WO2018120044A1

WO2018120044A1 - Unmanned aerial vehicle and landing gear system thereof

Info

Publication number: WO2018120044A1
Application number: PCT/CN2016/113565
Authority: WO
Inventors: 刘利剑
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-12-30
Filing date: 2016-12-30
Publication date: 2018-07-05
Also published as: CN107000831A; CN107000831B

Abstract

An unmanned aerial vehicle and a landing gear system thereof. The landing gear system (1) comprises: a drive mechanism (2), a transmission mechanism (31) and a plurality of landing gear mechanisms (3); the drive mechanism (2) comprises a drive motor and a driving wheel, which retains a transmission connection with the drive motor; the transmission mechanism (31) comprises an axial direction transmission assembly (311), which is driven by the driving wheel, and a radial direction transmission assembly (312), which matches with the axial direction transmission assembly (311); the landing gear mechanism (3) comprises a landing gear (33), which retains a transmission connection with the radial direction transmission assembly (312). By means of the driving wheel, the drive motor drives the axial direction transmission assembly (311) to move along the axial direction, while the axial direction transmission assembly (311) drives the radial direction transmission assembly (312) to move along the radial direction, thereby driving the landing gear (33) to rotate and be released or retracted. The present invention may drive the driving wheel by means of the drive motor, thereby simultaneously controlling a plurality of landing gears to be released or retracted.

Description

Unmanned aerial vehicle and its landing gear system

Technical field

The invention relates to the technical field of drones, in particular to an unmanned aerial vehicle and a landing gear system thereof.

Background technique

The landing gear of the conventional multi-rotor UAV has two structural forms, which are divided into a non-retractable landing gear structure and a retractable landing gear structure.

The non-retractable landing gear structure will cause the unmanned aerial vehicle to be difficult to carry, and will limit the camera's shooting angle when the UAV is in flight, thus affecting the camera's omnidirectional shooting.

The retractable landing gear structure is usually controlled by a fixedly arranged landing gear retracting mechanism. The landing gear structure of this type is heavy and has a large limitation on the arrangement, and is usually only suitable for controlling two landing gears at the same time. Moreover, the landing gear is rigidly connected to the body, and it is easy to cause a large impact on the body when landing.

Summary of the invention

The present invention provides an unmanned aerial vehicle and its landing gear system.

According to a first aspect of an embodiment of the present invention, a landing gear system includes: a drive mechanism, a transmission mechanism, and a plurality of landing gear mechanisms;

The drive mechanism includes a drive motor and a drive wheel that is in driving connection with the drive motor; the transmission mechanism includes an axial drive assembly driven by the drive wheel and the axial transmission a radial drive assembly mated with the movable assembly; the landing gear mechanism including a landing gear that is in driving communication with the radial drive assembly;

The driving motor drives the axial transmission component to move axially through the driving wheel, and the axial transmission component drives the radial transmission component to move in a radial direction, thereby driving the landing gear to rotate or lower Start.

According to a second aspect of an embodiment of the present invention, there is provided an unmanned aerial vehicle comprising: a fuselage and a landing gear system as described above, the landing gear system being coupled to the fuselage.

The landing gear system of the present invention drives the driving wheel to move axially by a driving motor, and then the radial transmission component drives the radial transmission component to move in the radial direction, thereby simultaneously driving the plurality of landing gears to rotate Lowering or stowing can reduce the overall weight of the landing gear system, make the unmanned aerial vehicle with the landing gear system easy to carry, and enable the UAV to avoid the landing gear from obscuring the camera's shooting angle in flight.

The unmanned aerial vehicle of the present invention drives the driving wheel to drive the axial transmission component to move axially through the driving motor of the landing gear system, and then the radial transmission component drives the radial transmission component to move in the radial direction, thereby simultaneously driving a plurality of The falling frame rotates to be lowered or stowed, making the UAV more portable, and enabling the UAV to avoid the landing gear from obscuring the camera's shooting angle in flight.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a top plan view of a landing gear system in accordance with an embodiment of the present invention.

Figure 2 is a cross-sectional view of the landing gear system of Figure 1 taken along the A-A direction.

Figure 3 is a schematic illustration of the landing gear of the landing gear system of Figure 2 with the landing gear lowered and not landing.

4 is a schematic view showing the landing gear of the landing gear system shown in FIG. 2 lowered and landing.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. The following description refers to the same or similar elements in the different figures unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with aspects of the invention as detailed in the appended claims.

The terminology used in the present invention is for the purpose of describing particular embodiments, and is not intended to limit the invention. The singular forms "a", "the" and "the" It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The UAV and its landing gear system of the present invention will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

Embodiments of the present invention provide a landing gear system including: a drive mechanism, a transmission mechanism, and a plurality of landing gear mechanisms. Wherein the drive mechanism includes a drive motor and is secured with the drive motor Drive wheel with drive connection. The transmission mechanism includes an axial drive assembly driven by the drive wheel and a radial drive assembly that mates with the axial drive assembly. The landing gear mechanism includes a landing gear that is in transmission communication with the radial drive assembly. The number of axial drive assemblies and radial drive assemblies is in one-to-one correspondence with the number of landing gears. When the landing gear is retracted, the driving motor drives the axial transmission component to move axially through the driving wheel, and the axial transmission component drives the radial transmission component to move in a radial direction, thereby driving the starting The drop frame is rotated to lower or stow.

It should be noted that, in the landing gear system of the present invention, the transmission mode of the driving motor and the driving wheel drive axial transmission component in the axial direction may at least include the following four transmission modes. In the following, through the specific embodiments, the four transmission modes of the driving motor and the driving wheel drive axial transmission component in the axial direction are respectively introduced in detail.

The first driving method: the driving motor and the driving wheel drive the axial transmission component in the axial direction by using a driving mode in which the driving gear and the gear belt cooperate.

