Inflation-free undercarriage with buffering function and unmanned aerial vehicle

Abstract

The invention provides an inflation-free undercarriage with a buffering function and an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle undercarriages.The inflation-free undercarriage comprises a supporting column pipe, the upper end of the supporting column pipe is used for being connected with the unmanned aerial vehicle, a lining pipe is arranged in the supporting column pipe, and an annular first limiting part and an annular second limiting part are arranged on the inner peripheries of the upper end and the lower end of the lining pipe correspondingly; the wheel fork comprises a columnar part and a fork-shaped part, the columnar part and the fork-shaped part are connected to form an inverted Y-shaped structure, a hub is arranged in the fork-shaped part, the hub is rotationally connected with the fork-shaped part through a wheel shaft, a solid tire is arranged on the periphery of the hub, and an annular third limiting part is arranged on the periphery of the columnar part; the elastic component is arranged in the lining pipe and arranged on the outer side of the columnar part in a sleeving mode, and the elastic component is arranged between the first limiting part and the third limiting part; the problem that in the prior art, an undercarriage of an unmanned aerial vehicle adopts combination of pneumatic tires and a hydraulic buffering mechanism, and air leakage hidden danger exists is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle landing gear, and more specifically, relates to an inflation-free landing gear with a buffering function and a unmanned aerial vehicle. Background Art

[0002] Currently, most drone landing gears use pneumatic tires with hydraulic buffer mechanisms. However, since high-altitude, long-flight drones need to work continuously in a low-pressure environment for several months, the use of pneumatic tires has a great risk of air leakage, affecting the safety of the drone during landing. In addition, high-altitude, long-flight drones have very strict requirements on structural weight, and the use of traditional materials and structural designs cannot meet the use requirements of this type of aircraft. Summary of the invention

[0003] The purpose of the present invention is to provide an air-free landing gear and a UAV with a buffering function in view of the deficiencies in the prior art, so as to solve the problem that the landing gear of the UAV in the prior art adopts a combination of an inflatable tire and a hydraulic buffer mechanism, which has the risk of air leakage.

[0004] In order to achieve the above object, the present invention provides an air-free landing gear with a buffer function, comprising:

[0005] A support tube, the upper end of which is used to connect to the drone, an inner liner tube is provided inside the support tube, and an annular first limiting portion and a second limiting portion are provided on the inner circumference of the upper end and the lower end of the inner liner tube respectively;

[0006] A wheel fork, the wheel fork comprising a columnar portion and a fork-shaped portion, the columnar portion and the fork-shaped portion are connected to form an inverted Y-shaped structure, a wheel hub is arranged in the fork-shaped portion, the wheel hub is rotatably connected to the fork-shaped portion through a wheel axle, a solid tire is arranged on the outer periphery of the wheel hub, and an annular third limiting portion is arranged on the outer periphery of the columnar portion;

[0007] An elastic component is arranged inside the inner liner tube and sleeved on the outside of the columnar portion. The elastic component is arranged between the first limiting portion and the third limiting portion.

[0008] Optionally, the liner tube has a petal structure, and the two petals are detachably connected by a first connecting ear and a second connecting ear arranged at the upper end and the lower end of each petal. An annular connecting portion with an L-shaped cross-section is arranged on the outer periphery of the lower end of the liner tube, and a plug-in groove is formed between the annular connecting portion and the liner tube, and the lower end of the support tube is detachably connected to the plug-in groove.

[0009] Optionally, an F-shaped bushing with an F-shaped cross-section and an I-shaped bushing with an I-shaped cross-section are respectively arranged between the first limiting portion and the second limiting portion and the columnar portion. The F-shaped bushing and the I-shaped bushing are made of self-lubricating materials. An axial retaining ring is arranged on the upper side of the F-shaped bushing at the upper end of the columnar portion.

[0010] Optionally, the columnar portion and the forked portion are integrally formed. The wheel fork includes an outer layer and a filler filled in the outer layer. The outer layer is a carbon fiber structure, and the filler is PMI foam.

