WO2018228033A1 - 无人机及其起落架 - Google Patents

无人机及其起落架 Download PDF

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Publication number
WO2018228033A1
WO2018228033A1 PCT/CN2018/082219 CN2018082219W WO2018228033A1 WO 2018228033 A1 WO2018228033 A1 WO 2018228033A1 CN 2018082219 W CN2018082219 W CN 2018082219W WO 2018228033 A1 WO2018228033 A1 WO 2018228033A1
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WO
WIPO (PCT)
Prior art keywords
landing gear
link
screw
fuselage
connecting member
Prior art date
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PCT/CN2018/082219
Other languages
English (en)
French (fr)
Inventor
倪枫
吴兴文
董飞
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
Priority to EP18817290.2A priority Critical patent/EP3632793B1/en
Publication of WO2018228033A1 publication Critical patent/WO2018228033A1/zh
Priority to US16/740,316 priority patent/US11390377B2/en

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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
    • B64C25/18—Operating mechanisms
    • B64C25/24—Operating mechanisms electric
    • 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
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • 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
    • B64C25/14—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like fore-and-aft

Definitions

  • the utility model relates to the field of aircrafts, in particular to a drone and a landing gear thereof.
  • the current drone landing gear often forms an occlusion of the aerial equipment in the air, and at the same time, it cannot be well received into the fuselage after landing, resulting in inconvenience of carrying.
  • a landing gear is applied to a drone, the drone comprising a fuselage, the landing gear comprising:
  • the power assembly including a first connecting member and a driving device for driving the first connecting member to perform a reciprocating linear motion
  • the landing gear body including a first link hinged to the first connector, and a second link hinged at one end to the power assembly and the other end hinged to the first link;
  • the driving device includes a motor and a screw connected to the motor, and the first connecting member is sleeved on the screw and screwed to the screw.
  • the central portion of the first connector is curved away from the motor.
  • the power assembly further includes a second connecting member fixed to an end of the screw opposite to the motor, the second link end being hinged to the second connecting member, and the other end Hinged with the first link.
  • the middle portion of the second connector is curved toward the direction of the motor.
  • the angle between the second link and the screw when the landing gear body is deployed is greater than the angle between the second link and the screw when the landing gear body is folded Angle.
  • the angle between the first link and the screw when the landing gear body is deployed is less than 90 degrees, and the first link and the screw when the landing gear body is folded parallel.
  • the first link further includes a support bar that causes the first link to be T-shaped.
  • the first link is curved in a direction away from the internal components of the fuselage.
  • a drone includes a fuselage and the above-described landing gear, the landing gear being located within the fuselage when folded.
  • the above-mentioned drone and its landing gear can be driven by the power component to switch the landing gear body in the unfolded and folded state.
  • the landing gear body can be at least partially folded into the fuselage to avoid aerial photography on the drone.
  • the device is occluded.
  • FIG. 1 is a schematic structural view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view showing a landing gear of an unmanned aerial vehicle in an unfolded state according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a landing gear of a drone in a folded state according to an embodiment of the present invention.
  • an unmanned aerial vehicle includes a fuselage 10 and a landing gear 20 mounted on the airframe 10 .
  • the airframe 10 can also be equipped with other components such as a wing and an aerial camera.
  • the landing gear 20 includes a power assembly 200 and a landing gear body 201 for driving the landing gear body 201 to be unfolded or folded relative to the body 10, wherein the landing gear body 201 can be at least partially folded into the interior of the fuselage 10 when folded.
  • the drone can be adapted to different usage scenarios by state control of the deployment or folding of the landing gear 20. For example, when a landing is required, the landing gear 20 can be deployed to allow the drone to land safely.
  • the drone When the drone is in the process of flying or falling, it is necessary to carry or transport the landing gear 20, so that during the flight, it will not affect the normal operation of other equipment (such as aerial photography equipment) mounted on the drone. Work, while in the carrying process, the drone can be made smaller and easy to store and package.
  • the power assembly 200 is disposed in the body 10 and includes a driving device 21 and a first connecting member 22, wherein the driving device 21 drives the first connecting member 22 to perform a reciprocating linear motion.
  • the drive unit 21 includes a screw 211 and a motor 213.
  • the screw 211 is coupled to the output shaft of the motor 213 and can be rotated by the motor 213.