Referring to Figures 1 to 4, in the first driving mode, the landing gear system 1 of the present invention comprises a drive mechanism 2, a transmission mechanism 31 and a plurality of landing gear mechanisms 3. The drive mechanism 2 includes a drive motor and a drive wheel that is in transmission connection with the drive motor. The transmission mechanism 31 includes an axial transmission assembly 311 driven by the drive wheel and a radial transmission assembly 312 that mates with the axial transmission assembly 311. The landing gear mechanism 3 includes a landing gear 33 that is in transmission connection with the radial drive assembly 312. The number of axial drive assemblies 311 and radial drive assemblies 312 is in one-to-one correspondence with the number of landing gears 33. When the landing gear 33 is retracted, the drive motor drives the axial transmission assembly 311 to move in the axial direction (shown in the X direction in FIG. 2) by the driving wheel, and the axial transmission assembly 311 drives the Radial drive assembly 312 is radial (in Figure 2) Movement in the Y direction is shown to cause the landing gear 33 to rotate to be lowered or stowed.

The drive wheel 2 is a drive gear 21, and the drive motor 2 further includes a gear belt 22 that is in driving connection with the drive gear 21, and the gear belt 22 is in driving connection with the axial drive assembly 311. When the landing gear 33 is retracted, the drive gear 21 drives the gear belt 22 to rotate in the axial direction, and the gear belt 22 drives the axial transmission assembly 311 to move in the axial direction, thereby driving the radial transmission assembly 312. Movement in the radial direction, thereby driving the landing gear 33 to rotate to be lowered or stowed.

It should be noted that the gear belt 22 can take various forms, such as a square tooth conveyor belt, a full arc tooth conveyor belt, a semi-arc tooth conveyor belt, etc., and the form of the gear belt 22 is not affected by the present invention. limit. In addition, the gear belt 22 can also be made of various materials, such as a cotton canvas conveyor belt, a nylon (NN) conveyor belt, a polyester (EP) conveyor belt, a plastic (PVC or PVG) conveyor belt, etc., in the present invention. The material of the gear belt 22 is also not limited.

Referring to FIG. 2, in an embodiment of the invention, the axial transmission assembly 311 includes a spur gear 3111 disposed axially and cooperating with the radial transmission assembly 312, the spur gear 3111 and the gear The belt 22 remains in transmission connection. When the landing gear 33 is retracted, the driving gear 21 drives the gear belt 22 to rotate in the axial direction, and the gear belt 22 drives the spur gear 3111 to move in the axial direction, thereby driving the radial transmission component 312 along the diameter. The movement, in turn, causes the landing gear 33 to rotate to be lowered or stowed.

Further, the axial transmission assembly 311 further includes a first bevel gear 3112 coupled to the spur gear 3111, and the first bevel gear 3112 is disposed coaxially with the spur gear 3111. When the landing gear 33 is retracted, the gear belt 22 drives the spur gear 3111 and the first bevel gear 3112 to rotate in the axial direction, and the first bevel gear 3112 drives the radial transmission assembly 312 to move in the radial direction. In turn, the landing gear 33 is rotated to be lowered or stowed.

In an embodiment of the present invention, the radial transmission assembly 312 includes: a second bevel gear 3121 disposed in a radial direction and a push-pull assembly 3122 coupled to the second bevel gear 3121. The second bevel gear 3121 is in driving connection with the first bevel gear 3112, and the push-pull assembly 3122 is in driving connection with the landing gear 33. When the landing gear 33 is retracted, the gear belt 22 drives the spur gear 3111 and the first bevel gear 3112 to rotate in the axial direction, and the first bevel gear 3112 drives the second bevel gear 3121 to rotate in the radial direction. The second bevel gear 3121 drives the push-pull assembly 3122 to move in a radial direction to drive the landing gear 33 to rotate to be lowered or stowed.

It will be appreciated that the radial drive assembly may be a cam assembly including coaxially disposed gears and cams, and accordingly, the first bevel gears 3112 of the axial transfer assemblies 311 may be omitted. The cam is rotated by the engagement of the spur gear 3111 with the gear in the radial drive assembly, and the cam is rotated by different parts of the cam during the rotation to rotate the landing gear 33 to make the landing gear 33 put down or put away.

In an embodiment of the invention, the push-pull assembly 3122 includes a screw 3123 coupled to the second bevel gear 3121 and a push-pull member that is threadedly coupled to the screw 3123. The push-pull member is retained with the landing gear 33. Drive connection. When the landing gear 33 is retracted, the first bevel gear 3112 drives the second bevel gear 3121 to rotate in the radial direction, so that the push-pull member moves radially relative to the screw 3123, thereby driving the landing gear 33. Turn to put down or put away.

Further, the push-pull member includes a threaded sleeve 3124 sleeved on the screw 3123 and a jack 3125 connected to the threaded sleeve 3124, and the jack 3125 is in driving connection with the landing gear 33. When the landing gear 33 is retracted, the first bevel gear 3112 drives the second bevel gear 3121 to rotate in the radial direction, so that the threaded sleeve 3124 moves radially relative to the screw 3123, thereby driving the jack The 3125 moves in the radial direction, which in turn drives the landing gear 33 to rotate to be lowered or stowed.

Referring to FIG. 2, in an embodiment of the present invention, the landing gear 33 includes a first landing gear body 331, a second landing gear body 332, and a first landing gear body 331 and the second landing gear body. a landing gear shaft 32 between 332, the first landing gear body 331 is in driving connection with the transmission mechanism 31, and the transmission mechanism 31 drives the first landing gear body 331 and The second landing gear body 332 rotates about the landing gear shaft 32.

It can be understood that the transmission mechanism 31 described above maintains a transmission connection with the landing gear 33, and there are various ways to ensure that motion or power can be transmitted. For example, it can be a connection like a slider or a groove.

Further, the first landing gear body 331 and the second landing gear body 332 are obliquely connected to each other. When the landing gear 33 is lowered (as shown in FIG. 3), the first landing gear body 331 is disposed in the vertical direction. When the landing gear 33 is stowed (as shown in FIG. 2), the second landing gear body 332 is disposed in the horizontal direction. Optionally, an angle between the first landing gear body 331 and the second landing gear body 332 ranges from 100° to 150°.

