CN210503160U

CN210503160U - Four rotor plant protection unmanned aerial vehicle of H type feather

Info

Publication number: CN210503160U
Application number: CN201921424406.7U
Authority: CN
Inventors: 朱航; 姜宇; 赵航; 裴思宇; 李宏泽
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2020-05-12
Anticipated expiration: 2029-08-30

Abstract

The utility model provides a four rotor plant protection unmanned aerial vehicle of H type feather belongs to agricultural machine technical field, the utility model discloses by the chassis part, the shower nozzle group, adjustable propeller pitch mechanism group, rotor mechanism group, the fossil fragments part, the reduction gear part, the middle-frame part, nearly reduction gear transmission group, nearly rotor transmission group, the engine, the controller is right, the oil tank, a water pump, the oil pump, the shaft coupling, the kuppe, the medical kit is constituteed, nearly reduction gear transmission group, nearly rotor transmission group is the transmission part that the local was constituteed in the H type installation, power is provided by DLE120 model aeroplane and model ship fuel engine, thereby increase substantially effective medicine carrying capacity, realize long-time flight and spray the operation, this machine adopts variable pitch mechanism, compare in traditional electronic many rotor unmanned aerial vehicle, its response speed is rapider, control cost and equipment loss are less, the security performance is higher. The utility model discloses can improve the efficiency of spraying of medicine better, more effectively avoid the medicine to spray the in-process, the medicine is to operation personnel's injury, and then accelerates the automatic process of agricultural production.

Description

Four rotor plant protection unmanned aerial vehicle of H type feather

Technical Field

The utility model belongs to the technical field of agricultural machine, concretely relates to four rotor plant protection unmanned aerial vehicle of H type feather.

Background

Compare in traditional ground plant protection equipment, plant protection unmanned aerial vehicle does not receive the restriction of topographic factors in the operation, and mobility is good, can not lead to the fact to roll and make its output reduce high-stalk crop, has improved the efficiency of spraying of medicine, can effectively avoid the medicine to spray the in-process, the injury of medicine to the operation personnel. Consequently, in farmland plant protection field, plant protection unmanned aerial vehicle has fine development prospect.

The traditional electric plant protection unmanned aerial vehicle has short endurance time and limited operation area, and the battery needs to be frequently replaced to complete plant protection operation, so that real unmanned operation cannot be realized; variable pitch plant protection unmanned aerial vehicle then has the advantage of heavy load, long continuation of the journey, and this unmanned aerial vehicle chooses fuel engine for use as power device, and effective drug loading increases substantially, can realize that long-time flight sprays the operation.

Disclosure of Invention

An object of the utility model is to current plant protection unmanned aerial vehicle not enough, provide a four rotor plant protection unmanned aerial vehicle of H type feather, through chooseing for use fuel engine as power device and adopting the feather structure to increase substantially the medicine-carrying capacity, the extension flight sprays the time of operation to guarantee that its response speed is rapider, control cost and equipment loss are less, and the security performance is higher.

The utility model discloses constitute its characterized in that to 1, oil tank 2, water pump 3, oil pump 4, shaft coupling 5, kuppe 6, medical kit 7 by chassis part A, shower nozzle group B, adjustable pitch mechanism group C, rotor mechanism group D, fossil fragments part E, reduction gear part F, well frame part G, nearly reduction gear transmission group H, nearly rotor transmission group I, engine part J, controller: the two controllers of the controller pair 1 are respectively and fixedly connected to a vertical plate I93 and a vertical plate II 104 of the middle frame part G; the oil tank 2 is fixedly connected with the middle frame partG below the pair of tank mounts 98; the water pump 3 is fixedly connected to the left end of the bottom plate 91 of the middle frame part G; the oil pump 4 is fixedly connected to the middle part of the bottom plate 91 of the middle frame part G; the air guide sleeve 6 is fixedly connected to the periphery of the keel part E through a rivet; the medicine chest 7 is fixedly connected to the bottom longitudinal pipe group 10 of the underframe part A; the middle plate 99 of the middle frame part G is fixedly connected to the rear n-shaped tube 12, the middle n-shaped tube 18 and the front n-shaped tube 21 of the bottom frame part A, and the bottom plate 91 of the middle frame part G is fixedly connected with the upper transverse tube pair 14 of the bottom frame part A; a reduction box 83 in the reducer part F is fixedly connected to the middle part of the middle plate 99 of the middle frame part G, and a bearing seat I84 and a bearing seat II 88 of the reducer part F are fixedly connected with a support seat pair 101 of the middle frame part G; the engine part J consists of an engine 124 and a bevel gear VI 125, the bevel gear VI 125 is fixedly connected to an output shaft of the engine, and the engine part J is fixedly connected to the right end of the bottom plate 91 of the middle frame part G through the engine 124; a bevel gear II 89 in the reducer part F is meshed with a bevel gear VI 125 in the engine part J; near-speed reducer transmission part IH₁Near the transmission part IIH of the speed reducer₂The bearing seat pair II 109 is respectively fixedly connected with the transverse plate pair I96 of the middle frame part G and the upper transverse plate of the transverse plate pair II 106, and the near speed reducer transmission part IH₁Near the transmission part IIH of the speed reducer₂The transmission shaft I111 is fixedly connected with a reduction box output shaft 86 of the speed reducer part F through a coupler 5; near rotor wing transmission part I₁And near rotor wing transmission part II I₂The bearing seat III 116 is fixedly connected with the upper transverse plate of the transverse plate pair I96 of the middle frame part G, and the near rotor wing transmission part II₁And near rotor wing transmission part II I₂The connecting clamp 119 is hinged with the reinforcing plate pair 108 close to the speed reducer transmission group H; near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The bearing seat III 116 is fixedly connected with the upper transverse plate of the middle transverse plate pair II 106 of the middle frame part G, and the near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The connecting clamp 119 is hinged with the reinforcing plate pair 108 of the near speed reducer transmission group H, and the near rotor transmission part II₁And near rotor wing transmission part II I₂Bevel gear IV 115 and near speed reducer transmission part IH₁Bevel gear III 114 mesh, near rotor drive section IIII₃And a near rotor transmission part IVI₄Bevel gear IV 115 andnear speed reducer transmission part IIH₂The bevel gear III 114 is meshed; adjustable pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The transmission shaft connecting piece 51 is respectively connected with the near rotor wing transmission part II₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The carbon fiber pipe II 120 is fixedly connected with the near rotor wing transmission part I₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The bearing VII 122 outer ring is respectively connected with the adjustable propeller pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The transmission shaft connecting piece 51 is fixedly connected with the adjustable propeller pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The bevel gears I37 are respectively connected with the near rotor wing transmission part II₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄Bevel gear V123 meshed and pitch-adjustable mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄Steering engine connecting rod 53 respectively with nearly rotor wing transmission part I₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The steering engine connecting piece pair 121 is fixedly connected; rotor wing mechanism ID₁And a rotor wing mechanism II D₂And a rotor wing mechanism IIID₃And a rotor mechanism IV D₄The blade clamp pair 78 is respectively connected with the adjustable pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The positioning end cover group 44 is fixedly connected; nozzle part IB₁Spray head part IIB₂And a nozzle part IIIB₃And a nozzle part IVB₄Are respectively fixedly connected with the adjustable propeller pitch mechanism IC through the hole group 27₁CanPitch adjusting mechanism IIC₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄Below the bottom support base 36; the small keel pair 79 of the keel part E is fixedly connected with the long upright I94, the left short rod 95, the long upright II 105 and the right short rod 107 of the middle frame part G, the large keel group 80 and the middle keel pair 81 of the keel part E are fixedly connected with 6 fixing seats of the fixing seat group 15 in the bottom frame part A, and the middle keel pair 82 of the keel part E is fixedly connected with the short upright I92 and the short upright II 103 of the middle frame part G.

The underframe part A consists of a floor pipe pair 8, a bottom transverse pipe pair 9, a bottom longitudinal pipe group 10, a damping sleeve group 11, a rear n-shaped pipe 12, a middle transverse pipe pair 13, an upper transverse pipe pair 14, a fixed seat group 15, a pipe connecting piece group 16, a thin longitudinal pipe group 17, a middle n-shaped pipe 18, a short longitudinal pipe pair 19, a long longitudinal pipe pair 20 and a front n-shaped pipe 21, wherein 2 floor pipes of the floor pipe pair 8 are fixedly connected with the left end and the right end of 2 transverse pipes of the bottom transverse pipe pair 9 respectively; two ends of 4 longitudinal pipes of the bottom longitudinal pipe group 10 are respectively fixedly connected with the inner sides of 2 transverse pipes of the bottom transverse pipe pair 9; the lower ends of the rear n-shaped pipe 12 and the front n-shaped pipe 21 are fixedly connected with the left end and the right end of 2 transverse pipes of the bottom transverse pipe pair 9 respectively; 2 transverse pipes of the middle transverse pipe pair 13 are respectively fixedly connected with the lower part of the rear n-shaped pipe 12 and the front n-shaped pipe 21 close to the transverse inner side; 2 long longitudinal pipes of the long longitudinal pipe pair 20 are respectively fixedly connected with the upper longitudinal inner sides of the rear n-shaped pipe 12 and the front n-shaped pipe 21; the lower ends of the middle n-shaped pipes 18 are fixedly connected with the centers of 2 long longitudinal pipes of the long longitudinal pipe pairs 20 respectively; the 2 transverse pipes of the upper transverse pipe pair 14 are symmetrically and fixedly connected to the middle parts of the 2 long longitudinal pipes of the long longitudinal pipe pair 20; the 2 short longitudinal pipes of the short longitudinal pipe pair 19 are symmetrically and fixedly connected to the middle parts of the 2 transverse pipes of the upper transverse pipe pair 14; 6 fixing seats of the fixing seat group 15 are fixedly connected to the left end and the right end of the upper transverse pipe of the rear n-shaped pipe 12, the middle n-shaped pipe 18 and the front n-shaped pipe 21 respectively; two thin tubes of the 4 thin longitudinal tubes of the thin longitudinal tube group 17 are fixedly connected between the upper transverse tubes of the front n-shaped tube 21 and the middle n-shaped tube 18; the other two thin tubes of the 4 thin longitudinal tubes of the thin longitudinal tube group 17 are fixedly connected between the upper transverse tubes of the rear n-shaped tube 12 and the middle n-shaped tube 18; the 4 pipe connecting pieces of the pipe connecting piece group 16 are respectively and fixedly connected to the middle of the 4 thin longitudinal pipes in the thin longitudinal pipe group 17;

