Unmanned aerial vehicle with quick-release undercarriage device and control method

Abstract

The invention relates to the technical field of undercarriages of unmanned aerial vehicles, in particular to an unmanned aerial vehicle with a quick-release undercarriage device and a control method.The unmanned aerial vehicle comprises a mounting plate which is mounted at the bottom of a vehicle body of the unmanned aerial vehicle and further comprises a mounting assembly; the mounting assembly comprises a folding and unfolding support, opening and closing rotating frames, mounting blocks, supporting components, a regulating and controlling component and a conversion component, the folding and unfolding support is slidably mounted below the mounting plate block, the two opening and closing rotating frames are rotatably mounted on the two sides of the folding and unfolding support respectively, the mounting blocks are fixed to the two sides of each opening and closing rotating frame, each mounting block is provided with the corresponding supporting component, and the regulating and controlling component is connected with the conversion component. According to the unmanned aerial vehicle supporting structure, the two opening and closing rotating frames are arranged on the unmanned aerial vehicle and used for supporting the unmanned aerial vehicle, the regulation and control component is arranged on the folding and unfolding support and used for driving the folding and unfolding support and the two opening and closing rotating frames, and the conversion component is arranged on the mounting plate and used for exchanging the supporting types. And the practical operation is more flexible.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle landing gear, and particularly relates to an unmanned aerial vehicle with a quick-release landing gear device and a control method. BACKGROUND

[0002] The landing gear is a key support structure of an unmanned aerial vehicle when the unmanned aerial vehicle is parked, slid, taken off and landed on the ground, needs to bear the weight of the machine body and dynamic impact load, and is mostly fixed on the bottom of the machine body through a bolt or even a welding support in a traditional unmanned aerial vehicle landing gear. Although the fixed connection is adopted, the overall structure is simple and the cost is low, but when the bottom landing gear is damaged due to continuous taking off and landing, the landing gear is inconvenient to disassemble and replace, which is very inconvenient in actual operation.

[0003] In order to solve the problem of inconvenient disassembly of the landing gear, the bottom of the existing unmanned aerial vehicle is mostly provided with buckles and quick-release mechanisms to realize quick disassembly and replacement of the landing gear. In this way, the modular design is adopted to facilitate replacement of damaged parts (such as machine wheels and supports), thereby reducing maintenance costs. Meanwhile, the traditional fixed landing gear needs to repeatedly disassemble and assemble screws, which is easy to damage the composite material structure (such as carbon fiber) due to weak shear resistance. The quick-release type landing gear is connected through buckles and magnetic attraction, which reduces material fatigue and prolongs the service life of the landing gear.

[0004] Although the existing quick-release landing gear can solve the problem of inconvenient disassembly of the landing gear and replace different types of landing gears according to actual operation conditions to ensure better work, the structure and function of the existing quick-release landing gear are single, and the specific support type and mode of the landing gear cannot be adjusted according to the changing operation conditions during work, so that the existing landing gear is difficult to adjust when facing some special conditions and special landing terrains, and cannot flexibly adapt to different operation conditions. SUMMARY

[0005] The present application aims to provide an unmanned aerial vehicle with a quick-release landing gear device and a control method, which can quickly adjust the support structure based on actual flight conditions and ground conditions, so as to be more flexible during actual operation.

[0006] To achieve the above-mentioned purpose, the present application provides an unmanned aerial vehicle with a quick-release landing gear device, which comprises a mounting plate installed at the bottom of the machine body of the unmanned aerial vehicle, and a mounting assembly.

[0007] The mounting assembly comprises a retractable support, opening and closing rotary frames, attachment blocks, support members, control members and conversion members, the retractable support is slidingly installed below the mounting plate, two opening and closing rotary frames are respectively rotationally installed on the two sides of the retractable support, the attachment blocks are fixed on the two sides of each opening and closing rotary frame, the support members are arranged on each attachment block and used for supporting the unmanned aerial vehicle, the control members are arranged on the retractable support and used for driving the retractable support and the two opening and closing rotary frames, and the conversion members are arranged on the mounting plate and used for switching the support types.

[0008] The support members comprise connecting supports, support rods and buffer springs, the connecting supports are connected with the attachment blocks, the support rods are slidingly installed on the connecting supports, and the buffer springs are connected with the support rods and the connecting supports.

