CN213677142U

CN213677142U - Many rotor unmanned vehicles's frame and agricultural plant protection unmanned aerial vehicle

Info

Publication number: CN213677142U
Application number: CN202022571817.8U
Authority: CN
Inventors: 周乐; 冯建刚; 王博; 舒展
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-07-13
Anticipated expiration: 2030-11-09
Also published as: WO2022095225A1

Abstract

The utility model provides a many rotor unmanned vehicles's frame and agricultural plant protection unmanned aerial vehicle. A multi-rotor unmanned aerial vehicle frame includes a central body, a plurality of horn, a plurality of rotor power devices, a plurality of nozzle assemblies, and an angle adjustment mechanism. The rotor power device comprises a motor and blades. The motor drives the paddle to rotate. A plurality of nozzle assemblies are mounted below the plurality of horn and below the rotor power plant, respectively. The spray direction of the nozzle assembly is substantially parallel to the axial direction of the rotating shaft of the blade. The angle adjustment mechanism enables a rotation shaft of the rotary wing power device to rotate around the extension direction of the horn to adjust the spraying direction of the nozzle assembly. Above-mentioned many rotor unmanned vehicles's frame can improve the degree of consistency that sprays the pesticide to trees.

Description

Many rotor unmanned vehicles's frame and agricultural plant protection unmanned aerial vehicle

Technical Field

The utility model relates to a flight equipment, in particular to many rotor unmanned vehicles's frame and agricultural plant protection unmanned aerial vehicle.

Background

At present, when other spraying apparatus such as traditional agricultural plant protection unmanned aerial vehicle carry out the pesticide to plants such as fruit trees, cash crops and spray, because agricultural plant protection unmanned aerial vehicle's spraying receives the air current influence of rotor, the spraying roughly is the column shape and distributes in the below of frame. Then this spraying can only distribute in unmanned aerial vehicle's below, causes the pesticide spraying coverage rate around unmanned aerial vehicle lower, causes unmanned aerial vehicle's the efficiency of spraying to be lower. Moreover, the spraying effect of the unmanned aerial vehicle is limited, and uniform spraying cannot be guaranteed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a can improve the many rotor unmanned vehicles's of degree of consistency that sprays insecticide to trees frame and agricultural plant protection unmanned aerial vehicle.

A airframe for a multi-rotor unmanned aerial vehicle, comprising:

a central body;

a plurality of horn distributed around the center body;

the rotor wing power devices are arranged on the horn and used for providing flight power to the multi-rotor wing unmanned aerial vehicle, each rotor wing power device comprises a motor and a blade, and the motor drives the blades to rotate;

a plurality of nozzle assemblies respectively mounted below the plurality of horn and respectively located below the rotary wing power unit, the nozzle assemblies having a spray direction extending axially along the rotational axis of the blade; and

an angle adjustment mechanism enabling a rotation axis of the rotor power plant to rotate about an extension direction of the horn to adjust a spray direction of the nozzle assembly.

In one embodiment, the angle adjusting mechanism is disposed on the horn or the center body.

In one embodiment, the angle adjustment mechanism is disposed on the horn, and the rotor power unit is rotatably coupled to the angle adjustment mechanism such that the rotor power unit rotates about an axial direction of the horn.

In one embodiment, the motor includes a base, and the base is connected with the angle adjusting mechanism in a clamping manner.

In one embodiment, the horn comprises a plurality of coaxially arranged cylinders, and at least two of the cylinders are rotatably connected through the angle adjusting mechanism, so that one of the cylinders can rotate around the axial direction of the horn.

In one embodiment, the angle adjustment mechanism is a bearing structure.

In one embodiment, the angle adjustment mechanism is detachably connected to the horn or the rotor power plant.

In one embodiment, the nozzle assembly includes a bracket and a plurality of nozzles, the bracket is detachably disposed on the arm, and the plurality of nozzles are respectively disposed on the bracket.

In one embodiment, the support is a foldable structure, the support includes a first support body and a second support body, the first support body is rotatably connected with the second support body, the first support body and the second support body at least include an open state and a folded state, when the first support body and the second support body are in the open state, the first support body and the second support body are limited through a first connecting structure, and when the first support body and the second support body are in the folded state, the first support body and the second support body are limited through a second connecting structure.

In one embodiment, the first connecting structure includes a first engaging groove and a first protrusion that are engaged with each other, the second connecting structure includes a second engaging groove and a second protrusion that are engaged with each other, and an engaging position of the first engaging groove and the first protrusion is opposite to an engaging position of the second engaging groove and the second protrusion.

In one embodiment, the nozzles located in the same bracket are distributed along the extension direction of the horn; or the nozzles on the same bracket are distributed along the direction perpendicular to the extension direction of the horn.

In one embodiment, the horn comprises a pair of front horns, a pair of rear horns, and a pair of auxiliary horns;

the pair of front arms and the pair of rear arms are symmetrically arranged relative to a pitch axis of the multi-rotor unmanned aerial vehicle; the pair of front arms are symmetrically arranged relative to a roll axis of the multi-rotor unmanned aerial vehicle; the pair of rear arms are symmetrically arranged relative to a roll axis of the multi-rotor unmanned aerial vehicle; the pair of auxiliary arms are arranged along the direction of the pitching axis of the multi-rotor unmanned aerial vehicle; the auxiliary mechanical arm is arranged in an upward inclined mode relative to the plane of the central body; the angle adjusting mechanism is arranged on the pair of front machine arms and the pair of rear machine arms.

