WO2019080170A1 - 多级缓冲起落架无人机 - Google Patents

多级缓冲起落架无人机

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Publication number
WO2019080170A1
WO2019080170A1 PCT/CN2017/110086 CN2017110086W WO2019080170A1 WO 2019080170 A1 WO2019080170 A1 WO 2019080170A1 CN 2017110086 W CN2017110086 W CN 2017110086W WO 2019080170 A1 WO2019080170 A1 WO 2019080170A1
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WO
WIPO (PCT)
Prior art keywords
landing gear
fuselage
support rod
leg
elastic mechanism
Prior art date
Application number
PCT/CN2017/110086
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English (en)
French (fr)
Inventor
罗伟
Original Assignee
罗伟
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 罗伟 filed Critical 罗伟
Publication of WO2019080170A1 publication Critical patent/WO2019080170A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/58—Arrangements or adaptations of shock-absorbers or springs
    • B64C25/62—Spring shock-absorbers; Springs
    • 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 invention relates to the field of drones, in particular to a multi-stage buffer landing gear drone.
  • UAVs are unmanned aircraft operated by radio remote control equipment and self-provided program control devices. Civil drones have important applications in aerial photography, agriculture, plant protection, disaster relief, etc.; drones need to take off and land.
  • the shock absorber is used to protect the fuselage.
  • the current landing gear is mostly a fixed landing gear. When the drone is landing, the landing gear transmits the vibration generated when the landing gear is in contact with the ground, causing shock and damage to the fuselage. .
  • a multi-stage cushioning landing gear drone comprising a fuselage, a propeller and a landing gear, the landing gear comprising at least three support bars hinged to the side of the fuselage, a horizontal height of one end of the support rod away from the fuselage is higher than a horizontal height of the other end thereof, and an end of the support rod away from the fuselage is provided with a leg, the leg is vertically disposed, and the support rod is A first elastic mechanism is disposed between the sides of the fuselage, and one end of the first elastic mechanism is fixedly connected to the body, and the other end thereof is fixedly connected to the lower surface of the support rod.
  • the foot When the drone landed, the foot first touched the ground, and then the foot will drive the support rod hinged to the fuselage to swing. Because of the limitation of the first elastic mechanism, the support rod can only swing within a certain range, so the body does not touch. The ground, while the hinge structure and the vibration damping of the spring can reduce the vibration of the fuselage. Because the level of the support rod away from the end of the fuselage is higher than the level of the other end, the level of the support rod away from the end of the fuselage is lower than the level of the other end, when landing, support The force of the rod on the fuselage of the drone is a pulling force away from the fuselage, which is generated when the landing of the support rod away from the end of the fuselage is lower than the level of the other end. The squeezing force can prevent the support rod from being pressed inward and causing damage to the internal structure of the drone.
  • the legs are spring pieces.
  • the foot directly reduces the impact of the ground on the fuselage by bending.
  • a side of the leg away from the support rod is provided with a sharp portion.
  • the sharp legs can be inserted into the ground when landing, and the legs of the present invention are directly inserted into the ground compared to the legs that are not inserted into the ground, and the reaction force of the ground in the vertical upward direction of the legs is reduced, correspondingly It can reduce the vibration of the foot; at the same time, the diameter of the sharp part is smaller, and the sharp part is softer than other parts of the foot, which makes the cushioning effect better.
  • a second elastic mechanism is further included, and one end of the elastic mechanism is fixedly disposed on a lower surface of the support rod, and the other end thereof is disposed on a lower surface of the leg.
  • the second elastic mechanism connected between the support rod and the leg can strengthen the leg to avoid deformation of the leg due to excessive impact force when the drone is dropped, so that the foot loses the buffering effect; meanwhile, the second elastic mechanism is As a strengthening mechanism, it can also undergo elastic deformation and play a buffering role.
  • the second elastic mechanism is a spring piece.