[0009] The control members comprise tooth sleeves, transition gears, synchronous tooth shafts, linkage components and adjustment components, the tooth sleeves are fixedly sleeved on the opening and closing rotary frames, the transition gears are in mesh with the tooth sleeves and are rotationally installed in the retractable support, the gears arranged on the synchronous tooth shafts are in mesh with the transition gears, the synchronous tooth shafts are rotationally installed in the retractable support, the linkage components are arranged in the retractable support and used for synchronously driving the synchronous tooth shafts on the two sides, and the adjustment components are arranged on the mounting plate and used for driving the retractable support.

[0010] The conversion members comprise lower sliding blocks, lower pressing springs, switching components and dialing components, the lower sliding blocks are slidingly installed in each connecting support, the lower pressing springs are connected with the lower sliding blocks and the connecting supports, each connecting support is provided with the switching component and used for adjusting the lower sliding limit position of the corresponding lower sliding block, and the dialing component is connected with the mounting plate and used for automatically switching the support types in cooperation with the switching component.

[0011] The linkage components comprise worm wheels, double-head worms, sleeved gears, drive gears and drive motors, the worm wheels are fixedly sleeved on the synchronous tooth shafts, the double-head worms are matched with the worm wheels and are rotationally installed in the retractable support, the sleeved gears are fixedly sleeved on the double-head worms, the drive gears are in mesh with the sleeved gears and are rotationally installed in the retractable support, the output shafts of the drive motors are connected with the drive gears, and the drive motors are fixedly installed in the retractable support.

[0012] The adjusting component comprises a driving screw rod, a rotating gear, a matching gear and a rotating motor, the driving screw rod is threadedly connected with the releasing support and rotatably installed in the mounting plate, the rotating gear is fixedly installed on one side of the driving screw rod, the matching gear is engaged with the rotating gear and rotatably installed in the mounting plate, and the output shaft of the rotating motor is connected with the matching gear, and the rotating motor is fixedly installed in the mounting plate.

[0013] The adjusting component comprises a rotating block, a side sleeve gear, a matching gear rack and a sliding plate, the rotating block is rotatably installed in each of the connecting supports and matched with the lower sliding block arranged in the corresponding connecting support, the side sleeve gear is fixedly installed on one side of the rotating block, the matching gear rack is engaged with the side sleeve gear and slidably installed in the connecting support, and the sliding plate is fixedly installed on the matching gear rack and slidably installed in the connecting support.

[0014] The adjusting component comprises a rotating block, a side sleeve gear, a matching gear rack and a sliding plate, the rotating block is rotatably installed in each of the connecting supports and matched with the lower sliding block arranged in the corresponding connecting support, the side sleeve gear is fixedly installed on one side of the rotating block, the matching gear rack is engaged with the side sleeve gear and slidably installed in the connecting support, and the sliding plate is fixedly installed on the matching gear rack and slidably installed in the connecting support.

[0015] The adjusting component comprises a rotating block, a side sleeve gear, a matching gear rack and a sliding plate, the rotating block is rotatably installed in each of the connecting supports and matched with the lower sliding block arranged in the corresponding connecting support, the side sleeve gear is fixedly installed on one side of the rotating block, the matching gear rack is engaged with the side sleeve gear and slidably installed in the connecting support, and the sliding plate is fixedly installed on the matching gear rack and slidably installed in the connecting support.

[0016] The unmanned aerial vehicle with the quick-release landing gear device and the control method have the following advantages.The unmanned aerial vehicle needs to be supported, the retractable support moves under the action of the control member, the retractable support is supported from the bottom of the mounting plate, the opening and closing rotating frame on the two sides of the retractable support rotates under the action of the control member, the support member arranged on the mounting block is unfolded, and the whole unmanned aerial vehicle is finally supported.After the unmanned aerial vehicle takes off, the retractable support is retracted into the mounting plate under the action of the control member, the mounting block and the support member are folded, the actual flight condition is determined through the terrain sensing module and the detection mechanism arranged on the unmanned aerial vehicle, the best support type is analyzed based on the actual flight condition and the landing terrain, the support type includes hard support and soft support, the support member in the folded state is exchanged in the support type through the conversion member based on the best support type, the retractable support and the corresponding support member are unfolded through the control member, the whole unmanned aerial vehicle is landed through the unfolded support member, the support structure can be quickly adjusted based on the actual flight condition and the ground condition through the arranged member, and the unmanned aerial vehicle is more flexible during actual operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced.

[0018] Figure 1 is a whole structure schematic view of the unmanned aerial vehicle with the quick-release landing gear device.

[0019] Figure 2 is a structure schematic view of the mounting plate side cut open.