In an embodiment of the invention, the landing gear system 1 further includes a cushioning mechanism 5 disposed above the landing gear shaft 32. When the landing gear 33 is lowered and landed, the free end of the cushioning mechanism 5 abuts against the transmission mechanism 31. Optionally, the buffer mechanism 5 is a buffer spring or a buffer spring. The landing gear system 1 employs a cushioning mechanism 5 to ensure stability and impact resistance of the landing gear 33 when it is lowered. Since the landing gear 33 can be retracted only after leaving the ground under the control of the flight control software, at this time, since the outer end of the landing gear 33 is not subjected to force, the inner end of the landing gear 33 is under the elastic force of the buffer mechanism 5. It will be out of contact with the top fulcrum of the landing gear 33 so that the inner end of the landing gear 33 can be freely pulled and dropped by the radial drive assembly 312.

In an embodiment of the invention, the landing gear system 1 further includes a securing mechanism disposed above the landing gear 33. When the landing gear 33 is lowered and landed, the fixing mechanism abuts against the landing gear 33 to fix the landing gear 33. Optionally, the fixing mechanism includes a fixing block 6 , and the fixing block 6 is provided with a fixing portion 61 and a limiting portion 62 for abutting against the end of the landing gear 33. The limiting portion 62 is configured to abut against the side portion of the landing gear 33. As shown in FIG. 4, the landing gear system 1 adopts a fixing mechanism. When the landing gear 33 is lowered and brought into contact with the ground, the landing gear 33 is moved upward by the reaction force of the ground, and can be abutted by the fixing portion 61 of the fixing block 6 at this time. The landing body 331 is first lowered, thereby fixing the lowered state of the landing gear 33. And a part of the force when the landing gear 33 is grounded can be buffered by the buffer mechanism 5, The stability and impact resistance of the landing gear 33 at the time of landing are further enhanced.

In an embodiment of the present invention, the gear belt 22 is a ring gear belt, and the inner surface of the gear belt 22 is provided with a driven tooth 221, and the axial transmission component 311 is located at an inner ring of the gear belt 22. And cooperate with the driven tooth 221. Further, the driving gear 21 is disposed on an inner ring of the gear belt 22, and an outer surface of the driving gear 21 is provided with driving teeth 211 that cooperate with the driven teeth 221.

In an embodiment of the invention, the gear belt 22 is a ring gear belt, and the driving mechanism 2 further includes a positioning pin 23 for tensioning the gear belt 22, and the gear belt 22 is disposed around the positioning. Pin 23. Through the positioning pin 23, the gear belt 22 can be tensioned or loosened according to actual operation conditions, so that the gear belt 22 reaches an optimal tensioning working state. In addition, the locating pin 23 can also be used to adjust the profile of the gear belt 22 for avoidance, such as avoiding certain components on the UAV, etc., such as the component 70 shown in FIG. The number of the positioning pins 23 can also be set to two, three, and the like as needed.

In an embodiment of the invention, the gear belt 22 is a ring gear belt, and the driving mechanism 2 further includes an adjusting wheel for tensioning the gear belt 22, and the adjusting wheel is abutted on the gear belt. The inside or outside of 22. Through the adjusting wheel, the gear belt 22 can be tensioned or loosened according to actual operation conditions, so that the gear belt 22 reaches an optimal tensioning working state.

In an embodiment of the present invention, the gear belt 22 is a ring gear belt, and the landing gear 33 is four, and the number of the spur gears 3111 is in one-to-one correspondence with the number of the landing gears 33, and the four The spur gear 3111 is evenly disposed at the four corners of the ring gear belt. Alternatively, the ring gear belt may include a circular gear belt and a rectangular gear belt.

As shown in FIG. 1 , in an embodiment of the present invention, the landing gear system 1 further includes a limiting mechanism 4, and the limiting mechanism 4 includes a limit switch and a limit corresponding to the limit switch. Block 43, the limiting block 43 is disposed on the gear belt 22. Optionally, the limit switch includes the first limit switch 41 and the second limit switch 42, where the limit block 43 is located Between the first limit switch 41 and the second limit switch 42. When the limiting block 43 triggers the first limit switch 41, the first limit switch 41 can turn off the drive motor to reverse. When the limiting block 43 triggers the second limit switch 42, the second limit switch 42 can turn off the drive motor to rotate forward.

Thus, when the landing gear 33 reaches the stowed state as shown in FIG. 2 during the stowage process, the second limit switch 42 is triggered by the limit block 43 by the second limit switch. 42 turning off the drive motor forward rotation causes the landing gear 33 to stop rotating, thereby maintaining the stowed state. When the landing gear 33 reaches the lowered state as shown in FIG. 3, the landing gear 33 triggers the first limit switch 41 through the limiting block 43 and is turned off by the first limit switch 41. The drive motor is reversed, and the landing gear 33 can be stopped to maintain the lowered state.

In the first driving mode, the landing gear 33 of the present invention is retracted as follows:

Referring to FIGS. 1 and 2, when the drive motor drives the drive gear 21 to rotate forward (ie, clockwise in the axial direction as in FIG. 1), the drive gear 21 rotates the drive gear belt 22 clockwise in the axial direction, the gear The belt 22 will drive the spur gear 3111 and the first bevel gear 3112 to rotate clockwise in the axial direction. The first bevel gear 3112 will drive the second bevel gear 3121 to rotate clockwise in the radial direction and drive the screw 3123 along the same edge. Rotating clockwise in a radial direction, the threaded sleeve 3124 will move radially to the right relative to the screw 3123, thereby driving the ram 3125 to move radially to the right, thereby driving the landing gear 33 relative to each other. The drop frame shaft 32 rotates clockwise, and the first landing gear body 331 of the landing gear 33 is pulled by the jack 3125 to lift the second landing gear body 332, thereby retracting the landing gear 33. When the landing gear 33 reaches the stowed state as shown in FIG. 2, the second limit switch 42 is triggered by the limit block 43, and the second limit switch 42 turns off the drive motor to rotate forward. The landing gear 33 is stopped from rotating to maintain the stowed state.

