Unmanned aerial vehicle undercarriage and full-folding coaxial dual-rotor unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle undercarriage and a full-folding coaxial dual-rotor unmanned aerial vehicle, and belongs to the field of rotor unmanned aerial vehicles. The undercarriage at least comprises three undercarriage units, and each undercarriage unit comprises an upper support, a bottom support, an upper supporting rod, a lower supporting rod, an elastic component, a supporting rod, a supporting rod limiting mechanism and an undercarriage locking mechanism; the other end of the upper supporting rod is hinged with the upper part of the supporting rod; one end of the elastic component is fixedly connected with the upper support, and the other end is connected with the upper strut; one end of the lower supporting rod is hinged with the lower part of the lower supporting seat, and the other end is hinged with the middle of the supporting rod; the supporting rod limiting mechanism is used for limiting the outward unfolding angle of the supporting rod; the undercarriage locking mechanism is used for locking or unlocking the supporting rod in the folded state. The undercarriage is stored by a multi-connecting-rod structure with elasticity, the undercarriage locking mechanism is combined for use, the undercarriage can be automatically and rapidly unfolded in a specific time period or scene according to actual use requirements, and recycling of the unmanned aerial vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to a landing gear and a drone, specifically to a drone landing gear and a fully foldable coaxial dual-rotor drone, belonging to the field of rotor drones. Background Art

[0002] With the rapid development of drone technology, it has been widely used in many industries and fields. Just for rotor drones, the most widely used ones are multi-rotor drones, compound-wing drones, and coaxial dual-rotor drones.

[0003] Miniaturization, clustering, and rapid-response flight are important directions for the development of modern drones. Compared with multi-rotor and compound-wing drones, coaxial dual-rotor drones have the characteristics of being foldable, launchable from a tube, and low noise, making it easier to achieve the goal of miniaturization. At the same time, the modern war mode also has an increasingly strong requirement for drones to complete tasks efficiently. Therefore, launching as many drones as possible in a short time also wins the initiative for the final victory.

[0004] The current mainstream tube-launched coaxial drones are mostly in the "one-time" loitering munition mode where only the propeller blades or hubs are foldable and there is no landing gear, which is not very friendly to recoverable application scenarios such as photography and reconnaissance and cannot meet their actual usage requirements. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a drone landing gear and a fully foldable coaxial dual-rotor drone that are convenient for folding and controlled deployment.

[0006] To solve the above technical problem, the drone landing gear provided by the present invention includes at least three landing gear units. The landing gear unit includes an upper support, a bottom support, an upper support rod, a lower support rod, an elastic member, a support rod, a support rod limiting mechanism, and a landing gear locking mechanism;

[0007] One end of the upper support rod is hinged to the upper support, and the other end is hinged to the upper part of the support rod;

[0008] One end of the elastic member is fixedly connected to the upper support, and the other end is connected to the upper support rod;

[0009] One end of the lower support rod is hinged to the lower part of the bottom support, and the other end is hinged to the middle part of the support rod;

[0010] The support rod limiting mechanism is used to limit the angle of the support rod expanding outward;

[0011] The landing gear locking mechanism is used to lock or unlock the support rod in the folded state.

[0012] In the present invention, the landing gear locking mechanism includes a driving mechanism, a synchronization mechanism, and spring locks, and the number of the spring locks is the same as the number of landing gear units;

[0013] The driving mechanism controls the synchronous movement of the spring locks through the synchronization mechanism.

[0014] In the present invention, the support rod limiting mechanism includes a torsion spring and a locking hook;

[0015] The support rod is hinged to the upper support rod through a fixing pin;

[0016] One end of the locking hook is connected to the torsion spring, and the other end can lock or release the fixing pin.

[0017] In the present invention, it includes blades, and the blades are all connected to the drone's hub assembly through a rotor folding device; the rotor folding device includes a self - restoring torsion spring and a blade clamp, and the blade is fixedly connected to the blade clamp; a self - restoring torsion spring is connected between the blade clamp and the hub assembly, and the self - restoring torsion spring provides a driving force for the deployment of the blade.