4 shock attenuation sleeves of shock attenuation sleeve group 11 are respectively the rigid coupling in 2 nearly both ends of falling to the ground pipe of the pipe pair 8.

The nozzle group B is composed of nozzle parts IB₁Spray head part IIB₂And a nozzle part IIIB₃And a nozzle part IVB₄Composition, spray head part IB₁Spray head part IIB₂And a nozzle part IIIB₃And a nozzle part IVB₄The structure of the device is the same, and the device consists of a spray head shell 22, an elastic gasket 23, an air discharge end cover 24, a sealing ring 25, a left side pipe 26, a connecting pipe 28, a right side pipe 29, a hose connecting piece 30, a spray pipe 31, a filter screen 32 and a spray head 33, wherein 4 through holes of a hole group 27 are uniformly distributed on the upper round end surface of the connecting pipe 28; the hose connector 30 is in threaded connection with the upper right tube 29 of the connecting tube 28; the upper end of the spray pipe 31 is in threaded connection with the lower end of the connecting pipe 28; the filter screen 32, the elastic gasket 23, the spray head 33 and the spray head shell 22 are sequentially arranged at the lower part of the spray pipe 31 from top to bottom, and the spray head shell 22 is in threaded connection with the lower end of the spray pipe 31; the sealing ring 25 is arranged at the opening of the left pipe 26 of the spray pipe 31, and the air bleeding end cover 24 is in threaded connection with the left pipe 26 of the spray pipe 31.

The adjustable propeller pitch mechanism group C is composed of an adjustable propeller pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄Formed, adjustable pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The structure of the bearing is the same, and the bearing is composed of a snap ring I34, a bearing I35, a bottom support seat 36, a bevel gear I37, a support seat 38, a positioning shaft sleeve 39, a bearing II 40, a snap ring II 41, a positioning end cover 42, a slide block 43, a positioning end cover group 44, a round nut group 45, a paddle clamping fixing seat 46, a bearing pair 47, a paddle shaft 48, a positioning ring 49, a bearing III 50, a transmission shaft connecting piece 51, a push rod 52, a steering engine connecting rod 53, a small connecting rod 54, a middle connecting rod 55, a fork connecting rod 56, a left connecting rod 57 and a right connecting rod 58, wherein the paddle shaft 48 is provided with a ring groove I59, a boss I60, a key groove 61 and a ring groove II 62, the support seat 38 is provided with a boss II 63, a hole I64 and a hole II 65, the bottom support seat 36 is provided with a boss III 66 and a hole VII 67, the left side and the right side of the fork connecting rod 56, Hole VIII (74), paddleThe clamp fixing seat 46 is provided with a boss IV 75 and a boss V76; a snap ring I34, a bearing I35, a bevel gear I37, a positioning shaft sleeve 39, a bearing II 40, a snap ring II 41, a positioning end cover 42, a slide block 43, a bearing III 50, a positioning ring 49, a forked connecting rod 56 and a paddle clamp fixing seat 46 are sequentially arranged on a paddle shaft 48 from bottom to top, wherein the snap ring I34 is fixedly connected in a ring groove I59, the inner ring of the bearing I35 is fixedly connected with the paddle shaft 48, the upper end of the bearing I35 is limited by a boss I60, the bevel gear I37 is connected with a key groove 61 on the paddle shaft 48, the positioning shaft sleeve 39 is fixedly connected with the upper end surface of the bevel gear I37, the inner ring of the bearing II 40 is fixedly connected with the paddle shaft 48, the lower end surface of the bearing II 40 is limited by the positioning shaft sleeve 39, the snap ring II 41 is fixedly connected in a ring groove II 62, the positioning end cover 42 is movably connected with the paddle shaft 48, the inner ring of the bearing III 50 is fixedly, the paddle clamp fixing seat 46 is fixedly connected to the top of a paddle shaft 48, the positioning end cover group 44, the bearing group 47 and the round nut group 45 are sequentially arranged from inside to outside and are symmetrically arranged about the a-a longitudinal section of the paddle shaft 48, the positioning end cover group 44 is fixedly connected with a boss V76 of the paddle clamp fixing seat 46, two bearing inner rings of the bearing pair 47 are fixedly connected with a boss IV 75 of the paddle clamp fixing seat 46, the round nut group 45 is in threaded connection with the paddle clamp fixing seat 46, a hole III 67 of the bottom support seat 36 is fixedly connected with an outer ring of the bearing I35, the upper end of the bearing I35 is limited by a boss III 66 of the bottom support seat 36, the support seat 38 is fixedly connected above the bottom support seat 36, an outer ring of the bearing II 40 is fixedly connected with a hole I64 of the support seat 38, the lower end of the bearing II 40 is limited by a boss II 63 of the support seat 38, the left end of a transmission shaft connecting piece 51 is fixedly connected to the bottom support seat 36 and the right end of the support seat 38, the middle connecting rod 55 is hinged with the small connecting rod 54 through a hole V72 and a hole VI 73, the middle connecting rod 55 is hinged with the sliding block 43 through a hole VI 70 and a hole V71, the left connecting rod 57 is hinged with a through hole I68 of the forked connecting rod 56, and the right connecting rod 58 is hinged with a through hole II 69 of the forked connecting rod 56.

Rotor mechanism group D is by rotor mechanism ID₁And a rotor wing mechanism II D₂And a rotor wing mechanism IIID₃And a rotor wing mechanism IV D₄Composition, rotor wing mechanism id₁And a rotor wing mechanism II D₂And a rotor wing mechanism IIID₃And a rotor wing mechanism IV D₄The structure of (1) is the same, and it is constituteed by rotor pair 77, paddle clamp pair 78, and rotor pair 77 comprises left rotor, dextrorotation wing, and paddle clamp pair 78 comprises left paddle clamp, right paddle clamp, and left rotor presss from both sides the rigid coupling with left paddle, and right rotor presss from both sides the rigid coupling with right paddle, and the two bilateral symmetry sets up.

The keel part E consists of a small keel pair 79, a large keel pair 80, a middle keel pair 81 and a middle keel pair 82, wherein two small keels of the small keel pair 79, two middle keels of the middle keel pair 82, two large keels of the large keel pair 80 and two middle keels of the middle keel pair 81 are sequentially arranged from outside to inside and are symmetrically arranged relative to the cross section b-b; the keels of the large keel pair 80 and the middle keel pair 81 are respectively composed of an upper half and a lower half; the radius of the inner circle of the center of each keel of the small keel pair 79 is 120 mm; the radius of the inner circle of the center of the keel of the large keel assembly 71 is 196 mm; the radius of the inner circle of the center of the keel of the middle keel pair 81 is 245 mm; the radius of the inner circle of the center of the keel of the middle keel pair 82 is 158 mm; two small keel spacing L of small keel pair 79₃Is 1100-1300 mm; two middle keel spacing L of middle keel pair 82₂800-; distance L between two large keels of large keel pair 80₁Is 400-500 mm.

The reducer part F consists of a reduction gearbox 83, a bearing seat I84, a bearing IV 85, a reduction gearbox output shaft 86, a bearing V87, a bearing seat II 88, a bevel gear II 89 and a reduction gearbox input shaft 90, wherein the inner ring of the bearing IV 85 is in interference connection with the left end of the reduction gearbox output shaft 86, and the outer ring of the bearing IV 85 is fixedly connected with the center hole of the bearing seat I84; the inner ring of the bearing V87 is in interference connection with the near right end of the output shaft 86 of the reduction box, and the outer ring of the bearing V87 is fixedly connected with the central hole of the bearing seat II 88; bevel gear II 89 is connected with reduction box input shaft 90 key-type.

