WO2019129304A1

WO2019129304A1 - Undercarriage and unmanned aerial vehicle having same

Info

Publication number: WO2019129304A1
Application number: PCT/CN2019/072005
Authority: WO
Inventors: 张正力
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-12-31
Filing date: 2019-01-16
Publication date: 2019-07-04
Also published as: CN108216593A

Abstract

Disclosed are an undercarriage and an unmanned aerial vehicle having same. An undercarriage (20) comprises a driving device (210), a transmission mechanism (220) and an undercarriage body (230), wherein the transmission mechanism comprises a rotating shaft (223, 223a), and the driving device is connected to the rotating shaft and can drive the rotating shaft to rotate; a locking mechanism (280) comprises a first locking member (281), a second locking member (282) and an elastic component (283); both the second locking member and the elastic component are sleeved on the rotating shaft; the elastic component abuts against the second locking member and the transmission mechanism, respectively; the first locking member is engaged with the second locking member; and the undercarriage body is connected to the first locking member, so that the driving device can drive the undercarriage body to rotate around the rotating shaft. In this way, the undercarriage body can be retracted and folded on two sides of or inside a fuselage, so as to not cause the unmanned aerial vehicle any unnecessary resistance when same is in the air, and so as to prevent the field of view of aerial photography being blocked; and after use and power failure, the undercarriage can be manually folded, so that the unmanned aerial vehicle is convenient to carry.

Description

Landing gear and unmanned aerial vehicle with the landing gear

[Technical Field]

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.

【Background technique】

Unmanned Aerial Vehicle (UAV) 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.

Consumer-grade drones currently on the market mainly use fixed landing gear. The fixed landing gear blocks the aerial view during aerial photography. Or, although some have realized automatic folding, after the drone is grounded and powered off, manual folding cannot be realized, which is inconvenient to carry or transport.

[Summary of the Invention]

In order to solve the above technical problem, 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.

In order to solve the above technical problem, the embodiment of the present invention provides the following technical solutions:

A landing gear comprising:

Drive device

a transmission mechanism including a rotating shaft, the driving device is coupled to the rotating shaft, and can drive the rotating shaft to rotate;

a locking mechanism comprising a first locking member, a second locking member and an elastic member, wherein the second locking member and the elastic member are sleeved on the rotating shaft, and one end of the elastic member is resisted The second locking member, the other end of the elastic member abuts the transmission mechanism, and one end of the first locking member is engaged with the second locking member;

a landing gear body, one end of the landing gear body being coupled to the first locking member such that the driving device can drive the landing gear body to rotate about the rotating shaft.

In some embodiments, the transmission mechanism further includes a connection assembly including: a pin, a rotating cam, and a resilient abutting member, the rotating cam being provided with a circular through hole; the first locking member One end of the rotating cam passes through the center hole of the rotating cam and is hinged to one end of the landing gear body through the pin shaft; one end surface of the rotating cam is an inclined end surface or a curved end surface, and the landing gear body (230 Abutting against the inclined end surface or the curved end surface; the elastic resisting member is sleeved on the pin shaft, and the elastic resisting member abuts against the landing gear body, and the other end abuts the first A locking piece.

In some embodiments, the transmission mechanism further includes a connecting shaft, one end of the connecting shaft is coupled to the first locking member, such that the rotating shaft drives the connecting shaft to rotate by the locking mechanism; The other end of the connecting shaft is hinged with one end of the landing gear body through the pin shaft; the elastic resisting member abuts against the landing gear body, and the other end abuts the connecting shaft.

In some embodiments, the transmission mechanism is a worm gear mechanism including a worm and a worm wheel and the rotating shaft, the worm is fixedly coupled to a rotating shaft of the driving device; the worm is engaged with the worm wheel; the worm wheel Fixed to the rotating shaft, and an axis of rotation of the worm wheel coincides with an axis of rotation of the rotating shaft; both ends of the rotating shaft are coupled to the landing gear body by the first locking member.

In some embodiments, the landing gear further includes a bracket, the bracket includes a bottom wall, and a sidewall extending from both ends of the bottom wall; the bottom wall is provided with a fixing slot, the fixing slot The bottom surface is provided with a through hole, 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 to the two Between the side walls.

