Reconfigurable large-load plant protection unmanned aerial vehicle and working method thereof

Abstract

The invention relates to the technical field of agricultural equipment, in particular to a reconfigurable large-load plant protection unmanned aerial vehicle and a working method thereof. The unmanned aerial vehicle comprises an unmanned aerial vehicle control part, a reconfigurable vehicle arm and a rotor wing part; the reconfigurable vehicle arm comprises a vehicle arm reconfiguration motor, a transmission gear and a multi-connecting-rod hinge mechanism. The rotor wing component comprises a rotor wing tilting mechanism; the arm reconfiguration motor is connected with the unmanned aerial vehicle control component and the transmission gear, and drives the transmission gear to rotate under the control of the unmanned aerial vehicle control component so as to drive the multi-connecting-rod hinge mechanism to move, so that the structural form of the arm is changed; the rotor wing tilting mechanism is connected with the multi-connecting-rod hinge mechanism, and the rotor wing tilting mechanism changes the tilting angle of the rotor wing when the form of the arm structure is changed, so that the arm structure reaches a preset reconstruction form. According to the invention, the positions of the rotors are adjusted through the reconfigurable arms, so that the problem of unstable flight caused by inclination of the aircraft body is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and more specifically, to a reconfigurable large-load plant protection unmanned aerial vehicle and its working method. Background Art

[0002] With the advancement of agricultural modernization, plant protection unmanned aerial vehicles are increasingly widely used in aspects such as farmland spraying, crop monitoring, and pest control. Especially in large-load tasks, the flight stability, load adaptability, and spraying efficiency of plant protection unmanned aerial vehicles become key factors in improving operation effects and reducing costs. Existing large-load plant protection unmanned aerial vehicles usually adopt a fixed arm and rotor design. When facing unstable flight states and complex load changes, this design often relies on increasing the differential of the power system for stable control. However, this method will cause unnecessary energy waste. Especially when performing large-load operations, the flight time and operation efficiency are severely limited.

[0003] In addition, when the position of the rotor changes in the traditional spraying system, the spraying direction cannot always be kept stable, resulting in uneven spraying effects and affecting the accuracy and spraying efficiency of liquid medicine use.

[0004] Therefore, it is necessary to design a reconfigurable large-load plant protection unmanned aerial vehicle to solve the above technical problems. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present invention proposes a reconfigurable large-load plant protection unmanned aerial vehicle and its working method, which can improve operation efficiency, reduce energy loss, and enhance flight stability.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: a reconfigurable large-load plant protection unmanned aerial vehicle, including an unmanned aerial vehicle body, an unmanned aerial vehicle control component, a reconfigurable arm, and a rotor component. The unmanned aerial vehicle control component is installed in the unmanned aerial vehicle body, the reconfigurable arm is installed on the unmanned aerial vehicle body, and the rotor component is installed on the reconfigurable arm; The reconfigurable arm includes an arm reconfiguration motor, a transmission gear, and a multi-link hinge mechanism; the rotor component includes a rotor tilting mechanism. The arm reconfiguration motor is respectively connected to the unmanned aerial vehicle control component and the transmission gear, and drives the transmission gear to rotate under the control of the unmanned aerial vehicle control component, so as to drive the multi-link hinge mechanism to move, causing the morphological change of the arm structure; the rotor tilting mechanism is connected to the multi-link hinge mechanism, and while the morphological change of the arm structure occurs, the rotor tilting mechanism changes the tilting angle of the rotor, so that the arm structure reaches a predetermined reconfigured form.

