WO2018077299A1

WO2018077299A1 - Landing gear for unmanned aerial vehicle, and unmanned aerial vehicle

Info

Publication number: WO2018077299A1
Application number: PCT/CN2017/108553
Authority: WO
Inventors: 杜淼森; 赵自强; 王悦; 赵炳根
Original assignee: 比亚迪股份有限公司
Priority date: 2016-10-31
Filing date: 2017-10-31
Publication date: 2018-05-03
Also published as: CN108016606A; CN108016606B

Abstract

A landing gear (2000) for an unmanned aerial vehicle, and an unmanned aerial vehicle. The landing gear (2000) for an unmanned aerial vehicle comprises a landing gear body (2100) and a locking structure (2200) accommodated in the landing gear body (2100). A side wall of the landing gear body (2100) is provided with a guide hole (2110). A stopper (2130) is protrudingly formed on an outer wall of the landing gear body (2100). The stopper (2130) is located above the guide hole (2110) and spaced apart from the guide hole (2110). The locking structure (2200) comprises a locking piece (2210) and a driving mechanism for driving the locking piece (2210) to extend and retract from the guide hole (2110).

Description

Drone landing gear and drone

Technical field

The present disclosure relates to the field of drone technology, and in particular to a drone landing gear and a drone.

Background technique

Currently, many drones are equipped with landing gear to adaptively land on the landing platform. In the related art, the drone is not stable enough when landing, and cannot be stably docked on the landing platform. When the drone is landing, the positioning accuracy is high, and zero deviation is required, and the operation is complicated. In addition, it is often necessary to add an intelligent control system at a higher cost. Further, the current drone landing platform can only adapt to a single model of the drone, can not adapt to a variety of models, and can not dock multiple drones at the same time.

Summary of the invention

It is an object of the present disclosure to provide a drone landing gear that addresses the problem of unstable landing of a drone when landing.

Another object of the present disclosure is to provide a drone to solve the problem that the drone is unstable when landing.

In order to achieve the above object, the present disclosure provides a drone landing gear comprising 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 An outer wall of the drop frame body is convexly formed with a stopper, the stopper is located above the guide hole and spaced apart from the guide hole, the lock mechanism includes a lock block and drives the lock block from the A drive mechanism that projects and retracts in the guide hole.

In an embodiment of the present disclosure, the guide holes are three and are evenly arranged along the circumferential direction of the landing gear body, and the stopper and the lock block are also three and respectively and three of the guides Holes correspond one by one.

In the embodiment of the present disclosure, a guide groove is formed in each of the hole walls of the guide hole, and two ends of the lock block respectively protrude outwardly with a protrusion that is in sliding engagement with the guide groove.

In an embodiment of the present disclosure, 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 first link is hinged to the second link, the locking block being at least partially received in the guide hole.

In an embodiment of the present disclosure, the locking block includes an upper base body, a lower base body, and a fastening assembly for connecting the upper base body and the lower base body, the second link being rotatably coupled to the fastening On the component.

In an embodiment of the present disclosure, an inner wall of the upper base body protrudes inwardly with a first platform, an inner wall of the lower base body protrudes inwardly with a second platform, and the fastening component includes a first platform disposed at the first First mounting post and settings on the platform a second mounting post on the second platform, the first mounting post is opposite to the second mounting post and is mated and mated, and one end of the second connecting rod is formed with a mounting sleeve, the mounting sleeve Provided on an outer circumference of the first mounting post and the second mounting post and between the first platform and the second platform.

In an embodiment of the present disclosure, the drive mechanism further includes a first driving device located above the central shaft, the first driving device for driving the central shaft to rotate.

In an embodiment of the present disclosure, the locking mechanism further includes a torsion spring sleeved on the central shaft, and two ends of the torsion spring are respectively coupled to the landing gear body and the central shaft.

In an embodiment of the present disclosure, the thickness of the lock block gradually decreases in a direction away from the center axis and the bottom surface of the lock block is formed in an arc shape.

In an embodiment of the present disclosure, the bottom of the landing gear body is provided with a plug.

The present disclosure also provides a drone whose bottom is provided with a drone landing gear according to the above-described embodiment of the present disclosure.

In the unmanned aerial vehicle landing gear and the drone according to the above-described embodiments of the present disclosure, when the drone is landed on the landing platform, the unmanned aerial vehicle is positioned upward through the stopper on the outer wall of the landing gear, and the lock is passed. The block lowers the unmanned aerial vehicle to improve the stability of the drone when it is parked, and the locking block can be extended and retracted from the landing gear body to respectively lock and unlock the drone. .