In some embodiments, 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.

In some embodiments, 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.

In some embodiments, 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.

In some embodiments, the first locking member includes a shaft portion and a first connecting portion, the shaft portion has a round rod shape, one end of which is fixedly connected with the first connecting portion, and the other end is connected to the landing gear a plurality of protrusions are disposed on the connecting surface of the first connecting portion and connected to the second locking member, and the connecting surface of the second locking member is provided with a plurality of grooves, the concave The groove corresponds to the protrusion, and the protrusion can be embedded in the groove, so that the rotating shaft can drive the first locking member to rotate by the second locking member.

In some embodiments, the transmission mechanism further includes: a pin, a rotating cam, and an elastic abutting member, the first locking member being hinged to the one end of the landing gear body by the pin; the rotating cam For fixing to the fuselage and abutting with one end 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 The body has the other end that abuts the rotating shaft.

In some embodiments, the transmission mechanism further includes a connecting shaft, one end of the connecting shaft is provided with a limiting slot; one end of the shaft portion connected to the connecting shaft is provided with a limiting structure, and is inserted into the limiting slot Inside, so that the first locking member can drive the connecting shaft to rotate.

In some embodiments, 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, The second helical gear is disposed at a middle portion of the rotating shaft; the first helical gear and the second helical gear are engaged; both ends of the rotating shaft are coupled to the landing body by the first locking member.

In some embodiments, the landing gear further includes a transmission for increasing the moment of inertia, the transmission being coupled between the drive and the transmission.

In order to solve the above technical problem, the embodiment of the present invention further provides the following technical solutions:

An unmanned aerial vehicle comprising the above mentioned landing gear and fuselage, the landing gear body being rotatable relative to the fuselage for folding or unfolding.

In some embodiments, 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 interacts with the locking engagement device.

Compared with the prior art, in the landing gear of the embodiment of the present invention, the driving device can drive the landing gear body to rotate through a transmission mechanism. 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 process of aerial photography of unmanned aerial vehicles, completely avoiding obscuring the aerial view; when landing is required, the landing gear can be rotated relative to the fuselage for automatic deployment, supporting the unmanned aerial vehicle to complete the landing; After the power is turned off and the power is turned off, the landing gear can be manually folded by the locking mechanism, so that the unmanned aerial vehicle takes up a small space and is easy to carry.

[Description of the Drawings]

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

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;

3 is a schematic structural view of a driving device and a transmission mechanism in the landing gear shown in FIG. 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 an exploded view of the landing gear of the UAV shown in Figure 5;

Figure 7 is a perspective view of the bracket of the landing gear shown in Figure 6;

Figure 8 is a perspective view of the connecting shaft of the landing gear shown in Figure 6;

Figure 9 is a perspective view of the pin shaft of the landing gear shown in Figure 6;

Figure 10 is a perspective view of the rotating cam in the landing gear shown in Figure 6;

Figure 11 is a perspective view of the first locking member of the landing gear shown in Figure 6;

Figure 12 is another perspective view of the first locking member of the landing gear shown in Figure 6;

Figure 13 is a perspective view of the second locking member of the landing gear shown in Figure 6;

Figure 14 is a perspective view of the outer casing of the landing gear shown in Figure 6;

Figure 15 is another perspective view of the outer casing of the landing gear shown in Figure 6;

Figure 16 is a perspective view of the side cover of the landing gear shown in Figure 6;

Figure 17 is a perspective view of the landing gear body of the landing gear shown in Figure 6;

Figure 18 is a schematic view showing the structure of a transmission mechanism in other embodiments of the present invention.

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It is to be noted that when an element is described as being "fixed" to another element, it can be directly on the other element, or one or more central elements can be present. When an element is referred to as "connected" to another element, it can be a <RTI ID=0.0> </ RTI> </ RTI> <RTIgt; The orientation or positional relationship of the terms "upper", "lower", "inner", "outer", "bottom" and the like as used in the specification is based on the orientation or positional relationship shown in the drawings, only for convenience of description. The invention and the simplification of the invention are not to be construed as limiting or limiting the invention. Moreover, the terms "first", "second", "third", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in the specification are the same meaning The terms used in the description of the present invention are for the purpose of describing the specific embodiments and are not intended to limit the invention. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.

