CN109204786A - A kind of undercarriage and the unmanned plane with this undercarriage - Google Patents
A kind of undercarriage and the unmanned plane with this undercarriage Download PDFInfo
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- CN109204786A CN109204786A CN201710528600.9A CN201710528600A CN109204786A CN 109204786 A CN109204786 A CN 109204786A CN 201710528600 A CN201710528600 A CN 201710528600A CN 109204786 A CN109204786 A CN 109204786A
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- connecting rod
- undercarriage
- link
- connector
- hinged
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- 238000005452 bending Methods 0.000 claims description 21
- 241001442589 Convoluta Species 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000007665 sagging Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/40—Undercarriages foldable or retractable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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Abstract
The present embodiments relate to vehicle technology fields, a kind of undercarriage and the unmanned plane with this undercarriage are provided, the undercarriage includes Power Component and undercarriage ontology, and the Power Component includes connector and the driving device that moves reciprocatingly for drive connection part；Undercarriage ontology, including multiple hinged connecting rods, multiple hinged connecting rods constitute at least one parallelogram mechanism；The undercarriage ontology is connected with the connector, when the connector moves reciprocatingly, the undercarriage ontology is driven to fold or be unfolded.In the above manner, the two sides or inside of fuselage can be packed up and be folded to the undercarriage ontology under the drive that connector moves reciprocatingly, so that unmanned plane, in flight, undercarriage, which can be packed up and be folded, not will cause skyborne unnecessary resistance.
Description
[technical field]
The present invention relates to vehicle technology field more particularly to a kind of undercarriage and with the unmanned plane of this undercarriage.
[background technique]
UAV, abbreviation unmanned plane (Unmanned Aerial Vehicle, UAV), is that one kind is in rapid hair
In exhibition new concept equipment, have the advantages that maneuverability, rapid reaction, it is unmanned, operation require it is low.Unmanned plane passes through
Multiclass sensor or picture pick-up device are carried, image real-time Transmission, high-risk areas detecting function may be implemented, is satellite remote sensing and biography
The strong supplement for air remote sensing of uniting.Currently, the use scope of unmanned plane has widened military affairs, scientific research, civilian three big field, tool
Body power communication, meteorology, agricultural, ocean, exploration, photograph, prevent and reduce natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol,
The fields application such as public security anti-terrorism is very wide.
Consumer level unmanned plane currently on the market mainly uses fixed landing gear.It is fixed to rise and fall during taking photo by plane
Frame can block the visual field of taking photo by plane.
[summary of the invention]
In order to solve the above-mentioned technical problem, the embodiment of the present invention provide a kind of collapsible undercarriage that can be packed up and fold with
And the unmanned plane with this collapsible undercarriage.
In order to solve the above-mentioned technical problem, the embodiment of the present invention the following technical schemes are provided:
A kind of undercarriage is used for unmanned plane, and the unmanned plane includes fuselage, and the undercarriage includes: Power Component and rises
Fall frame ontology, wherein Power Component, for being installed on the fuselage, the Power Component includes connector and for driving
State the driving device that connector moves reciprocatingly；Undercarriage ontology, including multiple hinged connecting rods, multiple hinged connecting rods
Constitute at least one parallelogram mechanism；The undercarriage ontology is connected with the connector, and the connector does reciprocal fortune
When dynamic, the undercarriage ontology is driven to fold or be unfolded.
In some embodiments, the undercarriage ontology includes first connecting rod, second connecting rod, third connecting rod, fourth link
With the 5th connecting rod；One end of the first connecting rod and the connector are hinged, the other end of the first connecting rod and the described 4th
One end of connecting rod is hinged, the first connecting rod one end and the hinged fourth link for connecting the connector the other end it
Between one at the hinged fuselage；One end of the second connecting rod and the fuselage are hinged, and the other end connects with the third respectively
Bar and fourth link are hinged；One end of the third connecting rod and the second connecting rod are hinged, the other end of the third connecting rod and
The other end of the fourth link is hinged with the 5th connecting rod respectively.
In some embodiments, one end of the third connecting rod and the second connecting rod are hinged, and the hinged one end to
Extend far from the 5th connecting rod direction and hinged with the first connecting rod.
In some embodiments, the third connecting rod includes first hinged with the first connecting rod and the second connecting rod
Partially, the bending section being connected with the first part and the second part being connected with first bending section；Described first
Divide and the second part is arranged in parallel with the fourth link.