[0020] Figure 3 is a structure schematic view of the mounting plate and the retractable support cut open.

[0021] Figure 4 is an installation structure schematic view of the bidirectional driving mechanism.

[0022] Figure 5 is a structure schematic view of the mounting block and the continuation support cut open.

[0023] Figure 6 is a structure schematic view of the Figure 5 is an enlarged view of A.

[0024] Figure 7 is a structure schematic view of the opening and closing rotating frame and the mounting block cut open.

[0025] Figure 8 is a UAV control method with quick-release landing gear device of the present application Figure 7 is a magnified view of B of the present application

[0026] Figure 9 is a flow chart of a UAV control method with quick-release landing gear device of the present application

[0027] In the figure: 101 - mounting plate, 102 - retractable support, 103 - opening and closing turntable, 104 - attachment block, 201 - connecting support, 202 - support rod, 203 - buffer spring, 301 - tooth sleeve, 302 - transition gear, 303 - synchronous tooth shaft, 401 - lower slide block, 402 - pressing spring, 501 - worm gear, 502 - double-head worm, 503 - set-in gear, 504 - drive gear, 505 - drive motor, 601 - drive screw, 602 - rotating gear, 603 - matching gear, 604 - rotating motor, 701 - rotating protrusion, 702 - side sleeve gear, 703 - matching tooth rack, 704 - slide plate, 801 - shifting frame, 802 - double-head screw, 803 - set-in gear, 804 - sliding tooth rack, 805 - bidirectional drive mechanism, 901 - locking rod, 902 - adjusting block, 903 - supporting spring, 904 - main shifting plate, 905 - bidirectional extrusion mechanism. DETAILED DESCRIPTION

[0028] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference numbers represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0029] In the description of the present application, it is understood that the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0030] Please refer to Figures 1 to 8The unmanned aerial vehicle with the quick-release landing gear device and the control method have the following advantages: the quick-release landing gear device can solve the problem of inconvenient disassembly of the landing gear, and can replace different types of landing gears according to the actual operation conditions to ensure better work, but the structure and function of the existing quick-release landing gear are single, the specific support type and mode of the landing gear cannot be adjusted according to the changing operation conditions during the work, and the existing landing gear is difficult to adjust when facing some special conditions and special landing terrains, and cannot flexibly adapt to different operation conditions.

[0031] Further, the mounting plate 101 is mounted at the bottom of the body of the unmanned aerial vehicle, and the mounting assembly is further included.

[0032] The mounting assembly includes the retractable support 102, the opening and closing swing arm 103, the connecting block 104, the support member, the control member and the conversion member, the retractable support 102 is slidingly installed below the mounting plate 101, the two opening and closing swing arms 103 are rotationally installed on the two sides of the retractable support 102, the connecting block 104 is fixed on the two sides of each opening and closing swing arm 103, the support member is arranged on each connecting block 104 and used for supporting the unmanned aerial vehicle, the control member is arranged on the retractable support 102 and used for driving the retractable support 102 and the two opening and closing swing arms 103, and the conversion member is arranged on the mounting plate 101 and used for converting the support type.

[0033] Specifically, the retractable support 102 is matched with the matching sliding groove arranged inside the mounting plate 101, the retractable support 102 is provided with a set of support bracket for mounting the opening and closing swing bracket 103 on the bottom of both sides, and each opening and closing swing bracket 103 is fixed with the mounting block 104 on both sides, and the support member is installed on the mounting block 104 through the corresponding quick release mechanism.

[0034] The support height of the bottom of the mounting plate 101 can be changed by driving the retractable support 102 to slide in the matching sliding groove of the mounting plate 101, so that the bottom plate of the unmanned aerial vehicle is prevented from colliding with the ground due to the too low support height when the unmanned aerial vehicle lands, and the size of the overall structure can be greatly reduced when the unmanned aerial vehicle is stored by retracting the retractable support 102.

[0035] The opening and closing swing bracket 103 arranged at the bottom of the retractable support 102 can store and deploy the support member through the control member, and the overall storage size can be reduced by storing the support member, and the automatic type conversion of the support member can be realized by cooperating with the subsequent mechanism.