Further, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

In the embodiment 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. .

Referring to FIG. 1 , an embodiment of the present invention provides an unmanned aerial vehicle including a fuselage 10 and a landing gear 20 . The landing gear 20 is mounted to the fuselage 10 for supporting an unmanned aerial vehicle when it is landing. 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 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.

Referring to FIG. 2 , the landing gear 20 includes a driving device 210 , a transmission mechanism 220 and a landing gear body 230 . The driving device 210 is disposed inside the fuselage 10 , and the driving device 210 passes through the transmission mechanism. The 220 is coupled to the landing gear body 230, and the driving device 210 can drive the landing gear body 230 to be rotationally folded or unfolded relative to the body 10.

As shown in FIG. 3 and FIG. 4, in the embodiment, the transmission mechanism 220 is a worm gear mechanism, including a worm 221, a worm wheel 222, and a rotating shaft 223. One end of the worm 221 is fixed to the rotating shaft of the driving device 210. Connected, 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 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 about the rotating shaft 223. The rotating shaft 223 is a stepped shaft, and a central portion of the rotating shaft 223 has a diameter larger than a diameter of both ends thereof, and a stepped surface 2231 is formed at a joint thereof. 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 central portion of the rotating shaft 223 is provided with two limiting portions 2232, and the two limiting portions 2232 are respectively located at two sides of the worm wheel 222.

In this embodiment, 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.

Referring to FIGS. 5 and 6 in conjunction with FIG. 3 , in the present embodiment, the landing gear 20 further includes a bracket 240 , a connecting assembly 250 , a bearing housing 260 , and a bearing 270 . The driving device 210 is fixed to the bracket 240 . The rotating shaft 223 is hinged with the bracket 240 and connected to the landing gear body 230 through the connecting 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.

As shown in FIG. 7, 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.

In the present embodiment, the bracket 240 is a separate component and is mounted inside the fuselage 10 or outside the fuselage 10 (for example, 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.

As shown in FIG. 8, the connecting assembly 250 includes a connecting shaft 251, a pin shaft 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. There are two connecting assemblies 250, which are respectively connected to both ends of the rotating shaft 223. 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, and 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.

As shown in FIG. 9 , the middle portion of the pin 252 is provided with an annular groove 2521 , and 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.

It can be understood that in other embodiments, 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.

As shown in FIG. 10, the rotating cam 253 is located in the accommodating groove 2421. The rotating cam 253 is provided with a circular through hole 2531. The circular through hole 2531 has one end surface extending to the other end surface (also called 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. Specifically, 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.

Specifically, 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.

It can be understood that in other embodiments, 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.

Corresponding to both ends of the rotating shaft 223, 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.

Referring to Figures 11, 12 and 13, and in conjunction with Figure 6, the landing gear 20 further includes a locking mechanism 280 that includes a first locking member 281, a second locking member 282, and an elastic member 283. The first locking member 281 includes a shaft portion 2811 and a first connecting portion 2812. The shaft portion 2811 has a circular rod shape, one end of which is fixedly connected to the first connecting portion 2812, and the other end is provided with a limiting structure. Inserted into the limiting slot 2511, so that the first locking member 281 can drive the connecting shaft 251 to rotate. The shaft portion 2811 and the rotation axis of the connecting shaft 251 coincide. The cross-section of the limiting structure at the other end of the shaft portion 2811 is adapted to the limiting groove 2511, which may be elliptical, D-shaped, triangular or other shape that can function as a limit. The first connecting portion 2812 is substantially disk-shaped, and has a receiving hole 28121 at a center thereof, and the receiving hole 28121 is a circular hole. The receiving hole 28121 is penetrated by the first connecting portion 2812 to one end of the shaft portion 2811. A plurality of bumps 28122 are disposed on the connecting surface of the first connecting portion 2812 and the second locking member 282 . The plurality of bumps 28122 surround the receiving hole 28121 . In this embodiment, the bumps 28122 have four in total. And uniformly surrounding the receiving hole 28121. One end of the rotating shaft 223 is inserted into the receiving hole 28121, and the cross-sectional shape of one end of the rotating shaft 223 and the shape of the receiving hole 28121 are both circular, so that the rotating shaft 223 and the first locking The piece 281 is relatively rotated.

