WO2018095214A1 - Unmanned aerial vehicle and landing gear device thereof - Google Patents

Unmanned aerial vehicle and landing gear device thereof Download PDF

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Publication number
WO2018095214A1
WO2018095214A1 PCT/CN2017/109736 CN2017109736W WO2018095214A1 WO 2018095214 A1 WO2018095214 A1 WO 2018095214A1 CN 2017109736 W CN2017109736 W CN 2017109736W WO 2018095214 A1 WO2018095214 A1 WO 2018095214A1
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WIPO (PCT)
Prior art keywords
landing gear
gear
transmission rod
unmanned aerial
aerial vehicle
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PCT/CN2017/109736
Other languages
French (fr)
Chinese (zh)
Inventor
罗东东
胡亮军
吴兴文
Original Assignee
深圳市道通智能航空技术有限公司
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Priority to CN201621269733.6 priority Critical
Priority to CN201621269733.6U priority patent/CN206187329U/en
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2018095214A1 publication Critical patent/WO2018095214A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C25/00Alighting gear
    • B64C25/02Undercarriages
    • B64C25/08Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/12Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like sideways
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C25/00Alighting gear
    • B64C25/02Undercarriages
    • B64C25/08Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18Operating mechanisms
    • B64C25/20Operating mechanisms mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C25/00Alighting gear
    • B64C25/02Undercarriages
    • B64C25/08Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18Operating mechanisms
    • B64C25/24Operating mechanisms electric

Abstract

Disclosed are an unmanned aerial vehicle (10) and a landing gear device (2) thereof. The landing gear device (2) comprises a landing gear body (21) and a power assembly (22) mounted on a fuselage (1). The power assembly (22) comprises a driving device (23), a transmission unit (29) and a connecting unit (24). The transmission unit (29) comprises a transmission rod piece (292) driven by the driving device (23). One end of the connecting unit (24) is fixedly connected to the landing gear body (21), and the other end thereof is connected to the transmission rod piece (292). When driven by the driving device (23) to rotate, the transmission rod piece (292) drives the landing gear body (21) to be raised or lowered. The unmanned aerial vehicle (10) and the landing gear device (2) thereof not only facilitate the improvement of the flight performance of the unmanned aerial vehicle (10), but also enlarge a functional space of the unmanned aerial vehicle (10). As for the unmanned aerial vehicle (10) having an image acquisition device, the landing gear device (2) can be prevented from blocking the photographing view of the image acquisition device, thereby improving the photographing performance of the unmanned aerial vehicle (10), and the unmanned aerial vehicle (10) is more convenient to carry and store when not in use.

Description

无人飞行器及其起落架装置Unmanned aerial vehicle and its landing gear device
本申请要求于2016年11月22日提交中国专利局、申请号为201621269733.6、申请名称为“飞行器及其起落架装置”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。The present application claims priority to Chinese Patent Application No. 20162126, 973, filed on Nov. 22, 2016, the entire disclosure of which is hereby incorporated by reference.
【技术领域】[Technical Field]
本申请涉及飞行器技术领域,尤其涉及一种起落架装置及具有此起落架装置的无人飞行器。The present application relates to the field of aircraft technology, and in particular, to a landing gear device and an unmanned aerial vehicle having the same.
【背景技术】【Background technique】
如今,无人飞行器(Unmanned Aerial Vehicle,UAV)被广泛应用于航拍、运输、监测、勘探、搜救等领域。无人机通过搭载拍摄装置,例如带有拍摄功能的云台,实现影像实时传输、高危地区探测功能等功能。在现有的无人飞行器中,大多采用固定的起落架。由于拍摄装置通常安装在无人飞行器的底部,在航拍过程中,固定式起落架会遮挡航拍视野,无法满足客户需求。另外,在无人飞行器飞行时,起落架会增加无人飞行器在空中的不必要的阻力。Today, Unmanned Aerial Vehicle (UAV) is widely used in aerial photography, transportation, monitoring, exploration, search and rescue. The drone is equipped with a shooting device, such as a pan/tilt head with a shooting function, to realize real-time image transmission and high-risk area detection functions. In existing unmanned aerial vehicles, fixed landing gears are mostly used. Since the camera is usually installed at the bottom of the UAV, the fixed landing gear will block the aerial view during the aerial photography process and will not meet the customer's needs. In addition, when the UAV is flying, the landing gear increases the unnecessary resistance of the UAV in the air.
【发明内容】[Summary of the Invention]
为了解决上述技术问题,本申请实施例提供一种可收起/落下的起落架装置以及具有此起落架装置的无人飞行器。本申请实施例的无人飞行器及其起落架装置,既有利于改善无人飞行器的飞行性能和拍摄性能,又便于携带和收纳。In order to solve the above technical problem, the embodiment of the present application provides a landing gear device that can be stowed/falled and an unmanned aerial vehicle having the landing gear device. The UAV and its landing gear device of the embodiments of the present application are beneficial to improving the flight performance and shooting performance of the UAV, and are convenient to carry and store.
为了解决上述技术问题,本申请实施例提供以下技术方案:In order to solve the above technical problem, the embodiment of the present application provides the following technical solutions:
一种起落架装置,用于无人飞行器,所述无人飞行器包括机身,所述起落架装置包括:起落架本体;以及动力组件,用于安装于所述机身,所述动力组件包括驱动装置、传动单元和连接单元;所述传动单元包括由所述驱动装置驱动的传动杆件;所述连接单元的一端与所述起落架本体固定连接,所述连接单元的另一端与所述传动杆件相连,当所述传动杆件在所述驱动装置的驱动下转 动时,带动所述起落架本体收起或放下。A landing gear device for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a fuselage, the landing gear device comprising: a landing gear body; and a power assembly for mounting to the fuselage, the power assembly comprising a driving device, a transmission unit and a connecting unit; the transmission unit includes a transmission rod member driven by the driving device; one end of the connecting unit is fixedly connected to the landing gear body, and the other end of the connecting unit is The transmission rod members are connected, and the transmission rod member is driven by the driving device When the vehicle is moving, the landing gear body is driven up or down.
在一些实施例中,所述传动单元还包括齿轮传动系,所述驱动装置的输出轴连接至所述齿轮传动系的一端,所述传动杆件的输入轴连接至所述齿轮传动系的另一端。In some embodiments, the transmission unit further includes a gear train, an output shaft of the drive device is coupled to one end of the gear train, and an input shaft of the drive member is coupled to the gear train One end.
在一些实施例中,所述齿轮传动系包括第一齿轮组和第二齿轮组,所述第一齿轮组安装在所述驱动装置的输出轴上,所述第二齿轮组安装在所述传动杆件的所述输入轴。In some embodiments, the gear train includes a first gear set mounted on an output shaft of the drive device and a second gear set mounted on the drive The input shaft of the rod.
在一些实施例中,所述第一齿轮组与所述第二齿轮组啮合。In some embodiments, the first gear set meshes with the second gear set.
在一些实施例中,所述齿轮传动系还包括齿轮轴,所述第一齿轮组和所述第二齿轮组通过所述齿轮轴相连。In some embodiments, the gear train further includes a gear shaft, the first gear set and the second gear set being coupled by the gear shaft.
在一些实施例中,所述齿轮传动系还包括安装在所述第一齿轮组和所述第二齿轮组之间的多个传动齿轮。In some embodiments, the gear train further includes a plurality of drive gears mounted between the first gear set and the second gear set.
在一些实施例中,所述传动杆件为丝杆、螺杆或蜗杆。In some embodiments, the transmission rod member is a screw, a screw or a worm.