[0036] In actual operation, when the unmanned aerial vehicle needs to be supported, the retractable support 102 moves under the action of the control member, so that the retractable support 102 is supported from the bottom of the mounting plate 101, the opening and closing swing bracket 103 on both sides of the retractable support 102 rotates under the action of the control member, and then drives the support member arranged on the mounting block 104 to deploy, so as to finally realize the support of the whole unmanned aerial vehicle. After the unmanned aerial vehicle takes off, the retractable support 102 is retracted into the mounting plate 101 under the action of the control member, and the mounting block 104 and the support member on four corners are also retracted by the opening and closing swing bracket 103. The actual flight condition is determined by the terrain sensing module and the detection mechanism arranged on the unmanned aerial vehicle, and then the best support type is analyzed based on the actual flight condition and the landing terrain, wherein the support type includes hard support and soft support. Based on the obtained best support type, the support member in the retracted state is converted by the conversion member, and finally the retractable support 102 and the corresponding support member are deployed by the control member, so as to assist the whole unmanned aerial vehicle to land through the deployed support member, which realizes that the support structure can be quickly adjusted based on the actual flight condition and the ground condition through the arranged components, so that it is more flexible in actual operation.

[0037] Further, the connecting support 201 is connected with the attaching block 104; the supporting rod 202 is slidingly installed on the connecting support 201; and the buffer spring 203 is connected with the supporting rod 202 and the connecting support 201 on both sides.

[0038] In use, the connecting support 201 is connected with the attaching block 104 through the corresponding quick release mechanism, the supporting rod 202 is slidingly arranged in the guide groove in the connecting support 201, and the buffer spring 203 is arranged in the guide groove in the connecting support 201 and the supporting rod 202. When the unmanned aerial vehicle lands, the impact generated by falling can be buffered by the buffer spring 203 cooperating with the sliding of the supporting rod 202 in the connecting support 201. The area where the supporting rod 202 cooperates with the connecting support 201 is provided with a friction layer, so that when the supporting rod 202 and the connecting support 201 slide relative to each other, there will be a certain resistance, avoiding the continuous small amplitude shaking of the body when the buffer spring 203 buffers.

[0039] Further, the tooth sleeve 301 is fixedly sleeved on the opening and closing turntable 103; the transition gear 302 is engaged with the tooth sleeve 301 and is rotatably installed in the folding and unfolding support 102; the gear provided on the synchronous tooth shaft 303 is engaged with the transition gear 302, and the synchronous tooth shaft 303 is rotatably installed in the folding and unfolding support 102; the linkage component is arranged in the folding and unfolding support 102 and is used for synchronously driving the synchronous tooth shaft 303 on both sides; and the adjusting component is arranged on the mounting plate block 101 and is used for driving the folding and unfolding support 102.

[0040] Further, the worm gear 501 is fixedly sleeved on the synchronous tooth shaft 303; the double-head worm 502 cooperates with the worm gear 501 and is rotatably installed in the folding and unfolding support 102; the sleeved gear 503 is fixedly sleeved on the double-head worm 502; the driving gear 504 is engaged with the sleeved gear 503 and is rotatably installed in the folding and unfolding support 102; and the output shaft of the driving motor 505 is connected with the driving gear 504, and the driving motor 505 is fixedly installed in the folding and unfolding support 102.

[0041] In use, each opening and closing turntable 103 is symmetrically provided with two tooth sleeves 301 on both sides, and the two tooth sleeves 301 are connected and matched with the synchronous tooth shaft 303 arranged above the folding and unfolding support 102 through the corresponding transition gears 302. Two groups of gear driving mechanisms can more stably drive the opening and closing turntable 103 to rotate.

[0042] The worm gears 501 are fixed in the middle of the synchronous tooth shafts 303 on both sides, the two worm gears 501 are matched with the threads on both sides of the double-head worm 502, the double-head worm 502 is fixed in the middle of the sleeve gear 503, the sleeve gear 503 is driven by the driving motor 505 and the driving gear 504, when the driving motor 505 drives the driving gear 504 to rotate, the sleeve gear 503 drives the double-head worm 502 to rotate, because the opening and closing rotating frames 103 on both sides are expanded and folded in opposite directions, so when the double-head worm 502 drives the worm gears 501 on both sides to rotate, the rotation direction of the worm gears 501 on both sides can be adjusted by changing the rotation direction of the threads on both sides of the double-head worm 502, so as to realize the corresponding synchronous driving of the opening and closing rotating frames 103 on both sides.

[0043] Further, the lower sliding block 401 is slidingly installed in each of the connecting supports 201; the lower compression spring 402 is connected with the lower sliding block 401 and the connecting support 201 on both sides; each of the connecting supports 201 is provided with the exchange component for adjusting the lower sliding limit position of the corresponding lower sliding block 401; the pulling component is connected with the mounting plate 101 for completing the automatic exchange of support types with the exchange component.

