CN111038719A - Many rotors plant protection unmanned aerial vehicle undercarriage - Google Patents
Many rotors plant protection unmanned aerial vehicle undercarriage Download PDFInfo
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- CN111038719A CN111038719A CN201911420090.9A CN201911420090A CN111038719A CN 111038719 A CN111038719 A CN 111038719A CN 201911420090 A CN201911420090 A CN 201911420090A CN 111038719 A CN111038719 A CN 111038719A
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- unmanned aerial
- aerial vehicle
- supporting
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- 239000000725 suspension Substances 0.000 claims abstract description 29
- 229910001294 Reinforcing steel Inorganic materials 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 239000003814 drug Substances 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 6
- 229910003460 diamond Inorganic materials 0.000 description 14
- 239000010432 diamond Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 230000003014 reinforcing effect Effects 0.000 description 8
- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical compound Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 description 7
- 230000005484 gravity Effects 0.000 description 5
- 230000006378 damage Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- -1 seed Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Toys (AREA)
Abstract
The invention discloses a multi-rotor-wing plant protection unmanned aerial vehicle undercarriage, which relates to the technical field of agriculture and forestry planting and processing, and comprises a bearing base, a suspension rod and a movable block, wherein a first sliding groove is formed in the top end of a top support column, the suspension rod is embedded into the first sliding groove in a sliding fit mode, a first spring is installed at the top end of the suspension rod embedded into the first sliding groove, the suspension rod is of an L-shaped rod structure, the suspension rod is horizontally arranged, a clamping block protruding downwards is arranged at the end part of the suspension rod extending out of the top support column, and a second sliding groove of a square structure is formed in the inner side wall of the clamping block. According to the invention, the nut is driven to move upwards by the rotating motor, after the nut moves upwards, the distance between the nut and the cylindrical sleeve is gradually increased, and when the diamond-shaped frame is contracted, the unmanned aerial vehicle takes off, and after the diamond-shaped frame is contracted and folded, the area exposed in the air is reduced, and the resistance of the unmanned aerial vehicle in flying is reduced.
Description
Technical Field
The invention relates to the technical field of agriculture and forestry planting and processing, in particular to a multi-rotor-wing plant protection unmanned aerial vehicle undercarriage.
Background
Plant protection unmanned aerial vehicle, also called unmanned vehicles, as the name implies is the unmanned aircraft who is used for agriculture and forestry plant protection operation, and this type unmanned aircraft comprises flight platform (fixed wing, helicopter, multiaxis aircraft), navigation flight control, spraying mechanism triplex, flies through ground remote control or navigation and controls, realizes spraying the operation, can spray medicament, seed, powder etc..
Present, unmanned aerial vehicle sprays the pesticide in the farmland, because seedling or the plant in the farmland can be long high gradually along with the time lapse, long back at crops, unmanned aerial vehicle sprays in the high altitude in farmland after, need descend, because the crops in farmland are too high, unmanned aerial vehicle's undercarriage height is not enough, lead to easy being filled in the plant seam in farmland after unmanned aerial vehicle descends, when unmanned aerial vehicle descends, unmanned aerial vehicle's wing is beaten on crops body easily at high-speed pivoted in-process, harm crops, and high-speed pivoted wing and crops contact, make the wing rupture easily.
Present, a many rotors plant protection unmanned aerial vehicle that patent number CN201720858936.7 discloses, many rotors plant protection unmanned aerial vehicle include plant protection machine body, system of giving medicine to poor free of charge and flight control system, plant protection machine body include the frame main part, with undercarriage that frame main part bottom is connected and with the cantilever mechanism that the side of frame main part is connected, the undercarriage includes the bracing piece that two pairs of symmetries and slope set up, connect with two enhancement horizontal poles to the bracing piece and connect adjacent and different right respectively two fixed horizontal poles of bracing piece, the system of giving medicine to poor free of charge include the medical kit and with the medicine spraying mechanism that the medical kit is connected, the medical kit includes the casing and by two recesses of the sunken formation of casing, the medical kit is located undercarriage and two fixed horizontal pole corresponds two the tank bottom of recess. This many rotor plant protection unmanned aerial vehicle's medical kit improves for bearing the formula from the carry formula, and medical kit weight bears on the undercarriage, and the focus reduces for many rotor plant protection unmanned aerial vehicle's flight and the stationarity of taking off and landing increase.
The baking finish house disclosed by the patent still has some defects in practical use, and the specific defects are as follows:
one, current, crops in farmland can increase gradually along with the growth in time, and current, and unmanned aerial vehicle support frame height is unadjustable, and along with crops length is high, unmanned aerial vehicle is buried easily in the crops gap in farmland when descending, is difficult to find unmanned aerial vehicle.
