WO2020200008A1

WO2020200008A1 - Plant protection unmanned aerial vehicle

Info

Publication number: WO2020200008A1
Application number: PCT/CN2020/081126
Authority: WO
Inventors: 高廉洁; 尹亮亮; 张羽
Original assignee: 拓攻（南京）机器人有限公司
Priority date: 2019-03-31
Filing date: 2020-03-25
Publication date: 2020-10-08
Also published as: CN109878731B; CN109878731A

Abstract

A plant protection unmanned aerial vehicle, comprising a vehicle body (8), arms (1), rotor wings (7) and nozzles, and also comprising a support frame connecting the arms (1) and the vehicle body (8), wherein the number of the arms (1) is two and the arms are arranged in parallel; the two arms (1) are dispose at the front and rear sides of the vehicle body (8) respectively; the support frame comprises two first connecting frames (2) arranged in parallel and two parallel second connecting frames (3) which have two ends which are vertically connected to the first connecting frames (2) respectively; the two first connecting frames (2) are located on the left and right sides of the vehicle body respectively, and two ends of the first connecting frames (2) are connected to the two arms (1) respectively; and the second connecting frames (3) penetrate the vehicle body (8) and are fixedly connected to the vehicle body (8). In the present plant protection unmanned aerial vehicle, the arms (1) are connected to the vehicle body (8) by means of the support frame, and the vehicle body (8) is fixed to the support frame. The overall structure of the unmanned aerial vehicle is stable, thus reducing the impact of vibrations caused by the operation of the rotor wings on the measurement accuracy of a sensor in the vehicle body, and improving the flight stability of the unmanned aerial vehicle. The spray width is relatively large, which may meet the needs of modern plant protection operations.

Description

A planting protection drone

The present invention claims the priority of a Chinese patent application filed with the Chinese Patent Office on March 31, 2019, with an application number of 201910254565.5 and an invention title of "Yi Chuang Bao UAV", the entire content of which is incorporated into the present invention by reference.

Technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for planting protection.

Background technique

With the increasing maturity of drone technology and the popularization of modern agricultural concepts, the application of plant protection drones has become more and more widespread. Using plant protection drones to spray pesticides can not only save manpower and material resources, but also avoid the use of remote control operations and avoid spraying. Operators are exposed to pesticides, which improves the safety and efficiency of pesticide spraying operations.

The existing plant protection drones include a fuselage, an arm and a medicine box. Usually, there are multiple arms and arranged around the fuselage. One end of the arm is connected to the fuselage, and the other end is fixed with a rotor. The box is fixed at the bottom of the fuselage. The spraying range of the above-mentioned plant protection drones is small, and it is difficult to meet the needs of current plant protection operations. The arm is fixedly connected to the fuselage, and the vibration generated by the operation of the rotor is directly transmitted to the fuselage, resulting in poor stability of the fuselage and easily affecting the measurement accuracy of the sensors in the fuselage.

Summary of the invention

In order to solve the above technical problems, the present invention provides a plant protection drone, which has higher overall structural strength, better body stability, and larger spray width, which improves the efficiency of the drone plant protection operation.

In order to achieve the above technical effects, the present invention adopts the following technical solutions:

The present invention provides a planting protection drone, which includes a fuselage, an arm, a rotor, and a sprinkler, and also includes a support frame connecting the arm and the fuselage. The arm has two arms and is arranged in parallel. The two arms are respectively arranged on the front and rear sides of the fuselage, and the support frame includes two first connecting frames arranged in parallel and two parallel second connecting frames perpendicularly connected to the first connecting frame at both ends. Connecting frame, the two first connecting frames are respectively located on the left and right sides of the fuselage and the two ends of the first connecting frame are respectively connected with two arms, and the second connecting frame passes through the fuselage and is connected to The fuselage is fixedly connected; the two ends of the arm are provided with a rotor, and a nozzle is provided under the rotor.

In the plant protection drone provided by this embodiment, the arm and the fuselage are connected through a support frame, which reduces the impact of vibration generated by the rotor on the arm on the measurement accuracy of the sensors in the fuselage. The fuselage is fixed on On the second connecting frame of the support frame, the overall structure of the UAV is relatively strong; the two arms are located on the front and rear sides of the fuselage, and the length is much longer than the width of the fuselage, which greatly increases the spray range and is beneficial to improve the UAV. Efficiency of plant protection operations.