[0011] Optionally, a shaft hole is arranged at the end of the forked portion away from the columnar portion. The wheel shaft is arranged in the shaft hole. A wear-resistant bushing is arranged between the shaft hole and the wheel shaft. A limiting bushing is arranged on the outer side of the wheel shaft between the two wear-resistant bushings. A self-lubricating bushing is arranged on the outer side of the limiting bushing. The hub is sleeved on the outer side of the self-lubricating bushing.

[0012] Optionally, the hub includes two symmetrically arranged hub petals. Each hub petal includes an inner ring and an outer ring connected to the outside of the inner ring through a plurality of support portions. A fourth limiting portion in the form of an annular ring extending radially outward is arranged on the outer periphery of the outer ring. When the two hub petals are connected relatively, an installation groove is formed between the two fourth limiting portions. The inner periphery of the annular solid tire is embedded in the installation groove, and the inner ring is sleeved on the outer side of the wheel shaft.

[0013] Optionally, the elastic member includes a plurality of sets of disc-shaped elastic pieces. Each set of disc-shaped elastic pieces includes an upper elastic piece and a lower elastic piece that are opposite and buckled. The plurality of sets of disc-shaped elastic pieces are sequentially arranged on the outer side of the columnar portion along the axial direction of the columnar portion.

[0014] Optionally, it further includes a plurality of annular elastic piece linings with a cross-section in the shape of a reversed T and two annular elastic piece outer linings with a cross-section in the shape of an L. The horizontal side of one annular elastic piece outer lining is arranged between the uppermost upper elastic piece and the first limiting portion, and its vertical side is arranged between the uppermost upper elastic piece and the columnar portion. The horizontal side of the other annular elastic piece outer lining is arranged between the lowermost lower elastic piece and the second limiting portion, and its vertical side is arranged between the lowermost lower elastic piece and the columnar portion. The horizontal side of each annular elastic piece lining is arranged between adjacent upper and lower elastic pieces, and its vertical side is arranged between adjacent upper and lower elastic pieces and the columnar portion.

[0015] Optionally, the materials of the upper elastic piece and the lower elastic piece are polyurethane, and the materials of the annular elastic piece lining and the annular elastic piece outer lining are metal.

[0016] The present invention also provides a drone, including the above-mentioned non-pneumatic landing gear with a buffering function.

[0017] The present invention provides an air-free landing gear with a buffer function and an unmanned aerial vehicle, and the beneficial effects are as follows: the wheels of the air-free landing gear with a buffer function adopt a combination of a wheel hub and a solid tire, which replaces the traditional pneumatic tire, can better meet the tire requirements of high-altitude and long-flight unmanned aerial vehicles, and there is no hidden danger of air leakage in the solid tire during flight, which can ensure normal landing after long-term flight, thereby improving the reliability of the tire; at the same time, a buffer mechanism of a support tube, an inner liner tube, a wheel fork and an elastic component is adopted to realize mechanical landing gear buffering, which can improve the reliability of the buffer mechanism; during landing, the solid tire itself and the elastic component are compressed, which can absorb part of the kinetic energy, thereby realizing shock absorption and buffering.

[0018] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0020] Figure 1 The whole structure schematic diagram of an air-free landing gear with a buffer function according to an embodiment of the present invention is shown.

[0021] Figure 2 A partial structural schematic diagram of an air-free landing gear with a buffer function according to an embodiment of the present invention is shown.

[0022] Figure 3 A schematic cross-sectional structure diagram of an air-free landing gear with a buffer function according to an embodiment of the present invention is shown.

[0023] Figure 4 A schematic structural diagram of a tire of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0024] Figure 5 A schematic structural diagram of a wheel fork of an air-free landing gear with a buffer function according to an embodiment of the present invention is shown.

[0025] Figure 6 A schematic structural diagram of a wheel hub of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0026] Figure 7 A schematic structural diagram of a hub petal of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0027] Figure 8 A schematic structural diagram of a self-lubricating bushing of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0028] Fig. 9 A schematic structural diagram of an inner liner tube of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0029] Fig.10 A schematic structural diagram of an F-type bushing of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0030] Fig.11 A schematic structural diagram of an I-type shaft sleeve of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0031] Fig.12 A schematic diagram showing the relative positions of the columnar portion and the liner tube of an airless landing gear with a buffer function in a natural state and a buffer state according to an embodiment of the present invention is shown.

