CN105752340A - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
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- CN105752340A CN105752340A CN201610214440.6A CN201610214440A CN105752340A CN 105752340 A CN105752340 A CN 105752340A CN 201610214440 A CN201610214440 A CN 201610214440A CN 105752340 A CN105752340 A CN 105752340A
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- unmanned vehicle
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- 239000007788 liquid Substances 0.000 claims description 58
- 230000005611 electricity Effects 0.000 claims description 24
- 238000012546 transfer Methods 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 7
- 238000001802 infusion Methods 0.000 claims description 6
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 5
- 229910052799 carbon Inorganic materials 0.000 claims description 5
- 239000000835 fiber Substances 0.000 claims description 5
- 230000002572 peristaltic effect Effects 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 abstract description 12
- 238000009434 installation Methods 0.000 description 18
- 230000000694 effects Effects 0.000 description 10
- 239000003814 drug Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 239000002184 metal Substances 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 241000826860 Trapezium Species 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an unmanned aerial vehicle. The unmanned aerial vehicle comprises a body, a plurality of arms, a battery module, a chemical box module, sprayer modules, a pump module and an electric regulation module, wherein the body comprises a head and a frame; the arms are peripherally arranged on the body at intervals in a surrounding manner; the battery module is detachably arranged on the frame; the chemical box module is detachably arranged on the frame and located between the head and the battery module; the sprayer modules are arranged on at least one parts of the arms and connected with the chemical box module; the pump module is assembled to the body and located below the head; the electric regulation module is arranged on the body and located below the head. The unmanned aerial vehicle is high in assembling efficiency, stable in gravity center position, and stable in flight.
Description
Technical field
Present invention relates particularly to a kind of unmanned vehicle.
Background technology
For the agriculture unmanned vehicle managing for agro-farming, spraying insecticide, the fuselage of aircraft generally all can be arranged to deposit the medicine-chest of medicinal liquid, aircraft is in the process of flight, and the medicinal liquid in medicine-chest is sprayed to the areas such as the farmland of medicine to be painted, forest farm by spraying dress.Along with continuing of the process of sprinkling, amount of liquid medicine gradually decreases, thus the weight of medicine-chest can constantly decline, thus can attract the change of the position of centre of gravity of aircraft, thus affecting the flight of aircraft.
And, the unmanned vehicle in correlation technique, owing to the installation and removal of the restriction of structure, medicine-chest and battery are inconvenient for, thus extending the time of assembly and disassembly.
Summary of the invention
It is contemplated that one of technical problem solved at least to a certain extent in correlation technique.For this, the present invention proposes a kind of unmanned vehicle, and this unmanned vehicle packaging efficiency is high, and position of centre of gravity is more stable, having a smooth flight property.
Unmanned vehicle according to embodiments of the present invention includes: fuselage, and described fuselage has head, and the rear end of described head is provided with frame；Multiple horns, the plurality of horn is provided at circumferentially spaced around described fuselage；For providing the battery modules of power, described battery modules is detachably arranged in described frame；For storing the medicine-chest module of medicinal liquid, described medicine-chest module is detachably arranged in described frame and described medicine-chest module is between described head and described battery modules；For the shower nozzle module of spray liquid, described shower nozzle module is located at least some of upper of the plurality of horn and is connected with described medicine-chest module；For the medicinal liquid in described medicine-chest module pumps into the pump housing module in described shower nozzle module, described pump housing module is located on described fuselage and is positioned at below described head；For the electric mode transfer group of automatically controlled adjustment, described electricity mode transfer group is located on described fuselage and is positioned at below described head.
Unmanned vehicle according to embodiments of the present invention, by battery modules and medicine-chest module being carried out modularized design and dismountable with between frame being connected, such that it is able to make the installation and removal of battery modules and medicine-chest module more easy quickly, improve the packaging efficiency of unmanned vehicle, improve working performance.Additionally, by medicine-chest module is arranged between head and battery modules, thus when the liquid level along with medicinal liquid of medicine-chest module changes and mass change occurs, owing to medicine-chest module is in the middle part of fuselage, thus the position of centre of gravity of unmanned vehicle is more stable, it is ensured that the having a smooth flight property of unmanned vehicle.
In some preferred embodiments, described battery modules is provided with limiting section, described limiting section support be pressed in described medicine-chest module on to limit the degree of freedom that described medicine-chest module moves upward.
In some preferred embodiments, described battery modules includes multiple battery and battery case, and the plurality of battery is integrated in described battery case, and described battery case is slidably disposed in described frame in the vertical direction.
In some preferred embodiments, one in described battery case and described frame is provided with chute and another is provided with the slide rail slidably coordinated with described chute.
