WO2016062176A2

WO2016062176A2 - Unmanned agricultural helicopter

Info

Publication number: WO2016062176A2
Application number: PCT/CN2015/089989
Authority: WO
Inventors: 付维
Original assignee: 深圳高科新农技术有限公司
Priority date: 2014-10-20
Filing date: 2015-09-18
Publication date: 2016-04-28
Also published as: CN104386238B; CN104386238A; WO2016062176A3

Abstract

Disclosed is an unmanned agricultural helicopter, comprising a fuselage body. The fuselage body comprises a frame. Provided on the frame is a rotor head for fastening a main rotor, the main rotor being disposed on a large blade clip of the rotor head and being driven by a motor inside of the fuselage body; a spray rod is provided at the rear lower portion of the frame; the frame extends toward the rear and forms a tail tube, and a four-blade tail gear box is provided at the end of the tail tube; a pesticide tank is provided at the low portion of the frame on the left side and the right side; a landing skid is fastened to the bottom of the frame; the frame comprises a fuselage first layer plate, a fuselage second layer plate, and a fuselage third layer plate, all fixedly connected in order from top to bottom; the fuselage first layer plate and the fuselage second layer plate are fixedly connected by sleeving the upper position and the lower position of a main axis respectively; the fuselage second layer plate and the fuselage third layer plate are fixedly connected by means of second-and-third-layer-connecting aluminum tubes; side panels on left side and right side of the fuselage are disposed toward the front and between the fuselage second layer plate and the fuselage third layer plate. The three-layer integrated frame in the present invention has high strength, a light weight, and a simple structure, and can rapidly adjust the center of gravity of the fuselage.

Description

一种农用无人直升机 Agricultural unmanned helicopter

技术领域 Technical field

[0001] 本发明属于飞行器制造领域，在 IPC分类中属于 B64大类，具体涉及一种用于农林植物保护（植保）作业的工业级电动无人直升机。 [0001] The present invention belongs to the field of aircraft manufacturing, and belongs to the B64 category in the IPC classification, and specifically relates to an industrial-grade electric unmanned helicopter for agricultural and forest plant protection (plant protection) operations.

背景技术 Background technique

[0002] 随着无人直升机在各行业的应用研究，人们越发现无人直升机在社会生产和生活各个方面的作用日益显著。使用现代化的高新技术机械设备，不仅能够提高工作效率和质量、降低作业成本，还能够降低人员作业的风险，保护生命财产安全。其中，农用无人直升机与常规植保机械作业相比可谓好处多多，其作业效率是目前地面植保机械中防治效率最高的高架喷雾器作业效率的 8倍，是人工背负式喷雾器作业效率的 30倍。由于传统植保机械落后，加上使用方法不当，不能均匀施药，导致农药利用率极低，只有 30%左右的农药被有效利用， 70% 左右的农药不仅没有发挥防治虫害的作用，还对生态环境造成了严重污染。农用无人直升机采用超低量喷雾，可节省 90%的水和 30%的农药，农药有效利用率达 60%以上，而完成同样作业面积的成本比传统农机还要低。 [0002] With the application of unmanned helicopters in various industries, the more people discover the role of unmanned helicopters in social production and life. The use of modern high-tech machinery and equipment not only improves work efficiency and quality, reduces operating costs, but also reduces the risk of personnel operations and protects life and property. Among them, agricultural unmanned helicopters have many advantages compared with conventional plant protection machinery operations. The operating efficiency is 8 times that of the highest efficiency sprayer in the ground plant protection machinery, and 30 times that of the manual knapsack sprayer. Due to the backwardness of traditional plant protection machinery and improper use, it is not possible to apply the drug evenly, resulting in extremely low pesticide utilization. Only about 30% of the pesticides are effectively used, and about 70% of the pesticides not only do not play a role in pest control, but also ecological The environment has caused serious pollution. The agricultural unmanned helicopter uses ultra-low-volume spray, which can save 90% of water and 30% of pesticides. The effective utilization rate of pesticides is over 60%, and the cost of completing the same working area is lower than that of traditional agricultural machinery.

[0003] 一般的，用于农林植物保护作业的农用无人直升机，主要包括飞行平台（固定翼、单旋翼、多旋翼）、 GPS飞控、喷洒机构三部分，通过地面遥控或 GPS飞控，来实现喷洒作业，可以喷洒药剂、种子、粉剂等。目前，现有的农用无人直升机的核心机身结构几乎是左右夹板式结构，这种结构的整体稳定性不足，在不同的荷载情况下，农用无人直升机飞行工况差别较大，因此现有的农用无人直升机具有如下缺点： [0003] In general, agricultural unmanned helicopters for agricultural and forestry plant protection operations mainly include flight platforms (fixed wing, single rotor, multi-rotor), GPS flight control, and spray mechanism, which are controlled by ground remote control or GPS. To achieve the spraying operation, it is possible to spray medicines, seeds, powders, and the like. At present, the core fuselage structure of the existing agricultural unmanned helicopter is almost the left and right splint structure, and the overall stability of the structure is insufficient. Under different load conditions, the flight conditions of the agricultural unmanned helicopter are quite different, so Some agricultural unmanned helicopters have the following disadvantages:

[0004] (1) 农用无人直升机的整体结构的稳定性不足、机动荷载的承载能力小； [0005] (2) 农用无人直升机整体结构的机械复杂，标准化生产成本较高； [0004] (1) The stability of the overall structure of the agricultural unmanned helicopter is insufficient, and the carrying capacity of the maneuvering load is small; [0005] (2) The mechanical structure of the agricultural unmanned helicopter is complicated, and the standardized production cost is high;

[0006] (3) 在飞行状态下作为农用无人直升机的结构主体对关联固定支架的易产生变形。 [0006] (3) In the flight state, as the structural main body of the agricultural unmanned helicopter, the associated fixed bracket is easily deformed.

[0007] 为此，一篇申请号为 201110435697.1的发明专利，公幵了一种电动无人驾驶直升机桥梁式机身结构，其包括：从上至下依次分布，且均为水平放置的上层板、中层板和下层板；第一隔框，位于机身前部，垂直放置，连接中层板和下层板；第二隔框，位于机身中部，垂直放置，连接中层板和下层板；所述中层板在第一隔框与第二隔框之间有 1个圆形的电动机安装孔；第三隔框，位于机身尾部，垂直放置，连接上层板、中层板和下层板；第四隔框，垂直放置，位于第二隔框上方，连接上层板和中层板；电动机固定板，水平放置，与电动机安装孔固定连接，用于连接电动机；侧板 2; 主轴；第五隔框，水平放置，与上层板固定连接，用于限定主轴。该发明采用了高层建筑和桥梁的框架式结构，把下部结构做的很紧凑，原发动机舱作为保护器材的设备舱，将上部分结构作为结构强度的主体部分。该专利中所提到的桥梁式机身结构是参照了小型遥控模型直升机机身机构改进而来，这种机构以机身侧板为主要载体和受力的设计方针，即机身每一层主要零部件都安装在侧板上。该发明专利公幵的这种结构，机身较重、强度比低，飞行吋机身容易产生变形；同吋，由于受到侧板孔位的限制，依附在侧板上的零部件必须安装在固定的位置上，且位置不能挪动或调节，所以机身的重心位置也不好调节。 [0007] To this end, an invention patent with the application number 201110435697.1 discloses an electric driverless straight The lift bridge type fuselage structure comprises: an upper layer, a middle layer and a lower layer which are sequentially arranged from top to bottom, and are horizontally placed; the first partition frame is located at the front of the fuselage, vertically placed, and connected to the middle layer And a lower shelf; a second bulkhead, located in the middle of the fuselage, placed vertically, connecting the middle plate and the lower plate; the middle plate has a circular motor mounting hole between the first frame and the second frame; The third bulkhead, located at the rear of the fuselage, is placed vertically, connecting the upper, middle and lower panels; the fourth bulkhead is placed vertically, above the second bulkhead, connecting the upper and middle panels; the motor mounting plate, horizontal Placed, fixedly connected to the motor mounting hole for connecting the motor; side plate 2; spindle; fifth frame, horizontally placed, fixedly connected to the upper plate, used to define the spindle. The invention adopts a frame structure of a high-rise building and a bridge, and the lower structure is made compact. The original engine compartment serves as a equipment compartment for the protection equipment, and the upper part structure is taken as a main part of the structural strength. The bridge-type fuselage structure mentioned in the patent is improved with reference to the small remote-controlled model helicopter fuselage mechanism, which adopts the fuselage side plate as the main carrier and the force design principle, that is, each layer of the fuselage The main components are mounted on the side panels. The structure of the invention patent has a heavy body and a low strength ratio, and the flying raft body is easily deformed; meanwhile, due to the limitation of the side plate hole position, the components attached to the side plate must be installed at In the fixed position, and the position can not be moved or adjusted, so the center of gravity of the fuselage is not well adjusted.

