Rotor unmanned aerial vehicle

Abstract

The utility model provides a rotor wing unmanned aerial vehicle. The rotor wing unmanned aerial vehicle comprises a rack, a detection device arranged at the front end of the rack, two front vehicle arms and two rear vehicle arms which are rotationally connected relative to the rack and are symmetrically arranged, and driving motors, rotor wings and electronic speed controller units arranged at the tail ends, away from the rack, of the front vehicle arms and the rear vehicle arms; the two front machine arms and the two rear machine arms are arranged in parallel in a staggered mode in the horizontal direction, the two rear machine arms are each provided with two spraying units arranged at intervals, and the spraying unit located at the tail ends of the rear machine arms is arranged below the rotor wings; the spraying unit comprises a fixing sleeve for holding the rear machine arm, a mounting base vertically connected with the fixing sleeve, a spraying assembly vertically connected with the mounting base, and a liquid supply control assembly transversely locked by the mounting base and used for conveying liquid to the spraying assembly. According to the rotor unmanned aerial vehicle, fog drops formed by the spraying assembly are effectively prevented from being attached to the surface of the detection device, and the flight safety of the rotor unmanned aerial vehicle is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft, and more specifically to a rotary-wing unmanned aerial vehicle. Background Art

[0002] Rotary-wing drones can be used as plant protection drones by carrying medicine boxes and spraying devices to spray pesticides, fertilizers or seeds on crops in farmlands, hills or mountains, thus serving as plant protection drones. Rotary-wing drones include four, six or more arms, and rotors at the ends of the arms driven by motors, which rotate at high speed to provide power for the drone. For example, a spraying device for pesticide spraying may be provided at the end of the arms and below the motor. The centrifugal spraying device breaks the liquid into tiny droplets under the action of centrifugal force and an atomizing disk through high-speed rotation, and forms a spraying area of ​​a certain width above the crops under the action of the downward pressure wind field formed by the high-speed rotation of the rotors, so as to perform corresponding plant protection operations on the corresponding crops.

[0003] In order to expand the spraying range of the rotor UAV on the forward route, multiple spraying devices are usually set up, and the spraying devices are set at the end of the arm to expand the spraying range of the rotor UAV. In order to achieve the use requirements of automatic obstacle avoidance and real-time image transmission, the rotor UAV usually needs to set various detection devices at the front end of its forward direction. Since the spraying device set at the end of the front arm of the rotor UAV is not blocked by the fuselage, the droplets formed by the spraying device set at the end of the front arm have poor wind resistance. It is very easy to cause the droplets formed by the spraying device set at the end of the front arm to be scattered and chaotic due to gusts, which is not conducive to the settlement of the droplets and affects the effect of the spraying operation; the technical solution of the four arms of the quadcopter UAV carrying four spraying devices respectively, due to the different wind field environments of the front and rear arms, the uniformity of the droplet coverage of the crops cannot be guaranteed, and the operation effect is not good; in addition, the tiny droplets formed by the spraying device set at the front arm are easy to drift with the wind field, thereby adhering to the surface of the detection device, weakening the detection performance of the detection device, greatly affecting flight safety. Utility Model Content

[0004] The purpose of the utility model is to disclose a rotary-wing UAV to solve the above-mentioned technical problems existing in the rotary-wing UAV in the prior art, and in particular to prevent the droplets formed by the spraying device of the rotary-wing UAV from adhering to the surface of the detection device during the flying plant protection operation performed by the rotary-wing UAV in the forward direction, so as to ensure the flight safety of the rotary-wing UAV.

[0005] To achieve the above object, the utility model provides a rotary wing UAV, comprising:

[0006] A frame, a detection device is arranged at the front end of the frame, two front arms and two rear arms are rotatably connected and symmetrically arranged relative to the frame, and the ends of the front arms and the rear arms away from the frame are both provided with a driving motor, a rotor and an electric adjustment unit;

[0007] The two front arms and the two rear arms are arranged in parallel and staggered in the horizontal direction, and the two rear arms are respectively provided with two spraying units arranged at intervals, wherein a spraying unit located at the end of the rear arm is arranged below the rotor;

[0008] The spray unit includes: a fixing sleeve holding the rear arm, a mounting seat vertically connected to the fixing sleeve, a spray assembly vertically connected to the mounting seat, and a liquid supply control assembly laterally locked by the mounting seat and used to transport liquid to the spray assembly.

[0009] As a further improvement of the present invention, the fixing sleeve includes an annular cylinder for horizontally and laterally penetrating the rear arm and holding the rear arm, the annular cylinder forms a strip slit parallel to the rear arm, the edge of the annular cylinder forming the strip slit forms a plurality of raised portions protruding toward one side of the mounting seat, the raised portions form a locking hole that penetrates horizontally and is used to lock the annular cylinder, the annular cylinder forms a rib plate vertically connected to the mounting seat, and the bottom of the rib plate forms a first blind hole with an internal thread and a pre-positioning column.

