Balancing foot stool device for unmanned helicopter

Abstract

The invention discloses a balance foot stand device for an unmanned helicopter, and belongs to the technical field of aircraft balance foot stands, the balance foot stand device for the unmanned helicopter comprises a shell, a fuselage, wings, an empennage and a balance foot stand; the device further comprises a balancing device. The balance foot stand comprises a stand body, a fixed foot rod, a balance bottom frame and a weight box; the upper end of the frame body is connected with the fuselage, and the lower end obliquely extends towards two sides to form an arch structure; the fixed foot rods are arranged on two sides of the lower end of the frame body and used for supporting the ground; the weight box is mounted on the frame body and used for storing a weight medium; the balance bottom frame is fixedly sleeved on the fixed foot rod; the balancing device is arranged on one side of the balancing underframe; wherein the balancing device distributes a counterweight medium to the corresponding side of the balancing underframe through a counterweight box so as to increase the gravity action of the high point of the inclined surface, and balance of the unmanned helicopter on the inclined ground is realized. After a helicopter lands on an inclined plane, balance adjustment can be carried out on the balance foot stool.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft balance legs, more particularly to a balance leg device for unmanned helicopters. BACKGROUND

[0002] The landing stability of a helicopter largely depends on the design of its legs, also known as landing gear. Currently, most helicopter legs adopt a triangular structure that tilts to both sides, which enhances the stability of the helicopter during landing by increasing the width of the support surface. Specifically, a conventional helicopter leg is usually composed of two or more inclined legs that extend outward from the bottom of the fuselage and form a certain angle with the ground, thereby forming a stable triangular support structure on the horizontal ground. This structure can effectively distribute the weight of the helicopter and prevent it from swaying or tilting during landing, improving the stability and safety of landing.

[0003] However, this traditional triangular leg design has obvious limitations, especially when landing on non-horizontal or steeply inclined surfaces. Since the legs of the leg are fixed to tilt outward, their support range is limited to a specific angle range. If the helicopter attempts to land on a steep slope, the fuselage will slide to the low side due to gravity, and the support structure of the leg cannot provide sufficient lateral stability, resulting in the helicopter may roll over.

[0004] Therefore, although the existing helicopter leg design can meet the landing requirements of conventional horizontal ground, it has obvious adaptability when dealing with inclined ground or complex terrain, and there is an urgent need for a balance leg device for unmanned helicopters to improve the stability of the new balance device. SUMMARY

[0005] In view of the problems existing in the prior art, the purpose of the present application is to provide a balance leg device for unmanned helicopters, which can realize balance adjustment of the balance leg when the helicopter lands on an inclined surface.

[0006] To solve the above problems, the technical scheme adopted by the present application is as follows.

[0007] The application discloses a balance foot stand device for an unmanned helicopter, which comprises a machine shell, a machine body, a wing, a tail wing and a balance foot stand; further comprising a balance device; the balance foot stand comprises a stand body, fixed foot rods, a balance base and a counterweight box; the upper end of the stand body is detachably connected with the machine body, and the lower end thereof extends to both sides in an inclined manner to form an arch structure; the fixed foot rods are arranged on both sides of the lower end of the stand body and used for supporting the ground; the counterweight box is installed on the stand body and used for storing a counterweight medium; the balance base is fixedly sleeved on the fixed foot rods and used for supporting and stabilizing the unmanned helicopter when contacting and landing on the ground; the balance device is detachably arranged on one side of the balance base and used for detecting the tilting state of the unmanned helicopter and adjusting the distribution of the counterweight medium; wherein the balance device distributes the counterweight medium to the corresponding side of the balance base through the counterweight box so as to increase the gravity of the high point of the tilting surface.

[0008] Further, the balance base comprises a base, a first counterweight bin, a second counterweight bin and a pressing plate; the base is fixedly sleeved on the fixed foot rods; the first counterweight bin and the second counterweight bin are arranged on both sides of the base respectively and used for receiving the counterweight medium; the pressing plate is installed on the lower end of the base and used for contacting the ground and triggering the counterweight distribution when landing.

[0009] Further, a pressing cavity is arranged between the pressing plate and the base, and a reset spring and a first pressure sensor are installed in the pressing cavity; when the pressing plate is subjected to the ground pressure, the reset spring is compressed, the pressing plate touches the first pressure sensor, and the counterweight distribution is triggered.

