WO2016179827A1 - 起落架及使用该起落架的无人飞行器 - Google Patents

起落架及使用该起落架的无人飞行器 Download PDF

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Publication number
WO2016179827A1
WO2016179827A1 PCT/CN2015/078952 CN2015078952W WO2016179827A1 WO 2016179827 A1 WO2016179827 A1 WO 2016179827A1 CN 2015078952 W CN2015078952 W CN 2015078952W WO 2016179827 A1 WO2016179827 A1 WO 2016179827A1
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WO
WIPO (PCT)
Prior art keywords
landing gear
support member
disposed
support
gear according
Prior art date
Application number
PCT/CN2015/078952
Other languages
English (en)
French (fr)
Inventor
张永生
陈星元
肖文龙
李宏举
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2015/078952 priority Critical patent/WO2016179827A1/zh
Priority to CN201580004257.7A priority patent/CN105980250B/zh
Publication of WO2016179827A1 publication Critical patent/WO2016179827A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/58—Arrangements or adaptations of shock-absorbers or springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/58—Arrangements or adaptations of shock-absorbers or springs
    • B64C25/60—Oleo legs

Definitions

  • the present invention relates to a landing gear and an unmanned aerial vehicle using the same.
  • An unmanned aerial vehicle generally includes a fuselage and a landing gear mounted on the fuselage, the landing gear including at least two support feet.
  • the support leg is generally formed by rigidly connecting a plurality of support rods, and the support rod is connected to the machine. On the body, as the support when the UAV is landing. However, the support legs are relatively rigid and have a limited cushioning effect when the UAV is dropped.
  • a landing gear for use in an unmanned aerial vehicle including a support foot.
  • the support leg includes a support member and a damper for damaging an impact of the landing gear when the UAV is dropped, and the support member is provided with a mounting portion for mounting the damper.
  • the damper is a hydraulic damper or an air damper.
  • one end of the support member is a connection end, and the other end is a landing end, and the mounting portion is disposed at a landing end of the support member.
  • connection end of the support member is provided with a connecting portion for detachably connecting with the arm of the UAV.
  • the support leg further includes a mount for connecting the arm of the UAV, and the connecting portion is detachably coupled to the mount.
  • one of the connecting portion and the mounting seat is provided with an internal thread, and the other of the connecting portion and the mounting seat is provided with an external thread that cooperates with the internal thread, The internal thread is screwed to the external thread;
  • one of the connecting portion and the mounting seat is provided with an elastic hook
  • the other of the connecting portion and the mounting seat is provided with a card slot matched with the elastic hook.
  • the elastic hook is connected to the card slot.
  • the supporting leg further includes a reinforcing member, one end of the reinforcing member is disposed on the mounting seat, and the other end is connected to the supporting member; the mounting seat, the reinforcing member and the supporting member are Tripod type structure.
  • the reinforcing member includes a mounting end disposed on the mounting seat, and a supporting portion disposed at the mounting end and extending to the support member and connected to the support member.
  • the mounting end is coupled to the mounting seat by a fastener, and the mounting end is rotatable about the fastener to drive the support portion to rotate relative to the mounting seat.
  • the reinforcement further includes a holding portion disposed on the support portion and engaged with the support member.
  • the holding portion is provided with a holding hole, and the holding portion is sleeved on the support member through the holding hole.
  • the support leg further includes a limiting member disposed on the support member, and the limiting member abuts against the mounting seat.
  • the limiting member includes a sleeve portion fixedly disposed on the support member and a limiting portion disposed on the sleeve portion, the limiting portion abutting the mounting seat.
  • the buffer includes a body disposed on the support member and a movable portion movably received in the body, the movable portion is coupled to the body piston and partially protrudes from the body And the support member.
  • the body is received in the support member, and the buffer further includes a positioning portion disposed on the body, the positioning portion abutting against an end of the support member;
  • the body is provided with an elastic returning member, and the elastic returning member is connected to the body at one end and to the movable portion at the other end.
  • the support leg further includes a protection member sleeved on the support member and wrapped outside the movable portion.
  • the protection member is a protective cover made of a rubber material.
  • the support legs are disposed obliquely with respect to the vertical direction.
  • an angle formed by the support member with the vertical direction is greater than or equal to and less than or equal to a degree.
  • An unmanned aerial vehicle comprising a body and a landing gear according to any of the above, wherein the support member is disposed on the fuselage, and the buffer is disposed at an end of the support member away from the fuselage .
  • the UAV further includes a robot arm disposed on the airframe and a power device disposed on the arm, the power device configured to provide flight power to the unmanned aerial vehicle.
