CN113928545A

CN113928545A - Many rotor unmanned aerial vehicle with shock attenuation undercarriage structure

Info

Publication number: CN113928545A
Application number: CN202111394305.1A
Authority: CN
Inventors: 龚帮民; 艾剑良
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-11-23
Filing date: 2021-11-23
Publication date: 2022-01-14

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle with a shock-absorbing landing gear structure, which belongs to the field of unmanned aerial vehicles and includes a fuselage, an arm and a lift assembly. rods, connecting rings, shock-absorbing springs and support springs; there are at least two connecting seats and are fixedly installed on the same circumference of the bottom surface of the fuselage, and a horizontally arranged pin shaft is fixedly installed on the connecting seat; the upper end of the support rod is provided with The pin holes matched with the pin shaft, the number of support rods and the connecting seat are the same, so that each connecting seat is hinged with a support rod; the connecting ring is arranged below the center of the bottom surface of the fuselage, and the upper and lower parts of the support rod are A connecting point is provided, and a shock-absorbing spring is connected between the connecting point and the connecting ring; a support spring is connected between the support rod and the bottom surface of the fuselage; the elastic force provided by the shock-absorbing spring and the support spring keeps the support rod inclined state. The invention can effectively buffer the impact force when falling to protect the recording equipment.

Description

Many rotor unmanned aerial vehicle with shock attenuation undercarriage structure

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle with a damping undercarriage structure.

Background

An Unmanned Aerial Vehicle (UAV) is an aircraft that is managed (either remotely steered or autonomously flown) by a remote control station. The essence of a drone is an aircraft that performs flight tasks through electronics instead of a pilot. The multi-rotor unmanned aerial vehicle is a special type of unmanned helicopter with three or more rotor shafts, the rotor shafts are driven by motors on each shaft to rotate so as to generate lift thrust, the total distance of the rotor shafts is fixed, and the running track of the aircraft is controlled by changing the relative rotating speed between the rotor shafts, namely changing the magnitude of single-shaft thrust during flight.

Wherein the undercarriage is many rotor unmanned aerial vehicle's important component, and the undercarriage is used for supporting many rotor unmanned aerial vehicle's weight, and unmanned aerial vehicle is when descending, and the undercarriage contacts ground at first, and it can consume and absorb the impact energy when unmanned aerial vehicle lands. Because many rotor unmanned aerial vehicle need carry out vertical takeoff and descending, especially at the descending in-process, when unmanned aerial vehicle dead weight is too big or the flight is unstable, the landing gear can form great impact effect with the instantaneous collision between the ground, produces great collision impact force, and unmanned aerial vehicle inside need be equipped with comparatively accurate instrument, equipment usually, and stronger impact will be to the accuracy nature that reduces instrument and equipment, leads to the structural performance of each part in the unmanned aerial vehicle to receive the influence.

Disclosure of Invention

Aiming at the problem that the landing gear of the multi-rotor unmanned aerial vehicle in the prior art cannot well reduce the instantaneous impact force between the landing gear and the ground, the invention aims to provide the multi-rotor unmanned aerial vehicle with a damping landing gear structure.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a multi-rotor unmanned aerial vehicle with a damping undercarriage structure comprises a body, a plurality of arms arranged on the periphery of the body and a lift assembly arranged on each arm, wherein the damping undercarriage is further arranged on the bottom surface of the body and comprises a connecting seat, a supporting rod, a connecting ring, a damping spring and a supporting spring; the connecting seats are at least two, the at least two connecting seats are fixedly arranged on the same circumference which takes the center of the bottom surface of the machine body as the circle center, and each connecting seat is fixedly provided with a pin shaft which is arranged horizontally; the upper end of the supporting rod is provided with a pin hole matched with the pin shaft, and the number of the supporting rods is the same as that of the connecting seats, so that each connecting seat is hinged with the supporting rod; the connecting ring is arranged below the center of the bottom surface of the machine body, the upper part and the lower part of each supporting rod are respectively provided with a connecting hanging point, and the damping spring is connected between each connecting hanging point and the connecting ring; the supporting spring is connected between each supporting rod and the bottom surface of the machine body; wherein the support rod is kept in a tilted state by the elastic force provided by the damping spring and the supporting spring.

Preferably, the axis of the pin shaft is perpendicular to a radial connecting line between the pin shaft and the circle center.

Furthermore, the lower end of the supporting rod is fixedly connected with a horizontal bottom rod, and an elastic sleeve is sleeved on the horizontal bottom rod.

Preferably, the lower end of the supporting rod is fixedly connected to the middle of the horizontal bottom rod, and the elastic sleeves are sleeved on the front side and the rear side of the horizontal bottom rod.

