WO2019007130A1 - 一种起落架及具有此起落架的无人机 - Google Patents

一种起落架及具有此起落架的无人机 Download PDF

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Publication number
WO2019007130A1
WO2019007130A1 PCT/CN2018/082220 CN2018082220W WO2019007130A1 WO 2019007130 A1 WO2019007130 A1 WO 2019007130A1 CN 2018082220 W CN2018082220 W CN 2018082220W WO 2019007130 A1 WO2019007130 A1 WO 2019007130A1
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WO
WIPO (PCT)
Prior art keywords
link
landing gear
hinged
connecting member
drone
Prior art date
Application number
PCT/CN2018/082220
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English (en)
French (fr)
Inventor
倪枫
Original Assignee
深圳市道通智能航空技术有限公司
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Publication date
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 WO2019007130A1 publication Critical patent/WO2019007130A1/zh

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a landing gear and a drone having the same.
  • the unmanned aerial vehicle is a new concept equipment that is rapidly developing. It has the advantages of flexibility, quick response, driverless operation and low operational requirements. UAVs can carry out real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing. At present, the scope of use of drones has been broadened into three major areas of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop yield estimation, anti-drug, border patrol, security and anti-terrorism. And other fields are widely used.
  • the fixed landing gear blocks the aerial view during aerial photography.
  • the present invention provides a foldable landing gear that can be stowed and folded, and a drone having the folding landing gear.
  • the present invention provides the following technical solutions:
  • a landing gear for a drone comprising a fuselage, the landing gear comprising: a power assembly and a landing gear body, wherein a power assembly is mounted to the fuselage, the power The assembly includes a connector and a drive for driving the connector to reciprocate; the landing gear body includes a plurality of articulated links, the plurality of hinged links forming at least one parallelogram mechanism; the landing gear The body is connected to the connecting member, and when the connecting member reciprocates, the landing gear body is driven to be folded or unfolded.
  • the plurality of articulated links include a first link, a second link, a third link, a fourth link, and a fifth link;
  • the connecting member is hinged, the other end of the first link is hinged with one end of the fourth link, and the first link is connected to one end of the connecting member and the other end of the fourth link One end between the hinges; one end of the second link is hinged to the fuselage, and the other end is hinged to the third link and the fourth link, respectively; One end is hinged to the second link, and the other end of the third link and the other end of the fourth link are respectively hinged with the fifth link.
  • one end of the third link is hinged to the second link, and one end of the hinge extends away from the fifth link and is hinged with the first link.
  • the third link includes a first portion that is hinged to the first link and the second link, a bend that is coupled to the first portion, and is coupled to the first bend a second portion; the first portion and the second portion are both disposed in parallel with the fourth link.
  • the landing gear body includes a first link, a second link, a third link, a fourth link, and a fifth link; one end of the first link and the connecting member Hinged, the other end of the first link is hinged to one end of the fourth link, and the first link is between an end connecting the connecting member and the other end of the fourth link One end of the second body is hinged to the fuselage, and the other end is hinged to the third link or the fourth link; The first link is hinged, and the other end of the third link and the other end of the fourth link are respectively hinged with the fifth link.
  • the fourth link includes a second bend hinged to the first link and a vertical portion connected to the second bend; the vertical portion is coupled to the first portion Between the two curved portions and the fifth link.
  • the fifth link includes a third portion hinged to the third link and the fourth link, a third bend connected to the third portion, and the first portion The fourth part of the three bends is connected.
  • the landing gear further includes a tripod that connects the fifth link.
  • the power assembly includes a screw coupled to the driving device, the connecting member is sleeved on the screw and screwed to the screw, and the driving device drives the screw to rotate.
  • the connecting member reciprocates along the screw.
  • the connecting member is screwed to the screw at a middle portion thereof, and the connecting member further has a sliding groove on both sides of the screw joint portion, and one end of the first connecting rod is hinged And sliding in the sliding groove along the sliding groove.
  • the present invention also provides the following technical solutions:
  • a drone comprising the landing gear described above.
  • the landing gear of the present invention can drive the landing gear body to be folded or unfolded relative to the body when the connecting member reciprocates, and the landing gear body can be folded and folded.
  • the structure On both sides or inside of the fuselage, the structure is compact, so that when the drone with this landing gear is in flight, the landing gear can be folded up and folded without causing unnecessary resistance of the drone in the air.
  • the aerial view is not blocked; when it is required to land, the landing gear can be automatically deployed to support the drone to complete the landing. Further, when not in use, the drone with the landing gear is also easy to accommodate and carry.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention, wherein the landing gear is in an unfolded state;
  • Figure 2 is a cross-sectional view of the drone shown in Figure 1;
  • Figure 3 is another cross-sectional view of the drone shown in Figure 1;
  • Figure 4 is a cross-sectional view of the drone shown in Figure 3, wherein the landing gear is in a folded state;
  • FIG. 5 is a cross-sectional view of a drone according to another embodiment of the present invention, wherein the landing gear is in a folded state;
  • FIG. 6 is a cross-sectional view of a drone according to still another embodiment of the present invention, wherein the landing gear is in an unfolded state.
  • the drone can be a single rotor, a double rotor, a quadrotor, or a six-rotor.
  • the four-rotor unmanned aerial vehicle is taken as an example for detailed description.
  • an embodiment of the present invention provides a drone 100 including a body 10 and a landing gear 20 .
  • the landing gear 20 is mounted to the body 10 for landing when the drone 100 is lowered. Support it at the landing site.
  • the body 10 includes a control circuit component composed of electronic components such as an MCU, and the control circuit component includes a plurality of control modules, such as a control module for controlling the landing gear 20 to be stowed and lowered, for controlling A flight control module for the flight attitude of the drone, a GPS module for navigating the drone, and a data processing module for processing environmental information acquired by the relevant onboard device.
  • a control circuit component composed of electronic components such as an MCU
  • the control circuit component includes a plurality of control modules, such as a control module for controlling the landing gear 20 to be stowed and lowered, for controlling A flight control module for the flight attitude of the drone, a GPS module for navigating the drone, and a data processing module for processing environmental information acquired by the relevant onboard device.
  • the body 10 is provided with a receiving groove 11 for accommodating the landing gear 20 when the landing gear 20 is stowed.