In one embodiment, the front boom carries a first rotor power device and a first nozzle assembly, the rear boom carries a second rotor power device and a second nozzle assembly, the auxiliary boom carries a third rotor power device and a third nozzle assembly, the third nozzle assembly includes a plurality of third brackets, a plurality of nozzles are arranged on the third brackets, and the plurality of nozzles are distributed along the extending direction of the auxiliary boom.

the pair of front arms and the pair of rear arms are symmetrically arranged relative to a pitch axis of the multi-rotor unmanned aerial vehicle; the pair of front arms are symmetrically arranged relative to a roll axis of the multi-rotor unmanned aerial vehicle; the pair of rear arms are symmetrically arranged relative to a roll axis of the multi-rotor unmanned aerial vehicle; the auxiliary horn is arranged between the pair of front horns, the other auxiliary horn is arranged between the pair of rear horns, and the pair of auxiliary horns are arranged symmetrically relative to the course axis of the multi-rotor unmanned aerial vehicle.

In one embodiment, the front boom carries a first rotor power device and a first nozzle assembly, the rear boom carries a second rotor power device and a second nozzle assembly, the auxiliary boom carries a third rotor power device and a third nozzle assembly, the third nozzle assembly comprises a plurality of third brackets, a plurality of nozzles are arranged on the third brackets, and the plurality of nozzles are arranged along the pitching axes of the multi-rotor unmanned aerial vehicles.

In one embodiment, the robot further comprises an electromagnetic valve, the electromagnetic valve is in electrical signal connection with the third nozzle assembly, the electromagnetic valve controls the working state of a nozzle of the third nozzle assembly on the auxiliary machine arm, and the electromagnetic valve is used for controlling the nozzle of the third nozzle assembly on one auxiliary machine arm positioned in the front course to be closed and controlling the nozzle of the third nozzle assembly on the other auxiliary machine arm positioned in the rear course to be opened.

In one embodiment, the system further comprises a plurality of pumps and a flow meter, wherein each pump corresponds to a nozzle of each nozzle assembly, and the flow balance among the pumps is controlled through the flow meter.

A airframe for a multi-rotor unmanned aerial vehicle, comprising:

a central body;

a plurality of horn distributed around the center body;

a plurality of nozzle assemblies respectively mounted below the plurality of horn and respectively located below the rotary wing power unit, the nozzle assemblies having a spray direction extending axially along the rotational axis of the blade;

the nozzle assembly comprises a support and a plurality of nozzles, the support is detachably arranged on the machine arm, and the nozzles are respectively arranged on the support.

The utility model provides an agricultural plant protection unmanned aerial vehicle, includes power and above-mentioned frame, the power with rotor power device electricity is connected.

Above-mentioned rotor unmanned vehicles's frame passes through angle adjustment mechanism and can rotates the horn for the rotation axis of rotor power device for the horn along the axial of horn, and then realizes adjusting the contained angle between the rotation axis direction of rotor power device and the axial of horn to adjust nozzle assembly's injection direction. The coverage rate of the sprayed fog drops of the nozzle assembly in the space is high, and the spraying efficiency and the spraying effect are improved.

And, when spraying to the fruit tree, the direction of spraying of nozzle assembly can directly face the branch, along the growing direction of branch. Then only less leaf is sheltered from spraying the pesticide production in the injection direction, guarantees that more branch and leaf can spray the pesticide, improves the degree of consistency that agricultural plant protection unmanned aerial vehicle sprayed the pesticide to trees.

Drawings

Fig. 1 is a schematic view of a use state of the agricultural plant protection unmanned aerial vehicle according to the embodiment;

fig. 2 is a perspective view of the agricultural plant protection drone shown in fig. 1;

fig. 3 is a perspective view of the angle adjustment mechanism of the agricultural plant protection unmanned aerial vehicle of the embodiment;

FIG. 4 is a perspective view of another angle of the angle adjustment mechanism of FIG. 3;

fig. 5 is a perspective view of a mount of the agricultural plant protection unmanned aerial vehicle of the embodiment;

FIG. 6 is a schematic view of another state of the stand shown in FIG. 5;

FIG. 7 is a schematic view of the stent shown in FIG. 5 during the collapsing process;

FIG. 8 is a schematic view of the bracket of FIG. 5 at another angle;

FIG. 9 is a side view of the agricultural plant protection drone shown in FIG. 2;

fig. 10 is a perspective view of another embodiment of an agricultural plant protection drone;

fig. 11 is a top view of the agricultural plant protection drone shown in fig. 10;

fig. 12 is a schematic block diagram of the agricultural plant protection drone shown in fig. 10.

