A complex terrain adaptive vertical take-off and landing device

Abstract

The present invention discloses a complex terrain adaptive vertical take-off and landing device, including a body, at least two independently retractable single-leg buffer devices are arranged on the outside of the body; the single-leg buffer device includes a four-link frame, a rope tightening system, a friction braking system, a controllable double-chamber buffer energy absorption cylinder, an elastic bent leg and a foot pad. The technical solution of the present invention can further expand the application scope of vertical take-off and landing aircraft, so that it has the ability to take off and land on a 20° slope, uneven ground or even a complex ground where the two scenes are integrated, reduce the stringent requirements of vertical take-off and landing aircraft on the take-off and landing site, avoid the resetting and rebound of the buffer mechanism after the aircraft lands, which makes the aircraft unstable, thereby bringing secondary impact on the aircraft body, and eliminate the unnecessary negative impact of the buffer mechanism on the aircraft after the buffer stroke ends.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft, and in particular relates to a complex terrain adaptive vertical take-off and landing device. Background Art

[0002] Vertical take-off and landing aircraft, represented by helicopters, have the advantages of not requiring airport runways and can easily complete vertical take-off and landing, hover in the air, and fly up, down, left, and right. These advantages make them an important part of aerospace technology and have greatly developed in military, economic, scientific research and other fields.

[0003] The vertical take-off and landing (VTOL) system is a crucial component of a helicopter's structure, designed to absorb the impact of landing. It plays a crucial role in both takeoff and landing: supporting gravity during takeoff; and resisting ground reaction and kinetic friction during landing. Currently, most VTOL systems utilize simple wheeled or skid-type VTOLs. These lack autonomous adjustment and have poor landing capabilities on complex surfaces, limiting their practical applications.

[0004] Therefore, it is necessary to develop an adaptive vertical take-off and landing device that can control the attitude according to the landing terrain conditions, so as to enable the helicopter to take off and land in complex terrain conditions, expand the application range of helicopters, reduce the operating difficulty of pilots, and improve the landing efficiency of helicopters. Summary of the Invention

[0005] The purpose of the present invention is to provide a complex terrain adaptive vertical take-off and landing device to solve the above-mentioned problems.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a complex terrain adaptive vertical take-off and landing device, comprising a body, at least two independently retractable single-leg buffer devices are provided on the outside of the body;

[0007] The single-leg buffer device includes a four-link frame, a rope tightening system, a friction braking system, a controllable double-chamber buffer energy-absorbing cylinder, an elastic bent leg and a foot pad;

[0008] The four-link frame includes an upper link, a vertical rod, a lower link and connecting bolts for installation, and the upper link, vertical rod, lower link and the body form a four-link frame structure;

[0009] The elastic bent leg is installed below the four-link frame structure and is specifically fixedly connected to the vertical rod. A rope is fixedly connected to the elastic bent leg. One end of the rope passes through the four-link frame structure and extends into the interior of the machine body and is connected to a rope tightening system installed inside the machine body.

[0010] The rope tightening system includes a one-way transmission device, a rope pulling device installed in the base plate and a constant force tensioning mechanism, one end of the rope is connected to the rope pulling device, the rope is installed on the rope pulling device, and the tensioning mechanism is provided with two oppositely arranged on both sides of the rope and can provide pre-tightening force to the rope.

[0011] The rope traction device consists of a main motor, a driving shaft, a transmission disc, a transmission disc tightening rope, and a pressure wheel assembly; the main motor is installed on the base plate of the rope tightening system and the output shaft is connected to the driving shaft, the transmission disc is installed on the driving shaft, the transmission disc tightening rope is installed on the transmission disc and is connected to the rope by winding, and the pressure wheel assembly is installed on the shell and pressed on the rope.

