CN109204786B - Undercarriage and unmanned aerial vehicle with same - Google Patents
Undercarriage and unmanned aerial vehicle with same Download PDFInfo
- Publication number
- CN109204786B CN109204786B CN201710528600.9A CN201710528600A CN109204786B CN 109204786 B CN109204786 B CN 109204786B CN 201710528600 A CN201710528600 A CN 201710528600A CN 109204786 B CN109204786 B CN 109204786B
- Authority
- CN
- China
- Prior art keywords
- link
- landing gear
- hinged
- connecting rod
- undercarriage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000005452 bending Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/40—Undercarriages foldable or retractable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The embodiment of the invention relates to the technical field of aircrafts, and provides an undercarriage and an unmanned aerial vehicle with the undercarriage, wherein the undercarriage comprises a power assembly and an undercarriage body, and the power assembly comprises a connecting piece and a driving device for driving the connecting piece to do reciprocating motion; a landing gear body comprising a plurality of articulated links forming at least one parallelogram mechanism; the landing gear body is connected with the connecting piece, and the connecting piece drives the landing gear body to fold or unfold when reciprocating. Through the mode, under the drive that the connecting piece was reciprocating motion, the undercarriage body can be packed up and fold in the both sides of fuselage or inside to make unmanned aerial vehicle when the flight, the undercarriage can be packed up and fold and can not cause the unnecessary resistance in the air.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of aircrafts, in particular to an undercarriage and an unmanned aerial vehicle with the undercarriage.
[ background of the invention ]
An Unmanned Aerial Vehicle (UAV) is a new concept equipment in rapid development, and has the advantages of flexibility, quick response, Unmanned driving and low operation requirement. The unmanned aerial vehicle can realize the functions of real-time image transmission and high-risk area detection by carrying various sensors or camera equipment, and is powerful supplement for satellite remote sensing and traditional aviation remote sensing. At present, the application range of unmanned aerial vehicles has been widened to three fields of military affairs, scientific research and civil use, and the unmanned aerial vehicles are particularly widely applied to the fields of electric power communication, meteorology, agriculture, oceans, exploration, photography, disaster prevention and reduction, crop yield estimation, drug control and smuggling, border patrol, public security and counter terrorism and the like.
Consumer-grade drones in the current market mainly use fixed landing gears. In the process of aerial photography, the fixed undercarriage can shield the aerial photography view.
[ summary of the invention ]
In order to solve the technical problem, the embodiment of the invention provides a foldable undercarriage capable of being folded and an unmanned aerial vehicle with the foldable undercarriage.
In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions:
a landing gear for a drone, the drone including a fuselage, the landing gear comprising: the power assembly is arranged on the aircraft body and comprises a connecting piece and a driving device used for driving the connecting piece to reciprocate; a landing gear body comprising a plurality of articulated links forming at least one parallelogram mechanism; the landing gear body is connected with the connecting piece, and the connecting piece drives the landing gear body to fold or unfold when reciprocating.
In some embodiments, the landing gear body includes a first link, a second link, a third link, a fourth link, and a fifth link; one end of the first connecting rod is hinged with the connecting piece, the other end of the first connecting rod is hinged with one end of the fourth connecting rod, and the first connecting rod is hinged with the machine body at a position between one end connected with the connecting piece and the other end hinged with the fourth connecting rod; one end of the second connecting rod is hinged with the machine body, and the other end of the second connecting rod is hinged with the third connecting rod and the fourth connecting rod respectively; one end of the third connecting rod is hinged to the second connecting rod, and the other end of the third connecting rod and the other end of the fourth connecting rod are hinged to the fifth connecting rod respectively.
In some embodiments, one end of the third link is hinged to the second link, and the hinged end extends away from the fifth link and is hinged to the first link.
In some embodiments, the third link includes a first portion hingedly connected to the first link and the second link, a bend connected to the first portion, and a second portion connected to the first bend; the first portion and the second portion are both disposed in parallel with the fourth link.
In some embodiments, the landing gear body includes a first link, a second link, a third link, a fourth link, and a fifth link; one end of the first connecting rod is hinged with the connecting piece, the other end of the first connecting rod is hinged with one end of the fourth connecting rod, and the first connecting rod is hinged with the machine body at a position between one end connected with the connecting piece and the other end hinged with the fourth connecting rod; one end of the second connecting rod is hinged with the machine body, and the other end of the second connecting rod is hinged with the third connecting rod or the fourth connecting rod; one end of the third connecting rod is hinged to the first connecting rod, and the other end of the third connecting rod and the other end of the fourth connecting rod are hinged to the fifth connecting rod respectively.
