CN112660386B - Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function - Google Patents
Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function Download PDFInfo
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- CN112660386B CN112660386B CN202011621924.5A CN202011621924A CN112660386B CN 112660386 B CN112660386 B CN 112660386B CN 202011621924 A CN202011621924 A CN 202011621924A CN 112660386 B CN112660386 B CN 112660386B
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- 239000007921 spray Substances 0.000 claims abstract description 18
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000000575 pesticide Substances 0.000 claims 3
- 239000003814 drug Substances 0.000 abstract description 11
- 239000003595 mist Substances 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 241000143392 Oar Species 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003575 carbonaceous material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Abstract
本发明提供了一种带矢量控制的可折叠四轴八桨植保无人机，其包括无人机本体和无人机本体上设有若干矢量控制装置，矢量控制装置包括矢量控制臂，矢量控制臂的一端通过矢量转动机构连接有俯仰控制杆，俯仰控制杆两端分别设有矢量螺旋桨和喷头，矢量转动机构用于驱动俯仰控制杆在相互垂直的X和/或Y平面内转动。解决了现有植保无人机的喷头不能多角度喷出药雾的问题。可使药雾按照需要从多个角度喷洒至作物上，即使地势复杂，均可以完成植保作业，保证作业效果。
The invention provides a foldable four-axis eight-propeller plant protection drone with vector control, which includes a drone body and a plurality of vector control devices on the drone body. The vector control device includes a vector control arm, and the vector control One end of the arm is connected with a pitch control rod through a vector rotation mechanism. The two ends of the pitch control rod are respectively provided with a vector propeller and a nozzle. The vector rotation mechanism is used to drive the pitch control rod to rotate in the mutually perpendicular X and/or Y planes. It solves the problem that the spray head of the existing plant protection drone cannot spray medicine mist from multiple angles. The medicinal mist can be sprayed onto the crops from multiple angles as required, and even if the terrain is complex, the plant protection operation can be completed and the operation effect can be guaranteed.
Description
Technical Field
The invention relates to the field of plant protection unmanned aerial vehicles, in particular to a foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control.
Background
In recent years, the technology of unmanned aerial vehicles is continuously developed and perfected, and the unmanned aerial vehicles are widely applied to the commercial and military fields, wherein one unmanned aerial vehicle is a plant protection unmanned aerial vehicle, is an unmanned aerial vehicle used for agriculture and forestry plant protection operation as the name suggests, and is gradually applied to the fields of agriculture, planting industry, garden environmental protection and the like.
And present unmanned aerial vehicle is used for the plant protection operation, and to large-scale trees, many perpendicular downwards or the horizontal direction of unmanned aerial vehicle's shower nozzle, or become special fixed angle, can't rotate, only can utilize the screw to wash the air current down and carry out the medicine to unmanned aerial vehicle below vegetation and spray. No matter unmanned aerial vehicle is the flight of level height, still flies around trees, all there is the blind area that sprays below trees during plant protection. For mountainous or sloping fields, the working conditions are more complicated. For accurate plant protection operation, solve the blind area problem that sprays of large-scale trees, and unmanned aerial vehicle flies the process in the front the screw air current and is in the below state in the back, can't carry out fine plant protection operation to treating crop and large-scale trees on the complicated topography.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a foldable four-axis eight-paddle plant protection unmanned aerial vehicle with vector control, and solves the problems that a spray head of the existing plant protection unmanned aerial vehicle cannot spray medicine mist at multiple angles and the medicine mist cannot realize three-dimensional vector control.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the utility model provides a take eight oar plant protection unmanned aerial vehicle of collapsible four-axis of vector control, it includes and is equipped with a plurality of vector control device on unmanned aerial vehicle body and the unmanned aerial vehicle body, vector control device includes the vector control arm, the one end of vector control arm is connected with the every single move control pole through vector slewing mechanism, every single move control pole both ends are equipped with vector screw and shower nozzle respectively, vector slewing mechanism is used for driving every single move control pole at mutually perpendicular's X and/or Y in-plane rotation.
Furthermore, the vector rotating mechanism comprises a left rotating rod and a right rotating rod which are rotatably connected with the vector control arm, one end of the left rotating rod and one end of the right rotating rod are rotatably connected with the pitching control rod, the other end of the left rotating rod and the other end of the right rotating rod are connected with the output end of the left control motor and the output end of the pitching control motor, and the pitching control rod is connected with the output end of the pitching control motor.