Preferably, it further includes a medicine box, the medicine box is "T"-shaped; it includes an upper box body and a lower box body that are integrally connected up and down and communicated with each other; the medicine box is plugged in and pulled out of the body. The medicine box is fixed in the fuselage by a plug-in installation method, which is convenient for replacing the medicine box.

Further, the fuselage is provided with a first installation through slot penetrating up and down, and the upper box body of the medicine box is clamped on the fuselage at the upper opening of the first installation through groove; the lower box body Pass through the first installation through groove.

The medicine box is installed in the first installation slot in the fuselage, the upper box is supported on the fuselage outside the first installation slot, and the lower box runs through the first installation slot. The installation of the medicine box is convenient and fast, no need to use Connecting parts and borrowing external tools can quickly replace the medicine box, which is beneficial to speed up the process of plant protection operations, thereby saving plant protection operation costs.

Further, one end of the bottom of the upper tank is provided with a medicine outlet, and the medicine outlet is connected with a medicine suction pipe extending into the bottom of the lower tank; a medicine outlet valve is connected to the medicine outlet; The medicine outlet valve is matched and connected with a valve seat arranged on the fuselage of the drone. The medicine outlet valve includes a casing and a water outlet pipe arranged in the casing. The water outlet pipe is provided with a valve body that slides up and down. The valve body includes an upper plug body and a lower tubular body that are connected up and down as a whole. The connection between the tubular body and the upper plug body is provided with a through hole communicating with the inside of the lower tubular body, and a return spring is arranged between the upper plug body of the valve body and the top of the water outlet pipe.

Further, on two opposite side surfaces of the lower box body, a limit block protrudes outward, and the limit block is supported on the bottom of the fuselage at the lower opening of the first installation through slot.

Further, the body is provided with a second installation through groove penetrating up and down, and a battery is fixed in the second installation through groove; each side of the upper opening of the second installation through groove is provided with a clamping groove The battery is a "T" shape, including an upper half and a lower half that are connected up and down as a whole, and the bottom of the two sides of the upper half extends downwardly with barbed buckles; the upper half of the battery Supported on the body outside the opening on the second installation through groove, and the barbed buckle is clamped in the clamping groove, the lower half of the battery passes through the second installation through Slot settings. The battery adopts plug-in installation, and is connected to the card slot on the fuselage through the barbed buckle. The installation is stable and reliable, and the replacement is convenient and quick. It overcomes the instability and replacement caused by the existing strap-type fixing. Cumbersome defects.

Preferably, the two ends of the first connecting frame and the arm, and the two ends of the second connecting frame and the first connecting frame are all fixedly connected by U-shaped clamps and bolts.

Further, it also includes two third connecting frames separately arranged at both ends of the machine arm, the two third connecting frames are arranged in parallel with each other, and the two ends of the third connecting frame are respectively connected with the ends of the two machine arms. The third connecting frame has the function of stabilizing the two arms. The third connecting frame, the arms and the support frame together form a fence-like layout of the drone body. The overall structure of the drone has high strength, and the connection is stable and reliable to avoid the Shaking during the flight of the UAV helps to improve the stability and safety of the UAV flight.

Further, the fuselage includes an upper shell and a lower shell that are fixed to each other, and the lower shell includes baffles extending upward on both sides, and the two baffles are respectively provided with a second connecting frame to pass through The through hole; the second connecting frame and the lower shell, the upper shell and the lower shell are respectively fixedly connected by connecting pieces.

Further, it also includes landing gear, the landing gear has four and the tops are respectively fixed at the four corners where the first connecting frame is connected to the arm; the landing gear includes an upper horizontal section, an inclined section and a lower horizontal section that are integrally connected The inclined section is gradually inclined outward from top to bottom, and the lower horizontal section is used for landing support.

