WO2019128446A1 - Train d'atterrissage et véhicule aérien sans pilote le comprenant - Google Patents

Train d'atterrissage et véhicule aérien sans pilote le comprenant Download PDF

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Publication number
WO2019128446A1
WO2019128446A1 PCT/CN2018/112399 CN2018112399W WO2019128446A1 WO 2019128446 A1 WO2019128446 A1 WO 2019128446A1 CN 2018112399 W CN2018112399 W CN 2018112399W WO 2019128446 A1 WO2019128446 A1 WO 2019128446A1
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WO
WIPO (PCT)
Prior art keywords
landing gear
rotating shaft
hole
shaft
plane
Prior art date
Application number
PCT/CN2018/112399
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English (en)
Chinese (zh)
Inventor
张正力
彭淮
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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 WO2019128446A1 publication Critical patent/WO2019128446A1/fr

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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
    • B64C25/26—Control or locking systems therefor

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. 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.
  • an embodiment of the present invention provides a foldable landing gear that can be stowed and folded, and an unmanned aerial vehicle having the folding landing gear.
  • the embodiment of the present invention provides the following technical solutions:
  • a landing gear comprising:
  • a transmission mechanism including a rotating shaft and a rotating cam, wherein the driving device is coupled to the rotating shaft and can drive the rotating shaft to rotate;
  • a landing gear body is coupled to both ends of the rotating shaft, and the driving device drives the landing gear body to rotate by the rotating shaft.
  • the landing gear further includes a connection assembly, the connection assembly including a rotary cam, the rotary cam being provided with a circular through hole;
  • the rotating shaft is connected to the landing gear body through a circular through hole of the rotating cam, the rotating shaft is matched with the circular through hole, and an end surface of the rotating cam is an inclined end surface Or an arcuate end surface, the landing gear body abutting the inclined end surface or the curved end surface.
  • the connecting assembly further includes: a pin shaft and an elastic abutting member, the rotating shaft is hinged with the one end of the landing gear body through the pin shaft; the rotating cam is fixedly mounted on the a body that abuts against a mating surface of the landing gear body; the elastic resisting member is sleeved on the pin shaft, and one end of the elastic resisting member abuts the landing gear body, and the other end is abutted Holding the rotating shaft.
  • the transmission mechanism further includes a connecting shaft, one end of the connecting shaft is provided with a limiting slot, and two ends of the rotating shaft are respectively provided with a limited position structure, and the limiting structure is inserted into the limiting slot
  • the rotating shaft drives the connecting shaft to rotate; the other end of the connecting shaft is hinged with one end of the landing gear body through the pin; the elastic resisting member abuts the landing gear at one end
  • the body has the other end abutting the connecting shaft.
  • the transmission mechanism is a worm gear mechanism including a worm and a worm gear fixedly coupled to a rotating shaft of the driving device; the worm is engaged with the worm wheel; the worm wheel is fixed to the Rotating the shaft, and the rotation axis of the worm coincides with the rotation axis of the rotation shaft; both ends of the rotation shaft are respectively coupled to the landing gear body.
  • the landing gear further includes a bracket, the bracket including a bottom wall, and a side wall extending from both ends of the bottom wall in a direction perpendicular to the bottom wall; the bottom wall a fixing groove is provided, a bottom surface of the fixing groove is provided with a through hole, and the driving device is fixed in the fixing groove, and one end of the worm is fixedly connected to the rotating shaft of the driving device through the through hole; The rotating shaft is hinged between the two side walls.
  • the landing gear further includes a bearing housing and a bearing, the bearing housing is fixed to the side wall, the bearing is sleeved on the rotating shaft, and the bearing seat is sleeved on the bearing.
  • the outer side of the side wall is provided with a receiving groove, the bottom surface of the receiving groove is provided with a connecting hole and a stopping portion; the rotating shaft passes through the connecting hole and the connecting shaft Connecting, the rotating cam is located in the accommodating groove, and the rotating cam is provided with a circular through hole and a stopping hole, the circular through hole is aligned with the connecting hole, and the stopping portion is inserted into the Said in the stop hole.
