Landing gear and unmanned aerial vehicle having the same

Abstract

The embodiment of the present invention relates to the field of aircraft technology, and provides a landing gear and an unmanned aerial vehicle having the landing gear, wherein the landing gear includes a driving device, a transmission mechanism and a landing gear body, wherein the transmission mechanism includes a rotating shaft, the driving device is connected to the rotating shaft, and can drive the rotating shaft to rotate; the locking mechanism includes a first locking member, a second locking member and an elastic member, the second locking member and the elastic member are both sleeved on the rotating shaft, and the elastic member respectively abuts against the second locking member and the transmission mechanism, and the first locking member is engaged with the second locking member; the landing gear body is connected to the first locking member, so that the driving device can drive the landing gear body to rotate around the rotating shaft. In the above manner, the landing gear body can be retracted and folded on both sides or inside of the fuselage, so as not to cause unnecessary resistance to the unmanned aerial vehicle in the air and avoid blocking the aerial photography field of view; after use and power off, the landing gear can be manually folded, so that the unmanned aerial vehicle is easy to carry.

Description

[Technical field]

[0001] The present invention relates to the technical field of aircraft, and in particular to a landing gear and an unmanned aircraft having the landing gear. [Background technology]

[0002] Unmanned aerial vehicles, or UAVs for short, are a new concept of equipment that is developing rapidly. They are flexible, quick to respond, unmanned, and have low operating requirements. UAVs can achieve real-time image transmission and high-risk area detection by carrying multiple types of sensors or camera equipment, and are a powerful supplement to satellite remote sensing and traditional aerial remote sensing. At present, the use of UAVs has expanded to the three major fields of military, scientific research, and civil use. Specifically, they are widely used in power communications, meteorology, agriculture, ocean, exploration, photography, disaster prevention and mitigation, crop yield estimation, drug control and anti-smuggling, border patrol, public security and anti-terrorism, and other fields.

[0003] Currently, consumer drones on the market mainly use fixed landing gear. During aerial photography, fixed landing gear will block the aerial view. Or, although some have achieved automatic folding, they cannot be manually folded after the drone lands and loses power, making it inconvenient to carry or transport. [Summary of the invention]

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a foldable landing gear that can be stowed and folded, and an unmanned aerial vehicle having the foldable landing gear.

[0005] In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] A landing gear, comprising:

[0007] Drive device;

[0008] The transmission mechanism comprises a rotating shaft, the driving device is connected to the rotating shaft and can drive the rotating shaft to rotate;

[0009] A locking mechanism, comprising a first locking member, a second locking member and an elastic member, wherein the second locking member and the elastic member are both sleeved on the rotating shaft, and one end of the elastic member abuts against the second locking member, and the other end of the elastic member abuts against the transmission mechanism, and one end of the first locking member is meshed with the second locking member;

[0010] A landing gear body, one end of which is connected to the first locking member, so that the driving device can drive the landing gear body to rotate around the rotation axis.

[0011] In some embodiments, the transmission mechanism also includes a connecting component, which includes: a pin shaft, a rotating cam and an elastic supporting member, wherein the rotating cam is provided with a circular through hole; one end of the first locking member passes through the center through hole of the rotating cam and is hinged to one end of the landing gear body through the pin shaft; one end face of the rotating cam is an inclined end face or an arc-shaped end face, and the landing gear body (230) abuts against the inclined end face or the arc-shaped end face; the elastic supporting member is sleeved on the pin shaft, and one end of the elastic supporting member abuts against the landing gear body, and the other end abuts against the first locking member.

[0012] In some embodiments, the transmission mechanism also includes a connecting shaft, one end of which is connected to the first locking member so that the rotating shaft drives the connecting shaft to rotate through the locking mechanism; the other end of the connecting shaft is hinged to one end of the landing gear body through the pin shaft; one end of the elastic supporting member supports the landing gear body, and the other end supports the connecting shaft.

[0013] In some embodiments, the transmission mechanism is a worm gear mechanism, including a worm and a worm wheel and the rotating shaft, the worm is fixedly connected to the rotating shaft of the driving device; the worm is meshed with the worm wheel; the worm wheel is fixed to the rotating shaft, and the rotation axis of the worm wheel coincides with the rotation axis of the rotating shaft; both ends of the rotating shaft are connected to the landing gear body through the first locking member.

[0014] In some embodiments, the landing gear also includes a bracket, which includes a bottom wall and side walls extended from both ends of the bottom wall; the bottom wall is provided with a fixing groove, and the bottom surface of the fixing groove is provided with a through hole, the driving device is fixed in the fixing groove, and one end of the worm gear passes through the through hole and is fixedly connected to the rotating shaft of the driving device; the rotating shaft is hinged between the two side walls.

[0015] In some embodiments, the landing gear further includes a bearing seat and a bearing, wherein the bearing seat is fixed to the side wall, the bearing is sleeved on the rotating shaft, and the bearing seat is sleeved on the bearing.

