WO2018077297A1 - 无人机起落架及无人机 - Google Patents

无人机起落架及无人机 Download PDF

Info

Publication number
WO2018077297A1
WO2018077297A1 PCT/CN2017/108550 CN2017108550W WO2018077297A1 WO 2018077297 A1 WO2018077297 A1 WO 2018077297A1 CN 2017108550 W CN2017108550 W CN 2017108550W WO 2018077297 A1 WO2018077297 A1 WO 2018077297A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
landing gear
landing
present disclosure
platform
Prior art date
Application number
PCT/CN2017/108550
Other languages
English (en)
French (fr)
Inventor
杜淼森
赵炳根
赵自强
王悦
Original Assignee
比亚迪股份有限公司
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 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Publication of WO2018077297A1 publication Critical patent/WO2018077297A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/02—Arresting gear; Liquid barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • 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 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/02—Gyroplanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts

Definitions

  • the present disclosure relates to the field of drone technology, and in particular to a drone landing gear and a drone.
  • Another object of the present disclosure is to provide a drone to solve the problem of unstable docking at the time of landing.
  • an embodiment of the present disclosure provides a drone landing gear, including a landing gear body and a locking mechanism housed in the landing gear body.
  • the side wall of the landing gear body is provided with a guiding hole.
  • the locking mechanism includes a locking block and a drive mechanism that drives the locking block to extend and retract from the guide hole.
  • the plurality of guiding holes are disposed at intervals along the axial direction of the landing gear body, and the locking blocks are also plural and correspond one-to-one with the plurality of guiding holes.
  • a guide groove is formed in the wall of the hole at both ends of the guide hole, and both ends of the lock block protrude outwardly from a protrusion that is in sliding engagement with the guide groove.
  • the drive mechanism includes a rotatable center shaft, a first link fixedly coupled to the center shaft, and a second link hinged to the lock block, the A link is hinged to the second link.
  • the locking block is at least partially received in the guide hole.
  • the drive mechanism further includes a first driving device disposed above the central shaft, the first driving device for driving the central shaft to rotate.
  • the bottom of the landing gear body is provided with a plug.
  • a pressure sensor is integrated on the plug.
  • the landing gear body is formed as a tapered structure that tapers from top to bottom.
  • An embodiment of the present disclosure further provides a drone, the bottom of the drone being provided with the drone landing gear according to the above embodiment.
  • the locking mechanism when the drone is in a flight state, the locking mechanism is housed in the landing gear body to avoid damage by impact, and when the drone is landing, the lock is Stop block from landing gear
  • the side wall of the body extends to lock the drone on the landing platform to improve the stability of the drone when it is docked.
  • FIG. 1 is a schematic structural view of a landing gear body of a drone landing gear according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural view of a locking mechanism of a drone landing gear according to an embodiment of the present disclosure
  • FIG. 3 is a schematic structural view of a drone according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic structural view of a drone landing platform according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of cooperation between a drone and a landing platform according to an embodiment of the present disclosure
  • FIG. 6 is a schematic structural view of a drone take-off device according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural view of a drone take-off device according to another embodiment of the present disclosure.
  • FIG. 8 is a schematic structural view of a drone take-off device according to another embodiment of the present disclosure.
  • FIG. 9 is a schematic structural view of an electric vehicle according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram of an application scenario of the electric vehicle shown in FIG. 9; FIG.
  • FIG. 11 is a schematic structural view of an electric vehicle according to another embodiment of the present disclosure.
  • Figure 12 is a plan view of the electric vehicle shown in Figure 11;
  • Figure 13 is a schematic view showing the installation of the landing gear shown in Figure 11;
  • Fig. 14 is a view showing an application scenario of the electric vehicle shown in Fig. 11;
  • the terms “upper” and “lower” as used herein generally refer to the upper and lower sides of the drone in a smooth flight state and landing, “inside” and “in”, unless otherwise stated. “Outside” is for the contour of the corresponding component itself.
  • the present disclosure provides a drone landing gear and a landing platform and take-off and landing gear that cooperate with the landing gear.
  • the drone landing gear 2000 provided by the present disclosure includes a landing gear body 2100 for being disposed at the bottom of the drone 1000 and a locking mechanism 2200 housed in the landing gear body 2100.
  • the side wall of the landing gear body 2100 is provided with at least one guiding hole 2110.
  • the locking mechanism 2200 includes a locking block 2210 and a driving mechanism for driving the locking block 2210 to extend and retract from the guiding hole 2110.
  • the locking mechanism 2200 is received in the landing gear body 2100 without being damaged by impact; when the drone 1000 is lowered, the locking block 2210 is from the side wall of the landing gear body 2100.
  • the drone 1000 can be locked on, for example, the landing platform 3000 as shown in FIG. 4, thereby improving the stability of the drone 1000 when docked.
  • the guide hole 2110 penetrates the side wall of the landing gear body 2100.
  • the guiding holes 2110 may be plural and disposed along the axial direction of the landing gear body 2100. Accordingly, the locking blocks 2210 are also plural and correspond to the guiding holes 2110 in one-to-one correspondence. That is, the drones 1000 can be positioned using the locking blocks 2210 at different height positions so that the drone 1000 can be docked at a suitable height.
  • the plurality of locking blocks 2210 arranged in the axial direction may be integrally connected by a guide post 2220 extending in the axial direction. It should be noted that, as shown in FIG. 2, the guide post 2220 is formed on the inner side of the locking block 2210, that is, the guide post 2220 is not affected to affect the extension and retraction of the locking block 2210.
  • the guide holes 2110 may also be evenly arranged in a plurality of rows along the circumferential direction of the landing gear body 2100, and the guide holes 2110 at the same height are disposed along the circumferential direction of the landing gear body 2100, and accordingly, the lock
  • the blocks 2210 are also arranged in a plurality of rows along the circumferential direction of the landing gear body 2100 and are in one-to-one correspondence with the plurality of guiding holes 2110, so that the locking mechanism 2200 can uniformly position the drone 1000 in the circumferential direction to avoid the drone. After 1000 stops, it pulsates radially, which improves the stability of the overall structure.
  • the plurality of guide holes 2110 are arranged in a plurality of rows along the axial direction of the landing gear body 2100 and are arranged in a plurality of rows along the circumferential direction of the landing gear body 2100.
  • the plurality of locking blocks 2210 are also arranged in a plurality of rows along the axial direction of the landing gear body 2100 and arranged in a plurality of rows along the circumferential direction of the landing gear body 2100.
  • Multiple The guiding hole 2110 is in one-to-one correspondence with the plurality of locking blocks 2210.
  • the guide holes 2110 are arranged in three rows evenly spaced along the circumferential direction of the landing gear body 2100, each column including a plurality of guide holes 2210, respectively, correspondingly
  • the blocks 2210 are also arranged in three rows evenly spaced along the circumferential direction of the landing gear body 2100, each column including a plurality of locking blocks 2210, thereby satisfying the circumferential positioning requirements of the drone 1000, and having a high structure.
  • the compactness avoids the problem of difficulty in processing when the number of rows of the guide hole 2110 and the lock block 2210 is too large, and the components are dry.
  • a guiding groove 2111 may be formed on the wall of the hole at both ends of the guiding hole 2110, as shown in FIG. As shown, both ends of the locking block 2210 project outwardly from the protrusion 2211 that is in sliding engagement with the guiding groove 2111.
  • the guide groove 2111 also penetrates the side wall of the landing gear body 2100.
  • the drive mechanism may include a rotatable center shaft 2230, a first link 2240 fixedly coupled to the center shaft 2230, and a second link 2250 hinged to the lock block 2210.
  • the locking mechanism includes a plurality of locking blocks 2210 that are coupled by the guide posts 2220, as shown in FIG. 2, the second links 2250 can be hinged to the guide posts 2220. Further, the first link 2240 and the second link 2250 are hinged to each other, and the locking block 2210 is at least partially received in the guide hole 2110.
  • the driving mechanism, the locking block 2210 and the guiding hole 2110 are formed as a crank slider structure, wherein the central shaft 2230 and the first link 2240 are cranks in the crank slider structure, and the second link 2250 is crank sliding
  • the connecting rod in the block structure, the locking block 2210 is a slider in the crank slider structure, and the guiding hole 2110 is a frame in the crank slider structure.
  • the drive mechanism further includes a first drive 2300 located above the central shaft 2230 for driving the central shaft 2230 to rotate.