  • the inclined end surface or the curved end surface of the rotating cam includes a first plane, a spiral curved surface, a second plane, and a vertical plane, the first plane, the spiral curved surface, the second plane, and the vertical plane surrounding the a circular through hole, which is connected in sequence; the other end surface of the rotating cam is flat and abuts against a bottom surface of the receiving groove; and a height difference between the first plane and the second plane is The first plane is closer to one end surface of the rotating cam than the second plane; the surface of the landing gear body abutting the inclined end surface or the curved end surface of the rotating cam is a connecting surface, and the connecting surface An abutting portion is provided, the abutting portion abutting against the inclined end surface or the curved end surface of the rotating cam.
  • the transmission mechanism is a helical gear transmission mechanism including a first helical gear, a second helical gear, and a rotating shaft; the first helical gear is fixedly coupled to one end of the rotating shaft of the driving device, a second helical gear is disposed at a middle portion of the rotating shaft; the first helical gear and the second helical gear are meshed; and two ends of the rotating shaft are respectively coupled to one of the landing gear bodies.
  • the landing gear further includes a transmission for increasing the moment of inertia, the transmission being coupled between the drive and the transmission.
  • the embodiment of the present invention further provides the following technical solutions:
  • An unmanned aerial vehicle includes a fuselage, a boom connected to the fuselage, a power unit disposed on the arm, and the landing gear described above, the landing gear body being rotatable relative to the body to achieve folding Or expand.
  • the body is provided with a landing gear locking device; the landing gear body is provided with a locking engagement device that cooperates with the landing gear locking device, the landing gear after the landing gear body is folded
  • the locking device acts in conjunction with the locking engagement device.
  • the driving device can drive the landing gear body to rotate through a transmission mechanism.
  • the landing gear body When the landing gear body is applied to an unmanned aerial vehicle, the landing gear body can be opposite. Rotating the fuselage to achieve folding on both sides or inside of the fuselage, the structure is compact, so that the unmanned aerial vehicle with the landing gear can be folded and folded during flight, and the unmanned aerial vehicle is not in the air. Unnecessary resistance, in the unmanned aerial vehicle aerial photography process, completely avoids obscuring the aerial view; when landing is required, the landing gear can be rotated relative to the fuselage to achieve automatic deployment, supporting the UAV to complete the landing.
  • the landing gear body can swing relative to the body, thereby being able to cushion when the crash occurs, thereby protecting the body of the unmanned aerial vehicle.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention, wherein the landing gear is in an unfolded state;
  • Figure 2 is a perspective view of the landing gear of the unmanned aerial vehicle shown in Figure 1;
  • Figure 3 is an exploded view of the landing gear shown in Figure 2;
  • Figure 4 is a perspective view of the worm wheel and the rotating shaft of the landing gear shown in Figure 3;
  • Figure 5 is another perspective view of the landing gear of the UAV shown in Figure 1, wherein the landing gear includes a bracket;
  • Figure 6 is a perspective view of the bracket of the landing gear shown in Figure 5;
  • Figure 7 is a perspective view of the connecting shaft of the landing gear shown in Figure 3;
  • Figure 8 is a perspective view of the pin shaft of the landing gear shown in Figure 3;
  • Figure 9 is a perspective view of the rotating cam in the landing gear shown in Figure 3;
  • Figure 10 is a perspective view of the landing gear body of the landing gear shown in Figure 3;
  • Figure 11 is a schematic view showing the structure of a transmission mechanism in other embodiments of the present invention.
  • the unmanned aerial vehicle may be a single-rotor UAV, a double-rotor UAV, a quadrotor UAV, or a six-rotor UAV.
  • the four-rotor UAV is taken as an example for detailed description. .
  • an embodiment of the present invention provides an unmanned aerial vehicle including a fuselage 10 , an arm 30 connected to the body 10 , a power unit 40 disposed on the arm 30 , and a landing gear 20 .
  • a landing gear 20 is mounted to the fuselage 10 for supporting the landing position of the UAV when it is landing.
  • the arm 30 can be fixedly coupled to the body 10 or can be deployed or folded relative to the body 10.
  • the power unit 40 includes a motor disposed at one end of the arm 30 away from the body 10 and a propeller coupled to the motor shaft of the motor. The motor drives the propeller to rotate at a high speed to generate power for the UAV to fly.
