WO2023005667A1 - 一种起落架以及无人机 - Google Patents

一种起落架以及无人机 Download PDF

Info

Publication number
WO2023005667A1
WO2023005667A1 PCT/CN2022/105442 CN2022105442W WO2023005667A1 WO 2023005667 A1 WO2023005667 A1 WO 2023005667A1 CN 2022105442 W CN2022105442 W CN 2022105442W WO 2023005667 A1 WO2023005667 A1 WO 2023005667A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmission shaft
landing gear
bearing
driving
bracket
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2022/105442
Other languages
English (en)
French (fr)
Inventor
韦新福
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
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 Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2023005667A1 publication Critical patent/WO2023005667A1/zh
Priority to US18/425,664 priority Critical patent/US12384529B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18—Operating mechanisms
    • B64C25/24—Operating mechanisms electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18—Operating mechanisms
    • 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
    • B64C25/20—Operating mechanisms mechanical
    • 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
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs

Definitions

  • the embodiment of the present application relates to the technical field of landing gear.
  • the unmanned aircraft is referred to as "UAV", the English name is Unmanned Aerial Vehicle, and the English abbreviation is "UAV".
  • An unmanned aerial vehicle is an unmanned aircraft operated by radio remote control equipment and self-contained program control device, or an unmanned aircraft completely or intermittently operated autonomously by an on-board computer.
  • UAVs are currently widely used in aerial photography, agriculture, plant protection, micro-selfies, express transportation, disaster relief, observing wild animals, monitoring infectious diseases, surveying and mapping, news reports, power inspections, disaster relief, film and television shooting, etc.
  • the drone is equipped with landing gear, and when the drone lands on the ground or other objects, the landing gear supports the drone.
  • the applicant of the present application found that: at present, the landing gear of the drone is fixed, and the landing gear cannot be stowed away, and the drone has many inconveniences when performing tasks.
  • the embodiment of the present application provides a landing gear and an unmanned aerial vehicle, which overcomes or at least partially solves the above-mentioned problem that the landing gear is fixed and cannot be stowed.
  • a landing gear including: a driving device; a first transmission shaft, one end of which is connected to the driving device; a first supporting foot, connected to the first The other end of a transmission shaft is connected, and the driving device is used to drive the first transmission shaft to rotate around the first direction and the second direction, and the first transmission shaft drives the first supporting foot to rotate around the second direction Rotate, wherein, the included angle between the first direction and the second direction is an acute angle.
  • the drive device includes a drive assembly and a synchronous wheel, the drive assembly is connected to the synchronous wheel, one end of the synchronous wheel is connected to one end of the first transmission shaft, and the The driving assembly is used to drive the synchronous wheel to rotate, and the synchronous wheel drives the first transmission shaft to rotate around the first direction and the second direction.
  • the undercarriage further includes a second transmission shaft and a second support foot, the second transmission shaft and the first transmission shaft are oppositely arranged on both sides of the synchronous wheel, and the first One end of the two transmission shafts is connected to the other end of the synchronous wheel, and the other end of the second transmission shaft is connected to the second supporting foot; when the drive assembly drives the synchronous wheel to rotate, the synchronous wheel drives The second transmission shaft rotates around the third direction and the fourth direction, and the second transmission shaft drives the second supporting foot to rotate around the fourth direction, wherein, between the third direction and the fourth direction
  • the included angle is an acute angle.
  • the third direction coincides with the first direction.
  • the driving device further includes a first bracket, a second bracket, a first bearing and a second bearing; the first bracket is provided with a first through hole, and the first bearing is installed on In the first through hole, the second bracket is provided with a second through hole, the second bearing is installed in the second through hole, and one end of the first transmission shaft passes through the first bearing After that, it is connected with one end of the synchronous wheel, and one end of the second transmission shaft passes through the second bearing and is connected with the other end of the synchronous wheel.
  • the driving device further includes a third bracket and a third bearing, the third bracket is provided with a third through hole, the third bearing is installed in the third through hole, the The other end of the first transmission shaft is socketed with the third bearing and then connected with the first supporting foot.
  • the driving device further includes a fourth bracket and a fourth bearing, the fourth bracket is provided with a fourth through hole, the fourth bearing is installed in the fourth through hole, the The other end of the second transmission shaft is sleeved with the fourth bearing and then connected with the second supporting foot.
  • the driving assembly includes a driving unit, a driving wheel and a synchronous belt, the driving wheel is rotatably connected to the driving unit, and the synchronous belt is sheathed on the driving wheel and the synchronizing wheel, The driving unit is used to drive the driving wheel to rotate.
  • the first supporting foot includes a first connecting arm and a second connecting arm, one end of the first connecting arm is connected to the other end of the first transmission shaft, and the first The other end of the connecting arm is connected to the second connecting arm, and the angle between the first connecting arm and the second connecting arm is an obtuse angle.
  • the first supporting foot further includes a first connecting piece, one end of the first connecting piece is connected to the other end of the first transmission shaft, and the other end of the first connecting piece One end is connected with one end of the first connecting arm.
  • a drone including the landing gear.
  • a landing gear which includes a driving device, a first transmission shaft and a first support foot.
  • the driving device drives the first transmission shaft to rotate, and the first supporting leg of the landing gear rotates around the second direction.
  • the first supporting leg of the landing gear can be retracted or opened.
  • the landing gear is applied to a drone. When the first supporting leg of the landing gear When the support legs are retracted, it can reduce the occlusion of the shooting field of view and reduce the flight air resistance. When the first support legs of the landing gear are opened, it can assist the drone to land on the ground, etc.
  • the included angle between the first direction and the second direction is an acute angle, relative to the first transmission shaft that rotates around one direction
  • the first transmission shaft has two rotation directions, when the first transmission shaft drives the first support leg to rotate, the motion track of the first support leg relative to the driving device is a three-dimensional motion in space, which is different from that of the first transmission shaft. The situation of rotating around one direction to achieve single retraction or single deployment is different, and thus the applicable scenarios of the landing gear are different.
  • the landing gear includes the second support leg
  • the synchronous retraction and lowering of the first support leg and the second support leg can be realized, and the synchronous retraction of the first support leg and the second support leg can reduce the impact on the shooting It can block and reduce the air resistance of the drone's flight.
  • the first support leg and the second support leg are lowered synchronously, it can assist the drone to land on the ground stably.
  • Fig. 1 is a schematic diagram of one direction of an implementation of the landing gear provided by the embodiment of the present application;
  • Fig. 2 is a schematic view in another direction of an implementation of the landing gear provided by the embodiment of the present application;
  • Fig. 3 is a schematic diagram of one direction of the driving device provided by the embodiment of the present application.
  • Fig. 4 is a schematic diagram of another direction of the driving device provided by the embodiment of the present application.
  • Fig. 5 is a schematic diagram of another implementation of the landing gear provided by the embodiment of the present application.