  • the motor 213 can directly drive the screw 211 to rotate through the coupling, or can drive the screw 211 to rotate by means of an intermediate transmission member such as a gear.
  • a mounting space and a escaping slot may be disposed in the body 10 of the drone, and the motor 213 and the screw 211 may be disposed in the installation space, and the escaping groove may provide a repellent passage for the movement of the landing gear body 201.
  • the screw 211 includes an opposite first end 210 and a second end 212.
  • the first end 210 of the screw 211 is disposed in the body 10.
  • the screw 211 may be located in the installation space of the body 10.
  • the two ends 212 are exposed outside the body 10, and the second end 212 is further provided with a second connecting member 25.
  • the first connecting member 22 is sleeved on the screw 211 and screwed to the screw 211.
  • the motor 213 can drive the screw 211 to rotate, thereby moving the first connecting member 22 up and down along the screw 211 in the axial direction of the screw 211, thereby realizing the rotation of the first link 24 and the second link 26 in different directions to the landing gear.
  • the unfolded and folded states of the body 201 are switched between. During the switching between the unfolded and folded states of the landing gear body 201, the position of the screw 211 relative to the body 10 does not change.
  • the driving device 21 can also form a transmission connection with the first connecting member 22 through a transmission member such as a conveyor belt to drive the first connecting member 22 to perform a reciprocating direct motion.
  • the landing gear body 201 includes a first link 24 that is hinged to the first link 22, and a second link 26 that is hinged at one end to the second link 25 and that is hinged at the other end to the first link 24.
  • the first link 24 includes opposing first ends 241 and second ends 242, the first ends 241 of the first links 24 are hinged to the first connector 22, and the second ends 242 of the first links 24 are used to support none Man-machine.
  • the first link 24 can be in a variety of configurations, such as in the form of a straight rod. In still other embodiments, the first link 24 can also be bent away from the internal components of the fuselage 10 to prevent the first link 24 from interfering with internal components of the fuselage 10 during rotation.
  • the first link 24 may further include a support rod 243, and the support rod 243 is cross-connected with the second end 242 such that the first link 24 is entirely T-shaped.
  • the second link 26 includes an opposite first end 261 and a second end 262, and the first end 261 of the second link 26 is rotatably coupled to the first end 241 of the first link 24 and the second end of the first link 24 Between the ends 242, the second end 262 of the second link 26 is rotatably coupled to the second connector 25.
  • the second link 26 may be linear or curved.
  • the landing gear body 201 can be deployed to be placed outside the body 10 or folded into the interior of the body 10.
  • the second link 26 and a portion of the first connecting rod. 24 is located outside the fuselage 10.
  • the first link 24 and the screw 211 are at an angle ⁇ ⁇ 90°
  • the second link 26 and the screw are at an angle ⁇ 1 > 90 degrees.
  • the control motor 213 drives the screw 211 to rotate, thereby moving the first connecting member 22 from the bottom to the top along the screw 211, because the first link 24, the first connecting member 22, the second connecting member 26,
  • the rotational connection relationship between the second connecting members 25 enables the first connecting member 22 and the first connecting rod 24 to move within the body 10 and drives the second connecting rod 26 to fold the portion of the second connecting rod 26 into the body.
  • the rotational connection of the second link 26 to the first link 24 is also located within the fuselage 10, the folding of the landing gear 20 is ultimately achieved.
  • the angle formed by the second link 26 and the screw 211 is ⁇ 2 ⁇ 90 degrees.
  • the angle ⁇ between the first link 24 and the screw 211 has a process of first becoming larger and then becoming smaller, and finally, when the landing gear body is in a fully folded state, An angle between the link 24 and the screw 211 is 0°.
  • the middle portion of the first connector 22 is curved away from the motor 213.
  • an anti-collision space 220 is provided between the first connecting member 22 and the screw 211 for escaping the motor 213.
  • the motor 213 can be at least partially accommodated in the collision-proof space 220, so that the arrangement can avoid interference between the first connector 22 and the power source 220.
  • the first link 24 can be raised to a sufficient height to fold the landing gear body into the interior of the fuselage 10 to a greater extent.
  • the central portion of the second connector 25 can be bent in a direction toward the motor 213 to better fold the landing gear body into the interior of the body 10.
  • the landing gear 20 in the above embodiment can use a motor 213 to drive all of the first links 24 for supporting the drone to expand or fold, and the structure is simpler. Moreover, when the landing gear 20 is folded, at least part of the structure is located in the body 10, which can minimize the volume occupied by the drone and is convenient to carry.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Toys (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