Other features and advantages of the present disclosure will be described in detail in the detailed description which follows.

DRAWINGS

The drawings are intended to provide a further understanding of the disclosure, and are in the In the drawing:

1 is a schematic structural view of a landing gear body in a drone landing gear according to an embodiment of the present disclosure;

2 is a schematic structural view of a locking mechanism in a drone landing gear according to an embodiment of the present disclosure;

Figure 3 is a schematic view showing the structure of the lock block in the embodiment shown in Figure 2;

4 is a schematic structural view of a drone according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a drone landing platform according to an embodiment of the present disclosure; FIG.

6 is an exploded view of a support mechanism in a drone landing platform in accordance with an embodiment of the present disclosure;

Figure 7 is a schematic view showing the internal structure of the lifting sleeve of the supporting mechanism of Figure 6;

Figure 8 is a cross-sectional view of the support mechanism of Figure 6 assembled;

9 is a schematic diagram of cooperation between a drone and a landing platform according to an embodiment of the present disclosure;

10 is a schematic structural view of a drone take-off device according to an embodiment of the present disclosure;

11 is a schematic structural view of a drone take-off device according to another embodiment of the present disclosure;

FIG. 12 is an application scenario diagram of a drone take-off device according to an embodiment of the present disclosure.

Reference numeral

1000 drone 3313 first slot

2000 drone landing gear 2100 landing gear body

2110 guide hole 2111 guide groove

2120 mounting plate 2200 locking mechanism

2210 locking block 2211 raised

2212 upper base 2213 lower base

2214 First platform 2215 Second platform

2216 First mounting post 2217 Second mounting post

2220 torsion spring 2230 central axis

2240 first link 2250 second link

2300 first drive 2400 plug

3000 takeoff and landing platform 3100 base

3110 socket 3120 protective cover

3200 upper platform 3210 guide limiter

3300 support mechanism 3310 lifting sleeve

3311 ring top block 3312 guide block

3320 lifting rod 3321 first button

3322 first locking lever 3323 second elastic member

3324 first rotating part 3325 second rotating part

3326 second locking lever 3330 first elastic member

3340 guide sleeve 3350 guide rod

4000 mounting frame 5000 base

detailed description

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are not to be construed

In the present disclosure, 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. As shown in FIGS. 1 and 2, 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 outer wall of the landing gear body 2100 is convexly formed with a stopper 2130. The stopper 2130 The spacers 2130 are located above the guide holes 2110 at intervals, that is, the stoppers 2130 are located above the guide holes 2110 and spaced apart from the guide holes 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. By extending and retracting the locking block 2210, the unmanned aerial vehicle can be realized separately. Lock and position and unlock. When the drone is landed on the landing platform, the unmanned aerial vehicle is positioned upward by the stopper 2130 on the outer wall of the landing gear body 2100 (ie, the drone is prevented from moving further downward), and the lock in the locking mechanism 2200 is passed. The block 2210 lowers the drone (i.e., prevents the drone from moving upward), thereby improving the stability of the drone 1000 when docked with a simple mechanical structure. Specifically, the guide hole 2110 penetrates the side wall of the landing gear body 2100.

Further, the guiding holes 2110 may be plural and evenly arranged along the circumferential direction of the landing gear body 2100. The locking blocks 2210 are also plural and are in one-to-one correspondence with the plurality of guiding holes 2110, so that the locking mechanism 2200 can be circumferentially The UAV 1000 is evenly positioned to prevent the UAV 1000 from swaying in the radial direction after stopping, thereby improving the stability of the overall structure. In the embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2, the guiding hole 2110 and the locking block 2210 may be three, respectively, satisfying the circumferential positioning requirement of the drone 1000, and the structure has a high compactness. Sexuality avoids the processing difficulties caused by the excessive number of the guide holes 2110 and the lock block 2210, and the problem that the components interfere with each other.

In order to position the locking block 2210 in the guiding hole 2110 and slidably engage the locking block 2210 and the guiding hole 2110, as shown in FIG. 1, 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. Thus, only the protrusion 2211 is in contact with the guiding groove 2111, and the locking block 2210 can slide in the guiding hole 2110 to prevent the contact between the locking block 2210 and the guiding hole 2110 from being worn and the service life is reduced. Specifically, the guide groove 2111 also penetrates the side wall of the landing gear body 2100.