  • the landing gear 20 includes: a power assembly 210 , a landing gear body 220 and a tripod 230 , the power assembly 210 is configured to be disposed inside the fuselage 10 , and the power assembly 210 and the The landing gear body 220 is coupled to provide power to the landing gear body 220.
  • the landing gear body 220 is coupled to the stand 230, and the power assembly 210 transmits power to the stand 230 through the landing gear body 220, and the power assembly 210 drives the landing gear body 220 and the stand 230 relative to the seat
  • the body 10 is rotated and folded or unfolded.
  • the power assembly 210 is mounted inside the body 10.
  • the power assembly 210 includes a driving device 211, a screw 212, and a connecting member 213.
  • the driving device 211 is fixedly coupled to the screw 212 for driving the screw 212 to rotate.
  • the connecting member 213 is sleeved on the screw 212, and can reciprocate linearly along the axial direction of the screw 212 as the screw 212 rotates.
  • the connecting member 213 is coupled to the landing gear body 220, and when the connecting member 213 is reciprocated, the landing gear body 220 can be rotated and folded or unfolded relative to the body 10. Referring to FIG. 3, a middle portion of the connecting member 213 is provided with a threaded hole 2131, and a sliding groove 2132 is disposed on each side of the threaded hole 2131.
  • the driving device 211 includes a motor for driving the screw 212 to rotate, so that the connecting member 213 rotates along the screw 212 along with the screw 212.
  • the direction of the axis makes a reciprocating linear motion.
  • the power assembly 210 can include a driving device 211 and a connecting member 213, and the driving device 211 can be one of a cylinder or a hydraulic cylinder, and the driving device 211 drives the connecting member 213 to do Reciprocating linear motion.
  • the landing gear 20 includes a power assembly 210, two landing gear bodies 220, and two legs 230.
  • One landing gear body 220 is only connected to one corresponding stand 230, and two landing gears.
  • the body 220 is connected to the connector 213. Two of the landing gear bodies 220 are respectively disposed on opposite sides of the body 10.
  • the number of the landing gears 20 provided on the drone 100 is one. It can be understood that, in other embodiments, the number of the landing gears 20 disposed on the drone 100 can be set according to actual needs, for example, the number of the landing gears 20 is two, three, etc. .
  • the landing gear body 220 is a linkage mechanism including a plurality of hinged links, and the plurality of hinged links constitute at least one parallelogram mechanism.
  • the plurality of hinged links include a first link 221, a second link 222, a third link 223, a fourth link 224, and a fifth link 225.
  • One end of the first connecting rod 221 is connected to the connecting member 213, and the other end of the first connecting rod 221 away from the connecting member 213 and the third connecting rod 223 are hinged to the first hinge point, the first a link 221 is hinged to the second hinge point at a position between one end of the connecting member 213 and the first hinge point; one end and the third end of the second link 222
  • the link 223 is hinged to the third hinge point, and the second link 222 is remote from the other end of the third link 223 for articulating with the fuselage 10 to the fourth hinge point.
  • the other end of the first link 221 away from the connecting member 213 is also hinged to the fifth hinge point at one end of the fourth link 224, and the first hinge point is closer to the connecting member 213 than the fifth hinge point.
  • the other end of the third link 223 away from the first link 221 and one end of the fifth link 225 are hinged to the sixth hinge point; the fourth link 224 is away from the other end of the first link 221
  • the fifth link 225 is hinged to the seventh hinge point.
  • a portion of the first link 221, a portion of the second link 222 and a portion of the third link 223, and a portion of the body 10 constitute a four-bar linkage mechanism, and the first, second, third, and fourth hinges The point is the four vertices of a parallelogram.
  • Another portion of the first link 221, all of the third link 223, all of the fourth link 224, and a portion of the fifth link 225 constitute another four-bar linkage mechanism, and the first, fifth, The six or seven hinge points are the four vertices of another parallelogram.
  • the first link 221 includes a first link body 2211, a first pin 2212, a second pin 2213, a third pin 2214, and a fourth pin 2215.
  • the first pin 2212 is disposed at one end of the first link body 2211
  • the fourth pin 2215 is disposed at the other end of the first link body 2211 .
  • the second pin 2213 is disposed on the first link body 2211 and located between the first pin 2212 and the fourth pin 2215.
  • the third pin 2214 is disposed on the first link body 2211 and between the second pin 2213 and the fourth pin 2215.
  • the first pin 2212 is inserted into the sliding slot 2132 and slidable within the sliding slot 2132 such that the first link 221 is movably coupled to the connector 213.
  • the first link 221 is hinged to the body 10 through the second pin 2213.
  • the first link 221 is hinged to one end of the third link 223 through the third pin 2214.
  • the first link 221 is hinged to one end of the fourth link 224 by the fourth pin 2215.
  • the second link 222 includes a second link body 2221, a fifth pin 2222, and a sixth pin 2223.
  • the fifth pin 2222 and the sixth pin 2223 are respectively disposed on the second link body. Both ends of the 2221.
  • the second link 222 is hinged to the body 10 by the fifth pin 2222.
  • the third link 223 includes a third link body 2231 and a seventh pin 2234, and the third link body 2231 is provided with a first shaft hole 2232 and a second shaft hole 2233.
  • the first shaft hole 2232 is disposed at one end of the third link body 2231
  • the seventh pin shaft 2234 is disposed at the other end of the third link body 2231.
  • the second shaft hole 2233 is disposed on the third link body 2231 and located between the first shaft hole 2232 and the seventh pin shaft 2234.
  • the sixth pin 2223 is inserted into the second shaft hole 2233 such that the second link 222 is hinged with the third link 223.
  • the fourth link 224 includes a fourth link body 2241 and an eighth pin 2243.
  • the fourth link body 2241 is provided with a third shaft hole 2242, and the third shaft hole 2242 and the eighth pin 2243 are respectively respectively The two ends of the fourth link body 2241 are disposed.
  • the fourth pin 2215 is inserted into the third shaft hole 2242 such that the first link 221 and the fourth link 224 are hinged.
  • the fifth link 225 includes a fifth link body 2251, the fifth link body 2251 is provided with a fourth shaft hole 2252 and a fifth shaft hole 2253, and the fourth shaft hole 2252 is disposed at the fifth link One end of the rod body 2251 is disposed on the fifth link body 2251 and between the two ends of the fifth link body 2251.
