A UAV landing gear for forestry pest control

Abstract

The present invention relates to the field of aircraft accessories, specifically a landing gear for a drone for forestry pest control, comprising a connecting frame fixedly mounted on the lower side of the drone, a linkage frame connected to the lower side of the connecting frame via a buffer mechanism, and a support mechanism that is adaptive to the ground being provided on the lower side of the linkage frame. The present invention adopts a combined design of a connecting frame and a buffer mechanism, wherein the buffer mechanism comprises two groups of spring damping rods with different stiffness coefficients, and an operator can flexibly switch the buffer mode by controlling a switching component according to the softness or hardness of the ground, thereby significantly improving the landing safety and adaptability of the drone in different terrains. The present invention adopts a universal joint component and a support leg frame in the support mechanism, and through the linkage design of the double-ring hinge structure of the universal joint component and the support leg frame, the support foot can adaptively adjust its angle according to the inclination of the ground, thereby ensuring that the drone always lands stably in a horizontal posture, and avoiding difficulties in secondary take-off caused by a tilted fuselage.

Description

Technical Field

[0001] The present invention relates to the field of aircraft accessories, in particular to a landing gear for a UAV used for forestry pest control. Background Art

[0002] The application of drone technology in the field of forestry pest control is becoming increasingly widespread. With its advantages such as efficient operation, flexible maneuverability, and coverage of complex terrain, it has become an important tool for precise pesticide spraying, pest and disease monitoring, and data collection. In forestry environments, drones often need to take off and land in rugged forest clearings, slopes, or vegetation-covered areas. At this time, the landing gear, as the core component of the drone's contact with the ground, must have reliable support and cushioning performance to ensure the stability of the fuselage and the safety of the equipment.

[0003] Currently, most drone landing gear adopts a fixed structure, and the length and angle of its support legs are rigidly designed, for example, they are fixed to the fuselage by welding or bolts. Although this type of structure can provide basic support, it cannot adaptively adjust according to the undulations or inclination of the ground. When the drone lands on uneven ground, the fixed landing gear can easily cause the fuselage to tilt, and even cause the risk of rollover due to insufficient support on one side.

[0004] In addition, the existing landing gear's buffering system mostly relies on a single spring or damping element. Although it can alleviate some of the impact force, its shock absorption characteristics are fixed and it is impossible to flexibly switch the buffering mode according to different terrain conditions. For example, hard landing scenarios require high-stiffness buffering to maintain stability, while soft landing scenarios require low-stiffness buffering to quickly consume energy. However, the existing design makes it difficult to achieve flexible switching between the two, which limits the adaptability and operational efficiency of drones in complex environments. Summary of the Invention

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a landing gear for a drone for forestry pest control, including a connecting frame fixedly installed on the lower side of the drone, the lower side of the connecting frame is connected to a linkage frame through a buffer mechanism, and the lower side of the linkage frame is provided with an adaptive ground support mechanism.

[0006] The buffer mechanism includes two sets of spring damping rods with different stiffness coefficients fixedly mounted on the upper side of the linkage frame. The connecting frame is provided with a switching component for switching the two sets of spring damping rods according to ground conditions to buffer and reduce shock for the drone.

[0007] The support mechanism includes a support leg frame connected to the lower side of the linkage frame through a universal joint assembly. The four vertical sections of the support leg frame are all provided with a moving cylinder that slides up and down. The lower side of the moving cylinder is provided with a supporting foot that rotates. The support mechanism includes a locking assembly.

[0008] When the drone lands, the inclined ground contacts the support feet in turn and drives the support legs to adapt to the ground slope through reverse thrust, so that the drone maintains a horizontal posture when landing. When all four support feet touch the ground, the linkage frame and the support legs are locked together through the locking assembly.

[0009] Preferably, each group of spring damper rods consists of four spring damper rods arranged at equal intervals on the upper sides of the four sides of the linkage frame, and the spring damper rods with large stiffness coefficients are located outside the spring damper rods with small stiffness coefficients.