Secondly, the soil on the field Gunn around the farmland is built up uneven in height, water is frequently irrigated in the farmland, the surface of the field Gunn in the farmland is wet and slippery, the undercarriage at the bottom of the unmanned aerial vehicle is in a horizontally arranged rod shape, the undercarriage is prone to inclining and falling on the surface of the wet and slippery field Gunn, and wing wings of the unmanned aerial vehicle are made to hit on the ground to cause wing breakage.
Disclosure of Invention
The invention aims to provide a multi-rotor plant protection unmanned aerial vehicle undercarriage, which solves the technical problems that an unmanned aerial vehicle is easily buried in crop gaps of farmlands when landing, and the unmanned aerial vehicle falls on a wet and slippery gunn surface and is easily inclined and inclined when landing, so that wings of the unmanned aerial vehicle hit the ground and are broken.
The technical problem to be solved by the invention is realized by adopting the following technical scheme: a multi-rotor-wing plant protection unmanned aerial vehicle undercarriage comprises a bearing base, a suspension rod and a movable block, wherein the bearing base is of a square plate structure, a top support column which is upright at the top end of the bearing base is fixed at the top end of the bearing base, a first sliding groove is formed in the top end of the top support column, the suspension rod is embedded into the first sliding groove in a sliding fit mode, a first spring is installed at the top end of the suspension rod embedded into the first sliding groove, the suspension rod is of an L-shaped rod structure and horizontally arranged, a clamping block which protrudes downwards is arranged at the end part of the suspension rod extending out of the top support column, a second sliding groove of a square structure is formed in the inner side wall of the clamping block, a sliding clamping block is embedded into the second sliding groove, and a second spring is installed on the side wall of the clamping block embedded into the second sliding groove;
a quadrangular prism-shaped main supporting rod is fixed at the bottom end of the bearing base and close to four corner positions respectively, a quadrangular prism-shaped second supporting rod is hinged to the bottom end of the main supporting rod, a quadrangular prism-shaped third supporting rod is hinged to the bottom end of the second supporting rod, a cylindrical fixing column is fixed at the bottom end of the third supporting rod, and a conical tip with a conical structure is arranged at the bottom end of the fixing column;
a linear push rod motor is arranged on the inner wall of each main support rod, a hinge sleeve is arranged at the hinge position of the main support rod and the second support rod, a first connecting plate is fixed at the top end of the second support rod, the top end of a push rod of the linear push rod motor is fixed on the first connecting plate, a plurality of support arms which are fixed at equal intervals are arranged on the outer wall of the second support rod, the support walls are cylindrical, a through shaft hole is formed in the center of each cylindrical support wall, the shaft holes of every two adjacent support walls are coaxial, a steel bar is arranged in each shaft hole of each support wall and is in sliding connection with each shaft hole of each support wall, a bent arc-shaped rod is arranged at the top end of each steel bar, a roller is arranged at the top end of each arc-shaped rod of each steel bar, a hinge sleeve is arranged at the hinge position of the third support rod and the second support, the middle part of the top end of the second connecting plate is provided with a sliding chute with a U-shaped structure, guide grooves are symmetrically formed in two sides of the inner wall of the sliding chute, the movable block is a square block, protruding limit pins are symmetrically formed in two sides of the movable block, the limit pins on two sides of the movable block are embedded into the guide grooves in a sliding fit mode, a through threaded hole is formed in the middle part of the movable block, and the bottom end of the reinforcing steel bar is fixed in the threaded hole of the movable block in a threaded fit mode;
a plurality of article brackets which are distributed at equal intervals are arranged in the middle of the bottom end of the bearing base, each article bracket is of a U-shaped structure, and the opening of each article bracket is upwards fixed at the bottom end of the bearing base; a medicine box is arranged at the top end of the article bracket.
As a preferred technical scheme of the invention, the fixed column comprises adjusting holes arranged inside the fixed column, the adjusting holes are circular holes, square holes are arranged on the outer wall of each adjusting hole and distributed at equal intervals according to the circumference, each square hole is communicated with the adjusting hole inside the fixed column, a rotary motor is installed at the top end of each adjusting hole, a rotary output shaft extends out of the bottom end of each rotary motor, a threaded rod is arranged at the bottom end of each output shaft, the bottom end of each threaded rod is fixed in a fixed sleeve in a clamping manner, and the fixed sleeve is installed at the bottom end of each adjusting hole;
the outer wall of the threaded rod is provided with a disc-shaped nut in a threaded fit mode, the outer wall of the nut is provided with an ear plate corresponding to the position of the square hole, a disc-shaped cylindrical sleeve is arranged below the nut, the axis position of the cylindrical sleeve is provided with a through round hole, the round hole of the cylindrical sleeve is sleeved on the outer wall of the threaded rod, the outer wall of the cylindrical sleeve is provided with the ear plate corresponding to the position of the square hole, the outer wall of the nut is provided with diamond-shaped frames matched with the square hole in number, each diamond-shaped frame penetrates through the square hole and extends out of the fixed column, and supporting legs are arranged at the top end of the diamond-shaped frame extending;
the diamond-shaped frame is formed by hinging a plurality of square sheet-shaped hinging rods in a crossed manner, one hinging rod of the diamond-shaped frame is hinged on an ear plate on the outer wall of the nut, and the other hinging rod of the diamond-shaped frame is hinged on an ear plate of the cylindrical sleeve.