[0018] In the present invention, a blade sheath is connected between the blade and the blade clamp.

[0019] In the present invention, the drone landing gear further includes a power control system, and the power control system includes a first driving motor, a first swashplate assembly, a first hub assembly, a second driving motor, a second swashplate assembly, a second hub assembly, a control servo, and an anti - torsion arm assembly;

[0020] The first driving motor, the first swashplate assembly, and the first hub assembly are coaxially installed in sequence from top to bottom; a pitch link is connected between the first swashplate assembly and the first hub assembly;

[0021] The second driving motor, the second swashplate assembly, and the second hub assembly are coaxially installed in sequence from bottom to top; a pitch link is connected between the second swashplate assembly and the second hub assembly;

[0022] The control servo is located between the first swashplate assembly and the second swashplate assembly, and servo links are connected between the control servo and the first swashplate assembly and the second swashplate assembly respectively.

[0023] In the present invention, the power control system further includes an anti - torsion arm assembly.

[0024] The beneficial effects of the present invention are as follows: (1) The landing gear is stored using a multi-link structure with elasticity, and in combination with a spring, it is simple and convenient to fold or unfold the propeller blades; combined with the use of a landing gear locking mechanism, the landing gear can be automatically and quickly deployed in specific time periods or scenarios according to actual usage needs, enabling the recycling of the unmanned aerial vehicle; (2) The drive mechanism controls the synchronous movement of the spring lock through a synchronization mechanism, ensuring the consistency and reliability of the landing gear shielding deployment; (3) The support rod limiting mechanism composed of a torsion spring and a locking hook can not only control the deployment angle of the support rod, but also enhance the elasticity and strength of the entire landing gear; (4) The propeller blades are connected to the propeller hub assembly of the unmanned aerial vehicle through a rotor folding device. After folding, the whole machine is in a long strip shape, which is easy to store and convenient for loading into a cylinder; (5) A propeller blade sheath is connected between the propeller blade and the propeller clip. The propeller blade sheath can limit the flapping angle of the propeller blade within a certain range, and can protect the whole machine and the propeller blade to the greatest extent when the unmanned aerial vehicle lands in an abnormal state. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic structural diagram of a fully foldable coaxial dual-rotor unmanned aerial vehicle;

[0027] Figure 2 It is a composition diagram of the guidance and avionics system

[0028] Figure 3 It is a position and assembly relationship diagram of the present guidance and avionics system

[0029] Figure 4 It is a schematic structural diagram of the rotor folding device;

[0030] Figure 5 It is a schematic structural diagram of the power control system;

[0031] Figure 6 It is a position and assembly relationship diagram of the components of the control system;

[0032] Figure 7 It is a schematic structural diagram of the battery and mission system;

[0033] Figure 8 It is a diagram of the landing gear in the folded state;

[0034] Figure 9 It is a diagram of the landing gear deployment process;

[0035] Figure 10It is a diagram of the fully deployed state of the landing gear;

[0036] Figure 11 It is a schematic structural diagram of the landing gear locking device;

[0037] Figure 12 It is a schematic diagram of the cooperation between the unlocking servo and the support rod;

[0038] Figure 13 It is a schematic diagram of the whole process of in - tube launching of the fully - foldable coaxial dual - rotor unmanned aerial vehicle of the present invention;

[0039] Figure 14 It is a schematic diagram of the whole process of single - soldier ground take - off and landing of the fully - foldable coaxial dual - rotor unmanned aerial vehicle of the present invention;

[0040] In the figure: 1 - Guidance and avionics system, 2 - Rotor folding device, 3 - Power control system, 4 - Battery and mission system, 5 - Landing gear, 6 - Landing gear locking device;

[0041] 1 - 1 - Variable - angle ruler, 1 - 2 - Millimeter - wave radar, 1 - 3 - Slide - groove fixing pin, 1 - 4 - Avionics cabin cover, 1 - 5 - Lidar fixing plate, 1 - 6 - GNSS, 1 - 7 - Lidar, 1 - 8 - Link, 1 - 9 - ESC fixing base, 1 - 10 - ESC, 1 - 11 - Flight controller;

