CN116215848A - Elastic shrinkage type shock absorption support for unmanned aerial vehicle - Google Patents
Elastic shrinkage type shock absorption support for unmanned aerial vehicle Download PDFInfo
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- 230000035939 shock Effects 0.000 title claims description 50
- 238000010521 absorption reaction Methods 0.000 title claims description 8
- 238000013016 damping Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000008602 contraction Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 35
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 239000006096 absorbing agent Substances 0.000 claims description 8
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 230000006698 induction Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 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
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
本发明属于无人机用减震支架技术领域,具体涉及一种弹性收缩式无人机用减震支架,其中包括无人机,所述无人机包括机身、支杆、若干电机、螺旋叶以及弹性收缩式减震机构;所述支杆固定安装于机身的四周,若干所述电机均固定安装于支杆的外端,所述螺旋叶固定安装于电机的上方;所述弹性伸缩式减震机构包括减震支架以及减震腔;所述减震腔固定安装于机身的下方,所述减震支架设置于减震腔的下方,所述弹性伸缩式减震机构包括两根伸缩杆、连接板、两个套筒以及弹簧;所述减震腔内部呈中空状,该装置解决了当前无人机降落时无法在通过弹簧进行减震缓冲的同时,自动提醒操作人员更换弹簧以及提高无人机降落平稳性的问题。
The invention belongs to the technical field of shock-absorbing brackets for unmanned aerial vehicles, and in particular relates to an elastic contraction-type shock-absorbing bracket for unmanned aerial vehicles, which includes an unmanned aerial vehicle. The unmanned aerial vehicle includes a fuselage, a pole, several motors, a leaf and elastic contraction damping mechanism; the pole is fixedly installed around the fuselage, several motors are fixedly installed on the outer end of the pole, and the helical leaf is fixedly installed above the motor; the elastic telescopic The shock-absorbing mechanism includes a shock-absorbing bracket and a shock-absorbing chamber; the shock-absorbing chamber is fixedly installed under the fuselage, the shock-absorbing bracket is arranged under the shock-absorbing chamber, and the elastic telescopic shock-absorbing mechanism includes two A telescopic rod, a connecting plate, two sleeves and a spring; the inside of the shock-absorbing cavity is hollow, and this device solves the problem that the current UAV cannot use the spring for shock-absorbing and buffering while automatically reminding the operator to replace the spring And the problem of improving the stability of drone landing.
Description
技术领域technical field
本发明属于无人机用减震支架技术领域,具体涉及一种弹性收缩式无人机用减震支架。The invention belongs to the technical field of shock-absorbing brackets for unmanned aerial vehicles, and in particular relates to an elastic contraction-type shock-absorbing bracket for unmanned aerial vehicles.
背景技术Background technique
无人驾驶飞机简称“无人机”,英文缩写为“UAV”,是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机,或者由车载计算机完全地或间歇地自主地操作。与有人驾驶的飞机相比,无人机往往更适合那些太“愚钝,肮脏或危险”的任务。Unmanned aircraft, referred to as "unmanned aerial vehicle", or "UAV" in English, is an unmanned aircraft that is controlled by radio remote control equipment and its own program control device, or is completely or intermittently operated autonomously by an on-board computer. Drones are often better suited for missions that are too "dumb, dirty or dangerous" than manned aircraft.
而使用无人机时,由于自身重量作用,在无人机的降落时会产生强大的反作用力,震伤无人机内的电子元器件,损坏无人机,本技术方案,相对于传统无人机,增加了降落减震功能的同时,对减震弹簧的更换能够自动提醒,时刻保持较好的缓冲效果,同时降落的平稳性得到改善。该现象成为本领域人员亟待解决的问题。When using a drone, due to its own weight, a strong reaction force will be generated when the drone lands, which will damage the electronic components in the drone and damage the drone. The man-machine has added the function of landing shock absorption, and at the same time, it can automatically remind the replacement of the shock absorption spring, maintain a good cushioning effect at all times, and improve the stability of landing at the same time. This phenomenon has become a problem to be solved urgently by those skilled in the art.
发明内容Contents of the invention
本发明的目的在于提供一种弹性收缩式无人机用减震支架,以解决上述背景技术中提出的问题。The purpose of the present invention is to provide an elastically shrinkable shock-absorbing bracket for unmanned aerial vehicles, so as to solve the problems raised in the above-mentioned background technology.