[0012] Preferably, both ends of the upper connecting rod, vertical rod and lower connecting rod are provided with assembly holes for installing connecting bolts and the two adjacent ones are connected through the assembly holes. The end of the upper connecting rod away from the vertical rod and the end of the lower connecting rod away from the vertical rod are hinged to the body to form a four-link frame structure.

[0013] Preferably, the pressure wheel assembly consists of a lever, a pressure wheel shell, a spring and a pressure wheel, which is connected to the shell, and multiple of the pressure wheels are movably connected thereto and pressed on to continuously shrink the pressure distance as the winding continues, and the pressure wheel is installed on, and the pressure wheel is connected to the other end and provides pressure force to multiple wheels that move as the winding continues.

[0014] Preferably, the one-way transmission device includes a ratchet, a pawl, a pawl frame, an electromagnet and a compression spring. The ratchet teeth of the ratchet are one-way teeth, which are fixedly connected to the driving shaft driven by the main motor in the rope traction device. The pawl is a check pawl and is hinged to the base plate; the pawl frame is fixed to the base plate, and electromagnets are installed on both the pawl and the pawl frame, and the compression spring connects the pawl and the pawl frame.

[0015] Preferably, the tensioning mechanism includes a motor fixed on the inner wall of the tensioning mechanism housing, the motor is connected to a ball screw for transmission, the ball screw is installed with a screw nut, the screw nut is fixedly connected to a rebound spring and one end of the rebound spring is connected to the housing of the tensioning mechanism, and a tension sensor is also installed on the rope.

[0016] Preferably, the tensioning mechanism further includes a limiting mechanism, and the rope passes through the limiting mechanism.

[0017] Preferably, the limiting mechanism includes a limiting plate, a clamping plate and an electromagnet, and the limiting plate and both sides of the clamping plate in the limiting mechanism are provided with electromagnets; when the electromagnet is energized, the limiting plate and the clamping plate will press the rope, otherwise the rope will be released.

[0018] Preferably, the friction brake system is mounted on the machine body and hinged to the four-link frame.

[0019] Preferably, the controllable dual-chamber buffer energy-absorbing cylinder is installed and rotatably connected between the hinge between the upper connecting rod and the machine body and the hinge between the vertical rod and the lower connecting rod.

[0020] Preferably, the foot pad is installed at the bottom of the elastic bent leg.

[0021] The technical effects and advantages of the present invention are as follows: (1) The technical solution of the present invention can further expand the application scope of vertical take-off and landing aircraft, enabling them to take off and land on a 20° slope, uneven ground, or even a complex ground with a combination of the two, thereby reducing the stringent requirements of vertical take-off and landing aircraft on the take-off and landing site;

[0022] (2) It avoids the destabilization of the aircraft due to the reset and rebound of the buffer mechanism after landing, which in turn causes a secondary impact on the aircraft body, and eliminates the unnecessary negative impact of the buffer mechanism on the aircraft after the buffer stroke ends;

[0023] (3) The new configuration scheme includes elastic leg rods, quadrilateral mechanism, active controllable friction energy absorption device, rope limit device, and all-terrain adaptability. That is, the four-leg configuration with decoupled and independent control can achieve active adaptation to non-structural and non-deterministic terrain. The buffering energy absorption process is actively controllable, that is, the buffering force is actively controllable, and thus the entire drop shock buffering process is also actively controllable. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of a single-leg structure of a complex terrain adaptive vertical take-off and landing device of the present invention;

[0025] Figure 2 This is a schematic diagram of a four-link frame structure of a complex terrain adaptive vertical take-off and landing device according to the present invention;

[0026] Figure 3 This is a schematic diagram of an elastic bent leg and rope tightening system of a complex terrain adaptive vertical take-off and landing device of the present invention;

[0027] Figure 4 This is a structural schematic diagram of a complex terrain adaptive vertical take-off and landing device rope tightening system of the present invention;

[0028] Figure 5 A schematic diagram of a one-way transmission device in the rope tightening system of the present invention;

[0029] Figure 6 A schematic diagram of a rope pulling device in a rope tightening system of the present invention;