  • the seventh pin 2234 is inserted into the fourth shaft hole 2252 such that the third link 223 is hinged with the fourth link 224.
  • the eighth pin 2243 is inserted into the fifth shaft hole 2253 such that the fourth link 224 is hinged with the fifth link 225.
  • the pitch of the second pin 2213 and the third pin 2214 is equal to the pitch of the fifth pin 2222 and the sixth pin 2223
  • the distance between the third pin 2214 and the sixth pin 2223 is equal to the second pin 2213 and The pitch of the fifth pin 2222
  • the pitch of the third pin 2214 and the fourth pin 2215 is equal to the pitch of the seventh pin 2234 and the eighth pin 2243
  • the pitch of the third pin 2214 and the seven pin 2234 is equal to the fourth pin 2215 and the eighth pin.
  • the fourth link 224 is a buffer rod, including a buffer damping device 2244, for buffer damping when the drone 100 is lowered.
  • the damper device 2244 may be a hydraulic cylinder damper or an elastic damper or the like. After the landing gear 20 of the drone 100 comes into contact with the ground, the landing gear 20 rotates due to the force, and the shock absorbing device 2244 provides a torsional elastic force, thereby causing the landing gear 20 to function as a buffer and shock absorber to prevent The drone is too fast due to the falling speed, resulting in damage to the drone 100.
  • the damping damper 2244 may be omitted and the fourth link 224 may be a non-buffering lever.
  • the tripod 230 is fixed to the other end of the fifth link 225 for supporting the landing position of the drone 100.
  • the stand 230 is horizontally disposed and perpendicular to the fifth link 225.
  • the tripod 230 may not be specifically set according to actual needs, but the fifth link 225 functions as a tripod 230 (ie, landing on the drone). At the time, the other end of the fifth link 225 is in contact with the ground).
  • one end of the first link 221 is connected to the connecting member 213 and is hinged to the second hinge point with the body 10; the other end of the first link 221 is One end of the fourth link 224 is hinged to the fifth hinge point.
  • One end of the second link 222 is hinged to the fuselage 10 at a fourth hinge point, and the other end is hinged to the fourth link 224 at an eighth hinge point.
  • One end of the third link 223 is hinged to the second link 222 to the third hinge point, and the other end is hinged to the sixth hinge point at one end of the fifth link 225.
  • the other end of the fourth link 224 is hinged to the fifth link 225 at a seventh hinge point.
  • a portion of the first link 221, a portion of the second link 222 and a portion of the fourth link 224, and a portion of the body 10 constitute a four-bar linkage mechanism
  • the second, fourth, The fifth and eighth hinge points are four vertices of one parallelogram
  • a part of the second link 222, all of the third link 223, another part of the fourth link 224, and a part of the fifth link 225 constitute another A four-bar linkage mechanism
  • the third, sixth, seventh, and eighth hinge points are four vertices of another parallelogram.
  • one end of the first link 221 is connected to the connecting member 213 and is hinged to the second hinge point with the body 10; the other end of the first link 221 is One end of the fourth link 224 is hinged to the fifth hinge point.
  • One end of the second link 222 is hinged to the fuselage 10 at a fourth hinge point, and the other end is hinged to the fourth link 224 at an eighth hinge point.
  • One end of the third link 223 is hinged to the first link 221 to the first hinge point, and the other end is hinged to the sixth hinge point at one end of the fifth link 225.
  • the other end of the fourth link 224 is hinged to the fifth link 225 at a seventh hinge point.
  • a portion of the first link 221, a portion of the second link 222 and a portion of the fourth link 224, and a portion of the body 10 constitute a four-bar linkage mechanism
  • the second, fourth, The fifth and eighth hinge points are four vertices of a parallelogram
  • a part of the first link 221, all of the third link 223, all of the fourth link 224, and a part of the fifth link 225 constitute another A four-bar linkage mechanism
  • the first, fifth, sixth, and seventh hinge points are four vertices of another parallelogram.
  • one end of the first link 221 is connected to the connecting member 213 and is hinged to the second hinge point with the body 10; the other end of the first link 221 is One end of the fourth link 224 is hinged to the fifth hinge point.
  • One end of the second link 222 is hinged to the fuselage 10 at a fourth hinge point, and the other end is hinged to the fourth link 224 at an eighth hinge point.
  • One end of the third link 223 is hinged to the first link 221 to the first hinge point, and the second link 222 is hinged to the third hinge point; the other end and the fifth link 225 One end is hinged to the sixth junction.
  • the other end of the fourth link 224 is hinged with the fifth link 225 and a seventh hinge point.
  • a portion of the first link 221, a portion of the second link 222 and a portion of the fourth link 224, and a portion of the body 10 constitute a four-bar linkage mechanism
  • the second, fourth, The fifth and eighth hinge points are four vertices of a parallelogram
  • a part of the first link 221, all of the third link 223, all of the fourth link 224, and a part of the fifth link 225 constitute another A four-bar linkage mechanism
  • the first, fifth, sixth, and seventh hinge points are four vertices of another parallelogram.
  • the first link 221, the second link 222, the third link 223, the fourth link 224, and the fifth link 225 are straight rods. It can be understood that, in other embodiments, the first link 221, the second link 222, the third link 223, the fourth link 224, and the fifth link 225 are not limited to being straight rods, and may be It is a curved rod, which may also be a plate shape or other irregular shape, as long as the four hinge points in the landing gear body 220 are four vertices of a parallelogram.
  • the housing 10 is provided with a receiving groove 11 at a position corresponding to the landing gear 20.
  • the landing gear 20 is stowed and partially housed in the receiving slot 11, reducing unnecessary resistance in the air, and does not obscure the aerial view during the aerial photography of the drone 100; when it is required to land, The drop frame 20 can be automatically deployed to support the drone 100 to complete the landing. Further, when the drone 100 is not in use, the landing gear 20 is partially housed in the receiving slot 11, which reduces the accommodation space and is convenient for storage and carrying.
  • the driving device 211 drives the screw 212 to rotate, so that the connecting member 213 moves linearly downward along the axis direction of the screw 212, thereby making One end of the first link 221 connected to the connecting member 213 is moved downward, so that the first link 221 is rotated about the second pin 2213, and the other end of the first link 221 is moved upward (ie, The other end of the first link 221 is tilted up).
