CN110040251B

CN110040251B - Cargo landing gear and multi-rotor unmanned aerial vehicle

Info

Publication number: CN110040251B
Application number: CN201910429832.8A
Authority: CN
Inventors: 陈阳; 林泽彬
Original assignee: Longyan University
Current assignee: Longyan University
Priority date: 2019-05-22
Filing date: 2019-05-22
Publication date: 2024-06-18
Anticipated expiration: 2039-05-22
Also published as: CN110040251A

Abstract

The application provides a carrying undercarriage and a multi-rotor unmanned aerial vehicle, wherein the carrying undercarriage comprises a telescopic mechanism, a carrying support leg mechanism and a traction connection mechanism; this many rotor unmanned aerial vehicle includes unmanned aerial vehicle main part and year thing undercarriage. The object-carrying landing gear can adapt to grabbing objects with various different forms and sizes, meanwhile, the grabbing function of the objects and the supporting function of the landing gear are integrated in the same structure, the load of the multi-rotor unmanned aerial vehicle can be reduced at least to a certain extent, meanwhile, the grabbing action is realized only by means of telescopic movement of the telescopic mechanism, the gravity center of the object-carrying landing gear is changed only in the vertical direction, and compared with a mode of adopting a multi-joint mechanical arm, the flying stability of the multi-rotor unmanned aerial vehicle can be obviously improved.

Description

Cargo landing gear and multi-rotor unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a carrier landing gear and a multi-rotor unmanned aerial vehicle.

Background

Unmanned aerial vehicles (also called flying robots) can maneuver in wide airspace, so that the unmanned aerial vehicles are rapidly applied in civil fields such as forest fire prevention monitoring, large-area pesticide spraying of crops, air monitoring during exhibition, disaster situation measurement and control in disaster areas and the like. Along with the expansion of the potential application range requirements of the small unmanned aerial vehicle, the grabbing of the target object based on the rotor unmanned aerial vehicle is becoming one of the research directions of known research institutions at home and abroad.

However, the current rotary-wing unmanned aerial vehicle capable of grabbing objects mainly comprises one or more multi-joint manipulators arranged below a body of the rotary-wing unmanned aerial vehicle so as to complete the task of grabbing and moving special objects. Under the condition that the size of the rotorcraft is certain, the size and the weight of the multi-joint manipulator are strictly limited, so that the size and the opening and closing degree of a mechanical claw at the tail end of the manipulator are limited, and the size of a gripped object is limited; meanwhile, the added multi-joint manipulator increases the flight burden of the rotor unmanned aerial vehicle, when the rotor unmanned aerial vehicle acts in space, the gravity center of the rotor unmanned aerial vehicle can change in space, and interference moment is easy to generate, so that the rotor unmanned aerial vehicle is unstable in flight; in addition, the mechanical claw has single opening and closing action, and can only grasp objects with specific forms.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a cargo landing gear and a multi-rotor unmanned aerial vehicle, which are used for solving the problems of single form and size of a grabbing object and unstable flight of the existing rotor unmanned aerial vehicle.

To this end, according to a first aspect, there is provided in one embodiment a cargo landing gear comprising:

A telescoping mechanism;

The carrying support leg mechanisms are hinged to two sides of the telescopic mechanism and can be mutually matched to form a carrying part for carrying objects; and

The traction connection mechanism is hinged between the telescopic mechanism and the carrying support leg mechanism and is positioned at the outer side of a hinged joint of the carrying support leg mechanism and the telescopic mechanism, and when the telescopic mechanism performs telescopic motion, the traction connection mechanism can traction the carrying support leg mechanism to be close to or far away from each other.

As a further alternative of the cargo landing gear, the telescopic mechanism comprises an outer cylinder, an inner cylinder and a telescopic driving assembly, the outer cylinder has a hollow cavity, and the telescopic driving assembly is mounted on the outer cylinder and can act on the inner cylinder, so that the inner cylinder can move in the outer cylinder.

As a further alternative scheme of the object carrying undercarriage, the telescopic driving assembly comprises a telescopic driving motor and a screw rod connected with the telescopic driving motor, and the inner cylinder body is provided with a threaded hole matched with the screw rod;

The outer wall of the inner cylinder body is formed with a limiting convex strip along the axial protrusion of the inner cylinder body, and the inner wall of the outer cylinder body is formed with a limiting groove matched with the limiting convex strip along the axial recess of the outer cylinder body, so that the inner cylinder body can only move along the axial direction of the inner cylinder body.

As a further alternative of the carrier landing gear, the carrier leg mechanism includes a carrier base and an objective table connected to the carrier base, the carrier base has two hinge parts arranged at intervals, one hinge part is hinged to the telescopic mechanism, the other hinge part is hinged to the traction connection mechanism, and at least one side of the objective table protrudes out of the carrier base to form at least a part of the carrier part;

the object stage is of a plate-shaped structure, a supporting surface for supporting an object is formed on at least one side of the plate-shaped structure, and the supporting surface is an inclined surface;

The object stage further comprises an object carrying limiting plate, and the object carrying limiting plate and the supporting surface limit the position of an object together.

As a further alternative to the carrier landing gear, the carrier base is slidably connected to the stage;

the object carrying base comprises a first base and a second base which are oppositely arranged, grooves matched with the convex rails are formed in the first base and the second base, and the convex rails can move in the grooves, so that the object carrying base can move relatively to the object carrying base;

the object carrying support leg mechanism further comprises an object carrying driving assembly, and the object carrying driving assembly can act on the object stage and/or the object carrying base to realize sliding connection of the object carrying stage and/or the object carrying base;

the object carrying base is internally provided with a mounting groove, the object carrying driving assembly is arranged in the mounting groove and comprises an object carrying driving motor and an object carrying gear, the object carrying driving motor drives the object carrying gear to rotate, and the object stage is provided with a rack part meshed with the object carrying gear;

The object carrying driving assembly further comprises an object carrying connecting piece and an object carrying bearing, wherein the object carrying connecting piece is sleeved in the object carrying gear, one end of the object carrying connecting piece is connected with the object carrying driving motor, the other end of the object carrying connecting piece stretches into the object carrying bearing, and the part of the object carrying connecting piece sleeved in the object carrying gear forms a limiting structure capable of preventing the object carrying connecting piece from rotating with the object carrying gear.