技术问题 technical problem

[0008] 因此，针对上述的问题，本发明提供一种结构稳定、自重轻便的无人农业植保无人机，采用基于动力主轴为中心的三层一体化机架结构，在节省制造成本的同吋又加强了机身结构的强度，大大提高了整体结构的稳定性，以及机动荷载的承载能力。 [0008] Therefore, in view of the above problems, the present invention provides an unmanned agricultural plant protection drone with stable structure and light weight, adopting a three-layer integrated frame structure centered on a power spindle, which saves manufacturing costs.吋Intensified the strength of the fuselage structure, greatly improving the stability of the overall structure, as well as the carrying capacity of the mobile load.

问题的解决方案 Problem solution

技术解决方案 Technical solution

[0009] 为了解决上述技术问题，本发明所采用的技术方案是，一种农用无人直升机，包括机身本体，机身本体包括机架，机架上设有用于固定主旋翼的旋翼头，主旋翼安装在旋翼头大桨夹上，通过机身本体内的无刷电机驱动；机架的后下方位置还设有喷杆，机架向后延伸形成尾管，尾管的末端设有四桨叶尾波箱；机架的下部的左右侧设置有药箱，机架下部还固定有脚架。 [0009] In order to solve the above technical problem, the technical solution adopted by the present invention is an agricultural unmanned helicopter, including a fuselage body, the fuselage body includes a frame, and the frame is provided with a rotor head for fixing the main rotor. The main rotor is mounted on the rotor head large paddle and driven by the brushless motor in the body; the lower rear of the frame is also provided with a spray bar, the frame extends rearward to form a tail pipe, and the end of the tail pipe is provided with four The blade tail box; the left and right sides of the lower part of the rack are provided with a medicine box, and the lower part of the frame is also fixed with a tripod.

[0010] 其中，机架采用上、中、下三层板实现多层框架式结构，该机架包括从上而下依次固定连接的机身一层板、机身二层板和机身三层板；机身一层板和机身二层板分别套设于主轴的上下位置处而固定连接，具体的，机身一层板和机身二层板均具有轴承孔，机身一层板通过其轴承孔套设于主轴的上端某一位置处而将其固定，主轴的下端穿过机身二层板的轴承孔而固定设置，主轴的底端与动力传递装置连接，动力传递装置运动吋，带动主轴转动；机身一层板和机身二层板平行设置，主轴与机身一层板、机身二层板和机身三层板垂直设置；机身二层板和机身三层板之间通过二三层板连接铝管固定连接，其中，机身二层板和机身三层板的左右两边分别对称设有铝管固定夹环，二三层板连接铝管固定于这两个铝管固定夹环之间，从而将机身二层板和机身三层板固定连接；左右两侧的机身侧板安装于机身二层板和机身三层板之间的前端（远离尾管的一端 [0010] wherein, the rack adopts upper, middle and lower three-layer boards to realize a multi-layer frame structure, and the rack comprises from top to bottom. The fuselage layer board, the fuselage two-layer board and the fuselage three-layer board are fixedly connected in turn; the fuselage one-layer board and the fuselage two-layer board are respectively set on the upper and lower positions of the main shaft and fixedly connected, specifically, the machine The first layer of the board and the second layer of the fuselage each have a bearing hole, and the first layer of the fuselage is fixed by a bearing hole at a position of the upper end of the main shaft, and the lower end of the main shaft passes through the second layer of the fuselage The bearing hole is fixedly arranged, the bottom end of the main shaft is connected with the power transmission device, the power transmission device moves 吋, and the main shaft rotates; the fuselage layer board and the fuselage two-layer board are arranged in parallel, the main shaft and the fuselage layer board, the fuselage The two-layer board and the fuselage three-layer board are vertically arranged; the fuselage two-layer board and the fuselage three-layer board are fixedly connected by two or three layers of connecting aluminum tubes, wherein the fuselage two-layer board and the fuselage three-layer board The left and right sides are respectively symmetrically provided with aluminum tube fixing clamp rings, and the second and third layer connecting aluminum tubes are fixed between the two aluminum tube fixing clamp rings, thereby fixing the fuselage two-layer board and the fuselage three-layer board fixedly; The side body side panel is installed on the fuselage two-layer board and the fuselage three-layer Between the front end (the end remote from the tail pipe

[0011] 进一步的，为了保证多层框架式结构的机架的稳固性，二三层板连接铝管设有两个，机身二层板和机身三层板的左右两边分别对称设有两个铝管固定夹环，两个二三层板连接铝管分别固定于这两对铝管固定夹环之间，从而将机身二层板和机身三层板固定连接；同吋，左右的机身侧板对称设置，两个二三层板连接铝管对称设置，且左右的机身侧板和两个二三层板连接铝管的对称平面为同一对称平面。 [0011] Further, in order to ensure the stability of the frame of the multi-layer frame structure, two or three layers of aluminum tubes are provided with two tubes, and the left and right sides of the fuselage two-layer board and the fuselage three-layer board are respectively symmetrically disposed. Two aluminum tube fixing clamp rings, two two-three-layer plate connecting aluminum tubes are respectively fixed between the two pairs of aluminum tube fixing clamp rings, thereby fixing the fuselage two-layer board and the fuselage three-layer board fixedly; The left and right side panels of the fuselage are symmetrically arranged, and the two two or three layers are connected symmetrically with the aluminum tubes, and the symmetrical planes of the left and right fuselage side panels and the two two or three layers connecting the aluminum tubes are the same symmetry plane.