  • the power device is disposed obliquely with respect to a vertical direction
  • the support member is fixedly connected to the arm or rotatably connected.
  • the power device includes a driving member disposed on the arm and a propeller coupled to the driving member, and the driving member is configured to drive the propeller to rotate.
  • the power device is disposed corresponding to the support member.
  • the landing gear is provided with a damper
  • the damper is located at the bottom of the support leg, and when the UAV is dropped, the damper first receives an impact force from the ground to make the activity
  • the portion slides relative to the body to play the role of shock absorption and energy absorption, and the buffering effect is relatively good, which reduces the damage caused by the impact impact on the UAV as a whole.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 2 is an enlarged schematic view of a region II of the unmanned aerial vehicle of Figure 1.
  • FIG. 3 is a partially exploded perspective view of the unmanned aerial vehicle of FIG. 2.
  • Unmanned aerial vehicle 100 Body 20 body twenty two Arm twenty four powerplant 40 Drive 42 propeller 44 landing gear 60 Supporting foot 61 Mount 62 supporting item 64 Connection 641 Installation department 643 Limiter 65 Set up department 651 Limiting department 653 buffer 66 Ontology 661 Positioning department 663 Activities section 665 Protective member 68 Firmware 69 Installation side 691 fastener 6911 Support 693 Holder 695 Holding hole 6951
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be in the middle.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an unmanned aerial vehicle 100 includes a body 20 and a power unit 40 and a landing gear 60 disposed on the body 20 .
  • the power unit 40 is configured to provide flight power of the UAV 100
  • the landing gear 60 is disposed at the bottom of the body 20 as a buffer and support when the UAV 100 is lowered.
  • the body 20 includes a body 22 and an arm 24 disposed on the body 22.
  • An electronic control module for controlling the power unit 40 is disposed in the body 22.
  • the arm 24 is used to carry the power unit 40.
  • the number of the arms 24 is four, and the four arms 24 are disposed around the body 22 and extend in a direction away from the body 22.
  • the number of the power units 40 is four, and each of the power units 40 is disposed at an end of one of the arms 24.
  • the power unit 40 includes a driving member 42 disposed on the arm 24 and a propeller 44 disposed on the driving member 42.
  • the driving member 42 can drive the control unit under the control of the electronic control module.
  • the propeller 44 rotates to drive the UAV 100 to fly.
  • the driving member 42 may be a rotating driving member such as a brush motor or a brushless motor to drive the propeller 44 to rotate.
  • the landing gear 60 is disposed on the arm 24 and located on a side of the arm 24 that is relatively far from the power unit 40.
  • the landing gear 60 includes four support legs 61, each of which is disposed on one of the arms 24.
  • the support leg 61 includes a mount 62 disposed on the arm 24, a support 64 disposed on the mount 62, and a buffer 66 and a protector 68 disposed on the support 64.
  • the mounting seat 62 is fixedly sleeved on the end of the arm 24 for mounting the power unit 40 and the support member 64.
  • the driving member 42 of the power unit 40 is mounted on one side of the mounting seat 62.
  • the mounting seat 62 is formed with an internal thread (not shown) for coupling with the support member 64.
  • the support member 64 is mounted on a side of the mounting seat 62 facing away from the power unit 40.
  • the support member 64 has a substantially hollow rod shape that is disposed substantially perpendicular to the arm 24.
  • the two ends of the supporting member 64 are respectively a connecting end and a landing end, and the connecting end is connected to the arm 24 , and the landing end is disposed away from the arm 24 .
  • the connecting end of the support member 64 is provided with a connecting portion 641 for connecting with the mounting seat 62.
  • the connecting portion 641 is formed with an external thread that is inserted into the mounting seat 62 and detachably coupled to the mounting seat 62 by the external thread.
  • a mounting portion 643 is provided on the landing end of the support member 64, and the mounting portion 643 is configured to mount the buffer 66.
  • the arm 24 is horizontally disposed at an angle of 0 degrees with respect to the horizontal direction; the support member 64 is disposed obliquely with respect to the vertical direction, which is constant with respect to the vertical direction.
  • the angle is such that the supporting force of the plurality of supporting legs 61 to the body 20 is at an angle with the ground, and the support of the supporting legs 61 is more stable.
  • the angle between the support member 64 and the vertical direction is greater than or equal to 1 degree and less than or equal to 5 degrees.
  • the angle at which the support member 64 is reduced in the vertical direction is 3 degrees.
  • a limiting member 65 is disposed on the supporting member 64 adjacent to the connecting portion 641, and the limiting member 65 is for defining a mounting position of the supporting member 64 relative to the mounting seat 62.