  • 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 an unmanned aerial vehicle flight attitude, a GPS module for navigating an unmanned aerial vehicle, and a data processing module for processing environmental information acquired by the associated 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 an unmanned aerial vehicle flight attitude, a GPS module for navigating an unmanned aerial vehicle, and a data processing module for processing environmental information acquired by the associated onboard device.
  • the landing gear 20 includes a driving device 210, a transmission mechanism 220 between the two staggered shafts, and a landing gear body 230.
  • the driving device 210 is disposed inside the body 10, and the The driving device 210 is coupled to the landing gear body 230 by the transmission mechanism 220, and the driving device 210 can drive the landing gear body 230 to rotate relative to the body 10 to achieve folding or unfolding.
  • the transmission mechanism 220 is a worm gear mechanism including a worm 221, a worm wheel 222, a rotating shaft 223, and a connecting assembly 250, one end of the worm 221 and the driving
  • the rotating shaft of the device 210 is fixedly coupled, and the center line of the worm 221 coincides with the center line of the rotating shaft of the driving device 210, and the center line of the worm 221 and the center line of the rotating shaft 223 are perpendicular to each other.
  • the worm 221 is meshed with the worm wheel 222.
  • the worm wheel 222 is fixed to the rotating shaft 223, and the axes of rotation of the two coincide.
  • Both ends of the rotating shaft 223 are respectively connected to one end of a landing gear body 230, and the rotating shaft 223 is substantially perpendicular to a surface formed by the landing gear body 230.
  • the driving device 210 can drive the worm 221 to rotate, and rotate the rotating shaft 223 through the worm wheel 222 to rotate the landing gear body 230 relative to the body 10.
  • the rotating shaft 223 is a stepped shaft.
  • the central diameter of the rotating shaft 223 is larger than the diameter of the two ends thereof.
  • a stepped surface 2231 is formed at the joint thereof, and the two ends of the rotating shaft 223 are respectively provided with a limiting structure 2232.
  • the worm wheel 222 is integrally formed with the rotating shaft 223 and is located at a middle portion of the rotating shaft 223.
  • the driving device 210 is a brushless DC motor, that is, the driving mechanism 220 is driven by the brushless DC motor. It can be understood that in other embodiments, other driving devices may be used, such as directly driving the rotating shaft by using a steering gear. 223 turns.
  • the landing gear 20 further includes a bracket 240, a bearing housing 260 and a bearing 270.
  • the driving device 210 is fixed to the bracket 240, and the rotating shaft 223 is
  • the bracket 240 is hinged and coupled to the landing gear body 230 by the connection assembly 250.
  • the bearing block 260 is fixed to the bracket 240 and sleeved on the bearing 270.
  • the bearing 270 is sleeved on the rotating shaft 223 and abuts against the stepped surface 2231.
  • the bracket 240 includes a bottom wall 241, and a side wall 242 extending from both ends of the bottom wall 241 in a direction perpendicular to the bottom wall 241.
  • the bottom wall 241 is provided with a fixing groove 2411, and a bottom surface of the fixing groove 2411 is provided with a through hole 2412.
  • the driving device 210 is fixed in the fixing groove 2411 , and one end of the worm 221 is fixedly connected to the rotating shaft of the driving device 210 through the through hole 2412 .
  • the side walls 242 have two sides and are symmetrical to each other.
  • the rotating shaft 223 is located between the two side walls 242 and is hinged with the two side walls 242.
  • a receiving groove 2421 is disposed on the outer side surface of the side wall 242 away from the rotating shaft 223.
  • the bottom surface of the receiving groove 2421 is provided with a connecting hole 2422 and a stopping portion 2423.
  • the bracket 240 is a separate component and is mounted inside the fuselage 10 or outside the fuselage 10 (e.g., below the fuselage 10). It can be understood that in other embodiments, the bracket 240 and the body 10 are integrally formed, that is, the bracket 240 is a part of the body 10. At this time, for the landing gear 20, the body 10 is equivalent to the present.
  • the stent 240 in the embodiment.
  • the connecting assembly 250 includes a connecting shaft 251, a pin 252, a rotating cam 253, and a resilient abutting member 254.
  • One end of the connecting shaft 251 is provided with a limiting groove 2511, and the other end is provided with a first clamping portion 2512 and a second clamping portion 2513.
  • the shape of the limiting groove 2511 is the same as the cross-sectional shape of both ends of the rotating shaft 223.
