CN207758999U - Undercarriage and unmanned vehicle with this undercarriage - Google Patents

Abstract

The utility model embodiment is related to vehicle technology field, a kind of undercarriage and the unmanned vehicle with this undercarriage are provided, undercarriage includes driving device, transmission mechanism and undercarriage ontology, and transmission mechanism includes the rotation axis being connect with driving device and rotation cam；Undercarriage ontology is connected to the both ends of the rotation axis, and the driving device drives the undercarriage ontology to rotate by the rotation axis.In the above manner, undercarriage ontology can be packed up and be folded to the both sides or inside of fuselage, it is compact-sized, so that unmanned vehicle is in flight, undercarriage, which can be packed up and be folded, will not cause the skyborne unnecessary resistance of unmanned vehicle, during unmanned vehicle is taken photo by plane, avoid blocking the visual field of taking photo by plane completely；When needing landing, undercarriage and energy Automatic-expanding support the unmanned vehicle to complete landing.

Description

Undercarriage and unmanned vehicle with this undercarriage

【Technical field】

The utility model is related to vehicle technology field more particularly to a kind of undercarriage and with this undercarriage nobody fly Row device.

【Background technology】

Unmanned vehicle, abbreviation unmanned plane (Unmanned Aerial Vehicle, UAV), is that one kind being in rapid development In new concept equipment, have the advantages that maneuverability, rapid reaction, it is unmanned, operation require it is low.Unmanned plane is by taking Multiclass sensor or picture pick-up device are carried, image real-time Transmission, high-risk areas detecting function may be implemented, is satellite remote sensing and tradition The strong supplement of air remote sensing.Currently, the use scope of unmanned plane has widened military affairs, scientific research, civilian three big field, specifically In power communication, meteorology, agricultural, ocean, exploration, photographs, prevents and reduces natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol, controls It is very wide to pacify the fields applications such as anti-terrorism.

Consumer level unmanned plane currently on the market mainly uses fixed landing gear.It is fixed to rise and fall during taking photo by plane Frame can block the visual field of taking photo by plane.

【Utility model content】

In order to solve the above-mentioned technical problem, the utility model embodiment provides a kind of pack up and what is folded collapsible rises and falls Frame and unmanned vehicle with this collapsible undercarriage.

In order to solve the above-mentioned technical problem, the utility model embodiment provides following technical scheme：

A kind of undercarriage, including：

Driving device；

Transmission mechanism, including rotation axis and rotation cam, the driving device and the rotation axis connection, and institute can be driven State rotation axis rotation；

Undercarriage ontology, is connected to the both ends of the rotation axis, and the driving device passes through described in rotation axis driving Undercarriage ontology rotates.

In some embodiments, the undercarriage further includes connection component, and the connection component includes rotation cam, described Rotation cam is provided with round perforation；

The rotation axis both ends pass through the round perforation of the rotation cam to be connect with the undercarriage ontology, the rotation Axis and the round perforation clearance fit, and the end face of the rotation cam is angled end-face or curved end, the undercarriage Ontology is abutted with the angled end-face or curved end.

In some embodiments, the connection component further includes：Axis pin and resilient member, the rotation axis pass through described One end of axis pin and the undercarriage ontology is hinged；The rotation cam for being fixedly installed in the fuselage, and with described The mating surface for falling frame ontology abuts；The resilient member is sheathed on the axis pin, and described resilient member one end supports The undercarriage ontology, the other end support the rotation axis.

In some embodiments, the transmission mechanism further includes connecting shaft, and one end of the connecting shaft is provided with limiting slot, The both ends of the rotation axis are respectively arranged with position limiting structure, and the position limiting structure is inserted into the limiting slot, so that described turn Moving axis drives the connecting shaft rotation；The other end of the connecting shaft is cut with scissors by one end of the axis pin and the undercarriage ontology It connects；Described resilient member one end supports the undercarriage ontology, and the other end supports the connecting shaft.