[0032] Fig.13 A schematic structural diagram of an upper spring piece of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0033] Fig.14 A schematic structural diagram of an upper spring piece of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0034] Fig.15 A schematic structural diagram of a butterfly shrapnel assembly of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0035] Fig.16 A schematic structural diagram of an annular spring liner of an airless landing gear with a buffering function according to an embodiment of the present invention is shown.

[0036] Fig.17 A schematic structural diagram of an annular spring sheet outer lining of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0037] Fig.18 A schematic diagram of a plurality of butterfly-shaped shrapnel groups in a natural state of an airless landing gear with a buffer function according to an embodiment of the present invention is shown.

[0038] Fig.19 A schematic diagram of the state of multiple butterfly spring leaf groups in a buffer state of an air-free landing gear with a buffer function according to an embodiment of the present invention is shown.

[0039] Fig. 20 A comparative schematic diagram of a buffer mechanism of a non-inflatable landing gear with a buffer function in a natural state and a buffer state according to an embodiment of the present invention is shown.

[0040] Description of reference numerals:

[0041] 1. Solid tire; 2. Wheel fork; 3. Hub flap; 4. Self-lubricating bushing; 5. Limit bushing; 6. Wear-resistant bushing; 7. Wheel axle; 8. Stop gasket; 9. Support tube; 10. Liner tube; 11. I-type bushing; 12. Upper spring piece; 13. Lower spring piece; 14. Annular spring piece lining; 15. Annular spring piece outer lining; 16. Shaft retaining ring; 17. F-type bushing; 2-1. Shaft hole; 2-2. Third limiting part; 2-3. Retaining ring groove; 2-4. Stop part; 3-1. Outer ring; 3-2. Inner ring; 3-3. Bolt hole; 10-1. First connecting ear; 10-2. Second connecting ear; 10-3. Annular connecting part; 10-4. First limiting part; 10-5. Second limiting part. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0043] like Figures 1 to 3 As shown, the present invention provides an inflatable-free landing gear with a buffer function, comprising:

[0044] A support tube 9, the upper end of which is used to connect to the drone, an inner liner tube 10 is provided inside the support tube 9, and an annular first stopper 10-4 and a second stopper 10-5 are provided on the inner circumference of the upper end and the lower end of the inner liner tube 10 respectively;

[0045] The wheel fork 2 comprises a columnar portion and a fork-shaped portion, the columnar portion and the fork-shaped portion are connected to form an inverted Y-shaped structure, a wheel hub is arranged in the fork-shaped portion, the wheel hub is rotatably connected to the fork-shaped portion through a wheel axle 7, a solid tire 1 is arranged on the outer periphery of the wheel hub, and an annular third limiting portion 2-2 is arranged on the outer periphery of the columnar portion;

[0046] The elastic component is arranged inside the inner liner tube 10 and sleeved on the outside of the columnar portion. The elastic component is arranged between the first limiting portion 10-4 and the third limiting portion 2-2.

[0047] Specifically, in order to solve the problem of air leakage in the landing gear of the UAV in the prior art, which adopts a combination of an inflatable tire and a hydraulic buffer mechanism, the wheel of the air-free landing gear with buffer function provided by the present invention adopts a combination of a hub and a solid tire 1, which replaces the traditional pneumatic tire, and can better meet the tire requirements of high-altitude and long-flight UAVs. During flight, the solid tire 1 does not have the risk of air leakage, which can ensure normal landing after long-term flight, thereby improving the reliability of the tire. At the same time, a buffer mechanism of a support tube 9, an inner liner tube 10, a wheel fork 2 and an elastic component is adopted to realize mechanical landing gear buffering, which can improve the reliability of the buffer mechanism. During landing, the solid tire 1 itself and the elastic component are compressed, which can absorb part of the kinetic energy and realize shock absorption and buffering.