In some embodiments, the undercarriage ontology includes first connecting rod, second connecting rod, third connecting rod, fourth link
With the 5th connecting rod；One end of the first connecting rod and the connector are hinged, the other end of the first connecting rod and the described 4th
One end of connecting rod is hinged, the first connecting rod one end and the hinged fourth link for connecting the connector the other end it
Between one at the hinged fuselage；One end of the second connecting rod and the fuselage are hinged, the other end and the third connecting rod or
The fourth link is hinged；One end of the third connecting rod and the first connecting rod are hinged, the other end of the third connecting rod and
The other end of the fourth link is hinged with the 5th connecting rod respectively.
In some embodiments, the fourth link include second bending section hinged with the first connecting rod and with institute
State the connected vertical portion in the second bending section；The vertical portion is connected between second bending section and the 5th connecting rod.
In some embodiments, the 5th connecting rod includes the third hinged with the third connecting rod and the fourth link
Partially, the third bending section being connected with the Part III and the Part IV being connected with the third bending section.
In some embodiments, the undercarriage further includes foot prop, and the foot prop connects the 5th connecting rod.
In some embodiments, the Power Component includes the screw rod being connected with the driving device, the connector
It is sheathed on the screw rod and is spirally connected with the screw rod, the driving device drives the screw rod rotation, and the connector is along institute
Screw rod is stated to move reciprocatingly.
In some embodiments, the connector is spirally connected with the screw rod in the middle, the connector with the spiral shell
The be spirally connected two sides at position of bar are also provided with sliding groove, and one end of the first connecting rod is articulated in the sliding groove and can be along described
Sliding groove sliding.
In order to solve the above-mentioned technical problem, the embodiment of the present invention also the following technical schemes are provided:
A kind of unmanned plane, including undercarriage described above.
Compared with prior art, the undercarriage of the embodiment of the present invention can drive described when connector moves reciprocatingly
Undercarriage ontology is relative to the fuselage rotary folding or expansion, and the undercarriage ontology can be packed up and be folded to fuselage
Two sides or inside, compact-sized, so that the unmanned plane with this undercarriage is in flight, undercarriage can be packed up and be folded not
Will cause the skyborne unnecessary resistance of unmanned plane will not block the visual field of taking photo by plane during unmanned plane；It is needing to land
When, undercarriage again can Automatic-expanding, support the unmanned plane complete landing.Further, when not in use, but also being risen with this
The unmanned plane of frame is fallen convenient for receiving and is carried.
[Detailed description of the invention]
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the perspective view for the unmanned plane that the embodiment of the present invention 1 provides, and wherein undercarriage is in unfolded state；
Fig. 2 is the cross-sectional view of unmanned plane shown in FIG. 1；
Fig. 3 is another cross-sectional view of unmanned plane shown in FIG. 1；
Fig. 4 is the cross-sectional view of unmanned plane shown in Fig. 3, and wherein undercarriage is in folded state；
Fig. 5 is the cross-sectional view for the unmanned plane that the embodiment of the present invention 2 provides, and wherein undercarriage is in folded state；
Fig. 6 is the cross-sectional view for the unmanned plane that the embodiment of the present invention 3 provides, and wherein undercarriage is in unfolded state.
[specific embodiment]
To facilitate the understanding of the present invention, in the following with reference to the drawings and specific embodiments, the present invention will be described in more detail.
It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element or therebetween
There may be one or more elements placed in the middle.When an element is expressed " connection " another element, it, which can be, directly connects
It is connected to another element or there may be one or more elements placed in the middle therebetween.Term " on " used in this specification,
The orientation or positional relationship of the instructions such as "lower", "inner", "outside", " bottom " is to be based on the orientation or positional relationship shown in the drawings, only
It is that for the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specifically
Orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " the
Two " " thirds " etc. are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.It is specific to be intended merely to description for used term in the description of the invention
Embodiment purpose, be not intended to limitation the present invention.Term "and/or" used in this specification includes one or more phases
Any and all combinations of the listed item of pass.
In addition, as long as technical characteristic involved in invention described below difference embodiment is not constituted each other
Conflict can be combined with each other.
In embodiments of the present invention, unmanned plane can be single rotor, DCB Specimen, quadrotor or six rotors etc., here with four
It is described in detail for rotor wing unmanned aerial vehicle.
Embodiment 1
Referring to Fig. 1, a wherein embodiment of the invention provides a kind of unmanned plane 100, including fuselage 10 and undercarriage 20,
The undercarriage 20 is installed on the fuselage 10, supports it in landing place when landing for unmanned plane 100.