The middle frame part G consists of a bottom plate 91, a short upright post I92, a vertical plate I93, a long upright post I94, a left short rod 95, a transverse plate pair I96, a transverse rod pair I97, an oil tank seat pair 98, a middle plate 99, a bearing seat pair I100, a support pair 101, a transverse rod pair II 102, a short upright post II 103, a vertical plate II 104, a long upright post II 105, a transverse plate pair II 106 and a right short rod 107, wherein the long upright post I94, the transverse plate pair I96, the short upright post I92, the transverse rod pair I97, the middle plate 99, the transverse rod pair II 102, the short upright post II 103, the transverse plate pair II 106 and the long upright post II 105 are sequentially arranged from left to right and fixedly connected, and the long upright post I94, the transverse plate pair I96, the short upright post I92, the transverse rod pair I97, the transverse rod pair II 102, the short upright post II 103, the transverse plate pair II 106 and the long upright post; the upper end of the short vertical rod I92 is fixedly connected to the lower surface of the left end of the cross rod pair I97; the vertical plate I93 is fixedly connected to the left side of the short vertical rod I92; the left short rod 95 is fixedly connected right above the long vertical rod I94; the upper end of the short vertical rod II 103 is fixedly connected to the lower part of the right end of the cross rod pair II 102; the vertical plate II 104 is fixedly connected to the right side of the short vertical rod II 103; the right short rod 107 is fixedly connected right above the long vertical rod II 105; the oil tank seat pair 98 is fixedly connected to the left part of the cross rod pair I97; two bearing seats of the bearing seat pair I100 are symmetrically and fixedly connected to the left part and the right part of the middle plate 99; two supports of the support pair 101 are symmetrically and fixedly connected to the middle part of the middle plate 99; bottom plate 91 is located directly below middle plate 99.

The near speed reducer transmission group H is composed of a near speed reducer transmission part IH₁And near the transmission part IIH of the speed reducer₂Composition, near the transmission part IH of the reducer₁And near the transmission part IIH of the speed reducer₂The device comprises a reinforcing plate pair 108, a bearing seat pair II 109, a bearing pair 110, a transmission shaft I111, a connecting piece 112, a carbon fiber pipe I113 and a bevel gear III 114, wherein the front and rear rolling bearing inner rings of the bearing pair 110 are fixedly connected to the front and rear ends of the transmission shaft I111 respectively; the outer rings of the front and the rear rolling bearings of the bearing pair 110 are fixedly connected with the inner rings of the front and the rear bearing seats of the bearing seat pair II 109 respectively; the front end and the rear end of the carbon fiber tube I113 are fixedly connected with the inner faces of the front bearing seat and the rear bearing seat of the bearing seat pair II 109 respectively; the connecting piece 112 is fixedly connected to the middle part of the carbon fiber tube I113; the left and right reinforcing plates of the reinforcing plate pair 108 are hinged to the left and right sides of the connecting piece 112; bevel gear III 114 is fixedly connected to the front end of transmission shaft I111.

The near rotor transmission group I is composed of a near rotor transmission part I₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃Near rotor wing transmission part IVI₄Comprising a near-rotor transmission part II₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃Near rotor wing transmission part IVI₄The device is composed of a bevel gear IV 115, a bearing seat III 116, a bearing VI 117, a transmission shaft II 118, a connecting clamp 119, a carbon fiber pipe II 120, a steering engine connecting piece pair 121, a bearing VII 122 and a bevel gear V123, wherein the steering engine connecting piece pair 121 is composed of a left steering engine connecting piece and a right steering engine connecting piece; the inner ring of the bearing VI 117 is fixedly connected with the left end of the transmission shaft II 118, and the outer ring of the bearing VI 117 is fixedly connected with the central hole of the bearing seat III 116; a bevel gear IV 115 is fixedly connected to the left end of a transmission shaft II 118; the right side of the bearing seat III 116 is fixedly connected with the left end of the carbon fiber pipe II 120; the connecting clamp 119 is sleeved on the left part of the carbon fiber pipe II 120; the left steering engine connecting piece and the right steering engine connecting piece of the steering engine connecting piece pair 121 are fixedly connected to the right part of the carbon fiber pipe II 120; and the inner ring of the bearing VII 122 is fixedly connected with the near right end of the transmission shaft II 118.

The working process of the utility model is as follows:

the utility model discloses main power derives from fuel engine to accomplish the stroke control to each rotor variable pitch mechanism through 4 steering engines, the control of paddle pitch angle promptly, and then control unmanned aerial vehicle's flight gesture.

Compared with the prior art, the utility model have following advantage and beneficial effect:

the H-shaped transmission part has a simple structure and works reliably;

2. the response speed is quicker, the control cost and the equipment loss are less, and the safety performance is higher;

3. the effective drug loading is greatly improved, and the long-time flying spraying operation is really realized.

Drawings

FIG. 1 is an overall structure schematic diagram of an H-shaped variable-pitch four-rotor plant protection unmanned aerial vehicle

FIG. 2 is a specific mechanism disassembly diagram of an H-shaped variable pitch quad-rotor plant protection unmanned aerial vehicle

FIG. 3 is a schematic view of the structure of the chassis section A

FIG. 4 shows a nozzle part IB₁Cross-sectional view of

FIG. 5 is a view of an adjustable pitch mechanism IC₁Front view of

FIG. 6 is a view of an adjustable pitch mechanism IC₁Schematic structural diagram of

FIG. 7 is a schematic view of the structure of the propeller shaft 48

FIG. 8 is a schematic view of the supporting seat 38

FIG. 9 is a schematic view of the bottom bracket 36

FIG. 10 is a schematic diagram of the forked link 56

FIG. 11 is a schematic view of the structure of the intermediate link 55

Fig. 12 is a schematic view of the paddle holder fixing base 46

Figure 13 rotor wing mechanism D₁Schematic structural diagram of

Figure 14 is a schematic structural view of keel section E

FIG. 15 is a schematic view of the structure of the reducer section F

FIG. 16 is a schematic view of the structure of the shelf part G

FIG. 17 near the reducer drive section IH₁Schematic structural diagram of

Figure 18 near rotor transmission part ii₁Schematic structural diagram of

FIG. 19 is a schematic view of the structure of the engine part J

Wherein: A. the bottom frame part B, the spray head group C, the adjustable propeller mechanism group D, the rotor wing mechanism group E, the keel part F, the speed reducer part G, the middle frame part H, the near speed reducer transmission group I, the near rotor wing transmission group J, the engine part 1, the controller pair 2, the oil tank 3, the water pump 4, the oil pump 5, the coupling 6, the air guide cover 7, the oil tank 8, the landing pipe pair 9, the bottom transverse pipe pair 10, the bottom longitudinal pipe group 11, the damping sleeve group 12, the rear n-shaped pipe 13, the middle transverse pipe pair 14, the upper transverse pipe pair 15, the fixed seat group 16, the pipe connector group 17, the thin longitudinal pipe group 18, the middle n-shaped pipe 19, the short longitudinal pipe pair 20, the long longitudinal pipe pair 21, the front n-shaped pipe 22, the spray head shell 23, the elastic gasket 24, the air release end cover 25, the sealing ring 26, the left side pipe 27, the hole group 28, the connecting pipe 29, the right side pipe 30, the hose connector 35, bearing I36, bottom support seat 37, bevel gear I38, support seat 39, positioning shaft sleeve 40, bearing II 41, snap ring II 42, positioning end cap 43, slide block 44, positioning end cap group 45, round nut group 46, paddle clamp fixing seat 47, bearing group 48, paddle shaft 49, positioning ring 50, bearing III 51, transmission shaft connecting piece 52, push rod 53, steering gear connecting rod 54, small connecting rod 55, intermediate connecting rod 56, fork connecting rod 57, left connecting rod 58, right connecting rod 59, ring groove I60, boss I61, key groove 62, ring groove II 63, boss II 64, hole I65, hole II 66, boss III 67, hole III 68, through hole I69, through hole II 70, hole IV 71, hole V72, VI 73, hole VII 74, hole VIII 75, boss IV 76, boss V77, pair 78, blade clamp pair 79, small keel pair 80, large keel pair 81, intermediate keel pair 81, rotor blade clamp pair 79, rotor blade clamp pair The bearing comprises a bone pair 82, a middle keel pair 83, a reduction gearbox 84, a bearing seat I85, a bearing IV 86, a reduction gearbox output shaft 87, a bearing V88, a bearing seat II 89, a bevel gear II 90, a reduction gearbox input shaft 91, a bottom plate 92, a short vertical rod I93, a vertical plate I94, a long vertical rod I95, a left short rod 96, a transverse plate pair I97, a transverse rod pair I98, an oil tank seat pair 99, a middle plate 100, a bearing seat pair I101, a bearing seat pair 102, a transverse rod pair II 103, a short vertical rod II 104, a vertical plate II 105, a long vertical rod II 106, a transverse plate pair II 107, a right short rod 108, a reinforcing plate pair 109, a bearing seat pair II 110, a bearing seat pair 111, a transmission shaft I112, a connecting piece 113, a carbon fiber pipe I114, a bevel gear 115, a bevel gear IV 116, a bearing seat VII 117, a transmission shaft II 119, a connecting clamp 120, a carbon fiber pipe II V124 engine 125 bevel gear VI

Detailed Description

The following describes embodiments of the present invention with reference to the accompanying drawings.

