Hydraulic damping device and method for landing gear of unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicle undercarriages, in particular to a hydraulic damping device and method for unmanned aerial vehicle undercarriage.The hydraulic damping device comprises an unmanned aerial vehicle body, two undercarriage bodies are symmetrically installed at the bottom of the unmanned aerial vehicle body, and buffer assemblies are arranged at the lower ends of the undercarriage bodies; the buffer assembly comprises a buffer cylinder, a movable groove, a buffer rod and a damping spring. Through the arrangement of the buffer assembly, when the unmanned aerial vehicle body lands and is impacted, a buffer rod enters a buffer cylinder and extrudes a damping spring in the buffer cylinder to perform retraction operation, and the impact force caused by descending is absorbed and counteracted through elastic deformation of the damping spring; through the arrangement of the stabilizing mechanism, the degree of an included angle formed between the first connecting rod and the second connecting rod which are symmetrically arranged is gradually reduced, after the unmanned aerial vehicle body gradually absorbs impact force brought by descending, the impact resistance, the stability and the buffering effect of the unmanned aerial vehicle body are improved, and unnecessary damage to the unmanned aerial vehicle body is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle landing gear, and in particular to a hydraulic shock absorbing device and method for a unmanned aerial vehicle landing gear. Background Art

[0002] In recent years, the rapid development of UAV technology has made the application scenarios of UAVs more and more extensive. However, landing in complex terrain and environment is still a challenge. Traditional UAV landing gear design often adopts a skid design, which performs well on flat landing sites, but often cannot land normally in complex terrain such as gravel, thus limiting the application scope of UAVs. Therefore, improving the terrain and environmental adaptability of UAVs has become one of the important research directions of UAV landing gear at home and abroad. Bionic bird-leg UAV landing gear came into being in this context, striving to improve the adaptability and stability of UAV landing gear through the principle of bionics, so that UAVs can land safely in more complex terrain and environment.

[0003] In the prior art, the landing gear on the current drone is generally directly fixed on the shell of the drone to form an integral structure with the drone, or fixed to the bottom of the drone by bolts, and the overall structure and function of the drone landing gear are relatively simple, and can only play the role of supporting the landing of the drone. When the drone is landing, due to the inertia generated during landing or the influence of the weight of the mounted items, the drone will generate a large impact force at the moment of landing. After long-term use, it will not only cause wear and damage to the landing gear, but also the vibration generated by the impact force will be transmitted to the drone and affect the normal use of electronic components in the drone casing, thereby making the impact buffering effect and stability performance of the drone landing gear poor, and the drone is prone to tipping over and causing damage to the wings. For this reason, we propose a hydraulic shock absorbing device and method for drone landing gear to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a hydraulic shock absorbing device and method for a UAV landing gear, so as to solve the problem proposed in the above background technology that a large impact force will be generated when the UAV lands, which will affect the normal use of electronic components in the UAV casing, thereby making the impact buffering effect and stability performance of the UAV landing gear poor, and the UAV is prone to tipping over and causing damage to the wings.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a hydraulic shock absorbing device and method for a drone landing gear, comprising a drone body, two sets of landing gear bodies are symmetrically installed at the bottom of the drone body, a buffer assembly is arranged at the lower end of the landing gear body, and the buffer assembly includes a buffer cylinder, a movable groove, a buffer rod and a damping spring,

[0006] A buffer cylinder is fixedly connected to the bottom of the landing gear body, a movable groove is opened inside the buffer cylinder, a buffer rod is movably connected to the center position of the movable groove, a damping spring is placed inside the buffer cylinder, one end of the damping spring is abutted against the buffer rod, and the other end of the damping spring is abutted against the inner wall of the buffer cylinder, two groups of stabilizing mechanisms are symmetrically distributed on both sides of the buffer rod, the bottom of the buffer rod is connected to a connecting block, a grabbing mechanism is arranged at the bottom of the connecting block, and an infrared sensor is carried inside the grabbing mechanism.