[0042] 2 - 1 - Self - resetting torsion spring, 2 - 2 - Blade grip, 2 - 3 - Blade fixing bolt, 2 - 4 - Blade, 2 - 5 - Blade sheath;

[0043] 3 - 1 - Swashplate assembly, 3 - 2 - Hub cover, 3 - 3 - Servo rod, 3 - 4 - Control servo, 3 - 5 - Anti - torsion arm assembly, 3 - 6 - Hub assembly, 3 - 7 - Hollow - shaft motor, 3 - 8 - Control cabin cover, 3 - 9 - Servo fixing base, 3 - 10 - Pitch change rod; 3 - 5 - 1 - Anti - torsion arm, 3 - 5 - 2 - Baffle;

[0044] 4 - 1 - Power battery, 4 - 2 - Battery compartment door, 4 - 3 - Metal frame and external cover, 4 - 4 - Optoelectronic pod;

[0045] 5 - 1 - Hook of tension spring, 5 - 2 - Tension spring, 5 - 3 - Bottom support, 5 - 4 - Torsion spring, 5 - 5 - Lock hook, 5 - 6 - Lower support rod, 5 - 7 - Support rod, 5 - 8 - Fixing pin, 5 - 9 - Upper support rod, 5 - 10 - Upper support;

[0046] 6 - 1 - Unlocking servo, 6 - 2 - Three - jaw rocker arm, 6 - 3 - Pull rod, 6 - 4 Spring lock; 6 - 4 - 1 - Base, 6 - 4 - 2 - Spring, 6 - 4 - 3 - Lock core, 6 - 4 - 4 - Cage. Detailed implementation manners

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0049] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0050] 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 or the orientation or positional relationship in which the inventive product is usually placed during use. 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 of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0051] In addition, terms such as "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined.

[0052] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "connected" 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 circumstances.

[0053] The following will describe in detail some embodiments of the present invention in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0054] As Figure 1 shown, the fully foldable coaxial dual-rotor unmanned aerial vehicle provided in this embodiment adopts an anti-symmetric dual-control configuration to realize independent pitch adjustment of the upper and lower rotors. It has a compact structure, simple operation, and convenient decoupling. The fully foldable coaxial dual-rotor unmanned aerial vehicle in this embodiment includes a guidance and avionics system 1, a rotor folding device 2, a power control system 3, a battery and mission system 4, a landing gear folding device 5, and a landing gear locking device 6.

[0055] The guidance and avionics system 1 is the "brain" of the entire unmanned aerial vehicle. It can adjust parameters such as the flight speed, flight attitude, and flight altitude of the unmanned aerial vehicle according to satellite guidance, link, and telemetry signals. It can also be connected to the ground station through a data transmission module for real-time communication of flight data and mission instructions.