在一些实施例中,所述连接单元包括第一连接件和第二连接件,所述第一连接件套设于所述传动杆件并与所述传动杆件螺接,所述第二连接件的一端与所述第一连接件连接,所述第二连接件的另一端与所述起落架本体固定连接。In some embodiments, the connecting unit includes a first connecting member and a second connecting member, the first connecting member is sleeved on the transmission rod member and screwed to the transmission rod member, and the second connection One end of the piece is connected to the first connecting piece, and the other end of the second connecting piece is fixedly connected with the landing gear body.
在一些实施例中,当所述驱动单元驱动所述传动杆件转动时,所述第一连接件沿着所述传动杆件做直线运动。In some embodiments, the first connector moves linearly along the transmission member as the drive unit drives the transmission member to rotate.
在一些实施例中,所述第二连接件的一端开设有滑动槽,所述第一连接件铰接在所述滑动槽内,所述第一连接件沿着所述传动杆件做直线运动的同时,所述第一连接件在所述滑动槽内滑动。In some embodiments, one end of the second connecting member is provided with a sliding slot, the first connecting member is hinged in the sliding slot, and the first connecting member moves linearly along the transmission rod member. At the same time, the first connecting member slides in the sliding groove.
在一些实施例中,所述起落架装置还包括机壳,所述驱动装置和所述传动单元装设在所述机壳中,所述第二连接件与所述机壳铰接。In some embodiments, the landing gear device further includes a housing, the drive unit and the transmission unit are mounted in the housing, and the second connector is hinged to the housing.
在一些实施例中,所述第二连接件上设置有销轴,所述机壳上设有轴孔,所述销轴插入所述轴孔中,使得所述第二连接件与所述机壳铰接。In some embodiments, the second connecting member is provided with a pin shaft, and the casing is provided with a shaft hole, and the pin shaft is inserted into the shaft hole, so that the second connecting member and the machine The shell is hinged.
在一些实施例中,当所述驱动单元驱动所述传动杆件转动,使得所述第一连接件沿着所述传动杆件的轴线方向做直线运动时,所述第二连接件与所述第一连接件连接的一端随着所述第一连接件一起移动,进而使得所述第二连接件绕所述销轴转动,且所述第二连接件与所述起落架本体固定连接的另一端沿着与所述第一连接件相反的方向运动。In some embodiments, when the driving unit drives the transmission rod to rotate such that the first connecting member moves linearly along the axial direction of the transmission rod member, the second connecting member and the One end of the first connector connection moves along with the first connector, thereby causing the second connector to rotate about the pin, and the second connector is fixedly coupled to the landing gear body One end moves in a direction opposite to the first connector.
在一些实施例中,在所述无人飞行器起飞后,所述驱动单元驱动所述传动杆件转动,所述第一连接杆沿着所述传动杆件的轴线方向向下做直线运动,所 述第二连接件与所述第一连接件连接的一端随着所述第一连接件一起移动,进而使得所述第二连接件绕所述销轴转动,且所述第二连接件与所述起落架本体固定连接的另一端向上移动;In some embodiments, after the unmanned aerial vehicle is taken off, the driving unit drives the transmission rod member to rotate, and the first connecting rod linearly moves downward along the axial direction of the transmission rod member. One end of the second connecting member connected to the first connecting member moves along with the first connecting member, so that the second connecting member rotates around the pin shaft, and the second connecting member and the second connecting member The other end of the fixed connection of the landing gear body moves upward;
在所述无人飞行器降落时,所述驱动单元驱动所述传动杆件转动,所述第一连接杆沿着所述传动杆件的轴线方向向上做直线运动,所述第二连接件与所述第一连接件连接的一端随着所述第一连接件一起移动,进而使得所述第二连接件绕所述销轴转动,且所述第二连接件与所述起落架本体固定连接的另一端向下移动。When the UAV is landing, the driving unit drives the transmission rod member to rotate, and the first connecting rod linearly moves upward along the axial direction of the transmission rod member, the second connecting member and the second connecting member One end of the first connector connection moves along with the first connector, thereby causing the second connector to rotate about the pin, and the second connector is fixedly coupled to the landing gear body The other end moves down.
在一些实施例中,所述机壳上还设置有用于固定所述传动杆件的支座,所述传动杆件的末端收容在所述支座中。In some embodiments, the housing is further provided with a seat for fixing the transmission rod member, and an end of the transmission rod member is received in the holder.
在一些实施例中,所述支座的内侧与所述传动杆件的末端之间设置有轴承。In some embodiments, a bearing is disposed between the inside of the seat and the end of the transmission member.
在一些实施例中,所述齿轮传动系还包括用于安装所述第一齿轮组和/或所述第二齿轮组的安装板。In some embodiments, the gear train further includes a mounting plate for mounting the first gear set and/or the second gear set.
在一些实施例中,所述齿轮传动系还包括用于支撑所述第一齿轮组和/或所述第二齿轮组的支撑件。In some embodiments, the gear train further includes a support for supporting the first gear set and/or the second gear set.
在一些实施例中,所述第二连接件与所述起落架本体通过螺钉固定连接。In some embodiments, the second connector is fixedly coupled to the landing gear body by screws.
在一些实施例中,所述起落架本体的旋转角度范围小于150度。In some embodiments, the landing gear body has a range of rotation angles less than 150 degrees.
在一些实施例中,所述起落架装置还包括复位机构,在所述无人飞行器断电时,所述起落架本体恢复至预设状态。In some embodiments, the landing gear device further includes a reset mechanism that returns to a preset state when the UAV is powered off.
在一些实施例中,所述驱动装置为电机。In some embodiments, the drive device is a motor.
在一些实施例中,所述连接单元还设置有减震机构。In some embodiments, the connecting unit is further provided with a shock absorbing mechanism.
为解决上述技术问题,本申请实施例还提供以下技术方案:To solve the above technical problem, the embodiment of the present application further provides the following technical solutions:
一种无人飞行器,包括:机身和如上所述的起落架装置,所述起落架装置与所述机身相连接。An unmanned aerial vehicle includes: a fuselage and a landing gear device as described above, the landing gear device being coupled to the fuselage.
在一些实施例中,所述无人飞行器为多旋翼飞行器。In some embodiments, the UAV is a multi-rotor aircraft.
在一些实施例中,所述无人飞行器具有两个所述起落架装置,分别装设在所述机身的相对两侧;所述起落架装置的所述动力组件使得所述起落架本体相对所述机身在第一状态和第二状态之间转换,其中,所述第一状态允许所述起落架本体支撑所述机身停靠于一表面,所述第二状态可增加所述无人飞行器的功能空间。In some embodiments, the UAV has two of the landing gear devices respectively mounted on opposite sides of the fuselage; the power assembly of the landing gear device causes the landing gear body to be opposite The fuselage transitions between a first state that allows the landing gear body to support the fuselage to rest on a surface, and a second state that increases the unmanned The functional space of the aircraft.
在一些实施例中,所述机身还包括影像获取装置;在所述第二状态,所述 起落架本体旋转至所述影像获取装置的拍摄视角范围之外,以避免遮挡所述影像获取装置的拍摄视角。In some embodiments, the body further includes an image capture device; in the second state, the The landing gear body is rotated out of the range of the viewing angle of the image capturing device to avoid obscuring the viewing angle of the image capturing device.