[0010] As a further improvement of the present invention, the mounting seat includes a hollow cylinder, a transverse fixing seat extending laterally from the hollow cylinder, and a locking seat and a lifting end formed at the upper and lower ends of the hollow cylinder respectively; the locking seat formed at the upper end of the hollow cylinder is connected to the fixing sleeve, and the lifting end formed at the lower end of the hollow cylinder is connected to the spray assembly.

[0011] As a further improvement of the utility model, the locking seat includes an annular plate formed at the upper end of the hollow cylinder, a vertical plate bent upward from the annular plate, and a mounting plate extending horizontally to both sides, the mounting plate forms a pre-positioning hole and a through hole adapted to the pre-positioning column, and a screw extends through the through hole and is screwed into the first blind hole with internal thread. The mounting plate and the annular plate together enclose a strip-shaped receiving area that accommodates the multiple protrusions as a whole, and the protrusions abut against the annular plate in the vertical direction;

[0012] The spray assembly includes an atomizing device and a cylindrical spraying power device; a plurality of connection ends arranged in a ring are formed on the top of the spraying power device, and the connection ends form a second blind hole with an internal thread; the lifting end includes a protruding ring, and a plurality of ring-arranged lifting ears extending downward from the protruding ring, and the lifting ears form a lifting ear through hole, and the lifting ears are transversely arranged around the outside of the connecting end, and screws are passed transversely through the lifting ear through hole and screwed into the second blind hole with an internal thread.

[0013] As a further improvement of the present invention, the atomization device includes a liquid inlet assembly and an atomization disk, the liquid inlet assembly forming an obliquely arranged liquid inlet interface; the liquid supply control assembly includes a liquid inlet pipe, a solenoid valve and a liquid outlet pipe connected to the liquid inlet interface, the side of the horizontal fixed seat facing the liquid supply control assembly forms a vertical receiving cavity, and the solenoid valve forms a valve seat embedded in and fixed in the vertical receiving cavity.

[0014] As a further improvement of the utility model, the lifting ear and the mounting plate are rigid parts; the annular plate, the hollow cylinder, the transverse fixing seat and the protruding ring are made of hard rubber.

[0015] As a further improvement of the utility model, the transverse fixing seat includes a side plate and a bottom plate, so that the side plate and the bottom plate together enclose the vertical receiving cavity, and the inner side of the side plate is exposed to form two rigid fixing strips which are vertically arranged opposite to each other and contact the valve seat, and the side plate forms a transverse through hole which transversely penetrates the side plate and the rigid fixing strip.

[0016] As a further improvement of the present invention, the spraying ranges respectively formed by the two spraying units arranged at intervals are staggered along a direction perpendicular to the forward direction of the rotor UAV.

[0017] As a further improvement of the utility model, the side of the frame is provided with a first clamping portion for clamping the rear arm, and a second clamping portion for clamping the front arm, and the first clamping portion and the second clamping portion are staggered in the vertical direction.

[0018] As a further improvement of the present invention, when the rear arm is clamped by the first clamping portion and the front arm is clamped by the second clamping portion, the rear arm and the front arm partially overlap in a top-down view.

[0019] Compared with the prior art, the beneficial effects of the utility model are:

[0020] The rotor UAV disclosed in the present application has two spraying units arranged at intervals on the two rear arms, respectively, thereby effectively preventing the droplets formed by the spraying components contained in the spraying units from adhering to the surface of the detection device when the rotor UAV performs flying plant protection operations in the forward direction, thereby ensuring the flight safety of the rotor UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of a rotary-wing UAV of the utility model when two front arms and two rear arms are in an open state;

[0022] Figure 2 It is a three-dimensional diagram of a rotary-wing UAV of the utility model when two front arms and two rear arms are in a folded state;

[0023] Figure 3 for Figure 1 A partial enlarged view of the middle circle B;

[0024] Figure 4 This is an exploded view of the rear machine arm;

[0025] Figure 5 This is an exploded view of the fixing seat and the mounting seat;

[0026] Figure 6 It is an exploded view of the fixing seat and the mounting seat, the spraying assembly and the liquid supply control assembly;

[0027] Figure 7 A three-dimensional view of a protective cover installed at the ends of the front and rear arms away from the frame;

[0028] Figure 8 A partial stereoscopic view of the end of the front arm or the rear arm away from the frame without being wrapped with a protective cover;

[0029] Fig. 9 A cross-sectional view formed by cutting the front arm along the axial direction of the rear arm;

[0030] Fig.10 for Fig. 9 A partial enlarged view of the middle frame K;

[0031] Fig.11 is a three-dimensional diagram of the mounting base;

[0032] Fig.12 For along Fig.11 A cross-sectional view formed by vertically cutting the mounting seat along the GG axis;

[0033] Fig.13 This is a schematic diagram of a rotary-wing UAV of the utility model when spraying liquid medicine. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0035] It should be understood that, in the present application, the terms "center", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "radial", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present technical solution and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present technical solution.

