Unmanned aerial vehicle with self-adaptive takeoff and landing supporting mechanism

Abstract

The unmanned aerial vehicle is characterized in that four buffer legs are elastically supported on the four side walls of a material bearing seat, two connecting rods are distributed in a cross shape, the two ends of each connecting rod are correspondingly hinged to the two buffer legs, each connecting rod is sleeved with a spring and two buffer sleeves, the spring is arranged between the two buffer sleeves, and the two buffer sleeves are connected with the material bearing seat. Every two of the four buffering arms form a group, the two buffering arms in each group are distributed in a V shape, one ends of the buffering arms are hinged to the material bearing base, and the other ends of the buffering arms are hinged to the two buffering sleeves on the same connecting rod. When the unmanned aerial vehicle lands on an uneven road surface, the buffer structure can absorb and weaken impact from the road surface. The springs can be compressed when the buffer legs meet the protrusions, impact energy is stored as elastic potential energy, and vibration is prevented from being directly transmitted to the machine body.

Description

Technical Field

[0001] The invention relates to a drone with an adaptive landing support mechanism. Background Art

[0002] Traditional UAV landing and take-off support mechanisms have significant disadvantages when facing uneven terrain. The random height differences and complex slopes of uneven terrain will cause huge differences in the reaction forces on the support points of the landing gear legs, destroying the overall force balance of the fuselage. This not only easily causes the UAV to lose control of its attitude at the moment of take-off and landing, leading to problems such as rollover, forward tilt or backward tilt, but also causes fatigue, deformation and even fracture of the landing gear structure due to local stress concentration. At the same time, the bumpy impact caused by the uneven ground is difficult to be effectively buffered by the traditional landing mechanism, and will be directly transmitted to the precision components inside the fuselage, thereby reducing the stability of the flight control system and the measurement accuracy of the sensor, seriously threatening the flight safety and mission execution of the UAV, and greatly limiting the application scope of traditional UAVs in complex terrain environments. Summary of the invention

[0003] The present invention provides a UAV with an adaptive landing support mechanism in order to solve the problems existing in the above-mentioned prior art.

[0004] The technical solutions adopted in the present invention are: A UAV with an adaptive landing support mechanism comprises a UAV body, a material receiving seat is arranged on the UAV body, and also comprises buffer legs, connecting rods, buffer sleeves, springs and buffer arms, wherein four buffer legs are elastically supported on four side walls of the material receiving seat, two connecting rods are cross-distributed, and two ends of each connecting rod are hinged to the two buffer legs respectively, a spring and two buffer sleeves are sleeved on each connecting rod, and the spring is placed between the two buffer sleeves, four buffer arms are grouped in pairs, and two buffer arms in each group are distributed in a V shape, one end is hinged to the material receiving seat, and the other end is hinged to the two buffer sleeves on the same connecting rod.

[0005] Furthermore, the buffer leg includes a first two-fold rod, a second two-fold rod, a slider and a tension spring, the slider is slidably connected to the side wall of the material receiving seat, one end of the first two-fold rod and the second two-fold rod are hinged on the slider, and the other end of the first two-fold rod is hinged at the rotating joint of the second two-fold rod, and a plurality of tension springs are connected to each side wall of the material receiving seat, and the tension springs on each side wall are divided into three groups, one group is connected to the first two-fold rod, one group is connected to the second two-fold rod, and the remaining group is connected to the slider.

[0006] Furthermore, supporting feet are provided at the ends of the second folding rods.

[0007] Furthermore, a storage cavity is provided on the material receiving seat.

[0008] Furthermore, two material clamping manipulators are symmetrically arranged on the outer wall of the material receiving seat.

[0009] Furthermore, a tension spring is provided between the connecting rod and the material receiving seat.

[0010] The present invention has the following beneficial effects: When the drone lands on an uneven road, the buffer structure provided by the present invention can absorb and reduce the impact from the road surface. The spring can be compressed when the buffer leg encounters a bump, storing the impact energy as elastic potential energy, thereby preventing the vibration from being directly transmitted to the fuselage.

[0011] The parallel structure buffer legs adopted in the present invention have excellent weight-bearing characteristics, which can accurately and evenly distribute the overall weight of the drone to each supporting point, thereby not only significantly improving the effective carrying capacity of the drone itself, but also greatly enhancing the structural rigidity of the buffer legs, providing a guarantee for the stability and safety of the drone during take-off, landing and stationary operation.