[0048] In this embodiment, if Figure 4 As shown, the solid tire 1 is a solid polyurethane rubber tire, which is provided with elasticity by its own material and the open hole structure evenly distributed along its circumference, thereby avoiding the problem of air leakage when running in a low-pressure environment for a long time; the proportion of the polyurethane material and the shape and arrangement of the openings can be designed according to the actual required stiffness and strength.

[0049] Optionally, the liner tube 10 is a petal structure, and the two petals are detachably connected by a first connecting ear 10-1 and a second connecting ear 10-2 arranged at the upper and lower ends of each petal. An annular connecting portion 10-3 with an L-shaped cross-section is arranged on the outer periphery of the lower end of the liner tube 10, and a plug-in groove is formed between the annular connecting portion 10-3 and the liner tube 10, and the lower end of the support tube 9 is detachably connected in the plug-in groove.

[0050] Specifically, the petal-structured liner tube 10 facilitates the installation and disassembly of the elastic component. The first connecting ear 10-1 and the second connecting ear 10-2 are connected by bolt fasteners to form a complete liner tube 10. After the lower end of the support tube 9 is inserted into the plug, it can also be connected by bolt fasteners.

[0051] In this embodiment, if Fig. 9 As shown, the inner liner tube 10 is made of titanium alloy material, and the two halves are connected by through holes and bolt fasteners on the first connecting ear 10-1 and the second connecting ear 10-2; the inner periphery of the first limiting portion 10-4 is connected to the F-type sleeve 17, and the inner periphery of the second limiting portion 10-5 is connected to the I-type sleeve 11, which are used to limit the relative position of the inner liner tube 10 and the fork 2, so that the inner liner tube 10 only has the freedom to slide up and down on the outer fork 2; standard bolt fasteners can be used and will not be repeated here.

[0052] Optionally, an F-type sleeve 17 with an F-shaped cross-section and an I-shaped sleeve 11 with an I-shaped cross-section are respectively arranged between the first limiting portion 10-4 and the second limiting portion 10-5 and the columnar portion. The F-type sleeve 17 and the I-shaped sleeve 11 are made of self-lubricating material, and a shaft retaining ring 16 is arranged on the upper side of the F-type sleeve 17 at the upper end of the columnar portion.

[0053] In this embodiment, if Fig.10 and Fig.11 As shown, the F-type sleeve 17 and the I-type sleeve 11 are both made of PEEK or other engineering plastics with self-lubricating properties to ensure smooth sliding; the retaining ring groove 2-3 on the columnar part of the fork 2 is installed with the shaft retaining ring 16 to limit the sliding range of the inner liner tube 10 on the fork 2.

[0054] Further, such as Fig.12 As shown, the columnar portion moves axially relative to the inner liner tube 10 in the natural state and the buffer state, and the elastic component can be compressed by the third limiting portion 2-2 during this process.

[0055] Optionally, the columnar portion and the fork-shaped portion are integrally formed, and the wheel fork 2 includes an outer layer and a filler filled in the outer layer, the outer layer is a carbon fiber structure, and the filler is PMI foam.

[0056] In this embodiment, if Figure 5 As shown, the wheel fork 2 is a composite lightweight wheel fork 2, the outer layer of which is a carbon fiber structure, and the complex shape inside is filled with foam, which reduces weight while meeting performance requirements; the wheel fork 2 is in an inverted "Y" shape, and the machine wheel is placed between the two forks of the fork-shaped part, the wheel fork 2 is connected to the wheel axle 7 through the axial hole 2-1, and an elastic component is placed on the upper part of the third limiting part 2-2; a retaining ring groove 2-3 is provided at the upper end of the columnar part, and the retaining ring groove 2-3 is used to place the shaft retaining ring 16, thereby limiting the upward movement of the inner liner tube 10 of the buffer mechanism, and the lower end of the columnar part is provided with an outwardly extending annular stopper 2-4, and the stopper 2-4 is used to limit the downward movement of the inner liner tube 10.

