CN108146618B - Undercarriage and unmanned aerial vehicle with same - Google Patents

Undercarriage and unmanned aerial vehicle with same Download PDF

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Publication number
CN108146618B
CN108146618B CN201711494575.3A CN201711494575A CN108146618B CN 108146618 B CN108146618 B CN 108146618B CN 201711494575 A CN201711494575 A CN 201711494575A CN 108146618 B CN108146618 B CN 108146618B
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CN
China
Prior art keywords
landing gear
shaft
rotating shaft
rotating
hole
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Active
Application number
CN201711494575.3A
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Chinese (zh)
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CN108146618A (en
Inventor
张正力
彭淮
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Shenzhen daotong intelligent Aviation Technology Co.,Ltd.
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Autel Robotics Co Ltd
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Priority to CN201711494575.3A priority Critical patent/CN108146618B/en
Publication of CN108146618A publication Critical patent/CN108146618A/en
Application granted granted Critical
Publication of CN108146618B publication Critical patent/CN108146618B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C25/00Alighting gear
    • B64C25/02Undercarriages
    • B64C25/08Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18Operating mechanisms
    • B64C25/26Control or locking systems therefor

Abstract

The embodiment of the invention relates to the technical field of aircrafts, and provides an undercarriage and an unmanned aerial vehicle, wherein the undercarriage comprises a driving device, a transmission mechanism and an undercarriage body, wherein the transmission mechanism comprises a rotating shaft and a rotating cam which are connected with the driving device; the landing gear body is connected at two ends of the rotating shaft, and the driving device drives the landing gear body to rotate through the rotating shaft. By the mode, the landing gear body can be folded and folded on two sides or inside the aircraft body, the structure is compact, so that when the unmanned aerial vehicle flies, the landing gear can be folded and folded, unnecessary resistance of the unmanned aerial vehicle in the air can not be caused, and the shielding of an aerial photographing view field is completely avoided in the aerial photographing process of the unmanned aerial vehicle; when the unmanned aerial vehicle needs to land, the undercarriage can automatically expand to support the unmanned aerial vehicle to land.

Description

Undercarriage and unmanned aerial vehicle with same
[ 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, embodiments of the present invention provide a foldable landing gear that can be folded and collapsed, and an unmanned aerial vehicle having the foldable landing gear.
In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions:
a landing gear, comprising:
a drive device;
the transmission mechanism comprises a rotating shaft and a rotating cam, and the driving device is connected with the rotating shaft and can drive the rotating shaft to rotate;
and the landing gear body is connected to two ends of the rotating shaft, and the driving device drives the landing gear body to rotate through the rotating shaft.
In some embodiments, the landing gear further comprises a connection assembly comprising a rotating cam provided with a circular through hole;
the two ends of the rotating shaft penetrate through the circular through hole of the rotating cam to be connected with the undercarriage body, the rotating shaft is in clearance fit with the circular through hole, one end face of the rotating cam is an inclined end face or an arc-shaped end face, and the undercarriage body is abutted to the inclined end face or the arc-shaped end face.
In some embodiments, the connection assembly further comprises: the rotating shaft is hinged with one end of the landing gear body through the pin shaft; the rotating cam is fixedly arranged on the machine body and is abutted against the matching surface of the undercarriage body; the elastic abutting piece is sleeved on the pin shaft, one end of the elastic abutting piece abuts against the undercarriage body, and the other end of the elastic abutting piece abuts against the rotating shaft.
In some embodiments, the transmission mechanism further comprises a connecting shaft, one end of the connecting shaft is provided with a limiting groove, two ends of the rotating shaft are respectively provided with a limiting structure, and the limiting structures are inserted into the limiting grooves, so that the rotating shaft drives the connecting shaft to rotate; the other end of the connecting shaft is hinged with one end of the landing gear body through the pin shaft; one end of the elastic abutting piece abuts against the undercarriage body, and the other end of the elastic abutting piece abuts against the connecting shaft.
In some embodiments, the transmission mechanism is a worm gear mechanism, which includes a worm and a worm wheel, and the worm is fixedly connected with the rotating shaft of the driving device; the worm is meshed with the worm wheel; the worm wheel is fixed to the rotating shaft, and the rotation axis of the worm coincides with the rotation axis of the rotating shaft; and two ends of the rotating shaft are respectively connected with the landing gear body.