[0012] The bottom of the buffer leg of the present invention adopts a ball joint and a ball joint bearing seat to connect the support foot, which is convenient for the UAV to passively adapt to the ground with various slopes, and effectively ensures the stable placement and safe operation of the UAV under complex terrain conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a structural diagram of the present invention.

[0014] Figure 2 This is a structural diagram of the present invention.

[0015] Figure 3 This is the assembly diagram between the buffer leg and the material receiving seat.

[0016] Figure 4 This is the assembly diagram between the buffer leg and the material receiving seat.

[0017] Figure 5 This is the structural diagram of the clamping robot. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] like Figures 1 to 4The present invention discloses an unmanned aerial vehicle with an adaptive landing support mechanism, comprising an unmanned aerial vehicle body 1, a buffer leg 3, a connecting rod 41, a buffer sleeve 42, a spring 43 and a buffer arm 44. A rectangular material receiving seat 2 is provided on the unmanned aerial vehicle body 1, four buffer legs 3 are elastically supported on four side walls of the material receiving seat 2, two connecting rods 41 are cross-distributed, and both ends of each connecting rod 41 are hinged to the corresponding side buffer legs 3, a spring 43 and two buffer sleeves 42 are sleeved on each connecting rod 41, and the spring 43 is placed between the two buffer sleeves 42, four buffer arms 44 are grouped in pairs, and each group of two buffer arms 44 is distributed in a V shape, one end is hinged to the material receiving seat 2, and the other end is hinged to the two buffer sleeves 42 on the same connecting rod 41.

[0020] The buffer sleeve 42 and the connecting rod 41 form a moving pair, and the spring 43 is located between the two buffer sleeves 42. When the UAV lands, the buffer arms 44 on both sides push the buffer sleeves 42 on both sides to compress inward, so that the spring 43 obtains elastic potential energy. The connecting rod 41 is hinged to the buffer leg 3 through a ball head hinge pair, thereby realizing the buffering effect of the buffer mechanism.

[0021] In order to ensure the buffer return of the connecting rod 41 , a tension spring 34 is provided between the connecting rod 41 and the material receiving seat 2 .

[0022] The buffer leg 3 includes a first two-folding rod 31, a second two-folding rod 32, a slider 33 and a tension spring 34. The slider 33 is slidably connected to the side wall of the material receiving seat 2. One end of the first two-folding rod 31 and the second two-folding rod 32 are both hinged on the slider 33. The other end of the first two-folding rod 31 is hinged at the rotation joint of the second two-folding rod 32. A plurality of tension springs 34 are connected to each side wall of the material receiving seat 2, and the tension springs 34 on each side wall are divided into three groups, one group is connected to the first two-folding rod 31, one group is connected to the second two-folding rod 32, and the remaining group is connected to the slider 33. A support foot 35 is provided at the end of the second two-folding rod 32.

[0023] The buffer legs 3 adopt a hollow structure, and the four buffer legs 3 are arranged in parallel to construct a stable support structure, which can evenly disperse the impact force during landing to each leg, avoid local stress concentration, and effectively improve the bearing capacity and stability of the overall structure. Under the premise of meeting the basic mechanical performance requirements, the hollow design significantly reduces the weight of the adaptive landing mechanism by reducing the amount of material used, which is of key significance for improving the thrust-to-weight ratio of the drone and extending the flight time. The hollow design effectively reduces wind resistance. Compared with solid legs, its special shape and structure allow air to flow more smoothly when passing through, effectively reducing the force of the air on the legs, reducing energy loss during flight, and thus improving the flight efficiency and control stability of the drone. Especially when flying at high speeds and under the influence of complex outdoor weather conditions, this advantage is more prominent, allowing the drone to fly more efficiently and safely.

[0024] The material receiving seat 2 is provided with a receiving cavity 21 for receiving the transported material. In order to realize automatic material handling, two material clamping manipulators 5 are symmetrically provided on the outer wall of the material receiving seat 2.

