WO2019128401A1 - 起落架及具有该起落架的无人飞行器 - Google Patents

起落架及具有该起落架的无人飞行器 Download PDF

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Publication number
WO2019128401A1
WO2019128401A1 PCT/CN2018/111055 CN2018111055W WO2019128401A1 WO 2019128401 A1 WO2019128401 A1 WO 2019128401A1 CN 2018111055 W CN2018111055 W CN 2018111055W WO 2019128401 A1 WO2019128401 A1 WO 2019128401A1
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WIPO (PCT)
Prior art keywords
gear
landing gear
arm
sleeve
pivoting member
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PCT/CN2018/111055
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English (en)
French (fr)
Inventor
余春
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深圳市道通智能航空技术有限公司
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Publication of WO2019128401A1 publication Critical patent/WO2019128401A1/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
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • 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
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a landing gear and an unmanned aerial vehicle having the same.
  • Unmanned Aerial Vehicle is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements.
  • Unmanned aerial vehicles can realize 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.
  • the scope of use of unmanned aerial vehicles has been expanded to three major fields of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order. The field of anti-terrorism and other fields are widely used.
  • Augmented Reality (AR) and Virtual Reality (VR) technologies are developing rapidly, and their demand for panoramic video shooting is also increasing.
  • the use of unmanned aerial vehicles for aerial photography is to obtain panoramic images of real scenes. An important way. In order to accurately capture images of multiple angles, when using an unmanned aerial vehicle for panoramic imaging, the camera mounted on the UAV needs to avoid the occlusion of the landing gear.
  • the inventors have found that at least the following problems exist in the prior art: in the existing unmanned aerial vehicle, the camera is suspended under the fuselage of the unmanned aerial vehicle through the pan/tilt; the camera located at the position is susceptible to The landing gear is blocked and panoramic photography is not possible.
  • the present invention provides a foldable landing gear and an unmanned aerial vehicle having the landing gear, and the technical solution is as follows:
  • an embodiment of the present invention provides a landing gear, including:
  • the transmission mechanism includes a connecting member connected to the driving device, a rack connected to the connecting member, and a rotating gear meshing with the rack;
  • the rack is at least partially received in the first pivoting member, the rotating gear is sleeved on a pin and received in the first pivoting member, the pin Two ends of the hinge are respectively hinged with the first pivoting member;
  • the drive device drives the connecting member to perform a reciprocating linear motion
  • the rack and the slewing gear convert a reciprocating linear motion of the connecting member into a rotation of the support rod relative to the transmission mechanism.
  • the transmission mechanism further includes a screw connected to the driving device, the connecting member includes a U-shaped fixing portion and an open end of the fixing portion and closing the open end Connecting a shaft, the rack being connected to the closed end of the fixing portion;
  • the connecting shaft penetrates through the threaded hole, and the screw rod penetrates from the threaded hole into the fixing portion and is screwed through the threaded hole with the connecting shaft.
  • the lead screw is coupled to the drive device via a gear mechanism.
  • the support rod includes a second pivoting member and a supporting portion connected to the second pivoting member, and the second pivoting member is coupled to the pin.
  • the support rod further includes a second sleeve and an elastic abutting member, and the second pivoting member is connected to the supporting portion by the elastic abutting member, the second The pivoting member, the elastic abutting member and the supporting portion are respectively received in the second sleeve, and one end of the second sleeve abuts the first pivoting member, and the other end is opposite to the The support portion abuts.
  • the elastic abutting member is a spring.
  • the landing gear further includes a first sleeve, and the transmission mechanism is received in the first sleeve.
  • the present invention also provides an unmanned aerial vehicle comprising: a fuselage, a boom connected to the fuselage, a power unit provided on the arm, and a landing gear as described above, The landing gear is mounted to the fuselage or arm.
  • the landing gear is mounted on an end of the arm away from the fuselage
  • the driving device of the landing gear is mounted inside the arm.
  • the arm includes a connecting arm and a mounting seat, one end of the connecting arm is fixedly connected to the body, and the mounting seat is mounted on the connecting arm away from the body
  • the drive device is mounted within the mount.
  • the mounting base includes a main body, a connecting hole formed in the main body and configured to receive one end of the connecting arm, and a receiving slot formed in the main body and configured to receive the driving device. And a load bearing portion for mounting the power unit.