As a further alternative of the cargo landing gear, the traction connection mechanism includes a traction member having through holes at both ends.

According to a second aspect, there is provided in one embodiment a multi-rotor unmanned aerial vehicle comprising:

An unmanned aerial vehicle main body; and

According to the first aspect of the invention, the object carrying undercarriage is arranged at the bottom of the unmanned aerial vehicle body.

As a further alternative of the multi-rotor unmanned aerial vehicle, the unmanned aerial vehicle body comprises a frame and a propeller assembly, a plurality of mutually spaced mounting ends are formed at edges of the frame, and the propeller assembly is mounted at the mounting ends.

As a further alternative of the multi-rotor unmanned aerial vehicle, the frame is in a cross-shaped structure, and four mounting ends are formed at the end part of the frame;

The multi-rotor unmanned aerial vehicle comprises four object carrying landing gears, and the four object carrying landing gears are correspondingly arranged at the four mounting ends;

the object carrying undercarriage is rotatably installed at the installation end, the unmanned aerial vehicle main body further comprises a rotary driving assembly, and the rotary driving assembly is installed on the frame and used for driving the object carrying undercarriage to rotate within a set range.

As a further alternative scheme of the multi-rotor unmanned aerial vehicle, the frame comprises an upper support frame and a lower support frame, the upper support frame and the lower support frame are stacked and arranged at intervals, the propeller component is installed on the upper support frame, the object carrying undercarriage is installed on the lower support frame, the rotary driving component comprises a rotary driving motor, a gear set, a transition rotating component and a pull rod which is lapped between the gear set and the transition rotating component, the rotary driving motor is installed on the upper support frame, an output shaft of the rotary driving motor extends into a space separated by the upper support frame and the lower support frame, the gear set is installed in the space separated by the upper support frame and the lower support frame and is connected with the output shaft, and the transition rotating component is connected with the object carrying undercarriage;

The gear sets comprise a central gear set, a first peripheral gear set and a second peripheral gear set which are meshed with the central gear set, at least two protrusions are arranged on the central gear set, at least one protrusion is arranged on each of the first peripheral gear set and the second peripheral gear set, at least one protrusion is arranged on each of the transition rotating assemblies, a lap joint hole capable of being buckled on the protrusion is formed in the end part of each pull rod, each pull rod comprises a first pull rod and a second pull rod which are lapped between the central gear set and the transition rotating assembly, a third pull rod which is lapped between the first peripheral gear set and the transition rotating assembly, and a fourth pull rod which is lapped between the second peripheral gear set and the transition rotating assembly;

The transition rotating assembly comprises a rotating piece capable of rotating in a space separated by the upper support frame and the lower support frame, a first flange and a second flange are arranged on the rotating piece, the first flange is provided with the protrusion, and the second flange is connected with the object carrying undercarriage.

The invention has the beneficial effects that:

According to the object carrying undercarriage and the multi-rotor unmanned aerial vehicle in the embodiments, the object carrying undercarriage is provided with the object carrying supporting leg mechanisms, the object carrying supporting leg mechanisms are hinged to two sides of the telescopic mechanisms, the object carrying supporting leg mechanisms can be mutually close to or far away from each other under the action of the telescopic mechanisms and the traction connection mechanisms to achieve grabbing actions, and can be mutually matched to form object carrying parts with various sizes and forms so as to adapt to grabbing of objects with various different forms and sizes.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a schematic diagram of an explosion structure of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 shows a schematic structural diagram of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention in a first positional relationship;

fig. 3 is another schematic structural view of the multi-rotor unmanned aerial vehicle according to the embodiment of the present invention in a first positional relationship;

fig. 4 shows a further schematic structural view of the multi-rotor unmanned aerial vehicle according to an embodiment of the present invention in a first positional relationship;

Fig. 5 shows still another schematic structural view of the multi-rotor unmanned aerial vehicle according to the embodiment of the present invention in the first positional relationship;

Fig. 6 shows a schematic structural diagram of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention in a second positional relationship;

fig. 7 shows another schematic structural view of the multi-rotor unmanned aerial vehicle according to the embodiment of the present invention in a second positional relationship;

Fig. 8 shows a further structural schematic diagram of the multi-rotor unmanned aerial vehicle according to an embodiment of the present invention in a second positional relationship;

FIG. 9 shows a schematic exploded view of a cargo landing gear provided in accordance with an embodiment of the present invention;

FIG. 10 illustrates a schematic structural view of an outer barrel of a cargo landing gear provided in accordance with an embodiment of the present invention;

FIG. 11 illustrates a schematic view of another angle of the outer barrel of the cargo landing gear provided in accordance with an embodiment of the present invention;

FIG. 12 shows a schematic structural view of an inner barrel of a cargo landing gear provided in accordance with an embodiment of the present invention;

FIG. 13 illustrates an exploded structural view of a carrier foot mechanism of a carrier landing gear provided in accordance with an embodiment of the present invention;

FIG. 14 illustrates a schematic structural view of a first base of a cargo landing gear provided in accordance with an embodiment of the present invention;

FIG. 15 illustrates a schematic structural view of a second base of a cargo landing gear provided in accordance with an embodiment of the present invention;

FIG. 16 shows a schematic structural view of a towing element of a cargo landing gear provided in accordance with an embodiment of the present invention;

Fig. 17 shows a schematic structural view of an upper support frame of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 18 shows a schematic structural view of another angle of an upper support frame of the multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 19 shows a schematic structural view of a lower support frame of the multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 20 is a schematic diagram showing an assembly structure of a rotary driving assembly and a lower support frame of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 21 shows an exploded view of a rotary drive assembly of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 22 shows a schematic structural diagram of a central gear set of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 23 illustrates an exploded view of a transitional rotary assembly of a multi-rotor unmanned aerial vehicle provided in accordance with an embodiment of the present invention;

Fig. 24 shows a schematic structural view of a first flange of the multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 25 shows a schematic structural view of a rotating member of the multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 26 shows a schematic diagram of the connection of the second flange of the multi-rotor unmanned aerial vehicle to the lower rotating member according to an embodiment of the present invention.