In some embodiments, the fourth link includes a second curved portion hinged to the first link and a vertical portion connected to the second curved portion; the vertical portion is connected between the second bent portion and the fifth link.
In some embodiments, the fifth link includes a third portion hingedly connected to the third link and the fourth link, a third bend connected to the third portion, and a fourth portion connected to the third bend.
In some embodiments, the landing gear further comprises a foot rest connected to the fifth link.
In some embodiments, the power assembly includes a screw rod connected to the driving device, the connecting member is sleeved on the screw rod and is screwed with the screw rod, the driving device drives the screw rod to rotate, and the connecting member reciprocates along the screw rod.
In some embodiments, the middle part of the connecting piece is in threaded connection with the screw, sliding grooves are further formed in two sides of the threaded part of the connecting piece, and one end of the first connecting rod is hinged in the sliding grooves and can slide along the sliding grooves.
In order to solve the above technical problem, an embodiment of the present invention further provides the following technical solutions:
an unmanned aerial vehicle comprises the landing gear.
Compared with the prior art, the landing gear of the embodiment of the invention can drive the landing gear body to rotate, fold or unfold relative to the body when the connecting piece reciprocates, and the landing gear body can be folded and folded at two sides or inside the body, so that the landing gear is compact in structure, the landing gear can be folded and folded when an unmanned aerial vehicle with the landing gear flies, unnecessary resistance of the unmanned aerial vehicle in the air can not be caused, and the aerial photographing view field can not be shielded in the aerial photographing process of the unmanned aerial vehicle; when needs descend, the undercarriage can expand automatically again, supports this unmanned aerial vehicle and accomplishes the descending. Further, when not using, also make the unmanned aerial vehicle who has this undercarriage be convenient for accomodate and carry.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a perspective view of an unmanned aerial vehicle provided in embodiment 1 of the present invention, wherein a landing gear is in a deployed state;
figure 2 is a cross-sectional view of the drone shown in figure 1;
figure 3 is another cross-sectional view of the drone shown in figure 1;
figure 4 is a cross-sectional view of the drone shown in figure 3, with the landing gear in a folded condition;
fig. 5 is a cross-sectional view of a drone according to embodiment 2 of the present invention, with the landing gear in a folded state;
fig. 6 is a cross-sectional view of a drone according to embodiment 3 of the present invention, with the landing gear in a deployed state.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
In the embodiment of the present invention, the drone may be a single rotor, a dual rotor, a quad rotor, or a hexarotor, and the quad rotor drone is taken as an example for detailed description.
Example 1
Referring to fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle 100, which includes a main body 10 and an undercarriage 20, wherein the undercarriage 20 is mounted on the main body 10 and is used for supporting the unmanned aerial vehicle 100 on a landing place when landing.
Including the control circuit subassembly that comprises MCU isoelectron components in the fuselage 10, this control circuit subassembly includes a plurality of control module, if, is used for control undercarriage 20 is packed up and is put down control module for control unmanned aerial vehicle flight attitude's flight control module, be used for navigating unmanned aerial vehicle's GPS module and be used for handling the data processing module of the environmental information that relevant airborne equipment obtained etc..
The body 10 is provided with a receiving groove 11, and when the landing gear 20 is retracted, the receiving groove 11 receives the landing gear 20.
Referring to fig. 2, the landing gear 20 includes: the power assembly 210 is arranged inside the fuselage 10, and the power assembly 210 is connected with the landing gear body 220 and provides power for the landing gear body 220. The landing gear body 220 is connected to the foot rest 230, the power assembly 210 transmits power to the foot rest 230 through the landing gear body 220, and the power assembly 210 drives the landing gear body 220 and the foot rest 230 to rotate and fold or unfold relative to the fuselage 10.
The power assembly 210 is installed inside the body 10. The power assembly 210 includes: the driving device 211 is fixedly connected with the screw rod 212 and is used for driving the screw rod 212 to rotate. The connecting member 213 is sleeved on the screw 212 and can move linearly along the axial direction of the screw 212 along with the rotation of the screw 212. The connecting member 213 is connected to the landing gear body 220, and when the connecting member 213 reciprocates, the landing gear body 220 is driven to rotate and fold or unfold relative to the fuselage 10. Referring to fig. 3, a threaded hole 2131 is formed in the middle of the connecting member 213, and two sliding grooves 2132 are respectively formed on two sides of the threaded hole 2131.