  • the limiting structure 2232 of the rotating shaft 223 is embedded in the limiting slot 2511 to prevent the rotating shaft 223 from rotating relative to the connecting shaft 251.
  • the cross section of the rotating shaft 223 and the limiting groove 2511 may be elliptical, D-shaped or other shapes that can function as a limit.
  • the first clamping portion 2512 and the second clamping portion 2513 are symmetrical to each other, and a gap is formed between the first clamping portion 2512 and the second clamping portion 2513 for receiving the elastic resisting member 254.
  • the first clamping portion 2512 is provided with a first pin hole
  • the second clamping portion 2513 is provided with a second pin hole, the first pin hole being aligned with the second pin hole.
  • the pin 252 passes through the first pin hole and the second pin hole.
  • the middle portion of the pin 252 is provided with an annular groove 2521
  • the elastic resisting member 254 is a torsion spring which is disposed in the annular groove 2521 and elastically resists One end of the piece 254 abuts the connecting shaft 251, and the other end abuts against the landing gear body 230.
  • the elastic resisting member 254 can also be a resilient piece mounted on the pin 252 and having one end abutting the connecting shaft 251 and the other end resisting.
  • the landing gear body 230 can also be a resilient piece mounted on the pin 252 and having one end abutting the connecting shaft 251 and the other end resisting.
  • the rotating cam 253 is located in the accommodating groove 2421 , and the rotating cam 253 is provided with a circular through hole 2531 extending from one end surface to the other end surface (also referred to as It is an abutting surface), and the circular through hole 2531 is aligned with the connecting hole 2422.
  • One end surface of the rotating cam 253 is provided with a stopping hole 2532.
  • the stopping portion 2423 has a cylindrical shape and is inserted into the stopping hole 2532 to prevent the rotating cam 253 from being in the receiving groove 2421. Turn.
  • One end surface of the rotating cam 253 is an inclined end surface or a curved end surface.
  • the inclined end surface or the curved end surface is provided with a first plane 2533, a spiral curved surface 2534, a second plane 2535 and a vertical surface 2536, the first plane 2533, the spiral curved surface 2534, the second plane 2535 and the vertical plane 2536 Surrounding the circular through holes 2531 and contacting them in sequence.
  • the other end surface of the rotating cam 253 is a plane, and the first plane 2533 and the second plane 2535 have a height difference, and the first plane 2533 is closer to the rotating cam 253 than the second plane 2535.
  • the other end face.
  • One end of the rotating shaft 223 passes through the through hole 2412 and the circular through hole 2531, and is inserted into the limiting groove 2511.
  • the bearing 270 has two bearings, which are respectively sleeved on both ends of the rotating shaft 223 and abuts the stepped surface 2231.
  • the bearing housings 260 have two in total and are in one-to-one correspondence with the bearings 270.
  • the bearing housing 260 is fixed to an inner surface of the side wall 242.
  • the bearing 270 and the bearing housing 260 may be omitted, and one end of the rotating shaft 223 is directly inserted into the connecting hole 2422 and is rotatable within the connecting hole 2422. In order to make the rotation shaft 223 rotate smoothly in the connection hole 2422, it is only necessary to add lubricating oil between the rotation shaft 223 and the connection hole 2422.
  • the landing gear bodies 230 share two and are symmetrical to each other, and are respectively coupled to both ends of the rotating shaft 223. Taking one of the landing gear bodies 230 as an example, the structure thereof will be described in detail.
  • the landing gear body 230 includes a landing rod 232 and a supporting auxiliary rod 233 that support the main rod 231 and one end fixedly connected to one end of the supporting main rod 231.
  • the angle between the landing rod 232 and the supporting main rod 231 is an acute angle
  • one end of the supporting auxiliary rod 233 is fixedly connected to the supporting main rod 231
  • the other end is fixedly connected to the landing rod 232.
  • a mounting groove 2311 is disposed on a connecting surface of the other end of the supporting main rod 231 (ie, the connecting end) and the connecting component 250.
  • the opposite sides of the mounting slot 2311 are respectively provided with a first mounting hole 2312 and a first Two mounting holes 2313, the first mounting holes 2312 and the second mounting holes 2313 are aligned in the lateral direction of the support main rod 231.
  • the first clamping portion 2512 and the second clamping portion 2513 of the connecting shaft 251 are respectively inserted into the mounting groove 2311, and two ends of the pin shaft 252 are respectively inserted into the first mounting hole 2312 and the second mounting
