliary rotor;
FIG. 3 is a flexible connection unit;
In the figure, 1-auxiliary rotor, 2-rotor motor, 3-bracket, 5-nozzle, 7-supporting rod, 8-supporting rod, 9-second rotor motor, 10-fixing flange, 11-liquid medicine pipeline, 12-foot rest, 13-third rotor motor, 14-third blade, 15-second fixing flange, 16-third nozzle, 17-supporting rod connector, 19-hose connector and 20-hose.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The combined type multifunctional spray boom structure comprises two symmetrically arranged basic units and flexible connecting parts in the middle of the basic units, wherein each basic unit comprises a supporting rod 7, and an auxiliary rotor wing assembly, an adjusting rotor wing assembly, a foot rest 12 and a main lifting rotor wing assembly which are sequentially arranged on each supporting rod 7, the auxiliary rotor wing assemblies are arranged at two ends of the spray boom structure, the main lifting rotor wing assemblies are arranged at two sides of the flexible connecting parts in the middle, and the adjusting rotor wing assemblies are arranged between the auxiliary rotor wing assemblies and the foot rest 12. The rotor adjusting assembly comprises a fixing flange 10, a second rotor motor 9, second blades 8, a liquid medicine pipeline 11 and a second spray head, wherein the lower end of each second blade 8 is connected with the corresponding second rotor motor 9, the lower end of each second rotor motor 9 is connected with the corresponding fixing flange 10, the lower end of each fixing flange 10 is sequentially provided with the corresponding liquid medicine pipeline 11 and the corresponding second spray head which are communicated with the corresponding supporting rod 7, the corresponding second rotor motor 9 and the corresponding liquid medicine pipeline 11 are fixed on the corresponding supporting rod 7 through the corresponding fixing flanges 10, the rotor main assembly comprises a second fixing flange 15, a third rotor motor 13, a third blade 14, the corresponding liquid medicine pipeline and a third spray head 16, the lower end of each third blade 14 is connected with the corresponding third rotor motor 13, the lower end of each third rotor motor 13 is connected with the corresponding second fixing flange 15, the corresponding liquid medicine pipeline and the corresponding third spray head 16 which are sequentially arranged at the lower end of each second fixing flange 15, and the corresponding third rotor motor 13 and the corresponding liquid medicine pipeline are fixed on the corresponding supporting rod 7 through the corresponding second fixing flange 15. The installation angle of the main force rotor wing and the adjusting rotor wing is adjusted to be axially and vertically arranged.
As shown in figure 2, the auxiliary rotor comprises two rotor motors 2, a support 3 and blades 1 matched with the two rotor motors, wherein the blades 1 are connected with the rotor motors 2, the two rotor motors 2 are connected below a supporting rod 7 through the support 3 at a certain included angle, a liquid medicine pipeline is arranged between the two rotor motors 2, one end of the liquid medicine pipeline is communicated with the supporting rod 7, the other end of the liquid medicine pipeline is connected with a vertical downward spray head 5 for spraying operation, and the two rotor motors 2 provide upward lifting force while providing lateral force for a structure.
As a specific embodiment of the present invention, the supporting rod 7 is formed by connecting a hollow tube with two foot frames, which provides supporting and bearing functions for the whole spray rod structure, and the hollow structure of the supporting rod 7 also serves as a passage pipeline for liquid medicine and electric wires. The support rod 7 may be made of carbon fiber tube material.
As shown in fig. 3, the flexible connection unit includes a support bar joint 17, a hose 20, and a hose joint 19, and the support bar joint 17 and the hose joint 19 are connected by threads.
The working process comprises the following steps:
When the multifunctional spray boom is expanded, two or more basic units can be connected through the flexible connecting component according to actual requirements. When the two basic units are connected (figure 1), only the auxiliary rotor wings are required to be arranged at the other ends of the two basic units, which are connected with the flexible connecting component, and when the plurality of basic units are connected, the auxiliary rotor wings are required to be added at the two sides of the flexible connecting component in consideration of the size of gesture adjustment, so that the gesture can be timely adjusted in the flying process.
The multifunctional spray boom can be provided with a sensor widely used on the current four-rotor unmanned aerial vehicle, and is controlled by adopting a common flight controller. The control of each basic unit can adopt two different modes, namely, one basic unit and a plurality of basic units adopt a total controller to intensively control each basic unit, and the other basic units are independently controlled to exchange data and coordinate gesture through wired or wireless communication.
When in a flying state, main lifting force is provided for the multifunctional spray boom by the adjusting rotor and the main lifting rotor, the gesture is adjusted by the auxiliary rotor, and meanwhile, upward force is provided due to the fact that the auxiliary rotor works, and at the moment, the adjusting rotor and the main lifting rotor need to perform feedforward control or adaptive control on lifting force change.
The present design uses flexible components to connect two base units (fig. 3), which has the following advantages:
1. The single longer carbon fiber tube has high manufacturing cost and great difficulty, and the adoption of the flexible connecting part is beneficial to reducing the cost.
2. The flexible components are adopted for connection, so that the basic unit is convenient to transport and store, and the maintenance after the components are damaged is facilitated.