  • the spring piece can provide good support while being elastic.
  • the first elastic mechanism is a spring.
  • the spring has good compression and tensile properties, which can reduce the pulling and squeezing of the support rod to the drone when the drone is landing.
  • the number of the support bars is at least four.
  • Three support rods ensure the balance of the drone behind the fuselage.
  • Four support rods can be installed to prevent one of the support rods from being damaged, and the drone can still maintain balance when it is landed.
  • the invention adopts a multi-stage buffer structure from the support leg to the support rod and from the support rod to the fuselage, and when the drone is landed, the vibration generated by the contact between the landing gear and the ground can be reduced and transmitted to the fuselage to protect the fuselage;
  • the foot When the foot is lowered, it can be inserted into the ground.
  • the foot of the invention is directly inserted into the ground, and the force of the ground in the vertical upward direction of the leg is reduced, and the corresponding force can be reduced. Reduce the vibration of the feet.
  • FIG. 1 is a schematic structural view 1 of a multi-stage buffer landing gear drone according to an embodiment of the present invention
  • the body 1 The body 1, the first elastic mechanism 11, the landing gear 2, the support rod 21, the legs 22, the second elastic mechanism 23, and the propeller 3.
  • a multi-stage cushioning landing gear drone including a fuselage 1, a propeller 3 and a landing gear 2, the landing gear 2 Including at least three support rods 21 hinged to the side of the fuselage 1, the level of the support rod 21 away from the end of the fuselage 1 is higher than the level of the other end thereof, a support leg 22 is disposed at an end of the support body 21 away from the body 1 , and the leg 22 is vertically disposed.
  • a first elastic mechanism 11 is disposed between the support bar 21 and a side surface of the body 1 . One end of an elastic mechanism 11 is fixedly coupled to the body 1, and the other end thereof is fixedly coupled to the lower surface of the support rod 21.
  • the leg 22 When the drone is landing, the leg 22 first comes into contact with the ground, and then the leg 22 drives the support rod 21 hinged to the fuselage 1 to swing. Because of the limitation of the first elastic mechanism 11, the support rod 21 can only swing within a certain range, so The fuselage 1 does not touch the ground, and the vibration of the fuselage 1 can be alleviated by the hinge structure and the vibration damping effect of the spring.
  • the legs 22 are spring tabs.
  • the leg 22 directly reduces the impact of the ground on the body 1 by bending.
  • the side of the leg 22 away from the support rod 21 is provided with a sharp portion.
  • the sharp legs 22 can be inserted into the ground when landing, and the legs 22 of the present invention are directly inserted into the ground compared to the legs 22 that are not inserted into the ground, and the reaction of the ground to the vertical upward direction of the legs 22 Reducing, correspondingly, can reduce the vibration of the leg 22; at the same time, the diameter of the sharp portion is smaller, and the sharp portion is softer than other portions of the leg 22, so that the cushioning effect is better.
  • One of the embodiments further includes a second elastic mechanism 23, one end of the elastic mechanism is fixedly disposed on the lower surface of the support rod 21, and the other end is disposed on the lower surface of the leg 22.
  • the second elastic mechanism 23 connected between the support rod 21 and the leg 22 can strengthen the leg 22 to avoid deformation of the leg 22 due to excessive impact force when the drone is dropped, so that the leg 22 loses the cushioning effect;
  • the second elastic mechanism 23 can also elastically deform itself as a reinforcing mechanism, and functions as a buffer.
  • the second elastic mechanism 23 is a spring piece.
  • the spring piece can provide good support while being elastic.
  • the first elastic mechanism 11 is a spring.
  • the spring has good compression and tensile properties, which can reduce the pulling and squeezing of the support rod 21 to the drone when the drone is landing.
  • the number of the support bars 21 is at least four.
  • the three support rods 21 can ensure the balance of the drone behind the fuselage 1.
  • the four support rods 21 can prevent one of the support rods 21 from being damaged, and the drone can still maintain balance when it is landed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Vibration Dampers (AREA)