It include the control circuit component being made of electronic components such as MCU in the fuselage 10, the control circuit component packet
Multiple control modules are included, e.g., the control module packed up and put down for controlling the undercarriage 20, for controlling unmanned plane during flying
The flight control modules of posture, for the GPS module for the unmanned plane that navigates and for handling ring acquired in related airborne equipment
The data processing module etc. of border information.
Container 11 is arranged in the fuselage 10, and when undercarriage 20 is packed up, container 11 accommodates undercarriage 20.
Referring to Fig. 2, the undercarriage 20 includes: Power Component 210, undercarriage ontology 220 and foot prop 230, it is described dynamic
Power component 210 is for being set to inside the fuselage 10, and the Power Component 210 is connect with the undercarriage ontology 220,
Power is provided to the undercarriage ontology 220.The undercarriage ontology 220 is connect with the foot prop 230, the Power Component
210 transmit power to the foot prop 230 by the undercarriage ontology 220, and Power Component 210 drives 220 He of undercarriage ontology
Foot prop 230 is relative to 10 rotary folding of fuselage or expansion.
The Power Component 210 is installed on inside the fuselage 10.The Power Component 210 include: driving device 211,
Screw rod 212 and connector 213, the driving device 211 are fixedly connected with the screw rod 212, for driving 212 turns of the screw rod
It is dynamic.The connector 213 is sheathed on the screw rod 212, and can be with the rotation of the screw rod 212, along the axis of the screw rod 212
Do linear reciprocating motion in line direction.The connector 213 is connect with the undercarriage ontology 220, and the connector 213 is done
When reciprocating motion, the undercarriage ontology 220 can be driven relative to 10 rotary folding of fuselage or expansion.Referring to Fig. 3, institute
The middle part for stating connector 213 is provided with threaded hole 2131, and the two sides of the threaded hole 2131 are respectively arranged with a sliding groove
2132。
It is understood that in the present embodiment, the driving device 211 includes a motor, for driving the screw rod
212 rotations, so that rotation of the connector 213 with the screw rod 212, the axis direction along the screw rod 212 are done
Linear reciprocating motion.In some other embodiment, the Power Component 210 may include driving device 211 and connector 213,
The driving device 211 can be one of cylinder or hydraulic cylinder, and the driving device 211 drives the connector 213 to do
Linear reciprocating motion.
In the present embodiment, the undercarriage 20 includes 210, two undercarriage ontologies 220 of a Power Component and two
Foot prop 230, only corresponding with one foot prop 230 connects a undercarriage ontology 220, and two undercarriage ontologies 220 with
Connector 213 connects.Two undercarriage ontologies 220 are respectively arranged at the two opposite sides of the fuselage 10.
In embodiments of the present invention, the quantity for the undercarriage 20 being arranged on the unmanned plane 100 is one.It can manage
Solution, in some other embodiment, the quantity for the undercarriage 20 being arranged on the unmanned plane 100 can be according to reality
Demand setting, such as the quantity of the undercarriage 20 is two, three etc..
The undercarriage ontology 220 is a link mechanism, including multiple hinged connecting rods, multiple hinged connecting rod structures
At at least one parallelogram mechanism.
Specifically, the undercarriage ontology 220 includes first connecting rod 221, second connecting rod 222, third connecting rod the 223, the 4th
Connecting rod 224 and the 5th connecting rod 225.One end of the first connecting rod 221 connects the connector 213, and the first connecting rod 221 is remote
The other end and the third connecting rod 223 from the connector 213 are articulated with the first hinge joint, and the first connecting rod 221 is even
It connects at one between one end and the first hinge joint of the connector 213 for being articulated with the second hinge joint with the fuselage 10；
One end of the second connecting rod 222 and third connecting rod 223 are articulated with third hinge joint, and second connecting rod 222 is far from third connecting rod 223
The other end be used to the fuselage 10 be articulated with the 4th hinge joint.The other end of the first connecting rod 221 far from connector 213
Also it is articulated with the 5th hinge joint with one end of fourth link 224, first hinge joint is than the 5th hinge joint closer to institute
State connector 213；The other end of the third connecting rod 223 far from first connecting rod 221 and one end of the 5th connecting rod 225 are hinged
In the 6th hinge joint；The other end of the fourth link 224 far from first connecting rod 221 and the 5th connecting rod 225 are articulated with the
Seven hinge joints.A part and machine of a part of the first connecting rod 221, the whole of second connecting rod 222 and third connecting rod 223
A part of body 10 constitutes a four-bar mechanism, and first, second, third and fourth hinge joint is a parallelogram
Four vertex.Another part of the first connecting rod 221, the whole of third connecting rod 223, the whole and the 5th of fourth link 224
A part of connecting rod 225 constitutes another four-bar mechanism, and described first, five, six, seven hinge joints be another parallelogram
Four vertex.