In some embodiments, the landing gear further comprises a bracket comprising a bottom wall and a side wall extending from both ends of the bottom wall in a direction perpendicular to the bottom wall; the bottom wall is provided with a fixing groove, the bottom surface of the fixing groove is provided with a through hole, the driving device is fixed in the fixing groove, and one end of the worm penetrates through the through hole and is fixedly connected with a rotating shaft of the driving device; the rotating shaft is hinged between the two side walls.
In some embodiments, the landing gear further includes a bearing seat and a bearing, the bearing seat is fixed to the side wall, the bearing sleeve is disposed on the rotating shaft, and the bearing sleeve is disposed on the bearing.
In some embodiments, the outer side surface of the side wall is provided with a containing groove, and the bottom surface of the containing groove is provided with a connecting hole and a stopping part; the rotating shaft penetrates through the connecting hole and is connected with the connecting shaft; the rotating cam is positioned in the accommodating groove and is provided with a circular through hole and a stopping hole, the circular through hole is aligned with the connecting hole, and the stopping part is inserted into the stopping hole.
In some embodiments, the inclined end surface or the arc-shaped end surface of the rotating cam comprises a first plane, a spiral curved surface, a second plane and a vertical surface, and the first plane, the spiral curved surface, the second plane and the vertical surface surround the circular through hole and are connected in sequence; the end face of the other end of the rotating cam is a plane and is abutted against the bottom surface of the accommodating groove; the first plane and the second plane have a height difference, and the first plane is closer to one end face of the rotating cam than the second plane; the undercarriage body with the face of the oblique terminal surface of rotating cam or arc terminal surface butt is the connection face, the connection face is provided with butt portion, butt portion butt in the oblique terminal surface of rotating cam or arc terminal surface.
In some embodiments, the transmission is a helical gear transmission comprising a first helical gear, a second helical gear, and a rotating shaft; the first bevel gear is fixedly connected with one end of a rotating shaft in the driving device, and the second bevel gear is arranged in the middle of the rotating shaft; the first bevel gear is meshed with the second bevel gear; and two ends of the rotating shaft are respectively connected with one landing gear body.
In some embodiments, the landing gear further comprises a transmission for increasing the moment of inertia, the transmission being connected between the drive and the transmission.
In order to solve the above technical problem, an embodiment of the present invention further provides the following technical solutions:
an unmanned aerial vehicle comprising a fuselage and the landing gear described above, the landing gear body being rotatable relative to the fuselage to effect folding or unfolding.
In some embodiments, the fuselage is provided with a landing gear locking device; the landing gear body is provided with a locking matching device matched with the landing gear locking device, and after the landing gear body is folded, the landing gear locking device and the locking matching device act.
Compared with the prior art, the landing gear of the embodiment of the invention has the advantages that the driving device can drive the landing gear body to rotate through the transmission mechanism, when the landing gear body is applied to the unmanned aerial vehicle, the landing gear body can rotate relative to the fuselage to be folded on two sides or inside the fuselage, the structure is compact, so that the landing gear can be folded and unfolded when the unmanned aerial vehicle with the landing gear flies, unnecessary resistance of the unmanned aerial vehicle in the air can not be caused, and the shielding of an aerial photographing view field of the unmanned aerial vehicle is completely avoided in the aerial vehicle aerial photographing process; when the unmanned aerial vehicle needs to land, the undercarriage can rotate relative to the body to automatically deploy, and the unmanned aerial vehicle is supported to complete the landing.
Furthermore, one end of the elastic abutting piece abuts against the connecting shaft, and the other end of the elastic abutting piece abuts against the undercarriage body. When the landing gear is subjected to an external force larger than the critical elasticity of the elastic abutting piece, the landing gear body can swing relative to the aircraft body, and then the landing gear body can play a role in buffering when an aircraft crashes, so that the aircraft body of the unmanned aerial vehicle is protected.
[ 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 accordance with an embodiment of the present invention with landing gear in a deployed state;
FIG. 2 is a perspective view of the landing gear of the unmanned aerial vehicle shown in FIG. 1;
FIG. 3 is an exploded view of the landing gear shown in FIG. 2;
FIG. 4 is a perspective view of the worm gear and rotary shaft of the landing gear shown in FIG. 3;
FIG. 5 is another perspective view of the landing gear of the UAV of FIG. 1, wherein the landing gear includes a bracket;
FIG. 6 is a perspective view of a cradle in the landing gear of FIG. 5;
figure 7 is a perspective view of a connecting shaft in the landing gear shown in figure 3;
FIG. 8 is a perspective view of a pin in the landing gear shown in FIG. 3;
figure 9 is a perspective view of a rotary cam in the landing gear shown in figure 3;
FIG. 10 is a perspective view of the landing gear body of the landing gear shown in FIG. 3;
fig. 11 is a schematic structural diagram of a transmission mechanism in other embodiments of the present invention.
