CN112722252B

CN112722252B - Unmanned aerial vehicle's undercarriage and unmanned aerial vehicle

Info

Publication number: CN112722252B
Application number: CN202110363113.8A
Authority: CN
Inventors: 毛一年; 高焓; 陆宏伟; 刘璐; 刘宝俊; 王刚; 郜奥林; 赵龙智; 周东岳; 纪秀东; 吴振凯; 马聪; 闫波; 初征
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-04-02
Filing date: 2021-04-02
Publication date: 2021-06-29
Anticipated expiration: 2041-04-02
Also published as: CN112722252A

Abstract

The utility model provides an unmanned aerial vehicle's undercarriage and unmanned aerial vehicle belongs to the unmanned aerial vehicle field. The undercarriage comprises a plurality of supporting legs, wherein each supporting leg comprises a machine body connecting rod, a cylinder body, a valve rod and a one-way valve; one part of the valve rod is positioned in the cylinder body, the other part of the valve rod is positioned outside the cylinder body, the connecting rod of the machine body is connected with the valve rod and the machine body, the one-way valve is positioned in the cylinder body and divides an inner cavity of the cylinder body into a first cavity and a second cavity along the axial direction, and the one-way valve is configured to enable the damping effect when fluid flows from the first cavity to the second cavity to be larger than the damping effect when fluid flows from the second cavity to the first cavity. This undercarriage when unmanned aerial vehicle descends, the valve rod promotes the check valve, and the second cavity is extruded to the fluid from first cavity, absorbs the impact in descending, turns into fluidic internal energy with unmanned aerial vehicle's mechanical energy. Effectively absorb the impact of unmanned aerial vehicle descending in-process to avoid the unmanned aerial vehicle to descend the in-process condition that appears bouncing, rolling, be favorable to protecting unmanned aerial vehicle, avoid unmanned aerial vehicle at descending in-process impaired.

Description

Unmanned aerial vehicle's undercarriage and unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned aerial vehicle field, in particular to unmanned aerial vehicle's undercarriage and unmanned aerial vehicle.

Background

An unmanned aircraft, referred to as "drone", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Has the advantages of small volume, low cost, convenient use and the like, and is widely applied in various industries.

Unmanned aerial vehicle includes fuselage and undercarriage usually, and the undercarriage is installed in the lower part of fuselage for support unmanned aerial vehicle, undercarriage and ground contact when unmanned aerial vehicle descends, the impact of absorbing the descending in-process and producing makes unmanned aerial vehicle can descend safely.

In the correlation technique, some unmanned aerial vehicle's undercarriage only includes two poles that can stretch out and draw back relatively, is connected with the spring between two poles, through the impact of spring absorption when descending, still some unmanned aerial vehicle's undercarriage even just is the shaft-like supporting leg of several plastic materials, when descending, directly utilizes the elastic absorption of material itself to descend the impact that the in-process produced. Buffering to unmanned aerial vehicle is very limited, leads to unmanned aerial vehicle to touch to earth the back condition of bouncing, rolling often can appear in the landing process, leads to unmanned aerial vehicle impaired.

Disclosure of Invention

The embodiment of the disclosure provides an unmanned aerial vehicle's undercarriage and unmanned aerial vehicle, can effectively absorb the impact of unmanned aerial vehicle descending in-process, avoid the unmanned aerial vehicle descending in-process the condition of spring, roll to appear.

In a first aspect, the disclosed embodiments provide an undercarriage of an unmanned aerial vehicle, comprising a plurality of support legs, wherein each support leg comprises a body connecting rod, a cylinder, a valve rod and a one-way valve;

one part of the valve rod is positioned in the cylinder body, the other part of the valve rod is positioned outside the cylinder body, the part positioned outside the cylinder body is connected with the machine body connecting rod, and the machine body connecting rod is used for being connected with a machine body of the unmanned aerial vehicle;

the one-way valve is positioned in the cylinder body, an inner cavity of the cylinder body is axially divided into a first cavity and a second cavity, the first cavity is positioned on one side of the one-way valve, which is far away from the valve rod, the second cavity is positioned on one side of the one-way valve, which is close to the valve rod, and the one-way valve can slide along the axial direction of the cylinder body;

the one-way valve is configured such that a damping effect of the fluid flowing from the first chamber to the second chamber is greater than a damping effect of the fluid flowing from the second chamber to the first chamber.

