WO2018095238A1 - 无人飞行器及其起落架装置 - Google Patents

无人飞行器及其起落架装置 Download PDF

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Publication number
WO2018095238A1
WO2018095238A1 PCT/CN2017/110769 CN2017110769W WO2018095238A1 WO 2018095238 A1 WO2018095238 A1 WO 2018095238A1 CN 2017110769 W CN2017110769 W CN 2017110769W WO 2018095238 A1 WO2018095238 A1 WO 2018095238A1
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WO
WIPO (PCT)
Prior art keywords
landing gear
connecting mechanism
gear device
unmanned aerial
aerial vehicle
Prior art date
Application number
PCT/CN2017/110769
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English (en)
French (fr)
Inventor
苏文兵
罗东东
吕航
Original Assignee
深圳市道通智能航空技术有限公司
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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 WO2018095238A1 publication Critical patent/WO2018095238A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/12—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like sideways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18—Operating mechanisms
    • B64C25/20—Operating mechanisms mechanical

Definitions

  • the present application relates to the field of aircraft technology, and in particular to an unmanned aerial vehicle and its landing gear device.
  • Unmanned Aerial Vehicle is a non-manned aircraft that is controlled by radio remote control equipment and self-contained program control devices.
  • unmanned aerial vehicles are widely used in street shooting, film and television drama shooting, environmental monitoring, geological survey, map drawing, monitoring of agriculture, forestry and animal husbandry.
  • two landing gears are arranged on the fuselage of the UAV.
  • the two landing gears are used to support the gravity of the UAV when the UAV is parked on the ground and take off and land. Since the pan/tilt head with shooting function is usually installed at the bottom of the UAV, the fixed landing gear will block the aerial view of the gimbal during the aerial photography process, which cannot 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.
  • the present application provides a landing gear device and an unmanned aerial vehicle having the same.
  • a landing gear device for an unmanned aerial vehicle comprising: a landing gear body; a power mechanism; a first connecting mechanism connected to the power mechanism, and rotating under the driving of the power mechanism a second connecting mechanism, one end of the second connecting mechanism is fixedly connected to the first connecting mechanism, and the swinging motion is performed by the rotating motion of the first connecting mechanism, and the second connecting mechanism is further One end is coupled to the landing gear body, and the landing gear body is at the second connecting mechanism Under the oscillating motion, the unmanned aerial vehicle is moved up and down.
  • the first attachment mechanism and/or the second attachment mechanism are rods.
  • first attachment mechanism and the second attachment mechanism form a crank structure.
  • the first connecting mechanism is provided with a loosening structure that closely cooperates with the second connecting mechanism, and the first connecting mechanism passes the anti-loose structure and the second connecting mechanism Fixed connection.
  • the second connecting mechanism is provided with a connecting seat at one end fixedly connected with the first connecting mechanism, the connecting seat has a cavity inside for the first connecting mechanism to pass through, and The inner wall of the cavity cooperates with the anti-loose structure of the first connecting mechanism.
  • the first connecting mechanism is a rod body
  • the anti-loose structure is a first flat surface symmetrically disposed on a surface of the rod body, and the inner wall of the cavity of the connecting seat of the second connecting mechanism A second flat surface mated with the first flat surface is provided.
  • the first connecting mechanism is a rod body
  • the anti-loose structure is a first thread disposed on a surface of the rod body
  • the inner wall of the cavity of the connecting seat of the second connecting mechanism is disposed a second thread that mates with the first thread.
  • the second attachment mechanism is threaded or screwed to the landing gear body at the other end that is coupled to the landing gear body.
  • the landing gear device is further provided with two limiting portions spaced apart from each other, when the second connecting mechanism performs a swinging motion under the driving of the rotating motion of the first connecting mechanism, The second connecting mechanism abuts the two limiting portions to limit the swinging angle of the second connecting mechanism to a predetermined range.
  • the limiting portion is a limiting rod, a limiting block, a limiting plate or a limiting surface.
  • the second connecting mechanism has a swing angle of 0 to 130°.
  • the landing gear device further includes a housing, and the power mechanism, the first connection mechanism, and the second connection mechanism are each mounted in the housing.
  • the landing gear device further includes a shock absorbing structure mounted on the first connecting mechanism to absorb the landing gear body when the UAV is landing The impact force caused by the first connecting mechanism.
  • the shock absorbing structure is a bearing that is sleeved over the first coupling mechanism.
  • the outer ring of the shock absorbing structure is provided with a damping ring, and the damping ring and the The outer casing of the landing gear device is closely fitted.
  • the housing is further provided with a seat for fixing the first connecting mechanism, and an end of the first connecting mechanism is received in the seat.
  • the power mechanism includes a motor and a reduction gear assembly, one end of the reduction gear assembly is coupled to an output shaft of the motor, and the other end of the reduction gear assembly is coupled to the first connection mechanism When the motor rotates, the first connecting mechanism is rotated by the reduction gear assembly.
  • the reduction gear assembly includes a first gear set and a second gear set, an output shaft of the motor is coupled to the first gear set, and the first connection mechanism is coupled to the second gear connection.
  • the first gear set and the second gear set intermesh.
  • the reduction gear assembly further includes a gear shaft that mates with the first gear set and/or the second gear set.
  • the reduction gear assembly further includes a gear mounting plate and a support structure for supporting the gear mounting plate, the first gear set and the second gear set being disposed on the gear mounting plate .
  • the landing gear device further includes a self-locking device for locking the landing gear body when the power mechanism is de-energized.
  • the first connecting mechanism is provided with a groove
  • the self-locking device is engaged with the groove of the first connecting mechanism in a self-locking state.
  • the embodiment of the present application further provides the following technical solutions:
  • An unmanned aerial vehicle includes a fuselage and a landing gear device as described above, the landing gear device being coupled to the fuselage.
  • the UAV is a multi-rotor aircraft.
  • the UAV has two of the landing gear devices respectively mounted on opposite sides of the fuselage; the power mechanism 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.
