CN108284946A - Single steering engine drives the structure of undercarriage control and the unmanned plane using the structure - Google Patents

Abstract

The structure of undercarriage control is driven the invention discloses a kind of single steering engine and using the unmanned plane of the structure, the structure of single steering engine driving undercarriage control includes：Fixing piece, steering engine and the undercarriage being connected with steering engine, and steering engine includes motor, gear set, main shaft and claw axis, wherein one end of gear set is mechanically connected with motor, and the other end of gear set is connect with spindle machine；One end of undercarriage is equipped with the claw being connected with claw axis, and the other end is equipped with support portion, pivot shaft is equipped between the claw and support portion on undercarriage, and claw, pivot shaft and support portion constitute lever construction.The present invention can reduce motor number and unmanned plane weight, reduce cost, easy to operation, can also be achieved 360 ° of shootings of holder.

Description

The structure of retractable landing gear driven by a single servo and the UAV using this structure

technical field

The present invention relates to the field of unmanned aerial vehicles, and more particularly relates to a structure in which a landing gear is retracted and retracted by a single steering gear and an unmanned aerial vehicle using the structure.

Background technique

In recent years, unmanned aerial vehicles (UAVs) have received more and more attention due to their simple structure, convenient manipulation and high safety performance. In the prior art, the landing gear of the drone is either a fixed support structure, or a simple semi-automatic folding and retracting mechanism. The fixed landing gear increases the size of the drone, making it inconvenient to pack, store, transport or carry. In addition, the landing gear is generally located around the bottom of the drone fuselage, and the gimbal is generally located at the center of the bottom of the fuselage and perpendicular to the If the camera is installed on the bottom of the fuselage, the landing gear will block the camera to a certain extent during the shooting process of the camera, and the field of view of the camera will be limited; The multi-level lever design of the steering gear, or the design of the worm gear reducer principle, each landing gear is driven by a motor, this structure makes the UAV have disadvantages such as more power consumption, relatively heavy weight, and slightly larger mechanical clearance. .

Therefore, there is still a lack of a UAV structure in which one steering gear drives two landing gears for folding and retracting. On the basis of achieving stable landing in various complex environments, the number of motors and the size and weight of the UAV are reduced. , easy to carry and transport, and improve the control performance of the drone.

Contents of the invention

The object of the present invention is to provide a structure in which a landing gear is retracted and retracted by a single steering gear and an unmanned aerial vehicle using the structure. The invention realizes the function of retracting and retracting two landing gears at the same time through one steering gear, which not only enables the UAV to land stably in various complex environments, but also reduces the number of motors and the size and weight of the UAV, making it easy to carry and transport , improve the control performance of the UAV, and also reduce the cost of transportation and packaging, and realize the 360° shooting of the camera installed on the gimbal, so that the field of view is wider and the shooting effect is better.

In the first aspect of the present invention, there is provided a structure for retracting and retracting landing gear driven by a single steering gear, including: a fixing piece, a steering gear and a landing gear connected to the steering gear, and the steering gear includes a motor, A gear set, a main shaft and a dog shaft, wherein one end of the gear set is mechanically connected to the motor, and the other end of the gear set is mechanically connected to the main shaft, and the gear set transfers the power from the motor The torque is amplified and transmitted to the main shaft to drive the main shaft to rotate; one end of the landing gear is provided with a claw connected to the claw shaft, and the other end is provided with a supporting part. A fulcrum rotating shaft is provided between the claw and the supporting part, and the claw, the fulcrum rotating shaft and the supporting part form a lever structure.

In another preferred example, the fixing member includes a steering gear cover plate and a steering gear base, and the steering gear cover plate and the steering gear base are mated and connected, and a steering gear cavity is formed inside, so that The other components are fixed in the cavity.

In another preferred example, the gear set includes a main gear and an auxiliary gear, the main gear is coaxial with the motor and rotates with the rotation of the motor, the auxiliary gear is coaxial with the main shaft, And the auxiliary gear is fixed on the main shaft, the auxiliary gear meshes with the main gear, the auxiliary gear rotates driven by the main gear, and then drives the main shaft to rotate.

In another preferred example, the pinion gear is fixed to the middle section of the main shaft, and a rolling bearing for supporting the main shaft is also provided on the main shaft.

In another preferred example, one end of the main shaft is provided with a left-handed thread section, the other end is provided with a right-handed thread section, and a support for supporting the main shaft is provided between the left-handed thread section and the right-handed thread section. A rolling bearing, one end of the inner ring of the rolling bearing is fixed on the shoulder of the main shaft, and the other end is fixed by a thrust washer.