The first connecting rod 221 includes first connecting rod ontology 2211, the first pin shaft 2212, the second pin shaft 2213, third pin
Axis 2214 and the 4th pin shaft 2215.First pin shaft 2212 is set to one end of the first connecting rod ontology 2211, and described
Four pin shafts 2215 are set to the other end of the first connecting rod ontology 2211.Second pin shaft 2213 is set to described first and connects
Bar body 2211, and between first pin shaft 2212 and the 4th pin shaft 2215.The third pin shaft 2214 is set to institute
First connecting rod ontology 2211 is stated, and between second pin shaft 2213 and the 4th pin shaft 2215.First pin shaft 2212
It is inserted into the sliding groove 2132, and can be slided in the sliding groove 2132, so that the first connecting rod 221 and the connection
Part 213 is flexibly connected.The first connecting rod 221 is hinged by second pin shaft 2213 and the fuselage 10.Described first connects
Bar 221 is hinged by one end of the third pin shaft 2214 and the third connecting rod 223.The first connecting rod 221 passes through described
4th pin shaft 2215 and one end of the fourth link 224 are hinged.
The second connecting rod 222 includes second connecting rod ontology 2221, the 5th pin shaft 2222 and the 6th pin shaft 2223, and described the
Five pin shafts 2222 and the 6th pin shaft 2223 are respectively arranged at the both ends of the second connecting rod ontology 2221.The second connecting rod 222
It is hinged by the 5th pin shaft 2222 and the fuselage 10.
The third connecting rod 223 includes third connecting rod ontology 2231 and the 7th pin shaft 2234, the third connecting rod ontology
2231 setting first shaft holes 2232 and the second axis hole 2233.The first shaft hole 2232 is set to the third connecting rod ontology 2231
One end, the 7th pin shaft 2234 is set to the other end of the third connecting rod ontology 2231.Second axis hole 2233 is set
It is placed on the third connecting rod ontology 2231, and between the first shaft hole 2232 and the 7th pin shaft 2234.Described 6th
Pin shaft 2223 is inserted into second axis hole 2233, so that the second connecting rod 222 and the third connecting rod 223 are hinged.
The fourth link 224 includes fourth link ontology 2241 and the 8th pin shaft 2243, the fourth link ontology
2241 setting third axis holes 2242, the third axis hole 2242 and the 8th pin shaft 2243 are respectively arranged at the fourth link ontology
2241 both ends.4th pin shaft 2215 is inserted into the third axis hole 2242, so that the first connecting rod 221 and fourth link
224 is hinged.
5th connecting rod 225 includes the 5th con-rod only 2251, and the 4th axis hole is arranged in the 5th con-rod only 2251
2252 and the 5th axis hole 2253, the 4th axis hole 2252 is set to one end of the 5th con-rod only 2251, and the described 5th
Axis hole 2253 is set on the 5th con-rod only 2251, and is located between the both ends of the 5th con-rod only 2251.Institute
It states the 7th pin shaft 2234 and is inserted into the 4th axis hole 2252, so that the third connecting rod 223 and fourth link 224 are hinged.It is described
8th pin shaft 2243 is inserted into the 5th axis hole 2253, so that the fourth link 224 and the 5th connecting rod 225 are hinged.
Wherein, the spacing of the second pin shaft 2213 and third pin shaft 2214 is equal to the 5th pin shaft 2222 and the 6th pin shaft 2223
The spacing of spacing, third pin shaft 2214 and the 6th pin shaft 2223 is equal to the spacing of the second pin shaft 2213 and the 5th pin shaft 2222.The
The spacing of three pin shafts 2214 and the 4th pin shaft 2215 is equal to the spacing of the 7th pin shaft 2234 and the 8th pin shaft 2243, third pin shaft
2214 and seven pin shaft 2234 spacing be equal to the 4th pin shaft 2215 and the 8th pin shaft 2243 spacing.
Referring to Figure 4 together, the fourth link 224 is a buffer bar in one of the embodiments, including buffering subtracts
Vibrating device 2244, for playing the role of buffer shock-absorbing in the unmanned plane 100 landing.The buffering shock-absorbing device 2244 can
To be hydraulic cylinder buffer or elastic buffer etc..Unmanned plane 100 undercarriage 20 and ground face contact after, undercarriage 20 because
Stress can rotate, which provides the elastic force of torsion, so that undercarriage 20 plays buffering and subtracts
The effect of shake, when preventing because of landing, decrease speed is too fast, and leads to the damage of unmanned plane 100.It is understood that some
In other embodiments, the buffering shock-absorbing device 2244 be can be omitted, and the fourth link 224 can be non-buffered bar.
