CN108146618A - Undercarriage and the unmanned vehicle with this undercarriage - Google Patents
Undercarriage and the unmanned vehicle with this undercarriage Download PDFInfo
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- CN108146618A CN108146618A CN201711494575.3A CN201711494575A CN108146618A CN 108146618 A CN108146618 A CN 108146618A CN 201711494575 A CN201711494575 A CN 201711494575A CN 108146618 A CN108146618 A CN 108146618A
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- undercarriage
- rotation axis
- ontology
- rotation
- plane
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- 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
- B64C25/18—Operating mechanisms
- B64C25/26—Control or locking systems therefor
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Transmission Devices (AREA)
Abstract
The present embodiments relate to vehicle technology fields, provide a kind of undercarriage and unmanned vehicle, and undercarriage includes driving device, transmission mechanism and undercarriage ontology, and transmission mechanism includes the rotation axis being connect with driving device and rotation cam；Undercarriage ontology is connected to the both ends of the rotation axis, and the driving device drives the undercarriage ontology to rotate by the rotation axis.In the above manner, undercarriage ontology can be packed up and be folded to the both sides or inside of fuselage, it is compact-sized, so that unmanned vehicle is in flight, undercarriage, which can be packed up and be folded, will not cause the skyborne unnecessary resistance of unmanned vehicle, during unmanned vehicle is taken photo by plane, avoid blocking the visual field of taking photo by plane completely；Need landing when, undercarriage again can Automatic-expanding, support the unmanned vehicle complete landing.
Description
【Technical field】
The present invention relates to vehicle technology field more particularly to a kind of undercarriage and with this undercarriage unmanned flight
Device.
【Background technology】
Unmanned vehicle, abbreviation unmanned plane (Unmanned Aerial Vehicle, UAV), is that one kind is in rapid development
In new concept equipment, have the advantages that maneuverability, rapid reaction, it is unmanned, operation require it is low.Unmanned plane is by taking
Multiclass sensor or picture pick-up device are carried, can realize image real-time Transmission, high-risk areas detecting function, is satellite remote sensing and tradition
The strong supplement of air remote sensing.At present, the use scope of unmanned plane has widened military affairs, scientific research, civilian three big field, specifically
In power communication, meteorology, agricultural, ocean, exploration, photograph, prevent and reduce natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol, control
It is very wide to pacify the fields applications such as anti-terrorism.
Consumer level unmanned plane currently on the market mainly uses fixed landing gear.It is fixed to rise and fall during taking photo by plane
Frame can block the visual field of taking photo by plane.
【Invention content】
In order to solve the above-mentioned technical problem, the embodiment of the present invention provide a kind of collapsible undercarriage packed up and folded with
And the unmanned vehicle with this collapsible undercarriage.
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides following technical scheme：
A kind of undercarriage, including：
Driving device；
Transmission mechanism, including rotation axis and rotation cam, the driving device and the rotation axis connection, and institute can be driven
State rotation axis rotation；
Undercarriage ontology, is connected to the both ends of the rotation axis, and the driving device passes through described in rotation axis driving
Undercarriage ontology rotates.
In some embodiments, the undercarriage further includes connection component, and the connection component includes rotation cam, described
Rotation cam is provided with round perforation；
The rotation axis both ends pass through the round perforation of the rotation cam to be connect with the undercarriage ontology, the rotation
Axis and the round perforation clearance fit, and the end face of the rotation cam is angled end-face or curved end, the undercarriage
Ontology is abutted with the angled end-face or curved end.
In some embodiments, the connection component further includes：Axis pin and resilient member, the rotation axis pass through described
One end of axis pin and the undercarriage ontology is hinged；The rotation cam for being fixedly installed in the fuselage, and with described
The mating surface for falling frame ontology abuts；The resilient member is sheathed on the axis pin, and described resilient member one end supports
The undercarriage ontology, the other end support the rotation axis.
In some embodiments, the transmission mechanism further includes connecting shaft, and one end of the connecting shaft is provided with limiting slot,
The both ends of the rotation axis are respectively arranged with position limiting structure, and the position limiting structure is inserted into the limiting slot, so that described turn
Moving axis drives the connecting shaft rotation；The other end of the connecting shaft is cut with scissors by one end of the axis pin and the undercarriage ontology
It connects；Described resilient member one end supports the undercarriage ontology, and the other end supports the connecting shaft.
In some embodiments, the transmission mechanism be a worm gear mechanism, including worm and worm wheel, the worm screw with
The shaft of the driving device is fixedly connected；The worm screw engages with the worm gear；The worm gear is fixed on the rotation axis, and
And the rotation axis coincident of the rotation axis of the worm screw and the rotation axis；It rises and falls respectively with described at the both ends of the rotation axis
Frame ontology connects.