[0012] 进一步的，为了保证多层框架式结构的机架的稳固性，所述机身二层板和机身三层板之间还通过二三层板连接件固定连接，机身二层板的后端面（靠近尾管的一端）与二三层板连接件的顶端固定连接；机身三层板的底端还固定设置两个平行排列的机身碳纤维管，该二三层板连接件的下部设有与该机身碳纤维管配合的通孔，两个机身碳纤维管分别穿过二三层板连接件的通孔而固定设置，从而将机身三层板与二三层板连接件的下部固定。同吋，两个平行排列的机身碳纤维管也对称设置，且两个机身碳纤维管和左右的机身侧板对称平面为同一对称平面。机身三层板的底端固定设置两个平行排列的机身碳纤维管，具体是机身三层板的底端设有夹管式固定座，两个机身碳纤维管穿过夹管式固定座而设置，并通过 M3内六角螺丝将其固定。 [0012] Further, in order to ensure the stability of the frame of the multi-layer frame structure, the fuselage two-layer board and the fuselage three-layer board are also fixedly connected by two or three-layer board connecting members, and the second layer of the fuselage The rear end surface of the plate (near the end of the tail pipe) is fixedly connected with the top end of the two-three-layer board connecting member; the bottom end of the fuselage three-layer board is also fixedly provided with two parallel arranged carbon fiber tubes, the two-three-layer board connection The lower part of the piece is provided with a through hole for cooperating with the carbon fiber tube of the fuselage, and the two carbon fiber tubes of the fuselage are respectively fixed through the through holes of the connecting members of the two or three layers, thereby forming the three-layer board and the two-three-layer board of the fuselage The lower part of the connector is fixed. At the same time, the two carbon fiber tubes arranged in parallel are also symmetrically arranged, and the symmetrical planes of the two fuselage carbon fiber tubes and the left and right fuselage side plates are the same symmetry plane. The bottom end of the fuselage three-layer board is fixedly provided with two carbon fiber tubes arranged in parallel, and the bottom end of the three-layer board of the fuselage is provided with a pinch-type fixing seat, and the two carbon fiber tubes of the fuselage are fixed through the pinch tube. Set up with the seat and secure it with the M3 socket head cap screws.

[0013] 本发明采用上述三层一体化结构，去掉了现有技术中的机身大侧板，把每层板做成一体式，使本发明的机架通过主轴、二三层板连接铝管、二三层板连接件以及机身侧板使位于上中下三层的机身一层板、机身二层板和机身三层板固定连接，形成简单牢固的机身主体机构。同吋，通过设置电机下固定座及夹管式固定座，并与其通过 M3内六角螺丝相固定，而机身上的两对此机身碳纤维管是穿过夹管式固定座而固定的，因而通过松幵夹管式固定座上的螺丝，便可前后移动机身，从而调整机身整体重心。 [0013] The present invention adopts the above three-layer integrated structure, and removes the large side panel of the prior art, and puts each layer of the board In one piece, the frame of the present invention is connected to the aluminum tube, the two-three-layer board connecting piece and the side panel of the fuselage through the main shaft, the two-three-layer board, and the fuselage one-layer board and the fuselage two in the upper middle, lower and lower floors. The laminate and the fuselage three-layer board are fixedly connected to form a simple and firm body mechanism. At the same time, by setting the motor lower fixing seat and the pinch type fixing seat, and fixing it with the M3 hexagon socket screw, the two carbon fiber tubes on the body are fixed through the pinch tube fixing seat, Therefore, by loosening the screws on the tube-type fixing seat, the body can be moved back and forth, thereby adjusting the overall center of gravity of the body.

[0014] 另外，两个机身侧板通过其上下位置处的上下安装孔分别固定电机固定上座与电机固定下座，电机固定上座与电机固定下座用于固定安装无刷电机，电机固定上座用于安装固定无刷电机，电机固定下座主要起到支撑无刷电机轴前端的作用，保证电机轴的同心度；机身二层板与机身三层板上下之间安装主齿轮组；机身三层板上还设有过渡齿固定下座，机身二层板与过渡齿固定下座上下之间安装过渡齿轮组；电机固定上座上固定了无刷电机并与电机齿轮固定；一级减速皮带套于电机齿轮与过渡齿轮组之间，二级减速皮带套于过渡齿轮组与主齿轮组之间，主轴的底端固定设于机身三层板的主轴的轴承位上，工作吋，无刷电机通过驱动电机齿轮，电机齿轮通过一级减速皮带带动过渡齿轮组，过渡齿轮组通过二级减速皮带带动主齿轮组，进而带动主轴转动。此传动结构齿轮组的减速比为 13.7，通过合理的齿轮比搭配，让转速与扭力特性得到最大发挥，使得无刷电机在最高效转速下转化为主旋翼需要的转速。 [0014] In addition, the two body side plates are respectively fixed by the upper and lower mounting holes at the upper and lower positions of the motor to fix the upper seat and the motor fixed lower seat, and the motor fixed upper seat and the motor fixed lower seat are used for fixing and installing the brushless motor, and the motor is fixedly seated. It is used to install fixed brushless motor. The motor fixed lower seat mainly plays the role of supporting the front end of the brushless motor shaft to ensure the concentricity of the motor shaft. The main gear set is installed between the fuselage two-layer board and the fuselage three-layer board. The three-layer board of the fuselage is further provided with a transition tooth fixed lower seat, and the transition gear group is installed between the second layer plate of the fuselage and the upper and lower sides of the transition tooth fixed seat; the brushless motor is fixed on the motor fixed upper seat and fixed with the motor gear; The step reduction belt is sleeved between the motor gear and the transition gear set, and the secondary reduction belt is sleeved between the transition gear set and the main gear set, and the bottom end of the main shaft is fixedly disposed on the bearing position of the main shaft of the fuselage three-layer board, working吋, the brushless motor drives the motor gear, the motor gear drives the transition gear set through the primary reduction belt, and the transition gear group drives the main gear through the secondary reduction belt. So as to drive rotation of the spindle. The reduction ratio of this transmission structure gear set is 13.7. By matching the reasonable gear ratio, the speed and torque characteristics are maximized, which makes the brushless motor convert to the required speed of the main rotor at the most efficient speed.

发明的有益效果 Advantageous effects of the invention

有益效果 Beneficial effect

[0015] 本发明采用上述方案，具有如下优点： [0015] The present invention adopts the above solution and has the following advantages:

[0016] 1、通过上述上中下三层的机身一层板、机身二层板和机身三层板而形成简单牢固的机身主体机构一三层一体化机架，其重量轻、强度大、结构简单，且增强了机动荷载的承载能力；比传统的大侧板结构减轻了百分之三十的重量，并可通过各种固定座（安装于电机固定下座及机身三层板下的夹管式固定座）配合机身碳纤维管前后移动，实现快速调整机身重心；另外，三层一体化机架，其几何结构为龙骨形态，实现在三个维度相互支撑的力学体系，形成了一个具有较强刚性的框架结构，该设计能够在农业植保作业飞行中抗击航行变轨（如转弯、升降吋）产生的能量，并将其均匀分散至机身各部分骨架，将整机的变形降低到最小程度，减少无人机的不稳定性问题，解决了现有农业植保无人机主体结构容易变形的问题。 [0016] 1. The above-mentioned upper, middle and lower three-layer fuselage one-layer board, fuselage two-layer board and fuselage three-layer board form a simple and firm body body mechanism, a three-layer integrated rack, and the weight thereof is light High strength, simple structure, and enhanced load carrying capacity of the maneuver load; 30% lighter than the traditional large side panel structure, and can be installed in the fixed seat and body of the motor through various fixed seats The pinch-type fixing seat under the three-layer board cooperates with the carbon fiber tube of the fuselage to move forward and backward to realize the rapid adjustment of the center of gravity of the fuselage; In addition, the three-layer integrated frame has a geometry of keel shape, which realizes mutual support in three dimensions. The mechanical system forms a frame structure with strong rigidity, which can resist the navigational change in the flight of agricultural plant protection operations ( Such as turning, lifting 吋) the energy generated, and evenly dispersed to the skeleton of each part of the fuselage, reducing the deformation of the whole machine to a minimum, reducing the instability of the drone, solving the existing agricultural plant protection The main body structure is easily deformed.