[0007] Preferably, the multi-link hinge mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first connecting member, a first set of hinge components, a second set of hinge components, a fourth connecting member, and a fifth connecting member; The first set of hinge components includes a second connecting member and a third connecting member that are hinged to each other. The two ends of the first set of hinge components formed after the second connecting member and the third connecting member are hinged are respectively connected to the first connecting rod and the second connecting rod. The second set of hinge components includes another second connecting member and another third connecting member that are hinged to each other. The two ends of the second set of hinge components formed after being hinged are respectively connected to the fourth connecting rod and the third connecting rod. The two sets of hinge components are also connected at the hinge by a fourth connecting member; One end of the first connecting member is connected to the fixed bracket by a first fixing pin, and the fixed bracket is fixed on the upper carbon plate of the drone body. The other end of the first connection is connected to the first set of hinge components through the first connecting rod; One end of the fifth connecting member is fixedly connected to the transmission gear. A coaxial hole for cooperating with the shaft is provided between the fifth connecting member and the transmission gear. The two ends of the shaft are respectively installed on the first support seat and the second support seat, and both the first support seat and the second support seat are fixed on the upper carbon plate of the body. The other end of the fifth connecting member is connected to the second set of hinge components through the fourth connecting rod.

[0008] Further preferably, a second fixing pin is provided at the hinge of the second connecting member and the third connecting member of the two sets of hinge components. The two ends of the fourth connecting member are respectively connected to the hinge of the two sets of hinge components through the second fixing pin.

[0009] Preferably, the rotor tilting mechanism includes a rotor motor support, a rotor tilting motor, and a rotor tilting motor connecting member; the rotor tilting motor is connected to the drone control component; The third connecting member of the first set of hinge components is connected to the rotor tilting motor connecting member through the second connecting rod, and the third connecting member of the second set of hinge components is connected to the rotor tilting motor connecting member through the third connecting rod; The rotor tilting motor connecting member has two symmetrically arranged rotor tilting motor mounting positions. The rotor mounting positions at the diagonal positions are the same, and the rotor mounting positions on the same side are opposite. The rotor motor support is connected to the rotor tilting motor connecting member through the rotor tilting motor.

[0010] Preferably, the transmission gear includes a first transmission gear and a second transmission gear that are meshed with each other. The first transmission gear is fixedly connected to the fifth connecting member, and the second transmission gear is connected to the arm reconstruction motor; When the arm reconstruction motor starts, it drives the second transmission gear to rotate. The first transmission gear rotates with the second transmission gear and drives the fifth connecting piece to rotate around the axis. The rotation of the fifth connecting piece is transmitted to the second set of hinge assemblies through the fourth connecting rod, and then transmitted to the first set of hinge assemblies through the fourth connecting piece, thereby driving the second connecting rod and the third connecting rod to move.

[0011] On the other hand, the present invention also provides a working method for the above-mentioned reconfigurable large-load plant protection unmanned aerial vehicle, including the following steps: S1. Non-working state: When the unmanned aerial vehicle is parked, the reconfigurable arm is in a contracted state; S2. Takeoff and arm deployment: Start the control component of the unmanned aerial vehicle and perform a takeoff operation. During the takeoff process of the unmanned aerial vehicle, the reconfigurable arm automatically unfolds and adjusts the position of the rotor according to the mission requirements; S3. Adjust the flight attitude: After takeoff, adjust the forward tilt angle of the rotor to control the unmanned aerial vehicle to enter a horizontal flight state. At this time, the control component of the unmanned aerial vehicle adjusts the rotor angle according to the real-time collected data to offset the tilt of the fuselage and keep the fuselage always horizontal; S4. Start spraying operation: When the unmanned aerial vehicle flies into the spraying operation range, start the spraying operation and adjust the spraying direction of the spraying component according to the rotor position information; S5. Real-time monitoring and adjustment: During the spraying process, the control component of the unmanned aerial vehicle monitors the liquid medicine flow data in real time and adjusts the rotor position and spraying angle according to the real-time flight angle, acceleration data, and real-time wind speed data.