As a preferred technical scheme of the invention, the supporting leg comprises a rubber pad and convex points, the supporting leg is in a cone structure, the diameter of the bottom end of the supporting leg is larger than that of the top end of the supporting leg, the rubber pad is fixed at the bottom end of the supporting leg, the bottom end of the rubber pad is provided with a plurality of convex points which are distributed at equal intervals, and each convex point is in a spherical shape at the bottom end of the rubber pad.
As a preferred technical solution of the present invention, a support sleeve is installed in the hole of the adjustment hole, a through shaft hole is provided at an axial center position of the support sleeve, and the output shaft is installed in the shaft hole of the support sleeve through a rolling bearing.
As a preferable technical scheme of the invention, the bottom of the cylindrical sleeve is provided with a third spring which is sleeved on the outer wall of the threaded rod.
As a preferable technical scheme of the invention, the rollers are in rolling contact with the outer wall of the main support rod.
Compared with the prior art, the invention at least comprises the following beneficial effects:
firstly, the main supporting rods are arranged at four corner positions at the bottom end of the bearing base, the second supporting rod and the third supporting rod are driven to fold and unfold by the linear push rod motor, when the unmanned aerial vehicle is unfolded, the second supporting rod is driven to swing downwards by the linear push rod motor, the third supporting rod naturally droops by gravity, the third supporting rod is supported to be upright by the reinforcing steel bar, the conical tip below the third supporting rod is pricked into the wet and slippery ground, the landing gear of the unmanned aerial vehicle is firmly and reliably landed on the ground, through folding, the bearing base can be hinged with the plurality of supporting rods, the length of the bottom supporting leg of the bearing base is increased, the unmanned aerial vehicle is lifted, the unmanned aerial vehicle is higher than the ground, the unmanned aerial vehicle is prevented from falling into gaps of crops when landing, wings of the unmanned aerial vehicle touch the crops to break when landing, the wings damage the crops, and when the unmanned aerial vehicle, the gyro wheel on reinforcing bar top carries out roll connection with the main tributary vaulting pole outer wall, lateral wall through the main tributary vaulting pole promotes the reinforcing bar and slides in the shaft hole of support wall, the reinforcing bar bottom promotes the inside folding of third bracing piece, it is firm reliable after folding to make the third bracing piece, unmanned aerial vehicle is in flight in-process about not indiscriminate pendulum, improve the structural firmness after this undercarriage is folded, fix on unmanned aerial vehicle through the bearing base after folding, make unmanned aerial vehicle carry this undercarriage at the flight in-process and carry out the in-process reduction windage of flying.
The telescopic diamond frame is arranged at the bottom end of the fixed column, when the unmanned aerial vehicle lands, the conical tip is pricked into soft ground with a silt belt, the conical tip can be phagocytized downwards by the silt due to the gravity above the conical tip, the contact area between the supporting legs and the ground is increased by extending the diamond frames distributed on the outer wall of the fixed column at equal intervals, the fixed column is prevented from continuously sinking in the silt, the sunk conical tip enables the unmanned aerial vehicle to be difficult to pull up during take-off, the threaded rod is driven to rotate through the rotating motor, the nut moves downwards to push the cylindrical sleeve at the bottom to move downwards synchronously, the diamond frame moves downwards outside the fixed column, the supporting legs at the top end of the diamond frame push the ground, the fixed column is pulled upwards from the ground with the silt due to the counter force of the diamond frame, and the resistance of the unmanned aerial vehicle during take-off when.