In some preferred embodiments, described frame and be respectively equipped with the electrical connector cooperated on described battery case, when the electrical connector on described battery case after described battery modules is installed and put in place docks with the electrical connector in described frame.
In some preferred embodiments, described medicine-chest module is slidably disposed in described frame in the vertical direction.
In some preferred embodiments, described frame is provided with brace rod, and described medicine-chest module is provided with multiple downward opening draw-in groove, and the plurality of draw-in groove is respectively supported on described brace rod.
In some preferred embodiments, described medicine-chest module includes casing and the case lid being located on described casing, and each of which in relative two sidewall of described case lid is provided with multiple lobe, and described draw-in groove is formed on the lower surface of described lobe.
In some preferred embodiments, described shower nozzle module includes multiple, and described pump housing module includes multiple liquid pump and pump housing shell, the plurality of liquid pump is connected by infusion channel with the plurality of shower nozzle module respectively and the plurality of liquid pump is located in described pump housing shell, and described pump housing shell is detachably arranged on described fuselage.
In some preferred embodiments, the quantity of described shower nozzle module is identical with the quantity of described horn, and the plurality of Nozzle At The Ingot Mold group is detachably arranged in the bottom of end of the plurality of horn respectively.
In some preferred embodiments, described unmanned vehicle also includes the difference module for receiving and send signal, and described difference module is located on described horn.
In some preferred embodiments, described unmanned vehicle also includes mounting bracket, and described difference module is located in described mounting bracket, and described mounting bracket is detachably arranged on described horn by yoke configurations.
In some preferred embodiments, described shower nozzle module is threaded connection structure and is located on corresponding described horn.
In some preferred embodiments, described unmanned vehicle also includes foot rest module, and described foot rest module is detachably arranged in the bottom of described head, and described foot rest module includes at least one foot rest, and wherein said foot rest is the slat element being made up of carbon fibre material.
In some preferred embodiments, described unmanned vehicle also includes drain pan, and described drain pan is located at outside described pump housing module and described electricity mode transfer group.
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the axonometric chart of unmanned vehicle according to embodiments of the present invention；
Fig. 2 is the enlarged drawing of a-quadrant in Fig. 1；
Fig. 3 is the top view of the unmanned vehicle shown in Fig. 1；
Fig. 4 is the front view of the unmanned vehicle shown in Fig. 1.
Accompanying drawing labelling:
Unmanned vehicle 100；
Fuselage 1；Head 11；Frame 12；Brace rod 121；
Horn 2；
Battery modules 3；Battery case 31；Limiting section 32；
Medicine-chest module 4；Casing 41；Case lid 42；Lobe 421；Spiral cover 422；Handle 423；
Shower nozzle module 5；Shell 51；Spray dish 52；
Difference module 7；Mounting bracket 8；Yoke configurations 81；
Foot rest 10；Rotor 20；Motor 30, drain pan 40.
Detailed description of the invention
Being described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it will be appreciated that, term " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or hint indication device or element must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.In describing the invention, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In describing the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or connect integratedly；Can be mechanically connected, it is also possible to be electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in the present invention as the case may be.
Below with reference to Fig. 1-Fig. 4, unmanned vehicle 100 according to embodiments of the present invention is described.As Figure 1-Figure 4, unmanned vehicle 100 according to embodiments of the present invention includes: fuselage 1, multiple horn 2, battery modules 3, medicine-chest module 4, shower nozzle module 5, pump housing module (not shown go out) and electricity mode transfer group (not shown go out).It is understood that unmanned vehicle 100 according to embodiments of the present invention may be used in agro-farming industry, agricultural product being carried out the activities such as pesticide spraying.
Specifically, as Figure 1-Figure 4, fuselage 1 has head 11 and frame 12.Can being provided with the main circuit of unmanned vehicle 100, main control component in head 11, and head 11 can as the profile frame of unmanned vehicle 100 and main supporter, head 11 is also used as the decorative element of unmanned vehicle 100.In order to promote the aerodynamic quality of unmanned vehicle 100, unmanned vehicle 100 can be designed to streamlined moulding.
The rear end of head 11 is provided with frame 12, battery modules 3 and medicine-chest module 4 and is arranged in frame 12.Wherein the structure of frame 12 can be arbitrary, as long as it can install battery modules 3 and medicine-chest module 4.As Figure 1-Figure 4, in an embodiment of the present invention, the agent structure of frame 12 can be made up of the installing plate being arranged on head 11 rear end and two strips symmetrically arranged relative to left and right directions.Battery modules 3 and medicine-chest module 4 are clamped between two installing plates.
Wherein, battery modules 3, as power source, is used for providing the power of whole unmanned vehicle 100, and battery modules 3 is detachably arranged in frame 12.Wherein it is understandable that, battery is carried out modularity setting by unmanned vehicle 100 according to embodiments of the present invention, and it is demountable structure relative to frame 12, thus in terms of existing technologies, the installation and removal of battery modules 3 are easier, such that it is able to improve the assembling speed of unmanned vehicle 100 to a certain extent, shorten built-up time.
