WO2018150748A1

WO2018150748A1 - Agricultural multicopter

Info

Publication number: WO2018150748A1
Application number: PCT/JP2017/047053
Authority: WO
Inventors: 一平山地; 一洋桝谷; 智也辻野; 敏彰高木; 和也橋本; 大野　貴章
Original assignee: 株式会社クボタ
Priority date: 2017-02-17
Filing date: 2017-12-27
Publication date: 2018-08-23
Also published as: CN110248867B; CN110248867A

Abstract

Provided is an agricultural multicopter in which legs (skids) for supporting a body can be reinforced by using a supporting structure for work devices, such as tanks. This agricultural multicopter comprises: a body; a plurality of arms which are mounted to the body; a rotor which is mounted to the arms and provides lift; a skid which supports the body on the ground; an attaching portion which is disposed below the body; and a work device which is attached to the attaching portion. The body has a first edge located on one side and a second edge located on the opposite side from the first edge. The skid has a first leg portion disposed on the first edge side and a second leg portion disposed on the second edge side. The attaching portion has a connection member which supports the work device and connects the first leg portion and the second leg portion.

Description

Agricultural multicopter

The present invention relates to an agricultural multicopter.

In recent years, multicopters that can fly unmanned by a plurality of rotor blades have been widely used, and attempts have been made to use multicopters for agriculture.
Patent Document 1 discloses a multicopter capable of loading a tank. The multicopter includes a machine frame main body, legs (skids) that support the machine frame main body on the ground, a plurality of arms extending radially from the machine frame main body, and a rotor provided at the tip of the arm. A holding mechanism for detachably holding the tank is provided on the lower surface of the machine frame main body.

Utility Model Registration No. 3204505

In the multicopter disclosed in Patent Document 1, the holding mechanism that holds the tank and the legs that support the main body are separately and independently attached to the machine frame main body. Therefore, the legs cannot be reinforced by the holding mechanism, and it is necessary to provide another reinforcing member to reinforce the legs, which causes a problem of increasing the weight and size of the multicopter.
Moreover, the multicopter disclosed in Patent Document 1 can be sprayed by holding a sprayed material such as a chemical solution in a holding mechanism in a state of being stored in the tank, and after the spraying is finished, the tank is held by a holding mechanism (mounting unit). Can be disengaged from. However, since the sprayed chemicals are often attached to the bottom of the tank, dirt such as mud tends to adhere to the bottom of the tank when the detached tank is placed on the ground. there were.

In addition, the multicopter disclosed in Patent Document 1 collectively accommodates electrical components (GPS and attitude control device) that perform control related to flight and other electrical components (battery, etc.) inside the machine body. Yes. Therefore, in order to remove an electrical component such as a battery that needs to be attached or detached, it is necessary to open the machine frame body, which may adversely affect the electrical component that controls flight related to the machine frame body. It was.

The present invention has been made to solve the above-described problems of the prior art, and can be used for agriculture that can reinforce a leg (skid) that supports a main body using a support structure of a working device such as a tank. A multicopter is provided. It is another object of the present invention to provide an agricultural multicopter that can support a tank in a state of being detached from a mounting portion on the ground or the like without adhering dirt such as mud. Moreover, the agricultural multicopter which can attach / detach the electrical component different from the said electrical component independently of the electrical component which performs the control regarding the flight accommodated in the main body is provided.

An agricultural multicopter according to an aspect of the present invention can support a main body, a plurality of arms attached to the main body, a rotary wing attached to the arm and generating lift, and the main body on the ground. A skid, a mounting portion provided below the main body, and a working device mounted on the mounting portion, wherein the main body has a first edge located on one side, and the first edge 2nd edge part located in the other side, and the said skid is provided with the 1st leg part provided in the said 1st edge part side, and the 2nd leg part provided in the said 2nd edge part side The mounting portion includes a connecting member that supports the working device and connects the first leg portion and the second leg portion.

According to the agricultural multicopter, since the mounting portion has the connecting member that supports the working device and connects the first leg portion and the second leg portion, the working device is supported by the connecting member. The skid can be reinforced.

It is a front perspective view of the agricultural multicopter. It is a back perspective view of the agricultural multicopter. It is a top view of the principal part of the agricultural multicopter. It is a back perspective view of the important section of the agricultural multicopter. It is a front view of the principal part of the agricultural multicopter. It is a side view of the principal part of the agricultural multicopter. It is a perspective view which shows a mounting part and a holding mechanism. It is a perspective view of a tank. It is a front view of a tank. It is a side view of a tank. It is a top view of a tank. It is a bottom view of a tank. FIG. 11 is a sectional view taken along line AA in FIG. 10. FIG. 10 is a sectional view taken along line BB in FIG. 9. It is a disassembled perspective view of a tank. It is a front view of a holding mechanism. It is a perspective view of a holding mechanism. It is a back perspective view of another embodiment (second embodiment) of the agricultural multicopter. It is a top view of the principal part of the agricultural multicopter of a second embodiment. It is a front view of the principal part of the agricultural multicopter of 2nd embodiment. It is a side view of the principal part of the agricultural multicopter of 2nd embodiment. It is a perspective view of the tank of a second embodiment. It is a side view of the tank of a second embodiment. It is a front view of the tank of a second embodiment. It is a top view of the tank of a second embodiment. It is a bottom view of the tank of a second embodiment. It is a perspective view which shows the mounting part vicinity of 2nd embodiment. It is a figure which shows the state which supported the tank of 2nd embodiment on the ground. It is a perspective view which shows the example of a change of the tank of 2nd embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 and FIG. 2 are perspective views showing an agricultural multicopter (hereinafter simply referred to as “multicopter”) according to an embodiment of the present invention.
The multicopter 1 is a rotary wing aircraft that can fly unmannedly by a plurality of rotary wings, and is a flying body called a drone, for example. The multicopter 1 may fly by remote control by wireless or wired communication, or may fly by autonomous control without depending on the remote device.

The multicopter 1 includes a machine body 2 and a work device 7.
First, the airframe 2 will be described. As shown in FIGS. 1 and 2, the airframe 2 has a main body 3, an arm 4, a rotary blade 5, and skids (legs) 6.
As shown in FIG. 3, the main body 3 has a first edge portion 31, a second edge portion 32, a third edge portion 33, and a fourth edge portion 34. The first edge 31 is located on one side in a top view. The second edge portion 32 is located on the opposite side (the other side) from the first edge portion 31 in a top view. The third edge portion 33 is located on one end side in a direction orthogonal to the straight line connecting the first edge portion 31 and the second edge portion 32 (a direction orthogonal to the one side and the other side). The fourth edge 34 is located on the opposite side to the third edge 33.

Hereinafter, for convenience of explanation, the direction in which the first edge 31 is located is the front, the direction in which the second edge 32 is located is the rear, the direction in which the third edge 33 is located is the left, and the fourth edge 34 is located. The direction to do is called the right side. A direction from the first edge 31 side to the second edge 32 side or the second edge 32 side to the first edge 31 side is referred to as a front-rear direction, and a direction orthogonal to the front-rear direction is referred to as a width direction. In addition, a direction that is in the width direction and approaches the center in the width direction of the main body 3 is referred to as a width direction inner side, and a direction that is the width direction and is away from the center in the width direction of the main body 3 is referred to as a width direction outward.

In addition, although the shape (outer shape) of the main body 3 is a substantially rectangular parallelepiped shape in the case of this embodiment, other shapes, such as a disk shape, may be sufficient. The shapes of the first edge 31 to the third edge 34 change according to the shape of the main body 3. Therefore, the shapes of the first edge portion 31 to the third edge portion 34 may be linear, or a part or all of them may be curved.
As shown in FIG. 4, the main body 3 includes a case 35 (hereinafter referred to as “first case 35”) and an electrical component 36 (hereinafter referred to as “first electrical component 36”).

The first case 35 is a box that forms the outer shell of the main body 3, and has an internal space that can be sealed. A first electrical component 36 is accommodated in the internal space of the first case 35. That is, the periphery of the first electrical component 36 is covered with the first case 35.
The first electrical component 36 is an electrical component that performs control related to the flight of the multicopter 1, and is, for example, a GPS antenna, an attitude control device, various sensors (gyro sensor, acceleration sensor, etc.), and the like. The attitude control device controls the rotation of the rotor 51 described later.

1 and 2, a plurality of arms 4 are attached to the main body 3. In the present embodiment, four arms 4 are attached to the main body 3. The four arms 4 extend radially from the center of the main body 3 in a horizontal plane (a plane parallel to the ground in the landing state). However, the number of arms 4 is not limited to four, and may be five or more, or may be three or less. The arm 4 may be configured to be foldable toward the main body 3 side.

The base end side of the arm 4 is attached to the main body 3. The distal end side of the arm 4 branches into a bifurcated shape (Y shape). A rotating blade 5 is attached to each of the distal ends of the arms 4. In the case of the present embodiment, the front ends of the four arms 4 are bifurcated, and the rotor blades 8 are attached to the branch ends, so the number of rotor blades 5 is eight.
The rotor 5 generates lift for the multicopter 1 to fly. The rotary blade 5 includes a rotor 51 and a blade (propeller) 52. The rotor 51 is composed of an electric motor (DC motor or the like). The rotor 51 is driven by electric power supplied from a battery described later. A blade 52 is attached to the upper part of the rotating shaft of the rotor 51. Adjacent rotor blades 5 rotate in opposite directions.