In some embodiments, the undercarriage further includes stent, and the stent includes bottom wall and by the bottom wall
The side wall that both ends edge is formed perpendicular to the extension of the direction of the bottom wall；The bottom wall is provided with fixing groove, the bottom of the fixing groove
Face is provided with through-hole, and the driving device is fixed in the fixing groove, one end of the worm screw pass through the through-hole with it is described
The shaft of driving device is fixedly connected；The rotation axis is articulated between two side walls.
In some embodiments, the undercarriage further includes bearing block and bearing, and the bearing block is fixed on the side wall,
The bearing holder (housing, cover) is set on the rotation axis, and the bearing sleeve is set on the bearing.
In some embodiments, the lateral surface of the side wall is provided with storage tank, and the bottom surface of the storage tank is provided with company
Connect hole and retainer；The rotation axis passes through the connecting hole and the connection axis connection；The rotation cam is located at the appearance
It puts in slot, and the rotation cam is provided with round perforation and stop hole, the circle perforation is aligned with the connecting hole, institute
Retainer is stated to be inserted into the stop hole.
In some embodiments, it is described rotation cam angled end-face or curved end include the first plane, spiral camber,
Second plane and vertical plane, first plane, spiral camber, the second plane and vertical plane are surrounded on the round perforation, and
Connect successively；The other end face of the rotation cam is plane, and be connected to the bottom surface of the storage tank；First plane
And second have difference in height between plane, first plane is compared to second plane close to one end of the rotation cam
End face；The undercarriage ontology and the angled end-face of the rotation cam or the face that abuts of curved end are joint face, the connection
Face is provided with abutting part, and the abutting part is connected to the angled end-face or curved end of the rotation cam.
In some embodiments, the transmission mechanism is spiral gear drive mechanism, including the first helical gear, the second helical gear
And rotation axis；First helical gear is fixedly connected with one end of shaft in the driving device, the second helical gear setting
In the middle part of the rotation axis；First helical gear and the engagement of the second helical gear；The both ends of the rotation axis respectively with one
The undercarriage ontology connection.
In some embodiments, the undercarriage further includes the transmission device for increasing rotary inertia, the transmission dress
It puts and is connected between the driving device and the transmission mechanism.
In order to solve the above-mentioned technical problem, the embodiment of the present invention also provides following technical scheme：
A kind of unmanned vehicle, including fuselage and undercarriage described above, the undercarriage ontology can be relative to the machine
Body rotates to realize folding or expansion.
In some embodiments, the fuselage is equipped with the holder locking apparatus that rises and falls；The undercarriage ontology be provided with it is described
The holder locking apparatus that rises and falls cooperation lock fit device, the undercarriage ontology folding after, it is described rise and fall holder locking apparatus with
Lock fit device phase separation.
Compared with prior art, the undercarriage of the embodiment of the present invention, described in driving device can be driven by transmission mechanism
Undercarriage ontology rotates, and when the undercarriage ontology is applied on unmanned vehicle, the undercarriage ontology can be relative to
Fuselage rotation is folded to the both sides or inside of fuselage to realize, compact-sized, so that nobody with this undercarriage
For aircraft in flight, undercarriage, which can be packed up and be folded, will not cause the skyborne unnecessary resistance of unmanned vehicle, at nobody
During aircraft is taken photo by plane, avoid blocking the visual field of taking photo by plane completely；When needing landing, undercarriage can revolve again relative to the fuselage
Turn to realize Automatic-expanding, the unmanned vehicle is supported to complete landing.
Further, since one end of resilient member supports the connecting shaft, the other end supports the undercarriage ontology.
When undercarriage is by external force more than the critical elastic force of resilient member, the undercarriage ontology can be put relative to fuselage
It is dynamic, and then cushioning effect can be played in air crash, so as to protect the fuselage of the unmanned vehicle.
【Description of the drawings】
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in attached drawing are expressed as similar element, remove
Non- have a special statement, and composition does not limit the figure in attached drawing.