The nut is driven to move upwards through the rotating motor, after the nut moves upwards, the distance between the nut and the cylindrical sleeve is gradually increased, and when the diamond-shaped frame is contracted, the unmanned aerial vehicle takes off, and after the diamond-shaped frame is contracted and folded, the area exposed in the air is reduced, and the resistance of the unmanned aerial vehicle during flying is reduced.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic front view of a multi-rotor plant protection unmanned aerial vehicle undercarriage according to the present invention;
FIG. 2 is a schematic structural view of the second support rod hinged to the third support rod according to the present invention, wherein the bottom end of the reinforcing steel bar is fixed in the threaded hole of the movable block;
fig. 3 is a schematic structural view of the second support rod and the third support rod of the present invention after being folded at two sides of the unmanned aerial vehicle;
FIG. 4 is a schematic cross-sectional view of the diamond frame of the present invention folded in the fixed post;
FIG. 5 is a schematic cross-sectional view of the diamond frame of the present invention as it extends through a fixed post;
FIG. 6 is a top view of the diamond frame of the present invention after the diamond frame is extended outside the fixed post
FIG. 7 is a schematic view of the rubber pad of the present invention mounted on the bottom end of a support leg;
FIG. 8 is a top view of the suspension rod of the present invention mounted to the bottom of an unmanned aerial vehicle;
in the figure; 1. a bearing base, 2, a top supporting column, 3, a first sliding groove, 4, a hanging rod, 5, a first spring, 6, a clamping block, 7, a second spring, 8, a second sliding groove, 9, a clamping block, 10, a main supporting rod, 11, a linear push rod motor, 12, a roller, 13, a first connecting plate, 14, a second supporting rod, 15, a steel bar, 16, a supporting arm, 17, a second connecting plate, 1701, a hinged sleeve, 1702, a guide groove, 1703, a sliding groove, 1704, spacing pin, 1705, movable block, 18, fixed column, 1801, rotary motor, 1802, regulation hole, 1803, output shaft, 1804, threaded rod, 1805, nut, 1806, quad slit, 1807, otic placode, 1808, rhombus, 1809, supporting leg, 1810, cylindrical sleeve, 1811, third spring, 1812, fixed sleeve, 1813, supporting sleeve, 19, toper point, 20, article bracket, 21, medical kit, 22, third bracing piece.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
It will be understood that when an element is referred to as being "secured to" another element, it can be on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for illustrative purposes only and do not represent the only embodiments.
Please refer to fig. 1-8, which are schematic diagrams illustrating an overall structure of a landing gear of a multi-rotor plant protection unmanned aerial vehicle.
A multi-rotor-wing plant protection unmanned aerial vehicle undercarriage comprises a bearing base 1, suspension rods 4 and movable blocks 1705, wherein the bearing base 1 is installed at the bottom end of an unmanned aerial vehicle body, the bearing base 1 is of a square plate structure, a top supporting column 2 which is upright on the top end of the bearing base 1 is fixed at the top end of the bearing base 1, a plurality of top supporting columns 2 are arranged, two adjacent top supporting columns 2 are equidistantly distributed at the top end of the top supporting column 2, a first sliding groove 3 is formed in the top end of each top supporting column 2, the suspension rods 4 are embedded into the first sliding grooves 3 in a sliding fit mode, a first spring 5 is installed at the top end of each suspension rod 4 embedded into the first sliding groove 3, the suspension rods 4 are of an L-shaped rod structure, the suspension rods 4 are horizontally arranged, downwardly-protruding clamping blocks 9 are arranged at the end parts of the suspension rods 4 extending out of the tops of the top supporting columns 2, the clamping blocks 9 are four prismatic blocks of the square structure, the clamping blocks 9 and the, a second sliding chute 8 with a square structure is formed in the inner side wall of the clamping block 9, a sliding clamping block 6 is embedded in the second sliding chute 8, and a second spring 7 is mounted on the side wall of the clamping block 6 embedded in the second sliding chute 8;
the retractable suspension rod 4 is fixed at the top end of the bearing base 1, the suspension rod 4 is connected to a chassis of the unmanned aerial vehicle in a clamped mode, the undercarriage can be conveniently installed on the unmanned aerial vehicle, the first spring 5 is installed at the top end of the suspension rod 4 embedded in the first sliding groove 3, the suspension rod 4 is enabled to perform self-adaptive clamping on the chassis of the unmanned aerial vehicle through the first spring 5, the undercarriage is simple to install and easy and convenient to operate, the undercarriage can be installed on unmanned aerial vehicles of different sizes, the clamping block 9 protruding downwards is arranged at the end portion of the suspension rod 4, the clamping block 9 is provided with the elastic clamping block 6, the inner wall of the top end of the unmanned aerial vehicle is clamped through the clamping block 6, and the clamping block 6 is matched with the suspension rod 4 to firmly install the bearing base 1 on the chassis of the unmanned aerial vehicle.