为解决上述技术问题,本申请实施例还提供以下技术方案:To solve the above technical problem, the embodiment of the present application further provides the following technical solutions:
一种无人飞行器,包括:机身;An unmanned aerial vehicle comprising: a fuselage;
机臂,所述机臂与所述机身相连接;An arm that is coupled to the body;
起落架装置,所述起落架装置与所述机身相连接,所述起落架装置能够相对于所述机身放下或收起;以及a landing gear device, the landing gear device being coupled to the fuselage, the landing gear device being capable of being lowered or stowed relative to the fuselage;
功能模块,所述功能模块安装在所述机身的下方;a functional module, the functional module being mounted below the fuselage;
其中,所述起落架装置为如上所述的起落架装置。Wherein the landing gear device is a landing gear device as described above.
在一些实施例中,所述功能模块为影像获取装置。In some embodiments, the functional module is an image acquisition device.
在一些实施例中,所述功能模块为云台。In some embodiments, the functional module is a pan/tilt.
在一些实施例中,所述起落架本体(21)的数量为两个In some embodiments, the number of landing gear bodies (21) is two
与现有技术相比较,本申请实施例的无人飞行器及其起落架装置,通过使起落架本体在动力组件的作用下相对于无人飞行器的机身旋转以便收起/落下,并且所述起落架本体可收起并折叠于机身的两侧,从而既减小起落架本体在空中对无人飞行器造成的不必要的阻力,有利于改善无人飞行器的飞行性能,也使得无人飞行器在飞行时,其功能空间增加,特别是对于具有影像获取装置的无人飞行器,避免了起落架装置遮挡该影像获取装置的拍摄视角,从而改善具有影像获取装置的无人飞行器的拍摄性能;并且,在不使用无人飞行器时,也使得具有此起落架装置的无人飞行器更便于携带和收纳。Compared with the prior art, the UAV and the landing gear device of the embodiment of the present application rotates the body of the UAV relative to the UAV to be stowed/dropped under the action of the power component, and the The landing gear body can be folded up and folded on both sides of the fuselage, thereby reducing the unnecessary resistance of the landing gear body to the unmanned aerial vehicle in the air, improving the flight performance of the UAV, and making the UAV In flight, the functional space is increased, especially for an unmanned aerial vehicle having an image capturing device, which avoids the landing gear device obscuring the shooting angle of the image capturing device, thereby improving the shooting performance of the unmanned aerial vehicle having the image capturing device; When the UAV is not used, the UAV with this landing gear device is also more convenient to carry and store.
【附图说明】[Description of the Drawings]
图1是本申请实施例提供的飞行器的立体图。1 is a perspective view of an aircraft provided by an embodiment of the present application.
图2a、2b和2c是本申请实施例提供的起落架装置的三个不同视角的示意图。2a, 2b and 2c are schematic views of three different perspectives of the landing gear device provided by the embodiment of the present application.
图3a和3b是图2a-2c所示的起落架装置的动力组件中的两个不同视角的示意图,其中,连接单元24被移除。Figures 3a and 3b are schematic illustrations of two different perspectives in the power assembly of the landing gear assembly shown in Figures 2a-2c, wherein the attachment unit 24 is removed.
图4a和4b是图2a-2c所示的起落架装置的动力组件的两个不同视角的示意图,其中,连接单元24和机壳30被移除。Figures 4a and 4b are schematic views of two different perspectives of the power assembly of the landing gear assembly shown in Figures 2a-2c, wherein the attachment unit 24 and the housing 30 are removed.
其中,附图标记说明如下:10无人飞行器;1机身;3机臂;2起落架装置;21起落架本体;22动力组件;23驱动装置;231输出轴;24连接单元; 241第一连接件;242第二连接件;2421滑动槽;243销轴;26支座;;28齿轮传动系;282齿轮轴;283安装板;284支撑件;287第一齿轮组;288第二齿轮组;29传动单元;291输入轴;292传动杆件;30机壳;301轴孔。Wherein, the reference numerals are as follows: 10 unmanned aerial vehicle; 1 fuselage; 3 arm; 2 landing gear device; 21 landing gear body; 22 power assembly; 23 driving device; 231 output shaft; 241 first connector; 242 second connector; 2421 sliding slot; 243 pin; 26 holder; 28 gear train; 282 gear shaft; 283 mounting plate; 284 support; 287 first gear set; Two gear sets; 29 transmission units; 291 input shafts; 292 transmission rods; 30 housings; 301 shaft holes.
【具体实施方式】【detailed description】
为了便于理解本申请,下面结合附图和具体实施例,对本申请进行更详细的说明。需要说明的是,当元件被表述“固定于”另一个元件,它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“电连接”另一个元件,它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。此外,术语“第一”、“第二”“第三”等仅用于描述目的,而不能理解为指示或暗示相对重要性。In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific embodiments. It is to be noted that when an element is described as being "fixed" to another element, it can be directly on the other element, or one or more central elements can be present. When an element is referred to as being "electrically connected" to another element, it can be directly connected to the other element, or one or more. The orientation or positional relationship of the terms "upper", "lower", "inner", "outer", "bottom" and the like as used in the specification is based on the orientation or positional relationship shown in the drawings, only for convenience of description. The application and the simplification of the description are not intended to limit or imply that the device or component referred to has a particular orientation, is constructed and operated in a particular orientation, and therefore is not to be construed as limiting. Moreover, the terms "first", "second", "third", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
除非另有定义,本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的,不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used in the specification are the same meaning The terms used in the description of the present application are for the purpose of describing the specific embodiments and are not intended to limit the application. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.
此外,下面所描述的本申请不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。Further, the technical features involved in the different embodiments of the present application described below may be combined with each other as long as they do not constitute a conflict with each other.
参见图1,图1是本申请的其中一个实施例提供的一种无人飞行器10的立体图。该无人飞行器10包括机身1、机臂3和起落架装置2。其中,机臂3与机身1相连接。在另一实现方式中,机臂3也可以与机身1一体成型。Referring to Figure 1, Figure 1 is a perspective view of an unmanned aerial vehicle 10 provided by one of the embodiments of the present application. The UAV 10 includes a fuselage 1, an arm 3 and a landing gear device 2. The arm 3 is connected to the body 1. In another implementation, the arm 3 can also be integrally formed with the body 1.
在本实施例中,起落架装置2的数量为两个。在其他实施例中,起落架装置2的数量可以大于两个,多个起落架装置2均匀分布于机身11的四周。在本实施方式中,所述无人飞行器10为四旋翼飞行器。可以理解,所述无人飞行器10也可以为其他多旋翼飞行器,例如为六旋翼飞行器、八旋翼飞行器、十二旋翼飞行器等。In the present embodiment, the number of the landing gear devices 2 is two. In other embodiments, the number of landing gear devices 2 may be greater than two, and the plurality of landing gear devices 2 are evenly distributed around the fuselage 11. In the present embodiment, the UAV 10 is a quadrotor. It can be understood that the UAV 10 can also be other multi-rotor aircraft, such as a six-rotor aircraft, an eight-rotor aircraft, a twelve-rotor aircraft, and the like.
机身11为一中空的壳体结构。所述机身10内包括由MCU等电子元器件组成的控制电路组件,该控制电路组件包括多个控制模块,如,用于控制所述起落架装置2收起和放下的控制模块,用于控制无人飞行器飞行姿态的飞行控制 模块、用于导航无人机的GPS模块、以及用于处理相关机载设备所获取的环境信息的数据处理模块等。The body 11 is a hollow housing structure. The body 10 includes a control circuit component composed of electronic components such as an MCU, and the control circuit component includes a plurality of control modules, such as a control module for controlling the loading and unloading of the landing gear device 2, for Flight control to control the flight attitude of unmanned aerial vehicles Modules, GPS modules for navigating drones, and data processing modules for processing environmental information acquired by related onboard devices.