Reference numerals: x, pitch axis; y, a transverse rolling shaft; z, a course axis;

1. an agricultural plant protection unmanned aerial vehicle; 10. a frame; 11. a central body; 12. a horn; 121. 122, 221, 222, front arm; 123. 124, 223, 224, rear arm; 125. 126, 225, 226, auxiliary horn; 13. a rotor power plant; 131. a motor; 132. a paddle; 133. a machine base; 1301. a first rotor power; 1302. a second rotor power; 1303. a third rotor power; 14. a nozzle assembly; 140. a rotating shaft; 141. a support; 142. a nozzle; 143. a first frame body; 1431. a first protrusion; 1432. a second protrusion; 144. a second frame body; 1441. a first card slot; 1442. a convex arm; 1443. a second card slot; 1444. Clamping arms; 144. a second frame body; 1401. a first nozzle assembly; 1402. a second nozzle assembly; 1403. A third nozzle assembly; 146. 246, a third bracket; 147. a first connecting structure; 148. a second connecting structure; 149. a third frame body; 15. an angle adjusting mechanism; 151. a fixed mount; 152. a fastener; 154. a fastening section; 18. a pump; 19. a flow meter;

241. a first nozzle assembly; 242. a second nozzle assembly; 243. 244, a third nozzle assembly.

Detailed Description

Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It is to be understood that the invention is capable of other and different embodiments and its several details are capable of modification without departing from the scope of the invention, and that the description and drawings are to be regarded as illustrative in nature and not as restrictive.

This embodiment provides an agricultural plant protection unmanned aerial vehicle. Agricultural plant protection unmanned aerial vehicle is used for the unmanned aircraft of agriculture and forestry plant protection operation. This type agricultural plant protection unmanned aerial vehicle flies the accuse through ground remote control or navigation, comes to treat to spray the thing and realizes spraying the operation. The object to be sprayed can be trees, crops and the like. Agricultural plant protection unmanned aerial vehicle can spray medicament, seed, powder etc.. In particular, in this embodiment, the agricultural plant protection unmanned aerial vehicle is used for spraying pesticide.

Referring to fig. 1, an agricultural plant protection unmanned aerial vehicle 1 of the present embodiment includes a power supply and a frame 10. The power provides the electric quantity for the normal work of agricultural plant protection unmanned aerial vehicle. The frame is a frame of a multi-rotor unmanned aerial vehicle.

Specifically, in this embodiment, airframe 10 of a multi-rotor unmanned aerial vehicle includes a hub 11, a plurality of arms 12, a plurality of rotor power units 13, a plurality of nozzle assemblies 14, and an angle adjustment mechanism 15.

The central body 11 may serve as a central reference for the frame 10. A plurality of horn 12 are distributed around the center body 11, centering on the center body 11. The rotor power plant 13 is arranged on the horn 12. Multiple rotor power plants 13 may provide flight power for a multi-rotor unmanned aerial vehicle. A plurality of nozzle assemblies 14 are mounted below the plurality of booms 12, respectively, and below the rotor power plant 13, respectively. The nozzle assembly 14 is used to spray a medicament.

According to the shape of waiting to spray the thing of difference and spray the demand, utilize angle adjustment mechanism to adjust the angle that sprays of nozzle assembly 14 to the realization is treated spraying the comparatively accurate implementation of thing and is sprayed, and improves the degree of consistency when agricultural plant protection unmanned aerial vehicle 1 treats spraying the thing and sprays.

Referring to fig. 2, during flight of the rotorcraft, the central body 11 is in a plane parallel to the horizontal plane to ensure that the airframe 10 is balanced. For ease of illustration, a rotary-wing unmanned aerial vehicle includes 3 axes of motion. Namely, the roll axis along the direction of the nose and the tail is denoted as Y; on the horizontal plane, the pitch axis perpendicular to the roll axis Y is marked as X; the heading axis perpendicular to the horizontal plane and perpendicular to both the roll axis Y and the pitch axis X is designated as Z.

Specifically, in the present embodiment, the plurality of arms 12 of the frame 10 are symmetrically distributed on the outer periphery of the central body 11. Specifically, in the present embodiment, the horn 12 includes six. The six arms are symmetrically distributed around the central body 11. The included angle between two adjacent arms 12 is 60 degrees, so that the frame 10 can be ensured to be smoothly kept balanced. Specifically, the horn 12 may be in the shape of a long and narrow bar, and the extending direction of the horn is the axial direction of the horn.

A rotor power unit 13 is carried above the horn 12. The rotor power device 13 includes a motor 131 and a blade 132, the motor 131 drives the blade 132 to rotate, and the axial direction of the driving shaft of the motor 131 is the same as the rotating shaft direction of the blade 132. The blades 132 rotate to generate wind force axially along the axis of rotation. The wind force generated by the blades 132 is the direction of the rotation axis of the blades 132.

Opposite the rotor power plant 13, a nozzle assembly 14 is provided below the horn 12. The nozzle assembly 14 includes a holder 141 and a plurality of nozzles 142. The holder 141 is detachably provided on the arm 12, and the plurality of nozzles 142 are respectively provided on the holder 141. The spray from the nozzle 142 can be accelerated in speed and area under the influence of the wind from the rotor power unit 13. Further, the wind force of the blade 132 is greatly influenced, and the jet direction of the nozzle 142 is substantially parallel to the axial direction of the rotation shaft of the blade 132.

The angle adjustment mechanism 15 enables the rotation axis of the rotary wing power unit 13 to rotate about the extending direction of the horn 12, thereby enabling adjustment of the jetting direction of the nozzle assembly 14. The axis of rotation of the rotor power plant 13 is the direction of the axis of rotation of its blades 132. The direction of the spray from the nozzle assembly 14 is the direction of the spray from its nozzle 142.