[ 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 unmanned aerial vehicle may be a single-rotor unmanned aerial vehicle, a dual-rotor unmanned aerial vehicle, a quad-rotor unmanned aerial vehicle, or a hexa-rotor unmanned aerial vehicle, and the details are described here by taking a quad-rotor unmanned aerial vehicle as an example.
Referring to fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle, including a fuselage 10 and a landing gear 20, where the landing gear 20 is mounted on the fuselage 10 and is used for supporting the unmanned aerial vehicle at a landing place when the unmanned aerial vehicle lands.
The aircraft body 10 includes a control circuit assembly composed of electronic components such as an MCU and the like, and the control circuit assembly includes a plurality of control modules, for example, a control module for controlling the retraction and extension of the landing gear 20, a flight control module for controlling the flight attitude of the unmanned aerial vehicle, a GPS module for navigating the unmanned aerial vehicle, and a data processing module for processing environmental information acquired by the relevant onboard equipment.
Referring to fig. 2, the landing gear 20 includes: the landing gear comprises a driving device 210, a transmission mechanism 220 used between two staggered shafts and a landing gear body 230, wherein the driving device 210 is arranged inside the fuselage 10, the driving device 210 is connected with the landing gear body 230 through the transmission mechanism 220, and the driving device 210 can drive the landing gear body 230 to rotate relative to the fuselage 10 to realize folding or unfolding.
As shown in fig. 3 and 4, in the present embodiment, the transmission mechanism 220 is a worm and gear mechanism, and includes a worm 221, a worm wheel 222, a rotation shaft 223 and a connection assembly 250, one end of the worm 221 is fixedly connected to the rotation shaft of the driving device 210, and a center line of the worm 221 coincides with a center line of the rotation shaft of the driving device 210, and a center line of the worm 221 is perpendicular to a center line of the rotation shaft 223. The worm 221 is engaged with the worm wheel 222. The worm wheel 222 is fixed to the rotary shaft 223 with their rotational axes coinciding with each other. Both ends of the rotating shaft 223 are connected to one end of one landing gear body 230, respectively, and the rotating shaft 223 is substantially perpendicular to a plane formed by the landing gear body 230. The driving device 210 can drive the worm 221 to rotate, and drive the rotating shaft 223 to rotate through the worm wheel 222, so that the landing gear body 230 rotates relative to the fuselage 10.
The rotating shaft 223 is a stepped shaft, the diameter of the middle part of the rotating shaft 223 is greater than the diameters of the two ends of the rotating shaft, a stepped surface 2231 is formed at the joint of the rotating shaft 223, and the two ends of the rotating shaft 223 are respectively provided with a limiting structure 2232. The worm wheel 222 is integrally formed with the rotary shaft 223 and is located at the middle of the rotary shaft 223.
In this embodiment, the driving device 210 is a brushless dc motor, that is, the transmission mechanism 220 is driven by the brushless dc motor, and it can be understood that in other embodiments, other driving devices may be used, for example, the steering engine is used to directly drive the rotating shaft 223 to rotate.
Referring to fig. 5 in conjunction with fig. 3, in the present embodiment, the landing gear 20 further includes a bracket 240, a bearing seat 260 and a bearing 270, the driving device 210 is fixed to the bracket 240, and the rotating shaft 223 is hinged to the bracket 240 and connected to the landing gear body 230 through the connecting assembly 250. The bearing seat 260 is fixed to the bracket 240 and is sleeved on the bearing 270, and the bearing 270 is sleeved on the rotating shaft 223 and abuts against the step surface 2231.