Referring to FIG. 3, when the drive motor drives the drive gear 21 to reverse (ie, rotates counterclockwise in the axial direction in FIG. 1), the drive gear 21 drives the gear belt 22 to rotate counterclockwise in the axial direction, and the gear belt 22 will drive. The spur gear 3111 and the first bevel gear 3112 rotate counterclockwise in the axial direction, and the first bevel gear 3112 will drive the second bevel gear 3121 to rotate counterclockwise in the radial direction. And driving the screw 3123 to rotate counterclockwise in the radial direction, the threaded sleeve 3124 will move radially to the left relative to the screw 3123, thereby driving the jack 3125 to move radially to the left together, thereby driving the The landing gear 33 rotates counterclockwise with respect to the landing gear shaft 32, and the first landing gear body 331 of the landing gear 33 is pushed by the jack 3125 to drop the second landing gear body 332, thereby lowering the landing gear 33. When the landing gear 33 reaches the lowered state as shown in FIG. 3, the first limit switch 41 is triggered by the limiting block 43, and the driving of the driving motor is turned off by the first limiting switch 41, which can make The landing gear 33 stops rotating to maintain the lowered state.

The second driving method: the driving motor and the driving wheel drive the axial transmission component in the axial direction by the transmission mode matched by the sprocket and the chain.

In the second driving mode, the landing gear system of the present invention includes a driving mechanism, a transmission mechanism, and a plurality of landing gear mechanisms. The drive mechanism includes a drive motor and a drive wheel that maintains a drive connection with the drive motor. The transmission mechanism includes an axial drive assembly driven by the drive wheel and a radial drive assembly that mates with the axial drive assembly. The landing gear mechanism includes a landing gear that is in transmission communication with the radial drive assembly. The number of axial drive assemblies and radial drive assemblies is in one-to-one correspondence with the number of landing gears. When the landing gear is retracted, the driving motor drives the axial transmission component to move axially through the driving wheel, and the axial transmission component drives the radial transmission component to move in a radial direction, thereby driving the starting The drop frame is rotated to lower or stow.

Wherein, the driving wheel is a driving sprocket, and the driving motor further comprises a chain that is in driving connection with the driving sprocket, and the chain is kept in driving connection with the axial transmission component. When the landing gear is retracted, the driving sprocket drives the chain to rotate in the axial direction, and the chain drives the axial transmission component to move in the axial direction, thereby driving the radial transmission component to move in the radial direction, thereby driving The landing gear rotates to be lowered or stowed.

In an embodiment of the invention, the axial drive assembly includes a driven sprocket disposed axially and cooperating with the radial drive assembly, the driven sprocket maintaining a drive connection with the chain. When the landing gear is retracted, the driving sprocket drives the chain to rotate in the axial direction, and the chain drives the driven sprocket to move axially, thereby driving the radial transmission component to move in a radial direction, and then The landing gear is rotated to be lowered or stowed.

Further, the axial transmission assembly further includes: a first bevel gear coupled to the driven sprocket, the first bevel gear being disposed coaxially with the driven sprocket. When the landing gear is retracted, the chain drives the driven sprocket and the first bevel gear to rotate in the axial direction, and the first bevel gear drives the radial transmission component to move in a radial direction, thereby driving the The landing gear is rotated to lower or stow.

In an embodiment of the invention, the radial transmission assembly includes: a second bevel gear disposed in a radial direction; and a push-pull assembly coupled to the second bevel gear, the second bevel gear and the first cone The gear maintains a drive connection and the push-pull assembly remains in transmission connection with the landing gear. When the landing gear is retracted, the chain drives the driven sprocket and the first bevel gear to rotate in the axial direction, and the first bevel gear drives the second bevel gear to rotate in a radial direction, the second The bevel gear drives the push-pull assembly to move in a radial direction to drive the landing gear to rotate to be lowered or stowed.

It will be appreciated that the radial drive assembly can be a cam assembly including coaxially disposed gears and cams, and accordingly, the first bevel gear of the axial transfer assembly can be omitted. Engaging the cam by the engagement of the driven sprocket with the gear in the radial drive assembly, and rotating the cam to rotate the different parts against the landing gear during the rotation to make the landing gear Put down or put away.

It should be noted that the description of the push-pull assembly, the landing gear, the buffer mechanism and the fixing mechanism of the radial transmission assembly in the first driving manner described above is also applicable to the second driving method. Landing gear system.

In an embodiment of the invention, the chain is an endless chain, and the driving mechanism further includes a guiding sprocket for tensioning the chain, the guiding sprocket abutting on an inner side or an outer side of the chain. Through the guiding sprocket, the chain can be tensioned or relaxed according to actual operation conditions, so that the chain reaches an optimal tensioning state.

In an embodiment of the invention, the chain is an endless chain, the landing gear is four, the number of the driven sprocket is in one-to-one correspondence with the number of the landing gear, and the four driven sprocket All The uniform distribution is provided at the four corners of the endless chain.

In an embodiment of the present invention, the landing gear system further includes a limiting mechanism, the limiting mechanism includes a limit switch and a limiting block adapted to the limit switch, wherein the limiting block is disposed on On the chain. Optionally, the limit switch includes the first limit switch and the second limit switch, and the limit block is located between the first limit switch and the second limit switch. When the limiting block triggers the first limit switch, the first limit switch can turn off the driving motor to reverse. When the limiting block triggers the second limit switch, the second limit switch can turn off the drive motor to rotate forward.

In this way, during the stowage process, when the landing gear reaches the stowed state, the second limit switch is triggered by the limit block, and the second limit switch turns off the drive motor to rotate forward. Stop the landing gear and keep it in a stowed condition. When the landing gear reaches the lowered state, the first limit switch is triggered by the limiting block, and the first limit switch is turned off to reverse the driving motor, so that the landing gear can be stopped. Rotate to keep it down.