Optionally, the check valve includes a valve body and a flexible valve core, and the flexible valve core is located in the valve body and connected with the valve body;

one end of the valve body is connected with the valve rod, and a gap is formed between the outer side wall of the valve body and the inner side wall of the cylinder body;

the flexible valve core is used for deforming when the pressure of the first chamber is higher than the pressure of the second chamber, so that the one-way valve is closed.

Optionally, the flexible valve core is columnar, an axial overflowing hole is formed in the first end of the flexible valve core, and the depth of the axial overflowing hole is smaller than the length of the flexible valve core;

the second end of flexible case is the toper convex surface, the toper convex surface has a plurality of kerfs, the kerf is followed the radial extension of toper convex surface, and with axial discharge orifice intercommunication.

Optionally, the bottom surface of the axial overflowing hole is a conical concave surface.

Optionally, the valve body comprises a valve block and a sleeve, and the valve block is located at one end of the sleeve and connected with the sleeve;

the valve block is cylindrical and is provided with a connecting groove and a flow channel, the connecting groove is positioned at one end of the valve block, the inlet of the flow channel is positioned on the outer side wall of the valve block, and the outlet of the flow channel is positioned at the bottom of the connecting groove;

one part of the sleeve is positioned in the connecting groove, the other part of the sleeve is positioned outside the connecting groove, and the sleeve is coaxial with the valve block.

Optionally, the flexible valve core is located in the sleeve and is coaxial with the sleeve;

the inner side wall of the sleeve is provided with an inner flange and two annular grooves, and the two annular grooves are respectively positioned at two sides of the inner flange;

the outer side wall of the flexible valve core is provided with two outer flanges at intervals, the two outer flanges are respectively positioned in two annular grooves, and the inner flange is positioned between the two outer flanges.

Optionally, the flow passage comprises a converging hole and a plurality of radial overflowing holes;

one end of the confluence hole is positioned at the groove bottom of the connecting groove, and the confluence hole extends along the axial direction of the valve block;

the radial overflowing hole is along the radial extension of the valve block, one end of the radial overflowing hole is communicated with the confluence hole, and the other end of the radial overflowing hole is positioned on the outer side wall of the valve block.

Optionally, the outer side wall of the valve block has a notch, and the notch is located at the inlet of the flow passage.

Optionally, the valve body further includes a slip ring coaxially sleeved outside the sleeve, an outer side wall of the slip ring has a plurality of overflow grooves, and the overflow grooves extend along an axial direction of the slip ring.

Optionally, the cylinder further comprises a return spring, the return spring is located in the first cavity, one end of the return spring abuts against the cylinder, and the other end of the return spring abuts against the one-way valve.

Optionally, the barrel further comprises a limit stop ring, wherein the limit stop ring is located in the second chamber and connected with the inner wall of the barrel.

In a second aspect, an embodiment of the present disclosure further provides an unmanned aerial vehicle, including a fuselage and the undercarriage as in the first aspect, a fuselage connecting rod of the undercarriage is connected to the fuselage.

The beneficial effects brought by the technical scheme provided by the embodiment of the disclosure at least comprise:

a plurality of supporting legs are used for unmanned aerial vehicle when descending and ground contact, cushion, through set up flexible case in the valve body, flexible case can produce deformation under the exogenic action, when the supporting leg contacts to the ground, under the impact of fuselage, the valve rod promotes the check valve, because the damping when check valve makes the fluid flow direction second cavity by first cavity is greater than the damping when the fluid flows to first cavity by the second cavity, consequently, the valve rod promotes the in-process of check valve, the fluid is crowded into the second cavity from first cavity, absorb the impact in the descending gradually, turn into fluidic internal energy with unmanned aerial vehicle's mechanical energy. Effectively absorb the impact of unmanned aerial vehicle descending in-process to avoid the unmanned aerial vehicle to descend the in-process condition that appears bouncing, rolling, be favorable to protecting unmanned aerial vehicle, avoid unmanned aerial vehicle at descending in-process impaired.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a support leg provided by an embodiment of the present disclosure;