3. The flexible connection is beneficial to the local posture difference of the basic unit in the flight process, and can perform better ground imitation operation on the concave-convex ground.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (3)
1. The combined type multifunctional spray boom structure is characterized by comprising two symmetrically arranged basic units and flexible connecting parts in the middle of the basic units, wherein each basic unit comprises a supporting rod (7), and an auxiliary rotor wing assembly, an adjusting rotor wing assembly, a foot rest (12) and a main lifting rotor wing assembly which are sequentially arranged on the supporting rod (7);
the auxiliary rotor wing assemblies are arranged at two ends of the spray boom structure, the main lifting rotor wing assemblies are arranged at two sides of the middle flexible connecting part, and the adjusting rotor wing assemblies are arranged between the auxiliary rotor wing assemblies and the foot rest (12);
The auxiliary rotor comprises two rotor motors (2), a support (3) and blades (1) matched with the two rotor motors, wherein the blades (1) are connected with the rotor motors (2), the two rotor motors (2) are connected below the support rod (7) through the support (3) at a certain included angle, a liquid medicine pipeline is arranged between the two rotor motors (2), one end of the liquid medicine pipeline is communicated with the support rod (7), and the other end of the liquid medicine pipeline is connected with a vertical downward spray head (5) for spraying operation;
The adjusting rotor assembly comprises a fixed flange (10), a second rotor motor (9), a second blade (8), a liquid medicine pipeline (11) and a second spray head, wherein the lower end of the second blade (8) is connected with the second rotor motor (9), the lower end of the second rotor motor (9) is connected with the fixed flange (10), the liquid medicine pipeline (11) and the second spray head which are communicated with the support rod (7) are sequentially arranged at the lower end of the fixed flange (10), and the second rotor motor (9) and the liquid medicine pipeline (11) are fixed on the support rod (7) through the fixed flange (10);
The main lift rotor assembly comprises a second fixing flange (15), a third rotor motor (13), a third blade (14), a liquid medicine pipeline and a third spray head (16), wherein the lower end of the third blade (14) is connected with the third rotor motor (13), the lower end of the third rotor motor (13) is connected with the second fixing flange (15), the liquid medicine pipeline and the third spray head (16) which are communicated with the support rod (7) are sequentially arranged at the lower end of the second fixing flange (15), and the third rotor motor (13) and the liquid medicine pipeline are fixed on the support rod (7) through the second fixing flange (15);
the supporting rod (7) is formed by connecting a hollow pipe with two foot frames, the supporting and bearing functions are provided for the whole spray rod structure, and the hollow structure of the supporting rod (7) is also used as a passing pipeline for liquid medicine and electric wires;
the installation angle of the main force rotor wing and the adjusting rotor wing is adjusted to be axially and vertically arranged.
2. A modular multi-functional spray lance structure according to claim 1, characterized in that the support bar (7) is a carbon fiber tube.
3. A modular multi-functional spray boom structure according to claim 1, characterized in that the flexible connection means comprise a support bar joint (17), a hose 20, a hose joint (19), the support bar joint (17) and the hose joint (19) at both ends of the hose (20) being connected by screw threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011171703.2A CN112173120B (en) | 2020-10-28 | 2020-10-28 | A kind of combined multifunctional spray rod structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011171703.2A CN112173120B (en) | 2020-10-28 | 2020-10-28 | A kind of combined multifunctional spray rod structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112173120A CN112173120A (en) | 2021-01-05 |
| CN112173120B true CN112173120B (en) | 2025-02-18 |
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| CN202011171703.2A Active CN112173120B (en) | 2020-10-28 | 2020-10-28 | A kind of combined multifunctional spray rod structure |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024089444A1 (en) * | 2022-10-27 | 2024-05-02 | IVÁNYI, Richárd | Spraying system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN214241238U (en) * | 2020-10-28 | 2021-09-21 | 江苏大学 | A composable multifunctional spray bar structure |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140102584A (en) * | 2013-02-14 | 2014-08-22 | 공주대학교 산학협력단 | Unmanned aerial vehicle with multiple rotor |
| CA2956110C (en) * | 2015-03-31 | 2019-04-16 | Zhuhai Yuren Agricultural Aviation Co., Ltd. | Multifunctional flying platform |
| KR101784372B1 (en) * | 2015-11-26 | 2017-10-11 | 주식회사 네스앤텍 | Multicopter with propelling roter |
| CN105961051A (en) * | 2016-06-03 | 2016-09-28 | 华南农业大学 | Aerial spraying method and device for cotton defoliating agent |
| CN106477034A (en) * | 2016-11-16 | 2017-03-08 | 北京韦加无人机科技股份有限公司 | A kind of detachably many rotors plant protection unmanned plane |
| CN107128493B (en) * | 2017-06-22 | 2023-11-24 | 山东农业大学 | Wide-width plant protection unmanned aerial vehicle with multiple transverse rotors and driving method |
| CN109343553A (en) * | 2018-10-30 | 2019-02-15 | 佛山市神风航空科技有限公司 | A kind of no medicine makes a return voyage unmanned plane automatically |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN214241238U (en) * | 2020-10-28 | 2021-09-21 | 江苏大学 | A composable multifunctional spray bar structure |
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