[0016] In some embodiments, a receiving groove is provided on the outer side surface of the side wall, and a connecting hole and a stop portion are provided on the bottom surface of the receiving groove; the rotating shaft passes through the connecting hole and is connected to the connecting shaft; the rotating cam is located in the receiving groove, and the rotating cam is provided with a circular through hole and a stop hole, the circular through hole is aligned with the connecting hole, and the stop portion is inserted into the stop hole.

[0017] In some embodiments, the oblique end face or arc-shaped end face of the rotating cam includes a first plane, a spiral surface, a second plane and a vertical plane, and the first plane, the spiral surface, the second plane and the vertical plane surround the circular through hole and are connected in sequence; the other end face of the rotating cam is a plane and abuts against the bottom surface of the accommodating groove; there is a height difference between the first plane and the second plane, and the first plane is closer to one end face of the rotating cam than the second plane; the surface of the landing gear body abutting against the oblique end face or arc-shaped end face of the rotating cam is a connecting surface, and the connecting surface is provided with an abutting portion, and the abutting portion abuts against the oblique end face or arc-shaped end face of the rotating cam.

[0018] In some embodiments, the first locking member includes a shaft portion and a first connecting portion, the shaft portion is in the shape of a round rod, one end of which is fixedly connected to the first connecting portion, and the other end is connected to the landing gear body; a connecting surface of the first connecting portion connected to the second locking member is provided with a plurality of protrusions, and a connecting surface of the second locking member is provided with a plurality of grooves, the grooves corresponding to the protrusions, and the protrusions can be embedded in the grooves, so that the rotating shaft can drive the first locking member to rotate through the second locking member.

[0019] In some embodiments, the transmission mechanism also includes: a pin shaft, a rotating cam and an elastic supporting member, wherein the first locking member is hinged to one end of the landing gear body through the pin shaft; the rotating cam is used to be fixedly mounted on the fuselage and abut against one end of the landing gear body; the elastic supporting member is sleeved on the pin shaft, and one end of the elastic supporting member abuts against the landing gear body, and the other end abuts against the rotating shaft.

[0020] In some embodiments, the transmission mechanism also includes a connecting shaft, and a limiting groove is provided at one end of the connecting shaft; a limiting structure is provided at one end of the shaft portion connected to the connecting shaft, and is inserted into the limiting groove, so that the first locking member can drive the connecting shaft to rotate.

[0021] In some embodiments, the transmission mechanism is a helical gear transmission mechanism, including a first helical gear, a second helical gear and a rotating shaft; the first helical gear is fixedly connected to one end of the rotating shaft in the driving device, and the second helical gear is arranged in the middle of the rotating shaft; the first helical gear and the second helical gear are meshed; the two ends of the rotating shaft are connected to a landing gear body through the first locking member.

[0022] In some embodiments, the landing gear further comprises a transmission device for increasing the moment of inertia, wherein the transmission device is connected between the drive device and the transmission mechanism.

[0023] In order to solve the above technical problems, the embodiments of the present invention also provide the following technical solutions:

[0024] An unmanned aerial vehicle comprises the above-mentioned landing gear and a fuselage, wherein the landing gear body can be rotated relative to the fuselage to achieve folding or unfolding.

[0025] In some embodiments, the fuselage is provided with a landing gear locking device; the landing gear body is provided with a locking matching device that matches with the landing gear locking device, and after the landing gear body is folded, the landing gear locking device interacts with the locking matching device.

[0026] Compared with the prior art, the landing gear of the embodiment of the present invention can be driven by a driving device to rotate the landing gear body through a transmission mechanism. When the landing gear body is applied to an unmanned aerial vehicle, the landing gear body can be rotated relative to the fuselage to be folded on both sides or inside the fuselage. The structure is compact, so that when the unmanned aerial vehicle with this landing gear is flying, the landing gear can be retracted and folded without causing unnecessary resistance to the unmanned aerial vehicle in the air. During the aerial photography of the unmanned aerial vehicle, the aerial photography field of view is completely avoided from being blocked. When landing is required, the landing gear can be rotated relative to the fuselage to be automatically deployed to support the unmanned aerial vehicle to complete the landing. After use and power off, the landing gear can be manually folded through the locking mechanism, so that the unmanned aerial vehicle occupies a small space and is easy to carry.

Brief Description of the Drawings

[0027] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0028] Figure 1 A perspective view of an unmanned aerial vehicle according to one embodiment of the present invention, wherein the landing gear is in an extended state;

[0029] Figure 2 for Figure 1 A perspective view of the landing gear of the unmanned aerial vehicle shown;

[0030] Figure 3 for Figure 2 A schematic diagram of the structure of the driving device and the transmission mechanism in the landing gear shown;

[0031] Figure 4 for Figure 3 A perspective view of the worm gear and the rotating shaft in the landing gear shown;

[0032] Figure 5 for Figure 1 Another perspective view of a landing gear in the unmanned aerial vehicle shown, wherein the landing gear includes a bracket;

[0033] Figure 6 for Figure 5 An exploded view of the landing gear in the unmanned aerial vehicle shown;

[0034] Figure 7 for Figure 6 a perspective view of the bracket in the landing gear shown;