[0030] Figure 7 It is a schematic structural diagram of the pressure wheel assembly in the rope traction device of the present invention;

[0031] Figure 8 Schematic diagram of the constant force tensioning mechanism in the rope tightening system of the present invention;

[0032] Figure 9 Schematic diagram of the limiting mechanism in the constant force tensioning mechanism of the present invention;

[0033] Figure 10 This is a schematic diagram of a complex terrain adaptive friction braking system for a vertical take-off and landing device according to the present invention;

[0034] Figure 11 This is a schematic diagram of the installation of a controllable double-chamber buffer energy-absorbing cylinder of a complex terrain adaptive vertical take-off and landing device of the present invention;

[0035] Figure 12 A schematic diagram of a single-leg posture of the complex terrain adaptive vertical take-off and landing device of the present invention;

[0036] Figure 13 This is another single-leg posture schematic diagram of the complex terrain adaptive vertical take-off and landing device of the present invention.

[0037] In the picture:

[0038] 101. Four-link frame; 1011. Upper link; 1012. Vertical link; 1013. Lower link; 1014. Connecting bolt;

[0039] 102. Rope tightening system;

[0040] 1021. One-way transmission device; 10211. Ratchet; 10212. Pawl; 10213. Pawl holder; 10214. Electromagnet; 10215. Compression spring;

[0041] 1022. Rope pulling device; 10221. Main motor; 10222. Driving shaft; 10223. Transmission disk; 10224. Transmission disk tightening rope;

[0042] 10225, pressure wheel assembly; 102251, lever; 102252, pressure wheel housing; 102253, spring; 102254, pressure wheel;

[0043] 1023. Constant force tensioning mechanism; 10231. Motor; 10232. Ball screw; 10233. Screw nut; 10234. Rebound spring;

[0044] 1024, 10235, limit mechanism; 102352, limit plate; 102353, clamping plate; 102354, electromagnet;

[0045] 103. Friction braking system; 104. Controllable double-chamber buffer energy-absorbing cylinder; 105. Elastic bent legs; 106. Foot pads; 107. Rope. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] The present invention provides a vertical take-off and landing device that is self-adaptive to complex terrain, as shown in the figure. Figure 1 As shown in FIG, the entire take-off and landing device is composed of four sets of identical single-leg buffer devices. Since other parts of the aircraft are not within the scope of protection of the present invention, the middle body load part is replaced by a simple rectangular platform. Figure 2 As shown, each single-leg cushioning device consists of a four-link frame 101, a rope tightening system 102, a friction braking system 103, a controllable dual-chamber cushioning energy-absorbing cylinder 104, an elastic bent leg 105, and a foot pad 106. To clearly illustrate the structure of the single-leg cushioning device, the single-leg structure is introduced in the structural introduction, and the four single-leg cushioning structures are shown when the structural working process is demonstrated.

[0048] like Figure 3 As shown, the four-bar linkage 101 consists of an upper link 1011, a vertical bar 1012, a lower link 1013, and connecting bolts 1014. The three links have corresponding mounting holes at both ends for the connecting bolts 1014. The connecting bolts pass through these holes to connect adjacent links and ensure smooth relative rotation. The three links and the fuselage form a free-standing four-bar linkage frame structure, which is used to connect various other buffer and energy-absorbing components, ensuring the smooth operation of the single-leg buffer structure.

[0049] like Figure 4 As shown, the elastic bent leg 105 is installed below the four-bar linkage frame and is fixedly connected to the vertical rod 1012. The lower part of the elastic bent leg 105 is fixedly connected to the foot pad. During the descent of the take-off and landing device, the elastic material will produce elastic deformation, converting part of the kinetic energy during the descent into the elastic potential energy of the elastic bent leg. To ensure that the elastic bent leg does not rebound after compression, the end of the elastic bent leg is connected to the rope tightening system 102 by a rope 1021. The rope tightening system 102 can limit the movement of the elastic bent leg 105 through the rope 1021, ensuring that the elastic bent leg 105 does not rebound after compression, thereby ensuring that the body can land smoothly on the predetermined ground after landing.