A quadrangular main supporting rod 10 is fixed at the bottom end of the bearing base 1 and close to four corner positions respectively, a quadrangular second supporting rod 14 is hinged at the bottom end of the main supporting rod 10, a quadrangular third supporting rod 22 is hinged at the bottom end of the second supporting rod 14, a cylindrical fixing column 18 is fixed at the bottom end of the third supporting rod 22, and a conical tip 19 is arranged at the bottom end of the fixing column 18;
a linear push rod motor 11 is installed on the inner wall of each main support rod 10, a hinge sleeve 1701 is arranged at the hinge joint of the top end of the second support rod 14 and the second support rod 14, the hinge sleeve 1701 is hinged with a pin rod at the bottom end of the main support rod 10, a first square plate-shaped connecting plate 13 is arranged on the outer wall of the hinge sleeve 701, a chute 1703 with a U-shaped structure is arranged in the middle of the top end of the first connecting plate 13, guide grooves 1702 are symmetrically arranged on two sides of the inner wall of the chute 1703, the movable block 1705 is a square block, raised limit pins 1704 are symmetrically arranged on two sides of the movable block 1705, the limit pins 1704 on two sides of the movable block 1705 are embedded into the guide grooves 1702 in a sliding fit manner, a through threaded hole is arranged in the middle of the movable block 1705, the first connecting plate 13 is fixed on the top end of the second support rod 14 and positioned on the outer wall of the hinge sleeve 1701, and the, when the linear push rod motor 11 pushes the second support rod 14 to swing upwards, the movable block 1705 slides in the chute 1703, so that the top end of the push rod of the linear push rod motor 11 pushes the second support rod 14 to swing, and the movable block 1705 slides to make the second support rod 14 swing, thereby avoiding the generation of motion interference when the top end of the push rod of the linear push rod motor 11 pushes the second support rod 14 to swing, and improving the stability of the motion of the second support rod 14.
The outer wall of the second supporting rod 14 is provided with a plurality of supporting arms 16 fixed at equal intervals, each supporting wall 16 is cylindrical, a through shaft hole is formed in the center of each cylindrical supporting wall 16, the shaft holes of two adjacent supporting walls 16 are coaxial, a reinforcing steel bar 15 is installed in each shaft hole of each supporting wall 16, each reinforcing steel bar 15 is in sliding connection with the corresponding shaft hole of each supporting wall 16, a curved arc-shaped rod is arranged at the top end of each reinforcing steel bar 15, the top end of each reinforcing steel bar 15 is led to be a hinge joint of the corresponding main supporting rod 10 and the corresponding second supporting rod 14 through the corresponding arc-shaped rod, the sliding stability of each reinforcing steel bar 15 is improved, a roller 12 is installed at the top end of each arc-shaped rod of each reinforcing steel bar 15, each roller 12 is in rolling contact with the outer wall of the corresponding main supporting rod 10, the top end of each reinforcing steel bar 15 can move on the outer side wall of the corresponding main supporting rod 10 through the corresponding roller 12, a hinge joint, articulated sleeve 701's outer wall is provided with square platelike second connecting plate 17, the spout 1703 of U-shaped structure is seted up at second connecting plate 17's top middle part, guide way 1702 has been seted up to spout 1703's inner wall bilateral symmetry, movable block 1705 is square block, movable block 1705's bilateral symmetry is equipped with bellied spacer pin 1704, movable block 1705's both sides spacer pin 1704 imbeds in guide way 1702 through the sliding fit mode, the screw hole that link up is seted up at movable block 1705's middle part, 15 bottoms of reinforcing bar are fixed in movable block 1705's screwed hole through the screw-thread fit mode, be convenient for drive third bracing piece 22 through reinforcing bar 15 and fold and expand, the simplicity of operation is improved.
The top end of the third support rod 22 is hinged to the bottom end of the second support rod 14, a protruding stop block is arranged on the outer wall of a hinged sleeve 1701 arranged at the top end of the third support rod 22 and used for limiting the swinging radian of the third support rod 22, and the situation that when the third support rod 22 and the second support rod 14 are stretched to be vertical, the third support rod 22 is bent due to the fact that the swinging radian of the third support rod 22 is too large, the balance degree of the unmanned aerial vehicle at the top is affected, the stop block on the outer wall of the hinged sleeve 1701 is matched with a roller at the top end of a steel bar 15 to be in contact with the side wall of the main support rod 10, and the third support rod 22 and the second support rod 14 are kept to be vertical.
A plurality of article brackets 20 distributed at equal intervals are arranged in the middle of the bottom end of the bearing base 1, each article bracket 20 is of a U-shaped structure, and the opening of each article bracket 20 faces upwards and is fixed at the bottom end of the bearing base 1; a medicine box 21 is attached to the top end of the article tray 20.