  • Fig. 6 is a schematic diagram of the first supporting foot provided by the embodiment of the present application.
  • Fig. 7 is a schematic diagram of the drone provided by the embodiment of the present application.
  • the landing gear 1 includes a driving device 10 , a first transmission shaft 20 , a first support foot 30 , a second transmission shaft 40 and a second support foot 50 .
  • the driving device 10 is connected to one end of the first transmission shaft 20, the first supporting foot 30 is connected to the other end of the first transmission shaft 20, and the driving device 10 is used to drive the first transmission shaft 20.
  • shaft 20 the first transmission shaft 20 drives the first supporting foot 30 to rotate.
  • the driving device 10 is connected to one end of the second transmission shaft 40, the second supporting foot 50 is connected to the other end of the second transmission shaft 40, and the driving device 10 is used to drive the second transmission shaft 40.
  • shaft 40 , the second transmission shaft 40 drives the second supporting foot 50 to rotate.
  • the driving device 10 drives the first transmission shaft 20 to rotate
  • the first supporting foot 30 of the landing gear 1 rotates
  • the driving device 10 drives the second transmission shaft 40 to rotate the second supporting foot 50 of the landing gear 1 rotates.
  • the first support foot 30 or the second support foot 50 of the landing gear 1 can be retracted or opened, the landing gear 1 is applied to the drone, when the first support foot 30 of the landing gear 1 is retracted, it can reduce the shooting field of view and reduce the air resistance during flight.
  • the first support foot 30 of the landing gear 1 is opened, it can assist the UAV to stop on the ground, etc.
  • the second support foot 50 of the landing gear 1 When the second support foot 50 of the landing gear 1 is retracted, it can It reduces the occlusion of the shooting field of view and reduces the air resistance during flight. When the second support foot 50 of the landing gear 1 is opened, it can assist the drone to land on the ground and the like. When the first support foot 30 and the second support foot 50 of the landing gear 1 are retracted at the same time, it can reduce the blocking of the shooting field of view and reduce the air resistance when flying. When the first support foot 30 and the second support foot of the landing gear 1 When the feet 50 are lowered and opened at the same time, it can assist the UAV to land firmly on the ground.
  • the driving device 10 includes a driving assembly 101 and a synchronous wheel 102, the driving assembly 101 is used to be arranged on an external object, and the driving assembly 101 and The synchronous wheel 102 is connected, and the driving assembly 101 is used to drive the synchronous wheel 102 to rotate.
  • One end of the synchronous wheel 102 is connected to one end of the first transmission shaft 20 , and when the driving assembly 101 drives the synchronous wheel 102 to rotate, the synchronous wheel 102 drives the first transmission shaft 20 to rotate.
  • the other end of the synchronous wheel 102 is connected to one end of the second transmission shaft 40 , and when the driving assembly 101 drives the synchronous wheel 102 to rotate, the synchronous wheel 102 drives the second transmission shaft 40 to rotate.
  • the driving assembly 101 includes a driving unit 1011 , a driving wheel 1012 and a synchronous belt 1013 .
  • the driving unit 1011 is used to be arranged on an external object.
  • the driving wheel 1012 is rotationally connected with the driving unit 1011, the synchronous belt 1013 is sheathed on the driving wheel 1012 and the synchronizing wheel 102, and the driving unit 1011 is used to drive the driving wheel 1012 to rotate, thereby driving the The synchronous wheel 102 rotates, and then drives the first transmission shaft 20 and the second transmission shaft 40 to rotate.
  • the driving device 10 further includes a first bracket 103, a second bracket 104, a first bearing 105, a second bearing 106, a third bracket 107, a third bearing 108, a fourth bracket 109 and a fourth Bearing 110.
  • the first bracket 103 is provided with a first through hole 1031
  • the first bearing 105 is installed in the first through hole 1031
  • the second bracket 104 is provided with a second through hole 1041
  • the second bearing 106 is installed in the second through hole 1041
  • the first bearing 105 is used for one end of the first transmission shaft 20
  • the second bearing 106 is used for one end of the second transmission shaft 40 .
  • the third bracket 107 is provided with a third through hole 1071 , the third bearing 108 is installed in the third through hole 1071 , and the third bearing 108 is used for the other end of the first transmission shaft 20 to be disposed.
  • the fourth bracket 109 is provided with a fourth through hole 1091 , the fourth bearing 110 is installed in the fourth through hole 1091 , and the fourth bearing 110 is used for the other end of the second transmission shaft 40 to be disposed. That is, the first bracket 103 and the third bracket 107 are used for disposing the first transmission shaft 20 on an external object.
  • the second bracket 104 and the fourth bracket 109 are used for disposing the second transmission shaft 40 on an external object.
  • first bracket 103, the second bracket 104, the first bearing 105, the second bearing 106, the third bracket 107, the third bearing 108, the fourth bracket 109 and the fourth bearing 110 may not be provided.
  • the driving device 10 can realize the function of driving the first transmission shaft 20 and the second transmission shaft 40 .
  • the driving device 10 is not limited to the above structure, and there may be other implementations.
  • one drive unit 101a is connected to one end of the first transmission shaft 20, the other drive unit 101a is connected to one end of the second transmission shaft 40, and one drive unit 101a is connected to one end of the second transmission shaft 40.
  • the single unit 101 a is used to drive the first transmission shaft 20
  • the other driving unit 101 a is used to drive the second transmission shaft 40 .
  • first transmission shaft 20 and first support foot 30 please refer to FIG. Pin 30 is connected.
  • the first transmission shaft 20 drives the first supporting foot 30 to rotate.
  • the first transmission shaft 20 can rotate around the first direction O1 and the second direction O2, and the first transmission shaft 20 drives the first supporting foot 30 to rotate around the second direction O2, wherein , the angle b1 between the first direction O1 and the second direction O2 is an acute angle.
  • the acute angle ranges from 30 to 60 degrees.
  • angle a1 between the line from one end to the other end of the first support leg 20 and the second direction O2 is greater than zero, that is, the line from one end to the other end of the first support leg 20 and the second direction O2 are greater than zero.
  • the second direction O2 does not overlap.
  • the driving device 10 includes the driving assembly 101 and the synchronous wheel 102
  • one end of the synchronous wheel 102 drives the first transmission shaft 20 to rotate around the first direction O1 and the second direction O2 .
  • the driving unit 101a drives the first transmission shaft 20 to rotate around the first direction O1 and the second direction O2.
  • the first transmission shaft 20 is a cardan shaft.
  • the first transmission shaft 20 rotates around the first direction O1 and the second direction O2, so that the driving device 10 drives the first transmission shaft 20 to rotate, and the first transmission shaft 20 drives the first supporting foot 30 to rotate around the second direction O2, thus
  • the rotation flexibility of the first supporting foot 30 is good, and the application range of the landing gear 1 is wide.
  • the first transmission shaft 30 has two rotation directions, when the first transmission shaft 30 drives the first support foot 40 to rotate, the motion track of the first support foot 40 relative to the driving device 10 is a three-dimensional movement in space, which is different from the first support foot 40.
  • the situation that the transmission shaft 30 rotates around one direction to achieve single stowage or single laying down is different, and thus the applicable scenarios of the landing gear 1 are different.
  • first supporting foot 30 For the above-mentioned first supporting foot 30, please refer to FIG.
  • the other end of a transmission shaft 20 is connected, the other end of the first connecting arm 301 is connected to one end of the second connecting arm 302 , one end of the first connecting member 303 is connected to the other end of the first transmission shaft 20
  • One end is connected, the other end of the first connecting member 303 is connected to one end of the first connecting arm 301 , and the included angle m1 between the first connecting arm 301 and the second connecting arm 302 is an obtuse angle.
  • the other end of the second connecting arm 302 is used to abut against an external object.