  • the invention has the beneficial effects that the present invention provides a landing gear, which comprises: a driving device, a transmission mechanism capable of converting a linear motion into a rotary motion, a first sleeve and a support rod, wherein The transmission mechanism is coupled to the driving device; the transmission mechanism extends through the first sleeve; the support rod is coupled to the first sleeve, and the driving device is coupled to the support rod through the transmission mechanism, and The support rod can be driven to be folded or unfolded relative to the first sleeve. During the flight of the unmanned aerial vehicle, the support rod can be folded and stowed to prevent the support rod of the landing gear from blocking the camera mounted on the unmanned aerial vehicle, thereby improving the shooting effect of the imaging device.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle in an embodiment of the present invention, wherein a landing gear of an unmanned aerial vehicle is in an unfolded state;
  • FIG. 2 is a perspective view of an unmanned aerial vehicle in an embodiment of the present invention, wherein the landing gear of the unmanned aerial vehicle is in a folded state;
  • Figure 3 is a perspective view of the arm of the unmanned aerial vehicle of Figure 1;
  • Figure 4 is a perspective view of the mounting seat in the arm of Figure 3;
  • Figure 5 is a perspective view of the landing gear of the unmanned aerial vehicle of Figure 1;
  • Figure 6 is a perspective view of the landing gear of Figure 5 with the first sleeve and the second sleeve removed;
  • Figure 7 is an assembly view of the driving device and the gear mechanism in the landing gear shown in Figure 5;
  • Figure 8 is an assembly view of the driving device, the gear mechanism and the transmission mechanism in the landing gear shown in Figure 5;
  • Figure 9 is a perspective view of the connecting member of the transmission mechanism shown in Figure 8.
  • an embodiment of the present invention provides an unmanned aerial vehicle 100 including a fuselage 10 , an arm 20 , a power unit 50 , an imaging device 30 , and a landing gear 40 .
  • the one end of the arm 20 is fixed to the body 10.
  • the power unit 50 is disposed at an end of the arm 20 away from the body 10.
  • the power unit 50 generally includes a motor and a propeller coupled to the motor.
  • the propeller is driven by the motor to rotate at a high speed to generate the lift required for the UAV 100 to fly.
  • the camera device 30 is mounted below the body 21 for capturing an image
  • the landing gear 40 is mounted at an end of the arm 20 away from the body 10.
  • the landing gear 40 is relative to the arm 20 Rotating and folding (the folded state is shown in Figure 2) or unfolding (the expanded state is shown in Figure 1). Wherein, when the landing gear 40 is stowed, the distance between the landing end of the landing gear 40 and the bottom of the fuselage 21 is smaller than the distance between the camera device 30 and the bottom of the fuselage 21, thereby preventing The landing gear 40 blocks the imaging device 30 mounted on the UAV 100, thereby improving the imaging effect of the imaging device 30. In other possible embodiments, the landing gear 40 can also be coupled to the body 10.
  • the UAV 100 can be a single-rotor UAV, a dual-rotor UAV, a quadrotor UAV, or a six-rotor UAV.
  • the UAV 100 is a quadrotor UAV.
  • the specific structure of the UAV 100 will be described in detail.
  • the number of the arm 20 and the landing gear 40 is four, and one end of the arm 20 is fixed to the body 10. Specifically, one end of each of the four arms 20 is fixedly connected to the body 10.
  • the fuselage 10 and the arm 20 are substantially in the shape of a "ten", that is, two non-adjacent arms 20 are on the same straight line, and the adjacent two arms 20 are perpendicular to each other.
  • the landing gear 40 is mounted to the other end of the arm 20 away from the body 10. Four of said landing gears 40 are connected to four of said arms 20, respectively.
  • the arm 20 includes a connecting arm 21 and a mounting seat 22, the connecting arm 21 is a long straight rod, one end of which is fixedly connected to the body 10, and the other end is mounted with the same. Block 22 is connected.
  • the mounting seat 22 includes a main body, a receiving groove 2231 formed in the main body, a receiving portion 221 disposed on the main body and mounting the power unit 50, and a connecting hole 2221 for receiving one end of the connecting arm 21.
  • the body has a connecting surface 222 and a mounting surface 223.
  • the bearing portion 221 and the mounting surface 223 are respectively located on opposite sides of the mounting seat 22 , and the connecting surface 222 is located on a side perpendicular to the mounting surface 223 .
  • the connecting surface 222 is provided with a connecting hole 2221 for connecting with the connecting arm 21, and the connecting arm 21 is inserted into the connecting hole 2221 away from the other end of the body 10, so that the mounting seat 22 is fixed.
  • the connecting arm 21 is away from the other end of the body 10.
  • the mounting surface 223 is provided with a receiving groove 2231.
  • the landing gear 40 includes a driving device 41, a transmission mechanism 43, a first pivoting member 45, and a support rod housed in the receiving groove 2231.
  • the transmission 43 is coupled to the drive unit 41 via a gear mechanism 42.
  • the transmission mechanism 43 can also be directly coupled to the drive unit 41.
  • the gear mechanism 42 includes a shaft set and a gear set.
  • the set of rotating shafts includes a first rotating shaft (not shown), a second rotating shaft (not shown), a third rotating shaft (not shown), and a fourth rotating shaft (not shown).