[0036] Ginseng Figures 1 to 13 A specific implementation of the rotary wing UAV 100 is shown. This embodiment discloses a specific implementation of a rotary wing UAV 100 (hereinafter referred to as "UAV 100"). Figure 1 The direction of the arrow 200 is the forward direction of the drone 100, and the arrow 300 is the backward direction of the drone 100. Figure 1 The lower right corner is the front end of the rack, and the upper left corner is the rear end of the rack.

[0037] Ginseng Figure 1 As shown, a rotary wing UAV 100 disclosed in this embodiment includes: a frame 1, a detection device 9 is arranged at the front end of the frame, two front arms 8 and two rear arms 2 are rotatably connected and symmetrically arranged relative to the frame 1, and the ends of the front arms 8 and the rear arms 2 away from the frame 1 are both provided with a driving motor 5, a rotor 5a and an electric adjustment unit 5b. A medicine box 3 and a power battery 4 are embedded in the frame 1, and the power battery 4 is connected to the driving motor 5 and other electrical components through a wire (not shown) and provides electrical energy. The medicine box 3 is connected to the spraying components 7a and the spraying components 7b respectively arranged on the two rear arms 2 at the rear end of the frame through a hose to perform corresponding spraying and other plant protection operations on crops. Of course, the rotary wing UAV 100 also includes a flight control system (not shown) to provide navigation, charge and discharge management, and output of an electrical signal to control the flow to the solenoid valve 61 for the rotary wing UAV 100.

[0038] Combination Fig. 9 and Fig.10 As shown, the rear arm 2 and the front arm 8 are both hollow tubular structural members and have a hollow cavity 2200. The rear arm 2 and the front arm 8 can be made of carbon fiber tubes or aluminum alloy tubes. The drive motor 5 drives the rotor 5a to rotate at a high speed, so that the rotor 5a forms a downward pressure wind field. In the actual spraying operation, the downward pressure wind field can simultaneously cover the droplet area formed by the spray assembly 7a and the spray assembly 7b included in the rear arm 2, so as to blow the droplets formed by the spray assembly 7a and the spray assembly 7b toward the crops.

[0039] Ginseng Figure 2 and Figure 3 As shown, the rear arm 2 forms a pivoting portion 201 at one end close to the frame 1, and the frame 1 is provided with four pivoting seats 103, and the four pivoting seats 103 are formed at the four corners of the frame 1. The pivoting portion 201 is relative to the pivoting seat 103 along Figure 3 When the central axis C is rotated toward one side of the frame 1 along the direction of arrow D, folding and folding are achieved, and when it is rotated toward one side of the frame 1 in the opposite direction to arrow D, opening is achieved. The front arm 8 is also connected to the frame 1 by a rotational connection between the pivot portion 201 and the pivot seat 103. The detection device 9 includes a binocular camera 9a, a gyroscope sensor 9b, and a radar 9c, and the radar 9c includes a millimeter wave radar and / or a laser radar. The detection device 9 is installed at the front end of the frame and flies forward along arrow 200. The frame 1 is inclined along a lateral direction perpendicular to the direction of arrow 200 (or arrow 300) to set two tripods 1a, and the tripod 1a is rigidly connected to the frame 1, so as to provide support and protection for the rotor UAV 100 when performing flight missions.

[0040] Combination Figure 1 and Figure 2 As shown, the two front arms 8 and the two rear arms 2 are arranged in parallel and staggered along the horizontal direction, and the first clamping portion 101 for clamping the rear arms 2 and the second clamping portion 104 for clamping the front arms 8 are arranged on the side of the frame 1. The first clamping portion 101 and the second clamping portion 104 are arranged in staggered along the vertical direction, and the clamping portion 101 is formed at the front end of the frame 1, and the second clamping portion 104 is formed at the rear end of the frame 1. When the rear arms 2 are clamped by the first clamping portion 101 and the front arms 8 are clamped by the second clamping portion 104, the rear arms 2 and the front arms 8 are partially overlapped at a top-down angle, thereby shortening the lateral size of the folded rear rotor drone. When the two front arms 8 and the two rear arms 2 are in a folded and retracted state, the end of the rear arm 2 extends over the front end of the frame 1, and the end of the front arm 8 extends over the rear end of the frame 1.