In the second driving mode, the landing gear retracting process of the present invention is as follows:

When the drive motor drives the drive sprocket to rotate forward (ie, rotate clockwise in the axial direction), the drive sprocket rotates the drive chain clockwise in the axial direction, and the chain drives the driven sprocket and the first bevel gear along the shaft Rotating clockwise, the first bevel gear will drive the second bevel gear to rotate clockwise in the radial direction and drive the screw to rotate clockwise together, the threaded sleeve will be radially opposite to the screw Moving to the right, thereby driving the ejector rod to move radially to the right together, thereby driving the landing gear to rotate clockwise relative to the landing gear shaft, and pulling the first landing gear body of the landing gear through the ejector rod to make the second landing gear The body is lifted up, which in turn causes the landing gear to be stowed. When the landing gear reaches the stowed state, the second limit switch is triggered by the limit block, and the second limit switch turns off the drive motor to rotate forward, so that the landing gear can be stopped to keep the stowage status.

When the driving motor drives the driving sprocket to reverse (ie, rotates counterclockwise along the axial direction), active The sprocket drive chain rotates counterclockwise in the axial direction, the chain will drive the driven sprocket and the first bevel gear to rotate counterclockwise in the axial direction, and the first bevel gear will drive the second bevel gear to reverse in the radial direction The hour hand rotates and drives the screw to rotate counterclockwise along the radial direction, and the threaded sleeve will move radially to the left relative to the screw, thereby driving the ejector rod to move radially to the left together, thereby driving the The falling frame rotates counterclockwise with respect to the landing gear shaft, and the first landing gear body of the landing gear is pushed by the jack to drop the second landing gear body, thereby lowering the landing gear. When the landing gear reaches the lowered state, the first limit switch is triggered by the limiting block, and the driving of the driving motor is turned off by the first limiting switch, so that the landing gear can be stopped to maintain the lowered state.

The third driving mode: the driving motor and the driving wheel drive the axial transmission component in the axial direction by the transmission mode of the pulley and the conveying belt.

In the third driving mode, the landing gear system of the present invention includes a driving mechanism, a transmission mechanism, and a plurality of landing gear mechanisms. The drive mechanism includes a drive motor and a drive wheel that maintains a drive connection with the drive motor. The transmission mechanism includes an axial drive assembly driven by the drive wheel and a radial drive assembly that mates with the axial drive assembly. The landing gear mechanism includes a landing gear that is in transmission communication with the radial drive assembly. The number of axial drive assemblies and radial drive assemblies is in one-to-one correspondence with the number of landing gears. When the landing gear is retracted, the driving motor drives the axial transmission component to move axially through the driving wheel, and the axial transmission component drives the radial transmission component to move in a radial direction, thereby driving the starting The drop frame is rotated to lower or stow.

Wherein, the driving wheel is a driving pulley, and the driving motor further comprises a conveying belt that is in driving connection with the driving pulley, and the conveying belt is kept in transmission connection with the axial transmission assembly. When the landing gear is retracted, the driving pulley drives the conveying belt to rotate in the axial direction, and the conveying belt drives the axial transmission assembly to move in the axial direction, thereby driving the radial transmission component to move in the radial direction, thereby The landing gear is rotated to be lowered or stowed. It should be noted that the conveyor belt can adopt various forms and materials, and the present invention does not limit the form and material of the conveyor belt.

In an embodiment of the invention, the axial transmission assembly includes an axial arrangement and a A driven pulley that cooperates with the radial drive assembly, the driven pulley is in transmission connection with the conveyor belt. When the landing gear is retracted, the driving pulley drives the conveying belt to rotate in the axial direction, and the conveying belt drives the driven pulley to move in the axial direction, thereby driving the radial transmission component to move in the radial direction, thereby driving The landing gear rotates to be lowered or stowed.

Further, the axial transmission assembly further includes: a first bevel gear coupled to the driven pulley, the first bevel gear being disposed coaxially with the driven pulley. The conveyor belt drives the driven pulley and the first bevel gear to rotate axially when the landing gear is retracted, and the first bevel gear drives the radial transmission assembly to move in a radial direction, thereby driving the The landing gear is rotated to lower or stow.

In an embodiment of the invention, the radial transmission assembly includes: a second bevel gear disposed in a radial direction; and a push-pull assembly coupled to the second bevel gear, the second bevel gear and the first cone The gear maintains a drive connection and the push-pull assembly remains in transmission connection with the landing gear. The conveyor belt drives the driven pulley and the first bevel gear to rotate axially when the landing gear is retracted, the first bevel gear drives the second bevel gear to rotate in a radial direction, the second The bevel gear drives the push-pull assembly to move in a radial direction to drive the landing gear to rotate to be lowered or stowed.

It will be appreciated that the radial drive assembly can be a cam assembly including coaxially disposed gears and cams, and accordingly, the first bevel gear of the axial transfer assembly can be omitted. The cam is rotated by the engagement of the driven pulley with the gear in the radial transmission assembly, and the cam is rotated by different parts of the cam during the rotation to rotate the landing gear Or put away.

It should be noted that, in the above first driving manner, the description about the push-pull assembly of the radial transmission assembly, the landing gear, the buffer mechanism, and the fixing mechanism are also applicable to the third driving mode. Landing gear system.

In an embodiment of the invention, the conveyor belt is an endless conveyor belt, and the driving mechanism further includes a positioning pin for tensioning the conveyor belt, and the conveyor belt is disposed around the conveyor belt Bit sales. Through the positioning pin, the conveyor belt can be tensioned or relaxed according to actual operation conditions, so that the conveyor belt reaches an optimal tensioning working state. In addition, the locating pin can also be used to adjust the profile of the conveyor belt for avoidance, such as avoiding certain components on the UAV. The number of the positioning pins can also be set to two, three, and the like as needed.

