CN103482069B - A kind of agricultural unmanned vehicle - Google Patents
A kind of agricultural unmanned vehicle Download PDFInfo
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- CN103482069B CN103482069B CN201310440136.XA CN201310440136A CN103482069B CN 103482069 B CN103482069 B CN 103482069B CN 201310440136 A CN201310440136 A CN 201310440136A CN 103482069 B CN103482069 B CN 103482069B
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- locating piece
- medicine
- positioning table
- blade
- chest
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Abstract
The invention discloses a kind of agricultural unmanned vehicle, equipment compartment (15) is positioned at midway location, the cydariform that this equipment compartment (15) is the uncovered lower end closed in upper end, and every root support tube (14) of alighting gear (13) is connected with equipment compartment (15) by two fasteners; Be provided with four circumferentially well-distributed cantilevers (16) in the periphery of equipment compartment (15), the inner and the equipment compartment (15) of this cantilever (16) are connected as a single entity, and are provided with motor bin (17) in the outer end of each cantilever (16); Motor (31) is housed in motor bin (17), and is provided with screw propeller (32) in the top of this motor bin (17).The present invention not only structure is simple, the dismounting of motor and blade is not only convenient but also quick, and spray medicine amplitude broad, spray effect are good, and can realize agricultural unmanned vehicle alighting gear and be connected with firm between fuselage, and by carrying out easy disassembly to alighting gear, can change medicine-chest fast.
Description
Technical field
The invention belongs to agricultural machinery technological field, specifically, particularly agricultural unmanned vehicle.
Background technology
Along with the development of society, the progress of science and technology, the work such as spray insecticide on a large scale in farmland, fertilising have progressively been come by unmanned vehicle.Existing agricultural unmanned vehicle complex structure, bulky, heavier-weight, seriously constrain it and apply on a large scale.Such as:
1) mounting structure of existing aircraft motor not only assembles complexity, wastes time and energy, and the space that rotor motor takies is large, can increase the height dimension of whole aircraft;
2) mounting structure for propeller more complicated, mounting process is more loaded down with trivial details, and installation process wastes time and energy, and is unfavorable for saving production cost; In addition, two pieces of blades of screw propeller are structure as a whole, packaging and the space that takies of transport point is large, cost is high, and when there is the impaired situation of blade, screw propeller can only entirety be scrapped, thus brings the waste of resource, adds use cost;
3) medicine liquid spray system not only complex structure, assembles loaded down with trivial details, and volume is comparatively large, Heavy Weight, and productive costs is high, and the amplitude of spray medicine is little, narrow range, and spray uneven, spray effect is poor; Meanwhile, when the liquid in medicine-chest is less, by the impact of aircraft operational vibration, liquid can agitate and rock, thus affects the balance of aircraft, reduces the effect of spray liquid; In addition, Teat pipette is installed on medicine-chest top, also can increase the height dimension of aircraft;
4) fuselage of aircraft not only weight and volume is large, structural strength is poor, easily damage, and processing and fabricating is more difficult;
5) although the connection structure between aircraft landing gear and fuselage is comparatively firm, and disassembling operations is loaded down with trivial details, and must by instrument, not only time-consuming but also require great effort; Agricultural aircraft when operation, after the medicine liquid spray in medicine-chest is complete, must be undertaken again by the filling exit that medicine-chest is arranged filling after could subjob again, will the operating efficiency of aircraft be greatly reduced like this.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of agricultural unmanned vehicle of lightweight, compact.
Technical scheme of the present invention is as follows: a kind of agricultural unmanned vehicle, comprise alighting gear (13), fuselage (12) and medicine-chest (21), alighting gear (13) is positioned at the below of fuselage (12), this alighting gear (13) has two support tubes be parallel to each other (14), and in alighting gear (13), medicine-chest (21) is installed, its key is:
A, described medicine-chest (21) are small end hemispherical hollow structure down, and be made up of glass-felt plastic, the dividing plate (22) of two pieces of right-angled crossings is fixedly installed in the bottom of described medicine-chest (21) inner chamber, the lower part of medicine-chest (21) inner chamber is divided into four chambers by these two pieces of dividing plates (22), and the through hole (23) offered by dividing plate (22) bottom between two adjacent chamber is communicated with;
B, the bilateral symmetry of described medicine-chest (21) is provided with medicine bar (24), each medicine bar (24) is provided with multiple nozzle (25), the mediad lower recess at described medicine-chest (21) top, form deep gouge (21a), Teat pipette (26) is housed in this deep gouge (21a), the import of described Teat pipette (26) is connected with one end of drug-feeding tube (27), the other end of drug-feeding tube (27) extend in medicine-chest (21) one of them chamber interior, and the interior diapire of close medicine-chest (21), the outlet of described Teat pipette (26) is connected with one end of drug discharging tube (28), the other end of drug discharging tube (28) is connected with the first interface of triple valve (29), flexible pipe (30) is all connected at the second interface of triple valve (29) and the 3rd interface, these two flexible pipes (30) and two medicine bar (24) one_to_one corresponding, and flexible pipe (30) is connected with medicine bar (24),
C, described fuselage (12) are made up of equipment compartment (15), cantilever (16) and motor bin (17), described equipment compartment (15) is positioned at midway location, the cydariform that this equipment compartment (15) is the uncovered lower end closed in upper end, every root support tube (14) of alighting gear (13) is connected with equipment compartment (15) by two fasteners; Be provided with four circumferentially well-distributed cantilevers (16) in the periphery of described equipment compartment (15), the inner of this cantilever (16) and the ring wall of equipment compartment (15) are connected as a single entity, and are provided with motor bin (17) in the outer end of each cantilever (16);
D, described equipment compartment (15), cantilever (16) and motor bin (17) are structure as a whole, and are made up of aviation alkali-free glass layer of cloth (b) of arranging successively from outside to inside, high-density glass layer of cloth (c), the first carbon fiber layer (d), keriotheca (e) and the second carbon fiber layer (f); Motor (31) is housed in described motor bin (17), and is provided with screw propeller (32) in the top of this motor bin (17), this screw propeller (32) is fixed on the output shaft of motor (31).