[0010] Preferably, the switching assembly includes a support plate fixedly mounted at the four corner positions on the outside of the connecting frame, with two clearance holes for the spring damping rod to pass through being provided on the support plate, and an inverted U-shaped blocking plate for covering the upper part of the clearance hole being slidably provided on the outside of the support plate along its length direction.

[0011] Preferably, a horizontal plate is fixedly installed on the inner side of the connecting frame, a tooth block is slidably provided on the upper side of the linkage frame, a triangular plate is fixedly installed on the upper right end of the tooth block, and a compression spring is provided between the tooth block and the linkage frame.

[0012] Preferably, the inclined surface of the triangular plate is arranged downward, a limiting column is provided inside the tooth block for sliding up and down, the lower part of the limiting column is a dome structure, a return spring is provided between the limiting column and the tooth block, and an arc groove for inserting the limiting column is provided on the upper side of the horizontal plate.

[0013] Preferably, the universal joint assembly includes an outer ring plate hinged to the lower side of the linkage frame, an inner ring plate hinged to the inner side of the outer ring plate, a connecting column fixedly installed on the inner side of the inner ring plate, and the lower side of the connecting column is fixedly connected to the support leg frame.

[0014] Preferably, the locking assembly includes a concave block fixedly mounted on the lower part of the linkage frame, the upper side of the connecting column is a convex structure that matches and fits the concave structure of the lower side of the concave block, the concave structure of the concave block is arrayed with locking holes, and a locking rod is provided inside the connecting column for sliding up and down.

[0015] Preferably, a conical body is fixedly installed on the lower side of the connecting column, and a linkage square rod is slidably arranged inside the four horizontal sections of the supporting leg frame. Both ends of the linkage square rod are provided with slopes, and a groove for inserting the linkage square rod is opened on the moving cylinder.

[0016] Preferably, a plurality of extension plates are arranged to slide radially along the moving cylinder at equal intervals along the circumference of the moving cylinder on the lower side of the support foot, a protective plate is hinged on the side of the extension plate away from the axis of the moving cylinder, and a torsion spring is provided between the protective plate and the extension plate.

[0017] Preferably, a bevel groove is provided on one side of the protective plate close to the axis of the moving cylinder.

[0018] The beneficial effects of the present invention are: 1. The present invention adopts a combined design of a connecting frame and a buffer mechanism, wherein the buffer mechanism includes two sets of spring damping rods with different stiffness coefficients. The operator can control the switching component to flexibly switch the buffer mode according to the softness or hardness of the ground. When the UAV lands on a hard surface, it switches to a low-stiffness spring damping rod to extend the buffering time and quickly consume energy; when landing on a soft surface, it switches to a high-stiffness spring damping rod to maintain stability, significantly improving the landing safety and adaptability of the UAV in different terrains.

[0019] 2. The present invention adopts a universal joint assembly and a support leg frame in the support mechanism. Through the linkage design of the double-ring hinge structure of the universal joint assembly and the support leg frame, the support legs can adaptively adjust the angle according to the inclination of the ground. When the UAV lands on the slope, the support legs contact the ground in turn and drive the support leg frame to automatically adapt to the ground by pushing the support legs back through the ground, ensuring that the UAV always lands stably in a horizontal posture and avoiding the difficulty of secondary take-off caused by the tilt of the fuselage.

[0020] 3. The present invention uses the synergistic effect of the moving cylinder and the locking assembly to achieve rapid locking of the support leg frame and the linkage frame. When all four support legs are in contact with the ground, the locking rod is inserted into the locking hole of the concave block to form a rigid connection, effectively preventing the UAV from shaking or shifting after landing, and ensuring the stability of the equipment.

[0021] 4. The present invention adopts an extension plate at the bottom of the supporting foot to cooperate with the protective plate structure. The extension plate can slide and expand along the radial direction of the moving cylinder to increase the ground contact area. The protective plate automatically flips through the torsion spring to prevent vegetation from getting caught on the supporting foot and affecting the secondary takeoff. The inclined groove on the extension plate can drive the supporting foot to rotate under the blowing of the drone rotor, so that the supporting foot can shake off the mud adhering to it, significantly enhancing the adaptability to complex terrain.