Preferably, the damping spring connected between the connection hanging point at the upper part of the support rod and the connection ring is inclined, and the damping spring connected between the connection hanging point at the lower part of the support rod and the connection ring is horizontal.

Preferably, the supporting spring is vertical, the upper end of the supporting spring is fixedly connected with the supporting rod through a spring top plate, and the lower end of the supporting spring is fixedly connected with the machine body through a spring base.

By adopting the technical scheme, due to the arrangement of the plurality of connecting seats and the support rods hinged on each connecting seat, the unmanned aerial vehicle can be supported in an all-around manner through the plurality of support rods when landing on the ground, so that the unmanned aerial vehicle is suitable for various complex terrains, and in addition, the support rods can rotate freely, so that the unmanned aerial vehicle can obtain a maximum damping and buffering stroke, and the impact force is reduced; and because the connecting ring, the damping springs connected between the connecting ring and the supporting rod and the supporting springs connected between the supporting rod and the machine body are arranged, when the supporting rod is not used, the supporting rod is in a balanced state of inclination, when the supporting rod is impacted by the ground, the damping springs jointly provide tension to offset impact force, the trend that the supporting rod rotates upwards is overcome, and the supporting rod is prevented from colliding with the machine body.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a partially enlarged view of B in fig. 1.

In the figure, 1-a machine body, 2-a machine arm, 3-a lifting component, 4-a connecting seat, 5-a pin shaft, 6-a supporting rod, 7-a connecting ring, 8-a connecting hanging point, 9-a damping spring, 10-a supporting spring, 11-a spring base, 12-a spring top plate, 13-a horizontal bottom rod and 14-an elastic sleeve.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.

A multi-rotor unmanned aerial vehicle with a shock-absorbing landing gear structure is shown in figures 1-3 and comprises a body 1, a plurality of arms 2 arranged on the periphery of the body 1 and a lift assembly 3 arranged on each arm 2, wherein each lift assembly 3 comprises a motor and a rotor arranged on an output shaft of the motor. In addition, a shock-absorbing undercarriage is mounted on the bottom surface of the fuselage 1.

In this embodiment, the shock-absorbing undercarriage includes a connecting base 4, a support rod 6, a connecting ring 7, a shock-absorbing spring, and a supporting spring.

Wherein, connecting seat 4 has two at least, and two at least connecting seats 4 pass through on the same circumference of screw or bolt fixed mounting use the bottom surface center of fuselage 1 as the centre of a circle, and all fixed mounting has the round pin axle 5 that is the horizontal form and arranges on every connecting seat 4. The bottom surface center of above-mentioned fuselage 1 refers to many rotor unmanned aerial vehicle's focus projection point on the bottom surface of fuselage 1, and the bottom surface center of fuselage 1 coincides with this projection point usually, then uses the projection point as the standard when having the deviation. And the connecting seats 4 are arranged on the same circumference with the projection point as the center of a circle. The pin 5 is fixed on the connecting base 4 by welding or key connection, and for any pin 5, the axis of the pin 5 is configured to be perpendicular to a radial connecting line between the pin 5 and the circle center (projection point).

The bracing piece 6 is straight shaft-like structure, and the upper end of every bracing piece 6 all is provided with the pinhole with round pin axle 5 looks adaptations, and the quantity of bracing piece 6 is the same with the quantity of above-mentioned connecting seat 4 to all articulate on every connecting seat 4 has a bracing piece 6. The connection ring 7 has a ring structure, and the connection ring 7 is disposed below the center of the bottom surface of the body 1. In addition, the upper part and the lower part of each support rod 6 are provided with connecting hanging points 8, and a damping spring 9 is connected between each connecting hanging point 8 and the connecting ring 7. And a supporting spring 10 is connected between each supporting rod 6 and the bottom surface of the body 1. Wherein, the damping spring 9 and the supporting spring 10 are both in a tension state, and the combined action of the elastic forces provided by all the damping springs 9 and the supporting springs 10 is to keep the supporting rod 6 in a tilting state when not in use.

For example, the connection hanging point 8 may be configured to be a column, a sheet or a ring structure, and when the connection hanging point is a column or a sheet, a through hole is formed on the connection hanging point to facilitate the hook connection on the end of the damping spring 9. In the present embodiment, the height position of the connection ring 7 is configured as follows: the damping spring 9 connected between the connecting hanging point 8 at the upper part of the supporting rod 6 and the connecting ring 7 is inclined, and the damping spring 9 connected between the connecting hanging point 8 at the lower part of the supporting rod 6 and the connecting ring 7 is horizontal. The supporting spring 10 is vertical, a spring base 11 is fixed on the supporting rod 6, and a spring top plate 12 is fixed on the bottom surface of the machine body 1, so that the upper end of the supporting spring 10 is fixedly connected with the machine body 1 through the spring top plate 12, the lower end of the supporting spring is fixedly connected with the supporting rod 6 through the spring base 11, for example, the upper end and the lower end of the supporting spring 10 are respectively welded and fixed with the spring top plate 12 and the spring base 11.