Wherein, the main supporting rods 10 are arranged at four corner positions at the bottom end of the bearing base 1, the linear push rod motor 11 drives the second supporting rod 14 and the third supporting rod 22 to fold and unfold, when unfolding, the linear push rod motor 11 drives the second supporting rod 14 to swing downwards, the third supporting rod 22 naturally droops by gravity, the reinforcing steel bar 15 supports the third supporting rod 22 to be upright, the conical tip 19 below the third supporting rod 22 is pricked into wet and slippery ground, so that the landing gear of the unmanned aerial vehicle is firmly and reliably landed on the ground, through folding, the bearing base 1 can be hinged with a plurality of supporting rods, the length of the bottom supporting leg of the bearing base 1 is increased, the unmanned aerial vehicle is lifted up, the unmanned aerial vehicle is higher than the ground, the unmanned aerial vehicle is prevented from falling into gaps of crops when landing, and wing wings are prevented from touching the crops to break when the unmanned aerial vehicle lands, damage crops, when folding, through the 14 upswing of linear push rod motor 11 drive second bracing piece, the gyro wheel 12 and the main tributary vaulting pole 10 outer wall on reinforcing bar 15 top carry out roll connection, lateral wall through main tributary vaulting pole 10 promotes reinforcing bar 15 and slides in the shaft hole of backup wall 16, reinforcing bar 15 bottom promotes third bracing piece 22 and inwards folds, it is firm reliable after folding to make third bracing piece 22, unmanned aerial vehicle is in the in-process indiscriminate pendulum of not controlling of flight, improve the structural firmness after this undercarriage is folded, fix on unmanned aerial vehicle through bearing base 1 after folding, make unmanned aerial vehicle carry this undercarriage in-process that flies at the flight in-process and reduce the windage.
The fixed column 18 comprises adjusting holes 1802 arranged inside the fixed column 18, the adjusting holes 1802 are circular holes, square holes 1806 distributed at equal intervals according to the circumference are formed in the outer wall of the adjusting holes 1802, each square hole 1806 is communicated with the adjusting hole 1802 inside the fixed column 18, a rotary motor 1801 is installed at the top end of each adjusting hole 1802, a rotary output shaft 1803 extends from the bottom end of each rotary motor 1801, a threaded rod 1804 is arranged at the bottom end of each output shaft 1803, the bottom end of each threaded rod 1804 is fixed in a fixing sleeve 1812 in a clamping mode, and the fixing sleeve 1812 is installed at the bottom end of each adjusting hole 1802;
a disc-shaped nut 1805 is mounted on the outer wall of the threaded rod 1804 in a threaded fit mode, an ear plate 1807 corresponding to the position of the square hole 1806 is mounted on the outer wall of the nut 1805, a disc-shaped cylindrical sleeve 1810 is mounted below the nut 1805, a through round hole is formed in the axis position of the cylindrical sleeve 1810 and is sleeved on the outer wall of the threaded rod 1804, the cylindrical sleeve 1810 slides freely on the outer wall of the threaded rod 1804, the round hole of the cylindrical sleeve 1810 is sleeved on the outer wall of the threaded rod 1804, the ear plate 1807 corresponding to the position of the square hole is arranged on the outer wall of the cylindrical sleeve 1810, diamond frames 1808 matched with the square holes 1806 in number are mounted on the outer wall of the nut 1805, each diamond frame 1808 penetrates through the square hole 1806 to extend out of the fixed column 18, and supporting legs 1809 are mounted at the top;
the rhombic frame 1808 is formed by cross-hinging a plurality of square sheet-shaped hinging rods, one hinging rod of the rhombic frame 1808 is hinged on an ear plate 1807 on the outer wall of the nut 1805, and the other hinging rod of the rhombic frame 1808 is hinged on the ear plate 1807 of the cylindrical sleeve 1810.
The adjusting hole 1802 is provided with a support sleeve 1813 in a hole thereof, the support sleeve 1813 is provided with a shaft hole at an axial center thereof, and the output shaft 1803 is mounted in the shaft hole of the support sleeve 1813 via a rolling bearing.
The bottom of the cylindrical sleeve 1810 is provided with a third spring 1811, the third spring 1811 is sleeved on the outer wall of the threaded rod 1804, the height of the third spring 1811 is one third of the height of the square hole, so that the nut is driven by the rotating motor to move upwards conveniently, the distance between the nut and the cylindrical sleeve is gradually increased, and the rhombic frame is contracted and folded.
In the invention, the telescopic diamond frame 1808 is arranged at the bottom end of the fixed column 18, so that when the unmanned aerial vehicle lands, after the conical tip 1809 is pricked into the soft ground with the silt belt, the conical tip 1809 is phagocytosed by the silt downwards under the action of the gravity above, the rhombic frames 1808 distributed on the outer wall of the fixed column 18 at equal intervals extend to increase the contact area between the supporting legs 1809 and the ground, so that the fixed column 18 is prevented from sinking continuously in silt, the sunk conical tip 1809 makes the unmanned aerial vehicle difficult to pull up during takeoff, the threaded rod 1804 is driven to rotate by the rotating motor 1801, the nut 1805 moves downwards, the bottom cylindrical sleeve 1810 is pushed to move downwards synchronously, move downwards in the outside of fixed column 18 through rhombus frame 1807, support leg 1809 at rhombus frame 1808 top promotes ground, and fixed column 18 receives the counter-force of rhombus frame 1807 to pull up from the ground of silt, reduces the unmanned aerial vehicle when the ground that takes off to face unmanned aerial vehicle lift-up resistance.