[0007] Preferably, the stabilizing mechanism comprises a first connecting rod, a second connecting rod, a fixing plate, a locking assembly and a driving assembly; the front and rear sides of the landing gear body are both rotatably connected with the first connecting rod; the other end of the first connecting rod is rotatably connected with the second connecting rod on the inner side; the lower ends of the two groups of the second connecting rods are rotatably connected with the fixing plate; the top center position of the fixing plate is fixedly connected to the buffer rod; a locking assembly is provided at the connection between the first connecting rod and the second connecting rod; and a driving assembly is provided inside the landing gear body.

[0008] Preferably, the grasping mechanism includes a base plate, a first connecting member, a second connecting member, a third connecting member, a hook, a connecting plate, a first steel wire rope, a first micro motor, a first connecting shaft and a first partition plate, the bottom of the connecting block is rotatably connected to the base plate, four groups of first connecting members are arranged on the outer side of the base plate, and the four groups of first connecting members are distributed in the form of "three toes facing forward and one toe facing backward" of a falcon, the outer end of the first connecting member is rotatably connected to the second connecting member, the outer end of the second connecting member is rotatably connected to the third connecting member, the outer end of the third connecting member is rotatably connected to the hook, the lower end of the hook is fixedly connected to the connecting plate, the inside of the connecting block is fixedly installed with the first micro motor, the output end of the first micro motor is fixedly connected to the first connecting shaft, the outer surface of the first connecting shaft is fixedly connected to five groups of first partition plates, the inside of the first connecting shaft is located between the first partition plates and four groups of first steel wire ropes are fixedly connected, and the other end of the first steel wire rope passes through the connecting block, the first connecting member, the second connecting member and the third connecting member in sequence and is connected to the connecting plate.

[0009] Preferably, the locking assembly includes a fixed frame, a first movable rod, a movable plate and a gear, the outer side of the first connecting rod is fixedly connected to the fixed frame, the inner side of the fixed frame is rotatably connected to the first movable rod, the surface of the first movable rod is fixedly connected to the movable plate, the outer side of the first movable rod is movably sleeved with a torsion spring, the two ends of the torsion spring are respectively connected to the movable plate and the inner wall of the fixed frame, the surface of the rotating shaft connecting the first connecting rod and the second connecting rod is fixedly connected to a gear, and the side of the movable plate facing the first connecting rod is fixedly connected to teeth meshing with the gear.

[0010] Preferably, a driving assembly is provided inside the landing gear body, and the driving assembly includes a fixing groove, a second micro motor, a second connecting shaft, a second baffle and a second steel wire rope. A fixing groove is opened at the center position of the landing gear body, and a second micro motor is fixedly installed inside the fixing groove. The output end of the second micro motor is fixedly connected to the second connecting shaft, and the outer side of the second connecting shaft is fixedly connected to the second baffle. The surface of the second connecting shaft is located between the second baffles and is fixedly connected with two groups of second steel wire ropes. The other end of the second steel wire rope passes through the landing gear body and is connected to the movable plate along the first connecting rod.

[0011] Preferably, a spring sheet is installed between the first connecting member, the second connecting member, the third connecting member and the connecting plate, and the two ends of the spring sheet are respectively abutted against the inner walls on both sides. The upper surfaces of the first connecting member, the second connecting member and the third connecting member are fixedly connected to a limiting plate, and the limiting plate is symmetrically distributed with the rotating shaft of the first connecting member, the second connecting member and the third connecting member as the center.

[0012] Preferably, four groups of guide rods are equidistantly fixedly connected to the inner sides of the fixing frame and the first connecting rod, a guide wheel is fixedly connected to the center position of the guide rod, and the inner diameter of the guide wheel is consistent with the second steel wire rope.

[0013] Preferably, a protrusion is fixedly connected to the bottom of the second connecting member and the third connecting member at the center position, and the cross-section of the protrusion is an isosceles triangle. The infrared sensor is located at the center position of the bottom plate, and a protective pad is fixedly connected to the bottom of the bottom plate at the outside of the infrared sensor.