  • the first connecting piece 303 is arranged between the first transmission shaft 20 and the first connecting arm 301, then the size of the first connecting piece 303 can be reasonably selected to adjust the first transmission shaft 20 and the first connecting arm 301 The distance between them can further improve the matchability between the driving device 10 and the first supporting foot 30 in the landing gear 1 .
  • the first connecting member 303 may not be provided.
  • the second transmission shaft 40 drives the second supporting foot 50 to rotate.
  • the second transmission shaft 40 can rotate around the third direction O3 and the fourth direction O4, and the second transmission shaft 40 drives the second supporting foot 50 to rotate around the fourth direction O4, wherein , the angle b2 between the third direction O3 and the fourth direction O4 is an acute angle.
  • the acute angle ranges from 30 to 60 degrees.
  • angle a3 between the line from one end to the other end of the second support leg 50 and the fourth direction O4 is greater than zero, that is, the line from one end to the other end of the second support leg 50 and the fourth direction O4 are greater than zero.
  • the fourth direction O4 does not overlap.
  • the other driving unit 101a drives the second transmission shaft 40 to rotate around the third direction O3 and the fourth direction O4.
  • the driving device 10 includes the driving assembly 101 and the synchronous wheel 102
  • the other end of the synchronous wheel 102 drives the second transmission shaft 40 to rotate around the third direction O3 and the fourth direction O4. Since one end of the synchronous wheel 102 drives the first transmission shaft 20 to rotate around the first direction O1 and the second direction O2, the other end of the synchronous wheel 102 drives the second transmission shaft 40 to rotate around the third direction O3 and the second direction O2.
  • the fourth direction O4 rotates, that is, the driving device 10 simultaneously drives the first support leg 30 and the second support leg 50 , so that the structure of the landing gear 1 is compact.
  • the first direction O1 and the third direction O3 coincide.
  • the second direction O2 and the fourth direction O4 are symmetrical, so that the driving device 10 simultaneously drives the first supporting foot 30 and the second supporting foot 50 to move synchronously, and the movement of the first supporting foot 30 and the second supporting foot 50
  • the directions are the same, so that when the first support leg 30 and the second support leg 50 are lowered and opened synchronously, it can assist the UAV to land on the ground stably.
  • the second transmission shaft 40 is a cardan shaft.
  • the driving device 10 drives the second transmission shaft 40 to rotate, and the second transmission shaft 40 drives the second supporting foot 50 to rotate around the fourth direction O4, so that the second transmission shaft 40 rotates around the fourth direction O4.
  • the rotation flexibility of the two supporting legs 50 is good, and the application range of the landing gear 1 is wide.
  • the second transmission shaft 40 has two rotation directions, when the second transmission shaft 40 drives the second support foot 50 to rotate, the motion track of the second support foot 50 relative to the driving device 10 is a three-dimensional motion in space, which is different from the second transmission shaft 40. Rotating in one direction to achieve a single stowage or a single lowering and opening is different, and thus the applicable scenarios of the landing gear 1 are different.
  • the driving device 10 includes a first bracket 103 , a second bracket 104 , a first bearing 105 and a second bearing 106 , the first bracket 103.
  • the second bracket 104 is used to be installed on an external object.
  • One end of the first transmission shaft 20 passes through the first bearing 105 and is connected to one end of the synchronous wheel 102.
  • One end of the second transmission shaft 40 After passing through the second bearing 106 , it is connected with the other end of the synchronous wheel 102 .
  • the first transmission shaft 20 can be disposed on an external object through the first bracket 103
  • the second transmission shaft 40 can be disposed on an external object through the second bracket 104 .
  • the driving device 10 includes the third bracket 107 and the third bearing 108
  • the other end of the first transmission shaft 20 is socketed with the third bearing 108 and connected to the first supporting foot 30 Connection, in other words, the first transmission shaft 20 can also be arranged on an external object through the third bracket 107 .
  • the driving device 10 includes the fourth bracket 109 and the fourth bearing 110
  • the other end of the second transmission shaft 40 is socketed with the fourth bearing 110 and connected to the second supporting foot 50 Connection, in other words, the second transmission shaft 40 can also be arranged on an external object through the fourth bracket 109 .
  • the second supporting foot 50 includes a third connecting arm (not marked), a fourth connecting arm (not marked) and a second connecting piece (not marked), one end of the third connecting arm is connected to The other end of the second transmission shaft 40 is connected, the other end of the third connecting arm is connected to one end of the fourth connecting arm, one end of the second connecting member is connected to the other end of the second transmission shaft 40 One end is connected, the other end of the second connecting piece is connected to one end of the third connecting arm, and the included angle between the third connecting arm and the fourth connecting arm is an obtuse angle. The other end of the fourth connecting arm is used to abut against an external object.
  • the second connecting piece is arranged between the second transmission shaft 40 and the third connecting arm, and the distance between the second transmission shaft 40 and the third connecting arm can be adjusted by selecting the size of the second connecting piece reasonably. , thereby improving the matchability between the driving device 10 and the first supporting foot 30 in the landing gear 1 .
  • the second connecting piece may not be provided.
  • the landing gear 1 is also provided with a controller (not shown), the controller is connected to the driving device 10, the controller is used to control the driving device 10 to drive the first transmission shaft 20, and the controller is also used to control The drive device 10 drives the second transmission shaft 40 .
  • the program steps involved in the controller adopt existing program steps, and the controller also adopts existing processors, such as Intel's I3 processor, AMD Ryzen processor, and the like.
  • the landing gear 1 includes a driving device 10 , a first transmission shaft 20 and a first support foot 30 .
  • One end of the first transmission shaft 20 is connected to the driving device 10
  • the other end of the first transmission shaft 20 is connected to the first supporting foot 30 .
  • the driving device 10 is used to drive the first transmission shaft 20 to rotate around the first direction O1 and the second direction O2
  • the first transmission shaft 20 drives the first supporting foot 30 to rotate around the second direction O2 , wherein the angle b1 between the first direction O1 and the second direction O2 is an acute angle.
  • the driving device 10 drives the first transmission shaft 20 to rotate
  • the first support leg 30 of the landing gear 1 rotates around the second direction O2
  • the first support leg 30 of the landing gear 1 can be retracted or opened, and the The landing gear 1 is applied to unmanned aerial vehicles.
  • the first supporting foot 30 of the landing gear 1 is retracted, it can reduce the occlusion of the shooting field of view and reduce the flight air resistance.
  • the first supporting foot 30 of the landing gear 1 is opened, it can assist The drone lands on the ground and waits.
  • the angle b1 between the first direction O1 and the second direction O2 is an acute angle, relative to the first
  • the first supporting foot 30 of the landing gear 1 of the present application has high flexibility when rotating, so that the landing gear 1 can be used in a wide range of applications.
  • the first transmission shaft 20 has two directions of rotation, when the first transmission shaft 20 drives the first support foot 30 to rotate, the movement track of the first support foot 30 relative to the driving device 10 is a three-dimensional motion in space, which is different from the first support foot 30.
  • the transmission shaft 20 rotates around one direction to achieve a single stowage or a single lowering and opening, and thus the applicable scenarios of the landing gear 1 are different.
  • the embodiment of the present application also provides an embodiment of an unmanned aerial vehicle.
  • the unmanned aerial vehicle 100 includes the landing gear.
  • the landing gear For the specific structure and function of the landing gear, reference can be made to the above-mentioned embodiments, and details will not be repeated here.

