CN219884123U - Press rod type landing unmanned aerial vehicle lifting mechanism and unmanned aerial vehicle - Google Patents

Abstract

The utility model discloses a compression bar type landing unmanned aerial vehicle landing gear and an unmanned aerial vehicle, wherein the compression bar type landing unmanned aerial vehicle landing gear comprises an unmanned aerial vehicle body, and the unmanned aerial vehicle body is provided with a landing gear; the landing gear comprises at least 3 foot rest components, and the at least 3 foot rest components are uniformly distributed in the circumferential direction of the unmanned aerial vehicle body; the foot rest assembly comprises a lower pressing rod and a locking clamp, wherein the lower pressing rod can be arranged below the unmanned aerial vehicle body in a vertical sliding mode, the locking clamp is arranged on the periphery of the lower pressing rod, and the locking clamp can lock and fix the lower pressing rod or loosen the lower pressing rod. According to the unmanned aerial vehicle, the upper pressure bar is connected with the lower pressure bar in a sliding manner, the lower pressure bar can slide up and down, and the lower end of the lower pressure bar extends outwards; each depression bar forms landing fulcrum at vertical approaching and contact its ground directly below to be fixed in order to support unmanned aerial vehicle body, realize falling on uneven, irregular ground level.

Description

Press rod type landing unmanned aerial vehicle lifting mechanism and unmanned aerial vehicle

Technical Field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle with a compression bar type landing unmanned aerial vehicle landing mechanism.

Background

Along with the development of unmanned aerial vehicle technology, the application range of the unmanned aerial vehicle is wider and wider; for example, common photographing for the general public, configuring a camera on a rotor unmanned aerial vehicle, remotely controlling the unmanned aerial vehicle to cruise through a mobile phone and the like, and photographing at the same time; for example, in the inspection and maintenance of a building, it is necessary to provide a boom on a rotary unmanned aerial vehicle, and even provide a suction cup structure at the front end of the boom to be attached to the surface of the building and to perform inspection work.

The general unmanned aerial vehicle in market includes organism, frame, foot rest, trailing arm and rotor etc. is furnished with control system and power, and remote control unmanned aerial vehicle such as accessible remote control or cell-phone takes off, then cruises and carries out the operation, descends when the operation is accomplished or need change the power. However, since the fixed foot rest is adopted in the general unmanned aerial vehicle, the landing points of the foot rest are on the same plane and the height of the foot rest is difficult to adjust, so that the unmanned aerial vehicle has higher requirements on the ground or platform to be landed, and the unmanned aerial vehicle may be laterally turned over when landing on the uneven and irregular ground or platform, even the rotor wing of the unmanned aerial vehicle is damaged when rotating.

Disclosure of Invention

The utility model aims to solve the problems, and provides an unmanned aerial vehicle, wherein landing fulcra formed by each pressing rod are respectively vertical approaching and contact with the ground right below the landing fulcra, so that the landing on uneven and irregular ground is realized.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body is provided with a landing gear; the landing gear comprises at least 3 foot rest components, and the at least 3 foot rest components are uniformly distributed in the circumferential direction of the unmanned aerial vehicle body; the foot rest assembly comprises a lower pressing rod and a locking clamp, wherein the lower pressing rod can be arranged on the unmanned aerial vehicle body in a vertical sliding mode and extend downwards, the locking clamp is arranged on the periphery of the lower pressing rod, and the locking clamp can lock and fix the lower pressing rod or loosen the lower pressing rod.

The foot rest assembly further comprises an upper pressure rod, the upper pressure rod can be arranged on the unmanned aerial vehicle body, the upper end of the lower pressure rod is in sliding connection with the upper pressure rod, the lower end part of the lower pressure rod can slide up and down below the unmanned aerial vehicle body to stretch out and draw back, the locking clamp is arranged at the lower end part of the upper pressure rod, and the locking clamp can lock and fix the lower pressure rod or loosen the lower pressure rod, so that the upper and lower sliding connection arrangement of the lower pressure rod is realized; the upper pressure rod is internally provided with a sliding cavity which penetrates through the lower end of the upper pressure rod, the lower pressure rod is connected in a sliding mode in the sliding cavity, the lower end of the lower pressure rod penetrates out of the end part of the lower end of the upper pressure rod to extend outwards, and the lower pressure rod is connected with the upper pressure rod in a sliding mode.

Preferably, the locking clamp is provided with an inductor, the locking clamp and the inductor are electrically connected to the unmanned aerial vehicle body, and the inductor is arranged on the upper pressure rod to detect contraction information of the lower pressure rod; wherein the sensor is a proximity sensor or a distance sensor. After the sensor detects that all the lower compression rods shrink and slide, all the locking clamps are controlled to respectively lock and fix the corresponding lower compression rods so as to complete landing support.

As described above, the upper compression bar is slidably connected with the lower compression bar, and the lower compression bar can slide up and down by using the upper compression bar as a sliding rail structure, and the lower end of the lower compression bar extends outwards; after the unmanned aerial vehicle body takes off, the locking clamp releases the lower pressure rod, and the lower pressure rod extends outwards under the action of gravity; when the unmanned aerial vehicle falls, the lower end part of the lower pressure rod gradually approaches the ground, then each lower pressure rod is respectively contacted with the ground right below the lower pressure rod, and each locking clamp is respectively locked and fixed with the corresponding lower pressure rod so as to complete landing support.

Based on the above scheme, in a further improvement scheme, the sliding cavity penetrates through the upper end of the upper pressure rod, the lower end of the sliding cavity is provided with an inner convex section which is radially inwards convex, the inner diameter of the inner convex section is matched with that of the lower pressure rod, the upper end of the lower pressure rod is provided with a sliding section, and the outer diameter of the sliding section is matched with that of the sliding cavity; wherein, the upper end of the upper compression bar is provided with a plug. Thus, the inner convex section is limited by the adaptation of the outer surface of the lower pressure rod, and the sliding cavity is limited by the adaptation of the outer surface of the sliding section.

Based on the foregoing scheme, in a further improvement, the foot rest assembly further includes horizontal pole and blotter, and the outer end of horizontal pole is connected on last depression bar, and the inner of horizontal pole is arranged on the unmanned aerial vehicle body, and the blotter sets up in the lower extreme tip of depression bar. In this way, the landing gear landing pivot spacing is extended outwardly by the cross bar, and the cushion is able to cushion.