In addition, as shown in FIG. 2, the above-mentioned driving mechanism may include a rotatable central shaft 2230, a first link 2240 fixedly coupled to the central shaft 2230, and a second link 2250 hinged to the locking block 2210. The first link 2240 can be welded to the central shaft 2230 to be integral with the central shaft 2230. In addition, 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 guiding hole 2110, that is, the driving mechanism (specifically, the central axis 2230), the locking block 2210, and the guiding hole 2110 are formed. The crank slider structure, wherein the central shaft 2230 and the first link 2240 are cranks in the crank slider structure, the second link 2250 is a link in the crank slider structure, and the lock block 2210 is a crank slider structure. In the slider, the guide hole 2110 is a frame in the crank slider structure. With this configuration, the rotary motion of the central shaft 2230 is converted into a linear reciprocating motion of the lock block 2210, so that the lock and unlock function of the lock block 2210 can be realized.

In the embodiment shown in FIG. 3, the locking block 2210 can include an upper base 2212, a lower base 2213, and a fastening assembly for attaching the upper base 2212 and the lower base 2213. The second link 2250 is rotatably coupled to the fastening assembly. In some embodiments of the present disclosure, the fastening assembly may include a threaded connection, such as a base 2212 and a lower base 2213 joined by a screw in its height direction, with a gap between the upper base 2212 and the lower base 2213, the second connection One end of the rod 2215 fits over the screw in the gap. Or, as shown in FIG. 3, the inner wall of the upper base 2212 A first platform 2214 is protruded inwardly, and an inner wall of the lower base 2213 protrudes inwardly with a second platform 2215. The fastening assembly includes a first mounting post 2216 disposed on the first platform 2214 and disposed on the second platform 2215. The second mounting post 2217, the second mounting post 2217 is opposite to the first mounting post 2216 and is mated. One end of the second link 2250 is formed with a mounting sleeve, and the mounting sleeve is disposed on the outer circumference of the first mounting post 2216 and the second mounting post 2217, and is located between the first platform 2214 and the second platform 2215, thereby making the second link The 2250 is rotatable relative to the locking block 2210.

As shown in the embodiment of FIG. 4, the drive mechanism further includes a first drive 2300 positioned above the central shaft 2230 for driving the central shaft 2230 to rotate. In the present embodiment, 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.

As shown in FIG. 2 and FIG. 4, the locking mechanism 2200 further includes a torsion spring 2220 sleeved on the central shaft 2230. The two ends of the torsion spring 2220 are respectively coupled to the landing gear body 2100 and the central shaft 2230. Thus, during the rotation of the central shaft 2230, one end of the torsion spring 2220 attached to the central shaft 2230 is subjected to a pulling force, so that the torsion spring 2220 has a tendency to be outwardly or inwardly received, and the torsion spring 2220 has different states in two states. The elastic force of the size. Specifically, the elastic force of the torsion spring 2220 in a state where the locking block 2210 protrudes from the guiding hole 2120 is smaller than the elastic force of the torsion spring 2220 in a state where the locking block 2210 is retracted from the guiding hole 2120, that is, the torsion spring 2220 is always There is a tendency to drive the locking block 2210 outward. During the extension and retraction of the locking block 2210 from the guiding hole 2120, the torsion spring performs the stretching and resetting actions, and the specific working process will be described in the following drone landing and takeoff process.

As shown in FIGS. 2 and 3, in a direction away from the central axis 2230, that is, perpendicular to the central axis 2230 and radially outward, the thickness of the locking block 2210 is gradually reduced and the bottom surface of the locking block 2210 is formed. In an arc shape, in the process of landing of the drone, when the locking block 2210 is in contact with the upper platform 3200 to be described later, the locking block 2210 is retracted inwardly by the sliding guide of the curved bottom surface thereof, and the specific The course of action will also be described in the following drone landing and takeoff process.

As shown in FIG. 4, the bottom of the landing gear body 2100 may be provided with a plug 2400 disposed at the lowermost end of the landing gear body 2100. After the drone 1000 descends, the plug 2400 can be mated with the socket 3110 on the landing platform 3000. In order to detect the pressure condition when the plug 2400 is in contact with the landing platform 3000 (specifically, the socket 3110), a pressure sensor (not shown) may be integrated on the plug 2400 to ensure that the pressure of the plug 2400 after insertion is reasonable. Within the scope, and ensure that the plug 2400 and the socket 3110 are properly connected, while avoiding impact damage of the components.