  • the hole 2313 is such that the support main rod 231 is rotatable about the pin shaft 252 at an angle with respect to the connecting shaft 251.
  • the connecting surface of the other end of the supporting main rod 231 is further provided with an abutting portion 2314 that abuts against the inclined end surface or the curved end surface of the rotating cam 253.
  • the connecting surface is a sloped surface or a curved surface, and the inclined surface or the curved surface is in contact with the inclined end surface or the curved end surface of the rotating cam 253.
  • the landing gear 20 has two states, an unfolded state and a folded state.
  • the landing gear 20 is in an unfolded state.
  • the landing bar 232 in the landing gear 20 is substantially vertical.
  • the abutting portion 2314 abuts against the first plane 2533.
  • One end of the support main rod 231 is inclined away from the body 10 (ie, the two support main rods 231 are in an "eight" shape).
  • One end of the elastic resisting member 254 abuts the connecting shaft 251 , and the other end abuts the landing gear body 230 , so that the abutting portion 2314 can be attached to the first plane 2533 .
  • the landing gear 20 is prevented from obscuring the camera, and the landing gear 20 is changed from the unfolded state to the folded state.
  • the driving device 210 drives the worm 221 to rotate, and the worm gear 222 and the rotating shaft 223 enable the landing gear body 230 to rotate relative to the body 10 about the center line of the rotating shaft 223.
  • the abutting portion 2314 gradually moves toward the spiral curved surface 2534 along the first plane 2533 and slides along the spiral curved surface 2534 to the second flat surface 2535.
  • the first plane 2533 Due to the height difference between the first plane 2533 and the second plane 2535, the first plane 2533 is closer to one end face of the rotating cam 253 than the second plane 2535; thus the support main pole 231
  • the support shaft 251 is rotated about the pin shaft 252 at an angle with respect to the connecting shaft 251 such that the support main rod 231 becomes a horizontal state, and one end thereof and the landing rod 232 gradually approach the body 10.
  • the landing gear body 230 is in close contact with both sides of the body 10, which not only completely avoids obscuring the camera, but also makes the overall structure of the UAV very compact.
  • the landing gear body 230 can swing relative to the body 10, thereby being able to protect the fuselage 10 of the UAV during a crash.
  • the transmission mechanism 220a is a helical gear transmission mechanism between the two staggered shafts, including a first helical gear 221a, a second helical gear 222a, and The shaft 223a is rotated.
  • the first helical gear 221a is fixedly coupled to one end of the rotating shaft of the driving device 210, and the second helical gear 222a is disposed at a middle portion of the rotating shaft 223a.
  • the first helical gear 221a and the second helical gear 222a are meshed. Both ends of the rotating shaft 223a are respectively connected to the drop frame body 230.
  • the driving device 210 can drive the first helical gear 221a to rotate, and the second helical gear 222a and the rotating shaft 223a are rotated by the first helical gear 221a, so that the landing gear body 230 is opposite to the The body 10 is rotated.
  • the transmission mechanism 220 may include only the transmission shaft 223 and the pin shaft 252.
  • the driving device 210 is directly connected to the rotating shaft 223, and the rotating shaft 223 may be driven. Rotate.
  • the rotating shaft 223 is hinged to the landing gear body 230 through the pin shaft 252, and the rotating shaft 223 and the pin shaft 252 are perpendicular to each other.
  • a corresponding position of the body 10 eg, at the rear of the fuselage
  • a landing gear locking device eg, a buckle, a magnet, an electromagnet, etc.
  • the other end of the landing gear body 230 ie, landing
  • the end is provided with a locking engagement device (for example, a lock, a magnet, an electromagnet, etc.).
  • a first magnet is disposed at a rear portion of the body 10, and the other end of the landing gear body 230 is provided with a second magnet that is attracted to the first magnet, when the landing gear body After the manual folding of 230, the two magnets are close to each other and aligned, so that the landing gear body 230 is fixed in the current folded state.
  • the landing gear 20 further includes a transmission for increasing the moment of inertia for increasing the moment of inertia of the worm 221 and the maximum friction between the worm gear 222 and the worm 221 to overcome the gravity
  • the effect of the landing gear body 230 is described.
  • the transmission device for increasing the moment of inertia is connected between the driving device 210 and the transmission mechanism 220, and specifically may be a gear transmission mechanism or a four-bar linkage mechanism.