It can be understood that, in this embodiment, the driving device 211 includes a motor for driving the screw rod 212 to rotate, so that the connecting member 213 makes a reciprocating linear motion along the axial direction of the screw rod 212 with the rotation of the screw rod 212. In other embodiments, the power assembly 210 may include a driving device 211 and a connecting member 213, the driving device 211 may be one of a pneumatic cylinder or a hydraulic cylinder, and the driving device 211 drives the connecting member 213 to perform a reciprocating linear motion.
In this embodiment, the landing gear 20 includes one power assembly 210, two landing gear bodies 220, and two foot rests 230, one landing gear body 220 being connected to only one corresponding foot rest 230, and both landing gear bodies 220 being connected to the connecting member 213. The two landing gear bodies 220 are respectively disposed on two opposite sides of the fuselage 10.
In the embodiment of the present invention, the number of the landing gears 20 provided on the drone 100 is one. It is understood that in some other embodiments, the number of the landing gears 20 disposed on the drone 100 may be set according to actual requirements, for example, the number of the landing gears 20 is two, three, etc.
The landing gear body 220 is a linkage mechanism comprising a plurality of articulated links forming at least one parallelogram mechanism.
Specifically, the landing gear body 220 includes a first link 221, a second link 222, a third link 223, a fourth link 224, and a fifth link 225. One end of the first link 221 is connected to the connecting member 213, the other end of the first link 221, which is away from the connecting member 213, is hinged to the third link 223 at a first hinge point, and the first link 221 is hinged to the second hinge point with the body 10 at a position between the one end of the first link 221 connected to the connecting member 213 and the first hinge point; one end of the second link 222 and the third link 223 are hinged to the third hinge point, and the other end of the second link 222 away from the third link 223 is used for being hinged to the fourth hinge point with the body 10. The other end of the first link 221, which is away from the connecting element 213, is also hinged to a fifth hinge point with one end of the fourth link 224, and the first hinge point is closer to the connecting element 213 than the fifth hinge point; the other end of the third link 223 far away from the first link 221 is hinged to a sixth hinge point with one end of the fifth link 225; the other end of the fourth link 224 away from the first link 221 is hinged to the seventh hinge point with the fifth link 225. A portion of the first link 221, the entirety of the second link 222, a portion of the third link 223, and a portion of the body 10 constitute a four-link mechanism, and the first, second, third, and fourth hinge points are four vertices of a parallelogram. Another portion of the first link 221, all of the third link 223, all of the fourth link 224, and a portion of the fifth link 225 constitute another four-bar linkage, and the first, fifth, sixth, and seventh hinge points are four vertices of another parallelogram.
The first link 221 includes a first link body 2211, a first pin 2212, a second pin 2213, a third pin 2214, and a fourth pin 2215. The first pin 2212 is disposed at one end of the first link body 2211, and the fourth pin 2215 is disposed at the other end of the first link body 2211. The second pin 2213 is disposed on the first link body 2211 and between the first pin 2212 and the fourth pin 2215. The third pin 2214 is disposed on the first link body 2211 and between the second pin 2213 and the fourth pin 2215. The first pin 2212 is inserted into the sliding groove 2132 and can slide in the sliding groove 2132, so that the first link 221 is movably connected with the connecting member 213. The first connecting rod 221 is hinged to the body 10 through the second pin 2213. The first link 221 is hinged to one end of the third link 223 through the third pin 2214. The first link 221 is hinged to one end of the fourth link 224 by the fourth pin 2215.
The second link 222 includes a second link body 2221, a fifth pin 2222, and a sixth pin 2223, and the fifth pin 2222 and the sixth pin 2223 are respectively disposed at two ends of the second link body 2221. The second link 222 is hinged to the body 10 through the fifth pin 2222.
The third link 223 includes a third link body 2231 and a seventh pin 2234, and the third link body 2231 is provided with a first shaft hole 2232 and a second shaft hole 2233. The first shaft hole 2232 is disposed at one end of the third link body 2231, and the seventh pin 2234 is disposed at the other end of the third link body 2231. The second shaft hole 2233 is disposed on the third link body 2231 and between the first shaft hole 2232 and the seventh pin 2234. The sixth pin 2223 is inserted into the second shaft hole 2233, so that the second link 222 is hinged to the third link 223.