After the rotation axis of the paddle 132 is rotated in the extending direction of the horn 12, the rotation axis direction of the paddle 132 may be directed to both sides of the extending direction of the horn 12, so that the spraying angle of the spraying direction of the nozzle 142 to both sides of the horn 12 is adjusted.

Specifically, in the present embodiment, please refer to fig. 1, the agricultural quality assurance unmanned aerial vehicle 1 can spray two rows of trees 2 simultaneously between the two rows of trees 2. When spraying trees 2, this agricultural quality assurance unmanned aerial vehicle 1 adjusts the injection direction of nozzle 142, makes the injection direction of nozzle 142 can follow the growing direction of branch, directly faces the branch. Consequently, only less leaf is sheltered from spraying the pesticide production in the injection direction, guarantees that more branch and leaf can spray the pesticide, improves the degree of consistency that agricultural plant protection unmanned aerial vehicle sprayed the pesticide to trees.

The rotation axis of the blade 132 may be in the form of a rotation about the extension direction of the horn 12: the angle adjusting mechanism 15 is provided on the arm 12. The rotor power unit 13 is rotatably connected to an angle adjustment mechanism 15, which allows the rotor power unit 15 to rotate about the extension direction of the horn 12. The rotor power plant 13 may directly rotatably connect the blades 132 to the angle adjustment mechanism 15 or may indirectly rotatably connect the blades to the angle adjustment mechanism 15 through other components. The paddle 132 rotates relative to the horn 12, changing the angle of the axis of rotation of the paddle 132.

Specifically, in this embodiment, the motor 131 further includes a base 133. The blades 132 are in driving connection with the motor 131 through the base 133. The base 133 is connected to the arm 12 via the angle adjusting mechanism 15.

Referring to fig. 3 and 4, in particular, the angle adjusting mechanism 15 may be a substantially annular frame structure. The angle adjusting mechanism 15 includes a fixing frame 151 and an engaging member 152. The fixing frame 151 is annular, and the arm 12 is sleeved in the fixing frame 151. The inner side wall of the fixing frame 151 is attached to the outer side wall of the horn 12. The engaging member 152 is disposed on the inner sidewall of the fixing frame 151, and the outer sidewall of the arm 12 is correspondingly provided with a mating member 121 for engaging with the engaging member 152.

The engaging member 152 may be one or more. When there is one engaging member 152, there may be a plurality of engaging members 121 of the horn 12. A plurality of engagement members 121 may be distributed along the circumference of the horn 12. The fixing member 151 rotates relative to the horn 12, and when the rotation axis direction of the paddle 132 is adjusted to a predetermined position, the engaging member 152 is engaged with the engaging member 121 at the position. Alternatively, the engaging member 152 may be provided in plural. The fitting member 121 may be one. The engaging members 152 are distributed along the axial direction of the fixing member 151. When the fixed member 151 is rotated relative to the horn 12 and the rotation axis of the paddle 132 is adjusted to a predetermined position, the engaging member 152 at the position is engaged with the engaging member 121. As long as the fixing element 151 rotates relative to the horn 12, the engaging element 152 and the engaging element 121 can be engaged and connected, and the number of the engaging element 152 and the engaging element 121 is not limited herein.

Specifically, the engaging member 152 may be a positioning hole, and the engaging member 121 may also be a positioning hole opened on the arm 12. The bolt can simultaneously pass through the fixing frame 151 and the two positioning holes on the machine arm 12, so that the fixing frame 151 and the machine arm 12 are connected.

In other embodiments, the engaging member 152 and the engaging member 121 may be a slot and bump engaging manner. The engaging member 152 and the engaging member 121 are also limited to the above-mentioned structure of the engaging groove and the protruding point, and the engaging member may be a hook, a buckle, or the like.

The angle adjustment mechanism 15 further includes a fastening portion 154. The fastening part 154 fastens the fixing frame 151 to the outside of the arm 12. The fastening portion 154 may include a fastening bolt and a fastening screw hole. The fastening bolt is used for fastening to reduce the diameter of the fixing frame 151, so that the fixing frame 151 is fastened with the machine arm 12.

The rotation of the rotation axis of the blade 132 around the extending direction of the horn 12 may be a curved motion along the outer sidewall of the horn 12 with the extending direction of the horn 12 as the center of circle. The motion path can be circular or spiral, etc. The movement locus of the paddle 132 is not limited herein.

In other embodiments, the rotation axis of the blade 132 may rotate around the extending direction of the horn 12 in the form of: the angle adjusting mechanism 15 may be connected to the inside of the arm 12 so that the arm 12 can rotate, and the arm 12 rotates about its extending direction, and the angle of the rotation axis of the paddle 132 may be changed as well. The rotation of the arm 12 may be achieved by the arm 12 itself being a structure capable of relative rotation.

Specifically, the horn 12 may comprise a plurality of coaxially disposed cylinders. At least two columns are rotatably connected through an angle adjusting mechanism, so that one column can rotate around the axial direction of the machine arm. The angle adjusting mechanism 15 may be a bearing structure, and at least two sections of cylinders are rotatably connected through the bearing structure. Alternatively, the angle adjusting mechanism 15 may be a rotary slot and a connecting member. The rotating groove is arranged on the outer side wall of one cylinder, the inner side wall of the other adjacent cylinder is provided with a connecting piece, the connecting piece can rotate along the rotating groove, and the purpose of axial rotation of the horn between the two cylinders can be achieved. The specific structural form of the angle adjustment mechanism is not limited here.