As shown in fig. 1 and 2, the utility model discloses constitute its characterized in that by chassis part A, shower nozzle group B, adjustable pitch mechanism group C, rotor mechanism group D, fossil fragments part E, reduction gear part F, well frame part G, nearly reduction gear transmission group H, nearly rotor transmission group I, engine part J, controller to 1, oil tank 2, water pump 3, oil pump 4, shaft coupling 5, kuppe 6, medical kit 7: the two controllers of the controller pair 1 are respectively and fixedly connected to a vertical plate I93 and a vertical plate II 104 of the middle frame part G; the oil tank 2 is fixedly connected below the oil tank seat pair 98 of the middle frame part G; the water pump 3 is fixedly connected to the left end of the bottom plate 91 of the middle frame part G; the oil pump 4 is fixedly connected to the middle part of the bottom plate 91 of the middle frame part G; the air guide sleeve 6 is fixedly connected to the periphery of the keel part E through a rivet; the medicine chest 7 is fixedly connected to the bottom longitudinal pipe group 10 of the underframe part A; the middle plate 99 of the middle frame part G is fixed to the rear n-shaped tube 12, the middle n-shaped tube 18 and the front n-shaped tube 21 of the bottom frame part A, and the middleThe bottom plate 91 of the frame part G is fixedly connected with the upper transverse tube pair 14 of the bottom frame part A; a reduction box 83 in the reducer part F is fixedly connected to the middle part of the middle plate 99 of the middle frame part G, and a bearing seat I84 and a bearing seat II 88 of the reducer part F are fixedly connected with a support seat pair 101 of the middle frame part G; the engine part J consists of an engine 124 and a bevel gear VI 125, the bevel gear VI 125 is fixedly connected to an output shaft of the engine, and the engine part J is fixedly connected to the right end of the bottom plate 91 of the middle frame part G through the engine 124; a bevel gear II 89 in the reducer part F is meshed with a bevel gear VI 125 in the engine part J; near-speed reducer transmission part IH₁Near the transmission part IIH of the speed reducer₂The bearing seat pair II 109 is respectively fixedly connected with the transverse plate pair I96 of the middle frame part G and the upper transverse plate of the transverse plate pair II 106, and the near speed reducer transmission part IH₁Near the transmission part IIH of the speed reducer₂The transmission shaft I111 is fixedly connected with a reduction box output shaft 86 of the speed reducer part F through a coupler 5; near rotor wing transmission part I₁And near rotor wing transmission part II I₂The bearing seat III 116 is fixedly connected with the upper transverse plate of the transverse plate pair I96 of the middle frame part G, and the near rotor wing transmission part II₁And near rotor wing transmission part II I₂The connecting clamp 119 is hinged with the reinforcing plate pair 108 close to the speed reducer transmission group H; near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The bearing seat III 116 is fixedly connected with the upper transverse plate of the middle transverse plate pair II 106 of the middle frame part G, and the near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The connecting clamp 119 is hinged with the reinforcing plate pair 108 of the near speed reducer transmission group H, and the near rotor transmission part II₁And near rotor wing transmission part II I₂Bevel gear IV 115 and near speed reducer transmission part IH₁Bevel gear III 114 mesh, near rotor drive section IIII₃And a near rotor transmission part IVI₄Bevel gear IV 115 and near speed reducer transmission part IIH₂The bevel gear III 114 is meshed; adjustable pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The transmission shaft connecting piece 51 is respectively connected with the near rotor wing transmission part II₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The carbon fiber pipe II 120 is fixedly connected with the near rotor wing transmission part I₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The bearing VII 122 outer ring is respectively connected with the adjustable propeller pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The transmission shaft connecting piece 51 is fixedly connected with the adjustable propeller pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The bevel gears I37 are respectively connected with the near rotor wing transmission part II₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄Bevel gear V123 meshed and pitch-adjustable mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄Steering engine connecting rod 53 respectively with nearly rotor wing transmission part I₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃And a near rotor transmission part IVI₄The steering engine connecting piece pair 121 is fixedly connected; rotor wing mechanism ID₁And a rotor wing mechanism II D₂And a rotor wing mechanism IIID₃And a rotor mechanism IV D₄The blade clamp pair 78 is respectively connected with the adjustable pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The positioning end cover group 44 is fixedly connected; nozzle part IB₁Spray head part IIB₂And a nozzle part IIIB₃And a nozzle part IVB₄Are respectively fixedly connected with the adjustable propeller pitch mechanism IC through the hole group 27₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄Below the bottom support base 36; the small keel pair 79 of the keel part E is fixedly connected with the long upright post I94, the left short post 95, the long upright post II 105 and the right short post 107 of the middle frame part G, and the large keel group 80 and the middle keel pair 81 of the keel part E are connected with the middle of the bottom frame part A6 fixing seats of the fixing seat group 15 are fixedly connected, and a middle keel pair 82 of the keel part E is fixedly connected with a short vertical rod I92 and a short vertical rod II 103 of the middle frame part G.

As shown in fig. 3, the underframe part a is composed of a pair of floor pipes 8, a pair of bottom horizontal pipes 9, a group of bottom longitudinal pipes 10, a group of shock-absorbing sleeves 11, a rear n-shaped pipe 12, a pair of middle horizontal pipes 13, a pair of upper horizontal pipes 14, a group of fixed seats 15, a group of pipe connectors 16, a group of thin longitudinal pipes 17, a middle n-shaped pipe 18, a pair of short longitudinal pipes 19, a pair of long longitudinal pipes 20 and a front n-shaped pipe 21, wherein 2 floor pipes of the pair of floor pipes 8 are fixedly connected with the left and right ends of 2 horizontal pipes of the pair of bottom horizontal pipes 9 respectively; two ends of 4 longitudinal pipes of the bottom longitudinal pipe group 10 are respectively fixedly connected with the inner sides of 2 transverse pipes of the bottom transverse pipe pair 9; the lower ends of the rear n-shaped pipe 12 and the front n-shaped pipe 21 are fixedly connected with the left end and the right end of 2 transverse pipes of the bottom transverse pipe pair 9 respectively; 2 transverse pipes of the middle transverse pipe pair 13 are respectively fixedly connected with the lower part of the rear n-shaped pipe 12 and the front n-shaped pipe 21 close to the transverse inner side; 2 long longitudinal pipes of the long longitudinal pipe pair 20 are respectively fixedly connected with the upper longitudinal inner sides of the rear n-shaped pipe 12 and the front n-shaped pipe 21; the lower ends of the middle n-shaped pipes 18 are fixedly connected with the centers of 2 long longitudinal pipes of the long longitudinal pipe pairs 20 respectively; the 2 transverse pipes of the upper transverse pipe pair 14 are symmetrically and fixedly connected to the middle parts of the 2 long longitudinal pipes of the long longitudinal pipe pair 20; the 2 short longitudinal pipes of the short longitudinal pipe pair 19 are symmetrically and fixedly connected to the middle parts of the 2 transverse pipes of the upper transverse pipe pair 14; 6 fixing seats of the fixing seat group 15 are fixedly connected to the left end and the right end of the upper transverse pipe of the rear n-shaped pipe 12, the middle n-shaped pipe 18 and the front n-shaped pipe 21 respectively; two thin tubes of the 4 thin longitudinal tubes of the thin longitudinal tube group 17 are fixedly connected between the upper transverse tubes of the front n-shaped tube 21 and the middle n-shaped tube 18; the other two thin tubes of the 4 thin longitudinal tubes of the thin longitudinal tube group 17 are fixedly connected between the upper transverse tubes of the rear n-shaped tube 12 and the middle n-shaped tube 18; the 4 pipe connecting pieces of the pipe connecting piece group 16 are respectively and fixedly connected to the middle of the 4 thin longitudinal pipes in the thin longitudinal pipe group 17; 4 shock attenuation sleeves of shock attenuation sleeve group 11 are respectively the rigid coupling in 2 nearly both ends of falling to the ground pipe of the pipe pair 8.

The utility model adopts the I-shaped installation mode of the transmission structure, and has simple and reliable structure; four rotors are adopted, so that the operation is simple and the maneuverability is good; the fuel engine is used as a power device, and the endurance time can reach 40-60 min; a variable pitch structure is adopted to obtain different lift forces by adjusting the pitch angles of the rotors, so that the posture of the unmanned aerial vehicle is controlled; the size of the body is large, and the pesticide amount carried by single operation reaches 23L.

As shown in fig. 4, the nozzle group B is composed of nozzle parts ib₁Spray head part IIB₂And a nozzle part IIIB₃And a nozzle part IVB₄Composition, spray head part IB₁Spray head part IIB₂And a nozzle part IIIB₃And a nozzle part IVB₄The structure of the device is the same, and the device consists of a spray head shell 22, an elastic gasket 23, an air discharge end cover 24, a sealing ring 25, a left side pipe 26, a connecting pipe 28, a right side pipe 29, a hose connecting piece 30, a spray pipe 31, a filter screen 32 and a spray head 33, wherein 4 through holes of a hole group 27 are uniformly distributed on the upper round end surface of the connecting pipe 28; the hose connector 30 is in threaded connection with the upper right tube 29 of the connecting tube 28; the upper end of the spray pipe 31 is in threaded connection with the lower end of the connecting pipe 28; the filter screen 32, the elastic gasket 23, the spray head 33 and the spray head shell 22 are sequentially arranged at the lower part of the spray pipe 31 from top to bottom, and the spray head shell 22 is in threaded connection with the lower end of the spray pipe 31; the sealing ring 25 is arranged at the opening of the left pipe 26 of the spray pipe 31, and the air bleeding end cover 24 is in threaded connection with the left pipe 26 of the spray pipe 31.