It can be understood that in other embodiments, the connecting shaft 251 can be omitted, and the other end of the shaft portion 2811 of the first locking member 281 is directly hinged to the landing gear body 230 through the pin 252. The elastic resisting member 254 is sleeved on the pin shaft 252, and one end thereof abuts the landing gear body 230 and the other end abuts the first locking member 281.

As shown in FIGS. 12 and 13 , the second locking member 282 is substantially annular, and defines a limiting hole 2821 , and the limiting hole 2821 extends through the second locking member 282 . The connecting surface of the second locking member 282 contacting the first locking member 281 is provided with a plurality of grooves 2822, and the grooves 2822 are in one-to-one correspondence with the protrusions 28122 (ie, the concave portion The number of slots 2822 and bumps 28122 are equal, and each of the recesses 2822 and the corresponding one of the bumps 28122 cooperate. The groove 2822 and the shape of the bump 28122 are matched in size. In the embodiment, the grooves 2822 have four in total and are uniformly surrounded by the limiting holes 2821. The second locking member 282 is sleeved in the middle of the rotating shaft 223, and the limiting hole 2821 is engaged with the limiting portion 2232 to block the rotating shaft 223 and the second locking The piece 282 is relatively rotated. The shape of the limiting hole 2821 and the limiting portion 2232 have the same cross-sectional shape, and specifically may be an elliptical shape, a triangular shape, a rectangular shape or other shapes that can function as a limit. The first locking member 281 coincides with the rotation axis of the second locking member 282. The connection relationship between the first locking member 281 and the second locking member 282 is understood to be that the connecting surface of the first locking member 281 and the connecting surface of the second locking member 282 are engaged with each other.

The elastic member 283 is sleeved in the middle of the rotating shaft 223 and located between the second locking member 282 and the worm wheel 222. One end of the elastic member 283 abuts the second locking member 282, and the other end abuts the worm wheel 222 to provide a resisting force to the second locking member 282, so that the first locking member The 281 is in close cooperation with the second locking member 282.

In the present embodiment, the landing gear body 230 is coupled to the connecting assembly 250, and the connecting assembly 250 is coupled to the rotating shaft 223 by the locking mechanism 280. The first locking member 281 and the second locking member 282 of the locking mechanism 280 can be rotated relative to each other. When the UAV is landing, the landing gear 20 is in an unfolded state. After the UAV is lowered, since the driving device 210 has stopped running, the landing gear 20 can no longer be driven by the driving device 210 to switch to the folded state ( That is, the landing gear body 230 is stowed and is in close contact with the body 10). In order to make the UAV more convenient to carry the UAV when not in use, the landing gear body 230 may be manually rotated to apply a torsional force to the landing gear body 230, the landing gear body 230 The torsional force is transmitted to the first locking member 281 by the connecting assembly 250. When the torsional force is sufficiently large, the elastic member 283 can be compressed, and the distance between the first locking member 281 and the second locking member 282 becomes large, so that the protrusion 28122 is from the groove 2822. Get out of it. When the first locking member 281 is rotated to a certain angle with respect to the second locking member (in the present embodiment, ninety degrees), the protrusion 28122 is aligned with the other groove 2822. At this time, under the abutment of the elastic member 283, the second locking member 282 is adjacent to the first locking member 281, so that the protrusion 28122 is embedded in the other groove 2822. At this time, the landing gear body 230 is completely folded and is in close contact with the body 10. The unmanned aerial vehicle is compact, compact and takes up less space and is easy to carry.