Based on the foregoing solution, in a further improvement, the unmanned aerial vehicle further includes a steering assembly rotatably disposed on the unmanned aerial vehicle body, so that the steering assembly can drive the operation device thereon to rotate in the circumferential direction of the unmanned aerial vehicle body; the steering assembly comprises a steering table, a steering shaft and a steering driving piece, wherein the steering table can be provided with operation equipment, the steering shaft I end is arranged on the steering table, the steering shaft II end is rotatably arranged on the unmanned aerial vehicle body, the steering driving piece is in transmission connection with the steering shaft, the steering driving piece can be fixedly arranged relative to the unmanned aerial vehicle body to drive the steering table to rotate, and the operation equipment can rotate on a circumferential surface under the driving of the steering driving piece. The unmanned aerial vehicle further comprises a swinging assembly, the swinging assembly is arranged on the steering assembly, operation equipment can be arranged on the swinging assembly, and the swinging assembly can drive the operation equipment to rotate on a vertical plane so as to adjust the elevation angle of the operation equipment; the swing assembly comprises a support frame, a swing frame and a swing driving piece, wherein the support frame is arranged on the steering table, the support frame can outwards protrude relative to the steering table to form an outer convex section, the swing frame is rotatably arranged on the outer convex section of the support frame, the swing driving piece is in transmission connection with the swing frame, the swing driving piece can be fixedly arranged relative to the steering table, and operating equipment can be fixedly arranged on the swing frame, so that the operating equipment can rotate on a vertical plane under the driving of the swing driving piece. The swing frame comprises a support and a rack seat, the rack seat is of a semicircular structure, the inner wall surface of the rack seat is provided with a tooth part, the support is connected to the opening end of the rack seat, the stretching arm is fixedly arranged on the support, the middle part of the support is rotatably arranged on the outer convex section of the support frame through a swing shaft, the swing driving piece is arranged on the steering table, and the swing driving piece is in gear transmission connection with the tooth part of the rack seat; the swing driving piece is a swing stepping motor, the steering driving piece is a steering stepping motor, and the steering stepping motor is in gear transmission connection with the steering shaft. Therefore, the unmanned aerial vehicle can be assembled with the operation equipment, and the operation equipment is subjected to steering adjustment and up-down angle swing adjustment.

By adopting the technical scheme, the utility model has the following beneficial effects:

1. according to the unmanned aerial vehicle, the upper pressure rod is connected with the lower pressure rod in a sliding manner, the upper pressure rod is used as a sliding rail structure, the lower pressure rod can slide up and down, and the lower end of the lower pressure rod extends outwards; after the unmanned aerial vehicle body takes off, the locking clamp releases the lower pressure rod, and the lower pressure rod extends outwards under the action of gravity; when the unmanned aerial vehicle falls, the lower end part of the lower pressure rod gradually approaches the ground, then each lower pressure rod is respectively contacted with the ground right below the lower pressure rod, and each locking clamp is respectively locked and fixed with the corresponding lower pressure rod so as to complete landing support; each depression bar forms landing fulcrum at vertical approaching and contact its ground directly below to be fixed in order to support unmanned aerial vehicle body, realize falling on uneven, irregular ground level.

2. The interior convex section is spacing with the outer table looks adaptation of depression bar down, and the sliding chamber is spacing with the outer looks adaptation of sliding section, and dual radial spacing ensures the depression bar stability of sliding from top to bottom down, improves unmanned aerial vehicle landing stability.

3. The landing gear landing fulcrum spacing is expanded outwards through the cross rod, so that the fulcrum supporting stability is improved, and the buffer cushion can play a role in buffering.

Drawings

Fig. 1 is a schematic top view of example 1 of the unmanned aerial vehicle of the present utility model.

Fig. 2 is a partial schematic view of the foot rest assembly of fig. 1.

Fig. 3 is a schematic diagram of the connection internal structure of the upper compression bar and the lower compression bar of fig. 1.

Fig. 4 is a schematic side view of the structure of fig. 1.

Fig. 5 is a schematic view of the landing state structure of fig. 4.

Fig. 6 is a schematic side view of the unmanned aerial vehicle example 2 of the present utility model.

Fig. 7 is a partial side view of example 3 of the drone of the present utility model.

Fig. 8 is a partial side view of example 4 of the drone of the present utility model.

Fig. 9 is a partial side view of the unmanned aerial vehicle example 5 of the present utility model.

Fig. 10 is a schematic side view of the unmanned aerial vehicle example 6 of the present utility model.

Fig. 11 is a schematic view of a partial structure of the unmanned aerial vehicle body of fig. 10.

Fig. 12 is a partial enlarged view of fig. 10.

Fig. 13 is a schematic view of the steering and swing structure of fig. 10.

Fig. 14 is a partial enlarged view of fig. 13.

Fig. 15 is a partial enlarged view of fig. 14.

Fig. 16 is yet another enlarged partial view of fig. 14.

Fig. 17 is another view structural schematic diagram of fig. 13.

Fig. 18 is a partial enlarged view of fig. 17.

Fig. 19 is a further enlarged partial view of fig. 17.

Fig. 20 is a schematic view of the structure of fig. 13 at another view angle.

Fig. 21 is a partial structural schematic view of the further view of fig. 13.

FIG. 22 is a schematic view of a further view of the partial structure of FIG. 13

Fig. 23 is a partial internal structure diagram of still another view of fig. 13.

Fig. 24 is a partial side view of the unmanned aerial vehicle example 7 of the present utility model.

Fig. 25 is a partial side view of an example unmanned aerial vehicle 8 of the present utility model.

In the attached drawings, 1, a machine body, 12, a foot rest assembly, 2, a steering assembly, 3, a swinging assembly, 4 and a stretching arm.

Detailed Description

Example 1

Referring to fig. 1 and 6, a transverse direction a and a longitudinal direction b are defined on the unmanned aerial vehicle body, z is vertical, ab is a circumferential surface, and a normal surface passing through ab of z is a vertical surface.