[0017] 2、三层一体化机架设有主齿轮组和过渡齿轮组两级的减速齿轮组，工作吋电机带动第一级传动齿轮（电机齿轮）通过皮带（一级减速皮带）传至第一级的减速齿轮（即过渡齿轮组），然后通过第一级的减速齿轮的单向器同轴联动，带动第二级传动齿轮，再由第二级的传动齿轮通过皮带（二级减速皮带）传至第二级的减速齿轮（即主齿轮组），从而达到减速的目的，并带动高负载的主旋翼转动，其具有高效的传动比。 [0017] 2. The three-layer integrated frame is provided with a two-stage reduction gear set of a main gear set and a transition gear set, and the working 吋 motor drives the first-stage transmission gear (motor gear) to pass through the belt (first-stage reduction belt) to the first The first stage reduction gear (ie, the transition gear set) is then coaxially coupled by the one-way of the reduction gear of the first stage to drive the second stage transmission gear, and then the second stage transmission gear passes the belt (secondary reduction belt) It is transmitted to the reduction gear of the second stage (ie, the main gear set) to achieve the purpose of deceleration, and to drive the high-load main rotor to rotate, which has an efficient transmission ratio.

[0018] [0018]

对附图的简要说明 Brief description of the drawing

附图说明 DRAWINGS

[0019] 图 1为本发明的农用无人直升机的立体图； 1 is a perspective view of a farm unmanned helicopter of the present invention;

[0020] 图 2为本发明的农用无人直升机的正视图； 2 is a front elevational view of the agricultural unmanned helicopter of the present invention;

[0021] 图 3为本发明的农用无人直升机的侧视图； [0021] FIG. 3 is a side view of the agricultural unmanned helicopter of the present invention;

[0022] 图 4为本发明的农用无人直升机的俯视图； [0022] FIG. 4 is a top plan view of the agricultural unmanned helicopter of the present invention;

[0023] 图 5为本发明的多层框架式结构的机架的立体图； [0023] FIG. 5 is a perspective view of a frame of a multi-layer frame structure of the present invention;

[0024] 图 6为本发明的多层框架式结构的机架的分解图； [0024] FIG. 6 is an exploded view of the frame of the multi-layer frame structure of the present invention;

[0025] 图 7为本发明的多层框架式结构的机架的分解图（带有安装辅助线）； [0025] FIG. 7 is an exploded view of the frame of the multi-layer frame structure of the present invention (with mounting guide lines);

[0026] 图 8为本发明的同轴舵机传动器的立体图； Figure 8 is a perspective view of the coaxial steering gear transmission of the present invention;

[0027] 图 9为本发明的同轴舵机传动器的分解图； [0027] FIG. 9 is an exploded view of the coaxial servo drive of the present invention;

[0028] 图 10为本发明的同轴舵机传动器的分解图（带有安装辅助线）。 10 is an exploded view of the coaxial servo drive of the present invention (with mounting guides). [0028] FIG.

[0029] [0029]

本发明的实施方式 Embodiments of the invention

[0030] 现结合附图和具体实施方式对本发明进一步说明。 The invention will now be further described with reference to the drawings and specific embodiments.

[0031] 目前，农用无人直升机因为机身的结构设计问题，导致成本过高、稳定性不够、机身与负载设备匹配度低等瓶颈，一直制约着无人直升机进行工业级别的广泛应用。本发明正是对这种现状进行改善，发明一种简单牢固的机身主体机构 —三层一体化机架，解决现有技术之不足。 [0031] At present, agricultural unmanned helicopters have restricted the unmanned helicopters to the industrial level because of the structural design problems of the fuselage, resulting in high cost, insufficient stability, and low matching of the fuselage and load equipment. Universal application. The present invention is to improve this situation, and to invent a simple and firm body body mechanism - a three-layer integrated frame, to solve the deficiencies of the prior art.

[0032] 参见图 1-图 4，本发明的一种农用无人直升机，包括机身本体，机身本体包括机架 2，机架 2上设有用于固定主旋翼的旋翼头 3，主旋翼安装在旋翼头 3的大桨夹上，通过机身本体内的无刷电机驱动；机架 2的后下方位置还设有喷杆 8，机架 2向后延伸形成尾管 218，尾管 218的末端设有四桨叶尾波箱 10; 机架 2上固定有同轴舵机传动器 1、便调试安装装置 4以及快速安装电池架 7，机架 2的下部的左右侧设置有药箱 5，机架 2下部还固定有脚架 6。 1 to 4, an agricultural unmanned helicopter of the present invention includes a fuselage body, the fuselage body includes a frame 2, and the frame 2 is provided with a rotor head 3 for fixing the main rotor, the main rotor Installed on the large paddle of the rotor head 3, driven by the brushless motor in the body of the fuselage; the bottom of the frame 2 is further provided with a spray bar 8, and the frame 2 extends rearward to form a tail pipe 218, the tail pipe 218 The end of the frame is provided with a four-blade tailbox 10; the frame 2 is fixed with a coaxial servo drive 1, the debug mounting device 4, and the quick-install battery rack 7, and the left and right sides of the lower portion of the frame 2 are provided with a medicine box 5, the lower part of the frame 2 is also fixed with a tripod 6.

[0033] 其中，机架采用上、中、下三层板实现多层框架式结构，作为一个优选的实施例，图 5-图 7为该多层框架式结构的机架的立体图和分解图，图示中，各标号代表的部件名称如下： 201 : 主轴， 202: 机身一层板， 203: 舵机固定座， 204: 机身二层板， 205: 机身侧板， 206: 电机固定上座， 207: 电机齿轮， 208: 电机固定下座， 209: 过渡齿固定下座， 210: 机身三层板， 211 : 二三层板连接铝管， 212: 过渡齿轮组， 213: 主齿轮组， 214: 二三层板连接件， 215: 尾管连接件， 216: 仪器台， 217: 机身碳纤维管， 218: 尾管， 219: —级减速皮带， 2 20：二级减速皮带。 [0033] wherein, the frame adopts upper, middle and lower three-layer boards to realize a multi-layer frame structure, as a preferred embodiment, FIG. 5 to FIG. 7 are a perspective view and an exploded view of the frame of the multi-layer frame structure. In the figure, the names of the parts represented by the labels are as follows: 201: spindle, 202: fuselage board, 203: steering gear mount, 204: fuselage two-layer board, 205: fuselage side panel, 206: motor Fixed upper seat, 207: motor gear, 208: motor fixed lower seat, 209: transition tooth fixed lower seat, 210: fuselage three-layer board, 211: two or three-layer board connecting aluminum tube, 212: transition gear set, 213: main Gear set, 214: two-layer connector, 215: tail pipe connector, 216: instrument table, 217: fuselage carbon fiber tube, 218: tail pipe, 219: - step reduction belt, 2 20: secondary reduction belt .