Referring to Figures 14, 15 and 16 in conjunction with Figure 6, the landing gear 20 further includes a housing 290 that includes a housing 291 and a side cover 292 and a second bearing 293 that includes a base plate 2911. A side plate 2912 extending perpendicularly along an outer edge of the bottom plate 2911, a first pivot hole 2913 disposed on the bottom plate 2911, and a worm mounting hole 2914 disposed on the side plate 2912. The center line of the first pivot hole 2913 and the center line of the worm mounting hole 2914 are perpendicular to each other. The side cover 292 is substantially in the shape of a plate, the side cover 292 is provided with a second pivot hole 2921, the side cover 292 is mounted on the outer casing 291, the first pivot hole 2914 and the second pivot The through holes 2921 are aligned, and the outer casing 291 and the side cover 292 are enclosed to form a receiving space. The two second bearings 293 are fixedly mounted on the first pivot hole 2914 and the second pivot hole 2921, respectively, and are respectively aligned with the first pivot hole 2914 and the second pivot hole 2921. . One end of the worm 221 away from the driving device 210 passes through the worm mounting hole 2914 and enters the accommodating space. Two of the second bearings 293 are respectively sleeved on the rotating shaft 223 and are in close contact with both sides of the worm wheel 222. The rotating shaft 223 is connected to the first locking member 281 through the first pivot hole 2914 and the second pivot hole 2921, respectively. The housing 290 can make the connection of the worm 221 and the worm wheel 222 more tight to prevent the worm 221 from being disengaged from the worm wheel 222 during the rotation of the worm 221 to drive the worm wheel 222.

As shown in Fig. 17, one end of the landing gear body 230 is hinged to the connecting shaft 251 by the pin 252, and the other end is in contact with the ground for landing. A mounting groove 231 is disposed on a connecting surface of the end of the landing gear body 230 (ie, the connecting end) and the connecting component 250. The opposite sides of the mounting slot 231 are respectively provided with a first mounting hole 232 and a first Two mounting holes 233, the first mounting holes 232 and the second mounting holes 233 being aligned along the lateral direction of the landing gear body 230. The first clamping portion 2512 and the second clamping portion 2513 of the connecting shaft 251 are both inserted into the mounting groove 231, and two ends of the pin 252 are respectively inserted into the first mounting hole 232 and the second mounting The hole 233 is such that the landing gear body 230 is rotatable relative to the connecting shaft 251 about the pin 252 at an angle. The connecting surface of one end of the landing gear body 230 is further provided with an abutting portion 234 that abuts against the inclined end surface or the curved end surface of the rotating cam 253. The connecting surface of the landing gear body 230 is a sloped surface or a curved surface, and the inclined surface or the curved surface is matched with the inclined end surface or the curved end surface of the rotating cam 253

In the embodiment of the invention, the landing gear 20 has two states, an unfolded state and a folded state. When the UAV is landing using the landing gear 20, the landing gear 20 is in an unfolded state. At this time, the landing gear body 230 in the landing gear 20 is substantially in a vertical state. The abutting portion 234 abuts against the first plane 2533. The other end of the landing gear body 230 (i.e., the landing end) is inclined away from the body 10 (i.e., the two landing gear bodies 230 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 234 can be attached to the first plane 2533 . After the unmanned aerial vehicle is taken off, in order to better capture the camera using the unmanned aerial vehicle, 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. During the rotation, the abutting portion 234 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. 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 landing gear body 230 The pin shaft 252 is rotated about the pin shaft 252 at an angle with respect to the connecting shaft 251, so that the landing gear body 230 becomes a horizontal state, and the other end thereof gradually approaches the body 10. When the landing gear 20 is in the folded state, 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.

In addition, it is particularly pointed out that since one end of the elastic abutting member 254 abuts against the connecting shaft 251, the other end abuts against the landing gear body 230. When the landing gear 20 receives an external force greater than the critical elastic force of the elastic resisting member 254, 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.

It can be understood that, in other embodiments, as shown in FIG. 11, 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.

It can be understood that in other embodiments, the transmission mechanism 220 may only include a rotating shaft 223, and the driving device 210 is directly coupled to the rotating shaft 223 and may drive the rotating shaft 223 to rotate. The connection assembly 250 can be omitted. The rotating shaft 223 is coupled to the landing gear body 230 by the locking mechanism 280. Specifically, the locking mechanism 280 includes a first locking member 281, a second locking member 282, and an elastic member 283. The second locking member 282 and the elastic member 283 are sleeved on the rotating shaft 223. And one end of the elastic member 283 abuts the second locking member 282, the other end of the elastic member 283 abuts the rotating shaft 223, and one end of the first locking member 281 and the second portion The locking members 282 are engaged. One end of the landing gear body 230 is coupled to the first locking member 281 such that the driving device 210 can drive the landing gear body 230 to rotate or fold relative to the body 10 about the rotating shaft 223. .