The present invention adopts two support tubes be parallel to each other jointly to be fixed support to the fuselage of agricultural aircraft, the good stability of support.Liquid in medicine-chest pumps by Teat pipette, and distributes to the medicine bar of medicine-chest both sides respectively by two flexible pipes, is more outwards sprayed by nozzle, not only sprays the amplitude broad of medicine, scope is wide, and sprinkling is even, spray effect is good; Teat pipette is positioned at the deep gouge at medicine-chest top, and such Teat pipette adopts hidden type mounting structure, has both been conducive to arranging, and can have reduced again the height dimension of whole aircraft, make whole aircraft smaller and more exquisite.The bottom of medicine-chest inner chamber is become four chambers of uniform size by baffle for separating, and be interconnected between chamber, such one side can not affect normally pumping of liquid, on the other hand, be divided evenly when liquid is less in each chamber, can not produce by FLIGHT VEHICLE VIBRATION affects and rock, thus ensure that the balance of aircraft, effectively improve the effect of spray liquid.
Equipment compartment in the present invention is cydariform, and handsome in appearance, height dimension is little, inner space is large, can install the electronic governor of autopilot and control Teat pipette, and can distinguish mounted motor in four motor bins in equipment compartment, drive screw propeller to rotate by motor, make whole aircraft realize flight operation; And realize turning to of aircraft by the rotating speed adjusting four motors.Fuselage is made up of composite material, and compact, lightweight on the one hand, effectively can alleviate the weight of aircraft, make complete machine weight only have about 12 kilograms; On the other hand, structural strength is reliable, is not easily damaged.Cantilever is hollow structure, and cross-sectional plane is oval, stressed good, and intensity is reliable, and it is firm to guarantee to be connected between equipment compartment with motor bin.
Described fastener has upper locating piece (1) and lower locating piece (2), upper locating piece (1) is secured by bolts in the bottom surface of fuselage (12), the middle part of upper locating piece (1) bottom surface is provided with positioning groove (1a), in the below of upper locating piece (1), lower locating piece (2) is set, the middle part of this lower locating piece (2) end face is provided with lower positioning groove (2a), on, lower locating piece (1, 2) upper by what cooperatively interact, lower positioning groove (1a, 2a) support tube (14) is held tightly, one end of described upper locating piece (1) and the corresponding end of lower locating piece (2) are hinged, opening is equipped with at the other end of upper locating piece (1) and lower locating piece (2), and be provided with lateral pin (3) in the opening of described upper locating piece (1), a handle (6) is provided with in the below of described lower locating piece (2), one end of this handle (6) has two collars be arranged side by side (7), two collars (7) are sleeved on pin (5) all prejudicially, the middle part of described pin (5) and the lower end of connecting rod (4) fix, opening and the lateral pin (3) of lower locating piece (2), screw thread fit between connecting rod (4) and lateral pin (3) are passed in the upper end of connecting rod (4), between the described collar (7) and lower locating piece (2), be provided with pressure ring (8), this pressure ring (8) is sleeved on connecting rod (4), and described pressure ring (8), by the compressing of the collar (7) heavy wall end, is pressed on the bottom surface of lower locating piece (2).
Adopt above technical scheme, two of alighting gear between support tube and fuselage by all around totally four fasteners link together: the upper locating piece of fastener is secured by bolts in the bottom of fuselage, the support tube of alighting gear is held tightly by the positioning groove up and down cooperatively interacted by upper locating piece and lower locating piece, and medicine-chest is fixed on alighting gear.
The present invention realizes assembling like this: time initial, lower locating piece is connected with upper locating piece by pin jointed end, and the open end of lower locating piece naturally droops, first fuselage is positioned on alighting gear, making four of fuselage bottom upper locating pieces be one group between two straddles on the gear support pipe of correspondence by respective upper positioning groove, then lower locating piece is rotated, the end face of lower locating piece is made to go to close with the bottom surface of upper locating piece or fit, the lower positioning groove of lower locating piece and the upper positioning groove of upper locating piece form a circular hole, upper and lower locating piece is embraced by the support tube of this circular hole by alighting gear, then turning handle in horizontal surface, handle drivening rod is rotated relative to lateral pin, connecting rod is together with pressure ring upward movement, when pressure ring presses close to the bottom surface of lower locating piece, to raise one's hand in vertical plane handle, handle is rotated together with the pin of cover around connecting rod lower end, because the collar and pin adopt eccentric manner to install, when the heavy wall end of the collar turns to vertex, self-locking can be realized, the heavy wall end of the collar is made tightly to be oppressed the bottom surface of lower locating piece by pressure ring, thus prevent lower locating piece and connecting rod from occurring to loosen.