  • 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.
  • the embodiment of the present application further provides the following technical solutions:
  • An unmanned aerial vehicle comprising: a fuselage; an arm connected to the fuselage; a landing gear device, the landing gear device being coupled to the fuselage, the landing gear device being And the functional module, the functional module is mounted under the fuselage; wherein the landing gear device is a landing gear device as described above.
  • the functional module is an image acquisition device.
  • the functional module is a pan/tilt.
  • the number of landing gear bodies is two.
  • the UAV and the landing gear device of the embodiment of the present application drive the landing gear body to lift and lower by the first connecting mechanism and the second connecting mechanism, and fold and fold the landing gear body On both sides of the fuselage, it not only reduces the unnecessary resistance of the landing gear body to the unmanned aerial vehicle in the air, but also improves the flight performance of the unmanned aerial vehicle, and also increases the functional space of the unmanned aerial vehicle when flying.
  • the landing gear device is prevented from obscuring the shooting angle of the image capturing device, thereby improving the shooting performance of the unmanned aerial vehicle having the image capturing device; and, when the UAV is not used, The unmanned aerial vehicle with this landing gear device is also made easier to carry and store.
  • FIG. 1 is a schematic structural view of a landing gear device according to an embodiment of the present invention, wherein the landing gear body is removed;
  • FIG. 2 is a schematic structural view of a power mechanism of the landing gear device shown in FIG. 1;
  • Figure 3 is a schematic view showing the structure of the power mechanism of the landing gear device shown in Figure 1 from another angle;
  • Figure 4 is a view showing the landing gear body of the landing gear device shown in Figure 1 driven by the second connecting mechanism Schematic diagram of the movement of the lifting movement.
  • FIG. 5 is a schematic diagram of an unmanned aerial vehicle provided by another embodiment of the present application.
  • connection In the description of the present application, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise specifically defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meanings of the above terms in the present application can be understood in the specific circumstances for those skilled in the art.
  • FIG. 1 it is a schematic structural view of a landing gear device 100 provided by one of the embodiments of the present application.
  • the landing gear apparatus 100 of the present application includes a landing gear body 40 (see FIG. 4), a power mechanism 10, a first coupling mechanism 20, and a second coupling mechanism 30.
  • the first connecting mechanism 20 is connected to the power mechanism 10, and can be rotated by the driving of the power mechanism 10; one end of the second connecting mechanism 30 is fixedly connected to the first connecting mechanism 20, and the The oscillating motion is performed by the rotation of the first link mechanism 20.
  • the second connection mechanism 30 can swing around the first connection mechanism.
  • the other end of the second connecting mechanism 30 is coupled to the landing gear body 40 (not shown in FIG. 1), and the landing gear body 40 is driven by the oscillating motion of the second connecting mechanism 30.
  • the aircraft 200 performs a lifting motion.
  • the landing gear device 100 further includes a housing 54 in which the power mechanism 10, the first coupling mechanism 20, and the second coupling mechanism 30 are all disposed.
  • the housing 54 is also provided with a holder 56 for fixing the first coupling mechanism 20, and the end of the first coupling mechanism 20 is received in the holder 56.
  • the power mechanism 10 includes a motor 11 and a reduction gear assembly 12.
  • One end of the reduction gear assembly 12 is coupled to the output shaft 111 of the motor 11, and the other end of the reduction gear assembly 12 is coupled to the first coupling mechanism 20.
  • the motor 11 rotates
  • the first coupling mechanism 20 is rotated by the reduction gear assembly 12.
  • the purpose of the reduction gear assembly 12 is to convert the high rotation speed of the motor 11 to a low rotation speed to drive the first connection mechanism 20 to rotate at a low speed, thereby driving the second connection mechanism 30 to be centered on the first connection mechanism at a lower speed.
  • the swinging finally drives the landing gear body 40 to rise and fall smoothly and stably at a low and suitable speed.
  • the reduction gear assembly 12 includes a gear mounting plate 121, a plurality of gears disposed on the gear mounting plate 121, a support structure 123 for supporting the gear mounting plate 121, and a gear shaft 124 mated with the plurality of gears.
  • the plurality of gears include a first gear set 1221 and a second gear set 1222 that are in mesh with each other, and an output shaft 111 of the motor 11 is coupled to the first gear set 1221, the first connecting mechanism 20 and the The second gear set 1222 is coupled.
  • the gear mounting plate 121 includes a top gear mounting plate 1211, an intermediate gear mounting plate 1212, and a bottom gear mounting plate 1213.
  • the first gear set 1221 is mounted on the bottom gear mounting plate 1213 and the second gear set 1222 is mounted on the intermediate gear mounting plate 1212.
  • the support structure 123 is coupled to the top gear mounting plate 1211 and the bottom gear mounting plate 1213 through the intermediate gear mounting plate 1212.
  • the support structure 123 can be a support column.
  • the first gear set 1221 and the second gear set 1222 may respectively include one or more intermeshing gears, and when one gear rotates, the other gears may be driven to rotate.
  • the first gear set 1221 and the second gear set 1222 are in mesh with each other, and the second gear set 1222 is coupled to the first connecting mechanism 20, thus, when the motor 11 is driven When the first gear set 1221 rotates, the first gear set 1221 drives the second gear set 1222 to rotate, and the second gear set 1222 further drives the first connecting mechanism 20 to rotate.
  • the motor 11 is powered on
  • the first gear set 1221 is rotated under the rotation of the output shaft 111 of the motor 11, and the first gear set 1221 further drives the second gear set 1222 engaged with the second gear set 1222 to rotate.
  • the gear set 1222 rotates, the first connecting mechanism 20 is rotated.
  • first connecting mechanism 20 and the second connecting mechanism 30 are both rods.
  • the first connecting mechanism 20 and the second connecting mechanism 30 are fixedly coupled to form a crank structure.
  • the first connecting mechanism 20 and the second connecting mechanism 30 are not movable relative to each other.