[0012] Compared with the prior art, the beneficial effects achieved by the present invention include: The present invention adjusts the rotor position through the reconfigurable arm, enabling the three-dimensional adjustment of the rotor position, thereby effectively reducing the flight instability problem caused by the tilt of the fuselage. At the same time, by adjusting the spraying direction of the spraying component according to the real-time rotor position information, regardless of how the rotor position is adjusted, the accuracy and uniformity of the spraying effect can be ensured, thereby improving the spraying efficiency, reducing drug waste, and enhancing the operation effect. In addition, the design of the reconfigurable arm not only reduces the dependence on the differential action of the power system but also can reduce unnecessary power consumption and extend the flight time of the unmanned aerial vehicle. Description of the Drawings

[0013] Figure 1 It is a schematic structural diagram of the working state of the reconfigurable large-load plant protection unmanned aerial vehicle in the embodiment of the present invention.

[0014] Figure 2 It is a schematic structural diagram of the non-working state of the unmanned aerial vehicle in the embodiment of the present invention.

[0015] Figure 3 It is a schematic structural diagram of the reconfigurable arm.

[0016] Figure 4 It is a structural schematic diagram of the UAV airframe components.

[0017] Figure 5 It is a structural schematic diagram of the medicine box components.

[0018] Figure 6 It is a structural schematic diagram of the rotor components and the spraying components.

[0019] Among them, 1 - UAV airframe, 2 - reconfigurable arm, 3 - rotor components, 4 - spraying components, 5 - tripod, 6 - medicine box; 101 - upper carbon plate of the airframe, 102 - support plate, 103 - fixed copper column, 104 - UAV control component, 105 - lower carbon plate of the airframe, 106 - power supply, 201 - fixed bracket, 202 - first fixing pin, 203 - first connecting piece, 204 - first connecting rod, 205 - second connecting piece, 206 - second fixing pin, 207 - third connecting piece, 208 - second connecting rod, 209 - rotor motor support, 210 - rotor tilting motor, 211 - rotor tilting motor connecting piece, 212 - third connecting rod, 213 - fourth connecting piece, 214 - first support seat, 215 - fifth connecting piece, 216 - shaft, 217 - first transmission gear, 218 - second support seat, 219 - second transmission gear, 220 - arm reconfiguration motor, 301 - rotor motor, 302 - rotor fixing piece, 303 - rotor fixing screw, 304 - rotor, 401 - spraying adjustment servo, 402 - servo connecting piece, 403 - spray rod connecting piece, 404 - spray rod, 405 - nozzle, 406 - joint, 601 - medicine box body, 602 - medicine box fixing piece, 603 - water pump, 604 - flow sensor. Specific embodiments

[0020] The following further describes in detail the specific embodiments of the present invention in conjunction with the accompanying drawings and embodiments. Embodiment

[0021] As Figure 1 、 Figure 2 shown, the reconfigurable large - load plant protection UAV of this embodiment includes a UAV airframe 1, a reconfigurable arm 2, rotor components 3, spraying components 4, a tripod 5, and a medicine box 6. Among them, the UAV airframe 1 is installed above the tripod 5, and a UAV control component 104 is installed in the UAV airframe 1. The UAV control component includes a flight control module and a data processing and analysis module. In this embodiment, the number of reconfigurable arms 2 is set to four and symmetrically installed on the UAV airframe 1; the number of rotor components 3 is set to four and are respectively installed at the ends of the four reconfigurable arms 2; the spraying component 4 is installed below the rotor components 3, and the medicine box 6 is installed in the tripod 5.

[0022] Figure 3 It is a schematic structural diagram of a reconfigurable robotic arm. As Figure 3 shown, the reconfigurable robotic arm 2 includes a robotic arm reconfiguration motor, a transmission gear, and a multi-link articulated mechanism. The robotic arm reconfiguration motor is respectively connected to the UAV control component and the transmission gear, and drives the transmission gear to rotate under the control of the UAV control component, so as to drive the multi-link articulated mechanism to move, causing the structural form of the robotic arm to change; the rotor tilting mechanism of the rotor component is connected to the multi-link articulated mechanism, and while the structural form of the robotic arm changes, the rotor tilting mechanism changes the tilt angle of the rotor, so that the robotic arm structure reaches a predetermined reconfigured form.