  • the limiting member 65 includes a sleeve portion 651 and a limiting portion 653 disposed on the sleeve portion 651 .
  • the sleeve portion 651 is substantially cylindrical and sleeved on the support member 64 and located on a side of the connecting portion 641 away from the mounting seat 62.
  • the sleeve portion 651 is fixedly coupled to the support member 64 by an interference fit.
  • the limiting portion 653 is formed at one end of the sleeve portion 651 near the mounting seat 62 and has a substantially flange shape. After the support member 64 is screwed onto the mounting seat 62 through the connecting portion 641 , the limiting portion 653 abuts against the mounting seat 62 to define the supporting member 64 relative to the mounting portion The installation position of the seat 62.
  • the buffer 66 is disposed on the mounting portion 643 of the support member 64 and partially received in the support member 64.
  • the damper 66 is a hydraulic damper for buffering an impact of an external force on the entire UAV 100.
  • the buffer 66 includes a body 661 and a positioning portion 663 and a movable portion 665 disposed on the body 661. It can be understood that the buffer 66 can also be a gas pressure damper, or a gas-liquid hybrid damper or the like.
  • the body 661 is fixedly received in the support member 64.
  • the body 661 is substantially hollow and filled with a damping fluid.
  • the positioning portion 663 is disposed at one end of the body 661 and abuts against the end of the support member 64. The positioning portion 663 is for limiting the installation position of the buffer 66 relative to the support member 64.
  • the movable portion 665 is a piston rod.
  • One end of the movable portion 665 is slidably inserted into the body 661 and connected to an internal piston of the body 661.
  • the other end of the movable portion 665 protrudes beyond the body 661.
  • a reset member such as an elastic body is further disposed in the body 661, and the reset member is connected to the body at one end and connected to the movable portion 665 at the other end; The movable portion 665 is returned to the initial position by the action of the resetting member.
  • the protection member 68 is disposed at an end of the support member 64 and covers the movable portion 665 .
  • the protection member 68 is configured to buffer an external force shock received by the support leg 61 and serve as a barrier of the buffer 66 to protect the buffer 66 from being contaminated or corroded by the external environment to extend the buffer 66. Service life.
  • the protective member 68 is a protective cover made of rubber or/and a silicone material, and is sleeved on the movable portion 665 and fixedly sleeved at the end of the support member 64.
  • the support leg 61 receives an impact force from the ground, and the protection member 68 is elastically deformed by the ground pressure, thereby pressing the movable portion 665 to The movable portion 665 slides relative to the body 661, thereby functioning as a shock absorbing energy.
  • the mounting seat 62 and the support member 64 are further provided with a reinforcing member 69 for reinforcing the overall structure of the supporting leg 61.
  • the reinforcing member 69 protects the mounting end 691 , the supporting portion 693 disposed on the mounting end 691 , and the latching portion 695 disposed on the supporting portion 693 .
  • the mounting end 691 is fixedly mounted on the mounting seat 62 and connected to the mounting seat 62 by a fastener 6911 (see FIG. 2) such as a screw.
  • the fastener 6911 is disposed on a side of the mounting end 691 adjacent to the support member 64.
  • the mounting end 691 can be rotated about an axis of the fastener 6911 by an external force to enable the user to adjust the mounting position of the reinforcing member 69.
  • the support portion 693 is formed on a side of the mounting end 691 near the support member 64 and extends toward the support member 64 and is disposed at a predetermined angle with the support member 64.
  • the holding portion 695 is formed at one end of the supporting portion 693 near the supporting member 64 and is sleeved and held on the supporting member 64.
  • the holding portion 695 is formed with a holding hole 6951.
  • the holding hole 6951 is an incomplete circular hole, so that the holding portion 695 can pass through the holding hole.
  • 6951 is sleeved on the support member 64, or the support member 64 can be screwed through the retaining hole 6951 and the mounting seat 62.
  • the latching portion 695 can simultaneously support the support member 695.
  • the mounting of the member 64 serves as a guide.
  • the mounting seat 62, the support member 64 and the reinforcing member 69 have a substantially tripod-type connecting structure, so that the overall structure of the supporting leg 61 is strong and not easily deformed or displaced.
  • the supporting portion 693 can drive the holding portion 695 to rotate relative to the mounting seat 62 by a predetermined angle, so that the The catching portion 695 can be held on the support member 64. Even if there is a certain assembly error between the parts of the supporting leg 61, the mounting relationship between the reinforcing member 69 and the supporting member 64 can be adjusted by rotating the reinforcing member 69 to make the landing gear 60 is easier to assemble.
  • the landing gear 60 is provided with a buffer 66, and the buffer 66 is located at the bottom of the support leg 61.