  • First connection mechanism 20 and second The connecting mechanism 30 may be a metal rod, an alloy plate or the like having a shaft-like structure.
  • first connecting mechanism 20 is further provided with a loosening structure that closely cooperates with the second connecting mechanism 30, and the first connecting mechanism 20 is fixedly connected to the second connecting mechanism 30 by the anti-loose structure.
  • the second connecting mechanism 20 is provided at one end fixedly connected with the first connecting mechanism 20 with a connecting seat 31.
  • the connecting seat 32 has a cavity inside for the first connecting mechanism 20 to pass through. And the inner wall of the cavity cooperates with the anti-loose structure of the first connecting mechanism 20.
  • the anti-loose structure is a flat surface 21 symmetrically disposed on the surface of the rod body of the first connecting mechanism 20, and the inner wall of the cavity of the connecting base 31 of the second connecting mechanism 30 is provided with the two A flat surface 21 mates with a second flat surface.
  • the first connecting mechanism 20 and the second connecting mechanism 30 are provided with a flat surface that cooperates with each other, so that the second connecting mechanism 30 can be firmly sleeved on the first connecting mechanism 20 to prevent the second connecting mechanism 30 from being connected with respect to the first connection.
  • the mechanism 20 slips.
  • the anti-loose structure may also be a thread structure or a snap structure.
  • the anti-loose structure may be a thread disposed on a surface of the rod body of the first connecting mechanism 20, and the inner wall of the cavity of the connecting seat 31 of the second connecting mechanism 30 is provided with a thread matched thereto, thereby making the first The connecting mechanism 20 and the second connecting mechanism 30 are fixedly connected by screwing.
  • One end of the second connecting mechanism 30 remote from the connecting seat 31 includes a connecting shaft 32 that is coupled to the landing gear body 40.
  • the connecting shaft 32 is provided with a thread, and the second connecting mechanism 30 is connected to the landing gear by the thread.
  • the second connecting mechanism 30 performs the oscillating motion, the landing gear is driven to perform the lifting movement (ie, the oscillating motion) with respect to the unmanned aerial vehicle.
  • FIG. 4 it is a schematic structural view of the second connecting mechanism 30 of the present application for driving the landing gear body 40 to perform lifting movement.
  • the landing gear body 40 connected to the second connecting mechanism 30 swings with the second connecting mechanism 30 . And swing.
  • the second connecting mechanism 30 and the landing gear body 40 can be fixed by screwing or screwing, for example, by integral molding, screw connection or snap connection, which is not limited in the application.
  • the landing gear device 100 further includes a limiting portion 53 that is disposed at a distance from each other on both sides of the swinging direction of the second connecting mechanism 30.
  • the second connecting mechanism 30 performs an oscillating motion by the rotational movement of the first connecting mechanism 20, when the second connecting mechanism 30 swings to the maximum angle, the second connecting mechanism 30 abuts the two limiting portions 53 to limit the magnitude of the swing angle ⁇ of the second connecting mechanism 30 within a predetermined range.
  • the two stopper members 53 restrict the swing angle ⁇ of the second link mechanism 30 to a range of 0 to 130°.
  • the limiting portion 53 is a rod.
  • the shape of the limiting portion 53 is not limited thereto, and may be, for example, a limiting block, a limiting plate or a limiting surface.
  • the landing gear device 100 further includes a shock absorbing structure 51 mounted on the first connecting mechanism 20 and adjacent to the joint of the first connecting mechanism 20 and the second connecting mechanism 30 .
  • the outer ring of the shock absorbing structure 51 is provided with a damper ring, and the damper ring is closely matched with the outer casing 54 of the landing gear device 100, and the two may be an interference fit or a clearance fit.
  • the damper ring functions to absorb the impact force of the landing gear body 40 on the first connecting mechanism 20 when the UAV is landing, to protect the first connecting mechanism 20 and prevent the first connecting mechanism 20 from being deformed.
  • the damping ring can be made of rubber.
  • the shock absorbing structure 51 is a bearing that is sleeved on the first connecting mechanism 20.
  • the landing gear device 100 further includes a self-locking device 52 for locking the landing gear body 40 when the power mechanism 10 is powered off.
  • the self-locking device 52 is in a self-locking state (the power mechanism 10 is broken).
  • the self-locking device 52 is engaged with a groove provided at the top of the first connecting mechanism 20 (not shown), and the self-locking device 52 prevents the landing gear body 40 from being generated when the power mechanism 10 is powered off. The phenomenon of decline.
  • the reduction gear assembly 12 When the motor 11 is energized, the reduction gear assembly 12 is driven to rotate, the reduction gear assembly 12 converts the high rotation speed of the motor 11 to a low rotation speed, and drives the first connection mechanism 20 to rotate, and the first connection mechanism 20 drives the second connection mechanism 30 to swing.
  • the second attachment mechanism 30 drives the landing gear body 40 up or down relative to the UAV 200.
  • the landing gear apparatus 100 of the embodiment of the present application may be adapted to be mounted or connected to a movable object such as a motorized and non-motorized vehicle or a ship, a robot, a human body or an animal body, etc., in addition to an unmanned aerial vehicle.
  • a movable object such as a motorized and non-motorized vehicle or a ship, a robot, a human body or an animal body, etc., in addition to an unmanned aerial vehicle.
  • the landing gear device of the embodiment of the present invention drives the landing gear body to perform the lifting movement through the first connecting mechanism and the second connecting mechanism.
  • the landing gear of the embodiment of the present application The device can be folded up and folded to the two sides of the fuselage, so that the landing gear device can be effectively prevented from obscuring the shooting angle, thereby improving the shooting effect and satisfying the customer's needs.
  • the swing angle of the second connecting mechanism is 0-130°
  • the upward swinging angle of the corresponding landing gear body can be up to 130°. Therefore, the landing gear body can be folded to 130° in the direction of the fuselage, and is located in the fuselage.
  • the UAV 200 includes a body 201, a boom 202, and a landing gear device 100 as described in the above embodiments.