The above technical solution includes the following beneficial effects: In the plant protection drone provided by the present invention, the arm and the fuselage are connected by a support frame, and the fuselage is fixed on the support frame. The overall structure of the drone is stable and reduces The impact on the measurement accuracy of the sensors in the fuselage improves the flight stability of the drone; the medicine box and the battery are installed on the fuselage in a plug-in manner, which is convenient and quick to install and replace, and can be quickly disassembled, which greatly improves the Human-machine plant protection operation efficiency; the front and rear sides of the fuselage are equipped with arms. The arms are long arms. The two arms are arranged in parallel. Both ends of the arms are equipped with rotors. There are nozzles under the rotors. Meet the needs of modern plant protection operations.

Description of the drawings

Figure 1 is a schematic structural diagram of a plant protection drone provided by an embodiment of the present invention;

Figure 2 is a top view of a plant protection drone provided by an embodiment of the present invention;

Figure 3 is an enlarged view of A in Figure 1;

4 is a schematic diagram of the structure of a battery provided by an embodiment of the present invention;

Fig. 5 is an enlarged view of B in Fig. 4 provided by an embodiment of the present invention;

Figure 6 is a schematic structural diagram of a medicine box provided by an embodiment of the present invention;

Figure 7 is a side view of a medicine box provided by an embodiment of the present invention;

8 is a cross-sectional view of the cooperative connection of the outlet valve and the valve seat at C in FIG. 7 provided by an embodiment of the present invention;

FIG. 9 is a schematic diagram of a three-dimensional structure of the water outlet valve and the valve seat matingly connected according to an embodiment of the present invention.

In the picture:

1. Arm; 2. The first connecting frame; 3. The second connecting frame; 4. Medicine tank; 4.1. Upper tank; 4.2 Lower tank; 4.3 Limit block; 4.4 Medicine discharge valve; 4.41 Shell; 4.42, water outlet pipe; 4.43, valve body; 4.431, through hole; 4.44, return spring; 4.45, filter holder; 4.46, first sealing ring; 4.47, annular groove; 4.48, second sealing ring; 4.49, first Two card platform; 4.5. Medicine outlet; 5. Battery; 5.1. Barbed buckle; 5.2. Protruding block; 6. Landing gear; 6.1. Upper horizontal section; 6.2. Inclined section; 6.3. Lower horizontal section; 7. Rotor; 8. Fuselage; 8.1. The first installation slot; 8.2. The second installation slot; 8.3. Support platform; 8.4. Upper shell; 8.5. Lower shell; 8.51. Baffle; 8.6. Card Connecting groove; 9, U-shaped clamp; 10, third connecting frame; 11. Valve seat; 11.1, mounting seat; 11.2, water outlet connector; 11.3, inclined support platform; 11.4, boss.

detailed description

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the present invention. Invented some embodiments, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", The orientation or positional relationship indicated by "vertical", "horizontal", "horizontal", "vertical", etc. are based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit that the indicated device, element, or component must have a specific orientation, or be constructed and operated in a specific orientation.

In addition, some of the above terms may be used to indicate other meanings in addition to the position or position relationship. For example, the term "shang" may also be used to indicate a certain dependency relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to specific situations.

In addition, the terms "installation", "setup", "provided", "connected", "connected" and "socket" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediary, or between two devices, components, or components. Connectivity within the room. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific circumstances.

Unless otherwise specified, "plurality" means two or more.

The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.

Example 1:

This embodiment provides a planting protection drone. Refer to Figures 1 to 3, which includes a fuselage 8, an arm 1, a rotor 7 and a nozzle, and also includes a support frame connecting the arm 1 and the fuselage 8. There are two arms 1 arranged in parallel. The two arms 1 are respectively arranged on the front and rear sides of the fuselage 8. The support frame includes two first connecting frames 2 arranged in parallel and two ends Two second connecting frames 3 that are parallel to each other vertically connected to the first connecting frame 2 respectively, and the two first connecting frames 2 are respectively located on the left and right sides of the fuselage 8 and at both ends of the first connecting frame 2 Connected to two arms 1 respectively, the second connecting frame 3 passes through the fuselage 8 and is fixedly connected to the fuselage 8. The fuselage 8 includes an upper shell 8.4 and a lower shell 8.5 that are fixed to each other. , The lower housing 8.5 includes baffles 8.51 extending upward on both sides, two baffles 8.51 are respectively provided with through holes for the second connecting frame 3 to pass through; the second connecting frame 3 and the lower housing 8.5, the upper shell 8.4 and the lower shell 8.5 are respectively fixedly connected by connecting pieces. The second connecting frame 3 is penetrated into the fuselage 8 by a baffle 8.51, and is connected to the first baffle 8.51 after passing through the other baffle 8.51. A connecting frame 2 is connected. The connecting piece may be a bolt, a screw or other connecting piece that can realize a fixed connection between the two. The two ends of the arm 1 are provided with a rotor 7 and a nozzle is provided under the rotor 7.