两个起落架装置2与机身1相连接,分别装设在机身1的相对两侧。起落架装置2用于在无人飞行器10起飞、降落、地面(水面)滑行时对其进行支撑,或用作无人飞行器10在地面(水面)移动的附属部件。起落架装置2作为支撑整个无人飞行器10的部件,在无人飞行器10的安全起降过程中负担着重要作用。该起落架装置2包括起落架本体21和动力组件22,起落架本体21能够在动力组件22的驱动下相对于机身1放下或收起。在图中,示意性地示出了起落架本体21分别处于收起位置P1和放下位置P2的状态。Two landing gear devices 2 are connected to the fuselage 1 and are respectively mounted on opposite sides of the fuselage 1. The landing gear device 2 is used to support the UAV 10 when it takes off, land, or ground (surface), or as an accessory for the UAV 10 to move on the ground (surface). The landing gear unit 2, as a component supporting the entire unmanned aerial vehicle 10, plays an important role in the safe take-off and landing of the unmanned aerial vehicle 10. The landing gear device 2 includes a landing gear body 21 and a power assembly 22 that can be lowered or stowed relative to the body 1 under the drive of the power assembly 22. In the figure, a state in which the landing gear body 21 is in the stowed position P1 and the lowered position P2, respectively, is schematically shown.
该无人飞行器10还包括图中未示出的动力系统、控制模块、作为影像获取装置的云台以及供电电池等。动力系统用于驱动整个无人飞行器,其包括动力电机和螺旋桨,动力电机安装在机臂3的端部,螺旋桨安装于动力电机的输出轴,以在动力电机的驱动下产生供无人飞行器10飞行的升力或推力。The UAV 10 further includes a power system, a control module, a pan/tilt as an image capturing device, a power supply battery, and the like, which are not shown. The power system is used to drive the entire unmanned aerial vehicle, which includes a power motor and a propeller. The power motor is mounted at the end of the arm 3, and the propeller is mounted on the output shaft of the power motor to generate the unmanned aerial vehicle 10 under the driving of the power motor. The lift or thrust of the flight.
云台包括具有拍摄功能的摄像机,为了方便获取影像,通常安装在无人飞行器10的机身1底侧。本申请实施例的起落架装置2,通过动力组件22驱动起落架本体21,从放下位置P2转动至收起位置P1,能够在无人飞行器的飞行状态下避免起落架本体21遮挡云台的摄像机的拍摄角度。The pan/tilt includes a camera having a photographing function, and is usually installed on the bottom side of the body 1 of the unmanned aerial vehicle 10 in order to facilitate image acquisition. The landing gear device 2 of the embodiment of the present application drives the landing gear body 21 through the power assembly 22, and rotates from the lowered position P2 to the stowed position P1, so that the camera of the landing gear body 21 can be prevented from being blocked by the landing gear body 21 in the flight state of the unmanned aerial vehicle. The angle of shooting.
起落架本体21通过电控而可旋转地进入收起位置/放下位置。具体而言,在收起位置,起落架本体21向上展开至位置P1,与水平面大体平行,这时可增加该无人飞行器10的功能空间,例如,增加无人飞行器10搭载的云台的拍摄视角。在放下位置,起落架本体21向下旋转至位置P2,与竖直面大体平行,这时该起落架本体21能够支撑机身1停靠于一表面,例如:地面。起落架本体21的收起与飞鸟的双翅展开类似,起落架本体21的放下与飞鸟的双翅收拢类似。The landing gear body 21 is rotatably entered into the stowed/down position by electronic control. Specifically, in the stowed position, the landing gear body 21 is deployed upward to the position P1, which is substantially parallel to the horizontal plane. At this time, the functional space of the UAV 10 can be increased, for example, the shooting of the head mounted on the UAV 10 is increased. Perspective. In the lowered position, the landing gear body 21 is rotated downward to a position P2 substantially parallel to the vertical plane, at which time the landing gear body 21 can support the body 1 to rest on a surface, such as the ground. The stowage of the landing gear body 21 is similar to the spread of the wings of the bird, and the lowering of the landing gear body 21 is similar to the folding of the wings of the bird.
值得一提的是,对于该无人飞行器10的底侧设有影像获取装置(图未示),例如具有拍摄功能的云台的情形,该起落架本体21的收起位置位于该影像获取装置的拍摄视角范围之外。这种构造有利于提高无人飞行器10的拍摄性能。It is worth mentioning that an image acquisition device (not shown) is provided on the bottom side of the UAV 10 , for example, in the case of a pan/tilt head having a photographing function, the stowed position of the landing gear body 21 is located in the image capturing device. The shooting angle is outside the range. This configuration is advantageous for improving the photographing performance of the UAV 10.
在本实施例中,起落架本体21的旋转角度θ限定为小于150度。另外,该起落架装置2还设有复位机构,在无人飞行器10的动力系统突然断电时,该起落架本体21恢复到放下位置,以确保无人飞行器10的飞行安全。In the present embodiment, the rotation angle θ of the landing gear body 21 is limited to less than 150 degrees. In addition, the landing gear device 2 is further provided with a reset mechanism that returns to the lowered position when the power system of the unmanned aerial vehicle 10 is suddenly powered off to ensure the flight safety of the unmanned aerial vehicle 10.
参见图2a、2b和2c是本实施例的起落架装置2的三个不同视角的示意图。起落架装置2包括起落架本体21、动力组件22和机壳30。动力组件22安装于所述机身1,用于驱动所述起落架本体21相对于所述机身1收起和放下。动力 组件22进一步包括相互配合的驱动装置23(如图3a-4b所示)、传动单元29和连接单元24。所述驱动装置23和所述传动单元29装设在所述机壳30中。2a, 2b and 2c are schematic views of three different viewing angles of the landing gear unit 2 of the present embodiment. The landing gear device 2 includes a landing gear body 21, a power assembly 22, and a casing 30. A power assembly 22 is mounted to the body 1 for driving the landing gear body 21 to be stowed and lowered relative to the body 1. Power The assembly 22 further includes a cooperating drive 23 (shown in Figures 3a-4b), a transmission unit 29 and a connection unit 24. The drive unit 23 and the transmission unit 29 are mounted in the casing 30.
结合图4a和4b,传动单元29包括由驱动装置23驱动的传动杆件292。机壳30上还设置有用于固定传动杆件292的支座26,所述传动杆件292的末端收容在所述支座26中。优选地,支座26的内侧与所述传动杆件292的末端之间设置有轴承。In connection with Figures 4a and 4b, the transmission unit 29 includes a transmission member 292 that is driven by a drive unit 23. The housing 30 is also provided with a seat 26 for fixing the transmission rod member 292, and the end of the transmission rod member 292 is received in the holder 26. Preferably, a bearing is disposed between the inner side of the support 26 and the end of the transmission rod member 292.
再次回到图2a-2c,连接单元24的一端与该传动杆件292相连,连接单元24的另一端与起落架本体21固定连接。第一连接件241在其中部螺纹配合地套设在该传动单元29的传动杆件292上,并将传动杆件292的旋转运动转换为直线运动。当传动杆件292在驱动装置23的驱动下转动时,带动所述起落架本体21旋转而收起或放下。Returning again to Figures 2a-2c, one end of the coupling unit 24 is coupled to the transmission rod member 292, and the other end of the coupling unit 24 is fixedly coupled to the landing gear body 21. The first connecting member 241 is sleeved on the transmission rod member 292 of the transmission unit 29 in a threaded manner at the middle thereof, and converts the rotational motion of the transmission rod member 292 into a linear motion. When the transmission lever member 292 is rotated by the driving device 23, the landing gear body 21 is rotated to be stowed or lowered.