  • the arm 202 is connected to the body 201.
  • the arm 202 can also be integrally formed with the body 201.
  • the number of landing gear devices 100 is two. In other embodiments, the number of landing gear devices 100 may be greater than two, and the plurality of landing gear devices 100 are evenly distributed around the fuselage 201.
  • the UAV 200 is a quadrotor. It can be understood that the UAV 200 can also be other multi-rotor aircraft, such as a six-rotor aircraft, an eight-rotor aircraft, a twelve-rotor aircraft, and the like.
  • the body 201 is a hollow housing structure.
  • the body 201 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 A flight control module that controls the flight attitude of the unmanned aerial vehicle, a GPS module for navigating the drone, and a data processing module for processing environmental information acquired by the relevant onboard equipment.
  • the two landing gear devices 100 are connected to the body 201 and are respectively mounted on opposite sides of the body 201.
  • the landing gear device 100 is used to support the UAV 200 when it is taken off, landed, or ground (surface), or as an accessory component of the UAV 200 moving on the ground (surface).
  • the landing gear device 100 as a component that supports the entire UAV 200, plays an important role in the safe take-off and landing of the UAV 200.
  • the landing gear body 40 can be lowered or stowed relative to the body 201 under the drive of the power mechanism 10. In the drawing, the state in which the landing gear body 40 is in the stowed position P1 and the lowered position P2, respectively, is schematically shown.
  • the UAV 200 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 202, and the propeller is mounted to the power motor.
  • the output shaft is configured to generate lift or thrust for the UAV 200 to fly under the drive of the power motor.
  • the pan/tilt includes a camera having a photographing function, and is usually installed on the bottom side of the body 201 of the unmanned aerial vehicle 200 in order to facilitate image acquisition.
  • the landing gear device 100 of the UAV 200 of the present embodiment drives the landing gear body 40 by the power mechanism 10, and rotates from the lowered position P2 to the stowed position P1, so that the landing gear body can be avoided in the flying state of the UAV 200.
  • 40 The angle at which the camera of the gimbal is blocked.
  • the landing gear body 40 is rotatably entered into the stowed/down position by electronic control. Specifically, in the stowed position, the landing gear body 40 is deployed upward to the position P1, substantially parallel to the horizontal plane, and the functional space of the unmanned aerial vehicle 200 can be increased, for example, the shooting of the head mounted on the unmanned aerial vehicle 200 is increased. Perspective. In the lowered position, the landing gear body 40 is rotated downward to a position P2 that is generally parallel with the vertical surface, at which time the landing gear body 40 can support the body 201 to rest on a surface, such as the ground. The stowage of the landing gear body 40 is similar to the two-wing deployment of the bird, and the lowering of the landing gear body 40 is similar to the folding of the wings of the bird.