为了解决上述技术问题,本发明提供如下技术方案:一种弹性收缩式无人机用减震支架,包括无人机,所述无人机包括机身、支杆、若干电机、螺旋叶以及弹性收缩式减震机构;In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: an elastically shrinkable shock-absorbing bracket for unmanned aerial vehicles, including an unmanned aerial vehicle, the unmanned aerial vehicle includes a fuselage, a pole, several motors, a spiral blade, and an elastic Shock-absorbing mechanism;
所述支杆固定安装于机身的四周,若干所述电机均固定安装于支杆的外端,所述螺旋叶固定安装于电机的上方;The poles are fixedly installed around the fuselage, several motors are fixedly installed on the outer ends of the poles, and the spiral leaves are fixedly installed above the motors;
所述弹性伸缩式减震机构包括减震支架以及减震腔;The elastic telescopic shock absorbing mechanism includes a shock absorbing bracket and a shock absorbing cavity;
所述减震腔固定安装于机身的下方,所述减震支架设置于减震腔的下方。The shock-absorbing chamber is fixedly installed under the fuselage, and the shock-absorbing bracket is arranged under the shock-absorbing chamber.
本发明进一步说明,所述弹性伸缩式减震机构包括两根伸缩杆、连接板、两个套筒以及弹簧;The present invention further explains that the elastic telescopic damping mechanism includes two telescopic rods, a connecting plate, two sleeves and a spring;
所述减震腔内部呈中空状,两根所述伸缩杆分别固定安装于减震腔的内壁左右两侧,两根所述伸缩杆的下端与减震支架固定连接;The interior of the shock absorbing cavity is hollow, and the two telescopic rods are respectively fixedly installed on the left and right sides of the inner wall of the shock absorbing cavity, and the lower ends of the two telescopic rods are fixedly connected with the shock absorbing bracket;
所述连接板用于固定连接两个伸缩杆,其中一个所述套筒固定安装于连接板的上方,另一个所述套筒固定安装于减震腔的内壁上方,且两个套筒竖直对齐;The connecting plate is used to fixedly connect two telescopic rods, one of the sleeves is fixedly installed above the connecting plate, and the other sleeve is fixedly installed above the inner wall of the shock-absorbing cavity, and the two sleeves are vertical alignment;
所述弹簧设置于两个套筒内。The spring is arranged in the two sleeves.
本发明进一步说明,所述弹性伸缩式减震机构包括两根固定杆,两根所述固定杆的外端分别与伸缩杆固定,两根所述固定杆之间连接有联轴器。The present invention further explains that the elastic telescopic shock absorbing mechanism includes two fixed rods, the outer ends of the two fixed rods are respectively fixed to the telescopic rods, and a coupling is connected between the two fixed rods.
本发明进一步说明,所述减震腔的前侧设置有盖子,所述连轴器的下方固定有触碰块,所述减震腔的内壁底部固定有指令腔,所述指令腔上方固定有感应块,所述指令腔的内部设置有信息传输系统。The present invention further explains that a cover is provided on the front side of the shock absorbing cavity, a touch block is fixed below the coupling, a command cavity is fixed at the bottom of the inner wall of the shock absorbing cavity, and a command cavity is fixed above the command cavity. An induction block, an information transmission system is arranged inside the command cavity.
本发明进一步说明,所述感应块的内部设置有感应模块,所述信息传输系统包括次数计算模块、信息传输模块、警报模块、程序调整模块;The present invention further explains that an induction module is arranged inside the induction block, and the information transmission system includes a frequency calculation module, an information transmission module, an alarm module, and a program adjustment module;
所述感应模块与次数计算模块电性连接,所述次数计算模块与信息传输模块电性连接,所述信息传输模块与警报模块电性连接,所述程序调整模块与信息传输模块电性连接,所述程序调整模块与电机电性连接;The sensing module is electrically connected to the times calculation module, the times calculation module is electrically connected to the information transmission module, the information transmission module is electrically connected to the alarm module, the program adjustment module is electrically connected to the information transmission module, The program adjustment module is electrically connected to the motor;
所述感应模块用于判断感应块是否与触碰块接触,所述次数计算模块用于根据感应模块的判断计算感应块与触碰块接触的次数,所述信息传输模块用于传输修改的程序以及警报信息,所述警报模块用于发出警报,所述程序调整模块用于将传输的修改程序进行替换。The sensing module is used to judge whether the sensing block is in contact with the touch block, the number calculation module is used to calculate the number of times the sensing block contacts the touch block according to the judgment of the sensing module, and the information transmission module is used to transmit the modified program And alarm information, the alarm module is used to issue an alarm, and the program adjustment module is used to replace the modified program transmitted.