Fourth connecting rod 224 includes fourth connecting rod body 2241 and eighth round pin axle 2243, fourth connecting rod body 2241 sets up third shaft hole 2242, third shaft hole 2242 and eighth round pin axle 2243 set up respectively in fourth connecting rod body 2241's both ends. The fourth pin 2215 is inserted into the third shaft hole 2242, so that the first link 221 and the fourth link 224 are hinged.
The fifth link 225 includes a fifth link body 2251, the fifth link body 2251 is provided with a fourth shaft hole 2252 and a fifth shaft hole 2253, the fourth shaft hole 2252 is provided at one end of the fifth link body 2251, and the fifth shaft hole 2253 is provided on the fifth link body 2251 between both ends of the fifth link body 2251. The seventh pin 2234 is inserted into the fourth shaft hole 2252, so that the third link 223 is hinged to the fourth link 224. The eighth pin 2243 is inserted into the fifth shaft hole 2253, so that the fourth link 224 is hinged to the fifth link 225.
The distance between the second pin 2213 and the third pin 2214 is equal to the distance between the fifth pin 2222 and the sixth pin 2223, and the distance between the third pin 2214 and the sixth pin 2223 is equal to the distance between the second pin 2213 and the fifth pin 2222. The distance between the third pin 2214 and the fourth pin 2215 is equal to the distance between the seventh pin 2234 and the eighth pin 2243, and the distance between the third pin 2214 and the seventh pin 2234 is equal to the distance between the fourth pin 2215 and the eighth pin 2243.
Referring to fig. 4, in one embodiment, the fourth link 224 is a bumper bar, and includes a bumper device 2244 for absorbing the shock when the drone 100 lands. The damping device 2244 may be a hydraulic cylinder damper or an elastic damper. After unmanned aerial vehicle 100's undercarriage 20 and ground contact, rotation can take place for the atress for undercarriage 20, and this buffering vibration damper 2244 provides torsional elasticity, and then makes undercarriage 20 play buffering and absorbing effect, prevents when descending, and the falling speed is too fast, and leads to unmanned aerial vehicle 100's damage. It will be appreciated that in some other embodiments, the jounce bumper 2244 may be omitted and the fourth link 224 may be a non-jounce bar.
The foot stool 230 is fixed to the other end of the fifth connecting rod 225, and is used for supporting the landing point of the unmanned aerial vehicle 100. Specifically, in the present embodiment, the foot stool 230 is horizontally disposed and perpendicular to the fifth link 225.
It will be appreciated that in other embodiments, the foot rest 230 may not be specifically provided, but the fifth link 225 may function as the foot rest 230 (i.e. the other end of the fifth link 225 contacts the ground when the drone lands).
In other embodiments, one end of the first link 221 is connected to the connection member 213 and is hinged to the body 10 at a second hinge point; the other end of the first link 221 and one end of the fourth link 224 are hinged at a fifth hinge point. One end of the second link 222 is hinged to the fourth hinge point with the body 10, and the other end is hinged to the eighth hinge point with the fourth link 224. One end of the third link 223 is hinged to the third hinge point with the second link 222, and the other end is hinged to the sixth hinge point with one end of the fifth link 225. The other end of the fourth link 224 is hinged to a seventh hinge point with the fifth link 225. In this case, a portion of the first link 221, the entirety of the second link 222, a portion of the fourth link 224, and a portion of the body 10 constitute a four-link mechanism, and the second, fourth, fifth, and eighth hinge points are four vertices of a parallelogram; a part of the second link 222, the whole of the third link 223, another part of the fourth link 224, and a part of the fifth link 225 constitute another four-bar linkage, and the third, sixth, seventh, and eighth hinge points are four vertices of another parallelogram.