[0056] As Figure 1 、 2 and Figure 3 show, the guidance and avionics system 1 includes a variable-angle ruler 1-1, a millimeter-wave radar 1-2, a chute fixing pin 1-3, an avionics cabin cover 1-4, a lidar fixing plate 1-5, a satellite guidance GPS 1-6, a lidar 1-7, a link 1-8, an ESC fixing seat 1-9, an ESC 1-10, and a flight controller 1-11. In this embodiment, a basic load-bearing frame is composed of the lidar fixing plate 1-5, the ESC fixing seat 1-9, and the flight controller 1-11. It is used to fix the millimeter-wave radar 1-2 forward, install the lidar 1-7 and the ESC 1-10 on both sides, and install the corresponding structure of the link 1-8 backward. The overall layout is relatively compact and can meet the requirements of ventilation, heat dissipation, etc. The variable-angle ruler 1-1 and the chute fixing pin 1-3 cooperate with each other to form a simple "pan-tilt", so that no matter what the forward flight angle of the unmanned aerial vehicle is, the millimeter-wave radar 1-2 can adaptively adjust the angle to ensure its horizontal viewing angle, better obtain a series of data such as the distance, relative speed, and motion direction perception between the unmanned aerial vehicle and the obstacles within the radar detection area, and feed back the parsed data information to the flight controller 1-11 to realize the forward obstacle avoidance function; similarly, the two lidars 1-7 symmetrically arranged on both sides can ensure the left and right obstacle avoidance functions through distance perception warning. The satellite guidance GPS 1-6 can provide position and direction information for the flight of the unmanned aerial vehicle. The main function of the above-mentioned ESC 1-10 is to control the motor speed according to the PWM signal transmitted by the simple ground station or the remote control device. It can also be used as a brake or a voltage stabilizer to supply power to the remote control receiver and the servo; the flight controller 1-11 is a micro control terminal containing multiple controller modules, which can not only complete signal processing but also control the actions of the unmanned aerial vehicle for parsing. The above specific control methods of the unmanned aerial vehicle all adopt existing control technologies, and will not be elaborated in this embodiment.

[0057] like Figure 1 and 4 As shown, the rotor folding device 2 is mainly used in that when the UAV is launched in a launch tube, its upper and lower double rotors need to be in a folded and stored state before takeoff, occupying as little space as possible to prepare for high-speed and clustered launches; and after the UAV is launched, the rotors automatically unfold in the air to ensure the smooth progress of the flight mission.

[0058] The rotor folding device 2 includes a self-restoring torsion spring 2-1, a blade clamp 2-2, a blade fixing bolt 2-3, a blade 2-4, and a blade cover 2-5. When assembling, first fix the blade 2-4 and the blade cover 2-5, then insert them into the corresponding groove of the blade clamp 2-2, and fix them with the blade fixing bolt 2-3, then take the self-restoring torsion spring 2-1 and insert it into the specific groove on the blade clamp 2-2, so that one end of it abuts against the blade clamp 2-2, and the other end abuts against the blade hub assembly 3-6, and fix them with existing standard parts. In this embodiment, the self-restoring torsion spring 2-1 is a customized torsion spring, which can be hidden in the built-in groove of the propeller clamp 2-2 without affecting the overall appearance; when the blades 2-4 need to be folded and stored or in the tube to be launched, the blades 2-4 are gently pressed by hand to twist and tighten them, so that the rotor folding device 2 is completely in a folded state, and when it is launched from the tube of the drone, the restoring torsion torque stored in the self-restoring torsion spring 2-1 will push the blades 2-4 to automatically unfold.

[0059] In this embodiment, the blade clamp 2-2, the blade fixing bolt 2-3 and the blade cover 2-5 form a complete blade installation and fixing system to fix the blade 2-4. The blade cover 2-5 is a replaceable consumable, which is used to limit the swing angle of the drone blade 2-4 within a certain range, and to protect the entire drone and the blade 2-4 to the maximum extent when the drone lands in an abnormal state.

[0060] like Figure 1 , 5 As shown in FIG6 , the power control system 3 is the link for the UAV from receiving the control signal to finally completing the blade pitch change and from static rotation to dynamic rotation. It is also the most determined executor of the guidance and control and avionics system 1. All the actions of the UAV are completed by the power control system 3.

[0061] The power control system 3 includes components such as an automatic tilt mechanism assembly 3-1, a propeller cover 3-2, a servo lever 3-3, a control servo 3-4, an anti-torsion arm assembly 3-5, a propeller assembly 3-6, a hollow shaft motor 3-7, a control cabin cover 3-8, a servo fixing seat 3-9 and a pitch change lever 3-10.