  • an image capturing device is provided, such as a pan/tilt head having a photographing function, and the stowed position of the landing gear body 40 is located in a shooting angle range of the image capturing device. outer. This configuration is advantageous for improving the photographing performance of the UAV 200.
  • the rotation angle ⁇ of the landing gear body 40 is defined to be less than 130°.
  • the UAV and the landing gear device of the embodiment of the present application drive the landing gear body to lift and lower by the first connecting mechanism and the second connecting mechanism, and fold and fold the landing gear body
  • Both sides of the fuselage not only reduce the unnecessary resistance of the landing gear body to the unmanned aerial vehicle in the air, but also improve the flight performance of the unmanned aerial vehicle, and also increase the functional space of the unmanned aerial vehicle during flight, especially
  • the landing gear device is prevented from obscuring the shooting angle of the image capturing device, thereby improving the shooting performance of the unmanned aerial vehicle having the image capturing device; and, when not using the unmanned aerial vehicle,
  • the unmanned aerial vehicle with this landing gear device is made easier to carry and store.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种无人飞行器（200）及其起落架装置（100），该起落架装置（100）包括：起落架本体（40）；动力机构（10）；第一连接机构（20），与所述动力机构（10）连接，在所述动力机构（10）的驱动下，做旋转运动；第二连接机构（30），一端与所述第一连接机构（20）固定连接，在所述第一连接机构（20）的旋转运动的带动下，以所述第一连接机构（20）为中心做摆动运动，另一端与所述起落架本体（40）连接，所述起落架本体（40）在所述第二连接机构（30）摆动运动的带动下，相对所述无人飞行器（200）做升降运动。该无人飞行器（200）及其起落架装置（100），既减小起落架本体（40）在空中对无人飞行器（200）造成的不必要的阻力，改善了无人飞行器（200）的飞行性能，也避免了起落架装置（100）遮挡影像获取装置的拍摄视角，改善其拍摄性能；并且，也更便于携带和收纳。

Description

无人飞行器及其起落架装置
本申请要求于2016年11月28日提交中国专利局、申请号为201621283367.X、申请名称为“无人飞行器及其起落架升降装置”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。
技术领域
本申请涉及飞行器技术领域，特别涉及一种无人飞行器及其起落架装置。
背景技术
无人飞行器(Unmanned Aerial Vehicle，UAV)是指利用无线电遥控设备和自备的程序控制装置操控的不载人飞机。无人飞行器早期使用在军用领域，随着科学的发展，逐渐扩展到消费领域。目前无人飞行器广泛用于街景拍摄、影视剧拍摄、环境监测、地质勘测、地图绘制、农林牧业的监测等诸多领域。
通常，无人飞行器的机身上设置两个起落架，两个起落架用于无人飞行器在地面停放、起飞着陆时支撑无人飞行器的重力。由于在无人飞行器的底部通常安装有具备拍摄功能的云台，在航拍过程中，固定式起落架会遮挡云台的航拍视野，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。
发明内容
为了解决现有技术中存在起落架容易遮挡云台拍摄视角的技术问题，本申请提供一种起落架装置以及具有该起落架装置的无人飞行器。
为了解决上述技术问题，本申请实施例提供以下技术方案：
一种起落架装置，用于无人飞行器，所述起落架装置包括：起落架本体；动力机构；第一连接机构，与所述动力机构连接，在所述动力机构的驱动下，做旋转运动；第二连接机构，所述第二连接机构的一端与所述第一连接机构固定连接，在所述第一连接机构的旋转运动的带动下，做摆动运动，所述第二连接机构的另一端与所述起落架本体连接，所述起落架本体在所述第二连接机构 的摆动运动的带动下，相对所述无人飞行器做升降运动。
在一些实施例中，所述第一连接机构和/或所述第二连接机构为杆体。
在一些实施例中，所述第一连接机构和第二连接机构构成一曲柄结构。
在一些实施例中，所述第一连接机构设有与所述第二连接机构进行紧密配合的防松脱结构，所述第一连接机构通过所述防松脱结构与所述第二连接机构固定连接。
在一些实施例中，所述第二连接机构在与所述第一连接机构固定连接的一端设置有连接座，所述连接座内部具有一空腔，供所述第一连接机构穿过，且所述空腔内壁与所述第一连接机构的防松脱结构配合。
在一些实施例中，所述第一连接机构为杆体，所述防松脱结构为对称设置在所述杆体的表面的第一扁平面，所述第二连接机构的连接座的空腔内壁上设置有与所述第一扁平面相配合的第二扁平面。
在一些实施例中，所述第一连接机构为杆体，所述防松脱结构为设置在所述杆体的表面的第一螺纹，所述第二连接机构的连接座的空腔内壁上设置有与所述第一螺纹相配合的第二螺纹。
在一些实施例中，所述第二连接机构在与所述起落架本体连接的所述另一端与所述起落架本体通过螺纹连接或通过螺钉连接。
在一些实施例中，所述起落架装置还设置有彼此间隔的两个限位部，当所述第二连接机构在所述第一连接机构的旋转运动的带动下做摆动运动时，所述第二连接机构抵接所述两个限位部，以将所述第二连接机构的摆动角度限制在预定的范围内。
在一些实施例中，所述限位部为限位杆、限位块、限位板或限位面。
在一些实施例中，所述第二连接机构的摆动角度为0～130°。
在一些实施例中，所述起落架装置还包括外壳，所述动力机构、所述第一连接机构和所述第二连接机构均装设在所述外壳中。
在一些实施例中，所述起落架装置还包括减震结构，所述减震结构装设在所述第一连接机构上，以吸收所述起落架本体在所述无人飞行器降落时对所述第一连接机构造成的冲击力。
在一些实施例中，所述减震结构为套设在所述第一连接机构上的轴承。
在一些实施例中，所述减震结构的外圈上设置有减震圈，所述减震圈与所 述起落架装置的外壳紧密配合。
在一些实施例中，所述外壳上还设置有用于固定所述第一连接机构的支座，所述第一连接机构的末端收容在所述支座中。
在一些实施例中，所述动力机构包括电机和减速齿轮组件，所述减速齿轮组件的一端连接所述电机的输出轴，所述减速齿轮组件的另一端连接所述第一连接机构，当所述电机转动时，通过所述减速齿轮组件带动所述第一连接机构转动。