FIG. 3 is an exploded view of a support leg according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a flexible valve cartridge provided by an embodiment of the present disclosure;

FIG. 5 is a schematic cross-sectional view of the flexible valve cartridge of FIG. 4;

FIG. 6 is a structural comparison diagram of two flexible valve spools provided by embodiments of the present disclosure;

FIG. 7 is a cross-sectional view of a flexible valve cartridge provided by an embodiment of the present disclosure;

FIG. 8 is a schematic view of an oil flow direction provided by an embodiment of the present disclosure;

FIG. 9 is a schematic view of an oil flow direction provided by an embodiment of the present disclosure;

FIG. 10 is a cross-sectional view of a flexible valve cartridge provided by an embodiment of the present disclosure;

FIG. 11 is a cross-sectional view of a one-way valve provided by an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," "third," and similar terms in the description and claims of the present disclosure are not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, which may also change accordingly when the absolute position of the object being described changes.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present disclosure. As shown in fig. 1, the drone includes a fuselage 1 and landing gear. Different unmanned aerial vehicles, the structure of fuselage 1 is also different, only indicates with a cuboid in fig. 1, does not represent the true structure of fuselage. The landing gear of the drone includes a plurality of support legs 1000. Illustratively, in the disclosed embodiment, the landing gear includes 4 support legs 1000, and in other examples, the landing gear may include other numbers of support legs 1000, such as 3, 5, etc.

The support leg 1000 includes a body connection rod 200, a cylinder 10, a valve rod 20, and a check valve 30 (see fig. 2). The landing gear body connecting rod 200 is connected to the body 1.

FIG. 2 is a schematic structural diagram of a support leg provided by the embodiment of the disclosure. In fig. 2, a part of the cylinder 10 is removed for convenience of showing the structure inside the support leg.

As shown in fig. 2, the valve stem 20 is partially located in the cylinder 10 and partially located outside the cylinder 10. The part of valve rod 20 that is located the barrel 10 outside links to each other with fuselage connecting rod 200, and fuselage connecting rod 200 is used for linking to each other with unmanned aerial vehicle's fuselage 1. The check valve 30 is located in the cylinder 10 to axially divide the inner cavity of the cylinder 10 into a first chamber a and a second chamber B. The first chamber a is located on the side of the check valve 30 remote from the valve stem 20 and the second chamber B is located on the side of the check valve 30 adjacent to the valve stem 20. The check valve 30 is slidable in the axial direction of the cylinder 10. The check valve 30 is configured such that the damping effect is greater when fluid flows from the first chamber a to the second chamber B than when fluid flows from the second chamber B to the first chamber a. Illustratively, the fluid is oil.

FIG. 3 is an exploded view of a support leg according to an embodiment of the present disclosure. The fuselage connection rods 200 are omitted from fig. 3. As shown in fig. 3, the check valve 30 includes a valve body 31 and a flexible valve core 32, and the flexible valve core 32 is located in the valve body 31 and connected to the valve body 31. One end of the valve body 31 is connected to the valve rod 20, and a gap is formed between the outer side wall of the valve body 31 and the inner side wall of the cylinder 10. The flexible valve core 32 is used for deforming when the pressure of the first chamber A is higher than that of the second chamber B, so that the one-way valve 30 is closed.

Unmanned aerial vehicle descends in-process, supporting leg 1000 touches to the ground the back, under the impact of fuselage 1, valve rod 20 promotes check valve 30, make the pressure in the first cavity A be greater than the pressure in the second cavity B, flexible case is deformed under the pressure differential effect of two cavities this moment, make check valve 30 close, make fluid in the barrel 10 only can pass through from the clearance between check valve 30 and the barrel 10, pass through the in-process in the clearance is followed to fluid, absorb the impact in the descending gradually, turn into the internal energy of fluid with unmanned aerial vehicle's mechanical energy. When the valve rod 20 and the check valve 30 move in opposite directions to reset the support leg 1000, the pressure in the first chamber a is smaller than the pressure in the second chamber B, the flexible valve core 32 cannot deform to close the check valve 30, and oil can quickly pass through the check valve 30 to complete resetting.