Referring to fig. 1-9, the unmanned aerial vehicle of embodiment 1 includes an unmanned aerial vehicle body configured with landing gear; the landing gear comprises at least 3 foot rest assemblies 12, the at least 3 foot rest assemblies 12 being evenly distributed in the circumferential direction of the unmanned aerial vehicle body. The foot rest assembly 12 comprises a pressing rod 124 and a locking clamp 123, wherein the pressing rod 124 can be arranged on the unmanned aerial vehicle body in a vertically sliding mode and extend downwards, the locking clamp 123 is arranged on the periphery of the pressing rod 124, and the locking clamp 123 can lock and fix the pressing rod or release the pressing rod.

The unmanned aerial vehicle body comprises a machine body 1, a rack 11, a landing gear, a bracket arm 13, a rotor wing 14 and the like, a circuit board of a lithium battery pack and a controller and the like are arranged in the machine body 1, the rotor wing 14 is connected and controlled to start or stop through a standard cable, and the unmanned aerial vehicle body and the control thereof are all existing technologies and are not described in detail herein; for example, a commercial large-area unmanned aerial vehicle; for another example, in the chinese patent literature, "a crack detection unmanned aerial vehicle, bulletin No. CN216509120U", an example of a crack detection scheme for a building by a quad-rotor unmanned aerial vehicle is described, and an extension arm and a crack detection mechanism are disposed on the unmanned aerial vehicle body, where the crack detection mechanism includes a mechanical working arm and a crack detector, and the like, and can slide and extend forward and backward along the extension arm, and further crack detection is implemented by the crack detector, and landing gear is disposed for landing. The utility model relates to an improvement on a landing gear structure of an existing unmanned aerial vehicle body, and takes a four-rotor unmanned aerial vehicle with 4 foot rest assemblies as an example for explanation.

The lower pressure bar adopts a sliding rail connecting structure capable of sliding up and down, which is the prior art. For example, a sliding track structure may be provided on the unmanned aerial vehicle body, the sliding track structure may be a guide rail or a hole-shaped chute, and the guide rail adapted to the lower pressure lever is arranged on the unmanned aerial vehicle body so that the lower pressure lever slides up and down on the guide rail, or the chute adapted to the lower pressure lever is arranged on the unmanned aerial vehicle body so that the lower pressure lever slides up and down in the slide way; at this time, the pressing rod can be welded to a fixed position to align with the sliding rail structure to realize up-and-down sliding, and can be rotatably connected in a folding manner to straighten the sliding rail structure to work or fold and store, which are both prior art, and the brief description will be referred to the connection description of the pressing rod. For example, a slide track section may be separately arranged and a sliding track structure may be provided on the slide track section, such as a guide rail or a chute, so that the pressing rod may slide up and down. The utility model takes the slide way section which is additionally arranged and the slide way section is provided with the slide way as an example for explanation, and an upper pressing rod (slide way section) and a slide cavity (slide way) are arranged for realizing the slide connection, and other slide rail connection structures are not used for unfolding explanation.

Thus, in this embodiment, the foot rest assembly 12 further includes an upper compression bar 122, the upper compression bar 122 can be disposed on the unmanned aerial vehicle body, the upper end of the lower compression bar 124 and the upper compression bar 122 are slidably connected so that the lower end of the lower compression bar can slide up and down under the unmanned aerial vehicle body, the locking clip 123 is disposed at the lower end of the upper compression bar 122, and the locking clip 123 can lock and fix the lower compression bar or release the lower compression bar, so as to realize the up-down sliding connection arrangement of the lower compression bar.

The upper pressure lever 122 may be fixedly connected or may be arranged in a foldable connection manner, which is known in the art. Wherein, fixed connection structure can adopt the existing welding or the bolted connection realization. The foldable connecting structure is realized by adopting the existing foldable self-locking hinge component; for example, a common foldable self-locking hinge in daily life can rotate for 0 degree, 90 degrees and 180 degrees and is self-locked and fixed, and the hinge is connected between a frame (or a bracket arm) and an upper pressure rod, so that the manual folding connection of the upper pressure rod can be realized; for example, as shown in fig. 7, in the unmanned aerial vehicle example 3, the pneumatic cylinder is hinged on the chassis 101 of the frame, the angle plate 122 is provided to limit the rotation angle, and the tension spring is provided to tighten, so that the pneumatic cylinder can be folded under the action of external force, which is the existing technology; for example, as shown in fig. 8, in the unmanned plane example 4, a triangular folding structure 127 is purchased in the market, and is bolted between the pneumatic cylinder and the chassis 101, so that folding hinge can be achieved; for example, the chinese patent application "a folding unmanned aerial vehicle landing gear and locking device thereof, publication No. CN108860576a", applies the folding structure to the present utility model, as shown in fig. 9, in unmanned aerial vehicle example 5, the folding locking device 128 is connected to the chassis 101 or the supporting arm of the frame, so as to implement the vertical downward straightening operation or the horizontal folding and storage of the upper compression bar; for example, the Chinese patent application of the utility model, namely an unmanned aerial vehicle landing gear and an unmanned aerial vehicle, has a publication number of CN111532420A, and the folding structure is applied to the utility model and is connected to a frame, so that the electric control folding connection of an upper pressure rod can be realized. The present utility model is mainly described by taking the welding connection between the pressing rod 122 and the frame 11 as an example, and other connection structures are not described herein; accordingly, the later-described embodiment is exemplified by the welded connection of the cross bar 121 to the frame 11, as shown in fig. 4 to 6.

The upper end of the upper pressing rod 122 is directly welded and connected to the periphery of the frame 11, and the upper pressing rod 122 is vertically arranged downwards, so that the foot rest assembly can be fixedly installed, for example, the upper pressing rod is fixed on the lower surface of the frame at the top of the machine body, and the lower surface corresponds to the installation bracket arm.