After the medicine liquid spray in medicine-chest in operation process, agricultural aircraft drop to assigned address, each handle is pulled downwards with hand, handle is rotated down around pin, after handle turns over 180 °, the thin-walled end of the collar turns to extreme higher position, unclamp the compressing to pressure ring, turning handle in horizontal surface again, handle drivening rod is rotated relative to lateral pin, connecting rod moves downward together with pressure ring, until pressure ring gets out of the way the bottom surface of lower locating piece open end, the open end of this locating piece at present naturally droops, unclamp holding tightly alighting gear, alighting gear can be pulled down from fuselage together with empty medicine-chest downwards, and can to change the outfit on fuselage at once the medicine-chest and alighting gear of filling liquid according to mounting means.
In sum, the present invention can realize the connection between alighting gear and fuselage, and not only fixing is good, and easy accessibility, quick, do not need can complete by instrument, not only simple but also laborsaving, such replacing medicine-chest is very convenient, greatly can improve the operating efficiency of agricultural aircraft.
The axial line of described motor bin (17) and the axis parallel of equipment compartment (15), the lower end of this motor bin (17) has the in-flanges (20) of annular arrangement, motor (31) is provided with in each described motor bin (17), the bottom of this motor (31) has dowel disc (33), the periphery of described dowel disc (33) is evenly distributed with four journal stirrups (35), each journal stirrup (35) fits with the bottom surface of in-flanges (20), and is fixed by screw (36).Above structure on the one hand mounting process is simple, easy accessibility, quick; On the other hand, motor and motor bin compact conformation, take up room little, can effectively reduce the volume of aircraft.
Described screw propeller (32) is by circumferentially well-distributed first blade (37) and the second blade (38) are formed, the first opening (39) is offered along its length at the root of described first blade (37), this first opening (39) root of the first blade (37) is divided into misplace up and down first on positioning table (40) and first time positioning table (41), the second opening (39 ') is offered along its length at the root of described second blade (38), this second opening (39 ') root of the second blade (38) is divided into misplace up and down second on positioning table (40 ') and second time positioning table (41 '), described first blade (37) first on positioning table (40) be superimposed upon above second time positioning table (41 ') of the second blade (38), second blade (38) second on positioning table (40 ') be superimposed upon above first time positioning table (41) of the first blade (37), the root of two pieces of blades is interlocked be connected together.Above structure not only moulding is simple, and processing and fabricating is easy, and two blades to be misplaced clamping by positioning table, and dismounting is convenient, has connected not only firmly but also reliable.
Conveniently locate, make assembling faster, realize two pieces of blades to be connected with the firm of motor output shaft, on described first positioning table (40) and first time positioning table (41) opposite face on all offer semi-round first breach (42), on second positioning table (40 ') and second time positioning table (41 ') opposite face on all offer semi-round second breach (42 '), the first breach (42) on two pieces of blades and the second breach (42 ') be a composition knock hole jointly, the output shaft of motor (31) sets firmly a locating dowel pin (43), and this locating dowel pin (43) is from lower to upper through the knock hole that two pieces of roots of blade are formed, on described first, positioning table (40) and first time positioning table (41) are respectively arranged with multiple first mounting hole (44), on second, positioning table (40 ') and second time positioning table (41 ') are respectively arranged with multiple second mounting hole (44 '), the first mounting hole (44) on first on positioning table (40) lays respectively at directly over the second mounting hole (44 ') on second time positioning table (41 '), the second mounting hole (44 ') on second on positioning table (40 ') lays respectively at directly over the first mounting hole (44) on first time positioning table (41), above mounting hole forms multiple circumferentially well-distributed assembly opening, paddle screw (45) is through this assembly opening and stretch in the output shaft of motor (31), the output shaft of two pieces of blades and motor (31) is fixed together.
Be pressed with platen (34) at the top of described first blade (37) and the second blade (38) root junction, the position of this platen (34) corresponding assembly opening is equipped with via hole, and described paddle screw (45) passes from the via hole platen (34).The output shaft of two pieces of blades with motor can connect by this design more securely.
In order to improve the homogeneity of spray liquid further, make dismounting more convenient, guarantee the fastness of installing, every root medicine bar (24) is equipped with 3 ~ 5 nozzles (25), described nozzle (25) is arranged on medicine bar (24) by anchor ear, and be bolted, the distance between two adjacent nozzles (25) is equal.
In order to shorten pipeline, and be conducive to piping layout, described medicine bar (24) is connected with flexible pipe (30) near one end of medicine-chest (21).
In order to prevent wearing and tearing and increase friction, to improve the reliability of self-locking further, be provided with packing ring (9) between the described collar (7) and pressure ring (8), this packing ring (9) is made up of rubber, and is located on connecting rod (4).