In an embodiment of the invention, the conveyor belt is an endless conveyor belt, and the driving mechanism further includes an adjustment wheel for tensioning the conveyor belt, the adjustment wheel abutting on the inner side of the conveyor belt or Outside. Through the adjusting wheel, the conveying belt can be tensioned or relaxed according to actual operation conditions, so that the conveying belt reaches an optimal tensioning working state.

In an embodiment of the invention, the conveyor belt is an endless conveyor belt, the landing gear is four, the number of the driven pulleys is in one-to-one correspondence with the number of the landing gears, and the four driven pulleys Uniformly disposed at the four corners of the endless conveyor belt. Alternatively, the endless conveyor belt may comprise a circular conveyor belt and a rectangular conveyor belt.

In an embodiment of the present invention, the landing gear system further includes a limiting mechanism, the limiting mechanism includes a limit switch and a limiting block adapted to the limit switch, wherein the limiting block is disposed on On the conveyor belt. Optionally, the limit switch includes the first limit switch and the second limit switch, and the limit block is located between the first limit switch and the second limit switch. When the limiting block triggers the first limit switch, the first limit switch can turn off the driving motor to reverse. When the limiting block triggers the second limit switch, the second limit switch can turn off the drive motor to rotate forward.

In the third driving mode, the landing gear retracting process of the present invention is as follows:

When the driving motor drives the driving pulley to rotate forward (ie, rotates clockwise in the axial direction), the driving pulley rotates the driving belt in the axial direction, and the conveying belt drives the driven pulley and the first bevel gear in the axial direction. Rotating clockwise, the first bevel gear will drive the second bevel gear to rotate clockwise in the radial direction and drive the screw to rotate clockwise together, the threaded sleeve will be radially opposite to the screw Moving rightly, thereby driving the ejector rod to move radially to the right together, thereby driving the landing gear to rotate clockwise relative to the landing gear shaft, and pulling the first landing gear body of the landing gear through the ejector rod to make the second landing gear body Lift up and retract the landing gear. When the landing gear reaches the stowed state, the second limit switch is triggered by the limit block, and the second limit switch turns off the drive motor to rotate forward, so that the landing gear can be stopped to keep the stowage status.

When the driving motor drives the driving pulley to reverse (ie, rotates counterclockwise along the axial direction), the driving pulley drives the conveying belt to rotate counterclockwise in the axial direction, and the conveying belt drives the driven pulley and the first bevel gear to reverse axially When the hour hand rotates, the first bevel gear will drive the second bevel gear to rotate counterclockwise in the radial direction and drive the screw to rotate counterclockwise together, the threaded sleeve will be radially to the left relative to the screw Movement, thereby driving the ejector rod to move radially to the left together, thereby driving the landing gear to rotate counterclockwise relative to the landing gear shaft, and pushing the first landing gear body of the landing gear through the ejector rod to cause the second landing gear body to fall And then let the landing gear down. When the landing gear reaches the lowered state, the first limit switch is triggered by the limiting block, and the driving of the driving motor is turned off by the first limiting switch, so that the landing gear can be stopped to maintain the lowered state.

The fourth driving mode: the driving motor and the driving wheel drive the axial transmission component in the axial direction by the driving mode of the driving wheel and the driven wheel.

In the fourth driving mode, the landing gear system of the present invention includes a driving mechanism, a transmission mechanism, and a plurality of landing gear mechanisms. The drive mechanism includes a drive motor and a drive wheel that maintains a drive connection with the drive motor. The transmission mechanism includes an axial drive assembly driven by the drive wheel and a radial drive assembly that mates with the axial drive assembly. The landing gear mechanism includes a landing gear that is in transmission communication with the radial drive assembly. Axial drive assembly and radial drive set The number of pieces corresponds to the number of landing gears. When the landing gear is retracted, the driving motor drives the axial transmission component to move axially through the driving wheel, and the axial transmission component drives the radial transmission component to move in a radial direction, thereby driving the starting The drop frame is rotated to lower or stow.

Wherein the axial drive assembly includes a driven wheel disposed axially and cooperating with the radial drive assembly, the driven wheel maintaining a drive connection with the drive wheel. When the landing gear is retracted, the driving wheel drives the driven wheel to move in the axial direction, thereby driving the radial transmission component to move in the radial direction, thereby driving the landing gear to rotate to be put down or stowed.

Further, the axial transmission assembly further includes: a first bevel gear coupled to the driven wheel, the first bevel gear being disposed coaxially with the driven wheel. When the landing gear is retracted, the driving wheel drives the driven wheel and the first bevel gear to rotate in the axial direction, and the first bevel gear drives the radial transmission component to move in a radial direction, thereby driving the starting The drop frame is rotated to lower or stow.

In an embodiment of the invention, the radial transmission assembly includes: a second bevel gear disposed in a radial direction; and a push-pull assembly coupled to the second bevel gear, the second bevel gear and the first cone The gear maintains a drive connection and the push-pull assembly remains in transmission connection with the landing gear. When the landing gear is retracted, the driving wheel drives the driven wheel and the first bevel gear to rotate in the axial direction, and the first bevel gear drives the second bevel gear to rotate in a radial direction, the second cone The gear drives the push-pull assembly to move radially, thereby causing the landing gear to rotate to be lowered or stowed.

It will be appreciated that the radial drive assembly can be a cam assembly including coaxially disposed gears and cams, and accordingly, the first bevel gear of the axial transfer assembly can be omitted. Engaging the cam by the engagement of the driven wheel with the gear in the radial drive assembly, and rotating the cam to rotate the different parts against the landing gear during the rotation to lower the landing gear or Collapse.

It should be noted that the description of the push-pull assembly, the landing gear, the buffer mechanism and the fixing mechanism of the radial transmission assembly in the first driving manner described above is also applicable to the fourth driving method. Landing gear system.

In an embodiment of the invention, the landing gear is four, the number of the driven wheels is in one-to-one correspondence with the number of the landing gears, and the four driven wheels are evenly arranged along the outer circumferential surface of the driving wheel.