[0035] Figure 8 for Figure 6 A perspective view of the connecting shaft in the landing gear shown;

[0036] Fig. 9 for Figure 6 A perspective view of the pin in the landing gear shown;

[0037] Fig.10 for Figure 6 A perspective view of a rotating cam in a landing gear is shown;

[0038] Fig.11 for Figure 6 A perspective view of the first locking member in the landing gear shown;

[0039] Fig.12 for Figure 6 Another perspective view of the first locking member in the landing gear shown;

[0040] Fig.13 for Figure 6 A perspective view of the second locking member in the landing gear shown;

[0041] Fig.14 for Figure 6 A perspective view of the landing gear mid-shell is shown;

[0042] Fig.15 for Figure 6 Another perspective view of the housing in the landing gear shown;

[0043] Fig.16 for Figure 6 A perspective view of the side cover of the landing gear shown;

[0044] Fig.17 for Figure 6 A perspective view of the landing gear body in the landing gear shown;

[0045] Fig.18 It is a schematic diagram of the structure of the transmission mechanism in some other embodiments of the present invention. [Specific implementation method]

[0046] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element or there can be one or more centered elements therebetween. When an element is described as "connected" to another element, it can be directly connected to another element or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "bottom" etc. used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0047] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0048] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] In the embodiment of the present invention, the unmanned aerial vehicle may be a single-rotor drone, a dual-rotor drone, a quad-rotor drone, or a six-rotor drone, etc. A quad-rotor drone is taken as an example for detailed description.

[0050] See also Figure 1 One embodiment of the present invention provides an unmanned aerial vehicle, including a fuselage 10 and a landing gear 20, wherein the landing gear 20 is installed on the fuselage 10 and is used to support the unmanned aerial vehicle at a landing location when landing.

[0051] The fuselage 10 includes a control circuit assembly composed of electronic components such as an MCU, and the control circuit assembly includes multiple control modules, such as a control module for controlling the retraction and lowering of the landing gear 20, a flight control module for controlling the flight attitude of the unmanned aerial vehicle, a GPS module for navigating the unmanned aerial vehicle, and a data processing module for processing environmental information obtained by related airborne equipment.

[0052] See also Figure 2The landing gear 20 includes: a driving device 210, a transmission mechanism 220 and a landing gear body 230. The driving device 210 is arranged inside the fuselage 10, and the driving device 210 is connected to the landing gear body 230 through the transmission mechanism 220. The driving device 210 can drive the landing gear body 230 to rotate, fold or unfold relative to the fuselage 10.

[0053] like Figure 3 and 4 As shown, in this embodiment, the transmission mechanism 220 is a worm gear mechanism, including a worm 221, a worm wheel 222, and a rotating shaft 223. One end of the worm 221 is fixedly connected to the rotating shaft of the driving device 210, and the center line of the worm 221 coincides with the center line of the rotating shaft of the driving device 210, and the center line of the worm 221 is perpendicular to the center line of the rotating shaft 223. The worm 221 is meshed with the worm wheel 222. The worm wheel 222 is fixed to the rotating shaft 223, and the rotation axes of the two coincide. The two ends of the rotating shaft 223 are respectively connected to one end of a landing gear body 230, and the rotating shaft 223 is substantially perpendicular to the landing gear body 230. The driving device 210 can drive the worm 221 to rotate, and drive the rotating shaft 223 to rotate through the worm wheel 222, so that the landing gear body 230 rotates relative to the fuselage 10 around the rotating shaft 223. The rotating shaft 223 is a stepped shaft, the diameter of the middle part of the rotating shaft 223 is larger than the diameter of the two ends thereof, and a step surface 2231 is formed at the connection. The worm wheel 222 is integrally formed with the rotating shaft 223 and is located in the middle part of the rotating shaft 223. Two limiting parts 2232 are provided in the middle part of the rotating shaft 223, and the two limiting parts 2232 are respectively located on both sides of the worm wheel 222.

[0054] In this embodiment, the driving device 210 is a brushless DC motor, that is, the transmission mechanism 220 is driven by the brushless DC motor. It can be understood that in other embodiments, other driving devices can also be used, such as using a steering gear to directly drive the rotating shaft 223 to rotate.

[0055] See also Figure 5 and 6 Combined with Figure 3 In this embodiment, the landing gear 20 further includes a bracket 240, a connecting assembly 250, a bearing seat 260 and a bearing 270. The driving device 210 is fixed to the bracket 240. The rotating shaft 223 is hinged to the bracket 240 and connected to the landing gear body 230 through the connecting assembly 250. The bearing seat 260 is fixed to the bracket 240 and sleeved on the bearing 270. The bearing 270 is sleeved on the rotating shaft 223 and abuts against the step surface 2231.