As shown in fig. 6, the holder 240 includes a bottom wall 241, and a side wall 242 extending from both ends of the bottom wall 241 in a direction perpendicular to the bottom wall 241. The bottom wall 241 is provided with a fixing groove 2411, and a through hole 2412 is formed in the bottom surface of the fixing groove 2411. The driving device 210 is fixed in the fixing groove 2411, and one end of the worm 221 passes through the through hole 2412 and is fixedly connected with a rotating shaft of the driving device 210. The side walls 242 are two in total and symmetrical to each other. The rotation shaft 223 is located between the two sidewalls 242 and is hinged with the two sidewalls 242. An accommodating groove 2421 is formed in an outer side surface of the side wall 242 away from the rotating shaft 223, and a connecting hole 2422 and a stopper 2423 are formed in a bottom surface of the accommodating groove 2421.
In this embodiment, the bracket 240 is a separate component and is mounted inside the body 10 or outside the body 10 (e.g., below the body 10). It will be appreciated that in other embodiments, the carrier 240 is integral with the fuselage 10, i.e. the carrier 240 is part of the fuselage 10 (in this case, the fuselage 10 corresponds to the carrier 240 in this embodiment with respect to the landing gear 20).
Referring to fig. 7 in conjunction with fig. 3, the connecting assembly 250 includes: the connecting shaft 251, the pin shaft 252, the rotating cam 253 and the elastic abutting piece 254. One end of the connecting shaft 251 is provided with a limiting groove 2511, and the other end is provided with a first clamping part 2512 and a second clamping part 2513. The shape of the stopper groove 2511 is the same as the cross-sectional shape of both ends of the rotation shaft 223. The number of the connecting assemblies 250 is two, and the two connecting assemblies are respectively connected to both ends of the rotating shaft 223. Specifically, the limiting structure 2232 of the rotating shaft 223 is embedded in the limiting groove 2511 to prevent the rotating shaft 223 and the connecting shaft 251 from rotating relatively. The cross section of the rotating shaft 223 and the limiting groove 2511 can be oval, D-shaped or other shapes which can play a limiting role. The first clamping portion 2512 and the second clamping portion 2513 are symmetrical to each other, and a gap is formed between the first clamping portion 2512 and the second clamping portion 2513 for accommodating the elastic holding piece 254. The first clamping portion 2512 is provided with a first pin hole, and the second clamping portion 2513 is provided with a second pin hole, the first pin hole being aligned with the second pin hole. The pin 252 passes through the first and second pin holes.
As shown in fig. 8, an annular groove 2521 is disposed in the middle of the pin shaft 252, the elastic supporting member 254 is a torsion spring, and is wound in the annular groove 2521, and one end of the elastic supporting member 254 supports against the connecting shaft 251 and the other end supports against the landing gear body 230.
It is understood that, in some other embodiments, the elastic supporting member 254 may also be a spring sheet, which is installed on the pin 252, and one end of which supports the connecting shaft 251 and the other end of which supports the landing gear body 230.
As shown in fig. 9, the rotating cam 253 is located in the receiving groove 2421, the rotating cam 253 is provided with a circular through hole 2531, one end surface of the circular through hole 2531 extends to the other end surface (which may also be referred to as an abutting surface), and the circular through hole 2531 is aligned with the connecting hole 2422. An end surface of one end of the rotary cam 253 is provided with a stopper hole 2532, and the stopper part 2423 has a cylindrical shape and is inserted into the stopper hole 2532 to prevent the rotary cam 253 from rotating in the accommodating groove 2421. An end surface of one end of the rotating cam 253 is an inclined end surface or an arc end surface. Specifically, the inclined end surface or the arc-shaped end surface is provided with a first plane 2533, a spiral curved surface 2534, a second plane 2535 and a vertical surface 2536, and the first plane 2533, the spiral curved surface 2534, the second plane 2535 and the vertical surface 2536 surround the circular through hole 2531 and are connected in sequence. The other end surface of the rotating cam 253 is a plane, a height difference is provided between the first plane 2533 and the second plane 2535, and the first plane 2533 is closer to the other end surface of the rotating cam 253 than the second plane 2535. One end of the rotating shaft 223 penetrates through the through hole 2412 and the circular through hole 2531, and is inserted into the limit groove 2511.
Specifically, the number of the bearings 270 is two, and the two bearings are respectively sleeved at two ends of the rotating shaft 223 and abut against the step surface 2231. The bearing seats 260 are two in number and correspond to the bearings 270 one to one. The bearing seat 260 is fixed to an inner surface of the sidewall 242.
It is understood that in other embodiments, the bearing 270 and the bearing seat 260 may be omitted, and one end of the rotation shaft 223 is directly inserted into the connection hole 2422 and may rotate in the connection hole 2422. In order to smoothly rotate the rotating shaft 223 in the connection hole 2422, it is only necessary to add a lubricating oil between the rotating shaft 223 and the connection hole 2422.