本发明进一步说明,所述信息传输系统包括以下运行步骤:The present invention further illustrates that the information transmission system includes the following operating steps:
步骤S1、无人机降落,信息传输系统运行;Step S1, the drone lands, and the information transmission system runs;
步骤S2、感应模块判断感应块是否与触碰块接触,并通过次数计算模块对感应块与触碰块接触的次数进行计算,次数多时进入步骤S3,次数少进入步骤S4;Step S2, the sensing module judges whether the sensing block is in contact with the touch block, and calculates the number of contact times between the sensing block and the touch block through the number calculation module. If the number of times is large, enter step S3, and if the number of times is small, enter step S4;
步骤S3、信息传输模块传输修改的程序以及警报信息到警报模块和程序调整模块中,警报模块发出警报,程序调整模块根据传输的修改程序对电机原本程序进行替换;Step S3, the information transmission module transmits the modified program and the alarm information to the alarm module and the program adjustment module, the alarm module sends out an alarm, and the program adjustment module replaces the original program of the motor according to the transmitted modification program;
步骤S4、无人机降落完毕,信息传输系统停止运行。Step S4, after the landing of the UAV is completed, the information transmission system stops running.
本发明进一步说明,所述步骤S2和步骤S3中,当N≥N1时,N为感应块与触碰块接触次数,N1为系统设定的感应块与触碰块接触次数,警报模块提醒更换弹簧,同时电机的程序被替换,保障下一次降落稳定性。The present invention further illustrates that in the step S2 and step S3, when N≥N1 , N is the number of contact times between the sensing block and the touch block, and N1 is the number of contact times between the sensor block and the touch block set by the system, and the alarm module Reminder to replace the spring, and the program of the motor is replaced at the same time to ensure the stability of the next landing.
与现有技术相比,本发明所达到的有益效果是:本发明采用的弹性收缩式无人机用减震支架,无人机飞行时,电机带动螺旋叶高速转动,螺旋叶通过支杆带动机身上升,机身带动减震腔上升,从而使减震支架远离地面,当无人机降落时,减震支架先与地面接触,降落产生的动能使减震支架受力,带动伸缩杆受力,伸缩杆收缩从而带动连接板向上移动,使套筒内的弹簧受力形变,之后弹簧产生反作用力对连接板进行作用力,使得伸缩杆反向伸长,带动减震支架对地面施加反作用力,从而起到减震效果,且减震效果较好,防止无人机内部的电子元器件受到震动受损,提高无人机的使用寿命,当无人机进行多次的高强度降落后,作为缓冲减震作用的弹簧,其弹性降低,这时通过警报模块提醒操作人员更换弹簧,操作人员打开盖子,将套筒内的弹簧取出,更换新的弹簧,从而使缓冲效果能够持续较好的保持住,同时通过程序自动更换使电机降速的加速度减低,从而保证无人机降落时的平稳性,一方面可以保护无人机,另一方面可以提高弹簧的使用寿命,减少更换频次。Compared with the prior art, the beneficial effects achieved by the present invention are: the elastic contraction type shock-absorbing support for unmanned aerial vehicle adopted in the present invention, when the unmanned aerial vehicle is flying, the motor drives the spiral blade to rotate at high speed, and the spiral blade is driven by the support rod The fuselage rises, and the fuselage drives the shock absorber to rise, so that the shock absorber is far away from the ground. When the drone lands, the shock absorber first contacts the ground, and the kinetic energy generated by the landing causes the shock absorber to be stressed, and the telescopic rod is driven. Force, the telescopic rod shrinks to drive the connecting plate to move upwards, causing the spring in the sleeve to deform under the force, and then the spring generates a reaction force to act on the connecting plate, making the telescopic rod stretch in the opposite direction, driving the shock absorbing bracket to exert a reaction on the ground Force, so as to play a shock absorption effect, and the shock absorption effect is better, prevent the electronic components inside the drone from being damaged by vibration, and improve the service life of the drone. When the drone performs multiple high-intensity landings , as the spring for cushioning and shock absorption, its elasticity decreases. At this time, the alarm module reminds the operator to replace the spring. The operator opens the cover, takes out the spring in the sleeve, and replaces a new spring, so that the cushioning effect can continue to be better. At the same time, the acceleration of the motor deceleration is reduced through the automatic replacement of the program, so as to ensure the stability of the drone when it lands. On the one hand, it can protect the drone, on the other hand, it can improve the service life of the spring and reduce the frequency of replacement.