Medicine-chest module 4 is used for storing medicinal liquid, and wherein medicine-chest module 4 is detachably arranged in frame 12.In other words, medicine-chest module 4 has been also carried out modular design as the memory unit of medicinal liquid, and be demountable structure relative to frame 12, so when medicine-chest module 4 is carried out supplementing medicinal liquid by needs time, medicine-chest module 4 directly can be carried out fill from disassembling frame 12, attach it to again in frame 12 after fill, mount and dismount fast and convenient, thus the assembling speed of unmanned vehicle 100 can be improved further, improve service efficiency.
In an embodiment of the present invention, medicine-chest module 4 is between head 11 and battery modules 3, specifically, in the example shown in Fig. 1-Fig. 4, head 11 is positioned at fuselage 1 front end, and battery modules 3 is arranged on fuselage 1 rear portion, and medicine-chest module 4 is arranged between head 11 and battery modules 3 in the longitudinal direction.
It is to be appreciated that along with the flight course of unmanned vehicle 100, the sprinkling of medicinal liquid constantly carries out, thus the medicinal liquid in medicine-chest module 4 can gradually decrease, and the weight of medicine-chest module 4 can be gradually reduced.And in the unmanned vehicle 100 of the embodiment of the present invention, medicine-chest module 4 is arranged between head 11 and battery modules 3, thus medicine-chest module 4 is positioned at the middle part of fuselage 1 structure, even if the weight of medicine-chest module 4 changes without the overall center of gravity excessive impact of generation on unmanned vehicle 100 gradually, the position of centre of gravity of unmanned vehicle 100 is more stable, and then the flight of unmanned vehicle 100 is more steady.
Alternatively, medicinal liquid in medicine-chest module 4 can pass through shower nozzle module 5 and spray, shower nozzle module 5 is connected with medicine-chest module 4, refers to that shower nozzle module 5 and medicine-chest module 4 can be joined directly together or be indirectly connected to " shower nozzle module 5 is connected with medicine-chest module 4 " wherein described here.Such as, can being provided with the opening for liquid communication on shower nozzle module 5, medicine-chest module 4 can be provided with the opening for liquid communication, two openings are joined directly together, and spray such that it is able to make the liquid storage in medicine-chest module 4 flow to shower nozzle module 5；Or connection conduit between medicine-chest module 4 and shower nozzle module 5, can be provided with, such that it is able to the liquid storage guide spray head module 5 in medicine-chest module 4 is sprayed.As long as fluid connection can be carried out between shower nozzle module 5 and medicine-chest module 4.
Wherein, shower nozzle module 5 is provided with spout, and shower nozzle module 5 can rotate in sprinkling process, to be sprayed equably by medicinal liquid.Wherein shower nozzle module 5 can be driven rotating by drive motor.
Pump housing module is for pumping in Nozzle At The Ingot Mold group by the medicinal liquid in medicine-chest module, and pump housing module is located on fuselage and is positioned at below head.Electricity mode transfer group is for automatically controlled adjustment, and electricity mode transfer group is located on fuselage and is positioned at below head, and electricity mode transfer group is for controlling the operation of motor, for instance drive the drive motor etc. of the motor 30 of rotor 20, shower nozzle module 5 all can be controlled by electricity mode transfer group.
In one embodiment of the invention, alternatively, as shown in Figure 4, battery modules 3 can being provided with limiting section 32, limiting section 32 is for being pressed on medicine-chest module 4, to limit the degree of freedom that medicine-chest module 4 moves upward.Owing to battery modules 3 has certain weight, the weight of battery modules 3 so can be utilized to be suppressed by medicine-chest module 4, it is to avoid it occurs vibration to affect use up and down, improves the mounting stability of medicine-chest module 4.
Unmanned vehicle 100 according to embodiments of the present invention, by battery modules 3 and medicine-chest module 4 being carried out modularized design and dismountable with between frame 12 being connected, such that it is able to make the installation and removal of battery modules 3 and medicine-chest module 4 more easy quickly, improve the packaging efficiency of unmanned vehicle 100, improve working performance.Additionally, by medicine-chest module 4 is arranged between head 11 and battery modules 3, thus when the liquid level along with medicinal liquid of medicine-chest module 4 changes and mass change occurs, owing to medicine-chest module 4 is in the middle part of fuselage 1, thus the position of centre of gravity of unmanned vehicle 100 is more stable, it is ensured that the having a smooth flight property of unmanned vehicle 100.Additionally, due to battery modules 3 is provided with for being pressed on the degree of freedom limiting section 32 that medicine-chest module 4 jacket restriction medicine-chest module 4 moves upward, from the mounting stability that can improve medicine-chest module 4.