[0041] Ginseng Figure 4 , Figure 5 and Figure 6 As shown, two spraying units are respectively provided at intervals on the two rear arms 2, wherein a spraying unit located at the end of the rear arm 2 is arranged below the rotor 5a. The two spraying units have basically the same structure, and the difference between them mainly lies in the slightly different structure of the fixing sleeve (i.e., the fixing sleeve 21 and the fixing sleeve 51) located at the top of each spraying unit.

[0042] In this embodiment, the spray unit including the spray assembly 7b includes: a fixing sleeve 21 for holding the rear arm 2, a mounting seat 70 vertically connected to the fixing sleeve 21, a spray assembly 7b vertically connected to the mounting seat 70, and a liquid supply control assembly 6 that is laterally locked by the mounting seat 70 and is used to transport liquid to the spray assembly 7b. The spray unit including the spray assembly 7a includes: a fixing sleeve 51 for holding the rear arm 2, a mounting seat 70 vertically connected to the fixing sleeve 51, a spray assembly 7a vertically connected to the mounting seat 70, and the top of the mounting sleeve 51 is fixedly connected to the drive motor 5. The spray assembly 7a can be detached from the mounting sleeve 51 and fixed by bolts, and the spray assembly 7b can be detached from the mounting sleeve 21 and fixed by bolts. The mounting sleeve 21 and the mounting sleeve 51 as a whole can be made of engineering plastics with a certain degree of elasticity. The fixing sleeve 21 (or the fixing sleeve 51) and the mounting seat 70 and the spray assembly 5a (or the spray assembly 5b) are arranged along Figure 6 The direction indicated by the dotted line E is vertically assembled to form a movable and detachable structural member.

[0043] Ginseng Figure 5As shown, the fixing sleeve 21 includes an annular cylinder 210 for the rear arm 2 to horizontally penetrate and hold the rear arm 2, and the annular cylinder 210 forms an annular body area 2100 for holding the rear arm 2. The annular cylinder 210 forms a strip slit 219 parallel to the rear arm 2. Therefore, the annular cylinder 210 has two parallel and separated edges at the position of the strip slit 219. The edge of the annular cylinder 210 forming the strip slit 219 forms a plurality of protrusions 214 and a plurality of protrusions 215 protruding toward one side of the mounting seat 70, the plurality of protrusions 214 are located below one edge, and the plurality of protrusions 215 are located below another edge, the protrusions 214 and the protrusions 215 form a locking hole 216 that penetrates transversely and is used to lock the annular cylinder 210, and bolts can be used to continuously screw into the locking holes 216 respectively provided with the protrusions 214 and the protrusions 215 along a direction perpendicular to the extension of the rear arm 2, so as to clamp the rear arm 2 through the annular cylinder 210 to prevent the two spray units from moving or rotating transversely relative to the rear arm 2. In this embodiment, bolts can be used to continuously penetrate the locking holes 216 respectively provided on the protrusions 214 and 215 in a transverse direction, and the locking holes 216 have internal threads, so as to reliably hold the rear arm 2 through the annular cylinder 210 to prevent the fixing sleeve 21 and the fixing sleeve 51 from lateral movement or rotation relative to the rear arm 2. The annular cylinder 210 forms a rib plate 211 vertically connected to the mounting seat 70, and the bottom of the rib plate 211 forms a first blind hole 212 with internal threads and a pre-positioning column 213. Two rib plates 211 are formed transversely and symmetrically on the outside of the two rows of protrusions (i.e., the protrusions 214 and the protrusions 215), and are extended toward the mounting seat 70. The best height of the protrusions 214 and 215 is to just abut against the inner bottom surface of the annular plate 704 located in the strip receiving area 709, or the protruding ends of the protrusions 214 and 215 can form an interference fit with the inner bottom surface of the annular plate 704 located in the strip receiving area 709. Fig.12 As shown, a circle of metal rigid members 714 may be disposed inside the annular plate 704 to improve the overall structural strength of the annular plate 704 .