[0023] Specifically, the multi-link articulated mechanism includes a first connecting rod 204, a second connecting rod 208, a third connecting rod 212, a fourth connecting rod 221, a first connecting piece 203, a first set of articulated components, a second set of articulated components, a fourth connecting piece 213, and a fifth connecting piece 215; the rotor tilting mechanism includes a rotor motor support 209, a rotor tilting motor 210, and a rotor tilting motor connecting piece 211.

[0024] Among them, the first set of articulated components includes a second connecting piece 205 and a third connecting piece 207 that are articulated. The two ends of the first set of articulated components formed after the second connecting piece and the third connecting piece are articulated are respectively connected to the first connecting rod 204 and the second connecting rod 208; the second set of articulated components includes another second connecting piece 205 and another third connecting piece 207 that are articulated. The two ends of the second set of articulated components formed after articulation are respectively connected to the fourth connecting rod 221 and the third connecting rod 212; the two sets of articulated components are also connected at the articulated part through the fourth connecting piece 213. Specifically, a second fixing pin 206 is provided at the articulated part of the second connecting piece and the third connecting piece of the two sets of articulated components, that is, there are two second fixing pins 206, and the two second fixing pins are respectively located at the two articulated parts. The two ends of the fourth connecting piece 213 are respectively connected to the articulated parts of the two sets of articulated components through the second fixing pins, so that the two second connecting pieces, the two third connecting pieces, and the fourth connecting piece are articulated together through the second fixing pins.

[0025] One end of the first connecting piece 203 is connected to the fixed bracket 201 through the first fixing pin 202, and the fixed bracket 201 is fixed on the upper carbon plate 101 of the UAV fuselage; the other end of the first connecting 203 is connected to the first set of articulated components through the first connecting rod 204, specifically connected to the second connecting piece 205.

[0026] One end of the fifth connecting member 215 is fixed to the first transmission gear 217 by screws. A coaxial hole for mating with the shaft 216 is formed between the fifth connecting member 215 and the first transmission gear 217. Both ends of the shaft 216 are respectively installed on the first support base 214 and the second support base 218. The other end of the fifth connecting member 215 is connected to the second set of hinge assemblies via the fourth connecting rod 221, specifically, it is connected to the second connecting member 205.

[0027] The first support base 214 and the second support base 218 are fixed on the lower carbon plate 105 of the fuselage. The first transmission gear 217 meshes with the second transmission gear 219. The second transmission gear 219 is installed on the arm reconfiguration motor 220, and the arm reconfiguration motor 220 is fixed on the lower carbon plate 105 of the fuselage.

[0028] The third connecting member of the first set of hinge assemblies is connected to the rotor tilt motor connecting member 211 via the second connecting rod 208. The third connecting member of the second set of hinge assemblies is connected to the rotor tilt motor connecting member 211 via the third connecting rod 212. Among them, the rotor tilt motor connecting member 211 has two symmetric rotor tilt motor mounting positions. The rotor mounting positions at the diagonal positions are the same, and the rotor mounting positions on the same side are opposite. The rotor motor support 209 is connected to the rotor tilt motor connecting member 211 via the rotor tilt motor 210.

