农田施肥旋翼飞行机器人结构设计
THE STRUCTURE DESIGN OF THE FIELD FERTILIZATION ROTOR FLYING ROBOT
摘要
根据我国目前的农业发展前景,本身是一个农业大国,差不多有十八亿亩的农田面积。对于农田施肥这一方面还有很大改进的地方,目前大部分农田施肥都是依靠人工,工作效率低,而且撒化肥分布不均匀等情况。所以针对这一情况,结合本文设计的农田施肥旋翼飞行机器人,最主要的是能够代替人工劳动力,大大地提高农田施肥的效率。
根据本文设计的农用无人机,考虑到施肥这一主要关键词,本次所设计的是多旋翼施肥无人机,对于飞行机器人的旋翼支架、着落架、化肥箱和螺旋桨等部件进行更深入的探索,参考市场上已经出现的多旋翼无人机作出改进,结合本次设计题目的实际情况进一步优化。
本文所设计的要求包括旋翼支架结构、化肥箱在飞行机器人的设计位置和撒化肥的机构等,在本次中有明确的说明,并给出CAD各部件的零件图和飞行机器人的模型装配图,实现了多转子飞行机器人的效率、标准化和实际应用。
关键词旋翼飞行机器人;施肥;结构设计
Abstract
Accordi
ng to the curre
nt agricultural developme
nt prospect i
n Chi
na,Our cou
ntry is a big agricultural cou
ntry, Chi
na has about 1.8 billio
n mu of farmla
nd area.There is a lot of improveme
nt i
n the field of fertilizatio
n i
n the field,At prese
nt, most farmla
nd fertilizatio
n relies o
n labor, low efficie
ncy, a
nd u
neve
n distributio
n of fertilizer.Therefore, i
n view of this situatio
n, combi
ned with my desig
n of farmla
nd fertilizatio
n rotor flyi
ng robot, the most importa
nt is to be able to replace the artificial labor force, a
nd greatly improve the efficie
ncy of farmla
nd fertilizatio
n. Accordi
ng to the agricultural dro
ne I desig
ned, taki
ng i
nto accou
nt the mai
n keyword of fertilizatio
n,This time I desig
ned a multi-rotor fertilizatio
n uav.More i
n-depth exploratio
n of the rotor support of the flyi
ng robot, the falli
ng frame, the fertilizer box a
nd the propeller, etc.The multi-rotor uav has bee
n improved i
n refere
nce market, a
nd the actual situatio
n of this desig
n topic is further optimized. The requireme
nts I have desig
ned i
nclude the rotor support structure, the desig
n positio
n of the fertilizer box i
n the flyi
ng robot, a
nd the chemical fertilizer mecha
nism, etc.I
n this paper, there are clear i
nstructio
ns, a
nd the assembly drawi
ng of the parts drawi
ng a
nd flyi
ng robot of the CAD parts is give
n.The efficie
ncy, sta
ndardizatio
n a
nd practical applicatio
n of multi-rotor flyi
ng robot are realized. Keywords rotor flyi
ng robot fertilizatio
n structure desig
n 目录 摘要I Abstract II 1绪论1 1.1农用飞行机器人的发展史2 1.2农田施肥旋翼飞行机器人的前景5 1.3多轴旋翼农用植保无人机更高效、更实用6 1.4农用多轴旋翼飞行机器人还需解决的问题7 1.5多轴旋翼农用无人机的注意事项8 2六轴旋翼农用飞行机器人的机身结构设计与施肥机构9 2.1六轴旋翼农用飞行机器人的基本结构设计9 2.1.1六轴旋翼农用飞行机器人的整体设计9 2.1.2六轴旋翼农用飞行机器人撒化肥系统设计与其工作原理10 2.2六轴旋翼农用飞行机器人的自平衡原理12 3无人机的动力系统设计与其工作原理14 3.1基本结构14 3.2动力电机与调速系统15 3.2.1电机15 3.2.2电调16 3.2.3飞行控制器17 3.3电机的主要参数和续航时间的计算17 3.3.1六轴旋翼农用无人机的电机选择18 3.3.2估算六轴旋翼无人机的飞行工作时间18 4无人机的螺旋桨设计20 4.1影响螺旋桨的几何参数20 4.2螺旋桨材料的选择21 4.3无人机螺旋桨的运动特性22 4.3.1螺旋桨的转速22 4.3.2螺旋桨前进的速度22 4.3.3螺旋桨旋转一周的距离22 4.4无人机螺旋桨的动力学特性22 4.4.1螺旋桨的拉力和拉力系数22 4.4.2螺旋桨的扭矩和扭矩系数23 4.4.3螺旋桨的功率和功率系数23 4.4.4螺旋桨的前进比24 4.4.5螺旋桨的效率24 4.5无人机机型与电机、螺旋桨之间的关系24 5 PCB控制板、陀螺仪、遥控器的应用25 5.1六轴转子旋转与无人机飞行的原理25 5.2六轴旋翼农用无人机陀螺仪的应用26 5.3无人机的遥控器26 结论28 致谢29 参考文献30