[0062] In this embodiment, there are two swashplate assemblies 3-1, hub assemblies 3-6, and hollow shaft motors 3-7, which are respectively assembled above and below the control servo 3-4 to form two sets of rotor systems, upper and lower. The swashplate assembly 3-1, hub assembly 3-6, and hollow shaft motor 3-7 located above the control servo 3-4 are coaxially arranged from bottom to top; the swashplate assembly 3-1, hub assembly 3-6, and hollow shaft motor 3-7 located below the control servo 3-4 are coaxially installed from top to bottom. The hub assembly 3-6 is connected to the swashplate assembly 3-1 by a pair of symmetric pitch change tie rods 3-10. The swashplate assembly 3-1 is connected to the control servo 3-4 by a pair of servo tie rods 3-3.

[0063] The purpose of the anti-torsion arm assembly 3-5 is to limit the rotational freedom of the stationary ring in the swashplate assembly. The anti-torsion arm assembly includes an anti-torsion arm 3-5-1 and a baffle 3-5-2. The anti-torsion arm 3-5-1 is inserted into the baffle 3-5-2 and limited by the baffle 3-5-2.

[0064] During assembly, first, taking the hollow shaft motor 3-7 as the base, the swashplate assembly 3-1, servo tie rods 3-3, hub assembly 3-6, and pitch change tie rods 3-10 are respectively fixed. Then, taking the servo fixing base 3-9 as the base, the control servo 3-4 and the anti-torsion arm assembly 3-5 are fixed. Finally, the above three sets of components are assembled and fixed in sequence.

[0065] In this embodiment, the swashplate assembly 3-1 is used to change the tilt direction of the rotor and the blade pitch angle to achieve the control of the flight state of the coaxial unmanned aerial vehicle. It is the link for the unmanned aerial vehicle to receive the control signal and finally complete the blade pitch change, from static non-rotation to dynamic rotation. Due to the space and weight limitations of the unmanned aerial vehicle in this embodiment, and the upper and lower rotors of the unmanned aerial vehicle need to be independently controlled, all longitudinal and lateral control servos 3-4 are required to be horizontally symmetrically arranged.

[0066] In this embodiment, the servo tie rods 3-3, anti-torsion arm assembly 3-5, and pitch change tie rods 3-10 are actual control components used to achieve all the control functions of the coaxial unmanned aerial vehicle. The hub housing 3-2 and the control cabin housing 3-8 are fairings that can prevent the aerodynamic turbulence during flight from affecting the flight stability of the unmanned aerial vehicle.

[0067] Such as Figure 1 and 7As shown in the figure, the battery and mission system 4 mainly includes a power battery and mission payloads. Since the UAV in this embodiment is a pure electric drive system, the power battery is the only power source for the entire UAV. Whether it is the guidance and avionics system 1 or the power control system 3, they all rely on the power battery for driving. The mission payload mainly refers to the optoelectronic pod and the fuze and warhead system (fuze and warhead). Usually, the optoelectronic pod is an essential option, and the fuze and warhead system can be selectively carried according to different flight missions, or other mission payloads such as a secondary power source and a counterweight can be carried.

[0068] The battery and mission system 4 can be divided into a battery compartment section and a mission compartment section. Among them, the battery compartment section is used to load the power battery, and the mission compartment section is used to carry various mission payloads such as the fuze and warhead system. In this embodiment, only the empty mission compartment section is taken as an example to introduce the battery and mission system 4. The battery and mission system 4 mainly includes a power battery 4-1, a battery compartment door 4-2, a metal bulkhead and an outer housing 4-3, and an optoelectronic pod 4-4. The battery compartment door 4-2 and the metal bulkhead and outer housing 4-3 form a sealed storage space for installing the power battery 4-1, and the bottom platform of the metal bulkhead and outer housing 4-3 is used to fix the optoelectronic pod 4-4 and mission payloads if any. In this embodiment, the power battery 4-1 can choose a secondary rechargeable high-performance lithium battery. After each charge-discharge cycle is completed, the power battery 4-1 is inserted into the battery compartment door 4-2. Or, according to actual storage requirements, a disposable storage-resistant battery can be selected, and the battery compartment door 4-2 and the power battery 4-1 can be designed in a conformal manner. The metal bulkhead and outer housing 4-3 mainly have three functions: the first is to connect the power control system 3 and the battery and mission system 4, the second is to provide a folding slot for the landing gear folding device 5, and the third is to be used for rectification and shaping to eliminate aerodynamic turbulence. The optoelectronic pod 4-4 can be built-in with multi-target artificial intelligence detection and tracking algorithms, support automatic detection of people and vehicles, and adopt a small-size integral spherical shape and a non-orthogonal three-axis mechanical image stabilization structure design, with smaller wind resistance and turning radius, ensuring stable pod attitude and no drift during maneuvering flight. Since it is not within the scope of protection of this technical solution, it will not be described in detail in this embodiment.