In another preferred example, the outer ring of the rolling bearing is fixed on the cover plate of the steering gear and the base of the steering gear.

In another preferred example, the claw shaft is provided with internally threaded holes, and the internally threaded holes are respectively matched with the left-handed thread section and the right-handed thread section.

In another preferred example, the claw and the claw shaft are in a snap fit mode, the fulcrum shaft is close to the claw, the fulcrum shaft is fixed on the steering gear cover, and is perpendicular to the spindle.

In another preferred example, the undercarriage is arc-shaped, and the claw end and the support end of the undercarriage bend with the fulcrum rotating shaft as a critical point.

In another preferred example, the number of the landing gear is two.

In another preferred example, the gear set drives the main shaft to rotate, the two ends of the main shaft and the inner ring of the claw shaft are provided with mutually matching threads, and the claw shaft is along the The axes move relative to each other, and when the main shaft rotates, the undercarriage rotates around the fulcrum shaft, and is retracted or lowered along with the movement of the claw shaft.

In another preferred example, the number of the claw shafts is two.

In another preferred example, as the main shaft rotates, the two claw shafts move along the axial direction of the main shaft in the threaded section, and the two claw shafts move in opposite directions.

In another preferred example, the number of the rolling bearings is two.

In another preferred example, the structure is provided with the motor circuit board, the motor circuit board is electrically connected to the motor, and the motor circuit board is used to receive information from a remote control device and control the operation of the motor .

In the second aspect of the present invention, a drone is provided, including: a fuselage, an arm, a motor, a blade, a pan-tilt, a camera, and also: the above-mentioned structure in which the landing gear is retracted and driven by a single steering gear.

In another preferred example, the number of the arms is one or more.

In another preferred example, one end of each arm is connected to the fuselage, the other end of each arm is connected to one of the blades, and each arm is connected to the A motor for driving the rotation of the paddles is arranged between the paddles.

In another preferred example, one end of the pan-tilt is connected to the central area of the bottom of the fuselage, and the other end of the pan-tilt is connected to the camera.

In another preferred example, the camera is connected to the pan/tilt through two shafts, through the one shaft, the camera rotates 360° in the vertical plane, and through the other shaft, The camera rotates 360° in the horizontal plane, so that the camera can rotate arbitrarily in space.

In another preferred example, the platform is perpendicular to the bottom surface of the fuselage, the distance between the lens of the camera and the bottom surface of the fuselage is h ₁ , and the distance between the bottom surface of the landing gear and the bottom surface of the fuselage is is h ₂ , where h ₁ ≤ _{h 2} .

In another preferred example, the drone is provided with four arms, and the four arms are respectively connected to the left front, right front, left rear and right rear of the side of the fuselage.

In another preferred example, the blades are foldable blades, and when the UAV is in the working state, the blades are unfolded; when the UAV is in the non-working state, the blades Folds away.

In another preferred example, the arms are not foldable.

In another preferred example, the arm is a foldable arm, and when the UAV is in a working state, the arm is unfolded; when the UAV is in a non-working state, the arm Folds to the bottom or side of the fuselage.

The main advantages of the present invention include:

(a) Reduce the number of motors and reduce power consumption;

(b) Reduce the size and weight of the UAV, which is easy to carry and transport, and reduces the cost of transportation and packaging;

(c) One steering gear controls two landing gears to retract and retract simultaneously, which improves the control performance of the UAV;

(d) The camera can shoot 360°, with a wider field of view and better imaging effects.

Therefore, the present invention can not only make the UAV land stably in various complex environments, but also reduce the number of motors and the size and weight of the UAV, which is easy to carry and transport, improves the control performance of the UAV, and reduces the cost of transportation. And the packaging cost, and realize the 360° shooting of the camera installed on the gimbal, so that the field of view is wider and the shooting effect is better.

It should be understood that within the scope of the present invention, the above-mentioned technical features of the present invention and the technical features specifically described in the following (such as embodiments) can be combined with each other to form new or preferred technical solutions. Due to space limitations, we will not repeat them here.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural schematic view of a landing gear driven by a single steering gear in an example of the present invention.

Fig. 2 is an exploded view of the structure of the landing gear driven by a single steering gear in an example of the present invention.

Fig. 3 is a schematic diagram of the retracted and deployed positions of the landing gear in the unmanned aerial vehicle with a structure in which the landing gear is retracted and driven by a single steering gear in an example of the present invention.