  • the first driving device 2300 may be a first motor that is connected to the bottom of the drone 1000 and housed in the landing gear body 2100. The first motor outputs a rotary motion to drive the crank slider structure described above.
  • the bottom of the landing gear body 2100 may be provided with a plug 2500 disposed at the lowermost end of the landing gear body 2100.
  • the plug 2500 can be mated with the socket 3110 on the landing platform 3000.
  • the pressure sensor 2400 may be integrated on the plug 2500 to ensure that the pressure of the plug 2500 after insertion is within a reasonable range and ensure The plug 2500 and the socket 3110 are normally connected while avoiding impact damage of the components.
  • the landing gear body 2100 of the present disclosure may be formed as a tapered structure that is tapered from top to bottom to facilitate the downward movement of the landing gear body 2100, and the locking mechanism 2200 is extended from the locking block 2210.
  • the falling frame body 2100 is also formed into a tapered structure of a corresponding shape, which can facilitate the hierarchical positioning of the drone 1000, and its specific form will be further explained in the following description.
  • an embodiment of the present disclosure further provides a drone, and the bottom of the drone 1000 is provided with the above-mentioned unmanned person Machine landing gear 2000.
  • the top of the landing gear body 2100 may protrude outwardly from the mounting plate 2120 spaced apart from each other, and the mounting plate 2120 is provided with a mounting hole to connect the landing gear body 2100 to the drone 1000 by fasteners.
  • a locking mechanism is formed in the landing gear body 2100 and connected to the bottom of the drone 1000 by the first driving device 2300.
  • the landing platform 3000 provided by the embodiment of the present disclosure includes a base 3100 and an upper platform 3200 connected above the base 3100 , and the upper platform 3200 and the base 3100 are spaced apart along the height direction of the landing platform 3000 and A central hole for the passage of the drone landing gear 2000 is formed.
  • the drone landing gear 2000 passes through the center hole, and the locking block 2210 passes through the guiding hole 2110 on the landing gear body 2100, so that the drone 1000 can be fixed in the take-off and landing.
  • the upper platform 3200 includes a side portion and a guide limit member 3210, wherein the edge portion of the upper platform 3200 is an outer frame of the upper platform 3200.
  • the guiding limiting member 3210 is a plate-like structure, and the locking form of the UAV landing gear 2000 and the landing gear platform 3000 is the locking block 2210 clamping the guiding limit member. 3210, to position the drone 1000 in height.
  • the locking block 2210 may be formed with a groove so that the guiding limiting member 3210 can be inserted into the groove; or the guiding limiting member 3210 can be inserted into the adjacent two locking blocks 2210 disposed along the axial direction. Between, as shown in the embodiment of Figures 1 to 3. In both cases, the drone 1000 can be positioned in height.
  • the guiding stopper 3210 extends obliquely downward from the side, so that when the drone 1000 is landing, the initial positioning can be performed by the inclined structure, that is, the drone landing gear 2000 is Under the action of the inclined guide limiting member 3210, it gradually slides down to the central area of the landing platform 3000 for subsequent precise positioning. That is, at the initial positioning, the drone 1000 can be positioned by the inclined guide stopper 3210 as long as it is located above the landing platform 3000 area.
  • the inner end of the guiding stopper 3210 is spaced apart from the base 3100 in the height direction of the landing platform 3000 and is formed as a side wall of the center hole (ie, the guiding stopper 3210). The inner end defines a central aperture) such that the drone landing gear 2000 can be located between the base 3100 and the upper platform 3200.
  • the guide limiting members 3210 are plural and evenly arranged along the circumferential direction of the upper platform 3200, and each of the guiding limiting members 3210 is respectively hinged at the side portion, so that the size of the central hole can follow the guiding limit.
  • the rotation of the member 3210 changes. In this way, the impact force of the UAV landing gear 2000 when passing through the center hole can drive the guiding stopper 3210 to rotate, thereby avoiding impact damage caused by the rigid connection of the guiding stopper 3210 and the edge of the upper platform 3200.
  • the guiding limit member 3210 has a small rotatable range, that is, the guiding position of the guiding limiting member 3210 and the upper platform 3200 is provided with a limit structure, so that the guiding limiting member 3210 can support the drone.
  • the self-weight of 1000 avoids direct impact on the base 3100 when the drone 1000 is lowered.
  • each of the guiding and limiting members 3210 can be hinged to the side by a spring hinge 3220, respectively, so that the guiding device 3210 can be automatically reset to a natural state after the drone 1000 is disengaged from the landing platform 3000.
  • the spring hinge 3220 itself is a structure well known to those skilled in the art, which is equivalent to adding a torsion spring at the hinge of the ordinary hinge, so that the spring hinge can return to the position under the elastic force after the force is rotated, for example, for example, The hinge on the door that can be pushed and pulled on both sides. It should be noted that the spring hinge 3220 has a large strength to ensure that the guide limiter 3210 can support the self-weight of the drone 1000, and prevent the drone 1000 from sinking due to its own weight to the impact base 3100 when landing.
  • the upper platform 3200 may be formed as a regular polygon, and the upper platform 3200 is ensured to be a center symmetric structure, for example, a regular quadrilateral structure or a regular hexagonal structure as shown in the drawing, and has high stability. And easy to process.
  • the corners of the regular polygonal structure are supported on the base 3100 by the supporting mechanism 3300, that is, the uniformity of the landing platform 3000 is ensured, so that the landing platform 3000 can receive uniform impact force when the drone 1000 is lowered. .
  • a socket 3110 corresponding to the position of the center hole may be disposed on the base 3100.
  • the socket 3110 is disposed below the center hole to be mated with the plug 2500 on the landing gear body 2100.
  • the outer periphery of the socket 3110 is provided with a protective cover 3120 disposed on the outer circumference of the socket 3110 and spaced apart from the socket 3110 to prevent the socket 3110 from being damaged by the impact of the external device.
  • the upper platform 3200 is supported on the base 3100 by the support mechanism 3300, and the support structure 3300 may be a telescopic column structure, so that the height of the upper platform 3200 can be adjusted.
  • the height of the drone 1000 can be adjusted, and on the other hand, the plug-in fit between the plug 2500 and the socket 3110 as described above can be adjusted to ensure the connection is stable.
  • the support mechanism 3300 may include a first sleeve assembly for driving the upper platform 3200 to lift, the first sleeve assembly including a second driving device 3310 coupled to the base 3100, coupled to the second The lifting sleeve 3320 of the output end of the driving device 3310, and the lifting rod 3330 connected to the upper platform 3200, the lifting rod 3330 is sleeved in the lifting sleeve 3320 and threadedly engaged with the lifting sleeve 3320.
  • the second driving device 3310 may be a second motor, and the second motor output rotational motion drives the lifting sleeve 3320 to rotate.
  • the lifting rod 3330 is screwed with the lifting sleeve 3320, and the height of the lifting sleeve 3320 is kept constant, the lifting rod 3330 is moved in height by the thread pair, thereby driving the upper platform 3200 to move up and down.
  • the first sleeve assembly is uniformly disposed in the circumferential direction of the landing platform 3000.
  • the support mechanism 3300 further includes a second sleeve assembly for guiding the upper platform 3200 to lift, the second sleeve assembly includes a guide sleeve 3340 coupled to the base 3100, and a guide rod 3350 coupled to the upper platform 3200 for guiding The rod 3350 is in sliding engagement with the guide sleeve 3340.
  • the second sleeve assembly only serves as a guide when the upper platform 3200 moves up and down, so that the upper platform 3200 can move stably.
  • the first sleeve assembly and the second sleeve assembly are respectively plural, and are evenly arranged alternately along the circumferential direction of the landing platform 3000 to ensure sufficient driving force to drive the upper platform 3200.
  • the second sleeve assembly which is only slidably fitted, does not have to be fully threaded, which greatly reduces the cost.
  • the locking mechanism 2200 When the drone 1000 is in flight, the locking mechanism 2200 is completely housed in the landing gear body 2100, that is, the locking mechanism 2200 is in an unlocked state.
  • the drone 1000 After receiving the landing command, the drone 1000 firstly locates above the landing platform 3000, specifically, initially to the upper region of the guiding stopper 3210. At this time, the first motor drive rotating shaft 2230 is controlled to rotate by a certain angle, and the locking block 2210 protrudes from the guiding hole 2110 by the principle of the crank slider structure. At the same time, under the inclined guiding of the guiding stopper 3210, the drone 1000 is further lowered until reaching the center hole of the upper platform 3200.
  • the locking blocks 2210 are plural and arranged in the axial direction, and the locking mechanism 2200 is formed into a tapered structure after the locking block 2210 protrudes from the landing gear body 2100.