In some embodiments, the transmission mechanism is a worm gear mechanism, including worm and worm wheel, the worm screw with The shaft of the driving device is fixedly connected；The worm screw engages with the worm gear；The worm gear is fixed on the rotation axis, and And the rotation axis coincident of the rotation axis of the worm screw and the rotation axis；It rises and falls respectively with described at the both ends of the rotation axis Frame ontology connects.

In some embodiments, the undercarriage further includes holder, and the holder includes bottom wall, and by the bottom wall Both ends side wall made of extending perpendicular to the direction of the bottom wall；The bottom wall is provided with fixing groove, the bottom of the fixing groove Face is provided with through-hole, and the driving device is fixed in the fixing groove, one end of the worm screw pass through the through-hole with it is described The shaft of driving device is fixedly connected；The rotation axis is articulated between two side walls.

In some embodiments, the undercarriage further includes bearing block and bearing, and the bearing block is fixed on the side wall, The bearing holder (housing, cover) is set to the rotation axis, and the bearing sleeve is set to the bearing.

In some embodiments, the lateral surface of the side wall is provided with storage tank, and the bottom surface of the storage tank is provided with company Connect hole and retainer；The rotation axis passes through the connecting hole and the connection axis connection；The rotation cam is located at the appearance It sets in slot, and the rotation cam is provided with round perforation and stop hole, the circle perforation is aligned with the connecting hole, institute Retainer is stated to be inserted into the stop hole.

In some embodiments, it is described rotation cam angled end-face or curved end include the first plane, spiral camber, Second plane and vertical plane, first plane, spiral camber, the second plane and vertical plane are surrounded on the round perforation, and Connect successively；The other end face of the rotation cam is plane, and is connected to the bottom surface of the storage tank；First plane And second have difference in height between plane, first plane is compared to second plane close to one end of the rotation cam End face；The face that the undercarriage ontology is abutted with the angled end-face of the rotation cam or curved end is joint face, the connection Face is provided with abutting part, and the abutting part is connected to the angled end-face or curved end of the rotation cam.

In some embodiments, the transmission mechanism is spiral gear drive mechanism, including the first helical gear, the second helical gear And rotation axis；First helical gear is fixedly connected with one end of shaft in the driving device, the second helical gear setting In the middle part of the rotation axis；First helical gear and the engagement of the second helical gear；The both ends of the rotation axis respectively with one The undercarriage ontology connection.

In some embodiments, the undercarriage further includes the transmission device for increasing rotary inertia, the transmission dress It sets and is connected between the driving device and the transmission mechanism.

In order to solve the above-mentioned technical problem, the utility model embodiment also provides following technical scheme：

A kind of unmanned vehicle, including fuselage and undercarriage described above, the undercarriage ontology can be relative to the machine Body is rotated to realize folding or expansion.

In some embodiments, the fuselage is equipped with the holder locking apparatus that rises and falls；The undercarriage ontology be provided with it is described The holder locking apparatus that rises and falls cooperation lock fit device, the undercarriage ontology folding after, it is described rise and fall holder locking apparatus with Lock fit device phase separation.

Compared with prior art, the undercarriage of the utility model embodiment, driving device can be driven by transmission mechanism The undercarriage ontology rotation, when the undercarriage ontology is applied on unmanned vehicle, the undercarriage ontology can phase The fuselage is rotated to realize the both sides or inside that are folded to fuselage, it is compact-sized, so that with this undercarriage For unmanned vehicle in flight, undercarriage, which can be packed up and be folded, will not cause the skyborne unnecessary resistance of unmanned vehicle, During unmanned vehicle is taken photo by plane, avoid blocking the visual field of taking photo by plane completely；When needing landing, undercarriage again can be relative to the machine Body is rotated to realize Automatic-expanding, and the unmanned vehicle is supported to complete landing.

Further, since one end of resilient member supports the connecting shaft, the other end supports the undercarriage ontology. When undercarriage is by external force more than the critical elastic force of resilient member, the undercarriage ontology can be put relative to fuselage It is dynamic, and then cushioning effect can be played in air crash, to protect the fuselage of the unmanned vehicle.