Unmanned vehicle 100 according to embodiments of the present invention is described in detail below with reference to Fig. 1-Fig. 4.
In example as shown in Figure 1, battery modules 3 includes multiple battery (not shown go out) and battery case 31, multiple battery are integrated in battery case 31, series, parallel can be carried out between multiple battery as required or series-parallel connection is arranged, battery case 31 is internal is provided with the detent mechanism for installing locating batteries core, to ensure that battery is in the mounting stability within battery case 31.Wherein, battery case 31 is slidably disposed in frame 12 in the vertical direction, say, that battery case 31 can be inserted or pulled out frame 12 by the vertical direction, thus can make the easier for installation of battery modules 3, facilitate the replacing of battery.
Alternatively, in an embodiment of the present invention, one in battery case 31 and frame 12 is provided with chute and another is provided with the slide rail slidably coordinated with chute, for instance be provided with chute on battery case 31, frame 12 arranges slide rail；Or frame 12 is provided with chute, battery case 31 arranges slide rail.Guiding positioning action is played by the plug-in mounting that the cooperation of slide rail and chute can be battery case 31.In order to ensure the installation and removal on battery case 31 above-below direction, the bearing of trend of slide rail and chute is above-below direction, thus after battery case 31 is installed and put in place, positioning action can also be played in battery case 31 position in the longitudinal direction by the fit structure of slide rail and chute, and then can limit battery case 31 degree of freedom in the longitudinal direction.
In order to improve the stable connection between battery case 31 and frame 12, battery case 31 and frame 12 can connect in clamping.Specifically, battery case 31 can arrange buckle, frame 12 can arrange draw-in groove, when battery case 31 is inserted downwardly in frame 12, draw-in groove is just coordinated by buckle, such that it is able to battery case 31 is played fixation, or battery case 31 is also provided with the snap close with latch functions, frame 12 can be provided with fixed installation hole, snap close coordinates battery case 31 can also be played fixation with fixed installation hole, certain present invention is not limited to this, after battery case 31 is installed in frame 12, independent parts can also be passed through battery case 31 is fixed, such as threaded connector locking, the modes such as hawser binding are fixed.
In some preferred exemplary, electrical connector that frame 12 and being respectively equipped with on battery case 31 cooperates (not shown go out), when the electrical connector on battery case 31 after battery modules 3 is installed and put in place docks with the electrical connector in frame 12.Specifically, electrical connector in frame 12 can be attached by the electricity consumption device of mode that cable connects with unmanned vehicle 100, such as driving the drive motor etc. of the motor 30 of rotor 20, shower nozzle module 5, so after battery case 31 is installed and put in place, the electrical connector that can pass through in frame 12 electrically connects with electricity consumption device, thus can simplify the electric connection structure between battery modules 3 and electricity consumption device, convenient installation.Advantageously, the electrical connector on battery case 31 and the electrical connector in frame 12 can carry out arrangement in the vertical direction and arrange, battery modules 3 self gravitation thus can be utilized to make smooth grafting between two electrical connectors put in place, it is prevented that empty situation of inserting occurs.
Certain present invention is not limited to this, and battery modules 3 is installed after putting in place, it is also possible to has passed through connection cable and has been attached with corresponding electricity consumption device.
In an embodiment of the present invention, alternatively, medicine-chest module 4 is slidably disposed in frame 12 in the vertical direction.Alternatively, medicine-chest module 4 can also be coordinated by chute rail structure with frame 12, thus both the installation of medicine-chest module 4 can be played guide function, it is also possible to for limiting medicine-chest module 4 free end in the longitudinal direction, it is ensured that mounting stability.
Further, as it is shown in figure 1, frame 12 is provided with brace rod 121, medicine-chest module 4 is provided with multiple downward opening draw-in groove, multiple draw-in grooves are respectively supported on brace rod 121, say, that can limit, by the cooperation of draw-in groove and brace rod 121, the degree of freedom that medicine-chest module 4 moves downward.Wherein alternatively, brace rod 121 can be made up of the top edge of frame 12.
Specifically, shown in Figure 1, medicine-chest module 4 includes casing 41 and the case lid 42 being located on casing 41, and liquid medicine filling is in casing 41, and case lid 42 can open or close casing 41.Alternatively, each of which in relative two sidewall of case lid 42 is provided with multiple lobe 421, and draw-in groove is formed on the lower surface of lobe 421.In other words, the left surface of case lid 42 and right flank are respectively equipped with lobe 421, left surface is provided with and can be provided with one or more lobe 421, right flank can also be provided with one or more lobe 421, the lower end of each lobe 421 is each formed with draw-in groove, and the medicine-chest module 4 installation in frame 12 thus can be made more stable.