  • the gear set includes a first gear 4221, a second gear 4222, a third gear 4223, a fourth gear 4224, a fifth gear 4225, a sixth gear 4226, a seventh gear 4227, and an eighth gear 4228.
  • the first gear 4221 is fixed on the rotating shaft 411, and the driving device 41 can drive the first gear 4221 to rotate.
  • the second gear 4222 is fixed to the first rotating shaft (not shown) and meshes with the first gear 4221.
  • the third gear 4223 is fixed to the first rotating shaft (not shown).
  • the fourth gear 4224 is fixed to the second rotating shaft (not shown) and meshes with the third gear 4223.
  • the fifth gear 4225 is fixed to the second rotating shaft (not shown).
  • the sixth gear 4226 is fixed to the third rotating shaft (not shown) and meshes with the fifth gear 4225.
  • the seventh gear 4227 is fixed to the third rotating shaft (not shown).
  • the eighth gear 4228 is fixed to the fourth rotating shaft (not shown) and meshes with the seventh gear 4227.
  • the number of teeth of the first gear 4221 is smaller than the number of teeth of the second gear 4222
  • the number of teeth of the third gear 4223 is smaller than the number of teeth of the second gear 4222
  • the number of teeth of the third gear 4223 is smaller than the fourth gear.
  • the number of teeth of the fourth gear 4225 is smaller than the number of teeth of the fourth gear 4224
  • the number of teeth of the fifth gear 4225 is smaller than the number of teeth of the sixth gear 4226.
  • the third rotating shaft (not shown) is connected to the screw drive mechanism 43. Since the gear ratio between each of the two meshed gears is greater than one, the total gear ratio of the gear mechanism 42 is much greater than one.
  • the output torque of the gear mechanism 42 is equal to the torque of the drive unit 41 (i.e., the input torque of the gear mechanism 42) multiplied by the total gear ratio of the gear mechanism 42.
  • the gear mechanism 42 has the effect of amplifying the torque of the drive unit 41.
  • the sixth gear 4226 and the seventh gear 4227 are identical (i.e., the sixth gear 4226 and the seventh gear 4227 have the same number of teeth, modulus, and pitch circle diameter).
  • the fifth gear 4225 and the eighth gear 4228 are identical (i.e., the fifth gear 4225 and the eighth gear 4228 have the same number of teeth, modulus, and pitch circle diameter).
  • the sixth gear 4226 and the seventh gear 4227 are both fixed on the third rotating shaft (not shown), and the fifth gear 4225 drives the sixth gear 4226 to rotate while the third rotating shaft (not shown) And the seventh gear 4227 fixed to the third rotating shaft (not shown) rotates together, and the eighth gear 4228 rotates together.
  • the sixth gear 4226 and the seventh gear 4227 are respectively coupled to the fifth gear 4225 and the eighth portion on both sides of the third rotating shaft (not shown).
  • the gears 4228 are engaged to make the third rotating shaft (not shown) more balanced and the rotation is more stable.
  • the gear mechanism 42 may be omitted when the torque of the drive unit 41 is sufficiently large.
  • the driving device 41 is specifically a motor. It can be understood that, in order to accurately control the angle of rotation of the support rod relative to the transmission mechanism 43, the driving device 41 may specifically be a steering gear, the gear mechanism 42 may be omitted, and the steering gear is directly connected to the transmission mechanism 43. .
  • the transmission mechanism 43 includes a lead screw 432 connected to the driving device 41, a connecting member 432 threadedly connected to the lead screw 432, a rack 4323 connected to the connecting member 432, and the The spur gear 433 that the rack 4323 engages.
  • the connecting member 432 includes a connecting shaft 4321 , a fixing portion 4322 , and a rack 4323 .
  • the fixing portion 4322 is substantially U-shaped, and the connecting shaft 4321 is disposed at an open end of the fixing portion 4322 (ie, an open end of the U shape) and closes an open end of the fixing portion 4322.
  • One end of the rack 4323 is fixed to the closed end of the fixing portion 4322.
  • a threaded hole 43211 is disposed in a middle portion of the connecting shaft 4321 in a direction perpendicular to the axial direction of the connecting shaft 4321.
  • the threaded rod 431 is screwed into the threaded hole 43211 and received in the fixing portion 4322.
  • the slewing gear 433 is sleeved on a pin 434 and received in the first pivoting member 45. The two ends of the pin 434 are respectively hinged with the first pivoting member 45.
  • the support bar includes a second pivoting member 46 and a support portion 48 coupled to the second pivoting member 46, wherein the second pivoting member 46 is fixedly coupled to the pin 434.
  • the support bar may further include a second sleeve 47 and a resilient abutment member 49.
  • the elastic resisting member 49 abuts between the second pivoting member 46 and the supporting portion 48, and the two ends thereof are respectively connected to the second pivoting member 46 and the supporting portion 48.