[0044] Further, the rotating protrusion 701 is rotatably installed in each of the connecting supports 201 and cooperates with the lower sliding block 401 arranged in the corresponding connecting support 201; the side sleeve gear 702 is fixedly installed on one side of the rotating protrusion 701; the matching tooth rack 703 is engaged with the side sleeve gear 702 and slidingly installed in the connecting support 201; the sliding plate 704 is fixedly installed on the matching tooth rack 703 and slidingly installed in the connecting support 201.

[0045] Further, the toggle frame 801 is slidingly installed on one side of the mounting plate 101 close to the sliding plate 704, the toggle frame 801 is provided with four, four toggle frames 801 and four corresponding sliding plates 704 are provided with the toggle bracket 201; two double-head screws 802 are respectively rotatably installed on both sides of the mounting plate 101, and each double-head screw 802 is connected with the corresponding toggle frame 801; the sleeve gear 803 is fixedly sleeved on each double-head screw 802; two sliding racks 804 are matched with the sleeve gears 803 on the double-head screws 802, and the two sliding racks 804 are slidingly installed in the mounting plate 101; the bidirectional driving mechanism 805 is arranged in the mounting plate 101 and used for driving the two sliding racks 804.

[0046] In use, the support rod 202 is slidingly matched with the internal guide groove of the toggle bracket 201 through the side fitting table, the internal guide groove of the toggle bracket 201 has the same shape and size as the internal fitting table of the support rod 202, the lower sliding block 401 is matched with the matching groove arranged in the toggle bracket 201, the lower sliding block 401 is composed of an abutting table on one side and a sliding table on the other side, the lower pressure spring 402 is arranged above the sliding table of the lower sliding block 401, and the rotating protrusion 701 is arranged below the sliding table of the lower sliding block 401.

[0047] When the protruding part of the rotating protrusion 701 abuts and matches with the sliding table of the lower sliding block 401, the abutting table of the lower sliding block 401 is completely retracted into the matching groove of the toggle bracket 201, at this time, the support rod 202 can slide in the toggle bracket 201, and when the protruding part of the rotating protrusion 701 is shifted to the side, the lower sliding block 401 starts to move downward under the action of the lower pressure spring 402, at this time, the abutting table of the lower sliding block 401 is also moved out of the matching groove of the toggle bracket 201, after the abutting table of the lower sliding block 401 is moved out, the fitting table side of the support rod 202 is blocked by the lower sliding block 401, so that the support rod 202 cannot slide in the toggle bracket 201.

[0048] The properties of the entire support structure can be changed by converting the matching relationship between the support rod 202 and the toggle bracket 201, when the support rod 202 can normally slide in the toggle bracket 201, the entire support structure is a flexible structure, and when the support rod 202 cannot normally slide in the toggle bracket 201, the entire support structure is a rigid structure.

[0049] The rotating convex block 701 is fixed with the side sleeve gear 702 on both sides, the side sleeve gear 702 is connected with the two matched toothed racks 703 respectively, the two matched toothed racks 703 are fixed with the sliding plate 704, when the sliding plate 704 slides, the matched toothed rack 703 moves with the sliding plate 704, and then drives the side sleeve gear 702 to rotate, and finally the driving of the rotating convex block 701 is realized, so that the cooperation state of the lower sliding block 401 is adjusted through the rotation of the rotating convex block 701.

[0050] When the protruding part of the rotating convex block 701 cooperates with the lower sliding block 401, the most protruding part of the rotating convex block 701 is in an inclined state, at this time the sliding plate 704 and the matched toothed rack 703 also move to the limit position on the corresponding side, so that the rotating convex block 701 can be limited to a certain extent under the extrusion of the lower pressing spring 402 and the lower sliding block 401, so as to avoid the self-rotation of the rotating convex block 701 without any external force.

[0051] The mounting plate 101 is provided with four dials 801 which cooperate with the sliding plate 704 in the folded state, when the whole support structure is in the folded state, the four dials 801 can cooperate with the sliding plate 704 arranged on the connecting support 201 one by one, the four dials 801 are driven by the corresponding double-head screw rod 802, the screw threads on both sides of the double-head screw rod 802 are opposite, so as to drive the dials 801 on both sides to close or expand at the same time, and the double-head screw rod 802 on both sides is driven by the filling gear and the sliding toothed rack 804 to realize synchronous rotation through the bidirectional driving mechanism 805.