[0057] Optionally, an axial hole 2-1 is provided at the end of the fork-shaped portion away from the columnar portion, the wheel axle 7 is inserted into the axial hole 2-1, a wear-resistant sleeve 6 is provided between the axial hole 2-1 and the wheel axle 7, a limiting sleeve 5 is provided on the outer side of the wheel axle 7 between the two wear-resistant sleeves 6, a self-lubricating sleeve 4 is provided on the outer side of the limiting sleeve 5, and the wheel hub is provided on the outer side of the self-lubricating sleeve 4.

[0058] Specifically, the wear-resistant sleeves 6 are respectively arranged in the two axial holes 2-1 of the fork-shaped part, and the limiting sleeve 5 arranged between the two supports the two wear-resistant sleeves 6 to prevent the two wear-resistant sleeves 6 from moving toward each other. The self-lubricating sleeve 4 plays a lubricating role between the wheel hub and the limiting sleeve 5.

[0059] In this embodiment, if Figure 8As shown, the self-lubricating sleeve 4 uses PEEK or other engineering plastics with self-lubricating properties. The two self-lubricating sleeves 4 are respectively installed on the inner circumference of the two hub petals 3 to provide better rotation ability for the hub; one end of each self-lubricating sleeve 4 is provided with an annular shoulder extending radially outward, and the shoulders of the two self-lubricating sleeves 4 are respectively located on both sides of the hub.

[0060] In this embodiment, the limiting sleeve 5 is made of metal materials such as titanium alloy or stainless steel, and is installed on the inner side of the self-lubricating sleeve 4 to prevent the wheel fork 2 from clamping the wheel hub and affecting the rotation of the wheel when the wheel axle 7 is tightened; the wear-resistant sleeve 6 is made of wear-resistant materials such as copper and beryllium bronze, and is installed in the shaft hole 2-1 to protect the local part of the wheel fork 2 and prevent the long-term rotation from wearing out the local carbon fiber structure of the wheel fork 2; the wheel axle 7 is made of metal materials such as titanium alloy or stainless steel, and is used to connect the wheel hub, wheel fork 2 and other structures. The wheel axle 7 can be connected to the wheel fork 2 by a nut, and a stop washer 8 is used on the front side of the nut to prevent loosening and tightening.

[0061] Optionally, the wheel hub includes two symmetrically arranged wheel hub petals 3, each wheel hub petal 3 includes an inner ring 3-2 and an outer ring 3-1 connected to the outside of the inner ring 3-2 through multiple support parts, and the outer periphery of the outer ring 3-1 is provided with an annular fourth limiting part extending radially outward. When the two wheel hub petals 3 are relatively connected, an installation groove is formed between the two fourth limiting parts, the inner periphery of the annular solid tire 1 is embedded in the installation groove, and the inner ring 3-2 is sleeved on the outer side of the wheel axle 7.

[0062] Specifically, the arrangement of the two hub petals 3 can conveniently open the installation slot, making it easier to install and remove the solid tire 1 .

[0063] In this embodiment, if Figure 6 and Figure 7 As shown, the hub flap 3 is a carbon fiber structure, the mounting groove cooperates with the inner ring 3-2 of the tire, and the inner periphery of the inner ring 3-2 cooperates with the self-lubricating sleeve 4; two hub flaps 3 are a group and used in pairs, and the two hub flaps 3 are connected at the bolt holes 3-3 by multiple bolts; when designing, the width between the two hub flaps 3 needs to match the width of the tire to ensure that the wheel hub can fix the tire and the tire will not fall off the wheel hub when moving.

[0064] Optionally, the elastic component includes a plurality of disc-shaped spring sheet groups, each of which includes an upper spring sheet 12 and a lower spring sheet 13 that are oppositely and snap-fitted together, and the plurality of butterfly-shaped spring sheet groups are sequentially arranged on the outside of the columnar portion along the axial direction of the columnar portion.

[0065] Specifically, the upper spring piece 12 and the lower spring piece 13 are both disc spring-shaped structures, and the upper spring piece 12 and the lower spring piece 13 of each butterfly spring piece group are relatively buckled and arranged.