[0029] Figure 2 Schematically shows the retracted state of the reconfigurable arm. When the reconfigurable arm 2 is in the retracted state, each connecting rod and connecting member are kept stable through fixed pins and hinge points. The reconfigurable arm 2 needs to Figure 2 expand to Figure 1 When the arm reconfiguration motor 220 is started, it drives the second transmission gear 219 to rotate. Since the second transmission gear 219 meshes with the first transmission gear 217, the first transmission gear 217 rotates with the second transmission gear and drives the fifth connecting member 215 to rotate around the shaft. The rotation of the fifth connecting member 215 is transmitted to the second set of hinge assemblies via the fourth connecting rod 221, and then transmitted to the first set of hinge assemblies via the fourth connecting member 213, thereby driving the second connecting rod 208 and the third connecting rod 212 to move. In this embodiment, multiple connecting rods are hinged together through two sets of hinge assemblies to form a multi-link hinge mechanism. As each connecting rod and each connecting member move, the overall arm structure form changes. At the same time as the arm structure form changes, the rotor tilt motor 210 can adjust the angle of the rotor motor support 209, thereby changing the tilt angle of the rotor. When the arm reaches the predetermined reconfigured form, the arm reconfiguration motor 220 stops working, and each connecting member and each connecting rod are kept stable at the new positions, completing the entire arm reconfiguration process.

[0030] Figure 4 Schematic diagram of the UAV fuselage components, as Figure 4As shown in the figure, the drone body 1 includes an upper carbon plate 101 of the body, a lower carbon plate 105 of the body, a drone control component 104, a support plate 102, fixed copper columns 103, and a power supply 106. The upper carbon plate 101 of the body and the lower carbon plate 105 of the body are fixed by four fixed copper columns 103; four support plates 102 are in the middle of the upper carbon plate 101 of the body and the lower carbon plate 105 of the body, and the four support plates are respectively located on the front, back, left, and right sides; the drone control component 104 is fixed on the lower carbon plate 105 of the body.

[0031] Figure 5 It is a schematic diagram of some components of the medicine box, as Figure 5 As shown in the figure, the medicine box 6 includes a medicine box body 601, medicine box fixing parts 602, a water pump 603, and a flow sensor 604; the medicine box body 601 is fixed on the tripod 5 through four medicine box fixing parts 602, the water pump 603 is installed on the medicine box body 601, and the flow sensor 604 is installed on the tripod 5; the medicine box body 601, the water pump 603, and the flow sensor 604 are connected by hoses. The spraying component 4 and the flow sensor 604 are connected by a hose.

[0032] Figure 6 It is a schematic diagram of the rotor component and the spraying component, as Figure 6 As shown in the figure, the rotor component 3 is fixed on the rotor motor support 209, and includes a rotor motor 301, rotor fixing parts 302, rotor fixing screws 303, and two rotors 304. The spraying component 4 includes a spraying adjustment servo 401, a servo connecting piece 402, a spray rod connecting piece 403, a spray rod 404, a nozzle 405, and a joint 406. Among them, the spraying adjustment servo 401 is installed under the rotor motor support 209, the spray rod 404 is connected to the spraying adjustment servo 401 through the spray rod connecting piece 403, and the nozzle 405 is arranged at the end of the spray rod.

[0033] The tilt-rotor motor 210, the arm reconfiguration motor 220, the flow sensor 604, the water pump 603, and the rotor component 3 are respectively connected to the drone control component 104.

[0034] In this embodiment, the rotation angle of the first transmission gear 215 is between 0 and 70°.

[0035] In a preferred embodiment, the reconfigurable large-load plant protection drone further includes an attitude measurement sensor for detecting the flight angle and acceleration of the fuselage of the reconfigurable large-load plant protection drone, and the attitude measurement sensor is connected to the drone control component 104.

[0036] Further preferably, the drone control component 104 further includes an alarm device for detecting that all the liquid medicine has been sprayed out.

[0037] The flow sensor 604 transmits the flow information of the water pump 603 to the data processing and analysis module of the UAV control component 104 in real time. The attitude measurement sensor transmits the flight angle and acceleration information of the UAV fuselage to the data processing and analysis module in real time. The data processing and analysis module calculates the change of the UAV fuselage center of gravity in real time according to the received data. The flight control module controls the reconfigurable arm in real time according to the change of the UAV center of gravity to adjust the position of the rotor, so that the large-load plant protection UAV fuselage is always in a horizontal state to maintain its stability.