Fig. 1 is the stereogram of the present invention wherein unmanned vehicle that an embodiment provides, and wherein undercarriage is in expansion shape
State；
Fig. 2 is the stereogram of undercarriage in unmanned vehicle shown in FIG. 1；
Fig. 3 is the decomposition of undercarriage shown in Fig. 2；
Fig. 4 is worm gear and the stereogram of rotation axis in undercarriage shown in Fig. 3；
Fig. 5 is another stereogram of undercarriage in unmanned vehicle shown in FIG. 1, and the wherein undercarriage includes stent；
Fig. 6 is the stereogram of stent in undercarriage shown in Fig. 5；
Fig. 7 is the stereogram of connecting shaft in undercarriage shown in Fig. 3；
Fig. 8 is the stereogram of axis pin in undercarriage shown in Fig. 3；
Fig. 9 is the stereogram that cam is rotated in undercarriage shown in Fig. 3；
Figure 10 is the stereogram of undercarriage ontology in undercarriage shown in Fig. 3；
Figure 11 is the structure diagram of present invention transmission mechanism in some other embodiment.
【Specific embodiment】
For the ease of understanding the present invention, in the following with reference to the drawings and specific embodiments, the present invention will be described in more detail.
It should be noted that when element is expressed " being fixed on " another element, it can directly on another element or therebetween
There may be one or more elements placed in the middle.When an element is expressed " connection " another element, it can directly be connected
It is connected to another element or there may be one or more elements placed in the middle therebetween.Term used in this specification " on ",
" under ", " interior ", " outer ", the orientation of the instructions such as " bottom " or position relationship be based on orientation shown in the drawings or position relationship, only
It is that the present invention must have specifically with the device for describing rather than indicate or imply meaning or element is simplified for ease of description
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " first ", " the
Two " " thirds " etc. are only used for description purpose, and it is not intended that instruction or hint relative importance.
Unless otherwise defined, technical and scientific term all used in this specification is led with belonging to the technology of the present invention
The normally understood meaning of technical staff in domain is identical.It is specific to be intended merely to description for used term in the description of the invention
Embodiment purpose, be not intended to limitation the present invention.Term "and/or" used in this specification includes one or more phases
The arbitrary and all combination of the Listed Items of pass.
In addition, as long as technical characteristic involved in invention described below difference embodiment is not formed each other
Conflict can be combined with each other.
In embodiments of the present invention, unmanned vehicle can be single rotor wing unmanned aerial vehicle, DCB Specimen unmanned plane, quadrotor nobody
Machine or six rotor wing unmanned aerial vehicles etc. are described in detail by taking quadrotor unmanned plane as an example here.
Referring to Fig. 1, the wherein embodiment of the present invention provides a kind of unmanned vehicle, including fuselage 10 and undercarriage
20, the undercarriage 20 is installed on the fuselage 10, it is supported when landing for unmanned vehicle in landing place.
Include the control circuit component being made of electronic components such as MCU, the control circuit component packet in the fuselage 10
Multiple control modules are included, e.g., for the control module that the undercarriage 20 is controlled to pack up and put down, for controlling unmanned vehicle
The flight control modules of flight attitude, for the GPS module for the unmanned vehicle that navigates and for handling related airborne equipment institute
Data processing module of the environmental information of acquisition etc..
Referring to Fig. 2, the undercarriage 20 includes：Driving device 210, for the transmission mechanism 220 between two alternating axis
With undercarriage ontology 230, the driving device 210 is set to inside the fuselage 10, and the driving device 210 passes through institute
It states transmission mechanism 220 to connect with the undercarriage ontology 230, the driving device 210 can drive 230 phase of undercarriage ontology
The fuselage 10 is rotated and folds or is unfolded to realize.
As shown in Figures 3 and 4, in the present embodiment, the transmission mechanism 220 is a worm gear mechanism, including worm screw
221st, worm gear 222, rotation axis 223 and connection component 250, one end of the worm screw 221 and the shaft of the driving device 210 are consolidated
Fixed connection, and the center line of the worm screw 221 is overlapped with the center line of the shaft of the driving device 210, the worm screw 221
Center line and the center line of the rotation axis 223 be mutually perpendicular to.The worm screw 221 engages with the worm gear 222.The worm gear
222 are fixed on the rotation axis 223, and the rotation axis coincident of the two.It is risen respectively with one at the both ends of the rotation axis 223
One end connection of frame ontology 230 is fallen, and the rotation axis 223 is substantially vertical with the face that the undercarriage ontology 230 is formed.Institute
Stating driving device 210 can drive the worm screw 221 to rotate, and the rotation axis 223 be driven to rotate by the worm gear 222, from
And the undercarriage ontology 230 is made to be rotated relative to the fuselage 10.
The rotation axis 223 is multi-diameter shaft, and the mid diameter of the rotation axis 223 is more than the diameter at its both ends, in its company
The place of connecing is formed with step surface 2231, and the both ends of the rotation axis 223 are respectively arranged with position limiting structure 2232.The worm gear
222 are integrally formed with the rotation axis 223, and positioned at the middle part of the rotation axis 223.