  • the locking blocks 2210 at different heights have outer diameters of different sizes, and the locking blocks 2210 of at least one height have an outer diameter that is larger than the diameter of the central holes.
  • the locking block 2210 at the height impacts the guiding limiting member 3210 and passes through the central hole, so that the guiding limiting member 3210 can be locked in the adjacent two
  • the drone 1000 can be positioned at different heights. At this point, the precise positioning of the drone is achieved.
  • the upper platform 3200 can drive the already positioned drone 1000 to move, and make the plug 2500 at the bottom of the drone 1000
  • the socket 3110 on the base 3100 of the descending platform 3000 is mated.
  • the initial positioning of the drone 1000 may be performed by manual remote control, or may be performed by a positioning system provided by the drone 1000, which is not specifically limited herein, depending on the specific use environment.
  • the take-off process of the drone 1000 is the reverse operation of the landing process, and only a brief description will be given here.
  • the drone 1000 receives the takeoff signal, first, the upper platform 3200 rises under the action of the second motor, and the plug 2500 is separated from the socket 3110. After the upper platform 3200 is raised to a sufficient height, the locking block 2210 is retracted into the landing gear body 2100, that is, an unlocking operation is performed, at which time the drone can take off. After the drone takes off, the guiding limit member 3210 can be returned to the initial position by the spring hinge 3220.
  • an embodiment of the present disclosure further provides a drone take-off device, including a slot-type mounting frame 4000 with an upper opening, and a plurality of landing platforms 3000 installed in the mounting frame 4000.
  • the takeoff and landing platform 3000 can be the takeoff and landing platform 3000 as described in detail above for cooperation with the landing gear of the corresponding drone 1000.
  • the upper platform 3200 can move up and down, the adjacent two landing platforms 3000 can simultaneously park the drone 1000, and the two drones 1000 do not affect each other through the staggered arrangement in height.
  • At least one of the plurality of take-off and landing platforms is different in size from the other landing and landing platforms, such that the drone take-off and landing device can simultaneously cooperate with a plurality of different types of drones 1000 and Drone landing gear 2000.
  • the landing platform 3000 is mounted on the bottom surface of the mounting frame 4000 through the base 3100, in order to stably support the other components of the base 3100, and facilitate installation of the multiple landing platforms 3000, in one takeoff and landing In the platform 3000, the outer contour of the base 3100 can serve as an outer contour of the landing platform 3000 as a whole.
  • the base 3100 may be installed in the mounting frame 4000 in the form of a bolt or a buckle, and the specific mounting form thereof is not specifically limited herein.
  • the base 3100 may be formed in a regular hexagon shape, and the edges of the bases 3100 of the plurality of landing platforms 3000 are fitted to form a honeycomb structure.
  • the base 3100 is formed in a rectangular shape, and the edges of the bases 3100 of the plurality of landing platforms 3000 are fitted to form a matrix structure. Both of these structures make the structure of the take-off and landing device compact.
  • the pedestal 3100 may have other shapes, such as an equilateral triangle or the like.
  • the size of the honeycomb structure may be an approximate honeycomb structure, and the matrix structure may be an approximate matrix structure.
  • three sizes of landing and landing platforms are provided, and the base 3100 is formed in an approximately honeycomb structure.
  • a large-sized landing platform 3000 is disposed at the center of the mounting frame 4000, and a small-sized landing platform 3000 is disposed at the outer periphery of the large-sized landing platform 3000, that is, small.
  • the sized landing and landing platform 3000 is disposed within a smaller area of the perimeter of the mounting frame 4000.
  • a small size landing gear platform is disposed in the four corners of the mounting frame 4000.
  • the bottom of the mounting frame 4000 is provided with a base 4100 for mounting on the external platform through the base 4100, wherein the external platform may be a moving car, a ship or a fixed base or the like.
  • the vehicle, the ship or the base itself may be used as the base 4100 described above.
  • the embodiment of the present disclosure further provides an electric vehicle 5000.
  • the electric vehicle 5000 includes an in-vehicle charger 5100, a voltage adjusting device 5200, a power battery pack 5300, and a vehicle power system sequentially connected by wires 5500. 5400.
  • the electric vehicle 5000 is provided with a drone landing platform 3000, so that the drone can be lowered onto the electric vehicle 5000, and the take-off and landing of the drone in the static and low speed conditions of the electric vehicle 5000 can be realized.
  • the take-off and landing platform 3000 may be the above-described drone take-off platform 3000.
  • the electric vehicle can be used as the base of the drone 1000, and the drone 1000 can automatically land on the electric vehicle 5000, and the docking is stable.
  • the voltage adjusting device 5200 mentioned herein may include a transformer device commonly installed on an electric vehicle such as a distribution box or a transformer.
  • the vehicle power system 5400 includes a power and control system, a corresponding transmission mechanism, and an auxiliary system. These structures are all structures on a general electric vehicle and are well known to those skilled in the art and are not specifically limited herein.
  • the wires 5500 are respectively provided with a sealing ring 5600 through the position of the inner sheet metal of the electric vehicle 5000, on the one hand, the wire harness can be stabilized, and on the other hand, the portions can be prevented from being affected by impurities.
  • the in-vehicle charger 5100, the voltage adjusting device 5200, and the landing platform 3000 are disposed in the front compartment of the electric vehicle 5000, and the power battery pack 5300 is disposed in the electric vehicle.
  • the vehicle power system 5400 is placed in the rear compartment of the electric car 5000.
  • the vehicle power system 5400 can be placed under the luggage compartment cover.
  • the electric vehicle 5000 is provided with a charging port, and the external charging device charges the power battery pack through the vehicle charger at the charging port.
  • the charging port 5700 of the electric vehicle 5000 can be disposed at the front grille of the electric vehicle 5000, reducing the distance between the charging port 5700 and the in-vehicle charger 5100, thereby improving Space utilization.
  • mounting holes may be provided in the base 3100 to mount the base 3100 in the front compartment by threaded fasteners to achieve detachable mounting of the landing platform 3000.
  • the landing platform 3000 can also be integrated with the electric vehicle 5000, that is, the front compartment partition can be used as the base 3100 of the landing platform 3000.
  • the hatch 5900 of the front compartment is hinged to the front end of the cabin of the front compartment.
  • the hatch 5900 is turned forward, and the operator can control the ascent and descent of the drone in the vehicle.
  • the drone is operated in the area of two fields of view.
  • the crew can better observe the flight status of the drone 1000 to control the drone 1000.
  • the canopy 5900 is closed, which does not affect the normal running of the electric car 5000.
  • the canopy 5900 is closed, and the front compartment serves as a storage space for the drone 1000, and the drone 1000 can be protected.
  • the vehicle power system 5400 may be disposed in the front compartment of the electric vehicle 5000, and the power battery pack 5300 is disposed under the vehicle floor of the electric vehicle 5000, and the vehicle is charged.
  • the device 5100 and the voltage adjusting device 5200 are disposed below the luggage compartment cover of the rear compartment of the electric vehicle 5000, and the landing platform 3000 is mounted above the electric vehicle 5000.
  • the landing platform 3000 is disposed outside the vehicle body, the utilization of the interior space of the vehicle can be improved, and in particular, the storage space of the rear compartment can be improved. In this case, as shown in FIG.
  • the charging port 5800 of the electric vehicle can be disposed at a position close to the in-vehicle charger 5100 of the side wall of the electric vehicle 5000, reducing The distance from the charging port 5800 to the car charger 5100 increases the space utilization.
  • the landing platform 3000 of the present disclosure may include a plurality of the landing platforms 3000 installed in the mounting frame 4000, that is, the above-mentioned drone take-off device is disposed on the roof of the electric vehicle 5000. .
  • mounting holes are formed on both sides of the mounting frame 4000 to be fastened to the top of the electric vehicle 5000 by fasteners such as bolts.
  • the circled A is the mounting point of the mounting frame 4000 and the roof, and the mounting frame 4000 can share a mounting point with the roof rack.
  • the landing platform 3000 can also be integrated with the electric vehicle 5000.
  • a plurality of take-off and landing platforms 3000 can be installed into the mounting frame 4000 to form the above-described drone take-off and landing device, and the bottom of the drone take-off and landing device is fixed to the roof.
  • multiple unmanned aerial vehicles can be provided to provide reconnaissance tasks to the vehicle.
  • the drone 1000 can also function to expand the field of view for the driver.
  • an image monitoring device may be disposed on the drone 1000.
  • the drone 1000 after the drone 1000 takes off, it can fly around the electric car 5000, and the situation around the electric car 5000 can be monitored in real time in an all-round manner, and the problem of the blind spot of the visual field can be solved.