[0034] 参见图 5-图 7，本发明的机架采用上、中、下三层板实现多层框架式结构，该机架包括从上而下依次固定连接的机身一层板 202、机身二层板 204和机身三层板 210; 机身一层板 202和机身二层板 204分别套设于主轴 201的上下位置处而固定连接，具体的，本实施例中，机身一层板 202和机身二层板 204均具有轴承孔，机身一层板 202通过其轴承孔套设于主轴 201的上端某一位置处而将其固定，主轴 201的下端穿过机身二层板 204的轴承孔而固定设置，主轴 201的底端与动力传递装置连接，动力传递装置运动吋，带动主轴 201转动；主轴 201与机身一层板 202、机身二层板 204与机身三层板 210垂直设置，为保证其连接的固定性，本实施例中采用垂直设置；机身二层板 204和机身三层板 210之间通过一对二三层板连接铝管 211固定连接，其中，机身二层板 204和机身三层板 210的左右两边分别对称设有铝管固定夹环，两个二三层板连接铝管 211固定于这两对铝管固定夹环之间，从而将机身二层板 204和机身三层板 210固定连接；左右两侧的机身侧板 205安装于机身二层板 204和机身三层板 210之间的前端（远离尾管 218的一端 ) 。同吋，左右两侧的机身侧板 205对称设置，两个二三层板连接铝管 211对称设置，且左右的机身侧板 205和两个二三层板连接铝管 211的对称平面为同一对称平面。机身三层板 210的底端固定设置两个平行排列的机身碳纤维管 217，具体是机身三层板 210的底端设有夹管式固定座，两个机身碳纤维管 217穿过夹管式固定座而设置，并通过 M3内六角螺丝将其固定。本发明的上述结构，通过设置电机下固定座及机身三层板下的夹管式固定座，并与其通过 M3内六角螺丝相固定，而机身上的两对此机身碳纤维管是穿过夹管式固定座而固定的，因而通过松幵夹管式固定座上的 M3内六角螺丝，便可前后移动机身，从而调整机身整体重心。 [0034] Referring to FIG. 5-7, the rack of the present invention implements a multi-layer frame structure by using upper, middle and lower three-layer boards, and the rack comprises a fuselage layer board 202 fixedly connected from top to bottom. The fuselage two-layer board 204 and the fuselage three-layer board 210; the fuselage one-layer board 202 and the fuselage two-layer board 204 are respectively sleeved at the upper and lower positions of the main shaft 201 and fixedly connected, specifically, in this embodiment, the machine The body plate 202 and the fuselage two-layer plate 204 each have a bearing hole, and the body plate 202 is fixed by a bearing hole at a position of the upper end of the spindle 201, and the lower end of the spindle 201 passes through the machine. The bottom plate of the second layer plate 204 is fixedly disposed, and the bottom end of the main shaft 201 is connected with the power transmission device, and the power transmission device moves to drive the spindle 201 to rotate; the main shaft 201 and the fuselage layer plate 202 and the fuselage two-layer plate 204 It is disposed perpendicular to the fuselage three-layer board 210. In order to ensure the fixedness of the connection, the vertical setting is adopted in the embodiment; the fuselage two-layer board 204 and the fuselage three-layer board 210 are connected to each other through a pair of two-three-layer boards. The tube 211 is fixedly connected, wherein the fuselage two-layer board 204 and the fuselage three-layer board 210 The right two sides are respectively symmetrically provided with aluminum tube fixing clamp rings, and two two-three-layer plate connecting aluminum tubes 211 are fixed between the two pairs of aluminum tube fixing clamp rings, thereby connecting the fuselage two-layer board 204 and the fuselage three-layer board 210 Fixed connection; body side on left and right sides The plate 205 is mounted to the front end between the fuselage two-layer board 204 and the fuselage three-layer board 210 (away from the end of the tail pipe 218). At the same time, the left and right side fuselage side plates 205 are symmetrically arranged, the two two-three-layer board connecting aluminum tubes 211 are symmetrically arranged, and the left and right fuselage side panels 205 and the two two-three-layer boards are connected to the symmetry plane of the aluminum tubes 211. Is the same plane of symmetry. The bottom end of the fuselage three-layer board 210 is fixedly provided with two parallel-shaped fuselage carbon fiber tubes 217, specifically, the bottom end of the fuselage three-layer board 210 is provided with a pinch-type fixing seat, and the two fuselage carbon fiber tubes 217 pass through. Set up with a pinch-type mount and secure it with the M3 socket head cap screws. The above structure of the present invention is provided by the motor lower fixing seat and the pinch type fixing seat under the three-layer board of the fuselage, and is fixed by the M3 hexagonal screw, and the two carbon fiber tubes of the fuselage are worn on the body. It is fixed by the pinch-type fixing seat. Therefore, the M3 hexagon socket screw on the loose tube-type fixing seat can move the body back and forth to adjust the overall center of gravity of the body.

[0035] 为了保证多层框架式结构的机架的稳固性，所述机身二层板 204和机身三层板 2 10之间还通过二三层板连接件 214固定连接，机身二层板 204的后端面（靠近尾管的一端)与二三层板连接件 214的顶端固定连接；机身三层板 210的底端还固定设置两个平行排列的机身碳纤维管 217，该二三层板连接件 214的下部设有与该机身碳纤维管 217配合的通孔，两个机身碳纤维管 217分别穿过二三层板连接件 2 14的通孔而固定设置，从而将机身三层板 210与二三层板连接件 214的下部固定。同吋，两个平行排列的机身碳纤维管 217也对称设置，且两个机身碳纤维管 21 7和左右的机身侧板 205对称平面为同一对称平面。 [0035] In order to ensure the stability of the frame of the multi-layer frame structure, the fuselage two-layer board 204 and the fuselage three-layer board 2 10 are also fixedly connected by two or three-layer board connecting members 214, the fuselage two The rear end surface of the layer plate 204 (near the end of the tail pipe) is fixedly connected to the top end of the two-layer board connector 214; the bottom end of the fuselage three-layer board 210 is also fixedly provided with two parallel-arranged body carbon fiber tubes 217. The lower portion of the two-layer board connector 214 is provided with a through hole that cooperates with the fuselage carbon fiber tube 217, and the two body carbon fiber tubes 217 are fixedly disposed through the through holes of the two-layer board connecting member 2 14 respectively, thereby The fuselage three-layer board 210 is fixed to the lower portion of the two-three-layer board connector 214. At the same time, two parallel-arranged fuselage carbon fiber tubes 217 are also symmetrically arranged, and the two fuselage carbon fiber tubes 21 7 and the left and right fuselage side panels 205 have the same plane of symmetry.

[0036] 另外，两个机身侧板 205通过其上的上下安装孔分别固定电机固定上座 206与电机固定下座 208，电机固定上座 206与电机固定下座 208用于固定安装无刷电机，具体的，电机固定上座 206用于安装固定无刷电机，电机固定下座 208主要起到支撑无刷电机轴前端的作用，保证电机轴的同心度；机身二层板 204与机身三层板 210上下之间安装主齿轮组 213; 机身三层板 210上还设有过渡齿固定下座 209 ，机身二层板 204与过渡齿固定下座 209上下之间安装过渡齿轮组 212; 电机固定上座 206上固定了无刷电机并与电机齿轮 207固定；一级减速皮带 219套于电机齿轮 207与过渡齿轮组 212之间，二级减速皮带 220套于过渡齿组 211与主齿轮组 213 之间，主轴 201的底端固定设于机身三层板上主轴的轴承位上，工作吋，无刷电机通过驱动电机齿轮 207，电机齿轮通过一级减速皮带 219带动过渡齿轮组 212，过渡齿轮组通过二级减速皮带 220带动主齿轮组 213，进而带动主轴 201转动。 [0036] In addition, the two body side plates 205 respectively fix the motor fixing upper seat 206 and the motor fixing lower seat 208 through the upper and lower mounting holes thereon, and the motor fixing upper seat 206 and the motor fixing lower seat 208 are used for fixing the brushless motor. Specifically, the motor fixed upper seat 206 is used for mounting and fixing the brushless motor, and the motor fixed lower seat 208 mainly functions to support the front end of the brushless motor shaft to ensure the concentricity of the motor shaft; the fuselage two-layer board 204 and the fuselage three-layer The main gear set 213 is mounted between the upper and lower plates 210; the three-layer plate 210 of the fuselage is further provided with a transition tooth fixed lower seat 209, and the transitional gear set 212 is installed between the upper fuselage plate 204 and the transitional tooth fixed lower seat 209; A brushless motor is fixed on the motor fixed upper seat 206 and fixed to the motor gear 207; a first speed reduction belt 219 is sleeved between the motor gear 207 and the transition gear set 212, and a secondary speed reduction belt 220 is sleeved on the transition tooth set 211 and the main gear set. Between 213, the bottom end of the spindle 201 is fixedly disposed on the bearing position of the main shaft of the three-layer board on the fuselage, and the brushless motor drives the motor gear 207, and the motor gear drives the transition tooth through the first speed reduction belt 219. Group 212, The transition gear set drives the main gear set 213 through the secondary reduction belt 220, which in turn drives the spindle 201 to rotate.