附图说明Description of drawings
附图用来提供对本发明的进一步理解,并且构成说明书的一部分,与本发明的实施例一起用于解释本发明,并不构成对本发明的限制。在附图中:The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:
图1是本发明的整体结构示意图;Fig. 1 is the overall structural representation of the present invention;
图2是本发明的无人机平面示意图;Fig. 2 is a schematic plan view of the unmanned aerial vehicle of the present invention;
图3是本发明的减震腔平面示意图;Fig. 3 is a schematic plan view of the damping cavity of the present invention;
图4是本发明的减震腔内部结构示意图;Fig. 4 is a schematic diagram of the internal structure of the damping chamber of the present invention;
图5是本发明的信息传输系统流程示意图;Fig. 5 is a schematic flow chart of the information transmission system of the present invention;
图中:1、机身;2、支杆;3、电机;4、螺旋叶;5、减震支架;6、减震腔;7、伸缩杆;8、连接板;9、套筒;10、弹簧;11、固定杆;12、联轴器;13、触碰块;14、指令腔;15、感应块;16、盖子。In the figure: 1. Fuselage; 2. Prop; 3. Motor; 4. Spiral leaf; 5. Shock absorbing bracket; 6. Shock absorbing cavity; 7. Telescopic rod; 8. Connecting plate; 9. Sleeve; 10 , spring; 11, fixed rod; 12, coupling; 13, touch block; 14, command cavity; 15, induction block; 16, cover.
具体实施方式Detailed ways
以下结合较佳实施例及其附图对本发明技术方案作进一步非限制性的详细说明。显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solution of the present invention will be described in further non-limiting detail below in combination with preferred embodiments and accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
请参阅图1-5,本发明提供技术方案:一种弹性收缩式无人机用减震支架,包括无人机,所述无人机包括机身1、支杆2、若干电机3、螺旋叶4以及弹性收缩式减震机构;Please refer to Figures 1-5, the present invention provides a technical solution: an elastic shrinkable shock-absorbing bracket for unmanned aerial vehicles, including an unmanned aerial vehicle. Leaf 4 and elastic contraction damping mechanism;
支杆2固定安装于机身1的四周,若干电机3均固定安装于支杆2的外端,螺旋叶4固定安装于电机3的上方;The
弹性伸缩式减震机构包括减震支架5以及减震腔6;The elastic telescopic shock absorbing mechanism includes a
减震腔6固定安装于机身1的下方,减震支架5设置于减震腔6的下方;The
弹性伸缩式减震机构包括两根伸缩杆7、连接板8、两个套筒9以及弹簧10;The elastic telescopic damping mechanism includes two
减震腔6内部呈中空状,两根伸缩杆7分别固定安装于减震腔6的内壁左右两侧,两根伸缩杆7的下端与减震支架5固定连接;The interior of the
连接板8用于固定连接两个伸缩杆7,其中一个套筒9固定安装于连接板8的上方,另一个套筒9固定安装于减震腔6的内壁上方,且两个套筒9竖直对齐;The connecting
弹簧10设置于两个套筒9内;The
操作人员开启无人机,无人机飞行,电机3带动螺旋叶4高速转动,螺旋叶4通过支杆2带动机身1上升,机身1带动减震腔6上升,从而使减震支架5远离地面,当无人机降落时,减震支架5先与地面接触,降落产生的动能使减震支架5受力,带动伸缩杆7受力,伸缩杆7收缩从而带动连接板8向上移动,使套筒9内的弹簧10受力形变,之后弹簧10产生反作用力对连接板8进行作用力,使得伸缩杆7反向伸长,带动减震支架5对地面施加反作用力,从而起到减震效果,且减震效果较好,防止无人机内部的电子元器件受到震动受损,提高无人机的使用寿命;The operator turns on the UAV, and the UAV flies. The motor 3 drives the helical blade 4 to rotate at a high speed. Far away from the ground, when the drone lands, the
弹性伸缩式减震机构包括两根固定杆11,两根固定杆11的外端分别与伸缩杆7固定,两根固定杆11之间连接有联轴器12;The elastic telescopic damping mechanism includes two fixed
减震腔6的前侧设置有盖子16,连轴器12的下方固定有触碰块13,减震腔6的内壁底部固定有指令腔14,指令腔14上方固定有感应块15,指令腔14的内部设置有信息传输系统;The front side of the damping