The number of the rotor blades 5 is not particularly limited, and can be changed according to a necessary lift force or the like. For example, the multicopter 1 may be a tricopter having three rotor blades 5, a quadcopter having four rotor blades 5, or a hexacopter having six rotor blades 5. Alternatively, an octocopter having eight rotor blades 5 may be used.
The skid 6 is grounded when the multicopter 1 is landed, and supports the main body 3 on the ground. As shown in FIGS. 3 to 6 and the like, the skid 6 is provided on one leg 6L provided on the third edge 33 side (left side) of the main body 3 and on the fourth edge 34 side (right side). And the other leg portion 6R.

The one leg portion 6L has a first leg portion 6L1, a second leg portion 6L2, and a lower member 6L3. The first leg 6L1 is disposed on the first edge 31 side (front side) and extends downward from the main body 3. The second leg 6L2 is arranged on the second edge 32 side (rear side) and extends downward from the main body 3. The lower member 6L3 connects the lower end of the first leg 6L1 and the lower end of the second leg 6L2.

The other leg 6R has a first leg 6R1, a second leg 6R2, and a lower member 6R3. The first leg 6R1 is disposed on the first edge 31 side (front side) and extends downward from the main body 3. The second leg 6R2 is disposed on the second edge 32 side (rear side) and extends downward from the main body 3. The lower member 6R3 connects the lower end of the first leg 6R1 and the lower end of the second leg 6R2.

As shown in FIGS. 3 to 5, the one leg 6L (first leg 6L1, second leg 6L2) and the other leg 6R (first leg 6R1, second leg 6R2) are the main body. It inclines so that a mutual distance may spread gradually as it goes to the direction away from 3 (downward).
As shown in FIGS. 1 to 6, a mounting portion 15 is provided below the main body 3. The mounting portion 15 detachably supports the work device 7 between the one leg portion 6L and the other leg portion 6R. In the present embodiment, the tank 8 is detachably mounted on the mounting portion 15.

As shown in FIGS. 4 to 7, the mounting portion 15 includes a guide member (connection member) 16 and a holding mechanism 17.
The guide member 16 is fixed to the skid 6 below the main body 3 and extends in the front-rear direction. The guide member (connection member) 16 has a first guide member (first connection member) 16L and a second guide member (second connection member) 16R. The first guide member 16L is provided on the third edge 33 side (left side), and connects the first leg 6L1 and the second leg 6L2 of the one leg 6L. The second guide member 16R is provided on the fourth edge 34 side (right side), and connects the first leg 6R1 and the second leg 6R2 of the other leg 6R. The front portion of the guide member 16 projects forward from the first leg portions 6L1 and 6R1. The rear portion of the guide member 16 protrudes rearward from the second leg portions 6L2 and 6R2.

As shown in FIGS. 5, 7, etc., the guide member 16 (the first guide member 16 L and the second guide member 16 R) has a substantially L-shaped cross section. Specifically, as illustrated in FIG. 7, the guide member 16 includes a horizontal portion 161, a vertical portion 162, a stopper portion 163, and a holding portion 164.
The horizontal portion 161 extends in the front-rear direction, and is parallel (horizontal) to the ground when the multicopter 1 is landed. The vertical portion 162 rises at a right angle from the outside in the width direction of the horizontal portion 161, and is fixed to the skid 6 via the fixing member 22. The vertical portion 162 of the first guide member 16 L is located on the outer side in the width direction (left side) than the third edge portion 33 of the main body 3. The vertical portion 162 of the second guide member 16 R is positioned outward in the width direction (rightward) with respect to the fourth edge portion 34 of the main body 3.

The stopper portion 163 rises at a right angle from the rear end portion in the extending direction of the horizontal portion 161. The holding part 164 extends in the front-rear direction and is bent inward in the width direction from the upper part of the vertical part 162. The holding part 164 is located above the horizontal part 161 and is arranged in parallel with the horizontal part 161 with a gap.
The horizontal portion 161 supports the work device 7 (specifically, a support portion 80 of the tank 8 described later) so as to be slidable along the extending direction. The vertical portion 162 restricts the movement of the work device 7 outward in the width direction. The stopper portion 163 determines the end position of the slide movement of the work device 7. The holding unit 164 restricts the upward movement of the work device 7.

Thereby, the working device 7 is supported so as to be slidable in the extending direction (front-rear direction) of the guide member 16. The working device 7 can be attached to and detached from the mounting portion 15 by sliding the working device 7 in the extending direction (front-rear direction) of the guide member 16.
Hereinafter, the moving direction (front-rear direction) of the working device 7 when the working device 7 is attached to and detached from the mounting portion 15 is referred to as “slide moving direction”. A state in which the work device 7 is mounted on the mounting portion 15 (see FIGS. 3 to 6 (FIGS. 3 and 6 are solid lines)) is referred to as a “mounted state”.

As shown in FIG. 7, the guide member 16 (first guide member 16L, second guide member 16R) has a through hole 18 (hereinafter referred to as “first”) on one side (front side) in the extending direction (sliding movement direction). Fixing hole 18 "). The first fixing hole 18 constitutes a holding mechanism 17 together with a second fixing hole 803b and an insertion member 20 described later. The configuration of the holding mechanism 17 will be described later.

As described above, the guide member (connecting member) 16 has a function of supporting the work device 7 and a function of connecting the first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2 of the skid 6. Yes. Thus, the skid 6 can be reinforced by connecting the first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2 while supporting the working device 7 by the guide member (connecting member) 16. Therefore, there is no need to separately provide a member that supports the work device 7 and a member that connects the first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2, thereby achieving a reduction in the number of parts and a reduction in weight. be able to.

Next, the working device 7 will be described.
The work device 7 is a device that performs work related to agriculture. As the working device 7, for example, a spraying device for spraying sprays such as agricultural chemicals and fertilizers on the farm, an imaging device (camera) for photographing the farm, a temperature sensor (infrared sensor or the like) for detecting the temperature of the farm, the color of the farm Examples thereof include a sensor device such as a color sensor for detecting (the color of agricultural products).

In the case of this embodiment, the working device 7 is a spraying device, and has a tank 8 that stores the sprayed material.
As shown in FIGS. 3 to 6 and the like, the tank 8 is mounted on a mounting portion 15 provided below the main body 3. The tank 8 is detachable from the mounting portion 15. 3 and 6, the mounting state of the tank 8 is indicated by a solid line, and the state in which the tank 8 is slid in the direction in which the tank 8 is detached from the mounting portion 16 (indicated by an arrow A) is indicated by a virtual line. In the following description, the direction related to the tank 8 is based on the mounted state.

Hereinafter, the configuration of the tank 8 will be described with reference mainly to FIGS.
The tank 8 includes a container 81, a lid body 82, and a support portion 80.
The container 81 forms an internal space in which scattered material to be sprayed on the farm is accommodated. Examples of the sprayed material include fertilizer, water, and agricultural chemicals. The spatter is a liquid or a solid having fluidity (such as a granular material). The solid having fluidity is a form (size, shape) that can move in the container 81 along with the inclination when the container 81 is inclined.

The container 81 has a supply unit 83 for supplying the sprayed material to the internal space on the upper surface of the container 81. The supply unit 83 has a cylindrical part 84 that protrudes cylindrically from the upper surface of the container 81. A lid 82 is detachably attached to the cylindrical portion 84 with a screw or the like.
As shown in FIG. 14, the cylindrical part 84 forms the supply port 85 used as the inlet at the time of supplying a scattered material to internal space. The size (diameter) of the supply port 85 is set to a size that allows manual insertion (for example, a diameter of about 100 to 150 mm).

As shown by the solid lines in FIGS. 3 and 6, in the mounted state, the supply unit 83 is located on the front side (first edge portion 31 side) of the container 81 and does not overlap with the main body 3 in a top view (main body 3). In the front position). Moreover, as shown by the solid line in FIG. 6, in the mounted state, the cylindrical portion 84 is inclined so as to move forward, which is one end side (side away from the main body 3) in the sliding movement direction, as it goes upward. . As a result, it is possible to easily perform operations such as supplying the sprayed material from the supply unit 83 into the container 81, inserting the hand from the supply port 85, and cleaning the interior of the container 81.

The material of the container 81 is not particularly limited, but is preferably a synthetic resin. By making the container 81 made of synthetic resin, the weight of the container 81 can be reduced. Moreover, when the container 81 is formed from transparent or semi-transparent synthetic resin, it is preferable at the point which can confirm the residual amount of the scattered matter in the container 81 from the outside. In addition, the container 81 may be configured by combining a plurality of members, but is preferably an integrally molded product of synthetic resin from the viewpoints of weight reduction and reduction in the number of parts.

As shown in FIG. 11, the container 81 has a length (front-rear direction length) in the direction of the straight line (sliding movement direction) connecting the first edge 31 side (front side) and the second edge 32 side (rear side). ) L1 is formed longer than the length (width direction length) L2 in the direction (direction perpendicular to the slide movement direction) connecting the third edge 33 side (left side) and the fourth edge 34 side (right side). Has been.
The container 81 has a receiving surface 86 for receiving the scattered matter accommodated in the container 81. The receiving surface 86 is a surface (inner surface) with which the scattered material accommodated in the container 81 comes into contact, and constitutes an inner side surface and an inner bottom surface of the container 81. In the case of this embodiment, these side surfaces and the bottom surface are continuous with a gentle curved surface, so that the receiving surface 86 does not have a clear boundary between the side surface and the bottom surface. It may be a receiving surface 86 with a clear boundary between.