The upper compression bar 122 and the lower compression bar 124 adopt existing sliding connection structures, and can be sleeved in an inner cavity (a hole-shaped chute) of the upper compression bar, sleeved in an inner cavity of the lower compression bar, and the like. The utility model is described by taking the example that the lower pressure rod is sleeved in the inner cavity of the upper pressure rod (and the inner cavity penetrates through the two ends of the upper pressure rod): the upper compression bar 122 is internally provided with a sliding cavity 1221 penetrating through the lower end of the upper compression bar 122, the lower compression bar 124 is connected in a sliding manner in the sliding cavity 1221, and the lower end of the lower compression bar 124 penetrates out of the end part of the lower end of the upper compression bar 122 to extend outwards, so that the lower compression bar 124 is connected with the upper compression bar 122 in a sliding manner. The parts of the foot rest components such as the upper pressing rod, the lower pressing rod and the like are made of the same existing materials as the unmanned aerial vehicle body frame, such as a carbon fiber plate, a carbon fiber tube and the like, or made of conventional materials such as stainless steel, aluminum alloy and the like, and are not expanded herein.

The locking clip is mounted to the lower end of the upper compression bar 122, and may be fixed by welding, bolting or bonding, as shown in fig. 6 and 7. The locking clamp is an existing technology, and can adopt a linkage mechanical clamp (all the pressing rods are contracted to trigger linkage clamping) or an electromagnetic clamp. The utility model is described by taking an electromagnetic clamp as an example: the locking clamp 123 is an electromagnetic clamp, and is provided with an inductor, wherein the locking clamp 123 and the inductor are electrically connected to the unmanned aerial vehicle body, and the inductor is arranged on the upper pressure rod to detect contraction information of the lower pressure rod; wherein the sensor is a proximity sensor or a distance sensor. The electromagnetic clamp, the proximity sensor, the distance sensor and the like are all existing technologies and are connected to a controller of the unmanned aerial vehicle body through a standard cable, and are not described in detail herein; for example, in the chinese patent document "electromagnetic clamping device, bulletin number CN200963761", the moving iron and the fixed iron are attracted and can clamp a pressing rod disposed between the moving iron and the fixed iron, and the contact surface of the moving iron and the fixed iron can be further provided with an arc structure to increase the contact surface and improve the clamping effect; for example, in the chinese patent literature, "electromagnetic clamping device, bulletin number CN205600748U", the upper grip piece and the lower grip piece approach a lower pressure bar that can be clamped therebetween, and the contact surface of the upper grip piece and the lower grip piece may be provided in an arc-shaped structure to increase the contact surface and improve the clamping effect, where the photoelectric proximity sensor and the photoelectric sensing sensor correspond to the sensor of the present utility model. The sensor can be arranged on the upper pressure rod by adopting bolt connection or bonding; for example, the proximity sensors are arranged at a position 5cm higher than the natural suspension position of the pressing rod and are aligned with the center of the sliding cavity along the radial direction, each proximity sensor respectively transmits a pressing rod shrinkage signal (pressing rod shrinkage information) detected when detecting object information to the controller, and after each pressing rod is detected, the controller sends a locking instruction, and each electromagnetic clamp is electrically clamped; for another example, the distance sensors are arranged at the position 5cm higher than the natural underslung position of the pressing rod and are aligned with the center of the sliding cavity along the radial direction, the distance information (pressing rod shrinkage information) detected by each distance sensor is respectively transmitted to the controller in real time, the controller identifies the distance information and compares the distance information with a preset value, and when the real-time distance values are smaller than the preset value, the controller sends a locking instruction, and all the electromagnetic clamps are electrically clamped; for another example, distance sensors are arranged in the sliding cavity and axially align with the pressing rods, the distance information detected by each distance sensor is transmitted to the controller in real time, the controller identifies the distance information and compares the distance information with a preset value, and when the real-time distance values are smaller than the preset value, the controller sends out a locking instruction, and all electromagnetic clamps are electrically clamped. Therefore, after the sensor detects that all the pressing rods shrink and slide, all the locking clamps are controlled to lock and fix the corresponding pressing rods respectively so as to complete landing support. Similarly, the sensor can limit the drop of the sensor, when the lower pressure rod is contracted to the maximum height position, if the sensor is 5cm lower than the top position, the sensor can judge that the current position is difficult to safely drop, and further stop the drop to replace the drop position; the pressure lever is in a full-extension state at the initial position, and is in a zero-extension state at the top position.

As shown in fig. 7, the unmanned aerial vehicle lands on a stepped floor 100 having two high and low mesas (the high and low mesas have a height difference, for example, a height difference of 10 cm), and the unmanned aerial vehicle approaches gradually and contacts the stepped floor 100; when the unmanned aerial vehicle is in the air, the 4 pressing rods are in a full-extending state; as the unmanned aerial vehicle falls, the lower end part of the lower pressure rod right above the high table top firstly contacts the step ground 100; then the unmanned aerial vehicle continues to fall, the lower pressure bar above the high table top gradually slides upwards for adduction due to the downward movement of the corresponding upper pressure bar, and when the unmanned aerial vehicle continues to fall for a certain distance (such as 10cm height difference), the lower end part of the lower pressure bar above the low table top contacts the ladder ground 100; then unmanned aerial vehicle continues to fall, and each depression bar slides the adduction upwards gradually because of corresponding upward depression bar atress moves down, triggers the linkage locking operation when the depression bar adduction reaches the preset position directly over the low mesa down, then each locking clamp locking respectively fixed corresponds the depression bar down, accomplishes the landing support. Specifically, for example, the pressing rod is located right above the high table top, the sensor is triggered to send the pressing rod shrinkage information first, the sensor is triggered to send the pressing rod shrinkage information after the pressing rod is located right above the low table top, the controller triggers linkage clamping operation after receiving the pressing rod shrinkage information sent later, and sends control signals to control each locking clamp to clamp, and then each locking clamp executes clamping action.

As described above, the upper compression bar is slidably connected with the lower compression bar, and the lower compression bar can slide up and down by using the upper compression bar as a sliding rail structure, and the lower end of the lower compression bar extends outwards; after the unmanned aerial vehicle body takes off, the locking clamp releases the lower pressure rod, and the lower pressure rod extends outwards under the action of gravity; when the unmanned aerial vehicle falls, the lower end part of the lower pressure rod gradually approaches the ground, then each lower pressure rod is respectively contacted with the ground right below the lower pressure rod, and each locking clamp is respectively locked and fixed with the corresponding lower pressure rod so as to complete landing support; each depression bar forms landing fulcrum at vertical approaching and contact its ground directly below to be fixed in order to support unmanned aerial vehicle body, realize falling on uneven, irregular ground level.