[0052] The bidirectional driving mechanism 805 is composed of a screw rod with opposite screw threads on both sides and a motor, the sliding toothed rack 804 on both sides is driven by the bidirectional driving mechanism 805, and then the synchronous driving of the double-head screw rod 802 on both sides is realized through the movement of the sliding toothed rack 804 and the matching of the filling gear 803, when the double-head screw rod 802 on both sides is driven by the two groups of filling gears 803 and the sliding toothed racks 804, the double-head screw rod 802 on both sides rotates reversely and synchronously, and in order to ensure the synchronous expansion and closing of the dials 801 on both sides, the screw threads on both ends of the double-head screw rod 802 need to be adaptively adjusted, so that the four dials 801 on both sides can be synchronously and correspondingly slid.

[0053] By setting four said toggle frame 801 cooperation corresponding drive mechanism, can be in the support member folding when the corresponding slide plate 704 automatic adjustment, to achieve the automatic adjustment of support type, after the unmanned aerial vehicle take-off, the whole support mechanism can be recycled, when the need to landing by feedback operation and geographic information in advance to support type adjustment, adjustment is completed again the whole support mechanism is opened.

[0054] Further, the drive screw 601 is screwed with the retractable support 102, and is rotatably installed in the mounting plate 101; the rotating gear 602 is fixedly installed on one side of the drive screw 601; the matching gear 603 is engaged with the rotating gear 602 and is rotatably installed in the mounting plate 101; the output shaft of the rotating motor 604 is connected with the matching gear 603, and the rotating motor 604 is fixedly installed in the mounting plate 101.

[0055] In use, the two drive screws 601 are respectively matched with the two side threaded hole plates arranged at the top of the retractable support 102, the two drive screws 601 are fixedly provided with the rotating gears 602 at the top, the two rotating gears 602 are engaged with the matching gear 603 arranged in the middle, the matching gear 603 is driven by the rotating motor 604, so that when the drive motor 505 drives the matching gear 603 to rotate, the two rotating gears 602 on the sides are driven to rotate synchronously by the matching gear 603, and then the retractable support 102 is driven by the synchronous rotation of the two drive screws 601, so as to realize the retracting and releasing control of the retractable support 102.

[0056] Preferably, the mounting assembly further comprises a lock rod 901, a dial block 902, a supporting spring 903, a main dial plate 904 and a bidirectional extrusion mechanism 905.

[0057] Further, two lock rods 901 are slidably installed in each opening and closing turntable 103; the dial block 902 is arranged one by one corresponding to the lock rod 901, and the dial block 902 is fixedly connected with the lock rod 901 and slidably installed on the opening and closing turntable 103; the supporting spring 903 is connected with the dial block 902 and the opening and closing turntable 103 on both sides; the main dial plate 904 is arranged one by one corresponding to the dial block 902, and the main dial plate 904 is slidably installed in the opening and closing turntable 103; the bidirectional extrusion mechanism 905 is arranged in each opening and closing turntable 103, and is used for driving the two main dial plates 904 arranged on the opening and closing turntable 103.

[0058] In use, each of the connecting supports 201 is provided with a locking platform with a hole that cooperates with the locking groove of the mounting block 104, and the hole on the locking platform is matched with the locking rod 901, and the connecting supports 201 are further provided with positioning side platforms on both sides that cooperate with the guide transverse grooves on both sides of the mounting block 104. Since the sliding plate 704 provided on the connecting support 201 needs to cooperate with the push frame 801 provided in the mounting plate 101, the corresponding side of the mounting block 104 is of an open structure. Therefore, the cooperation of the guide transverse grooves and the positioning side platforms can not only guide and position the connecting supports 201 during installation, but also limit the connecting supports 201 after installation, so that the cooperation between the connecting supports 201 and the mounting block 104 is more stable.

[0059] The locking rod 901 is driven by the adjusting block 902, and the adjusting block 902 is provided with two protruding plates, one of which is located outside the opening and closing swing frame 103. The user can manually push the adjusting block 902 through the protruding plate outside to drive the locking rod 901 to move.

[0060] Each of the adjusting blocks 902 is provided with the supporting spring 903 on the back side. Under the action of the supporting spring 903, the adjusting block 902 can drive the locking rod 901 to cooperate with the locking platform of the connecting support 201, thereby completing the limiting installation of the connecting support 201.