  • the second pivoting member 46, the elastic resisting member 49 and the supporting portion 48 are respectively received in the second sleeve 47.
  • One end of the second sleeve 47 abuts the first pivoting member 45, and the other end is abutted against the supporting portion 48.
  • the other end of the support portion 48 is for contacting the surface of the ground or other object when the UAV 100 is landed to support the UAV 100.
  • the elastic resisting member 49 can be compressed by the conduction of the support portion 48, thereby buffering the impact force transmitted by the support portion 48, thereby causing the unmanned aerial vehicle 100 to land. It is more gradual to prevent damage to other parts or equipment on the UAV 100 from impact.
  • the landing gear 40 may further include a first sleeve 44.
  • One end of the first sleeve 44 is docked with the receiving slot 2231, and The mounting seat 22 is fixedly connected, and the other end is fixedly connected to the first pivoting member 45.
  • the first sleeve 44 is disposed with a through hole 441 in the axial direction, and the screw rod 431 and the connecting member 432 are both located in the through hole 441.
  • the transmission mechanism 43 can be replaced by other transmission mechanisms having the function of converting linear motion into rotational motion, such as a worm gear mechanism, a crank slider mechanism, and the like.
  • first pivoting member 45, the second pivoting member 46, the second sleeve 47, and the elastic abutting member 49 may be omitted.
  • the support rod 48 is hinged to the first sleeve 44 by the pin 434 and the support rod 48 is fixedly coupled to the pin 434.
  • first pivoting member 45 and the second pivoting member 46 can be omitted.
  • the second sleeve 47 is hinged to the first sleeve 44 by the pin 434 and the second sleeve 47 is fixedly coupled to the pin 434.
  • the second sleeve 47 and the elastic resist 49 can be omitted.
  • One end of the support rod 48 is directly connected to the second pivoting member 46.
  • the screw rod 431 is rotated by the gear mechanism 42.
  • the screw rod 431 is screwed with the screw hole 43211 of the connecting shaft 4321 of the fixing portion 4322, and the rotation of the screw rod 431 is converted into a linear motion of the fixing portion 4322.
  • the rack 4323 and the fixed portion 4322 are linearly moved together, and the rack 4323 and the slewing gear 433 convert the linear motion of the rack 4322 into the rotation of the pin 434.