Optionally, the flexible valve core 32 is made of a rubber material, and the rubber material has certain flexibility, can deform under the action of external force, and can recover under the elasticity of the flexible valve core when the external force is removed.

Fig. 4 is a schematic structural diagram of a flexible valve core provided in an embodiment of the present disclosure. As shown in fig. 4, the flexible valve core 32 is cylindrical, and a first end of the flexible valve core 32 has an axial through hole 32 a. Fig. 5 is a schematic cross-sectional view of the flexible valve cartridge of fig. 4. As shown in fig. 5, the depth of axial flow bore 32a is less than the length of flexible valve element 32.

The second end of the flexible valve core 32 is a conical convex surface 32b, the conical convex surface 32b is provided with a plurality of slits 32c, and the slits 32c extend along the radial direction of the conical convex surface 32b and are communicated with the axial overflowing hole 32 a.

As an example, the tapered convex surface 32b has two slits 32c in fig. 5. Fig. 6 is a structural comparison diagram of two flexible valve spools provided by embodiments of the present disclosure. The two flexible spools 32 shown in fig. 6 differ in the number of slits 32 c. The flexible valve core 32 on the left side in fig. 6 has two slits 32c, and the two slits 32c are distributed at 180 ° intervals along the circumferential direction of the flexible valve core 32. The right flexible valve core 32 is provided with three slits 32c, and the three slits 32c are distributed along the circumferential direction of the flexible valve core 32 at intervals of 120 degrees. In other examples, flexible valve core 32 can have more slits 32c, e.g., 4, 5.

FIG. 7 is a cross-sectional view of a flexible valve cartridge provided by embodiments of the present disclosure. As shown in FIG. 7, when the pressure in the first chamber A is higher than the pressure in the second chamber B, the force F of the oil on the conical convex surface 32B₁There is a radially inward component F of force along the flexible spool 32_1xAnd a component force F in the axial direction_1yIn the component force F_1xUnder the action of the elastic valve element 32, the parts of the flexible valve element 32 divided by the slit 32c are deformed and gathered together to close the slit 32c, so that the oil liquid in the first chamber a cannot enter the axial flow through hole 32a through the slit 32c, and the check valve 30 is in a closed state. Fig. 8 is a schematic view of a flow direction of oil according to an embodiment of the disclosure. The flow of oil is schematically shown by arrows. As shown in fig. 8, since the slit 32c is closed, the oil cannot enter the flexible spool 32 and can flow only to the second chamber B through the gap between the check valve 30 and the inner sidewall of the cylinder 10.

Fig. 9 is a schematic view of a flow direction of oil according to an embodiment of the disclosure. When the pressure in the second chamber B is greater than the pressure in the first chamber a, the slits 32c remain open, allowing oil to flow from the second chamber B to the first chamber a through the flexible spool 32, as shown in fig. 9.

FIG. 10 is a cross-sectional view of a flexible valve cartridge provided by an embodiment of the present disclosure. As shown in fig. 10, the bottom surface of the axial overflowing hole 32a is a conical concave surface 32 d. Referring to the force analysis in FIG. 10, when the pressure in the second chamber B is greater than the pressure in the first chamber A, the force F of the oil on the concave cone surface 32d₂There is a component force F radially outward of the flexible spool 32_2xAnd a component force F in the axial direction_2yAnd the greater the pressure difference between the second chamber B and the first chamber A, the greater the force component F_2xThe larger the opening, the more the slit 32c is opened, and the more rapidly the oil can flow from the second chamber B to the first chamber a, so that the opening degree of the check valve 30 can be changed based on the pressure difference between the second chamber B and the first chamber a.

In the disclosed embodiments, the taper includes, but is not limited to, a cone, a pyramid, a truncated cone, and a truncated pyramid. As an example, in fig. 5, the tapered convex surface 32b is a truncated cone-shaped convex surface. In other examples, the tapered convex surface 32b is a conical convex surface.