Landscapes

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

Abstract

本申请实施例涉及一种起落架以及无人机，起落架包括驱动装置；第一传动轴，与驱动装置连接；第一支撑脚，与第一传动轴连接，驱动装置用于驱动第一传动轴环绕第一方向和第二方向转动，第一传动轴带动第一支撑脚环绕第二方向转动，其中，第一方向和第二方向之间的夹角为锐角。通过上述方式，当驱动装置驱动第一传动轴转动时，起落架可收起或者打开，起落架应用在无人机，当起落架收起时可减少对拍摄视野的遮挡，当起落架打开时，可支撑无人机停落在地面上等。由于本申请的起落架的第一传动轴可环绕第一方向和第二方向转动，相对于第一传动轴环绕一个方向转动的情况，本申请起落架的第一支撑脚的转动灵活性高，从而起落架的应用范围广。

Description

一种起落架以及无人机
本申请要求于2021年07月30日提交中国专利局、申请号为2021108737622、申请名称为“一种起落架以及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及起落架技术领域。
背景技术
无人驾驶飞机简称“无人机”，英文名称为Unmanned Aerial Vehicle，英文缩写为“UAV”。无人机是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机，或者由车载计算机完全地或间歇性地自主操作的不载人飞机。无人机目前在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄等等领域均有广泛应用。无人机设置起落架，在无人机停落在地面或者其他物体上时，起落架支撑无人机。
本申请的申请人在实现本申请的过程中，发现：目前，无人机的起落架是固定式的，无法将起落架收起来，无人机在执行任务时有诸多不便。
发明内容
鉴于上述问题，本申请实施例提供了一种起落架以及无人机，克服了或者至少部分地解决了上述起落架是固定式的，无法收起来的问题。
根据本申请实施例的一个方面，提供了一种起落架，包括：驱动装置；第一传动轴，所述第一传动轴的一端与所述驱动装置连接；第一支撑脚，与所述第一传动轴的另一端连接，所述驱动装置用于驱动所述第一传动轴环绕第一方向和第二方向转动，所述第一传动轴带动所述第一支撑脚环绕所述第二方向转动，其中，所述第一方向和第二方向之间的 夹角为锐角。
在一种可选的方式中，所述驱动装置包括驱动组件和同步轮，所述驱动组件与所述同步轮连接，所述同步轮的一端与所述第一传动轴的一端连接，所述驱动组件用于驱动所述同步轮转动，所述同步轮带动所述第一传动轴环绕所述第一方向和第二方向转动。
在一种可选的方式中，所述起落架还包括第二传动轴和第二支撑脚，所述第二传动轴和第一传动轴相对设置于所述同步轮的两侧，所述第二传动轴的一端与所述同步轮的另一端连接，所述第二传动轴的另一端与所述第二支撑脚连接；所述驱动组件驱动所述同步轮转动时，所述同步轮带动所述第二传动轴环绕第三方向和第四方向转动，所述第二传动轴带动所述第二支撑脚环绕所述第四方向转动，其中，所述第三方向和第四方向之间的夹角为锐角。
在一种可选的方式中，所述第三方向和第一方向重合。
在一种可选的方式中，所述驱动装置还包括第一支架、第二支架、第一轴承和第二轴承；所述第一支架设置有第一通孔，所述第一轴承安装于所述第一通孔内，所述第二支架设置有第二通孔，所述第二轴承安装于所述第二通孔内，所述第一传动轴的一端穿过所述第一轴承后与所述同步轮的一端连接，所述第二传动轴的一端穿过所述第二轴承后与所述同步轮的另一端连接。
在一种可选的方式中，所述驱动装置还包括第三支架和第三轴承，所述第三支架设置有第三通孔，所述第三轴承安装于第三通孔内，所述第一传动轴的另一端与所述第三轴承套接后与所述第一支撑脚连接。
在一种可选的方式中，所述驱动装置还包括第四支架和第四轴承，所述第四支架设置有第四通孔，所述第四轴承安装于第四通孔内，所述第二传动轴的另一端与所述第四轴承套接后与所述第二支撑脚连接。
在一种可选的方式中，所述驱动组件包括驱动单元、主动轮和同步带，所述主动轮与所述驱动单元转动连接，所述同步带套设于所述主动轮和同步轮，所述驱动单元用于驱动所述主动轮转动。
在一种可选的方式中，所述第一支撑脚包括第一连接臂和第二连接 臂，所述第一连接臂的一端与所述第一传动轴的另一端连接，所述第一连接臂的另一端与所述第二连接臂连接，所述第一连接臂与所述第二连接臂之间的夹角为钝角。
在一种可选的方式中，所述第一支撑脚还包括第一连接件，所述第一连接件的一端与所述第一传动轴的另一端连接，所述第一连接件的另一端与所述第一连接臂的一端连接。
根据本申请实施例的一个方面，提供了一种无人机，包括所述的起落架。
本申请实施例的有益效果是：提供了一种起落架，包括驱动装置、第一传动轴和第一支撑脚。通过驱动装置驱动第一传动轴转动，起落架的第一支撑脚环绕第二方向转动，起落架的第一支撑脚可收起或者打开，起落架应用在无人机，当起落架的第一支撑脚收起时可减少对拍摄视野的遮挡并减小飞行空气阻力，当起落架的第一支撑脚打开时，可辅助无人机停落在地面上等。另外，由于本申请的起落架的第一传动轴可环绕第一方向和第二方向转动，第一方向和第二方向之间的夹角为锐角，相对于第一传动轴环绕一个方向转动的情况，本申请起落架的第一支撑脚在转动时，其灵活性高，从而起落架的应用范围广。再者，由于第一传动轴有两个转动方向，第一传动轴带动第一支撑脚转动时，第一支撑脚相对于驱动装置的运动轨迹是一种空间三维的运动，与第一传动轴环绕一个方向转动的情况以实现单一收起或者单一下放的情况不同，进而起落架的适用场景不同。
另外，当起落架包括第二支撑脚时，可实现第一支撑脚和第二支撑脚的同步收起和下放，第一支撑脚和第二支撑脚同步收起时可减少对拍摄时也的遮挡并减小无人机飞行的空气阻力，当第一支撑脚和第二支撑脚同步下放时，可辅助无人机稳固的停落在地面上。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标 号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例提供的起落架的一种实现方式的一个方向的示意图；
图2是本申请实施例提供的起落架的一种实现方式的另一个方向的示意图；
图3是本申请实施例提供的驱动装置的一个方向的示意图；
图4是本申请实施例提供的驱动装置的另一个方向的示意图；
图5是本申请实施例提供的起落架的另一种实现方式的示意图；
图6是本申请实施例提供的第一支撑脚的示意图；
图7是本申请实施例提供的无人机的示意图。
具体实施方式
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行更详细的说明。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”、“内”、“外”以及类似的表述只是为了说明的目的。