In order to extract conveniently, case lid 42 is additionally provided with handle 423.Alternatively, the hardness of case lid 42, more than the hardness of casing 41, thus under the premise improving case lid 42 stability fixing with frame 12, can reduce the weight of medicine-chest module 4.
Alternatively, as it is shown in figure 1, case lid 42 can be provided with the filling exit for liquid drug, that is, medicinal liquid is not only by being directly injected into after opening case lid 42 to casing 41, it is also possible to after being opened by the filling exit on case lid 42, carried out the fill of medicinal liquid by filling exit.Can being provided with spiral cover 422 on filling exit, spiral cover 422 can cover this filling exit, thus avoiding medicinal liquid to spill.Preferably, this spiral cover 422 can also supplied gas pass through, during to avoid medicine liquid spray, owing to the effect of pressure differential causes that liquid has some setbacks between medicine-chest module 4 and external environment.
When battery modules 3 and medicine-chest module 4 are installed, the existence of position limiting structure due to the limiting section 32 of battery modules 3, therefore should first medicine-chest module 4 be inserted in frame 12 from top to bottom, again battery modules 3 is inserted in frame 12 from top to bottom, and utilizes position limiting structure to be pressed against medicine-chest module 4.Of course, it should be understood that the process of dismounting is contrary, it is necessary to now battery modules 3 is upwards proposed frame 12, then medicine-chest module 4 is dismantled.Such installation and removal process, foolproof function can be played, namely after first battery modules 3 being disassembled, dismantle medicine-chest module 4 again, such that it is able to prevent artificial maloperation, when not dismantling battery modules 3, when just first being dismantled by medicine-chest module 4, medicinal liquid drips to splash and produces circuit safety problem in battery modules 3.
Unmanned vehicle 100 according to embodiments of the present invention, alternatively, shower nozzle module 5 is detachably arranged on horn 2.Such as shower nozzle module 5 can be located on corresponding horn 2 by threaded fastener, specifically, shower nozzle module 5 includes shell 51, drive motor and spray dish 52, spray dish 52 is arranged on the motor shaft of drive motor, drive motor is located in shell 51, shell 51 can be located on corresponding horn 2 by threaded fastener, attachment structure between Nozzle At The Ingot Mold group 5 and horn 2 thus can be made simple, and can realize the purpose of fast assembling-disassembling.Certain present invention is not limited to this, and shower nozzle module 5 can also be arranged on corresponding horn 2 by buckle structure.
Alternatively, shower nozzle module 5 can be configured to use the structure that centrifugal force carries out spraying.It is to say, spray dish 52 can be rotating structure, during spray dish 52 high-speed rotation, it is possible to make medicinal liquid spray under the influence of centrifugal force.
Adopt centrifugal sprinkler module 5 that medicinal liquid is centrifuged atomization, make medicine liquid spray ground evenly, such that it is able to improve the utilization rate of medicinal liquid, and the liquid medicine jet of centrifugal atomizing is more effectively attached to below crop leaf by descending air-flow when rotating in conjunction with the rotor 20 of unmanned vehicle, medicine better effects if.
Wherein in an embodiment of the present invention, horn 2 is multiple, and multiple horns 2 are provided at circumferentially spaced around fuselage 1.Shower nozzle module 5 be located at multiple horn 2 at least some of on, say, that shower nozzle module 5 can be arranged in the part in multiple horn 2, or is respectively provided with shower nozzle module 5 on each horn 2.Alternatively, in one embodiment of the invention, the quantity of shower nozzle module 5 is identical with the quantity of horn 2, and multiple shower nozzle module 5 is detachably arranged in the bottom of end of multiple horn 2 respectively.Specifically, shower nozzle module 5 is arranged on the bottom of horn 2 end.Thus multiple shower nozzle module 5 dispersed placement, therefore meet medicine liquid spray requirement, hydrojet is more uniform.
Correspondingly, in example as Figure 1-Figure 4, the end of each horn 2 is equipped with rotor 20 and the motor 30 driving rotor 20 to rotate, rotor 20 can be connected with the motor shaft of motor 30, motor 30 electrically connects with battery modules 3, in order to make rotor 20 rotate thus driving unmanned vehicle 100 to fly.Shower nozzle module 5 can be arranged on the underface of motor 30.Wherein shower nozzle module 5 can rotate thus being sprayed by medicinal liquid, and therefore alternatively, shower nozzle module 5 can pass through motor 30 and be driven rotating, or shower nozzle module 5 can also be driven by separately installed drive motor.