In each attached drawing, each mark is as follows:

1 - Servo base;

2- steering gear cover;

3 - motor;

4-Motor circuit board;

5 - main gear;

6-pinion;

7 - spindle;

8-Left-handed thread segment;

9-Right-handed thread segment;

10 - rolling bearing;

11-jaw shaft;

12-jaw;

13-fulcrum rotating shaft;

14 - landing gear;

15 - support part;

16-cloud platform;

17 - video camera;

18 - fuselage;

19 - arm;

20 - motor;

21 - paddle;

22 - steering gear;

23-The structure used for unmanned aerial vehicles to drive the landing gear retractable;

Ⅰ - Landing gear stowed position;

II - Landing gear extended position.

Detailed ways

After extensive and in-depth research, and through a large number of screenings, the present inventor has first developed a single steering gear-driven landing gear retractable structure and an unmanned aerial vehicle using this structure. Compared with the prior art, the present invention can realize the function of retracting and retracting two landing gears at the same time through one steering gear: the motor in the steering gear drives the gear set to rotate, and the gear set amplifies the torque to drive the main shaft to rotate, and the two ends of the main shaft respectively There are left-handed threads and right-handed threads, through the rotation of the main shaft, the two claw shafts respectively located on the left-handed thread and the right-handed thread are driven to move simultaneously, and then the claws that are respectively matched with the two claw shafts are driven to move , The landing gear is a lever structure, the fulcrum rotating shaft of the landing gear is fixed, and the claw end moves, and then drives the supporting ends of the two landing gears to retract and unfold simultaneously. On this basis, the present invention is completed.

The structure of retractable landing gear driven by single steering gear

Typically, the structure of the retractable landing gear driven by a single steering gear for an unmanned aerial vehicle includes a steering gear and two landing gears mechanically connected to the steering gear, and the steering gear can drive the two landing gears. The drop frame is retracted at the same time; the steering gear includes a motor, a gear set, a main shaft and two claw shafts; the motor is used to provide power, one end of the gear set is mechanically connected to the motor, and the other end of the gear set One end is mechanically connected to the main shaft, and the gear set amplifies the torque from the motor and transmits it to the main shaft to drive the main shaft to rotate; one end of the main shaft is provided with a left-handed thread segment, and the other One end is provided with a right-handed thread section; the two jaw shafts are provided with internally threaded holes, and the internally threaded holes are respectively matched with the left-handed threaded section and the right-handed threaded section. Rotate, the two claw shafts move along the axial direction of the main shaft in the threaded section, and the movement direction of the two claw shafts is opposite; one end of the landing gear is provided with the claw The jaws are matched with the shaft, and the other end is provided with a supporting part for supporting the whole drone. A fulcrum shaft with a fixed position is provided between the jaws and the supporting part on the landing gear. The jaws, the The fulcrum shaft and the supporting portion form a lever structure so that the landing gear can rotate around the fulcrum shaft, and can be retracted or lowered along with the movement of the claw shaft.

A UAV that uses a single servo to drive the retractable structure of the landing gear

Typically, the UAV includes a fuselage, one or more arms, the above-mentioned structure for retracting and retracting the landing gear driven by a single servo for the UAV, and a platform. Specifically, one end of each machine arm is connected to the fuselage, the other end of each machine arm is connected to a blade, and a There is a motor for driving the rotation of the paddle; one end of the pan-tilt is connected to the central area of the bottom of the fuselage, and the other end of the pan-tilt is connected to the camera.

Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, the drawings are schematic diagrams, so the device and equipment of the present invention are not limited by the size or scale of the schematic diagrams.

It should be noted that in the claims and description of this patent, terms such as "upper", "lower", "upward", "downward", "front left", "front right", "rear left", " The position relational terms such as "right rear", "top surface", "bottom surface", "upper part" and "lower part" are relative to the perspective of the drone's flight state direction, and are only for more convenient expression of the relative position of each component. positional relationship, and does not necessarily indicate the actual positional relationship of the parts; relational terms such as first and second, etc. are only used to distinguish one entity or operation from another, and do not necessarily No such actual relationship or order between these entities or operations is required or implied. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Example 1

As shown in Fig. 1 and Fig. 2, the single steering gear drive landing gear retractable structure of the present embodiment comprises a steering gear 22 and two landing gears 14 mechanically connected with the steering gear 22, and the steering gear 22 can The two undercarriages 14 are driven to retract simultaneously.