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申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体实施例的目的，不是用于限制本申请。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。
请参阅图1和图2，起落架1包括驱动装置10、第一传动轴20、第一支撑脚30、第二传动轴40和第二支撑脚50。所述驱动装置10与所述第一传动轴20的一端连接，所述第一支撑脚30与所述第一传动轴20的另一端连接，所述驱动装置10用于驱动所述第一传动轴20，所述第 一传动轴20带动所述第一支撑脚30转动。所述驱动装置10与所述第二传动轴40的一端连接，所述第二支撑脚50与所述第二传动轴40的另一端连接，所述驱动装置10用于驱动所述第二传动轴40，所述第二传动轴40带动所述第二支撑脚50转动。通过上述方式，当驱动装置10驱动第一传动轴20转动时，起落架1的第一支撑脚30转动，当驱动装置10驱动第二传动轴40转动时，起落架1的第二支撑脚50转动，起落架1的第一支撑脚30或者第二支撑脚50可收起或者打开，起落架1应用在无人机，当起落架1的第一支撑脚30收起时可减少对拍摄视野的遮挡并减小飞行时的空气阻力，当起落架1的第一支撑脚30打开时，可辅助无人机停落在地面上等，当起落架1的第二支撑脚50收起时可减少对拍摄视野的遮挡并减小飞行时的空气阻力，当起落架1的第二支撑脚50打开时，可辅助无人机停落在地面上等。当起落架1的第一支撑脚30和第二支撑脚50同时收起时可减少对拍摄视野的遮挡并减小飞行时的空气阻力，当起落架1的第一支撑脚30和第二支撑脚50同时下放打开时，可辅助无人机稳固的停落在地面上。
对于上述驱动装置10，请参阅图3和图4，在一些实施例中，驱动装置10包括驱动组件101和同步轮102，所述驱动组件101用于设置于外部物体，所述驱动组件101与所述同步轮102连接，所述驱动组件101用于驱动所述同步轮102转动。所述同步轮102的一端与所述第一传动轴20的一端连接，所述驱动组件101驱动所述同步轮102转动时，所述同步轮102带动所述第一传动轴20转动。所述同步轮102的另一端与所述第二传动轴40的一端连接，所述驱动组件101驱动所述同步轮102转动时，所述同步轮102带动所述第二传动轴40转动。
对于上述驱动组件101，在一些实施例中，驱动组件101包括驱动单元1011、主动轮1012和同步带1013。所述驱动单元1011用于设置于外部物体。所述主动轮1012与所述驱动单元1011转动连接，所述同步带1013套设于所述主动轮1012和同步轮102，所述驱动单元1011用于驱动所述主动轮1012转动，从而带动所述同步轮102转动，进而带动所述第一传动轴20、第二传动轴40转动。
在一些实施例中，所述驱动装置10还包括第一支架103、第二支架104、第一轴承105、第二轴承106、第三支架107、第三轴承108、第四支架109和第四轴承110。所述第一支架103设置有第一通孔1031，所述第一轴承105安装于所述第一通孔1031内，所述第二支架104设置有第二通孔1041，所述第二轴承106安装于所述第二通孔1041内，所述第一轴承105用于所述第一传动轴20的一端设置，所述第二轴承106用于所述第二传动轴40的一端设置。所述第三支架107设置有第三通孔1071，所述第三轴承108安装于第三通孔1071内，所述第三轴承108用于所述第一传动轴20的另一端设置。所述第四支架109设置有第四通孔1091，所述第四轴承110安装于第四通孔1091内，所述第四轴承110用于所述第二传动轴40的另一端设置。即所述第一支架103和第三支架107用于将所述第一传动轴20设置于外部物体。所述第二支架104和第四支架109用于将所述第二传动轴40设置于外部物体。
值得说明的是，也可不设置上述第一支架103、第二支架104、第一轴承105、第二轴承106、第三支架107、第三轴承108、第四支架109和第四轴承110，也可实现驱动装置10驱动第一传动轴20和第二传动轴40的功能。
值得说明的是，所述驱动装置10不限于上述结构，还可以有其他的实现方式，例如，请参阅图5，驱动装置10包括两个驱动单体101a，两个所述驱动单体101a均用于设置于外部物体，一所述驱动单体101a与所述第一传动轴20的一端连接，另一所述驱动单体101a与所述第二传动轴40的一端连接，一所述驱动单体101a用于驱动所述第一传动轴20，另一所述驱动单体101a用于驱动所述第二传动轴40。
对于上述第一传动轴20和第一支撑脚30，请参阅图2，第一传动轴20的一端与所述驱动装置10连接，所述第一传动轴20的另一端与所述第一支撑脚30连接。所述第一传动轴20带动所述第一支撑脚30转动。
请参阅图2，所述第一传动轴20可环绕第一方向O1和第二方向O2转动，所述第一传动轴20带动所述第一支撑脚30环绕所述第二方向O2 转动，其中，所述第一方向O1和第二方向O2之间的夹角b1为锐角。
在一些实施例中，所述锐角的角度范围在30至60度之间。
值得说明的是，第一支撑脚20的一端至另一端的连线与所述第二方向O2之间的夹角a1大于零，即第一支撑脚20的一端至另一端的连线与所述第二方向O2不重合。
所述驱动装置10包括所述驱动组件101和同步轮102时，所述同步轮102的一端带动所述第一传动轴20环绕所述第一方向O1和第二方向O2转动。
所述驱动装置10包括一所述驱动单体101a时，一所述驱动单体101a驱动所述第一传动轴20环绕所述第一方向O1和第二方向O2转动。
值得说明的是，在一些实施例中，所述第一传动轴20为万向轴。
当第一传动轴20环绕第一方向O1和第二方向O2转动，从而驱动装置10驱动第一传动轴20转动，第一传动轴20带动第一支撑脚30环绕第二方向O2转动时，从而第一支撑脚30的转动灵活性好，起落架1的应用范围广。由于第一传动轴30有两个转动方向，第一传动轴30带动第一支撑脚40转动时，第一支撑脚40相对于驱动装置10的运动轨迹是一种空间三维的运动，与第一传动轴30环绕一个方向转动的情况以实现单一收起或者单一下放打开的情况不同，进而起落架1的适用场景不同。
可以理解的是，第一传动轴20环绕第一方向O1和第二方向O2转动，与第一传动轴30环绕一个方向转动的情况给用户带来的观感是不同的。
对于上述第一支撑脚30，请参阅图6，第一支撑脚30包括第一连接臂301、第二连接臂302和第一连接件303，所述第一连接臂301的一端与所述第一传动轴20的另一端连接，所述第一连接臂301的另一端与所述第二连接臂302的一端连接，所述第一连接件303的一端与所述第一传动轴20的另一端连接，所述第一连接件303的另一端与所述第一连接臂301的一端连接，所述第一连接臂301与所述第二连接臂302之间的夹角m1为钝角。所述第二连接臂302的另一端用于与外部物体 抵接。第一支撑脚30在转动以使第二连接臂302的另一端远离所述第一传动轴20时，由于所述第一连接臂301与所述第二连接臂302之间的夹角m1为钝角，所述第二连接臂302的另一端与第一连接臂301的一端的距离近，起落架1的结构紧凑。