FIG. 11 is a cross-sectional view of a one-way valve provided by an embodiment of the present disclosure. As shown in fig. 11, the outer side wall of the flexible valve core 32 has two spaced outer flanges 321, a mounting slot 322 is formed between the two outer flanges 321, and the mounting slot 322 is used for connecting with the valve body 31, so that a seal is formed between the outer side wall of the flexible valve core 32 and the valve body 31 to prevent leakage.

Both outer flanges 321 are close to the first end of the flexible valve core 32, so that the slit 32c is far away from the outer flanges 321, and the deformation of the flexible valve core 32 caused by the outer flanges 321 is avoided.

As shown in fig. 11, the valve body 31 includes a valve block 311 and a sleeve 312, and the valve block 311 is located at one end of the sleeve 312 and is connected to the sleeve 312.

The valve block 311 has a cylindrical shape, and the valve block 311 has a connection groove 311a and a flow passage 311 b. The connecting groove 311a is located at one end of the valve block 311, the inlet 311d of the flow channel 311b is located on the outer sidewall of the valve block 311, and the outlet 311c of the flow channel 311b is located at the bottom of the connecting groove 311 a. The sleeve 312 is partially positioned in the coupling recess 311a and partially positioned outside the coupling recess 311a, and the sleeve 312 is coaxial with the valve block 311.

One end of the sleeve 312 is inserted into the coupling groove 311a of the valve body 31, and a cavity for accommodating the flexible valve element 32 is formed by the sleeve 312 and the valve body 31. Referring to fig. 9, when the oil flows from the second chamber B to the first chamber a, the oil enters the flow passage 311B from the inlet 311d of the outer side wall of the valve block 311, enters the cavity formed by the sleeve 312 and the valve body 31 from the outlet 311c of the flow passage 311B, flows into the axial through-hole 32a of the flexible valve body 32, and enters the first chamber a through the slit 32c of the flexible valve body 32.

Alternatively, the valve block 311 and the sleeve 312 are connected by threads. Threaded connection is convenient to disassemble and assemble, the sealing performance is good, and leakage between the valve block 311 and the sleeve 312 can be avoided.

Illustratively, the inner sidewall of the coupling recess 311a has an internal thread, and the outer sidewall of the sleeve 312 has an external thread.

As shown in fig. 11, the flow passage 311b includes a confluence hole 3111 and a plurality of radial through holes 3112. As an example, in the disclosed embodiment, the flow passage 311b includes 4 radial through holes 3112.

One end of the confluence hole 3111 is located at the groove bottom of the coupling groove 311a, and the confluence hole 3111 extends in the axial direction of the valve block 311. The radial through-hole 3112 extends in a radial direction of the valve block 311, and one end of the radial through-hole 3112 communicates with the manifold hole 3111 and the other end is located on an outer side wall of the valve block 311.

During the process of flowing to the first chamber a, the oil in the second chamber B is collected into the collecting hole 3111 through the 4 radial through holes 3112, and then enters the connecting recess 311a through the collecting hole 3111.

Alternatively, the valve block 311 has a plurality of radial through-holes 3112, and the plurality of radial through-holes 3112 are distributed at equal angular intervals in the circumferential direction of the valve block 311, so that the oil can be uniformly collected into the manifold hole 3111 from a plurality of directions.

In some examples, the valve block 311 has 1 radial through-hole 3112, and providing only 1 radial through-hole 3112 can reduce the manufacturing cost and also can function to communicate the bus hole 3111 with the second chamber B.

As shown in fig. 11, the outer side wall of the valve block 311 has a notch 311e, and the notch 311e is located at the inlet 311d of the flow passage 311 b. By providing the notch 311e, a gap between the outer side wall of the valve block 311 and the inner side wall of the cylinder 10 is large near the inlet 311d, and when the check valve 30 and the valve rod 20 are reset, the oil in the second chamber B can rapidly flow into the inlet 311d from the gap near the inlet 311 d.