  • the first link 221 pulls the third link 223 and the fourth link 224 and the end of the second link 222 connected to the third link 223 moves upward, and the third link 223 moves upward.
  • the distance is less than the distance that the fourth link 224 moves upward.
  • the seventh pin shaft 2234 is changed from a position in the vertical direction higher than the position of the eighth pin shaft 2243 to a position in the vertical direction lower than the position of the eighth pin shaft 2243, thereby making the fifth link
  • the other end of the rod 225 is tilted up.
  • the third link 223, the fourth link 224, and the fifth link 225 both move toward the body 10.
  • the landing gear body 220 is folded on the side of the body 10 and partially received in the receiving slot 11 so that the aerial view is not blocked during the aerial photography of the drone 100.
  • the driving device 211 drives the screw 212 to rotate in the reverse direction, so that the connecting member 213 moves upward in the axial direction of the screw 212, so that one end of the first link 221 is upward.
  • the first link 221 is rotated about the second pin 2213, and the other end of the first link 221 is moved downward (that is, the other end of the first link 221 is drooping).
  • the first link 221 drives the third link 223 and the fourth link 224 and the end of the second link 222 connected to the third link 223 to move downward, and the third link 223 is downward.
  • the distance moved is less than the distance the fourth link 224 moves downward.
  • the seventh pin shaft 2234 is changed from a position lower than the eighth pin shaft 2243 in the vertical direction to a position higher than the eighth pin shaft 2243 in the vertical direction, thereby making the fifth link One end of the rod 225 that is connected to the stand 230 is drooped. Also, in the horizontal direction, the third link 223, the fourth link 224, and the fifth link 225 are both moved away from the body 10.
  • the tripod 230 becomes the lowest point on the entire drone 100 and contacts the ground after the drone 100 descends.
  • a drone 200 is substantially the same as the drone 100 provided by the first embodiment, except that the third link body 2231 includes the first link. a first portion 2235 hinged to the second link 222, a first curved portion 2236 coupled to the first portion, and a second portion 2237 coupled to the first curved portion 2236; the first portion 2235 and The second portion 2237 is disposed in parallel with the fourth link 224.
  • the fourth link body 2241 includes a second curved portion 2245 hinged with the first link 221 and a vertical portion 2246 connected to the second curved portion 2245; the vertical portion 2246 is coupled to the The second curved portion 2245 is interposed between the fifth link 225.
  • the fifth link body 2251 includes a third portion 2254 hinged with the third link 223 and the fourth link 224, a third curved portion 2255 connected to the third portion, and the A fourth portion 2256 to which the three bent portions 2255 are connected, and an end of the fourth portion 2256 away from the third curved portion 2255 is coupled to the stand 230.
  • the drone 200 of the present embodiment after the landing gear 20 is folded, the fifth link 225 and the third link 223 and the fourth link 224 are parallel to each other, and the spacing between them is smaller, so that the landing gear After folding 20, the structure is more compact and takes up less space.