[0022] 5. The present invention uses the cooperation of the tooth block and the cross plate to automatically lock the movement of the drone in one direction when the drone is buffering, thereby preventing the elastic force of the spring damping rod from pushing the drone to move upward after the buffering is completed, thereby avoiding the drone from bouncing when landing, and further improving the landing safety of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and examples.

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention when it is put on the ground.

[0025] Figure 2 It is a structural diagram of the connecting frame, linkage frame, support leg frame and support foot in the present invention.

[0026] Figure 3It is a cross-sectional view of the connecting frame, linkage frame, L-shaped plate and tooth block in the present invention.

[0027] Figure 4 It is a structural schematic diagram of the linkage frame, outer ring plate, inner ring plate and support leg frame in the present invention.

[0028] Figure 5 It is a partial cross-sectional view of the support leg frame, locking rod, cone and connecting column in the present invention.

[0029] Figure 6 It is a partial fracture cross-sectional view of the supporting leg frame, movable cylinder, supporting foot and linked square rod in the present invention.

[0030] Figure 7 It is a partial cross-sectional view of the supporting leg frame, movable cylinder, supporting foot and protective plate in the present invention.

[0031] Figure 8 It is a partial cross-sectional view of the supporting leg frame, the movable cylinder, the locking member and the movable rod in the present invention.

[0032] Figure 9 It is a structural schematic diagram of the support legs and protective plate of the UAV of the present invention when it is in the air.

[0033] In the figure: 1. connecting frame; 2. buffer mechanism; 3. linkage frame; 4. supporting mechanism; 21. spring damping rod; 22. switching assembly; 23. cross plate; 41. universal assembly; 42. supporting leg frame; 43. moving cylinder; 44. supporting foot; 45. locking assembly; 221. support plate; 222. blocking plate; 231. gear block; 232. triangular plate; 233. limiting column; 411. outer ring plate; 412. inner ring plate; 413. connecting column; 441. extension plate; 442. protective plate; 443. moving rod; 444. connecting plate; 445. locking piece; 451. concave block; 452. locking plug rod; 453. cone; 454. linkage square rod. DETAILED DESCRIPTION

[0034] The following embodiments of the present invention are described in detail. The embodiments described below are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention. Where specific techniques or conditions are not specified in the embodiments, the techniques or conditions described in the literature in the art or in the product specifications shall be followed.

[0035] See Figure 1 and Figure 2 A landing gear for a UAV for forestry pest control includes a connecting frame 1 fixedly installed on the lower side of the UAV, the lower side of the connecting frame 1 is connected to a linkage frame 3 through a buffer mechanism 2, and the lower side of the linkage frame 3 is provided with an adaptive ground support mechanism 4.

[0036] During landing, the drone drives the support mechanism 4 to slowly contact the ground through the connecting frame 1, the buffer mechanism 2 and the linkage frame 3, so that the ground pushes the support mechanism 4 to automatically adapt to the inclination of the ground through the reaction force on the support mechanism 4, and then locks the support mechanism 4 and the linkage frame 3, so that the drone maintains a horizontal posture after landing, which is convenient for the drone to take off again. Then the drone stops rotating its rotor, and the buffer mechanism 2 absorbs the kinetic energy of the falling drone and the connecting frame 1, thereby preventing the drone from being impacted and ensuring the stable operation of the drone.

[0037] Continue reading Figure 1 and Figure 2 The buffer mechanism 2 includes two groups of spring damping rods 21 with different stiffness coefficients fixedly mounted on the upper side of the linkage frame 3. The connecting frame 1 is provided with a switching component 22 for switching the two groups of spring damping rods 21 according to the ground conditions to buffer and reduce the shock of the drone. Each group of spring damping rods 21 is composed of four spring damping rods 21 arranged at equal intervals on the upper sides of the four sides of the linkage frame 3. The spring damping rod 21 with a large stiffness coefficient is located outside the spring damping rod 21 with a small stiffness coefficient.