In other embodiments, one end of the first link 221 is connected to the connection member 213 and is hinged to the body 10 at a second hinge point; the other end of the first link 221 and one end of the fourth link 224 are hinged at a fifth hinge point. One end of the second link 222 is hinged to the fourth hinge point with the body 10, and the other end is hinged to the eighth hinge point with the fourth link 224. One end of the third link 223 is hinged to the first hinge point with the first link 221, and the other end is hinged to the sixth hinge point with one end of the fifth link 225. The other end of the fourth link 224 is hinged to a seventh hinge point with the fifth link 225. In this case, a portion of the first link 221, the entirety of the second link 222, a portion of the fourth link 224, and a portion of the body 10 constitute a four-link mechanism, and the second, fourth, fifth, and eighth hinge points are four vertices of a parallelogram; a part of the first link 221, the whole of the third link 223, the whole of the fourth link 224, and a part of the fifth link 225 constitute another four-link mechanism, and the first, fifth, sixth, and seventh hinge points are four vertices of another parallelogram.
In other embodiments, one end of the first link 221 is connected to the connection member 213 and is hinged to the body 10 at a second hinge point; the other end of the first link 221 and one end of the fourth link 224 are hinged at a fifth hinge point. One end of the second link 222 is hinged to the fourth hinge point with the body 10, and the other end is hinged to the eighth hinge point with the fourth link 224. One end of the third link 223 is hinged to the first hinge point with the first link 221, and is hinged to the third hinge point with the second link 222; the other end is hinged to a sixth junction point with one end of the fifth link 225. The other end of the fourth link 224 is hinged to the fifth link 225 and a seventh hinge point. In this case, a portion of the first link 221, the entirety of the second link 222, a portion of the fourth link 224, and a portion of the body 10 constitute a four-link mechanism, and the second, fourth, fifth, and eighth hinge points are four vertices of a parallelogram; a part of the first link 221, the whole of the third link 223, the whole of the fourth link 224, and a part of the fifth link 225 constitute another four-link mechanism, and the first, fifth, sixth, and seventh hinge points are four vertices of another parallelogram.
In the present embodiment, the first link 221, the second link 222, the third link 223, the fourth link 224 and the fifth link 225 are straight rods. It is understood that in other embodiments, the first link 221, the second link 222, the third link 223, the fourth link 224 and the fifth link 225 are not limited to straight rods, and may be bent rods, or plates or other irregular shapes, as long as the four hinge points in the landing gear body 220 are four vertices of a parallelogram.
In addition, in the embodiment of the present invention, a receiving groove 11 is formed in the body 10 at a position corresponding to the landing gear 20. When the unmanned aerial vehicle 100 takes off, the undercarriage 20 is retracted and partially accommodated in the accommodating groove 11, so that unnecessary resistance in the air is reduced, and the aerial photography view field is not shielded in the aerial photography process of the unmanned aerial vehicle 100; when landing is required, the landing gear 20 can be automatically deployed to support the drone 100 for landing. Further, when the unmanned aerial vehicle 100 is not used, the undercarriage 20 is partially accommodated in the accommodating groove 11, so that the accommodating space is reduced, and the accommodating and carrying are facilitated.
Referring to fig. 4, after the unmanned aerial vehicle 100 takes off, the driving device 211 drives the screw rod 212 to rotate, so that the connecting member 213 linearly moves downward along the axis direction of the screw rod 212, and thus one end of the first connecting rod 221 connected to the connecting member 213 moves downward, so that the first connecting rod 221 rotates around the second pin 2213, and the other end of the first connecting rod 221 moves upward (i.e., the other end of the first connecting rod 221 tilts). The first link 221 pulls the third and fourth links 223 and 224 and the end of the second link 222 connected to the third link 223 to move upward, and the distance that the third link 223 moves upward is less than the distance that the fourth link 224 moves upward. The seventh pin 2234 is changed from a position higher than the eighth pin 2243 in the vertical direction to a position lower than the eighth pin 2243 in the vertical direction, so that the other end of the fifth link 225 tilts. Also, the third link 223, the fourth link 224, and the fifth link 225 are all moved toward the body 10 in the horizontal direction. Finally, the landing gear body 220 is folded on the side of the fuselage 10, and part of the landing gear body is accommodated in the accommodating groove 11, so that the aerial photography view field is not shielded in the aerial photography process of the unmanned aerial vehicle 100.