[0037] 另外，机架向后延伸形成尾管 218，二三层板连接件 214和尾管连接件 215均设有与尾管 218对应的通孔，尾管 218依次穿过二三层板连接件 214和尾管连接件 21 5的通孔而固定，二三层板连接件 214的后端和尾管连接件 215顶端通过仪器台 21 6固定连接。 [0037] In addition, the frame extends rearward to form a tail pipe 218, and the two-three-layer plate connecting member 214 and the tail pipe connecting member 215 are respectively provided with through holes corresponding to the tail pipe 218, and the tail pipe 218 sequentially passes through the two-three-layer plate. The connecting member 214 and the tail pipe connecting member 215 are fixed by the through holes, and the rear end of the two-layer board connecting member 214 and the top end of the tail pipe connecting member 215 are fixedly connected by the instrument table 216.

[0038] 本发明采用上述三层一体化结构，从上到下依次分了三层，分别为机身一层板 202、机身二层板 204、机身三层板 210; 3个舵机固定座 203安装于机身一层板 20 2与机身二层板 204之间，每个舵机固定座 203固定有一舵机；两机身侧板 205、二三层板连接铝管 211以及二三层板连接件 214安装于机身二层板 204、机身三层板 210之间；机身前部两侧的机身侧板 205上下安装孔固定了电机固定上座 206与电机固定下座 208; 机身中部安装了过渡齿固定下座 209; 电机固定上座 206上固定了无刷电机并与电机齿轮 207固定；机身二层板 204与过渡齿固定下座 209上下之间安装过渡齿轮组 212; 机身二层板 204与机身三层板 210上下之间安装主齿轮组 213。另外，机架左右两侧的机身侧板 205、两个二三层板连接铝管 211以及两个机身碳纤维管 217为对称结构安装，增强了上述结构的稳固性。 [0038] The present invention adopts the above three-layer integrated structure, and is divided into three layers from top to bottom, which are respectively a fuselage layer board 202, a fuselage two-layer board 204, a fuselage three-layer board 210; three steering gears; The fixing base 203 is installed between the fuselage layer 20 2 and the fuselage two-layer board 204, and each of the servo fixing bases 203 is fixed with a steering gear; the two fuselage side plates 205, the two-three-layer board connecting the aluminum tubes 211, and The two-layer board connector 214 is installed between the fuselage two-layer board 204 and the fuselage three-layer board 210; the upper side of the fuselage side board 205 on both sides of the front fuselage is fixed with the motor fixed upper seat 206 and the motor fixed. Seat 208; The middle part of the fuselage is equipped with a transition tooth fixed lower seat 209; the motor fixed upper seat 206 is fixed with a brushless motor and fixed with the motor gear 207; the fuselage two-layer board 204 and the transition tooth fixed lower seat 209 are installed between the upper and lower sides The gear set 212; the main body gear set 213 is mounted between the fuselage two-layer board 204 and the fuselage three-layer board 210. In addition, the fuselage side panels 205 on the left and right sides of the rack, the two two-three-layer panel connecting aluminum tubes 211 and the two fuselage carbon fiber tubes 217 are symmetrically mounted to enhance the stability of the above structure.

[0039] 运行原理如下：无刷电机通过驱动电机齿轮 207通过一级减速皮带 219带动过渡齿轮组 212，再通过二级减速皮带 220带动主齿轮组 213，进而带动主轴 201转动。此传动结构齿轮组的减速比为 13.7，通过合理的齿轮比搭配，让转速与扭力特性得到最大发挥，使得无刷电机在最高效转速下转化为主旋翼需要的转速。 [0039] The operating principle is as follows: The brushless motor drives the transition gear set 212 through the primary reduction belt 219 through the drive motor gear 207, and then drives the main gear set 213 through the secondary reduction belt 220, thereby driving the spindle 201 to rotate. The reduction ratio of this transmission structure gear set is 13.7. By matching the reasonable gear ratio, the speed and torque characteristics are maximized, which makes the brushless motor convert to the required speed of the main rotor at the most efficient speed.

[0040] 另外，用于现有的农用无人直升机中，舵机在传统的机体上工作吋除了输出扭力还要克服其它运动机构传递过来的径向压力。本发明加装了同轴舵机传动器后，舵机工作吋只需输出扭力而不会受到其它运动机构传递过来的径向压力，从而使舵机在运行过程中更精确，延长舵机本身的使用寿命。 [0040] In addition, in the existing agricultural unmanned helicopter, the steering gear works on the conventional body, and the output torque is overcome to overcome the radial pressure transmitted by other moving mechanisms. After the coaxial steering gear transmission is added to the invention, the steering gear only needs to output the torque without being subjected to the radial pressure transmitted by other moving mechanisms, thereby making the steering gear more precise during operation and extending the steering gear itself. The service life.

[0041] 图 8-图 10为本发明的同轴舵机传动器的立体图和分解图，图示中，各部件的标号代表的名称如下： 201 : 主轴， 102: 十字盘， 103: 金属球头， 202: 机身一层板， 105: 驱动连杆， 106: 摇臂（或称旋转臂）， 107: M3内六角螺丝， 108 ：金属球头， 204: 机身二层板， 110: M3内六角螺丝， 111 : 输出旋转盘（或称舵机旋转轴圆盘）， 112: 轴承， 203: 舵机固定座， 114: M3内六角螺丝， 115 ：连接舵机齿， 116: 舵机， 117: M3内六角螺丝。 8 to 10 are a perspective view and an exploded view of the coaxial steering gear transmission of the present invention, in which the reference numerals of the respective components represent the following names: 201: spindle, 102: swash plate, 103: metal ball Head, 202: fuselage board, 105: drive link, 106: rocker arm (or swivel arm), 107: M3 hexagon socket screw, 108: metal ball head, 204: fuselage two-layer board, 110: M3 socket head cap screws, 111 : output rotary disc (or steering gear rotary disc), 112: bearing, 203: steering gear mount, 114: M3 hexagon socket head screw, 115 : Connect the steering gear teeth, 116: Steering gear, 117: M3 socket head cap screws.