[0038] See Figure 2 The switching assembly 22 includes a support plate 221 fixedly installed at the four corners of the outer side of the connecting frame 1. The support plate 221 is provided with two clearance holes for the spring damping rod 21 to pass through. An inverted U-shaped blocking plate 222 is provided on the outer side of the support plate 221 and is slidable along its length direction to block the upper part of the clearance hole.

[0039] It should be noted that four electric push rods arranged at equal intervals are hinged on the outer side of the connection frame 1 , and the telescopic sections of the electric push rods are hinged to the blocking plates 222 at corresponding positions.

[0040] When the drone is in the air, the linkage frame 3 is located away from the drone under the action of gravity, so that the linkage frame 3 drives the spring damping rod 21 thereon to move downward, causing the upper side surface of the spring damping rod 21 to be located below the horizontal section of the blocking plate 222. The operator then controls the telescopic section of the electric push rod according to the softness or hardness of the landing site.

[0041] When the drone lands on a hard surface, the telescopic section of the electric push rod is retracted, so that the electric push rod drives the blocking plate 222 at the corresponding position to move to the position corresponding to the low-rigidity spring damping rod 21, so that the horizontal section of the blocking plate 222 is blocked just above the low-rigidity spring damping rod 21, thereby extending the buffering time and consuming energy quickly through the longer buffering stroke and softer elastic force of the low-rigidity spring damping rod 21.

[0042] Similarly, when the drone lands on a soft surface, the horizontal section of the blocking plate 222 is blocked directly above the high-rigidity spring damping rod 21, thereby ensuring the stability of the drone on the soft surface through the shorter buffer stroke and harder elastic force of the high-rigidity spring damping rod 21.

[0043] See Figure 1 、 Figure 2 、 Figure 4 and Figure 6 The support mechanism 4 includes a support leg frame 42 connected to the lower side of the linkage frame 3 through a universal joint assembly 41. A moving cylinder 43 is provided on the four vertical sections of the support leg frame 42 for sliding up and down. A support foot 44 is provided on the lower side of the moving cylinder 43 for rotation. The support mechanism 4 also includes a locking assembly 45. When the drone lands, the inclined ground contacts the support feet 44 in turn and drives the support leg frame 42 to adapt to the ground slope through reverse thrust, so that the drone maintains a horizontal posture when landing. When the four support feet 44 are all on the ground, the linkage frame 3 and the support leg frame 42 are locked together through the locking assembly 45.

[0044] See Figure 1 、 Figure 4 and Figure 5 The universal joint assembly 41 includes an outer ring plate 411 hinged on the lower side of the linkage frame 3, an inner ring plate 412 is hinged on the inner side of the outer ring plate 411, a connecting column 413 is fixedly installed on the inner side of the inner ring plate 412, and the lower side of the connecting column 413 is fixedly connected to the support leg frame 42.

[0045] It should be noted that the hinge axes of the outer ring plate 411 and the linkage frame 3 are perpendicular to the hinge axes of the outer ring plate 411 and the inner ring plate 412, so that the outer ring plate 411, the linkage frame 3 and the inner ring plate 412 are combined to form a universal joint structure.

[0046] See Figure 4 and Figure 5 The locking assembly 45 includes a concave block 451 fixedly installed at the bottom of the linkage frame 3. The upper side of the connecting column 413 is a convex structure that matches and fits with the concave structure of the lower side of the concave block 451. The concave structure of the concave block 451 is arrayed with locking holes, and a locking rod 452 is provided inside the connecting column 413 for sliding up and down.

[0047] See Figure 5 、 Figure 6 and Figure 7 A conical body 453 is fixedly installed on the lower side of the connecting column 413, and a linkage square rod 454 is slidably set inside the four horizontal sections of the supporting leg frame 42. Both ends of the linkage square rod 454 are provided with slopes, and a groove for inserting the linkage square rod 454 is opened on the moving cylinder 43.