In order to make structure compacter, and increase the convenience and fastness that connect, the side of described upper locating piece (1) end is formed with the first journal stirrup (10), the opposite side of described lower locating piece (2) corresponding end is formed with the second journal stirrup (11), described first journal stirrup (10) and the second journal stirrup (11) fit together side by side, and are hinged by bolt.
Beneficial effect: the present invention not only structure is simple, compact is easy to assembling, lightweight, and the dismounting of motor and blade is not only convenient but also quick, and is conducive to packed and transported and the replacing of blade; In addition, medicine amplitude broad is sprayed in the present invention, scope is wide, sprinkling is even, spray effect is good, agricultural unmanned vehicle alighting gear can be realized be connected with firm between fuselage, and by carrying out easy disassembly to alighting gear, can change medicine-chest fast, thus effectively improve the operating efficiency of aircraft.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the arrangement plan of fuselage, alighting gear and medicine-chest.
Fig. 3 is the schematic diagram of spray medicine structure.
The schematic diagram that Fig. 4 alighting gear is connected with fuselage by fastener.
Fig. 5 is the lateral plan of Fig. 4.
Fig. 6 is the structural representation of fastener.
Fig. 7 is the lateral plan of Fig. 6.
Fig. 8 is the structural representation of upper locating piece.
Fig. 9 is the upward view of Fig. 8.
Figure 10 is the structural representation of lower locating piece.
Figure 11 is the birds-eye view of Figure 10.
Figure 12 is medicine-chest and cut-away view thereof.
Figure 13 is the birds-eye view of Figure 12.
Figure 14 is the birds-eye view after two pieces of blade assemblings.
Figure 15 is the layout schematic diagram of two pieces of blades.
Figure 16 is the structural representation of the first blade.
Figure 17 is the structural representation of the second blade.
Figure 18 is the A-A cutaway view of Figure 16.
Figure 19 is the B-B cutaway view of Figure 17.
Figure 20 is the layout schematic diagram that two pieces of root of blade positioning tables interlock.
Figure 21 is the schematic diagrams of two pieces of blades installations on motor.
Figure 22 is the upward view of Figure 21.
Figure 23 is the laminar texture figure of fuselage, is also the cross sectional view of cantilever.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described:
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Figure 12, Figure 13, alighting gear 13 is framed structure, and this alighting gear 13 has two support tubes be parallel to each other 14, and each support tube 14 is supported by the bottom tube of correspondence, and support tube 14 and bottom tube are made by aviation aluminum pipe.The external diameter of described support tube 14 is preferably 28mm, and wall thickness is 1 ~ 1.5mm.Be formed with protective layer at the outside face of described support tube 14 by plastic-blasting, the thickness of protective layer is 0.1mm.In described alighting gear 13, be provided with medicine-chest 21, this medicine-chest 21 is fixedly installed on alighting gear 13 by multiple support.Described medicine-chest 21 is small end hemispherical hollow structure down, and is made up of glass-felt plastic, and its thickness is 1mm, and volume is 20-35 litre.Have epoxy enamelled coating at the outer surface of medicine-chest 21, the thickness of epoxy enamelled coating is 0.05mm.The dividing plate 22 of two pieces of right-angled crossings is fixedly installed in the bottom of described medicine-chest 21 inner chamber, this dividing plate 22 is made up of cellular composite material, the lower part of medicine-chest 21 inner chamber is divided into four chambers by these two pieces of dividing plates 22, and the through hole 23 by offering bottom dividing plate 22 between two adjacent chamber is communicated with.The bilateral symmetry of described medicine-chest 21 is provided with medicine bar 24, and this medicine bar 24 is also arranged on the alighting gear of agricultural aircraft, and the axial line of two medicine bars 24 point-blank.Described medicine bar 24 is straight tube structure, and is made up of carbon fiber pipe, each medicine bar 24 is provided with 3 ~ 5 nozzles 25.In the present embodiment, the number of nozzle 25 is preferably 3, and each nozzle 25 is installed on medicine bar 24 by anchor ear, and is bolted, and the distance on same medicine bar 24 between two adjacent nozzles 25 is equal.