Alternatively, infusion channel (not shown go out) can be passed through between medicine-chest module 4 with shower nozzle module 5 connect, the end relevant position of horn 2 can arrange the opening connected with infusion channel, when shower nozzle module 5 is installed on horn 2, can with this opening corresponding matching, such that it is able to connect with infusion channel, and then connect with medicine-chest module 4, such that it is able to carry out spray liquid.
Such as, in the example shown in Fig. 1 and Fig. 3, horn 2 includes four, and four horns 2 are respectively provided at fuselage 1 front left side, forward right side, left rear side and right lateral side, and four horns 2 can be X-shaped distribution.Shower nozzle module 5 includes four accordingly and is respectively provided on four horns 2.
Wherein it should be noted that, alternatively, horn 2 can be connected to head 11 bottom, the horn 2 of front left side, the horn 2 of forward right side is symmetrical, the horn 2 of left rear side, the horn 2 of right lateral side is symmetrical, the approximate intersection point of the extended line of four horns 2 may be located on position forward in the middle part of head 11, thus can make medicine-chest module 4 and battery modules 3 in the middle part of fuselage 1 and the arrangement at rear portion can be slightly forward, make the center being in fuselage 1 that the center of gravity of unmanned vehicle 100 is approximate, along with the medicinal liquid in medicine-chest module 4 gradually decreases in unmanned vehicle 100 operation process, owing to it is in center, too big skew will not be there is in the center of gravity of unmanned vehicle 100, further ensure the flight of unmanned vehicle 100.
In an embodiment of the present invention, pump housing module sets removably on the fuselage 1 and is close to medicine-chest module 4 and arranges.It is to say, the unmanned vehicle 100 of the present invention, by by pump body structure modularity, and dismountable with fuselage 1 it is connected, such that it is able to improve the installation effectiveness of pump housing module, mounts and dismounts easier.Specifically, alternatively, in the embodiment of the present invention, pump housing module can include multiple liquid pump and pump housing shell, and plurality of liquid pump (not shown go out) is located in pump housing shell, and pump housing shell is detachably arranged on fuselage 1.Alternatively, pump housing module may be mounted at the bottom of the head 11 of fuselage 1, thus can increase the weight of head 11 part, for adjusting the center of gravity of whole unmanned vehicle 100.
Specifically, multiple liquid pumps are connected by infusion channel with multiple shower nozzle modules 5 respectively, that is pump housing module is for being delivered in corresponding shower nozzle module 5 by the medicinal liquid in medicine-chest module 4, one_to_one corresponding, the hydrojet that thus can make each shower nozzle module 5 can individually control, easy to use, and can so that complete machine stringing is clean and tidy, it is simple to check and change and safeguard.
Preferably, in an embodiment of the present invention, at least one in multiple liquid pumps is peristaltic pump.Medicinal liquid and peristaltic pump interior contact thus can be avoided on the one hand to make peristaltic pump be corroded, or medicinal liquid is polluted；Peristaltic pump is compared with other kinds of pump on the other hand, has the advantage that volume is little, lightweight, energy consumption is low, thus can be more suitable for the Miniaturization Design of unmanned vehicle.
Alternatively, electricity mode transfer group can be located at fuselage 1 bottom removably.Thus, electricity mode transfer group can mount and dismount easily.Wherein electricity mode transfer group can be arranged on the bottom of head 11, thus can increase the weight of head 11 part, for adjusting the center of gravity of whole unmanned vehicle 100.Additionally, electricity mode transfer group includes circuit board assemblies and metal framework, circuit board assemblies is located at inside metal framework, and metal framework is located at the bottom of head 11, such that it is able to utilize this metal framework that the structure of head 11 is played the effect of reinforcing.Specifically, the bottom of head 11 has head plate body and the head encloser being located on head plate body, and the metal framework of electricity mode transfer group is located on the lower surface of this head plate body, thus the structure of head plate body can be played the effect of reinforcement by metal framework.Electricity mode transfer group is positioned at the front portion of pump housing module.
As shown in Figure 4; unmanned vehicle 100 also includes drain pan 40, and drain pan 40 is located at outside pump housing module and electricity mode transfer group, thus can to the effect playing protection outside pump housing module and electricity mode transfer group; sandy soil dust in barrier working environment, it is to avoid the automatically controlled part of medicinal liquid drift bespatter dye electricity mode transfer group.Preferably, this drain pan 40 can be provided with openwork part, thereby guarantee that the radiating effect of electricity mode transfer group.
Below with reference to Fig. 1 and Fig. 2, as shown in the figure, the unmanned vehicle 100 of the embodiment of the present invention also includes difference module 7 (the such as RTK antenna for receiving and send signal, Real-timekinematic real time dynamic differential antenna), difference module 7 is located on horn 2, such mounting structure make difference module 7 fixing rationally, mounting structure succinct.