[0056] like Figure 7 As shown, the bracket 240 includes a bottom wall 241 and side walls 242 formed by extending the two ends of the bottom wall 241 in a direction perpendicular to the bottom wall 241. The bottom wall 241 is provided with a fixing groove 2411, and the bottom surface of the fixing groove 2411 is provided with a through hole 2412. The driving device 210 is fixed in the fixing groove 2411, and one end of the worm 221 passes through the through hole 2412 and is fixedly connected to the rotating shaft of the driving device 210. There are two side walls 242, which are symmetrical to each other. The rotating shaft 223 is located between the two side walls 242 and is hinged to the two side walls 242. The outer side surface of the side wall 242 away from the rotating shaft 223 is provided with a receiving groove 2421, and the bottom surface of the receiving groove 2421 is provided with a connecting hole 2422 and a stopper 2423.

[0057] In this embodiment, the bracket 240 is an independent component and is installed inside the fuselage 10 or outside the fuselage 10 (for example, below the fuselage 10). It can be understood that in some other embodiments, the bracket 240 and the fuselage 10 are integrally formed, that is, the bracket 240 is a part of the fuselage 10 (in this case, for the landing gear 20, the fuselage 10 is equivalent to the bracket 240 in this embodiment).

[0058] like Figure 8 As shown, the connecting assembly 250 includes: a connecting shaft 251, a pin shaft 252, a rotating cam 253 and an elastic supporting member 254. A limiting groove 2511 is provided at one end of the connecting shaft 251, and a first clamping portion 2512 and a second clamping portion 2513 are provided at the other end. There are two connecting assemblies 250, which are respectively connected to the two ends of the rotating shaft 223. The first clamping portion 2512 and the second clamping portion 2513 are symmetrical to each other, and there is a gap between the first clamping portion 2512 and the second clamping portion 2513 for accommodating the elastic supporting member 254. The first clamping portion 2512 is provided with a first pin hole, and the second clamping portion 2513 is provided with a second pin hole, and the first pin hole is aligned with the second pin hole. The pin shaft 252 passes through the first pin hole and the second pin hole.

[0059] like Fig. 9 As shown, an annular groove 2521 is provided in the middle of the pin shaft 252 , and the elastic supporting member 254 is a torsion spring wound in the annular groove 2521 , and one end of the elastic supporting member 254 supports the connecting shaft 251 , and the other end supports the landing gear body 230 .

[0060] It is understandable that, in some other embodiments, the elastic supporting member 254 may also be a spring sheet, which is installed on the pin shaft 252 , and one end of which supports the connecting shaft 251 , and the other end of which supports the landing gear body 230 .

[0061] like Fig.10 As shown, the rotating cam 253 is located in the receiving groove 2421, and the rotating cam 253 is provided with a circular through hole 2531, and one end surface of the circular through hole 2531 extends to the other end surface (also referred to as abutment surface), and the circular through hole 2531 is aligned with the connecting hole 2422. A stop hole 2532 is provided on one end surface of the rotating cam 253, and the stop portion 2423 is cylindrical and inserted into the stop hole 2532 to prevent the rotating cam 253 from rotating in the receiving groove 2421. One end surface of the rotating cam 253 is an oblique end surface or an arc end surface. Specifically, the oblique end surface or the arc-shaped end surface is provided with a first plane 2533, a spiral surface 2534, a second plane 2535 and a vertical surface 2536, and the first plane 2533, the spiral surface 2534, the second plane 2535 and the vertical surface 2536 surround the circular through hole 2531 and are connected in sequence. The other end surface of the rotating cam 253 is a plane, and there is a height difference between the first plane 2533 and the second plane 2535. The first plane 2533 is closer to the other end surface of the rotating cam 253 than the second plane 2535.

[0062] Specifically, there are two bearings 270 , which are respectively sleeved on both ends of the rotating shaft 223 and abut against the step surface 2231 . There are two bearing seats 260 , which correspond to the bearings 270 one by one. The bearing seats 260 are fixed to the inner surface of the side wall 242 .

[0063] It is understandable that in some other embodiments, the bearing 270 and the bearing seat 260 can be omitted, and one end of the rotating shaft 223 is directly inserted into the connecting hole 2422 and can rotate in the connecting hole 2422. In order to make the rotating shaft 223 rotate smoothly in the connecting hole 2422, it is only necessary to add lubricating oil between the rotating shaft 223 and the connecting hole 2422.

[0064] Corresponding to the two ends of the rotating shaft 223, there are two landing gear bodies 230, which are symmetrical to each other and are respectively connected to the two ends of the rotating shaft 223. Taking one of the landing gear bodies 230 as an example, its structure is described in detail.