[0010] Further, the balance device comprises a shell, a first trigger mechanism, a second trigger mechanism and a balance medium; the shell is a closed structure; the first trigger mechanism and the second trigger mechanism are arranged at two ends of the inner cavity of the shell respectively; the balance medium is arranged in the shell and used for triggering the first trigger mechanism or the second trigger mechanism according to the tilting state of the unmanned helicopter; wherein the first trigger mechanism and the second trigger mechanism are electrically connected with outlet valves of the counterweight box respectively so as to control the distribution of the counterweight medium.

[0011] Further, the balance medium is a conductive fluid; when the unmanned helicopter tilts, the conductive fluid covers the electric contact of the first trigger mechanism or the second trigger mechanism, forms a conductive path to open the corresponding outlet valve.

[0012] Further, the balance medium is a sliding magnet; when the unmanned helicopter tilts, the sliding magnet slides to the low point of the tilting surface, triggers the second pressure sensor or the third pressure sensor, and opens the corresponding outlet valve.

[0013] Further, the counterweight box is symmetrically provided with a counterweight outlet and a counterweight inlet at the front and rear ends, and the counterweight outlet and the counterweight inlet are communicated with the first counterweight bin and the second counterweight bin through connecting pipes respectively.

[0014] Further, the counterweight outlet is provided with a first outlet valve and a second outlet valve, and the counterweight inlet is provided with a first inlet valve and a second inlet valve, respectively used for controlling the inlet and outlet of the counterweight medium.

[0015] Further, the counterweight medium is a heavy suspension liquid, and a stabilizer is added to reduce the sedimentation effect.

[0016] Further, when the balancing medium is a sliding magnet, the shell is made of a magnetic shielding material; when the balancing medium is a conductive fluid, the shell is made of an insulating material.

[0017] Compared with the prior art, the advantages of the present application are:

[0018] By setting the linkage structure of the balancing device, the counterweight tank and the balancing chassis, automatic balancing adjustment of the unmanned helicopter on the inclined ground is realized. When the helicopter is inclined, the balancing device detects the inclination state and accurately distributes the counterweight medium to the corresponding side of the balancing chassis through the counterweight tank, increases the gravity effect of the high point of the inclined surface, and effectively offsets the tendency of the helicopter body to slide. The design of the arched frame body and the fixed foot rod enhances the support stability, and the dynamic adjustment function of the counterweight medium significantly improves the adaptability and safety of the helicopter landing on complex terrain. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a side view of the structure of the present application;

[0020] Figure 2 is a bottom view of the structure of the present application;

[0021] Figure 3 is a side view of the structure of the present application; Figure 2 is an enlarged view of position A in the present application;

[0022] Figure 4 is a front view of the structure of the present application when the aircraft lands on flat ground;

[0023] Figure 5 is a front view of the structure of the present application when the aircraft lands on inclined ground;

[0024] Figure 6 is a side view of the structure of the present application;

[0025] Figure 7 is a bottom view of the structure of the present application;

[0026] Figure 8 is a side view of the structure of the present application; Figure 7 is an enlarged view of position B in the present application;

[0027] Figure 9 is a front view of the structure of the present application;

[0028] Figure 10 For the application Figure 9 The amplification structure schematic diagram at C in the application

[0029] Figure 11 The structure schematic diagram of the balancing device circuit system in the first embodiment of the application

[0030] Figure 12 For the application Figure 9 The amplification structure schematic diagram of the second embodiment at C in the application

[0031] Figure 13 The structure schematic diagram of the balancing device circuit system in the second embodiment of the application

[0032] Explanation of the figure labels:

[0033] Casing 1, body 2, wing 3, tail 4, balance foot stand 5, stand body 51, fixed foot rod 511, counterweight box 52, counterweight outlet 521, first outlet valve 521-1, second outlet valve 521-2, counterweight inlet 522, first inlet valve 522-1, second inlet valve 522-2, balance chassis 53, first counterweight compartment 531, second counterweight compartment 532, extrusion plate 533, extrusion cavity 534, reset spring 535, first pressure sensor 536, balancing device 6, first trigger mechanism 61, second pressure sensor 611, second trigger mechanism 62, third pressure sensor 621, balancing medium 63. DETAILED DESCRIPTION

[0034] Embodiment 1

[0035] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be interpreted as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly and completely understood. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0036] In addition, it should be further noted that, for the convenience of description, only the parts related to the application are shown in the drawings. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0037] It should be noted that the concepts of "first", "second", etc. mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0038] It should be noted that the modification of "one", "a plurality of" mentioned in the present disclosure is illustrative but not restrictive, and those skilled in the art should understand that unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0039] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0040] Please refer to Figures 1-11 A balancing foot stand device for unmanned helicopter, comprising a machine shell 1, a machine body 2, a wing 3, a tail wing 4, a balancing foot stand 5 and a balancing device 6.