[0066] In this embodiment, if Figures 13 to 15As shown, the upper spring piece 12 and the lower spring piece 13 are both bowl-shaped structures and are made of polyurethane material; the upper spring piece 12 and the lower spring piece 13 form a disc spring group, and the buffering function is realized through the compression and rebound of multiple disc spring groups.

[0067] Optionally, it further includes a plurality of annular spring piece linings 14 with a cross-section of "卜"-shaped and two annular spring piece outer linings 15 with a cross-section of L-shaped. The horizontal side of one annular spring piece outer lining 15 is arranged between the uppermost upper spring piece 12 and the first limiting part 10-4, and its vertical side is arranged between the uppermost upper spring piece 12 and the columnar part. The horizontal side of the other annular spring piece outer lining 15 is arranged between the lowermost lower spring piece 13 and the second limiting part 10-5, and its vertical side is arranged between the lowermost lower spring piece 13 and the columnar part. The horizontal side of each annular spring piece lining 14 is arranged between two adjacent upper spring pieces 12 and lower spring pieces 13, and its vertical side is arranged between two adjacent upper spring pieces 12 and lower spring pieces 13 and the columnar part.

[0068] In this embodiment, as Fig.16 and Fig.19 shown, the disc spring groups are connected by the annular spring piece linings 14. The uppermost upper spring piece 12 and the lowermost lower spring piece 13 are sealed with the annular spring piece outer linings 15. The annular spring piece linings 14 and the annular spring piece outer linings 15 are made of metal materials such as aluminum alloy.

[0069] Optionally, the materials of the upper spring piece 12 and the lower spring piece 13 are polyurethane, and the materials of the annular spring piece linings 14 and the annular spring piece outer linings 15 are metal.

[0070] The present invention also provides an unmanned aerial vehicle, including the above-mentioned non-inflatable landing gear with a buffering function.

[0071] Specifically, the above-mentioned non-inflatable landing gear with a buffering function is connected to the airframe of the unmanned aerial vehicle through the upper end of the strut tube 9.

[0072] Regarding the structural design of the non-inflatable landing gear with a buffering function provided by the present invention:

[0073] 1. First, it is necessary to determine the basic dimensions of the solid tire 1, the dimensions and quantities of the disc spring groups according to the takeoff and landing loads and energy distribution of the unmanned aerial vehicle;

[0074] 2. The structural dimensions and ply design of the hub flap 3 are carried out according to the take-off and landing load of the UAV and the size of the inner ring 3-2 of the solid tire 1. The diameter and width of the hub flap 3 are determined by the size of the solid tire 1 to ensure that the two hub flaps 3 can tighten the solid tire 1 after installation and the solid tire 1 does not fall off during movement. The number and thickness of the support parts of the hub flap 3 can be optimized according to the load. The number is usually 6-12 and the thickness is 5-8mm. The size of the inner ring 3-2 of the hub flap 3 is related to the internal self-lubricating sleeve 4, the limit sleeve 5, and the axle 7. A comprehensive design should be carried out to ensure the strength and rotation function while keeping the total weight of the structure as light as possible;

[0075] 3. According to the dimensions of the wheel hub 3 and the solid tire 1 after assembly, determine the angle, length and other structural dimensions of the fork of the wheel fork 2. According to the number of butterfly spring pieces and the compression stroke, determine the length of the vertical axis of the fork of the wheel fork 2. According to the take-off and landing load of the UAV, comprehensively design the thickness of the fork of the wheel fork 2, the inner and outer diameters of the columnar part and the corresponding laying conditions. Since the intersection of the fork and the columnar part of the wheel fork 2 has a complex structure, PMI foam is used for internal filling in consideration of the processability of actual production.

[0076] 4. Design the size and laying of the support tube 9 according to the take-off and landing load of the UAV;

[0077] 5. Design the structure of the liner tube 10 according to the dimensions of the support tube 9 and the butterfly spring group (including the natural state and the buffer state);

[0078] 6. Determine the selection of standard parts in various locations based on the UAV take-off and landing load and related parts structure.