  • a drone 300 according to another embodiment of the present invention is substantially the same as the drone 100 provided by the first embodiment.
  • the power component 210 further includes a connecting rod 214 , and the threaded hole 2131 .
  • One end of the connecting rod 214 is hinged with the connecting member 213, and the other end is hinged with one end of the first connecting rod 221.
  • the connecting rod 214 added to the drone 300 of the embodiment makes the connection between the connecting member 213 and the first connecting rod 221 more stable, and can effectively prevent the drone 300 from being in flight.
  • the landing gear body 220 of the drone 100, 200, 300 can include only the first link 221, the second link 222, and the Three links 223. a connection relationship between the first link 221, the second link 222, and the third link 223, and a connection relationship between the first link 221 and the second link 222 and the body 10 and the power component 210
  • the connection relationship may be the same as that described in any one of the embodiments 1-3, and the third link 223 may serve as a tripod for supporting the drone to drop, or The other end of the third link 223 is fixedly coupled to the stand 230.
  • the connecting member is illustrated by linear reciprocating motion, but those skilled in the art can understand that the present invention is not limited to linear reciprocating motion, and other reciprocating motions such as arc or curved reciprocating motion can also be used.
  • the object of the invention is achieved.

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Abstract

一种起落架及具有该起落架的无人机，起落架（20）包括动力组件（210）和起落架本体（220），动力组件（210）包括连接件（213）和用于驱动连接件（213）做往复运动的驱动装置（211）；起落架本体（220）包括多个铰接的连杆，多个铰接的连杆构成至少一个平行四边形机构；起落架本体（220）与连接件（213）相连，连接件（213）做往复运动时，带动起落架本体（220）折叠或展开，在连接件（213）做往复运动的带动下，起落架本体（220）可收起并折叠于机身（10）的两侧或内部，从而使得无人机在飞行时，起落架（20）可收起并折叠不会造成在空中的不必要阻力。

Description

一种起落架及具有此起落架的无人机 【技术领域】
本发明涉及飞行器技术领域，尤其涉及一种起落架及具有此起落架的无人机。
【背景技术】
无人驾驶飞机，简称无人机(Unmanned Aerial Vehicle，UAV)，是一种处在迅速发展中的新概念装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人机通过搭载多类传感器或摄像设备，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。目前，无人机的使用范围已经拓宽到军事、科研、民用三大领域，具体在电力通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
目前市场上的消费级无人机主要使用固定式起落架。在航拍过程中，固定式起落架会遮挡航拍视野。
【发明内容】
为了解决上述技术问题，本发明提供一种可收起并折叠的折叠式起落架以及具有此折叠式起落架的无人机。
为了解决上述技术问题，本发明提供以下技术方案：
一种起落架，用于无人机，所述无人机包括机身，所述起落架包括：动力组件和起落架本体，其中，动力组件，用于安装于所述机身，所述动力组件包括连接件和用于驱动所述连接件做往复运动的驱动装置；起落架本体，包括多个铰接的连杆，所述多个铰接的连杆构成至少一个平行四边形机构；所述起落架本体与所述连接件相连，所述连接件做往复运动时，带动所述起落架本体折叠或展开。
在一些实施例中，所述多个铰接的连杆包括第一连杆、第二连杆、第三 连杆、第四连杆和第五连杆；所述第一连杆的一端与所述连接件铰接，所述第一连杆的另一端与所述第四连杆的一端铰接，所述第一连杆在连接所述连接件的一端与铰接所述第四连杆的另一端之间的一处铰接所述机身；所述第二连杆的一端与所述机身铰接，另一端分别与所述第三连杆和第四连杆铰接；所述第三连杆的一端与所述第二连杆铰接，所述第三连杆的另一端和所述第四连杆的另一端分别与所述第五连杆铰接。
在一些实施例中，所述第三连杆的一端与所述第二连杆铰接，且该铰接的一端向远离所述第五连杆方向延伸并与所述第一连杆铰接。
在一些实施例中，所述第三连杆包括与所述第一连杆和所述第二连杆铰接的第一部分、与所述第一部分相连的弯曲部以及与所述第一弯曲部相连的第二部分；所述第一部分和所述第二部分均与所述第四连杆平行设置。
在一些实施例中，所述起落架本体包括第一连杆、第二连杆、第三连杆、第四连杆和第五连杆；所述第一连杆的一端与所述连接件铰接，所述第一连杆的另一端与所述第四连杆的一端铰接，所述第一连杆在连接所述连接件的一端与铰接所述第四连杆的另一端之间的一处铰接所述机身；所述第二连杆的一端与所述机身铰接，另一端与所述第三连杆或所述第四连杆铰接；所述第三连杆的一端与所述第一连杆铰接，所述第三连杆的另一端和所述第四连杆的另一端分别与所述第五连杆铰接。
在一些实施例中，所述第四连杆包括与所述第一连杆铰接的第二弯曲部以及与所述第二弯曲部相连的竖直部；所述竖直部连接于所述第二弯曲部与所述第五连杆之间。