【Description of the drawings】

One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, removes Non- to have special statement, composition does not limit the figure in attached drawing.

Fig. 1 is the stereogram of the utility model unmanned vehicle that wherein an embodiment provides, and wherein undercarriage is in exhibition Open state；

Fig. 2 is the stereogram of undercarriage in unmanned vehicle shown in FIG. 1；

Fig. 3 is the decomposition of undercarriage shown in Fig. 2；

Fig. 4 is the stereogram of worm gear and rotation axis in undercarriage shown in Fig. 3；

Fig. 5 is another stereogram of undercarriage in unmanned vehicle shown in FIG. 1, and the wherein undercarriage includes holder；

Fig. 6 is the stereogram of holder in undercarriage shown in Fig. 5；

Fig. 7 is the stereogram of connecting shaft in undercarriage shown in Fig. 3；

Fig. 8 is the stereogram of axis pin in undercarriage shown in Fig. 3；

Fig. 9 is the stereogram that cam is rotated in undercarriage shown in Fig. 3；

Figure 10 is the stereogram of undercarriage ontology in undercarriage shown in Fig. 3；

Figure 11 is the structural schematic diagram of the utility model transmission mechanism in some other embodiment.

【Specific implementation mode】

For the ease of understanding the utility model, in the following with reference to the drawings and specific embodiments, the utility model is carried out more detailed Thin explanation.It should be noted that when element is expressed " being fixed on " another element, it can be directly in another element Upper or placed in the middle there may be one or more therebetween elements.When an element is expressed " connection " another element, it can To be directly to another element or may exist one or more elements placed in the middle therebetween.This specification is used Term "upper", "lower", "inner", "outside", the instructions such as " bottom " orientation or positional relationship be orientation based on ... shown in the drawings or Position relationship is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply the indicated device or member Part must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention. In addition, term " first ", " second " " third " etc. are used for description purposes only, it is not understood to indicate or imply relatively important Property.

Unless otherwise defined, technical and scientific term all used in this specification and the skill for belonging to the utility model The normally understood meaning of technical staff in art field is identical.Term used in the description of the utility model is intended merely to The purpose for describing specific embodiment is not intended to limitation the utility model.Term "and/or" used in this specification includes Any and all combinations of one or more relevant Listed Items.

In addition, as long as technical characteristic involved in the utility model difference embodiment disclosed below is each other not Constituting conflict can be combined with each other.

In the utility model embodiment, unmanned vehicle can be single rotor unmanned plane, DCB Specimen unmanned plane, quadrotor Unmanned plane or six rotor wing unmanned aerial vehicles etc., are described in detail by taking quadrotor drone as an example here.

Referring to Fig. 1, a wherein embodiment of the utility model provides a kind of unmanned vehicle, including fuselage 10 and rise and fall Frame 20, the undercarriage 20 are installed on the fuselage 10, support it in landing place when landing for unmanned vehicle.

Include the control circuit component being made of electronic components such as MCU in the fuselage 10, the control circuit component packet Multiple control modules are included, e.g., the control module packed up and put down for controlling the undercarriage 20, for controlling unmanned vehicle The flight control modules of flight attitude, for the GPS module for the unmanned vehicle that navigates and for handling related airborne equipment institute The data processing module etc. of the environmental information of acquisition.

Referring to Fig. 2, the undercarriage 20 includes：Driving device 210, for the transmission mechanism 220 between two alternating axis With undercarriage ontology 230, the driving device 210 is set to inside the fuselage 10, and the driving device 210 passes through institute It states transmission mechanism 220 to connect with the undercarriage ontology 230, the driving device 210 can drive 230 phase of undercarriage ontology The fuselage 10 is rotated to realize folding or expansion.