[0048] It should be noted that a No. 1 spring is provided between the locking rod 452 and the connecting column 413 for pushing the locking rod 452 upward, and a No. 2 spring is provided between the moving cylinder 43 and the vertical section of the supporting leg frame 42 for pushing the moving cylinder 43 downward, and the elastic force of the No. 2 spring is greater than that of the No. 1 spring.

[0049] It should be noted that the conical surface on the conical body 453 has a structure with a small diameter at the upper part and a large diameter at the lower part. The slope of the linkage square rod 454 close to the axis of the locking rod 452 faces downward, and the slope of the linkage square rod 454 away from the axis of the locking rod 452 faces upward.

[0050] When the drone is in the air, the No. 2 spring pushes the moving cylinder 43 downward by its own elastic force, so that the moving cylinder 43 contacts the slope of the linkage square rod 454 on the side away from the axis of the locking rod 452 through the groove on it, and pushes the linkage square rod 454 toward the direction close to the axis of the locking rod 452, so that the slope of the linkage square rod 454 close to the axis of the locking rod 452 rests on the conical surface of the conical body 453, so that the locking rod 452 pushes the conical body 453 downward, and the conical body 453 drives the locking rod 452 to move downward synchronously and compress the No. 1 spring, so that when the drone is in the air, the locking rod 452 will not be inserted into the locking hole of the concave block 451.

[0051] See Figure 6 、 Figure 7 and Figure 8 On the lower side of the supporting foot 44, there are several extension plates 441 arranged to slide radially along the moving cylinder 43 at equal intervals along the circumference of the moving cylinder 43. A protective plate 442 is hinged on the side of the extension plate 441 away from the axis of the moving cylinder 43. A torsion spring is provided between the protective plate 442 and the extension plate 441, which is not shown in the figure.

[0052] In this embodiment, Figure 7 and Figure 8 As shown, a moving rod 443 is movably provided inside the moving cylinder 43, that is, the moving rod 443 is inserted up and down inside the moving cylinder 43, and the moving rod 443 can also rotate inside the moving cylinder 43. The lower end of the moving rod 443 is hinged to the corresponding four extension plates 441 through a connecting plate 444, and a No. 3 spring is provided between the upper end of the moving rod 443 and the moving cylinder 43. A locking member 445 is provided inside the moving cylinder 43 for radial sliding. Both ends of the locking member 445 are dome structures, and a No. 4 spring is provided between the locking member 445 and the moving cylinder 43. An annular groove is provided on the outer side of the moving rod 443 and the inner side of the vertical section of the support leg frame 42.

[0053] When the drone is in the air, the lower part of the moving rod 443 is not blocked, so that the No. 3 spring pushes the moving rod 443 downward by its own elastic force, so that the moving rod 443 pulls the four extension plates 441 through the connecting plate 444 to move toward the direction close to the axis of the moving cylinder 43, so that the extension plate 441 is completely moved to the lower part of the supporting foot 44, and at the same time, the extension plate 441 drives the protective plate 442 to move to the lower part of the supporting foot 44, and the supporting foot 44 pushes the protective plate 442 to deflect to be arranged parallel to the extension plate 441.

[0054] When the drone is in the air, the moving rod 443 drives the annular groove on it to move to the lower part of the locking piece 445, so that the moving rod 443 pushes the locking piece 445 through its outer surface in the direction away from the axis of the moving cylinder 43 and compresses the No. 4 spring, which causes the locking piece 445 to move to the inside of the annular groove on the vertical section of the support leg frame 42, thereby locking the moving cylinder 43 and the support leg frame 42 together through the locking piece 445.

[0055] When the drone lands, the support leg 42 drives the support foot 44 to contact the ground. When the landing point is uneven, the higher position in the landing point first contacts the support foot 44 at the corresponding position, so that the ground pushes the moving rod 443 upward through the reaction force. At this time, the locking member 445 locks the moving cylinder 43 and the support leg 42 together, so that the moving cylinder 43 cannot move upward, so that the moving rod 443 pushes the extension plate 441 outward through the connecting plate 444, so that the extension plate 441 extends to the outside of the support foot 44, increasing the contact area with the ground, thereby increasing the stability of the support.