在一些实施例中，所述第五连杆包括与所述第三连杆和所述第四连杆铰接的第三部分、与所述第三部分相连的第三弯曲部以及与所述第三弯曲部相连的第四部分。
在一些实施例中，所述起落架还包括脚架，所述脚架连接所述第五连杆。
在一些实施例中，所述动力组件包括与所述驱动装置相连接的螺杆，所述连接件套设于所述螺杆并与所述螺杆螺接，所述驱动装置驱动所述螺杆转动，所述连接件沿着所述螺杆做往复运动。
在一些实施例中，所述连接件在其中部与所述螺杆螺接，所述连接件在与所述螺杆螺接部位的两侧还开设有滑动槽，所述第一连杆的一端铰接于所 述滑动槽内并可沿所述滑动槽滑动。
为了解决上述技术问题，本发明还提供以下技术方案：
一种无人机，包括以上所述起落架。
与现有技术相比较，本发明的起落架，在连接件做往复运动时，可带动所述起落架本体相对于所述机身旋转折叠或展开，并且所述起落架本体可收起并折叠于机身的两侧或内部，结构紧凑，从而使得具有此起落架的无人机在飞行时，起落架可收起并折叠不会造成无人机在空中的不必要阻力，在无人机航拍过程中，不会遮挡航拍视野；在需要降落时，起落架又能自动展开，支撑该无人机完成降落。进一步的，在不使用时，也使得具有此起落架的无人机便于收容和携带。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明其中一实施例提供的无人机的立体图，其中起落架处于展开状态；
图2为图1所示的无人机的剖视图；
图3为图1所示的无人机的另一剖视图；
图4为图3所示的无人机的剖视图，其中起落架处于折叠状态；
图5为本发明另一实施例提供的无人机的剖视图，其中起落架处于折叠状态；
图6为本发明又一实施例提供的无人机的剖视图，其中起落架处于展开状态。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述 “连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，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发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
在本发明中，无人机可以为单旋翼、双旋翼、四旋翼、或六旋翼等，这里以四旋翼无人机为例进行详细说明。
请参阅图1，本发明的其中一实施例提供一种无人机100，包括机身10和起落架20，所述起落架20安装于所述机身10，用于无人机100降落时支撑其于降落地点。
所述机身10内包括由MCU等电子元器件组成的控制电路组件，该控制电路组件包括多个控制模块，如，用于控制所述起落架20收起和放下的控制模块，用于控制无人机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。
所述机身10设置收容槽11，在起落架20收起时，收容槽11收容起落架20。
请参阅图2，所述起落架20包括：动力组件210、起落架本体220和脚架230，所述动力组件210用于设置于所述机身10内部，并且所述动力组件210与所述起落架本体220连接，向所述起落架本体220提供动力。所述起落架本体220与所述脚架230连接，所述动力组件210通过所述起落架本体220向所述脚架230传递动力，动力组件210驱动起落架本体220和脚架230相对于所述机身10旋转折叠或展开。
所述动力组件210安装于所述机身10内部。所述动力组件210包括：驱动装置211、螺杆212和连接件213，所述驱动装置211与所述螺杆212固定连接，用于带动所述螺杆212转动。所述连接件213套设于所述螺杆212，并可随着所述螺杆212的转动，沿所述螺杆212的轴线方向做往复直线运动。所述连接件213与所述起落架本体220连接，并且所述连接件213做往复运动时，可带动所述起落架本体220相对于所述机身10旋转折叠或展开。请参阅图3，所述连接件213的中部设置有螺纹孔2131，所述螺纹孔2131的两侧分别设置有一个滑动槽2132。
可以理解的是，在本实施例中，所述驱动装置211包括一电机，用于驱动所述螺杆212转动，进而使得所述连接件213随着所述螺杆212的转动，沿所述螺杆212的轴线方向做往复直线运动。在其它一些实施例中，所述动力组件210可包括驱动装置211和连接件213，所述驱动装置211可以是气缸或液压缸中的一种，所述驱动装置211驱动所述连接件213做往复直线运动。
在本实施例中，所述起落架20包括一个动力组件210、两个起落架本体220和两个脚架230，一个起落架本体220仅与一个对应的脚架230连接，并且两个起落架本体220均与连接件213连接。两个所述起落架本体220分别设置于所述机身10的两相对侧。
在本发明中，所述无人机100上设置的所述起落架20的数量为一个。可以理解的是，在其它一些实施例中，所述无人机100上设置的所述起落架20的数量，可根据实际需求设置，例如所述起落架20的数量为二个，三个等。
所述起落架本体220为一连杆机构，包括多个铰接的连杆，多个所述铰接的连杆构成至少一个平行四边形机构。
具体的，所述多个铰接的连杆包括第一连杆221、第二连杆222、第三连杆223、第四连杆224和第五连杆225。所述第一连杆221的一端连接所述连接件213，所述第一连杆221远离所述连接件213的另一端与所述第三连杆223铰接于第一铰接点，所述第一连杆221在连接所述连接件213的一端与第一铰接点之间的一处用于与所述机身10铰接于第二铰接点；所述第二连杆222的一端与第三连杆223铰接于第三铰接点，第二连杆222远离第三连杆223的另一端用于与所述机身10铰接于第四铰接点。所述第一连杆221远离连接件213的另一端还与第四连杆224的一端铰接于第五铰接点，所述第一铰接 点比所述第五铰接点更接近所述连接件213；所述第三连杆223远离第一连杆221的另一端与所述第五连杆225的一端铰接于第六铰接点；所述第四连杆224远离第一连杆221的另一端与所述第五连杆225铰接于第七铰接点。所述第一连杆221的一部分、第二连杆222的全部和第三连杆223的一部分以及机身10的一部分构成一个四连杆机构，并且所述第一、二、三、四铰接点为一个平行四边形的四个顶点。所述第一连杆221的另一部分、第三连杆223的全部、第四连杆224的全部和第五连杆225的一部分构成另一四连杆机构，并且所述第一、五、六、七铰接点为另一平行四边形的四个顶点。
所述第一连杆221包括第一连杆本体2211、第一销轴2212、第二销轴2213、第三销轴2214和第四销轴2215。所述第一销轴2212设置于所述第一连杆本体2211的一端，所述第四销轴2215设置于所述第一连杆本体2211的另一端。所述第二销轴2213设置于所述第一连杆本体2211，并位于所述第一销轴2212和第四销轴2215之间。所述第三销轴2214设置于所述第一连杆本体2211，并位于所述第二销轴2213和第四销轴2215之间。所述第一销轴2212插入所述滑动槽2132中，并可在所述滑动槽2132内滑动，使得所述第一连杆221与所述连接件213活动连接。所述第一连杆221通过所述第二销轴2213与所述机身10铰接。所述第一连杆221通过所述第三销轴2214与所述第三连杆223的一端铰接。所述第一连杆221通过所述第四销轴2215与所述第四连杆224的一端铰接。
所述第二连杆222包括第二连杆本体2221、第五销轴2222和第六销轴2223，所述第五销轴2222和第六销轴2223分别设置于所述第二连杆本体2221的两端。所述第二连杆222通过所述第五销轴2222与所述机身10铰接。
所述第三连杆223包括第三连杆本体2231和第七销轴2234，所述第三连杆本体2231设置第一轴孔2232和第二轴孔2233。所述第一轴孔2232设置于所述第三连杆本体2231的一端，所述第七销轴2234设置于所述第三连杆本体2231的另一端。所述第二轴孔2233设置于所述第三连杆本体2231上，并位于所述第一轴孔2232和第七销轴2234之间。所述第六销轴2223插入所述第二轴孔2233中，使得所述第二连杆222与所述第三连杆223铰接。