As shown in fig. 11, the inner sidewall of the sleeve 312 has an inner flange 3121 and two annular grooves 3122, and the two annular grooves 3122 are respectively located at both sides of the inner flange 3121. The flexible spool 32 is located in the sleeve 312 and is coaxial with the sleeve 312. The two outer flanges 321 of the flexible valve core 32 are respectively located in the two annular grooves 3122, and the inner flange 3121 is located between the two outer flanges 321 and is received in the mounting groove 322 on the outer side wall of the flexible valve core 32. By means of the matching of the inner flange 3121 and the mounting groove 322, and the matching of the outer flange 321 and the annular groove 3122, the flexible valve core 32 is stably fixed in the sleeve 312, and a good sealing is formed between the flexible valve core 32 and the inner side wall of the sleeve 312, so that leakage between the flexible valve core 32 and the sleeve 312 is avoided. In addition, the flexible valve core 32 has certain elasticity, and can also play a role in enhancing the sealing performance, so that leakage between the flexible valve core 32 and the sleeve 312 is further avoided.

The inner flange 3121 is located at one end of the connection groove 311a near the sleeve 312, an annular baffle 3123 is further provided in the sleeve 312, the annular baffle 3123 is located at the other end of the sleeve 312, and the flexible valve core 32 is located at one side of the annular baffle 3123 near the inner flange 3121.

As shown in fig. 11, the outer sidewall of the sleeve 312 further has a protruding ring 3124, the protruding ring 3124 is located at one end of the connection groove 311a away from the sleeve 312, and the protruding ring 3124 is used for limiting the sliding ring 313.

As shown in fig. 11, the valve body 31 further includes a slip ring 313. The slip ring 313 is coaxially sleeved outside the sleeve 312, the outer side wall of the slip ring 313 is provided with a plurality of overflow grooves 313a, and the overflow grooves 313a extend along the axial direction of the slip ring 313.

The sliding ring 313 is located between the valve block 311 and the convex ring 3124, after the sleeve 312 is connected with the valve block 311, the sliding ring 313 is limited between the valve block 311 and the convex ring 3124, the sliding ring 313 is axially limited by the valve block 311 and the convex ring 3124, and the sliding ring 313 is prevented from axially moving relative to the sleeve 312. In other examples, the slip ring 313 is threadably coupled to the sleeve 312, and the slip ring 313 is also prevented from moving axially relative to the sleeve 312 by the threaded coupling.

The overflow groove 313a of the outer side wall of the slip ring 313 provides a passage through which the oil flows, and when the oil flows from the first chamber a to the second chamber B through the gap between the check valve 30 and the cylinder 10, the oil passes through the gap between the sleeve 312 and the cylinder 10, the overflow groove 313a, and the gap between the valve block 311 and the cylinder 10 in this order. The larger the cross-sectional area of the overflow groove 313a is, the smaller the resistance of the oil passing through the overflow groove 313a is, the smaller the cross-sectional area of the overflow groove 313a is, the larger the resistance of the oil passing through the overflow groove 313a is, the cross-sectional area of the overflow groove 313a is selected according to specific products, so that the resistance of the oil passing through the overflow groove 313a is moderate, the landing gear can generate appropriate damping to eliminate impact and vibration, and the landing of the unmanned aerial vehicle is more stable.

As shown in FIG. 11, the outer diameter of the slip ring 313 is larger than the maximum outer diameter of the valve block 311 and also larger than the maximum outer diameter of the sleeve 312. Where the largest outer diameter of sleeve 312 is the outer diameter of male ring 3124. Since the outer diameter of the slide ring 313 is large, when the check valve 30 is mounted inside the cylinder 10, the slide ring 313 comes into contact with the inner wall of the cylinder 10, and annular gaps can be formed between the valve block 311 and the inner wall of the cylinder 10 and between the sleeve 312 and the inner wall of the cylinder 10.

Optionally, the slip ring 313 has a plurality of overflow grooves 313a, and the plurality of overflow grooves 313a are distributed at equal angular intervals along the circumferential direction of the slip ring 313. The plurality of overflow grooves 313a distributed at equal angle intervals can enable oil to pass through from a plurality of positions, the acting force of the oil on the sliding ring 313 is more balanced, and the situation that the sliding ring 313 is jammed or even dead due to unbalanced stress can be avoided.

Referring to fig. 3, the support leg further includes a return spring 40. The return spring 40 is located in the first chamber a, one end of the return spring 40 abuts against the cylinder 10, and the other end abuts against the one-way valve 30.