[0056] At the same time, the extension plate 441 drives the protective plate 442 to extend to the outside of the supporting foot 44, so that the torsion spring drives the protective plate 442 to flip and rest against the outer surface of the moving cylinder 43 through its own elastic force, so that the protective plate 442 is in an inclined state to block and protect the upper part of the supporting foot 44, preventing vegetation from hanging on the supporting foot 44 and affecting the secondary takeoff. When the drone takes off, the moving rod 443 drives the protective plate 442 to rotate to the lower part of the supporting foot 44, and can also push the vegetation hanging on the protective plate 442 outward, further preventing vegetation from interfering with the drone's takeoff.

[0057] When the protective plate 442 flips over to rest against the outer surface of the moving cylinder 43, the moving rod 443 drives the annular groove thereon to move to the position of the locking piece 445, so that the No. 4 spring pushes the locking piece 445 toward the direction close to the axis of the moving cylinder 43 through its own elastic force, thereby allowing the locking piece 445 to be inserted into the annular groove on the moving rod 443, and allowing the locking piece 445 to exit the annular groove on the vertical section of the support leg frame 42, thereby locking the moving rod 443 and the moving cylinder 43 together, and unlocking the moving cylinder 43 and the support leg frame 42.

[0058] Then, the reaction force of the ground on the support foot 44 pushes the moving cylinder 43 upward, so that the groove on the moving cylinder 43 moves upward to the position corresponding to the linkage square rod 454, so that the moving cylinder 43 no longer blocks the linkage square rod 454, and then continues to land the drone downward. The ground pushes back the support foot 44, causing the support leg frame 42 to adaptively deflect, and the support leg frame 42 drives the convex structure of the connecting column 413 to rotate on the concave structure of the concave block 451, and the connecting column 413 drives the locking rod 452 to move synchronously.

[0059] When all the support feet 44 are in contact with the ground, the support leg frame 42 adaptively deflects to a slope arrangement that matches the terrain, and at this time, all the linked square rods 454 are not blocked by the moving cylinder 43. Then, the No. 1 spring pushes the locking rod 452 upward through its own elastic force and moves it to the locking hole at the corresponding position of the concave block 451, thereby locking the connecting column 413 and the concave block 451 together. At the same time, the connecting column 413 pushes all the linked square rods 454 outward through the conical body 453 and inserts them into the corresponding grooves on the moving cylinder 43.

[0060] See Figure 2 and Figure 3 A horizontal plate 23 is fixedly installed on the inner side of the connecting frame 1, and a tooth block 231 is provided on the upper side of the linkage frame 3 for sliding left and right. A triangular plate 232 is fixedly installed on the upper right end of the tooth block 231. A compression spring is provided between the tooth block 231 and the linkage frame 3. The inclined surface of the triangular plate 232 is arranged downward. A limiting column 233 is provided inside the tooth block 231 for sliding up and down. The lower part of the limiting column 233 is a dome structure. A return spring is provided between the limiting column 233 and the tooth block 231. An arc groove for inserting the limiting column 233 is provided on the upper side of the horizontal plate 23.

[0061] It should be noted that a rectangular through slot is defined in the middle of the transverse plate 23 for the latching tooth block 231 to pass through.

[0062] When the drone is in the air, the horizontal plate 23 is in a position away from the linkage frame 3, so that the horizontal plate 23 contacts the inclined surface of the triangular plate 232 through the rectangular through groove thereon, so that the rectangular through groove pushes the triangular plate 232 to the left, and the triangular plate 232 drives the limiting column 233 to disengage from the inside of the arc groove through the tooth block 231, so that the tooth groove of the tooth block 231 moves and is stuck to the edge position on the left side of the rectangular through groove. At this time, the compression spring is in a fully extended state and the return spring is in a compressed state.

[0063] When all the support legs 44 are in contact with the ground, the rotor of the drone stops rotating, so that the drone moves downward under the action of gravity. The drone drives the blocking plate 222 to move downward synchronously through the connecting frame 1 and the support plate 221, so that the horizontal section of the blocking plate 222 presses on the upper part of the corresponding spring damping rod 21, thereby cushioning the landing of the drone by compressing the spring damping rod 21.