[0069] As Figure 1 、 8 As shown in Figures 9 and 10, the landing gear folding device 5 is the landing and takeoff device of the UAV in this embodiment. When the UAV in this embodiment performs a flight mission, the landing gear is all folded to avoid blocking the field of view of the optoelectronic pod or affecting the electromagnetic properties of the on-board equipment; when the UAV is about to land, the guidance and avionics system 1 cooperates with the landing gear locking device 6 to complete the unlocking of the landing gear folding device 5, and the landing gear automatically unfolds and locks to ensure that the UAV in this embodiment lands steadily and protects avionics components such as the optoelectronic pod.

[0070] The landing gear folding device 5 includes three landing gear units evenly spaced along the circumference of the UAV. The landing gear unit includes a tension spring hook 5-1, a tension spring 5-2, a bottom support 5-3, a torsion spring 5-4, a lock hook 5-5, a lower support rod 5-6, a support rod 5-7, a fixing pin 5-8, an upper support rod 5-9 and an upper support 5-10.

[0071] The tension spring hook 5-1 is located on the inner side of the upper support 5-10 and is fixedly connected to the upper part of the upper support 5-10. One end of the upper support rod 5-9 is hinged to the upper part of the upper support 5-10, and the other end is hinged to the upper end of the support rod 5-7 through a fixing pin 5-8. One end of the tension spring 5-2 is fixedly connected to the tension spring hook 5-1, and the other end passes through the upper support 5-10 and is connected to the middle part of the upper support rod 5-9. The tension spring 5-2 is used to output tension to pull the upper support rod 5-9 to fit toward the upper support 5-10.

[0072] The bottom support 5-3 is located below the upper support 5-10. The free end of the lock hook 5-5 is hinged to the upper end of the bottom support 5-3 through the torsion spring 5-4, and the lock hook 5-5 can rotate relative to the bottom support 5-3 under the action of the torsion spring 5-4. The lower end of the bottom support 5-3 is hinged to the middle part of the support rod 5-7 through the lower support rod 5-6. The hook part of the torsion spring 5-4 can hook the fixing pin 5-8, thereby controlling the outward expansion angle of the support rod 5-7.

[0073] In this embodiment, the tension spring hook 5-1, tension spring 5-2, bottom support 5-3, torsion spring 5-4, lock hook 5-5, lower support rod 5-6, fixing pin 5-8, upper support rod 5-9 and upper support 5-10 are all arranged in the groove of the hidden support rod 5-7 and fixed in the mission compartment, which will not affect the installation of the power battery 4-1 and the arrangement of other cables.

[0074] The tension spring hook 5-1 is used to fix one end of the tension spring 5-2. When the landing gear unit is in a folded state, the tension spring 5-2 is stretched. As the landing gear continues to unfold, the upper support rod 5-9 is pulled in another direction, and the lower support rod 5-6 and the support rod 5-7 are also driven. As the locking hook 5-5 and the fixing pin 5-8 are locked, the tension spring 5-2 gradually returns to the equilibrium position. At this point, the landing gear completes the entire unfolding and locking process.

[0075] like Figure 1 , 11 As shown in FIG. 12 , the landing gear locking device 6 is usually in a long locked state, so that the landing gear folding device 5 is locked and fits the UAV body, which can not only ensure that there is no interference in the launch in the tube, but also reduce the vibration level of the whole machine; when the landing gear locking device 6 receives the unlocking signal, it immediately releases the landing gear folding device 5, so that it has the function of a landing gear. Of course, when the UAV in this embodiment takes off from the ground instead of launching in the tube, the landing gear folding device 5 is always in an open and locked state.

