Series-parallel self-adaptive undercarriage of unmanned aerial vehicle

Abstract

The invention discloses a series-parallel type unmanned aerial vehicle self-adaptive undercarriage which comprises an upper bearing platform, a middle connecting platform and a plurality of connecting rod assemblies located between the upper bearing platform and the middle connecting platform. Each connecting rod assembly comprises a platform rotating part, an upper end connecting rod part, a lower end connecting rod part and a lower end supporting part; the upper bearing platform, the upper end connecting rod component, the lower end connecting rod component, the lower end supporting component and the middle connecting platform form a plane four-connecting-rod mechanism. The landing gear further comprises a pressure sensor, a visual sensor and an inertial measurement unit. According to the series-parallel self-adaptive undercarriage, a generalized parallel mechanism form is adopted, the position and posture can be completely decoupled and adjusted, active folding of the undercarriage can be achieved, the undercarriage has high self-adaptive capacity, and the landing requirements of an unmanned aerial vehicle in various complex scenes are met.

Description

technical field [0001] The invention relates to the field of structural design of unmanned aerial vehicles, in particular to a self-adaptive landing gear of a hybrid unmanned aerial vehicle. Background technique [0002] Compared with traditional fixed-wing aircraft, multi-rotor drones have the characteristics of vertical take-off and landing and fixed-point hovering in the air. As an ideal aircraft, it is widely used in situations where the take-off and landing sites are limited and the flight space is small. Fields such as fire safety, emergency rescue and disaster relief, terrain detection, and police law enforcement. At present, the landing gear of multi-rotor drones mostly adopts a fixed tripod structure. The landing gear of the fixed tripod structure has the advantages of simple structure and no need for additional control devices. Under working conditions, the landing gear of the fixed undercarriage structure is often unable to adapt, thus limiting its scope of use. ...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the lack of self-adaptive ability of the existing landing gear of the fixed tripod structure, which cannot meet the mission requirements of unmanned aerial vehicles landing on rough ground, the present invention provides a hybrid The joint-type UAV adapts to the landing gear to solve the problem of poor terrain adaptability commonly found in the existing landing gear structure, and to improve the landing adaptability of the UAV on various complex terrains such as steps, slopes, and sand.

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