[0065] See also Fig.11 , 12 Combined with 13 Figure 6The landing gear 20 also includes a locking mechanism 280, which includes a first locking member 281, a second locking member 282 and an elastic member 283. The first locking member 281 includes a shaft 2811 and a first connecting portion 2812. The shaft 2811 is in the shape of a round rod, one end of which is fixedly connected to the first connecting portion 2812, and the other end is provided with a limiting structure, which can be inserted into the limiting groove 2511, so that the first locking member 281 can drive the connecting shaft 251 to rotate. The rotation axis of the shaft 2811 and the connecting shaft 251 coincide. The cross section of the limiting structure at the other end of the shaft 2811 is adapted to the limiting groove 2511, and it can be an elliptical, D-shaped, triangular or other shape that can play a limiting role. The first connecting portion 2812 is generally in the shape of a disc, and a receiving hole 28121 is provided at the center thereof, and the receiving hole 28121 is a round hole. The receiving hole 28121 extends from the first connecting portion 2812 to one end of the shaft portion 2811. A plurality of protrusions 28122 are provided on the connecting surface where the first connecting portion 2812 and the second locking member 282 are connected, and the plurality of protrusions 28122 surround the receiving hole 28121. In this embodiment, there are four protrusions 28122 in total. They surround the receiving hole 28121 evenly. One end of the rotating shaft 223 is inserted into the receiving hole 28121, and the cross-sectional shape of one end of the rotating shaft 223 and the shape of the receiving hole 28121 are both circular, so that the rotating shaft 223 and the first locking member 281 can rotate relative to each other.

[0066] It can be understood that, in some other embodiments, the connecting shaft 251 can be omitted, the other end of the middle axis portion 2811 of the first locking member 281 is directly hinged to the landing gear body 230 through the pin shaft 252, and the elastic supporting member 254 is sleeved on the pin shaft 252, one end of which supports the landing gear body 230, and the other end of which supports the first locking member 281.

[0067] like Fig.12 and 13As shown, the second locking member 282 is generally annular, and is provided with a limiting hole 2821, and the limiting hole 2821 passes through the second locking member 282. A plurality of grooves 2822 are provided on the connecting surface where the second locking member 282 contacts the first locking member 281, and the grooves 2822 correspond to the protrusions 28122 one by one (that is, the number of the grooves 2822 and the protrusions 28122 is equal, and each groove 2822 cooperates with a corresponding protrusion 28122). The shapes and sizes of the grooves 2822 and the protrusions 28122 are adapted. In this embodiment, there are four grooves 2822, and they are evenly surrounded by the limiting hole 2821. The second locking member 282 is sleeved on the middle part of the rotating shaft 223, and the limiting hole 2821 cooperates with the limiting portion 2232 to prevent the rotating shaft 223 and the second locking member 282 from rotating relative to each other. The shape of the limiting hole 2821 is the same as the cross-sectional shape of the limiting portion 2232, and can be an ellipse, a triangle, a rectangle or other shapes that can play a limiting role. The rotation axis of the first locking member 281 coincides with the rotation axis of the second locking member 282. The connection relationship between the first locking member 281 and the second locking member 282 can be understood as the connection surface of the first locking member 281 and the connection surface of the second locking member 282 are meshed with each other.

[0068] The elastic member 283 is sleeved on the middle part of the rotating shaft 223 and is located between the second locking member 282 and the worm gear 222. One end of the elastic member 283 abuts against the second locking member 282, and the other end abuts against the worm gear 222 to provide a holding force to the second locking member 282, so that the first locking member 281 and the second locking member 282 are closely matched.

[0069] In this embodiment, the landing gear body 230 is connected to the connecting assembly 250, and the connecting assembly 250 is connected to the rotating shaft 223 through the locking mechanism 280. The first locking member 281 and the second locking member 282 in the locking mechanism 280 can rotate relative to each other. When the unmanned aerial vehicle lands, the landing gear 20 is in an unfolded state. After the unmanned aerial vehicle lands, since the driving device 210 has stopped running, the landing gear 20 can no longer be driven by the driving device 210 to switch to a folded state (that is, the landing gear body 230 is retracted and closely attached to the fuselage 10). In order to make it more convenient to carry the unmanned aerial vehicle when not in use after landing, the landing gear body 230 can be manually rotated to apply a torsional force to the landing gear body 230, and the landing gear body 230 transmits the torsional force to the first locking member 281 through the connecting assembly 250. When the torsional force is large enough, the elastic component 283 can be compressed, and the distance between the first locking component 281 and the second locking component 282 becomes larger, so that the protrusion 28122 is disengaged from the groove 2822. When the first locking component 281 is rotated to a certain angle relative to the second locking component (ninety degrees in this embodiment), the protrusion 28122 is aligned with the other groove 2822. At this time, under the support of the elastic component 283, the second locking component 282 is close to the first locking component 281, so that the protrusion 28122 is embedded in the other groove 2822. At this time, the landing gear body 230 is folded and is close to the fuselage 10. After being folded, the unmanned aerial vehicle has a compact structure and occupies less space, making it easy to carry.