At unmanned aerial vehicle landing to ground, the in-process of supporting leg and ground contact, check valve 30 is to the in-process that one side at first cavity A place removed, and fluid in the first cavity A passes through the clearance flow direction second cavity B between check valve 30 and the barrel 10, and reset spring 40 receives the compression simultaneously, and after reset spring 40 was compressed to a certain degree, reset spring 40 promoted check valve 30 and removed to second cavity B, accomplished the reseing of check valve 30.

As shown in fig. 3, one end of the return spring 40 abuts against the inner end surface of the cylinder 10, and the other end abuts against one side of the ring-shaped baffle 3123 of the sleeve 312. Because the annular baffle 3123 is located the inside wall of sleeve 312, therefore reset spring 40 has a part to be located inside sleeve 312, and sleeve 312 can carry out certain spacing to reset spring 40, avoids reset spring 40 to take place to incline, makes reset spring 40 can be steady flexible.

Optionally, the cartridge 10 comprises a main body 11 and an end cap 12, the end cap 12 being removably connected to one end of the main body 11. The inner wall of the end cover 12 is provided with a cylindrical protrusion 121, the return spring 40 is sleeved outside the cylindrical protrusion 121, the cylindrical protrusion 121 can play a limiting role, the return spring 40 is prevented from being inclined, and meanwhile the return spring 40 can be prevented from moving on the surface of the end cover 12.

Optionally, the end cover 12 is screwed with the main body 11, the threaded connection is adopted to facilitate the disassembly and assembly of the end cover 12 and the main body 11, the sealing performance is good, and oil leakage inside the cylinder 10 can be avoided.

As shown in FIG. 3, the support leg also includes a limit stop ring 50. A stopper ring 50 is located in the second chamber B and is connected to the inner wall of the cartridge 10. When the check valve 30 is reset, under the urging of the reset spring 40, the check valve 30 moves along the axial direction of the cylinder 10 to abut against the limit stop ring 50, so as to axially limit the check valve 30.

Ring slot 11a is formed in the inner sidewall of body 11, and stopper ring 50 is seated in ring slot 11 a.

As shown in fig. 3, the outer surface of the end cap 12 is provided with a cushion pad 122, and the cushion pad 122 is used to absorb the impact generated when the cartridge 10 contacts the ground.

Illustratively, the cushion 122 has a hemispherical shape. The cushion 122 is made of a flexible material, such as rubber, plastic foam.

As shown in fig. 3, the end of the main body 11 away from the end cap 12 has a receptacle 11b, and the valve stem 20 is movably inserted into the receptacle 11 b.

Optionally, the support leg further comprises a sealing ring 60, wherein the sealing ring 60 is positioned in the insertion hole 11b and sleeved outside the valve rod 20. By arranging the seal ring 60, the sealing performance of the insertion hole 11b is improved, and leakage of oil at the insertion hole 11b is avoided.

The above description is intended to be exemplary only and not to limit the present disclosure, and any modification, equivalent replacement, or improvement made without departing from the spirit and scope of the present disclosure is to be considered as the same as the present disclosure.

Claims

1. The landing gear of the unmanned aerial vehicle is characterized by comprising a plurality of supporting legs (1000), wherein each supporting leg (1000) comprises a body connecting rod (200), a cylinder body (10), a valve rod (20) and a one-way valve (30);

one part of the valve rod (20) is positioned in the cylinder body (10), the other part of the valve rod is positioned outside the cylinder body (10), the part positioned outside the cylinder body (10) is connected with the fuselage connecting rod (200), and the fuselage connecting rod (200) is used for being connected with the fuselage of the unmanned aerial vehicle;

the one-way valve (30) is positioned in the barrel body (10) and axially divides the inner cavity of the barrel body (10) into a first chamber (A) and a second chamber (B), the first chamber (A) is positioned on one side of the one-way valve (30) far away from the valve rod (20), the second chamber (B) is positioned on one side of the one-way valve (30) close to the valve rod (20), and the one-way valve (30) can slide along the axial direction of the barrel body (10);