Abstract

一种无人机起落架（2000）及无人机（1000）。无人机起落架（2000）包括起落架本体（2100）和容纳在起落架本体（2100）中的锁止机构（2200），起落架本体（2100）的侧壁开设有导向孔（2110），锁止机构（2200）包括锁止块（2210）和驱动锁止块（2210）从导向孔（2110）中伸出和缩回的驱动机构。这样，在无人机（1000）处于飞行状态时，锁止机构（2200）容纳于起落架本体（2100）中，不会受到撞击破坏；在无人机（1000）降落时，锁止块（2210）从起落架本体（2100）的侧壁伸出，将无人机（1000）锁止在起降平台（3000）上，从而提高无人机（1000）在停靠时的稳定性。

Description

无人机起落架及无人机 技术领域
本公开涉及无人机技术领域，具体地，涉及一种无人机起落架及无人机。
背景技术
目前，许多无人机配备了起落架，以适应性地降落在起降平台上。在相关技术中，无人机降落时不够平稳，无法稳定停靠在起降平台上。对无人机降落时的定位精度要求较高，需要零偏差降落，操作较为复杂。此外，由于经常需要增加智能控制系统，成本较高。
发明内容
本公开的一个目的是提供一种无人机起落架，以解决无人机在降落时停靠不稳定问题。
本公开的另一个目的是提供一种无人机，以解决在降落时停靠不稳定的问题。
为了实现上述目的，本公开实施例提供一种无人机起落架，包括起落架本体和容纳在所述起落架本体中的锁止机构，所述起落架本体的侧壁开设有导向孔，所述锁止机构包括锁止块和驱动所述锁止块从所述导向孔中伸出和缩回的驱动机构。
在本公开实施方式中，所述导向孔为多个，并且沿所述起落架本体的轴向间隔地设置，所述锁止块也为多个且与多个所述导向孔一一对应。
在本公开实施方式中，所述导向孔的两端的孔壁上形成有导向槽，所述锁止块的两端向外凸出有与所述导向槽滑动配合的凸起。
在本公开实施方式中，所述驱动机构包括可转动的中心轴，固定连接在所述中心轴上的第一连杆，和铰接在所述锁止块上的第二连杆，所述第一连杆与第二连杆铰接。
在本公开实施方式中，所述锁止块至少部分地容纳在所述导向孔中。
在本公开实施方式中，所述驱动机构还包括设置在所述中心轴上方的第一驱动装置，所述第一驱动装置用于驱动所述中心轴转动。
在本公开实施方式中，所述起落架本体的底部设置有插头。
在本公开实施方式中，所述插头上集成有压力传感器。
在本公开实施方式中，所述起落架本体形成为由上至下渐缩的锥状结构。
本公开实施方式还提供一种无人机，所述无人机的底部设置有根据以上实施方式的所述无人机起落架。
在根据本公开实施方式的无人机起落架和无人机中，在无人机处于飞行状态时，锁止机构容纳于起落架本体中，避免受到撞击破坏，在无人机降落时，锁止块从起落架本 体的侧壁伸出，将无人机锁止在起降平台上，提高无人机在停靠时的稳定性。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是根据本公开的一个实施方式的无人机起落架的起落架本体的结构示意图；
图2是根据本公开的一个实施方式的无人机起落架的锁止机构的结构示意图；
图3是根据本公开的一个实施方式的无人机的结构示意图；
图4是根据本公开的一个实施方式的无人机起降平台的结构示意图；
图5是根据本公开的一个实施方式的无人机与起降平台的配合示意图；
图6是根据本公开的一个实施方式的无人机起降装置的结构示意图；
图7是根据本公开的另一个实施方式的无人机起降装置的结构示意图；
图8是根据本公开的另一个实施方式的无人机起降装置的结构示意图；
图9是根据本公开的一个实施方式的电动汽车的结构示意图；
图10是图9示出的电动汽车的应用场景示意图；
图11是根据本公开的另一个实施方式的电动汽车的结构示意图；
图12是图11示出的电动汽车的俯视图；
图13是图11示出的起降装置的安装示意图；
图14是图11示出的电动汽车的应用场景图。
附图标记说明
1000   无人机
2000   无人机起落架      2100   起落架本体
2110   导向孔            2111   导向槽
2120   安装板            2200   锁止机构
2210   锁止块            2211   凸起
2220   导柱              2230   中心轴
2240   第一连杆          2250   第二连杆
2300   第一驱动装置      2400   压力传感器
2500   插头              3300   支撑机构
3000   起降平台          3100   基座
3110   插座              3120   保护罩
3200   上平台            3210   导向限位件
3220   弹簧铰链          3310   第二驱动装置
3320   升降套筒          3330   升降杆
3340   导向套筒          3350   导向杆
4000   安装框架          4100   底座
5000   电动汽车          5100   车载充电器
5200   电压调整装置      5300   动力电池组
5400   整车动力系统      5500   电线
5600   密封圈            5700、5800  充电口
5900   舱罩
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
在本公开中，在未作相反说明的情况下，使用的方位词如“上”和“下”通常是指无人机在平稳飞行状态下以及降落时的上和下，“内”和“外”是针对相应零部件的本身轮廓而言的。
本公开提供了一种无人机起落架以及与该起落架配合的起降平台和起降装置。如图1至图3所示，本公开提供的无人机起落架2000包括用于设置在无人机1000的底部的起落架本体2100和容纳在起落架本体2100中的锁止机构2200。起落架本体2100的侧壁开设有至少一个导向孔2110，锁止机构2200包括锁止块2210和驱动锁止块2210从导向孔2110中伸出和缩回的驱动机构。这样，在无人机1000处于飞行状态时，锁止机构2200容纳于起落架本体2100中，不会受到撞击破坏；在无人机1000降落时，锁止块2210从起落架本体2100的侧壁伸出，可以将无人机1000锁止在例如图4所示的起降平台3000上，从而提高无人机1000在停靠时的稳定性。具体地，导向孔2110贯穿所述起落架本体2100的侧壁。
如图1至图3所示，导向孔2110可以为多个，并且沿起落架本体2100的轴向间隔地设置，相应地，锁止块2210也为多个并与导向孔2110一一对应，即可以使用不同高度位置的锁止块2210对无人机1000进行定位，使得无人机1000可以停靠在合适的高度上。如图2所示，轴向排列的多个锁止块2210可以通过沿轴向延伸的导柱2220连接为一体。需要说明的是，如图2所示，导柱2220形成在锁止块2210的内侧，即保证导柱2220不会影响锁止块2210的伸出和缩回。
在本公开的实施方式中，导向孔2110也可以沿起落架本体2100的周向均匀布置成多列，处于同一高度的导向孔2110沿起落架本体2100的周向间隔地设置，相应地，锁止块2210也沿起落架本体2100的周向布置成多列且与多个导向孔2110一一对应，使得锁止机构2200可以沿周向均匀地对无人机1000进行定位，避免无人机1000停靠后沿径向窜动，提高了整体结构的稳定性。换言之，多个导向孔2110沿起落架本体2100的轴向布置成多行且沿起落架本体2100的周向布置成多列。相应地，多个锁止块2210也沿起落架本体2100的轴向布置成多行且沿起落架本体2100的周向布置成多列。多个 导向孔2110与多个锁止块2210一一对应。在本公开的其他实施方式中，如图1和图2所示，导向孔2110沿起落架本体2100的周向布置成均匀间隔的三列，每列包括多个导向孔2210，相应地，锁止块2210也沿起落架本体2100的周向布置成均匀间隔的三列，每列包括多个锁止块2210，由此满足对无人机1000的周向定位要求，并且结构具有较高的紧凑性，避免导向孔2110和锁止块2210的列数过多时带来的加工困难，零部件相互干渉的问题。
为了将锁止块2210定位在导向孔2110中并使锁止块2210与导向孔2110滑动配合，如图1所示，导向孔2110的两端的孔壁上可以形成有导向槽2111，如图2所示，锁止块2210的两端向外凸出有与导向槽2111滑动配合的凸起2211。这样，仅通过凸起2211与导向槽2111的接触配合，锁止块2210便可以在导向孔2110中滑动，避免锁止块2210与导向孔2110的接触磨损而造成使用寿命降低。具体地，导向槽2111也贯穿所述起落架本体2100的侧壁。