The cylinder can rotate around the axial direction of horn, then can make the horn go up the paddle and rotate thereupon to the angle of paddle rotation axis is realized adjusting, and then has realized adjusting the direction that sprays of nozzle.

In other embodiments, the angle adjusting mechanism 15 may be connected to the central body 11, such that the arm 12 is rotatably connected to the central body 11, and the arm 12 can rotate along its axis. The angle adjusting mechanism 15 may be a bearing structure, a rotary structure, or the like. One end of the horn 12 is rotatably connected to the central body 11 by an angle adjustment mechanism 15. The horn 12 also rotates in the axial direction of the horn 12. Therefore, the angle adjusting mechanism 15 may be disposed on the horn 12 or on the central body 11, and the position of the angle adjusting mechanism 15 is not limited herein.

In other embodiments, the angle adjusting mechanism 15 may be detachably mounted on the horn 12 or the rotor power device 13, and the angle adjusting mechanism 15 and the horn 12 or the rotor power device 13 may be detachably mounted by a snap connection or the like. When the axial direction of the rotation shaft of the blade 132 needs to be adjusted, the angle adjusting mechanism 15 is provided at the connection between the base 133 and the horn 12. When the adjustment of the axial direction of the rotation shaft of the paddle 132 is not required, the angle adjustment mechanism 15 is detached from the frame, so that the adjustment of the ejection direction of the nozzle can be achieved. It is understood that the angle adjustment mechanism 15 may be a swash block or the like.

Referring to fig. 5 and 6, the support of the nozzle assembly 14 is foldable. The bracket 141 includes a first frame 143 and a second frame 144. The first frame 143 is rotatably connected to the second frame 144. Specifically, the first frame 143 and the second frame 144 may be rotatably connected by a rotating shaft 140.

The first frame 143 and the second frame 144 at least include an open state and a folded state. Wherein fig. 5 shows the opened state of the holder 141. Fig. 6 shows the support 141 in a collapsed state. When the multi-rotor unmanned aerial vehicle is in a working state of spraying the medicine, the first frame body 143 and the second frame body 144 are in an open state, so that the nozzle assembly 14 can be used normally. When the multi-rotor unmanned aerial vehicle is in the storage and transportation state, the first support body 143 and the second support body 144 are in the folding state to reduce the occupied space of the support, thereby facilitating the storage and transportation.

When the first frame body 143 and the second frame body 144 are in the open state, the first frame body 143 and the second frame body 144 are engaged and limited by the first connecting structure 147. The first connecting structure 147 includes a first engaging groove and a first protrusion capable of engaging with each other. Specifically, the first protrusion 1431 is disposed on the first frame 143, and the first engaging groove 1441 is disposed on the second frame 144. The second frame 144 has a protruding arm 1442 at one side of the rotating shaft. The protruding arm 1442 is provided with a first engaging groove 1441. When the first frame 143 and the second frame 144 are in the open state, the protruding arm 1442 is located at one side of the first frame 143, and the first protrusion 1431 is opposite to the first catching groove 1441 on the protruding arm 1442.

Referring to fig. 7, during the process of opening the first frame 143 with respect to the second frame 144, the protruding arm 1442 moves toward the first protrusion 1431. When the first frame 143 is completely opened with respect to the second frame 144, the first protrusion 1431 completely enters the first groove 1441, and the engagement limit is realized. Also, the first protrusion 1431 has a rectangular block shape. The first projection 1431 is provided with a slope. The protruding arm 1442 slides along the inclined surface, and the first protrusion 1431 is smoothly snapped into the first latching groove 1441.

Referring to fig. 6 and 8, when the first frame 143 and the second frame 144 are folded, the first frame 143 and the second frame 144 are engaged and limited by the second connecting structure 148. The second connecting structure 148 includes a second engaging groove and a second protrusion capable of engaging with each other. Specifically, the second protrusion 1432 is disposed on the first frame 143, and the second engaging groove 1443 is disposed on the second frame 144. The second frame 144 has two clamping arms 1444 at the other side of the rotation shaft. And the two clip arms 1444 are oppositely arranged. A second clamping groove 1443 is formed in the clamping arm 1443. When the first frame 143 and the second frame 144 are in the folded state, the first frame 143 is located between the two clamping arms 1444, and the second protrusion 1432 is opposite to the second clamping groove 1443 of the clamping arm 1444. The engaging position of the second engaging groove 1443 and the second protrusion 1432 is opposite to the engaging position of the first engaging groove 1441 and the first protrusion 1431. During the rotation and folding of the first frame 143 relative to the second frame 144, the clamping arms 1444 move toward the second protrusions 1432. When the first frame body 143 is completely folded relative to the second frame body 144, the second protrusion 1432 completely enters the second groove 1443, and the engagement limit is achieved. And, the second protrusion 1432 has a circular column shape. The surface of the second protrusion 1432 is rounded off to allow the second protrusion 1432 to smoothly snap into the second catch 1443.