Furthermore, the left and right rotating rods are rotatably connected with the middle part of the pitching control rod.
Furthermore, the vector propeller is connected with the output end of the vector motor, and the vector motor is connected with the pitching control rod.
Further, the unmanned aerial vehicle body includes four horn that are used for installing the screw, and the one end symmetry that the unmanned aerial vehicle skeleton of unmanned aerial vehicle body was kept away from to the horn is equipped with two screws, and the one end that every single move control pole was kept away from to the vector control arm is connected with the unmanned aerial vehicle skeleton.
Furthermore, two propellers are respectively connected with two output ends of the rotating motor, the rotating motor is connected with the machine arm, and the rotating motor is provided with an electric adjusting device for controlling the rotation of the rotating motor.
Furthermore, a vector control device is arranged below each machine arm.
Further, the horn passes through horn beta structure and unmanned aerial vehicle skeleton joint.
Further, be equipped with medical kit, forceful electric power battery, positioner, light current battery, flight control device and data transmission device on the unmanned aerial vehicle skeleton, the flight control device is connected with the light current battery, and the medical kit passes through the pencil and is connected with the shower nozzle. The strong electric battery is used for being connected with the rotating motor, the pitching control motor, the left and right control motor and the vector motor.
The invention has the beneficial effects that:
the unmanned aerial vehicle body is provided with the vector control devices, and the number of the vector control devices can be determined according to requirements; vector control arm passes through vector slewing mechanism and is connected with the every single move control lever, through vector slewing mechanism, the shower nozzle can realize the every single move, the side-to-side motion, vector screw produces a vector spiral flow field simultaneously, shower nozzle vector control screw air current is coaxial with the shower nozzle simultaneously, it carries out vector control with rear vector control air current to ensure that the shower nozzle sprays the medicine and is in screw below air current, make the medicine fog be located vector spiral flow field all the time, combine the lower flow field that the unmanned aerial vehicle screw produced, can make the medicine fog spray to the crop from many angles as required, can effectively solve large-scale trees below and spray the blind area problem, even the topography is complicated, all can accomplish the plant protection operation, guarantee the operation effect.
Drawings
Fig. 1 is an axonometric view of a foldable four-axis eight-paddle plant protection unmanned aerial vehicle with vector control.
Fig. 2 is a front view of a vector control device of a foldable four-axis eight-paddle plant protection unmanned aerial vehicle with vector control.
Fig. 3 is a right side view of a vector control device of a foldable four-axis eight-paddle plant protection unmanned aerial vehicle with vector control.
Wherein, 1, a medicine box; 2. a strong electric battery; 3. a vector control device; 31. a medicine tube; 32. a vector control arm; 33. controlling the motor left and right; 34. a left rotating rod and a right rotating rod; 35. a spray head; 36. a pitch control lever; 37. a pitch control motor; 38. a vector motor; 39. a vector propeller; 4. a positioning device; 5. a weak current battery; 6. A flight control device; 7. a data transmission device; 8. unmanned aerial vehicle skeleton; 9. a horn folding structure; 10. a horn; 11. a propeller; 12. rotating the motor; 13. an electric tuning device.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1-3, this scheme provides a take eight oar plant protection unmanned aerial vehicle of collapsible four-axis of vector control, it includes that unmanned aerial vehicle body and unmanned aerial vehicle body are equipped with four vector control device 3, vector control device 3 includes vector control arm 32, vector control arm 32's one end is connected with every single move control pole 36 through vector slewing mechanism, every single move control pole 36 both ends are equipped with vector screw 39 and shower nozzle 35 respectively, vector slewing mechanism is used for driving every single move control pole 36 at mutually perpendicular's X and/or Y in-plane rotation.
Specifically, in order to enable the medicine mist sprayed by the spray head 35 to be always in the flow field of the vector propeller 39 and be in the lower flow field of the unmanned aerial vehicle propeller, the left and right rotating rods 34 are rotatably connected with the middle part of the pitching control rod 36; as shown in fig. 2, the vector propeller 39 is connected to the output of the vector motor 38, and the vector motor 38 is connected to the pitch control rod 36. The vector propeller 39 is driven to rotate by the vector motor 38 so as to apply a flow field to the spray head 35, thereby meeting the use requirement.