Description of main reference numerals:

100-cargo landing gear; 200-unmanned aerial vehicle body; 110-a telescoping mechanism; 120-a carrier foot mechanism; 130-traction connection mechanism; 140-connecting the cylinder; 101-a first cargo landing gear; 102-a second cargo landing gear; 103-a third cargo landing gear; 104-fourth cargo landing gear; 210-a frame; 220-propeller assembly; 230-a rotary drive assembly; 111-an outer cylinder; 112-an inner cylinder; 113-a telescopic drive motor; 114-a lead screw; 121-a carrying part; 122-a carrier base; 123-stage; 124-a load drive motor; 125-carrier gear; 126-carrier connection; 127-load bearing; 131-traction member; 211-mounting end; 212-upper support frame; 213-lower support frame; 231-a rotary drive motor; 232-a transitional rotation assembly; 233-a tie rod; 234-a sun gear set; 235-a first peripheral gear set; 236-a second peripheral gear set; 1111—a telescopic drive motor mounting hole; 1112-a telescopic driving motor locking hole; 1113-bearing mounting holes; 1114-limit grooves; 1121-a threaded hole; 1122-limit convex strips; 1221-a first mount; 1222-a second mount; 1231—a support surface; 1232-male rail; 1233-rack portion; 1234—load limiting plate; 1261-second limit raised strips; 2121-propeller assembly mounting slots; 2122-rotating electrical machine mounting groove; 2123-bearing mounting groove; 2131-mating mounting holes; 2321-a rotating member; 2322-a first flange; 2323-a second flange; 2324-transition swivel bearings; 2325-a third flange; 2331-first tie rod; 2332-a second tie rod; 2333-third tie rod; 2334-fourth tie rod; 2341-protrusions; 2342-a connecting shaft; 2343-sun gear; 2344-a connecting flange; 2345-center gear bearing; 1221 a-a carrier drive motor mounting slot; 1222 a-grooves; 1222 b-a load bearing mounting groove; 2321 a-upper swivel; 2321 b-lower swivel; s-hinge.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

Examples

The embodiment provides a many rotor unmanned aerial vehicle, and this many rotor unmanned aerial vehicle can be applied to various application occasion (not be limited to civilian), and it not only has ordinary rotor unmanned aerial vehicle's flight function, can also realize snatching and transporting the object of multiple different physique, size.

Referring to fig. 1-8 in combination, the multi-rotor unmanned aerial vehicle includes a cargo landing gear 100 and an unmanned aerial vehicle body 200, wherein the cargo landing gear 100 is mounted at the bottom of the unmanned aerial vehicle body 200.

Wherein, unmanned aerial vehicle main part 200 not only is as whole many rotor unmanned aerial vehicle's structural support, plays the effect in the aspect of guaranteeing whole many rotor unmanned aerial vehicle's structural strength, and this unmanned aerial vehicle main part 200 still plays the effect that produces the flying power simultaneously.

The unmanned aerial vehicle body 200 includes a frame 210 and a propeller assembly 220, wherein a plurality of mounting ends 211 spaced apart from each other are formed at edges of the frame 210, and the propeller assembly 220 is mounted at the mounting ends 211.

The propeller assembly 220 can adopt any existing propeller which can be applied, the propeller assembly 220 can be a single-structure propeller and is driven to rotate by other motors, the propeller assembly 220 can also be a propeller with a motor, at the moment, the propeller can automatically rotate, flight power can be generated when the propeller rotates, the multi-rotor unmanned aerial vehicle has a flight function, and the realization of the flight function of the multi-rotor unmanned aerial vehicle can refer to the related prior art and is not repeated herein.

Referring to fig. 9, in an embodiment of the present invention, a cargo landing gear 100 includes a telescopic mechanism 110, a cargo leg mechanism 120, and a traction connection mechanism 130.

Wherein the telescopic mechanism 110 is capable of outputting telescopic movements. The carrying leg mechanisms 120 are hinged at two sides of the telescopic mechanism 110, and the carrying leg mechanisms 120 can be mutually matched to form a carrying part 121 for carrying objects. The traction connection mechanism 130 is hinged between the telescopic mechanism 110 and the carrying leg mechanism 120 and is located outside the hinge joint of the carrying leg mechanism 120 and the telescopic mechanism 110, and when the telescopic mechanism 110 performs telescopic motion, the traction connection mechanism 130 can traction the carrying leg mechanism 120 to approach or depart from each other.

It should be noted that, when the telescopic mechanism 110 performs telescopic motion, it can drive the load leg mechanism 120 to approach or depart from a certain position (for example, the outer cylinder 111 described below), and during the approach or departure of the load leg mechanism 120 from a certain position, due to the existence of the traction connection mechanism 130 located outside the hinge joint of the load leg mechanism 120 and the telescopic mechanism 110, the traction connection mechanism 130 can generate a certain traction force on the load leg mechanism 120, so that the load leg mechanisms 120 can approach or depart from each other.

According to the object-carrying landing gear 100 in the embodiment of the application, due to the arrangement of the object-carrying support leg mechanisms 120, the object-carrying support leg mechanisms 120 are hinged to two sides of the telescopic mechanism 110, the object-carrying support leg mechanisms 120 can approach or separate from each other under the action of the telescopic mechanism 110 and the traction connection mechanism 130, the grabbing actions can be realized, and the object-carrying support leg mechanisms 121 with various different sizes and shapes can be mutually matched to form the object-carrying part 121 with various different shapes and sizes so as to adapt to grabbing objects with various different shapes and sizes.

Referring to fig. 1 and 9 in combination, in one embodiment, the telescopic mechanism 110 includes an outer cylinder 111, an inner cylinder 112, and a telescopic driving assembly, wherein the outer cylinder 111 has a hollow cavity, and the telescopic driving assembly is mounted on the outer cylinder 111 and can act on the inner cylinder 112 so that the inner cylinder 112 can move in the outer cylinder 111.

At this time, it will be understood that the aforementioned carrying leg mechanisms 120 are disposed at both sides of the inner cylinder 112, and the carrying leg mechanisms 120 can be moved closer to or farther from the outer cylinder 111 when the inner cylinder 112 moves within the outer cylinder 111.

For the structure of the outer cylinder 111 and the inner cylinder 112, a better way is to form a closer fit between them, thereby preventing foreign matters and the like from entering into the cavity of the outer cylinder 111, and effectively ensuring that the inner cylinder 112 can stably move in the outer cylinder 111 for a long time.