According to the unmanned aerial vehicle take-off device, the nut 1805 is driven to move upwards through the rotating motor 1801, after the nut 1805 moves upwards, the distance between the nut 1805 and the cylindrical sleeve 1810 is gradually increased, and when the diamond frame 1808 contracts, the unmanned aerial vehicle takes off and is contracted and folded through the diamond frame 1808, the area exposed in the air is reduced, and the resistance of the unmanned aerial vehicle during flight is reduced.
The working principle is as follows: when the multi-rotor-wing plant protection unmanned aerial vehicle undercarriage is used, firstly, the undercarriage is clamped on an unmanned aerial vehicle through a suspension rod 4, so that the bearing base 1 is fixedly installed at the bottom of the unmanned aerial vehicle; then, according to unmanned aerial vehicle's user demand, control specifically as follows:
unmanned aerial vehicle descends: the second supporting rod 14 is driven to swing downwards by the linear push rod motor 11, the third supporting rod 22 naturally sags by means of gravity, the third supporting rod 22 is supported by the steel bar 15 to be upright, the conical tip 19 below the third supporting rod 22 penetrates into wet and slippery ground, the landing gear of the unmanned aerial vehicle is made to be firm and reliable on the ground, when the ground with silt is met, the fixed column 18 is prevented from sinking downwards, the threaded rod 1804 is driven to rotate by the rotating motor 1801, the nut 1805 moves downwards, the bottom cylindrical sleeve 1810 is pushed to move downwards synchronously, the cylindrical sleeve 1810 is supported by the third spring 1811 at the bottom, the rhombic frame 1807 is enabled to expand, the supporting leg 1809 at the top end of the rhombic frame 1807 is in contact with the ground, the contact area between the supporting leg 1809 and the ground is increased, and the fixed column 18 is prevented. (ii) a
The unmanned plane takes off: through rotating electrical machines 1801 drive threaded rod 1804 rotation, nut 1805 downstream promotes the cylinder sleeve 1810 synchronous movement downwards of bottom, through rhombus frame 1807 in the outside downstream of fixed column 18, the supporting leg 1809 on rhombus frame 1808 top promotes ground, fixed column 18 is pulled up from the ground of silt upwards by the counter-force of rhombus frame 1807, reduces unmanned aerial vehicle and rises the resistance when rising to unmanned aerial vehicle when taking off. After taking off, through the reversal of rotating electrical machines 1801 drive threaded rod 1804, make rhombus frame 1807 fold, reduce the resistance of unmanned aerial vehicle flight in-process, rethread linear push rod motor 11 drive second bracing piece 14 and third bracing piece 22 are folding, reduce the area of structure that exposes in the air, resistance when reducing unmanned aerial vehicle flight.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a many rotors plant protection unmanned aerial vehicle undercarriage, includes the bearing base, hangs pole, movable block, its characterized in that: the bearing base is of a square plate structure, a top supporting column which is upright at the top end of the bearing base is fixed at the top end of the bearing base, a first sliding groove is formed in the top end of the top supporting column, the suspension rod is embedded into the first sliding groove in a sliding fit mode, a first spring is installed at the top end of the suspension rod embedded into the first sliding groove, the suspension rod is of an L-shaped rod structure and is horizontally arranged, a clamping block which protrudes downwards is arranged at the end part, extending out of the top supporting column, of the suspension rod, the inner side wall of the clamping block is provided with a second sliding groove of a square structure, a sliding clamping block is embedded into the second sliding groove, and a second spring is installed on the side wall of the clamping block embedded into the second sliding groove;
a quadrangular prism-shaped main supporting rod is fixed at the bottom end of the bearing base and close to four corner positions respectively, a quadrangular prism-shaped second supporting rod is hinged to the bottom end of the main supporting rod, a quadrangular prism-shaped third supporting rod is hinged to the bottom end of the second supporting rod, a cylindrical fixing column is fixed at the bottom end of the third supporting rod, and a conical tip with a conical structure is arranged at the bottom end of the fixing column;
a linear push rod motor is arranged on the inner wall of each main support rod, a hinge sleeve is arranged at the hinge position of the main support rod and the second support rod, a first connecting plate is fixed at the top end of the second support rod, the top end of a push rod of the linear push rod motor is fixed on the first connecting plate, a plurality of support arms which are fixed at equal intervals are arranged on the outer wall of the second support rod, the support walls are cylindrical, a through shaft hole is formed in the center of each cylindrical support wall, the shaft holes of every two adjacent support walls are coaxial, a steel bar is arranged in each shaft hole of each support wall and is in sliding connection with each shaft hole of each support wall, a bent arc-shaped rod is arranged at the top end of each steel bar, a roller is arranged at the top end of each arc-shaped rod of each steel bar, a hinge sleeve is arranged at the hinge position of the third support rod and the second support, the middle part of the top end of the second connecting plate is provided with a sliding chute with a U-shaped structure, guide grooves are symmetrically formed in two sides of the inner wall of the sliding chute, the movable block is a square block, protruding limit pins are symmetrically formed in two sides of the movable block, the limit pins on two sides of the movable block are embedded into the guide grooves in a sliding fit mode, a through threaded hole is formed in the middle part of the movable block, and the bottom end of the reinforcing steel bar is fixed in the threaded hole of the movable block in a threaded fit mode;
a plurality of article brackets which are distributed at equal intervals are arranged in the middle of the bottom end of the bearing base, each article bracket is of a U-shaped structure, and the opening of each article bracket is upwards fixed at the bottom end of the bearing base; a medicine box is arranged at the top end of the article bracket.