Hereinafter, in describing the receiving surface 86, in order to help understanding of the positional relationship between the container 81 and the main body 3, in FIG. 11, FIG. 13, FIG. The second edge 32 side (rear side) is indicated by an arrow 320, the third edge 33 side (left side) is indicated by an arrow 330, and the fourth edge 34 side (right side) is indicated by an arrow 340.
As shown in FIG. 13, the receiving surface 86 has a first transition portion 91, a second transition portion 92, and a bulging portion 93.

The first transition portion 91 extends from the third edge 33 side (left side) toward the fourth edge 34 side (right side). The second transition portion 92 extends from the fourth edge portion 34 side (right side) toward the third edge portion 33 side (left side). The bulging portion 93 is provided between the first transition portion 91 and the second transition portion 92, and bulges below the first transition portion 91 and the second transition portion 92.
Although the 1st transition part 91 and the 2nd transition part 92 may be a flat surface (surface which becomes parallel with respect to the ground in a landing state) which does not include an inclination part, in this embodiment, the inclination part is included. . Specifically, the first transition portion 91 transitions in a direction (downward) away from the main body 3 from the third edge 33 side (left side) toward the fourth edge 34 side (right side). Is included. The second transition portion 92 includes a second inclined portion 95 that transitions in the direction away from the main body 3 (downward) from the fourth edge 34 side (right side) toward the third edge 33 side (left side). In the present embodiment, the entire first transition portion 91 is the first inclined portion 94, but a part of the first transition portion 91 may include a flat surface. In addition, the entire second transition portion 92 is the second inclined portion 95, but a part of the second transition portion 92 may include a flat surface.

The first inclined portion 94 includes a first outer inclined portion 94A provided on the third edge 33 side (left side) and a first inner inclined portion 94B provided on the bulging portion 93 side. . The first inner inclined portion 94B is inclined at a different angle from the first outer inclined portion 94A. Specifically, the inclination angle of the first inner inclined portion 94B is smaller than the inclination angle of the first outer inclined portion 94A. The inclination angle is an angle with respect to the ground (horizontal plane) in the mounted state. That is, a plane close to parallel to the ground has a small tilt angle, and a plane close to perpendicular to the ground has a large tilt angle.

The second inclined portion 95 includes a second outer inclined portion 95A provided on the fourth edge 34 side (right side) and a second inner inclined portion 95B provided on the bulging portion 93 side. . The second inner inclined portion 95B is inclined at a different angle from the second outer inclined portion 95A. Specifically, the inclination angle of the second inner inclined portion 95B is smaller than the inclination angle of the second outer inclined portion 95A.
As shown in FIG. 14, the receiving surface 86 further includes a third inclined portion 96 and a fourth inclined portion 97. The 3rd inclination part 96 inclines so that it may transfer to the direction (downward) which leaves | separates from the main body 3 as it goes to the 2nd edge part 32 side (rear side) from the 1st edge part 31 side (front side). The 4th inclination part 97 inclines so that it may transfer to the direction (downward) which leaves | separates from the main body 3 as it goes to the 1st edge part 31 side (front side) from the 2nd edge part 32 side (rear side).

Hereinafter, the shape of the bulging portion 93 will be specifically described.
First, the shape of the bulging portion 93 viewed from the front-rear direction (slide movement direction) will be described.
As shown in FIG. 13, the bulging portion 93 is provided at the center of the lower portion of the container 81 in the width direction. Specifically, the bulging portion 93 is provided between the first inclined portion 94 and the second inclined portion 95. Specifically, the bulging portion 93 is provided so as to connect the lower end of the first inner inclined portion 94B and the lower end of the second inner inclined portion 95B. The bulging portion 93 has one inclined portion 93L, the other inclined portion 93R, and a bottom surface 93B.

On the other hand, the inclined portion 93L is provided on the third edge 33 side (left side) and is inclined so as to move downward from the lower end of the first inner inclined portion 94B toward the fourth edge 34 side (right side). ing. The other inclined portion 93R is provided on the fourth edge 34 side (right side) and is inclined so as to move downward from the lower end of the second inner inclined portion 95B toward the third edge 33 side (left side). ing. On the other hand, the inclination angle of the inclined portion 93L is smaller than the inclination angle of the first outer inclined portion 94A and larger than the inclination angle of the first inner inclined portion 94B. On the other hand, the inclination angle of the inclined portion 93R is smaller than the inclination angle of the second outer inclined portion 95A and larger than the inclination angle of the second inner inclined portion 95B.

The bottom surface 93B connects the lower end of the one side inclined portion 93L and the lower end of the other inclined portion 93R. In the mounted state, the bottom surface 93B is positioned at the lowermost portion of the container 81 and becomes a horizontal plane parallel to the ground.
Next, the shape of the bulging portion 93 viewed from the width direction will be described.
As shown in FIG. 14, the bulging portion 93 is provided between the third inclined portion 96 and the fourth inclined portion 97. Specifically, the bulging portion 93 is provided so as to connect the lower end of the third inclined portion 96 and the lower end of the fourth inclined portion 97. The bulging portion 93 includes a fifth inclined portion 98 and a sixth inclined portion 99. The fifth inclined portion 98 is inclined so as to shift downward from the lower end of the third inclined portion 96 toward the second edge side (rear side). The sixth inclined portion 99 is inclined so as to shift downward from the lower end of the fourth inclined portion 97 toward the first edge side (front side). The inclination angle of the fifth inclined part 98 is slightly smaller than the inclination angle of the third inclined part 96. The inclination angle of the sixth inclined portion 99 is slightly smaller than the inclination angle of the fourth inclined portion 97. The lower end of the fifth inclined portion 98 and the lower end of the sixth inclined portion 99 are connected by a bottom surface 93B. That is, the bottom surface 93B connects the lower end of the fifth inclined portion 98 and the lower end of the sixth inclined portion 99 in the front-rear direction, and connects the lower end of the one side inclined portion 93L and the lower end of the other inclined portion 93R in the width direction. ing.

As shown in FIG. 12, in the case of this embodiment, the width direction length L5 of the bulging portion 93 is less than or equal to half of the width direction length L2 of the container 81, more specifically, less than one third. is there. As shown in FIG. 12, the front-rear direction length L6 of the bulging portion 93 is less than or equal to half the front-rear direction length L1 of the container 81, and is smaller than the distance L7 between two recessed portions 90 described later.
As shown in FIG. 13, the bulging portion 93 is provided with an outlet 87. The take-out port 87 is an opening for taking out the scattered material accommodated in the internal space of the container 81. The outlet 87 is connected to the inlet of the pump 10 via a hose (not shown). In the case of this embodiment, the outlet 87 is provided on the other inclined portion 93 R of the bulging portion 93. However, the position of the outlet 87 is not limited to the other inclined portion 93R, and may be provided at other positions of the bulging portion 93 (for example, the bottom surface 93B, the fifth inclined portion 98, etc.).

As described above, the receiving surface 86 of the container 81 has the bulging portion 93 that bulges downward, and the swelled portion 93 is provided with the outlet 87, so that the spatter accommodated in the container 81. The take-out port 87 can be reliably and easily taken out. For example, even if the attitude of the multicopter 1 is inclined during flight, the scattered material can be collected in the bulging portion 93 and taken out from the outlet 87.

Next, the outer surface (front side) of the receiving surface 86 of the container 81 (hereinafter referred to as “outer surface”) will be described. In the present embodiment, the outer surface of the container 81 has a shape corresponding to the receiving surface (inner surface) 86 (a shape along the receiving surface 86 on the outer side of the receiving surface 86).
As shown in FIGS. 12 and 14, a recess 90 is formed on the outer surface of the container 81. The recess 90 is provided on one side (front side) and the other side (rear side) of the sliding movement direction (front-rear direction) of the container 81, respectively. The recessed part 90 is formed by the outer surface of the receiving surface 86 of the container 81 being recessed from below to above. Therefore, the receiving surface 86 of the part corresponding to the recessed part 90 protrudes upwards from the downward direction. The inner surface of the concave portion 90 on one side (front side) is connected to the upper end of the third inclined portion 96. The inner surface of the other side (rear) recess 90 is connected to the upper end of the fourth inclined portion 97. The recessed portion 90 serves as a clue that allows a finger to be caught when the tank 8 is slid with respect to the mounting portion 15 to be attached or detached.

As shown in FIGS. 8 to 13, the container 81 has a protrusion 88.
The protrusion 88 includes a first protrusion 88L and a second protrusion 88R. The first protrusion 88L and the second protrusion 88R protrude on opposite sides. Specifically, the first protrusion 88L protrudes toward the third edge 33 (left side). The second protrusion 88R protrudes toward the fourth edge 34 (right side). In other words, the first protruding portion 88L protrudes to the first support portion 80L side (left side) described later. The second projecting portion 88R projects to the second support portion 80R side (right side) described later. 88 L of 1st protrusion parts and 88R of 2nd protrusion parts are formed in the rectangular plate shape whose length of the front-back direction (slide movement direction) is longer than the length of the width direction.

The protruding portion 88 is provided above the receiving surface 86 and below the supply portion 83. The protruding portion 88 is supported so as to be slidable with respect to the mounting portion 15 provided below the main body 3. Specifically, as shown in FIGS. 5 and 16, the projecting portion 88 is placed on the horizontal portion 161 of the guide member 16 of the mounting portion 15, so that the length direction of the guide member 16 (the front-rear direction). ) Is possible to slide. As a result, the tank 8 can be slid relative to the mounting portion 15. Further, the tank 8 can be detached from the mounting portion 15 by sliding the tank 8 with respect to the mounting portion 15 and detaching the protruding portion 88 from the guide member 16.