[0050] like Figure 5As shown, the rope tensioning system 102 is mounted on the adaptive vertical take-off and landing system body and primarily consists of a one-way transmission 1021, a rope pulling device 1022 located within the base plate, and a constant-force tensioning mechanism 1023. The rope pulling device 1022 connects the active pull rope to the bottom of the elastic leg 105 via the constant-force tensioning mechanism 1023. During the adaptive vertical take-off and landing process, the elastic leg 105 bends, the rope pulling device 1022 pulls the rope 107, the constant-force tensioning mechanism 1023 provides preload, and the one-way transmission 1021 locks, preventing the elastic leg 105 from rebounding.

[0051] like Figure 6 As shown, the one-way transmission device 1021 consists of a ratchet 10211, a pawl 10212, a pawl holder 10213, an electromagnet 10214, and a compression spring 10215. The ratchet teeth of the ratchet 10211 are one-way teeth and are fixedly connected to the driving shaft driven by the main motor in the rope pulling device 1023. The pawl 10212 is a check pawl hinged to the base plate; the pawl holder 10213 is fixed to the base plate, and the electromagnet 10214 is mounted on both the pawl 10212 and the pawl holder 10213. The compression spring 10215 connects the pawl 10212 and the pawl holder 10213.

[0052] The ratchet 10211 is mounted above the rope pulling device 1023. The driving shaft in the rope pulling device 1023 drives the ratchet 10211 to rotate. When the ratchet 10211 rotates clockwise, the compression spring 10215 presses the pawl 10212 against the ratchet to ensure that the pawl 10212 does not disengage from the ratchet 10211 and can be smoothly reset. The pawl 10212 slides over the back of the teeth of the ratchet 10211, allowing the ratchet 10211 to rotate normally. When the ratchet 10211 rotates counterclockwise, the compression spring 10215 applies positive pressure to the end of the pawl 10212 closest to the ratchet 10211, causing the pawl 10212 to press against the ratchet tooth surface and slide toward the tooth root, stopping the ratchet 10211 from rotating, thereby achieving a one-way transmission function.

[0053] In addition, according to the system requirements of the one-way transmission device 1021, the one-way transmission device 1021 should also have the function of unlocking the one-way transmission. An electromagnet 10214 is also installed on the pawl 10212 and the pawl frame 10213. When it is necessary to unlock the one-way transmission device 1021, the electromagnet 10214 is energized to make the two electromagnets installed on the pawl 10212 and the pawl frame 10213 adsorbed, thereby lifting the pawl 10212, so that the pawl 10212 disengages from the ratchet 10211 so that the ratchet 10211 can rotate freely, thereby realizing the unlocking of the one-way transmission.

[0054] like Figure 7-8As shown, the rope traction device 1022 consists of a main motor 10221, a driving shaft 10222, a transmission disc 10223, a transmission disc tightening rope 10224, and a pressure roller assembly 10225. The main motor 10221 is mounted on the base plate of the rope tightening system 102 and is connected to the driving shaft 10222. The main motor 10221 is the driving element of the rope traction device 1022, providing driving force for the transmission disc tightening rope 10224. The transmission disc 10223 is fixedly connected to the driving shaft 10222, through which power is transmitted. The pressure roller assembly 10225 consists of a lever 102251, a pressure roller housing 102252, a spring 102253, and a pressure roller 102254. The lever 102251 and spring 102253 ensure that the pressure roller 102254 is pressed tightly. The transmission disc tightens the rope 10224.