[0064] At the same time, the connecting frame 1 drives the cross plate 23 to move downward, so that the rectangular groove of the cross plate 23 no longer contacts the inclined surface of the triangular plate 232. At this time, the compression spring still pushes the tooth block 231 to contact the edge position on the left side of the rectangular groove, so that when the cross plate 23 moves downward, it intermittently pushes the tooth block 231 to the right through the rectangular groove. When the kinetic energy of the drone's fall is completely consumed, the compression spring pushes the tooth block 231 to be stuck on the rectangular groove of the cross plate 23, preventing the cross plate 23 from moving upward, thereby preventing the drone from rebounding after stopping falling, thereby ensuring the stability of the drone's landing.

[0065] Subsequently, the operator manually pulls the tooth block 231 to the right, so that the tooth block 231 drives the limit column 233 to move to the arc groove position on the horizontal plate 23, and then the return spring drives the limit column 233 downward through its own elastic force to insert into the arc groove, thereby locking the tooth block 231 and the linkage frame 3 together. At this time, the tooth block 231 no longer contacts the left edge of the rectangular through groove, so that when the drone takes off again, the linkage frame 3 moves again to its initial position away from the horizontal plate 23 under the action of gravity.

[0066] See Figure 7 and Figure 9 A bevel groove is provided on one side of the protective plate 442 close to the axis of the moving cylinder 43.

[0067] When the drone takes off again, the protective plate 442 deflects to a horizontal state, and the drone rotor generates a downward high-speed airflow. These high-speed airflows quickly flow through the inclined grooves of the protective plate 442, so that the drone rotor blows the protective plate 442 through the high-speed airflow to drive the support legs 44 to rotate, thereby allowing the support legs 44 to shake off the sludge adhering to them, preventing the sludge from affecting the stability of the drone when it lands again, and further increasing the adaptability to complex terrain.

[0068] See Figures 1 to 9 When the drone lands, the present invention also includes the following steps: In the first step, the drone drives the support foot 44 to contact the ground, and the higher-lying position in the landing point first pushes the moving rod 443 upward, so that the extension plate 441 extends to the outside of the support foot 44, increasing the contact area with the ground, thereby increasing the stability of the support.

[0069] In the second step, the torsion spring drives the protective plate 442 to flip and rest against the outer surface of the moving cylinder 43 through its own elastic force, so that the protective plate 442 is in an inclined state to block and protect the upper part of the support leg 44, preventing vegetation from hanging on the support leg 44 and affecting the second takeoff.

[0070] In the third step, the moving rod 443 is locked with the moving cylinder 43, and the moving cylinder 43 is unlocked from the support leg frame 42. Then the reaction force of the ground against the support foot 44 pushes the moving cylinder 43 upward, so that the moving cylinder 43 no longer blocks the linkage square rod 454.

[0071] The fourth step is to continue to land the drone. The ground pushes back the support feet 44, causing the support leg frame 42 to adaptively deflect. After all the support feet 44 are in contact with the ground, the linkage square rod 454 is not blocked by the moving cylinder 43, and the No. 1 spring pushes the locking rod 452 to lock the connecting column 413 and the concave block 451 together.

[0072] In the fifth step, the drone's rotor is stopped, and the drone moves downward under the action of gravity. The drone drives the horizontal section of the blocking plate 222 to press on the corresponding upper part of the spring damping rod 21, thereby cushioning the landing of the drone by compressing the spring damping rod 21.

[0073] In the sixth step, the horizontal plate 23 intermittently pushes the latch block 231 to the right through the rectangular through slot, so that after the kinetic energy of the drone's fall is completely consumed, the compression spring pushes the latch block 231 to be stuck on the rectangular through slot of the horizontal plate 23, preventing the horizontal plate 23 from moving upward, thereby preventing the drone from rebounding after stopping falling, thereby ensuring the stability of the drone's landing.

[0074] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention, which are still covered by the scope of protection of the present invention.