In one embodiment, the cavity of the outer cylinder 111 matches the outer dimensions of the inner cylinder 112. Specifically, the outer cylinder 111 may be configured to have a cylindrical shape, and the cavity thereof may be also configured to have a cylindrical shape, while the inner cylinder 112 may be configured to have a cylindrical shape, such that the inner cylinder 112 and the outer cylinder 111 form a relatively tight fit.

Of course, in other embodiments, the outer cylinder 111 and the inner cylinder 112 may be configured in other shapes, for example, square column structures with square cross sections, and even the outer cylinder 111 and the inner cylinder 112 may also be configured in a combination of cylindrical and square column structures, for example, the outer cylinder 111 has a square column structure, but the inner cavity is cylindrical, and the inner cylinder 112 may be configured in a cylindrical structure.

In one embodiment, the telescopic drive assembly includes a telescopic drive motor 113 and a screw 114 coupled to the telescopic drive motor 113, the inner barrel 112 having a threaded bore 1121 that mates with the screw 114.

Therefore, the screw 114 can be driven to rotate by the driving action of the telescopic driving motor 113, and the inner cylinder 112 can move along the screw 114.

Referring to fig. 9-11 in combination, a mounting platform is provided at the top of the outer cylinder 111, a telescopic driving motor mounting hole 1111 is provided on the mounting platform, the telescopic driving motor mounting hole 1111 reserves a space for mounting the telescopic driving motor 113, and a plurality of telescopic driving motor locking holes 1112 are provided around the telescopic driving motor mounting hole 1111, at this time, the telescopic driving motor 113 can be mounted on the mounting platform by fastening means such as screws, and an output shaft of the telescopic driving motor 113 can extend into the cavity of the outer cylinder 111 so as to be connected with the screw 114.

In addition, a bearing mounting hole 1113 for mounting a bearing is further formed in one side of the mounting platform, which is located on the cavity, and at this time, an output shaft of the telescopic driving motor 113 can be supported and protected by the bearing when rotating, so that a stable working environment is provided for the telescopic driving motor 113.

In addition, referring to fig. 12 in combination, in order to ensure that the inner cylinder 112 can stably move in the outer cylinder 111, a limit protrusion 1122 is formed on the outer wall of the inner cylinder 112 along the axial direction thereof, and a limit groove 1114 adapted to the limit protrusion 1122 is formed on the inner wall of the outer cylinder 111 along the axial direction thereof, so that the inner cylinder 112 can only move along the axial direction thereof.

In another embodiment, the telescopic driving assembly is not limited to the above-mentioned screw driving manner, for example, the telescopic driving assembly may be replaced by a telescopic cylinder, and the output shaft of the telescopic cylinder may be connected to the inner cylinder 112, so that the inner cylinder 112 may also move in the outer cylinder 111 under the telescopic action of the telescopic cylinder.

In other embodiments, a belt drive mechanism may even be provided between the outer cylinder 111 and the inner cylinder 112 in order to effect movement of the inner cylinder 112 within the outer cylinder 111, irrespective of the fitting relationship between them.

With continued reference to fig. 9-12, hinge portions S are provided at respective positions on both sides of the bottoms of the outer cylinder 111 and the inner cylinder 112, and for the outer cylinder 111, the hinge portions S are hinged to one end of the traction connection mechanism 130, while the other end of the traction connection mechanism 130 is hinged to the carrier leg mechanism 120, and meanwhile, the carrier leg mechanism 120 is also hinged to the hinge portion S of the inner cylinder 112, and a specific connection assembly relationship will be described in detail below.

Referring to fig. 13-15 in combination, in one embodiment, the carrier leg mechanism 120 includes a carrier base 122 and a stage 123 connected to the carrier base 122, the carrier base 122 has two hinge portions S disposed at intervals, one hinge portion S is hinged to the telescopic mechanism 110, the other hinge portion S is hinged to the traction connection mechanism 130, and at least one side of the stage 123 protrudes from the carrier base 122 to form at least a part of the carrier portion 121.

At this time, when the two carrying leg mechanisms 120 are close to or far from each other, the parts of the carrying table 123 protruding from the carrying base 122 can form the carrying part 121 together, and the size of the carrying part 121 can be adjusted along with the approaching or separating of the two carrying leg mechanisms 120, so as to adapt to grabbing of objects with different shapes and sizes.

Of course, a greater variety of carrier sections 121 may also be formed by the engagement of a greater number of carrier foot mechanisms 120, as described in greater detail herein below.

As described above, the object carrying landing gear 100 according to the embodiment of the present invention not only has the above-mentioned function of grabbing an object, but also plays a role of supporting a conventional landing gear, and therefore, the stage 123 according to the embodiment of the present invention preferably adopts a plate-shaped structure, and when the object carrying landing gear 100 plays a role of supporting, the stage 123 with a plate-shaped structure can increase the contact area with the ground, thereby improving the supporting effect.

Further, a supporting surface 1231 for supporting the object is formed on at least one side of the plate-like structure, and the supporting surface 1231 is a slope with a downward inclination, so that the space of the carrying portion 121 can be further increased, and the shape and size range of the object can be further improved.

On the other hand, in order to ensure the stability of the object on the stage 123, a load limiting plate 1234 may be further disposed on the stage 123, where the load limiting plate 1234 and the supporting surface 1231 together limit the position of the object.

In one embodiment, the carrier base 122 is slidably connected to the stage 123, so that multiple carrier portions 121 can be formed to accommodate gripping of objects of various shapes and sizes.

Referring to fig. 14-15 in combination, in one embodiment, the opposite sides of the stage 123 are raised with rails 1232, the carrier base 122 includes a first base 1221 and a second base 1222 that are opposite, each of the first base 1221 and the second base 1222 is provided with a groove 1222a that mates with the rail 1232, and the rail 1232 is movable within the groove 1222a, thereby enabling the stage 123 to move relative to the carrier base 122.

Of course, grooves 1222a may be provided on opposite sides of the stage 123, and a rail 1232 may be provided on the first base 1221 and the second base 1222, for the purpose of moving the two relative to each other.

To facilitate automated control and adjustment of the relative movement, the carrier foot mechanism 120 may further include a carrier drive assembly that can be applied to the stage 123 and/or the carrier base 122 to achieve a sliding connection therebetween.