  • the second pivot member 46 is fixedly coupled to the pin 434, The pin 434 and the second pivoting member 46 drive the support portion 48 and the second sleeve 47 to rotate relative to the first sleeve 44, thereby completing the folding of the landing gear 40 relative to the body 10.
  • the present invention provides a landing gear 40 and an unmanned aerial vehicle 100 having the landing gear 40 as compared to the prior art.
  • the landing gear 40 includes: a driving device 41, a transmission mechanism 43 that can convert a linear motion into a rotary motion, a first sleeve 44 and a support rod 48, wherein the transmission mechanism 43 is connected to the driving device 41;
  • the transmission mechanism 43 extends through the first sleeve 44;
  • the support rod 48 is hinged with the first sleeve 44, and the driving device is connected to the support rod through the transmission mechanism, and can drive the support rod relative to
  • the first sleeve is rotationally folded or unfolded.
  • the support rod can be folded and stowed to prevent the support rod of the landing gear from blocking the camera mounted on the unmanned aerial vehicle, thereby improving the shooting effect of the imaging device.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Gear Transmission (AREA)
  • Toys (AREA)

Abstract

一种起落架及具有此起落架的无人飞行器，所述起落架（40）包括：驱动装置（41）、可将直线运动转变为旋转运动的传动机构（43）、第一套筒（44）和支撑杆（48），其中，所述传动机构（43）与所述驱动装置（41）连接；所述传动机构（43）贯穿所述第一套筒（44）；支撑杆（48）与所述第一套筒（44）连接，所述驱动装置（41）通过所述传动机构（43）与所述支撑杆（48）连接，并可驱动所述支撑杆（48）相对于所述第一套筒（44）旋转折叠或展开。通过上述方式，在无人飞行器的飞行过程中，可将支撑杆（48）折叠并收起，以防止起落架的支撑杆（48）遮挡安装于无人飞行器上的摄像装置（30），提高摄像装置（30）的拍摄效果。

Description

起落架及具有该起落架的无人飞行器
【相关申请的交叉引用】
本申请要求申请号为201711463842.0，申请日为2017年12月28日申请的中国专利申请的优先权，其全部内容通过引用结合于本文。
【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该起落架的无人飞行器。
【背景技术】
无人飞行器(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。无人飞行器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，无人飞行器的使用范围已经扩宽到军事、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。
当前增强现实(Augmented Reality,AR)和虚拟现实(Virtual Reality,VR)技术发展迅猛，其对于全景视频拍摄的需求也越来越高，利用无人飞行器进行航拍则是获取真实场景的全景图像的一种重要方式。而为了能够准确获取多个角度的图像，当利用无人飞行器进行全景摄像时，无人飞行器所搭载的摄像头需要避开起落架的遮挡。
在实现本发明的过程中，发明人发现现有技术至少存在以下问题：在现有的无人飞行器中，摄像头通过云台悬挂于无人飞行器的机身下方；位于该位置处的摄像头易受到起落架的遮挡，无法进行全景摄像。
【发明内容】
本发明为了解决现有技术无人机的摄像头容易在拍摄时被起落架遮挡的技术问题，提供一种可折叠起落架及具有该起落架的无人飞行器，技术方案如下：
为了达到上述目的，本发明实施例提供一种起落架，包括：
驱动装置；
传动机构，所述传动机构包括与所述驱动装置相连的连接件、与所述连接件相连的齿条和与所述齿条啮合的回转齿轮；
第一枢接件，所述齿条至少有部分收容于所述第一枢接件内，所述回转齿轮套设于一销轴且收容于所述第一枢接件内，所述销轴的两端分别与所述第一枢接件铰接；以及