在本公开的实施方式中，上述驱动机构可以包括可转动的中心轴2230，固定连接在中心轴2230上的第一连杆2240，以及铰接在锁止块2210上的第二连杆2250。当锁止机构包括通过导柱2220连接的多个锁止块2210时，如图2所示，第二连杆2250可以铰接在导柱2220上。此外，第一连杆2240与第二连杆2250相互铰接，锁止块2210至少部分地容纳在导向孔2110中。换言之，驱动机构、锁止块2210以及导向孔2110之间形成为曲柄滑块结构，其中，中心轴2230和第一连杆2240为曲柄滑块结构中的曲柄，第二连杆2250为曲柄滑块结构中的连杆，锁止块2210为曲柄滑块结构中的滑块，导向孔2110为曲柄滑块结构中的机架。通过这种结构，将中心轴2230的回转运动转变成锁止块2210的直线往复运动，进而可以实现锁止块2210的锁止与解锁功能。
在如图3所示的实施方式中，驱动机构还包括位于中心轴2230上方的第一驱动装置2300，第一驱动装置2300用于驱动中心轴2230转动。在本实施方式中，第一驱动装置2300可以为第一电机，该第一电机连接在无人机1000的底部，并容纳在起落架本体2100中。第一电机输出回转运动以驱动上述的曲柄滑块结构。
如图3和图4所示，起落架本体2100的底部可以设置有插头2500，该插头2500设置在起落架本体2100的最下端。在无人机1000降落后，插头2500可以与起降平台3000上的插座3110进行插接配合。为了检测插头2500与起降平台3000(具体可以为插座3110)接触时的压力情况，插头2500上可以集成有压力传感器2400，确保插头2500在插接后受到的压力在合理的范围内，并且确保插头2500和插座3110连接正常，同时避免零部件的冲击破坏。
如图1所示，本公开中的起落架本体2100可以形成为由上至下渐缩的锥状结构，以方便起落架本体2100向下滑动，锁止机构2200在锁止块2210伸出起落架本体2100后也形成为相应形状的锥状结构，可以方便无人机1000进行分级定位，其具体的形式将在下述说明中进一步阐释。
此外，本公开实施方式还提供一种无人机，该无人机1000的底部设置有上述无人 机起落架2000。具体地，起落架本体2100的顶部可以向外凸出有彼此间隔开的安装板2120，安装板2120上开设有安装孔以通过紧固件将起落架本体2100连接在无人机1000上。锁止机构形成在起落架本体2100中并通过第一驱动装置2300连接在无人机1000的底部。
如图4所示，本公开实施方式提供的起降平台3000包括基座3100和连接在基座3100上方的上平台3200，上平台3200与基座3100沿起降平台3000的高度方向间隔设置并且形成有用于供无人机起落架2000穿过的中心孔。换言之，当无人机1000降落时，无人机起落架2000穿过上述中心孔，并且锁止块2210穿过起落架本体2100上的导向孔2110，从而可以将无人机1000固定在起降平台3000上。上平台3200包括边部和导向限位件3210，其中上平台3200的边部为该上平台3200的外边框。在如图4和图5所示的实施方式中，导向限位件3210为板状结构，无人机起落架2000与起降平台3000的锁止形式为锁止块2210夹持导向限位件3210，以对无人机1000进行高度上的定位。锁止块2210可以形成有凹槽，使得导向限位件3210可以插入到该凹槽中；或者也可以使导向限位件3210插入到沿轴向布设的相邻的两个锁止块2210之间，如图1至图3中的实施方式所示。在上述两种情况下，均可以对无人机1000进行高度上的定位。
在本公开的实施方式中，导向限位件3210从边部向内倾斜向下延伸，这样，无人机1000在降落时，可以通过该倾斜结构进行初定位，即无人机起落架2000在倾斜的导向限位件3210的作用下，逐步滑落至起降平台3000的中心区域，以便后续的精确定位。即在初定位时，无人机1000只要位于起降平台3000区域的上方即可通过倾斜的导向限位件3210进行定位。此外，如图4和图5所示，导向限位件3210的内端与基座3100沿起降平台3000的高度方向间隔设置并形成为上述中心孔的侧壁(即导向限位件3210的内端限定出中心孔)，这样，使得无人机起落架2000可位于基座3100和上平台3200之间。
在本公开的实施方式中，导向限位件3210为多个且沿上平台3200的周向均匀布设，每个导向限位件3210分别铰接在边部，使得中心孔的大小可以随导向限位件3210的转动而变化。这样，无人机起落架2000在穿过中心孔时其冲击力可以带动导向限位件3210转动，避免由于导向限位件3210与上平台3200的边部的刚性连接导致的冲击破坏。在本公开的实施方式中，导向限位件3210具有较小的可转动范围，即导向限位件3210与上平台3200的铰接处设置有限位结构，使得导向限位件3210可以支撑无人机1000的自重，避免无人机1000降落时直接冲击到基座3100上。进一步地，每个导向限位件3210可以分别通过弹簧铰链3220铰接在边部，使得无人机1000与起降平台3000脱离后导向限位件3210可以自动复位到自然状态。需要说明的是，弹簧铰链3220本身为本领域普通技术人员所熟知的结构，其相当于在普通铰链的铰接处增加扭力弹簧，使得弹簧铰链在受力转动后可以在弹性作用下回位，例如可双侧推拉的门上的铰链。这里需要说明的是，弹簧铰链3220具有较大的强度，以确保导向限位件3210可以支撑无人机1000的自重，避免无人机1000在降落时由于自重持续下沉直至冲击基座3100。
在本公开的实施方式中，上平台3200可以形成为正多边形，保证上平台3200为中心对称结构，例如可以为如附图所示的正四边形结构、正六边形结构，具有较高的稳定性，并且加工方便。该正多边形结构的角部通过支撑机构3300支撑在基座3100上，即保证起降平台3000整体的均匀性，以使起降平台3000在无人机1000降落时各部位可以受到均匀的冲击力。
如图4所示，基座3100上还可以设置与中心孔位置对应的插座3110，该插座3110设置在中心孔的下方，以与上述的起落架本体2100上的插头2500插接配合。在本公开的实施方式中，插座3110的外周设置有保护罩3120，该保护罩3120设置在插座3110的外周并与插座3110间隔开，避免插座3110受到外部装置的冲击破坏。
此外，如图4所示，上平台3200通过支撑机构3300支撑在基座3100上，支撑结构3300可以为可伸缩的柱状结构，从而可以调整上平台3200的高度。这样，一方面可以调整无人机1000在降落后的高度，另一方面，可以调整如上所述的插头2500与插座3110之间的插接配合，保证连接稳定。
在本公开的实施方式中，支撑机构3300可以包括用于驱动上平台3200升降的第一套筒组件，第一套筒组件包括连接在基座3100上的第二驱动装置3310，连接在第二驱动装置3310的输出端的升降套筒3320，以及连接在上平台3200上的升降杆3330，升降杆3330套接在升降套筒3320中并且与升降套筒3320螺纹配合。具体地，第二驱动装置3310可以为第二电机，第二电机输出旋转运动带动升降套筒3320旋转。由于升降杆3330与升降套筒3320螺纹配合，而升降套筒3320的高度保持恒定，故升降杆3330在螺纹副的作用下进行高度上的移动，从而带动上平台3200上下移动。为了稳定地支撑上平台3200，第一套筒组件在起降平台3000的周向均匀地设置。
支撑机构3300还包括用于导向上平台3200升降的第二套筒组件，第二套筒组件包括连接在基座3100上的导向套筒3340，和连接在上平台3200上的导向杆3350，导向杆3350与导向套筒3340滑动配合。换言之，第二套筒组件仅在上平台3200上下移动时起到导向作用，使得上平台3200可以稳定地移动。
第一套筒组件和第二套筒组件分别为多个，并且沿起降平台3000的周向均匀地交替排列，保证足够的驱动力来驱动上平台3200。设置为仅可滑动配合的第二套筒组件，不必全采用螺纹配合，极大地降低了成本。
下面结合图1至图5简单介绍本公开的一个实施方式中的无人机1000的降落和起飞过程。
无人机1000在飞行状态下，锁止机构2200完全容纳在起落架本体2100中，即锁止机构2200处于非锁止状态。