As shown in Figure 1, unmanned vehicle 100 is provided with two difference modules 7, the linear interval distance of the two difference module 7 needs to be maintained at more than 45cm, in the prior art, strutted by support bar between two difference modules, or two difference modules are fixed in other structures of aircraft.Strutting with support bar between two difference modules, then can increase complete machine weight, total is succinct not, and causes that cost increases；And two difference modules are fixed in other structures of aircraft, then probably due to housing construction insufficient space, RTK antenna measurement precision is impacted, even can be interfered.Based on this, in the embodiment of the present invention, two difference modules 7 are separately positioned on the horn 2 of fuselage 1 right lateral side and the horn 2 of left rear side, the chi structure between the horn 2 of right lateral side and the horn 2 of left rear side so can be utilized to ensure naturally to meet between the difference module 7 being arranged on two horns 2 requirement of above-mentioned rectilineal interval, thus not only can will not increase extra mounting structure, reduce cost, and ensure that unmanned vehicle 100 rational in infrastructure succinctly, complete appearance.
Alternatively, the difference module 7 mounting structure on horn 2 can be arbitrary, such as can difference module 7 be directly installed on horn 2 by buckle structure, specifically, horn 2 can be provided with draw-in groove, offering on difference module 7 and be provided with buckle, buckle and card slot fit are to be directly anchored to difference module 7 on horn 2；Or difference module 7 can also be directly installed on horn 2 by helicitic texture, specifically, the perisporium of difference module 7 can being provided with external screw thread, horn 2 can being provided with the female groove of tool, by engaging thus being directly installed on horn 2 by difference module 7 of external screw thread and female thread.
Additionally, difference module 7 can also be indirectly mounted on horn 2 by other structures.In a concrete example of the present invention, difference module 7 is located on horn 2 by dismountable mode, thus can facilitate the installation and removal of difference module 7.Specifically, as in figure 2 it is shown, unmanned vehicle 100 also includes mounting bracket 8, wherein difference module 7 is located in mounting bracket 8, and mounting bracket 8 is detachably arranged on horn 2 by yoke configurations 81.From there through utilizing mounting bracket 8 to be indirectly mounted on horn 2, such that it is able to difference module 7 is played reinforcement effect, the installation of difference module 7 is more stable, it is possible to prevent difference module 7 from causing after being subject to external impacts damaging.
Further, structure can be threaded connection between difference module 7 with mounting bracket 8 and be connected, thus difference module 7 can be carried out Fast Installation and replacement.
As Figure 1-Figure 4, the unmanned vehicle 100 of the embodiment of the present invention also includes foot rest 10, and foot rest 10 is detachably arranged in the bottom of head 11, and foot rest 10 includes at least one foot rest 10, and wherein foot rest 10 is the slat element being made up of carbon fibre material.Firstly, since foot rest 10 is set to slat element structure, such that it is able to increase the contact area of foot rest 10 and ground, improve the stability of landing.Secondly as carbon fibre material has excellent resilience characteristic, in the process of unmanned vehicle 100 landing, possess certain elasticity and unmanned vehicle 100 can be played cushioning effect, thus protecting other modules of unmanned vehicle 100 not easily impaired.Wherein, foot rest 10 can be one-body molded, thus can so that assembling and producing.And lightweight,
Wherein, from the side view of Fig. 4 it can be seen that foot rest 10 adopts substantially trapezium structure, so before and after unmanned vehicle 100, all can play a supporting role in load-bearing position.It can be seen that foot rest 10 is two and two foot rest 10 arrangement installations in "eight" shape in the lateral direction from the axonometric chart of Fig. 1, not easily turn on one's side after thereby guaranteeing that unmanned vehicle 100 landing.
In sum, the description according to the unmanned vehicle 100 of the above-mentioned some embodiments of the present invention, unmanned vehicle 100 according to embodiments of the present invention can have following improvement and corresponding beneficial effect:
1, by battery modules 3 and medicine-chest module 4 being carried out modularized design and dismountable with between frame 12 being connected, thus improve the packaging efficiency of unmanned vehicle 100；
2, by medicine-chest module 4 is arranged between head 11 and battery modules 3, thus the position of centre of gravity of unmanned vehicle 100 is more stable, it is ensured that the having a smooth flight property of unmanned vehicle 100；
3, by by shower nozzle module 5, pump housing module, the electricity equal modularized design of structure such as mode transfer group, difference module 7, it is possible to be easy to dismounting and the maintenance of each module；
4, medicine-chest module 4 and battery modules 3 have successively loading order, such that it is able to play foolproof function, it is to avoid medicinal liquid drips to splash and produces circuit safety problem in battery modules 3；
5, foot rest 10 is the slat element being made up of carbon fibre material, such that it is able to increase the contact area with ground, and unmanned vehicle 100 plays in descent cushioning effect, and integrated slat element easily facilitates assembling and produces；
6, difference module 7 is arranged on the horn 2 of fuselage 1 right lateral side and the horn 2 of left rear side, both ensure that the outward appearance globality of unmanned vehicle 100, and had not affected again the rotation of rotor 20.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " illustrative examples ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: these embodiments can being carried out multiple change, amendment, replacement and modification when without departing from principles of the invention and objective, the scope of the present invention is limited by claim and equivalent thereof.