In addition, the present disclosure also provides a drone that is provided with the above-described drone landing gear 2000 at the bottom of the drone 1000. In some embodiments of the present disclosure, the top of the landing gear body 2100 may be outwardly protruded from the mounting plate 2120, and the mounting plate 2120 is provided with a mounting hole to connect the landing gear body 2100 to the drone through the fastener. 1000, the locking mechanism 2200 is formed in the landing gear body 2100 and can be connected by the first driving device 2300 Connected to the bottom of the drone 1000.

As shown in the embodiment of FIG. 5, the drone landing platform provided by the present disclosure includes a base 3100, an upper platform 3200, and supports the upper platform 3200 above the base 3100 to space the upper platform 3200 from the base 3100. Support mechanism 3300. The support mechanism 3300 is telescopic in its height direction such that the upper platform 3200 has a first working position and a second working position. When the upper platform 3200 is in the first working position, the support mechanism 3300 is in an upwardly extended state; when the upper platform 3200 is in the second working position, the support mechanism 3300 is in a downwardly retracted state. After the drone is landed on the landing platform 3000, the drone can be locked on the upper platform 3200. Since the upper platform 3200 has two working positions, the drone can be adjusted in height, thereby enabling The drone landing gear is stably placed in the takeoff and landing platform. Specifically, when the drone is landing, the UAV landing gear 2000 is first locked on the upper platform 3200, and the upper platform 3200 is in the first working position, and then the upper platform 3200 is pressed downward to make the upper platform 3200 face the first In the two working position movements, the drone landing gear 2000 is closer to the base 3100, thereby having higher stability.

In order to enable the upper platform 3200 to stably have two working positions, the support mechanism 3300 has a limiting structure to enable the upper platform 3200 to be constrained to the first working position or the second working position.

In some embodiments of the present disclosure, the support mechanism 3300 can include a first sleeve assembly. As shown in FIG. 5, the first sleeve assembly includes an lifting sleeve 3310 connected to the base 3100 and a lifting rod 3320 connected to the upper platform 3200. The lifting sleeve 3310 and the lifting rod 3320 are slidingly matched, and the limiting structure is The upper locking structure and the lower locking structure are disposed on the inner wall of the lifting sleeve 3310 and are spaced apart from each other. When the lifting rod 3320 is locked in the upper locking structure, the upper platform 3200 is in the first working position; when the lifting rod 3320 is locked in the lower locking structure, the upper platform 3200 is in the second working position.

As shown in the embodiment of FIG. 6, the first sleeve assembly further includes a first elastic member 3330, and the first elastic member 3330 is disposed in the lifting sleeve 3310, and the two ends are elastically biased outwardly at the bottom of the lifting rod 3320, respectively. And on the base 3100. When the upper platform 3200 is in the first working position, the first elastic member 3330 abuts the lifting rod 3320 on the upper locking structure, and when the lifting rod 3320 is pressed down, the lifting rod 3320 is unlocked and rotated from the upper locking structure. Enter the second working position. When the upper platform 3200 is in the second working position, the first elastic member 3330 abuts the lifting rod 3320 on the lower locking structure, and when the lifting rod 3320 is pressed down, the lifting rod 3320 is unlocked and rotated from the lower locking structure. Enter the first working position. It should be noted here that the first elastic member 3330 always has a tendency to elongate toward both ends thereof, that is, both ends thereof can always abut against the bottom of the lifting rod 3320 and the base 3100. In some embodiments of the present disclosure, the first elastic member 3330 may be a compression spring.

As shown in the embodiment of Fig. 7, the upper locking structure includes an annular top block 3311 projecting inwardly from the inner wall of the lifting sleeve 3310, and the lower locking structure includes a guiding block projecting inward from the inner wall of the lifting sleeve 3310. 3312. The guiding block 3312 is formed under the annular top block 3311 and spaced apart from each other. The adjacent two guiding blocks 3312 are formed as a first groove 3313, and the outer wall of the lifting rod 3320 protrudes from the first groove 3313. One button 3321. In the first working position, the first key 3321 is received in the first groove 3313, and the top of the first key 3321 is abutted at the bottom end of the annular top block 3311. During the movement of the upper platform 3200 from the first working position to the second working position, the first key 3321 is first First sliding down to the first groove 3313 and being able to rotate with the lifting rod 3320 when disengaging from the first groove 3313, and then entering the second working position under the pressure of the first elastic member 3330, wherein the driving force of the lifting rod 3320 is rotated It can be from a misaligned serrated fit as described below. In the second working position, the top of the first key 3321 abuts against the bottom end of the guide block 3312. During the movement of the upper platform 3200 from the second working position to the first working position, the first key 3321 first slides down and rotates with the lifting rod 3320, and then enters the first working position under the pressure of the first elastic member 3330. Similarly, the driving force for the rotation of the lifting rod 3320 here is also derived from the misaligned sawtooth fit described below.