在一些实施例中，所述减速齿轮组件包括第一齿轮组和第二齿轮组，所述电机的输出轴与所述第一齿轮组连接，所述第一连接机构与所述第二齿轮相连接。
在一些实施例中，所述第一齿轮组与所述第二齿轮组相互啮合。
在一些实施例中，所述减速齿轮组件还包括齿轮轴，所述齿轮轴与所述第一齿轮组和/或所述第二齿轮组相配合。
在一些实施例中，所述减速齿轮组件还包括齿轮安装板和用于支撑所述齿轮安装板的支撑结构，所述第一齿轮组和所述第二齿轮组设置在所述齿轮安装板上。
在一些实施例中，所述起落架装置还包括自锁装置，所述自锁装置用于在所述动力机构断电时锁死所述起落架本体。
在一些实施例中，所述第一连接机构上设置有凹槽，所述自锁装置在自锁状态下，与所述第一连接机构的凹槽卡合。
为解决上述技术问题，本申请实施例还提供以下技术方案：
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。
在一些实施例中，所述无人飞行器为多旋翼飞行器。
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机构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。
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。
为解决上述技术问题，本申请实施例还提供以下技术方案：
一种无人飞行器，包括：机身；机臂，所述机臂与所述机身相连接；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；以及功能模块，所述功能模块安装在所述机身的下方；其中，所述起落架装置为如上所述的起落架装置。
在一些实施例中，所述功能模块为影像获取装置。
在一些实施例中，所述功能模块为云台。
在一些实施例中，所述起落架本体的数量为两个。
本申请的实施例提供的技术方案可以包括以下有益效果：
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，通过第一连接机构和第二连接机构驱动起落架本体进行升降进行，并且将所述起落架本体收起并折叠于机身的两侧，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。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并于说明书一起用于解释本申请的原理。
图1为本申请一实施例提供的起落架装置的结构示意图，其中，起落架本体被移除；
图2为图1所示的起落架装置的动力机构的结构示意图；
图3为本从另一角度示出的图1所示的起落架装置的动力机构的结构示意图；以及
图4为图1所示的起落架装置中的起落架本体在第二连接机构的带动下进 行升降运动的结构示意图。
图5为本申请另一实施例提供的无人飞行器的示例图。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”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”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
此外，下面所描述的本申请不同实施方式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。
如图1所示，其为本申请的其中一个实施例提供的起落架装置100的结构示意图，为了便于观察和说明，在图1中去掉了起落架装置的起落架本体40。本申请的起落架装置100包括起落架本体40(参见图4)、动力机构10、第一连接机构20以及第二连接机构30。
其中，第一连接机构20与动力机构10连接，能够在所述动力机构10的驱动下，进行旋转运动；第二连接机构30的一端与所述第一连接机构20固定连接，能够在所述第一连接机构20的旋转运动的带动下，进行摆动运动。具体地，第二连接机构30能够以第一连接机构为中心摆动。第二连接机构30的另一端与所述起落架本体40(图1未示出)连接，所述起落架本体40在所述第二连接机构30的摆动运动的带动下，相对所述无人飞行器200做升降运动。
该起落架装置100还包括一外壳54，动力机构10、第一连接机构20、第二连接机构30均布设在该外壳54内。外壳54上还设置有用于固定第一连接机构20的支座56，所述第一连接机构20的末端收容在所述支座56中。
动力机构10包括电机11和减速齿轮组件12。减速齿轮组件12的一端连接电机11的输出轴111，减速齿轮组件12的另一端连接第一连接机构20，当电机11转动时，通过减速齿轮组件12带动所述第一连接机构20转动。设置减速齿轮组件12的目的是，将电机11的高转速转变为低转速，以带动第一连接机构20低速旋转，进而带动第二连接机构30在较低的速度下以第一连接机构为中心摆动，最终带动起落架本体40以较低的且适宜的速度平缓、稳定地进行升降。
结合图2和图3所示，进一步示出本实施例的起落架装置100的动力机构10的结构示意图。减速齿轮组件12包括齿轮安装板121、设置在齿轮安装板121上的多个齿轮、用于支撑齿轮安装板121的支撑结构123以及与多个齿轮相配合的齿轮轴124。具体地，多个齿轮包括相互啮合的第一齿轮组1221和第二齿轮组1222，所述电机11的输出轴111与所述第一齿轮组1221连接，所述第一连接机构20与所述第二齿轮组1222相连接。
齿轮安装板121包括顶层齿轮安装板1211、中间齿轮安装板1212和底层齿轮安装板1213。第一齿轮组1221安装在底层齿轮安装板1213上，第二齿轮组1222安装在中间齿轮安装板1212上。支撑结构123穿过中间齿轮安装板1212连接顶层齿轮安装板1211和底层齿轮安装板1213。其中，支撑结构123可以是一支撑柱。其中，第一齿轮组1221和第二齿轮组1222中可以分别包括一个或多个相互啮合的齿轮，当一个齿轮进行转动时，可以带动其他齿轮转动。
由于电机11的输出轴111与第一齿轮组1221连接，第一齿轮组1221与第二齿轮组1222相互啮合，第二齿轮组1222再与第一连接机构20相连接，因此，当电机11驱动第一齿轮组1221转动时，第一齿轮组1221带动第二齿轮组1222转动，第二齿轮组1222进一步带动第一连接机构20旋转。具体地，当电机11上电工作时，在电机11的输出轴111的旋转下，带动第一齿轮组1221旋转，第一齿轮组1221进一步带动与之啮合的第二齿轮组1222转动，第二齿轮组1222转动时，带动第一连接机构20旋转。
再次回到图1，在本实施例中，第一连接机构20和第二连接机构30均为杆体。第一连接机构20和第二连接机构30固定连接，构成一曲柄结构。所述第一连接机构20和第二连接机构30两者不可相对运动。第一连接机构20和第二 连接机构30可以是金属棒、合金板等类似轴的结构。在第一连接机构20旋转时，带动与其固定连接的第二连接机构30以第一连接机构20为中心做摆动运动。
进一步地，第一连接机构20上还设有与第二连接机构30进行紧密配合的防松脱结构，所述第一连接机构20通过该防松脱结构与所述第二连接机构30固定连接。结合图1，所述第二连接机构20在与所述第一连接机构20固定连接的一端设置有连接座31，所述连接座32内部具有一空腔，供所述第一连接机构20穿过，且所述空腔内壁与所述第一连接机构20的防松脱结构配合。
在本实施例中，所述防松脱结构为对称设置在第一连接机构20的杆体表面的扁平面21，所述第二连接机构30的连接座31的空腔内壁上设置有与该两个扁平面21相配合的第二扁平面。在第一连接机构20和第二连接机构30上设置相互配合的扁平面，能够将第二连接机构30牢固地套设在第一连接机构20上，防止第二连接机构30相对于第一连接机构20发生滑动。