[0041] Specifically, the machine shell 1 is wrapped around the outer periphery of the machine body 2, and the wing 3 is rotatably connected to the upper end of the machine body 2. An extended tail wing connecting rod is arranged on the rear side of the middle part of the machine body 2, the leading end of the tail wing connecting rod is detachably connected to the machine body 2, and the tail wing 4 is installed at the trailing end of the tail wing connecting rod, and the tail wing 4 is detachably connected to the trailing end of the tail wing connecting rod. The balancing foot stand 5 is installed at the lower end of the machine body 2, and the balancing foot stand 5 is detachably connected to the lower end of the machine body 2. The balancing device 6 is fixedly installed on both sides of the balancing foot stand 5 to adjust the balance of the inclined landing of the balancing foot stand 5 through the balancing device 6. Among them, the machine body 2 is used to install parts such as driving wings 3, tail wings 4 and balancing devices 6, and the driving installation method is the existing technology of helicopter installation, which will not be repeated here.

[0042] Specifically, the balancing foot stand 5 comprises a stand body 51, a counterweight box 52 and a balancing chassis 53, the upper end of the stand body 51 is detachably connected to the lower end of the machine body 2, and the stand body 51 is inclined and extended to both sides from the middle of the lower end of the machine body 2 to form an arch structure. Among them, the lower end of the stand body 51 is fixedly provided with a fixed foot rod 511 on both sides, and both ends of the fixed foot rod 511 are inclined and raised. The fixed foot rod 511 arranged in this way is not easy to be stuck in the terrain compared with the parallel foot rod.

[0043] Specifically, the counterweight box 52 is mounted on the lower wall surface of the upper end of the frame body 51, and the counterweight box 52 is detachably connected with the frame body 51. Among them, the counterweight box 52 is used to store the counterweight medium, and in the embodiment, the counterweight medium is heavy suspension liquid, and a stabilizer is added in the heavy suspension liquid to reduce the sedimentation effect of the heavy suspension liquid. The front and rear ends of the counterweight box 52 are symmetrically provided with a counterweight outlet 521 and a counterweight inlet 522, and the inner side of the counterweight outlet 521 and the counterweight inlet 522 corresponding to the counterweight box 52 is provided with a pump body, and in the embodiment, the pump body is a screw pump to reduce the wear of the pump body by the heavy suspension liquid. Among them, the two sides of the counterweight outlet 521 are respectively provided with a first outlet valve 521-1 and a second outlet valve 521-2, and the first outlet valve 521-1 and the second outlet valve 521-2 are respectively communicated with the counterweight box 52 through the corresponding pump body, so as to control the output direction of the heavy suspension liquid through the first outlet valve 521-1 and the second outlet valve 521-2 by the corresponding pump body. The two sides of the counterweight inlet 522 are respectively provided with a first inlet valve 522-1 and a second inlet valve 522-2, and the first inlet valve 522-1 and the second inlet valve 522-2 are respectively communicated with the counterweight box 52 through the corresponding pump body, so as to control the suction of the heavy suspension liquid in the pipeline direction of the first inlet valve 522-1 and the second inlet valve 522-2 through the corresponding pump body.