One end of the arm of the commonly used UAV is directly connected to the fuselage, and the other end is fixed with the rotor. There are nozzles under the rotor. The vibration generated by the rotor directly acts on the fuselage, which causes the overall structure of the UAV to be unstable and affect the interior. The measurement accuracy of the sensor and the overall structure of the UAV also make the spray range of the UAV plant protection operation smaller, which is difficult to meet the needs of today's plant protection operation. In this embodiment, two parallel long aircraft arms are fixed on the front and rear sides of the fuselage respectively, and are connected to the fuselage through a support frame. The two ends of the long aircraft arm are respectively provided with rotors and nozzles are provided under the rotors. , The length of the long machine arm is much larger than the width of the machine body, and the spray width is larger. In this embodiment, the length of the machine arm 1 is 1150-1160mm, and the spray width can reach 4.0-5.0 meters, which greatly improves the efficiency of plant protection operations. In addition, in order to reduce the weight of the drone, extend the life of the drone, and improve the overall strength of the drone structure, in this embodiment, the arm 1 and the support frame are made of aluminum, and the interior is hollow; in order to increase the load of the drone, each Each arm 1 can be provided with four rotors 7 at intervals, one at each end of the arm 1, two spaces between the two ends of the arm, and each rotor 7 is provided with a spray head.

Example 2:

In the current commonly used plant protection drones, the medicine box is usually fixed at the bottom of the fuselage, and the battery is fixed on the fuselage through a strap. Because the installation structure of the medicine box and the bottom of the fuselage is complicated, replacement is difficult. Therefore, when the liquid medicine in the medicine box is insufficient during the plant protection operation, the plant protection drone needs to transport the liquid medicine into the medicine box through the medicine injection device after returning home. This wastes time and manpower and delays the plant protection operation process. To a certain extent, it increases the cost of users using drones for plant protection operations. In addition, the medicine box is installed at the bottom of the drone's fuselage, which occupies a large space under the fuselage, which makes the center of gravity of the drone farther from the ground and increases the instability of the drone during landing. In addition, during plant protection operations, the battery needs to be replaced frequently to achieve endurance. The battery is fixed on the fuselage with a strap, which is not only inconvenient for disassembly and replacement, waste of time, but also unstable fixation, which affects the flight safety of the drone.

In this embodiment, in order to overcome the above-mentioned drawbacks, the medicine box 4 and the battery 5 are respectively fixed on the fuselage 8 in a plug-in connection manner. Specifically, as shown in FIGS. 6-7, the medicine box 4 is "T". Type; includes an upper box 4.1 and a lower box 4.2 that are integrally connected up and down and internally communicated; as shown in Figure 2-3, the fuselage 8 is provided with a first installation through slot 8.1 that penetrates up and down, the medicine box The upper box 4.1 of 4 is clamped on the fuselage 8 at the upper opening of the first installation through slot 8.1; the lower box 4.2 is inserted into the first installation through slot 8.1. The medicine box 4 is divided into two parts. On the one hand, it is beneficial to reduce the vibration amplitude of the liquid medicine in the medicine box 4 during the flight of the drone, and avoid affecting the flight stability of the drone. On the other hand, the above-mentioned medicine is adopted. The box 4 is convenient for plug-in installation of the medicine box 4 and the fuselage 8, and is supported on the upper part of the fuselage 8 by means of the upper box 4.1.

At the same time, the medicine box 4 is installed in the first installation slot 8.1 in the fuselage 8, the upper box 4.2 is supported on the fuselage 8 outside the first installation slot 8.1, and the lower box 4.2 penetrates the first installation slot 8.1. It can be seen that in this embodiment, there is no need to use connectors and borrow external tools, and the medicine box 4 can be quickly replaced, so that the installation of the medicine box 4 is convenient and quick.