所述第一连接件303设置于第一传动轴20与第一连接臂301之间，则可通过合理的选择第一连接件303的尺寸，从而调整第一传动轴20与第一连接臂301之间的距离，进而提高起落架1中驱动装置10与第一支撑脚30的可匹配性。
值得说明的是，在一些实施例中，也可不设置所述第一连接件303。
对于上述第二传动轴40和第二支撑脚50，请参阅图2，第二传动轴40的一端与所述驱动装置10连接，所述第二传动轴40的另一端与所述第二支撑脚50连接。所述第二传动轴40带动所述第二支撑脚50转动。
请参阅图2，所述第二传动轴40可环绕第三方向O3和第四方向O4转动，所述第二传动轴40带动所述第二支撑脚50环绕所述第四方向O4转动，其中，所述第三方向O3和第四方向O4之间的夹角b2为锐角。
在一些实施例中，所述锐角的角度范围在30至60度之间。
值得说明的是，第二支撑脚50的一端至另一端的连线与所述第四方向O4之间的夹角a3大于零，即第二支撑脚50的一端至另一端的连线与所述第四方向O4不重合。
所述驱动装置10包括另一所述驱动单体101a时，另一所述驱动单体101a驱动所述第二传动轴40环绕所述第三方向O3和第四方向O4转动。
所述驱动装置10包括所述驱动组件101和同步轮102时，所述同步轮102的另一端带动所述第二传动轴40环绕所述第三方向O3和第四方向O4转动。由于同步轮102的一端带动所述第一传动轴20环绕所述第一方向O1和第二方向O2转动，同步轮102的另一端带动所述第二传动轴40环绕所述第三方向O3和第四方向O4转动，即驱动装置10同时驱动第一支撑脚30和第二支撑脚50，从而起落架1的结构紧凑。
值得说明的是，在一些实施例中，第一方向O1和第三方向O3重合。
在一些实施例中，第二方向O2和第四方向O4对称，从而驱动装置10同时驱动第一支撑脚30和第二支撑脚50同步运动，第一支撑脚30和第二支撑脚50的运动方向一致，从而第一支撑脚30和第二支撑脚50同步下放打开时，可辅助无人机稳固的停落在地面上等。
值得说明的是，在一些实施例中，所述第二传动轴40为万向轴。
当第二传动轴40环绕第三方向O3和第四方向O4转动，从而驱动装置10驱动第二传动轴40转动，第二传动轴40带动第二支撑脚50环绕第四方向O4转动，从而第二支撑脚50的转动灵活性好，起落架1的应用范围广。由于第二传动轴40有两个转动方向，第二传动轴40带动第二支撑脚50转动时，第二支撑脚50相对于驱动装置10的运动轨迹为空间三维运动，与第二传动轴40环绕一个方向转动以实现单一收起或者单一下放打开的情况不同，进而起落架1的适用场景不同。
可以理解的是，第二传动轴40环绕第三方向O3和第四方向O4转动，与第二传动轴40环绕一个方向转动的情况给用户带来的观感是不同的。
可以理解的是，请一并参阅图1、图3和图4，所述驱动装置10包括第一支架103、第二支架104、第一轴承105和第二轴承106时，所述第一支架103、第二支架104用于设置于外部物体，所述第一传动轴20的一端穿过所述第一轴承105后与所述同步轮102的一端连接，所述第二传动轴40的一端穿过所述第二轴承106后与所述同步轮102的另一端连接。换而言之，所述第一传动轴20可通过所述第一支架103设置于外部物体，所述第二传动轴40可通过所述第二支架104设置于外部物体。
可以理解的是，所述驱动装置10包括第三支架107和第三轴承108时，所述第一传动轴20的另一端与所述第三轴承108套接后与所述第一支撑脚30连接，换而言之，所述第一传动轴20还可通过所述第三支架107设置于外部物体。
可以理解的是，所述驱动装置10包括第四支架109和第四轴承110 时，所述第二传动轴40的另一端与所述第四轴承110套接后与所述第二支撑脚50连接，换而言之，所述第二传动轴40还可通过所述第四支架109设置于外部物体。
对于上述第二支撑脚50，第二支撑脚50包括第三连接臂(未标示)、第四连接臂(未标示)和第二连接件(未标示)，所述第三连接臂的一端与所述第二传动轴40的另一端连接，所述第三连接臂的另一端与所述第四连接臂的一端连接，所述第二连接件的一端与所述第二传动轴40的另一端连接，所述第二连接件的另一端与所述第三连接臂的一端连接，所述第三连接臂与所述第四连接臂之间的夹角为钝角。所述第四连接臂的另一端用于与外部物体抵接。第二支撑脚50在转动以使第四连接臂的另一端远离所述第二传动轴40时，由于所述第三连接臂与所述第四连接臂之间的夹角为钝角，所述第四连接臂的另一端与第三连接臂的一端的距离近，起落架1的结构紧凑。
所述第二连接件设置于第二传动轴40与第三连接臂之间，则可通过合理的选择第二连接件的尺寸，从而调整第二传动轴40与第三连接臂之间的距离，进而提高起落架1中驱动装置10与第一支撑脚30的可匹配性。
值得说明的是，在一些实施例中，也可不设置所述第二连接件。
值得说明的是，起落架1还设置控制器(图未示)，控制器与所述驱动装置10连接，控制器用于控制驱动装置10驱动所述第一传动轴20，控制器还用于控制驱动装置10驱动所述第二传动轴40。所述控制器所涉及的程序步骤是采用现有程序步骤，控制器也是采用现有的处理器，例如：英特尔的I3处理器、AMD锐龙处理器等等。
在本申请实施例中，起落架1包括驱动装置10、第一传动轴20和第一支撑脚30。所述第一传动轴20的一端与所述驱动装置10连接，所述第一传动轴20的另一端与所述第一支撑脚30连接。所述驱动装置10用于驱动所述第一传动轴20环绕第一方向O1和第二方向O2转动，所述第一传动轴20带动所述第一支撑脚30环绕所述第二方向O2转动，其中，所述第一方向O1和第二方向O2之间的夹角b1为锐角。通过上 述方式，当驱动装置10驱动第一传动轴20转动时，起落架1的第一支撑脚30环绕第二方向O2转动时，起落架1的第一支撑脚30可收起或者打开，起落架1应用在无人机，当起落架1的第一支撑脚30收起时可减少对拍摄视野的遮挡并减小飞行空气阻力，当起落架1的第一支撑脚30打开时，可辅助无人机停落在地面上等。另外，由于本申请的起落架1的第一传动轴20可环绕第一方向O1和第二方向O2转动，第一方向O1和第二方向O2之间的夹角b1为锐角，相对于第一传动轴20环绕一个方向转动的情况，本申请起落架1的第一支撑脚30在转动时，其灵活性高，从而起落架1的应用范围广。再者，由于第一传动轴20有两个转动方向，第一传动轴20带动第一支撑脚30转动时，第一支撑脚30相对于驱动装置10的运动轨迹为空间三维运动，与第一传动轴20环绕一个方向转动以实现单一收起或者单一下放打开的情况不同，进而起落架1的适用场景不同。
本申请实施例还提供了一种无人机的实施例，如图7所示，无人机100包括所述起落架。对于起落架的具体结构和功能可参阅上述实施例，此处不再一一赘述。
需要说明的是，本申请的说明书及其附图中给出了本申请的较佳的实施例，但是，本申请可以通过许多不同的形式来实现，并不限于本说明书所描述的实施例，这些实施例不作为对本申请内容的额外限制，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施例，均视为本申请说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本申请所附权利要求的保护范围。