As shown in Fig. 3, Fig. 4, Figure 12, Figure 13, the mediad lower recess at medicine-chest 21 top, form deep gouge 21a, this deep gouge 21a is rectangle, and the degree of depth is 60-75mm.Teat pipette 26 and filter 47 are housed in described deep gouge 21a, the import of Teat pipette 26 is connected with one end of drug-feeding tube 27, the other end of drug-feeding tube 27 extend in medicine-chest 21 one of them chamber interior, and the interior diapire of close medicine-chest 21, the outlet of Teat pipette 26 is by after drug discharging tube 28 in-line filter 47, be connected with the first interface of triple valve 29, flexible pipe 30 is all connected at the second interface of triple valve 29 and the 3rd interface, these two flexible pipes 30 and two medicine bar 24 one_to_one corresponding, and flexible pipe 30 is connected with medicine bar 24, as preferably, the present embodiment flexible pipe 30 is connected with medicine bar 24 one end near medicine-chest 21.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5, Figure 23, fuselage 12 is positioned at directly over alighting gear 13, this fuselage 12 is made up of equipment compartment 15, cantilever 16 and motor bin 17, described equipment compartment 15 is positioned at midway location, this equipment compartment 15 is the cydariform of the uncovered lower end closed in upper end, the upper port of equipment compartment 15 is sealed by the top cover 46 that can open, and at equipment compartment 15 built with autopilot and the electronic governor controlling Teat pipette.Four circumferentially well-distributed cantilevers 16 are provided with in the periphery of described equipment compartment 15, this cantilever 16 is hollow structure, the direction from inside to outside, cross section of cantilever 16 reduces gradually, the axial line of described cantilever 16 and the axial line of equipment compartment 15 perpendicular, the inner of cantilever 16 and the ring wall of equipment compartment 15 are connected as a single entity; Motor bin 17 is provided with, the axial line of described motor bin 17 and the axis parallel of equipment compartment 15 in the outer end of each cantilever 16.Described motor bin 17 is structure as a whole with cantilever 16 and equipment compartment 15, and be made up of composite material, thickness is preferably 6mm.The laminar texture of composite material is followed successively by aviation alkali-free glass layer of cloth b, high-density glass layer of cloth c, the first carbon fiber layer d, keriotheca e and the second carbon fiber layer f from outside to inside.The thickness of described aviation alkali-free glass layer of cloth b is preferably 0.08mm, and be coated with epoxy enamelled coating a in the outside of aviation alkali-free glass layer of cloth b, the thickness of epoxy enamelled coating a is preferably 0.05mm.The thickness of described high-density glass layer of cloth c is 0.1mm.Have at the middle part of described motor bin 17 upper end a via hole 18, eight circumferentially well-distributed louvre 19 be looped around the periphery of described via hole 18; The lower end of described motor bin 17 has the in-flanges 20 of annular arrangement, is formed with knock hole at the center of this in-flanges 20.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5, Fig. 6-Figure 11, every root support tube 14 of bracing frame 13 is connected with the equipment compartment 15 of fuselage 12 by two fasteners, four fasteners in same level by the rectangular distribution.Described fastener has upper locating piece 1 and lower locating piece 2, upper locating piece 1 is secured by bolts in the bottom surface of equipment compartment 15, upper locating piece 1 and lower locating piece 2 are all the block structures be made up of aviation aluminium, upper locating piece 1 is positioned at the top of lower locating piece 2, be provided with positioning groove 1a at the middle part of upper locating piece 1 bottom surface, on this, positioning groove 1a is arc top half slot upward.Lower positioning groove 2a is provided with at the middle part of lower locating piece 2 end face, this lower positioning groove 2a is arc top half slot down, and lower positioning groove 2a and upper positioning groove 1a can form a circular hole, support tube 14 is held tightly by the circular hole that upper and lower locating piece 1,2 is formed by upper and lower positioning groove 1a, the 2a cooperatively interacted.
As shown in Fig. 4-Figure 11, the first journal stirrup 10 is formed with in the side of upper locating piece 1 end, the opposite side of lower locating piece 2 corresponding end is formed with the second journal stirrup 11, and described first journal stirrup 10 and the second journal stirrup 11 fit together side by side, and are hinged by bolt.Have the first opening 1b at upper locating piece 1 away from one end of the first journal stirrup 10, lower locating piece 2 has the second opening 2b away from one end of the second journal stirrup 11, and the second opening 2b is corresponding with the first opening 1b, and both width are substantially equal.On described locating piece 1 the first opening 1b in be provided with lateral pin 3, two of this lateral pin 3 is stretched into and is fixed in locating piece 1.
As shown in Fig. 4-Figure 11, be provided with a handle 6 in the below of described lower locating piece 2, one end of this handle 6 is formed with two collars be arranged side by side, 7, two collars 7 and is sleeved on all prejudicially on pin 5, and the bottom of two collars 7 is connected as a single entity.The middle part of described pin 5 and the lower end of connecting rod 4 fix, the axial line of pin 5 and the axial line of connecting rod 4 perpendicular, the upper end of connecting rod 4 through the second opening 2b of lower locating piece 2 and lateral pin 3, screw thread fit between connecting rod 4 and lateral pin 3.Between the described collar 7 and lower locating piece 2, be provided with pressure ring 8, this pressure ring 8 is sleeved on connecting rod 4, and described pressure ring 8, by the compressing of the collar 7 heavy wall end, is pressed on the bottom surface of lower locating piece 2.Between the described collar 7 and pressure ring 8, be also provided with packing ring 9, this packing ring 9 is made up of rubber, and packing ring 9 is also located on connecting rod 4.
As shown in Figure 1, Figure 2, shown in Figure 21, Figure 22, motor 31 is provided with in each described motor bin 17, the bottom of this motor 31 has dowel disc 33, the periphery of described dowel disc 33 is evenly distributed with four journal stirrups 35, this journal stirrup 35 is semicircle, and be structure as a whole with dowel disc 33, each journal stirrup 35 fits with the bottom surface of in-flanges 20, and is fixed by the screw 36 worn from the bottom up.