无人机1000接收到降落指令后，首先初定位到起降平台3000的上方，具体地，初定位到导向限位件3210的上方区域。此时，控制第一电机驱动旋转轴2230转动一定角度，利用曲柄滑块结构的原理，锁止块2210从导向孔2110中伸出。同时，在导向限位件3210的斜面导向作用下，无人机1000进一步下降直至达到上平台3200的中心孔。 在本实施方式中，锁止块2210为多个且沿轴向布设，并且锁止机构2200在锁止块2210伸出起落架本体2100后形成为锥状结构。这样，不同高度上的锁止块2210具有不同大小的外径，至少一个高度上的锁止块2210具有大于中心孔的直径的外径。在无人机1000的重力或下降驱动力的作用下，该高度处的锁止块2210冲击导向限位件3210并穿过中心孔，使得导向限位件3210可以卡止在相邻的两个锁止块2210之间，或者卡止在顶部的锁止块2210与无人机1000的底部之间。根据无人机1000对导向限位件3210的不同的冲击力，以及锁止块2210的不同外径，无人机1000可以定位在不同的高度处。此时，实现了无人机的精确定位。进一步地，控制第二电机驱动第一套筒组件实现上平台3200在高度方向上的移动，上平台3200可以带动已经定位的无人机1000移动，并使得无人机1000底部的插头2500与起降平台3000的基座3100上的插座3110插接配合。需要说明的是，无人机1000的初定位可以采用人工遥控操作，也可以由无人机1000自带的定位系统进行，这里不做具体限定，视使用环境具体而定。
无人机1000的起飞过程为降落过程的反向操作过程，这里只做简单说明。无人机1000接收到起飞信号后，首先，上平台3200在第二电机的作用下上升，插头2500与插座3110分离。在上平台3200上升到足够的高度后，锁止块2210收回到起落架本体2100中，即进行解锁操作，此时无人机可以起飞。无人机起飞后，导向限位件3210可以在弹簧铰链3220的作用下回位到初始位置。
如图6至图8所示，本公开实施方式还提供一种无人机起降装置，包括上方开口的槽型的安装框架4000，和安装在安装框架4000中的多个起降平台3000，其中起降平台3000可以为上面详尽描述的起降平台3000，以用于与相应的无人机1000的起落架配合。在上平台3200可以上下移动时，相邻的两个起降平台3000可以同时停放无人机1000，通过高度上的交错排列，使得两架无人机1000不会相互影响。
在本公开的实施方式中，该多个起降平台中的至少一个起降平台与其他起降平台尺寸不同，这样该无人机起降装置可以同时配合多种不同型号的无人机1000以及无人机起落架2000。
在本公开的实施方式中，起降平台3000通过基座3100安装在安装框架4000的底面，为了使基座3100稳定地支撑其他组件，并且方便多个起降平台3000的安装，在一个起降平台3000中，基座3100的外轮廓可以作为起降平台3000整体的外轮廓。这样，在安装起降平台3000时，只需考虑多个基座3100之间的配合，避免干涉即可。此外，基座3100可以采用螺栓或者卡扣的形式安装在安装框架4000中，其具体的安装形式这里不做具体限定。
在如图6和图7所示的实施方式中，基座3100可以形成为正六边形，多个起降平台3000的基座3100的边缘贴合设置以形成蜂窝状结构。在如图8示出的实施方式中，基座3100形成为矩形，多个起降平台3000的基座3100的边缘贴合设置以形成矩阵结构。这两种结构均可以使得起降装置的结构紧凑。在其他实施方之中，基座3100也可以为其他形状，例如可以为正三角形等。另外，还需要说明的是，由于起降平台3000 的尺寸可能不同，上述的蜂窝结构可以为近似蜂窝结构，矩阵结构可以为近似矩阵结构。例如，在图7中所示实施方式中，设置了三种尺寸的起降平台，基座3100形成为近似蜂窝状结构。
在本公开的实施方式中，为了提高空间利用率，大尺寸的起降平台3000设置在安装框架4000的中心，小尺寸的起降平台3000设置在大尺寸的起降平台3000的外周，即小尺寸的起降平台3000设置在安装框架4000的周边的较小的区域内。例如，在图7所示出的实施方式中，小尺寸的起降平台设置在安装框架4000的四个角落里。
在本公开的实施方式中，安装框架4000的底部设置有底座4100，以通过该底座4100安装在外部平台上，其中，外部平台可以为移动的车、舰或者为固定的基地等。在其他的实施方式中，也可以将车、舰或基地本身作为上述的底座4100。
本公开实施方式还提供一种电动汽车5000，如图9和图11所示，电动汽车5000包括通过电线5500依次连接的车载充电器5100、电压调整装置5200、动力电池组5300以及整车动力系统5400。电动汽车5000上设置有无人机起降平台3000，以使无人机能够降落到电动汽车5000上，实现在电动汽车5000的静态、低速情况下的无人机的起降。这里，起降平台3000可以为上述的无人机起降平台3000。换言之，电动汽车可以作为无人机1000的基地，无人机1000可以自动降落到电动汽车5000上，停靠稳定。需要说明的是，这里所说的电压调整装置5200可以包括配电箱、变压器等电动汽车上常备的变压装置，整车动力系统5400包括动力及控制系统、相应的传动机构及辅助系统等，这些结构均为普通电动汽车上的结构，为本领域内技术人员所熟知，此处不作具体限定。
此外，电线5500穿过电动汽车5000的内部钣金的位置分别套设有密封圈5600，一方面可以稳固线束，另一方面，可以避免各部分受杂质影响。
在本公开的一个实施方式中，如图9和图10所示，车载充电器5100、电压调整装置5200和起降平台3000设置在电动汽车5000的前舱内，动力电池组5300设置在电动汽车5000的车身地板下方，整车动力系统5400设置在电动汽车5000的后舱内。为了节省后舱行李箱的储物空间，可以将整车动力系统5400设置在行李厢盖板的下方。本领域技术人员所熟知的是，电动汽车5000上设置有充电口，外部充电设备在充电口处通过车载充电器为动力电池组充电。在本实施方式中，由于车载充电器5100设置在前舱内，电动汽车5000的充电口5700可以设置在电动汽车5000的前格栅处，减少充电口5700到车载充电器5100的距离，从而提高空间利用率。
在将起降平台3000安装到前舱中时，可以在基座3100上设置安装孔，以通过螺纹紧固件将基座3100安装在前舱中，实现起降平台3000的可拆卸安装。此外，起降平台3000还可以与电动汽车5000进行一体化设计，即可以将前舱隔板作为起降平台3000的基座3100。
进一步地，如图9所示的本实施方式中，前舱的舱罩5900铰接在前舱的舱体前端。这样，如图10所示，在无人机降落或起飞的过程中，舱罩5900向前翻起，操作人员可以在车内控制无人机的上升和下降等动作。具体地，无人机在两条视野线的区域内，操 作人员可以更好地观察无人机1000的飞行状态，以对无人机1000进行操控。在无人机1000的降落或者起飞的步骤完成后，舱罩5900关闭，不影响电动汽车5000的正常行驶。例如在无人机1000降落至前舱后，舱罩5900关闭，前舱作为无人机1000的收纳空间，可以对无人机1000进行保护。
在本公开的一个实施方式中，如图11和图12所示，整车动力系统5400可以设置在电动汽车5000的前舱内，动力电池组5300设置在电动汽车5000的车身地板下方，车载充电器5100和电压调整装置5200设置在电动汽车5000的后舱的行李厢盖板的下方，起降平台3000安装在电动汽车5000的上方。在这一实施方式中，由于将起降平台3000设置在车身的外部，可以提高车内空间的利用率，尤其可以提高后舱的储物空间。在这种情况下，如图11所示，由于车载充电器5100设置在后舱内，电动汽车的充电口5800可以设置在电动汽车5000的侧围钣金的接近车载充电器5100的位置，减少充电口5800到车载充电器5100的距离，从而提高空间利用率。
由于车顶的空间充裕，本公开的起降平台3000可以包括多个，该多个起降平台3000安装在安装框架4000中，即将上述的无人机起降装置设置在电动汽车5000的车顶。具体地，安装框架4000的两侧开设有安装孔以通过螺栓等紧固件紧固到电动汽车5000的顶部。如图13所示，图中圈示的A处为安装框架4000与车顶的安装点，且安装框架4000可以与车顶行李架共用一个安装点。此外，若不需要拆卸，起降平台3000还可以与电动汽车5000进行一体化设计。例如，可以将多个起降平台3000安装到安装框架4000中，形成上述的无人机起降装置，而无人机起降装置的底部则固定在车顶上。在本实施方式中，可以实现多无人机给车辆提供侦察任务。
此外，无人机1000还可以起到为驾驶员拓展视野的作用。具体地，无人机1000上可以设置有图像监控设备。例如，在如图14所示的实施方式中，无人机1000起飞后，可以在电动汽车5000周围飞行，可以实时全方位地监控电动汽车5000周围的情况，解决视野盲区的问题。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本发明所公开的内容。