Abstract

一种多级缓冲起落架无人机，包括机身（1）、螺旋桨（3）和起落架（2），所述起落架（2）包括至少三个支撑杆（21），所述支撑杆（21）铰接于所述机身（1）的侧面，所述支撑杆（21）远离所述机身（1）的一端的水平高度高于其另一端的水平高度，所述支撑杆（21）远离所述机身（1）的一端设置有支脚（22），所述支脚（22）竖直设置，所述支撑杆（21）与所述机身（1）的侧面之间设置有第一弹性机构（11），所述第一弹性机构（11）的一端与所述机身（1）固定连接，其另一端与所述支撑杆（21）的下表面固定连接。

Description

多级缓冲起落架无人机 技术领域
本发明涉及无人机领域，尤其是一种多级缓冲起落架无人机。
背景技术
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，民用无人机在航拍、农业、植保、救灾等领域有着较重要应用；无人机在起飞和降落时需要进行减震以保护机身，目前使用的起落架多为固定式起落架，无人机降落时起落架会将起落架与地面接触时产生的振动传递给机身，造成机身的震荡、损坏。
发明内容
基于此，有必要提供一种多级缓冲起落架无人机，包括机身、螺旋桨和起落架，所述起落架包括至少三个支撑杆，所述支撑杆铰接于所述机身的侧面，所述支撑杆远离所述机身的一端的水平高度高于其另一端的水平高度，所述支撑杆远离所述机身的一端设置有支脚，所述支脚竖直设置，所述支撑杆与所述机身的侧面之间设置有第一弹性机构，所述第一弹性机构的一端与所述机身固定连接，其另一端与所述支撑杆的下表面固定连接。
无人机降落时，支脚先与地面接触，然后支脚会带动铰接于机身的支撑杆摆动，因为第一弹性机构的限制，支撑杆只能在一定范围内摆动，因此机身不会接触到地面，而通铰接结构和弹簧的减振作用，可以减轻机身的振动。因为支撑杆远离所述机身的一端的水平高度高于其另一端的水平高度，相比于支撑杆远离所述机身的一端的水平高度低于其另一端的水平高度，着陆时，支撑杆对无人机的机身的作用力为方向为远离机身的拉扯力，相比于支撑杆远离所述机身的一端的水平高度低于其另一端的水平高度着陆时对机身产生的挤压力，可以避免支撑杆朝内挤压造成无人机内部结构的损坏。
优选的，所述支脚为弹簧片。
作为直接与对面接触的部件，支脚通过弯曲直接减少地面对机身的冲击。
优选的，所述支脚远离所述支撑杆的一侧设置有尖锐部。
尖锐的支脚在降落时，可以***到地面中，相比于不会***地面的支脚，本发明的支脚会直接***地面中，地面对支脚的竖直向上的方向的反作用力减小，相应的可以减少支脚的振动；同时，尖锐部分的直径更小，相比支脚的其他部分，尖锐部分更柔软，使得缓冲效果 更好。
进一步的，还包括第二弹性机构，所述弹性机构的一端固定设置于所述支撑杆的下表面，其另一端设置于所述支脚的下表面。
连接在支撑杆和支脚之间的第二弹性机构可以对支脚起到加强作用，避免因为无人机降落时冲击力过大造成支脚的变形，使得支脚失去缓冲作用；同时，第二弹性机构在作为加强机构的同时自身也能发生弹性形变，起到缓冲的作用。
更进一步的，所述第二弹性机构为弹簧片。
弹簧片在具有弹性的同时可以起到良好的支撑作用。
优选的，所述第一弹性机构为弹簧。
弹簧具有良好的压缩拉伸性能，可以减少无人机降落时支撑杆对于无人机的拉扯跟挤压。
优选的，所述支撑杆的数量至少为四个。
三个支撑杆可以保证无人机着落后机身的平衡，设置四个支撑杆可以防止其中一个支撑杆被损坏后，无人机着落时依然能保持平衡。
下面结合上述技术方案对本发明的原理、效果进一步说明：
本发明通过使用从支脚到支撑杆，从支撑杆到机身的多级缓冲结构，无人机降落时，可以减少起落架与地面接触产生的振动传递至机身，保护机身；同时尖锐的支脚在降落时，可以***到地面中，相比于不会***地面的支脚，本发明的支脚会直接***地面中，地面对支脚的竖直向上的方向的作用力减小，相应的可以减少支脚的振动。
附图说明
图1为本发明实施例所述多级缓冲起落架无人机的结构示意图一；
附图标记说明：
机身1，第一弹性机构11，起落架2，支撑杆21，支脚22，第二弹性机构23，螺旋桨3。
具体实施方式
为了便于本领域技术人员理解，下面将结合附图以及实施例对本发明做进一步详细描述：
如图1，一种多级缓冲起落架无人机，包括机身1、螺旋桨3和起落架2，所述起落架2 包括至少三个支撑杆21，所述支撑杆21铰接于所述机身1的侧面，所述支撑杆21远离所述机身1的一端的水平高度高于其另一端的水平高度，所述支撑杆21远离所述机身1的一端设置有支脚22，所述支脚22竖直设置，所述支撑杆21与所述机身1的侧面之间设置有第一弹性机构11，所述第一弹性机构11的一端与所述机身1固定连接，其另一端与所述支撑杆21的下表面固定连接。
无人机降落时，支脚22先与地面接触，然后支脚22会带动铰接于机身1的支撑杆21摆动，因为第一弹性机构11的限制，支撑杆21只能在一定范围内摆动，因此机身1不会接触到地面，而通铰接结构和弹簧的减振作用，可以减轻机身1的振动。
其中一种实施例，所述支脚22为弹簧片。
作为直接与对面接触的部件，支脚22通过弯曲直接减少地面对机身1的冲击。
其中一种实施例，所述支脚22远离所述支撑杆21的一侧设置有尖锐部。
尖锐的支脚22在降落时，可以***到地面中，相比于不会***地面的支脚22，本发明的支脚22会直接***地面中，地面对支脚22的竖直向上的方向的反作用力减小，相应的可以减少支脚22的振动；同时，尖锐部分的直径更小，相比支脚22的其他部分，尖锐部分更柔软，使得缓冲效果更好。
其中一种实施例，还包括第二弹性机构23，所述弹性机构的一端固定设置于所述支撑杆21的下表面，其另一端设置于所述支脚22的下表面。
连接在支撑杆21和支脚22之间的第二弹性机构23可以对支脚22起到加强作用，避免因为无人机降落时冲击力过大造成支脚22的变形，使得支脚22失去缓冲作用；同时，第二弹性机构23在作为加强机构的同时自身也能发生弹性形变，起到缓冲的作用。
其中一种实施例，所述第二弹性机构23为弹簧片。
弹簧片在具有弹性的同时可以起到良好的支撑作用。
其中一种实施例，所述第一弹性机构11为弹簧。
弹簧具有良好的压缩拉伸性能，可以减少无人机降落时支撑杆21对于无人机的拉扯跟挤压。
其中一种实施例，所述支撑杆21的数量至少为四个。
三个支撑杆21可以保证无人机着落后机身1的平衡，设置四个支撑杆21可以防止其中一个支撑杆21被损坏后，无人机着落时依然能保持平衡。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (7)