  • the buffer 66 When the UAV 100 is lowered, the buffer 66 first receives the ground from the ground. The impact force causes the movable portion 665 to slide relative to the body 661, thereby functioning as a shock absorbing energy, and the buffering effect is relatively good, and the damage caused by the falling impact on the UAV 100 as a whole is reduced.
  • the support member 64 is detachably coupled to the mount 62 by a threaded connection to facilitate assembly or disassembly of the landing gear 60.
  • the number of the arms 24 can be one or more, for example, two, three, six, and the like.
  • the number of the power devices 40 may also be one or more.
  • the bumper 66 can be mounted at other locations on the support member 64.
  • the bumper 66 may be disposed between the mount 62 and the support 64.
  • the mounting seat 62 is fixedly connected to one of the body 661 and the movable portion 665
  • the support member 64 is connected to the other of the body 661 and the movable portion 665, and passes through the The connecting portion 641 is screwed to the other of the main body 661 and the movable portion 665.
  • the support member 64 can be designed as a support rod having two consecutive support portions, one of which is mounted on the mount 62 and the other support portion is connected to the buffer 66. Said on a support.
  • the manner of connection between the support member 64 and the mounting seat 62 is not limited to the connection manner described above, and other mechanical connection manners may be employed.
  • the connecting portion 641 is formed with an internal thread
  • the mounting seat 62 is formed with an externally threaded connecting portion corresponding to the internal thread; the internal thread is screwed with the externally threaded connecting portion to
  • the support member 64 is fixedly mounted to the mount 62.
  • the connecting portion 641 is formed with an engaging portion
  • the engaging portion 62 is formed with a fitting portion corresponding to the engaging portion, and one of the engaging portion and the engaging portion is an elastic hook.