一种无人机起落架（20），包括设于机身（10）内的动力组件（200）和与动力组件（200）相连的起落架本体（201）。动力组件（200）包括第一连接件（22）和用于驱动第一连接件（22）做往复直线运动的驱动装置（21）；起落架本体（201）包括与第一连接件（22）铰接的第一连杆（24），以及一端与动力组件（200）铰接、另一端与第一连杆（24）铰接的第二连杆（26）。第一连接件（22）做往复直线运动时，带动起落架本体（201）展开或折叠入机身（10）内部。还公开了一种包括上述起落架（20）的无人机。上述无人机在进行航拍时，可将起落架本体（201）至少部分折叠进机身（10）内，以避免对无人机上的航拍设备造成遮挡。

Description

无人机及其起落架 技术领域
本实用新型涉及飞行器领域，特别是涉及一种无人机及其起落架。
背景技术
目前的无人机起落架经常在空中对航拍设备形成遮挡，同时在降落后也无法很好地收纳入机身中，造成携带不便。
实用新型内容
基于此，有必要针对上述问题，提供一种起落架和无人机，其不会对无人机上的航拍设备造成遮挡。
一种起落架，应用于无人机，所述无人机包括机身，所述起落架包括：
动力组件，设于所述机身内，所述动力组件包括第一连接件和用于驱动所述第一连接件做往复直线运动的驱动装置；
起落架本体，所述起落架本体包括与所述第一连接件铰接的第一连杆，以及一端与所述动力组件铰接、另一端与所述第一连杆铰接的第二连杆；所述第一连接件做往复直线运动时，带动所述起落架本体展开或折叠入所述机身内部。
在其中一个实施例中，所述驱动装置包括电机和与所述电机相连的螺杆，所述第一连接件套设于所述螺杆上并与所述螺杆螺接。
在其中一个实施例中，所述第一连接件的中部向远离所述电机的方向弯曲。
在其中一个实施例中，所述动力组件还包括固定在所述螺杆上与所述电机相对的一端的第二连接件，所述第二连杆一端与所述第二连接件铰接，另一端与所述第一连杆铰接。
在其中一个实施例中，所述第二连接件的中部向靠近所述电机的方向弯曲。
在其中一个实施例中，所述起落架本体展开时所述第二连杆与所述螺杆之间的夹角大于所述起落架本体折叠时所述第二连杆与所述螺杆之间的夹角。
在其中一个实施例中，所述起落架本体展开时所述第一连杆与所述螺杆之 间的夹角小于90度，所述起落架本体折叠时所述第一连杆与所述螺杆平行。
在其中一个实施例中，所述第一连杆还包括支撑杆，所述支撑杆使得所述第一连杆呈T型。
在其中一个实施例中，所述第一连杆向避开所述机身内部元件的方向弯曲。
一种无人机，包括机身和上述的起落架，所述起落架折叠时位于所述机身内。
上述无人机及其起落架可通过动力组件带动起落架本体在展开和折叠状态下切换，需要航拍时，可将起落架本体至少部分的折叠进机身内，以避免对无人机上的航拍设备造成遮挡。
附图说明
图1为本实用新型一实施例提供的无人机的结构示意图；
图2为本实用新型一实施例提供的无人机中起落架呈展开状态的结构示意图；
图3为本实用新型一实施例提供的无人机中起落架呈折叠状态的结构示意图。
具体实施方式
如图1所示，本实用新型一实施例提供的无人机包括机身10和安装在机身10上的起落架20，机身10上还可安装机翼、航拍设备等其他构件。起落架20包括动力组件200和起落架本体201，动力组件200用于驱动起落架本体201相对机身10展开或折叠，其中起落架本体201折叠时，可至少部分地折叠入机身10内部。通过对起落架20进行展开或折叠的状态控制，可使无人机适应不同使用场景。例如，当需要降落时，可将起落架20展开，以使无人机安全降落。当无人机在飞行过程中，或者降落后需要携带或运输的过程中，可将起落架20折叠，如此在飞行过程中，不会影响无人机上搭载的其他设备(例如航拍设备)的正常工作，而在携带过程中，可使无人机的体积更小，便于收纳和包装。