[0042] 同轴舵机传动器采用基于对轴承组成的构件实现与伺服***输出轴同轴的原理，如图 8-10所示，所述同轴舵机传动器主要由摇臂 106、 M3内六角螺丝 107、金属球头 108、输出旋转盘 111、轴承 112、舵机固定座 203、连接舵机齿 115、舵机 116、 M2.5内六角螺丝 117组成。如图 9和图 10所示，摇臂 106安装于输出旋转盘 1 11上并与连接舵机齿 115相连嵌入到轴承 112内，所述轴承 112和舵机 116分别安装于舵机固定座 203左右两侧。组成整体安装于机身一层板 202与机身二层板 204 之间，通过 M3内六角固定螺丝 110和 M3内六角螺丝 114固定。安装舵机 116吋，把舵机输出轴齿***连接舵机齿 115内，然后通过 4颗 M2.5内六角螺丝把舵机 116 锁紧于舵机固定座 203上，最后并通过 M3内六角螺丝把输出旋转盘 111与舵机 116 固定住。通过利用轴承 112连接舵机的输出轴，使输出轴在转动中保证同轴性，减少旋转臂传动的能量损失，增强舵机本体传动的稳定性，从而使飞行器的飞行状态相对稳定。 [0042] The coaxial steering gear transmission adopts a principle based on a component composed of a bearing to be coaxial with the output shaft of the servo system. As shown in FIG. 8-10, the coaxial steering gear transmission is mainly composed of rocker arms 106 and M3. The hexagon socket head screw 107, the metal ball head 108, the output rotary disk 111, the bearing 112, the steering gear mount 203, the steering gear tooth 115, the steering gear 116, and the M2.5 hexagon socket screw 117 are formed. As shown in FIG. 9 and FIG. 10, the rocker arm 106 is mounted on the output rotary disk 1 11 and is inserted into the bearing 112 in connection with the connecting steering gear 115. The bearing 112 and the steering gear 116 are respectively mounted on the steering gear mount 203. Left and right sides. The whole assembly is installed between the fuselage layer plate 202 and the fuselage two-layer plate 204, and is fixed by the M3 hexagon socket fixing screw 110 and the M3 hexagon socket screw 114. Install the steering gear 116吋, insert the steering gear output shaft teeth into the steering gear teeth 115, and then lock the steering gear 116 to the steering gear mount 203 through four M2.5 hexagonal screws, and finally pass the M3 hexagon socket screw The output rotary disk 111 is fixed to the steering gear 116. By connecting the output shaft of the steering gear with the bearing 112, the output shaft ensures coaxiality during rotation, reduces the energy loss of the rotating arm transmission, and enhances the stability of the transmission of the steering gear body, thereby making the flying state of the aircraft relatively stable.

[0043] 如图 8所示，通过 3个 120°放置同轴舵机传动器联动工作驱动十字盘完成飞机的各种姿态变化。比如模型直升机主桨螺距的变化是由 3个舵机同吋等比例推拉十字盘上下运动而完成，升降的动作由升降舵机和副翼及桨距舵机的推、拉动作完成；副翼的动作由副翼和螺距舵机同吋 1个推 1个拉完成。 [0043] As shown in FIG. 8, various attitude changes of the aircraft are completed by three 120° placement coaxial servo actuators that work in conjunction with the drive swashplate. For example, the change of the pitch of the main propeller of the model helicopter is completed by the upward and downward movement of the three rudders in the same proportion of the swash plate, and the lifting action is completed by the push and pull movements of the elevator and the aileron and the pitch servo; The action is completed by one aileron and one pitch of the aileron and the pitch servo.

[0044] 综上，本发明采用上述三层一体化结构（两个小侧板 +三层机身板之间的连接管 +机架底层的机身碳纤维管），去掉了现有技术中的机身大侧板，把每层板做成一体式，通过两机身碳纤维管与电机固定下座、二三层板连接件、尾管连接件连接，使之形成机身主体机构。这种机身主体机构重量轻、强度大、结构简单，比传统的大侧板结构减轻了百分之三十的重量，并可通过各种固定座配合底层连接管前后移动可快速调整机身重心。同吋，本发明通过伺服***受力轴承 +舵机旋转轴圆盘的结构，即利用舵机旋转轴圆盘连接伺服***的受力轴承做同轴绕臂的传动方法，来实现整个同轴舵机传动器，使同轴舵机在工作吋只需输出扭力而不会受到其它运动机构传递过来的径向压力，从而使舵机在运行过程中更精确，进而延长舵机本身的使用寿命。 [0044] In summary, the present invention adopts the above three-layer integrated structure (the connecting tube between the two small side plates + the three-layer fuselage board + the fuselage carbon fiber tube of the bottom layer of the rack), and the prior art is removed. Large side panels of the fuselage, each layer is made into one piece, and the two fuselage carbon fiber tubes are connected with the motor fixed lower seat, the two-three-layer board connecting piece and the tail pipe connecting piece to form the fuselage main body mechanism. The body of the fuselage is light in weight, strong in strength, simple in structure, and has a weight reduction of 30% compared with the conventional large side panel structure, and can be quickly adjusted by various fixing seats and the bottom layer connecting tube. Focus. At the same time, the invention realizes the whole coaxial by the structure of the bearing system of the servo system and the rotating shaft of the steering gear, that is, the transmission bearing method of the servo system by using the rotating shaft of the steering gear to connect the force bearing of the servo system. The steering gear actuator allows the coaxial steering gear to output torque only during operation without the radial pressure transmitted by other moving mechanisms, thereby making the steering gear more precise during operation and thus extending the service life of the steering gear itself. .

[0045] 尽管结合优选实施方案具体展示和介绍了本发明，但所属领域的技术人员应该明白，在不脱离所附权利要求书所限定的本发明的精神和范围内' 在形式上和细节上可以对本发明做出各种变化，均为本发明的保护范围。 [0045] While the invention has been particularly shown and described in connection with the preferred embodiments, those skilled in the art should It is to be understood that various modifications may be made in the form and details of the present invention without departing from the spirit and scope of the invention.

Claims

权利要求书 Claim

[权利要求 1] 一种农用无人直升机，其特征在于： [Claim 1] An agricultural unmanned helicopter characterized by:

包括机身本体，机身本体包括机架，机架上设有用于固定主旋翼的旋翼头，主旋翼安装在旋翼头大桨夹上，通过机身本体内的电动机驱动；机架的后下方位置还设有喷杆，机架向后延伸形成尾管，尾管的末端设有四桨叶尾波箱；机架的下部的左右侧设置有药箱，机架下部还固定有脚架； The utility model comprises a fuselage body, the fuselage body comprises a frame, the rotor head is arranged on the frame for fixing the main rotor, the main rotor is mounted on the large paddle of the rotor head, and is driven by a motor in the body of the fuselage; The position is further provided with a spray bar, the frame extends rearward to form a tail pipe, and the end of the tail pipe is provided with a four-blade tail wave box; the left and right sides of the lower part of the frame are provided with a medicine box, and the lower part of the frame is also fixed with a tripod;

其中，机架包括从上而下依次固定连接的机身一层板、机身二层板和机身三层板；机身一层板和机身二层板分别套设于主轴的上下位置处而固定连接；机身二层板和机身三层板之间通过二三层板连接铝管固定连接，其中，机身二层板和机身三层板的左右两边分别对称设有铝管固定夹环，二三层板连接铝管固定于这两个铝管固定夹环之间，从而将机身二层板和机身三层板固定连接；左右两侧的机身侧板安装于机身二层板和机身三层板之间的前端。 Wherein, the frame comprises a fuselage layer board fixedly connected from top to bottom, a fuselage two-layer board and a fuselage three-layer board; the fuselage one-layer board and the fuselage two-layer board are respectively set on the upper and lower positions of the main shaft Fixed connection; the fuselage two-layer board and the fuselage three-layer board are fixedly connected by two or three layers of connecting aluminum tubes, wherein the left and right sides of the fuselage two-layer board and the fuselage three-layer board are respectively symmetrically arranged with aluminum The tube fixing clamp ring, the two-three-layer board connecting aluminum tube is fixed between the two aluminum tube fixing clamp rings, thereby fixing the fuselage two-layer board and the fuselage three-layer board fixedly; the left and right side body side panel mounting The front end between the fuselage two-layer board and the fuselage three-layer board.