  • the other is a card slot; the engaging portion and the engaging portion are engaged with each other to fix the support member 64 and the mounting seat 62 together.
  • the mounting seat 62 can be omitted, and the support member 64 is directly mounted on the arm 24, and the two ends of the reinforcing member 69 are respectively connected to the arm 24 and the support.
  • the support member 64 can be fixedly connected or rotatably connected to the arm 24.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Manipulator (AREA)

Abstract

一种无人飞行器，其包括机身及起落架，所述起落架包括支撑脚。所述支撑脚包括设置于所述机身上的支撑件以及用于缓冲所述无人飞行器降落时所述起落架受到的冲击的缓冲器，所述支撑件上设有用于安装所述缓冲器的安装部。所述缓冲器设置于所述支撑件远离所述机身的一端。上述无人飞行器的起落架，在无人飞行器降落时的缓冲效果较好。

Description

起落架及使用该起落架的无人飞行器 技术领域
本发明涉及一种起落架及使用该起落架的无人飞行器。
背景技术
无人飞行器一般包括机身以及装设于所述机身上的起落架，所述起落架包括至少两个支撑脚。为减轻所述无人飞行器整体的重量，并保证所述无人飞行器在飞行时的稳定性，所述支撑脚一般为多个支撑杆相互刚性连接而成，所述支撑杆连接于所述机身上，作为所述无人飞行器降落时的支撑。然而，所述支撑脚的刚性较大，在所述无人飞行器降落时，其缓冲作用有限。
发明内容
鉴于以上内容，有必要提供一种缓冲效果相对较好的起落架，以及使用该起落架的无人飞行器。
一种起落架，应用于无人飞行器中，所述起落架包括支撑脚。所述支撑脚包括支撑件以及用于缓冲所述无人飞行器降落时所述起落架受到的冲击的缓冲器，所述支撑件上设有用于安装所述缓冲器的安装部。
进一步地，所述缓冲器为液压阻尼器或空气阻尼器。
进一步地，所述支撑件一端为连接端，另外一端为着陆端，所述安装部设置于所述支撑件的着陆端。
进一步地，所述支撑件的连接端上设置有连接部，所述连接部用于与所述无人飞行器的机臂可拆卸地连接。
进一步地，所述支撑脚还包括用于连接所述无人飞行器的机臂的安装座，所述连接部可拆卸地连接于所述安装座上。
进一步地，所述连接部及所述安装座中的一个上设置有内螺纹，所述连接部及所述安装座中的另一个上设置有与所述内螺纹相配合的外螺纹，所述内螺纹与所述外螺纹相螺合连接；
或者，所述连接部及所述安装座中的一个上设置有弹性卡勾，所述连接部及所述安装座中的另一个上设置有与所述弹性卡勾相配合的卡槽，所述弹性卡勾与所述卡槽相互卡持连接。
进一步地，所述支撑脚还包括加固件，所述加固件一端设置于所述安装座上，另一端连接于所述支撑件上；所述安装座、所述加固件及所述支撑件呈三角架型的结构。
进一步地，所述加固件包括设置于所述安装座上的安装端，以及设置于所述安装端并向所述支撑件延伸且连接于所述支撑件上的支撑部。
进一步地，所述安装端通过一紧固件连接于所述安装座上，所述安装端能够绕所述紧固件转动以带动所述支撑部相对所述安装座转动。
进一步地，所述加固件还包括设置于所述支撑部上并与所述支撑件相卡持的卡持部。
进一步地，所述卡持部上设置有卡持孔，所述卡持部通过所述卡持孔套设于所述支撑件上。
进一步地，所述支撑脚还包括设置于所述支撑件上的限位件，所述限位件与所述安装座相抵持。
进一步地，所述限位件包括固定套设在所述支撑件上的套设部以及设置于所述套设部上的限位部，所述限位部与所述安装座相抵持。
进一步地，所述缓冲器包括设置于所述支撑件上的本体以及可活动地收容在所述本体中的活动部，所述活动部与所述本体活塞连接并部分地凸伸出所述本体及所述支撑件外。
进一步地，所述本体收容于所述支撑件内，所述缓冲器还包括设置于所述本体上的定位部，所述定位部抵持于所述支撑件的末端；
或/及，所述本体内设置有弹性复位件，所述弹性复位件一端连接于所述本体上，另一端连接于所述活动部上。
进一步地，所述支撑脚还包括保护件，所述保护件套设于所述支撑件上并包覆于所述活动部外。
进一步地，所述保护件为橡胶材料制成的保护套。
进一步地，所述支撑脚相对于竖直方向倾斜设置。
进一步地，所述支撑件与竖直方向所成的夹角大于等于度且小于等于度。
一种无人飞行器，其包括机身及如上任一项所述的起落架，所述支撑件设置于所述机身上，所述缓冲器设置于所述支撑件远离所述机身的一端。
进一步地，所述无人飞行器还包括设置于所述机身上的机臂以及设置于所述机臂上的动力装置，所述动力装置用以为所述无人飞行器提供飞行动力。
进一步地，所述动力装置相对于竖直方向倾斜设置；