同时参考图2和图3，动力组件200设于机身10内，包括驱动装置21以及 第一连接件22，其中驱动装置21驱动所述第一连接件22做往复直线运动。在一可选的实施例中，驱动装置21包括螺杆211和电机213。螺杆211与电机213的输出轴连接，可由电机213带动而发生转动。电机213可以通过联轴器直接驱动螺杆211转动，也可以借助齿轮等中间传动件带动螺杆211转动。无人机的机身10内可设置安装空间和避让槽，电机213和螺杆211可设置在安装空间内，避让槽可为起落架本体201的运动提供避让通道。
螺杆211包括相对的第一端210和第二端212，一实施例中，螺杆211的第一端210设置在机身10内，例如，可以位于机身10的安装空间内，螺杆211的第二端212露出在机身10外，且第二端212还设有第二连接件25。第一连接件22套设在螺杆211上并与螺杆211螺接。电机213可以带动螺杆211转动，进而使第一连接件22在螺杆211上沿着螺杆211轴向上下移动，因而实现第一连杆24和第二连杆26不同方向的转动，以在起落架本体201的展开和折叠状态两者之间进行切换。在起落架本体201的展开和折叠状态两者之间切换的过程中，螺杆211相对机身10的位置不发生变化。
在其他实施例中，驱动装置21也可通过传送带等传动件与第一连接件22形成传动连接从而带动第一连接件22做往复直接运动。
起落架本体201包括与第一连接件22铰接的第一连杆24，以及一端与第二连接件25铰接、另一端与第一连杆24铰接的第二连杆26。第一连杆24包括相对的第一端241和第二端242，第一连杆24的第一端241与第一连接件22铰接，第一连杆24的第二端242用于支撑无人机。第一连杆24可以是多种形态，例如呈直杆状。在另外的一些实施例中，第一连杆24还可以向避开机身10内部元件的方向弯曲，以免第一连杆24在转动的过程中与机身10内部元件产生干涉。此外，如图1所示，第一连杆24还可以包括支撑杆243，支撑杆243与第二端242交叉连接，使得第一连杆24整体呈T型。
第二连杆26包括相对的第一端261和第二端262，第二连杆26的第一端261转动连接在第一连杆24的第一端241与第一连杆24的第二端242之间，第二连杆26的第二端262转动连接在第二连接件25上。第二连杆26可以呈直线状，也可以为曲线状。
当驱动装置21带动第一连接件22做往复直线运动时，起落架本体201可被展开置于所述机身10外部或折叠进入机身10内部。如图2所示，当驱动装置21带动第一连接件22朝机身10外的方向做直线运动到极限位置后，起落架本体201完全展开，第二连杆26和部分的第一连杆24位于机身10外。此时，第一连杆24与螺杆211所呈角度β＜90°，第二连杆26与螺杆所呈角度α1＞90度。
如图3所示，通过控制电机213带动螺杆211转动，进而使第一连接件22沿着螺杆211由下向上移动，由于第一连杆24、第一连接件22、第二连杆26、第二连接件25之间的转动连接关系，可使第一连接件22、第一连杆24在机身10内移动，且带动第二连杆26使部分第二连杆26折叠进入机身10内，同时第二连杆26与第一连杆24的转动连接处也位于机身10内，最终实现起落架20的折叠。此时，第二连杆26与螺杆211形成的夹角α2＜90度。在从展开状态向折叠状态切换的过程中，第一连杆24与螺杆211之间的夹角β有一个先变大，后变小的过程，最终，起落架本体处于完全折叠状态时，第一连杆24与螺杆211之间所呈角度为0°。