Further, since the container 81 has the projecting portion 88, the projecting portion 88 is supported by a tank stand (not shown) separate from the multicopter 1 installed on the ground in a state where the tank 8 is detached from the mounting portion 15. It can also be made. Accordingly, the tank 8 can be supported while being separated from the ground.
As shown in FIG. 11, the projecting portion 88 is provided with through

holes

88 a and 88 b. A plurality of through

holes

88a and 88b are provided at intervals in the slide movement direction (front-rear direction). The through hole 88a is a hole for attaching a support plate 803 of the support unit 80 described later. The through hole 88b (hereinafter referred to as “third fixing hole 88b” for convenience) is a hole into which the insertion member 20 of the holding mechanism 17 described later is inserted.

As shown in FIGS. 10, 11, and 14, the container 81 has a sensor mounting portion 89. The sensor attachment portion 89 is provided above the receiving surface 86 and below the supply portion 83. The sensor attachment portion 89 is provided on the second edge 32 side (rear side) opposite to the supply portion 83. A mounting hole 89a is provided in the sensor mounting portion 89, and a sensor (not shown) for measuring the height from the farm when the multicopter 1 is flying can be detachably mounted using the mounting hole 89a. it can.

Hereinafter, the support portion 80 of the tank 8 will be described.
As shown in FIGS. 8, 10, and 12, the support portion 80 includes a first support portion 80L and a second support portion 80R. The first support portion 80L is provided on one side of the container 81 (the third edge portion 33 side (left side)). The second support portion 80R is provided on the side opposite to the one side of the container 81 (the fourth edge portion 34 side (right side)). That is, the second support portion 80R is provided on the side opposite to the first support portion 80L in the width direction.

The support part 80 (first support part 80L, second support part 80R) includes a first part 801, a second part 802, and a support plate 803.
The first portion 801 extends in a direction away from the container 81. Specifically, the first portion 801 extends downward (in a direction away from the main body 3 in the mounted state), which is the opposite side to the supply unit 83 side of the container 81. The first part 801 has a front part 804 provided on one side (front side) in the slide movement direction and a rear part 805 provided on the other side (rear side). The second part 802 is connected to the first part 801. Specifically, the second portion 802 connects the lower end portion of the front portion 804 and the lower end portion of the rear portion 805.

As shown in FIGS. 8 and 10, the support plate 803 connects the upper end portion of the front portion 804 of the first portion 801 and the upper end portion of the rear portion 805. The support plate 803 is formed as a rectangular flat plate that is long in the slide movement direction (front-rear direction). As shown in FIGS. 12 and 15, the support plate 803 is provided with through

holes

803 a and 803 b. A plurality of through

holes

803a and 803b are provided at intervals in the slide movement direction (front-rear direction).

The through hole 803a is superimposed on the through hole 88a of the protrusion 88 from below. As shown in FIGS. 10 and 15, a bolt B1 is inserted into the overlapping through hole 88a and through hole 803a, and a nut N1 is screwed into the bolt B1. Thereby, the support plate 803 is detachably fixed to the lower surface of the protruding portion 88 of the container 81. The through hole 803b (hereinafter referred to as “second fixing hole 803b”), together with the first fixing hole 18, the insertion member 20, and the like, constitutes a holding mechanism 17 described later.

As shown in FIG. 16, the support plate 803 is supported by the mounting portion 15 while being fixed to the lower surface of the protruding portion 88. The lower surface of the support plate 803 comes into contact with (is placed on) the upper surface of the horizontal portion 161 of the guide member 16 of the mounting portion 15 in a state of being supported by the mounting portion 15. As a result, the support plate 803 can slide in the extending direction of the guide member 16.
Here, since the support plate 803 is fixed to the lower surface of the projecting portion 88, the lower surface of the projecting portion 88 does not contact the guide member 16 of the mounting portion 15. Therefore, when the tank 8 is slid with respect to the mounting portion 15, the protrusion 88 is prevented from being worn by friction with the guide member 16.

The support plate 803 is preferably formed from a material (metal or the like) that is harder than the protruding portion 88 of the container 81. By forming the support plate 803 from a hard material, wear of the support plate 803 due to the sliding movement of the tank 8 can be suppressed. Further, in order to sufficiently secure the strength of the support portion 80, the entire support portion 80 (the first portion 801, the second portion 802, the support plate 803) is made of a material harder than the protruding portion 88 (metal or the like). Preferably formed.

As shown in FIG. 9, the distance L3 from the protrusion 88 to the lower end of the support part 80 (the lower end of the second support part 80R) is from the protrusion 88 to the lowest part of the container 81 (the bottom surface 93B of the bulging part 93). Is set larger than the distance L4. As a result, as shown in FIG. 9, the support portion 80 can support the container 81 while being separated from the ground G in a state where the tank 8 is detached from the mounting portion 15 (hereinafter referred to as “tank detached state”). . Therefore, the tank 8 detached from the mounting portion 15 can be supported on the ground G without adhering dirt (foreign matter) such as mud. Further, even when the bottom surface of the container 81 is not flat (for example, when the bulging portion 93 is provided as in the present embodiment), the container 81 is stably supported on the ground G without being overturned. can do. In a state where the container 81 is supported while being separated from the ground G, the supply unit 83 faces upward, and the second portion 802 of the support unit 80 contacts the ground G.

In the present embodiment, the support portion 80 (the first support portion 80L and the second support portion 80R) is provided on the support plate 803, which is a separate member from the container 81, but the support portion 80 is attached to the container 81. It may be provided. Specifically, the upper end portion of the first portion 801 of the support portion 80 can be connected to the protruding portion 88 of the container 81.
Hereinafter, the configuration of the holding mechanism 17 will be described.

The holding mechanism 17 is a mechanism that holds the tank 8 at a predetermined position of the mounting portion 15. The holding mechanism 17 can be held at a first position where the tank 8 is mounted and a second position moved from the first position in the sliding movement direction.
As shown in FIGS. 7, 16, and 17, the holding mechanism 17 includes a first fixing hole 18, a second fixing hole 803 b, a third fixing hole 88 b, an insertion member 20, a mounting member 21, an urging member (not shown). )have.

As shown in FIG. 7, the first fixing hole 18 is provided in the guide member 16 (first guide member 16L, second guide member 16R). Specifically, one first fixing hole 18 is provided on one side (front side) of the guide member 16 in the sliding direction, and penetrates the guide member 16 in the vertical direction.
As shown in FIGS. 12 and 15, the second fixing hole 803 b is provided in the support plate 803. Specifically, a plurality of second fixing holes 803b are provided at intervals along the slide movement direction (front-rear direction) and penetrate the support plate 803 in the vertical direction. Hereinafter, for convenience, among the plurality of second fixing holes 803b, the second fixing hole 803b positioned in the forefront is referred to as a “second fixing hole 803b1”, and the second fixing hole 803b positioned behind the second fixing hole 803b1. Is described as “second fixing hole 803b2”.

11 and 15, the third fixing hole 88b is provided in the protruding portion 88. Specifically, a plurality of third fixing holes 88b are provided at intervals along the slide movement direction (front-rear direction), and penetrate the protrusions 88 in the vertical direction. The number, size, and arrangement interval of the third fixing holes 88b are the same as the number, size, and arrangement interval of the second fixing holes 803b. In the present embodiment, the number of the second fixing holes 803b and the third fixing holes 88b is four, but may be two, three, or five or more. Hereinafter, for the sake of convenience, among the plurality of third fixing holes 88b, the third fixing hole 88b positioned at the forefront is referred to as a “third fixing hole 88b1”, and the third fixing hole 88b positioned behind the third fixing hole 88b1. Is referred to as “third fixing hole 88b2”.

The plurality of second fixing holes 803b and the plurality of third fixing holes 88b can selectively overlap with the first fixing holes 16 as the support plate 803 slides. Specifically, when the tank 8 is in the first position in the mounted state, the second fixing hole 803b1 located at the foremost position among the plurality of second fixing holes 803b and the most among the plurality of third fixing holes 88b. The third fixing hole 88b1 positioned in front of the first fixing hole 16 overlaps. When the tank 8 is in the second position slid from the first position, one of the second fixing holes 803b2 located behind the plurality of second fixing holes 803b and one of the plurality of third fixing holes 88b One of the third fixing holes 88 b 2 located at the rear overlaps the first fixing hole 16.

As shown in FIGS. 7, 16, and 17, the attachment member 21 is fixed to the lower part of the guide member 16 (first guide member 16L, second guide member 16R). The attachment member 21 includes an upper plate 21U, a lower plate 21D, and a vertical plate 21L. The upper plate 21U is fixed to the front portion of the lower surface of the guide member 16. The vertical plate 21L extends downward from the front end of the upper plate 21U, and is disposed with the front and back of the plate surface facing forward and backward. The vertical plate 21L is provided with an L-shaped locking groove 21b. The locking groove 21b has a vertical groove portion 21b1 extending in the vertical direction and a horizontal groove portion 21b2 extending in the horizontal direction (perpendicular to the vertical groove portion 21b1) from the lower end portion of the vertical groove portion 21b1. The lower plate 21D extends rearward from the lower end of the vertical plate 21L, and is disposed in parallel with the upper plate 21U.