In a specific embodiment, the carrier driving assembly includes a carrier driving motor 124 and a carrier gear 125, the carrier driving motor 124 drives the carrier gear 125 to rotate, the objective table 123 is provided with a rack portion 1233 meshed with the carrier gear 125, and thus the objective table 123 and the carrier base 122 can be automatically moved relatively by the cooperation of the carrier driving motor 124, the carrier gear 125 and the rack portion 1233.

In a more specific embodiment, the carrier driving assembly may further include a carrier connecting member 126 and a carrier bearing 127, wherein the carrier connecting member 126 is sleeved in the carrier gear 125, one end of the carrier connecting member is connected to the carrier driving motor 124, the other end of the carrier connecting member extends into the carrier bearing 127, and a limiting structure capable of preventing the carrier connecting member 126 and the carrier gear 125 from rotating relative to each other is formed by a portion of the carrier connecting member 126 sleeved in the carrier gear 125 and the carrier gear 125.

Therefore, the limiting function of the limiting structure and the supporting function of the carrier bearing 127 are added on the basis of the matching function of the carrier driving motor 124, the carrier gear 125 and the rack part 1233, so that the matching performance of the carrier gear 125 and the rack part 1233 can be improved, and the object stage 123 and the carrier base 122 can be stably used for a long time.

With continued reference to fig. 13, a second limiting protrusion 1261 is protruding from an outer wall of the carrier connecting member 126, and a second limiting groove (not shown in the drawing, similar to the limiting structure formed by the limiting protrusion 1122 and the limiting groove 1114 between the outer cylinder 111 and the inner cylinder 112) is disposed at an adapting position of an inner wall of the carrier gear 125, and at this time, due to the cooperation of the second limiting protrusion 1261 and the second limiting groove, no rotation gap exists between the carrier connecting member 126 and the carrier gear 125, which is significant in precisely controlling the movement of the carrier base 122 and the carrier stage 123.

The load base 122 has a mounting groove formed therein for mounting the load drive assembly, the mounting groove being composed of two parts, one of which is provided on the first base 1221 and the other of which is provided on the second base 1222.

Specifically, the first base 1221 is formed with a load driving motor mounting groove 1221a, the second base 1222 is formed with a load bearing mounting groove 1222b, and when the first base 1221 and the second base 1222 are coupled to each other (specifically, screw holes may be provided at opposite positions of the first base 1221 and the second base 1222, and then the two may be stably coupled by fastening means such as bolts or screws), the load driving motor mounting groove 1221a and the load bearing mounting groove 1222b enclose the mounting groove.

It should be noted that, the carrier driving motor 124 needs to be fixedly installed in the carrier driving motor installation groove 1221a, and for this purpose, in some embodiments, a locking hole (similar to the telescopic driving motor locking hole 1112 described above) is provided at an adaptive position of the carrier driving motor installation groove 1221a, and at this time, the carrier driving motor 124 may be fixedly installed by a fastener such as a screw.

In the embodiment where the carrier drive assembly is engaged by the carrier gear 125 and the rack portion 1233, it is understood that the carrier drive assembly can be applied to both the stage 123 and the carrier base 122, while in other embodiments where the carrier drive assembly is engaged, the carrier drive assembly can be applied to only the stage 123 or the carrier base 122.

For example, in some embodiments, the carrier drive assembly may be replaced by a telescoping cylinder that may be mounted on the stage 123 or on the carrier base 122, and that may drive the stage 123 to move when its output shaft is coupled to the stage 123 and that may drive the carrier base 122 to move when its output shaft is coupled to the carrier base 122.

Referring to fig. 1, 9 and 16 in combination, in the embodiment of the invention, the traction connection mechanism 130 includes a traction member 131 having through holes at two ends, one end of the traction member 131 is hinged to the hinge portion S of the outer cylinder 111 through one rotation shaft, the other end of the traction member 131 is hinged to one hinge portion S of the carrying base 122 through another rotation shaft, and the other hinge portion S of the carrying base 122 is hinged to the hinge portion S of the inner cylinder 112, and at this time, for the traction member 131, the traction member is located outside the hinge joint of the carrying leg mechanism 120 and the telescopic mechanism 110, so as to exert the traction effect of the traction member 131.

With continued reference to fig. 1-8, as described above, the frame 210 in the embodiment of the present invention has a cross-shaped structure, and four mounting ends 211 are formed at the end of the frame 210, and correspondingly, the propeller assemblies 220 are correspondingly arranged into four groups.

Based on this, in order to make the shape of the multi-rotor unmanned aerial vehicle compact and to make the multi-rotor unmanned aerial vehicle sufficiently symmetrical (the symmetry can counteract the disturbance moment, the description is made above), the multi-rotor unmanned aerial vehicle comprises four cargo landing gears 100, and the four cargo landing gears 100 are correspondingly mounted at the four mounting ends 211.

The landing gear 100 may be fixedly mounted at the mounting end 211, where the four landing gears 100 have a first positional relationship with the frame 210, and a first type of cargo portion may be formed between the four landing gears 100. Referring to fig. 2-5, when the first position relationship is shown, the four sets of object-carrying landing gears 100 are disposed in parallel, and the ends provided with the object-carrying limiting plates 1234 are disposed opposite (or not opposite), where the first object-carrying portion may be formed by one set of object-carrying landing gears 100, or may be formed by two sets of object-carrying landing gears 100, or may be formed by four sets of object-carrying landing gears 100. Preferably, to ensure uniform stress, the first type of carrier portion is preferably formed by four sets of carrier landing gear 100, and the carrier portion 121 may be formed by one end disposed opposite to the other (as shown in fig. 5) or by the space between the carrier leg mechanisms 120 (as shown in fig. 6).

In addition, when the load landing gear 100 is fixedly mounted at the mounting end 211, the four load landing gears 100 may also have a second positional relationship with the frame 210, and a second type of load portion may be formed between the four load landing gears 100. Referring to fig. 6 to 8, when the four sets of carrier landing gears 100 are in the second positional relationship, the ends of the four sets of carrier limiting plates 1234 (or may be disposed opposite to each other), and the carrier 121 may be formed by the opposite ends (as shown in fig. 6 and 7) or may be formed by the space between the carrier leg mechanisms 120 (as shown in fig. 8).