As shown in Figs. 7-8, one end of the bottom of the upper box 4.1 is provided with a medicine outlet 4.5, and the medicine outlet 4.5 is connected with a medicine suction pipe extending into the bottom of the lower box 4.2; As shown in FIGS. 2 and 6-8, the medicine outlet 4.5 is connected with a medicine outlet valve 4.4; the medicine outlet valve 4.4 is matedly connected with the valve seat 11 provided on the drone body 8.

As shown in Figures 8-9, the medicine outlet valve 4.4 includes a housing 4.41 and a water outlet pipe 4.42 arranged in the housing 4.41. The water outlet pipe 4.42 is provided with a valve body 4.43 that slides up and down. The housing 4.41 The inside is hollow and open up and down. The upper opening of the housing 4.41 is threadedly connected with the medicine outlet 4.5, the lower opening of the housing 4.41 forms a circle of first pallets inwardly, and the outer wall of the outlet pipe 4.42 extends outwardly. The first chuck is rounded, and the first chuck is chucked between the bottom of the medicine outlet 4.5 and the first pallet, thereby fixing the water outlet pipe 4.42. The valve body 4.43 is movably arranged in the outlet pipe 4.42 up and down, and the outlet pipe 4.42 is closed before the medicine outlet valve 4.4 is installed on the valve seat 11 to prevent water from flowing out. When the medicine outlet valve 4.4 is installed on the valve seat 11, the outlet pipe is opened 4.42 Effluent. Specifically, the water outlet pipe 4.42 includes an upper round pipe and a lower round pipe that are connected up and down as a whole, the diameter of the lower round pipe is smaller than that of the upper round pipe, and the valve body 4.43 includes an upper plug body and a lower tubular body that are connected up and down as a whole, The outer diameter of the upper plug body is less than or equal to the outer diameter of the lower tubular body, the surface of the upper plug body is provided with a circle of second clamping stations 4.49, and the inner wall of the outlet pipe 4.42 is provided with a position corresponding to the first clamping station. When the valve body 4.43 slides downward, the second clamping table 4.49 is clamped on the second pallet. The outer surface of the lower tubular body is attached to the inner surface of the lower round tube of the outlet pipe 4.42, and there is a certain gap between the outer surface of the lower tubular body and the inner surface of the upper round pipe of the outlet pipe 4.42, and the lower tubular body is A through hole 4.431 communicating with the inside of the lower tubular body is opened at the connection of the upper plug body.

In order to filter the medicine dregs in the medicine box 4 and prevent the nozzle from being blocked, a filter frame 4.45 is threadedly connected to the top of the outlet pipe 4.42, and a filter screen is provided on the filter frame 4.45 to filter the liquid medicine entering the outlet pipe 4.42; The valve body 4.43 resets automatically. A reset spring 4.44 is provided between the upper plug body of the valve body 4.43 and the filter frame 4.45. When the drug delivery valve 4.4 is separated from the valve seat 11, the valve body 4.43 quickly returns to In situ, that is, the valve body 4.43 seals the outlet pipe 4.42, the through hole 4.431 is located at the lower round pipe of the outlet pipe 4.42, and the inner surface of the lower round pipe fits the through hole 4.431 to prevent the liquid medicine from flowing out.

In order to increase the sealing effect of the valve body 4.43 on the drug delivery valve 4.4, a groove is provided at the lower part of the second chuck 4.49 on the valve body 4.43, and a first sealing ring 4.46 is provided in the groove. When the body 4.43 slides downwards, the second clamping table 4.49 is clamped on the second pallet and the first sealing ring is sealed between the two to prevent the liquid medicine from flowing between the lower tubular body of the valve body 4.43 and the outlet pipe 4.42 Flow out between the inner walls of the lower round pipe.