As shown in fig. 1, the present embodiment is configured such that the two connecting seats 4 and the two support rods 6 are arranged on the bottom surface of the body 1 in a left-right symmetrical manner, and correspondingly, the four damping springs 9 are connected in parallel to form an "X" shape.

It can be understood that, in order to prevent the lower end of the support rod 6 from being inserted into the ground when the unmanned aerial vehicle lands, in the present embodiment, a horizontal bottom rod 13 is fixedly connected to the lower end of the support rod 6, and an elastic sleeve 14, for example made of rubber material, is sleeved on the horizontal bottom rod 13. Further, the lower end of the supporting rod 6 is fixedly connected to the middle of the horizontal bottom rod 13, and elastic sleeves 14 are sleeved on the front side and the rear side of the horizontal bottom rod 13.

When in use, when the multi-rotor unmanned aerial vehicle is in a flying state, the support rod 6 is maintained in an inclined state under the action of the pulling force provided by the damping spring 9 and the supporting spring 10, when the multi-rotor unmanned aerial vehicle lands, the horizontal bottom rod 13 and the elastic sleeve 14 sleeved on the horizontal bottom rod contact the ground, the impact force given by the ground is randomly transmitted to the supporting rod 6, the supporting rod 6 is forced to rotate upwards, at this time, the tension provided by the damping spring 9 can prevent the support bar 6 from rotating upwards, and the support bar 6 is pulled back after rotating upwards to a certain angle, in the process of pulling back, due to the existence of the supporting spring 10, the supporting rod 6 is also subjected to the pulling force given by the supporting spring 10 when rebounding, so relapse the impact force that can lie in through ground when effectively alleviating unmanned aerial vehicle and descending, avoid the impact force directly to transmit fuselage 1 in, and then prevent that the inseparable equipment in the fuselage 1 from receiving the impact and damaging.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.

Claims

1. a multi-rotor unmanned aerial vehicle with a shock-absorbing landing gear structure, comprising a fuselage, a plurality of arms installed on the peripheral side of the fuselage and a lift assembly installed on each of the arms, wherein In that: the bottom surface of the fuselage is also installed with a shock-absorbing landing gear, and the shock-absorbing landing gear includes a connecting seat, a support rod, a connecting ring, a shock-absorbing spring and a supporting spring; the connecting seat has at least two, at least two Each of the connecting seats is fixedly installed on the same circle with the center of the bottom surface of the fuselage as the center of the circle, and each of the connecting seats is fixedly installed with a horizontally arranged pin shaft; the upper end of the support rod is provided with The number of the supporting rods and the connecting bases is the same, so that the supporting rods are hinged on each of the connecting bases; the connecting rings are arranged on the machine Below the center of the bottom surface of the body, the upper and lower parts of each of the support rods are provided with connection hanging points, and the shock-absorbing spring is connected between each of the connection hanging points and the connection ring; The support spring is connected between the support rod and the bottom surface of the fuselage; wherein, the elastic force provided by the shock-absorbing spring and the support spring keeps the support rod in an inclined state.

2 . The multi-rotor UAV with a shock-absorbing landing gear structure according to claim 1 , wherein the axis of the pin shaft is perpendicular to the radial connection line between the pin shaft and the center of the circle. 3 .

3 . The multi-rotor UAV with shock-absorbing landing gear structure according to claim 1 , wherein the lower end of the support rod is fixedly connected with a horizontal bottom rod, and an elastic sleeve is sleeved on the horizontal bottom rod. 4 . .

4 . The multi-rotor UAV with shock-absorbing landing gear structure according to claim 3 , wherein the lower end of the support rod is fixedly connected to the middle of the horizontal bottom rod, and the The elastic sleeves are sleeved on both the front and rear sides.

5. The multi-rotor UAV with shock-absorbing landing gear structure according to claim 1, wherein the shock-absorbing spring connected between the connection hanging point on the upper part of the support rod and the connecting ring is in the shape of a In an inclined shape, the shock-absorbing spring connected between the connection hanging point at the lower part of the support rod and the connection ring is horizontal.

6 . The multi-rotor UAV with shock-absorbing landing gear structure according to claim 1 , wherein the support spring is vertical, and the upper end of the support spring is fixed to the support rod through a spring top plate. 7 . The connection and the lower end are fixedly connected with the fuselage through the spring base.