[权利要求 2] 根据权利要求 1所述的农用无人直升机，其特征在于：所述机身二层板和机身三层板之间还通过二三层板连接件固定连接，机身二层板的后端面与二三层板连接件的顶端固定连接；机身三层板的底端还固定设置两个平行排列的机身碳纤维管，该二三层板连接件的下部设有与该机身碳纤维管配合的通孔，两个机身碳纤维管分别穿过二三层板连接件的通孔而固定设置，从而将机身三层板与二三层板连接件的下部固定。 [Claim 2] The agricultural unmanned helicopter according to claim 1, wherein: the fuselage two-layer board and the fuselage three-layer board are also fixedly connected by two or three-layer board connecting members, and the second body The rear end surface of the laminate is fixedly connected with the top end of the two-three-layer board connecting member; the bottom end of the three-layer board of the fuselage is also fixedly provided with two carbon fiber tubes arranged in parallel, and the lower part of the two-layer board connecting member is provided with The fuselage carbon fiber tube is matched with the through hole, and the two fuselage carbon fiber tubes are respectively fixed through the through holes of the two-three-layer board connecting member, thereby fixing the lower portion of the fuselage three-layer board and the two-three-layer board connecting piece.

[权利要求 3] 根据权利要求 2所述的农用无人直升机，其特征在于：机身三层板的底端固定设置两个平行排列的机身碳纤维管，具体是机身三层板的底端设有夹管式固定座，两个机身碳纤维管穿过夹管式固定座而设置，并通过 M3内六角螺丝将其固定。 [Claim 3] The agricultural unmanned helicopter according to claim 2, wherein: the bottom end of the fuselage three-layer board is fixedly provided with two carbon fiber tubes arranged in parallel, specifically the bottom of the three-layer body of the fuselage The end is provided with a pinch-type fixing seat, and the two fuselage carbon fiber tubes are arranged through the pinch-type fixing seat, and are fixed by the M3 hexagon socket screw.

[权利要求 4] 根据权利要求 2所述的农用无人直升机，其特征在于：左右的机身侧板对称设置，两个平行排列的机身碳纤维管也对称设置，且两个机身碳纤维管和左右的机身侧板对称平面为同一对称平面。根据权利要求 1或 2或 3或 4所述的农用无人直升机，其特征在于：所述机身一层板和机身二层板均具有轴承孔，机身一层板通过其轴承孔套设于主轴的上端一位置处而将其固定，主轴的下端穿过机身二层板的轴承孔而固定设置，主轴的底端与动力传递装置连接，动力传递装置运动吋，带动主轴转动。 [Claim 4] The agricultural unmanned helicopter according to claim 2, wherein: the left and right fuselage side plates are symmetrically arranged, and the two parallel arranged fuselage carbon fiber tubes are also symmetrically arranged, and the two fuselage carbon fiber tubes The symmetry planes of the side panels of the left and right sides are the same symmetry plane. The agricultural unmanned helicopter according to claim 1 or 2 or 3 or 4, wherein: the fuselage one-layer board and the fuselage two-layer board each have a bearing hole, and the fuselage one-layer board passes through the bearing hole sleeve It is fixed at a position of the upper end of the main shaft, and the lower end of the main shaft is fixedly disposed through the bearing hole of the second layer of the main body. The bottom end of the main shaft is connected with the power transmission device, and the power transmission device moves to drive the main shaft to rotate.

根据权利要求 5所述的农用无人直升机，其特征在于：所述机身一层板和机身二层板平行设置，所述主轴与机身一层板垂直设置。 The agricultural unmanned helicopter according to claim 5, characterized in that: the fuselage floor panel and the fuselage two-layer panel are arranged in parallel, and the main shaft is vertically disposed with the fuselage panel.

根据权利要求 1或 2或 3或 4所述的农用无人直升机，其特征在于：二三层板连接铝管设有两个，机身二层板和机身三层板左右两边分别对称设有两个铝管固定夹环，两个二三层板连接铝管分别固定于这两对铝管固定夹环之间，从而将机身二层板和机身三层板固定连接。 The agricultural unmanned helicopter according to claim 1 or 2 or 3 or 4, wherein: two or three layers of connecting aluminum tubes are provided with two, and the second layer of the fuselage and the three sides of the fuselage are symmetrically arranged on the left and right sides respectively. There are two aluminum tube fixing clamp rings, and two two-three-layer plate connecting aluminum tubes are respectively fixed between the two pairs of aluminum tube fixing clamp rings, thereby fixedly connecting the fuselage two-layer board and the fuselage three-layer board.

根据权利要求 7所述的农用无人直升机，其特征在于：左右的机身侧板对称设置，两个二三层板连接铝管对称设置，且左右的机身侧板和两个二三层板连接铝管的对称平面为同一对称平面。 The agricultural unmanned helicopter according to claim 7, characterized in that: the left and right side panels of the fuselage are symmetrically arranged, the two two or three layers are connected symmetrically with the aluminum tubes, and the left and right fuselage side panels and two two or three layers The plane of symmetry of the plate connecting aluminum tubes is the same plane of symmetry.

根据权利要求 1或 2或 3或 4所述的农用无人直升机，其特征在于：两个机身侧板的上下位置处分别固定电机固定上座与电机固定下座，电机固定上座与电机固定下座用于固定安装无刷电机，电机固定上座用于安装固定无刷电机，电机固定下座起到支撑无刷电机轴前端的作用，保证电机轴的同心度；机身二层板与机身三层板上下之间安装主齿轮组；机身三层板上还设有过渡齿固定下座，机身二层板与过渡齿固定下座上下之间安装过渡齿轮组；电机固定上座上固定了无刷电机并与电机齿轮固定；一级减速皮带套于电机齿轮与过渡齿轮组之间，二级减速皮带套于过渡齿组与主齿轮组之间，主轴的底端固定设于机身三层板的主轴的轴承位上，工作吋，无刷电机通过驱动电机齿轮，电机齿轮通过一级减速皮带带动过渡齿轮组，过渡齿轮组通过二级减速皮带带动主齿轮组，进而带动主轴转动。 The agricultural unmanned helicopter according to claim 1 or 2 or 3 or 4, wherein: the upper and lower positions of the two side panels are respectively fixed to the motor fixed upper seat and the motor fixed lower seat, and the motor is fixed to the upper seat and the motor is fixed. The seat is used for fixed installation of the brushless motor. The motor is fixed on the upper seat for mounting the fixed brushless motor. The fixed bottom of the motor supports the front end of the brushless motor shaft to ensure the concentricity of the motor shaft. The fuselage two-layer board and the fuselage The main gear set is installed between the three layers of the upper and lower boards; the three-layer board of the fuselage is further provided with a transition tooth fixed lower seat, and the transitional gear set is installed between the second layer of the fuselage and the upper and lower sides of the transition tooth fixed; the motor is fixed on the upper seat The brushless motor is fixed with the motor gear; the primary reduction belt is sleeved between the motor gear and the transition gear set, the secondary reduction belt is sleeved between the transition tooth set and the main gear set, and the bottom end of the main shaft is fixedly arranged in the fuselage On the bearing position of the main shaft of the three-layer board, the working 吋, the brushless motor drives the motor gear, and the motor gear drives the transition gear set through the primary reduction belt, and the transition gear set passes The secondary gear belt drives the main gear set, which in turn drives the spindle to rotate.