As shown in Figures 3 and 4, in the present embodiment, the transmission mechanism 220 is a worm gear mechanism, including worm screw 221, worm gear 222, rotation axis 223 and connection component 250, one end of the worm screw 221 and the shaft of the driving device 210 are solid Fixed connection, and the center line of the worm screw 221 is overlapped with the center line of the shaft of the driving device 210, the worm screw 221 Center line and the center line of the rotation axis 223 be mutually perpendicular to.The worm screw 221 engages with the worm gear 222.The worm gear 222 are fixed on the rotation axis 223, and the rotation axis coincident of the two.It is risen respectively with one at the both ends of the rotation axis 223 One end connection of frame ontology 230 is fallen, and the rotation axis 223 is substantially vertical with the face that the undercarriage ontology 230 is formed.Institute Stating driving device 210 can drive the worm screw 221 to rotate, and drive the rotation axis 223 to rotate by the worm gear 222, from And the undercarriage ontology 230 is made to be rotated relative to the fuselage 10.

The rotation axis 223 is multi-diameter shaft, and the mid diameter of the rotation axis 223 is more than the diameter at its both ends, in its company The place of connecing is formed with step surface 2231, and the both ends of the rotation axis 223 are respectively arranged with position limiting structure 2232.The worm gear 222 are integrally formed with the rotation axis 223, and positioned at the middle part of the rotation axis 223.

In the present embodiment, driving device 210 is brshless DC motor, that is, passes through brshless DC motor drive transmission device 220, it will be understood that in other embodiments, other driving devices can also be used, rotation axis is such as directly driven using steering engine 223 rotations.

It please refers to Fig. 5 and combines Fig. 3, in the present embodiment, the undercarriage 20 further includes holder 240,260 and of bearing block Bearing 270, the driving device 210 are fixed on the holder 240, and the rotation axis 223 is hinged with the holder 240, and It is connect with the undercarriage ontology 230 by the connection component 250.The bearing block 260 is fixed on the holder 240, and It is sheathed on the bearing 270, the bearing 270 is sheathed in the rotation axis 223, and is connected to the step surface 2231.

As shown in fig. 6, the holder 240 includes bottom wall 241, and by bottom wall 241 both ends along perpendicular to bottom wall 241 Side wall 242 made of direction extends.The bottom wall 241 is provided with fixing groove 2411, and the bottom surface of the fixing groove 2411 is provided with Through-hole 2412.The driving device 210 is fixed in the fixing groove 2411, and one end of the worm screw 221 passes through the through-hole 2412 are fixedly connected with the shaft of the driving device 210.There are two the side wall 242 is total, symmetrically.The rotation axis 223 between two side walls 242, and hinged with two side walls 242.The rotation axis 223 is away from the side wall 242 Lateral surface is provided with storage tank 2421, and the bottom surface of the storage tank 2421 is provided with connecting hole 2422 and retainer 2423.

In the present embodiment, the holder 240 is independent parts, and is installed on 10 inside of the fuselage or fuselage 10 External (for example, lower section of fuselage 10).It is understood that in some other embodiment, the holder 240 and fuselage 10 1 It is body formed, that is, holder 240 be fuselage 10 a part (at this point, for undercarriage 20, fuselage 10 is equivalent to the present embodiment In holder 240).

It please refers to Fig. 7 and in conjunction with Fig. 3, the connection component 250 includes：Connecting shaft 251, axis pin 252, rotation cam 253 With resilient member 254.One end of the connecting shaft 251 is provided with limiting slot 2511, and the other end is provided with the first clamping part 2512 and second clamping part 2513.The shape of the limiting slot 2511 is identical as the cross-sectional shape at 223 both ends of the rotation axis. There are two the connection component 250 is total, it is connect respectively with the both ends of the rotation axis 223.Specifically, the rotation axis 223 Position limiting structure 2232 is embedded in the limiting slot 2511, to prevent the rotation axis 223 and the connecting shaft 251 from opposite turn occurs It is dynamic.The cross section of the rotation axis 223 and the limiting slot 2511 can be ellipse, D-shaped or other position-limiting actions that play Shape.First clamping part, 2512 and second clamping part 2513 is symmetrical, and first clamping part 2512 and second There is gap, for accommodating the resilient member 254 between clamping part 2513.First clamping part 2512 is provided with first Pin hole, second clamping part 2513 are provided with the second pin hole, and first pin hole is aligned with second pin hole.The axis pin 252 pass through first pin hole and the second pin hole.