[0038] In a preferred embodiment, the reconfigurable large-load plant protection UAV further includes a wind speed sensor for detecting the natural wind speed, and the wind speed sensor is connected to the UAV control component 104. The action of the natural wind will affect the fuselage angle. The flight control module controls the reconfigurable arm in real time according to the change of the natural wind speed to adjust the position of the rotor, so that the large-load plant protection UAV fuselage is always in a horizontal state to maintain its stability.

[0039] In addition, during the operation of the UAV, the spraying adjustment servo 401 can adjust the spraying direction of the spraying component 4 in real time according to the rotor position information.

[0040] See Figures 1-6 , the working principle of the reconfigurable large-load plant protection UAV in this embodiment is mainly as follows: The flight control module of the UAV monitors the flight angle and acceleration of the UAV in real time through the attitude measurement sensor. When the center of gravity changes due to acceleration and deceleration or the fuselage tilts due to external wind force, the flight control module will automatically adjust the reconfiguration form of the reconfigurable arm 2 to ensure that the fuselage always remains in a horizontal state.

[0041] The reconfigurable arm 2 is composed of multiple connecting rods and connectors, and is driven by the arm reconfiguration motor 220 and the rotor tilt motor 210. The position of the rotor can be adjusted three-dimensionally according to flight needs to offset the fuselage tilt caused by acceleration and deceleration, load change or external wind force, and ensure that the fuselage always remains horizontal.

[0042] The spraying component 4 is connected to the rotor motor support 209 through the spraying adjustment servo 401 and the spray rod 404. When the UAV adjusts the rotor position during flight, the spraying component 4 can adjust the spraying direction of the spraying component 4 in real time according to the rotor position information to ensure that the liquid medicine is accurately sprayed on the target area.

[0043] The working method of the reconfigurable large-load plant protection UAV in this embodiment includes the following steps: S1. Non-working state: When the UAV is parked, the four reconfigurable arms 2 are in a retracted state, and the lowest height of the nozzle 405 is higher than the height of the UAV tripod 5 to ensure the safety and stability of the UAV before takeoff.

[0044] S2. Takeoff and Arm Deployment: Start the UAV control components through the flight control module for takeoff operations. During the takeoff process of the UAV, the four reconfigurable arms 2 automatically deploy and adjust the rotor positions according to the mission requirements to adapt to different flight needs.

[0045] S3. Adjust Flight Attitude: After takeoff, adjust the forward tilt angle of the rotors to control the UAV to enter the horizontal flight state. At this time, the flight control module adjusts the rotor angles according to the data collected in real time by the attitude measurement sensor and the wind speed sensor to offset the tilt of the fuselage and ensure that the fuselage always remains horizontal.

[0046] S4. Spraying Operation Start: When the UAV flies into the spraying operation range, start the water pump 603 and start the spraying operation. The spraying component 4 adjusts the spraying direction of the spraying component 4 in real time according to the rotor position information through the spraying adjustment servo.

[0047] S5. Real-time Monitoring and Adjustment: During the spraying process, the UAV control component 104 monitors the liquid medicine flow data provided by the flow sensor 604 in real time, and adjusts the rotor position and spraying angle according to the real-time flight angle and acceleration data provided by the attitude measurement sensor and the real-time wind speed data of the wind speed sensor to ensure uniform and efficient spraying.

[0048] S6. Liquid Medicine Spraying Completed: When the data processing and analysis module detects that all the liquid medicine has been sprayed, automatically start the alarm device to remind the operator that the task is completed.

[0049] S7. Return and Landing: According to the setting of the flight control module, the UAV starts the return mode, automatically returns to the takeoff location and lands safely. After landing, the four reconfigurable arms 2 retract again, and return to step S1 to prepare for the next use.