[0044] Ginseng Figure 8 As shown, both the front arm 8 and the rear arm 2 are provided with a fixing sleeve 51. This embodiment is described exemplarily by taking the fixing sleeve 51 provided on the rear arm 2 as an example. The fixing sleeve 51 includes an annular cylinder 510 for the rear arm 2 to horizontally penetrate and hold the rear arm 2. The annular cylinder 510 forms an annular body area for holding the rear arm 2 (not shown, and similar to Figure 5The annular body region 2100 in the annular body region 2100). The annular cylinder 210 forms a strip slit (not marked and similar to the strip slit 219) parallel to the rear arm 2. Therefore, the annular cylinder 510 has two parallel and separated edges at the position of the strip slit. The edge of the annular cylinder 210 forming the strip slit forms a plurality of protrusions 514 and a plurality of protrusions 515 protruding toward one side of the mounting seat 70, the plurality of protrusions 514 are located below one edge, and the plurality of protrusions 515 are located below another edge. The protrusions 514 and the protrusions 515 form a locking hole 516 that penetrates transversely and is used to lock the annular cylinder 510, and bolts can be used to continuously screw into the locking holes 516 respectively provided with the protrusions 514 and the protrusions 515 along a direction perpendicular to the extension of the rear arm 2, so as to clamp the rear arm 2 through the annular cylinder 510 to prevent the two spray units located at the ends of the rear arm 2 from moving transversely relative to the rear arm 2. In this embodiment, bolts can be used to continuously penetrate the locking holes 516 respectively provided on the protrusion 514 and the protrusion 515, and the locking holes 516 have internal threads, so as to reliably hold the rear machine arm 2 through the annular cylinder 510 to prevent the fixing sleeve 51 from moving laterally relative to the rear machine arm 2. The annular cylinder 510 forms a rib plate 511 vertically connected to the mounting seat 70, and the bottom of the rib plate 511 forms a third blind hole 513 with internal threads and a pre-positioning column 512. Then, by a method similar to Figure 5 The locking seat shown is connected to the fixing sleeve 51. The screw 707 extends through the through hole (not shown) and is screwed into the third blind hole 513 with internal threads to achieve a reliable connection between the locking seat and the fixing sleeve 51. The mounting plate 706 is supported on the bottom of the rib plate 511. The annular cylinder 510 is formed near the top of the drive motor 5 to form a wing plate 517 for supporting the drive motor 5. The wing plate 517 forms a plurality of through holes 518, and bolts are used to penetrate the through holes 518 from bottom to top and screw into the shell bottom plate 53 at the bottom of the drive motor 5.

[0045] Same Fig.11 and Fig.12 As shown, the mounting seat 70 includes a hollow cylinder 700, a cylindrical hollow cavity 740 is formed inside the hollow cylinder 700, a transverse fixing seat 701 is arranged to extend transversely from the hollow cylinder 700, and a locking seat and a hanging end are formed at the upper and lower ends of the hollow cylinder 700. The locking seat formed at the upper end of the hollow cylinder 700 is connected to the fixing sleeve 21, and the hanging end formed at the lower end of the hollow cylinder 700 is connected to the spraying assembly 7a or the spraying assembly 7b. Specifically, refer to Figure 5As shown, the locking seat includes an annular plate 704 formed at the upper end of the hollow cylinder 700, a vertical plate 705 bent upward from the annular plate 704, and a mounting plate 706 extending horizontally to both sides. The mounting plate 706 forms a pre-positioning hole 7061 and a through hole adapted to the pre-positioning column 213, and extends through the through hole (not shown) through a screw 707 and is screwed into the first blind hole 212 with an internal thread to achieve a reliable connection between the locking seat and the fixing sleeve 21. The mounting plate 706 is supported on the bottom of the rib plate 211. The mounting plate 706 and the annular plate 704 are enclosed together to form a strip-shaped receiving area 709 that integrally accommodates a plurality of protrusions 214 and 215. The protrusions 214 and 215 are against the annular plate 704 in the vertical direction and are integrally placed inside the strip-shaped receiving area 709. The spraying components 7a and 7b include an atomizing device 73 and a cylindrical spraying power device 72. The top of the spraying power device 72 forms a plurality of connection ends 721 arranged in an annular manner, and the connection ends 721 form a second blind hole 722 with an internal thread. The hanging end includes a protruding ring 708, and a plurality of annularly arranged lifting ears 703 extending downward from the protruding ring 708, and the lifting ears 703 form a lifting ear through hole 7031, and the lifting ears 703 are transversely arranged around the outside of the connection end 721, and a screw is transversely passed through the lifting ear through hole 7031 and screwed into the second blind hole 722 with an internal thread.

[0046] The protruding ring 708 protrudes laterally from the outer side of the hollow cylinder 700. The four lifting ears 703 together enclose a wrapping area 720 that wraps the connecting end 721. The lifting ears 703 are rigid structural parts made of metal, and four screws can be used to lock the spraying power device 72 and the mounting seat 70 laterally. In addition, a plurality of blind holes with internal threads (not shown) can be provided on the top of the spraying power device 72, and a plurality of through holes 712 adapted to the aforementioned blind holes can be opened on the protruding ring 708, and then bolts are used to penetrate the through holes 712 in a direction parallel to the dotted line E, and screwed into the interior of the plurality of blind holes with internal threads provided on the top of the spraying power device 72, so as to realize a reliable connection between the spraying power device 72 and the mounting seat 70 along the direction of the dotted line E. The top of the spraying power device 72 and the protruding ring 708 form a circular fitting surface 702. Since the protruding ring 708 is made entirely of hard rubber, it has a certain elasticity, so the protruding ring 708 can also absorb the vibration generated by the rotor of the spraying power device 72 during high-speed rotation.