Claims (10)

  1. 一种无人机起落架(2000)，其特征在于，包括起落架本体(2100)和容纳在所述起落架本体(2100)中的锁止机构(2200)，所述起落架本体(2100)的侧壁开设有导向孔(2110)，所述锁止机构(2200)包括锁止块(2210)和驱动所述锁止块(2210)从所述导向孔(2110)中伸出和缩回的驱动机构。
  2. 根据权利要求1所述的无人机起落架(2000)，其特征在于，所述导向孔(2110)为多个，并且沿所述起落架本体(2100)的轴向间隔地设置，所述锁止块(2210)也为多个，且与多个所述导向孔(2110)一一对应。
  3. 根据权利要求1或2所述的无人机起落架(2000)，其特征在于，所述导向孔(2110)的两端的孔壁上形成有导向槽(2111)，所述锁止块(2210)的两端向外凸出有与所述导向槽(2111)滑动配合的凸起(2211)。
  4. 根据权利要求1-3中任意一项所述的无人机起落架(2000)，其特征在于，所述驱动机构包括可转动的中心轴(2230)，固定连接在所述中心轴(2230)上的第一连杆(2240)，和铰接在所述锁止块(2210)上的第二连杆(2250)，所述第一连杆(2240)与第二连杆(2250)铰接。
  5. 根据权利要求4所述的无人机起落架(2000)，其特征在于，所述锁止块(2210)至少部分地容纳在所述导向孔(2110)中。
  6. 根据权利要求4或5所述的无人机起落架(2000)，其特征在于，所述驱动机构还包括设置在所述中心轴(2230)上方的第一驱动装置(2300)，所述第一驱动装置(2300)用于驱动所述中心轴(2230)转动。
  7. 根据权利要求1-6中任意一项所述的无人机起落架(2000)，其特征在于，所述起落架本体(2100)的底部设置有插头(2500)。
  8. 根据权利要求7所述的无人机起落架(2000)，其特征在于，所述插头(2500)上集成有压力传感器(2400)。
  9. 根据权利要求1-8中任意一项所述的无人机起落架(2000)，其特征在于，所述起落架本体(2100)形成为由上至下渐缩的锥状结构。
  10. 一种无人机(1000)，其特征在于，所述无人机(1000)的底部设置有根据权 利要求1-9中任意一项所述的无人机起落架(2000)。
PCT/CN2017/108550 2016-10-31 2017-10-31 无人机起落架及无人机 WO2018077297A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610931066.1 2016-10-31
CN201610931066.1A CN108016608B (zh) 2016-10-31 2016-10-31 无人机起落架及无人机

Publications (1)

Publication Number Publication Date
WO2018077297A1 true WO2018077297A1 (zh) 2018-05-03

Family

ID=62024363

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/108550 WO2018077297A1 (zh) 2016-10-31 2017-10-31 无人机起落架及无人机

Country Status (2)