[0025] like Figure 5 The material clamping robot 5 includes a first motor 51, a second motor 52, a third motor 53, a fourth motor 54, a fifth motor 55, a first mechanical arm 56, a second mechanical arm 57 and a clamp 58. The first motor 51 is fixed on the side wall of the material receiving seat 2. The first motor 51 drives the second motor 52 to rotate as a whole. The second motor 52 drives the first mechanical arm 56 to rotate. The third motor 53 is fixed on the first mechanical arm 56 and drives the second mechanical arm 57 to rotate. The fourth motor 54 is fixed on the second mechanical arm 57 and drives the clamp 58 to rotate. The clamp 58 is a gear clamp with two meshing gears. The fifth motor 55 is fixed on the clamp 58 and drives the clamp 58 to clamp. The first motor 51 is used to drive the entire manipulator 5 to rotate, and the fourth motor 54 is used to drive the entire clamping jaw 58 to rotate. The first motor 51 and the fourth motor 54 have the same rotation direction. The second motor 52 and the third motor 53 are used to drive the joints of the clamping manipulator to rotate, and the rotation direction is the same as that of the fifth motor and is perpendicular to the rotation direction of the first motor 51 and the fourth motor 54.

[0026] When the drone lands on an uneven road, the buffer structure provided by the present invention can absorb and reduce the impact from the road surface. The spring can be compressed when the buffer leg encounters a bump, storing the impact energy as elastic potential energy, thereby preventing the vibration from being directly transmitted to the fuselage.

[0027] The parallel structure buffer legs adopted in the present invention have excellent weight-bearing characteristics, which can accurately and evenly distribute the overall weight of the drone to each supporting point, thereby not only significantly improving the effective carrying capacity of the drone itself, but also greatly enhancing the structural rigidity of the buffer legs, providing a guarantee for the stability and safety of the drone during take-off, landing and stationary operation.

[0028] The bottom of the buffer leg of the present invention adopts a ball joint and a ball joint bearing seat to connect the support foot, which is convenient for the UAV to passively adapt to the ground with various slopes, and effectively ensures the stable placement and safe operation of the UAV under complex terrain conditions.

[0029] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle with an adaptive landing support mechanism, comprising an unmanned aerial vehicle body (1), a material receiving seat (2) being provided on the unmanned aerial vehicle body (1), characterized in that: The invention also comprises a buffer leg (3), a connecting rod (41), a buffer sleeve (42), a spring (43) and a buffer arm (44), wherein the four buffer legs (3) are elastically supported on the four side walls of the material receiving seat (2), the two connecting rods (41) are arranged in a cross shape, and the two ends of each connecting rod (41) are hinged to the two buffer legs (3) respectively, a spring (43) and two buffer sleeves (42) are sleeved on each connecting rod (41), and the spring (43) is arranged between the two buffer sleeves (42), and the four buffer arms (44) are arranged in pairs, and the two buffer arms (44) in each group are arranged in a V shape, one end of which is hinged to the material receiving seat (2), and the other end of which is hinged to the two buffer sleeves (42) on the same connecting rod (41).

2. The UAV with an adaptive landing support mechanism according to claim 1, characterized in that: The buffer leg (3) comprises a first two-fold rod (31), a second two-fold rod (32), a slider (33) and a tension spring (34); the slider (33) is slidably connected to the side wall of the material receiving seat (2); one end of the first two-fold rod (31) and the second two-fold rod (32) are both hinged on the slider (33); the other end of the first two-fold rod (31) is hinged at the rotation joint of the second two-fold rod (32); a plurality of tension springs (34) are connected to each side wall of the material receiving seat (2); and the tension springs (34) on each side wall are divided into three groups, one group is connected to the first two-fold rod (31), one group is connected to the second two-fold rod (32), and the remaining group is connected to the slider (33).

3. The UAV with an adaptive landing support mechanism according to claim 2, characterized in that: A supporting foot (35) is provided at the end of the second folding rod (32).

4. The UAV with an adaptive landing support mechanism according to claim 1, characterized in that: The material receiving seat (2) is provided with a receiving cavity (21).

5. The UAV with an adaptive landing support mechanism according to claim 1, characterized in that: Two material clamping manipulators (5) are symmetrically arranged on the outer wall of the material receiving seat (2).

6. The UAV with an adaptive landing support mechanism according to claim 1, characterized in that: A tension spring (34) is provided between the connecting rod (41) and the material receiving seat (2).

Images