[0047] The spray assembly 7a in this embodiment has the same structure as the spray assembly 7b, and both include a spray power device 72 and an atomizing device 73. The atomizing device 73 includes a liquid inlet assembly 731 and an atomizing disk 732, and the liquid inlet assembly 731 forms a liquid inlet interface 7311 arranged upward. The liquid supply control assembly 6 includes a liquid inlet pipe 62, the liquid inlet pipe 62 is connected to the medicine box 3, a solenoid valve 61 and a liquid outlet pipe 63 connected to the liquid inlet interface 7311, and a vertical receiving cavity 710 is formed on the side of the horizontal fixing seat 701 facing the liquid supply control assembly 6, and the solenoid valve 61 forms a valve seat 610 embedded in and fixed to the vertical receiving cavity 710. The valve seat 610 is provided with a wiring seat 64, and the control chip (not shown) provided by the drone 100 is connected to the wiring seat 64 through a wire (not shown) to output an electrical signal for controlling the flow to the solenoid valve 61. The electromagnetic valve 61 allows the corresponding flow of liquid to flow under the control of the electric signal, and is extracted from the medicine box 3 and transported to the atomizing disk 732 by the action of the water pump. The spraying power device 72 specifically includes two motors (not shown) coaxially arranged up and down and capable of rotating in opposite directions respectively, and the atomizing disk 732 includes sub-atomizing disks (not shown) coaxially arranged up and down and independently rotated by the two motors respectively, so that the liquid is torn into tiny droplets with an average particle size of less than 100 microns under the action of high-speed centrifugal force through the two sub-atomizing disks with the same rotation direction, so that the liquid is blown or floated to the front and back of the crop leaves under the action of the downward pressure wind field, so as to ensure a good spraying effect on the crops.

[0048] Ginseng Figure 7 and Figure 8As shown, the rotor drone 100 disclosed in this embodiment also includes four protective covers 52, which partially wrap the ends of the rear arm 2 and the front arm 8, and continuously lock the protective covers 52 of the drive motor 5 and the electric adjustment unit 5b along the extension direction of the rear arm 2 and the front arm 8. The drive motor 5 holds the end of the rear arm 2 through the fixed cover. The protective cover 52 includes an outer protective body 521 forming an annular wrapping body and an inner protective body 522 forming a strip-shaped wrapping body. The inner protective bodies 522 are separated from each other. The outer protective body 521 horizontally accommodates the fixed cover 51 connected to the drive motor 5 along the extension direction of the rear arm 2, and the inner protective body 522 continuously horizontally accommodates the installation cover 5b-1 connecting the electric adjustment unit 5b and the rear arm 2 along the extension direction of the rear arm 2. The bottom of the outer protective body 521 and the inner protective body 522 form a continuous hollow portion 527. The protective cover 52 can be made of hard foam (for example, polyurethane foam or XPS foam) as a whole. When the rotor UAV 100 falls, the protective cover 52 can effectively protect the drive motor 5 and the electric adjustment unit 5b, thereby preventing the above-mentioned key power components from being damaged when the rotor UAV 100 falls. The bottom of the outer protective body 521 forms a strip-shaped hollow portion 5271, and the inner protective body 522 forms a strip-shaped hollow portion 5272. The strip-shaped hollow portion 5271 and the strip-shaped hollow portion 5272 are arranged continuously and together form a hollow portion 527, and the width of the strip-shaped hollow portion 5271 is greater than the width of the strip-shaped hollow portion 5272. The outer protective body 521 forms a groove 523, and the inner protective body 522 forms a groove 524. The width of the groove 523 and the groove 524 in the transverse direction perpendicular to the front arm 8 or perpendicular to the rear arm 2 can be the same. The groove 523 supports and partially covers the fixing sleeve 51, and the groove 524 supports and entirely covers the installation sleeve 5b-1.

[0049] The fixing sleeve 51 in this embodiment has the same structure as the fixing sleeve 21. The protective sleeve 52 is formed with two mounting holes 525 along the extending direction of the rear arm 2 and the front arm 8, so that a screw can be passed horizontally through the mounting holes 525 and screwed into the axial end of the fixing sleeve 51. At the same time, the inner protective body 522 is formed with a mounting hole 524 that passes through the upper and lower ends near the electric tilting unit 5b, and a bolt is passed vertically through the mounting hole 524 and screwed into the corresponding screw hole (not marked) opened at the top of the mounting sleeve 5b-1, so as to completely fix the protective sleeve 52 with the fixing sleeve 51 and the mounting sleeve 5b-1. The inner protective body 522 is also formed with vertically arranged through holes 526, and a bolt (not shown) can be used to vertically extend through the through holes 526 and screwed into the blind hole (not marked) with internal threads adapted at the bottom of the mounting sleeve 5b-1, so that the protective sleeve 52 is reliably fixed to the ends of the rear arm 2 and the front arm 8, and the driving motor 5 and the electric tilting unit 5b are continuously locked.