When the unmanned aerial vehicle 100 lands, the driving device 211 drives the screw rod 212 to reversely rotate, so that the connecting piece 213 is moved upward along the axis direction of the screw rod 212, thereby moving the one end of the first connecting rod 221 upward, and further moving the first connecting rod 221 downward around the second pin 2213 (that is, the other end of the first connecting rod 221 is drooping). The first link 221 drives the third link 223 and the fourth link 224 and the end of the second link 222 connected to the third link 223 to move downwards, and the distance that the third link 223 moves downwards is less than the distance that the fourth link 224 moves downwards. The seventh pin 2234 is changed from a position lower than the eighth pin 2243 in the vertical direction to a position higher than the eighth pin 2243 in the vertical direction, so that the end of the fifth link 225 connected to the foot stool 230 hangs down. Also, the third link 223, the fourth link 224, and the fifth link 225 are all moved in a direction away from the body 10 in the horizontal direction. The foot prop 230 becomes the lowest point on the entire drone 100 and contacts the ground after the drone 100 lands.
Example 2
Referring to fig. 5, the drone 200 according to the second embodiment of the present invention is substantially the same as the drone 100 according to the first embodiment, except that: the third link body 2231 includes a first portion 2235 hinged to the first link 221 and the second link 222, a first curved portion 2236 connected to the first portion, and a second portion 2237 connected to the first curved portion 2236; the first portion 2235 and the second portion 2237 are both disposed in parallel with the fourth link 224. The fourth link body 2241 includes a second bending part 2245 hinged with the first link 221 and a vertical part 2246 connected with the second bending part 2245; the vertical part 2246 is connected between the second bending part 2245 and the fifth link 225. The fifth link body 2251 includes a third part 2254 hinged to the third link 223 and the fourth link 224, a third bending part 2255 connected to the third part, and a fourth part 2256 connected to the third bending part 2255, and an end of the fourth part 2256 far from the third bending part 2255 is connected to the foot stand 230.
In the unmanned aerial vehicle 200 of the embodiment, after the landing gear 20 is folded, the fifth link 225, the third link 223 and the fourth link 224 are parallel to each other, and the distance between the fifth link 225 and the fourth link 224 is smaller, so that the landing gear 20 is more compact in structure and occupies a smaller space after being folded.
Example 3
Referring to fig. 6, the drone 300 according to the third embodiment of the present invention is substantially the same as the drone 100 according to the first embodiment, except that: the power assembly 210 further includes a connecting rod 214, and two ends of the threaded hole 2131 are no longer provided with a sliding groove 2132. One end of the connecting rod 214 is hinged to the connecting member 213, and the other end is hinged to one end of the first connecting rod 221.
The connecting rod 214 that unmanned aerial vehicle 300 of this embodiment adds makes connecting piece 213 with be connected between the first connecting rod 221 is more stable, can avoid unmanned aerial vehicle 300 at the in-process of flight effectively, and unmanned aerial vehicle 300's vibration is right undercarriage 20's influence.
It is understood that in some other embodiments, the landing gear body 220 of the drone 100, 200, 300 may include only the first, second and third links 221, 222, 223, depending on the actual requirements. The connection relationship among the first connecting rod 221, the second connecting rod 222, and the third connecting rod 223, and the connection relationship between the first connecting rod 221 and the second connecting rod 222, and the fuselage 10 and the power assembly 210 may be the same as the connection relationship described in any one of embodiments 1 to 3, which is not described herein, and the third connecting rod 223 may be used as a foot rest for supporting the unmanned aerial vehicle to land, or the other end of the third connecting rod 223 is fixedly connected to the foot rest 230.
It is understood that the connecting member in the embodiment of the present invention is illustrated by taking the linear reciprocating motion as an example, but those skilled in the art will understand that the present invention is not limited to the linear reciprocating motion, and other reciprocating motions such as the arc-shaped or the curve-shaped reciprocating motion can also achieve the object of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A landing gear (20) for a drone (100, 200, 300), the drone (100, 200, 300) comprising a fuselage (10), characterized in that the landing gear (20) comprises:
the power assembly (210) is mounted on the machine body (10), and the power assembly (210) comprises a connecting piece (213) and a driving device (211) for driving the connecting piece (213) to reciprocate;
a landing gear body (220) comprising a plurality of articulated links constituting at least one parallelogram mechanism; the landing gear body (220) is connected with the connecting piece (213), and the landing gear body (220) is driven to fold or unfold when the connecting piece (213) reciprocates;
the landing gear body (220) comprises a first link (221), a second link (222), a third link (223), a fourth link (224), and a fifth link (225);
one end of the first connecting rod (221) is hinged with the connecting piece (213), the other end of the first connecting rod (221) is hinged with one end of the fourth connecting rod (224), and the first connecting rod (221) is hinged with the machine body (10) at a position between one end connected with the connecting piece (213) and the other end hinged with the fourth connecting rod (224);
one end of the second connecting rod (222) is hinged with the machine body (10), and the other end of the second connecting rod is hinged with the third connecting rod (223) or the fourth connecting rod (224);
one end of the third connecting rod (223) is hinged with the fifth connecting rod (225), and the third connecting rod (223) is also hinged with the second connecting rod (222);
the other end of the fourth connecting rod (224) is hinged with the fifth connecting rod (225).