Example 2

In this embodiment 2, the improvement is further made on the basis of embodiment 1, and the pressing rod in this embodiment 2 further has an end-to-end dual radial limiting structure, so as to solve the problem of poor sliding stability caused by insufficient radial limiting of the pressing rod, and refer to the foregoing embodiment 1 for other inexhaustible description.

Referring to fig. 1-7, an upper pressure rod sliding cavity 1221 of the unmanned aerial vehicle penetrates through an upper end of the upper pressure rod 122, a radially inward protruding section 1222 is provided at a lower end of the sliding cavity 1221, an inner diameter (e.g., 3 cm) of the inner protruding section 1222 is adapted to the lower pressure rod 124, a sliding section 1241 is provided at an upper end of the lower pressure rod 124, and an outer diameter (e.g., 4 cm) of the sliding section 1241 is adapted to the sliding cavity 1221. So, interior convex segment is spacing with lower depression bar exterior looks adaptation, and sliding chamber is spacing with sliding segment exterior looks adaptation, and dual radial spacing guarantees lower depression bar upper and lower sliding stability, improves unmanned aerial vehicle landing stability. In a preferred embodiment, the upper end of the upper compression rod is provided with a plug, as shown in fig. 6 and 7, which can be screwed or adhesively fixed to seal the sliding cavity.

Example 3

The difference between the embodiment 3 and the embodiments 1 and 2 is the connection structure between the foot stand and the unmanned aerial vehicle body, and the other inexhaustible description is made in the embodiments 1 and 2.

Referring to fig. 1-9, the stand assembly of the unmanned aerial vehicle further comprises a cross bar 121, the outer end of which is welded or bolted to the upper strut 122, and the inner end of which is arranged on the unmanned aerial vehicle body. As shown in fig. 1 to 5, in the unmanned aerial vehicle example 1, the cross bar 121 is a diagonal bar disposed at an angle of 30 ° to the horizontal, and an extension section for installation is provided at the upper end of the diagonal bar to dispose the upper compression bar obliquely downward on the frame at the top of the machine body. As shown in fig. 8-9, in the unmanned aerial vehicle example 2-5, the cross bar 121 is a straight bar and is horizontally arranged, and at this time, the upper compression bar is required to be arranged on the outer wall of the bottom of the machine body or the chassis 111. Therefore, landing gear landing fulcrum spacing is expanded outwards through the cross rod, and fulcrum support stability is improved.

Based on the foregoing example, in a preferred modified example, the foot rest assembly further includes a cushion pad 125, where the cushion pad 125 may be a rubber pad, or a spring pad composed of a foot plate and a spring (the spring is connected between the lower pressure bar and the foot plate), or a spring pad composed of a foot plate and a spring plate, and is connected or adhered to the lower end of the lower pressure bar 124 through a bolt, and the cushion pad can play a role of buffering.

Example 4

In this embodiment 4, the fine adjustment structure is further improved based on embodiments 1, 2 and 3, and this embodiment 4 further has a fine adjustment structure to solve the problem that the ground is slightly inclined due to the landing oscillation or the self-weight sinking of the unmanned aerial vehicle, and other non-exhaustive description will be made in the foregoing embodiments 1-3.

Specifically, the foot rest assembly of this embodiment 4 still includes electric putter, and goes up the depression bar and install on unmanned aerial vehicle body through electric putter, makes it can push up the depression bar through electric putter and reciprocate and realize finely tuning. The description is given here only with the configuration based on embodiment 3, and the description will not be given.

The foot rest subassembly of this unmanned aerial vehicle still includes electric putter, and electric putter electricity is connected to the unmanned aerial vehicle body, and electric putter's outer end is connected on electric putter's fixed end, and electric putter's removal end is connected on last depression bar. An electric push rod is arranged between the cross rod and the upper pressure rod, the electric push rod is connected to the unmanned aerial vehicle body controller through a standard cable, when in fine adjustment, the electric push rod detects the horizontal performance through an inclination sensor and the like of the unmanned aerial vehicle body configuration, the inclination to which direction is detected, then each electric push rod is controlled to be horizontal, and the electric push rod and the connection control technology thereof are all existing technologies and are not repeated herein.

Therefore, micro electric push rods can be adopted to realize fine adjustment, and the unmanned aerial vehicle is ensured to fall to be in a horizontal position so as to perform operations requiring to be in a horizontal state.

Example 5

Embodiment 5 is a further improvement on the basis of embodiments 1 or 2, 3, and 4, and the embodiment 5 further has a steerable mounting platform structure for performing steering operation on the unmanned aerial vehicle by mounting the operation device thereon, and other non-fully described embodiments 1-5 are described above. The working equipment can be an observing and ranging telescope, a telescopic arm and the like, and the telescopic arm is taken as an example for illustration.

Referring to fig. 9-23, the unmanned aerial vehicle of embodiment 5 further includes a steering assembly 2, the probe arm 4 is disposed on the steering assembly 2, the steering assembly 2 is rotatably disposed on the unmanned aerial vehicle body, and the steering assembly 2 can drive the probe arm 4 to rotate in the circumferential direction of the unmanned aerial vehicle body.

The unmanned aerial vehicle body is equipped with a detection arm 2 and execution equipment when in detection operation, see Chinese patent literature, publication No. CN216509120U, which is an example of a four-rotor unmanned aerial vehicle for carrying out crack detection on a building, the unmanned aerial vehicle body is provided with the detection arm and a crack detection mechanism, the crack detection mechanism comprises a mechanical working arm, a crack detector and the like, and the detection mechanism can slide and extend forwards and backwards along the detection arm, so that crack detection is realized through the crack detector. The utility model is described by taking the position where the stretching arm is arranged above the unmanned aerial vehicle body as an example, the stretching arm is typically an electric push rod or a mechanical arm (only folded on a plane to stretch outwards), and the unmanned aerial vehicle body and the stretching arm are both existing technologies and are not described in detail herein.