[0050] Ginseng Fig.11 and Fig.12As shown, in this embodiment, the lifting lug 703 and the mounting plate 706 are rigid parts. The annular plate 704, the hollow cylinder 700, the transverse fixing seat 701 and the protruding ring 708 are made of hard rubber. Therefore, the transverse fixing seat 701 as a whole has a certain elasticity and can absorb the vibration of the spraying power device 72 caused by the rotor contained therein during the high-speed rotation process, thereby improving the flight stability of the drone 100. The hard rubber is specifically made of ethylene propylene diene monomer rubber (EPDM) with a hardness of 60 to 70 HA (HA is a Shore hardness unit for rubber).

[0051] The transverse fixing seat 701 includes a side plate 7010 and a bottom plate 7011, so that the side plate 7010 and the bottom plate 7011 together enclose a vertical receiving cavity 710, so that the valve seat 610 can be horizontally received and fixed by the vertical receiving cavity 710. Two rigid fixing strips 712 are exposed on the inner side of the side plate 7010 and are arranged vertically opposite to each other and in contact with the valve seat 610. The side plate 7010 forms a transverse through hole 711 that transversely penetrates the side plate 7010 and the rigid fixing strip 712. The side and top of the vertical receiving cavity 710 are open to facilitate the transverse insertion of the valve seat 610. As an optional embodiment, the bottoms of the two rigid fixing strips 712 are connected to each other to form a U-shaped integral structure, and are integrally wrapped by the side plate 7010 and the bottom plate 7011. The four ears 703 can be formed separately and independently inside the protruding ring 708, or the parts of the four ears 703 buried in the protruding ring 708 can be connected to each other to form an integral component. Figure 5 and Figure 6 As shown, the side plate 7010 forms two transverse through holes 711 arranged up and down, and the transverse through holes 711 penetrate the rigid fixing strip 712 and the side plate 7010, so that bolts (not shown) can be used to penetrate the transverse through holes 711 transversely and screw into the blind holes 611 with internal threads reserved corresponding to the side surfaces where the valve body 610 contacts the side plate 7010, so as to reliably fix the valve seat 610.

[0052] In this embodiment, by introducing the rigid fixing strip 712, the structural strength of the transverse fixing seat 701 can be improved, and a reliable screw connection with the valve seat 610 can be directly established using metal screws, thereby improving the reliability and firmness of the transverse fixing seat 701 and the valve seat 610 after installation; at the same time, since the transverse fixing seat 701 is made of hard rubber, it can also absorb the vibration generated when the electromagnetic valve 61 is turned off and on, thereby further improving the flight stability of the drone 100 and the uniformity of the liquid spraying. Fig.13As shown, the spraying ranges formed by the two spraying units arranged at intervals are staggered along the direction perpendicular to the forward direction of the rotary-wing UAV 100, thereby increasing the spray width formed by the rotary-wing UAV 100 in the forward direction, thereby improving the operating efficiency of the rotary-wing UAV 100 in performing plant protection operations. Specifically, the spraying assembly 7a included in the spraying unit at the end of the rear arm 2 forms a cylindrical spraying area 401, and the spraying assembly 7b included in the other spraying unit forms a cylindrical spraying area 402. Optionally, the spraying area 401 and the spraying area 402 can form an overlapping spraying area 403. Of course, the spraying area 401 and the spraying area 402 may not form an overlapping spraying area 403. As long as the distance between the rotary-wing UAV 100 and the top of the crop is far enough, the actual spraying demand can still be met, and in the actual spraying process, the two inner spraying areas 402 can cover the area 404, and the two inner spraying areas 402 are connected to each other.

[0053] The rotor UAV 100 disclosed in this embodiment is provided with two spraying units disposed at intervals on its two rear arms 2, respectively, thereby effectively preventing the droplets 7a and 7b formed by the spraying units located on the rear arms 2 from adhering to the surface of the detection device 9 when the rotor UAV 100 is performing flying plant protection operations along the forward direction (i.e., the direction indicated by the arrow 200), thereby ensuring the flight safety of the rotor UAV 100.