[0061] Each of the opening and closing swing frames 103 is further provided with a set of main push plates 904 and bidirectional extrusion mechanisms 905. The bidirectional extrusion mechanism 905 is composed of two screw rods with opposite thread directions and a motor that drives the screw rods 601 to rotate. The motor drives the two screw rods with opposite thread directions to rotate, thereby driving the two main push plates 904 to close or expand. The main push plates 904 cooperate with the protruding plates of the adjusting blocks 902 provided on the inside of the opening and closing support. By closing the two main push plates 904, the two adjusting blocks 902 can be driven to move, thereby releasing the cooperation between the locking rod 901 and the connecting support 201 and completing the quick disassembly of the connecting support 201.

[0062] Through the above-mentioned quick release mechanism, the user can use manual and automatic methods to complete the quick disassembly between the connecting supports 201 and the mounting blocks 104, so that the user can select different types of methods to assemble and disassemble the entire landing gear support mechanism according to the actual operation, making the actual operation more convenient and flexible.

[0063] Please refer to Figure 9The application discloses a UAV control method with a quick-release landing gear device, and adopts the UAV with the quick-release landing gear device.

[0064] S1: when the UAV needs to be supported, the retractable support 102 moves under the action of the control member, so that the retractable support 102 is supported from the bottom of the mounting plate 101;

[0065] S2: the opening and closing rotary table 103 on both sides of the retractable support 102 rotates under the action of the control member, and then drives the supporting member arranged on the connecting block 104 to be unfolded, so that the whole UAV is finally supported;

[0066] S3: after the UAV takes off, the retractable support 102 is retracted into the mounting plate 101 under the action of the control member, and meanwhile, the opening and closing rotary table 103 also folds the connecting block 104 and the supporting member at four corners;

[0067] S4: the actual flight condition is judged through a terrain sensing module and a detection mechanism arranged on the UAV, and then the best supporting type is analyzed based on the actual flight condition and the landing terrain, wherein the supporting type includes hard support and soft support;

[0068] S5: based on the obtained best supporting type, the supporting member in the folded state is exchanged in the supporting type through a conversion member;

[0069] S6: finally, the retractable support 102 and the corresponding supporting member are unfolded through the control member, and then the whole UAV is landed through the unfolded supporting member.

[0070] The above only discloses one or more preferred embodiments of the application, and cannot be used to limit the scope of the application. Those skilled in the art can understand that all or part of the above-mentioned embodiments can be implemented, and equivalent changes made according to the claims of the application still belong to the scope of the application.

Claims

1. An unmanned aerial vehicle with quick-release landing gear device, comprising a mounting plate mounted at the bottom of the body of the unmanned aerial vehicle, characterized in that, It also includes a mounting assembly; The mounting assembly includes a retractable support, an opening and closing turntable, an attachment block, a support member, a control member and a conversion member, the retractable support is slidingly installed below the mounting plate, two opening and closing turntables are respectively rotationally installed on both sides of the retractable support, the attachment block is fixed on both sides of each opening and closing turntable, the support member is provided on each attachment block for supporting the unmanned aerial vehicle, the control member is provided on the retractable support for driving the retractable support and the two opening and closing turntables, and the conversion member is provided on the mounting plate for switching the support type.

2. The unmanned aerial vehicle with quick-release landing gear device according to claim 1, characterized in that, The support member includes a connecting support, a support rod and a buffer spring, the connecting support is connected with the attachment block, the support rod is slidingly installed on the connecting support, and the buffer spring is connected with the support rod and the connecting support on both sides.

3. The unmanned aerial vehicle with quick-release landing gear device according to claim 1, characterized in that, The control member includes a gear sleeve, a transition gear, a synchronous gear shaft, a linkage component and an adjustment component, the gear sleeve is fixedly sleeved on the opening and closing turntable, the transition gear is engaged with the gear sleeve and rotationally installed in the retractable support, the gear on the synchronous gear shaft is engaged with the transition gear, and the synchronous gear shaft is rotationally installed in the retractable support, the linkage component is provided in the retractable support for synchronously driving the synchronous gear shaft on both sides, and the adjustment component is provided on the mounting plate for driving the retractable support.

4. The unmanned aerial vehicle with quick-release landing gear device according to claim 2, characterized in that, The conversion member includes a sliding block, a pressing spring, a switching component and a shifting component, the sliding block is slidingly installed in each connecting support, the pressing spring is connected with the sliding block and the connecting support on both sides, the switching component is provided on each connecting support for adjusting the sliding limit position of the corresponding sliding block, and the shifting component is connected with the mounting plate for automatically switching the support type in cooperation with the switching component.