支撑杆，所述支撑杆与所述销轴相连；
所述驱动装置驱动所述连接件做往复直线运动，所述齿条与所述回转齿轮将所述连接件的往复直线运动转化为所述支撑杆相对于所述传动机构的转动。
在本发明的一实施例中，所述传动机构还包括与所述驱动装置相连的丝杆，所述连接件包括U形的固定部和设于所述固定部开口端并封闭所述开口端的连接轴，所述齿条与所述固定部的封闭端相连；
所述连接轴贯通有螺纹孔，所述丝杆自所述螺纹孔穿设于所述固定部内并与所述连接轴通过所述螺纹孔螺纹连接。
在本发明的一实施例中，所述丝杆通过一齿轮机构与所述驱动装置相连。
在本发明的一实施例中，所述支撑杆包括第二枢接件和与所述第二枢接件相连的支撑部，所述第二枢接件与所述销相连。
在本发明的一实施例中，所述支撑杆还包括第二套筒和弹性抵持件，所述第二枢接件与所述支撑部通过所述弹性抵持件相连，所述第二枢接件、所述弹性抵持件以及所述支撑部均收容于所述第二套筒内，且所述第二套筒一端与所述第一枢接件抵接，另一端与所述支撑部抵接。
在本发明的一实施例中，所述弹性抵持件为弹簧。
在本发明的一实施例中，所述起落架还包括第一套筒，所述传动机构收容于所述第一套筒。
为解决其技术问题，本发明还提供了一种无人飞行器，包括：机身、与所述机身相连的机臂、设于所述机臂的动力装置和如上述所述的起落架，所述起落架安装于所述机身或机臂。
在本发明的一实施例中，所述起落架安装于所述机臂远离所述机身的一端；
所述起落架的驱动装置装于所述机臂的内部。
在本发明的一实施例中，所述机臂包括连接臂和安装座，所述连接臂的一端与所述机身固定连接，所述安装座安装于所述连接臂远离所述机身的一端；
所述驱动装置安装于所述安装座内。
在本发明的一实施例中，所述安装座包括主体、开设于所述主体并用于收容所述连接臂的一端的连接孔、开设于所述主体并用于收容所述驱动装置的容置槽以及用于安装所述动力装置的承载部。
本发明的有益效果是：与现有技术相比，本发明提供一种起落架，包括：驱动装置、可将直线运动转变为旋转运动的传动机构、第一套筒和支撑杆，其中，所述传动机构与所述驱动装置连接；所述传动机构贯穿所述第一套筒；支撑杆与所述第一套筒连接，所述驱动装置通过所述传动机构与所述支撑杆连接，并可驱动所述支撑杆相对于所述第一套筒旋转折叠或展开。在无人飞行器的飞行过程中，可将支撑杆折叠并收起，以防止起落架的支撑杆遮挡安装于无人飞行器上的摄像装置，提高摄像装置的拍摄效果。
【附图说明】
图1为本发明实施例中无人飞行器的立体图，其中无人飞行器的起落架处于展开状态；
图2为本发明实施例中无人飞行器的立体图，其中无人飞行器的起落架处于折叠状态；
图3为图1所示无人飞行器中机臂的立体图；
图4为图3所示机臂中安装座的立体图；
图5为图1所示无人飞行器中起落架的立体图；
图6为图5所示起落架除去第一套筒和第二套筒的立体图；
图7为图5所示起落架中驱动装置和齿轮机构的装配图；
图8为图5所示起落架中驱动装置、齿轮机构和传动机构的装配图；
图9为图8所示传动机构中连接件的立体图。
【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方式，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“垂直的”、“水平的”、“左”、“右”、“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”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。本说明书中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。
如图1所示，本发明其中一实施例提供一种无人飞行器100，包括：机身10、机臂20、动力装置50、摄像装置30和起落架40。其中，所述机臂20的一端固定于所述机身10。动力装置50设于机臂20远离机身10的一端，动力装置50通常包括电机和与电机相连的螺旋桨，螺旋桨由电机驱动高速旋转以产生无人飞行器100飞行所需的升力。摄像装置30安装于所述机身21的下方，用于拍摄图像，起落架40安装于所述机臂20远离所述机 身10的一端，所述起落架40可相对于所述机臂20旋转折叠(折叠后的状态如图2所示)或展开(展开后的状态如图1所示)。其中，所述起落架40收起时，所述起落架40的着陆端与所述机身21的底部的距离小于所述摄像装置30与所述机身21的底部的距离，从而可以防止所述起落架40遮挡安装于所述无人飞行器100上的所述摄像装置30，进而提高摄像装置30的拍摄效果。在其他可能的实施例中，起落架40还可以与机身10相连。
无人飞行器100可以为单旋翼无人机、双旋翼无人机、四旋翼无人机、或六旋翼无人机等，在本实施例中，以该无人飞行器100为四旋翼无人飞行器为例，对该无人飞行器100的具体结构进行详细描述。
如图1和2所示，所述机臂20和起落架40的个数均为四个，所述机臂20的一端固定于所述机身10。具体的，四个所述机臂20的一端均与所述机身10固定连接。所述机身10和机臂20大致呈“十”字形，即，不相邻的两个所述机臂20位于同一直线上，并且相邻的两个机臂20相互垂直。所述起落架40安装于所述机臂20远离所述机身10的另一端。四个所述起落架40分别与四个所述机臂20相连。
如图3和4所示，所述机臂20包括连接臂21和安装座22，所述连接臂21为一长直杆，其一端与所述机身10固定连接，另一端与所述安装座22相连。
所述安装座22包括主体、开设于所述主体的收容槽2231、设于所述主体且用于安装动力装置50的承载部221以及用于收容连接臂21一端的连接孔2221。所述主体具有连接面222和安装面223。所述承载部221和安装面223分别位于所述安装座22的两相对侧，所述连接面222位于与所述安装面223垂直的侧面。所述连接面222上设置有用于与所述连接臂21连接的连接孔2221，所述连接臂21远离所述机身10的另一端插入所述连接孔2221，以使得所述安装座22固定于所述连接臂21远离所述机身10的另一端。所述安装面223设置有容置槽2231。