[0054] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the utility model, and they are not used to limit the protection scope of the utility model. All equivalent implementation methods or changes that do not deviate from the technical spirit of the utility model should be included in the protection scope of the utility model. In addition, it should be understood that although this specification is described in accordance with the implementation methods, not every implementation method contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A rotary-wing UAV, comprising: A frame, a detection device is arranged at the front end of the frame, two front arms and two rear arms are rotatably connected and symmetrically arranged relative to the frame, and the ends of the front arms and the rear arms away from the frame are both provided with a driving motor, a rotor and an electric adjustment unit; The invention is characterized in that the two front arms and the two rear arms are arranged in parallel and staggered in the horizontal direction, and the two rear arms are respectively provided with two spraying units arranged at intervals, wherein a spraying unit located at the end of the rear arm is arranged below the rotor; The spray unit includes: a fixing sleeve holding the rear arm, a mounting seat vertically connected to the fixing sleeve, a spray assembly vertically connected to the mounting seat, and a liquid supply control assembly laterally locked by the mounting seat and used to transport liquid to the spray assembly.

2. The rotary wing UAV according to claim 1, characterized in that: The fixing sleeve includes an annular cylinder for the rear arm to horizontally penetrate and hold the rear arm, the annular cylinder forms a strip slit parallel to the rear arm, the edge of the annular cylinder forming the strip slit forms a plurality of protrusions protruding toward one side of the mounting seat, the protrusions form locking holes that penetrate horizontally and are used to lock the annular cylinder, the annular cylinder forms a rib plate vertically connected to the mounting seat, and the bottom of the rib plate forms a first blind hole with an internal thread and a pre-positioning column.

3. The rotary wing UAV according to claim 2, characterized in that: The mounting seat includes a hollow cylinder, a transverse fixing seat extending transversely from the hollow cylinder, and a locking seat and a lifting end formed at the upper and lower ends of the hollow cylinder respectively; the locking seat formed at the upper end of the hollow cylinder is connected to the fixing sleeve, and the lifting end formed at the lower end of the hollow cylinder is connected to the spray assembly.

4. The rotary wing UAV according to claim 3, characterized in that: The locking seat includes an annular plate formed at the upper end of the hollow cylinder, a vertical plate bent upward from the annular plate, and a mounting plate extending horizontally to both sides, the mounting plate forming a pre-positioning hole and a through hole adapted to the pre-positioning column, and extending through the through hole through a screw and screwed into the first blind hole with an internal thread, the mounting plate and the annular plate together enclose a strip-shaped receiving area for accommodating the plurality of protrusions as a whole, and the protrusions abut against the annular plate in the vertical direction; The spray assembly includes an atomizing device and a cylindrical spraying power device; a plurality of connection ends arranged in a ring are formed on the top of the spraying power device, and the connection ends form a second blind hole with an internal thread; the lifting end includes a protruding ring, and a plurality of ring-arranged lifting ears extending downward from the protruding ring, and the lifting ears form a lifting ear through hole, and the lifting ears are transversely arranged around the outside of the connecting end, and screws are passed transversely through the lifting ear through hole and screwed into the second blind hole with an internal thread.

5. The rotary wing UAV according to claim 4, characterized in that: The atomization device includes a liquid inlet component and an atomization disk, and the liquid inlet component forms an upwardly arranged liquid inlet interface; the liquid supply control component includes a liquid inlet pipe, a solenoid valve and a liquid outlet pipe connected to the liquid inlet interface, and the side of the horizontal fixed seat facing the liquid supply control component forms a vertical receiving cavity, and the solenoid valve forms a valve seat embedded in and fixed in the vertical receiving cavity.

6. The rotary wing UAV according to claim 4, characterized in that: The lifting ear and the mounting plate are rigid parts; the annular plate, the hollow cylinder, the transverse fixing seat and the protruding ring are made of hard rubber.

7. The rotary wing UAV according to claim 5, characterized in that: The transverse fixing seat includes a side plate and a bottom plate, which are jointly enclosed by the side plate and the bottom plate to form the vertical receiving cavity. The inner side of the side plate is exposed to form two rigid fixing strips that are vertically arranged opposite to each other and contact the valve seat. The side plate forms a transverse through hole that transversely penetrates the side plate and the rigid fixing strip.

8. The rotary wing UAV according to any one of claims 1 to 7, characterized in that: The spraying ranges respectively formed by the two spraying units arranged at intervals are staggered along a direction perpendicular to the forward direction of the rotor UAV.

9. The rotary wing UAV according to claim 8, characterized in that: The side of the frame is provided with a first clamping portion for clamping the rear arm, and a second clamping portion for clamping the front arm, and the first clamping portion and the second clamping portion are staggered in the vertical direction.

10. The rotary wing UAV according to claim 9, characterized in that: When the rear arm is clamped by the first clamping portion and the front arm is clamped by the second clamping portion, the rear arm and the front arm partially overlap in a top-down view.

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