In some embodiments of the present disclosure, the top of the first key 3321 and the bottom of the guide block 3312 are respectively formed as slopes that are slidably engageable with each other. Thus, during the movement of the upper platform 3200 from the first working position to the second working position, or during the movement of the upper platform 3200 from the second working position to the first working position, the first key 3321 may be at the first elastic member 3330. Under the push, there is a tendency to move up the slope upwards, and finally it can be locked on the upper locking structure or the lower locking structure. Further, in the second working position of the upper platform 3200, in order to limit the first key 3321 by the upper locking structure or the lower locking structure, one of the top of the first key 3321 and the bottom of the guiding block 3312 is formed with a stepped surface. The sliding between the first key 3321 and the guiding block 3312 is defined and can be defined to be unlocked by rotation. For example, in the embodiment illustrated in Figure 7, the stepped surface is formed at the bottom of the guide block 3312, and the upper platform 3200 is in the second working position with the top of the first key 3321 abutting at the corner of the stepped structure. In another embodiment not shown in the drawings, the step surface may be disposed on the top of the first key 3321, and the bottom of the guide block 3312 is formed as a flat surface, which also functions as a sliding limit.

In order to realize the rotation of the lifting rod 3320 described above, as shown in FIGS. 6 and 8, the lifting rod 3320 may include a first rotating member 3324 and a second rotating member 3325 which are coaxially disposed from top to bottom, and the first key 3321 is disposed at the The outer circumference of the two rotating members 3325, the first rotating member 3324 and the second rotating member 3325 are formed in a misaligned serration so that the second rotating member 3325 can occur when the first rotating member 3324 pushes the second rotating member 3325 downward. Turn. Wherein the misaligned serration fit means that the corresponding serration between the first rotating member 3324 and the second rotating member 3325 is not fully engaged in the first working position, the second working position or the switching between the two working positions. That is, the tooth tips of the serrations of one rotating member do not protrude from the roots of the serrations of the other rotating member. Taking the process of switching from the first working position to the second working position as an example, the first rotating member 3324 pushes the second rotating member 3325 to move downward. First, the first key 3321 slides in the first groove 3313, and the misaligned saw teeth have a relative relationship therebetween. The tendency to slide produces a radial component at the mating ramp of the misaligned serrations, causing the second rotating member 3325 to have a tendency to rotate, but the restriction of the first slot 3313 causes the second rotating member 3325 to not rotate. When the second rotating member 3325 is lowered until the first key 3321 is disengaged from the first groove 3313, the rotation of the first key 3321 is no longer restricted by the first groove 3313, so that the first key 3321 is rotated and at the first elastic member 3330 The pressure is abutted against the bottom of the guide block 3312, and other similar processes such as the transition from the second working position to the first working position will not be described herein.

In some implementations of the present disclosure, the lifting rod 3320 includes a first locking rod 3322, a second elastic member 3323, a first rotating member 3324, a second rotating member 3325, and a second locking rod 3326 that are coaxially disposed in order from top to bottom. . The second locking lever 3326 passes through the first rotating member 3324 and the second rotating member 3325 and is coupled to the first locking lever 3322, Both ends of the two elastic members 3323 are elastically abutted on the first locking lever 3322 and the first rotating member 3324. Thus, the top of the first locking lever 3322 is the top of the lifting rod 3320, and the bottom of the second locking rod 3326 is the bottom of the lifting rod 3320. The total length of the lifting rod 3320 is constant, but only passes through the two rotating parts when moving up and down. The rotation produces a rotation action to achieve the locking and unlocking functions in the two working positions. Similar to the first elastic member 3330, the second elastic member 3323 may also be a compression spring, ensuring that both ends thereof abut against the first locking lever 3322 and the first rotating member 3324, respectively. In addition, in order to prevent the relative rotation of the first rotating member 3324 from being affected by the rotation of the first rotating member 3324, the first rotating member 3324 and the second locking lever 3326 are formed along the height direction of the first rotating member 3324. Keyway fit.