  1. 一种多级缓冲起落架无人机，包括机身、螺旋桨和起落架，其特征在于，所述起落架包括至少三个支撑杆，所述支撑杆铰接于所述机身的侧面，所述支撑杆远离所述机身的一端的水平高度高于其另一端的水平高度，所述支撑杆远离所述机身的一端设置有支脚，所述支脚竖直设置，所述支撑杆与所述机身的侧面之间设置有第一弹性机构，所述第一弹性机构的一端与所述机身固定连接，其另一端与所述支撑杆的下表面固定连接。
  2. 根据权利要求1所述的多级缓冲起落架无人机，其特征在于，所述支脚为弹簧片。
  3. 根据权利要求1所述的多级缓冲起落架无人机，其特征在于，所述支脚远离所述支撑杆的一侧设置有尖锐部。
  4. 根据权利要求1-3任意一项所述的多级缓冲起落架无人机，其特征在于，还包括第二弹性机构，所述弹性机构的一端固定设置于所述支撑杆的下表面，其另一端设置于所述支脚的下表面。
  5. 根据权利要求4所述的多级缓冲起落架无人机，其特征在于，所述第二弹性机构为弹簧片。
  6. 根据权利要求1所述的多级缓冲起落架无人机，其特征在于，所述第一弹性机构为弹簧。
  7. 根据权利要求1所述的多级缓冲起落架无人机，其特征在于，所述支撑杆的数量至少为四个。
PCT/CN2017/110086 2017-10-27 2017-11-09 多级缓冲起落架无人机 WO2019080170A1 (zh)

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