或/及，所述支撑件与所述机臂固定连接，或者可转动连接。
进一步地，所述动力装置包括设置于所述机臂上的驱动件及连接于所述驱动件上的螺旋桨，所述驱动件用以驱动所述螺旋桨转动。
进一步地，所述动力装置与所述支撑件对应设置。
上述无人飞行器，其起落架设有缓冲器，所述缓冲器位于所述支撑脚的底部，当所述无人飞行器降落时，所述缓冲器首先接受来自于地面的冲击力，使所述活动部相对所述本体滑动，进而起到减震吸能的作用，其缓冲效果相对较好，降低了降落冲击对所述无人飞行器整体造成的损害。
 附图说明
图1是本发明一实施方式中无人飞行器的立体示意图。
图2为图1所示无人飞行器的区域II的放大示意图。
图3为图2所示无人飞行器的部分结构分解示意图。
主要元件符号说明
无人飞行器 100
机体 20
机身 22
机臂 24
动力装置 40
驱动件 42
螺旋桨 44
起落架 60
支撑脚 61
安装座 62
支撑件 64
连接部 641
安装部 643
限位件 65
套设部 651
限位部 653
缓冲器 66
本体 661
定位部 663
活动部 665
保护件 68
加固件 69
安装端 691
紧固件 6911
支撑部 693
卡持部 695
卡持孔 6951
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1，本发明一实施方式的无人飞行器100，其包括机体20以及设置于所述机体20上的动力装置40和起落架60。所述动力装置40用于提供所述无人飞行器100的飞行动力，所述起落架60设置于所述机体20底部，作为所述无人飞行器100降落时的缓冲和支撑。
所述机体20包括机身22以及设置于所述机身22上的机臂24。所述机身22内设置有用于控制所述动力装置40的电控模组。所述机臂24用于承载所述动力装置40。
在本实施方式中，所述机臂24的数量为四个，四个所述机臂24围绕所述机身22设置，并朝向背离所述机身22的方向延伸。
在本实施方式中，所述动力装置40的数量为四个，每个所述动力装置40设置于一个所述机臂24的末端。所述动力装置40包括设置于所述机臂24上的驱动件42及设置于所述驱动件42上的螺旋桨44，所述驱动件42能够在所述电控模组的控制下带动所述螺旋桨44转动，从而驱动所述无人飞行器100飞行。所述驱动件42可以为有刷电机、无刷电机等旋转驱动件，以驱动所述螺旋桨44转动。
请同时参阅图2及图3，所述起落架60设置于所述机臂24上，并位于所述机臂24相对远离所述动力装置40的一侧。在本实施方式中，所述起落架60包括四个支撑脚61，每个支撑脚61设置在一个所述机臂24上。支撑脚61包括设置于所述机臂24上的安装座62、设置于所述安装座62上的支撑件64以及设置于所述支撑件64上的缓冲器66和保护件68。
所述安装座62固定地套设于所述机臂24的末端，其用于装设所述动力装置40及所述支撑件64。所述动力装置40的所述驱动件42装设于所述安装座62的一侧。所述安装座62上形成有内螺纹（图未示出），所述内螺纹用以与所述支撑件64相连接。
所述支撑件64装设于所述安装座62背离所述动力装置40的一侧。在本实施方式中，所述支撑件64大致呈空心杆状，其大致垂直于所述机臂24设置。所述支撑件64的两端分别为连接端及着陆端，所述连接端连接于所述机臂24上，所述着陆端远离所述机臂24设置。所述支撑件64的连接端上设置有连接部641，所述连接部641用于与所述安装座62相连接。所述连接部641上形成有外螺纹，其插设于所述安装座62中，并通过所述外螺纹与所述安装座62可拆卸地连接于一起。所述支撑件64的着陆端上设置有安装部643，所述安装部643用于装设所述缓冲器66。
在图示的实施例中，所述机臂24为水平设置，其与水平方向所成的夹角为0度；所述支撑件64相对于竖直方向倾斜设置，其与竖直方向呈一定夹角，以使多个所述支撑脚61对所述机体20的支持力与地面成一定夹角，所述支撑脚61的支撑更为稳固。具体地，所述支撑件64与竖直方向所成的夹角大于等于1度且小于等于5度。优选地，所述支撑件64与竖直方向缩成的夹角为3度。
所述支撑件64上邻近所述连接部641设置有限位件65，所述限位件65用于限定所述支撑件64相对所述安装座62的安装位置。所述限位件65包括套设部651以及设置于所述套设部651上的限位部653。
所述套设部651大致为圆筒状，其套设于所述支撑件64上，并位于所述连接部641远离所述安装座62的一侧。在本实施方式中，所述套设部651通过过盈配合与所述支撑件64相对固定地连接于一起。所述限位部653形成于所述套设部651靠近所述安装座62的一端，其大致呈凸缘状。当所述支撑件64通过所述连接部641螺合于所述安装座62上后，所述限位部653抵持于所述安装座62上，以限定所述支撑件64相对所述安装座62的安装位置。
所述缓冲器66设置在所述支撑件64的所述安装部643上，并部分地收容于所述支撑件64内。在本实施方式中，所述缓冲器66为液压阻尼器，其用于缓冲外力对所述无人飞行器100整体造成的冲击。所述缓冲器66包括本体661以及设置于所述本体661上的定位部663和活动部665。可以理解，所述缓冲器66还可以为气压阻尼器，或者气液混合阻尼器等。