Claims (11)

  1. 一种起落架，其特征在于，包括：
    驱动装置；
    第一传动轴，所述第一传动轴的一端与所述驱动装置连接；
    第一支撑脚，与所述第一传动轴的另一端连接，所述驱动装置用于驱动所述第一传动轴环绕第一方向和第二方向转动，所述第一传动轴带动所述第一支撑脚环绕所述第二方向转动，其中，所述第一方向和第二方向之间的夹角为锐角。
  2. 根据权利要求1所述的起落架，其特征在于，所述驱动装置包括驱动组件和同步轮，所述驱动组件与所述同步轮连接，所述同步轮的一端与所述第一传动轴的一端连接，所述驱动组件用于驱动所述同步轮转动，所述同步轮带动所述第一传动轴环绕所述第一方向和第二方向转动。
  3. 根据权利要求2所述的起落架，其特征在于，
    所述起落架还包括第二传动轴和第二支撑脚，所述第二传动轴和第一传动轴相对设置于所述同步轮的两侧，所述第二传动轴的一端与所述同步轮的另一端连接，所述第二传动轴的另一端与所述第二支撑脚连接；
    所述驱动组件驱动所述同步轮转动时，所述同步轮带动所述第二传动轴环绕第三方向和第四方向转动，所述第二传动轴带动所述第二支撑脚环绕所述第四方向转动，其中，所述第三方向和第四方向之间的夹角为锐角。
  4. 根据权利要求3所述的起落架，其特征在于，所述第三方向和第一方向重合。
  5. 根据权利要求3所述的起落架，其特征在于，
    所述驱动装置还包括第一支架、第二支架、第一轴承和第二轴承；
    所述第一支架设置有第一通孔，所述第一轴承安装于所述第一通孔内，所述第二支架设置有第二通孔，所述第二轴承安装于所述第二通孔内，所述第一传动轴的一端穿过所述第一轴承后与所述同步轮的一端连接，所述第二传动轴的一端穿过所述第二轴承后与所述同步轮的另一端连接。
  6. 根据权利要求3所述的起落架，其特征在于，所述驱动装置还包括第三支架和第三轴承，所述第三支架设置有第三通孔，所述第三轴承安装于第三通孔内，所述第一传动轴的另一端与所述第三轴承套接后与所述第一支撑脚连接。
  7. 根据权利要求3所述的起落架，其特征在于，所述驱动装置还包括第四支架和第四轴承，所述第四支架设置有第四通孔，所述第四轴承安装于第四通孔内，所述第二传动轴的另一端与所述第四轴承套接后与所述第二支撑脚连接。
  8. 根据权利要求2-7中任意一项所述的起落架，其特征在于，所述驱动组件包括驱动单元、主动轮和同步带，所述主动轮与所述驱动单元转动连接，所述同步带套设于所述主动轮和同步轮，所述驱动单元用于驱动所述主动轮转动。
  9. 根据权利要求1-7中任意一项所述的起落架，其特征在于，所述第一支撑脚包括第一连接臂和第二连接臂，所述第一连接臂的一端与所述第一传动轴的另一端连接，所述第一连接臂的另一端与所述第二连接臂连接，所述第一连接臂与所述第二连接臂之间的夹角为钝角。
  10. 根据权利要求9所述的起落架，其特征在于，所述第一支撑脚还包括第一连接件，所述第一连接件的一端与所述第一传动轴的另一端连接，所述第一连接件的另一端与所述第一连接臂的一端连接。
  11. 一种无人机，其特征在于，包括如权利要求1-10中任意一项所述的起落架。
PCT/CN2022/105442 2021-07-30 2022-07-13 一种起落架以及无人机 Ceased WO2023005667A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US18/425,664 US12384529B2 (en) 2021-07-30 2024-01-29 Landing gear and unmanned aerial vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110873762.2A CN113525671A (zh) 2021-07-30 2021-07-30 一种起落架以及无人机
CN202110873762.2 2021-07-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/425,664 Continuation US12384529B2 (en) 2021-07-30 2024-01-29 Landing gear and unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
WO2023005667A1 true WO2023005667A1 (zh) 2023-02-02