As shown in Figure 1, Figure 2, shown in Figure 14-Figure 22, above each motor bin 17, be provided with screw propeller 32, this screw propeller 32 is by circumferentially well-distributed first blade 37 and the second blade 38 form.Described first blade 37 and the second blade 38 are all preferably sabre shape, and make by carbon fiber composite material.Offer the first opening 39 along its length at the root of described first blade 37, this first opening 39 root of the first blade 37 is divided into misplace up and down first on positioning table 40 and first time positioning table 41.The second opening 39 ' is offered along its length at the root of described second blade 38, this second opening 39 ' root of the second blade 38 is divided into misplace up and down second on positioning table 40 ' and second time positioning table 41 ', described first blade 37 first on positioning table 40 be superimposed upon above second time positioning table 41 ' of the second blade 38, second blade 38 second on positioning table 40 ' be superimposed upon above first time positioning table 41 of the first blade 37, the first blade 37 and the second blade 38 are connected together by root positioning table is staggered.
As shown in Figure 1, Figure 2, shown in Figure 14-Figure 22, on described first positioning table 40 and first time positioning table 41 opposite face on all offer semi-round first breach 42, on second positioning table 40 ' and second time positioning table 41 ' opposite face on all offer the first breach 42 on semi-round second breach 42 ', two pieces of blades and the second breach 42 ' composition knock hole jointly; The output shaft of motor 31 is upward through the via hole 18 at motor bin 17 top, the output shaft of motor 31 sets firmly a locating dowel pin 43, point-blank, this locating dowel pin 43 is from lower to upper through the knock hole that two pieces of roots of blade are formed for the axial line of described locating dowel pin 43 and the axial line of motor 31 output shaft.
As shown in Figure 1, Figure 2, shown in Figure 14-Figure 22, on described first, positioning table 40 and first time positioning table 41 are respectively arranged with multiple first mounting hole 44, in the present embodiment, on first, positioning table 40 and first time positioning table 41 preferably arrange 3 the first mounting holes 44 respectively; On second, positioning table 40 ' and second time positioning table 41 ' are respectively arranged with multiple second mounting hole 44 ', in the present embodiment, on second, positioning table 40 ' and second time positioning table 41 ' preferably arrange 3 the second mounting holes 44 ' respectively.The first mounting hole 44 on first on positioning table 40 lays respectively at directly over the second mounting hole 44 ' on second time positioning table 41 ', the second mounting hole 44 ' on second on positioning table 40 ' lays respectively at directly over the first mounting hole 44 on first time positioning table 41, and above mounting hole forms 6 circumferentially well-distributed assembly openings.
As shown in Figure 1, Figure 2, shown in Figure 14-Figure 22, be pressed with platen 34 at the top of described first blade 37 and the second blade 38 root junction, the position of the corresponding assembly opening of this platen 34 is equipped with via hole.6 assembly opening one_to_one corresponding that 6 paddle screws 45 and two pieces of roots of blade are formed, paddle screw 45 is successively through the assembly opening that the via hole on platen 34 and two pieces of roots of blade are formed, and stretch in the output shaft of motor 31, the output shaft of two pieces of blades and motor 31 is fixed together.The position of positioning hole formed at the corresponding two pieces of roots of blade of platen 34 is provided with centre hole, and locating dowel pin 43 from lower to upper through the knock hole that two pieces of roots of blade are formed, and stretches in the centre hole of platen 34.
The present invention realizes spraying operation like this:
Motor 31 in four motor bins 17 operates, and the output shaft of motor 31 drives corresponding screw propeller 32 to rotate, and makes whole aircraft realize flight; Turning to of aircraft can be realized by the rotating speed adjusting four motors 31.Liquid splendid attire is in medicine-chest 21, liquid in medicine-chest 21 pumps when operating by Teat pipette 26, make it to enter Teat pipette 24 by drug-feeding tube 27, then by drug discharging tube 28 and through filter 47 filter after, enter triple valve 29, shunted by triple valve 29 again, distributed to the medicine bar 24 of medicine-chest 21 both sides by two flexible pipes 30 respectively, outwards spray finally by nozzle 25.
The present invention is that the integral type realizing medicine-chest and alighting gear is like this installed and changed:
Time initial, the lower locating piece 2 of four fasteners is connected with corresponding upper locating piece 1 by pin jointed end, and the open end of lower locating piece 2 naturally droops, first fuselage 12 is positioned on alighting gear 13, making bottom equipment compartment 15 four upper locating pieces 1 be one group between two straddles on the gear support pipe 14 of correspondence by respective upper positioning groove 1a, then lower locating piece 2 is rotated, the end face of lower locating piece 2 is made to go to close with the bottom surface of upper locating piece 1 or fit, the lower positioning groove 2a of lower the locating piece 2 and upper positioning groove 1a of upper locating piece 1 forms a circular hole, upper and lower locating piece is embraced by the support tube 14 of this circular hole by alighting gear, then turning handle 6 in horizontal surface, handle 6 drivening rod 4 is rotated relative to lateral pin 3, connecting rod 4 is together with pressure ring 8 upward movement, when pressure ring 8 presses close to the bottom surface of lower locating piece 2, to raise one's hand in vertical plane handle 6, handle 6 is rotated together with the pin 5 of the collar 7 around connecting rod 4 lower end, because the collar 7 and pin 5 adopt eccentric manner to install, when the heavy wall end of the collar 7 turns to vertex, self-locking can be realized, the heavy wall end of the collar 7 is made tightly to oppress the bottom surface of lower locating piece 2 by pressure ring 8, thus prevent lower locating piece 2 and connecting rod 4 from occurring to loosen, complete the assembling of alighting gear 13 and fuselage 12.