As shown in figure 8, the middle part of the axis pin 252 is provided with annular groove 2521, the resilient member 254 is a torsion Turn spring, be set around in the annular groove 2521, and one end of the resilient member 254 supports the connecting shaft 251, the other end supports the undercarriage ontology 230.

It is understood that in some other embodiment, the resilient member 254 can also be a shrapnel, peace Loaded on the axis pin 252, and one end supports the connecting shaft 251, and the other end supports the undercarriage ontology 230.

As shown in figure 9, the rotation cam 253 is located in the storage tank 2421, rotation cam 253 is provided with circle and passes through Hole 2531, circle 2531 one end-face of perforation extend to the other end face (also referred to as bearing surface), and described Round perforation 2531 is aligned with the connecting hole 2422.One end end face of the rotation cam 253 is provided with stop hole 2532, institute It is cylindrical to state retainer 2423, is inserted into the stop hole 2532, to prevent the rotation cam 253 in the storage tank Rotation in 2421.One end end face of the rotation cam 253 is angled end-face or curved end.Specifically, the angled end-face or arc Shape end face is provided with the first plane 2533, spiral camber 2534, the second plane 2535 and vertical plane 2536, first plane 2533, spiral camber 2534, the second plane 2535 and vertical plane 2536 are surrounded on the round perforation 2531, and connect successively. The other end face of the rotation cam 253 is plane, has height between first plane, 2533 and second plane 2535 Difference, first plane 2533 is compared to second plane 2535 close to the other end face of the rotation cam 253.It is described One end of rotation axis 223 passes through the through-hole 2412 and round perforation 2531, is inserted into the limiting slot 2511.

Specifically, there are two the bearing 270 is total, it is sheathed on the both ends of the rotation axis 223 respectively, and abut described Terrace 2231.There are two the bearing block 260 is total, and corresponded with the bearing 270.The bearing block 260 is fixed on institute State the inner surface of side wall 242.

It is understood that in some other embodiment, the bearing 270 and bearing block 260 can omit, the rotation One end of axis 223 is inserted directly into the connecting hole 2422, and can the rotation in the connecting hole 2422.To make rotation axis 223 is smooth in the interior rotation of the connecting hole 2422, and lubricating oil only need to be added between rotation axis 223 and connecting hole 2422.

It is corresponding with the both ends of the rotation axis 223, the undercarriage ontology 230 altogether there are two, and symmetrically, It connect with the both ends of the rotation axis 223 respectively.By taking one of them described undercarriage ontology 230 as an example, its structure is carried out It elaborates.

As shown in Figure 10, the undercarriage ontology 230 includes support mobile jib 231, one end and the one of the support mobile jib 231 Hold the landing bar 232 being fixedly connected and support secondary bar 233.The angle of the landing bar 232 and the support mobile jib 231 is sharp The one end at angle, the support secondary bar 233 is fixedly connected with the support mobile jib 231, and the other end is fixed with the landing bar 232 to be connected It connects.It is provided with installation on the joint face that support 231 other end of mobile jib (that is, connecting pin) connect with the connection component 250 Slot 2311, the opposite two sides of the mounting groove 2311 are respectively arranged with the first mounting hole 2312 and the second mounting hole 2313, institute The first mounting hole 2312 and the second mounting hole 2313 are stated along the laterally aligned of the support mobile jib 231.The of the connecting shaft 251 One clamping part 2512 and the second clamping part 2513 are inserted into the mounting groove 2311, and the both ends difference of the axis pin 252 It is inserted into first mounting hole, 2312 and second mounting hole 2313, so that the support mobile jib 231 can be relative to the company Spindle 251 rotates within a certain angle around the axis pin 252.It is described support 231 other end of mobile jib joint face be additionally provided with to Socket part 2314, the abutting part 2314 are connected to the angled end-face or curved end of the rotation cam 253.The joint face is oblique Either the angled end-face or curved end of the arcwall face inclined-plane or arcwall face and rotation cam 253 are bonded to each other in face.