In the fourth driving mode, the landing gear retracting process of the present invention is as follows:

When the drive motor drives the drive wheel to rotate forward (ie, rotate clockwise in the axial direction), the drive wheel will drive the driven wheel and the first bevel gear to rotate clockwise in the axial direction, and the first bevel gear will drive the second The bevel gear rotates clockwise in the radial direction and drives the screw to rotate clockwise together, the threaded sleeve will move radially to the right relative to the screw, thereby driving the jack to move radially to the right together And driving the landing gear to rotate clockwise relative to the landing gear shaft, and pulling the first landing gear body of the landing gear through the jack to lift the second landing gear body, thereby retracting the landing gear.

When the driving motor drives the driving wheel to reverse (ie, rotates counterclockwise in the axial direction), the driving wheel drives the driven wheel and the first bevel gear rotates counterclockwise in the axial direction, and the first bevel gear will drive the second cone The gear rotates counterclockwise in the radial direction and drives the screw to rotate counterclockwise in the radial direction. The threaded sleeve will move radially to the left relative to the screw, thereby driving the jack to move radially to the left together. In turn, the landing gear rotates counterclockwise with respect to the landing gear shaft, and the first landing gear body of the landing gear is pushed by the ejector rod to drop the second landing gear body, thereby lowering the landing gear.

Embodiments of the present invention also provide an unmanned aerial vehicle comprising a fuselage and a landing gear system as described above, the landing gear system being coupled to the fuselage. It should be noted that the description about the landing gear system in the above embodiments and embodiments is equally applicable to the unmanned aerial vehicle of the present invention.

In an embodiment of the invention, the plurality of landing gear mechanisms of the landing gear system are evenly disposed along the fuselage.

In an embodiment of the invention, the UAV is a multi-rotor aircraft. For example, four-rotor aircraft, six-rotor aircraft, and eight-rotor aircraft.

In an embodiment of the invention, the UAV further includes a device disposed on the body And a power unit disposed on the arm for providing flight power to the unmanned aerial vehicle.

In an embodiment of the invention, the power unit includes a driving member disposed on the arm and a propeller coupled to the driving member, and the driving member is configured to drive the propeller to rotate.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. The terms "including", "comprising" or "comprising" or "comprising" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The method and apparatus provided by the embodiments of the present invention are described in detail above. The principles and implementations of the present invention are described in the specific examples. The description of the above embodiments is only used to help understand the method of the present invention and At the same time, there will be changes in the specific embodiments and the scope of application according to the idea of the present invention, and the contents of the present specification should not be construed as limiting the present invention. .

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the copyright owner all. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Claims

A landing gear system, comprising: a drive mechanism, a transmission mechanism and a plurality of landing gear mechanisms;

The drive mechanism includes a drive motor and a drive wheel that is in driving connection with the drive motor; the transmission mechanism includes an axial drive assembly driven by the drive wheel and a radial drive assembly that mates with the axial drive assembly The landing gear mechanism includes a landing gear that is in driving connection with the radial drive assembly;

The driving motor drives the axial transmission component to move axially through the driving wheel, and the axial transmission component drives the radial transmission component to move in a radial direction, thereby driving the landing gear to rotate or lower Start.
The landing gear system according to claim 1, wherein said driving wheel is a driving gear, said driving motor further comprising a gear belt that is in driving connection with said driving gear, said gear belt and said axial direction The drive assembly maintains a drive connection;

The drive gear drives the gear belt to rotate in the axial direction, and the gear belt drives the axial transmission assembly to move axially, thereby driving the radial transmission assembly to move in the radial direction.
The landing gear system of claim 2 wherein said axial drive assembly includes a spur gear disposed axially and cooperating with said radial drive assembly, said spur gear retaining transmission with said gear belt connection;

The driving gear drives the gear belt to rotate in the axial direction, and the gear belt drives the spur gear to move in the axial direction, thereby driving the radial transmission component to move in the radial direction.
The landing gear system of claim 3, wherein

The axial transmission assembly further includes: a first bevel gear coupled to the spur gear, the first bevel gear being coaxially disposed with the spur gear;

The gear belt drives the spur gear and the first bevel gear to rotate axially, the first bevel gear driving the radial drive assembly to move in a radial direction.
A landing gear system according to claim 4 wherein said radial drive train The device includes: a second bevel gear disposed radially and a push-pull assembly coupled to the second bevel gear, the second bevel gear maintaining a transmission connection with the first bevel gear, the push-pull assembly and the starting The drop frame maintains the transmission connection;

The gear belt drives the spur gear and the first bevel gear to rotate in an axial direction, the first bevel gear drives the second bevel gear to rotate in a radial direction, and the second bevel gear drives the push-pull assembly Movement in the radial direction to drive the landing gear to rotate or to be lowered or stowed.
A landing gear system according to claim 5, wherein said push-pull assembly includes a screw coupled to said second bevel gear and a push-pull member threadedly coupled to said screw, said push-pull member The drop frame maintains the transmission connection;

The first bevel gear drives the second bevel gear to rotate in a radial direction to drive the push-pull member to move radially relative to the screw.
A landing gear system according to claim 6 wherein said push-pull member includes a threaded sleeve sleeved over said threaded rod and a ram coupled to said threaded sleeve, said ram and said ejector The drop frame maintains the transmission connection;