通过上述步骤,在两个伸缩杆7同时收缩时,带动两个固定杆11分别绕联轴器12转动,由于固定杆11与伸缩杆7固定,固定杆11的角度变化带动连轴器12向下移动,连轴器12带动触碰块13向下移动,当无人机降落的动力较大时,伸缩杆7收缩的距离增大,从而带动连轴器12向下移动较远距离直至带动触碰块13与感应块15接触,指令腔14内的信息传输系统通过触碰块13与感应块15接触,便于后续提醒操作人员更换弹簧10,保证时刻具备较好的抗震能力,同时使电机3在无人机降落时,降速更为稳定,提高降落的平稳性,进一步保障无人机降落的安全性;Through the above steps, when the two
感应块15的内部设置有感应模块,信息传输系统包括次数计算模块、信息传输模块、警报模块、程序调整模块;The interior of the
感应模块与次数计算模块电性连接,次数计算模块与信息传输模块电性连接,信息传输模块与警报模块电性连接,程序调整模块与信息传输模块电性连接,程序调整模块与电机3电性连接;The sensing module is electrically connected to the frequency calculation module, the frequency calculation module is electrically connected to the information transmission module, the information transmission module is electrically connected to the alarm module, the program adjustment module is electrically connected to the information transmission module, and the program adjustment module is electrically connected to the motor 3 connect;
感应模块用于判断感应块15是否与触碰块13接触,次数计算模块用于根据感应模块的判断计算感应块15与触碰块13接触的次数,信息传输模块用于传输修改的程序以及警报信息,警报模块用于发出警报,程序调整模块用于将传输的修改程序进行替换;The sensing module is used to judge whether the
信息传输系统包括以下运行步骤:The information transmission system includes the following operational steps:
步骤S1、无人机降落,信息传输系统运行;Step S1, the drone lands, and the information transmission system runs;
步骤S2、感应模块判断感应块15是否与触碰块13接触,并通过次数计算模块对感应块15与触碰块13接触的次数进行计算,次数多时进入步骤S3,次数少进入步骤S4;Step S2, the sensing module judges whether the
步骤S3、信息传输模块传输修改的程序以及警报信息到警报模块和程序调整模块中,警报模块发出警报,程序调整模块根据传输的修改程序对电机3原本程序进行替换;Step S3, the information transmission module transmits the modified program and the alarm information to the alarm module and the program adjustment module, the alarm module sends out an alarm, and the program adjustment module replaces the original program of the motor 3 according to the transmitted modification program;
步骤S4、无人机降落完毕,信息传输系统停止运行;Step S4, the drone is landed, and the information transmission system stops running;
步骤S2和步骤S3中,当N≥N1时,N为感应块15与触碰块13接触次数,N1为系统设定的感应块15与触碰块13接触次数,警报模块提醒更换弹簧10,同时电机3的程序被替换,保障下一次降落稳定性;In step S2 and step S3, when N≥N 1 , N is the number of contact times between the
通过上述步骤,当无人机进行多次的高强度降落后,作为缓冲减震作用的弹簧10,其弹性降低,这时通过警报模块提醒操作人员更换弹簧10,操作人员打开盖子16,将套筒9内的弹簧10取出,更换新的弹簧10,从而使缓冲效果能够持续较好的保持住,同时通过程序自动更换使电机3降速的加速度减低,从而保证无人机降落时的平稳性,一方面可以保护无人机,另一方面可以提高弹簧10的使用寿命,减少更换频次。Through the above steps, after the UAV performs multiple high-intensity landings, the
在本发明的描述中,需要理解的是,术语“上”、“下”、“前”、“后”、“左”、“右”、等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. The orientation or positional relationship is only for the convenience of describing the present invention, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.
最后需要指出的是:以上实施例仅用以说明本发明的技术方案,而非对其限制。尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features and these modifications Or replacement, does not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.
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