The nozzle assembly 14 also includes a third frame 149. The third frame 149 is used to connect the nozzle 142. The third frame 149 is substantially Y-shaped. The third frame 149 includes two branches, each of which is provided with a nozzle 142. It is understood that the third frame 149 may further include a plurality of branches, each branch being gradually inclined downward.

The plurality of nozzles 142 are respectively provided on the holder 141. The nozzles 142 located in the same bracket 141 may be distributed along the extension direction of the horn 12. In other embodiments, the nozzles 142 located in the same rack 141 may be distributed in a direction perpendicular to the extension direction of the horn 12.

As shown in fig. 2 and 9, in the present embodiment, the arm 12 includes a pair of

front arms

121 and 122, a pair of

rear arms

123 and 124, and a pair of

auxiliary arms

125 and 126.

The pair of

front arms

121 and 122 and the pair of

rear arms

123 and 124 are symmetrically disposed with respect to a pitch axis of the multi-rotor unmanned aerial vehicle, which is the X-axis direction. The pair of

front arms

121 and 122 are symmetrically arranged with respect to a roll axis of the multi-rotor unmanned aerial vehicle, which is a Y-axis direction. The pair of

rear arms

123, 124 are symmetrically disposed with respect to the roll axis of the multi-rotor unmanned aerial vehicle. A pair of

auxiliary arms

125, 126 are provided along the pitch axis of the multi-rotor unmanned aerial vehicle. The

forward booms

121, 122 carry a first rotor power plant 1301 and a first nozzle assembly 1401. The

rear booms

123, 124 carry a second rotor power 1302 arrangement and a second nozzle assembly 1402.

Auxiliary booms

125, 126 carry a third rotor power means 1303 and a third nozzle assembly 1403.

The angle adjusting mechanism 15 is provided on the pair of

front arms

121 and 122 and the pair of

rear arms

123 and 124. The

auxiliary arms

125, 126 are arranged inclined upwards with respect to the plane of the central body 11. When the multi-rotor unmanned aerial vehicle sprays trees, the trees are located on both sides of the

auxiliary booms

125, 126. The third nozzle assembly 1403 sprays trees on both sides, and the

auxiliary booms

125, 126 are inclined upward relative to the plane of the central body, so that the spraying direction of the third nozzle assembly 1403 on the

auxiliary booms

125, 126 can be toward the branches along the growing direction of the branches. Then only less leaf is sheltered from spraying the pesticide production in the injection direction, guarantees that more branch and leaf can spray the pesticide, improves the degree of consistency that agricultural plant protection unmanned aerial vehicle sprayed the pesticide to trees.

The ejection direction of the first nozzle assembly 1401 and the second nozzle assembly 1402 may be adjusted to be directed toward the branches around the first nozzle assembly 1404 and the second nozzle assembly 1402 by the angle adjustment mechanism 15. Consequently, first nozzle assembly 1404 and second nozzle assembly 1402 pass through angle adjustment mechanism 15, also can guarantee that more branch and leaf can spray the pesticide, improve the uniformity that agricultural plant protection unmanned aerial vehicle sprayed the pesticide to trees.

The third nozzle assembly 1403 includes a plurality of third brackets 146. The third bracket 146 is provided with a plurality of nozzles, which are distributed along the extending direction of the auxiliary boom. Specifically, two third brackets 146 are provided on each auxiliary boom, and two nozzles are provided on each third bracket 146. The spray nozzles on the third support 146 have been enlarged in the direction of extension of the spray area on the boom, facilitating the even spraying of the trees on both sides of the auxiliary boom.

And each front arm is provided with a first bracket and each rear arm is provided with a second bracket. The spraying area of the front arm and the rear arm is smaller than that of the auxiliary arm, so that the first spraying assembly 1401 and the second spraying assembly 1402 are prevented from being sprayed on the machine body.

As shown in fig. 10 and 11, in another embodiment, the horn includes a pair of

front horns

221 and 222, a pair of

rear horns

223 and 224, and a pair of

auxiliary horns

225 and 226. The pair of

front arms

221, 222 and the pair of

rear arms

223, 224 are disposed symmetrically with respect to the pitch axis of the multi-rotor unmanned aerial vehicle. The pair of

front arms

221 and 222 are symmetrically arranged relative to the roll axis of the multi-rotor unmanned aerial vehicle; the pair of

rear arms

223, 224 are disposed symmetrically with respect to the roll axis of the multi-rotor unmanned aerial vehicle. An auxiliary horn 225 is disposed between the pair of front horns and another auxiliary horn 226 is disposed between the pair of rear horns. The pair of

auxiliary booms

225, 226 are symmetrically disposed with respect to the heading axis of the multi-rotor unmanned aerial vehicle.

The front horn carries a first rotor power plant and a first nozzle assembly 241 and the rear horn carries a second rotor power plant and a second nozzle assembly 242. The auxiliary boom carries a third rotor power plant and a

third nozzle assembly

243, 244.

The layout of the horn of the multi-rotor unmanned aerial vehicle can increase the wheelbase of the two front horns and the wheelbase of the two rear horns by adjusting the spraying angles of the first nozzle assembly 241 and the second nozzle assembly 242, so that the wind field coverage area of the two sides can be increased. And the middle area of the spraying range is supplemented to the wind field through two auxiliary machine arms, so that the ultra-large spraying amplitude is obtained, and the spraying efficiency is improved.