In the present embodiment, driving device 210 is brshless DC motor, that is, passes through brshless DC motor drive transmission device
220, it will be understood that in other embodiments, other driving devices can also be used, rotation axis is such as directly driven using steering engine
223 rotations.
Please refer to Fig. 5 and with reference to Fig. 3, in the present embodiment, the undercarriage 20 further includes stent 240,260 and of bearing block
Bearing 270, the driving device 210 are fixed on the stent 240, and the rotation axis 223 is hinged with the stent 240, and
It is connect by the connection component 250 with the undercarriage ontology 230.The bearing block 260 is fixed on the stent 240, and
The bearing 270 is sheathed on, the bearing 270 is sheathed in the rotation axis 223, and is connected to the step surface 2231.
As shown in fig. 6, the stent 240 include bottom wall 241 and by bottom wall 241 both ends along perpendicular to bottom wall 241
The side wall 242 that direction extension forms.The bottom wall 241 is provided with fixing groove 2411, and the bottom surface of the fixing groove 2411 is provided with
Through-hole 2412.The driving device 210 is fixed in the fixing groove 2411, and one end of the worm screw 221 passes through the through-hole
2412 are fixedly connected with the shaft of the driving device 210.There are two the side wall 242 is common, symmetrically.The rotation axis
223 between two side walls 242, and hinged with two side walls 242.The rotation axis 223 is away from the side wall 242
Lateral surface is provided with storage tank 2421, and the bottom surface of the storage tank 2421 is provided with connecting hole 2422 and retainer 2423.
In the present embodiment, the stent 240 is independent parts, and is installed on 10 inside of fuselage or fuselage 10
External (for example, lower section of fuselage 10).It is understood that in some other embodiment, the stent 240 and fuselage 10 1
It is body formed, that is, for the part of fuselage 10, (at this point, for undercarriage 20, fuselage 10 is equivalent to the present embodiment to stent 240
In stent 240).
Please refer to Fig. 7 and with reference to Fig. 3, the connection component 250 includes：Connecting shaft 251, axis pin 252, rotation cam 253
With resilient member 254.One end of the connecting shaft 251 is provided with limiting slot 2511, and the other end is provided with the first clamping part
2512 and second clamping part 2513.The shape of the limiting slot 2511 is identical with the cross-sectional shape at 223 both ends of rotation axis.
There are two the connection component 250 is common, the both ends with the rotation axis 223 are connect respectively.Specifically, the rotation axis 223
Position limiting structure 2232 is embedded in the limiting slot 2511, to prevent the rotation axis 223 and the connecting shaft 251 from opposite turn occurs
It is dynamic.The cross section of the rotation axis 223 and the limiting slot 2511 can be ellipse, D-shaped or other position-limiting actions that play
Shape.First clamping part, 2512 and second clamping part 2513 is symmetrical, and first clamping part 2512 and second
There is gap, for accommodating the resilient member 254 between clamping part 2513.First clamping part 2512 is provided with first
Pin hole, second clamping part 2513 are provided with the second pin hole, and first pin hole is aligned with second pin hole.The axis pin
252 pass through first pin hole and the second pin hole.
As shown in figure 8, the middle part of the axis pin 252 is provided with annular groove 2521, the resilient member 254 is turned round for one
Turn spring, be set around in the annular groove 2521, and one end of the resilient member 254 supports the connecting shaft
251, the other end supports the undercarriage ontology 230.
It is understood that in some other embodiment, the resilient member 254 can also be a shrapnel, peace
Loaded on the axis pin 252, and one end supports the connecting shaft 251, and the other end supports the undercarriage ontology 230.
As shown in figure 9, the rotation cam 253 is located in the storage tank 2421, rotation cam 253 is provided with circle and passes through
Hole 2531, circle 2531 one end-face of perforation extend to the other end face (also referred to as bearing surface), and described
Round perforation 2531 is aligned with the connecting hole 2422.One end end face of the rotation cam 253 is provided with stop hole 2532, institute
It is cylindrical to state retainer 2423, is inserted into the stop hole 2532, to prevent the rotation cam 253 in the storage tank
It is rotated in 2421.One end end face of the rotation cam 253 is angled end-face or curved end.Specifically, the angled end-face or arc
Shape end face is provided with the first plane 2533, spiral camber 2534, the second plane 2535 and vertical plane 2536, first plane
2533rd, spiral camber 2534, the second plane 2535 and vertical plane 2536 are surrounded on the round perforation 2531, and connect successively.