The foot prop 230 is fixed on the other end of the 5th connecting rod 225, is used to support the landing of unmanned plane 100 place.Tool
Body, in the present embodiment, the foot prop 230 is in horizontally disposed, and is mutually perpendicular to the 5th connecting rod 225.
It is understood that foot prop 230 no longer specially can be set according to actual needs in some other embodiment, and
Be played the role of by the 5th connecting rod 225 foot prop 230 (that is, unmanned plane landing when, by the other end of the 5th connecting rod 225
With ground face contact).
In some other embodiment, one end of the first connecting rod 221 is connect with the connector 213, and with it is described
Fuselage 10 is articulated with the second hinge joint；One end of the other end of the first connecting rod 221 and the fourth link 224 is articulated with the
Five hinge joints.One end of the second connecting rod 222 and the fuselage 10 are articulated with the 4th hinge joint, and the other end and the described 4th connect
Bar 224 is articulated with the 8th hinge joint.One end of the third connecting rod 223 and the second connecting rod 222 are articulated with third hinge joint,
One end of the other end and the 5th connecting rod 225 is articulated with the 6th hinge joint.The other end of the fourth link 224 and described the
Five connecting rods 225 are articulated with the 7th hinge joint.In this case, a part of the first connecting rod 221, second connecting rod 222
All constitute a four-bar mechanism with a part of a part of fourth link 224 and fuselage 10, and second, four, five,
Eight hinge joints are four vertex of a parallelogram；A part of the second connecting rod 222, the whole of third connecting rod 223,
A part of another part of fourth link 224 and the 5th connecting rod 225 constitutes another four-bar mechanism, and third, six, seven,
Eight hinge joints are four vertex of another parallelogram.
In some other embodiment, one end of the first connecting rod 221 is connect with the connector 213, and with it is described
Fuselage 10 is articulated with the second hinge joint；One end of the other end of the first connecting rod 221 and the fourth link 224 is articulated with the
Five hinge joints.One end of the second connecting rod 222 and the fuselage 10 are articulated with the 4th hinge joint, and the other end and the described 4th connect
Bar 224 is articulated with the 8th hinge joint.One end of the third connecting rod 223 and the first connecting rod 221 are articulated with the first hinge joint,
One end of the other end and the 5th connecting rod 225 is articulated with the 6th hinge joint.The other end of the fourth link 224 and described the
Five connecting rods 225 are articulated with the 7th hinge joint.In this case, a part of the first connecting rod 221, second connecting rod 222
All constitute a four-bar mechanism with a part of a part of fourth link 224 and fuselage 10, and second, four, five,
Eight hinge joints are four vertex of a parallelogram；A part of the first connecting rod 221, the whole of third connecting rod 223,
The whole of fourth link 224 and a part of the 5th connecting rod 225 constitute another four-bar mechanism, and first, five, six, seven hinges
Contact is four vertex of another parallelogram.
In some other embodiment, one end of the first connecting rod 221 is connect with the connector 213, and with it is described
Fuselage 10 is articulated with the second hinge joint；One end of the other end of the first connecting rod 221 and the fourth link 224 is articulated with the
Five hinge joints.One end of the second connecting rod 222 and the fuselage 10 are articulated with the 4th hinge joint, and the other end and the described 4th connect
Bar 224 is articulated with the 8th hinge joint.One end of the third connecting rod 223 and the first connecting rod 221 are articulated with the first hinge joint,
And third hinge joint is articulated with the second connecting rod 222；One end of the other end and the 5th connecting rod 225 is articulated with the 6th
Interface point.The other end of the fourth link 224 and the 5th connecting rod 225 hingedly with the 7th hinge joint.In this case,
The one of a part of the first connecting rod 221, a part of the whole of second connecting rod 222 and fourth link 224 and fuselage 10
Part constitutes a four-bar mechanism, and second, four, five, eight hinge joints are four vertex of a parallelogram；It is described
A part of first connecting rod 221, the whole of third connecting rod 223, a part of the whole of fourth link 224 and the 5th connecting rod 225
Another four-bar mechanism is constituted, and first, five, six, seven hinge joints are four vertex of another parallelogram.