2. The landing gear (20) according to claim 1, wherein the third link (223) is hingedly connected to the second link (222) at one end, and the hinged end extends away from the fifth link (225) and is hingedly connected to the first link (221).
3. The landing gear (20) according to claim 2, wherein the third link (223) comprises a first portion (2235) hingedly connected to the first link (221) and the second link (222), a first curved portion (2236) connected to the first portion, and a second portion (2237) connected to the first curved portion (2236); the first portion (2235) and the second portion (2237) are both disposed parallel to the fourth link (224).
4. The landing gear (20) according to any of claims 1 to 3, wherein the fourth link (224) comprises a second bend (2245) articulated to the first link (221) and a vertical portion (2246) connected to the second bend (2245); the vertical portion (2246) is connected between the second curved portion (2245) and the fifth link (225).
5. The landing gear (20) according to any of claims 1 to 3, wherein the fifth link (225) comprises a third portion (2254) articulated to the third link (223) and to the fourth link (224), a third bend (2255) connected to the third portion, and a fourth portion (2256) connected to the third bend (2255).
6. The landing gear (20) according to any of claims 1 to 3, wherein the landing gear (20) further comprises a foot prop (230), the foot prop (230) being connected to the fifth link (225).
7. The landing gear (20) according to any of claims 1 to 3, wherein the power assembly (210) comprises a threaded rod (212) connected to the driving device (211), the connecting member (213) is sleeved on the threaded rod (212) and is in threaded connection with the threaded rod (212), the driving device (211) drives the threaded rod (212) to rotate, and the connecting member (213) reciprocates along the threaded rod (212).
8. The landing gear (20) according to claim 7, wherein the connector (213) is screwed to the screw (212) at a middle portion thereof, the connector (213) is further provided with sliding grooves (2132) on both sides of a portion screwed to the screw (212), and one end of the first link (221) is hinged to the sliding groove (2132) and can slide along the sliding groove (2132).
9. A drone (100, 200, 300), the drone (100, 200, 300) comprising a landing gear (20) according to any one of claims 1 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710528600.9A CN109204786B (en) | 2017-07-01 | 2017-07-01 | Undercarriage and unmanned aerial vehicle with same |
| PCT/CN2018/082220 WO2019007130A1 (en) | 2017-07-01 | 2018-04-08 | Landing gear and unmanned aerial vehicle having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710528600.9A CN109204786B (en) | 2017-07-01 | 2017-07-01 | Undercarriage and unmanned aerial vehicle with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109204786A CN109204786A (en) | 2019-01-15 |
| CN109204786B true CN109204786B (en) | 2021-06-01 |
Family
ID=64950548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710528600.9A Active CN109204786B (en) | 2017-07-01 | 2017-07-01 | Undercarriage and unmanned aerial vehicle with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109204786B (en) |
| WO (1) | WO2019007130A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217390B (en) * | 2019-06-19 | 2020-02-18 | 张琪悦 | Fold wing formula unmanned aerial vehicle |
| CN111038719B (en) * | 2019-12-31 | 2021-08-06 | 汉中万利航空装备制造有限公司 | Many rotors plant protection unmanned aerial vehicle undercarriage |
| CN111688941B (en) * | 2020-05-11 | 2021-09-28 | 清华大学 | Unmanned aerial vehicle landing and docking device based on controllable adhesion and unmanned aerial vehicle with same |
| CN113879515B (en) * | 2021-10-08 | 2023-06-30 | 哈尔滨工业大学 | Tripod type self-adaptive landing gear and control method thereof |
| CN116142514B (en) * | 2023-04-04 | 2023-07-25 | 南京航空航天大学 | Bionic landing leg type unmanned aerial vehicle containing changeable condyles and control method thereof |