The

third nozzle assemblies

243 and 244 include a plurality of third brackets 246, and the plurality of third brackets 246 are juxtaposed on the

auxiliary arms

225 and 226. A plurality of nozzles are provided on third carrier 246, and a plurality of nozzles located on the same third carrier 246 are located along the pitch axis of the multi-rotor unmanned aerial vehicle. The plurality of nozzles on the same third bracket 246 are arranged in a direction perpendicular to the auxiliary machinery arm. In particular, the

third nozzle assemblies

243, 244 may include two third brackets 246. Two nozzles are provided on each third bracket 246.

The multi-rotor unmanned aerial vehicle further includes a solenoid valve (not shown). The solenoid valve is in electrical signal connection with the

third nozzle assembly

243, 244. The solenoid control amount assists the operating state of the nozzles of the

third nozzle assembly

243, 244 on the boom. The solenoid valves are used to control the nozzles of the third nozzle assembly 243 on one auxiliary horn 225 in a forward heading to close and the nozzles of the third nozzle assembly 244 on the other auxiliary horn 226 in a rearward heading to open.

In the specific flight operation process, the forward flight of the agricultural plant protection unmanned aerial vehicle flies in the direction from one auxiliary arm 226 to the other auxiliary arm 225, and the first nozzle assemblies 241 of the pair of

front arms

221 and 222, the second nozzle assemblies 242 of the pair of

rear arms

223 and 224 and the third nozzle assemblies 244 on the auxiliary arm 226 are opened by controlling the electromagnetic valves on the nozzle assemblies, so that the total six groups of nozzles are opened. The third nozzle assembly 244 of the auxiliary horn 226 is relied upon to supplement the swath in the middle region during the spraying process.

Third nozzle assembly 243 on supplementary horn 225 closes, avoids because the flight speed is very fast, and the droplet that third nozzle assembly 243 on supplementary horn 225 sprayed with rather than superpose with the flight speed then on agricultural plant protection unmanned aerial vehicle's the fuselage, causes the liquid medicine to adhere to in a large number and forms the liquid droplet on agricultural plant protection unmanned aerial vehicle, and the drippage produces the phytotoxicity on the crop, and the liquid medicine can corrode the fuselage.

When the agricultural plant protection unmanned aerial vehicle flies in a line change way, flies in a reverse direction and flies in a direction from the auxiliary horn 225 to the auxiliary horn 226, the first nozzle assemblies 241 of the pair of

front horns

221 and 222, the second nozzle assemblies 242 of the pair of

rear horns

223 and 224 and the third nozzle assemblies 243 on the auxiliary horn 225 are opened, six groups of spray heads are opened in all, and the spray amplitude in the middle area is supplemented by the third nozzle assemblies 243 of the auxiliary horn 225 in the spraying process.

Third nozzle assembly 244 on the supplementary horn 226 closes, avoids because the airspeed is very fast, and the droplet that third nozzle assembly 244 on the supplementary horn 226 sprayed with it superposes with airspeed and then gets on agricultural plant protection unmanned aerial vehicle's fuselage, causes the liquid medicine to adhere to agricultural plant protection unmanned aerial vehicle in a large number and forms the liquid drop, and the drippage produces the phytotoxicity on the crop, and the liquid medicine can corrode the fuselage.

Therefore, no matter above-mentioned agricultural plant protection unmanned aerial vehicle is when forward flight or backward flight, the intermediate zone that all can all be kept the aircraft route all the time has 2 groups of nozzles to spray all the time.

It should be noted that, when agricultural plant protection unmanned aerial vehicle low-speed flies, can open all nozzle assembly, the fruit tree operation of being convenient for, the liquid medicine droplet is also difficult to be hit on the fuselage this moment.

When above-mentioned many rotor unmanned vehicles sprayed field crops, many rotor unmanned vehicles spray that the area is great to it is comparatively even to spray the flow, and improved and sprayed efficiency.

Referring to fig. 2, a water tank 17 is also carried on the frame 10. The water tank 17 is disposed on the central body 11. The water tank 17 may be one or more. Then the frame 10 is loaded with a plurality of water tanks 17 simultaneously and can improve the medicine carrying capacity of the agricultural plant protection unmanned aerial vehicle 1 to improve the spraying efficiency of the agricultural plant protection unmanned aerial vehicle 1. The nozzle assembly 14 may be in communication with the tank 17 via a conduit. In addition, a water pump and a control valve are provided on the pipe to control the communication state of the nozzle assembly 14.

Referring to fig. 12, the multi-rotor unmanned aerial vehicle further includes a plurality of pumps 18, where the number of the pumps 18 is plural. Each pump 18 corresponds to a plurality of nozzles of the nozzle assembly.

Specifically, in the present embodiment, there are two pumps 18. One of the pumps 18 is used to communicate with the first nozzle assemblies 241 of the pair of

front arms

221, 222 and the two third nozzle assemblies 243 of one auxiliary arm 225, and the other pump 18 is used to communicate with the second nozzle assemblies 242 of the pair of

rear arms

223, 224 and the two third nozzle assemblies 244 of the other auxiliary arm 226.