In the present embodiment, the first connecting rod 221, second connecting rod 222, third connecting rod 223, fourth link 224 and
Five connecting rods 225 are straight-bar.It is understood that in some other embodiment, the first connecting rod 221, second connecting rod 222,
Third connecting rod 223, fourth link 224 and the 5th connecting rod 225 are not limited to straight-bar, can be curved bar, be also possible to plate or its
Its irregular shape, as long as four vertex that four hinge joints in the undercarriage ontology 220 are a parallelogram are
It can.
In addition, being equipped with container with 20 opposite position of undercarriage on the fuselage 10 in embodiments of the present invention
11.When unmanned plane 100 takes off, undercarriage 20 is packed up and is partially housed in container 11, reduces skyborne unnecessary resistance,
During unmanned plane 100 is taken photo by plane, the visual field of taking photo by plane will not be blocked；When needing to land, undercarriage 20 and energy Automatic-expanding, support
The unmanned plane 100 completes landing.Further, unmanned plane 100 when not in use, undercarriage 20 is partially housed in container 11
It is interior, reduce accommodating space, convenient for receiving and carries.
Referring to Figure 4 together, after the unmanned plane 100 takes off, the driving device 211 drives 212 turns of the screw rod
It is dynamic, so that the connector 213 moves linearly downwards along the axis direction of the screw rod 212, so that the first connecting rod
221 one end connecting with connector 213 move down, so that the first connecting rod 221 is rotated around the second pin shaft 2213, and
The other end of first connecting rod 221 moves up (that is, the other end of the first connecting rod 221 tilts).The first connecting rod 221 is drawn
It moves the third connecting rod 223 and fourth link 224 and one end that second connecting rod 222 is connect with third connecting rod 223 moves up,
And the distance that the third connecting rod 223 moves up is less than the distance that fourth link 224 moves up.7th pin shaft
2234 become position in the vertical direction lower than the 8th from the position that position in the vertical direction is higher than the 8th pin shaft 2243
The position of pin shaft 2243, so that the other end of the 5th connecting rod 225 tilts.Also, in the horizontal direction, the third
Connecting rod 223, fourth link 224 and the 5th connecting rod 225 are mobile towards fuselage 10.The final undercarriage ontology 220 is folded to institute
The side for stating fuselage 10 is partially housed in container 11, so that will not block the visual field of taking photo by plane during unmanned plane 100 is taken photo by plane.
When unmanned plane 100 lands, the driving device 211 drives 212 backwards rotation of screw rod, so that the connection
Part 213 is moved up along the axis direction of the screw rod 212, so that one end of the first connecting rod 221 moves up, into
And the first connecting rod 221 is rotated around the second pin shaft 2213, and the other end of first connecting rod 221 moves down (that is, described
The other end of first connecting rod 221 is sagging).The first connecting rod 221 drive the third connecting rod 223 and fourth link 224 and
One end that second connecting rod 222 is connect with third connecting rod 223 moves down, and the distance that the third connecting rod 223 moves down
The distance moved down less than fourth link 224.7th pin shaft 2234 is by position in the vertical direction lower than the 8th pin
The position of axis 2243 becomes the position that position in the vertical direction is higher than the 8th pin shaft 2243, so that the 5th connecting rod
225 one end for connecting with foot prop 230 are sagging.Also, in the horizontal direction, the third connecting rod 223, fourth link 224 and
Five connecting rods 225 are mobile towards the direction far from fuselage 10.The foot prop 230 become entire unmanned plane 100 on minimum point, and
Unmanned plane 100 land after with ground face contact.
Embodiment 2
Referring to Fig. 5, the unmanned plane 100 that unmanned plane 200 and first embodiment that second embodiment of the invention provides provide
Essentially identical, difference is: the third connecting rod ontology 2231 includes and the first connecting rod 221 and the second connecting rod 222
Hinged first part 2235, the first bending section 2236 being connected with the first part and with first bending section 2236
Connected second part 2237；The first part 2235 and the second part 2237 are parallel with the fourth link 224
Setting.The fourth link ontology 2241 include second bending section 2245 hinged with the first connecting rod 221 and with it is described
The connected vertical portion 2246 in second bending section 2245；The vertical portion 2246 is connected to second bending section 2245 and described the
Between five connecting rods 225.5th con-rod only 2251 includes hinged with the third connecting rod 223 and the fourth link 224
Part III 2254, the third bending section 2255 that is connected with the Part III and be connected with the third bending section 2255
Part IV 2256, the Part IV 2256 connects the foot prop 230 far from one end of the third bending section 2255.
The unmanned plane 200 of the present embodiment in the undercarriage 20 after folding, the 5th connecting rod 225 and third connecting rod 223 with
And fourth link 224 is parallel to each other, and the spacing between them is smaller, so that undercarriage 20 is after folding, structure is more stepped up
It gathers, occupied space is smaller.