在本实施例中,所述第二连接件242与所述起落架本体21通过螺钉244固定连接。在其他实施例中,第二连接件242也可以通过其他方式与起落架本体21固定连接,或者,第二连接件242可以与起落架本体21一体成型。In this embodiment, the second connecting member 242 and the landing gear body 21 are fixedly connected by screws 244. In other embodiments, the second connecting member 242 can also be fixedly connected to the landing gear body 21 by other means, or the second connecting member 242 can be integrally formed with the landing gear body 21.
在本实施例中,所述驱动装置23为电机,用于驱动所述传动杆件292转动,进而使得所述连接单元24的一端(图2a中第一连接件241所在的一端)随着传动杆件292的转动,沿所述传动杆件292的轴线方向做直线运动。在其它一些实施例中,所述驱动装置23可以是气缸或液压缸中的一种,所述驱动装置23驱动所述连接单元24的一端做直线运动。In this embodiment, the driving device 23 is a motor for driving the transmission rod member 292 to rotate, so that one end of the connecting unit 24 (the end where the first connecting member 241 is located in FIG. 2a) is driven. The rotation of the lever member 292 linearly moves in the axial direction of the transmission lever member 292. In other embodiments, the driving device 23 may be one of a cylinder or a hydraulic cylinder that drives one end of the connecting unit 24 to perform linear motion.
在一些实施例中,所述传动杆件292可以为丝杆、螺杆或蜗杆。In some embodiments, the transmission rod member 292 can be a lead screw, a screw, or a worm.
具体地,该连接单元24包括第一连接件241和第二连接件242。所述第一连接件241套设于所述传动杆件292并与所述传动杆件292螺接,所述第二连接件242的一端与所述第一连接件241连接,所述第二连接件242的另一端与所述起落架本体21固定连接。第二连接件242上还设置有销轴243,机壳30上设置有轴孔301(参见图3a),所述销轴243插入所述轴孔301中,使得所述第二连接件242与所述机壳30铰接。当驱动装置23驱动所述传动杆件292转动,进而使得连接单元24的第一连接件241沿着传动杆件292的轴线方向做直线运动时,由于销轴243与轴孔301的配合使得第二连接件242与机壳30铰接,因此,使得第二连接件242与第一连接件241连接的一端也沿着传动杆件292的轴线方向做直线运动,进而使得第二连接件242绕着销轴243转动,且第二连接件242的另一端,即,与起落架本体21连接的一端,沿着与第一连接件241 相反的方向运动。Specifically, the connecting unit 24 includes a first connecting member 241 and a second connecting member 242. The first connecting member 241 is sleeved on the transmission rod member 292 and is screwed to the transmission rod member 292. One end of the second connecting member 242 is connected to the first connecting member 241, and the second The other end of the connecting member 242 is fixedly coupled to the landing gear body 21. The second connecting member 242 is further provided with a pin shaft 243, and the casing 30 is provided with a shaft hole 301 (see FIG. 3a), and the pin shaft 243 is inserted into the shaft hole 301, so that the second connecting member 242 is The casing 30 is hinged. When the driving device 23 drives the transmission rod member 292 to rotate, thereby causing the first connecting member 241 of the connecting unit 24 to linearly move along the axial direction of the transmission rod member 292, due to the cooperation of the pin shaft 243 and the shaft hole 301, The two connecting members 242 are hinged with the casing 30, so that the end of the second connecting member 242 and the first connecting member 241 is also linearly moved along the axial direction of the transmission rod member 292, so that the second connecting member 242 is wound around. The pin 243 rotates, and the other end of the second connecting member 242, that is, the end connected to the landing gear body 21, along with the first connecting member 241 The opposite direction of motion.
如图2c所示,第二连接件242与第一连接件241相连接的一端还开设有滑动槽2421,第一连接件241铰接在该滑动槽2421内,当第一连接件241沿着传动杆件292做直线运动的同时,第一连接件241在滑动槽2132内滑动。设置滑动槽2421,使得连接单元24的第一连接件241沿着传动杆件292的轴线方向做直线运动的过程更为平稳、顺畅,也使得第二连接件242与第一连接件241连接的一端也能够更平稳、顺畅地被第一连接件241带动,也沿着传动杆件292的轴线方向做直线运动。As shown in FIG. 2c, the end of the second connecting member 242 connected to the first connecting member 241 is further provided with a sliding slot 2421, and the first connecting member 241 is hinged in the sliding slot 2421 when the first connecting member 241 is driven along While the rod member 292 is linearly moved, the first connecting member 241 slides in the sliding groove 2132. The sliding groove 2421 is provided such that the process of linearly moving the first connecting member 241 of the connecting unit 24 along the axial direction of the transmission rod member 292 is smoother and smoother, and the second connecting member 242 is also connected to the first connecting member 241. One end can also be driven more smoothly and smoothly by the first connecting member 241, and also linearly moves along the axial direction of the transmission rod member 292.
具体到无人飞行器10上,如图2c所示,当驱动装置23驱动所述传动杆件292转动,进而使得第一连接件241沿着传动杆件292的轴线方向向下运动时(X所示方向),带动第二连接件242与第一连接件241连接的一端也向下运动,从而第二连接件242绕着销轴243沿顺时针方向转动,第二连接件242的另一端(与起落架本体21连接的一端)向上运动(Y所示方向),带动起落架本体21的端部上翘,起落架本体21向上收起。最终起落架本体21折叠于机身1的侧部,使得在无人飞行器10航拍过程中,起落架本体21不会遮挡航拍视野。Specifically, on the unmanned aerial vehicle 10, as shown in FIG. 2c, when the driving device 23 drives the transmission rod member 292 to rotate, thereby causing the first connecting member 241 to move downward along the axial direction of the transmission rod member 292 (X In the direction shown, the end that drives the second connecting member 242 to connect with the first connecting member 241 also moves downward, so that the second connecting member 242 rotates clockwise around the pin 243, and the other end of the second connecting member 242 ( The one end connected to the landing gear body 21 is moved upward (in the direction indicated by Y), and the end portion of the landing gear body 21 is lifted up, and the landing gear body 21 is stowed upward. Finally, the landing gear body 21 is folded over the side of the fuselage 1 so that the landing gear body 21 does not obscure the aerial view during the aerial photography of the UAV 10 .
同样地,当驱动装置23驱动所述传动杆件292转动,进而使得第一连接件241沿着传动杆件292的轴线方向向上运动时,带动第二连接件242与第一连接件241连接的一端也向上运动,从而第二连接件242绕着销轴243沿逆时针方向转动,第二连接件242的另一端(与起落架本体21连接的一端)向下运动,带动起落架本体21的端部下降,起落架本体21向下放下。最终起落架本体21放下至与竖直面大致平行,并在无人飞行器10降落后与地面接触,以便支撑无人飞行器10。Similarly, when the driving device 23 drives the transmission rod member 292 to rotate, thereby causing the first connecting member 241 to move upward along the axial direction of the transmission rod member 292, the second connecting member 242 is connected to the first connecting member 241. One end also moves upward, so that the second connecting member 242 rotates counterclockwise about the pin 243, and the other end of the second connecting member 242 (the end connected to the landing gear body 21) moves downward to drive the landing gear body 21. The end is lowered and the landing gear body 21 is lowered downward. Finally, the landing gear body 21 is lowered to be substantially parallel to the vertical plane and is in contact with the ground after the UAV 10 descends to support the UAV 10.
优选地,在连接单元24内还设有减震机构,能够很好地承受无人飞行器10降落时的冲击力。Preferably, a shock absorbing mechanism is further provided in the connecting unit 24, which can well withstand the impact force when the UAV 10 is dropped.