It can be understood that in other embodiments, in order to cause the landing gear 20 to be manually folded, the positioning is more secure to prevent the landing gear 20 from rotating due to gravity so as to be unable to fold properly. A corresponding position of the body 10 (eg, at the rear of the fuselage) is provided with 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.). In a specific embodiment, 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.

In other embodiments, 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.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; in the idea of the present invention, the technical features in the above embodiments or different embodiments may also be combined. The steps may be carried out in any order, and there are many other variations of the various aspects of the invention as described above, which are not provided in the details for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, It should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments may be modified or equivalently substituted for some of the technical features; and the modifications or substitutions do not deviate from the embodiments of the present invention. The scope of the technical solution.

Claims

A landing gear (20), characterized in that the landing gear (20) comprises:

Drive device (210);

a transmission mechanism (220) including a rotating shaft (223, 223a), the driving device (210) is coupled to the rotating shaft (223), and can drive the rotating shaft (223, 223a) to rotate;

The locking mechanism (280) includes a first locking member (281), a second locking member (282) and an elastic member (283), the second locking member (282) and the elastic member (283) Each of the elastic members (283) abuts against the second locking member (282), and the other end of the elastic member (283) abuts against the rotating shaft (223, 223a). The transmission mechanism (220), one end of the first locking member (281) is engaged with the second locking member (282);

a landing gear body (230), one end of the landing gear body (230) is coupled to the first locking member (281) such that the driving device (210) can drive the landing gear body (230) around The rotating shaft (223, 223a) rotates.
The landing gear (20) of claim 1 wherein the landing gear (20) further comprises a coupling assembly (250), the coupling assembly (250) comprising: a pin (252), a rotating cam ( 253) and an elastic resisting member (254), the rotating cam (253) is provided with a circular through hole (2531);

One end of the first locking member (281) passes through a circular through hole (2531) of the rotating cam (253) and is hinged to one end of the landing gear body (230) through the pin (252) ;

One end surface of the rotating cam (253) is an inclined end surface or an curved end surface, and the landing gear body (230) abuts the inclined end surface or the curved end surface;

The elastic resisting member (254) is sleeved on the pin shaft (252), and one end of the elastic resisting member (254) abuts the landing gear body (230), and the other end abuts the first Locking member (281).
The landing gear (20) according to claim 2, wherein the connecting assembly (250) further comprises a connecting shaft (251), one end of the connecting shaft (251) and the first locking member ( 281) connected such that the rotating shaft (223, 223a) drives the connecting shaft (251) to rotate by the locking mechanism (280);

The other end of the connecting shaft (251) is hinged to one end of the landing gear body (230) through the pin (252);

The elastic resisting member (254) has one end abutting the landing gear body (230) and the other end abutting the connecting shaft (251).
A landing gear (20) according to claim 3, wherein

The transmission mechanism (220) is a worm gear mechanism, including a worm (221) and a worm wheel (222) and the rotating shaft (223), and the worm (221) is fixedly connected with a rotating shaft of the driving device (210);

The worm (221) is meshed with the worm wheel (222);

The worm wheel (222) is fixed to the rotating shaft (223), and an axis of rotation of the worm wheel (222) coincides with a rotation axis of the rotating shaft (223);

Both ends of the rotating shaft (223) are connected to the landing gear body (230) through the first locking member (281).
The landing gear (20) according to claim 4, wherein the landing gear (20) further comprises a bracket (240), the bracket (240) comprising a bottom wall (241), and the bottom wall a sidewall (242) extending at both ends of (241);

The bottom wall (241) is provided with a fixing groove (2411), a bottom surface of the fixing groove (2411) is provided with a through hole (2412), and the driving device (210) is fixed in the fixing groove (2411). One end of the worm (221) is fixedly connected to the rotating shaft of the driving device (210) through the through hole (2412);

The rotating shaft (223) is hinged between the two side walls (242).
A landing gear (20) according to claim 5, wherein