[0055] The rope traction device 1022 operates based on the rope tension information fed back by the tension sensor 10236 in the rope tightening system 1023. The rope tightening system tightens the rope 107 in real time, thereby providing tension to the elastic leg 1025. If the elastic leg bends, the real-time tension of the rope 107 decreases, and the rope tension data transmitted by the tension sensor 10236 decreases. When this decreases, the rope traction device 1022 tightens the rope 107, and the rope traction device begins to operate. When the rope tension measured by the sensor reaches a threshold value, which just prevents the elastic leg from rebounding and further bending, the rope traction device stops operating. At this time, the ratchet teeth in the one-way transmission device 1021 ensure that the rope 107 is taut and the elastic leg does not rebound. During the operation of the rope traction device 1022, the main motor 10221 drives the driving shaft 10222 to rotate, causing the transmission plate 10223 to rotate accordingly. The transmission disk tightens the winding rope 10224 around the transmission disk 10223. The tension spring 102253 drives the lever, causing the pressure wheel assembly 10225 to press against the winding rope 10224, thereby compressing and limiting the position. When the transmission disk 10223 rotates and drives the winding rope 10224, the pressure wheel assembly 10225 remains in the compressed state, and the pressure wheel 102254 rotates accordingly. The pressure wheel assembly 10225 maintains the stability of the movement direction of the winding rope 10224.

[0056] like Figure 9 As shown, the constant force tensioning mechanism 1023 is composed of a motor 10231, a ball screw 10232, a screw nut 10233, a spring 10234, a limiting mechanism 10235 and a tension sensor 10236. The limiting mechanism 10235 is as shown in FIG. Figure 10As shown, the rope 107 is installed between the limit plate 102352 and the clamping plate 102353 in the limit mechanism, the limit plate 102352 is fixedly connected to the screw nut 10233, the motor 10231 is installed on the platform, and is connected to the ball screw 10232 with the screw nut 10233, and the spring 10234 is connected to the ball screw 10232 at one end and the other end to the platform. The tension sensor 10236 is installed on the rope 107, and the rope 107 and the rope 107 mentioned above are one rope.

[0057] In constant-force tensioning system 1023, spring 10234 provides pretension for the rope. After applying pretension, the deformed spring returns to its original length. Motor 10231 is responsible for energizing the pretensioning spring. Motor 10231 rotates and drives ball screw 10232, which converts the rotational motion of motor 10231 into axial motion of screw nut 10233. This in turn stretches or compresses the spring, storing energy and enabling spring 10234 to re-establish pretension for the rope. Tension sensor 10236 measures rope tension and transmits the measurement result to main motor 10221. When rope tension falls below a predetermined threshold, main motor 10221 activates to increase rope tension.

[0058] like Figure 10 As shown, the limiting mechanism 10235 comprises the rope 107, a limiting plate 102352, a clamping plate 102353, and an electromagnet 102354. The limiting plate 102352 and clamping plate 102353 in the limiting mechanism 10235 are both flanked by electromagnets 102354. When the electromagnets 102354 are energized, the limiting plate 102352 and clamping plate 102353 compress the rope 107; otherwise, they release the rope 107. Thus, the limiting mechanism 10235 not only constrains the rope 107 but also allows it to be compressed or released when needed.

[0059] During the operation of the constant force tensioning system 1023, the motor 10231 drives the screw nut 10233 to move through the ball screw 10232, thereby storing energy for the spring 10234. When the spring 10234 stores energy, the electromagnet 102354 on both sides of the limit plate 102352 and the splint 102353 works, driving the limit plate 102352 and the splint 102353 to press the rope, and the spring 10234 releases energy to provide pre-tightening force, so that the rope 107 remains in a tensioned state. To keep rope 107 consistently taut, two constant-force tensioning systems are installed. When spring 10234 of one constant-force tensioning system releases energy, electromagnet 102354 energizes, and limiter mechanism 10235 compresses rope 107, providing pretension to rope 107. At the same time, motor 10231 of the other constant-force tensioning mechanism drives lead screw nut 10233 via ball screw 10232, recharging spring 10234. Electromagnet 102354 is de-energized, releasing rope 107. By ensuring that only one limiter mechanism compresses the rope at all times, the two constant-force tensioning mechanisms alternately provide pretension to the rope, ultimately achieving constant-force tension.