参见图3a和3b,是图2a-2c所示的起落架装置2的动力组件22的两个不同视角的示意图,其中,连接单元24被移除。其中,该机壳30上设有与前述的第三连接件243相配合的轴孔301。Referring to Figures 3a and 3b, there are schematic views of two different perspectives of the power assembly 22 of the landing gear assembly 2 shown in Figures 2a-2c, wherein the attachment unit 24 is removed. The housing 30 is provided with a shaft hole 301 that cooperates with the aforementioned third connecting member 243.
参见图4a和4b,进一步从两个不同视角示出了图2a-2c所示的起落架装置2的动力组件22,其中,连接单元24和机壳30被移除。动力组件22包括驱动装置23和传动单元28。在图4a和4b中示出,该传动单元29除了包括如上所述的传动杆件292,还包括齿轮传动系28。驱动装置23借助该齿轮传动系28的传动,能够带动该传动杆件292旋转。具体地,驱动装置23的输出轴231连 接至所述齿轮传动系28的一端,所述传动杆件292的输入轴291连接至所述齿轮传动系28的另一端。从驱动装置23输出的动力,依次经过驱动装置23的输出轴231、齿轮传动系28、传动杆件292的输入轴291,传递给传动杆件292,用以驱动传动杆件292旋转。同时,由于驱动装置23的旋转线速度过快,从驱动装置23输出的旋转动力经过齿轮传动系28进行减速后,再传递给传动杆件292,使得最终输出至传动杆件292的旋转动力能够使得传动杆件292获得合适的旋转线速度。该齿轮传动系28进一步包括相互啮合的第一齿轮组287和第二齿轮组288。Referring to Figures 4a and 4b, the power assembly 22 of the landing gear assembly 2 shown in Figures 2a-2c is further illustrated from two different perspectives, wherein the coupling unit 24 and the housing 30 are removed. The power assembly 22 includes a drive unit 23 and a transmission unit 28. As shown in Figures 4a and 4b, the transmission unit 29 includes a gear train 28 in addition to the transmission member 292 as described above. The transmission device 23 can drive the transmission rod member 292 to rotate by the transmission of the gear train 28. Specifically, the output shaft 231 of the driving device 23 is connected Connected to one end of the gear train 28, an input shaft 291 of the transmission member 292 is coupled to the other end of the gear train 28. The power output from the driving device 23 passes through the output shaft 231 of the driving device 23, the gear train 28, and the input shaft 291 of the transmission member 292, and is transmitted to the transmission rod member 292 for driving the transmission rod member 292 to rotate. At the same time, since the rotational linear velocity of the driving device 23 is too fast, the rotational power outputted from the driving device 23 is decelerated by the gear train 28, and then transmitted to the transmission lever member 292, so that the rotational power finally outputted to the transmission lever member 292 can be The drive rod member 292 is brought to a suitable rotational linear velocity. The gear train 28 further includes a first gear set 287 and a second gear set 288 that mesh with each other.
具体地,第一齿轮组287安装在驱动装置23的输出轴231上,第二齿轮组288安装在传动杆件292的所述输入轴291上。在本实施例中,齿轮传动系28还包括齿轮轴282,第一齿轮组287与第二齿轮组288通过齿轮轴282相连。在其他实现方式中,可以在第一齿轮组287与第二齿轮组288之间设置多个传动齿轮。在其他实施例中,第一齿轮组287和第二齿轮组288可以直接啮合而相互连接,从而可以省去齿轮轴282。Specifically, the first gear set 287 is mounted on the output shaft 231 of the drive unit 23, and the second gear set 288 is mounted on the input shaft 291 of the transmission rod member 292. In the present embodiment, the gear train 28 further includes a gear shaft 282 that is coupled to the second gear set 288 via a gear shaft 282. In other implementations, a plurality of drive gears can be disposed between the first gear set 287 and the second gear set 288. In other embodiments, the first gear set 287 and the second gear set 288 can be directly engaged to each other such that the gear shaft 282 can be omitted.
齿轮传动系28还包括安装板283和支撑件284。驱动装置23固定在支撑板283上。该齿轮传动系28借助该安装板283以及支撑件284安装固定。具体地,安装板283和支撑件284配合,从而支撑并固定所述第一齿轮组287和所述第二齿轮组288。Gear train 28 also includes a mounting plate 283 and a support 284. The drive unit 23 is fixed to the support plate 283. The gear train 28 is mounted and secured by the mounting plate 283 and the support member 284. Specifically, the mounting plate 283 and the support member 284 cooperate to support and fix the first gear set 287 and the second gear set 288.
与现有技术相比,本申请实施例的无人飞行器10及其起落架装置2,通过使起落架本体21在动力组件22的作用下相对于无人飞行器10的机身1旋转以便收起/落下,并且所述起落架本体21可收起并折叠于机身1的两侧,从而既减小起落架本体21在空中对无人飞行器10造成的不必要的阻力,有利于改善无人飞行器10的飞行性能,也使得无人飞行器10在飞行时,其功能空间增加,特别是对于具有影像获取装置的无人飞行器10,避免了起落架装置2遮挡该影像获取装置的拍摄视角,从而改善具有影像获取装置的无人飞行器10的拍摄性能;并且,在不使用无人飞行器10时,也使得具有此起落架装置2的无人飞行器10更便于携带和收纳。Compared with the prior art, the UAV 10 and its landing gear device 2 of the present embodiment rotate the landing gear body 21 relative to the fuselage 1 of the UAV 10 by the power assembly 22 to be stowed. / falling, and the landing gear body 21 can be stowed and folded on both sides of the fuselage 1, thereby reducing unnecessary resistance of the landing gear body 21 to the unmanned aerial vehicle 10 in the air, and improving the unmanned The flight performance of the aircraft 10 also increases the functional space of the UAV 10 when it is flying, especially for the UAV 10 with the image acquisition device, thereby preventing the landing gear device 2 from obscuring the viewing angle of the image acquisition device, thereby The photographing performance of the unmanned aerial vehicle 10 having the image capturing device is improved; and, when the unmanned aerial vehicle 10 is not used, the unmanned aerial vehicle 10 having the landing gear device 2 is also more easily carried and stored.
以上所述实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.
以上所述实施例仅表达了本申请的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对申请专利范围的限制。应当指出的是,对于本领域的 普通技术人员来说,在不脱离本申请构思的前提下,还可以做出若干变形和改进,这些都属于本申请的保护范围。因此,本申请专利的保护范围应以所附权利要求为准。 The above-mentioned embodiments are merely illustrative of several embodiments of the present application, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the claims. It should be noted that for the field A person skilled in the art can make a number of variations and modifications without departing from the spirit of the present application, which are all within the scope of the present application. Therefore, the scope of the invention should be determined by the appended claims.

Claims (31)

  1. 一种起落架装置(2),用于无人飞行器(10),所述无人飞行器(10)包括机身(1),其特征在于,所述起落架装置(2)包括:A landing gear device (2) for an unmanned aerial vehicle (10), the unmanned aerial vehicle (10) comprising a fuselage (1), characterized in that the landing gear device (2) comprises:
    起落架本体(21);以及Landing gear body (21);
    动力组件(22),用于安装于所述机身(1),所述动力组件(22)包括驱动装置(23)、传动单元(29)和连接单元(24);所述传动单元(29)包括由所述驱动装置(23)驱动的传动杆件(292);所述连接单元(24)的一端与所述起落架本体(21)固定连接,所述连接单元(24)的另一端与所述传动杆件(292)相连,当所述传动杆件(292)在所述驱动装置(23)的驱动下转动时,带动所述起落架本体(21)收起或放下。a power assembly (22) for mounting to the body (1), the power assembly (22) including a driving device (23), a transmission unit (29), and a connecting unit (24); the transmission unit (29) a transmission rod member (292) driven by the driving device (23); one end of the connecting unit (24) is fixedly connected to the landing gear body (21), and the other end of the connecting unit (24) Connected to the transmission rod member (292), when the transmission rod member (292) is rotated by the driving device (23), the landing gear body (21) is driven to be stowed or lowered.