Family

ID=78121654

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/105442 Ceased WO2023005667A1 (zh) 2021-07-30 2022-07-13 一种起落架以及无人机

Country Status (3)

Country Link
US (1) US12384529B2 (zh)
CN (1) CN113525671A (zh)
WO (1) WO2023005667A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
WO2024020368A2 (en) * 2022-07-18 2024-01-25 eve Vehicles Corporation A method, system and components providing a secure internet connected aerial network for continuous drone operation and surveillance

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001347997A (ja) * 2000-06-06 2001-12-18 Sumitomo Precision Prod Co Ltd 降着装置
CN102431644A (zh) * 2011-11-22 2012-05-02 中航飞机起落架有限责任公司 一种飞机主起落架空间收放机构及收放方法
US20130313360A1 (en) * 2012-05-28 2013-11-28 Airbus Operations Limited Landing gear for an aircraft
CN103523209A (zh) * 2012-07-06 2014-01-22 哈尔滨飞机工业集团有限责任公司 用于小型飞机的可收放式主起落架
CN205345112U (zh) * 2015-12-22 2016-06-29 上海慧流云计算科技有限公司 一种机器人及其支撑脚
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
CN211076320U (zh) * 2019-12-01 2020-07-24 成都瀚格斯航空科技有限公司 一种用于轻型运动飞机的前起落架收放机构
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

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4743011B2 (ja) * 2006-06-21 2011-08-10 パナソニック電工株式会社 バランス訓練装置
CN201579788U (zh) * 2009-09-04 2010-09-15 浙江工业大学 开放式现场型六自由度串并联加工机器人
US9731816B2 (en) * 2014-12-08 2017-08-15 The Boeing Company Multi-position landing gear
FR3037561B1 (fr) * 2015-06-16 2017-06-09 Sagem Defense Securite Atterrisseur pour aeronef
US10414510B2 (en) * 2016-12-30 2019-09-17 Safran Landing Systems Canada Inc. Landing gear with threadless cardan joint
CN107135909A (zh) * 2017-05-09 2017-09-08 宋萍萍 一种市政园林用洒水装置
EP3621876B1 (en) * 2017-05-13 2025-03-26 Bruno Mombrinie Stol aircraft
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
CN215944871U (zh) * 2021-07-30 2022-03-04 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

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001347997A (ja) * 2000-06-06 2001-12-18 Sumitomo Precision Prod Co Ltd 降着装置
CN102431644A (zh) * 2011-11-22 2012-05-02 中航飞机起落架有限责任公司 一种飞机主起落架空间收放机构及收放方法
US20130313360A1 (en) * 2012-05-28 2013-11-28 Airbus Operations Limited Landing gear for an aircraft
CN103523209A (zh) * 2012-07-06 2014-01-22 哈尔滨飞机工业集团有限责任公司 用于小型飞机的可收放式主起落架
CN205345112U (zh) * 2015-12-22 2016-06-29 上海慧流云计算科技有限公司 一种机器人及其支撑脚
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
CN211076320U (zh) * 2019-12-01 2020-07-24 成都瀚格斯航空科技有限公司 一种用于轻型运动飞机的前起落架收放机构
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

Also Published As

Publication number Publication date
CN113525671A (zh) 2021-10-22
US12384529B2 (en) 2025-08-12
US20240166341A1 (en) 2024-05-23

Similar Documents

Publication Publication Date Title
WO2023005667A1 (zh) 一种起落架以及无人机
JP6640930B2 (ja) 変形可能な航空機
US20220001982A1 (en) Foldable uav
WO2023005666A1 (zh) 一种无人机
CN207826525U (zh) 可折拢的无人驾驶空中交通工具
CN204433078U (zh) 云台及使用该云台的飞行器
CN108674636A (zh) 一种双发动机四旋翼无人机及其脚架装置
CN105416558A (zh) 无人机机架、无人机及增稳控制方法
WO2018119620A1 (zh) 多旋翼无人机
CN106347625A (zh) 一种无人机联动折叠机构
CN106628156A (zh) 一种单电机驱动四旋翼无人机
WO2019173988A1 (zh) 一种旋转机构、无人机的起落架及机架、无人机
CN215944871U (zh) 一种起落架以及无人机
CN205256669U (zh) 一种可变螺距的多旋翼无人机及其动力装置
CN215944872U (zh) 一种无人机
CN206968969U (zh) 四旋翼摄像无人机
CN211618110U (zh) 一种两轴垂直起降无人机
CN206485563U (zh) 一种用于无人机的螺距调节系统
CN208316878U (zh) 一种监测装置及一种重构式机械臂
CN206087345U (zh) 一种用于全景拍摄的无人机
CN210011875U (zh) 一种可折叠的六轴多旋翼飞行体
CN206476107U (zh) 一种单电机驱动四旋翼无人机
CN206914629U (zh) 一种多功能航模无人机减压装置、无人机
US20200140083A1 (en) Rotational expansion of propulsion systems of a movable vehicle
CN218986982U (zh) 一种无人机用相机吊舱

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22848272

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205N DATED 22.03.2024)

122 Ep: pct application non-entry in european phase

Ref document number: 22848272

Country of ref document: EP

Kind code of ref document: A1