所述第四连杆224包括第四连杆本体2241和第八销轴2243，所述第四连杆本体2241设置第三轴孔2242，所述第三轴孔2242和第八销轴2243分别设 置于所述第四连杆本体2241的两端。所述第四销轴2215插入所述第三轴孔2242，使得所述第一连杆221和第四连杆224铰接。
所述第五连杆225包括第五连杆本体2251，所述第五连杆本体2251设置第四轴孔2252和第五轴孔2253，所述第四轴孔2252设置于所述第五连杆本体2251的一端，所述第五轴孔2253设置于所述第五连杆本体2251上，并位于所述第五连杆本体2251的两端之间。所述第七销轴2234插入所述第四轴孔2252，使得所述第三连杆223与第四连杆224铰接。所述第八销轴2243插入所述第五轴孔2253，使得所述第四连杆224与第五连杆225铰接。
其中，第二销轴2213和第三销轴2214的间距等于第五销轴2222和第六销轴2223的间距，第三销轴2214和第六销轴2223的间距等于第二销轴2213和第五销轴2222的间距。第三销轴2214和第四销轴2215的间距等于第七销轴2234和第八销轴2243的间距，第三销轴2214和七销轴2234的间距等于第四销轴2215和第八销轴2243的间距。
请一并参阅图4，在其中一个实施例中，所述第四连杆224为一缓冲杆，包括缓冲减振装置2244，用于在所述无人机100降落时，起到缓冲减振的作用。该缓冲减振装置2244可以是液压缸缓冲器或者弹性缓冲器等。在无人机100的起落架20与地面接触后，起落架20因受力会发生转动，该缓冲减振装置2244提供扭转的弹力，进而使得起落架20起到缓冲和减震的作用，防止因降落时，下降速度过快，而导致无人机100的损坏。可以理解的是，在一些其它实施例中，所述缓冲减振装置2244可以省略，所述第四连杆224可为非缓冲杆。
所述脚架230固定于所述第五连杆225的另一端，用于支撑无人机100降落地点。具体地，在本实施例中，所述脚架230呈水平设置，并与所述第五连杆225相互垂直。
可以理解的是，在其它一些实施例中，可根据实际需求，不再专门设置脚架230，而是由所述第五连杆225起到脚架230的作用(即，在无人机降落时，由第五连杆225的另一端与地面接触)。
在其它一些实施例中，所述第一连杆221的一端与所述连接件213连接，并与所述机身10铰接于第二铰接点；所述第一连杆221的另一端与所述第四连杆224的一端铰接于第五铰接点。所述第二连杆222的一端与所述机身10 铰接于第四铰接点，另一端与所述第四连杆224铰接于第八铰接点。所述第三连杆223的一端与所述第二连杆222铰接于第三铰接点，另一端与所述第五连杆225的一端铰接于第六铰接点。所述第四连杆224的另一端与所述第五连杆225铰接于第七铰接点。在这种情况下，所述第一连杆221的一部分、第二连杆222的全部和第四连杆224的一部分以及机身10的一部分构成一个四连杆机构，并且第二、四、五、八铰接点为一个平行四边形的四个顶点；所述第二连杆222的一部分、第三连杆223的全部、第四连杆224的另一部分和第五连杆225的一部分构成另一四连杆机构，并且第三、六、七、八铰接点为另一平行四边形的四个顶点。
在其它一些实施例中，所述第一连杆221的一端与所述连接件213连接，并与所述机身10铰接于第二铰接点；所述第一连杆221的另一端与所述第四连杆224的一端铰接于第五铰接点。所述第二连杆222的一端与所述机身10铰接于第四铰接点，另一端与所述第四连杆224铰接于第八铰接点。所述第三连杆223的一端与所述第一连杆221铰接于第一铰接点，另一端与所述第五连杆225的一端铰接于第六铰接点。所述第四连杆224的另一端与所述第五连杆225铰接于第七铰接点。在这种情况下，所述第一连杆221的一部分、第二连杆222的全部和第四连杆224的一部分以及机身10的一部分构成一个四连杆机构，并且第二、四、五、八铰接点为一个平行四边形的四个顶点；所述第一连杆221的一部分、第三连杆223的全部、第四连杆224的全部和第五连杆225的一部分构成另一四连杆机构，并且第一、五、六、七铰接点为另一个平行四边形的四个顶点。
在其它一些实施例中，所述第一连杆221的一端与所述连接件213连接，并与所述机身10铰接于第二铰接点；所述第一连杆221的另一端与所述第四连杆224的一端铰接于第五铰接点。所述第二连杆222的一端与所述机身10铰接于第四铰接点，另一端与所述第四连杆224铰接于第八铰接点。所述第三连杆223的一端与所述第一连杆221铰接于第一铰接点，并且与所述第二连杆222铰接于第三铰接点；另一端与所述第五连杆225的一端铰接于第六交接点。所述第四连杆224的另一端与所述第五连杆225铰接与第七铰接点。在这种情况下，所述第一连杆221的一部分、第二连杆222的全部和第四连杆224的一部分以及机身10的一部分构成一个四连杆机构，并且第二、四、 五、八铰接点为一个平行四边形的四个顶点；所述第一连杆221的一部分、第三连杆223的全部、第四连杆224的全部和第五连杆225的一部分构成另一四连杆机构，并且第一、五、六、七铰接点为另一平行四边形的四个顶点。
在本实施例中，所述第一连杆221、第二连杆222、第三连杆223、第四连杆224和第五连杆225为直杆。可以理解的是，在其它一些实施例中，所述第一连杆221、第二连杆222、第三连杆223、第四连杆224和第五连杆225不限于为直杆，可以是弯杆，也可以是板状或其它不规则形状，只要所述起落架本体220中的四个铰接点为一个平行四边形的四个顶点即可。
另外，在本发明中所述机身10上与所述起落架20相对应位置设有收容槽11。无人机100起飞时，起落架20收起并部分收容于收容槽11内，减少在空中的不必要阻力，在无人机100航拍过程中，不会遮挡航拍视野；在需要降落时，起落架20又能自动展开，支撑该无人机100完成降落。进一步的，在无人机100不使用时，起落架20部分收容于收容槽11内，减少了收容空间，便于收容和携带。
请一并参阅图4，在所述无人机100起飞后，所述驱动装置211带动所述螺杆212转动，使得所述连接件213沿所述螺杆212的轴线方向向下直线移动，从而使得所述第一连杆221与连接件213连接的一端向下移动，进而使得所述第一连杆221绕第二销轴2213转动，且第一连杆221的另一端向上移动(即，所述第一连杆221的另一端翘起)。所述第一连杆221拉动所述第三连杆223和第四连杆224以及第二连杆222与第三连杆223连接的一端向上移动，并且所述第三连杆223向上移动的距离小于第四连杆224向上移动的距离。所述第七销轴2234由在竖直方向上的位置高于第八销轴2243的位置变为在竖直方向上的位置低于第八销轴2243的位置，从而使得所述第五连杆225的另一端翘起。并且，在水平方向上，所述第三连杆223、第四连杆224和第五连杆225均朝机身10移动。最终所述起落架本体220折叠于所述机身10的侧部，部分收容于收容槽11，使得在无人机100航拍过程中，不会遮挡航拍视野。
在无人机100降落时，所述驱动装置211带动所述螺杆212逆向转动，使得所述连接件213沿所述螺杆212的轴线方向向上移动，从而使得所述第一连杆221的一端向上移动，进而使得所述第一连杆221绕第二销轴2213转 动，且第一连杆221的另一端向下移动(即，所述第一连杆221的另一端下垂)。所述第一连杆221带动所述第三连杆223和第四连杆224以及第二连杆222与第三连杆223连接的一端向下移动，并且所述第三连杆223向下移动的距离小于第四连杆224向下移动的距离。所述第七销轴2234由在竖直方向上的位置低于第八销轴2243的位置变为在竖直方向上的位置高于第八销轴2243的位置，从而使得所述第五连杆225与脚架230连接的一端下垂。并且，在水平方向上，所述第三连杆223、第四连杆224和第五连杆225均朝远离机身10的方向移动。所述脚架230成为整个无人机100上的最低点，并在无人机100降落后与地面接触。