Country Link
CN (1) CN108016608B (zh)
WO (1) WO2018077297A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110104194A (zh) * 2019-04-28 2019-08-09 河北工业大学 一种舱门外翻式小型无人机停泊舱
CN113184173A (zh) * 2021-06-07 2021-07-30 广西电网有限责任公司电力科学研究院 一种具有减震装置的垂直起降固定翼无人机
CN113650777A (zh) * 2021-09-28 2021-11-16 桐庐中通云航科技有限公司 一种无人机起落架收放系统
CN114291282A (zh) * 2021-12-31 2022-04-08 深圳深海创新技术有限公司 一种三轴非正交大角度框架云台
CN114423204A (zh) * 2022-01-26 2022-04-29 四川大学 一种滚柱滑链式钻杆自适应导向固定装置
EP3924255A4 (en) * 2019-02-15 2022-10-26 Hoverfly Technologies, Inc. LANDING STRUCTURE FOR AN UNMANNED AIR VEHICLE

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109515731B (zh) * 2018-11-06 2022-11-22 上海复亚智能技术发展有限公司 一种无人机车载自动机场降落设备及其控制方法
CN109760848B (zh) * 2019-02-27 2021-01-22 上海交通大学 一种无人机降落无人艇用防滑锁定机构
CN109850135B (zh) * 2019-04-04 2024-01-30 北京零偏科技有限责任公司 一种无人机起落架
CN113022875B (zh) * 2019-12-25 2023-06-02 海鹰航空通用装备有限责任公司 一种锁紧机构与安装此结构的起落架、无人机
CN115892542B (zh) * 2022-12-13 2023-07-21 中科蓝光科技(广州)有限公司 一种伸缩型无人机停机坪

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203854854U (zh) * 2014-05-29 2014-10-01 金陵科技学院 一种带减震起落架的旋翼式无人机
US20160001883A1 (en) * 2014-07-02 2016-01-07 Skycatch, Inc. Unmanned aerial vehicle landing interface
US20160144982A1 (en) * 2014-05-07 2016-05-26 Deere & Company Uav docking system and method
US9448562B1 (en) * 2015-08-18 2016-09-20 Skycatch, Inc. Utilizing acceleration information for precision landing of unmanned aerial vehicles
CN105966594A (zh) * 2016-05-10 2016-09-28 傲飞创新科技（深圳）有限公司 无人机机身结构、凹槽辅助定位平台及其降落定位方法
CN106043725A (zh) * 2016-06-30 2016-10-26 张春生 一种船载无人机充电装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2941920B1 (fr) * 2009-02-12 2012-07-06 Geocean Systeme et procede de controle de la position d'un aerodyne captif
CN202245531U (zh) * 2011-09-23 2012-05-30 无锡职业技术学院 一种直径可变筒形支撑装置
CN102530256A (zh) * 2012-03-13 2012-07-04 北京理工大学 一种陆空两栖任务组
DE102013004881A1 (de) * 2013-03-07 2014-09-11 Daniel Dirks Lande- und (Akku-)Aufladestation - mit Kontakt oder kontaktlos - für einzelne oder mehrere im Verbund ferngesteuerte oder autonom fliegende Drohnen mit Drehflügeln (UAVs/Flugroboter/Multikopter)
CN203614993U (zh) * 2013-12-06 2014-05-28 桂林电子科技大学 自适应直径管道机器人行走装置
CN204420457U (zh) * 2015-01-29 2015-06-24 中国科学院沈阳自动化研究所 一种可变结构的管道移动机构
CN105135151B (zh) * 2015-10-15 2017-05-31 青岛大学 一种具有主动适应和自适应功能的履带式管道机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160144982A1 (en) * 2014-05-07 2016-05-26 Deere & Company Uav docking system and method
CN203854854U (zh) * 2014-05-29 2014-10-01 金陵科技学院 一种带减震起落架的旋翼式无人机
US20160001883A1 (en) * 2014-07-02 2016-01-07 Skycatch, Inc. Unmanned aerial vehicle landing interface
US9448562B1 (en) * 2015-08-18 2016-09-20 Skycatch, Inc. Utilizing acceleration information for precision landing of unmanned aerial vehicles
CN105966594A (zh) * 2016-05-10 2016-09-28 傲飞创新科技（深圳）有限公司 无人机机身结构、凹槽辅助定位平台及其降落定位方法
CN106043725A (zh) * 2016-06-30 2016-10-26 张春生 一种船载无人机充电装置

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3924255A4 (en) * 2019-02-15 2022-10-26 Hoverfly Technologies, Inc. LANDING STRUCTURE FOR AN UNMANNED AIR VEHICLE
CN110104194A (zh) * 2019-04-28 2019-08-09 河北工业大学 一种舱门外翻式小型无人机停泊舱
CN110104194B (zh) * 2019-04-28 2024-01-26 河北工业大学 一种舱门外翻式小型无人机停泊舱
CN113184173A (zh) * 2021-06-07 2021-07-30 广西电网有限责任公司电力科学研究院 一种具有减震装置的垂直起降固定翼无人机
CN113184173B (zh) * 2021-06-07 2023-04-21 广西电网有限责任公司电力科学研究院 一种具有减震装置的垂直起降固定翼无人机
CN113650777A (zh) * 2021-09-28 2021-11-16 桐庐中通云航科技有限公司 一种无人机起落架收放系统
CN114291282A (zh) * 2021-12-31 2022-04-08 深圳深海创新技术有限公司 一种三轴非正交大角度框架云台
CN114423204A (zh) * 2022-01-26 2022-04-29 四川大学 一种滚柱滑链式钻杆自适应导向固定装置
CN114423204B (zh) * 2022-01-26 2022-11-22 四川大学 一种滚柱滑链式钻杆自适应导向固定装置

Also Published As

Publication number Publication date
CN108016608A (zh) 2018-05-11
CN108016608B (zh) 2020-05-22

Similar Documents

Publication Publication Date Title
WO2018077298A1 (zh) 无人机起降平台
WO2018077297A1 (zh) 无人机起落架及无人机
CN108016630B (zh) 无人机起降平台
US10549854B2 (en) Integrated aircraft hoist
US11312492B1 (en) Rotorcraft-assisted systems and methods for launching and retrieving a fixed-wing aircraft into and from free flight
CN103552686B (zh) 一种组合式涵道空中侦察机器人
KR20110122469A (ko) 무인 항공기용 영상 감지기 승강 장치
CN107444622B (zh) 用于无人机的起落架组件及具有其的无人机
EP3348477B1 (de) Kraftfahrzeug mit einer start- und landevorrichtung für ein unbemanntes fluggerät
KR20090116573A (ko) 수직이착륙 비행자동차 겸용 비행체
CN108516080B (zh) 地空协同动态对接装置
CN108016607B (zh) 无人机起降装置
EP3770066B1 (de) Drohne zum geräuscharmen ausliefern von objekten
CN209282528U (zh) 一种用于飞行器空中充电的对接装置
CN108016606A (zh) 无人机起落架及无人机
CN116280303B (zh) 一种多用途无人机
CN108001697B (zh) 电动汽车
CN116477056A (zh) 基于无人机的大气黑碳垂直廓线监测装置
WO2018095238A1 (zh) 无人飞行器及其起落架装置
CN211617529U (zh) 一种具有液压平衡支撑系统的移动应急指挥方舱特种车辆
AT520144A1 (de) Schwenkbarer propellerschutzrahmen mit integrierten elektrisch angetriebenen propellern
CN209795831U (zh) 一种运载飞行器
CN215475727U (zh) 一种无人机飞行防撞装置
CN115610275B (zh) 一种无人机自动换电系统及方法
CN113232866B (zh) 无人机货物配送装载与投递装置和方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17864288

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17864288

Country of ref document: EP

Kind code of ref document: A1