The landing gear bodies 230 are two in total corresponding to both ends of the rotating shaft 223, and are symmetrical to each other, and are connected to both ends of the rotating shaft 223, respectively. The structure of one of the landing gear bodies 230 is explained in detail by taking it as an example.
As shown in fig. 10, the landing gear body 230 includes a main support rod 231, a landing rod 232 having one end fixedly connected to one end of the main support rod 231, and a sub support rod 233. The landing rod 232 and the included angle of the supporting main rod 231 are acute angles, one end of the supporting auxiliary rod 233 is fixedly connected with the supporting main rod 231, and the other end of the supporting auxiliary rod 233 is fixedly connected with the landing rod 232. A mounting groove 2311 is formed on a connection surface of the other end (i.e., the connection end) of the support main rod 231, which is connected to the connection assembly 250, and first and second mounting holes 2312 and 2313 are respectively formed on opposite sides of the mounting groove 2311, and the first and second mounting holes 2312 and 2313 are aligned in a lateral direction of the support main rod 231. The first and second clamping portions 2512 and 2513 of the connecting shaft 251 are inserted into the mounting grooves 2311, and both ends of the pin shaft 252 are inserted into the first and second mounting holes 2312 and 2313, respectively, so that the support main lever 231 can rotate around the pin shaft 252 at a certain angle with respect to the connecting shaft 251. The connecting surface at the other end of the support main rod 231 is further provided with an abutting portion 2314, and the abutting portion 2314 abuts against the inclined end surface or the arc-shaped end surface of the rotating cam 253. The connecting surface is an inclined surface or an arc-shaped surface, and the inclined surface or the arc-shaped surface is attached to the inclined end surface or the arc-shaped end surface of the rotating cam 253.
In the embodiment of the invention the landing gear 20 has two states, namely an extended state and a folded state. When the UAV is landing using the landing gear 20, the landing gear 20 is in the deployed state. The landing gear 20 has a landing post 232 that is substantially vertical. The abutting portion 2314 abuts against the first plane 2533. One end of the supporting main rods 231 is inclined in a direction away from the body 10 (i.e., the two supporting main rods 231 have a shape of a Chinese character 'ba'). One end of the elastic abutting piece 254 abuts against the connecting shaft 251, and the other end abuts against the landing gear body 230, so that the abutting portion 2314 abuts against the first plane 2533. After the unmanned aerial vehicle takes off, in order to better shoot by using a camera on the unmanned aerial vehicle, the camera is prevented from being shielded by the undercarriage 20, and the undercarriage 20 is changed from the unfolding state to the folding state. The driving device 210 drives the worm 221 to rotate, so that the landing gear body 230 can rotate around the center line of the rotating shaft 223 relative to the fuselage 10 through the worm wheel 222 and the rotating shaft 223. During this rotation, the abutment 2314 gradually moves along the first plane 2533 toward the helical curved surface 2534 and slides along the helical curved surface 2534 to the second plane 2535. Since the first plane 2533 and the second plane 2535 have a height difference therebetween, the first plane 2533 is closer to an end surface of the rotary cam 253 than the second plane 2535; the support main lever 231 is rotated around the pin 252 with respect to the connecting shaft 251 at an angle so that the support main lever 231 becomes horizontal and one end thereof and the landing lever 232 come close to the main body 10. When the landing gear 20 is in the folded state, the landing gear body 230 is tightly attached to two sides of the fuselage 10, so that not only can the camera be completely prevented from being shielded, but also the overall structure of the unmanned aerial vehicle can be very compact.
In addition, it should be noted that one end of the elastic supporting member 254 supports against the connecting shaft 251, and the other end supports against the landing gear body 230. When the landing gear 20 is subjected to an external force greater than the critical elastic force of the elastic abutting piece 254, the landing gear body 230 can swing relative to the fuselage 10, so that the fuselage 10 of the unmanned aerial vehicle can be protected during crash.