In some embodiments of the present disclosure, the second locking lever 3326 and the first locking lever 3322 may be connected in a threaded manner. For example, in the embodiment shown in FIG. 8, the bottom of the first locking lever 3322 is concavely formed with a blind hole, the inner wall of the blind hole is formed with an internal thread, and the outer circumference of the top of the second locking lever 3326 is formed with the internal thread. External thread.

In order to stably support the upper platform 3200, the first sleeve assembly is plural and uniformly disposed in the circumferential direction of the landing platform 3000. In addition, 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 The guide rod 3350 is in sliding engagement with the guide sleeve 3340. In other words, 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.

In some embodiments of the present disclosure, the first sleeve assembly and the second sleeve assembly are each 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. Furthermore, the second sleeve assembly, which is provided only in a slidable fit, does not have to be completely constructed in the form of a first sleeve assembly, which greatly reduces the cost.

In some embodiments of the present disclosure, the upper platform 3200 and the base 3100 are formed with a central hole for the drone landing gear 2000 to pass through. The upper platform 3200 includes a side portion and a guiding limit member 3210, and the guiding limit member 3210 The inner end of the guide limiting member 3210 is spaced obliquely downward from the side, and the inner end of the guiding limiting member 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 central hole (ie, the inner end of the guiding limiting member 3210). Define the center hole). In other words, 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 as to cooperate with the stopper 2130 to define the drone 1000 on the upper platform 3200. on. The edge of the upper platform 3200 is the outer frame of the upper platform 3200. In the embodiment shown in FIG. 5, the guiding limiting member 3210 is a plate-like structure, and the locking form of the UAV landing gear 2000 and the landing platform 3000 is that the locking block 2210 and the stopper 2130 are clamped to the guiding limit member. 3210, to position the drone 1000 in height.

In the embodiment of the present disclosure, 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, and the drone landing gear 2000 is inclined. Under the action of the guiding limiter 3210, it gradually slides down to the central area of the landing platform 3000 for subsequent precise positioning. In other words, in the initial positioning, the drone 1000 can be tilted as long as it is located above the landing platform 3000 area. The guiding limiter 3210 performs positioning. In addition, as shown in FIG. 5, the inner end of the guiding limiting member 3210 is spaced apart from the base 3100 in the height direction of the landing platform 3000 and formed as a side wall of the central hole, so that the drone landing gear 2000 can be Located between the base 3100 and the upper platform 3200.

In order to ensure the uniformity of the landing platform 3000 as a whole, and the landing platform 3000 can receive a uniform impact force when the drone 1000 is dropped, the edge of the upper platform 3200 and the guiding limiting member 3210 in the present disclosure may respectively be A symmetrical structure of a regular polygon or a circular ring. For example, in FIG. 5, the side portion of the upper platform 3200 is formed into a regular hexagon, and the guiding stopper 3210 is substantially annular.

As shown in FIG. 5, 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 2400 on the landing gear body 2100. Specifically, in the second working position, the plug 2400 is inserted into the socket 3110, and in the first working position, the two are disengaged. Further, 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 landing and takeoff process of the drone 1000 in one embodiment of the present disclosure will be briefly described below with reference to FIGS. 1 through 9.

Under the flight state of the drone 1000, under the action of the torsion spring 2220, the locking block 2210 extends out of the landing gear body 2100.

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 is in a relaxed state, that is, the center shaft 2230 is not controlled by the first motor, and the locking block 2210 protrudes from the landing gear body 2100 by the torsion spring 2220. 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. During the passage of the drone 1000 through the center hole under the action of gravity or a descending driving force, the locking block 2210 is retracted inwardly due to the pressing of the inner wall of the center hole. Using the principle of the crank slider structure, the central shaft 2230 rotates while the torsion spring 2220 rotates with the central shaft 2230 and is compressed. When the drone 1000 continues to descend until the locking block 2210 passes through the center hole, the torsion spring 2220 returns to the position of the elastic force to drive the central shaft 2230 to rotate, so that the locking block 2210 extends the landing gear body 2100 again. The guide guide 3210 is locked between the lock block 2210 and the stop 2130, thereby achieving precise positioning of the drone. At this time, the upper platform 3200 is located at the first working position, that is, the first elastic member 3330 has sufficient elastic force to support the drone 1000. Specifically, the first elastic member 3330 locks the first key 3321 of the lifting rod 3320 to the annular top block 3311 in the guide sleeve 3310.