As shown in Figures 8-9, the valve seat 11 includes a mounting seat 11.1 and a water outlet connector 11.2. The water outlet connector 11.2 is installed on the fuselage 8, and the mounting seat 11.1 is plugged into the water outlet connector 11.2, The mounting seat 11.1 is a ring-shaped body with upper and lower openings and narrow upper and lower sides. The medicine outlet valve 4.4 is installed on the valve seat 11, and the shell of the medicine outlet valve 4.4 is pressed against the inclined support table 11.3 provided on the inner wall of the mounting seat 11.1. A circle of boss 11.4 extends inward on the inner wall of the opening near the bottom of the mounting seat 11.1, the bottom of the outlet pipe 4.42 is pressed against the boss 11.4, and the opening of the lower tubular body of the valve body 4.43 communicates with the outlet connector 11.2. Before the medicine outlet valve 4.4 is installed on the valve seat 11, the through hole 4.431 of the lower tubular body of the valve body 4.43 is located in the lower round pipe of the water outlet pipe 4.42. The inner surface of the lower round pipe closes the through hole 4.431, and the liquid medicine cannot flow out. 4.42 was closed. When the medicine outlet valve 4.4 is installed on the valve seat 11, the valve body 4.43 moves upward under the action of the valve seat 11, and the through hole 4.431 on the lower tubular body moves to the upper round pipe of the outlet pipe, because the upper round pipe and the valve body 4.43 There is a gap between the lower tubular bodies of the, and the liquid medicine flows into the lower tubular body of the valve body through the through hole 4.431, and flows into the outlet connector 11.2 through the lower tubular body.

When the medicine outlet valve 4.4 is installed on the valve seat 11, in order to prevent the medicine from flowing out between the outlet pipe 4.42 of the medicine outlet valve 4.4 and the installation seat 11.1 of the valve seat 11, the outer wall of the outlet pipe 4.42 is provided with an annular groove 4.47, which is annular A second sealing ring 4.48 is provided between the groove 4.47 and the inner wall of the mounting seat 11.1.

As shown in Figure 2, in this embodiment, in order to further enhance the stability of the installation of the medicine box 4, the first installation through groove 8.1 is provided with stepped support platforms 8.3 along the front and rear directions of the fuselage 8. The medicine box 4 The left and right ends are supported on the fuselage 8 and exposed on the fuselage 8, and the front and rear ends are supported on the support platform 8.3, thereby improving the stability of the medicine box 4. Optionally, the valve seat 11 is set on one of the support platforms, and after the medicine tank 4 is installed in the first installation slot 8.1, the medicine outlet valve 4.4 on the medicine tank 4 is inserted into the valve seat 11, and the valve body 4.43 is on the valve seat Move upward under the action of 11 to open the medicine outlet valve 4.4.

As shown in Figure 6, in order to further improve the stability of the installation of the medicine box, the two opposite sides of the lower box body 4.2 each protrude outwardly with a limiting block 4.3, and the limiting block 4.3 is supported on the The bottom of the fuselage 8 at the lower opening of the first installation slot 8.1.

The surface of the limit block 4.3 has a certain curvature. After the medicine box 4 is installed in the first installation through slot 8.1, the limit block 4.3 abuts on the bottom of the fuselage 8 correspondingly, thereby restricting the medicine box 4 from moving upward during the flight of the drone In addition, because the upper box 4.1 is clamped on the upper part of the fuselage 8, thereby restricting the downward movement of the medicine box 4, the stop block 4.3 and the upper box 4.1 work together to stably install the medicine box 4 in the first installation In the trough 8.1. The medicine box 4 is usually made of plastic material with certain elasticity. The size of the lower box body 4.2 is compatible with the first installation through groove 8.1. When the first installation through groove 8.1 is installed from top to bottom, the surface of the lower box body 4.2 Insert with the inner wall of the first installation through groove 8.1, the limit block 4.3 is compressed inward under the squeeze of the inner wall of the first installation through groove 8.1, when the limit block 4.3 moves downwards with the medicine box 4 and leaves the first installation through groove At 8.1, the limit block 4.3 returned to its original state and abutted against the bottom of the fuselage 8.

Further, as shown in FIGS. 2 to 3, the body 8 is provided with a second installation through groove 8.2 that penetrates up and down, and a battery 5 is fixed in the second installation through groove 8.2. The second installation slot 8.2 is located on one side of the first installation slot 8.1. In this embodiment, the second installation slot 8.2 is located on the rear side of the first installation slot 8.1, and the second installation slot 8.2 is lower than the first installation slot 8.1. Install through groove 8.1.