The other end face of the rotation cam 253 is plane, has height between 2533 and second plane 2535 of the first plane
Difference, first plane 2533 is compared to second plane 2535 close to the other end face of the rotation cam 253.It is described
One end of rotation axis 223 passes through the through-hole 2412 and round perforation 2531, is inserted into the limiting slot 2511.
Specifically, there are two the bearing 270 is common, it is sheathed on the both ends of the rotation axis 223 respectively, and abut described
Terrace 2231.There are two the bearing block 260 is common, and corresponded with the bearing 270.The bearing block 260 is fixed on institute
State the inner surface of side wall 242.
It is understood that in some other embodiment, the bearing 270 and bearing block 260 can omit, the rotation
One end of axis 223 is inserted directly into the connecting hole 2422, and can be rotated in the connecting hole 2422.To cause rotation axis
223 is smooth in the interior rotation of the connecting hole 2422, and lubricating oil only need to be added between rotation axis 223 and connecting hole 2422.
It is corresponding with the both ends of the rotation axis 223, the undercarriage ontology 230 altogether there are two, and symmetrically,
Its both ends respectively with the rotation axis 223 is connect.By taking one of them described undercarriage ontology 230 as an example, its structure is carried out
It elaborates.
As shown in Figure 10, the undercarriage ontology 230 includes support mobile jib 231, one end and the one of the support mobile jib 231
Hold the landing bar 232 being fixedly connected and support secondary bar 233.The angle of the landing bar 232 and the support mobile jib 231 is sharp
Angle, one end of the support secondary bar 233 are fixedly connected with the support mobile jib 231, and the other end is fixed with the landing bar 232 to be connected
It connects.Installation is provided on the joint face that support 231 other end of mobile jib (that is, connecting pin) connect with the connection component 250
Slot 2311, the opposite two sides of the mounting groove 2311 are respectively arranged with the first mounting hole 2312 and the second mounting hole 2313, institute
The first mounting hole 2312 and the second mounting hole 2313 are stated along the laterally aligned of the support mobile jib 231.The of the connecting shaft 251
One clamping part 2512 and the second clamping part 2513 are inserted into the mounting groove 2311, and the both ends difference of the axis pin 252
It is inserted into 2312 and second mounting hole 2313 of the first mounting hole, so that the support mobile jib 231 can be relative to the company
Spindle 251 is rotated around the axis pin 252 in certain angle.It is described support 231 other end of mobile jib joint face be additionally provided with to
Socket part 2314, the abutting part 2314 are connected to the angled end-face or curved end of the rotation cam 253.The joint face is oblique
Either the arcwall face inclined-plane or arcwall face are bonded to each other with the angled end-face or curved end for rotating cam 253 in face.
The undercarriage 20 has two states, i.e. unfolded state and folded state in an embodiment of the present invention.Work as institute
When stating unmanned vehicle and being landed using the undercarriage 20, the undercarriage 20 is in unfolded state.The undercarriage at this time
The substantially plumbness of landing bar 232 in 20.The abutting part 2314 is connected to first plane 2533.The support master
One end of bar 231 tilts (that is, two support mobile jibs 231 are in "eight" shape) to the direction for being away from the fuselage 10.The bullet
One end of property supporting piece 254 supports the connecting shaft 251, and the other end supports the undercarriage ontology 230, may be such that the abutting
Portion 2314 fits in first plane 2533.After the unmanned vehicle takes off, in order on unmanned vehicle is used
Camera is preferably shot, and undercarriage 20 is avoided to block the camera, and the undercarriage 20 is changed into rugosity by unfolded state
State.The driving device 210 drives the worm screw 221 to rotate, through worm gear 222 and rotation axis 223 so that undercarriage ontology 230
It can be rotated relative to center line of the fuselage 10 around the rotation axis 223.In the rotation process, 2314 edge of abutting part
First plane 2533 gradually shifts to spiral camber 2534, and slides into second plane 2535 along spiral camber 2534.
Due to having difference in height between 2533 and second plane 2535 of the first plane, first plane 2533 is compared to described the
Two planes 2535 are close to one end end face of the rotation cam 253；Therefore the support mobile jib 231 is relative to the connecting shaft
251 rotate around the axis pin 252 in certain angle, so that the support mobile jib 231 becomes horizontality, and one
End and landing bar 232 move closer to the fuselage 10.When the undercarriage 20 is in folded state, the frame body that rises and falls
230 are tightly attached to the both sides of the fuselage 10, not only can fully avoid blocking camera, also may be such that the unmanned vehicle
Overall structure is closely.
