CN-116724975-B - Shear force drive telescoping device and plant protection aircraft

CN116724975BCN 116724975 BCN116724975 BCN 116724975BCN-116724975-B

Abstract

The invention relates to the technical field of plant protection equipment, in particular to a shear force driving telescopic device and a plant protection aircraft, which comprise a first driving mechanism, a shearing fork mechanism and a second driving mechanism; the shearing mechanism comprises a plurality of shearing fork units, two adjacent shearing fork units are hinged with each other, any shearing fork unit is hinged with the acting end of the first driving mechanism, the first driving mechanism can drive all the shearing fork units to synchronously stretch and retract, at least one shearing fork unit comprises two long connecting rods which are hinged with each other, the position of a hinging point between the two long connecting rods can be adjusted, and the second driving mechanism is used for adjusting the relative position of the hinging point on any one or two long connecting rods. The invention uses the second driving mechanism to adjust the relative position of the hinge point on any one or two long connecting rods, and can adjust the height difference of one end acted by the two long connecting rods to a certain extent, thereby realizing the inclination angle of the acting end of the whole scissor mechanism, adapting to the orientation of the acting end of the scissor mechanism and adapting to different use conditions.

Inventors

ZENG ZHEN
CEN JUFANG
SHEN ZHICHENG
HUANG SHEN
Luo Qibi
PAN SHENG
E Zhongliang
HUANG RUITING
WU LINTONG
ZHANG WANLI
LI XIUJUAN

Assignees

靖西市福家兴现代农业科技有限公司

Dates

Publication Date: 20260505
Application Date: 20230418

Claims (7)

1. The shear force driving telescopic device is characterized by comprising A first driving mechanism; The scissors mechanism comprises a plurality of scissors units, wherein two adjacent scissors units are hinged with each other, any one of the scissors units is hinged with the acting end of the first driving mechanism, the first driving mechanism can drive all the scissors units to synchronously stretch and retract, at least one scissors unit comprises two long connecting rods which are hinged with each other, the position of a hinge point between the two long connecting rods can be adjusted, and the scissors mechanism comprises a plurality of scissors units, wherein two adjacent scissors units are hinged with each other, any one of the scissors units is hinged with the acting end of the first driving mechanism, the first driving mechanism can drive all the scissors units to synchronously stretch and retract, at least one scissors unit comprises two long connecting rods which are hinged with each other, and the position of the hinge point between the two long connecting rods can be adjusted The second driving mechanism is used for adjusting the relative position of the hinge point on any one or two long connecting rods; The device comprises a long connecting rod, a first driving mechanism, a second driving mechanism, a bridging mechanism, a working mechanism, a first driving mechanism, a second driving mechanism, a first connecting rod, a second driving mechanism and a second driving mechanism, wherein a guide structure is arranged on any one long connecting rod of the same shearing fork unit, a sliding structure is rotatably arranged on the other long connecting rod, the sliding structure is slidably arranged on the guide structure; the operation mechanism comprises a mounting bottom plate, a plurality of spraying seats arranged on the mounting bottom plate and a spray pipe capable of being rotatably arranged on the spraying seats, the installation angle of the spraying seats relative to the mounting bottom plate can be adjusted, the mounting bottom plate is slidably hinged with one outward end of two long connecting rods in the shearing fork unit at the lowest end, a mixing cavity is arranged at one outward end of the spray pipe, an atomization net is arranged at one outward end of the mixing cavity, a plurality of air inlets are obliquely arranged on the side wall of the spray pipe, and all the air inlets are obliquely directed to one outward end of the central line of the spray pipe and are communicated with the spray pipe.
2. The shear force driving telescopic device according to claim 1, wherein the guiding structure is a sliding groove, the sliding structure is a sliding block, the two opposite ends of the sliding block are provided with accommodating grooves for accommodating edges of the sliding groove, the corresponding long connecting rod is rotatably arranged on the sliding block through a rotating shaft, and the acting end of the second driving mechanism is rotatably connected with the rotating shaft.
3. The shear force driving telescopic device according to claim 1, wherein two groups of the shear fork mechanisms are arranged in parallel, and two corresponding shear fork units in the two groups of the shear fork mechanisms are connected through a connecting rod.
4. A shear force driving telescopic device according to claim 1, wherein all the shear fork units are X-shaped shear forks formed by hinging two long connecting rods, one outward end of each of the two long connecting rods in the uppermost shear fork unit is slidably hinged on the bridging mechanism, one outward end of each of the two long connecting rods in the lowermost shear fork unit is slidably hinged on the operating mechanism, the driving end of the first driving mechanism is hinged with one outward end of each of the two long connecting rods in the uppermost shear fork unit, and the first driving mechanism can drive the hinging point of each of the two long connecting rods in the uppermost shear fork unit to be close to or far away from the bridging mechanism.
5. A shear force drive telescoping device according to claim 4, wherein the bridging mechanism comprises a storage rack and a plurality of adjusting connectors arranged on the top of the storage rack, wherein the storage rack is provided with a mounting position, one outward ends of two long connecting rods in the uppermost scissor unit are both slidingly hinged on the mounting position, and the mounting end of the first driving mechanism is hinged on the storage rack.
6. A shear driven telescopic device according to any of claims 1-5, wherein the first and second drive mechanisms are telescopic electric cylinders.
7. A plant protection aircraft characterized by comprising an aircraft body and the shear force driving telescopic device according to any one of claims 1-6.