[0076] The landing gear locking device 6 mainly includes an unlocking servo 6-1, a three-jaw rocker arm 6-2, a pull rod 6-3 and a spring lock 6-4. The unlocking servo 6-1 is connected to the three-jaw rocker arm 6-2, and the three-jaw rocker arm 6-2 is respectively connected to three spring locks 6-4 through three pull rods 6-3.

[0077] Among them, the unlocking servo 6-1, the three-jaw rocker arm 6-2 and the pull rod 6-3 are fixed at the internal mission cabin section of the metal bulkhead and the external housing 4-3, and the three spring locks 6-4 are respectively fixed in the grooves for hiding the support rod 5-7, outside the support rod 5-7 in the folded state. The mutual cooperation among the above components ensures that all the spring locks 6-4 unlock / lock the support rod 5-7 synchronously.

[0078] The spring lock 6-4 includes a base 6-4-1, a spring 6-4-2, a lock core 6-4-3 and a cage 6-4-4. The cage 6-4-4 is fixedly connected to the base 6-4-1; the spring 6-4-2 is sleeved on the lock core 6-4-3 and is located inside the cage 6-4-4. The front end of the lock core 6-4-3 passes through the cage 6-4-4, and the rear end passes through the base 6-4-1 and is connected to the pull rod 6-3.

[0079] When the unlocking servo 6-1 receives an unlocking signal, it rotates by an angle, thereby driving the three-jaw rocker arm 6-2 to rotate synchronously, and then driving the lock core 6-4-3 to complete the unlocking operation through the pull rod 6-3; subsequently, the unlocking servo 6-1 performs a reverse operation to realize the re-locking of the landing gear locking device 6.

[0080] As Figure 13 shown, in this embodiment, the whole process of in-tube launching of the unmanned aerial vehicle includes an in-tube preparation stage, a lifting and launching stage, a mission stage and a ground landing stage.

[0081] In-tube preparation stage: The operator first conducts a pre-flight inspection on the coaxial unmanned aerial vehicle, including the function inspection of all mechanical components and electronic components. After confirmation, the rotor folding device 2 and the landing gear folding device 5 are all folded to the storage state for in-tube launching.

[0082] Lifting and launching stage: The operator either holds the remote control of the unmanned aerial vehicle of the ground control terminal or prepares in front of the screen of the storage and launch vehicle to complete the one-key lifting of the coaxial unmanned aerial vehicle. As the lifting device pushes the unmanned aerial vehicle to rise to a specific position, the upper rotor system and the lower rotor system are gradually unfolded and rotated, and the unmanned aerial vehicle completes the action of launching out of the tube.

[0083] Mission stage: After the unmanned aerial vehicle rises to a certain specific height, it starts to perform a mission. To ensure that there is no obstruction when the optoelectronic pod 4-4 performs the mission and there is no interference with the data link signal, the landing gear is not unfolded during the flight stage. At this time, the landing gear locking device 6 locks the landing gear folding device 5 until it receives a landing signal after the mission ends.

[0084] Ground landing stage: After the guidance and control and avionics system 1 sends an unlocking signal to the landing gear locking device 6, the spring lock 6-4 completes the unlocking action under the drive of the unlocking servo 6-1. At this time, the landing gear folding device 5 has no external constraints, and the tension spring 5-2 will automatically shrink to the initial length, thereby driving the upper support rod 5-9, the lower support rod 5-6 and the support rod 5-7 to move. At the same time, the fixing pin 5-8 gradually approaches the lock hook 5-5 and completes the locking. At this point, the landing gear deployment action is completed. Finally, the operator presses the "landing" switch, and the UAV slowly descends to the ground.