所述本体661固定地收容于所述支撑件64中。所述本体661大致为中空结构，其内填充有阻尼液。所述定位部663设置于所述本体661的一端，并抵持于所述支撑件64的末端。所述定位部663用于限制所述缓冲器66相对于所述支撑件64的装设位置。
在本实施方式中，所述活动部665为活塞杆。所述活动部665的一端可滑动地插设于所述本体661中，并与所述本体661的内部活塞连接。所述活动部665的另一端凸伸出所述本体661之外。当所述活动部665及所述本体661中的一个或两个受到一外力冲击时，所述活动部665能够相对所述本体661滑动，二者相对位置的改变，能够吸收所述外力带来的冲击，从而在所述支撑脚61整体受到外力冲击时起到缓冲作用。进一步地，所述本体661内还设置有弹性体等复位件，所述复位件一端连接于所述本体上，另一端连接于所述活动部665上；当所述外力撤销后，在所述复位件的作用下，所述活动部665回复到初始位置。
所述保护件68设置于所述支撑件64的末端，并包覆于所述活动部665之外。所述保护件68用于缓冲所述支撑脚61受到的外力冲击，并作为所述缓冲器66的屏障，保护所述缓冲器66不被外部环境污染或腐蚀，以延长所述缓冲器66的使用寿命。
在本实施方式中，所述保护件68为橡胶或/及硅胶材料制成的保护套，其套设在所述活动部665上，并固定地套设于所述支撑件64的末端。当所述无人飞行器100降落在地面上时，所述支撑脚61受到来自于地面的冲击力，所述保护件68受到地面的抵压而发生弹性形变，从而压迫所述活动部665，使所述活动部665相对所述本体661滑动，进而起到减震吸能的作用。
所述安装座62及所述支撑件64上还设置有加固件69，所述加固件69用于加固所述支撑脚61的整体结构。所述加固件69保护安装端691、设置于所述安装端691上的支撑部693以及设置于所述支撑部693上的卡持部695。
所述安装端691固定地装设于所述安装座62上，并通过螺钉等紧固件6911（请参阅图2）与所述安装座62连接。所述紧固件6911设置于所述安装端691上靠近所述支撑件64的一侧。所述安装端691在外力作用下，能够绕所述紧固件6911的轴线转动一定角度，以使用户能够调节所述加固件69的装设位置。
所述支撑部693形成于所述安装端691靠近所述支撑件64的一侧，并朝向所述支撑件64延伸，且与所述支撑件64呈预定夹角设置。
所述卡持部695形成于所述支撑部693靠近所述支撑件64的一端，且套设并卡持于所述支撑件64上。具体在图示的实施例中，所述卡持部695上形成有卡持孔6951，所述卡持孔6951为不完整的圆孔，使所述卡持部695能够通过所述卡持孔6951套设于所述支撑件64上，或者，使所述支撑件64能够穿过所述卡持孔6951与所述安装座62相螺合，所述卡持部695同时能够对所述支撑件64的安装起导向作用。所述安装座62、所述支撑件64及所述加固件69三者之间大致呈三角架型的连接结构，使所述支撑脚61的整体结构坚固不易变形或移位。
当所述安装端691在外力作用下绕所述紧固件6911的轴线微量转动时，所述支撑部693能够带动所述卡持部695相对所述安装座62转动预定角度，以使所述卡持部695能够卡持于所述支撑件64上。即使所述支撑脚61的各零件之间存在一定的装配误差，也可以通过转动所述加固件69来调整所述加固件69与所述支撑件64之间的装配关系，使所述起落架60更易于装配。
上述无人飞行器100，其起落架60设有缓冲器66，所述缓冲器66位于所述支撑脚61的底部，当所述无人飞行器100降落时，所述缓冲器66首先接受来自于地面的冲击力，使所述活动部665相对所述本体661滑动，进而起到减震吸能的作用，其缓冲效果相对较好，降低了降落冲击对所述无人飞行器100整体造成的损害。
另外，所述支撑件64通过螺纹连接与所述安装座62可拆卸地连接于一起，使所述起落架60便于组装或拆卸。
可以理解，所述机臂24的数量可以为一个或多个，例如，两个、三个、六个等等。同样地，所述动力装置40的数量也可以为一个或多个。
可以理解，所述缓冲器66可以装设在所述支撑件64上的其他位置。例如，所述缓冲器66可以设置在所述安装座62与所述支撑件64之间。具体地，所述安装座62与所述本体661及所述活动部665中的一个固定连接，所述支撑件64与所述本体661及所述活动部665中的另一个连接，并通过所述连接部641与所述本体661及所述活动部665中的另一个相螺合。再如，所述支撑件64可以设计为具有两个相接续的支撑部的支撑杆，其中一个支撑部装设于所述安装座62上，另一个支撑部通过所述缓冲器66连接于所述一个支撑部上。
可以理解，所述支撑件64与所述安装座62之间的连接方式不局限于上文所描述的连接方式，其可以采用其他机械连接方式。例如，所述连接部641上形成有内螺纹，所述安装座62上对应所述内螺纹形成有外螺纹连接部；所述内螺纹与所述外螺纹连接部相螺合，以将所述支撑件64与所述安装座62固定地装设于一起。再如，所述连接部641上形成有卡合部，所述安装座62上对应所述卡合部形成有配合部，所述卡合部及所述配合部中的一个为弹性卡勾，另一个为卡槽；所述卡合部及所述配合部相互卡持配合，以将所述支撑件64与所述安装座62固定地装设于一起。