The upper plate 21U has a through hole 21a penetrating the upper plate 21U in the vertical direction. The lower plate 21D has a through hole 21c that penetrates the lower plate 21D in the vertical direction. The center of the through hole 21a, the center of the through hole 21c, and the center of the first fixing hole 18 are provided on the same axis.
The insertion member 20 has an insertion portion 20a, a locking portion 20b, and an operation portion 20c. The insertion part 20a is formed in a columnar shape and extends in the vertical direction. The insertion portion 20a is attached to the attachment member 21 so as to be movable in the vertical direction and rotatable about the central axis. In FIG. 17, the insertion member 20 at the upper end position is indicated by a solid line, and the insertion member 20 at the lower end position is indicated by an imaginary line. As shown in FIG. 16, the insertion portion 20a moves upward to form a plurality of holes (through holes 21a, first fixing holes 18, second fixing

holes

803b, 3 are inserted into the fixing holes 88b) and moved downward to be detached from the plurality of holes.

The locking portion 20b is provided so as to penetrate the middle portion in the length direction (vertical direction) of the insertion portion 20a in the horizontal direction. The locking portion 20 b can move in the vertical direction together with the insertion member 20, and can rotate about the central axis of the insertion member 20. The front end (front end) of the locking portion 20 b is inserted into the locking groove 21 b of the mounting member 21. The distal end of the locking portion 20b is positioned in the vertical groove portion 21b1 of the locking groove 21b when the insertion member 20 is at the upper end position (see the solid line in FIG. 17), and is locked when the insertion member 20 is at the lower end position. It is located in the lateral groove 21b2 of the groove 21b (see the phantom line in FIG. 17).

The operation portion 20c is bent from the lower end portion of the insertion portion 20a and extends in a substantially perpendicular direction (forward) to the insertion portion 20a.
The insertion member 20 is biased upward by a biasing member (not shown) such as a spring fixed to the mounting member 21. Therefore, the insertion member 20 tends to move upward by the urging force from the urging member. However, the upward movement of the insertion member 20 is limited by the locking portion 20b being locked in the locking groove 21b. Specifically, when the distal end of the locking portion 20b is located in the vertical groove portion 21b1, the insertion member 20 is movable in the vertical direction within the vertical groove portion 21b1. However, when the distal end of the locking portion 20b is located in the lateral groove portion 21b2, the insertion member 20 cannot move in the vertical direction.

Hereinafter, the operation of the holding mechanism 17 will be described.
As shown by the solid lines in FIGS. 16 and 17, when the tank 8 is in the mounted state, the insertion member 20 is in the upper end position, and the tip of the locking portion 20b is located at the upper end of the vertical groove portion 21b1. In this mounted state, the distal end 20 d of the insertion member 20 includes the through hole 21 a of the mounting member 21, the first fixing hole 18 of the guide member 16, the second fixing hole 803 b of the support plate 803, and the third fixing hole 88 b of the protruding portion 88. Has been inserted. As a result, the tank 8 is in a mounted state in which it cannot slide (and thus cannot be removed (detached)).

When removing (detaching) the tank 8 from the mounting portion 15, the operation portion 20 c of the insertion member 20 is gripped and the insertion member 20 is pushed down against the biasing force of the biasing member. After the locking portion 20b reaches the lower end of the vertical groove portion 21b1 by pushing down the insertion member 20, the locking portion 20b is fitted into the horizontal groove portion 21b2 by rotating the insertion member 20 about the axis. Thereby, the insertion member 20 is prevented from moving upward and is held at the lower end position. When the insertion member 20 is in the lower end position, the tip of the insertion member 20 is detached from the through hole 21a, the first fixing hole 18, the second fixing hole 803b, and the third fixing hole 88b. 15 can be removed.

Next, a case where the holding mechanism 17 holds the tank 8 at the first position in the mounted state and the second position moved from the first position in the sliding movement direction will be described.
When the tank 8 is held at the first position (the position indicated by the solid line in FIGS. 3 and 6), the second fixing hole 803b1 and the second fixing hole 803b1 positioned at the forefront among the plurality of second fixing holes 803b and the third fixing holes 88b The three fixing holes 88 b 1 are overlapped with the through holes 21 a of the mounting member 21 and the first fixing holes 18 of the guide member 16. Then, the distal end of the insertion member 20 is inserted into the second fixing hole 803b1, the third fixing hole 88b1, the through hole 21a, and the first fixing hole 18. Thereby, the tank 8 is held at the first position.

When the tank 8 is held at the second position (for example, the position of the phantom line in FIGS. 3 and 6), the second fixing hole 803b2 positioned rearward among the plurality of second fixing holes 803b and the third fixing holes 88b. The third fixing hole 88 b 2 is overlapped with the through hole 21 a of the attachment member 21 and the first fixing hole 18 of the guide member 16. Then, the distal end of the insertion member 20 is inserted into the second fixing hole 803b2, the third fixing hole 88b2, the through hole 21a, and the first fixing hole 18. Accordingly, the tank 8 is held at the second position moved from the first position to one side (front side) in the slide movement direction.

Note that the second position may be one or plural. That is, the tank 8 may be held at only one position other than the first position, or may be held at a plurality of positions other than the first position. The number of the second positions can be set by the number of the second fixing holes 803b2 and the third fixing holes 88b2 that are located rearward. In the case of the present embodiment, three second fixing holes 803b2 and three third fixing holes 88b2 are provided. Therefore, there are three second positions along the slide movement direction. That is, the holding mechanism 17 can hold the tank 8 at three second positions other than the first position.

As described above, the holding mechanism 17 can hold the tank 8 at the first position in the mounted state and the second position moved from the first position in the slide movement direction. Therefore, it becomes possible to take in and out the spatter from the supply unit 83 in a state where the tank 8 is slightly pulled out from the mounting portion 15 (a state in which the tank 8 is held at the second position), and the workability of taking in and out the spatter is improved.

As shown in FIGS. 2 and 4, an electrical component 13 (hereinafter referred to as “second electrical component 13”) different from the first electrical component 36 is attached to the airframe 2. The second electrical component 13 is detachably disposed below the main body 3 and below the rotor blade 5. The second electrical component 13 is an electrical component that is frequently removed, such as a battery. In the case of this embodiment, the second electrical component 13 includes a battery that supplies power to the rotor 51 of the rotor blade 5.

The second electrical component 13 is accommodated in a case 14 (hereinafter referred to as “second case 14”) different from the first case 35. As shown in FIGS. 4 to 6, the second case 14 includes a lower plate 14D, an upper plate 14U, a left side plate 14L, a right side plate 14R, and a front plate 14F. The rear portion of the second case 14 is open, and the rear portion is an opening 14 a for taking in and out the second electrical component 13. Although not shown, the opening 14a is provided with a member (a lid, a stopper, or the like) for preventing the second electrical component 13 from dropping from the second case 14. The form of the second case 14 is not limited to the form shown in FIGS. 4 to 6, and is, for example, one of the lower plate 14D, the upper plate 14U, the left side plate 14L, the right side plate 14R, and the front plate 14F. The above can be omitted. For example, the second case 14 may include at least a lower plate 14D for placing the second electrical component 13 and a front plate 14F serving as a partition portion 12 described later.

As shown in FIGS. 3, 4, and 6, the second case 14 is attached to an attachment portion 11 provided below the main body 3. The second case 14 (second electrical component 13) is provided below the main body 3 (first case 35) and above the tank 8. In other words, the main body 3 (first case 35), the second case 14 (second electrical component 13), and the tank 8 are arranged in the vertical direction in order from the top. A space (gap) is formed between the main body 3 (first case 35) and the second case 14, and between the second case 14 and the tank 8. Therefore, air can be circulated between the main body 3 and the second case 14 and between the second case 14 and the tank 8 during the flight of the multicopter 1. That is, air can be circulated above and below the second case 14. Thereby, the 2nd electrical equipment 13 accommodated in the 2nd case 14 can be cooled efficiently.

The attachment part 11 has a first attachment part 11L and a second attachment part 11R. The first attachment portion 11L is provided on the third edge 33 side (left side) of the main body 3, and connects the first leg portion 6L1 and the second leg portion 6L2 of the one leg portion 6L. The second attachment portion 11R is provided on the fourth edge 34 side (right side) of the main body 3, and connects the first leg portion 6R1 and the second leg portion 6R2 of the other leg portion 6R.
As shown in FIGS. 4 to 7, the guide member (connecting member) 16 is provided below the attachment portion 11. Specifically, the first guide member (first connecting member) 16L is provided below the first attachment portion 11L and on the outer side in the width direction (left side) than the first attachment portion 11L. The second guide member (second connecting member) 16R is provided below the second mounting portion 11R and outward in the width direction (right side) than the second mounting portion 11R.

As shown in FIGS. 3, 5, and 7, the lower plate 14 U of the second case 14 has a plate-like extension extending to the third edge 33 side (left side) and the fourth edge 34 side (right side). A protruding portion 14b is provided. The second case 14 is attached to the attachment portion 11 by the extension portion 14b being fixed to the attachment portion 11 with the bolt B2.
Although not shown, it is preferable that the attachment portion 11 has a configuration that allows the second case 14 to be selectively attached to a plurality of positions. As the structure, for example, the length (length in the front-rear direction) of the attachment portion 11 is made sufficiently longer than the length (length in the front-rear direction) of the extension portion 14 b, and along the length direction of the attachment portion 11. A configuration such as increasing the number of fastening holes of the bolts B2 to be provided can be employed. In this case, when it is desired to change the mounting position of the second case 14, the position of the second case 14 is moved along the length direction of the mounting portion 11, and then the fastening hole in which the bolt is fastened before the movement. The extension part 14b is fixed to the attachment part 11 by fastening a bolt in a different fastening hole. Thereby, the attachment position with respect to the attachment part 11 of the 2nd case 14 can be changed.