The steering assembly 2 comprises a steering table 21, a steering shaft 22 and a steering driving piece, wherein the stretching arm 4 is arranged on the steering table 21, the I end of the steering shaft 22 is arranged on the steering table 21, the II end of the steering shaft 22 is rotatably arranged on the unmanned aerial vehicle body, the steering driving piece is in transmission connection with the steering shaft 22, and the steering driving piece can be fixedly arranged relative to the unmanned aerial vehicle body, so that the stretching arm 4 can rotate on a circumferential surface (which can be defined as a horizontal surface) under the driving of the steering driving piece.

The steering driving part is a steering motor, preferably a steering stepping motor 25, a steering gear I24 is arranged on the steering shaft 22, a steering gear II 241 which is meshed with the steering gear I is arranged on the driving shaft of the steering stepping motor 25, and the steering stepping motor 25 is in gear transmission connection with the steering shaft 22. The steering stepping motor is driven to run through the driver, and the steering stepping motor and the unmanned aerial vehicle body are connected and controlled by the existing technology, and are not described in detail herein.

The steering assembly comprises a steering table, a steering shaft and a steering driving piece, wherein the steering table can be provided with operation equipment, the steering shaft I end is arranged on the steering table, the steering shaft II end is rotatably arranged on the unmanned aerial vehicle body, the steering driving piece is in transmission connection with the steering shaft, the steering driving piece can be fixedly arranged relative to the unmanned aerial vehicle body to drive the steering table to rotate, and the operation equipment can rotate on a circumferential surface under the driving of the steering driving piece.

In order to maintain the original structure of the unmanned aerial vehicle body and the independence of the stretching mechanism to the greatest extent, the connection structure of the steering assembly and the unmanned aerial vehicle body can be realized by configuring the limiting table 26. At this time, the II end of the steering shaft 22 is rotatably connected to the limiting table 26 through the steering bearing 23 and the steering sleeve 231, the steering sleeve 231 is fixedly connected to the limiting table 26 by welding or integral molding, etc., the steering sleeve 231 is connected to the II end of the steering shaft 22 through the steering bearing 23, and the I end of the steering shaft is fixedly connected to the center of the steering table 21 by welding or integral molding, etc. The steering stepper motor 25 is fixedly connected to the limiting table 26 by a Z-shaped frame I251, which is fixed by means of a threaded connection. In this way, a relatively independent extension mechanism can be formed which can be rotated in a horizontal plane relative to the confining stage. Then, the limiting table 26 is fixedly connected to the unmanned aerial vehicle body in a threaded connection mode, the mounting holes 112 are formed in the upper plate 111 of the frame 11, the fixing holes are formed in corresponding positions of the limiting table, and then the steering shaft is rotatably arranged on the unmanned aerial vehicle body in a matched mode of bolt and nut fixed connection.

The fixed end of the stretching arm is fixed on the steering table, and the stretching end of the stretching arm can stretch outwards and inwards relative to the steering table in a screw connection mode or the like so as to realize the arrangement of the stretching arm on the steering table. The steering table and the limiting table can respectively adopt plate-shaped structures such as a circular plate or a rectangular plate, and can be further provided with hollowed holes so as to reduce weight, and can also adopt transverse and longitudinal connection such as square pipes to form a frame structure, and the circular plate without the hollowed holes is taken as an illustration in the drawing, and the description is not expanded here.

It should be noted that, as shown in fig. 9 to 10, in the unmanned aerial vehicle example 6, the cross bar 121 is a diagonal bar arranged at an angle of 60 ° to the horizontal to arrange the upper pressing bar obliquely downward on the machine body top frame; the difference between this unmanned aerial vehicle example 3 and unmanned aerial vehicle example 2 lies in, the dead lever structure and arrange the angle, unmanned aerial vehicle example 2 adopts pipe structure and its upper end to set up the extension, and unmanned aerial vehicle example 3 dead lever adopts the transversal rectangle square tube structure of personally submitting and sets up the chamfer and its upper end does not set up the extension.

As described above, the operation devices such as the stretching arm and the like can be arranged on the steering platform, the steering platform is rotatably arranged on the unmanned aerial vehicle body through the steering shaft, and the steering shaft is in transmission connection with the rotation driving piece, so that the steering platform can rotate on the horizontal surface under the driving of the steering driving piece, the operation device is driven to rotate on the horizontal surface, and the direction-changing adjustment of the operation device on the horizontal surface is realized.

Example 6

Embodiment 6 is a further improvement on the basis of embodiment 5, and embodiment 6 further has an elevation angle adjusting structure to solve the problem of adjusting the elevation angle of the working equipment, and other inexhaustible description will be given in the foregoing embodiments 1-5. The working equipment can be an observing and ranging telescope, a telescopic arm and the like, and the telescopic arm is taken as an example for illustration.

Referring to fig. 9-23, the unmanned aerial vehicle further includes a swinging component 3, the probe arm 4 is disposed on the swinging component 3, the swinging component 3 is disposed on the steering table 21, and the swinging component 3 can drive the probe arm 4 to rotate on the vertical plane, and the probe arm 4 rotates along with the swinging component 3 to adjust the elevation angle of the probe arm 4.

The swing assembly may be motor driven or push rod driven, and preferably, the present embodiment 6 employs a motor driven swing assembly.

The swinging assembly 3 comprises a supporting frame 32, a swinging frame and a swinging driving piece, wherein the supporting frame 32 is arranged on the steering table 21, the supporting frame 32 can outwards protrude relative to the steering table to form an outer convex section, the swinging frame is rotatably arranged on the outer convex section of the supporting frame 32, the swinging driving piece is in transmission connection with the swinging frame, the swinging driving piece can be fixedly arranged relative to the steering table 21, and the stretching arm 4 is fixedly arranged on the swinging frame, so that the stretching arm 4 can rotate on a vertical plane under the driving of the swinging driving piece.

The swing frame comprises a support 31 and a rack seat 33, the rack seat 33 is of a semicircular annular structure, the rack seat 33 can be set to be in a major arc shape, a semicircular arc shape or a minor arc shape according to angle requirements, the inner wall surface of the rack seat 33 is provided with a tooth part, the support 31 is connected to the opening end of the rack seat 33, the stretching arm 4 is fixedly arranged on the support 31, the middle part of the support 31 is rotatably arranged on the outer convex section of the support frame through a swing shaft 313, the swing driving piece is arranged on the steering table, and the swing driving piece is in gear transmission connection with the tooth part of the rack seat.