如图5和6所示，所述起落架40包括收容于所述容置槽2231内的驱动装置41、传动机构43、第一枢接件45和支撑杆。在本发明的一实施例中，传动机构43与驱动装置41通过一齿轮机构42相连，在其他可能的实施例中，传动该机构43也可以与驱动装置41直接相连。
如图7所示，在本发明的一实施例中，所述齿轮机构42包括转轴组和齿轮组。所述转轴组(图未标示)包括第一转轴(图未标示)、第二转轴(图未标示)、第三转轴(图未标示)和第四转轴(图未标示)。所述齿轮组(图未标示)包括第一齿轮4221、第二齿轮4222、第三齿轮4223、第四齿轮4224、第五齿轮4225、第六齿轮4226、第七齿轮4227和第八齿轮4228。所述第一齿轮4221固设于所述转动轴411上，所述驱动装置41可驱动所述第一齿轮4221转动。所述第二齿轮4222固设于所述第一转轴(图未标示)上，并与所述第一齿轮4221啮合。所述第三齿轮4223固设于所述第一转轴(图未标示)上。所述第四齿轮4224固设于所述第二转轴(图未标示)上，并与所述第三齿轮4223啮合。所述第五齿轮4225固设于所述第二转轴(图未标示)上。所述第六齿轮4226固设于所述第三转轴(图未标示)，并与所述第五齿轮4225啮合。所述第七齿轮4227固设于所述第三转轴(图未标示)。所述第八齿轮4228固设于所述第四转轴(图未标示)，并与所述第七齿轮4227啮合。所述第一齿轮4221的齿数小于所述第二齿轮4222的齿数，所述第三齿轮4223的齿数小于所述第二齿轮4222的齿数，所述第三齿轮4223的齿数小于所述第四齿轮4224的齿数，第五齿轮4225的齿数小于所述第四齿轮4224的齿数，第五齿轮4225的齿数小于所述第六齿轮4226的齿数。所述第三转轴(图未标示)与所述丝杆传动机构43连接。由于每两个啮合的齿轮之间的传动比均大于一，因此该齿轮机构42的总传动比远大于一。该齿轮机构42的输出扭矩等于驱动装置41的扭矩(即，该齿轮机构42的输入扭矩)乘以该齿轮机构42的总传动比。由此可见，该齿轮机构42具有放大驱动装置41的扭矩的作用。
所述第六齿轮4226和第七齿轮4227完全相同(即，所述第六齿轮4226和第七齿轮4227的齿数、模数和分度圆直径均相等)。所述第五齿轮4225和第八齿轮4228完全相同(即，所述第五齿轮4225和第八齿轮4228的齿数、模数和分度圆直径均相等)。所述第六齿轮4226和第七齿轮4227均固设于所述第三转轴(图未标示)上，所述第五齿轮4225带动所述第六齿轮4226旋转，同时第三转轴(图未标示)以及固设于第三转轴(图未标示)上的第七齿轮4227一起旋转，所述第八齿轮4228随着一起旋转。基于上述结构，在第三转轴(图未标示)旋转的过程中，所述第六齿轮4226和第 七齿轮4227分别与位于第三转轴(图未标示)两侧的第五齿轮4225和第八齿轮4228啮合，可使得第三转轴(图未标示)受力更均衡，旋转更稳定。
可以理解的是，在其它一些实施例中，当驱动装置41的扭矩足够大时，所述齿轮机构42可省略。
在本实施例中，所述驱动装置41具体为一种电机。可以理解的是，为了精确地控制支撑杆相对于传动机构43旋转的角度，所述驱动装置41具体可以是舵机，所述齿轮机构42可省略，该舵机与所述传动机构43直接连接。
如图8所示，所述传动机构43包括与驱动装置41相连的丝杆432、与所述丝杆432螺纹连接的连接件432、与所述连接件432相连的齿条4323和与所述齿条4323啮合的回转齿轮433。
具体的，如图9所示，所述连接件432包括连接轴4321、固定部4322和齿条4323。所述固定部4322大体呈U形，所述连接轴4321设置于所述固定部4322上的开口端(即，U形的开口端)并封闭所述固定部4322的开口端。所述齿条4323的一端固定于所述固定部4322的封闭端。所述连接轴4321的中部沿垂直于所述连接轴4321的轴线方向设置有螺纹孔43211，所述丝杆431旋入所述螺纹孔43211并收容于所述固定部4322内。回转齿轮433套设于一销轴434且收容于第一枢接件45内，所述销轴434的两端分别与第一枢接件45铰接。
在本发明的一实施例中，支撑杆包括第二枢接件46和与第二枢接件46相连的支撑部48，其中，第二枢接件46与销轴434固定连接。在其他可能的实施例中，支撑杆还可以包括第二套筒47和弹性抵持件49。弹性抵持件49抵接于第二枢接件46与支撑部48之间，其两端分别与第二枢接件46和支撑部48相连。第二枢接件46、弹性抵持件49和支撑部48均收容于第二套筒47内，第二套筒47的一端与第一枢接件45抵接，另一端与支撑部48抵接。所述支撑部48的另一端用于在所述无人飞行器100降落时，与地面或其它物体表面接触，以支撑所述无人飞行器100。当所述支撑部48的另一端受到压力时，经支撑部48的传导，可压缩所述弹性抵持件49，从而缓冲所述支撑部48传导的冲击力，进而使得无人飞行器100的降落更加平缓，以防止无人飞行器100上的其它零部件或设备受冲击而损坏。
请再次参阅图1和图5，在本发明的一实施例中，起落架40还可以包括第一套筒44，所述第一套筒44的一端与所述容置槽2231对接，并与所述安装座22固定连接，另一端与所述第一枢接件45固定连接。所述第一套筒44沿轴向设置贯孔441，所述丝杆431和连接件432均位于所述贯孔441内。
可以理解的是，在其它一些实施例中，所述传动机构43可由其它具有将直线运动转换为旋转运动功能的传动机构代替，比如：蜗轮蜗杆机构、曲柄滑块机构等。
可以理解的是，在其它一些实施例中，所述第一枢接件45、第二枢接件46、所述第二套筒47和弹性抵持件49均可省略。所述支撑杆48通过所述销轴434与所述第一套筒44铰接，并且所述支撑杆48与所述销轴434固定连接。