It will be appreciated that in other embodiments, as shown in FIG. 11, the transmission 220a is a bevel gear transmission for use between two interleaved shafts, including a first bevel gear 221a, a second bevel gear 222a, and a rotating shaft 223 a. The first bevel gear 221a is fixedly connected to one end of a rotating shaft of the driving device 210, and the second bevel gear 222a is disposed in the middle of the rotating shaft 223 a. The first bevel gear 221a and the second bevel gear 222a are engaged. Both ends of the rotating shaft 223a are connected to a landing main body 230, respectively. The driving device 210 can drive the first bevel gear 221a to rotate, and the first bevel gear 221a drives the second bevel gear 222a and the rotating shaft 223a to rotate, so that the landing gear body 230 rotates relative to the fuselage 10.
It is understood that in other embodiments, the transmission mechanism 220 may only include the transmission shaft 223 and the pin 252, and the driving device 210 is directly connected to the rotation shaft 223 and can drive the rotation shaft 223 to rotate. The rotation shaft 223 is hinged to the landing gear body 230 by the pin 252, and the rotation shaft 223 is perpendicular to the pin 252.
It will be appreciated that in other embodiments, the landing gear 20 may be more securely positioned after being manually folded to prevent the landing gear 20 from pivoting under gravity and failing to fold properly. A landing gear locking device (e.g., a latch, a magnet, an electromagnet, etc.) is provided at a corresponding location of the body 10 (e.g., at the rear of the body), and a locking engagement device (e.g., a latch, a magnet, an electromagnet, etc.) is provided at the other end (i.e., the landing end) of the landing gear body 230. In a specific embodiment, a first magnet is disposed at the rear portion of the body 10, and a second magnet attracted to the first magnet is disposed at the other end of the landing gear body 230, so that when the landing gear body 230 is manually folded, the two magnets are close to and aligned with each other, so that the landing gear body 230 is fixed in the current folded state.
In other embodiments, the landing gear 20 further comprises a transmission for increasing the moment of inertia, for increasing the maximum friction between the moment of inertia of the worm 221 and the worm gear 222 and the worm 221, to overcome the effect of gravity on the landing gear body 230. The transmission device for increasing the moment of inertia is connected between the driving device 210 and the transmission mechanism 220, and specifically may be: a gear transmission mechanism or a four-bar linkage mechanism, etc.
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 (12)

1. A landing gear (20), characterized in that the landing gear (20) comprises:
a drive device (210);
the transmission mechanism (220, 220a) comprises a rotating shaft (223, 223a), the driving device (210) is connected with the rotating shaft (223) and can drive the rotating shaft (223, 223a) to rotate;
a landing gear body (230) connected to both ends of the rotating shaft (223, 223a), the driving device (210) driving the landing gear body (230) to rotate through the rotating shaft (223, 223 a); and
the connecting assembly (250), the connecting assembly (250) comprises a rotating cam (253), and the rotating cam (253) is provided with a circular through hole (2531);
the two ends of the rotating shafts (223, 223a) penetrate through the circular through holes (2531) of the rotating cams (253) and are connected with the landing gear body (230), the rotating shafts (223, 223a) are in clearance fit with the circular through holes (2531), one end face of each rotating cam (253) is an inclined end face or an arc-shaped end face, and the landing gear body (230) is abutted to the inclined end face or the arc-shaped end face.
2. The landing gear (20) of claim 1, wherein the connection assembly (250) further comprises: the rotating shaft (223, 223a) is hinged with one end of the landing gear body (230) through the pin shaft (252);
the elastic abutting piece (254) is sleeved on the pin shaft (252), one end of the elastic abutting piece (254) abuts against the landing gear body (230), and the other end of the elastic abutting piece (254) abuts against the rotating shaft (223, 223 a).
3. The landing gear (20) according to claim 2, wherein the transmission mechanism (220) further comprises a connecting shaft (251), one end of the connecting shaft (251) is provided with a limiting groove (2511), two ends of the rotating shafts (223, 223a) are respectively provided with a limiting structure (2232), and the limiting structures (2232) are inserted into the limiting groove (2511) so that the rotating shafts (223, 223a) drive the connecting shaft (251) to rotate;
the other end of the connecting shaft (251) is hinged with one end of the landing gear body (230) through the pin shaft (252);
one end of the elastic abutting piece (254) abuts against the landing gear body (230), and the other end abuts against the connecting shaft (251).
4. The landing gear (20) according to claim 3,
the transmission mechanism (220) is a worm gear mechanism and comprises a worm (221), a worm wheel (222) and the rotating shaft (223), and the worm (221) is fixedly connected with the rotating shaft of the driving device (210);
the worm (221) is meshed with the worm wheel (222);
the worm (221) is fixed to the turning shaft (223), and the rotation axis of the worm wheel (222) coincides with the rotation axis of the turning shaft (223);
both ends of the rotating shaft (223) are connected to the landing gear body (230).