The two ends and the middle part of the support 31 are respectively provided with an end seat 41 and a center seat 311, and the fixed ends of the stretching arms are fixed on the end seat and the center seat, and can be connected by screws and the like to realize the arrangement of the stretching arms on the steering table.

Two support frames 32 are arranged oppositely, the side view of the support frames is in a trapezoid structure, two ends of the support frames are fixedly connected to the steering table 21 through frame body fasteners 321 respectively, and the middle parts of the support frames form an outer convex section; a swinging shaft 313 is connected between the two outer convex sections through a shaft fastener 322, the end part of the swinging shaft 313 is inserted into a shaft hole at one end of the shaft fastener and is screwed and fixed by a screw, the other end of the shaft fastener is screwed and fixed on the outer convex sections by matching with the screw, and the swinging shaft 313 is rotatably connected to the support 31 through a swinging bearing 312, typically rotatably connected to the center seat 311. Of course, a single support frame may also be used.

The swing driving member is a swing motor, preferably a swing stepping motor 34, and a swing gear 331 meshed with the tooth part of the rack seat 33 is arranged on the driving shaft of the swing stepping motor 34 so as to realize gear transmission connection. The swing gear 331 is fixed on the motor shaft 344, the motor shaft 344 is fixed on two opposite motor fasteners 341 through a motor bearing 343, the swing stepper motor is connected to the steering table 21 through a Z-shaped frame II 342 in a threaded manner, and the motor shaft 344 and a driving shaft of the swing stepper motor can be connected through a coupling 345. The motor fastener 341 can also be replaced by a fastening structure such as a plate (e.g. an L-shaped plate), a box-type hollowed-out frame or a tower frame. The swing stepper motor is driven to operate by the driver, and the swing stepper motor and the unmanned aerial vehicle body are connected and controlled by the existing technology, so that the swing stepper motor and the unmanned aerial vehicle body are not described in detail.

The parts such as the steering table, the supporting frame and the swinging frame are made of the same existing materials as the unmanned aerial vehicle body frame, such as a carbon fiber plate, a carbon fiber tube and the like, or made of conventional materials such as stainless steel, aluminum alloy and the like, and will not be described herein.

It should be noted that, the working devices in the embodiments 6 and 5 may be an observation and ranging telescope or a telescopic arm, and the utility model is described by taking the telescopic arm as an example, and other working devices may be directly replaced, for example, the telescopic arm is replaced by an electronic observation and ranging telescope, so that the high altitude observation and ranging can be realized.

As described above, the working equipment such as the stretching arm can be arranged on the swinging component, the swinging component can drive the working equipment to rotate on the vertical plane, the working equipment rotates along with the swinging component so as to adjust the elevation angle of the working equipment, and the swinging component is arranged on the steering table and has the function of adjusting the elevation angle, and meanwhile, the direction-changing adjustment of the horizontal plane is realized, so that the working range of the working equipment is effectively expanded.

Meanwhile, for the swing stepping motor direct drive swing axle rotation scheme, the semicircle frame is constituteed to this swing subassembly utilization support and rack seat, arranges the center of rotation in support middle part position, and the drive of utilizing the swing driving piece to drive the rack seat again makes it have longer arm of force, uses less swing driving piece can realize the drive, does benefit to control the heavy burden.

Example 7

The difference between the embodiment 7 and the embodiments 5 and 6 is the connection structure between the probe mechanism and the unmanned aerial vehicle body, and the other descriptions are not fully described in the embodiments 5 and 6.

Referring to fig. 24, in embodiment 7, a fence is provided at the outer edge of the limiting table 26, and the fence may be fixed by welding or screw connection, so as to form a circular or rectangular box structure, which may play a role in protection. Fig. 24 shows an example 7 of the unmanned aerial vehicle of the present utility model.

Example 8

The difference between the embodiment 8 and the embodiments 5-7 is the connection structure between the probe mechanism and the unmanned aerial vehicle body, and the other inexhaustible description will be made with reference to the embodiments 5 and 6.

Referring to fig. 25, in embodiment 8, the limiting table 26 is removed, and the Z-shaped frame I251 and the steering sleeve 231 are directly mounted on the upper plate 111 of the frame 11. At this time, if the unmanned aerial vehicle body frame adopts a two-flap type upper plate as shown in fig. 10, the middle interval position can be staggered for installation; alternatively, the frame adopts an integral plate-like upper plate structure to be installed at its center position. As mentioned above, these structures can be used to rotatably arrange the steering shaft on the unmanned aerial vehicle body, and will not be described here. Fig. 25 shows an example 8 of the unmanned aerial vehicle of the present utility model.

It should be noted that, the examples of the above embodiments may be preferably one or more than two of them combined according to actual needs, and the examples are illustrated by a set of drawings combining technical features, which are not described in detail herein. The landing gear of the unmanned aerial vehicle in the above embodiment is mainly applied to the unmanned aerial vehicle, and is also applicable to other devices used in the same/equivalent scene.

It should be noted that the positional or positional relationship as indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operate in a specific orientation.

The foregoing description is directed to the details and illustrations of the preferred embodiments of the utility model, but these descriptions are not intended to limit the scope of the utility model claimed, and all equivalent changes or modifications that may be accomplished under the teachings of the utility model should be construed to fall within the scope of the utility model as defined by the appended claims.

Claims (10)

1. The utility model provides a depression bar formula landing unmanned aerial vehicle landing mechanism, includes undercarriage, its characterized in that: the landing gear comprises at least 3 foot rest assemblies, and the at least 3 foot rest assemblies are uniformly distributed in the circumferential direction of the unmanned aerial vehicle body; the foot rest assembly comprises a lower pressing rod and a locking clamp, wherein the lower pressing rod can be arranged on the unmanned aerial vehicle body in a vertical sliding mode and extend downwards, the locking clamp is arranged on the periphery of the lower pressing rod, and the locking clamp can lock and fix the lower pressing rod or loosen the lower pressing rod.