[0050] S8. End and Equipment Maintenance: After the UAV completes the flight mission, conduct inspections and maintenance of the equipment to ensure that all components are normal for the next use.

[0051] The reconfigurable arm of the present invention is driven by two motors and can achieve three-dimensional adjustment of the rotor position. The flight control module actively adjusts the rotor angles according to the load change and acceleration / deceleration to offset the tilt of the fuselage caused by the change of the center of gravity and keep the fuselage horizontal and stable. At the same time, the action of the natural wind will also affect the fuselage angle. By actively adjusting the rotor angles to keep the fuselage horizontal and stable, the power loss of the traditional differential control is reduced. The spraying part is equipped with an adjustment servo, which can adjust the spraying direction of the spraying component in real time according to the rotor position information, improving the spraying accuracy and operation efficiency. The design of the present invention improves the flight stability, adaptability and spraying effect of large-load plant protection UAVs, and is suitable for precision agriculture operations in complex environments.

[0052] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention (such as quantity, shape, position, etc.), and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A reconfigurable large-load plant protection drone, characterized in that: It includes a drone body, a drone control component, a reconfigurable arm and a rotor component, wherein the drone control component is installed in the drone body, the reconfigurable arm is installed on the drone body, and the rotor component is installed on the reconfigurable arm; The reconfigurable arm includes an arm reconstruction motor, a transmission gear and a multi-link articulated mechanism; the rotor component includes a rotor tilt mechanism; the arm reconstruction motor is respectively connected to the UAV control component and the transmission gear, and drives the transmission gear to rotate under the control of the UAV control component to drive the multi-link articulated mechanism to move, so that the arm structure shape changes; the rotor tilt mechanism is connected to the multi-link articulated mechanism, and when the arm structure shape changes, the rotor tilt mechanism changes the inclination angle of the rotor, so that the arm structure reaches a predetermined reconstruction shape.

2. The drone according to claim 1, characterized in that: The multi-link articulated mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first connecting member, a first set of articulated components, a second set of articulated components, a fourth connecting member and a fifth connecting member; The first set of hinged components includes a second connecting member and a third connecting member that are hinged to each other, and the two ends of the first set of hinged components formed by the second connecting member and the third connecting member being hinged to each other are respectively connected to the first connecting rod and the second connecting rod; the second set of hinged components includes another second connecting member and another third connecting member that are hinged to each other, and the two ends of the second set of hinged components formed by the hinged connection are respectively connected to the fourth connecting rod and the third connecting rod; the two sets of hinged components are also connected at the hinge through the fourth connecting member; One end of the first connecting member is connected to the fixing bracket through a first fixing pin, and the fixing bracket is fixed to the carbon plate on the body of the UAV; the other end of the first connection is connected to the first set of hinge components through a first connecting rod; One end of the fifth connecting member is fixedly connected to the transmission gear, and a coaxial hole for cooperating with the shaft is opened between the fifth connecting member and the transmission gear, and the two ends of the shaft are respectively installed on the first support seat and the second support seat, wherein the first support seat and the second support seat are both fixed on the carbon plate on the body; the other end of the fifth connecting member is connected to the second group of hinge components via the fourth connecting rod.

3. The drone according to claim 2, characterized in that: A second fixing pin is arranged at the hinge of the second connecting member and the third connecting member of the two sets of hinge assemblies; and both ends of the fourth connecting member are respectively connected to the hinge of the two sets of hinge assemblies through the second fixing pin.

4. The drone according to claim 2, characterized in that: The rotor tilt mechanism includes a rotor motor support, a rotor tilt motor, and a rotor tilt motor connector; the rotor tilt motor is connected to the UAV control component; The third connecting member of the first set of articulated assemblies is connected to the rotor tilt motor connecting member via a second connecting rod, and the third connecting member of the second set of articulated assemblies is connected to the rotor tilt motor connecting member via a third connecting rod; The rotor tilt motor connector has two symmetrical rotor tilt motor mounting positions, the rotor mounting positions at the diagonal positions are the same, and the rotor mounting positions on the same side are opposite; the rotor motor support is connected to the rotor tilt motor connector through the rotor tilt motor.