The multi-rotor unmanned aerial vehicle further comprises a flow meter 19, and the flow balance among the plurality of pumps 18 is controlled through the flow meter 19. In particular, the flow meter 19 may be a dual channel flow meter.

While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims

1. A multi-rotor unmanned aerial vehicle airframe, comprising:

a central body;

a plurality of horn distributed around the center body;

2. The airframe according to claim 1, wherein said angle adjustment mechanism is provided on said horn or central body.

3. A frame for a multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the angle adjustment mechanism is disposed on the horn, and the rotor power unit is rotatably coupled to the angle adjustment mechanism such that the rotor power unit rotates about an axial direction of the horn.

4. The airframe according to claim 3, wherein said motor comprises a base that is snap-fit to said angle adjustment mechanism.

5. The airframe according to claim 1, wherein said horn comprises a plurality of coaxially disposed posts, at least two of said posts being rotatably coupled by said angle adjustment mechanism, such that one of said posts can rotate about an axis of said horn.

6. The airframe according to claim 4, wherein said angular adjustment mechanism is a bearing structure.

7. A frame for a multi-rotor unmanned aerial vehicle according to claim 1, wherein the angle adjustment mechanism is removably attachable to the horn or the rotor power plant.

8. The airframe according to claim 1, wherein said nozzle assembly includes a cradle removably attached to said arm and a plurality of nozzles respectively attached to said cradle.

9. The multi-rotor unmanned aerial vehicle frame of claim 8, wherein the frame is of a foldable structure, the frame comprises a first frame body and a second frame body, the first frame body and the second frame body are rotatably connected, the first frame body and the second frame body at least comprise an open state and a folded state, the first frame body and the second frame body are clamped and limited by a first connecting structure when the first frame body and the second frame body are in the open state, and the first frame body and the second frame body are clamped and limited by a second connecting structure when the first frame body and the second frame body are in the folded state.

10. The airframe according to claim 9, wherein the first connecting structure comprises a first slot and a first protrusion that can engage with each other, the second connecting structure comprises a second slot and a second protrusion that can engage with each other, and a position of engagement between the first slot and the first protrusion is opposite to a position of engagement between the second slot and the second protrusion.

11. The airframe according to claim 8, wherein the nozzles located in the same cradle are distributed along the extension direction of the horn; or the nozzles on the same bracket are distributed along the direction perpendicular to the extension direction of the horn.

12. The airframe of claim 1, wherein said arms include a pair of forward arms, a pair of aft arms, and a pair of auxiliary arms;

13. The airframe according to claim 12, wherein the leading boom carries a first rotor power plant and a first nozzle assembly, the trailing boom carries a second rotor power plant and a second nozzle assembly, the auxiliary boom carries a third rotor power plant and a third nozzle assembly, the third nozzle assembly comprises a plurality of third legs, the third legs having a plurality of said nozzles disposed thereon, the plurality of said nozzles being distributed along the direction of extension of the auxiliary boom.

14. The airframe of claim 1, wherein said arms include a pair of forward arms, a pair of aft arms, and a pair of auxiliary arms;

15. The airframe according to claim 14, wherein the leading boom carries a first rotor power plant and a first nozzle assembly, the trailing boom carries a second rotor power plant and a second nozzle assembly, the auxiliary boom carries a third rotor power plant and a third nozzle assembly, the third nozzle assembly comprising a plurality of third legs, the third legs having a plurality of said nozzles disposed thereon, the plurality of said nozzles disposed along the pitch axis of the multi-rotor unmanned aerial vehicle.

16. The airframe as recited in claim 15, further comprising a solenoid valve electrically connected to said third nozzle assembly, said solenoid valve controlling the operation of the nozzle of the third nozzle assembly on said auxiliary boom, said solenoid valve being configured to close the nozzle of the third nozzle assembly on one of said auxiliary booms in a forward direction and open the nozzle of the third nozzle assembly on the other of said auxiliary booms in a rearward direction.

17. The airframe according to claim 1, further comprising a plurality of pumps and a flow meter, wherein each of the plurality of pumps is associated with a nozzle of the plurality of nozzle assemblies, and wherein flow equalization is controlled between the plurality of pumps by the flow meter.

18. A multi-rotor unmanned aerial vehicle airframe, comprising:

a central body;

a plurality of horn distributed around the center body;

19. The multi-rotor unmanned aerial vehicle frame of claim 18, wherein the frame is of a foldable structure, the frame comprises a first frame body and a second frame body, the first frame body and the second frame body are rotatably connected, the first frame body and the second frame body at least comprise an open state and a folded state, the first frame body and the second frame body are clamped and limited by a first connecting structure when the first frame body and the second frame body are in the open state, and the first frame body and the second frame body are clamped and limited by a second connecting structure when the first frame body and the second frame body are in the folded state.

20. The airframe according to claim 19, wherein the first connecting structure comprises a first slot and a first protrusion that can engage with each other, the second connecting structure comprises a second slot and a second protrusion that can engage with each other, and a position of engagement between the first slot and the first protrusion is opposite to a position of engagement between the second slot and the second protrusion.

21. An agricultural plant protection unmanned aerial vehicle, comprising a power source and the airframe of any one of claims 1-20, the power source being electrically connected to the rotor power plant.