The first bevel gear drives the second bevel gear to rotate in a radial direction to drive the threaded sleeve to move radially relative to the screw, thereby driving the ram to move in a radial direction.
The landing gear system according to claim 3, wherein the gear belt is a ring gear belt; the landing gear is four, and the number of the spur gears corresponds to the number of the landing gears, four The cylindrical gears are evenly arranged at four corners of the ring gear belt.
A landing gear system according to claim 2, wherein said gear belt is a ring gear belt, said gear belt having an inner surface provided with driven teeth, said axial transmission assembly being located within said gear belt a loop and cooperate with the driven tooth.
The landing gear system according to claim 9, wherein said drive gear is disposed on an inner ring of said gear belt; and an outer surface of said drive gear is provided with drive teeth that cooperate with said driven teeth.
The landing gear system of claim 2 wherein said gear belt In the case of a ring gear belt, the drive mechanism further includes a positioning pin for tensioning the gear belt, and the gear belt is wound around the positioning pin.
A landing gear system according to claim 2, wherein said gear belt is a ring gear belt, said drive mechanism further comprising an adjustment wheel for tensioning said gear belt, said adjustment wheel abutting The inside or the outside of the gear belt.
The landing gear system of claim 2, further comprising a limiting mechanism, the limiting mechanism comprising a limit switch and a limiting block adapted to the limit switch, the limiting block Provided on the gear belt.
The landing gear system according to claim 13, wherein the limit switch comprises the first limit switch and the second limit switch, and the limit block is located at the first limit switch Between the second limit switch and the second limit switch.
The landing gear system of claim 1 wherein said drive wheel is a drive sprocket, said drive mechanism further comprising a chain that maintains a drive connection with said drive sprocket, said chain and said axial direction The drive assembly maintains a drive connection;

The driving sprocket drives the chain to rotate in the axial direction, and the chain drives the axial transmission assembly to move axially, thereby driving the radial transmission assembly to move in the radial direction.
The landing gear system of claim 15 wherein said axial drive assembly includes a driven sprocket disposed axially and cooperating with said radial drive assembly, said driven sprocket and said The chain remains in transmission connection;

The driving sprocket drives the chain to rotate in the axial direction, and the chain drives the driven sprocket to move axially, thereby driving the radial transmission assembly to move in the radial direction.
The landing gear system according to claim 16, wherein the chain is an endless chain; the landing gear is four, and the number of the driven sprocket is in one-to-one correspondence with the number of the landing gear, four The driven sprocket is evenly disposed at four corners of the endless chain.
The landing gear system according to claim 15, wherein said chain is an endless chain; said drive mechanism further comprising a guide sprocket for tensioning said chain, said guide sprocket abutting at said The inside or outside of the chain.
The landing gear system of claim 1 wherein said drive wheel is a drive pulley, said drive mechanism further comprising a conveyor belt in driving communication with said drive pulley, said conveyor belt and said axial direction The drive assembly maintains a drive connection;

The driving pulley drives the conveying belt to rotate in the axial direction, and the conveying belt drives the axial transmission assembly to move in the axial direction, thereby driving the radial transmission assembly to move in the radial direction.
A landing gear system according to claim 19, wherein said axial transmission assembly includes a driven pulley axially disposed and cooperating with said radial drive assembly, said driven pulley and said conveyor belt Keep the drive connected;

The driving pulley drives the conveying belt to rotate in the axial direction, and the conveying belt drives the driven pulley to move axially, thereby driving the radial transmission assembly to move in the radial direction.
A landing gear system according to claim 20, wherein said conveyor belt is an endless conveyor belt; said landing gear is four, and said driven pulleys have a one-to-one correspondence with the number of said landing gears, Four of the driven pulleys are evenly disposed at four corners of the endless conveyor belt.
The landing gear system according to claim 19, wherein said conveyor belt is an endless conveyor belt; said drive mechanism further comprising an adjustment wheel for tensioning said conveyor belt, said adjustment wheel abutting The inside or the outside of the conveyor belt.
The landing gear system of claim 1 wherein said axial drive assembly includes a driven wheel disposed axially and cooperating with said radial drive assembly, said driven wheel and said drive wheel retaining transmission connection;

The driving wheel drives the driven wheel to rotate in the axial direction to drive the radial transmission assembly to move in the radial direction.
The landing gear system according to claim 23, wherein the landing gear is four, the number of the driven wheels is in one-to-one correspondence with the number of the landing gears, and the four driven wheels are along the active The outer circumference of the wheel is evenly laid.
The landing gear system according to claim 1, wherein the landing gear comprises a first landing gear body, a second landing gear body, and a first landing gear body and the second a landing gear shaft between the landing gear bodies, the first landing gear body is in driving connection with the transmission mechanism, the transmission mechanism driving the first landing gear body and the second landing gear body around the landing gear shaft Turn.
The landing gear system according to claim 25, wherein said first landing gear body and said second landing gear body are obliquely connected to each other; and said first landing gear body is vertical when said landing gear is lowered The straight direction is set; when the landing gear is stowed, the second landing gear body is disposed in a horizontal direction.
The landing gear system of claim 26, wherein an angle between the first landing gear body and the second landing gear body ranges from 100° to 150°.
The landing gear system of claim 25, further comprising a cushioning mechanism disposed above the landing gear shaft; the free end of the cushioning mechanism when the landing gear is lowered and landing Abut against the transmission mechanism.
The landing gear system of claim 28 wherein said cushioning mechanism is a cushion spring or a cushioning spring.
The landing gear system according to claim 1, further comprising a fixing mechanism disposed above the landing gear; the fixing mechanism abuts when the landing gear is lowered and landing The landing gear is described to secure the landing gear.
The landing gear system according to claim 30, wherein the fixing mechanism comprises a fixing block, and the fixing block is provided with a fixing portion and a limiting portion, the fixing portion is for abutting against the landing gear The end portion is for abutting against a side of the landing gear.
An unmanned aerial vehicle, comprising: a fuselage and a landing gear system according to any one of claims 1 to 31, the landing gear system being coupled to the fuselage.
The UAV according to claim 32, wherein said plurality of landing gear mechanisms of said landing gear system are evenly disposed along said body.
The UAV according to claim 32, wherein said UAV is a multi-rotor aircraft.
An unmanned aerial vehicle according to claim 32, wherein said unmanned aerial vehicle The device further includes a robot arm disposed on the airframe and a power device disposed on the arm, the power device for providing flight power to the unmanned aerial vehicle.
The UAV according to claim 35, wherein said power unit comprises a driving member disposed on said arm and a propeller coupled to said driving member, said driving member for driving said The propeller rotates.