[0070] See also Fig.14 , 15 And 16 and combine Figure 6The landing gear 20 further includes a housing 290, which includes an outer shell 291, a side cover 292 and a second bearing 293. The outer shell 291 includes a bottom plate 2911, a side plate 2912 extending vertically along the outer edge of the bottom plate 2911, a first pivot hole 2913 provided on the bottom plate 2911 and a worm mounting hole 2914 provided on the side plate 2912. The center line of the first pivot hole 2913 and the center line of the worm mounting hole 2914 are perpendicular to each other. The side cover 292 is generally plate-shaped, and is provided with a second pivot hole 2921. The side cover 292 is mounted on the outer shell 291, the first pivot hole 2914 is aligned with the second pivot hole 2921, and the outer shell 291 and the side cover 292 enclose a receiving space. There are two second bearings 293, which are fixedly mounted at the first pivot hole 2914 and the second pivot hole 2921, and are aligned with the first pivot hole 2914 and the second pivot hole 2921, respectively. The end of the worm 221 away from the driving device 210 passes through the worm mounting hole 2914 and enters the receiving space. The two second bearings 293 are respectively sleeved on the rotating shaft 223 and are tightly attached to the two sides of the worm wheel 222. The rotating shaft 223 passes through the first pivot hole 2914 and the second pivot hole 2921, respectively, and is connected to a first locking member 281. The housing 290 can make the connection between the worm 221 and the worm wheel 222 tighter, so as to prevent the worm 221 from being separated from the worm wheel 222 when the worm 221 drives the worm wheel 222 to rotate.

[0071] like Fig.17 As shown, one end of the landing gear body 230 is hinged to the connecting shaft 251 through the pin shaft 252, and the other end can contact the ground for landing. A mounting groove 231 is provided on the connecting surface where one end (i.e., the connecting end) of the landing gear body 230 is connected to the connecting assembly 250, and the two opposite sides of the mounting groove 231 are respectively provided with a first mounting hole 232 and a second mounting hole 233, and the first mounting hole 232 and the second mounting hole 233 are aligned along the lateral direction of the landing gear body 230. The first clamping portion 2512 and the second clamping portion 2513 of the connecting shaft 251 are both inserted into the mounting groove 231, and the two ends of the pin shaft 252 are respectively inserted into the first mounting hole 232 and the second mounting hole 233, so that the landing gear body 230 can rotate around the pin shaft 252 within a certain angle relative to the connecting shaft 251. The connection surface of one end of the landing gear body 230 is also provided with an abutment portion 234, and the abutment portion 234 abuts against the oblique end surface or arcuate end surface of the rotating cam 253. The connection surface of the landing gear body 230 is an oblique surface or an arcuate surface, and the oblique surface or the arcuate surface fits with the oblique end surface or the arcuate end surface of the rotating cam 253.

[0072] In the embodiment of the present invention, the landing gear 20 has two states, namely, an unfolded state and a folded state. When the unmanned aerial vehicle uses the landing gear 20 to land, the landing gear 20 is in the unfolded state. At this time, the landing gear body 230 in the landing gear 20 is approximately in a vertical state. The abutment portion 234 abuts against the first plane 2533. The other end (i.e., the landing end) of the landing gear body 230 is inclined in a direction away from the fuselage 10 (i.e., the two landing gear bodies 230 are in an "eight" shape). One end of the elastic abutment member 254 abuts against the connecting shaft 251, and the other end abuts against the landing gear body 230, so that the abutment portion 234 can be attached to the first plane 2533. After the unmanned aerial vehicle takes off, in order to use the camera on the unmanned aerial vehicle for better shooting and avoid the landing gear 20 blocking the camera, the landing gear 20 is transformed from the unfolded state to the folded state. The driving device 210 drives the worm 221 to rotate, and through the worm wheel 222 and the rotating shaft 223, the landing gear body 230 can rotate relative to the fuselage 10 around the center line of the rotating shaft 223. During the rotation process, the abutment portion 234 gradually moves toward the spiral surface 2534 along the first plane 2533, and slides to the second plane 2535 along the spiral surface 2534. Due to the height difference between the first plane 2533 and the second plane 2535, the first plane 2533 is closer to one end surface of the rotating cam 253 than the second plane 2535; therefore, the landing gear body 230 rotates within a certain angle relative to the connecting shaft 251 around the pin shaft 252, so that the landing gear body 230 becomes horizontal, and the other end thereof gradually approaches the fuselage 10. When the landing gear 20 is in a folded state, the landing gear body 230 is closely attached to both sides of the fuselage 10, which can not only completely avoid blocking the camera, but also make the overall structure of the unmanned aerial vehicle very compact.

[0073] In addition, it should be particularly pointed out that, since one end of the elastic abutting member 254 abuts the connecting shaft 251, and the other end abuts the landing gear body 230, when the landing gear 20 is subjected to an external force greater than the critical elastic force of the elastic abutting member 254, the landing gear body 230 may swing relative to the fuselage 10, thereby protecting the fuselage 10 of the UAV in the event of a crash.

[0074] It is understandable that in some other embodiments, such as Fig.11As shown, the transmission mechanism 220a is a helical gear transmission mechanism used between two staggered axes, including a first helical gear 221a, a second helical gear 222a and a rotating shaft 223a. The first helical gear 221a is fixedly connected to one end of the rotating shaft in the driving device 210, and the second helical gear 222a is arranged in the middle of the rotating shaft 223a. The first helical gear 221a and the second helical gear 222a are meshed. Both ends of the rotating shaft 223a are respectively connected to a landing gear body 230. The driving device 210 can drive the first helical gear 221a to rotate, and drive the second helical gear 222a and the rotating shaft 223a to rotate through the first helical gear 221a, so that the landing gear body 230 rotates relative to the fuselage 10.