It should be further noted that referring to fig. 4, when in the first positional relationship, the landing gear 100 may grasp the object a having the handle. Specifically, when the multi-rotor unmanned aerial vehicle flies above the object a, the telescopic driving motor 113 is controlled to act, so that the two carrying leg mechanisms 120 of the carrying landing gear 100 are opened to a certain extent, then the multi-rotor unmanned aerial vehicle is controlled to descend to the position of crossing the lifting handle, and finally the telescopic driving motor 113 is controlled to act again, so that the two carrying leg mechanisms 120 of the carrying landing gear 100 are closed, and the grabbing work of the object a is realized.

Referring to fig. 5, when in the first positional relationship, the landing gear 100 may also grasp a columnar object B (not limited to a columnar object). Specifically, when the multi-rotor unmanned aerial vehicle flies above the object B, the carrier driving motor 124 is controlled to act so that the opposite carrier leg mechanisms 120 are far away from each other, then the multi-rotor unmanned aerial vehicle is controlled to descend to cross the object B, and finally the carrier driving motor 124 is controlled to act again so that the carrier leg mechanisms 120 are close to each other, thereby realizing the grabbing work of the object B. At the time of gripping, the object B can be rapidly gripped in place due to the arrangement of the inclined surface of the stage 123.

It should be further noted that while only gripping of objects a and B is shown, it is understood that the landing gear 100 may also grip objects of more configurations and sizes when in the first positional relationship. For example, in combination with the foregoing, when the end provided with the carrying limiting plate 1234 is not disposed opposite to, for example, disposed opposite to, the frame-shaped object C can be also grabbed by the combination of the carrying limiting plate 1234 and the supporting surface 1231, as long as the top of the frame-shaped object C has an edge for the carrying limiting plate 1234 and the supporting surface 1231 to extend into the frame-shaped object C. Of course, the grabbing operation of the frame object C may be performed by the other side of the object stage 123 protruding from the object carrier 122, which will not be described again.

It should be further noted that referring to fig. 6-7, the landing gear 100 may grasp an object D having a square shape when in the aforementioned second positional relationship. Specifically, when the multi-rotor unmanned aerial vehicle flies above the object D, the carrier driving motor 124 is controlled to act, so that the carrier leg mechanisms 120 of the carrier landing gear 100 are far away from each other, then the multi-rotor unmanned aerial vehicle is controlled to descend to cross the object D, and finally the carrier driving motor 124 is controlled to act again, so that the carrier leg mechanisms 120 are close to each other, thereby realizing the grabbing work of the object D, and at the moment, the object D can be quickly grabbed in place due to the inclined plane of the objective table 123.

Referring to fig. 8, when the object-carrying landing gear 100 is in the second positional relationship, the object-carrying landing gear 100 may also grasp a columnar object B (not limited to a columnar object), and at this time, only the telescopic driving motor 113 of the object-carrying landing gear 100 for grasping the object B may be controlled, and the specific grasping process is not repeated.

It should be further noted that although only gripping of objects B and D is shown, it is understood that the landing gear 100 may also grip objects of more configurations and sizes when in the first positional relationship. For example, in connection with the foregoing, when the end provided with the carrying limiting plate 1234 is disposed opposite to the end, the carrying landing gear 100 can also grasp the frame-shaped object C at this time, and the specific grasping process is not described again.

It should be noted that the description of the first and second positional relationships described above is merely for illustration, and it is understood that the four landing gear 100 and the frame 210 may have other more positional relationships to accommodate gripping objects with different shapes and sizes on the basis of ensuring symmetry. For example, taking the second positional relationship as an example, by changing the relative angle of the object-carrying landing gear 100, for example, in the state shown in fig. 8, rotating each object-carrying landing gear 100 by a certain angle, a third positional relationship (a position in the drawing) of enclosing a diamond shape between each object-carrying landing gear 100 can be formed, so that the multi-rotor unmanned aerial vehicle can also grasp the object E having the diamond shape.

The positional relationship of the carrier landing gear 100 as it is fixedly mounted at the mounting end 211 is not intended to be exhaustive, and it should be understood that a greater variety of positional relationships may be developed based on the first, second and third positional relationships described above to accommodate gripping of a greater variety of different forms and sizes of objects.

Even further, the frame 210 may be configured to have a shape of a Chinese character 'mi', so that more carrying landing gear 100 may be mounted on the frame 210 to adapt to grabbing objects with different shapes and sizes.

Preferably, the landing gear 100 is rotatably mounted at the mounting end 211, and the positional relationship described above (or not described) can be readily changed depending on the different configuration and size of the object.

To this end, in the practice of the present invention, the unmanned aerial vehicle body 200 further includes a rotary drive assembly 230, the rotary drive assembly 230 being mounted to the frame 210 for driving the cargo landing gear 100 to rotate within a set range.

Referring to fig. 1 and 17-19 in combination, the frame 210 includes an upper support frame 212 and a lower support frame 213, the upper support frame 212 and the lower support frame 213 are stacked and spaced apart, the propeller assembly 220 is mounted on the upper support frame 212, the landing gear 100 is mounted on the lower support frame 213, the rotation driving assembly 230 includes a rotation driving motor 231, a gear set, a transition rotation assembly 232, and a pull rod 233 overlapping between the gear set and the transition rotation assembly 232, the rotation driving motor 231 is mounted on the upper support frame 212, an output shaft thereof extends into a space separated by the upper support frame 212 and the lower support frame 213, the gear set is mounted in a space separated by the upper support frame 212 and the lower support frame 213 and is connected with the output shaft, and the transition rotation assembly 232 is connected with the landing gear 100.

Therefore, through the arrangement of the upper support frame 212 and the lower support frame 213, the propeller assembly 220 and the object carrying landing gear 100 can be separated, interference between the propeller assembly and the object carrying landing gear 100 is prevented, meanwhile, the gear set can be rotated through the action of the rotary driving motor 231, and then the pull rod 233 drives the transition rotary assembly 232 to rotate, so that the object carrying landing gear 100 is finally rotated.