Embodiment 3
Referring to Fig. 6, the unmanned plane 100 that unmanned plane 300 and first embodiment that third embodiment of the invention provides provide
Essentially identical, difference is: the Power Component 210 further includes connecting rod 214, and the both ends of the threaded hole 2131 are no longer distinguished
It is provided with a sliding groove 2132.One end of the connecting rod 214 and the connector 213 are hinged, the other end and described first
One end of connecting rod 221 is hinged.
The connecting rod 214 that the unmanned plane 300 of the present embodiment is added, so that the connector 213 and the first connecting rod
Connection between 221 is more stable, and unmanned plane 300 can be effectively avoided during flight, and the vibration of unmanned plane 300 is to institute
State the influence of undercarriage 20.
It is understood that the undercarriage sheet in some other embodiment, in the unmanned plane 100,200,300
Body 220 can only include according to actual needs first connecting rod 221, second connecting rod 222 and third connecting rod 223.The first connecting rod
221, the connection relationship between second connecting rod 222 and third connecting rod 223 and the first connecting rod 221 and second connecting rod 222 with
The connection relationship of fuselage 10 and Power Component 210, can be identical as connection relationship described in any embodiment in embodiment 1-3,
This will not be repeated here, and the third connecting rod 223 can be used as foot prop, is used to support unmanned plane landing or the third connecting rod 223
The other end be fixedly connected with foot prop 230.
It is understood that connector is illustrated by taking straight reciprocating motion as an example in the embodiment of the present invention, but this field
For technical staff it is understood that the present invention is not limited to straight reciprocating motion, it is past that other move back and forth such as arc or curve
The object of the invention also may be implemented in multiple movement.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (11)
1. a kind of undercarriage (20) is used for unmanned plane (100,200,300), the unmanned plane (100,200,300) includes fuselage
(10), which is characterized in that the undercarriage (20) includes:
Power Component (210), for being installed on the fuselage (10), the Power Component (210) includes connector (213) and uses
In the driving device (211) for driving the connector (213) to move reciprocatingly；
Undercarriage ontology (220), including multiple hinged connecting rods, multiple hinged connecting rods constitute at least one parallel four side
Shape mechanism；The undercarriage ontology (220) is connected with the connector (213), when the connector (213) moves reciprocatingly,
The undercarriage ontology (220) is driven to fold or be unfolded.
2. undercarriage (20) according to claim 1, which is characterized in that the undercarriage ontology (200) includes the first company
Bar (221), second connecting rod (222), third connecting rod (223), fourth link (224) and the 5th connecting rod (225)；
One end of the first connecting rod (221) and the connector (213) hingedly, the other end of the first connecting rod (221) with
One end of the fourth link (224) is hinged, and the first connecting rod (221) is in one end and the hinge for connecting the connector (213)
Connect at one between the other end of the fourth link (224) the hingedly fuselage (10)；
One end of the second connecting rod (222) and the fuselage (10) hingedly, the other end respectively with the third connecting rod (223) and
Fourth link (224) is hinged；One end of the third connecting rod (223) and the second connecting rod (222) hingedly, the third connecting rod
(223) other end of the other end and the fourth link (224) is hinged with the 5th connecting rod (225) respectively.
3. undercarriage (20) according to claim 2, which is characterized in that one end of the third connecting rod (223) with it is described
Second connecting rod (222) hingedly, and the hinged one end to far from the 5th connecting rod (225) direction extend and with it is described first connect
Bar (221) is hinged.
4. undercarriage (20) according to claim 3, which is characterized in that the third connecting rod (223) includes and described
One connecting rod (221) and the hinged first part (2235) of the second connecting rod (222), first to be connected with the first part are curved
Pars convoluta (2236) and the second part (2237) being connected with first bending section (2236)；The first part (2235) and
The second part (2237) is arranged in parallel with the fourth link (224).
5. undercarriage (20) according to claim 1, which is characterized in that the undercarriage ontology (200) includes the first company
Bar (221), second connecting rod (222), third connecting rod (223), fourth link (224) and the 5th connecting rod (225)；
One end of the first connecting rod (221) and the connector (213) hingedly, the other end of the first connecting rod (221) with
One end of the fourth link (224) is hinged, and the first connecting rod (221) is in one end and the hinge for connecting the connector (213)
Connect at one between the other end of the fourth link (224) the hingedly fuselage (10)；
One end of the second connecting rod (222) and the fuselage (10) hingedly, the other end and the third connecting rod (223) or described
Fourth link (224) is hinged；One end of the third connecting rod (223) and the first connecting rod (221) hingedly, the third connecting rod
(223) other end of the other end and the fourth link (224) is hinged with the 5th connecting rod (225) respectively.