In addition, it is necessary to it is emphasized that since one end of resilient member 254 supports the connecting shaft 251, the other end
Support the undercarriage ontology 230.When undercarriage 20 is by external force more than 254 critical elastic force of resilient member, described
Falling frame ontology 230 can swing relative to fuselage 10, and then in air crash, can protect the fuselage of the unmanned vehicle
10。
It is understood that in some other embodiment, as shown in figure 11, transmission mechanism 220a is handed over to be a kind of for two
Spiral gear drive mechanism between wrong axis, including the first helical gear 221a, the second helical gear 222a and rotation axis 223a.Described
One helical gear 221a is fixedly connected with one end of shaft in the driving device 210, and the second helical gear 222a is set to institute
State the middle part of rotation axis 223a.The first helical gear 221a and the second helical gear 222a engagements.The two of the rotation axis 223a
End is connect respectively with a undercarriage ontology 230.The driving device 210 can drive the first helical gear 221a to rotate, and lead to
It crosses the first helical gear 221a and drives the second helical gear 222a and rotation axis 223a rotations, so as to make the undercarriage
Ontology 230 is rotated relative to the fuselage 10.
It is understood that in some other embodiment, the transmission mechanism 220 can only include transmission shaft 223 and pin
Axis 252, the driving device 210 are directly connect with the rotation axis 223, and the rotation axis 223 can be driven to rotate.Described turn
Moving axis 223 is hinged by the axis pin 252 and the undercarriage ontology 230, and rotation axis 223 and the axis pin 252 are mutual
Vertically.
It is understood that in some other embodiment, to cause the undercarriage 20 after hand foldable, positioning is more
Add securely, to prevent undercarriage 20 from revolution occurring due to gravity so that it cannot fully folding.The fuselage 10 it is corresponding
Position (for example, in fuselage afterbody) is set there are one the holder locking apparatus (for example, lock, magnet, electromagnet etc.) that rises and falls, described to rise and fall
The other end (that is, landing end) of frame ontology 230 is provided with lock fit device (for example, lock, magnet, electromagnet etc.).Having
In the embodiment of body, at 10 rear portion of fuselage, there are one the first magnet, the other end of the undercarriage ontology 230 is set for setting
The second magnet to attract each other with the first magnet is equipped with, when the undercarriage ontology 230 is after hand foldable, above-mentioned two magnet
It is close to each other and be aligned, so that the undercarriage ontology 230 is fixed on current folded state.
In some other embodiment, the undercarriage 20 further includes the transmission device for increasing rotary inertia, is used for
Increase the maximal friction between 222 worm screw 221 of rotary inertia and worm gear of worm screw 221, to overcome gravity to the undercarriage
The influence of ontology 230.The transmission device for being used to increase rotary inertia is connected to the driving device 210 and transmission mechanism 220
Between, can be specifically：Gear drive or four-bar mechanism etc..
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above example or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member should understand that：It can still modify to the technical solution recorded in foregoing embodiments or to which part skill
Art feature carries out equivalent replacement；And these modifications or replacement, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (13)
1. a kind of undercarriage (20), which is characterized in that the undercarriage (20) includes：
Driving device (210)；
Transmission mechanism (220), including rotation axis (223,223a), the driving device (210) connects with the rotation axis (223)
It connects, and the rotation axis (223,223a) can be driven to rotate；
Undercarriage ontology (230), is connected to the both ends of the rotation axis (223,223a), and the driving device (210) passes through institute
It states rotation axis (223,223a) and drives undercarriage ontology (230) rotation.
2. undercarriage (20) according to claim 1, which is characterized in that the undercarriage (20) further includes connection component
(250), the connection component (250) includes rotation cam (253), and the rotation cam (253) is provided with round perforation
(2531)；
Rotation axis (223, the 223a) both ends pass through the round perforation (2531) of the rotation cam (253) and the undercarriage
Ontology (230) connects, the rotation axis (223,223a) and described round perforation (2531) clearance fit, and the rotation cam
(253) end face is angled end-face or curved end, and the undercarriage ontology (230) is supported with the angled end-face or curved end
It connects.
3. undercarriage (20) according to claim 2, which is characterized in that the connection component (250) further includes：Axis pin
(252) and resilient member (254), the rotation axis (223,223a) pass through the axis pin (252) and the undercarriage ontology
(230) one end is hinged；
The resilient member (254) is sheathed on the axis pin (252), and the resilient member (254) one end supports institute
Undercarriage ontology (230) is stated, the other end supports the rotation axis (223,223a).