[0060] like Figure 11 As shown, the friction brake system 103 is mounted on the machine platform and connected to a four-link frame hinge 1032 via a fixed pulley assembly 1031. As the machine reaches the ground and slowly descends, the frame hinge 1032 stretches the rope. The braking force provided by the friction brake system 103 applies a resistance force to the hinge, slowing the machine's descent and achieving a slow landing. A related patent for the friction brake system is now published, with patent number CN118049450A (A Reusable Rope-Driven Friction Braking Device).

[0061] like Figure 12 As shown, the controllable dual-chamber buffer energy-absorbing cylinder 104 is rotatably connected through four-bar hinges 1041 and 1042. During the buffering process of the body, the component stores the kinetic energy of the body through compression. In order to ensure the stability of the body after compression, the device also has the function of automatic locking after compression. In order to adjust the posture of the four legs relative to the body, the buffer energy-absorbing cylinder is controllable. According to the terrain environment, the energy-absorbing cylinder adjusts the straight-line distance between the two hinges through active telescopic adjustment, thereby ensuring that the body reaches a predetermined posture before landing. The relevant patent of the controllable dual-chamber buffer energy-absorbing cylinder has been disclosed, and the patent number is CN117108669A (a dual-chamber pneumatic buffer with a controllable reset process).

[0062] like Figure 12-13As shown in the figure, the take-off and landing device can adjust the posture of the single leg according to different terrains. Since the main adjustment component of the single leg posture is the controllable double-chamber buffer energy absorption cylinder, the two figures mainly show the four-link frame and the buffer energy absorption cylinder. When the landing ground is a flat surface, the posture of the four legs remains consistent, that is, the ends of the four legs are ensured to be on the same horizontal plane, as shown in the figure. Figure 7 As shown in the figure; when the landing ground is not flat, the four legs will adjust accordingly according to the ruggedness of the ground to ensure that the body remains level when it lands on the ground, as shown in the figure. Figure 8 shown.

[0063] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A complex terrain adaptive vertical take-off and landing device, comprising a body, characterized in that: At least two independently retractable single-leg buffer devices are provided on the outside of the machine body; The single-leg buffer device comprises a four-link frame (101), a rope tightening system (102), a friction braking system (103), a controllable double-chamber buffer energy absorption cylinder (104), an elastic bent leg (105) and a foot pad (106); The four-link frame (101) comprises an upper link (1011), a vertical rod (1012), a lower link (1013) and connecting bolts (1014) for installation, wherein the upper link (1011), the vertical rod (1012), the lower link (1013) and the machine body form a four-link frame structure; The elastic bent leg (105) is installed below the four-link frame structure and is specifically fixedly connected to the vertical rod (1012). A rope (107) is fixedly connected to the elastic bent leg (105). One end of the rope (107) passes through the four-link frame structure and extends to the inside of the machine body and is connected to the rope tightening system 102 installed inside the machine body. The rope tightening system (102) comprises a one-way transmission device (1021), a rope pulling device (1022) installed in a bottom plate, and a constant force tensioning mechanism (1023); one end of the rope (107) is connected to the rope pulling device (1022); the rope (107) is installed on the rope pulling device (1022); and the constant force tensioning mechanism (1023) is provided with two oppositely arranged on both sides of the rope (107) and installed on the rope (107) to provide pre-tightening force to the rope (107); The rope traction device (1022) is composed of a main motor (10221), a driving shaft (10222), a transmission disc (10223), a transmission disc tightening rope (10224), and a pressure wheel assembly (10225); the main motor (10221) is mounted on the bottom plate of the rope tightening system (102) and the output shaft is transmission-connected to the driving shaft (10222); the transmission disc (10223) is mounted on the driving shaft (10222); the transmission disc tightening rope (10224) is mounted on the transmission disc (10223) and is wound around and connected to the rope (107); the pressure wheel assembly (10225) is mounted on the housing of the rope traction device (1022) and is pressed on the rope (107); The pressure wheel assembly (10225) is composed of a lever (102251), a pressure wheel shell (102252), a spring (102253) and a pressure wheel (102254). The lever (102251) is connected to the shell of the rope traction device (1022). The plurality of pressure wheels (102254) are movably connected to the pressure wheel shell (102252) and press on the rope (107). As the rope (107) is continuously wound, the pressure distance is continuously contracted. The pressure wheel shell (102252) is installed on the lever (102251). The spring (102253) is connected to the other end of the lever (102251) and provides a pressure force to the plurality of pressure wheels (102254) that move as the rope (107) is wound. The one-way transmission device (1021) comprises a ratchet (10211), a pawl (10212), a pawl frame (10213), an electromagnet (10214) and a compression spring (10215). The ratchet teeth of the ratchet (10211) are one-way teeth and are fixedly connected to a driving shaft driven by a main motor (10221) in the rope traction device (1022). The pawl (10212) is a non-return pawl and is hinged to the base plate. The pawl frame (10213) is fixed to the base plate. The pawl (10212) and the pawl frame (10213) are both equipped with an electromagnet (10214). The compression spring (10215) connects the pawl (10212) and the pawl frame (10213).