请参阅图5，本发明另一实施例提供的无人机200与第一实施例提供的无人机100基本相同，区别在于：所述第三连杆本体2231包括与所述第一连杆221和所述第二连杆222铰接的第一部分2235、与所述第一部分相连的第一弯曲部2236以及与所述第一弯曲部2236相连的第二部分2237；所述第一部分2235和所述第二部分2237均与所述第四连杆224平行设置。所述第四连杆本体2241包括与所述第一连杆221铰接的第二弯曲部2245以及与所述第二弯曲部2245相连的竖直部2246；所述竖直部2246连接于所述第二弯曲部2245与所述第五连杆225之间。所述第五连杆本体2251包括与所述第三连杆223和所述第四连杆224铰接的第三部分2254、与所述第三部分相连的第三弯曲部2255以及与所述第三弯曲部2255相连的第四部分2256，所述第四部分2256远离所述第三弯曲部2255的一端连接所述脚架230。
本实施例的无人机200在所述起落架20经折叠后，第五连杆225与第三连杆223以及第四连杆224相互平行，并且它们之间的间距更小，使得起落架20经折叠后，结构更加紧凑，占用空间更小。
请参阅图6，本发明又一实施例提供的无人机300与第一实施例提供的无人机100基本相同，区别在于：所述动力组件210还包括连接杆214，所述螺纹孔2131的两端不再分别设置有一个滑动槽2132。所述连接杆214的一端与所述连接件213铰接，另一端与所述第一连接杆221的一端铰接。
本实施例的无人机300增设的连接杆214，使得所述连接件213与所述第一连接杆221之间的连接更稳定，可以有效地避免无人机300在飞行的过程中，无人机300的振动对所述起落架20的影响。
可以理解的是，在其它一些实施例中，所述无人机100，200，300中的所述起落架本体220可根据实际需求，仅包括第一连杆221、第二连杆222和第三连杆223。所述第一连杆221、第二连杆222和第三连杆223之间的连接关系，以及所述第一连杆221和第二连杆222与机身10和动力组件210的连接关系，可与实施例1-3中任一实施例中所述的连接关系相同，在此不做赘述，所述第三连杆223可作为脚架，用于支撑无人机降落，或者所述第三连杆223的另一端与脚架230固定连接。
可以理解的是，本发明中连接件以直线往复运动为例进行说明，但本领域技术人员可以理解的是，本发明不限定于直线往复运动，其他往复运动例如弧形或曲线往复运动也可以实现本发明目的。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，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发明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发明进行了详细的说明，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发明各实施例技术方案的范围。

Claims (11)

  1. 一种起落架(20)，用于无人机(100，200，300)，所述无人机(100，200，300)包括机身(10)，其特征在于，所述起落架(20)包括：
    动力组件(210)，用于安装于所述机身(10)，所述动力组件(210)包括连接件(213)和用于驱动所述连接件(213)做往复运动的驱动装置(211)；
    起落架本体(220)，包括多个铰接的连杆，所述多个铰接的连杆构成至少一个平行四边形机构；所述起落架本体(220)与所述连接件(213)相连，所述连接件(213)做往复运动时，带动所述起落架本体(220)折叠或展开。
  2. 根据权利要求1所述的起落架(20)，其特征在于，所述多个铰接的连杆包括第一连杆(221)、第二连杆(222)、第三连杆(223)、第四连杆(224)和第五连杆(225)；
    所述第一连杆(221)的一端与所述连接件(213)铰接，所述第一连杆(221)的另一端与所述第四连杆(224)的一端铰接，所述第一连杆(221)在连接所述连接件(213)的一端与铰接所述第四连杆(224)的另一端之间的一处铰接所述机身(10)；
    所述第二连杆(222)的一端与所述机身(10)铰接，另一端分别与所述第三连杆(223)和第四连杆(224)铰接；所述第三连杆(223)的一端与所述第二连杆(222)铰接，所述第三连杆(223)的另一端和所述第四连杆(224)的另一端分别与所述第五连杆(225)铰接。
  3. 根据权利要求2所述的起落架(20)，其特征在于，所述第三连杆(223)的一端与所述第二连杆(222)铰接，且该铰接的一端向远离所述第五连杆(225)方向延伸并与所述第一连杆(221)铰接。
  4. 根据权利要求3所述的起落架(20)，其特征在于，所述第三连杆(223)包括与所述第一连杆(221)和所述第二连杆(222)铰接的第一部分(2235)、与所述第一部分相连的第一弯曲部(2236)以及与所述第一弯曲部(2236)相连的第二部分(2237)；所述第一部分(2235)和所述第二部分(2237)均 与所述第四连杆(224)平行设置。
  5. 根据权利要求1所述的起落架(20)，其特征在于，所述起落架本体(200)包括第一连杆(221)、第二连杆(222)、第三连杆(223)、第四连杆(224)和第五连杆(225)；
    所述第一连杆(221)的一端与所述连接件(213)铰接，所述第一连杆(221)的另一端与所述第四连杆(224)的一端铰接，所述第一连杆(221)在连接所述连接件(213)的一端与铰接所述第四连杆(224)的另一端之间的一处铰接所述机身(10)；
    所述第二连杆(222)的一端与所述机身(10)铰接，另一端与所述第三连杆(223)或所述第四连杆(224)铰接；所述第三连杆(223)的一端与所述第一连杆(221)铰接，所述第三连杆(223)的另一端和所述第四连杆(224)的另一端分别与所述第五连杆(225)铰接。
  6. 根据权利要求2至5任一项所述的起落架(20)，其特征在于，所述第四连杆(224)包括与所述第一连杆(221)铰接的第二弯曲部(2245)以及与所述第二弯曲部(2245)相连的竖直部(2246)；所述竖直部(2246)连接于所述第二弯曲部(2245)与所述第五连杆(225)之间。
  7. 根据权利要求2至6任一项所述的起落架(20)，其特征在于，所述第五连杆(225)包括与所述第三连杆(223)和所述第四连杆(224)铰接的第三部分(2254)、与所述第三部分相连的第三弯曲部(2255)以及与所述第三弯曲部(2255)相连的第四部分(2256)。
  8. 根据权利要求2至7任一项所述的起落架(20)，其特征在于，所述起落架(20)还包括脚架(230)，所述脚架(230)连接所述第五连杆(225)。
  9. 根据权利要求2至5任一项所述的起落架(20)，其特征在于，所述动力组件(210)包括与所述驱动装置(211)相连接的螺杆(212)，所述连接件(213)套设于所述螺杆(212)并与所述螺杆(212)螺接，所述驱动装 置(211)驱动所述螺杆(212)转动，所述连接件(213)沿着所述螺杆(212)做往复运动。
  10. 根据权利要求9所述的起落架(20)，其特征在于，所述连接件(213)在其中部与所述螺杆(212)螺接，所述连接件(213)在与所述螺杆(212)螺接部位的两侧还开设有滑动槽(2132)，所述第一连杆(221)的一端铰接于所述滑动槽(2132)内并可沿所述滑动槽(2132)滑动。
  11. 一种无人机(100，200，300)，其特征在于，所述无人机(100，200，300)包括如权利要求1-10任一项所述的起落架(20)。
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