The steering gear 22 includes a motor 3, a motor circuit board 4, a gear set, a main shaft 7, two claw shafts 11 and a fixing member, wherein the gear set includes a main gear 5 and a pinion gear 6, and the fixing member includes Steering gear cover 2 and steering gear base 1. The steering gear cover 2 and the steering gear base 1 are matched and connected, and a steering gear cavity is formed inside, and other components of the steering gear 22 are fixed in the cavity. The motor 3 is electrically connected to the motor circuit board 4 , the motor 3 is used to provide power, and the motor circuit board 4 is used to receive information from a remote control device and control the operation of the motor 3 . The gear set amplifies the torque of the force from the motor 3 and transmits it to the main shaft 7 to drive the main shaft 7 to rotate: the main gear 5 is coaxial with the motor 3 , with the The rotation of the motor 3 rotates, the pinion gear 6 is coaxial with the main shaft 7, and the pinion gear 6 is fixed on the middle section of the main shaft 7, the pinion gear 6 is meshed with the main gear 5, The auxiliary gear 6 is driven by the main gear 5 to rotate, and then drives the main shaft 7 to rotate. One end of the main shaft 7 is provided with a left-handed thread section 8, and the other end is provided with a right-handed thread section 9, and two brackets for supporting the main shaft 7 are arranged between the left-handed thread section 8 and the right-handed thread section 9. The rolling bearings 10 are fixedly connected with the pinion gear 6 between the two rolling bearings 10 . One end of the inner ring of the rolling bearing 10 is fixed on the shoulder of the main shaft 7, the other end is fixed by a thrust washer, and the outer ring of the rolling bearing 10 is fixed on the steering gear cover plate 2 and the steering gear base 1 on. The two claw shafts 11 are all provided with internally threaded holes, and the internally threaded holes are matched with the left-handed threaded section 8 and the right-handed threaded section 9 respectively. As the main shaft 7 rotates, the The claw shaft 11 moves on the left-hand thread segment 8 and the right-hand thread segment 9 respectively. With the forward rotation and reverse rotation of the motor 3, the rotation direction of the main shaft 7 also changes accordingly, so that the claw shaft 11 moves back and forth on the left-hand thread segment 8 and the right-hand thread segment 9 respectively, and The movement directions of the two claw shafts 11 are opposite. One end of the undercarriage 14 is provided with a claw 12 that is matched and connected with the claw shaft 11, and the claw 12 and the claw shaft 11 are in a snap fit mode, and the other end is provided with a claw for supporting the entire The supporting part 15 of the drone, on the landing gear 14, between the claw 12 and the supporting part 15, a fulcrum rotating shaft 13 is provided near the position of the claw 12, and the fulcrum rotating shaft 13 is fixed on the On the cover plate 2 of the steering gear, and perpendicular to the main shaft 7. The undercarriage 14 is arc-shaped, with the fulcrum shaft 13 as a critical point, the claw end and the supporting end of the undercarriage 14 bend. The claw 12, the fulcrum shaft 13 and the support portion 15 form a lever structure, the claw shaft 11 drives the claw 12 to move, and the undercarriage 14 can rotate around the fulcrum shaft 13, so that the The support part 15 moves, so as to realize the function that a steering gear controls the landing gear to be retracted or lowered at the same time, which improves the control performance of the UAV and reduces the number of motors used to control the retraction and retraction of the landing gear.

Example 2

As shown in Figure 3, the unmanned aerial vehicle of the present invention that uses the single steering gear to drive the landing gear retractable structure includes fuselage 18, four machine arms 19, motor 20, blade 21, cloud platform 16, camera 17 and above-mentioned A structure 23 for retractable landing gear driven by a single steering gear of an unmanned aerial vehicle. One end of each machine arm 19 is connected with the fuselage 18, and the other end of each machine arm 19 is connected with one of the blades 21. 21 is provided with a motor 20 for driving the rotation of the paddle 21 . One end of the pan-tilt 16 is connected to the bottom central area of the fuselage 18 , and the other end of the pan-tilt is connected to the camera 17 . The four machine arms 19 are not foldable, and are respectively connected to the left front, right front, left rear and right rear of the side of the fuselage 18 . The paddles 21 are foldable paddles. When the UAV is in a working state, the paddles 21 are unfolded; when the UAV is in a non-working state, the paddles 21 are folded away. Described video camera 17 is connected with described cloud platform 16 by two rotating shafts, by described one rotating shaft, described camera 17 carries out 360 ° rotation in vertical plane, by described another rotating shaft, described camera 17 Rotate 360° in the horizontal plane, so that the camera 17 can rotate at any angle in space. The platform 16 is perpendicular to the bottom surface of the fuselage 18, and the distance between the lens of the camera 17 and the bottom surface of the fuselage 18 is smaller than the distance between the bottom surface of the landing gear and the bottom surface of the fuselage 18. When the UAV is in working condition, the structure 23 for the retractable landing gear driven by the single steering gear of the UAV controls the deployment of the landing gear, that is, the landing gear is located at the deployment position II of the landing gear in FIG. 3 ; When the UAV is in the process of taking off or landing, the structure 23 for the single steering gear of the UAV to drive the landing gear retracts controls the landing gear to retract, that is, the landing gear is located at the landing gear in Fig. 3 Drop gear stowed position I.