  2. 根据权利要求1所述的起落架装置(2),其特征在于,所述传动单元(29)还包括齿轮传动系(28),所述驱动装置(23)的输出轴(231)连接至所述齿轮传动系(28)的一端,所述传动杆件(292)的输入轴(291)连接至所述齿轮传动系(28)的另一端。The landing gear device (2) according to claim 1, characterized in that the transmission unit (29) further comprises a gear train (28), the output shaft (231) of the drive device (23) being connected to the One end of the gear train (28) is coupled to the other end of the gear train (28).
  3. 根据权利要求2所述的起落架装置(2),其特征在于,所述齿轮传动系(28)包括第一齿轮组(287)和第二齿轮组(288),所述第一齿轮组(287)安装在所述驱动装置(23)的输出轴(231)上,所述第二齿轮组(288)安装在所述传动杆件(292)的所述输入轴(291)。The landing gear device (2) of claim 2, wherein the gear train (28) includes a first gear set (287) and a second gear set (288), the first gear set ( 287) mounted on an output shaft (231) of the drive unit (23), the second gear set (288) being mounted on the input shaft (291) of the transmission rod member (292).
  4. 根据权利要求3所述的起落架装置(2),其特征在于,所述第一齿轮组(287)与所述第二齿轮组(288)啮合。The landing gear device (2) of claim 3 wherein said first gear set (287) is engaged with said second gear set (288).
  5. 根据权利要求3或4所述的起落架装置(2),其特征在于,所述齿轮传动系(28)还包括齿轮轴(282),所述第一齿轮组(287)和所述第二齿轮组(288)通过所述齿轮轴(282)相连。A landing gear device (2) according to claim 3 or 4, wherein the gear train (28) further comprises a gear shaft (282), the first gear set (287) and the second A gear set (288) is coupled by the gear shaft (282).
  6. 根据权利要求3所述的起落架装置(2),其特征在于,所述齿轮传动系(28)还包括安装在所述第一齿轮组(287)和所述第二齿轮组(288)之间的多个传动齿轮。 The landing gear assembly (2) of claim 3 wherein said gear train (28) further comprises a first gear set (287) and said second gear set (288) Multiple drive gears between.
  7. 根据权利要求1-6任一项所述的起落架装置(2),其特征在于,所述传动杆件(292)为丝杆、螺杆或蜗杆。A landing gear device (2) according to any of the claims 1-6, characterized in that the transmission rod member (292) is a screw rod, a screw or a worm.
  8. 根据权利要求1-7任一项所述的起落架装置(2),其特征在于,所述连接单元(24)包括第一连接件(241)和第二连接件(242),所述第一连接件(241)套设于所述传动杆件(292)并与所述传动杆件(292)螺接,所述第二连接件(242)的一端与所述第一连接件(241)连接,所述第二连接件(242)的另一端与所述起落架本体(21)固定连接。A landing gear device (2) according to any one of claims 1-7, characterized in that the connecting unit (24) comprises a first connecting piece (241) and a second connecting piece (242), said A connecting member (241) is sleeved on the transmission rod member (292) and screwed to the transmission rod member (292), and one end of the second connecting member (242) and the first connecting member (241) The other end of the second connector (242) is fixedly coupled to the landing gear body (21).
  9. 根据权利要求8所述的起落架装置(2),其特征在于,当所述驱动单元(23)驱动所述传动杆件(292)转动时,所述第一连接件(241)沿着所述传动杆件(292)做直线运动。The landing gear device (2) according to claim 8, characterized in that, when the driving unit (23) drives the transmission lever member (292) to rotate, the first connecting member (241) is along the same The transmission rod member (292) is linearly moved.
  10. 根据权利要求9所述的起落架装置(2),其特征在于,所述第二连接件(242)的一端开设有滑动槽(2421),所述第一连接件(241)铰接在所述滑动槽(2421)内,所述第一连接件(241)沿着所述传动杆件(292)做直线运动的同时,所述第一连接件(241)在所述滑动槽(2132)内滑动。The landing gear device (2) according to claim 9, wherein one end of the second connecting member (242) is provided with a sliding groove (2421), and the first connecting member (241) is hinged at the In the sliding groove (2421), the first connecting member (241) moves linearly along the transmission rod member (292), and the first connecting member (241) is inside the sliding groove (2132) slide.
  11. 根据权利要求8-10任一项所述的起落架装置(2),其特征在于,还包括机壳(30),所述驱动装置(23)和所述传动单元(29)装设在所述机壳(30)中,所述第二连接件(242)与所述机壳(30)铰接。A landing gear device (2) according to any one of claims 8 to 10, further comprising a casing (30), said driving device (23) and said transmission unit (29) being mounted In the casing (30), the second connecting member (242) is hinged to the casing (30).
  12. 根据权利要求11所述的起落架装置(2),其特征在于,所述第二连接件(242)上设置有销轴(243),所述机壳(30)上设有轴孔(301),所述销轴(243)插入所述轴孔(301)中,使得所述第二连接件(242)与所述机壳(30)铰接。The landing gear device (2) according to claim 11, wherein the second connecting member (242) is provided with a pin (243), and the casing (30) is provided with a shaft hole (301). The pin (243) is inserted into the shaft hole (301) such that the second connector (242) is hinged to the casing (30).
  13. 根据权利要求12所述的起落架装置(2),其特征在于,当所述驱动单元(23)驱动所述传动杆件(292)转动,使得所述第一连接件(241)沿着所述传动杆件(292)的轴线方向做直线运动时,所述第二连接件(242)与所述第一连接件(241)连接的一端随着所述第一连接件(241)一起移动,进而使得所述第二连接件(242)绕所述销轴(243)转动,且所述第二连接件(242) 与所述起落架本体(21)固定连接的另一端沿着与所述第一连接件(241)相反的方向运动。The landing gear device (2) according to claim 12, wherein when said driving unit (23) drives said transmission rod member (292) to rotate, said first connecting member (241) is along said When the axial direction of the transmission rod member (292) is linearly moved, one end of the second connecting member (242) connected to the first connecting member (241) moves together with the first connecting member (241) In turn, the second connecting member (242) is rotated around the pin (243), and the second connecting member (242) The other end fixedly coupled to the landing gear body (21) moves in a direction opposite to the first link (241).