After the medicine liquid spray in medicine-chest in operation process, agricultural aircraft drop to assigned address, behind medicine spraying tube road to be removed, each handle 6 is pulled downwards with hand, handle 6 is rotated down around pin 5, after handle 6 turns over 180 °, the thin-walled end of the collar 7 turns to extreme higher position, unclamp the compressing to pressure ring 8, turning handle 6 in horizontal surface again, handle 6 drivening rod 4 is rotated relative to lateral pin 3, connecting rod 4 moves downward together with pressure ring 8, until pressure ring 8 gets out of the way the bottom surface of lower locating piece 2 open end, the open end of this locating piece 2 at present naturally droops, unclamp holding tightly alighting gear 13, alighting gear 13 can be pulled down from fuselage 12 together with empty medicine-chest downwards, and can to change the outfit on fuselage 12 at once the medicine-chest and alighting gear of filling liquid according to mounting means.
Claims (8)
1. an agricultural unmanned vehicle, comprise alighting gear (13), fuselage (12) and medicine-chest (21), alighting gear (13) is positioned at the below of fuselage (12), this alighting gear (13) has two support tubes be parallel to each other (14), and in alighting gear (13), medicine-chest (21) is installed, it is characterized in that:
A, described medicine-chest (21) are small end hemispherical hollow structure down, and be made up of glass-felt plastic, the dividing plate (22) of two pieces of right-angled crossings is fixedly installed in the bottom of described medicine-chest (21) inner chamber, the lower part of medicine-chest (21) inner chamber is divided into four chambers by these two pieces of dividing plates (22), and the through hole (23) offered by dividing plate (22) bottom between two adjacent chamber is communicated with;
B, the bilateral symmetry of described medicine-chest (21) is provided with medicine bar (24), each medicine bar (24) is provided with multiple nozzle (25), the mediad lower recess at described medicine-chest (21) top, form deep gouge (21a), Teat pipette (26) is housed in this deep gouge (21a), the import of described Teat pipette (26) is connected with one end of drug-feeding tube (27), the other end of drug-feeding tube (27) extend in medicine-chest (21) one of them chamber interior, and the interior diapire of close medicine-chest (21), the outlet of described Teat pipette (26) is connected with one end of drug discharging tube (28), the other end of drug discharging tube (28) is connected with the first interface of triple valve (29), flexible pipe (30) is all connected at the second interface of triple valve (29) and the 3rd interface, these two flexible pipes (30) and two medicine bar (24) one_to_one corresponding, and flexible pipe (30) is connected with medicine bar (24),
C, described fuselage (12) are made up of equipment compartment (15), cantilever (16) and motor bin (17), described equipment compartment (15) is positioned at midway location, the cydariform that this equipment compartment (15) is the uncovered lower end closed in upper end, every root support tube (14) of alighting gear (13) is connected with equipment compartment (15) by two fasteners; Four circumferentially well-distributed cantilevers (16) are provided with in the periphery of described equipment compartment (15), the inner of this cantilever (16) and the ring wall of equipment compartment (15) are connected as a single entity, and are provided with motor bin (17) in the outer end of each cantilever (16);
D, described equipment compartment (15), cantilever (16) and motor bin (17) are structure as a whole, and are made up of aviation alkali-free glass layer of cloth (b) of arranging successively from outside to inside, high-density glass layer of cloth (c), the first carbon fiber layer (d), keriotheca (e) and the second carbon fiber layer (f); Motor (31) is housed in described motor bin (17), and is provided with screw propeller (32) in the top of this motor bin (17), this screw propeller (32) is fixed on the output shaft of motor (31);
E, described fastener has upper locating piece (1) and lower locating piece (2), upper locating piece (1) is secured by bolts in the bottom surface of fuselage (12), the middle part of upper locating piece (1) bottom surface is provided with positioning groove (1a), in the below of upper locating piece (1), lower locating piece (2) is set, the middle part of this lower locating piece (2) end face is provided with lower positioning groove (2a), on, lower locating piece (1, 2) upper by what cooperatively interact, lower positioning groove (1a, 2a) support tube (14) is held tightly, one end of described upper locating piece (1) and the corresponding end of lower locating piece (2) are hinged, opening is equipped with at the other end of upper locating piece (1) and lower locating piece (2), and be provided with lateral pin (3) in the opening of described upper locating piece (1), a handle (6) is provided with in the below of described lower locating piece (2), one end of this handle (6) has two collars be arranged side by side (7), two collars (7) are sleeved on pin (5) all prejudicially, the middle part of described pin (5) and the lower end of connecting rod (4) fix, opening and the lateral pin (3) of lower locating piece (2), screw thread fit between connecting rod (4) and lateral pin (3) are passed in the upper end of connecting rod (4), pressure ring (8) is provided with between the described collar (7) and lower locating piece (2), this pressure ring (8) is sleeved on connecting rod (4), described pressure ring (8), by the compressing of the collar (7) heavy wall end, is pressed on the bottom surface of lower locating piece (2),
The axial line of F, described motor bin (17) and the axis parallel of equipment compartment (15), the lower end of this motor bin (17) has the in-flanges (20) of annular arrangement, motor (31) is provided with in each described motor bin (17), the bottom of this motor (31) has dowel disc (33), the periphery of described dowel disc (33) is evenly distributed with four journal stirrups (35), each journal stirrup (35) fits with the bottom surface of in-flanges (20), and is fixed by screw (36).