2. The complex terrain adaptive vertical take-off and landing device according to claim 1, characterized in that: Both ends of the upper connecting rod (1011), the vertical rod (1012) and the lower connecting rod (1013) are provided with assembly holes for installing connecting bolts (1014), and two adjacent ones are connected through the assembly holes. The end of the upper connecting rod (1011) away from the vertical rod (1012) and the end of the lower connecting rod (1013) away from the vertical rod (1012) are both hinged to the body to form a four-link frame structure.

3. The complex terrain adaptive vertical take-off and landing device according to claim 1, characterized in that: The constant force tensioning mechanism (1023) comprises a motor (10231) fixed on the inner wall of the housing of the constant force tensioning mechanism (1023), a ball screw (10232) being transmission-connected to the motor (10231), a screw nut (10233) being mounted on the ball screw (10232), a rebound spring (10234) being fixedly connected to the screw nut (10233), and one end of the rebound spring (10234) being connected to the housing of the constant force tensioning mechanism (1023), and a tension sensor (10236) being further mounted on the rope (107).

4. The complex terrain adaptive vertical take-off and landing device according to claim 3, characterized in that: The constant force tensioning mechanism (1023) further comprises a limiting mechanism (10235), and the rope (107) passes through the limiting mechanism (10235).

5. The complex terrain adaptive vertical take-off and landing device according to claim 4, characterized in that: The limiting mechanism (10235) comprises a limiting plate (102352), a clamping plate (102353) and an electromagnet (102354). Electromagnets (102354) are provided on both sides of the limiting plate (102352) and the clamping plate (102353) in the limiting mechanism (10235). When the electromagnet (102354) is energized, the limiting plate (102352) and the clamping plate (102353) will compress the rope (107), and vice versa, the rope (107) will be released.

6. The complex terrain adaptive vertical take-off and landing device according to claim 1, characterized in that: The friction brake system (103) is mounted on the machine body and is hinged to the four-link frame.

7. The complex terrain adaptive vertical take-off and landing device according to claim 1, characterized in that: The controllable double-chamber buffer energy-absorbing cylinder (104) is installed and rotatably connected between the hinge between the upper connecting rod (1011) and the machine body and the hinge between the vertical rod (1012) and the lower connecting rod (1013).

8. The complex terrain adaptive vertical take-off and landing device according to claim 1, characterized in that: The foot pad (106) is installed on the bottom of the elastic bent leg (105).

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