The unmanned aerial vehicle with a landing gear retractable structure driven by a single steering gear of the present invention can land stably in various complex environments. Packing cost, and realize 360° shooting of the camera installed on the gimbal, so that the field of view is wider and the shooting effect is better.

All documents mentioned in this application are incorporated by reference in this application as if each were individually incorporated by reference. In addition, it should be understood that after reading the above teaching content of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

Claims (13)

1. A single steering gear drives the retractable structure of the landing gear, comprising: a fixing piece, a steering gear and a landing gear connected with the steering gear, wherein the steering gear includes a motor, a gear set, a main shaft and A claw shaft, wherein one end of the gear set is mechanically connected to the motor, and the other end of the gear set is mechanically connected to the main shaft; one end of the landing gear is provided with a shaft connected to the claw shaft The claw has a supporting part at the other end, and a fulcrum rotating shaft is provided between the claw and the supporting part on the landing gear, and the claw, the fulcrum rotating shaft and the supporting part form a lever structure . 2. The retractable structure of the landing gear driven by a single steering gear according to claim 1, wherein the fixing member comprises a steering gear cover plate and a steering gear base, and the steering gear cover plate and the steering gear base are Matched and connected, the steering gear cavity is formed inside. 3. The retractable structure of the landing gear driven by a single steering gear according to claim 1, wherein the gear set includes a main gear and an auxiliary gear, and the main gear is coaxial with the motor, and along with the The rotation of the motor rotates, the auxiliary gear is coaxial with the main shaft, and the auxiliary gear is fixed on the main shaft, the auxiliary gear is meshed with the main gear, and the auxiliary gear is in the main gear Driven to rotate, and then drive the main shaft to rotate. 4. The retractable structure driven by a single steering gear according to claim 1, wherein one end of the main shaft is provided with a left-handed thread section, and the other end is provided with a right-handed thread section, and in the left-handed thread section A rolling bearing for supporting the main shaft is provided between the right-hand thread section and the rolling bearing. One end of the inner ring of the rolling bearing is fixed on the shaft shoulder of the main shaft, and the other end is fixed by a thrust washer. 5. The retractable structure of the landing gear driven by a single steering gear according to claim 4, wherein the claw shaft is provided with an internally threaded hole, and the internally threaded hole is respectively connected to the left-handed thread section and the match the right-hand thread section described above. 6 . The retractable structure of the landing gear driven by a single steering gear according to claim 4 , wherein the number of the rolling bearings is two. 7 . 7. The retractable structure of landing gear driven by a single steering gear according to claim 2, characterized in that, the claw and the claw shaft are in a snap-fit mode, and the fulcrum shaft is adjacent to the claw, The fulcrum rotating shaft is fixed on the cover plate of the steering gear and is perpendicular to the main shaft. 8. The retractable structure of the landing gear driven by a single steering gear according to claim 7, wherein the landing gear is arc-shaped, with the fulcrum shaft as the critical point, the claw end of the landing gear and the support end bent. 9. The retractable structure of the landing gear driven by a single steering gear according to any one of claims 1 to 7, wherein the number of the landing gear is two. 10 . The structure for retractable undercarriage driven by a single steering gear according to any one of claims 1 to 7 , wherein the structure is provided with a motor circuit board, and the motor circuit board is electrically connected to the motor. 11 . 11. According to any one of claims 1 to 7, the single steering gear drives the retractable structure of the undercarriage, wherein the gear set drives the main shaft to rotate, and the two ends of the main shaft and the claws The inner ring of the shaft is provided with mutually matching threads, the claw shaft relatively moves along the axial direction of the main shaft, and when the main shaft rotates, the landing gear rotates around the fulcrum rotation shaft. 12. An unmanned aerial vehicle, comprising: a fuselage, an arm, a motor, a blade, a cloud platform, and a camera, characterized in that it also includes: the single steering gear drive according to any one of claims 1 to 11 The retractable structure of the landing gear. 13. The unmanned aerial vehicle according to claim 12, wherein the platform is perpendicular to the bottom surface of the fuselage, the distance between the lens of the camera and the bottom surface of the fuselage is h ₁ , and the landing gear The distance between the bottom surface of the fuselage and the bottom surface of the fuselage is h ₂ , where h ₁ ≤ _{h 2} .