[0085] like Figure 14 As shown, another working mode of the drone in this embodiment is a single-soldier-carrying-ground take-off and landing mode, and the whole process includes a single-soldier preparation and take-off stage, a mission stage, and a ground landing stage. Initially, the coaxial drone and the handheld terminal are stored in a carrying backpack, carried by a single soldier to a designated location, and a suitable site is selected to take off with one key. After that, the coaxial drone flies into the air to perform reconnaissance or strike missions, and returns to the ground after the mission is completed. During this process, the rotor folding device 2 is always open, and the landing gear folding device 5 is always in an unfolded and locked state.

[0086] The embodiment provides a fully foldable coaxial twin-rotor unmanned helicopter, the blades and landing gear can be folded, and the whole machine is in a long strip storage state after folding, which is convenient for loading and launching. After the drone is launched, the blades are automatically unfolded, and the landing gear is still in a folded state, so as to avoid blocking the view of mission loads such as optoelectronic pods. After receiving the landing command, the landing gear is quickly unfolded and locked, which can not only realize the function of protecting the optoelectronic pod but also complete the whole machine recovery task, and can meet different application scenarios.

[0087] The present invention provides a concept of a UAV landing gear and a fully foldable coaxial dual-rotor UAV. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. UAV landing gear, characterized by: At least three landing gear units are included, and the landing gear units include an upper support, a bottom support, an upper support rod, a lower support rod, an elastic component, a support rod, a support rod limiting mechanism and a landing gear locking mechanism; One end of the upper support rod is hinged to the upper support seat, and the other end is hinged to the upper part of the support rod; One end of the elastic component is fixedly connected to the upper support, and the other end is connected to the upper support rod; One end of the lower support rod is hinged to the lower part of the lower support seat, and the other end is hinged to the middle part of the support rod; The support rod limiting mechanism is used to limit the angle at which the support rod is deployed outward; The landing gear locking mechanism is used to lock or release the support rod in the folded state.

2. The UAV landing gear according to claim 1, characterized in that: The landing gear locking mechanism comprises a driving mechanism, a synchronization mechanism and a spring lock, and the number of the spring locks is the same as the number of landing gear units; The driving mechanism controls the synchronous movement of the spring lock through the synchronization mechanism.

3. The UAV landing gear according to claim 1 or 2, characterized in that: The support rod limiting mechanism includes a torsion spring and a locking hook; The support rod is hinged to the upper support rod through a fixing pin; One end of the lock hook is connected to a torsion spring, and the other end can lock or release the fixing pin.

4. The fully foldable coaxial twin-rotor UAV according to claim 1, characterized in that: The propeller comprises propeller blades, each of which is connected to a propeller hub assembly of the UAV through a rotor folding device; The rotor folding device includes a self-restoring torsion spring and a propeller clamp, and the propeller blade is fixedly connected to the propeller clamp; a self-restoring torsion spring is connected between the propeller clamp and the blade hub assembly, and the self-restoring torsion spring provides a driving force for the deployment of the propeller blade.

5. The UAV landing gear according to claim 4, characterized in that: A blade sheath is connected between the blade and the blade clamp.

6. The UAV landing gear according to claim 4, characterized in that: Also included is a power control system, the power control system including a first drive motor, a first automatic tilting device assembly, a first blade assembly, a second drive motor, a second automatic tilting device assembly, a second blade assembly, a control steering gear and an anti-torsion arm assembly; The first driving motor, the first automatic tilting device assembly and the first blade hub assembly are coaxially installed in sequence from top to bottom; a pitch-changing pull rod is connected between the first automatic tilting device assembly and the first blade hub assembly; The second driving motor, the first automatic tilting device assembly and the second blade hub assembly are coaxially installed in sequence from bottom to top; the second automatic tilting device assembly and the second blade hub assembly are connected with a pitch-changing pull rod; The control steering gear is located between the first automatic tilting device component and the second automatic tilting device component, and a steering gear pull rod is connected between the control steering gear and the first automatic tilting device component and the second automatic tilting device component.

7. The UAV landing gear according to claim 6, characterized in that: The power handling system also includes an anti-torsion arm assembly.

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