The second electrical component 13 is attached to and detached from the multicopter 1 below the main body 3 by taking in and out the opening 14 a of the second case 14. Since the second case 14 is provided separately from the first case 35 constituting the main body 3, the second electric component 13 can be attached and detached independently of the first electric component 36 accommodated in the main body 3. it can. Therefore, for example, when the second electrical component 13 is a battery, work such as battery replacement and charging can be performed without opening the first case 35 of the main body 3. Thereby, the bad influence to the 1st electrical equipment 36 by opening the main body 3 can be avoided.

In addition, the main body 3 is disposed above the second electrical component 13 and the work device 7 is disposed below the second electrical component 13, thereby allowing the second electrical component 13 to be dispersed (for example, dispersed) during the flight. It can be protected from contact with spatters.
As shown in FIG. 4, the opening 14 a is provided on the opposite side (rear side) of the supply portion 83 of the container 81 in the front-rear direction. Thereby, when supplying the spatter into the container 81 from the supply part 83, the spatter can be prevented from entering the second case 14 through the opening 14a and adversely affecting the second electrical component 13. .

4 to 6, the second electrical component 13 and the supply unit 83 are partitioned by the partition unit 12. The partition part 12 partitions between the supply part 83 and the second electrical component 13, so that when the spatter is supplied into the container 81 from the supply part 83, the spatter is brought into contact with the second electrical component 13. To prevent that. In particular, when the sprayed material is a medicine, the medicine can be prevented from coming into contact with the second electrical component 13 when the medicine is supplied from the supply unit 83 into the container 81. Further, when the second electrical component 13 is a battery, it is possible to prevent the battery from coming into contact with the medicine when the battery is replaced.

In the case of the present embodiment, the partition 12 is the front plate 14F of the second case 14. That is, a part (front plate 14 F) of the second case 14 constitutes the partition portion 12. However, the partition part 12 may not be a part of the second case 14. For example, it is also possible to adopt a configuration in which the partition portion 12 is used as a single plate member and is spanned and fixed between the first leg portion 6L1 of the one leg portion 6L and the first leg portion 6R1 of the other leg portion 6R. .

As shown in FIG. 3, the pump 10 is disposed on one side (right part) of the second case 14. The pump 10 is fixed to the right side plate 14 R of the second case 14. The suction port of the pump 10 is connected to the outlet 87 of the container 81 through a hose. The discharge port of the pump 10 is connected to a nozzle (not shown) via a hose. By driving the pump 10, the sprayed material stored in the container 81 can be sprayed from the nozzle toward the farm or the like.

In the case of the present embodiment, the pump 10 is disposed below the main body 3 and below the rotor blade 5 as with the second electrical component 13, but is disposed below the second electrical component 13. Also good.
<Second embodiment>
18 to 29 show another embodiment (second embodiment) of the multicopter 1.
Hereinafter, the multicopter 1 of the second embodiment will be described with a focus on the configuration different from the above-described embodiment (first embodiment), and the configuration common to the first embodiment will be denoted by the same reference numerals and detailed description will be given. Omitted.

The multicopter 1 includes an airframe 2 and a work device 7. The airframe 2 includes a main body 3, an arm 4, a rotating blade 5, a skid (leg) 6, and a mounting portion 15. Among the configurations of the multicopter 1 of the second embodiment, the configurations of the arm 4 and the rotary blade 5 are the same as those of the first embodiment, and thus the description thereof is omitted. Hereinafter, the configuration of the main body 3, the skid 6, the working device 7, and the mounting portion 15 will be described focusing on differences from the first embodiment.

As shown in FIG. 19, the main body 3 includes a first edge portion 31, a second edge portion 32, a third edge portion 33, and a fourth edge portion 34. About the positional relationship (direction) of the 1st edge part 31, the 2nd edge part 32, the 3rd edge part 33, and the 4th edge part 34, it is the same as that of 1st embodiment.
As shown in FIG. 20, the main body 3 has a first case 35 and a first electrical component 36. Similar to the first embodiment, the first electrical component 36 is an electrical component that performs control related to the flight of the multicopter 1, and is accommodated in the internal space of the first case 35. A second case 14 is provided above the first case 35. The second case 14 houses the second electrical component 13 including at least a battery. However, in the second embodiment, the second case 14 may be omitted, and both the first electrical component 36 and the second electrical component 13 may be accommodated in the first case 35.

As shown in FIGS. 18 to 21, the skid 6 has one leg 6L provided on the third edge 33 side (left side) of the main body 3 and the other provided on the fourth edge 34 side (right side). Leg portion 6R.
As shown in FIGS. 19 to 21, the one leg portion 6L includes a first leg portion 6L1 and a second leg portion 6L2. The first leg 6L1 is disposed on the first edge 31 side (front side) and extends downward from the main body 3. The second leg 6L2 is arranged on the second edge 32 side (rear side) and extends downward from the main body 3. The upper end portion of the first leg portion 6L1 and the upper end portion of the second leg portion 6L2 are bent toward the second edge portion 32 side (right side).

The other leg portion 6R has a first leg portion 6R1 and a second leg portion 6R2. The first leg 6R1 is disposed on the first edge 31 side (front side) and extends downward from the main body 3. The second leg 6R2 is disposed on the second edge 32 side (rear side) and extends downward from the main body 3. The upper end of the first leg 6R1 and the upper end of the second leg 6R2 are bent toward the first edge 31 (left side).
The first leg portion 6L1 and the first leg portion 6R1 are connected via a connecting portion 613. Specifically, the connecting part 613 is fixed to the front part of the lower surface of the main body 3 and extends in the width direction, and connects the upper end part of the first leg part 6L1 and the upper end part of the first leg part 6R1. The first leg portion 6L1, the first leg portion 6R1, and the connecting portion 613 are integrally formed from a metal pipe or the like.

The second leg portion 6L2 and the second leg portion 6R2 are connected via a connecting portion 623. Specifically, the connecting portion 623 is fixed to the rear portion of the lower surface of the main body 3 and extends in the width direction, and connects the upper end portion of the second leg portion 6L2 and the upper end portion of the second leg portion 6R2. Second leg portion 6L2, second leg portion 6R3, and connecting portion 623 are integrally formed of a metal pipe or the like.
The first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2 are detachably fixed to the main body 3. Specifically, the connecting portions 613 of the first leg portions 6L1 and 6R1 and the connecting portions 623 of the second leg portions 6L2 and 6R2 are detachably attached to the lower portion of the main body 3 with bolts or the like. Therefore, the first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2 can be attached to and detached from the main body 3 together with the mounting portion 15 and the work device 7. Thereby, according to the use of the multicopter 1, the mounting part 15 and the working device 7 can be removed from the main body 3 and replaced together with the first leg parts 6L1, 6R1 and the second leg parts 6L2, 6R2. As a result, the usage applications of the multicopter 1 are expanded, so that it is not necessary to prepare a plurality of multicopters according to the usage applications.

As shown in FIG. 20, the one leg 6 L and the other leg 6 R are inclined so that the distance from each other gradually increases in the direction away from the main body 3 (downward). Further, as shown in FIGS. 19 and 21, the first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2 are also inclined so that the distance from each other gradually increases toward the direction away from the main body 3 (downward). ing.
On the other hand, the leg portion 6L has a construction member 6L4. The other leg portion 6R has an erection member 6R4. As shown in FIGS. 19 and 21, the erection member 6L4 is erected between the first leg part 6L1 and the second leg part 6L2, and the midway part and the second leg of the first leg part 6L1 in the vertical direction. The middle part of the vertical direction of the part 6L2 is connected. The erection member 6R4 is constructed between the first leg 6R1 and the second leg 6R2, and includes a vertically middle part of the first leg 6R1 and a vertically middle part of the second leg 6R2. It is connected.

As shown in FIGS. 18, 20, and 21, a mounting portion 15 is provided below the main body 3. The mounting portion 15 detachably supports the work device 7 between the one leg portion 6L and the other leg portion 6R.
The work device 7 is a device that performs work related to agriculture. In the case of the present embodiment (second embodiment), the working device 7 is a spraying device, as in the first embodiment, and has a tank 8 that stores the sprayed material.

As shown in FIGS. 20, 21, and 27, the mounting portion 15 to which the work device 7 is mounted has a connecting member 30. The connecting member 30 detachably supports the work device 7. In the case of this embodiment, the connection member 30 supports the tank 8 so that attachment or detachment is possible.
The connecting member 30 connects the first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2 above the installation members 6L4 and 6R4. The connecting member 30 has a first connecting member 301 and a second connecting member 302.

The first connecting member 301 supports the working device 7 on the third edge 33 side (left side) and connects the first leg 6L1 and the second leg 6L2. The second connecting member 302 supports the working device 7 on the fourth edge 34 side (right side) and connects the first leg 6R1 and the second leg 6R2.
The 1st connection member 301 is extended in the front-back direction, and has connected the upper end part of the 1st leg part 6L1, and the upper end part of the 2nd leg part 6L2. The 2nd connection member 302 is extended in the front-back direction, and has connected the upper end part of 1st leg part 6R1, and the upper end part of 2nd leg part 6R2. The first connecting member 301 and the second connecting member 302 are arranged in parallel with an interval in the width direction.