At present, plant protection unmanned aerial vehicle shower nozzle mainly has two kinds: pressure nozzles and centrifugal nozzles. The liquid medicine sprayed by the pressure nozzle has strong penetrating power, high speed and small elegant amount; the liquid medicine sprayed by the centrifugal nozzle has good atomization effect. The selection of the spray head is closely related to a plurality of factors such as crop characteristics, liquid medicine types, flight parameters and the like, and the selection is carried out according to actual conditions. The variable pitch plant protection unmanned aerial vehicle designed by the scheme selects the pressure nozzle. The spraying agent of the spray head enters from the inlet of the connecting pipe 28, flows through the spray pipe 31 and the filter screen 32 and is finally sprayed out from the spray head 33.

As shown in fig. 5 to 12, the set C of adjustable pitch mechanisms is composed of adjustable pitch mechanisms ic₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄Formed, adjustable pitch mechanism IC₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄The structure of the bearing is the same, and the bearing is composed of a snap ring I34, a bearing I35, a bottom support seat 36, a bevel gear I37, a support seat 38, a positioning shaft sleeve 39 and a bearing II40. The device comprises a clamping ring II 41, a positioning end cover 42, a sliding block 43, a positioning end cover group 44, a round nut group 45, a paddle clamp fixing seat 46, a bearing pair 47, a paddle shaft 48, a positioning ring 49, a bearing III 50, a transmission shaft connecting piece 51, a push rod 52, a steering engine connecting rod 53, a small connecting rod 54, a middle connecting rod 55, a fork-shaped connecting rod 56, a left connecting rod 57 and a right connecting rod 58, wherein the paddle shaft 48 is provided with a ring groove I59, a boss I60, a key groove 61 and a ring groove II 62, the supporting seat 38 is provided with a boss II 63, a hole I64 and a hole II 65, the bottom supporting seat 36 is provided with a boss III 66 and a hole III 67, the left side and the right side of the fork-shaped connecting rod 56 are provided with a through hole I68 and a through hole II 69, the middle connecting rod 55 is provided with a hole IV (70), a hole V71, a hole; a snap ring I34, a bearing I35, a bevel gear I37, a positioning shaft sleeve 39, a bearing II 40, a snap ring II 41, a positioning end cover 42, a slide block 43, a bearing III 50, a positioning ring 49, a forked connecting rod 56 and a paddle clamp fixing seat 46 are sequentially arranged on a paddle shaft 48 from bottom to top, wherein the snap ring I34 is fixedly connected in a ring groove I59, the inner ring of the bearing I35 is fixedly connected with the paddle shaft 48, the upper end of the bearing I35 is limited by a boss I60, the bevel gear I37 is connected with a key groove 61 on the paddle shaft 48, the positioning shaft sleeve 39 is fixedly connected with the upper end surface of the bevel gear I37, the inner ring of the bearing II 40 is fixedly connected with the paddle shaft 48, the lower end surface of the bearing II 40 is limited by the positioning shaft sleeve 39, the snap ring II 41 is fixedly connected in a ring groove II 62, the positioning end cover 42 is movably connected with the paddle shaft 48, the inner ring of the bearing III 50 is fixedly, the paddle clamp fixing seat 46 is fixedly connected to the top of the paddle shaft 48, the positioning end cover group 44, the bearing group 47 and the round nut group 45 are sequentially arranged from inside to outside and are symmetrically arranged about the a-a longitudinal section of the paddle shaft 48, the positioning end cover group 44 is fixedly connected with a boss V76 of the paddle clamp fixing seat 46, two bearing inner rings of the bearing pair 47 are fixedly connected with a boss IV 75 of the paddle clamp fixing seat 46, the round nut group 45 is in threaded connection with the paddle clamp fixing seat 46, a hole III 67 of the bottom support seat 36 is fixedly connected with an outer ring of the bearing I35, the upper end of the bearing I35 is limited by a boss III 66 of the bottom support seat 36, the support seat 38 is fixedly connected above the bottom support seat 36, an outer ring of the bearing II 40 is fixedly connected with a hole I64 of the support seat 38, and the lower end of the bearing II 40 is fixedly connected with a boss II63, limiting, fixedly connecting the left end of the transmission shaft connecting piece 51 to the right ends of the bottom supporting seat 36 and the supporting seat 38, hinging the small connecting rod 54 with the supporting seat 38 through a hole II 65 of the supporting seat 38, hinging the middle connecting rod 55 with the small connecting rod 54 through a hole V72 and a hole VI 73, hinging the middle connecting rod 55 with the sliding block 43 through a hole VI 70 and a hole V71, hinging the left connecting rod 57 with a through hole I68 of the fork-shaped connecting rod 56, and hinging the right connecting rod 58 with a through hole II 69 of the fork-shaped connecting rod 56.

The specific pitch control process is as follows: the steering wheel drives the steering wheel connecting rod and rotates along the clockwise, and steering wheel connecting rod pulling push rod level is moved to the right, and the rocking arm is along its fixed axis anticlockwise rotation, and the slider moves down, and oar clamp connecting rod has been arranged to oar axle both sides, and the oar presss from both sides the connecting rod and links to each other with the oar clamp, and the oar clamp links to each other with the paddle, and the motion is pressed from both sides connecting rod and oar through slider, oar and is pressed from both sides the transmission to the paddle, and the paddle rotates along oar. Compared with a traditional electric multi-rotor unmanned aerial vehicle, the unmanned aerial vehicle with the variable pitch structure has the advantages that the control quantity is introduced through the variable rotating speed, the response speed is quicker, the control cost and the equipment loss are less, and the safety performance is higher.

As shown in fig. 13, said rotor assembly D is composed of rotor mechanisms id₁And a rotor wing mechanism II D₂And a rotor wing mechanism IIID₃And a rotor wing mechanism IV D₄Composition, rotor wing mechanism id₁And a rotor wing mechanism II D₂And a rotor wing mechanism IIID₃And a rotor wing mechanism IV D₄The structure of (1) is the same, and it is constituteed by rotor pair 77, paddle clamp pair 78, and rotor pair 77 comprises left rotor, dextrorotation wing, and paddle clamp pair 78 comprises left paddle clamp, right paddle clamp, and left rotor presss from both sides the rigid coupling with left paddle, and right rotor presss from both sides the rigid coupling with right paddle, and the two bilateral symmetry sets up.

Analysis on the theory of propeller tension shows that the lift of the rotor wing increases along with the increase of the propeller pitch (attack angle) in the attack angle range without stalling. Consequently to variable pitch plant protection unmanned aerial vehicle, the pitch of the different rotors of accessible adjustment reaches the purpose that changes each rotor lift of unmanned aerial vehicle in order to control its gesture.

As shown in fig. 14, the keel part E is composed of a small keel pair 79, a large keel pair 80, a middle keel pair 81 and a middle keel pair 82, and the small keel is composed of a small keel pairTwo small keels of the pair 79, two medium keels of the medium keel pair 82, two large keels of the large keel pair 80 and two middle keels of the middle keel pair 81 are sequentially arranged from outside to inside and are symmetrically arranged relative to the cross section b-b; the keels of the large keel pair 80 and the middle keel pair 81 are respectively composed of an upper half and a lower half; the radius of the inner circle of the center of each keel of the small keel pair 79 is 120 mm; the radius of the inner circle of the center of the keel of the large keel assembly 71 is 196 mm; the radius of the inner circle of the center of the keel of the middle keel pair 81 is 245 mm; the radius of the inner circle of the center of the keel of the middle keel pair 82 is 158 mm; two small keel spacing L of small keel pair 79₃Is 1100-1300 mm; two middle keel spacing L of middle keel pair 82₂800-; distance L between two large keels of large keel pair 80₁Is 400-500 mm.

As shown in fig. 15 to 19, the reducer part F is composed of a reduction gearbox 83, a bearing seat i 84, a bearing iv 85, a reduction gearbox output shaft 86, a bearing v 87, a bearing seat ii 88, a bevel gear ii 89 and a reduction gearbox input shaft 90, wherein an inner ring of the bearing iv 85 is in interference connection with the left end of the reduction gearbox output shaft 86, and an outer ring of the bearing iv 85 is fixedly connected with a central hole of the bearing seat i 84, so that the axial and radial positioning of the bearing iv 85 is realized; the inner ring of the bearing V87 is in interference connection with the near right end of the output shaft 86 of the reduction box, and the outer ring of the bearing V87 is fixedly connected with the center hole of the bearing seat II 88, so that the axial and radial positioning of the bearing V87 is realized; the bevel gear II 89 is in key connection with the input shaft 90 of the reduction gearbox, so that circumferential positioning of the bevel gear II 89 is realized.