5. The drone according to claim 2, characterized in that: The transmission gear comprises a first transmission gear and a second transmission gear meshing with each other, the first transmission gear is fixedly connected to the fifth connecting member, and the second transmission gear is connected to the arm reconstruction motor; When the arm reconstruction motor is started, it drives the second transmission gear to rotate, and the first transmission gear rotates with the second transmission gear and drives the fifth connecting member to rotate around the axis; the rotation of the fifth connecting member is transmitted to the second group of hinge components through the fourth connecting rod, and then transmitted to the first group of hinge components through the fourth connecting rod, thereby driving the second connecting rod and the third connecting rod to move.

6. The drone according to claim 4, characterized in that: The reconfigurable large-load plant protection drone also includes a spraying component installed below the rotor component; The spraying components include a spraying regulating steering gear, a steering gear connecting piece, a spray rod connecting piece, a spray rod and a spray head, wherein the spraying regulating steering gear is installed under the rotor motor support, the spray rod is connected to the spraying regulating steering gear through the spray rod connecting piece, and the spray head is arranged at the end of the spray rod; The spraying adjustment servo adjusts the spraying direction of the spraying component in real time according to the rotor position information.

7. The drone according to claim 1, characterized in that: The reconfigurable large-load plant protection drone also includes a medicine box, which includes a medicine box body, a water pump, and a flow sensor; the water pump is installed on the medicine box body, the medicine box body, the water pump, and the flow sensor are connected by a hose, and the water pump and the flow sensor are respectively connected to the drone control component; The reconfigurable large-load plant protection UAV also includes an attitude measurement sensor for detecting the flight angle and acceleration of the UAV fuselage, and the attitude measurement sensor is connected to the UAV control component; The drone control component includes a connected data processing and analysis module and a flight control module; The flow sensor transmits the flow information of the water pump to the data processing and analysis module in real time, and the attitude measurement sensor transmits the flight angle and acceleration information of the UAV's fuselage to the data processing and analysis module in real time. The data processing and analysis module calculates the change of the center of gravity of the UAV's fuselage in real time based on the received data; the flight control module controls the reconfigurable arm in real time to adjust the rotor position according to the change of the center of gravity of the UAV.

8. The drone according to claim 7, characterized in that: The reconfigurable large-load plant protection UAV also includes a wind speed sensor for detecting natural wind speed; the wind speed sensor is connected to the UAV control component; and the flight control module controls the reconfigurable arm in real time according to the change of natural wind speed to adjust the rotor position.

9. The drone according to claim 5, characterized in that: The rotation angle of the first transmission gear is between 0 and 70 degrees.

10. A working method of a reconfigurable large-load plant protection UAV according to any one of claims 1 to 9, characterized in that: The steps include: S1, non-working state: when the drone is parked, the reconfigurable arm is in a retracted state; S2, take-off and arm deployment: start the drone control components and perform take-off operations; during the take-off process, the reconfigurable arms are automatically deployed and the rotor position is adjusted according to the mission requirements; S3, adjust flight attitude: after takeoff, adjust the forward tilt angle of the rotor to control the drone to enter a horizontal flight state; at this time, the drone control component adjusts the rotor angle according to the real-time collected data to offset the tilt of the fuselage and keep the fuselage level at all times; S4, spraying operation start: when the UAV flies to the spraying operation range, the spraying operation starts, and the spraying direction of the spraying component is adjusted according to the rotor position information; S5. Real-time monitoring and adjustment: During the spraying process, the drone control component monitors the liquid flow data in real time, and adjusts the rotor position and spraying angle according to the real-time flight angle and acceleration data, as well as the real-time wind speed data.

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