5. The unmanned aerial vehicle with quick-release landing gear device according to claim 3, characterized in that, The linkage component includes a worm gear, a double-head worm, a sleeved gear, a driving gear and a driving motor, the worm gear is fixedly sleeved on the synchronous gear shaft, the double-head worm is engaged with the worm gear and rotationally installed in the retractable support, the sleeved gear is fixedly sleeved on the double-head worm, the driving gear is engaged with the sleeved gear and rotationally installed in the retractable support, the output shaft of the driving motor is connected with the driving gear, and the driving motor is fixedly installed in the retractable support.

6. The unmanned aerial vehicle with quick-release landing gear device according to claim 3, characterized in that, the adjusting component comprises a driving screw rod, a rotating gear, a matching gear and a rotating motor, the driving screw rod is in threaded connection with the retractable support and is rotatably installed in the mounting plate, the rotating gear is fixedly installed on one side of the driving screw rod, the matching gear is in meshing connection with the rotating gear and is rotatably installed in the mounting plate, and the output shaft of the rotating motor is connected with the matching gear, and the rotating motor is fixedly installed in the mounting plate.

7. The unmanned aerial vehicle with quick-release landing gear device according to claim 4, characterized in that, the exchanging component comprises a rotating lug, a side sleeve gear, a matching gear rack and a sliding plate, the rotating lug is rotatably installed in each of the connecting supports and is matched with the lower sliding block arranged in the corresponding connecting support, the side sleeve gear is fixedly installed on one side of the rotating lug, the matching gear rack is in meshing connection with the side sleeve gear and is slidably installed in the connecting support, and the sliding plate is fixedly installed on the matching gear rack and is slidably installed in the connecting support.

8. The unmanned aerial vehicle with quick-release landing gear device according to claim 7, characterized in that, the shifting component comprises a shifting frame, a double-head screw rod, a sleeve gear, a sliding gear rack and a bidirectional driving mechanism, the shifting frame is slidably installed on one side of the mounting plate close to the sliding plate, four shifting frames are arranged, and the four shifting frames are in one-to-one correspondence with the sliding plates of the four connecting supports, two double-head screw rods are rotatably installed on two sides of the mounting plate, each double-head screw rod is matched with the corresponding shifting frame on two sides, the sleeve gear is fixedly sleeved on each double-head screw rod, two sliding gear racks are matched with the sleeve gears on the two double-head screw rods, the two sliding gear racks are slidably installed in the mounting plate, and the bidirectional driving mechanism is arranged in the mounting plate and is used for driving the two sliding gear racks.

9. The unmanned aerial vehicle with quick-release landing gear device according to claim 1, characterized in that, the mounting assembly further comprises a lock rod, an adjusting block, a supporting spring, a main shifting plate and a bidirectional extrusion mechanism, two lock rods are slidably installed in each of the opening and closing turntables, the adjusting block is arranged in one-to-one correspondence with the lock rod, the adjusting block is fixedly connected with the lock rod and is slidably installed on the opening and closing turntable, the supporting spring is connected with the adjusting block and the opening and closing turntable on two sides, the main shifting plate is arranged in one-to-one correspondence with the adjusting block, the main shifting plate is slidably installed in the opening and closing turntable, and the bidirectional extrusion mechanism is arranged in each opening and closing turntable and is used for driving the two main shifting plates arranged on the opening and closing turntable.

10. A method for controlling a UAV having a quick-release landing gear device, the UAV having a quick-release landing gear device according to claim 1, wherein comprises the following steps, when the unmanned aerial vehicle needs to be supported, the retractable support is moved under the action of the adjusting component, so that the retractable support is extended from the bottom of the mounting plate. The opening and closing swing arms on both sides of the retractable support frame will rotate under the action of the control member, thereby driving the support member arranged on the connecting block to expand, and finally achieving support for the whole unmanned aerial vehicle; After the unmanned aerial vehicle takes off, the retractable support frame will be retracted into the mounting plate under the action of the control member, and at the same time, the opening and closing swing arms will also fold the four corner connecting blocks and the support member; The actual flight condition is determined by the terrain sensing module and the detection mechanism arranged on the unmanned aerial vehicle, and then the best support type is analyzed based on the actual flight condition and the landing terrain, wherein the support type includes hard support and soft support; Based on the obtained best support type, the support member in the folded state is exchanged by the conversion member to change the support type; Finally, the retractable support frame and the corresponding support member are expanded by the control member, and then the whole unmanned aerial vehicle is landed with the aid of the expanded support member.

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