2. The multi-rotor plant protection unmanned aerial vehicle landing gear of claim 1, wherein: the fixing column comprises adjusting holes arranged inside the fixing column, the adjusting holes are circular holes, square holes are formed in the outer wall of each adjusting hole and are distributed at equal intervals according to the circumference, each square hole is communicated with the adjusting hole inside the fixing column, a rotary motor is installed at the top end of each adjusting hole, a rotary output shaft extends out of the bottom end of each rotary motor, a threaded rod is arranged at the bottom end of each output shaft, the bottom end of each threaded rod is fixed in a fixing sleeve in a clamping mode, and the fixing sleeve is installed at the bottom end of each adjusting hole;
the outer wall of the threaded rod is provided with a disc-shaped nut in a threaded fit mode, the outer wall of the nut is provided with an ear plate corresponding to the position of the square hole, a disc-shaped cylindrical sleeve is arranged below the nut, the axis position of the cylindrical sleeve is provided with a through round hole, the round hole of the cylindrical sleeve is sleeved on the outer wall of the threaded rod, the outer wall of the cylindrical sleeve is provided with the ear plate corresponding to the position of the square hole, the outer wall of the nut is provided with diamond-shaped frames matched with the square hole in number, each diamond-shaped frame penetrates through the square hole and extends out of the fixed column, and supporting legs are arranged at the top end of the diamond-shaped frame extending;
the diamond-shaped frame is formed by hinging a plurality of square sheet-shaped hinging rods in a crossed manner, one hinging rod of the diamond-shaped frame is hinged on an ear plate on the outer wall of the nut, and the other hinging rod of the diamond-shaped frame is hinged on an ear plate of the cylindrical sleeve.
3. The multi-rotor plant protection unmanned aerial vehicle landing gear of claim 2, wherein: the supporting leg includes rubber pad, bump, the supporting leg is cone structure, and the bottom diameter of supporting leg is greater than the top diameter of supporting leg, and the rubber pad is fixed in the bottom of supporting leg, and the bottom of rubber pad is equipped with the bump that a plurality of equidistance distribute, and each bump is the ball form in the bottom of rubber pad.
4. The multi-rotor plant protection unmanned aerial vehicle landing gear of claim 2, wherein: the adjustable bearing is characterized in that a supporting sleeve is installed in the hole of the adjusting hole, a through shaft hole is formed in the axis position of the supporting sleeve, and the output shaft is installed in the shaft hole of the supporting sleeve through a rolling bearing.
5. The multi-rotor plant protection unmanned aerial vehicle landing gear of claim 2, wherein: and a third spring is arranged at the bottom of the cylindrical sleeve and sleeved on the outer wall of the threaded rod.
6. The multi-rotor plant protection unmanned aerial vehicle landing gear of claim 1, wherein: the rollers are in rolling contact with the outer wall of the main support rod.
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Inventor after: Gu Jing Inventor after: Zhou Biwu Inventor after: Pan Teng Inventor after: Cong Weiguo Inventor after: Luo Jiayu Inventor after: Guo Dongdong Inventor before: Luo Jiayu Inventor before: Guo Dongdong |
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Effective date of registration: 20210702 Address after: 723000 East Road, Pu town Industrial Park, Hantai District, Hanzhong City, Shaanxi Province Applicant after: Hanzhong Wanli Aviation Equipment Manufacturing Co.,Ltd. Address before: 318050 R & D Department of kasifa plant protection machinery (Taizhou) Co., Ltd., Tangwang village, Pengjie Town, Luqiao District, Taizhou City, Zhejiang Province Applicant before: Luo Jiayu |
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