[0079] Regarding the structural manufacturing of the air-free landing gear with a buffer function provided by the present invention:

[0080] The system mainly includes 5 types of parts:

[0081] 1. Carbon fiber parts: hub flap 3, wheel fork 2, pillar tube 9. According to different structural forms, hub flap 3 and wheel fork 2 can be formed by molding process, pillar tube 9 can be formed by winding process, and carbon fiber laying should be carried out according to the designed laying angle;

[0082] 2. Polyurethane material parts: solid tire 1, upper spring sheet 12, lower spring sheet 13, injection molding is adopted, and the proportion of polyurethane material shall be carried out according to the design results;

[0083] 3. Self-lubricating material parts: Self-lubricating sleeve 4, I-type sleeve 11, F-type sleeve 17, using PEEK or other engineering plastics with self-lubricating properties, usually processed by bar machine according to the structural characteristics, and injection molding can also be used, but the cost is high and it is not recommended;

[0084] 4. Metal parts: limit sleeve 5, wear-resistant sleeve 6, axle 7, inner liner tube 10, annular spring liner 14, annular spring outer liner 15, are machined;

[0085] 5. Common standard parts: stop washers 8, shaft retaining rings 16, bolts and nuts, etc., which can be purchased directly as finished products.

[0086] When assembling the air-free landing gear with a buffer function provided by the present invention:

[0087] 1. Insert the hub flap 3 into the solid tire 1 from both sides and fasten it with bolts and nuts to ensure that the hub flap 3 can clamp the solid tire 1 to avoid relative movement between the hub and the tire;

[0088] 2. Insert the self-lubricating sleeve 4 into the hub flap 3 from both sides to ensure that the shaft shoulder fits the hub flap 3;

[0089] 3. Insert the two wear-resistant bushings 6 into the shaft holes 2 - 1 of the fork 2 respectively;

[0090] 4. Insert the limiting sleeve 5 into the self-lubricating sleeve 4 to ensure that the shoulder of the limiting sleeve 5 fits with the self-lubricating sleeve 4 on one side;

[0091] 5. Put the assembled solid tire 1 and wheel hub structure into the fork-shaped part of the wheel fork 2 to ensure coaxiality, and then install the wheel axle 7 and the stop washer 8 in sequence and fasten them with nuts;

[0092] 6. Turn the solid tire 1 and observe whether it turns smoothly;

[0093] 7. Assemble the annular spring sheet outer lining 15, the plurality of upper spring sheets 12, the plurality of lower spring sheets 13, and the annular spring sheet inner lining 14 in sequence according to the design results, and after the assembly is completed, install the entirety of the columnar portion on the fork 2;

[0094] 8. Install the I-type shaft sleeve 11 and the F-type shaft sleeve 17 on the columnar part of the wheel fork 2 respectively, assemble the two-piece inner liner tube 10 therewith, and fasten the two inner liner tubes 10 with bolts and nuts;

[0095] 9. Slide the inner lining tube 10 up and down along the columnar part of the fork 2 to observe whether the movement is smooth;

[0096] 10. Install a shaft retaining ring 16 at the upper end of the columnar portion of the wheel fork 2 to limit the overall movement of the inner liner tube 10 and prevent it from slipping out of the wheel fork 2;

[0097] 11. Install the assembled structure into the support pipe 9 as a whole, and fasten the support pipe 9 and the lining pipe 10 with bolts.

[0098] like Fig. 20As shown, when the UAV is flying, the solid tire 1 does not have the risk of air leakage, which can ensure normal landing after a long flight; when the UAV lands, the compression of the solid tire 1 itself and the compression of the buffer disc group can absorb part of the kinetic energy respectively to achieve shock absorption and buffering.

[0099] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A non-inflatable landing gear with a buffer function, characterized in that: include: A support tube, the upper end of which is used to connect to the drone, an inner liner tube is provided inside the support tube, and an annular first limiting portion and a second limiting portion are provided on the inner circumference of the upper end and the lower end of the inner liner tube respectively; A wheel fork, the wheel fork comprising a columnar portion and a fork-shaped portion, the columnar portion and the fork-shaped portion are connected to form an inverted Y-shaped structure, a wheel hub is arranged in the fork-shaped portion, the wheel hub is rotatably connected to the fork-shaped portion through a wheel axle, a solid tire is arranged on the outer periphery of the wheel hub, and an annular third limiting portion is arranged on the outer periphery of the columnar portion; An elastic component is arranged inside the inner liner tube and sleeved on the outside of the columnar portion. The elastic component is arranged between the first limiting portion and the third limiting portion.