Description

Shear force drive telescoping device and plant protection aircraft Technical Field The invention relates to the field of plant protection equipment, in particular to a shear force driving telescopic device and a plant protection aircraft. Background With the development of agricultural technology, unmanned aerial vehicle pesticide spraying control, hereinafter referred to as flight control, is basically used at present in tobacco leaf disease control work. Through the flight protection, personnel can be reduced and pass in and out the tobacco field, the risk of disease transmission is avoided, and the plant protection operation efficiency is also improved. At present, the plant protection unmanned aerial vehicle basically installs the shower nozzle in the bottom of unmanned aerial vehicle frame directly, only need at the overhead flight of crops spray can when plant protection unmanned aerial vehicle flies. However, in practical operation, it is found that in order to avoid that the plant with higher growth vigor affects the normal flight of the plant protection unmanned aerial vehicle and protects the plant protection unmanned aerial vehicle, the plant protection unmanned aerial vehicle generally flies relatively higher, and the flying height has a certain safety height relative to the top of the whole tobacco plant. Because plant protection unmanned aerial vehicle flies relatively higher, use plant protection unmanned aerial vehicle to spout the medicine back, more blades do not adhere to the liquid medicine, spout the medicine effect poor, also caused certain pesticide waste. The main reason is that the liquid medicine spraying distance sprayed by the spray head can not break through the flight safety height spraying of the plant protection unmanned aerial vehicle except that the leaf area of the tobacco is relatively extremely large, and the uppermost layers of leaves receiving sunlight basically block the downward diffusion of the liquid medicine, so that the liquid medicine is difficult to adhere to the leaves in the middle and the lower parts of the tobacco plant. In the actual control process, the main target of pesticide spraying is tobacco, so that workers also need to spray the concentrated areas of plant diseases and insect pests or focal areas on individual plants back and forth in the actual spraying process. For the situation, a patent with publication number CN112498719A discloses a tree obstacle cleaning flying robot with a scissor type hanging tool, which comprises a flying platform, a hanging mechanism connected below the flying platform and a tool system connected below the hanging mechanism, wherein the hanging mechanism comprises a I-shaped frame which is horizontally arranged, a telescopic device which is hung below the I-shaped frame, and a lower connecting seat which is connected at the lower end of the telescopic device and is in butt joint with the tool system, the tool system is an array combination of M (M is more than or equal to 1) electric saw assemblies which are arranged in a side-to-side geometric symmetry or mass symmetry mode, and a unhooking device which can hang or separate the hanging mechanism and the tool system is arranged between the hanging mechanism and the tool system. In this patent, the telescoping device can realize basic flexible function, and the flying platform can adjust the cutter system height through adjusting the telescoping device like this, improves the convenience of operation. However, the telescopic device can only realize the basic vertical telescopic function, if the cutter system is replaced by a spraying system, the technical scheme disclosed in the patent cannot spray the concentrated areas of plant diseases and insect pests or focal areas on individual plants back and forth in the flying process, and particularly sprays the back surfaces of tobacco leaves or the branches of plants. Disclosure of Invention In order to overcome the defects of the prior art, the invention aims to provide the shearing force driving telescopic device and the plant protection aircraft, wherein the shearing force driving telescopic device can realize bending besides telescopic, and the plant protection aircraft can adjust the spraying direction and can spray the back surfaces of tobacco leaves. In order to solve the problems, the technical scheme adopted by the invention is as follows: The shearing force driving telescopic device comprises a first driving mechanism, a shearing fork mechanism and a second driving mechanism, wherein the shearing fork mechanism comprises a plurality of shearing fork units, two adjacent shearing fork units are hinged to each other, any one shearing fork unit is hinged to the acting end of the first driving mechanism, the first driving mechanism can drive all the shearing fork units to synchronously stretch and retract, at least one shearing fork unit comprises two long connecting rods hinged to each other, the position of a hinging p