应理解，在其他实现方式中，不限于为图2所示的防松脱结构，该防松脱结构还可以是螺纹结构或卡扣结构。例如，所述防松脱结构可以为设置在第一连接机构20的杆体表面的螺纹，而第二连接机构30的连接座31的空腔内壁上设置有与其相配合的螺纹，从而使得第一连接机构20和第二连接机构30以螺纹连接的方式固定连接。
第二连接机构30的远离连接座31的一端包括与起落架本体40连接的连接轴32。连接轴32上设置有螺纹，第二连接机构30通过该螺纹与起落架连接。第二连接机构30在做摆动运动时，带动起落架相对无人飞行器做升降运动(即摆动运动)。
如图4所示，其为本申请的第二连接机构30带动起落架本体40进行升降运动的结构示意图，与该第二连接机构30连接的起落架本体40随着第二连接机构30的摆动而摆动。可以理解的是，第二连接机构30与起落架本体40除了可以通过螺纹旋紧连接外，也可以通过诸如一体成型、螺钉连接或卡扣连接的方式进行固定，本申请不作限定。
进一步地，起落架装置100还包括彼此间隔地设置在第二连接机构30摆动方向两侧的限位部53。当第二连接机构30在第一连接机构20的旋转运动的带动下做摆动运动时，当第二连接机构30摆动到最大角度时，所述第二连接机构 30抵接所述两个限位部53，以将第二连接机构30的摆动角度θ的大小限制在预定的范围内。在本实施例中，如图4所示，两限位部件53将第二连接机构30的摆动角度θ限制在0～130°的范围内。
在本实施例中，限位部53为杆状件。在其他实现方式中，限位部53的形状不限于此，例如，可以是限位块、限位板或限位面。
进一步，如图1所示，起落架装置100还包括减震结构51，该减震结构51装设在第一连接机构20上，且靠近第一连接机构20和第二连接机构30的连接处。该减震结构51的外圈上设置有减震圈，减震圈与起落架装置100的外壳54紧密配合，两者可以是过盈配合或间隙配合。该减震圈的作用在于：当无人飞行器降落时，吸收起落架本体40对第一连接机构20造成的冲击力，保护第一连接机构20，预防第一连接机构20变形。减震圈的材质可以为橡胶的。在优选实施方式中，所述减震结构51为套设在所述第一连接机构20上的轴承。
进一步，如图1所示，起落架装置100还包括用于在动力机构10断电时锁死起落架本体40的自锁装置52，该自锁装置52在自锁状态下(动力机构10断电时)，自锁装置52与设置在第一连接机构20顶部的凹槽进行卡合(未图示)，通过自锁装置52防止起落架本体40在动力机构10断电的情况下，发生下滑的现象。
本申请实施例的起落架装置的工作过程如下：
当电机11通电后，带动减速齿轮组件12转动，减速齿轮组件12将电机11的高转速转变为低转速，并带动第一连接机构20旋转，第一连接机构20带动第二连接机构30摆动，第二连接机构30带动起落架本体40相对于无人飞行器200进行上升或下降。通过改变电机11的转向，可以改变第二连接机构30的摆动方向和起落架本体40的移动方向，从而选择起落架本体40的动作是上升还是下降。
本申请实施例的起落架装置100除了用于无人飞行器，还可适用于安装或连接至可移动物体，如机动和非机动车辆或船只、机器人、人体或动物躯体等。
与现有技术相比，本申请实施例的起落架装置，通过第一连接机构和第二连接机构驱动起落架本体进行升降运动，在无人飞行器的航拍过程中，本申请实施例的起落架装置可以收起并折叠至机身的两侧，从而可以有效避免起落架装置遮挡拍摄视角，进而改善了拍摄效果，很好地满足了客户的需求。此外， 因第二连接机构的摆动角度大小为0～130°，相应的起落架本体的向上摆动的角度最大可达到130°，因此，起落架本体可向机身的方向折叠至130°，位于机身的两侧，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；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。
参见图5，为本申请的另一个实施例提供的一种无人飞行器200的立体图。该无人飞行器200包括机身201、机臂202和上述实施例中所述的起落架装置100。其中，机臂202与机身201相连接。在另一实现方式中，机臂202也可以与机身201一体成型。
在本实施例中，起落架装置100的数量为两个。在其他实施例中，起落架装置100的数量可以大于两个，多个起落架装置100均匀分布于机身201的四周。在本实施方式中，所述无人飞行器200为四旋翼飞行器。可以理解，所述无人飞行器200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。
机身201为一中空的壳体结构。所述机身201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。
两个起落架装置100与机身201相连接，分别装设在机身201的相对两侧。起落架装置100用于在无人飞行器200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200在地面(水面)移动的附属部件。起落架装置100作为支撑整个无人飞行器200的部件，在无人飞行器200的安全起降过程中负担着重要作用。起落架本体40能够在动力机构10的驱动下相对于机身201放下或收起。在图中，示意性地示出了起落架本体40分别处于收起位置P1和放下位置P2的状态。
该无人飞行器200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202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200飞行的升力或推力。
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200的机身201底侧。
本实施例的无人飞行器200的起落架装置100，通过动力机构10驱动其起落架本体40，从放下位置P2转动至收起位置P1，能够在无人飞行器200的飞行状态下避免起落架本体40遮挡云台的摄像机的拍摄角度。
起落架本体40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40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200的功能空间，例如，增加无人飞行器200搭载的云台的拍摄视角。在放下位置，起落架本体40向下旋转至位置P2，与竖直面大体平行，这时该起落架本体40能够支撑机身201停靠于一表面，例如：地面。起落架本体40的收起与飞鸟的双翅展开类似，起落架本体40的放下与飞鸟的双翅收拢类似。
值得一提的是，对于该无人飞行器200的底侧设有影像获取装置，例如具有拍摄功能的云台的情形，该起落架本体40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200的拍摄性能。
在本实施例中，起落架本体40的旋转角度θ限定为小于130°。
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，通过第一连接机构和第二连接机构驱动起落架本体进行升降，并且将所述起落架本体收起并折叠于机身的两侧，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。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换； 而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (31)

  1. 一种起落架装置(100)，用于无人飞行器(200)，其特征在于，所述起落架装置(100)包括：
    起落架本体(40)；
    动力机构(10)；
    第一连接机构(20)，与所述动力机构(10)连接，在所述动力机构(10)的驱动下，做旋转运动；