The undercarriage 20 described in the embodiments of the present invention has two states, i.e. unfolded state and folded state. When the unmanned vehicle is landed using the undercarriage 20, the undercarriage 20 is in unfolded state.It is described at this time to rise Fall the substantially plumbness of landing bar 232 in frame 20.The abutting part 2314 is connected to first plane 2533.The branch The one end for supportting mobile jib 231 tilts (that is, two support mobile jibs 231 are in "eight" shape) to the direction for being away from the fuselage 10.Institute The one end for stating resilient member 254 supports the connecting shaft 251, and the other end supports the undercarriage ontology 230, may make described Abutting part 2314 fits in first plane 2533.After the unmanned vehicle takes off, in order to use unmanned vehicle On camera preferably shoot, avoid undercarriage 20 from blocking the camera, the undercarriage 20 is changed into folding by unfolded state Overlapping state.The driving device 210 drives the worm screw 221 to rotate, through worm gear 222 and rotation axis 223 so that undercarriage ontology 230 can be relative to the fuselage 10 around the center line rotation of the rotation axis 223.In the rotation process, the abutting part 2314 gradually shift to spiral camber 2534 along first plane 2533, and slide into second plane along spiral camber 2534 2535.Due between first plane, 2533 and second plane 2535 have difference in height, first plane 2533 compared to Second plane 2535 is close to one end end face of the rotation cam 253；Therefore the support mobile jib 231 is relative to the company Spindle 251 rotates within a certain angle around the axis pin 252, so that the support mobile jib 231 becomes horizontality, and One end and landing bar 232 move closer to the fuselage 10.When the undercarriage 20 is in folded state, the undercarriage master Body 230 is tightly attached to the both sides of the fuselage 10, not only can fully avoid blocking camera, also may make the unmanned vehicle Overall structure closely.

In addition, it is necessary to it is emphasized that since one end of resilient member 254 supports the connecting shaft 251, the other end Support the undercarriage ontology 230.When undercarriage 20 is by external force more than 254 critical elastic force of resilient member, described Falling frame ontology 230 can swing relative to fuselage 10, and then can protect the fuselage of the unmanned vehicle in air crash 10。

It is understood that in some other embodiment, as shown in figure 11, transmission mechanism 220a is a kind of for two friendships Spiral gear drive mechanism between wrong axis, including the first helical gear 221a, the second helical gear 222a and rotation axis 223a.Described One helical gear 221a is fixedly connected with one end of shaft in the driving device 210, and the second helical gear 222a is set to institute State the middle part of rotation axis 223a.The first helical gear 221a and the second helical gear 222a engagements.The two of the rotation axis 223a End is connect with a undercarriage ontology 230 respectively.The driving device 210 can drive the first helical gear 221a to rotate, and lead to It crosses the first helical gear 221a and drives the second helical gear 222a and rotation axis 223a rotations, to make the undercarriage Ontology 230 is rotated relative to the fuselage 10.

It is understood that in some other embodiment, the transmission mechanism 220 can only include transmission shaft 223 and pin Axis 252, the driving device 210 are directly connect with the rotation axis 223, and the rotation axis 223 can be driven to rotate.Described turn Moving axis 223 is hinged by the axis pin 252 and the undercarriage ontology 230, and rotation axis 223 and the axis pin 252 are mutual Vertically.