6. undercarriage (20) according to any one of claims 2 to 5, which is characterized in that the fourth link (224) includes
Second bending section (2245) hinged with the first connecting rod (221) and be connected with second bending section (2245) it is vertical
Portion (2246)；The vertical portion (2246) is connected between second bending section (2245) and the 5th connecting rod (225).
7. according to the described in any item undercarriages of claim 2 to 6 (20), which is characterized in that the 5th connecting rod (225) includes
The Part III (2254) hinged with the third connecting rod (223) and the fourth link (224) is connected with the Part III
Third bending section (2255) and the Part IV (2256) that is connected with the third bending section (2255).
8. according to the described in any item undercarriages of claim 2 to 7 (20), which is characterized in that the undercarriage (20) further includes
Foot prop (230), the foot prop (230) connect the 5th connecting rod (225).
9. undercarriage (20) according to any one of claims 2 to 5, which is characterized in that the Power Component (210) includes
The screw rod (212) being connected with the driving device (211), the connector (213) be sheathed on the screw rod (212) and with institute
It states screw rod (212) to be spirally connected, the driving device (211) drives screw rod (212) rotation, and the connector (213) is along institute
Screw rod (212) is stated to move reciprocatingly.
10. undercarriage (20) according to claim 9, which is characterized in that the connector (213) in the middle with it is described
Screw rod (212) is spirally connected, and the connector (213) is being also provided with sliding groove with the be spirally connected two sides at position of the screw rod (212)
(2132), one end of the first connecting rod (221) is articulated in the sliding groove (2132) and can be along the sliding groove (2132)
Sliding.
11. a kind of unmanned plane (100,200,300), which is characterized in that the unmanned plane (100,200,300) includes that right such as is wanted
Seek the described in any item undercarriages of 1-10 (20).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710528600.9A CN109204786B (en) | 2017-07-01 | 2017-07-01 | Undercarriage and unmanned aerial vehicle with same |
| PCT/CN2018/082220 WO2019007130A1 (en) | 2017-07-01 | 2018-04-08 | Landing gear and unmanned aerial vehicle having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710528600.9A CN109204786B (en) | 2017-07-01 | 2017-07-01 | Undercarriage and unmanned aerial vehicle with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109204786A true CN109204786A (en) | 2019-01-15 |
| CN109204786B CN109204786B (en) | 2021-06-01 |
Family
ID=64950548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710528600.9A Active CN109204786B (en) | 2017-07-01 | 2017-07-01 | Undercarriage and unmanned aerial vehicle with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109204786B (en) |
| WO (1) | WO2019007130A1 (en) |
Cited By (5)
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|---|---|---|---|---|
| CN110217390A (en) * | 2019-06-19 | 2019-09-10 | 张琪悦 | A kind of folded wing formula unmanned plane |
| CN111038719A (en) * | 2019-12-31 | 2020-04-21 | 罗嘉宇 | Many rotors plant protection unmanned aerial vehicle undercarriage |
| CN111688941A (en) * | 2020-05-11 | 2020-09-22 | 清华大学 | Unmanned aerial vehicle landing and docking device based on controllable adhesion and unmanned aerial vehicle with same |
| CN113879515A (en) * | 2021-10-08 | 2022-01-04 | 哈尔滨工业大学 | Three-foot type self-adaptive landing gear and control method thereof |
| CN116142514A (en) * | 2023-04-04 | 2023-05-23 | 南京航空航天大学 | Bionic landing leg type unmanned aerial vehicle containing changeable condyles and control method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117885929B (en) * | 2024-03-15 | 2024-05-14 | 山西省煤炭地质一一五勘查院有限公司 | Multi-angle aerial survey device based on aerial survey unmanned aerial vehicle |
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| CN111038719A (en) * | 2019-12-31 | 2020-04-21 | 罗嘉宇 | Many rotors plant protection unmanned aerial vehicle undercarriage |
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| CN113879515A (en) * | 2021-10-08 | 2022-01-04 | 哈尔滨工业大学 | Three-foot type self-adaptive landing gear and control method thereof |
| CN116142514A (en) * | 2023-04-04 | 2023-05-23 | 南京航空航天大学 | Bionic landing leg type unmanned aerial vehicle containing changeable condyles and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019007130A1 (en) | 2019-01-10 |
| CN109204786B (en) | 2021-06-01 |
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