The landing gear (20) further includes a bearing seat (260) and a bearing (270), the bearing seat (260) is fixed to the side wall (242), and the bearing (270) is sleeved on the rotating shaft (223), the bearing housing (260) is sleeved on the bearing (270).
A landing gear (20) according to claim 5, wherein

The outer side surface of the side wall (242) is provided with a receiving groove (2421), and the bottom surface of the receiving groove (2421) is provided with a connecting hole (2422) and a stopping portion (2423);

The rotating shaft (223) is connected to the connecting shaft (251) through the connecting hole (2422);

The rotating cam (253) is located in the accommodating groove (2421), and the rotating cam (253) is provided with a circular through hole (2531) and a stop hole (2532), the circular through hole ( 2531) is aligned with the connecting hole (2422), and the stopper (2423) is inserted into the stopping hole (2523).
The landing gear (20) of claim 7 wherein:

The inclined end surface or the curved end surface of the rotating cam (253) includes a first plane (2533), a spiral curved surface (2534), a second plane (2535), and a vertical plane (2536), the first plane (2533), a spiral curved surface (2534), a second plane (2535), and a vertical plane (2536) surround the circular through hole (2531) and are sequentially connected;

The other end surface of the rotating cam (253) is a flat surface and abuts against the bottom surface of the receiving groove (2421);

There is a height difference between the first plane (2533) and the second plane (2535), and the first plane (2533) is closer to one end of the rotating cam (253) than the second plane (2535) End face

a surface of the landing gear body (230) abutting the inclined end surface or the curved end surface of the rotating cam is a connecting surface, and the connecting surface is provided with an abutting portion (2314), and the abutting portion (2314) is abutted Connected to the inclined end surface or the curved end surface of the rotating cam (253).
The landing gear (20) of claim 1 wherein:

The first locking member (281) includes a shaft portion (2811) and a first connecting portion (2812), the shaft portion (2811) has a round rod shape, and one end thereof is fixed to the first connecting portion (2812) Connecting, the other end is connected to the landing gear body (230);

a plurality of bumps (28122) are disposed on the connecting surface of the first connecting portion (2812) connected to the second locking member (282), and the connecting surface of the second locking member (282) is disposed There are a plurality of grooves (2822) corresponding to the protrusions (28122), the protrusions (28122) can be embedded in the grooves (2822) such that the rotation axis (223, 223a) can drive the first locking member (281) to rotate by the second locking member (282).
The landing gear (20) of claim 9 wherein:

The landing gear (20) further includes a connection assembly (250) including: a pin (252), a rotating cam (253), and a resilient abutment (254), the first locking The piece (281) is hinged to one end of the landing gear body (230) through the pin (252);

The rotating cam (253) is fixedly mounted to the body (10) and abuts against one end of the landing gear body (230);

The elastic resisting member (254) is sleeved on the pin shaft (252), and one end of the elastic resisting member (254) abuts the landing gear body (230), and the other end abuts the rotating shaft (223, 223a).
A landing gear (20) according to claim 10, wherein

The connecting assembly (250) further includes a connecting shaft (251), and one end of the connecting shaft (251) is provided with a limiting slot (2511);

One end of the shaft portion (2811) connected to the connecting shaft (251) is inserted into the limiting slot (2511) such that the first locking member (281) can drive the connecting shaft (251) Turn.
The landing gear (20) according to claim 1, wherein the transmission mechanism (220a) is a helical gear transmission mechanism including a first helical gear (221a), a second helical gear (222a), and the rotation a shaft (223a); 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 engaged;

Both ends of the rotating shaft (223a) are connected to the landing gear body (230) through the first locking member (281).
The landing gear (20) according to any one of claims 1 to 12, wherein the landing gear (20) further comprises a transmission for increasing a moment of inertia, the transmission being coupled to the Between the driving device (210) and the transmission mechanism (220).
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises a fuselage (10) and the landing gear (20) according to any one of claims 1 to 13, the landing gear body (230) Rotating relative to the body (10) to effect folding or unfolding.
The UAV according to claim 14, wherein

The body (10) is provided with a landing gear locking device;

The landing gear body (230) is provided with a locking engagement device that cooperates with the landing gear locking device, the landing gear locking device interacting with the locking engagement device after the landing gear body (230) is folded.