[0075] It can be understood that, in some other embodiments, the transmission mechanism 220 may only include a rotating shaft 223, and the driving device 210 is directly connected to the rotating shaft 223 and can drive the rotating shaft 223 to rotate. The connecting assembly 250 may be omitted. The rotating shaft 223 is connected to the landing gear body 230 through the locking mechanism 280. Specifically, the locking mechanism 280 includes a first locking member 281, a second locking member 282 and an elastic member 283, the second locking member 282 and the elastic member 283 are both sleeved on the rotating shaft 223, and one end of the elastic member 283 abuts against the second locking member 282, and the other end of the elastic member 283 abuts against the rotating shaft 223, and one end of the first locking member 281 is meshed with the second locking member 282. One end of the landing gear body 230 is connected to the first locking member 281 , so that the driving device 210 can drive the landing gear body 230 to rotate around the rotation axis 223 relative to the fuselage 10 to fold or unfold.

[0076] It is understandable that in some other embodiments, in order to make the landing gear 20 more firmly positioned after manual folding, so as to prevent the landing gear 20 from rotating due to gravity and failing to fold properly, a landing gear locking device (e.g., a lock, a magnet, an electromagnet, etc.) is provided at the corresponding position of the fuselage 10 (e.g., at the rear of the fuselage), and a locking matching device (e.g., a lock, a magnet, an electromagnet, etc.) is provided at the other end (i.e., the landing end) of the landing gear body 230. In a specific embodiment, a first magnet is provided at the rear of the fuselage 10, and a second magnet that attracts the first magnet is provided at the other end of the landing gear body 230. When the landing gear body 230 is manually folded, the above two magnets are close to each other and aligned, so that the landing gear body 230 is fixed in the current folded state.

[0077] In some other embodiments, the landing gear 20 further includes a transmission device for increasing the moment of inertia, which is used to increase the moment of inertia of the worm 221 and the maximum friction between the worm wheel 222 and the worm 221, so as to overcome the influence of gravity on the landing gear body 230. The transmission device for increasing the moment of inertia is connected between the driving device 210 and the transmission mechanism 220, and specifically can be a gear transmission mechanism or a four-bar linkage mechanism.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A landing gear (20), characterized in that: The landing gear (20) comprises: A driving device (210); The transmission mechanism (220) comprises a rotating shaft (223, 223a), the driving device (210) is connected to the rotating shaft (223) and can drive the rotating shaft (223, 223a) to rotate, and the transmission mechanism (220a) is a helical gear transmission mechanism; A locking mechanism (280) comprising a first locking member (281), a second locking member (282) and an elastic member (283), wherein the second locking member (282) and the elastic member (283) are both sleeved on the rotating shaft (223, 223a), and one end of the elastic member (283) abuts against the second locking member (282), and the other end of the elastic member (283) abuts against the transmission mechanism (220); A landing gear body (230), one end of the landing gear body (230) being connected to the first locking member (281), so that the driving device (210) can drive the landing gear body (230) to rotate around the rotating shaft (223, 223a); The first locking member (281) comprises a shaft portion (2811) and a first connecting portion (2812); the shaft portion (2811) is in the shape of a round rod, one end of which is fixedly connected to the first connecting portion (2812), and the other end of which is connected to the landing gear body (230); A connection surface of the first connection portion (2812) connected to the second locking member (282) is provided with a plurality of protrusions (28122), and a connection surface of the second locking member (282) is provided with a plurality of grooves (2822), the grooves (2822) corresponding to the protrusions (28122), and the protrusions (28122) can be embedded in the grooves (2822), so that the rotating shaft (223, 223a) can drive the first locking member (281) to rotate through the second locking member (282); The landing gear (20) further comprises a connection assembly (250), wherein the connection assembly (250) comprises: a pin shaft (252), a rotating cam (253) and an elastic supporting member (254), wherein the first locking member (281) is hingedly connected to one end of the landing gear body (230) via the pin shaft (252); The rotating cam (253) is fixedly mounted on the fuselage (10) of the drone and abuts against one end of the landing gear body (230); one end face of the rotating cam (253) is an inclined end face or an arc-shaped end face, and the landing gear body (230) abuts against the inclined end face or the arc-shaped end face; The elastic supporting member (254) is sleeved on the pin shaft (252), and one end of the elastic supporting member (254) supports the landing gear body (230), and the other end supports the rotating shaft (223, 223a).

2. The landing gear (20) according to claim 1, characterized in that The landing gear (20) further comprises a connection assembly (250), wherein the connection assembly (250) comprises: a pin shaft (252), a rotating cam (253), and an elastic supporting member (254), wherein the rotating cam (253) is provided with a circular through hole (2531); One end of the first locking member (281) passes through the circular through hole (2531) of the rotating cam (253) and is hinged to one end of the landing gear body (230) via the pin shaft (252); The elastic supporting member (254) is sleeved on the pin shaft (252), and one end of the elastic supporting member (254) supports the landing gear body (230), and the other end supports the first locking member (281).