2. agricultural unmanned vehicle according to claim 1, it is characterized in that: described screw propeller (32) is by circumferentially well-distributed first blade (37) and the second blade (38) are formed, the first opening (39) is offered along its length at the root of described first blade (37), this first opening (39) root of the first blade (37) is divided into misplace up and down first on positioning table (40) and first time positioning table (41), the second opening (39 ') is offered along its length at the root of described second blade (38), this second opening (39 ') root of the second blade (38) is divided into misplace up and down second on positioning table (40 ') and second time positioning table (41 '), described first blade (37) first on positioning table (40) be superimposed upon above second time positioning table (41 ') of the second blade (38), second blade (38) second on positioning table (40 ') be superimposed upon above first time positioning table (41) of the first blade (37), the root of two pieces of blades is interlocked be connected together.
3. agricultural unmanned vehicle according to claim 2, it is characterized in that: on described first positioning table (40) and first time positioning table (41) opposite face on all offer semi-round first breach (42), on second positioning table (40 ') and second time positioning table (41 ') opposite face on all offer semi-round second breach (42 '), the first breach (42) on two pieces of blades and the second breach (42 ') be a composition knock hole jointly, the output shaft of motor (31) sets firmly a locating dowel pin (43), and this locating dowel pin (43) is from lower to upper through the knock hole that two pieces of roots of blade are formed, on described first, positioning table (40) and first time positioning table (41) are respectively arranged with multiple first mounting hole (44), on second, positioning table (40 ') and second time positioning table (41 ') are respectively arranged with multiple second mounting hole (44 '), the first mounting hole (44) on first on positioning table (40) lays respectively at directly over the second mounting hole (44 ') on second time positioning table (41 '), the second mounting hole (44 ') on second on positioning table (40 ') lays respectively at directly over the first mounting hole (44) on first time positioning table (41), above mounting hole forms multiple circumferentially well-distributed assembly opening, paddle screw (45) is through this assembly opening and stretch in the output shaft of motor (31), the output shaft of two pieces of blades and motor (31) is fixed together.
4. agricultural unmanned vehicle according to claim 3, it is characterized in that: be pressed with platen (34) at the top of described first blade (37) and the second blade (38) root junction, the position of this platen (34) corresponding assembly opening is equipped with via hole, and described paddle screw (45) passes from the via hole platen (34).
5. agricultural unmanned vehicle according to claim 1, it is characterized in that: 3 ~ 5 nozzles (25) are housed on every root medicine bar (24), described nozzle (25) is arranged on medicine bar (24) by anchor ear, and be bolted, the distance between two adjacent nozzles (25) is equal.
6. the agricultural unmanned vehicle according to claims 1, is characterized in that: described medicine bar (24) is connected with flexible pipe (30) near one end of medicine-chest (21).
7. the agricultural unmanned vehicle according to claims 1, it is characterized in that: between the described collar (7) and pressure ring (8), be provided with packing ring (9), this packing ring (9) is made up of rubber, and is located on connecting rod (4).
8. agricultural unmanned vehicle according to claim 1, it is characterized in that: the side of described upper locating piece (1) end is formed with the first journal stirrup (10), the opposite side of described lower locating piece (2) corresponding end is formed with the second journal stirrup (11), described first journal stirrup (10) and the second journal stirrup (11) fit together side by side, and are hinged by bolt.
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| CN201310440136.XA CN103482069B (en) | 2013-09-25 | 2013-09-25 | A kind of agricultural unmanned vehicle |
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| CN201310440136.XA CN103482069B (en) | 2013-09-25 | 2013-09-25 | A kind of agricultural unmanned vehicle |
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| CN103482069B true CN103482069B (en) | 2015-09-30 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104354864B (en) * | 2014-10-29 | 2017-04-12 | 浙江大学 | Rotary wing type unmanned aerial vehicle for spraying pesticides |
| CN104512551A (en) * | 2015-01-15 | 2015-04-15 | 九江松田工程有限公司 | Unmanned aerial vehicle chemical sprinkling device |
| KR101876847B1 (en) * | 2016-12-16 | 2018-07-11 | 주식회사 신드론 | Crop Dusting Drones with Storage Vessel for Chemicals |
| CN206472700U (en) * | 2017-01-24 | 2017-09-08 | 数字鹰科技盐城有限公司 | A kind of fog machine medicine-chest with simple anti-shaking device |
| CN107336830B (en) * | 2017-02-18 | 2019-12-20 | 阳江市智慧农业科技开发有限公司 | Irrigate accurate intelligent unmanned aerial vehicle that is used for agricultural production |
| CN111137455B (en) * | 2019-12-11 | 2024-02-09 | 贵州理工学院 | Gas mixer and on-demand seeding unmanned aerial vehicle comprising same |
| CN213974484U (en) * | 2020-12-15 | 2021-08-17 | 广州极飞科技股份有限公司 | Aircraft |
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