Specifically, referring to fig. 17, a propeller assembly mounting groove 2121 is provided at the top of the upper support frame 212 and at the mounting end 211, and a locking hole is provided therein, so that the propeller assembly 220 can be fixedly mounted by using locking members such as screws. The rotary motor mounting groove 2122 is formed at the top and the center of the upper support frame 212, and the rotary motor mounting groove 2122 is a through hole, so that after the rotary driving motor 231 is mounted in the rotary motor mounting groove 2122, an output shaft of the rotary driving motor 231 can extend into a space separated by the upper support frame 212 and the lower support frame 213, and is convenient to be connected with a gear set. Likewise, a locking hole is provided in the rotary motor mounting groove 2122, so that the fixed mounting of the rotary driving motor 231 is facilitated.

Referring to fig. 18, a bearing mounting groove 2123 is formed at the bottom of the upper support frame 212 and located at the mounting end 211 and the central position, and a bearing can be disposed in the bearing mounting groove 2123, so that one end of the gear set and the transition rotation assembly 232, which is matched with the upper support frame 212, can be protected and better rotation performance can be obtained.

Referring to fig. 19, the mounting end 211 and the middle position of the lower support frame 213 are respectively provided with a mating mounting hole 2131 mating with the other end of the gear set and the transition rotation assembly 232, and the mating mounting hole 2131 is a through hole, so that the transition rotation assembly 232 can conveniently pass through to be connected with the landing gear 100.

In addition, opposite positioning locking holes are provided at the edge positions of the upper support 212 and the lower support 213, and at this time, the upper support 212 and the lower support 213 may be connected by bolts or other fasteners, so that the upper support 212 and the lower support 213 are integrated, and the rotation driving assembly 230 is conveniently and stably mounted on the frame 210.

Referring to fig. 1 and 20-21 in combination, the gear sets include a central gear set 234, a first peripheral gear set 235 and a second peripheral gear set 236 meshed with the central gear set 234, at least two protrusions 2341 are provided on the central gear set 234, at least one protrusion 2341 is provided on each of the first peripheral gear set 235 and the second peripheral gear set 236, at least one protrusion 2341 is provided on each of the transition rotation members 232, a lap joint hole (not shown) capable of being buckled on the protrusion 2341 is provided at an end of the tie rod 233, the tie rod 233 includes a first tie rod 2331 and a second tie rod 2332 overlapped between the central gear set 234 and the transition rotation member 232, a third tie rod 2333 overlapped between the first peripheral gear set 235 and the transition rotation member 232, and a fourth tie rod 2334 overlapped between the second peripheral gear set 236 and the transition rotation member 232.

The aforementioned rotation driving motor 231 is connected to the central gear set 234, when the rotation driving motor 231 operates, the central gear set 234, the first peripheral gear set 235 and the second peripheral gear set 236 rotate together, and the central gear set 234 and the first peripheral gear set 235 and the second peripheral gear set 236 rotate in opposite directions, so that the first pull rod 2331 and the second pull rod 2332 pull the corresponding transition rotating assembly 232 to rotate in one direction, and simultaneously the third pull rod 2333 and the fourth pull rod 2334 pull the corresponding additional transition rotating assembly 232 to rotate in opposite directions, so as to finally realize the switching of the carrier landing gear 100 between the respective positional relationships.

For ease of understanding, please refer to fig. 3 and 8 again, under the position shown in fig. 3, the rotation driving motor 231 is controlled to operate, so that the first carrier landing gear 101 and the second carrier landing gear 102 rotate clockwise, and the third carrier landing gear 103 and the fourth carrier landing gear 104 rotate counterclockwise, and finally the first positional relationship in the state of fig. 3 is shifted to the second positional relationship in the state of fig. 8.

Referring to fig. 22 in combination, the central gear set 234 includes a connecting shaft 2342, a central gear 2343, a connecting flange 2344 and a central gear bearing 2345, wherein the connecting shaft 2342 is sleeved in the central gear 2343, and a limit structure (similar to the limit structure between the carrier gear 125 and the carrier connecting member 126 in the foregoing description) can be formed therebetween, one end of the connecting shaft 2342 protrudes from the central gear 2343, one end of the protruding central gear 2343 is provided with a connecting hole for connecting with the output shaft of the foregoing rotation driving motor 231, and the protruding end can be matched with a bearing provided on the upper support frame 212. The wheel surface of the sun gear 2343 is symmetrically provided with two protrusions 2341, and the wheel surface of the sun gear 2343 is also provided with a threaded connection hole for realizing connection with the connection flange 2344, so that the connection flange 2344 and the sun gear 2343 can be fixedly connected through fasteners such as screws. The connecting flange 2344 extends beyond a shaft end that mates with the sun gear bearing 2345 in addition to providing a threaded connection hole for connection with the sun gear 2343. The center gear bearing 2345 is disposed within the mating mounting hole 2131 of the lower support bracket 213.

The first and second peripheral gear sets 235, 236 are identical in basic construction to the central gear set 234, except that only one protrusion 2341 is provided for the first and second peripheral gear sets 235, 236.

Referring to fig. 20 and 23-26 in combination, the transition swivel assembly 232 includes a swivel member 2321 rotatable within a space separated by the upper support frame 212 and the lower support frame 213, a first flange 2322 and a second flange 2323 are provided on the swivel member 2321, a protrusion 2341 is provided on the first flange 2322, and the second flange 2323 is connected to the load landing gear 100.

The rotating member 2321 is in a cylindrical structure, the upper end of the rotating member 2321 extends out of the first flange 2322, the end of the rotating member 2321 extending out of the first flange 2322 is matched with a bearing arranged on the upper supporting frame 212, the lower end of the rotating member 2321 is connected to the upper surface of the second flange 2323, and the second flange 2323 is connected with the object carrying landing gear 100.

In addition, the transition swivel assembly 232 may also include a transition swivel bearing 2324, the transition swivel bearing 2324 being mounted within a mating mounting hole 2131 of the lower support bracket 213.

To facilitate assembly, the rotating member 2321 may be composed of two parts, such as an upper rotating member 2321a and a lower rotating member 2321b, where the upper rotating member 2321a passes through the first flange 2322 and may form a limiting structure therebetween (similar to the limiting structure between the carrier gear 125 and the carrier connection 126 described above), the upper rotating member 2321a is then connected to the lower rotating member 2321b via the third flange 2325, and finally the second flange 2323 is mounted on the bottom of the lower rotating member 2321 b.