Claims (16)
1. a unmanned vehicle, it is characterised in that including:
Fuselage, described fuselage has head, and the rear end of described head is provided with frame；
Multiple horns, the plurality of horn is provided at circumferentially spaced around described fuselage；
For providing the battery modules of power, described battery modules is detachably arranged in described frame；
For storing the medicine-chest module of medicinal liquid, described medicine-chest module is detachably arranged in described frame and described medicine-chest module is between described head and described battery modules, wherein said battery modules is provided with limiting section, and described limiting section support is pressed on described medicine-chest module to limit the degree of freedom that described medicine-chest module moves upward；
For the shower nozzle module of spray liquid, described shower nozzle module is located at least some of upper of the plurality of horn and is connected with described medicine-chest module；
For the medicinal liquid in described medicine-chest module pumps into the pump housing module in described shower nozzle module, described pump housing module is located on described fuselage and is positioned at below described head；
For the electric mode transfer group of automatically controlled adjustment, described electricity mode transfer group is located on described fuselage and is positioned at below described head.
2. unmanned vehicle according to claim 1, it is characterized in that, described battery modules includes multiple battery and battery case, and the plurality of battery is integrated in described battery case, and described battery case is slidably disposed in described frame in the vertical direction.
3. unmanned vehicle according to claim 2, it is characterised in that described battery case and in described frame one are provided with chute and another is provided with the slide rail slidably coordinated with described chute.
4. the unmanned vehicle according to any one of Claims 2 or 3, it is characterized in that, described frame and described battery case are respectively equipped with the electrical connector cooperated, when the electrical connector on described battery case after described battery modules is installed and put in place docks with the electrical connector in described frame.
5. unmanned vehicle according to claim 1, it is characterised in that described medicine-chest module is slidably disposed in described frame in the vertical direction.
6. unmanned vehicle according to claim 5, it is characterised in that described frame is provided with brace rod, and described medicine-chest module is provided with multiple downward opening draw-in groove, and the plurality of draw-in groove is respectively supported on described brace rod.
7. unmanned vehicle according to claim 6, it is characterized in that, described medicine-chest module includes casing and the case lid being located on described casing, and each of which in relative two sidewall of described case lid is provided with multiple lobe, and described draw-in groove is formed on the lower surface of described lobe.
8. unmanned vehicle according to claim 1, it is characterized in that, described shower nozzle module includes multiple, and described pump housing module includes multiple liquid pump and pump housing shell, the plurality of liquid pump is connected by infusion channel with the plurality of shower nozzle module respectively and the plurality of liquid pump is located in described pump housing shell, and described pump housing shell is detachably arranged on described fuselage.
9. unmanned vehicle according to claim 8, it is characterised in that the quantity of described shower nozzle module is identical with the quantity of described horn, and the plurality of Nozzle At The Ingot Mold group is detachably arranged in the bottom of end of the plurality of horn respectively.
10. unmanned vehicle according to claim 8, it is characterised in that at least one in the plurality of described liquid pump is peristaltic pump.
11. unmanned vehicle according to claim 1, it is characterised in that also including the difference module for receiving and send signal, described difference module is located on described horn.
12. unmanned vehicle according to claim 11, it is characterised in that also including mounting bracket, described difference module is located in described mounting bracket, and described mounting bracket is detachably arranged on described horn by yoke configurations.
13. unmanned vehicle according to claim 1, it is characterised in that described shower nozzle module is by being detachably arranged on corresponding described horn.
14. unmanned vehicle according to claim 1, it is characterized in that, also including foot rest module, described foot rest module is detachably arranged in the bottom of described head, described foot rest module includes at least one foot rest, and wherein said foot rest is the slat element being made up of carbon fibre material.
15. unmanned vehicle according to claim 1, it is characterised in that also include drain pan, described drain pan is located at outside described pump housing module and described electricity mode transfer group.
16. unmanned vehicle according to claim 1, it is characterised in that described shower nozzle module is configured to use the structure that centrifugal force carries out spraying.
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| CN201610214440.6A CN105752340B (en) | 2016-04-07 | 2016-04-07 | Unmanned vehicle |
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| CN201610214440.6A CN105752340B (en) | 2016-04-07 | 2016-04-07 | Unmanned vehicle |
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