一实施例中，第一连接件22的中部向远离电机213的方向弯曲。换言之，第一连接件22与螺杆211之间设有防碰空间220，用于避让电机213。如图3中所示，当起落架20处于折叠状态时，电机213可以至少部分地容置在防碰空间220内，如此设置可在避免第一连接件22与动力源220产生干涉的前提下，可以将第一连杆24提升到足够的高度，从而更大程度地将起落架本体折叠入机身10内部。
在本发明一可能的实施例中，第二连接件25的中部可向靠近电机213的方向弯曲，从而使起落架本体更好地折叠入机身10内部。
上述实施例中的起落架20可以采用一个电机213即可带动用于支撑无人机的所有第一连杆24实现展开或折叠，结构更为简单。而且起落架20折叠状态时，至少部分结构位于机身10内，可以最大程度的减小无人机所占体积，便于携带。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对 上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本实用新型的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对实用新型专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本实用新型构思的前提下，还可以做出若干变形和改进，这些都属于本实用新型的保护范围。因此，本实用新型专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种起落架，应用于无人机，所述无人机包括机身，其特征在于，所述起落架包括：
    动力组件，设于所述机身内，所述动力组件包括第一连接件和用于驱动所述第一连接件做往复直线运动的驱动装置；
    起落架本体，所述起落架本体包括与所述第一连接件铰接的第一连杆，以及一端与所述动力组件铰接、另一端与所述第一连杆铰接的第二连杆；所述第一连接件做往复直线运动时，带动所述起落架本体展开或折叠入所述机身内部。
  2. 根据权利要求1所述的起落架，其特征在于，所述驱动装置包括电机和与所述电机相连的螺杆，所述第一连接件套设于所述螺杆上并与所述螺杆螺接。
  3. 根据权利要求2所述的起落架，其特征在于，所述第一连接件的中部向远离所述电机的方向弯曲。
  4. 根据权利要求2或3所述的起落架，其特征在于，所述动力组件还包括固定在所述螺杆上与所述电机相对的一端的第二连接件，所述第二连杆一端与所述第二连接件铰接，另一端与所述第一连杆铰接。
  5. 根据权利要求4所述的起落架，其特征在于，所述第二连接件的中部向靠近所述电机的方向弯曲。
  6. 根据权利要求2所述的起落架，其特征在于，所述起落架本体展开时所述第二连杆与所述螺杆之间的夹角大于所述起落架本体折叠时所述第二连杆与所述螺杆之间的夹角。
  7. 根据权利要求2所述的起落架，其特征在于，所述起落架本体展开时所述第一连杆与所述螺杆之间的夹角小于90度，所述起落架本体折叠时所述第一连杆与所述螺杆平行。
  8. 根据权利要求1所述的起落架，其特征在于，所述第一连杆还包括支撑杆，所述支撑杆使得所述第一连杆呈T型。
  9. 根据权利要求1所述的起落架，其特征在于，所述第一连杆向避开所述机身内部元件的方向弯曲。
  10. 一种无人机，其特征在于，包括机身和如权利要求1-9任一项所述的起落架，所述起落架折叠时位于所述机身内。
PCT/CN2018/082219 2017-06-13 2018-04-08 无人机及其起落架 WO2018228033A1 (zh)

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