When the downward driving force is applied to the drone 1000, the drone 1000 can be further compressed with the upper platform 3200 to compress the first elastic member 3330 until the first key 3321 is disengaged from the first groove 3313. Thus, the second rotating member 3325 of the lifting rod 3320 can be rotated, and the first key 3321 is also rotated by an angle. Further, the driving force described above is reduced, so that the first elastic member 3330 can be bounced upward and the first key 3321 is abutted against the bottom of the guide block 3312. At this time, the upper platform 3200 is in the second working position, and the plug 2400 is mated with the socket 3110. It should be noted that the initial positioning of the drone 1000 can be operated by manual remote control, or can be carried by the drone 1000. The positioning system is carried out, and 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. After receiving the takeoff signal, the drone 1000 first drives the upper platform 3200 to rise, specifically, applies a downward driving force to the drone 1000, compresses the first elastic member 3330, and the first key 3321 is disengaged from the lower locking structure. . For example, it can be disengaged from the corner of the step at the bottom of the guide block 3312, the second rotating member 3325 of the lifting rod 3320 is rotated, and the first key 3321 is also rotated by an angle. At this time, the driving force is reduced, so that the first elastic member 3330 can be lifted up and the first key 3321 is pushed into the first groove 3313, and the first elastic member 3330 further pushes the first key 3321 upward, so that the first key The 3321 is abutted against the bottom of the annular top block 3311, i.e., reaches the first working position, and the plug 2400 is disengaged from the socket 3110. Further, the first motor is started, the driving central shaft 2230 is rotated, and the locking block 2210 is retracted by the principle of the crank slider structure, and the locking structure 2200 is unlocked from the upper platform 3200 so that the drone can take off. After the drone takes off, the first motor returns to the relaxed state, the torsion spring 2220 is reset and the locking block 2210 is extended, thereby completing the entire process of landing and take-off of the drone.

In the above embodiment, when the drone 1000 takes off, the upper platform 3200 is first raised, and then the drone landing gear 2000 is unlocked to release the drone 1000. In another embodiment, in an emergency, the upper platform 3200 may not be raised first. Specifically, the locking block 2210 can be first retracted, and then the drone 1000 is controlled to take off directly in the docked state of the landing gear 2000 and the landing platform 3000.

As shown in FIG. 10 to FIG. 12, the present disclosure further provides a drone take-off device, comprising a slot-type mounting frame 4000 with an open top, and a plurality of landing platforms 3000 installed in the mounting frame 4000, wherein The descending platform 3000 can be the takeoff and landing platform 3000 as described in detail above for mating with the landing gear of the corresponding drone 1000. This design can meet the requirements of take-off and landing of a large number of drones, and also facilitate unified protection and management. Especially when 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. In addition, the landing platform 3000 includes a base 3100 and an upper platform 3200 disposed above the base 3100, and the drone landing gear 2000 can pass through the upper platform 3200 and enter and be constrained between the upper platform 3200 and the base 3100. The drone landing gear 2000 is accommodated between the upper platform 3200 and the base 3100, which can improve the stability of the drone after stopping.

In an embodiment of the present disclosure, 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.

In an embodiment of the present disclosure, the landing platform 3000 is mounted to the bottom surface of the mounting frame 4000 by the base 3100. In order to stably support the other components of the base 3100 and facilitate the installation of the plurality of landing platforms 3000, in an landing platform 3000, the outer contour of the base 3100 can serve as an outer contour of the landing platform 3000 as a whole. When installing the landing platform 3000, it is only necessary to consider the cooperation between the plurality of bases 3100 to avoid interference. In addition, 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.

In the embodiment shown in FIG. 10, 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. In the embodiment shown in FIG. 11, 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. Among other embodiments, the pedestal 3100 may have other shapes, such as an equilateral triangle or the like. In addition, it should be noted that since the size of the landing platform 3000 may be different, the above-mentioned honeycomb structure may be an approximate honeycomb structure, and the matrix structure may be an approximate matrix structure. For example, in the embodiment of Fig. 10, three sizes of landing and landing platforms are provided, and the base 3100 is formed in an approximately honeycomb structure.

In an embodiment of the present disclosure, in order to improve space utilization, 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. For example, in the embodiment illustrated in FIG. 10, a small size landing gear platform is disposed in the four corners of the mounting frame 4000.