Of course, in some embodiments, the lower swivel 2321b may also be integrally formed with the second flange 2323, which may further simplify assembly.

In addition, referring to fig. 9, in order to facilitate the connection between the second flange 2323 and the landing gear 100, the landing gear 100 may further include a connection cylinder 140, where one end of the connection cylinder 140 is connected to the top of the outer cylinder 111, and the other end is connected to the second flange 2323.

Finally, it should be noted that, in the embodiment of the present invention, various motors, such as the telescopic driving motor 113, the object carrying driving motor 124, and the rotary driving motor 231, may be any motors in the prior art, which may be stepper motors or servo motors, and the motors are disposed on the entire multi-rotor unmanned aerial vehicle in a state of being symmetrical about the center point of the multi-rotor unmanned aerial vehicle, so that interference moments generated by the motors can cancel each other, and the center of gravity of the object carrying leg mechanism 120 is only changed in the vertical direction, thereby significantly improving the flight stability of the multi-rotor unmanned aerial vehicle.

In addition, the hinge portion S referred to herein may be formed by two tabs for the outer cylinder 111, the inner cylinder 112, and the carrier base 122 (certainly, for the hinge portion S of the carrier base 122 that needs to be hinged to the hinge portion S of the inner cylinder 112, the hinge portion S of the carrier base 122 may also be a single tab), where the two tabs should be provided with a rotation shaft hole for mounting a rotation shaft; for the traction member 131, the hinge portion S is formed by through holes at two ends of the traction member 131, and at this time, the hinge between the carrying leg mechanism 120 and the telescopic mechanism 110, and the hinge between the traction connection mechanism 130 and the telescopic mechanism 110, and the hinge between the carrying leg mechanism 120 can be realized through the cooperation of the through holes, the rotating shaft and the two lugs.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. Cargo landing gear, its characterized in that includes:

The telescopic mechanism comprises an outer cylinder body, an inner cylinder body and a telescopic driving assembly, wherein the outer cylinder body is provided with a hollow cavity, and the telescopic driving assembly is arranged on the outer cylinder body and can act on the inner cylinder body so that the inner cylinder body can move in the outer cylinder body;

The traction connection mechanism is hinged between the telescopic mechanism and the carrying support leg mechanism and is positioned at the outer side of a hinged joint of the carrying support leg mechanism and the telescopic mechanism, and when the telescopic mechanism performs telescopic motion, the traction connection mechanism can draw the carrying support leg mechanism to be close to or far away from each other;

The object carrying support leg mechanism comprises an object carrying base and an object stage connected with the object carrying base, the object carrying base is provided with two hinge parts which are arranged at intervals, one hinge part is hinged with the telescopic mechanism, the other hinge part is hinged with the traction connection mechanism, and at least one side of the object stage protrudes out of the object carrying base to at least form a part of the object carrying part; the object stage is of a plate-shaped structure, a supporting surface for supporting an object is formed on at least one side of the plate-shaped structure, and the supporting surface is an inclined surface; the object stage further comprises an object carrying limiting plate, and the object carrying limiting plate and the supporting surface limit the position of an object together;

The object carrying base is connected with the object stage in a sliding manner; the object carrying base comprises a first base and a second base which are oppositely arranged, grooves matched with the convex rails are formed in the first base and the second base, and the convex rails can move in the grooves, so that the object carrying base can move relatively to the object carrying base; the object carrying support leg mechanism further comprises an object carrying driving assembly, and the object carrying driving assembly can act on the object stage and/or the object carrying base to realize sliding connection of the object carrying stage and/or the object carrying base; the object carrying base is internally provided with a mounting groove, the object carrying driving assembly is arranged in the mounting groove and comprises an object carrying driving motor and an object carrying gear, the object carrying driving motor drives the object carrying gear to rotate, and the object stage is provided with a rack part meshed with the object carrying gear; the object carrying driving assembly further comprises an object carrying connecting piece and an object carrying bearing, wherein the object carrying connecting piece is sleeved in the object carrying gear, one end of the object carrying connecting piece is connected with the object carrying driving motor, the other end of the object carrying connecting piece stretches into the object carrying bearing, and the part of the object carrying connecting piece sleeved in the object carrying gear forms a limiting structure capable of preventing the object carrying connecting piece from rotating with the object carrying gear.

2. The cargo landing gear of claim 1, wherein the telescoping drive assembly comprises a telescoping drive motor and a lead screw coupled to the telescoping drive motor, the inner barrel having a threaded bore matching the lead screw;

3. A landing gear according to claim 1, wherein the towing attachment mechanism comprises a towing element having through holes at both ends.

4. Many rotor unmanned aerial vehicle, its characterized in that includes:

An unmanned aerial vehicle main body; and

A cargo landing gear according to any one of claims 1 to 3, mounted at the bottom of the unmanned aerial vehicle body.

5. The multi-rotor unmanned aerial vehicle of claim 4, wherein the unmanned aerial vehicle body comprises a frame and a propeller assembly, the edge of the frame being formed with a plurality of spaced apart mounting ends, the propeller assembly being mounted at the mounting ends.

6. The multi-rotor unmanned aerial vehicle of claim 5, wherein the frame has a cross-shaped structure, and four mounting ends are formed at the end of the frame;

7. The multi-rotor unmanned aerial vehicle of claim 6, wherein the frame comprises an upper support frame and a lower support frame, the upper support frame and the lower support frame are stacked and arranged at intervals, the propeller assembly is mounted on the upper support frame, the cargo landing gear is mounted on the lower support frame, the rotary driving assembly comprises a rotary driving motor, a gear set, a transition rotating assembly and a pull rod overlapped between the gear set and the transition rotating assembly, the rotary driving motor is mounted on the upper support frame, an output shaft of the rotary driving motor extends into a space separated by the upper support frame and the lower support frame, the gear set is mounted in the space separated by the upper support frame and the lower support frame and is connected with the output shaft, and the transition rotating assembly is connected with the cargo landing gear;

The transition rotating assembly comprises a rotating piece capable of rotating in a space separated by the upper support frame and the lower support frame, a first flange and a second flange are arranged on the rotating piece, the first flange is provided with the protrusion, and the second flange is connected with the object carrying landing gear.