可以理解的是，在其它一些实施例中，所所述第一枢接件45和第二枢接件46可省略。所述第二套筒47通过所述销轴434与所述第一套筒44铰接，并且所述第二套筒47与所述销轴434固定连接。
可以理解的是，在其它一些实施例中，所述第二套筒47和弹性抵持件49均可省略。所述支撑杆48的一端直接与所述第二枢接件46固定连接。
当驱动装置41启动后，经由齿轮机构42带动丝杆431转动，丝杆431与固定部4322中连接轴4321的螺纹孔43211螺纹配合，将丝杆431的转动转化为固定部4322的直线运动，齿条4323与固定部4322一同做直线运动，齿条4323与回转齿轮433再将齿条4322的直线运动转化为销轴434的转动，由于第二枢接件46与销轴434固定连接，因此销轴434与第二枢接件46带动支撑部48和第二套筒47相对于第一套筒44转动，从而完成起落架40相对于机身10的折叠。
与现有技术相比，本发明提供一种起落架40以及具有此起落架40的无人飞行器100。所述起落架40包括：驱动装置41、可将直线运动转变为旋转运动的传动机构43、第一套筒44和支撑杆48，其中，所述传动机构43与所述驱动装置41连接；所述传动机构43贯穿所述第一套筒44；支撑杆48与所述第一套筒44铰接，所述驱动装置通过所述传动机构与所述支撑杆连接，并可驱动所述支撑杆相对于所述第一套筒旋转折叠或展开。在 无人飞行器的飞行过程中，可将支撑杆折叠并收起，以防止起落架的支撑杆遮挡安装于无人飞行器上的摄像装置，提高摄像装置的拍摄效果。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (11)

  1. 一种起落架(40)，其特征在于，所述起落架(40)包括：
    驱动装置(41)；
    传动机构(43)，所述传动机构(43)包括与所述驱动装置(41)相连的连接件(432)、与所述连接件(432)相连的齿条(4323)和与所述齿条(4323)啮合的回转齿轮(433)；
    第一枢接件(45)，所述齿条(4323)至少有部分收容于所述第一枢接件(45)内，所述回转齿轮(433)套设于一销轴(434)且收容于所述第一枢接件(45)内，所述销轴(434)的两端分别与所述第一枢接件(45)铰接；以及
    支撑杆，所述支撑杆与所述销轴(434)相连；
    所述驱动装置(41)驱动所述连接件(432)做往复直线运动，所述齿条(4323)与所述回转齿轮(433)将所述连接件(432)的往复直线运动转化为所述支撑杆(48)相对于所述传动机构(43)的转动。
  2. 如权利要求1所述的起落架(40)，其特征在于，
    所述传动机构(43)还包括与所述驱动装置(41)相连的丝杆(432)，所述连接件包括U形的固定部(4322)和设于所述固定部(4322)开口端并封闭所述开口端的连接轴(4321)，所述齿条(4323)与所述固定部(4322)的封闭端相连；
    所述连接轴(4321)贯通有螺纹孔(43211)，所述丝杆(432)自所述螺纹孔(43211)穿设于所述固定部(4322)内并与所述连接轴(4321)通过所述螺纹孔(43211)螺纹连接。
  3. 根据权利要求2所述的起落架(40)，其特征在于，所述丝杆(432)通过一齿轮机构(42)与所述驱动装置(41)相连。
  4. 根据权利要求1-3中任一项所述的起落架(40)，其特征在于，所述支撑杆包括第二枢接件(46)和与所述第二枢接件(46)相连的支撑部(48)， 所述第二枢接件(46)与所述销轴(434)相连。
  5. 根据权利要求4所述的起落架(40)，其特征在于，所述支撑杆还包括第二套筒(47)和弹性抵持件(49)，所述第二枢接件(46)与所述支撑部(48)通过所述弹性抵持件(49)相连，所述第二枢接件(46)、所述弹性抵持件(49)以及所述支撑部(48)均收容于所述第二套筒(47)内，且所述第二套筒(47)一端与所述第一枢接件(45)抵接，另一端与所述支撑部(48)抵接。
  6. 根据权利要求5所述的起落架(40)，其特征在于，所述弹性抵持件(49)为弹簧。
  7. 如权利要求1-6中任一项所述的起落架(40)，其特征在于，所述起落架(40)还包括第一套筒(44)，所述传动机构(43)收容于所述第一套筒(44)。
  8. 一种无人飞行器(100)，其特征在于，包括：机身(10)、与所述机身(10)相连的机臂(20)、设于所述机臂(20)的动力装置和如权利要求1-7中任一项所述起落架(40)，所述起落架(40)安装于所述机身(10)或机臂(20)。
  9. 如权利要求8所述的无人飞行器(100)，其特征在于，所述起落架(40)安装于所述机臂(20)远离所述机身(10)的一端；
    所述起落架(40)的驱动装置(41)安装于所述机臂(20)的内部。
  10. 如权利要求9所述的无人飞行器(100)，其特征在于，
    所述机臂(20)包括连接臂(21)和安装座(22)，所述连接臂(21)的一端与所述机身(10)固定连接，所述安装座(22)安装于所述连接臂(21)远离所述机身(10)的一端；
    所述驱动装置(41)安装于所述安装座(22)内。
  11. 如权利要求10所述的无人飞行器(100)，其特征在于，所述安装座(22)包括主体、开设于所述主体并用于收容所述连接臂(21)的一端的连接孔(2221)、开设于所述主体并用于收容所述驱动装置(41)的容置槽(2231)以及用于安装所述动力装置的承载部(221)。
PCT/CN2018/111055 2017-12-28 2018-10-19 起落架及具有该起落架的无人飞行器 WO2019128401A1 (zh)

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