As shown in fig. 2, the vector rotation mechanism includes a left and right rotation lever 34 rotatably connected to the vector control arm 32, one end of the left and right rotation lever 34 is rotatably connected to a pitch control lever 36, the other end of the left and right rotation lever 34 is connected to an output terminal of the left and right control motor 33, and the pitch control lever 36 is connected to an output terminal of a pitch control motor 37. The left and right control motors 33 drive the left and right rotating rods 34 to rotate around the axes thereof in the X plane, and further drive the pitch control rods 36 to rotate around the connection points of the pitch control rods and the left and right rotating rods 34, so as to realize the left and right rotation of the spray head 35. The pitching control motor 37 drives the pitching control rod 36 to rotate around the connection point of the pitching control rod and the left and right rotating rods 34 in the Y plane, so as to realize the pitching motion of the nozzle 35. The left and right rotating rods 34 are rotatably connected with the pitching control rod 36, and the spray head 35 can spray medicine mist in any direction to meet the use requirement.
Further, as shown in fig. 1, the unmanned aerial vehicle body still includes four horn 10 that are used for installing screw 11, horn 10 passes through horn beta structure 9 and is connected with unmanned aerial vehicle skeleton 8, the unmanned aerial vehicle skeleton 8's that unmanned aerial vehicle body was kept away from to horn 10 one end symmetry is equipped with two screw 11, two screw 11 are connected with two outputs that rotate motor 12 respectively, and rotate motor 12 and be connected with horn 10, it is equipped with and is used for controlling its pivoted electric adjusting device 13 to rotate motor 12. A vector control device 3 is arranged below each machine arm 10, and one end, far away from the pitching control rod 36, of the vector control arm 32 is connected with the unmanned aerial vehicle framework 8.
Through horn beta structure 9, the horn can be folded fast and conveniently transported, and the contained angle between two adjacent vector control arms 32 is 90, and four vector control device 3 can be quick regulation unmanned aerial vehicle more.
Still be equipped with medical kit 1, forceful electric power battery 2, positioner 4, weak current battery 5, flight control device 6 and data transmission device 7 on the unmanned aerial vehicle skeleton 8, flight control device 6 is connected with weak current battery 5, and medical kit 1 passes through pencil 31 and is connected with shower nozzle 35.
Positioner 4 can adopt GPS, and unmanned aerial vehicle skeleton 8 and horn 10 all can adopt the carbon material to make, and in order to avoid 8 materials of unmanned aerial vehicle skeleton to shelter from to positioner 4's signal, flight control device 6 is used for controlling whole unmanned aerial vehicle, and forceful electric power battery 35 is used for the power supply to each motor, and strong and weak electricity separation avoids the interact.
Claims (6)
1. The foldable four-axis eight-paddle plant protection unmanned aerial vehicle with the vector control comprises an unmanned aerial vehicle body and is characterized in that a plurality of vector control devices (3) are arranged on the unmanned aerial vehicle body, each vector control device (3) comprises a vector control arm (32), one end of each vector control arm (32) is connected with a pitching control rod (36) through a vector rotating mechanism, vector propellers (39) and spray heads (35) are respectively arranged at two ends of each pitching control rod (36), and each vector rotating mechanism is used for driving each pitching control rod (36) to rotate in mutually perpendicular X and/or Y planes;
the unmanned aerial vehicle body comprises four machine arms (10) used for mounting propellers (11), two propellers (11) are symmetrically arranged at one end, away from an unmanned aerial vehicle framework (8) of the unmanned aerial vehicle body, of each machine arm (10), and one end, away from a pitching control rod (36), of each vector control arm (32) is connected with the unmanned aerial vehicle framework (8); a vector control device (3) is arranged below each machine arm (10);
the horn (10) is connected with the unmanned aerial vehicle framework (8) through a horn folding structure (9).
2. The foldable four-axis eight-paddle plant protection unmanned aerial vehicle with vector control as claimed in claim 1, wherein the vector rotating mechanism comprises left and right rotating rods (34) rotatably connected with a vector control arm (32), one end of the left and right rotating rods (34) is rotatably connected with a pitch control rod (36), the other end of the left and right rotating rods (34) is connected with the output end of a left and right control motor (33), and the pitch control rod (36) is connected with the output end of a pitch control motor (37).