5. The landing gear (20) according to claim 4, wherein the landing gear (20) further comprises a bracket (240), the bracket (240) comprising a bottom wall (241), and side walls (242) extending from both ends of the bottom wall (241);
the bottom wall (241) is provided with a fixing groove (2411), the bottom surface of the fixing groove (2411) is provided with a through hole (2412), the driving device (210) is fixed in the fixing groove (2411), and one end of the worm (221) penetrates through the through hole (2412) and is fixedly connected with a rotating shaft of the driving device (210);
the rotating shaft (223) is hinged between the two side walls (242).
6. The landing gear (20) according to claim 5,
the landing gear (20) further comprises a bearing seat (260) and a bearing (270), the bearing seat (260) is fixed on the side wall (242), the rotating shaft (223) is sleeved with the bearing (270), and the bearing seat (260) is sleeved with the bearing (270).
7. The landing gear (20) according to claim 5,
a containing groove (2421) is formed in the outer side face of the side wall (242), and a connecting hole (2422) and a stopping part (2423) are formed in the bottom face of the containing groove (2421);
the rotating shaft (223) penetrates through the connecting hole (2422) to be connected with the connecting shaft (251);
the rotating cam (253) is positioned in the accommodating groove (2421), the rotating cam (253) is provided with a circular through hole (2531) and a stop hole (2532), the circular through hole (2531) is aligned with the connecting hole (2422), and the stop part (2423) is inserted into the stop hole (2532).
8. The landing gear (20) according to claim 7,
the inclined end surface or the arc-shaped end surface of the rotating cam (253) comprises a first plane (2533), a spiral curved surface (2534), a second plane (2535) and a vertical surface (2536), wherein the first plane (2533), the spiral curved surface (2534), the second plane (2535) and the vertical surface (2536) surround the circular through hole (2531) and are connected in sequence;
the end face of the other end of the rotating cam (253) is a plane and is abutted against the bottom surface of the accommodating groove (2421);
a height difference is provided between the first plane (2533) and the second plane (2535), the first plane (2533) being closer to the other end surface of the rotating cam (253) than the second plane (2535);
the landing gear body (230) is connected with the inclined end face or the arc-shaped end face of the rotating cam in an abutting mode, an abutting portion (2314) is arranged on the connecting face, and the abutting portion (2314) abuts against the inclined end face or the arc-shaped end face of the rotating cam (253).
9. The landing gear (20) according to claim 1, wherein the transmission (220a) is a bevel gear transmission comprising a first bevel gear (221a), a second bevel gear (222a) and the rotational shaft (223 a); the first bevel gear (221a) is fixedly connected with one end of a rotating shaft in the driving device (210), and the second bevel gear (222a) is arranged in the middle of the rotating shaft (223 a); the first bevel gear (221a) and the second bevel gear (222a) are meshed;
both ends of the rotating shaft (223a) are connected to the landing gear body (230).
10. The landing gear (20) according to any of claims 1 to 9, wherein the landing gear (20) further comprises a transmission for increasing the moment of inertia, the transmission being connected between the drive (210) and the transmission (220).
11. An unmanned aerial vehicle comprising a fuselage (10) and a landing gear (20) according to any of claims 1 to 9, the landing gear body (230) being rotatable relative to the fuselage (10) to effect folding or unfolding.
12. The unmanned aerial vehicle of claim 11,
the fuselage (10) is provided with a landing gear locking device;
the landing gear body (230) is provided with a locking engagement means cooperating with the landing gear locking means, the landing gear locking means interacting with the locking engagement means when the landing gear body (230) is folded.
CN201711494575.3A 2017-12-31 2017-12-31 Undercarriage and unmanned aerial vehicle with same Active CN108146618B (en)

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PCT/CN2018/112399 WO2019128446A1 (en) 2017-12-31 2018-10-29 Undercarriage and unmanned aerial vehicle having same

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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
FR3086638A1 (en) * 2018-09-28 2020-04-03 Airbus Helicopters MOTORIZED BALANCER LANDING AND AIRCRAFT

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* Cited by examiner, † Cited by third party
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
US9731816B2 (en) * 2014-12-08 2017-08-15 The Boeing Company Multi-position landing gear
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
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
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

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