4. undercarriage (20) according to claim 3, which is characterized in that the transmission mechanism (220) further includes connecting shaft
(251), one end of the connecting shaft (251) is provided with limiting slot (2511), the both ends difference of the rotation axis (223,223a)
Position limiting structure (2232) is provided with, the position limiting structure (2232) is inserted into the limiting slot (2511), so that the rotation
Axis (223,223a) drives connecting shaft (251) rotation；
The other end of the connecting shaft (251) is hinged by the axis pin (252) and one end of the undercarriage ontology (230)；
Described resilient member (254) one end supports the undercarriage ontology (230), and the other end supports the connecting shaft (251).
5. undercarriage (20) according to claim 4, which is characterized in that
The transmission mechanism (220) is worm gear mechanism, including worm screw (221) and worm gear (222) and the rotation axis
(223), the worm screw (221) is fixedly connected with the shaft of the driving device (210)；
The worm screw (221) is engaged with the worm gear (222)；
The worm screw (222) is fixed on the rotation axis (223), and the rotation axis of the worm gear (222) and the rotation
The rotation axis coincident of axis (223)；
The both ends of the rotation axis (223) are connect with the undercarriage ontology (230).
6. undercarriage (20) according to claim 5, which is characterized in that the undercarriage (20) further includes stent (240),
The side wall (242) that the stent (240) is extended including bottom wall (241) and by the both ends of the bottom wall (241)；
The bottom wall (241) is provided with fixing groove (2411), and the bottom surface of the fixing groove (2411) is provided with through-hole (2412), institute
It states driving device (210) to be fixed in the fixing groove (2411), one end of the worm screw (221) passes through the through-hole (2412)
It is fixedly connected with the shaft of the driving device (210)；
The rotation axis (223) is articulated between two side walls (242).
7. undercarriage (20) according to claim 6, which is characterized in that
The undercarriage (20) further includes bearing block (260) and bearing (270), and the bearing block (260) is fixed on the side wall
(242), the bearing (270) is sheathed on the rotation axis (223), and the bearing block (260) is sheathed on the bearing (270).
8. undercarriage (20) according to claim 6, which is characterized in that
The lateral surface of the side wall (242) is provided with storage tank (2421), and the bottom surface of the storage tank (2421) is provided with connection
Hole (2422) and retainer (2423)；
The rotation axis (223) connect across the connecting hole (2422) with the connecting shaft (251)；
The rotation cam (253) is in the storage tank (2421), and the rotation cam (253) is provided with circle and passes through
Hole (2531) and stop hole (2532), the circle perforation (2531) are aligned with the connecting hole (2422), the retainer
(2423) it is inserted into the stop hole (2523).
9. undercarriage (20) according to claim 8, which is characterized in that
The angled end-face or curved end of the rotation cam (253) include the first plane (2533), spiral camber (2534), second
Plane (2535) and vertical plane (2536), first plane (2533), spiral camber (2534), the second plane (2535) and hang down
It faces (2536) directly and is surrounded on the round perforation (2531), and connect successively；
The other end face of the rotation cam (253) is plane, and be connected to the bottom surface of the storage tank (2421)；
Between first plane (2533) and the second plane (2535) have difference in height, first plane (2533) compared to
Second plane (2535) is close to the other end face of the rotation cam (253)；
The face that the undercarriage ontology (230) abuts with the angled end-face or curved end of the rotation cam is joint face, described
Joint face is provided with abutting part (2314), and the abutting part (2314) is connected to the angled end-face or arc of the rotation cam (253)
Shape end face.
10. undercarriage (20) according to claim 1, which is characterized in that the transmission mechanism (220a) passes for helical gear
Motivation structure, including the first helical gear (221a), the second helical gear (222a) and the rotation axis (223a)；First helical gear
(221a) is fixedly connected with one end of shaft in the driving device (210), and second helical gear (222a) is set to described
The middle part of rotation axis (223a)；First helical gear (221a) and the second helical gear (222a) engagement；
The both ends of the rotation axis (223a) are connect with the undercarriage ontology (230).
11. according to claim 1~10 any one of them undercarriage (20), which is characterized in that the undercarriage (20) is also wrapped
The transmission device for increasing rotary inertia is included, the transmission device is connected to the driving device (210) and the driver
Between structure (220).
12. a kind of unmanned vehicle, which is characterized in that the unmanned vehicle includes fuselage (10) and as in claim 1-10
Any one of them undercarriage (20), the undercarriage ontology (230) can rotate relative to the fuselage (10) to be folded with realizing
Or expansion.