2. The air-free landing gear with a buffer function according to claim 1, characterized in that: The liner tube is of a petal structure, and the two petals are detachably connected by a first connecting ear and a second connecting ear arranged at the upper end and the lower end of each petal. An annular connecting portion with an L-shaped cross-section is arranged on the outer periphery of the lower end of the liner tube, and a plug-in groove is formed between the annular connecting portion and the liner tube, and the lower end of the support tube is detachably connected to the plug-in groove.

3. The air-free landing gear with a buffer function according to claim 2, characterized in that: An F-type sleeve with an F-shaped cross-section and an I-shaped sleeve with an I-shaped cross-section are respectively arranged between the first limiting portion, the second limiting portion and the columnar portion. The F-type sleeve and the I-shaped sleeve are made of self-lubricating material, and a shaft retaining ring is arranged on the upper side of the F-type sleeve at the upper end of the columnar portion.

4. The air-free landing gear with a buffer function according to claim 1, characterized in that: The columnar portion and the fork-shaped portion are integrally formed, and the wheel fork comprises an outer layer and a filler filled in the outer layer, the outer layer is a carbon fiber structure, and the filler is PMI foam.

5. The air-free landing gear with a buffer function according to claim 1, characterized in that: An axial hole is provided at the end of the fork-shaped portion away from the columnar portion, the wheel axle is inserted into the axial hole, a wear-resistant sleeve is provided between the axial hole and the wheel axle, a limiting sleeve is provided on the outer side of the wheel axle between the two wear-resistant sleeves, a self-lubricating sleeve is provided on the outer side of the limiting sleeve, and the wheel hub is provided on the outer side of the self-lubricating sleeve.

6. The air-free landing gear with a buffer function according to claim 1, characterized in that: The wheel hub includes two symmetrically arranged wheel hub petals, each of the wheel hub petals includes an inner ring and an outer ring connected to the outside of the inner ring through a plurality of support parts, the outer periphery of the outer ring is provided with an annular fourth limiting part extending radially outward, when the two wheel hub petals are relatively connected, a mounting groove is formed between the two fourth limiting parts, the inner periphery of the annular solid tire is embedded in the mounting groove, and the inner ring is sleeved on the outer side of the wheel axle.

7. The air-free landing gear with a buffer function according to claim 1, characterized in that: The elastic component includes a plurality of disc-shaped spring sheet groups, each of which includes an upper spring sheet and a lower spring sheet that are oppositely and locked together, and the plurality of disc-shaped spring sheet groups are sequentially arranged on the outer side of the columnar portion along the axial direction of the columnar portion.

8. The air-free landing gear with a cushioning function according to claim 7, characterized in that: It further includes a plurality of annular spring pieces liners with a cross-section in the shape of a reversed "卜" and two annular spring pieces outer liners with a cross-section in the shape of an "L". The horizontal side of one of the annular spring pieces outer liners is disposed between the uppermost upper spring piece and the first limiting portion, and its vertical side is disposed between the uppermost upper spring piece and the columnar portion. The horizontal side of the other annular spring piece outer liner is disposed between the lowermost lower spring piece and the second limiting portion, and its vertical side is disposed between the lowermost lower spring piece and the columnar portion. The horizontal side of each annular spring piece liner is disposed between two adjacent upper and lower spring pieces, and its vertical side is disposed between two adjacent upper and lower spring pieces and the columnar portion.

9. The air-free landing gear with a cushioning function according to claim 7, characterized in that: The materials of the upper spring piece and the lower spring piece are polyurethane, and the materials of the annular spring piece liner and the annular spring piece outer liner are metal.

10. A drone, characterized in that: It includes the non-pneumatic landing gear with a buffering function according to any one of claims 1-9.

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