Claims

1. A UAV landing gear for forestry pest control, characterized in that: It includes a connection frame fixedly mounted on the lower side of the drone, the lower side of the connection frame is connected to a linkage frame through a buffer mechanism, and the lower side of the linkage frame is provided with an adaptive ground support mechanism; The buffer mechanism includes two sets of spring damping rods with different stiffness coefficients fixedly mounted on the upper side of the linkage frame, and a switching component is provided on the connecting frame to switch the two sets of spring damping rods according to the ground conditions to buffer and reduce the shock of the drone; The support mechanism includes a support leg frame connected to the lower side of the linkage frame through a universal joint assembly, and a movable cylinder is provided on each of the four vertical sections of the support leg frame so as to slide up and down, and a support foot is provided on the lower side of the movable cylinder for rotation. The support mechanism also includes a locking assembly; When the drone lands, the inclined ground contacts the support feet in turn and drives the support legs to adapt to the ground slope through reverse thrust, so that the drone maintains a horizontal posture when landing. When all four support feet touch the ground, the linkage frame and the support legs are locked together through the locking assembly.

2. The landing gear of a UAV for forestry pest control according to claim 1, characterized in that: Each group of spring damping rods consists of four spring damping rods arranged at equal intervals on the upper sides of the four sides of the linkage frame, and the spring damping rods with large stiffness coefficients are located outside the spring damping rods with small stiffness coefficients.

3. The landing gear of a UAV for forestry pest control according to claim 2, characterized in that: The switching assembly includes a support plate fixedly installed at the four corners of the outer side of the connecting frame. The support plate is provided with two clearance holes for the spring damping rod to pass through. An inverted U-shaped blocking plate is slidingly provided on the outer side of the support plate along its length direction to block the upper part of the clearance hole.

4. The landing gear of a UAV for forestry pest control according to claim 1, characterized in that: A horizontal plate is fixedly installed on the inner side of the connecting frame, a tooth block is slidably provided on the upper side of the linkage frame, a triangular plate is fixedly installed on the upper right side of the tooth block, and a compression spring is provided between the tooth block and the linkage frame.

5. The landing gear of a UAV for forestry pest control according to claim 4, characterized in that: The inclined surface of the triangular plate is arranged downward, and a limit column is set inside the tooth block for sliding up and down. The lower part of the limit column is a dome structure. A return spring is set between the limit column and the tooth block, and an arc groove for inserting the limit column is opened on the upper side of the horizontal plate.

6. The landing gear of a UAV for forestry pest control according to claim 1, characterized in that: The universal joint assembly includes an outer ring plate hinged on the lower side of the linkage frame, an inner ring plate hinged on the inner side of the outer ring plate, a connecting column fixedly installed on the inner side of the inner ring plate, and the lower side of the connecting column is fixedly connected to the support leg frame.

7. The landing gear of a UAV for forestry pest control according to claim 6, characterized in that: The locking assembly includes a concave block fixedly installed at the bottom of the linkage frame, the upper side of the connecting column is a convex structure that matches and fits with the concave structure of the lower side of the concave block, the concave structure of the concave block is arrayed with locking holes, and a locking rod is provided inside the connecting column to slide up and down.

8. The landing gear of a UAV for forestry pest control according to claim 7, characterized in that: A conical body is fixedly installed on the lower side of the connecting column, and a linkage square rod is slidably arranged inside the four horizontal sections of the supporting leg frame. Both ends of the linkage square rod are provided with slopes, and a groove for inserting the linkage square rod is opened on the moving cylinder.

9. The landing gear of a UAV for forestry pest control according to claim 1, characterized in that: A plurality of extension plates are arranged to slide radially along the moving cylinder at equal intervals on the lower side of the support foot along the circumference of the moving cylinder. A protective plate is hinged on the side of the extension plate away from the axis of the moving cylinder, and a torsion spring is provided between the protective plate and the extension plate.

10. The landing gear of a UAV for forestry pest control according to claim 9, characterized in that: A bevel groove is provided on one side of the protection plate close to the axis of the moving cylinder.

Images