    第二连接机构(30)，所述第二连接机构(30)的一端与所述第一连接机构(20)固定连接，在所述第一连接机构(20)的旋转运动的带动下，做摆动运动；所述第二连接机构(30)的另一端与所述起落架本体(40)连接，所述起落架本体(40)在所述第二连接机构(30)的摆动运动的带动下，相对所述无人飞行器(200)做升降运动。
  2. 根据权利要求1所述的起落架装置(100)，其特征在于，所述第一连接机构(20)和/或所述第二连接机构(30)为杆体。
  3. 根据权利要求1或2所述的起落架装置(100)，其特征在于，所述第一连接机构(20)和第二连接机构(30)构成一曲柄结构。
  4. 根据权利要求1-3任一项所述的起落架装置(100)，其特征在于，所述第一连接机构(20)设有与所述第二连接机构(30)进行紧密配合的防松脱结构，所述第一连接机构(20)通过所述防松脱结构与所述第二连接机构(30)固定连接。
  5. 根据权利要求4所述的起落架装置，其特征在于，所述第二连接机构(20)在与所述第一连接机构(20)固定连接的一端设置有连接座(31)，所述连接座(32)内部具有一空腔，供所述第一连接机构(20)穿过，且所述空腔内壁与所述第一连接机构(20)的防松脱结构配合。
  6. 根据权利要求5所述的起落架装置(100)，其特征在于，所述第一连接 机构(20)为杆体，所述防松脱结构为对称设置在所述杆体的表面的第一扁平面(21)，所述第二连接机构(30)的连接座(31)的空腔内壁上设置有与所述第一扁平面(21)相配合的第二扁平面。
  7. 根据权利要求5所述的起落架装置(100)，其特征在于，所述第一连接机构(20)为杆体，所述防松脱结构为设置在所述杆体的表面的第一螺纹，所述第二连接机构(30)的连接座(31)的空腔内壁上设置有与所述第一螺纹相配合的第二螺纹。
  8. 根据权利要求1-7任一项所述的起落架装置(100)，其特征在于，所述第二连接机构(30)在与所述起落架本体(40)连接的所述另一端与所述起落架本体(40)通过螺纹连接或通过螺钉连接。
  9. 根据权利要求1-8任一项所述的起落架装置(100)，其特征在于，所述起落架装置(100)还设置有彼此间隔的两个限位部(53)，当所述第二连接机构(30)在所述第一连接机构(20)的旋转运动的带动下做摆动运动时，所述第二连接机构(30)抵接所述两个限位部(53)，以将所述第二连接机构(30)的摆动角度限制在预定的范围内。
  10. 根据权利要求9所述的起落架装置(100)，其特征在于，所述限位部(53)为限位杆、限位块、限位板或限位面。
  11. 根据权利要求1-10任一项所述的起落架装置(100)，其特征在于，所述第二连接机构(30)的摆动角度为0～130°。
  12. 根据权利要求1-11任一项所述的起落架装置(100)，其特征在于，还包括外壳(54)，所述动力机构(10)、所述第一连接机构(20)和所述第二连接机构(30)均装设在所述外壳(54)中。
  13. 根据权利要求12所述的起落架装置(100)，其特征在于，所述起落架 装置(100)还包括减震结构(51)，所述减震结构(51)装设在所述第一连接机构(20)上，以吸收所述起落架本体(40)在所述无人飞行器(200)降落时对所述第一连接机构(20)造成的冲击力。
  14. 根据权利要求13所述的起落架装置(100)，其特征在于，所述减震结构(51)为套设在所述第一连接机构(20)上的轴承。
  15. 根据权利要求14所述的起落架装置(100)，其特征在于，所述减震结构(51)的外圈上设置有减震圈，所述减震圈与所述起落架装置(100)的外壳(54)紧密配合。
  16. 根据权利要求12-14任一项所述的起落架装置(100)，其特征在于，所述外壳(54)上还设置有用于固定所述第一连接机构(20)的支座(56)，所述第一连接机构(20)的末端收容在所述支座(56)中。
  17. 根据权利要求1-16任一项所述的起落架装置(100)，其特征在于，所述动力机构(10)包括电机(11)和减速齿轮组件(12)，所述减速齿轮组件(12)的一端连接所述电机(11)的输出轴(111)，所述减速齿轮组件(12)的另一端连接所述第一连接机构(20)，当所述电机(11)转动时，通过所述减速齿轮组件(12)带动所述第一连接机构(20)转动。
  18. 根据权利要求17所述的起落架装置(100)，其特征在于，所述减速齿轮组件(12)包括第一齿轮组(1221)和第二齿轮组(1222)，所述电机(11)的输出轴(111)与所述第一齿轮组(1221)连接，所述第一连接机构(20)与所述第二齿轮(1222)相连接。
  19. 根据权利要求18所述的起落架装置(100)，其特征在于，所述第一齿轮组(1221)与所述第二齿轮组(1222)相互啮合。
  20. 根据权利要求18或19所述的起落架装置(100)，其特征在于，所述减速齿轮组件(12)还包括齿轮轴(124)，所述齿轮轴(124)与所述第一齿轮 组(1221)和/或所述第二齿轮组(1222)相配合。
  21. 根据权利要求18-20任一项所述的起落架装置(100)，其特征在于，所述减速齿轮组件(12)还包括齿轮安装板(121)和用于支撑所述齿轮安装板(121)的支撑结构(123)，所述第一齿轮组(1221)和所述第二齿轮组(1222)设置在所述齿轮安装板(121)上。
  22. 根据权利要求1-21任一项所述的起落架装置(100)，其特征在于，所述起落架装置(100)还包括自锁装置(52)，所述自锁装置(52)用于在所述动力机构(10)断电时锁死所述起落架本体(40)。
  23. 根据权利要求22所述的起落架装置(100)，其特征在于，所述第一连接机构(20)上设置有凹槽，所述自锁装置(52)在自锁状态下，与所述第一连接机构(20)的凹槽卡合。
  24. 一种无人飞行器(200)，其特征在于，包括机身(201)和如权利要求1-23任一项所述的起落架装置(100)，所述起落架装置(100)与所述机身(201)相连接。
  25. 根据权利要求24所述的无人飞行器(200)，其特征在于，所述无人飞行器(200)为多旋翼飞行器。
  26. 根据权利要求24或25所述的无人飞行器(200)，其特征在于，所述无人飞行器具有两个所述起落架装置(100)，分别装设在所述机身(201)的相对两侧；所述起落架装置(100)的所述动力机构(10)使得所述起落架本体(40)相对所述机身(201)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(40)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(200)的功能空间。
  27. 根据权利要求24-26任一项所述的无人飞行器(200)，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(40)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。
  28. 一种无人飞行器(200)，其特征在于，包括：
    机身(201)；
    机臂(202)，所述机臂(202)与所述机身(201)相连接；
    起落架装置(100)，所述起落架装置(100)与所述机身(201)相连接，所述起落架装置(100)能够相对于所述机身(201)放下或收起；以及
    功能模块，所述功能模块安装在所述机身(201)的下方；
    其中，所述起落架装置(100)为权利要求1-23任一项所述的起落架装置(100)。
  29. 根据权利要求28所述的无人飞行器(100)，其特征在于，所述功能模块为影像获取装置。
  30. 根据权利要求28所述的无人飞行器(100)，其特征在于，所述功能模块为云台。
  31. 根据权利要求28-30任一项所述的无人飞行器(100)，其特征在于，所述起落架本体(40)的数量为两个。
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