[0014] A hydraulic shock absorbing device and method for a drone landing gear, wherein the drone landing shock absorbing method is as follows:

[0015] When the drone needs to land, the infrared sensor at the bottom detects an object, and the propeller of the drone is powered off. When the drone approaches the object, the grabbing mechanism at the bottom is activated, so that the drone stands on the object. During the standing process, the bottom is impacted, and the buffer rod moves toward the inside of the buffer cylinder, squeezing the damping spring, causing the damping spring to deform. The elastic deformation of the damping spring absorbs and offsets the impact force caused by the descent.

[0016] At the same time, the second micro motor is started to drive the second connecting shaft to rotate, and the second steel wire rope is pulled to rotate the movable plate, so that the torsion spring is deformed, and the teeth at the movable plate are disengaged from the gap of the gear, so that the first connecting rod and the second connecting rod can rotate. After the drone body reaches the ground, the second micro motor drives the second connecting shaft to rotate in the opposite direction to loosen the second steel wire rope. The second steel wire rope moves along the inner diameter of the guide wheel. Under the elastic action of the torsion spring, the teeth at the movable plate are reinserted into the gap of the gear, and the first connecting rod and the second connecting rod are locked, so that the drone body is stabilized on the object.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention provides a buffer assembly. When the drone body lands and is impacted, the buffer rod enters the buffer cylinder and squeezes the damping spring in the buffer cylinder to retract, and the elastic deformation of the damping spring is used to absorb and offset the impact force caused by the descent.

[0019] 2. Through the setting of the stabilizing mechanism, the angle formed between the symmetrically arranged first connecting rod and the second connecting rod will gradually decrease, and during the change, the gear on the rotating shaft will rotate, so that the outer movable plate can make a relative rotation operation through the first movable rod. After the drone body gradually absorbs the impact force caused by the descent, the first connecting rod and the second connecting rod are fixed by the coordinated use of the movable plate and the torsion spring, thereby improving the impact resistance and stability performance and buffering effect of the drone body, and preventing unnecessary damage to the drone body. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic side view of the structure of the present invention;

[0022] Figure 2 It is a bottom view schematic diagram of the structure of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the stabilizing mechanism of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the grabbing mechanism of the present invention;

[0025] Figure 5 For the present invention Figure 3 A is a partial enlarged schematic diagram;

[0026] Figure 6 For the present invention Figure 3 A partial enlarged schematic diagram of B in the figure.

[0027] In the figure: 1, drone body; 2, landing gear body; 3, buffer assembly; 31, buffer cylinder; 32, movable groove; 33, buffer rod; 34, damping spring; 4, connecting block; 5, grabbing mechanism; 501, bottom plate; 502, first connecting member; 503, second connecting member; 504, third connecting member; 505, hook; 506, connecting plate; 507, first steel wire rope; 508, first micro motor; 509, first connecting shaft; 510, first partition; 511, spring sheet; 512, limit plate ; 513, protrusion; 6, stabilizing mechanism; 61, first connecting rod; 62, second connecting rod; 63, fixed plate; 64, locking assembly; 641, fixed frame; 642, first movable rod; 643, movable plate; 644, torsion spring; 645, gear; 646, guide rod; 647, guide wheel; 65, driving assembly; 651, fixing groove; 652, second micro motor; 653, second connecting shaft; 654, second partition; 655, second steel wire rope; 7, infrared sensor; 8, protective pad. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-6An embodiment of the present invention is as follows: a hydraulic shock absorbing device and method for a drone landing gear, comprising a drone body 1, two sets of landing gear bodies 2 are symmetrically installed at the bottom of the drone body 1, a buffer assembly 3 is arranged at the lower end of the landing gear body 2, the buffer assembly 3 comprises a buffer cylinder 31, a movable groove 32, a buffer rod 33 and a damping spring 34, a buffer cylinder 31 is fixedly connected to the bottom of the landing gear body 2, a movable groove 32 is opened inside the buffer cylinder 31, a buffer rod 33 is movably connected to the center of the movable groove 32, a damping spring 34 is placed inside the buffer cylinder 31, and the damping spring 34 One end of the buffer rod 33 is against the buffer rod, and the other end of the damping spring 34 is against the inner wall of the buffer tube 31. Two groups of stabilizing mechanisms 6 are symmetrically distributed on both sides of the buffer rod 33. The bottom of the buffer rod 33 is connected to a connecting block 4. The bottom of the connecting block 4 is provided with a grabbing mechanism 5. The grabbing mechanism 5 is equipped with an infrared sensor 7. When the drone body 1 is landing, the bottom is impacted, and the buffer rod 33 is moved toward the inside of the buffer tube 31 to squeeze the damping spring 34, so that the damping spring 34 is deformed, and the elastic deformation of the damping spring 34 is used to absorb and offset the impact force caused by the descent.

[0030] The device solves the problem that a large impact force will be generated when the drone lands, which will cause wear and damage to the landing gear after long-term use, making the drone prone to tipping over and causing damage to the wings, by setting a buffer component 3 and a stabilizing mechanism 6.

[0031] Furthermore, the stabilizing mechanism 6 includes a first connecting rod 61, a second connecting rod 62, a fixing plate 63, a locking assembly 64 and a driving assembly 65. The first connecting rod 61 is rotatably connected to both the front and rear sides of the landing gear body 2. The second connecting rod 62 is rotatably connected to the inner side of the other end of the first connecting rod 61. The lower ends of the two groups of second connecting rods 62 are rotatably connected to the fixing plate 63. The top center position of the fixing plate 63 is fixedly connected to the buffer rod 33. The locking assembly 64 is provided at the connection between the first connecting rod 61 and the second connecting rod 62. The driving assembly 65 is provided inside the landing gear body 2. Figure 3 As shown, when the structure is used to drive the fixing plate 63 to move into the buffer tube 31 through the buffer rod 33, under the action of the rotational connection between the first connecting rod 61 and the second connecting rod 62, the angle between the first connecting rod 61 and the second connecting rod 62 will gradually decrease. The symmetrically distributed first connecting rod 61 and the second connecting rod 62 enhance the stability of the drone body 1 and avoid causing a large shake to the drone body 1.

[0032] Furthermore, the grasping mechanism 5 includes a bottom plate 501, a first connecting member 502, a second connecting member 503, a third connecting member 504, a hook 505, a connecting plate 506, a first steel wire rope 507, a first micro motor 508, a first connecting shaft 509 and a first partition plate 510. The bottom of the connecting block 4 is rotatably connected to the bottom plate 501. Four groups of first connecting members 502 are arranged on the outer side of the bottom plate 501. The four groups of first connecting members 502 are distributed in the form of "three toes facing forward and one toe facing backward" of a falcon. The outer end of the first connecting member 502 is rotatably connected to the second connecting member 503. The outer end of the second connecting member 503 is rotatably connected to the third connecting member 504. The outer end of the third connecting member 504 is rotatably connected to the hook 505. The lower end of the claw 505 is fixedly connected with a connecting plate 506. The first connecting member 502, the second connecting member 503, the third connecting member 504 and the connecting plate 506 are all right-angled trapezoids. The first micro motor 508 is fixedly installed inside the connecting block 4. The output end of the first micro motor 508 is fixedly connected with a first connecting shaft 509. The outer surface of the first connecting shaft 509 is fixedly connected with five groups of first partitions 510. The inside of the first connecting shaft 509 is fixedly connected with four groups of first steel wire ropes 507 located between the first partitions 510. The other end of the first steel wire rope 507 passes through the connecting block 4, the first connecting member 502, the second connecting member 503 and the third connecting member 504 in sequence and is connected to the connecting plate 506. Figure 4 As shown, this structure is used for descending by the drone body 1. When the infrared sensor 7 at the bottom detects an object, the first micro motor 508 is started to drive the first connecting shaft 509 to rotate, thereby pulling the first steel wire rope 507 along the hole at the connecting block 4, and driving the connecting plate 506, the third connecting member 504, the second connecting member 503 and the first connecting member 502 to fit together in turn, so that the four groups of grasping mechanisms 5 grasp the object.

[0033] Furthermore, the locking assembly 64 includes a fixed frame 641, a first movable rod 642, a movable plate 643 and a gear 645. The outer side of the first connecting rod 61 is fixedly connected to the fixed frame 641, the inner side of the fixed frame 641 is rotatably connected to the first movable rod 642, the surface of the first movable rod 642 is fixedly connected to the movable plate 643, the outer side of the first movable rod 642 is movably sleeved with a torsion spring 644, the two ends of the torsion spring 644 are respectively connected to the movable plate 643 and the inner wall of the fixed frame 641, the surface of the rotating shaft connecting the first connecting rod 61 and the second connecting rod 62 is fixedly connected to the gear 645, and the side of the movable plate 643 facing the first connecting rod 61 is fixedly connected to the teeth meshing with the gear 645. Figure 5As shown, this structure is used for gradually reducing the angle between the first connecting rod 61 and the second connecting rod 62, so that the second connecting rod 62 drives the gear 645 to rotate. When the drone body 1 is stable, under the elastic action of the torsion spring 644, the teeth at the movable plate 643 are inserted into the gap of the gear 645 through the first movable rod 642 to limit the gear 645, thereby locking the first connecting rod 61 and the second connecting rod 62, and keeping the drone body 1 upright to prevent shaking.

[0034] Furthermore, a driving assembly 65 is provided inside the landing gear body 2, and the driving assembly 65 includes a fixing slot 651, a second micro motor 652, a second connecting shaft 653, a second partition 654, and a second steel wire rope 655. A fixing slot 651 is provided at the center of the landing gear body 2, and a second micro motor 652 is fixedly installed inside the fixing slot 651. The output end of the second micro motor 652 is fixedly connected to the second connecting shaft 653, and the outer side of the second connecting shaft 653 is fixedly connected to the second partition 654. The surface of the second connecting shaft 653 is located between the second partitions 654 and is fixedly connected to two groups of second steel wire ropes 655. The other end of the second steel wire rope 655 passes through the landing gear body 2 and is connected to the movable plate 643 along the first connecting rod 61. Figure 6 As shown, this structure is used to start the second micro motor 652 to drive the second connecting shaft 653 to rotate when the drone body 1 needs to descend, pull the second steel wire rope 655 to rotate the movable plate 643, deform the torsion spring 644, and make the teeth at the movable plate 643 disengage from the gap of the gear 645, so that the first connecting rod 61 and the second connecting rod 62 can rotate. After the drone body 1 reaches the ground, the second micro motor 652 drives the second connecting shaft 653 to rotate in the opposite direction to release the second steel wire rope 655. Under the elastic action of the torsion spring 644, the teeth at the movable plate 643 are reinserted into the gap of the gear 645, and the first connecting rod 61 and the second connecting rod 62 are locked, so that the drone body 1 is stabilized on the ground.

[0035] Furthermore, a spring sheet 511 is installed between the first connecting member 502, the second connecting member 503, the third connecting member 504 and the connecting plate 506, and the two ends of the spring sheet 511 are respectively against the inner walls on both sides. The upper surfaces of the first connecting member 502, the second connecting member 503 and the third connecting member 504 are fixedly connected to the limiting plates 512, and the limiting plates 512 are symmetrically distributed with the rotation axes of the first connecting member 502, the second connecting member 503 and the third connecting member 504 as the center. Figure 4As shown, the structure is used to squeeze the spring sheet 511 through the elastic action of the spring sheet 511 when the first connecting member 502, the second connecting member 503, the third connecting member 504 and the connecting plate 506 are fitted together, so that the spring sheet 511 is deformed. After the object is released, the first connecting member 502, the second connecting member 503, the third connecting member 504 and the connecting plate 506 are reset under the elastic action of the spring sheet 511.

[0036] Furthermore, four sets of guide rods 646 are fixedly connected to the inner side of the fixing frame 641 and the first connecting rod 61 at equal distances, and a guide wheel 647 is fixedly connected to the center of the guide rod 646, and the inner diameter of the guide wheel 647 is consistent with the second steel wire rope 655. Figure 5 As shown, the structure is used to guide the second steel wire rope 655 through the first connecting rod 61 and the guide rod 646 at the fixing frame 641, so that the second steel wire rope 655 moves along the inner diameter of the guide wheel 647, thereby improving the stability of the device.

[0037] Furthermore, the bottom of the second connecting member 503 and the third connecting member 504 is fixedly connected with a protrusion 513 at the center position, and the cross section of the protrusion 513 is an isosceles triangle. The infrared sensor 7 is located at the center position of the bottom plate 501, and the bottom of the bottom plate 501 is fixedly connected with a protective pad 8 at the outside of the infrared sensor 7. When the bottom plate 501 contacts the ground, the infrared sensor 7 is protected to a certain extent to avoid wear and tear on the infrared sensor 7. Figure 2 and Figure 4 As shown, the structure is used to enhance the friction during grasping through the protrusion 513 to avoid slipping.

[0038] A hydraulic shock absorbing device and method for a drone landing gear, wherein the drone landing shock absorbing method is as follows:

[0039] When the drone body 1 needs to land, the infrared sensor 7 at the bottom detects an object, and the propeller of the drone is powered off. When approaching the object, the grabbing mechanism 5 at the bottom is activated, so that the drone body 1 stands on the object. During the standing process, the bottom is impacted, and the buffer rod 33 moves toward the inside of the buffer cylinder 31, squeezing the damping spring 34, causing the damping spring 34 to deform. The elastic deformation of the damping spring 34 absorbs and offsets the impact force caused by the descent.

[0040] At the same time, the second micro motor 652 is started to drive the second connecting shaft 653 to rotate, and the second steel wire rope 655 is pulled to rotate the movable plate 643, so that the torsion spring 644 is deformed, so that the teeth at the movable plate 643 are disengaged from the gap of the gear 645, so that the first connecting rod 61 and the second connecting rod 62 can rotate. After the drone body 1 reaches the ground, the second micro motor 652 drives the second connecting shaft 653 to rotate in the opposite direction to loosen the second steel wire rope 655. The second steel wire rope 655 moves along the inner diameter of the guide wheel 647. Under the elastic action of the torsion spring 644, the teeth at the movable plate 643 are reinserted into the gap of the gear 645, and the first connecting rod 61 and the second connecting rod 62 are locked, so that the drone body 1 is stabilized on the object.

[0041] Working principle: When used, Figure 1 and Figure 2 As shown, when the drone body 1 is landing, the bottom infrared sensor 7 detects an object, as shown in FIG. Figure 4 As shown, the first micro motor 508 is started to drive the first connecting shaft 509 to rotate, thereby pulling the first steel wire rope 507 along the hole of the connecting block 4, and sequentially driving the connecting plate 506, the third connecting member 504, the second connecting member 503 and the first connecting member 502 to fit together, squeezing the spring sheet 511 to deform the spring sheet 511, so that the four groups of grasping mechanisms 5 grasp the object, as shown in FIG. Figure 3 As shown, when descending, the fixed plate 63 is impacted, the buffer rod 33 is moved toward the inside of the buffer tube 31, and the damping spring 34 is squeezed to deform the damping spring 34. The elastic deformation of the damping spring 34 is used to absorb and offset the impact force caused by the descent, as shown in FIG. Figure 5 and Figure 6 As shown, at the same time, the second micro motor 652 is started to drive the second connecting shaft 653 to rotate, and the second steel wire rope 655 is pulled to rotate the movable plate 643, so that the torsion spring 644 is deformed, so that the teeth at the movable plate 643 are disengaged from the gap of the gear 645, so that the first connecting rod 61 and the second connecting rod 62 can rotate. After the drone body 1 reaches the ground, the second micro motor 652 drives the second connecting shaft 653 to rotate in the opposite direction to release the second steel wire rope 655. The second steel wire rope 655 moves along the inner diameter of the guide wheel 647. Under the elastic action of the torsion spring 644, the teeth at the movable plate 643 are reinserted into the gap of the gear 645, and the first connecting rod 61 and the second connecting rod 62 are locked, so that the drone body 1 is stabilized on the object. When the drone body 1 needs to take off, as shown in FIG. Figure 4As shown, under the elastic action of the spring sheet 511, the first connecting member 502, the second connecting member 503, the third connecting member 504 and the connecting plate 506 are reset, and the drone body 1 is separated from the surface of the object and taken off. The above is the entire working principle of the present invention.

[0042] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A hydraulic shock absorbing device for a drone landing gear, comprising a drone body (1), characterized in that: Two sets of landing gear bodies (2) are symmetrically mounted at the bottom of the drone body (1); a buffer assembly (3) is arranged at the lower end of the landing gear body (2); the buffer assembly (3) comprises a buffer cylinder (31), a movable groove (32), a buffer rod (33) and a damping spring (34); A buffer cylinder (31) is fixedly connected to the bottom of the landing gear body (2), a movable groove (32) is provided inside the buffer cylinder (31), a buffer rod (33) is movably connected to the center of the movable groove (32), a damping spring (34) is placed inside the buffer cylinder (31), one end of the damping spring (34) is against the buffer rod (33), and the other end of the damping spring (34) is against the inner wall of the buffer cylinder (31), two groups of stabilizing mechanisms (6) are symmetrically distributed on both sides of the buffer rod (33), the bottom of the buffer rod (33) is connected to a connecting block (4), a grabbing mechanism (5) is provided at the bottom of the connecting block (4), and an infrared sensor (7) is mounted inside the grabbing mechanism (5).

2. The hydraulic shock absorbing device for a drone landing gear according to claim 1, characterized in that: The stabilizing mechanism (6) comprises a first connecting rod (61), a second connecting rod (62), a fixing plate (63), a locking assembly (64) and a driving assembly (65); the front and rear sides of the landing gear body (2) are both rotatably connected with the first connecting rod (61); the inner side of the other end of the first connecting rod (61) is rotatably connected with the second connecting rod (62); the lower ends of the two groups of the second connecting rods (62) are rotatably connected with the fixing plate (63); the top center position of the fixing plate (63) is fixedly connected to the buffer rod (33); the locking assembly (64) is provided at the connection between the first connecting rod (61) and the second connecting rod (62); and the driving assembly (65) is provided inside the landing gear body (2).

3. The hydraulic shock absorbing device for a drone landing gear according to claim 1, characterized in that: The grasping mechanism (5) comprises a bottom plate (501), a first connecting member (502), a second connecting member (503), a third connecting member (504), a hook (505), a connecting plate (506), a first steel wire rope (507), a first micro motor (508), a first connecting shaft (509) and a first partition (510); the bottom of the connecting block (4) is rotatably connected to the bottom plate (501); four groups of first connecting members (502) are arranged on the outer side of the bottom plate (501); the four groups of first connecting members (502) are distributed in the form of "three toes facing forward and one toe facing backward" of a falcon; the outer end of the first connecting member (502) is rotatably connected to the second connecting member (503); the outer end of the second connecting member (503) is rotatably connected to the third connecting member (504); the third The outer end of the connecting member (504) is rotatably connected to a hook (505), and the lower end of the hook (505) is fixedly connected to a connecting plate (506). A first micro motor (508) is fixedly installed inside the connecting block (4), and the output end of the first micro motor (508) is fixedly connected to a first connecting shaft (509). The outer surface of the first connecting shaft (509) is fixedly connected to five groups of first partitions (510). The interior of the first connecting shaft (509) is fixedly connected to four groups of first steel wire ropes (507) located between the first partitions (510). The other end of the first steel wire rope (507) passes through the connecting block (4), the first connecting member (502), the second connecting member (503) and the third connecting member (504) in sequence and is connected to the connecting plate (506).

4. The hydraulic shock absorbing device for a drone landing gear according to claim 2, characterized in that: The locking assembly (64) comprises a fixed frame (641), a first movable rod (642), a movable plate (643) and a gear (645); the outer side of the first connecting rod (61) is fixedly connected to the fixed frame (641); the interior of the fixed frame (641) is rotatably connected to the first movable rod (642); the surface of the first movable rod (642) is fixedly connected to the movable plate (643); the outer side of the first movable rod (642) is movably sleeved with a torsion spring (644); the two ends of the torsion spring (644) are respectively connected to the movable plate (643) and the inner wall of the fixed frame (641); the surface of the rotating shaft connecting the first connecting rod (61) and the second connecting rod (62) is fixedly connected to the gear (645); and the movable plate (643) is fixedly connected to a side facing the first connecting rod (61) with teeth meshing with the gear (645).

5. The hydraulic shock absorbing device for a drone landing gear according to claim 1, characterized in that: A driving assembly (65) is arranged inside the landing gear body (2), and the driving assembly (65) comprises a fixing slot (651), a second micro motor (652), a second connecting shaft (653), a second partition (654) and a second steel wire rope (655). A fixing slot (651) is provided at the center of the landing gear body (2), and a second micro motor (652) is fixedly installed inside the fixing slot (651). The output end of the second micro motor (652) is fixedly connected to the second connecting shaft (653), and the outer side of the second connecting shaft (653) is fixedly connected to the second partition (654). The surface of the second connecting shaft (653) is located between the second partitions (654) and is fixedly connected with two groups of second steel wire ropes (655). The other end of the second steel wire rope (655) passes through the landing gear body (2) and is connected to the movable plate (643) along the first connecting rod (61).

6. The hydraulic shock absorbing device for a drone landing gear according to claim 3, characterized in that: A spring sheet (511) is installed between the first connecting member (502), the second connecting member (503), the third connecting member (504) and the connecting plate (506), and two ends of the spring sheet (511) are respectively abutted against the inner walls on both sides, and the upper surfaces of the first connecting member (502), the second connecting member (503) and the third connecting member (504) are fixedly connected to a limiting plate (512), and the limiting plate (512) is symmetrically distributed with the rotation axis of the first connecting member (502), the second connecting member (503) and the third connecting member (504) as the center.

7. The hydraulic shock absorbing device for a drone landing gear according to claim 4, characterized in that: Four groups of guide rods (646) are equidistantly fixedly connected to the inner sides of the fixed frame (641) and the first connecting rod (61); a guide wheel (647) is fixedly connected to the center of the guide rod (646); and the inner diameter of the guide wheel (647) is consistent with the second steel wire rope (655).

8. The hydraulic shock absorbing device for a drone landing gear according to claim 3, characterized in that: A protrusion (513) is fixedly connected to the bottom of the second connecting member (503) and the third connecting member (504) at a central position, and the cross-section of the protrusion (513) is an isosceles triangle. The infrared sensor (7) is located at a central position of the bottom plate (501), and a protective pad (8) is fixedly connected to the bottom of the bottom plate (501) at the outer side of the infrared sensor (7).

9. A hydraulic shock absorbing device and method for a drone landing gear, characterized in that: The method of reducing shock when the drone descends is as follows: When the drone body (1) needs to land, the infrared sensor (7) at the bottom detects an object, and the propeller of the drone is powered off. When the drone approaches the object, the gripping mechanism (5) at the bottom is activated, so that the drone body (1) stands on the object. During the standing process, the bottom is impacted, and the buffer rod (33) moves toward the inside of the buffer cylinder (31), squeezing the damping spring (34) to deform the damping spring (34). The elastic deformation of the damping spring (34) absorbs and offsets the impact force caused by the descent. At the same time, the second micro motor (652) is started to drive the second connecting shaft (653) to rotate, and the second steel wire rope (655) is pulled to rotate the movable plate (643), so that the torsion spring (644) is deformed, so that the teeth at the movable plate (643) are disengaged from the gap of the gear (645), so that the first connecting rod (61) and the second connecting rod (62) can rotate. After the drone body (1) reaches the ground, the second micro motor (652) drives the second connecting shaft (653) to rotate in the opposite direction to release the second steel wire rope (655), and the second steel wire rope (655) moves along the inner diameter of the guide wheel (647). Under the elastic action of the torsion spring (644), the teeth at the movable plate (643) are reinserted into the gap of the gear (645), and the first connecting rod (61) and the second connecting rod (62) are locked, so that the drone body (1) is stabilized on the object.

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