可以理解，所述安装座62可以省略，而直接将所述支撑件64装设于所述机臂24上，将所述加固件69的两端分别连接于所述机臂24及所述支撑件64上；其中，所述支撑件64可以与所述机臂24固定连接或者可转动连接。
以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发明技术方案的精神和范围。

Claims (24)

  1. 一种起落架，应用于无人飞行器中，所述起落架包括支撑脚；其特征在于：所述支撑脚包括支撑件以及用于缓冲所述无人飞行器降落时所述起落架受到的冲击的缓冲器，所述支撑件上设有用于安装所述缓冲器的安装部。
  2. 如权利要求1所述的起落架，其特征在于：所述缓冲器为液压阻尼器或空气阻尼器。
  3. 如权利要求1所述的起落架，其特征在于：所述支撑件一端为连接端，另外一端为着陆端，所述安装部设置于所述支撑件的着陆端。
  4. 如权利要求3所述的起落架，其特征在于：所述支撑件的连接端上设置有连接部，所述连接部用于与所述无人飞行器的机臂可拆卸地连接。
  5. 如权利要求4所述的起落架，其特征在于：所述支撑脚还包括用于连接所述无人飞行器的机臂的安装座，所述连接部可拆卸地连接于所述安装座上。
  6. 如权利要求5所述的起落架，其特征在于：所述连接部及所述安装座中的一个上设置有内螺纹，所述连接部及所述安装座中的另一个上设置有与所述内螺纹相配合的外螺纹，所述内螺纹与所述外螺纹相螺合连接；
    或者，所述连接部及所述安装座中的一个上设置有弹性卡勾，所述连接部及所述安装座中的另一个上设置有与所述弹性卡勾相配合的卡槽，所述弹性卡勾与所述卡槽相互卡持连接。
  7. 如权利要求5所述的起落架，其特征在于：所述支撑脚还包括加固件，所述加固件一端设置于所述安装座上，另一端连接于所述支撑件上；所述安装座、所述加固件及所述支撑件呈三角架型的结构。
  8. 如权利要求7所述的起落架，其特征在于：所述加固件包括设置于所述安装座上的安装端，以及设置于所述安装端并向所述支撑件延伸且连接于所述支撑件上的支撑部。
  9. 如权利要求8所述的起落架，其特征在于：所述安装端通过一紧固件连接于所述安装座上，所述安装端能够绕所述紧固件转动以带动所述支撑部相对所述安装座转动。
  10. 如权利要求8所述的起落架，其特征在于：所述加固件还包括设置于所述支撑部上并与所述支撑件相卡持的卡持部。
  11. 如权利要求10所述的起落架，其特征在于：所述卡持部上设置有卡持孔，所述卡持部通过所述卡持孔套设于所述支撑件上。
  12. 如权利要求5所述的起落架，其特征在于：所述支撑脚还包括设置于所述支撑件上的限位件，所述限位件与所述安装座相抵持。
  13. 如权利要求12所述的起落架，其特征在于：所述限位件包括固定套设在所述支撑件上的套设部以及设置于所述套设部上的限位部，所述限位部与所述安装座相抵持。
  14. 如权利要求1所述的起落架，其特征在于：所述缓冲器包括设置于所述支撑件上的本体以及可活动地收容在所述本体中的活动部，所述活动部与所述本体活塞连接并部分地凸伸出所述本体及所述支撑件外。
  15. 如权利要求14所述的起落架，其特征在于：所述本体收容于所述支撑件内，所述缓冲器还包括设置于所述本体上的定位部，所述定位部抵持于所述支撑件的末端；
    或/及，所述本体内设置有弹性复位件，所述弹性复位件一端连接于所述本体上，另一端连接于所述活动部上。
  16. 如权利要求14所述的起落架，其特征在于：所述支撑脚还包括保护件，所述保护件套设于所述支撑件上并包覆于所述活动部外。
  17. 如权利要求16所述的起落架，其特征在于：所述保护件为橡胶材料制成的保护套。
  18. 如权利要求1~17中任一项所述的起落架，其特征在于：所述支撑脚相对于竖直方向倾斜设置。
  19. 如权利要求18所述的起落架，其特征在于：所述支撑件与竖直方向所成的夹角大于等于1度且小于等于5度。
  20. 一种无人飞行器，其包括机身，其特征在于：所述无人飞行器还包括权利要求1~19中任一项所述的起落架，所述支撑件设置于所述机身上，所述缓冲器设置于所述支撑件远离所述机身的一端。
  21. 如权利要求20所述的无人飞行器，其特征在于：所述无人飞行器还包括设置于所述机身上的机臂以及设置于所述机臂上的动力装置，所述动力装置用以为所述无人飞行器提供飞行动力。
  22. 如权利要求21所述的无人飞行器，其特征在于：所述动力装置相对于竖直方向倾斜设置；
    或/及，所述支撑件与所述机臂固定连接，或者可转动连接。
  23. 如权利要求21所述的无人飞行器，其特征在于：所述动力装置包括设置于所述机臂上的驱动件及连接于所述驱动件上的螺旋桨，所述驱动件用以驱动所述螺旋桨转动。
  24. 如权利要求21所述的无人飞行器，其特征在于：所述动力装置与所述支撑件对应设置。
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