It is understood that in some other embodiment, to make the undercarriage 20 after hand foldable, positioning is more Add securely, to prevent undercarriage 20 from revolution occurring due to gravity so that it cannot fully folding.The fuselage 10 it is corresponding Position (for example, in fuselage afterbody) is set there are one the holder locking apparatus (for example, lock, magnet, electromagnet etc.) that rises and falls, described to rise and fall The other end (that is, landing end) of frame ontology 230 is provided with lock fit device (for example, lock, magnet, electromagnet etc.).Having In the embodiment of body, at 10 rear portion of the fuselage, there are one the first magnet, the other end of the undercarriage ontology 230 is set for setting It is equipped with the second magnet to attract each other with the first magnet, when the undercarriage ontology 230 is after hand foldable, above-mentioned two magnet It is close to each other and be aligned, so that the undercarriage ontology 230 is fixed on current folded state.

In some other embodiment, the undercarriage 20 further includes the transmission device for increasing rotary inertia, is used for Increase the maximal friction between 222 worm screw 221 of rotary inertia and worm gear of worm screw 221, to overcome gravity to the undercarriage The influence of ontology 230.The transmission device for being used to increase rotary inertia is connected to the driving device 210 and transmission mechanism 220 Between, can be specifically：Gear drive or four-bar mechanism etc..

Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations； Under the thinking of the utility model, it can also be combined between the technical characteristic in above example or different embodiments, Step can be realized with random order, and there are many other variations of the different aspect of the utility model as described above, be Simplicity, they do not provide in details；Although the utility model is described in detail with reference to the foregoing embodiments, this The those of ordinary skill in field should understand that：Its still can with technical scheme described in the above embodiments is modified, Or equivalent replacement of some of the technical features；And these modifications or replacements, do not make the sheet of corresponding technical solution Matter is detached from the range of various embodiments of the utility model technical solution.

Claims (13)

1. a kind of undercarriage (20), which is characterized in that the undercarriage (20) includes：

Driving device (210)；

Transmission mechanism (220), including rotation axis (223,223a), the driving device (210) connect with the rotation axis (223) It connects, and the rotation axis (223,223a) can be driven to rotate；

Undercarriage ontology (230), is connected to the both ends of the rotation axis (223,223a), and the driving device (210) passes through institute It states rotation axis (223,223a) and drives undercarriage ontology (230) rotation.

2. undercarriage (20) according to claim 1, which is characterized in that the undercarriage (20) further includes connection component (250), the connection component (250) includes rotation cam (253), and the rotation cam (253) is provided with round perforation (2531)；

Rotation axis (223, the 223a) both ends pass through the round perforation (2531) of the rotation cam (253) and the undercarriage Ontology (230) connects, the rotation axis (223,223a) and described round perforation (2531) clearance fit, and the rotation cam (253) end face is angled end-face or curved end, and the undercarriage ontology (230) is supported with the angled end-face or curved end It connects.

3. undercarriage (20) according to claim 2, which is characterized in that the connection component (250) further includes：Axis pin (252) and resilient member (254), the rotation axis (223,223a) pass through the axis pin (252) and the undercarriage ontology (230) one end is hinged；

The resilient member (254) is sheathed on the axis pin (252), and the resilient member (254) one end supports institute Undercarriage ontology (230) is stated, the other end supports the rotation axis (223,223a).

4. undercarriage (20) according to claim 3, which is characterized in that the transmission mechanism (220) further includes connecting shaft (251), one end of the connecting shaft (251) is provided with limiting slot (2511), the both ends difference of the rotation axis (223,223a) It is provided with position limiting structure (2232), the position limiting structure (2232) is inserted into the limiting slot (2511), so that the rotation Axis (223,223a) drives connecting shaft (251) rotation；

The other end of the connecting shaft (251) is hinged by one end of the axis pin (252) and the undercarriage ontology (230)；

Described resilient member (254) one end supports the undercarriage ontology (230), and the other end supports the connecting shaft (251).