As shown in Fig. 3, the two sides of the upper opening of the second installation through groove 8.2 are provided with clamping grooves 8.6; as shown in Fig. 4 to Fig. 5, the battery 5 is a "T" shape, specifically including upper and lower Connected as an integral upper half and lower half, the bottoms of the two sides of the upper half are both extended downwardly with barbed buckles 5.1; the upper half of the battery 5 is supported by the second mounting channel On the body 8 outside the opening on the slot 8.2, the barbed buckle 5.1 is clamped in the clamping groove 8.6, and the lower half of the battery 5 is set through the second installation through groove 8.2 . The battery 5 adopts plug-in installation, and is connected to the card slot 8.6 on the fuselage through the barbed buckle 5.1. The installation is stable and reliable, and the replacement is convenient and quick. It overcomes the fixation brought by the common strapping fixing method. Unstable and cumbersome replacement of defects. Optionally, the outer surface of the upper half of the battery 5 is covered with a shell with a certain elasticity, the shell is formed with a bump 5.2, and one side of the bump 5.2 is provided with a vertical slot to facilitate pressing the bump The protruding block 5.2 includes a plurality of transverse protruding strips arranged at intervals, and the bottom of the bottom transverse protruding strip is connected with a barbed buckle 5.1. When installing the battery 5, the lower half of the battery 5 is inserted into the second installation slot 8.2, and the lower half is supported on the upper body 8 of the first installation slot 8.1. The barbed buckle 5.1 is aligned with the snap slot 8.6. Squeeze the convex block 5.2 inward, the barbed buckle 5.1 enters the clamping groove 8.6, release the pressing on the convex block 5.2, the convex block 5.2 returns to its original state, and the barbed buckle 5.1 is clamped In the card slot 8.6.

In this embodiment, the two ends of the first connecting frame 2 and the arm 1 and the two ends of the second connecting frame 3 and the first connecting frame 2 are all fixedly connected by U-shaped clamps 9 and bolts. The arm 1, the first connecting frame 2, and the second connecting frame 3 are all flat, and cooperate with the U-shaped clamp 9 to enhance the stability of the connection. The rotor 7 commonly used at present is usually installed on the arm 1 through a rotor base. The rotor base and the arm 1 are connected by pipe clamps. The shape and structure of the rotor base and the arm 1 have special requirements; and in this embodiment, There is no need to use a rotor seat, and the rotor 7 can be directly fixed on the U-shaped clamp 9, and the connection can be fixed by a connecting piece, which can be a screw, a bolt, or the like.

Further, as shown in Figures 1 to 2, the plant protection drone further includes two third connecting frames 10 separately arranged at both ends of the arm 1, the two third connecting frames 10 are arranged in parallel with each other, and the third The two ends of the connecting frame 10 are respectively connected with the ends of the two arms 1. The third connecting frame 10 has the function of stabilizing the two arms 1. The third connecting frame 10 and the arms 1 and the supporting frame form a fence-like layout of the drone body. The overall structure of the drone is strong and the connection is stable and reliable. , To avoid shaking of the arm 1 during the flight of the UAV, which is beneficial to improve the stability and safety of the UAV flight.

In addition, as shown in Figures 1 and 3, the plant protection drone also includes landing gear 6, said landing gear 6 has four, the tops are respectively fixed at the four corners of the first connecting frame 2 and the arm 1; The landing gear 6 includes an upper horizontal section 6.1, an inclined section 6.2 and a lower horizontal section 6.3 which are integrally connected. The inclined section 6.2 gradually slopes outward from top to bottom, and the lower horizontal section 6.3 is used for landing support. The upper horizontal section 6.1 of the landing gear 6 is fixedly connected with the arm 1 through a connecting piece, and the inclined section 6.2 gradually slopes outward from top to bottom, which is beneficial to improve the stability of the support.