3. The landing gear (20) according to claim 2, characterized in that: The connecting assembly (250) further comprises a connecting shaft (251), one end of the connecting shaft (251) being connected to the first locking member (281), so that the rotating shaft (223, 223a) drives the connecting shaft (251) to rotate via the locking mechanism (280); The other end of the connecting shaft (251) is hingedly connected to one end of the landing gear body (230) via the pin shaft (252); One end of the elastic supporting member (254) supports the landing gear body (230), and the other end supports the connecting shaft (251).

4. The landing gear (20) according to claim 3, characterized in that: The transmission mechanism (220) is a worm gear mechanism, comprising a worm (221), a worm wheel (222), and the rotating shaft (223); the worm (221) is fixedly connected to the rotating shaft of the driving device (210); The worm (221) meshes with the worm wheel (222); The worm wheel (222) is fixed to the rotating shaft (223), and the rotation axis of the worm wheel (222) coincides with the rotation axis of the rotating shaft (223); Both ends of the rotating shaft (223) are connected to the landing gear body (230) via the first locking member (281).

5. The landing gear (20) according to claim 4, characterized in that The landing gear (20) further comprises a bracket (240), wherein the bracket (240) comprises a bottom wall (241) and side walls (242) extending from two ends of the bottom wall (241); The bottom wall (241) is provided with a fixing groove (2411), the bottom surface of the fixing groove (2411) is provided with a through hole (2412), the driving device (210) is fixed in the fixing groove (2411), and one end of the worm (221) passes through the through hole (2412) and is fixedly connected to the rotating shaft of the driving device (210); The rotating shaft (223) is hinged between the two side walls (242).

6. The landing gear (20) according to claim 5, characterized in that The landing gear (20) further comprises a bearing seat (260) and a bearing (270), wherein the bearing seat (260) is fixed to the side wall (242), the bearing (270) is sleeved on the rotating shaft (223), and the bearing seat (260) is sleeved on the bearing (270).

7. The landing gear (20) according to claim 5, characterized in that The outer side surface of the side wall (242) is provided with a receiving groove (2421), and the bottom surface of the receiving groove (2421) is provided with a connecting hole (2422) and a stopper (2423); The rotating shaft (223) passes through the connecting hole (2422) and is connected to the connecting shaft (251); The rotating cam (253) is located in the accommodating groove (2421), and the rotating cam (253) is provided with a circular through hole (2531) and a stop hole (2532), the circular through hole (2531) is aligned with the connecting hole (2422), and the stop portion (2423) is inserted into the stop hole (2523).

8. The landing gear (20) according to claim 7, characterized in that The oblique end surface or the arc-shaped end surface of the rotating cam (253) comprises a first plane (2533), a spiral curved surface (2534), a second plane (2535) and a vertical surface (2536); the first plane (2533), the spiral curved surface (2534), the second plane (2535) and the vertical surface (2536) surround the circular through hole (2531) and are connected in sequence; The other end surface of the rotating cam (253) is a plane and abuts against the bottom surface of the accommodating groove (2421); There is a height difference between the first plane (2533) and the second plane (2535), and the first plane (2533) is closer to an end surface of the rotating cam (253) than the second plane (2535); The surface where the landing gear body (230) abuts against the oblique end surface or the arc-shaped end surface of the rotating cam is a connecting surface, and the connecting surface is provided with an abutting portion (2314), and the abutting portion (2314) abuts against the oblique end surface or the arc-shaped end surface of the rotating cam (253).

9. The landing gear (20) according to claim 1, characterized in that The connecting assembly (250) further comprises a connecting shaft (251), one end of the connecting shaft (251) being provided with a limiting groove (2511); One end of the shaft portion (2811) connected to the connecting shaft (251) is inserted into the limiting groove (2511), so that the first locking member (281) can drive the connecting shaft (251) to rotate.

10. The landing gear (20) according to claim 1, characterized in that The device comprises a first bevel gear (221a), a second bevel gear (222a) and the rotating shaft (223a); the first bevel gear (221a) is fixedly connected to one end of the rotating shaft of the driving device (210), and the second bevel gear (222a) is arranged at the middle of the rotating shaft (223a); the first bevel gear (221a) and the second bevel gear (222a) are meshed; Both ends of the rotating shaft (223a) are connected to the landing gear body (230) via the first locking member (281).

11. The landing gear (20) according to any one of claims 1 to 10, characterized in that: The landing gear (20) also includes a transmission device for increasing the moment of inertia, wherein the transmission device is connected between the drive device (210) and the transmission mechanism (220).

12. An unmanned aerial vehicle, characterized in that: The unmanned aerial vehicle comprises a fuselage (10) and a landing gear (20) according to any one of claims 1 to 11, wherein the landing gear body (230) can be rotated relative to the fuselage (10) to achieve folding or unfolding.

13. The unmanned aerial vehicle according to claim 12, characterized in that: The fuselage (10) is provided with a landing gear locking device; The landing gear body (230) is provided with a locking matching device that matches with the landing gear locking device; after the landing gear body (230) is folded, the landing gear locking device interacts with the locking matching device.

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