3. The foldable four-axis eight-paddle plant protection unmanned aerial vehicle with vector control as claimed in claim 2, wherein the left and right rotating rods (34) are rotatably connected with the middle part of the pitch control rod (36).
4. The foldable four-axis eight-paddle plant protection unmanned aerial vehicle with vector control as claimed in claim 1, wherein the vector propeller (39) is connected with the output end of the vector motor (38), and the vector motor (38) is connected with the pitch control rod (36).
5. The foldable four-axis eight-propeller unmanned aerial vehicle with vector control according to claim 1, wherein two propellers (11) are respectively connected with two output ends of a rotating motor (12), the rotating motor (12) is connected with a machine arm (10), and the rotating motor (12) is provided with an electric adjusting device (13) for controlling the rotation of the rotating motor.
6. The foldable four-axis eight-paddle plant protection unmanned aerial vehicle with vector control according to claim 1 or 5, wherein a pesticide box (1), a strong current battery (2), a positioning device (4), a weak current battery (5), a flight control device (6) and a data transmission device (7) are arranged on the unmanned aerial vehicle framework (8), the flight control device (6) is connected with the weak current battery (5), and the pesticide box (1) is connected with a spray head (35) through a pesticide pipe (31).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011621924.5A CN112660386B (en) | 2020-12-30 | 2020-12-30 | Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011621924.5A CN112660386B (en) | 2020-12-30 | 2020-12-30 | Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function |
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| Publication Number | Publication Date |
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| CN112660386A CN112660386A (en) | 2021-04-16 |
| CN112660386B true CN112660386B (en) | 2021-09-14 |
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| CN202011621924.5A Expired - Fee Related CN112660386B (en) | 2020-12-30 | 2020-12-30 | Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function |
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| CN115675952B (en) * | 2022-12-14 | 2025-07-04 | 内蒙古农业大学 | Wind turbine blade unmanned aerial vehicle deicing component and method |
| WO2024182866A1 (en) * | 2023-03-08 | 2024-09-12 | Pereira Filho Alberto Carlos | Thrust-vectored vtol aerial vehicle |
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| US7407116B2 (en) * | 2005-04-20 | 2008-08-05 | Emerald Pacific Airlines | Spray washer structure of insulator used for aircraft |
| CN106741952A (en) * | 2016-12-12 | 2017-05-31 | 农业部南京农业机械化研究所 | A kind of agricultural remote control flight fog machine spray boom active balancing device and adjusting method |
| CN106882359A (en) * | 2017-02-27 | 2017-06-23 | 东莞产权交易中心 | A four-axis foldable drone |
| CN207242026U (en) * | 2017-09-20 | 2018-04-17 | 王月娟 | A kind of unmanned plane easy to sprinkling liquid medicine agricultural |
| CN107933920A (en) * | 2017-10-19 | 2018-04-20 | 深圳市莲花百川科技有限公司 | A kind of agricultural plant protection unmanned plane |
| CN108583894A (en) * | 2018-04-17 | 2018-09-28 | 深圳市安思科电子科技有限公司 | A kind of easy-to-mount and wide spraying range plant protection drone |
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2020
- 2020-12-30 CN CN202011621924.5A patent/CN112660386B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7407116B2 (en) * | 2005-04-20 | 2008-08-05 | Emerald Pacific Airlines | Spray washer structure of insulator used for aircraft |
| CN106741952A (en) * | 2016-12-12 | 2017-05-31 | 农业部南京农业机械化研究所 | A kind of agricultural remote control flight fog machine spray boom active balancing device and adjusting method |
| CN106882359A (en) * | 2017-02-27 | 2017-06-23 | 东莞产权交易中心 | A four-axis foldable drone |
| CN207242026U (en) * | 2017-09-20 | 2018-04-17 | 王月娟 | A kind of unmanned plane easy to sprinkling liquid medicine agricultural |
| CN107933920A (en) * | 2017-10-19 | 2018-04-20 | 深圳市莲花百川科技有限公司 | A kind of agricultural plant protection unmanned plane |
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