The near speed reducer transmission group H is composed of a near speed reducer transmission part IH₁And near the transmission part IIH of the speed reducer₂Composition, near the transmission part IH of the reducer₁And near the transmission part IIH of the speed reducer₂The device comprises a reinforcing plate pair 108, a bearing seat pair II 109, a bearing pair 110, a transmission shaft I111, a connecting piece 112, a carbon fiber pipe I113 and a bevel gear III 114, wherein the front and rear rolling bearing inner rings of the bearing pair 110 are fixedly connected to the front and rear ends of the transmission shaft I111 respectively; the outer rings of the front and the rear rolling bearings of the bearing pair 110 are fixedly connected with the inner rings of the front and the rear bearing seats of the bearing seat pair II 109 respectively, so that the axial and radial positioning of the bearing pair 110 is realized; carbon fiberThe front end and the rear end of the vascular tube I113 are fixedly connected with the inner faces of the front bearing seat and the rear bearing seat of the bearing seat pair II 109 respectively; the connecting piece 112 is fixedly connected to the middle part of the carbon fiber tube I113; the left and right reinforcing plates of the reinforcing plate pair 108 are hinged to the left and right sides of the connecting piece 112; bevel gear III 114 is fixedly connected to the front end of transmission shaft I111. The near rotor transmission group I is composed of a near rotor transmission part I₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃Near rotor wing transmission part IVI₄Comprising a near-rotor transmission part II₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃Near rotor wing transmission part IVI₄The device is composed of a bevel gear IV 115, a bearing seat III 116, a bearing VI 117, a transmission shaft II 118, a connecting clamp 119, a carbon fiber pipe II 120, a steering engine connecting piece pair 121, a bearing VII 122 and a bevel gear V123, wherein the steering engine connecting piece pair 121 is composed of a left steering engine connecting piece and a right steering engine connecting piece; the inner ring of the bearing VI 117 is fixedly connected with the near left end of the transmission shaft II 118, and the outer ring of the bearing VI 117 is fixedly connected with the central hole of the bearing seat III 116, so that the axial and radial positioning of the bearing VI 117 is realized; a bevel gear IV 115 is fixedly connected to the left end of a transmission shaft II 118; the right side of the bearing seat III 116 is fixedly connected with the left end of the carbon fiber pipe II 120; the connecting clamp 119 is sleeved on the left part of the carbon fiber pipe II 120; the left steering engine connecting piece and the right steering engine connecting piece of the steering engine connecting piece pair 121 are fixedly connected to the right part of the carbon fiber pipe II 120; an inner ring of the bearing VII 122 is fixedly connected with the near right end of the transmission shaft II 118, so that the bearing VII 122 is axially and radially positioned, and the bevel gear V123 is fixedly connected with the right end of the transmission shaft II 118. The engine part J consists of an engine 124 and a bevel gear VI 125, the bevel gear VI 125 is fixedly connected on an output shaft of the engine, and the engine part J is fixedly connected at the right end of the bottom plate 91 of the middle frame part G through the engine 124.

The power transmission is as follows: near-speed reducer transmission part IH₁Near the transmission part IIH of the speed reducer₂The transmission shaft I111 is fixedly connected with the output shaft 86 of the reduction gearbox through the coupler 5, and the power output by the output shaft 86 of the reduction gearbox is distributed to the transmission part IH of the near reduction gearbox through the transmission bevel gear VI 125 and the bevel gear II 89 of the first-stage bevel gear₁Near speed reducer transmission part IIH₂(ii) a Near-speed reducer transmission part IH₁Near speed reducer transmission part IIH₂The power output by the transmission shaft I111 is transmitted to the near rotor wing transmission part II through a second-stage bevel gear transmission bevel gear III 114 and a bevel gear IV 115₁Near rotor wing transmission part II I₂Near rotor wing transmission part IIII₃Near rotor wing transmission part IVI₄(ii) a The power output by a transmission shaft II 118 in the near rotor transmission part I is finally transmitted to an adjustable pitch mechanism IC through a third-stage bevel gear transmission bevel gear V123 and a bevel gear I37₁Adjustable propeller pitch mechanism II C₂III C of adjustable propeller pitch mechanism₃And an adjustable pitch mechanism IV C₄To effect operation of the rotor.

Claims

1. The utility model provides a four rotor plant protection unmanned aerial vehicle of H type feather, by chassis part (A), shower nozzle group (B), adjustable pitch mechanism group (C), rotor mechanism group (D), fossil fragments part (E), reduction gear part (F), well frame part (G), nearly reduction gear transmission group (H), nearly rotor transmission group (I), engine part (J), the controller is to (1), oil tank (2), water pump (3), oil pump (4), shaft coupling (5), kuppe (6), medical kit (7) are constituteed, its characterized in that: two controllers of the controller pair (1) are respectively and fixedly connected to a vertical plate I (93) and a vertical plate II (104) of the middle frame part (G); the oil tank (2) is fixedly connected below the oil tank seat pair (98) of the middle frame part (G); the water pump (3) is fixedly connected to the left end of the bottom plate (91) of the middle frame part (G); the oil pump (4) is fixedly connected to the middle part of the bottom plate (91) of the middle frame part (G); the air guide sleeve (6) is fixedly connected to the periphery of the keel part (E) through a rivet; the medicine chest (7) is fixedly connected to the bottom longitudinal pipe group (10) of the bottom frame part (A); the middle plate (99) of the middle frame part (G) is fixedly connected to the rear n-shaped pipe (12), the middle n-shaped pipe (18) and the front n-shaped pipe (21) of the bottom frame part (A), and the bottom plate (91) of the middle frame part (G) is fixedly connected with the upper transverse pipe pair (14) of the bottom frame part (A); a reduction box (83) in the reducer part (F) is fixedly connected to the middle part of a middle plate (99) of the middle frame part (G), and a bearing seat I (84) and a bearing seat II (88) of the reducer part (F) are fixedly connected with a support seat pair (101) of the middle frame part (G); the engine part (J) consists of an engine (124) and a bevel gear VI (125), the bevel gear VI (125) is fixedly connected on an output shaft of the engine, and the engine part (J) is fixedly connected on the middle frame part (G) through the engine (124)The right end of the bottom plate (91); a bevel gear II (89) in the reducer part (F) is meshed with a bevel gear VI (125) in the engine part (J); near speed reducer transmission part I (H) in near speed reducer transmission set (H)₁) Near speed reducer transmission part II (H)₂) The bearing seat pair II (109) is respectively fixedly connected with the transverse plate pair I (96) of the middle frame part (G) and the upper transverse plate of the transverse plate pair II (106), and the near speed reducer transmission part I (H) of the near speed reducer transmission group (H)₁) Near speed reducer transmission part II (H)₂) The transmission shaft I (111) is fixedly connected with a reduction box output shaft (86) of the reducer part (F) through a coupler (5); near rotor transmission part I (I) in near rotor transmission group I₁) And a near rotor transmission part II (I)₂) The bearing seat III (116) is fixedly connected with the upper transverse plate of the transverse plate pair I (96) of the middle frame part (G), and the near rotor wing transmission part I (I) in the near rotor wing transmission group I₁) And a near rotor transmission part II (I)₂) The connecting clamp (119) is hinged with a reinforcing plate pair (108) close to the speed reducer transmission group (H); near rotor transmission part III (I) in near rotor transmission group (I)₃) And a near rotor transmission part IV (I)₄) The bearing seat III (116) is fixedly connected with the upper transverse plate of the transverse plate pair II (106) of the middle frame part (G), and the near rotor wing transmission part III (I) in the near rotor wing transmission group (I)₃) And a near rotor transmission part IV (I)₄) The connecting clamp (119) is hinged with a reinforcing plate pair (108) of a near speed reducer transmission group (H), and a near rotor transmission part I (I) in a near rotor transmission group I₁) And a near rotor transmission part II (I)₂) The bevel gear IV (115) and a near speed reducer transmission part I (H) in a near speed reducer transmission group (H)₁) Is meshed with a bevel gear III (114), and a near rotor transmission part III (I) in a near rotor transmission group (I)₃) And a near rotor transmission part IV (I)₄) The bevel gear IV (115) and a near speed reducer transmission part II (H) in a near speed reducer transmission group (H)₂) Is meshed with a bevel gear III (114); pitch adjustable mechanism I (C) in pitch adjustable mechanism group (C)₁) Adjustable pitch mechanism II (C)₂) And a blade pitch adjustable mechanism III (C)₃) And an adjustable pitch mechanism IV (C)₄) The transmission shaft connecting pieces (51) are respectively connected with a near rotor transmission part I (I) in a near rotor transmission group I₁) Near rotor wing transmission part II(Ⅰ₂) Near rotor wing transmission part III (I)₃) And a near rotor transmission part IV (I)₄) The carbon fiber pipe II (120) is fixedly connected, and the near rotor wing transmission part I (I) in the near rotor wing transmission group I₁) Near rotor wing transmission part II (I)₂) Near rotor wing transmission part III (I)₃) And a near rotor transmission part IV (I)₄) The outer ring of the bearing VII (122) is respectively connected with an adjustable propeller pitch mechanism I (C) in an adjustable propeller pitch mechanism group (C)₁) Adjustable pitch mechanism II (C)₂) And a blade pitch adjustable mechanism III (C)₃) And an adjustable pitch mechanism IV (C)₄) The transmission shaft connecting piece (51) is fixedly connected, and a pitch-adjustable mechanism I (C) in the pitch-adjustable mechanism group (C)₁) Adjustable pitch mechanism II (C)₂) And a blade pitch adjustable mechanism III (C)₃) And an adjustable pitch mechanism IV (C)₄) The bevel gear I (37) is respectively connected with a near rotor transmission part I (I) in a near rotor transmission group I₁) Near rotor wing transmission part II (I)₂) Near rotor wing transmission part III (I)₃) And a near rotor transmission part IV (I)₄) The bevel gears V (123) are meshed, and a pitch-adjustable mechanism I (C) in a pitch-adjustable mechanism group (C)₁) Adjustable pitch mechanism II (C)₂) And a blade pitch adjustable mechanism III (C)₃) And an adjustable pitch mechanism IV (C)₄) The steering engine connecting rod (53) is respectively connected with a near rotor wing transmission part I (I) in a near rotor wing transmission group I₁) Near rotor wing transmission part II (I)₂) Near rotor wing transmission part III (I)₃) And a near rotor transmission part IV (I)₄) The steering engine connecting piece pair (121) is fixedly connected; rotor mechanism I (D) in rotor mechanism set (D)₁) Rotor wing mechanism II (D)₂) And a rotor wing mechanism III (D)₃) And rotor wing mechanism IV (D)₄) The blade clamp pair (78) is respectively connected with a pitch-adjustable mechanism I (C) in a pitch-adjustable mechanism group (C)₁) Adjustable pitch mechanism II (C)₂) And a blade pitch adjustable mechanism III (C)₃) And an adjustable pitch mechanism IV (C)₄) The positioning end cover group (44) is fixedly connected; spray head part I (B) in spray head group (B)₁) And a nozzle part II (B)₂) And a head part III (B)₃) And a nozzle part IV (B)₄) Via hole groups (27) are respectively fixedly connected with adjustable propellers in the adjustable propeller pitch mechanism group (C)Distance mechanism I (C)₁) Adjustable pitch mechanism II (C)₂) And a blade pitch adjustable mechanism III (C)₃) And an adjustable pitch mechanism IV (C)₄) Below the bottom support base (36); a small keel pair (79) of a keel part (E) is fixedly connected with a long vertical rod I (94), a left short rod (95), a long vertical rod II (105) and a right short rod (107) of a middle frame part (G), a large keel pair (80) and a middle keel pair (81) of the keel part (E) are fixedly connected with 6 fixing seats of a fixing seat group (15) in an underframe part (A), and a middle keel pair (82) of the keel part (E) is fixedly connected with a short vertical rod I (92) and a short vertical rod II (103) of the middle frame part (G).

2. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the chassis part (A) consists of a floor pipe pair (8), a bottom transverse pipe pair (9), a bottom longitudinal pipe group (10), a damping sleeve group (11), a rear n-shaped pipe (12), a middle transverse pipe pair (13), an upper transverse pipe pair (14), a fixing seat group (15), a pipe connecting group (16), a thin longitudinal pipe group (17), a middle n-shaped pipe (18), a short longitudinal pipe pair (19), a long longitudinal pipe pair (20) and a front n-shaped pipe (21), wherein 2 floor pipes of the floor pipe pair (8) are fixedly connected with the left end and the right end of 2 transverse pipes of the bottom transverse pipe pair (9) respectively; two ends of 4 longitudinal pipes of the bottom longitudinal pipe group (10) are respectively fixedly connected with the inner sides of 2 transverse pipes of the bottom transverse pipe pair (9); the lower ends of the rear n-shaped pipe (12) and the front n-shaped pipe (21) are fixedly connected with the left end and the right end of 2 transverse pipes of the bottom transverse pipe pair (9) respectively; 2 transverse pipes of the middle transverse pipe pair (13) are respectively fixedly connected with the rear n-shaped pipe (12) and the front n-shaped pipe (21) close to the lower part of the transverse inner side; 2 long longitudinal pipes of the long longitudinal pipe pair (20) are respectively fixedly connected with the inner sides of the rear n-shaped pipe (12) and the front n-shaped pipe (21) close to the upper part in the longitudinal direction; the lower ends of the middle n-shaped pipes (18) are fixedly connected with the centers of 2 long longitudinal pipes of the long longitudinal pipe pairs (20) respectively; 2 transverse pipes of the upper transverse pipe pair (14) are symmetrically and fixedly connected to the middle parts of 2 long longitudinal pipes of the long longitudinal pipe pair (20); 2 short longitudinal pipes of the short longitudinal pipe pair (19) are symmetrically and fixedly connected to the middle parts of 2 transverse pipes of the upper transverse pipe pair (14); 6 fixing seats of the fixing seat group (15) are fixedly connected to the left end and the right end of the upper transverse pipe of the rear n-shaped pipe (12), the middle n-shaped pipe (18) and the front n-shaped pipe (21) respectively; two thin tubes of 4 thin longitudinal tubes of the thin longitudinal tube group (17) are fixedly connected between the upper transverse tubes of the front n-shaped tube (21) and the middle n-shaped tube (18); the other two thin tubes of the 4 thin longitudinal tubes of the thin longitudinal tube group (17) are fixedly connected between the upper transverse tubes of the rear n-shaped tube (12) and the middle n-shaped tube (18); the 4 pipe connecting pieces of the pipe connecting piece group (16) are respectively and fixedly connected to the middles of the 4 thin longitudinal pipes in the thin longitudinal pipe group (17); 4 damping sleeves of the damping sleeve group (11) are respectively and fixedly connected with the two ends of 2 landing pipes of the landing pipe pair (8).

3. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the spray head group (B) consists of a spray head part I (B)₁) And a nozzle part II (B)₂) And a head part III (B)₃) And a nozzle part IV (B)₄) Composition, spray head part I (B)₁) And a nozzle part II (B)₂) And a head part III (B)₃) And a nozzle part IV (B)₄) The structure of the device is the same, and the device consists of a spray head shell (22), an elastic gasket (23), an air-bleeding end cover (24), a sealing ring (25), a left side pipe (26), a connecting pipe (28), a right side pipe (29), a hose connecting piece (30), a spray pipe (31), a filter screen (32) and a spray head (33), wherein 4 through holes of a hole group (27) are uniformly distributed on the upper round end surface of the connecting pipe (28); the hose connecting piece (30) is in threaded connection with the upper right pipe (29) of the connecting pipe (28); the upper end of the spray pipe (31) is in threaded connection with the lower end of the connecting pipe (28); the filter screen (32), the elastic gasket (23), the spray head (33) and the spray head shell (22) are sequentially arranged at the lower part of the spray pipe (31) from top to bottom, and the spray head shell (22) is in threaded connection with the lower end of the spray pipe (31); the sealing ring (25) is arranged at the opening of the left side pipe (26) of the spray pipe (31), and the air discharge end cover (24) is in threaded connection with the left side pipe (26) of the spray pipe (31).

4. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the adjustable propeller pitch mechanism group (C) is composed of an adjustable propeller pitch mechanism I (C)₁) Adjustable pitch mechanism II (C)₂) And a blade pitch adjustable mechanism III (C)₃) And an adjustable pitch mechanism IV (C)₄) Composed of a pitch-adjustable mechanism I (C)₁) Adjustable pitch mechanism II (C)₂) And a blade pitch adjustable mechanism III (C)₃) And an adjustable pitch mechanism IV (C)₄) The structure of the bearing is the same, and the bearing is composed of a snap ring I (34), a bearing I (35), a bottom support seat (36), a bevel gear I (37),Supporting seat (38), location axle sleeve (39), bearing II (40), snap ring II (41), location end cover (42), slider (43), location end cover group (44), round nut group (45), oar clamp fixed seat (46), bearing group (47), oar axle (48), holding ring (49), bearing III (50), transmission shaft connecting piece (51), push rod (52), steering wheel connecting rod (53), little connecting rod (54), intermediate connecting rod (55), Y-shaped connecting rod (56), left side connecting rod (57), right side connecting rod (58) are constituteed, wherein be equipped with annular I (59) on oar axle (48), boss I (60), keyway (61), annular II (62), supporting seat (38) are equipped with boss II (63), hole I (64), hole II (65), bottom supporting seat (36) are equipped with boss III (66), hole III (67), Y-shaped connecting rod (56) left and right sides are equipped with through-hole I (68), A through hole II (69), a middle connecting rod (55) is provided with a hole IV (70), a hole V (71), a hole VI (72), a hole VII (73) and a hole VIII (74), and the paddle clamp fixing seat (46) is provided with a boss IV (75) and a boss V (76); the bearing comprises a snap ring I (34), a bearing I (35), a bevel gear I (37), a positioning shaft sleeve (39), a bearing II (40), a snap ring II (41), a positioning end cover (42), a sliding block (43), a bearing III (50), a positioning ring (49), a forked connecting rod (56) and a paddle clamping fixing seat (46) which are sequentially arranged on a paddle shaft (48) from bottom to top, wherein the snap ring I (34) is fixedly connected in a ring groove I (59), an inner ring of the bearing I (35) is fixedly connected with the paddle shaft (48), the upper end of the bearing I (35) is limited by a boss I (60), the bevel gear I (37) is in key connection with a key groove (61) on the paddle shaft (48), the positioning shaft sleeve (39) is fixedly connected on the upper end face of the bevel gear I (37), the inner ring of the bearing II (40) is fixedly connected with the paddle shaft (48), the lower end face of the bearing II (40) is limited by the positioning shaft, the positioning end cover (42) is movably connected with the paddle shaft (48), the inner ring of the bearing III (50) is fixedly connected with the paddle shaft (48), the positioning ring (49) is movably connected with the paddle shaft (48), the sliding block (43) is in transition fit with the bearing III (50), the forked connecting rod (56) is movably connected with the paddle shaft (48), the paddle clamp fixing seat (46) is fixedly connected to the top of the paddle shaft (48), the positioning end cover group (44), the bearing group (47) and the round nut group (45) are sequentially arranged on the paddle clamp fixing seat (46) from inside to outside, and the bearing group is symmetrically arranged about the a-a longitudinal section of the paddle shaft (48), the positioning end cover group (44) is fixedly connected with a boss V (76) of the paddle clamp fixing seat (46), two bearing inner rings of the bearing group (47) are fixedly connected with a boss IV (75) of the paddle clamp fixing seat (46), the round nut group (45) is in threaded connection with the paddle clamp fixing seat (46), and a hole of the bottom supporting seat (36) is formed.III (67) is fixedly connected with the outer ring of the bearing I (35), the upper end of the bearing I (35) is limited by a boss III (66) of a bottom supporting seat (36), a supporting seat (38) is fixedly connected above the bottom supporting seat (36), the outer ring of the bearing II (40) is fixedly connected with a hole I (64) of the supporting seat (38), the lower end of the bearing II (40) is limited by a boss II (63) of the supporting seat (38), the left end of a transmission shaft connecting piece (51) is fixedly connected with the bottom supporting seat (36) and the right end of the supporting seat (38), a small connecting rod (54) is hinged with the supporting seat (38) through a hole II (65) of the supporting seat (38), an intermediate connecting rod (55) is hinged with the small connecting rod (54) through a hole VI (72) and a hole VII (73), an intermediate connecting rod (55) is hinged with a sliding block (43) through a hole IV (70) and a hole V (71), a left connecting rod (57) is hinged, the right connecting rod (58) is hinged with a through hole II (69) of the fork-shaped connecting rod (56).

5. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the rotor wing mechanism group (D) is composed of a rotor wing mechanism I (D)₁) Rotor wing mechanism II (D)₂) And a rotor wing mechanism III (D)₃) Rotor wing mechanism IV (D)₄) Component, rotor wing mechanism I (D)₁) Rotor wing mechanism II (D)₂) And a rotor wing mechanism III (D)₃) Rotor wing mechanism IV (D)₄) The structure of (1) is the same, presss from both sides pair (78) by rotor (77), paddle and constitutes, and rotor (77) are pressed from both sides by left rotor, dextrorotation wing and constitute, and the paddle presss from both sides pair (78) and presss from both sides by left paddle, right paddle and constitutes, and left rotor presss from both sides the rigid coupling with left paddle, and right rotor presss from both sides the rigid coupling with right paddle, and the bilateral symmetry sets up for the two.

6. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the keel part (E) consists of a small keel pair (79), a large keel pair (80), a middle keel pair (81) and a middle keel pair (82), wherein two small keels of the small keel pair (79), two middle keels of the middle keel pair (82), two large keels of the large keel pair (80) and two middle keels of the middle keel pair (81) are sequentially arranged from outside to inside and are symmetrically arranged relative to the cross section b-b; keels of the large keel pair (80) and the middle keel pair (81) are composed of an upper half and a lower half; keel center of small keel pair (79)The radius of the inner circle is 120 mm; the radius of the inner circle of the keel center of the large keel pair (80) is 196 mm; the radius of the inner circle of the keel center of the middle keel pair (81) is 245 mm; the radius of the inner circle of the center of the keel of the middle keel pair (82) is 158 mm; distance L between two small keels of small keel pair (79)₃Is 1100-1300 mm; distance L between two middle keels of middle keel pair (82)₂800-; distance L between two large keels of large keel pair (80)₁Is 400-500 mm.

7. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the reducer part (F) consists of a reduction gearbox (83), a bearing seat I (84), a bearing IV (85), a reduction gearbox output shaft (86), a bearing V (87), a bearing seat II (88), a bevel gear II (89) and a reduction gearbox input shaft (90), wherein the inner ring of the bearing IV (85) is in interference connection with the left end of the reduction gearbox output shaft (86), and the outer ring of the bearing IV (85) is fixedly connected with the central hole of the bearing seat I (84); the inner ring of the bearing V (87) is in interference connection with the near right end of the output shaft (86) of the reduction box, and the outer ring of the bearing V (87) is fixedly connected with the central hole of the bearing seat II (88); and the bevel gear II (89) is in key connection with the input shaft (90) of the reduction gearbox.

8. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the middle frame part (G) is composed of a bottom plate (91), a short upright rod I (92), an upright plate I (93), a long upright rod I (94), a left short rod (95), a transverse plate pair I (96), a transverse rod pair I (97), an oil tank seat pair (98), a middle plate (99), a bearing seat pair I (100), a support pair (101), a transverse rod pair II (102), a short upright rod II (103), an upright plate II (104), a long upright rod II (105), a transverse plate pair II (106) and a right short rod (107), wherein the long upright rod I (94), the transverse plate pair I (96), the short upright rod I (92), the transverse rod pair I (97), the middle plate (99), the transverse rod pair II (102), the short upright rod II (103), the transverse plate pair II (106) and the long upright rod II (105) are sequentially arranged and fixedly connected from left to right, the transverse rod I (94), the transverse plate pair I (96), the short upright rod I (92), the transverse rod pair I (97) and, The short vertical rods II (103), the transverse plate pairs II (106) and the long vertical rods II (105) are symmetrically arranged about the c-c section of the middle plate (99); the upper end of the short vertical rod I (92) is fixedly connected below the left end of the cross rod pair I (97); the vertical plate I (93) is fixedly connected to the left surface of the short vertical rod I (92); the left short rod (95) is fixedly connected right above the long vertical rod I (94); the upper end of the short vertical rod II (103) is fixedly connected below the right end of the cross rod pair II (102); the vertical plate II (104) is fixedly connected to the right side of the short vertical rod II (103); the right short rod (107) is fixedly connected right above the long vertical rod II (105); the oil tank seat pair (98) is fixedly connected to the left part of the cross rod pair I (97); two bearing seats of the bearing seat pair I (100) are symmetrically and fixedly connected to the left part and the right part of the middle plate (99); two supports of the support pair (101) are symmetrically and fixedly connected to the middle part of the middle plate (99); the bottom plate (91) is located right below the middle plate (99).

9. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the near speed reducer transmission group (H) is composed of a near speed reducer transmission part I (H)₁) And a near reducer transmission part II (H)₂) Composition, near the transmission part I (H) of the reducer₁) And a near reducer transmission part II (H)₂) The device is composed of a reinforcing plate pair (108), a bearing seat pair II (109), a bearing pair (110), a transmission shaft I (111), a connecting piece (112), a carbon fiber pipe I (113) and a bevel gear III (114), wherein the inner rings of a front rolling bearing and a rear rolling bearing of the bearing pair (110) are fixedly connected to the front end and the rear end of the transmission shaft I (111) respectively; the outer rings of the front and the rear rolling bearings of the bearing pair (110) are fixedly connected with the inner rings of the front and the rear bearing seats of the bearing seat pair II (109) respectively; the front end and the rear end of the carbon fiber pipe I (113) are fixedly connected with the inner faces of the front bearing seat and the rear bearing seat of the bearing seat pair II (109) respectively; the connecting piece (112) is fixedly connected to the middle part of the carbon fiber pipe I (113); the left reinforcing plate and the right reinforcing plate of the reinforcing plate pair (108) are hinged to the left side and the right side of the connecting piece (112); the bevel gear III (114) is fixedly connected to the front end of the transmission shaft I (111).

10. An H-type variable pitch quad-rotor plant protection drone according to claim 1, wherein: the near rotor transmission group (I) is composed of a near rotor transmission part I (I)₁) Near rotor wing transmission part II (I)₂) Near rotor wing transmission part III (I)₃) Near rotor wing transmission part IV (I)₄) Comprising a near-rotor transmission part I (I)₁) Near rotor wing transmission part II (I)₂) Near rotor transmissionPart III (I)₃) Near rotor wing transmission part IV (I)₄) The device is composed of a bevel gear IV (115), a bearing seat III (116), a bearing VI (117), a transmission shaft II (118), a connecting clamp (119), a carbon fiber tube II (120), a steering engine connecting piece pair (121), a bearing VII (122) and a bevel gear V (123), wherein the steering engine connecting piece pair (121) is composed of a left steering engine connecting piece and a right steering engine connecting piece; the inner ring of the bearing VI (117) is fixedly connected with the left end of the transmission shaft II (118), and the outer ring of the bearing VI (117) is fixedly connected with the central hole of the bearing seat III (116); a bevel gear IV (115) is fixedly connected to the left end of a transmission shaft II (118); the right side of the bearing seat III (116) is fixedly connected with the left end of the carbon fiber pipe II (120); the connecting clamp (119) is sleeved on the left part of the carbon fiber pipe II (120); the left steering engine connecting piece and the right steering engine connecting piece of the steering engine connecting piece pair (121) are fixedly connected to the right part of the carbon fiber pipe II (120); the inner ring of the bearing VII (122) is fixedly connected with the near right end of the transmission shaft II (118).