20 and 27, the first connecting member 301 and the second connecting member 302 are formed in an L-shaped cross section, and have a horizontal portion 303 and a vertical portion 304. The horizontal portion 303 extends in the front-rear direction, and is parallel (horizontal) to the ground when the multicopter 1 is landed. The vertical portion 304 rises at a right angle from the outside in the width direction of the horizontal portion 303 and is fixed to the skid 6 by welding or the like. Specifically, the vertical portion 304 of the first connecting member 301 is fixed to the lower surface of the upper end portion of the first leg portion 6L1 and the lower surface of the upper end portion of the second leg portion 6L2. The vertical portion 304 of the second connecting member 302 is fixed to the lower surface of the upper end portion of the first leg portion 6R1 and the lower surface of the upper end portion of the second leg portion 6R2.

The horizontal portion 303 supports the work device 7 (specifically, a support portion 80 of the tank 8 described later) so as to be slidable along the extending direction. The vertical portion 304 restricts the movement of the work apparatus 7 outward in the width direction.
Thereby, the working device 7 is supported so as to be slidable in the extending direction (front-rear direction) of the connecting member 30. The working device 7 can be attached to and detached from the mounting portion 15 by sliding the working device 7 in the extending direction (front-rear direction) of the connecting member 30.

Hereinafter, also in the second embodiment, the moving direction (front-rear direction) of the working device 7 when the working device 7 is attached to and detached from the mounting portion 15 is referred to as “slide moving direction”. In addition, a state where the working device 7 is mounted on the mounting portion 15 (see solid lines in FIGS. 20 and 21) is referred to as a “mounted state”.
As shown in FIG. 27, the horizontal portion 303 and the vertical portion 304 have a plurality of through

holes

303a and 304a, respectively. The plurality of through

holes

303a and 304a are provided at intervals in the slide movement direction (front-rear direction). The through

holes

303a and 304a can be used for fixing (positioning) the work device 7 in the mounted state. Specifically, in the mounted state, a pin, a rod, or the like is inserted into the through

holes

303a and 304a in front and rear of the work device 7 to prevent the work device 7 from moving in the slide movement direction (front-rear direction). be able to.

As described above, the connecting member 30 has both the function of supporting the work device 7 and the function of connecting the first leg portions 6L1, 6R1 and the second leg portions 6L2, 6R2. Accordingly, the skid 6 can be reinforced by connecting the first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2 while supporting the work device 7 by the connecting member 30. Therefore, there is no need to separately provide a member that supports the work device 7 and a member that connects the first leg portions 6L1 and 6R1 and the second leg portions 6L2 and 6R2, thereby achieving a reduction in the number of parts and a reduction in weight. be able to.

As shown in FIGS. 22 to 26, the tank 8 includes a container 81, a lid 82, and a support portion 80.
As shown in FIG. 20, FIG. 21, etc., the tank 8 is mounted on a mounting portion 15 provided below the main body 3. The tank 8 is detachable from the mounting portion 15. 19 and 21, the mounting state of the tank 8 is indicated by a solid line, and the state in which the tank 8 is slid in the direction in which the tank 8 is detached from the mounting portion 16 (indicated by arrow A) is indicated by a virtual line. In the following description, the direction related to the tank 8 is based on the mounted state.

First, the container 81 and the lid 82 of the tank 8 will be described.
The container 81 forms an internal space in which scattered material to be sprayed on the farm is accommodated. Examples of the sprayed material include fertilizer, water, and agricultural chemicals. The container 81 has a supply unit 83 for supplying the sprayed material to the internal space on the upper surface of the container 81. The supply unit 83 has a cylindrical part 84 that protrudes cylindrically from the upper surface of the container 81. The lid 82 is detachably attached to the cylindrical portion 84 with screws or the like. 18 to 21, 24, and 25 show a state where the lid 82 is removed.

As shown in FIGS. 20, 24, and 25, the cylindrical portion 84 forms a supply port 85 that serves as an inlet when supplying the spatter to the internal space. The size (diameter) of the supply port 85 is set to a size that allows manual insertion (for example, a diameter of about 100 to 150 mm).
As shown by the solid lines in FIGS. 19 and 21, in the mounted state, the supply unit 83 is located on the front side (first edge portion 31 side) of the container 81 and does not overlap with the main body 3 in a top view (main body 3). In the front position). Further, as shown by the solid line in FIG. 21, in the mounted state, the cylindrical portion 84 is inclined so as to move forward as it is on the one end side (the side away from the main body 3) in the slide movement direction. . As a result, it is possible to easily perform operations such as supplying the sprayed material from the supply unit 83 into the container 81, inserting the hand from the supply port 85, and cleaning the interior of the container 81.

The container 81 has a receiving surface that receives the scattered material accommodated in the container 81. The said receiving surface is a surface (inner surface) which the scattered material accommodated in the container 81 contacts, and comprises the inner side surface and inner bottom surface of the container. The outer surface (hereinafter referred to as “outer surface”) of the receiving surface of the container 81 has a shape corresponding to the receiving surface (inner surface) (a shape along the receiving surface outside the receiving surface).

Hereinafter, the shape of the container 81 will be described with reference to the shape of the outer surface appearing in the drawing. Although the shape of the receiving surface of the container 81 is not shown in the drawing, it corresponds to the shape of the outer surface. In order to help understanding of the positional relationship between the container 81 and the main body 3, in FIGS. 23 and 24, the first edge 31 side (front side) is indicated by an arrow 310, and the second edge 32 side (rear side) is indicated by an arrow. 320, the third edge 33 side (left side) is indicated by an arrow 330, and the fourth edge 34 side (right side) is indicated by an arrow 340.

As shown in FIGS. 23 and 24, the container 81 has a first inclined surface 811, a second inclined surface 812, a third inclined surface 813, a fourth inclined surface 814, and a bottom surface 815. .
The first inclined surface 811 is inclined so as to move downward from the third edge 33 side (left side) toward the fourth edge 34 side (right side). The second inclined surface 812 is inclined so as to shift downward from the fourth edge 34 side (right side) toward the third edge 33 side (left side). The third inclined surface 813 is inclined so as to shift downward from the first edge portion 31 side (front side) toward the second edge portion 32 side (rear side). The fourth inclined surface 814 is inclined so as to shift downward from the second edge 32 side (rear side) toward the first edge 31 side (front side).

The bottom surface 815 connects the lower end of the first inclined surface 811, the lower end of the second inclined surface 812, the lower end of the third inclined surface 813, and the lower end of the fourth inclined surface 814. The bottom surface 815 has a first surface 815a and a second surface 815b. The first surface 815 a is a flat surface (horizontal plane) that constitutes the lowermost surface of the container 81 and is located at the center of the bottom surface 815. The second surface 815b is a flat surface (horizontal surface) provided around the first surface 815a, and is located above the first surface 815a. The second surface 815b connects the first surface 815a and four inclined surfaces (a first inclined surface 811, a second inclined surface 812, a third inclined surface 813, and a fourth inclined surface 814).

As shown in FIG. 25, the container 81 has a length (length in the front-rear direction) in the direction of the straight line (sliding movement direction) connecting the first edge 31 side (front side) and the second edge 32 side (rear side). ) L1 is formed longer than the length (width direction length) L2 in the direction (direction perpendicular to the slide movement direction) connecting the third edge 33 side (left side) and the fourth edge 34 side (right side). Has been.
Hereinafter, the support portion 80 will be described.

As shown in FIGS. 20 and 21, the support portion 80 supports the mounting portion 15 by separating the container 81 from the main body 3 downward.
As shown in FIGS. 20, 22, 24, and the like, the support portion 80 includes a first support portion 80L and a second support portion 80R. The first support portion 80L is attached to one side of the container 81 (the third edge 33 side (left side)). The second support portion 80R is attached to the opposite side (the fourth edge 34 side (right side)) of the container 81. The first support portion 80L is supported by the first connecting member 301 of the mounting portion 15. The second support portion 80 R is supported by the second connecting member 302 of the mounting portion 15.

As shown in FIGS. 22, 23, 25, etc., the support portion 80 (first support portion 80 L, second support portion 80 R) has a first portion 801 and a second portion 802.
The first portion 801 extends in a direction away from the container 81. Specifically, the first part 801 extends upward (in the attached state toward the main body 3) on the supply unit 83 side of the container 81. The first portion 801 of the first support portion 80L extends upward from the container 81 and then bends toward one side of the container 81 (the third edge 33 side (left side)). The first portion 801 of the second support portion 80R extends upward from the container 81 and then bends toward the other side of the container 81 (the fourth edge 34 side (right side)). That is, the first portion 801 of the first support portion 80L and the first portion 801 of the second support portion 80R extend upward from the container 81 and then bend toward the opposite sides (outward in the width direction). ing. The first part 801 has a front part 804 provided on one side (front side) in the slide movement direction and a rear part 805 provided on the other side (rear side).

The second part 802 is connected to the first part 801. Specifically, the second portion 802 connects the upper end portion of the front portion 804 and the upper end portion of the rear portion 805. The second portion 802 of the first support portion 80L and the second portion 802 of the second support portion 80R are provided in parallel with a gap in the width direction. As shown in FIGS. 20, 21, and 27, the second portion 802 can be attached to the attachment portion 15. By mounting the second part 802 on the mounting portion 15, the tank 8 is mounted on the mounting portion 15 (mounted state). In the mounted state, the second portion 802 extends in the slide movement direction (front-rear direction).

20, 21, and 27, the second portion 802 of the first support portion 80L is placed on the horizontal portion 303 of the first connecting member 301 in the mounted state. The second portion 802 of the second support portion 80R is placed on the horizontal portion 303 of the second connecting member 302. Accordingly, the first support portion 80L and the second support portion 80R are supported so as to be slidable in the extending direction (front-rear direction) of the connecting member 30. As a result, the tank 8 can be slid relative to the mounting portion 15. Further, the tank 8 can be detached from the mounting portion 15 by sliding the tank 8 with respect to the mounting portion 15 and detaching the support portion 80 from the connecting member 30.