5. undercarriage (20) according to claim 4, which is characterized in that

The transmission mechanism (220) is worm gear mechanism, including worm screw (221) and worm gear (222) and the rotation axis (223), the worm screw (221) is fixedly connected with the shaft of the driving device (210)；

The worm screw (221) is engaged with the worm gear (222)；

The worm screw (221) is fixed on the rotation axis (223), and the rotation axis of the worm gear (222) and the rotation The rotation axis coincident of axis (223)；

The both ends of the rotation axis (223) are connect with the undercarriage ontology (230).

6. undercarriage (20) according to claim 5, which is characterized in that the undercarriage (20) further includes holder (240), The holder (240) includes bottom wall (241), and the side wall (242) extended by the both ends of the bottom wall (241)；

The bottom wall (241) is provided with fixing groove (2411), and the bottom surface of the fixing groove (2411) is provided with through-hole (2412), institute It states driving device (210) to be fixed in the fixing groove (2411), one end of the worm screw (221) passes through the through-hole (2412) It is fixedly connected with the shaft of the driving device (210)；

The rotation axis (223) is articulated between two side walls (242).

7. undercarriage (20) according to claim 6, which is characterized in that

The undercarriage (20) further includes bearing block (260) and bearing (270), and the bearing block (260) is fixed on the side wall (242), the bearing (270) is sheathed on the rotation axis (223), and the bearing block (260) is sheathed on the bearing (270).

8. undercarriage (20) according to claim 6, which is characterized in that

The lateral surface of the side wall (242) is provided with storage tank (2421), and the bottom surface of the storage tank (2421) is provided with connection Hole (2422) and retainer (2423)；

The rotation axis (223) connect across the connecting hole (2422) with the connecting shaft (251)；

The rotation cam (253) is located in the storage tank (2421), and the rotation cam (253) is provided with circle and passes through Hole (2531) and stop hole (2532), the circle perforation (2531) are aligned with the connecting hole (2422), the retainer (2423) it is inserted into the stop hole (2532).

9. undercarriage (20) according to claim 8, which is characterized in that

The angled end-face or curved end of the rotation cam (253) include the first plane (2533), spiral camber (2534), second Plane (2535) and vertical plane (2536), first plane (2533), spiral camber (2534), the second plane (2535) and hang down It faces (2536) directly and is surrounded on the round perforation (2531), and connect successively；

The other end face of the rotation cam (253) is plane, and is connected to the bottom surface of the storage tank (2421)；

Between first plane (2533) and the second plane (2535) have difference in height, first plane (2533) compared to The other end face of second plane (2535) close to the rotation cam (253)；

The face that the undercarriage ontology (230) abuts with the angled end-face of the rotation cam or curved end is joint face, described Joint face is provided with abutting part (2314), and the abutting part (2314) is connected to the angled end-face or arc of the rotation cam (253) Shape end face.

10. undercarriage (20) according to claim 1, which is characterized in that the transmission mechanism (220a) passes for helical gear Motivation structure, including the first helical gear (221a), the second helical gear (222a) and the rotation axis (223a)；First helical gear (221a) is fixedly connected with one end of shaft in the driving device (210), and second helical gear (222a) is set to described The middle part of rotation axis (223a)；First helical gear (221a) and the second helical gear (222a) engagement；

The both ends of the rotation axis (223a) are connect with the undercarriage ontology (230).

11. according to claim 1~10 any one of them undercarriage (20), which is characterized in that the undercarriage (20) is also wrapped The transmission device for increasing rotary inertia is included, the transmission device is connected to the driving device (210) and the driver Between structure (220).

12. a kind of unmanned vehicle, which is characterized in that the unmanned vehicle includes in fuselage (10) and such as claim 1-10 Any one of them undercarriage (20), the undercarriage ontology (230) can rotate relative to the fuselage (10) to be folded with realizing Or expansion.

13. unmanned vehicle according to claim 12, which is characterized in that

The fuselage (10) is equipped with the holder locking apparatus that rises and falls；

The undercarriage ontology (230) is provided with the lock fit device with the holder locking apparatus cooperation of rising and falling, at described After falling frame ontology (230) folding, the holder locking apparatus that rises and falls interacts with lock fit device.