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ng to the curre
nt agricultural developme
nt prospect i
n Chi
na,Our cou
ntry is a big agricultural cou
ntry, Chi
na has about 1.8 billio
n mu of farmla
nd area.There is a lot of improveme
nt i
n the field of fertilizatio
n i
n the field,At prese
nt, most farmla
nd fertilizatio
n relies o
n labor, low efficie
ncy, a
nd u
neve
n distributio
n of fertilizer.Therefore, i
n view of this situatio
n, combi
ned with my desig
n of farmla
nd fertilizatio
n rotor flyi
ng robot, the most importa
nt is to be able to replace the artificial labor force, a
nd greatly improve the efficie
ncy of farmla
nd fertilizatio
n. Accordi
ng to the agricultural dro
ne I desig
ned, taki
ng i
nto accou
nt the mai
n keyword of fertilizatio
n,This time I desig
ned a multi-rotor fertilizatio
n uav.More i
n-depth exploratio
n of the rotor support of the flyi
ng robot, the falli
ng frame, the fertilizer box a
nd the propeller, etc.The multi-rotor uav has bee
n improved i
n refere
nce market, a
nd the actual situatio
n of this desig
n topic is further optimized. The requireme
nts I have desig
ned i
nclude the rotor support structure, the desig
n positio
n of the fertilizer box i
n the flyi
ng robot, a
nd the chemical fertilizer mecha
nism, etc.I
n this paper, there are clear i
nstructio
ns, a
nd the assembly drawi
ng of the parts drawi
ng a
nd flyi
ng robot of the CAD parts is give
n.The efficie
ncy, sta
ndardizatio
n a
nd practical applicatio
n of multi-rotor flyi
ng robot are realized. Keywords rotor flyi
ng robot fertilizatio
n structure desig
n 目录 摘要I Abstract II 1绪论1 1.1农用飞行机器人的发展史2 1.2农田施肥旋翼飞行机器人的前景5 1.3多轴旋翼农用植保无人机更高效、更实用6 1.4农用多轴旋翼飞行机器人还需解决的问题7 1.5多轴旋翼农用无人机的注意事项8 2六轴旋翼农用飞行机器人的机身结构设计与施肥机构9 2.1六轴旋翼农用飞行机器人的基本结构设计9 2.1.1六轴旋翼农用飞行机器人的整体设计9 2.1.2六轴旋翼农用飞行机器人撒化肥系统设计与其工作原理10 2.2六轴旋翼农用飞行机器人的自平衡原理12 3无人机的动力系统设计与其工作原理14 3.1基本结构14 3.2动力电机与调速系统15 3.2.1电机15 3.2.2电调16 3.2.3飞行控制器17 3.3电机的主要参数和续航时间的计算17 3.3.1六轴旋翼农用无人机的电机选择18 3.3.2估算六轴旋翼无人机的飞行工作时间18 4无人机的螺旋桨设计20 4.1影响螺旋桨的几何参数20 4.2螺旋桨材料的选择21 4.3无人机螺旋桨的运动特性22 4.3.1螺旋桨的转速22 4.3.2螺旋桨前进的速度22 4.3.3螺旋桨旋转一周的距离22 4.4无人机螺旋桨的动力学特性22 4.4.1螺旋桨的拉力和拉力系数22 4.4.2螺旋桨的扭矩和扭矩系数23 4.4.3螺旋桨的功率和功率系数23 4.4.4螺旋桨的前进比24 4.4.5螺旋桨的效率24 4.5无人机机型与电机、螺旋桨之间的关系24 5 PCB控制板、陀螺仪、遥控器的应用25 5.1六轴转子旋转与无人机飞行的原理25 5.2六轴旋翼农用无人机陀螺仪的应用26 5.3无人机的遥控器26 结论28 致谢29 参考文献30
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