Abstract

L'invention concerne un train d'atterrissage (20) et un véhicule aérien sans pilote, le train d'atterrissage (20) comprenant un dispositif d'entraînement (210), un mécanisme de transmission (220) et un corps de train d'atterrissage (230), le mécanisme de transmission (220) comprenant un arbre rotatif (223) relié au dispositif d'entraînement (210) et une came rotative (253) ; et le corps de train d'atterrissage (230) étant relié à deux extrémités de l'arbre rotatif (223), et le dispositif d'entraînement (210) entraînant le corps de train d'atterrissage (230) à tourner par l'intermédiaire de l'arbre rotatif (223). De cette manière, le corps de train d'atterrissage (230) peut être rétracté et plié sur deux côtés d'un fuselage (10) ou à l'intérieur d'un fuselage (10), et possède une structure compacte, de telle sorte que, pendant le vol du véhicule aérien sans pilote, le train d'atterrissage (20) peut être rétracté et plié, sans provoquer de résistance inutile pour le véhicule aérien sans pilote ; pendant une photographie aérienne du véhicule aérien sans pilote, le blocage de la vue de la photographie aérienne peut être complètement évité ; et lorsque le véhicule aérien sans pilote a besoin d'atterrir, le train d'atterrissage (20) peut être à nouveau déplié de façon à supporter le véhicule aérien sans pilote afin de terminer l'atterrissage.
PCT/CN2018/112399 2017-12-31 2018-10-29 Train d'atterrissage et véhicule aérien sans pilote le comprenant WO2019128446A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711494575.3A CN108146618B (zh) 2017-12-31 2017-12-31 起落架及具有此起落架的无人飞行器
CN201711494575.3 2017-12-31

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WO2019128446A1 true WO2019128446A1 (fr) 2019-07-04

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Publication number Priority date Publication date Assignee Title
CN108146618B (zh) * 2017-12-31 2020-03-06 深圳市道通智能航空技术有限公司 起落架及具有此起落架的无人飞行器
CN108216593A (zh) * 2017-12-31 2018-06-29 深圳市道通智能航空技术有限公司 起落架及具有此起落架的无人飞行器
FR3086638B1 (fr) * 2018-09-28 2021-12-31 Airbus Helicopters Atterriseur a balancier motorise et aeronef
CN113525671A (zh) * 2021-07-30 2021-10-22 深圳市道通智能航空技术股份有限公司 一种起落架以及无人机
CN113602483A (zh) * 2021-07-30 2021-11-05 深圳市道通智能航空技术股份有限公司 一种无人机

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Publication number Priority date Publication date Assignee Title
US3173632A (en) * 1962-07-30 1965-03-16 Del Mar Eng Lab Landing gear for hovering type aircraft
CN105667770A (zh) * 2014-12-08 2016-06-15 波音公司 多位置起落架
CN206606349U (zh) * 2017-01-09 2017-11-03 昊翔电能运动科技(昆山)有限公司 单舵机驱动起落架收放的结构和使用该结构的无人机
CN107458575A (zh) * 2016-06-06 2017-12-12 比亚迪股份有限公司 无人机
CN108146618A (zh) * 2017-12-31 2018-06-12 深圳市道通智能航空技术有限公司 起落架及具有此起落架的无人飞行器
CN207758999U (zh) * 2017-12-31 2018-08-24 深圳市道通智能航空技术有限公司 起落架及具有此起落架的无人飞行器

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3173632A (en) * 1962-07-30 1965-03-16 Del Mar Eng Lab Landing gear for hovering type aircraft
CN105667770A (zh) * 2014-12-08 2016-06-15 波音公司 多位置起落架
CN107458575A (zh) * 2016-06-06 2017-12-12 比亚迪股份有限公司 无人机
CN206606349U (zh) * 2017-01-09 2017-11-03 昊翔电能运动科技(昆山)有限公司 单舵机驱动起落架收放的结构和使用该结构的无人机
CN108146618A (zh) * 2017-12-31 2018-06-12 深圳市道通智能航空技术有限公司 起落架及具有此起落架的无人飞行器
CN207758999U (zh) * 2017-12-31 2018-08-24 深圳市道通智能航空技术有限公司 起落架及具有此起落架的无人飞行器

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CN108146618B (zh) 2020-03-06

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