In an embodiment of the present disclosure, the bottom of the mounting frame 4000 is provided with a base 5000 to be mounted on the external platform through the base 5000, wherein the external platform may be a moving car, a ship or a fixed base or the like. In other embodiments, the car, the ship or the base itself may be used as the base 5000 described above.

The present disclosure also provides an electric vehicle having a top portion of the electric vehicle provided with the above-described drone take-off device. As shown in FIG. 12, the electric vehicle can be used as a base for the drone 1000 to enable the multi-UAV to provide a reconnaissance task to the vehicle.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solutions of the present disclosure within the scope of the technical idea of the present disclosure. These simple variations are all within the scope of the disclosure.

It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure is applicable to various possibilities. The combination method will not be described separately.

In addition, any combination of various embodiments of the present disclosure may be made as long as it does not contradict the idea of the present disclosure, and it should also be regarded as the content disclosed in the present application.

Claims

A drone landing gear (2000) is characterized by comprising a landing gear body (2100) and a locking mechanism (2200) housed in the landing gear body (2100), the landing gear body (2100) The side wall is provided with a guiding hole (2110), and an outer wall of the landing gear body (2100) is convexly formed with a stopper (2130), and the stopper (2130) is located above the guiding hole (2110) and The guiding holes (2110) are spaced apart, and the locking mechanism (2200) includes a locking block (2210) and drives the locking block (2210) to extend and retract from the guiding hole (2110). Drive mechanism.
The drone landing gear (2000) according to claim 1, wherein the guide holes (2110) are three and are evenly arranged along a circumferential direction of the landing gear body (2100), the stoppers (2130) and the locking block (2210) are also three and are respectively in one-to-one correspondence with the three guiding holes (2110).
The unmanned aerial vehicle landing gear (2000) according to claim 1 or 2, wherein a guide groove (2111) is formed on each of the hole walls of the guide holes (2110), and the lock block ( The two ends of the 2210) respectively protrude outwardly from the protrusions (2211) which are in sliding engagement with the guiding grooves (2111).
The drone landing gear (2000) according to any one of claims 1 to 3, wherein the drive mechanism comprises a rotatable central shaft (2230) fixedly coupled to the central shaft (2230) a first link (2240), and a second link (2250) hinged to the locking block (2210), the first link (2240) being hinged to the second link (2250) The locking block (2210) is at least partially received in the guide hole (2110).
The unmanned aerial vehicle landing gear (2000) according to claim 4, wherein the locking block (2210) comprises an upper base body (2212), a lower base body (2213) and a base for connecting the upper base body (2212) And a fastening assembly of the lower base (2213), the second link (2250) being rotatably coupled to the fastening assembly.
The unmanned aerial vehicle landing gear (2000) according to claim 5, wherein the inner wall of the upper base body (2212) protrudes inwardly with a first platform (2214), and an inner wall of the lower base body (2213) Projecting a second platform (2215) inwardly, the fastening assembly including a first mounting post (2216) disposed on the first platform (2214) and disposed on the second platform (2215) a second mounting post (2217), the first mounting post (2216) is opposite to the second mounting post (2217) and is mated and mated, and one end of the second connecting rod (2250) is formed with a mounting sleeve. The mounting sleeve is disposed on an outer circumference of the first mounting post (2216) and the second mounting post (2217) and between the first platform (2214) and the second platform (2215).
The drone landing gear (2000) according to any one of claims 4-6, wherein the drive mechanism further comprises a first drive device (2300) located above the central shaft (2230), The first driving device (2300) is configured to drive the central shaft (2230) to rotate.
The unmanned aerial vehicle landing gear (2000) according to claim 7, wherein the locking mechanism (2200) further comprises a torsion spring (2220) sleeved on the central shaft (2230), Both ends of the torsion spring (2220) are respectively coupled to the landing gear body (2100) and the center shaft (2230).
The drone landing gear (2000) according to any one of claims 4-8, characterized in that the thickness of the locking block (2210) gradually increases in a direction away from the central axis (2230) The bottom surface of the lock block (2210) is reduced and formed in an arc shape.
The drone landing gear (2000) according to any one of claims 1-9, characterized in that the bottom of the landing gear body (2100) is provided with a plug (2400).
A drone, characterized in that the bottom of the drone (1000) is provided with a drone landing gear (2000) according to any one of claims 1-10.