the one-way valve (30) being configured such that the damping effect of the fluid flowing from the first chamber (a) to the second chamber (B) is greater than the damping effect of the fluid flowing from the second chamber (B) to the first chamber (a);

the check valve (30) comprises a valve body (31) and a flexible valve core (32), wherein the flexible valve core (32) is positioned in the valve body (31) and is connected with the valve body (31);

one end of the valve body (31) is connected with the valve rod (20), and a gap is formed between the outer side wall of the valve body (31) and the inner side wall of the cylinder body (10);

the flexible valve core (32) is used for deforming when the pressure of the first chamber (A) is higher than the pressure of the second chamber (B) so as to close the one-way valve (30).

2. The landing gear according to claim 1, wherein the flexible valve core (32) is cylindrical, a first end of the flexible valve core (32) is provided with an axial overflowing hole (32 a), and the depth of the axial overflowing hole (32 a) is smaller than the length of the flexible valve core (32);

the second end of flexible case (32) is toper convex surface (32 b), toper convex surface (32 b) have a plurality of kerfs (32 c), kerfs (32 c) are followed the radial extension of toper convex surface (32 b), and with axial overflowing hole (32 a) intercommunication.

3. Landing gear according to claim 2, characterized in that the bottom surface of the axial overflow aperture (32 a) is a conical concavity (32 d).

4. A landing gear according to any of claims 1 to 3, wherein the valve body (31) comprises a valve block (311) and a sleeve (312), the valve block (311) being located at one end of the sleeve (312) and being connected to the sleeve (312);

the valve block (311) is cylindrical and is provided with a connecting groove (311 a) and a flow channel (311 b), the connecting groove (311 a) is positioned at one end of the valve block (311), the inlet (311 d) of the flow channel (311 b) is positioned on the outer side wall of the valve block (311), and the outlet (311 c) of the flow channel (311 b) is positioned at the bottom of the connecting groove (311 a);

the sleeve (312) is partially located in the connection groove (311 a) and partially located outside the connection groove (311 a), and the sleeve (312) is coaxial with the valve block (311).

5. A landing gear according to claim 4, wherein the flexible spool (32) is located in the sleeve (312) and is coaxial with the sleeve (312);

the inner side wall of the sleeve (312) is provided with an inner flange (3121) and two annular grooves (3122), and the two annular grooves (3122) are respectively positioned at two sides of the inner flange (3121);

the outer side wall of the flexible valve core (32) is provided with two spaced outer flanges (321), the two outer flanges (321) are respectively positioned in two annular grooves (3122), and the inner flange (3121) is positioned between the two outer flanges (321).

6. A landing gear according to claim 4, wherein the flow passage (311 b) comprises a manifold aperture (3111) and a plurality of radial overflow apertures (3112);

one end of the confluence hole (3111) is located at the bottom of the groove of the connection groove (311 a), and the confluence hole (3111) extends in the axial direction of the valve block (311);

the radial overflowing hole (3112) extends along the radial direction of the valve block (311), one end of the radial overflowing hole is communicated with the confluence hole (3111), and the other end of the radial overflowing hole is located on the outer side wall of the valve block (311).

7. A landing gear according to claim 4, wherein the outer side wall of the valve block (311) has a notch (311 e), the notch (311 e) being located at the inlet (311 d) of the flow passage (311 b).

8. The landing gear according to claim 4, wherein the valve body (31) further comprises a sliding ring (313), the sliding ring (313) is coaxially sleeved outside the sleeve (312), an outer side wall of the sliding ring (313) is provided with a plurality of overflow grooves (313 a), and the overflow grooves (313 a) extend along the axial direction of the sliding ring (313).

9. A landing gear according to any of claims 1 to 3, further comprising a return spring (40), the return spring (40) being located in the first chamber (A) with one end abutting the barrel (10) and the other end abutting the one-way valve (30).

10. A landing gear according to any of claims 1 to 3, further comprising a check ring (50), the check ring (50) being located in the second chamber (B) and being connected to the inner wall of the barrel (10).

11. An unmanned aerial vehicle comprising a fuselage and a landing gear according to any of claims 1 to 10, the landing gear having a fuselage connection rod (200) connected to the fuselage.