| CN117885929B (en) * | 2024-03-15 | 2024-05-14 | 山西省煤炭地质一一五勘查院有限公司 | Multi-angle aerial survey device based on aerial survey unmanned aerial vehicle |
| CN118494817B (en) * | 2024-07-15 | 2024-09-24 | 山东省地质科学研究院 | Geological survey is with long duration unmanned aerial vehicle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2725178B1 (en) * | 1994-10-04 | 1996-10-25 | Messier Eram | AIRCRAFT LANDING TRAIN, SIDE LIFT TYPE |
| US6651931B1 (en) * | 2002-09-04 | 2003-11-25 | The Boeing Company | Multi-positional landing gear assemblies |
| FR3015427B1 (en) * | 2013-12-19 | 2016-01-29 | Airbus Operations Sas | LANDING TRAIN FOR AN AIRCRAFT |
| CN204998759U (en) * | 2015-09-24 | 2016-01-27 | 向曼 | Collapsible undercarriage of moving away to avoid possible earthquakes |
| CN105905275B (en) * | 2016-05-24 | 2017-11-14 | 胡增浩 | A kind of environment-friendly type building engineering unmanned plane |
| CN206141824U (en) * | 2016-08-17 | 2017-05-03 | 河源众创信息科技有限公司 | Novel unmanned aerial vehicle |
| CN106741873A (en) * | 2016-08-23 | 2017-05-31 | 上海瞬动科技有限公司合肥分公司 | Folding tripod |
| CN206885336U (en) * | 2017-07-01 | 2018-01-16 | 深圳市道通智能航空技术有限公司 | A kind of undercarriage and the unmanned plane with this undercarriage |
| CN207072432U (en) * | 2017-07-01 | 2018-03-06 | 深圳市道通智能航空技术有限公司 | A kind of undercarriage and the unmanned plane with this undercarriage |
-
2017
- 2017-07-01 CN CN201710528600.9A patent/CN109204786B/en active Active
-
2018
- 2018-04-08 WO PCT/CN2018/082220 patent/WO2019007130A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN109204786A (en) | 2019-01-15 |
| WO2019007130A1 (en) | 2019-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109204786B (en) | Undercarriage and unmanned aerial vehicle with same | |
| US11485483B2 (en) | Undercarriage and unmanned aerial vehicle (UAV) having undercarriage | |
| US12071237B2 (en) | Foldable multi-rotor aerial vehicle | |
| CN109383739B (en) | Horn and unmanned aerial vehicle | |
| EP3366577B1 (en) | Unmanned aerial vehicle | |
| JP6640930B2 (en) | Deformable aircraft | |
| CN108674636B (en) | Twin-engine quadrotor unmanned aerial vehicle and foot rest device thereof | |
| WO2016082124A1 (en) | Undercarriage and aircraft using same | |
| CN101298283B (en) | Airborne tripod head apparatus for collecting aerial information and use thereof | |
| US11390377B2 (en) | Unmanned aerial vehicle and undercarriage | |
| CN206885336U (en) | A kind of undercarriage and the unmanned plane with this undercarriage | |
| CN211618110U (en) | Diaxon VTOL unmanned aerial vehicle | |
| CN218537086U (en) | Surveying and mapping aerial photography aircraft | |
| CN213502887U (en) | Unmanned aerial vehicle flight platform capable of accurately throwing aerial materials | |
| CN214729641U (en) | Autonomous recovery and release device and system for rotor unmanned aerial vehicle | |
| CN112278232B (en) | Automatic retracting and unfolding mechanism for tethered rotor wing arm and use method thereof | |
| CN212473882U (en) | Unmanned aerial vehicle undercarriage and unmanned aerial vehicle | |
| CN112829930A (en) | Autonomous recovery and release device and system for rotor unmanned aerial vehicle | |
| CN113716024A (en) | Unmanned aerial vehicle undercarriage convenient to expand and adjust | |
| CN215707130U (en) | Unmanned aerial vehicle device for measuring 5G base station antenna parameters | |
| CN111661318A (en) | Unmanned aerial vehicle buffering landing gear | |
| CN218022216U (en) | Unmanned aerial vehicle nacelle for multi-view panoramic inspection | |
| CN220743384U (en) | Unmanned aerial vehicle rotor multifunctional support arm | |
| CN215361898U (en) | Unmanned aerial vehicle for aerial photography | |
| CN209972796U (en) | Position adjusting device and aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Applicant after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Applicant before: AUTEL ROBOTICS Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |