Rotor wing unmanned aerial vehicle with emergency landing function

Abstract

The invention relates to a rotor unmanned aerial vehicle with an emergency landing function. The rotor unmanned aerial vehicle comprises an unmanned aerial vehicle body, a plurality of vehicle arms capable of being unfolded or folded, connecting rods with the same number as the vehicle arms, a second driving mechanism and a parachute. A supporting rod is arranged on the unmanned aerial vehicle body, an upper base sliding on the supporting rod is connected with the vehicle arm through a connecting rod, and the sliding position is controlled by a second driving mechanism so that the vehicle arm can be folded inwards or unfolded outwards. A parachute is stored at the top of the unmanned aerial vehicle, the unmanned aerial vehicle is connected with an unmanned aerial vehicle body through parachute cords, and an ejection mechanism is arranged for ejecting the parachute in emergency. When the unmanned aerial vehicle is out of control, the unmanned aerial vehicle slides to a designated position along with the upper base to trigger the ejection mechanism to eject the parachute, and the landing speed of the unmanned aerial vehicle is slowed down by utilizing the parachute to hang in the air for deceleration, so that safe emergency landing is realized, and damage caused by out-of-control is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly to a rotor unmanned aerial vehicle with an emergency landing function. Background Art

[0002] Unmanned aerial vehicles have made great progress in fields such as agricultural plant protection, logistics transportation, and power inspection. With the further improvement of the functions and performance of unmanned aerial vehicles, they are involved to a great extent and depth in many scenarios such as urban inspection, emergency response, and disaster monitoring.

[0003] Existing unmanned aerial vehicles mainly land through preset or real-time control instructions. However, in the event of an emergency, an out-of-control unmanned aerial vehicle often has to make an emergency landing by means of a hard landing. An out-of-control unmanned aerial vehicle often has a fast landing speed and an uncontrollable landing position. The collision causes great damage to the unmanned aerial vehicle, especially components such as rotors. An unmanned aerial vehicle lacking an emergency landing function often has damaged rotors or even the entire unmanned aerial vehicle after a hard landing. Summary of the Invention

[0004] In view of the above deficiencies, the present invention provides a rotor unmanned aerial vehicle with an emergency landing function, which can solve the problem that existing rotor unmanned aerial vehicles are easily damaged after an out-of-control landing due to the lack of an emergency landing function.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A rotor unmanned aerial vehicle with an emergency landing function, comprising:

[0007] An unmanned aerial vehicle body, on which a support rod is erected vertically, and an upper base is slidably arranged on the support rod;

[0008] Arms, there are multiple arms, and the multiple arms are arranged around the unmanned aerial vehicle body in a circle. One end of each arm is rotatably connected to the unmanned aerial vehicle body so that the arm can be unfolded outward or folded inward, and the other end of the arm is provided with a rotor;

[0009] Link rods, the number of which is the same as that of the arms. One end of each link rod is rotatably connected to the upper base, and the other end is rotatably connected to the end of the arm close to the upper base;

[0010] A second driving mechanism, which is used to drive the upper base to slide on the support rod and be fixed at a certain position;

[0011] A parachute, which is stored at the top of the unmanned aerial vehicle body and is connected to the unmanned aerial vehicle body through a parachute rope. An ejection mechanism for ejecting the parachute is also arranged on the unmanned aerial vehicle body; wherein,

[0012] The ejection mechanism is suitable for driving the upper base to slide to a certain position as the second driving mechanism drives the upper base to slide to a certain position, so that the machine arm is folded inwards, and the ejection mechanism is triggered to eject the parachute.

[0013] Further, the second driving mechanism is a hollow servo electric cylinder, which is sleeved on the periphery of the support rod, the cylinder body of the second driving mechanism of the hollow servo electric cylinder is fixedly connected to the support rod, and the upper base is fixedly sleeved on the top periphery of the piston of the second driving mechanism of the hollow servo electric cylinder;

[0014] The upper part of the support rod is hollow and open, the top of the support rod is provided with a side groove penetrating the hollow interior and a slide groove penetrating the hollow interior, a fixed pulley is provided in the side groove, and a force storage limiter is provided in the slide groove;

[0015] The ejection mechanism includes an ejection rod, a compression spring, an ejection base, a pulling rope, an ejection piece and a lifting ring. The ejection rod is inserted in the hollow upper part of the support rod, the ejection base is fixedly arranged on the upper part of the ejection rod, the compression spring is sleeved on the outer periphery of the ejection rod, one end of the ejection spring abuts the ejection base, and the other end is connected to the lifting ring. The pulling rope passes around the fixed pulley, one end is connected to the lifting ring, and the other end is connected to the upper base. The ejection piece is placed on the top of the ejection rod and is arranged opposite to the parachute. The ejection base is located in the slide groove and can abut against the force storage limiting piece so as to be able to push open the force storage limiting piece and slide quickly in the slide groove after the compression spring is compressed to a certain extent.

[0016] Furthermore, a placement protrusion is arranged on the top of the ejection rod, and the ejection member is an annular structure and is arranged around the outer periphery of the placement protrusion.

[0017] Furthermore, a parachute compartment is provided on the top of the drone body, and the top of the parachute compartment is open. A baffle that can be opened before the parachute is ejected is provided at the top open position of the parachute compartment, and the parachute is placed in the parachute compartment. The parachute compartment is located above the support rod and the bottom is communicated with the upper opening of the support rod.

[0018] Furthermore, one end of the baffle is connected to the side edge of the umbrella bin through a torsion spring so that the other end of the baffle has a tendency to tilt upward to achieve opening of the baffle, and the side edge of the umbrella bin is also provided with a clamping mechanism, and a clamping sheet is provided on the clamping mechanism so that the clamping sheet can be driven by the clamping mechanism to clamp the baffle so that the baffle closes the top opening of the umbrella bin, or can drive the clamping sheet to leave the baffle to achieve opening of the baffle.

[0019] Further, the rotary-wing unmanned aerial vehicle with an emergency landing function further includes:

[0020] Legs, which are arranged around the unmanned aerial vehicle body in a plurality. One ends of the plurality of legs are rotatably connected to the bottom of the unmanned aerial vehicle body so that the legs can swing up and down around the rotation point; and,

[0021] The first driving members, the number of which is the same as the number of the legs. The first driving members correspond to the legs one by one. One end of the first driving member is rotatably connected to the unmanned aerial vehicle body, and the other end is rotatably connected to the end of the leg close to the unmanned aerial vehicle body.

[0022] Further, the leg includes a leg connecting member, a leg plate and a leg motor. One end of the connecting member is rotatably connected to the unmanned aerial vehicle body, and the other end is connected to the leg motor. The leg plate is installed on the output shaft of the leg motor. An anti-slip rubber is arranged on one side surface of the leg plate, and a ground-gripping nail is arranged on the other side surface.

[0023] Further, a pressure sensor and / or a lidar are / is further arranged on the side surface of the leg plate where the anti-slip rubber or the ground-gripping nail is arranged.

[0024] Further, a mounting seat is arranged at the end of the arm. An installation groove is formed on the side surface of the mounting seat facing upward when the arm is unfolded. A receiving cavity communicating with the installation groove is formed at the bottom of the installation groove. A second elastic member is arranged in the installation groove;

[0025] A through hole penetrating through to the receiving cavity is formed on one side surface of the mounting seat. A rotor limiting member is arranged in the receiving cavity. One end of the rotor limiting member passes through the through hole, and the other end is connected to the inner wall of the receiving cavity through a first elastic member so that the rotor limiting member has a tendency to move outward and partially extends out of the mounting seat;

[0026] A first hook head is arranged in the middle of the rotor limiting member. A stop block is arranged at a position of the rotor limiting member close to the outer end. When the rotor limiting member has a tendency to move outward under the action of the first elastic member, the stop block abuts against the inner wall of the receiving cavity;

[0027] The rotor is provided with a second hook head. When the rotor presses the second elastic member and is installed in the installation groove, the second hook head hooks the first hook head.

[0028] Further, a positioning groove is arranged on the side wall of the installation groove. The rotor is provided with a positioning block that is fitted into the positioning groove.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] The rotor UAV with emergency landing function of the present invention can drive the arm to fold inward when the UAV is out of control, and trigger the ejection mechanism to eject the parachute. The parachute can slow down the landing speed of the out-of-control UAV through the air-deceleration effect, so as to achieve the emergency landing. The emergency landing can reduce the landing damage of the UAV due to the slow landing speed.

[0031] When landing, the arms and the rotors on them are folded inwards, which can avoid the arms and the rotors on them from colliding as much as possible when the drone lands, so as to protect the arms and the rotors on them, thereby effectively avoiding or reducing the damage caused by the uncontrolled landing of the drone;

[0032] Since the arms can be folded to a certain extent, the arms can be folded to reduce the overall space occupied by the drone, which is helpful for the storage and transportation of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0034] Figure 1 It is a structural schematic diagram of a rotary-wing UAV with an emergency landing function of the present invention in a flying state from one viewing angle;

[0035] Figure 2 It is a structural schematic diagram of the rotary-wing UAV with an emergency landing function of the present invention in another viewing angle when in flight;

[0036] Figure 3 for Figure 1 The enlarged schematic diagram of point A in the middle;

[0037] Figure 4 A partial cross-sectional view of the rotor UAV with emergency landing function of the present invention in flight state;

[0038] Figure 5 for Figure 4 The enlarged schematic diagram of point B in the middle;

[0039] Figure 6 It is a structural schematic diagram of the ejection mechanism and some of the working parts in the present invention;

[0040] Figure 7 It is a schematic diagram of the ejection part of the rotary wing UAV with emergency landing function of the present invention being ejected during emergency landing (the parachute is not shown);

[0041] Figure 8 It is a schematic structural diagram of the rotary-wing UAV with emergency landing function of the present invention during emergency landing;

[0042] Figure 9 This is a schematic structural diagram of the rotor, mounting base and components thereon in the present invention;

[0043] Figure 10 This is a schematic cross-sectional view of the rotor, mounting base and components thereon when they are fixed in the present invention;

[0044] Figure 11 This is a schematic cross-sectional view of the rotor, mounting base and components thereon when they are separated in the present invention.

[0045] Among them, the marks shown in the figure are: 11 - support rod; 12 - upper base; 13 - connecting rod; 14 - side groove; 15 - sliding groove; 16 - fixed pulley; 17 - energy storage limiting member; 18 - parachute compartment; 19 - baffle; 110 - pressing mechanism; 111 - pressing piece; 112 - bottom plate; 113 - top plate;

[0046] 20 - support leg; 21 - support leg connecting piece; 22 - support foot plate; 23 - support leg motor; 24 - anti-slip rubber; 25 - ground spike; 26 - lidar;

[0047] 30 - first driving member;

[0048] 40 - arm; 41 - mounting base; 42 - placement groove; 43 - accommodating cavity; 44 - through hole; 45 - rotor limiting member; 46 - first elastic member; 47 - second elastic member; 48 - first hook head; 49 - stop block; 410 - positioning groove;

[0049] 50 - rotor; 51 - second hook head; 52 - positioning block;

[0050] 60 - second driving mechanism;

[0051] 70 - parachute; 71 - parachute rope;

[0052] 81 - ejection rod; 82 - compression spring; 83 - ejection base; 84 - pulling rope; 85 - ejection member; 86 - lifting ring; 87 - placement protrusion. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0054] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0055] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] Please refer to Figures 1 to 11 , a preferred embodiment of the present invention provides a rotor unmanned aerial vehicle with an emergency landing function, mainly including an unmanned aerial vehicle body, a support leg 20, a first driving member 30, an arm 40, a rotor 50, a second driving mechanism 60, and a parachute 70.

[0057] Please continue to refer to Figures 1 to 8 , the unmanned aerial vehicle body includes a support rod 11, a bottom plate 112 fixed to the bottom of the support rod 11, and a top plate 113 located at the top of the support rod 11. The support rod 11 is erected in the normal state, and an upper base 12 is slidably arranged on the support rod 11, and the upper base 12 mainly slides in the upper middle part of the support rod 11.

[0058] There are multiple arms 40, and the multiple arms 40 are arranged around the unmanned aerial vehicle body for one week. Specifically, in an exemplary embodiment, six arms 40 are evenly distributed around the top plate 113 of the unmanned aerial vehicle body. One end of the arm 40 is rotatably connected to the unmanned aerial vehicle body so that the arm 40 can be unfolded outward or folded inward. When the arm 40 is unfolded outward, as Figure 1 , Figure 2 and Figure 4 shown, it is a conventional flight configuration. The inward folding of the arm 40 is to approach the support rod 11 from top to bottom, as Figure 7 and Figure 8 shown.

[0059] The rotor 50 is arranged at one end of the arm 40 away from the support rod 11. When the arm 40 is unfolded outward, the unmanned aerial vehicle flies by the rotation of the rotor 50.

[0060] A connecting rod 13 is further provided between the arm 40 and the upper base 12. The number of the connecting rods 13 is the same as that of the arms 40. One end of the connecting rod 13 is rotatably connected to the upper base 12, and the other end is rotatably connected to the end of the arm 40 close to the upper base 12.

[0061] The second driving mechanism 60 is installed on the support rod 11 and is used to drive the upper base 12 to slide on the support rod 11 and be fixed at a certain position. For example, when the upper base 12 is driven by the second driving mechanism 60 to move to the top position of the support rod 11 and the arm 40 is perpendicular to the support rod 11, the arm 40 expands outwards and is in a flying state. When the upper base 12 is driven by the second driving mechanism 60 to move to the middle position of the support rod 11, the arm 40 folds inwards and approaches the support rod 11. At this time, the arm 40 and the rotors 50 thereon are received inwards, which helps to reduce the volume.

[0062] The parachute 70 is received at the top of the UAV body and is connected to the UAV body through a parachute rope 71. An ejection mechanism for ejecting the parachute 70 is further provided on the UAV body. The ejection mechanism is adapted to drive the upper base 12 to slide to a certain position by the second driving mechanism 60, so that the arm 40 folds inwards, and trigger the ejection mechanism to eject the parachute 70. That is, when the second driving mechanism 60 drives the upper base 12 to slide to a certain position, the ejection mechanism can eject the parachute 70. It can be understood that the second driving mechanism 60 drives the upper base 12 to slide on the support rod 11, and this sliding can make the arm 50 fold, and the degree of this folding is adjustable and controllable. For example, when the upper base 12 slides down from the top of the support rod 11 to the middle, the arm 40 gradually folds. At this time, when the position where the ejection mechanism acts is not reached, the ejection mechanism will not eject the parachute 70 until the upper base 12 slides to a certain position in the middle, and at this time, the ejection mechanism is correspondingly triggered and the parachute 70 is ejected.

[0063] During implementation, the upper base 12 is driven to slide to the top of the support rod 11 by the second driving mechanism 60. At this time, the arm 40 is unfolded outward and is in a flying state, and the rotor 50 is rotated to realize the flight of the drone; and when the drone is out of control, such as when some of the rotors 50 are not operating, the upper base 12 can be driven to slide toward the middle of the support rod 11 by the second driving mechanism 60 until the upper base 12 slides to a certain position. At this time, the arm 40 is folded inward, and the ejection mechanism is triggered to eject the parachute 70. The parachute 70 is used to slow down the landing speed of the out-of-control drone to achieve an emergency landing. The emergency landing can reduce the landing damage of the drone due to the slow landing speed. When landing, the arm 40 and the rotor 50 thereon are folded inward, so that the arm 40 and the rotor 50 thereon can be avoided as much as possible from colliding when the drone lands to protect the arm 40 and the rotor 50 thereon, thereby effectively avoiding or reducing the damage caused by the uncontrolled landing of the drone. At the same time, under normal circumstances, since the arm 40 can drive the upper base 12 to slide through the second driving mechanism 60 to achieve a certain degree of folding, the arm 40 can be folded to reduce the overall space occupied by the drone, which is helpful for the storage and transportation of the drone.

[0064] Preferably, the second driving mechanism 60 is a hollow servo electric cylinder, which is sleeved on the periphery of the support rod 11. The cylinder body of the second driving mechanism 60 of the hollow servo electric cylinder is fixedly connected to the support rod 11, and the upper base 12 is fixedly sleeved on the top periphery of the piston of the second driving mechanism 60 of the hollow servo electric cylinder. At this time, when the piston of the second driving mechanism 60 of the hollow servo electric cylinder is extended, it can drive the upper base 12 to slide upward along the support rod 11, and when the piston of the second driving mechanism 60 of the hollow servo electric cylinder is retracted, it can drive the upper base 12 to slide downward along the support rod 11.

[0065] The upper part of the support rod 11 is hollow and open, and the top of the support rod 11 is provided with a side groove 14 penetrating the hollow interior and a slide groove 15 penetrating the hollow interior, and there are two side grooves 14 and two slide grooves 15, respectively, and the two side grooves 14 are arranged oppositely, and the two slide grooves 15 are also arranged oppositely, and the connecting line of the two side grooves 14 is perpendicular to the connecting line of the two slide grooves 15. A fixed pulley 16 is arranged in the side groove 14, and a force storage limiter 17 is arranged in the slide groove 15, one end of the force storage limiter 17 is rotatably connected to the top of the slide groove 15, and the inner side of the force storage limiter 17 has an inclined surface.

[0066] The ejection mechanism includes an ejection rod 81 , a compression spring 82 , an ejection base 83 , a pulling rope 84 , an ejection member 85 and a lifting ring 86 . The ejection rod 81 is inserted into the hollow upper part of the support rod 11, the ejection base 83 is fixedly arranged on the upper part of the ejection rod 81, the compression spring 82 is sleeved on the outer periphery of the ejection rod 81, one end of the compression spring 82 abuts the ejection base 83, and the other end is connected to the lifting ring 86, the lifting ring 86 is sleeved on the outer periphery of the ejection rod 81, there are two pulling ropes 84, which respectively pass around the two fixed pulleys 16, one end is connected to the lifting ring 86, and the other end is connected to the upper base 12, the ejection member 85 is placed on the top of the ejection rod 81 and is arranged opposite to the parachute 70, the ejection base 83 is located in the slide groove 15, and inclined surfaces are arranged on both sides, and can abut against the inclined surfaces of the force storage limit members 17 on both sides so as to be suitable for pushing open the force storage limit member 17 and sliding quickly in the slide groove 15 after the compression spring 82 is compressed to a certain extent.

[0067] During implementation, when the upper base 12 is driven by the second driving mechanism 60 to move to the top position of the support rod 11, the aircraft arm 40 is unfolded to a normal flight state. Under the action of the compression spring 82, the two sides of the ejection base 83 abut against the force storage limiter 17, and the compression spring 82 is unfolded, and the lifting ring 86 is close to the bottom position of the ejection rod 81. When the second driving mechanism 60 drives the upper base 12 to slide to the middle position of the support rod 11, the lifting ring 86 is pulled by the pulling rope 84. Since the ejection base 83 is in contact with the force storage limiter 17 at the beginning, the compression spring 82 is gradually compressed. In the normal folded state of the aircraft arm 40, the compression spring 82 is only compressed to a certain extent. For example, when the aircraft arm 40 is in a normal storage and folding state for storage, the compression spring 82 is only compressed to a certain extent. The force exerted on the ejection base 83 is not enough to push open the force storage limiter 17, and when the upper base 12 slides to a certain position, which corresponds to the position where the ejection mechanism is triggered to eject the parachute 70 when the drone is out of control, the compression spring 82 is compressed to a certain extent and is continuously acted upon by the pulling rope 84, and the ejection base 83 pushes open the force storage limiter 17. At this time, the ejection base 83 slides rapidly in the slide groove 15 until it hits the top groove wall of the slide groove 15 and stops, and the ejection rod 81 also moves rapidly and stops suddenly when the ejection base 83 hits the top of the slide groove 15. At this time, the ejection piece 85 at the top of the ejection rod 81 moves rapidly with the ejection rod 81 and when the ejection rod 81 stops suddenly, it continues to move rapidly upward by inertia and ejects the parachute 70, so as to realize the ejection of the parachute 70. Through the above-mentioned method, the synergistic effect of the ejection mechanism, the second driving mechanism 60, the upper base 12, etc. can be achieved, and the second driving mechanism 60 is shared as the driving power. When the UAV loses control, the second driving mechanism 60 can be used to fold the arm 40 and trigger the ejection mechanism to eject the parachute 70 at one time.

[0068] In a preferred embodiment, a placement protrusion 87 is provided at the top of the ejection rod 81, and the ejection member 85 is an annular structure and is placed around the outer periphery of the placement protrusion 87. At this time, the ejection member 85 can be limited by the placement protrusion 87, and when the drone is flying normally, it will not fall from the top of the ejection rod 81 even if it is slightly tilted. Further, a magnetic body is provided at the top of the ejection rod 81, and the magnetic body can magnetically attract the ejection member 85 to further enhance the stability of the ejection member 85 at the top of the ejection rod 81. Of course, it can be understood that the magnetic attraction between the magnetic body and the ejection member 85 will not be too large, and will not prevent the ejection member 85 from being ejected during emergency landing.

[0069] It is understandable that the top plate 113 on the top of the support rod 11 is provided with a through hole at a position directly opposite to the ejection mechanism, so that the ejection member 85 can be ejected through the through hole and act on the parachute 70 .

[0070] A parachute bin 18 is provided on the top of the drone body. The parachute bin 18 is located at the top plate 113 on the top of the support rod 11. The top of the parachute bin 18 is open. A baffle 19 suitable for opening before the parachute 70 is ejected is provided at the top open position of the parachute bin 18. The parachute 70 is placed in the parachute bin 18. The parachute bin 18 is located above the support rod 11 and the bottom is connected to the upper opening of the support rod 11. At this time, the bottom of the parachute bin 18 is opposite to the ejection mechanism. When the ejection member 85 is ejected, it passes through the parachute bin 18 and ejects the parachute 70 in the parachute bin 18. At this time, during the descent of the drone, the parachute is unfolded and plays a role in slowing down the descent.

[0071] In an exemplary embodiment, the baffle 19 is composed of two pieces arranged opposite to each other. When closed, the two baffles 19 can cover the top opening of the parachute compartment 18 to temporarily place the parachute 70 in the parachute compartment 18. One end of the baffle 19 is connected to the side edge of the parachute compartment 18 through a torsion spring so that the other end of the baffle 19 has a tendency to tilt upward to achieve the opening of the baffle 19. A clamping mechanism 110 is also provided on the side edge of the parachute compartment 18. The clamping mechanism 110 is a servo. A clamping sheet 111 is provided on the clamping mechanism 110 of the servo so that the clamping sheet 111 can be driven by the clamping mechanism 110 to clamp the baffle 19 so that the baffle 19 closes the top opening of the parachute compartment 18, or can drive the clamping sheet 111 to leave the baffle 19 to achieve the opening of the baffle 19. During implementation, in the normal state, the pressing mechanism 110 drives the pressing sheet 111 to rotate and press on the baffle 19, and the baffle 19 closes the top opening of the umbrella compartment 18. Figure 1 and Figure 3 As shown, when an emergency landing occurs, the clamping mechanism 110 drives the clamping sheet 111 to leave the baffle 19. Under the action of the torsion spring, the baffle 19 tilts upward, thereby opening the baffle 19. At this time, the top opening of the parachute compartment 18 is opened. Figure 7 and Figure 8, the ejection member 85 is ejected by the ejection mechanism, and the parachute 70 in the parachute compartment 18 is ejected.

[0072] It can be understood that the ejection force of the ejection member 85 should be reasonable. On the one hand, it should not be too small to ensure that the parachute 70 can be ejected from the parachute compartment 18. On the other hand, it does not need to be too large to avoid bursting the parachute 70.

[0073] In this exemplary embodiment, the parachute 70 is of a conventional parachute form, and it is connected to the UAV body through the suspension lines 71 located around it. Specifically, one end of the suspension line 71 is connected to the parachute 70, and the other end is connected to the parachute compartment 18.

[0074] Please refer to Figure 1 , Figures 8 to 11The end of the arm 40 is provided with a mounting seat 41. The mounting seat 41 has a placement groove 42 on the side facing upward when the arm 40 is unfolded. The bottom of the placement groove 42 has a receiving cavity 43 connected to the placement groove 42. A second elastic member 47 is provided in the placement groove 42. The second elastic member 47 is preferably a compression spring. A through hole 44 is provided on one side of the mounting seat 41 and penetrates the receiving cavity 43. A rotor stopper 45 is provided in the receiving cavity 43. One end of the rotor stopper 45 passes through the through hole 44, and the other end is connected to the inner wall of the receiving cavity 43 through a first elastic member 46, so that the rotor stopper 45 has a tendency to move outward and partially extends out of the mounting seat 41. The first elastic member 46 is preferably a compression spring. A first hook 48 is provided in the middle of the rotor stopper 45, and a stopper 49 is provided near the outward end of the rotor stopper 45 so that when the rotor stopper 45 has a tendency to move outward under the action of the first elastic member 46, the stopper 49 abuts against the inner wall of the accommodating chamber 43 so that the rotor stopper 45 cannot continue to move outward. The rotor 50 is provided with a second hook 51, and when the rotor 50 presses the second elastic member 47 and is installed in the placement groove 42, the second hook 51 hooks the first hook 48. During implementation, the main body of the rotor 50 is pressed against the second elastic member 47. At this time, under the action of the second elastic member 47, the rotor 50 has an upward tendency, and the second hook 51 at the bottom of the rotor 50 hooks the first hook 48. At this time, the rotor 50 is restricted and cannot be separated from the mounting groove 42 upward, so the rotor 50 is stably installed on the mounting seat 41; and when the rotor 50 needs to be removed, the rotor limit member 45 is pressed inwardly, and the rotor limit member 45 squeezes the first elastic member 46 and moves laterally. At this time, the second hook 51 and the first hook 48 are staggered, and under the action of the second elastic member 47, the rotor 50 is pushed out upward and can be separated from the mounting seat 41. In this way, the rotor 50 can be quickly disassembled, and the disassembled rotor 50 is convenient for storage and transportation. After the rotor 50 is disassembled, the overall space of the drone is smaller, which is also convenient for storage and transportation. The top of the first hook 48 is an inclined surface, and the inclined surface is lower toward the side of the through hole 44. When the rotor 50 is installed on the mounting seat 41 on the arm 40, it is pressed hard. The second hook 51 of the rotor 50 acts on the top inclined surface of the first hook 48, which can make the rotor limiter 45 automatically move laterally, thereby facilitating the installation of the rotor 50.

[0075] A positioning groove 410 is provided on the side wall of the seating groove 42, and the rotor 50 is provided with a positioning block 52 that matches and fits into the positioning groove 410. The setting of the positioning block 52 and the positioning groove 410 can facilitate the rapid positioning of the rotor 50 when it is installed in the seating groove 42, so that the second hook head 51 can act on the top inclined surface of the first hook head 48 and allow the second hook head 51 to hook the first hook head 48 after pressing. After the rotor 50 is installed in the seating groove 42, the limiting effect of the positioning groove 410 and the positioning block 52 ensures that the rotor 50 cannot rotate on the seating groove 42, thereby ensuring the stability of the rotor 50.

[0076] There are multiple feet 20, which are arranged around the drone body for one week, specifically around the four sides of the bottom plate 112 at the bottom of the support rod 11. In this exemplary embodiment, there are six feet 20, and in the vertical plane, the feet 20 and the arms 40 are staggered, that is, the arms 40 are located between two adjacent feet 20. One end of the multiple feet 20 is rotatably connected to the bottom of the drone body so that the feet 20 can swing up and down around the rotation point.

[0077] The number of the first driving members 30 is the same as that of the feet 20. The first driving members 30 correspond to the feet 20 one by one. One end of the first driving member 30 is rotatably connected to the drone body, and the other end is rotatably connected to the end of the foot 20 close to the drone body. The first driving member 30 is selected from one of an oil cylinder, a cylinder, an electric push rod, etc. to realize its own expansion and contraction. In this exemplary embodiment, the first driving member 30 is selected as an electric push rod. The first driving member 30 in the form of an electric push rod can drive the foot 20 to swing up and down around the rotation point. For example, in this exemplary embodiment, when the first driving member 30 extends, the foot 20 goes down, and when the first driving member 30 contracts, the foot 20 goes down, so as to realize the adjustment of the foot 20.

[0078] Considering that in order for the drone to land smoothly, a landing gear is often provided at the bottom so that the drone can be placed stably on a flat surface through the landing gear. Of course, the landing gear also plays a role in buffering and other protections. However, the existing form of the landing gear is mainly a fixed form, which can generally only be used on a flat plane and is difficult to apply to some special surfaces such as irregular ground, affecting the use of the drone in some special mission scenarios. Moreover, the fixed-form landing gear has a certain volume, resulting in a large space occupation and being not conducive to the storage and transportation of the drone.

[0079] The takeoff and landing in different landing environments can be achieved through the adjustable feet 20. For example, on a flat ground, the first driving member 30 is used to control each foot 20 to be in the same plane, and at this time, the drone can be stably placed on the flat ground. For a position with a pit or a protrusion, the feet 20 at the corresponding position can be adjusted accordingly. When there is a pit, the feet 20 are lowered to abut against the bottom of the pit, and when there is a protrusion, the feet 20 are raised to abut against the top of the protrusion, while the feet 20 at other positions remain in contact with the ground, so that the drone can be stably placed on a special surface such as an irregular ground to achieve takeoff and landing on an irregular ground. At the same time, since the feet 20 can be turned upward and close to the drone body, the space occupied by the feet 20 after being turned upward is reduced, which helps to reduce the overall occupied space of the drone and facilitates the storage and transportation of the drone. At the same time, when the drone makes an emergency landing out of control, by unfolding the feet 20, the folded-in arms 40 and rotors 50 are located between the feet 20 at this time. When the drone slowly descends and collides, the arms 40 and rotors 50 can be protected to avoid or reduce the damage to the arms 40 and rotors 50.

[0080] Preferably, the foot 20 includes a foot connecting member 21, a foot plate 22 and a foot motor 23. One end of the connecting member 21 is rotatably connected to the bottom plate 112 of the drone body, and the other end is connected to the foot motor 23. The foot plate 22 is installed on the output shaft of the foot motor 23, so that the foot plate 22 can be rotated under the drive of the foot motor 23. An anti-slip rubber 24 is provided on one side of the foot plate 22, and a ground nail 25 is provided on the other side. The anti-slip rubber 24 is made of a rubber with a high friction coefficient and is suitable for smooth and hard surfaces to play an anti-slip role. The ground nail 25 is suitable for soft ground such as a soft sediment layer to improve the grip. The position of the side surface with the anti-slip rubber 24 or the ground nail 25 is switched by rotating the foot plate 22 driven by the foot motor 23 to contact the ground. When the side surface with the anti-slip rubber 24 faces downward, it is suitable for smooth and hard surfaces, and when the side surface with the ground nail 25 faces downward, it is suitable for soft ground. A pressure sensor and a lidar 26 are also provided on the side surface of the foot plate 22 where the anti-slip rubber 24 or the ground nail 25 is provided. The pressure sensor is in an internal form, and the first driving member 30 is intelligently adjusted and controlled by fusing terrain data through the lidar and the sensor to make the drone body automatically level on different slopes and convex surfaces.

[0081] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A rotary wing UAV with emergency landing function, characterized in that: Included are: The drone body has a support rod erected thereon, and an upper base is slidably arranged on the support rod; There are multiple arms, and the multiple arms are arranged around the drone body. One end of the arm is rotatably connected to the drone body so that the arm can be extended outward or folded inward, and the other end of the arm is provided with a rotor; Connecting rods, the number of which is consistent with the machine arms, one end of each connecting rod is rotatably connected to the upper base, and the other end is rotatably connected to the end of the machine arm close to the upper base; A second driving mechanism, which is used to drive the upper base to slide on the support rod and be fixed at a certain position; A parachute is stored on the top of the drone body and connected to the drone body through an umbrella rope. The drone body is also provided with an ejection mechanism for ejecting the parachute; wherein, The ejection mechanism is suitable for driving the upper base to slide to a certain position as the second driving mechanism drives the upper base to slide to a certain position, so that the machine arm is folded inwards, and the ejection mechanism is triggered to eject the parachute.

2. The rotary wing UAV with emergency landing function according to claim 1, characterized in that: The second driving mechanism is a hollow servo electric cylinder, which is sleeved on the outer periphery of the support rod. The cylinder body of the second driving mechanism of the hollow servo electric cylinder is fixedly connected to the support rod, and the upper base is fixedly sleeved on the outer periphery of the top of the piston of the second driving mechanism of the hollow servo electric cylinder; The upper part of the support rod is hollow and open, the top of the support rod is provided with a side groove penetrating the hollow interior and a slide groove penetrating the hollow interior, a fixed pulley is provided in the side groove, and a force storage limiter is provided in the slide groove; The ejection mechanism includes an ejection rod, a compression spring, an ejection base, a pulling rope, an ejection piece and a lifting ring. The ejection rod is inserted in the hollow upper part of the support rod, the ejection base is fixedly arranged on the upper part of the ejection rod, the compression spring is sleeved on the outer periphery of the ejection rod, one end of the ejection spring abuts the ejection base, and the other end is connected to the lifting ring. The pulling rope passes around the fixed pulley, one end is connected to the lifting ring, and the other end is connected to the upper base. The ejection piece is placed on the top of the ejection rod and is arranged opposite to the parachute. The ejection base is located in the slide groove and can abut against the force storage limiting piece so as to be able to push open the force storage limiting piece and slide quickly in the slide groove after the compression spring is compressed to a certain extent.

3. The rotary wing UAV with emergency landing function according to claim 2, characterized in that: A placement protrusion is arranged on the top of the ejection rod, and the ejection member is an annular structure and is arranged around the outer periphery of the placement protrusion.

4. The rotary wing UAV with emergency landing function according to claim 2, characterized in that: A parachute compartment is arranged on the top of the drone body, and the top of the parachute compartment is arranged to be open. A baffle which is suitable for opening before the parachute is ejected is arranged at the top opening of the parachute compartment. The parachute is placed in the parachute compartment. The parachute compartment is located above the support rod and the bottom is communicated with the upper opening of the support rod.

5. The rotary wing UAV with emergency landing function according to claim 4, characterized in that: One end of the baffle is connected to the side edge of the umbrella bin through a torsion spring so that the other end of the baffle has a tendency to tilt upward to achieve the opening of the baffle. The side edge of the umbrella bin is also provided with a clamping mechanism, and a clamping sheet is provided on the clamping mechanism so that the clamping sheet can be driven by the clamping mechanism to clamp the baffle so that the baffle closes the top opening of the umbrella bin, or can be driven to leave the baffle to achieve the opening of the baffle.

6. The rotary wing UAV with emergency landing function according to claim 1, characterized in that: Also included are: A plurality of legs are arranged around the drone body, and one end of each leg is rotatably connected to the bottom of the drone body so that the legs can swing up and down around a rotation point; as well as, The number of the first driving members is consistent with the number of the supporting legs. The first driving members correspond to the supporting legs one by one, and one end of the first driving member is rotatably connected to the drone body, and the other end is rotatably connected to the end of the supporting leg close to the drone body.

7. The rotary wing UAV with emergency landing function according to claim 6, characterized in that: The support leg includes a support leg connector, a support leg plate and a support leg motor. One end of the connector is rotatably connected to the drone body, and the other end is connected to the support leg motor. The support leg plate is installed on the output shaft of the support leg motor. Anti-slip rubber is provided on one side of the support leg plate, and gripping spikes are provided on the other side.

8. The rotary wing UAV with emergency landing function according to claim 6, characterized in that: The foot plate is also provided with a pressure sensor and / or a laser radar at the side where the anti-slip rubber or the gripping spikes are provided.

9. The rotary wing UAV with emergency landing function according to claim 1, characterized in that: A mounting seat is provided at the end of the machine arm, a mounting groove is provided at the side of the mounting seat facing upward when the machine arm is unfolded, a receiving cavity connected to the mounting groove is provided at the bottom of the mounting groove, and a second elastic member is provided in the mounting groove; A through hole penetrating to the accommodating cavity is formed on one side of the mounting seat, a rotor stopper is arranged in the accommodating cavity, one end of the rotor stopper passes through the through hole, and the other end is connected to the inner wall of the accommodating cavity through a first elastic member, so that the rotor stopper has a tendency to move outward and partially extends out of the mounting seat; A first hook is provided in the middle of the rotor stopper, and a stopper is provided at a position close to the outward end of the rotor stopper so that when the rotor stopper has a tendency to move outward under the action of the first elastic member, the stopper abuts against the inner wall of the accommodating cavity; The rotor is provided with a second hook, and when the rotor presses the second elastic member and is installed in the mounting groove, the second hook hooks the first hook.

10. The rotary wing UAV with emergency landing function according to claim 9, characterized in that: A positioning groove is arranged on the side wall of the placement groove, and the rotor is provided with a positioning block which is matched and inserted into the positioning groove.

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