The foregoing descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

A planting protection drone, comprising a fuselage (8), an arm (1), a rotor (7) and a nozzle, characterized in that it also includes a support frame connecting the arm (1) and the fuselage (8) There are two arms (1) arranged in parallel, the two arms (1) are respectively arranged on the front and rear sides of the fuselage (8), and the support frame includes two parallel arranged The first connecting frame (2) and the two parallel second connecting frames (3) of the first connecting frame (2) perpendicularly connected at both ends, the two first connecting frames (2) are respectively located at the The left and right sides of the fuselage (8) and the two ends of the first connecting frame (2) are respectively connected with two arms (1), and the second connecting frame (3) passes through the fuselage (8) and It is fixedly connected with the fuselage (8); two ends of the arm (1) are provided with a rotor (7), and a spray head is provided under the rotor (7).
The plant protection drone according to claim 1, characterized in that it further comprises a medicine box (4), the medicine box is "T"-shaped, including upper and lower boxes (4.1) and a lower layer that are integrally connected up and down and communicate with each other. Box body (4.2); The medicine box (4) is pluggably arranged in the body (8).
The plant protection drone according to claim 2, characterized in that the fuselage (8) is provided with a first installation slot (8.1) penetrating up and down, and the upper box (4.1) of the medicine box (4) ) Is clamped on the fuselage (8) at the upper opening of the first installation through slot (8.1); the lower box (4.2) is inserted in the first installation through slot (8.1).
The plant protection drone according to claim 3, characterized in that, one end of the bottom of the upper box (4.1) is provided with a medicine outlet (4.5), and the medicine outlet is connected to the lower box. The medicine pumping tube at the bottom of the body (4.2); the medicine outlet is connected with a medicine outlet valve (4.4); the medicine outlet valve (4.4) is connected to the valve seat (11) on the drone body (8) ) Matching connection.
The plant protection drone according to claim 4, wherein the medicine outlet valve (4.4) comprises a housing (4.41) and a water outlet pipe (4.42) arranged in the housing (4.41), and the water outlet pipe (4.42) is provided with a valve body (4.43) that slides up and down. The valve body (4.43) includes an upper plug body and a lower tubular body that are connected up and down as a whole. The connection between the lower tubular body and the upper plug body is provided with A through hole (4.431) communicates with the inside of the lower tubular body, and a return spring (4.44) is arranged between the upper plug body of the valve body (4.43) and the top of the water outlet pipe (4.42).
The plant protection drone according to claim 1, wherein the fuselage (8) is provided with a second installation slot (8.2) penetrating up and down, and the second installation slot (8.2) is internally fixed There are batteries (5);

Both sides of the upper opening of the second installation through groove (8.2) are provided with clamping grooves (8.6); the battery is of a "T" shape, and includes an upper half and a lower half that are connected up and down as a whole. The bottoms of the two sides of the upper half are downwardly extended with barbed buckles (5.1); the upper half of the battery is supported on the body outside the opening on the second installation through groove (8.1), and The barbed buckle (5.1) is clamped in the clamping groove (8.6), and the lower half of the battery (5) passes through the second installation through groove (8.1).
The plant protection drone according to claim 1, characterized in that, between the two ends of the first connecting frame (2) and the arm (1), the two ends of the second connecting frame (3) and the first The connecting frames (2) are all fixedly connected by U-shaped clamps and bolts.
The plant protection drone according to claim 1, further comprising two third connecting frames (10) separately arranged at both ends of the arm, the two third connecting frames (10) are arranged parallel to each other, and The two ends of the third connecting frame (10) are respectively connected with the ends of the two machine arms (1).
The plant protection drone according to claim 1, characterized in that the fuselage (8) comprises an upper shell (8.4) and a lower shell (8.5) that are fixed to each other, and the lower shell (8.5) It includes baffles (8.51) extending upward on both sides, two baffles (8.51) are respectively provided with through holes for the second connecting frame (3) to pass through; the second connecting frame (3) and the lower shell The bodies (8.5) and the upper shell (8.4) and the lower shell (8.5) are respectively fixedly connected by connecting pieces.
The plant protection drone according to claim 1, characterized in that it further comprises landing gear (6), said landing gear (6) has four and the tops are respectively fixed on the first connecting frame (2) and the arm The four corners of the connection; the landing gear (6) includes an integrally connected upper horizontal section (6.1), an inclined section (6.2) and a lower horizontal section (6.3), the inclined section (6.2) gradually outwards from top to bottom Inclined, the lower horizontal section (6.3) is used for landing support.