2. The strut landing drone landing gear of claim 1, wherein: the foot rest assembly further comprises an upper pressure rod, the upper pressure rod can be arranged on the unmanned aerial vehicle body, the upper end of the lower pressure rod is in sliding connection with the upper pressure rod, the lower end part of the lower pressure rod can slide up and down below the unmanned aerial vehicle body to stretch out and draw back, the locking clamp is arranged at the lower end part of the upper pressure rod, and the locking clamp can lock and fix the lower pressure rod or release the lower pressure rod; the upper pressure rod is internally provided with a sliding cavity penetrating through the lower end of the upper pressure rod, the sliding cavity is connected with a lower pressure rod in a sliding mode, and the lower end of the lower pressure rod penetrates out of the end part of the lower end of the upper pressure rod and extends outwards; and the sliding cavity runs through the upper end of the upper pressure rod, the lower end of the sliding cavity is provided with a radially inward convex section, the inner diameter of the inner convex section is matched with that of the lower pressure rod, the upper end of the lower pressure rod is provided with a sliding section, the outer diameter of the sliding section is matched with that of the sliding cavity, and the end part of the upper end of the upper pressure rod is provided with a plug.

3. The strut landing drone landing gear of claim 2, wherein: the locking clamp is provided with an inductor, the locking clamp and the inductor can be electrically connected to the unmanned aerial vehicle body, and the inductor is arranged on the upper pressure rod to detect shrinkage information of the lower pressure rod; the locking clamp is an electromagnetic clamp, and the sensor is a proximity sensor or a distance sensor.

4. A drone comprising a drone body configured with landing gear; the method is characterized in that: the landing gear comprises at least 3 foot rest assemblies, and the at least 3 foot rest assemblies are uniformly distributed in the circumferential direction of the unmanned aerial vehicle body; the foot rest assembly comprises a lower pressing rod and a locking clamp, wherein the lower pressing rod can be arranged on the unmanned aerial vehicle body in a vertical sliding mode and extend downwards, the locking clamp is arranged on the periphery of the lower pressing rod, and the locking clamp can lock and fix the lower pressing rod or loosen the lower pressing rod.

5. The unmanned aerial vehicle of claim 4, wherein: the foot rest assembly further comprises an upper pressure rod, the upper pressure rod can be arranged on the unmanned aerial vehicle body, the upper end of the lower pressure rod is in sliding connection with the upper pressure rod, the lower end part of the lower pressure rod can slide up and down below the unmanned aerial vehicle body to stretch out and draw back, the locking clamp is arranged at the lower end part of the upper pressure rod, and the locking clamp can lock and fix the lower pressure rod or release the lower pressure rod; the upper pressure rod is internally provided with a sliding cavity penetrating through the lower end of the upper pressure rod, the lower pressure rod is connected in a sliding mode in the sliding cavity, and the lower end of the lower pressure rod penetrates out of the end part of the lower end of the upper pressure rod and extends outwards.

6. The unmanned aerial vehicle of claim 5, wherein: the sliding cavity penetrates through the upper end of the upper pressure rod, the lower end of the sliding cavity is provided with a radially inward convex section, the inner diameter of the inner convex section is matched with that of the lower pressure rod, the upper end of the lower pressure rod is provided with a sliding section, and the outer diameter of the sliding section is matched with that of the sliding cavity; wherein, the upper end of the upper compression bar is provided with a plug.

7. The unmanned aerial vehicle of claim 5, wherein: the foot rest assembly further comprises a cross rod, a cushion pad and an electric push rod, wherein the electric push rod is electrically connected to the unmanned aerial vehicle body, the outer end of the cross rod is connected to the fixed end of the electric push rod, the moving end of the electric push rod is connected to the upper pressure rod, the inner end of the cross rod is arranged on the unmanned aerial vehicle body, and the cushion pad is arranged at the end part of the lower end of the lower pressure rod; the locking clamp is provided with an inductor, the locking clamp and the inductor are electrically connected to the unmanned aerial vehicle body, and the inductor is arranged on the upper pressure rod to detect shrinkage information of the lower pressure rod; the locking clamp is an electromagnetic clamp, and the sensor is a proximity sensor or a distance sensor.

8. The unmanned aerial vehicle of claim 4, wherein: the steering assembly is rotatably arranged on the unmanned aerial vehicle body, so that the steering assembly can drive the operation equipment on the steering assembly to rotate in the circumferential direction of the unmanned aerial vehicle body; the steering assembly comprises a steering table, a steering shaft and a steering driving piece, wherein the steering table can be provided with operation equipment, the steering shaft I end is arranged on the steering table, the steering shaft II end is rotatably arranged on the unmanned aerial vehicle body, the steering driving piece is in transmission connection with the steering shaft, the steering driving piece can be fixedly arranged relative to the unmanned aerial vehicle body to drive the steering table to rotate, and the operation equipment can rotate on a circumferential surface under the driving of the steering driving piece.

9. The unmanned aerial vehicle of claim 8, wherein: the swing assembly is arranged on the steering assembly, working equipment can be arranged on the swing assembly, and the swing assembly can drive the working equipment to rotate on the vertical surface so as to adjust the elevation angle of the working equipment; the swing assembly comprises a support frame, a swing frame and a swing driving piece, wherein the support frame is arranged on the steering table, the support frame can outwards protrude relative to the steering table to form an outer convex section, the swing frame is rotatably arranged on the outer convex section of the support frame, the swing driving piece is in transmission connection with the swing frame, the swing driving piece can be fixedly arranged relative to the steering table, and operating equipment can be fixedly arranged on the swing frame, so that the operating equipment can rotate on a vertical plane under the driving of the swing driving piece.

10. The unmanned aerial vehicle of claim 9, wherein: the swing frame comprises a support and a rack seat, the rack seat is of a semicircular structure, the inner wall surface of the rack seat is provided with a tooth part, the support is connected to the opening end of the rack seat, the stretching arm is fixedly arranged on the support, the middle part of the support is rotatably arranged on the outer convex section of the support frame through a swing shaft, the swing driving piece is arranged on the steering table, and the swing driving piece is in gear transmission connection with the tooth part of the rack seat; the swing driving piece is a swing stepping motor, the steering driving piece is a steering stepping motor, and the steering stepping motor is in gear transmission connection with the steering shaft.