  14. 根据权利要求13所述的起落架装置(2),其特征在于,A landing gear device (2) according to claim 13 wherein:
    在所述无人飞行器(10)起飞后,所述驱动单元(23)驱动所述传动杆件(292)转动,所述第一连接杆(241)沿着所述传动杆件(292)的轴线方向向下做直线运动,所述第二连接件(242)与所述第一连接件(241)连接的一端随着所述第一连接件(241)一起移动,进而使得所述第二连接件(242)绕所述销轴(243)转动,且所述第二连接件(242)与所述起落架本体(21)固定连接的另一端向上移动;After the unmanned aerial vehicle (10) takes off, the driving unit (23) drives the transmission rod member (292) to rotate, and the first connecting rod (241) along the transmission rod member (292) The axis direction is downwardly linearly moved, and one end of the second connecting member (242) connected to the first connecting member (241) moves together with the first connecting member (241), thereby making the second The connecting member (242) rotates around the pin shaft (243), and the other end of the second connecting member (242) fixedly connected with the landing gear body (21) moves upward;
    在所述无人飞行器(10)降落时,所述驱动单元(23)驱动所述传动杆件(292)转动,所述第一连接杆(241)沿着所述传动杆件(292)的轴线方向向上做直线运动,所述第二连接件(242)与所述第一连接件(241)连接的一端随着所述第一连接件(241)一起移动,进而使得所述第二连接件(242)绕所述销轴(243)转动,且所述第二连接件(242)与所述起落架本体(21)固定连接的另一端向下移动。When the UAV (10) is landing, the driving unit (23) drives the transmission rod member (292) to rotate, and the first connecting rod (241) along the transmission rod member (292) The axial direction moves upward in a straight line, and one end of the second connecting member (242) connected to the first connecting member (241) moves together with the first connecting member (241), thereby causing the second connection The member (242) rotates about the pin (243), and the other end of the second connector (242) fixedly coupled to the landing gear body (21) moves downward.
  15. 根据权利要求11-14任一项所述的起落架装置(2),其特征在于,所述机壳(30)上还设置有用于固定所述传动杆件(292)的支座(26),所述传动杆件(292)的末端收容在所述支座(26)中。The landing gear device (2) according to any one of claims 11-14, characterized in that the casing (30) is further provided with a support (26) for fixing the transmission rod member (292). The end of the transmission rod member (292) is received in the holder (26).
  16. 根据权利要求15所述的起落架装置(2),其特征在于,所述支座(26)的内侧与所述传动杆件(292)的末端之间设置有轴承。The landing gear device (2) according to claim 15, characterized in that a bearing is arranged between the inner side of the support (26) and the end of the transmission rod member (292).
  17. 根据权利要求3-16任一项所述的起落架装置(2),其特征在于,所述齿轮传动系(28)还包括用于安装所述第一齿轮组(287)和/或所述第二齿轮组(288)的安装板(283)。A landing gear device (2) according to any of claims 3-16, wherein the gear train (28) further comprises means for mounting the first gear set (287) and/or A mounting plate (283) of the second gear set (288).
  18. 根据权利要求3-17任一项所述的起落架装置(2),其特征在于,所述齿轮传动系(28)还包括用于支撑所述第一齿轮组(287)和/或所述第二齿轮组(288)的支撑件(284)。 A landing gear device (2) according to any of claims 3-17, wherein the gear train (28) further comprises means for supporting the first gear set (287) and/or A support (284) of the second gear set (288).
  19. 根据权利要求8-16任一项所述的起落架装置(2),其特征在于,所述第二连接件(242)与所述起落架本体(21)通过螺钉固定连接。A landing gear device (2) according to any one of claims 8-16, characterized in that the second connecting piece (242) is fixedly connected to the landing gear body (21) by screws.
  20. 根据权利要求1-19任一项所述的起落架装置(2),其特征在于,所述起落架本体(21)的旋转角度范围小于150度。A landing gear device (2) according to any one of claims 1 to 19, characterized in that the angle of rotation of the landing gear body (21) is less than 150 degrees.
  21. 根据权利要求1-20任一项所述的起落架装置(2),其特征在于,所述起落架装置(2)还包括复位机构,在所述无人飞行器(10)断电时,所述起落架本体(21)恢复至预设状态。A landing gear device (2) according to any one of claims 1 to 20, wherein the landing gear device (2) further comprises a reset mechanism, when the unmanned aerial vehicle (10) is powered off, The landing gear body (21) is restored to a preset state.
  22. 根据权利要求1-21任一项所述的起落架装置(2),其特征在于,所述驱动装置(23)为电机。A landing gear device (2) according to any of the claims 1-21, characterized in that the drive device (23) is a motor.
  23. 根据权利要求1-22任一项所述的起落架装置(2),其特征在于,所述连接单元(24)还设置有减震机构。A landing gear device (2) according to any one of claims 1 to 22, characterized in that the connection unit (24) is further provided with a damping mechanism.
  24. 一种无人飞行器(10),其特征在于,包括:机身和如权利要求1-23任一项所述的起落架装置(2),所述起落架装置(2)与所述机身相连接。An unmanned aerial vehicle (10), comprising: a fuselage and a landing gear device (2) according to any one of claims 1 to 23, the landing gear device (2) and the fuselage Connected.
  25. 根据权利要求24所述的无人飞行器(10),其特征在于,所述无人飞行器(10)为多旋翼飞行器。The unmanned aerial vehicle (10) of claim 24, wherein the unmanned aerial vehicle (10) is a multi-rotor aircraft.
  26. 根据权利要求24或25所述的无人飞行器(10),其特征在于,所述无人飞行器具有两个所述起落架装置(2),分别装设在所述机身的相对两侧;所述起落架装置(2)的所述动力组件(22)使得所述起落架本体(21)相对所述机身在第一状态和第二状态之间转换,其中,所述第一状态允许所述起落架本体(21)支撑所述机身停靠于一表面,所述第二状态可增加所述无人飞行器(10)的功能空间。The unmanned aerial vehicle (10) according to claim 24 or 25, wherein the unmanned aerial vehicle has two of the landing gear devices (2) respectively mounted on opposite sides of the fuselage; The power assembly (22) of the landing gear device (2) causes the landing gear body (21) to transition between a first state and a second state relative to the fuselage, wherein the first state allows The landing gear body (21) supports the body against a surface, and the second state increases the functional space of the UAV (10).
  27. 根据权利要求24-26任一项所述的无人飞行器(10),其特征在于,所述机身还包括影像获取装置;在所述第二状态,所述起落架本体(21)旋转至所述影像获取装置的拍摄视角范围之外,以避免遮挡所述影像获取装置的拍摄 视角。The unmanned aerial vehicle (10) according to any one of claims 24 to 26, wherein the body further comprises an image capturing device; in the second state, the landing gear body (21) is rotated to Excluding the shooting angle range of the image capturing device to avoid blocking the shooting of the image capturing device Perspective.
  28. 一种无人飞行器(10),其特征在于,包括:机身(1);An unmanned aerial vehicle (10), comprising: a fuselage (1);
    机臂(3),所述机臂(3)与所述机身(1)相连接;An arm (3), the arm (3) being connected to the body (1);
    起落架装置(2),所述起落架装置(2)与所述机身(1)相连接,所述起落架装置(2)能够相对于所述机身(1)放下或收起;以及a landing gear device (2), the landing gear device (2) being coupled to the fuselage (1), the landing gear device (2) being capable of being lowered or stowed relative to the fuselage (1);
    功能模块,所述功能模块安装在所述机身(1)的下方;a functional module, the functional module being mounted below the fuselage (1);
    其中,所述起落架装置(2)为权利要求1-23任一项所述的起落架装置(2)。Wherein the landing gear device (2) is the landing gear device (2) according to any one of claims 1-23.
  29. 根据权利要求28所述的无人飞行器(10),其特征在于,所述功能模块为影像获取装置。The UAV (10) according to claim 28, wherein the functional module is an image acquisition device.
  30. 根据权利要求28所述的无人飞行器(10),其特征在于,所述功能模块为云台。The UAV (10) according to claim 28, wherein the functional module is a pan/tilt.
  31. 根据权利要求28-30任一项所述的无人飞行器(10),其特征在于,所述起落架本体(21)的数量为两个。 The unmanned aerial vehicle (10) according to any one of claims 28-30, characterized in that the number of the landing gear bodies (21) is two.
PCT/CN2017/109736 2016-11-22 2017-11-07 Unmanned aerial vehicle and landing gear device thereof WO2018095214A1 (en)

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