13. unmanned vehicle according to claim 12, which is characterized in that
The fuselage (10) is equipped with the holder locking apparatus that rises and falls；
The undercarriage ontology (230) is provided with the lock fit device with the holder locking apparatus cooperation of rising and falling, at described
After falling frame ontology (230) folding, the holder locking apparatus that rises and falls interacts with lock fit device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711494575.3A CN108146618B (en) | 2017-12-31 | 2017-12-31 | Undercarriage and unmanned aerial vehicle with same |
| PCT/CN2018/112399 WO2019128446A1 (en) | 2017-12-31 | 2018-10-29 | Undercarriage and unmanned aerial vehicle having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711494575.3A CN108146618B (en) | 2017-12-31 | 2017-12-31 | Undercarriage and unmanned aerial vehicle with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108146618A true CN108146618A (en) | 2018-06-12 |
| CN108146618B CN108146618B (en) | 2020-03-06 |
Family
ID=62460538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711494575.3A Active CN108146618B (en) | 2017-12-31 | 2017-12-31 | Undercarriage and unmanned aerial vehicle with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108146618B (en) |
| WO (1) | WO2019128446A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216593A (en) * | 2017-12-31 | 2018-06-29 | 深圳市道通智能航空技术有限公司 | Undercarriage and the unmanned vehicle with this undercarriage |
| WO2019128446A1 (en) * | 2017-12-31 | 2019-07-04 | 深圳市道通智能航空技术有限公司 | Undercarriage and unmanned aerial vehicle having same |
| FR3086638A1 (en) * | 2018-09-28 | 2020-04-03 | Airbus Helicopters | MOTORIZED BALANCER LANDING AND AIRCRAFT |
| WO2023005667A1 (en) * | 2021-07-30 | 2023-02-02 | 深圳市道通智能航空技术股份有限公司 | Landing gear and unmanned aerial vehicle |
| WO2023005666A1 (en) * | 2021-07-30 | 2023-02-02 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3173632A (en) * | 1962-07-30 | 1965-03-16 | Del Mar Eng Lab | Landing gear for hovering type aircraft |
| CN105667770A (en) * | 2014-12-08 | 2016-06-15 | 波音公司 | Multi-position undercarriage |
| CN206606349U (en) * | 2017-01-09 | 2017-11-03 | 昊翔电能运动科技(昆山)有限公司 | The structure and the unmanned plane using the structure of single steering engine driving undercarriage control |
| CN107458575A (en) * | 2016-06-06 | 2017-12-12 | 比亚迪股份有限公司 | Unmanned plane |
| CN207758999U (en) * | 2017-12-31 | 2018-08-24 | 深圳市道通智能航空技术有限公司 | Undercarriage and unmanned vehicle with this undercarriage |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146618B (en) * | 2017-12-31 | 2020-03-06 | 深圳市道通智能航空技术有限公司 | Undercarriage and unmanned aerial vehicle with same |
-
2017
- 2017-12-31 CN CN201711494575.3A patent/CN108146618B/en active Active
-
2018
- 2018-10-29 WO PCT/CN2018/112399 patent/WO2019128446A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3173632A (en) * | 1962-07-30 | 1965-03-16 | Del Mar Eng Lab | Landing gear for hovering type aircraft |
| CN105667770A (en) * | 2014-12-08 | 2016-06-15 | 波音公司 | Multi-position undercarriage |
| CN107458575A (en) * | 2016-06-06 | 2017-12-12 | 比亚迪股份有限公司 | Unmanned plane |
| CN206606349U (en) * | 2017-01-09 | 2017-11-03 | 昊翔电能运动科技(昆山)有限公司 | The structure and the unmanned plane using the structure of single steering engine driving undercarriage control |
| CN207758999U (en) * | 2017-12-31 | 2018-08-24 | 深圳市道通智能航空技术有限公司 | Undercarriage and unmanned vehicle with this undercarriage |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216593A (en) * | 2017-12-31 | 2018-06-29 | 深圳市道通智能航空技术有限公司 | Undercarriage and the unmanned vehicle with this undercarriage |
| WO2019128446A1 (en) * | 2017-12-31 | 2019-07-04 | 深圳市道通智能航空技术有限公司 | Undercarriage and unmanned aerial vehicle having same |
| FR3086638A1 (en) * | 2018-09-28 | 2020-04-03 | Airbus Helicopters | MOTORIZED BALANCER LANDING AND AIRCRAFT |
| WO2023005667A1 (en) * | 2021-07-30 | 2023-02-02 | 深圳市道通智能航空技术股份有限公司 | Landing gear and unmanned aerial vehicle |
| WO2023005666A1 (en) * | 2021-07-30 | 2023-02-02 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019128446A1 (en) | 2019-07-04 |
| CN108146618B (en) | 2020-03-06 |
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Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee 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 Patentee before: AUTEL ROBOTICS Co.,Ltd. |