As shown in FIG. 20, in the mounted state, the first part 801 is supported by the mounting part 15 and the second part 802 extends downward from the mounting part 15, so that the container 81 is suspended from the mounting part 15. Supported. In other words, the container 81 is supported while being spaced downward from the main body 3.
As shown in FIG. 28, the support portion 80 can support the container 81 by separating it from the ground G in a state where the tank 8 is detached from the mounting portion 15 (tank detached state). In a state where the container 81 is supported away from the ground (hereinafter referred to as “ground support state”), the second portion 802 contacts the ground G, and the first portion 801 extends upward from the ground G.

In the ground support state, the supply unit 83 faces downward. That is, in the second embodiment, the vertical direction of the container 81 is opposite between the mounted state and the ground support state. Thereby, in the ground support state, the residue in the container 81 (the remainder of the sprayed matter, the residual water after washing the inside of the container, etc.) can be dropped from the supply unit 83 toward the ground and discharged. .
As described above, the support portion 80 of the tank 8 in the second embodiment has a function (first function) for separating the container 81 from the ground and supporting it on the mounting portion 15, and separating the container 81 from the ground to the ground. It also has a supporting function (second function). Therefore, there is no need to separately provide a member for achieving the first function and a member for achieving the second function, and the reduction in the number of parts and the weight reduction of the tank 8 can be achieved. The support portion 80 of the tank 8 also functions as a handle for sliding the tank 8 and a handle for transporting the tank 8 detached from the mounting portion 15.

FIG. 29 shows a modified example of the support portion 80 of the tank 8.
The support 80 of this modified example is attached to the side surface of the container 81 so that the base end of the first part 801 (the end opposite to the second part 802) can be rotated. In other words, the base end portion of the first portion 801 is attached to the side surface of the container 81 as a rotation fulcrum 81a that allows the support portion 80 to rotate in the vertical direction.

Thereby, the support part 80 can be changed between the first direction (indicated by a virtual line in FIG. 29) and the second direction (indicated by a solid line in FIG. 29). The first direction is an orientation in which the first part 801 extends upward, which is the supply unit 83 side, and the second part 802 is positioned above the supply unit 83. The second direction is a direction in which the first part 801 extends downward, which is opposite to the supply unit 83 side, and the second part 802 is positioned below the supply unit 83.

According to this modified example, the container 81 can be mounted in a suspended state with respect to the mounting portion 15 by setting the support portion 80 in the first direction. Further, by setting the support portion 80 in the second direction, the container 81 can be separated from the ground and supported on the ground with the supply portion 83 facing upward in the tank detached state. Further, by setting the support portion 80 in the first direction, the container 81 can be separated from the ground and supported on the ground in a state where the supply portion 83 is directed downward in the tank detached state.

Further, although not shown, a configuration in which both the support member 80 in the first direction and the support member 80 in the second direction are provided may be employed.
As shown in FIG. 21, the pump 10 is attached below the first case 35. A suction port of the pump 10 is connected to an outlet (not shown) of the container 81 through a hose. The discharge port of the pump 10 is connected to a nozzle (not shown) via a hose. By driving the pump 10, the sprayed material stored in the container 81 can be sprayed from the nozzle toward the farm or the like.

In the above-described embodiment, the work device 7 is attached to the attachment unit 15, but an agricultural transported object different from the work device 7 can be attached.
As mentioned above, although this invention was demonstrated, it should be thought that embodiment disclosed this time is an illustration and restrictive at no points. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Agricultural multicopter 3 Main body 31 1st edge part 32 2nd edge part 33 3rd edge part 34 4th edge part 4 Arm 5 Rotary blade 6 Skid 6L1, 6R1 1st leg part 6L2, 6R2 2nd leg part 7

Work Device

16, 30 Connecting

member

16L, 301

First connecting member

16R, 302 Second connecting member 80 Support part 80L First support part 80R Second support part 801 First part 802 Second part 81 Container 15 Mounting part

Claims

The body,
A plurality of arms attached to the body;
A rotor blade attached to the arm and generating lift;
A skid capable of supporting the body on the ground;
A mounting portion provided below the main body;
A working device mounted on the mounting unit,
The main body has a first edge located on one side and a second edge located on the opposite side of the first edge,
The skid has a first leg provided on the first edge side and a second leg provided on the second edge side,
The mounting portion is an agricultural multicopter that includes a connecting member that supports the working device and connects the first leg portion and the second leg portion.
The main body has a third edge located on one end side in a direction orthogonal to a straight line connecting the first edge and the second edge, and a fourth edge located on the opposite side of the third edge. And
The connecting member is
A first connecting member that supports the working device on the third edge side and connects the first leg and the second leg;
The agricultural multicopter according to claim 1, further comprising: a second connecting member that supports the working device on the fourth edge side and connects the first leg portion and the second leg portion. .
The agricultural multicopter according to claim 2, wherein the first connecting member and the second connecting member extend in the orthogonal direction and support the working device so as to be slidable.
The said working apparatus has a container which forms the internal space in which the sprinkling material spread | dispersed on a farm is accommodated, and the support part which spaces apart the said container below from the said main body, and supports it to the said mounting part. Or the agricultural multicopter of 3.
The support part is
A first support portion supported by the first connecting member and extending in a direction away from the main body and attached to the third edge side of the container;
A second support portion supported by the second connecting member and extending in a direction away from the main body and attached to the fourth edge side of the container;
The agricultural multicopter according to claim 4, wherein:
The support part is
A first portion extending in a direction away from the container;
The agricultural multicopter according to claim 4, further comprising a second part connected to the first part and supported by the connecting member.
The mounting portion detachably supports the work device,
The agricultural multicopter according to any one of claims 1 to 6, wherein the support portion can be supported by being separated from the ground in a state where the working device is detached from the mounting portion.
The body,
A plurality of arms attached to the body;
A rotor blade attached to the arm and generating lift;
A detachable tank in a mounting portion provided below the main body,
The tank includes a container that forms an internal space in which scattered matter to be sprayed on a farm is stored, and a support that can support the container by separating the container from the ground in a state of being detached from the mounting part. For multicopter.
The said support part has the 1st site | part extended in the direction away from the said container, and the 2nd site | part which can contact | abut on the ground in the state connected to the said 1st site | part and supporting the said container. The agricultural multicopter according to 8.
The container projects from the container and is supported so as to be slidable with respect to the mounting part. The container projects from the container on the opposite side of the first projecting part and slides with respect to the mounting part. The agricultural multicopter according to claim 9, further comprising a second projecting portion that is supported.
The agricultural multicopter according to claim 10, wherein the support portion includes a support plate that is fixed to the protruding portion and is slidably supported with respect to the mounting portion.
The agricultural multicopter according to claim 11, wherein the first part is connected to the support plate.
The mounting portion has a holding mechanism for holding the tank in a predetermined position;
The holding mechanism is capable of holding at a first position where the tank is mounted and a second position moved from the first position in the sliding movement direction. Agricultural multi-copter.
The agricultural multicopter according to claim 11, wherein the mounting portion includes a guide member that extends in the sliding movement direction and supports the support plate.
A skid capable of supporting the body on the ground;
The holding mechanism is
A first fixing hole provided in the guide member;
A plurality of second fixing holes which are arranged side by side in the slide movement direction on the support plate and can selectively overlap with the first fixing holes as the slide moves;
The agricultural multicopter according to claim 14, further comprising an insertion member attached to the guide member and capable of being inserted into and removed from the first fixing hole and the second fixing hole.
The container has a supply unit that supplies the spatter to the internal space,
The agricultural multicopter according to any one of claims 8 to 15, wherein the first portion extends on a side opposite to the supply section.
The container has a supply unit that supplies the spatter to the internal space,
The agricultural multicopter according to any one of claims 8 to 15, wherein the first part extends toward the supply unit.
The agricultural multicopter according to claim 17, wherein the second part is attachable to the attachment part.
The agricultural multicopter according to any one of claims 1 to 18, wherein the support portion is provided on one side of the container and on the other side opposite to the one side.
A main body equipped with a first electrical component for controlling the flight;
A plurality of arms attached to the body;
A rotor blade attached to the arm and generating lift;
A second electrical component detachably disposed below the main body;
A working device disposed below the second electrical component and performing work related to agriculture;
Agricultural multi-copter equipped with.
21. The agricultural multicopter according to claim 20, wherein the second electrical component includes a battery that supplies power to the rotor blades.
The agricultural multicopter according to claim 20 or 21, wherein the working device includes a tank in which scattered material to be sprayed on a farm is stored.
The tank has a supply unit for supplying spatter to the internal space,
The agricultural multicopter according to claim 22, wherein the second electrical component and the supply unit are partitioned by a partition unit.
A case for accommodating the second electrical component in a removable manner;
The tank has a supply unit that supplies the spatter to the internal space on the main body side,
The agricultural multicopter according to claim 22, wherein the case includes a partition portion that partitions the second electrical component and the supply portion.
The case has an opening for taking in and out the second electrical component,
The agricultural multicopter according to claim 24, wherein the opening is provided on a side opposite to the supply unit.
A mounting portion for attaching the case to the lower side of the main body,
The agricultural multicopter according to claim 24 or 25, wherein the attachment portion can selectively attach the case to a plurality of positions.
The agricultural multicopter according to any one of claims 20 to 26, wherein the second electrical component is disposed below the rotor blade.