[0044] Specifically, the balance chassis 53 is fixedly sleeved on the fixed foot rod 511 at the lower end of the frame body 51, and the balance chassis 53 is located at the middle of the fixed foot rod 511 to ensure that the balance chassis 53 contacts the landing ground stably. The balance chassis 53 comprises a base, a first counterweight bin 531, a second counterweight bin 532, an extrusion plate 533, an extrusion cavity 534, a reset spring 535 and a first pressure sensor 536. The base is fixedly sleeved on the fixed foot rod 511, and the two sides of the base are upwardly protruded and form mounting grooves for mounting the counterweight bins around the two sides of the fixed foot rod 511. The first counterweight bin 531 and the second counterweight bin 532 are both fixedly mounted in the mounting grooves, so as to adjust the gravity balance of the single side by arranging the corresponding counterweight bins on the circumferential side of the two fixed foot rods 511. The front ends of the first counterweight bin 531 and the second counterweight bin 532 are both provided with a connection inlet, and the rear ends of the first counterweight bin 531 and the second counterweight bin 532 are both provided with a connection outlet. The connection inlets of the first counterweight bin 531 and the second counterweight bin 532 are respectively communicated with the first outlet valve 521-1 and the second outlet valve 521-2 through the connecting pipes. The connection outlets of the first counterweight bin 531 and the second counterweight bin 532 are respectively communicated with the first inlet valve 522-1 and the second inlet valve 522-2 through the connecting pipes. It should be noted that the first outlet valve 521-1 corresponds to the connection inlet of the first counterweight bin 531, so as to control the heavy suspension liquid into the first counterweight bin 531 for counterweight adjustment by starting and stopping the first outlet valve 521-1. The second outlet valve 521-2 corresponds to the connection inlet of the second counterweight bin 532, so as to control the heavy suspension liquid into the second counterweight bin 531 for counterweight adjustment by starting and stopping the second outlet valve 521-2. The first inlet valve 522-1 corresponds to the connection outlet of the first counterweight bin 531, so as to control the heavy suspension liquid back into the counterweight box 52 from the first counterweight bin 531 by starting and stopping the first inlet valve 522-1. The second inlet valve 522-2 corresponds to the connection outlet of the second counterweight bin 532, so as to control the heavy suspension liquid back into the counterweight box 52 from the second counterweight bin 532 by starting and stopping the second inlet valve 522-2. The extrusion plate 533 is mounted at the lower end of the base, and the extrusion plate 533 is located at the end contacting the ground, and the extrusion cavity 534 is provided with a base lower end corresponding to the extrusion plate 533, and the extrusion cavity 534 and the extrusion plate 533 are matched with each other. The reset spring 535 is mounted in the extrusion cavity 534, and one end of the reset spring 535 is fixedly connected with the extrusion plate 533, and the other end of the reset spring 535 is fixedly connected with the base wall in the extrusion cavity 534. In this embodiment, two reset springs 535 are mounted, and the two reset springs 535 are respectively arranged at the two sides in the extrusion cavity 534. The first pressure sensor 536 is mounted at the middle of the extrusion cavity 534, and the first pressure sensor 536 is located between the two reset springs 535. In the case of not landing, the reset spring 535 keeps normal to prop up the extrusion plate 533 and protrude out of the extrusion cavity 534.When landing, the extrusion plate 533 contacts the ground and is pressed by gravity, the reset spring 535 is pressed, the extrusion plate 533 is inserted into the extrusion cavity 534 and touches the first pressure sensor 536, the first pressure sensor 536 is touched and sends a signal to start work.

[0045] Specifically, the balancing device 6 is horizontally installed on one side of the balancing chassis 53, and the balancing device 6 is fixedly connected with the side wall of the balancing chassis 53. The balancing device 6 comprises a shell, a first trigger mechanism 61, a second trigger mechanism 62 and a balancing medium 63. The first trigger mechanism 61 and the second trigger mechanism 62 are respectively arranged at two ends of the inner cavity of the shell, the shell is in a closed state, and the balancing medium 63 is located in the shell, i.e. between the first trigger mechanism 61 and the second trigger mechanism 62. In this embodiment, the shell is made of insulating material, and the first trigger mechanism 61 and the second trigger mechanism 62 are both arranged in an electric contact mode, specifically as shown in Figure 10The electric contacts of the first trigger mechanism 61 and the second trigger mechanism 62 are made of corrosion-resistant material. The electric contacts of the first trigger mechanism 61 and the second trigger mechanism 62 are arranged in a top-and-bottom distribution. In this embodiment, the balance medium 63 is a conductive fluid, specifically a conductive fluid that is not prone to evaporation loss, and in the horizontal state, the balance medium 63 only covers the electric contacts at the lower ends of the first trigger mechanism 61 and the second trigger mechanism 62. When the balance medium 63 is in the horizontal state in the housing, the balance medium 63 cannot completely cover the electric contacts at the top and bottom ends of the first trigger mechanism 61 or the second trigger mechanism 62 on one side. When the helicopter lands on an inclined surface, the balance medium 63 is in an inclined state in the housing, and the balance medium 63 will be biased to the low point of the inclined surface. When the low point of the inclined surface to which the balance medium 63 is biased is the first trigger mechanism 61, the electric contacts at the top and bottom ends of the first trigger mechanism 61 are electrically connected through the balance medium 63, and the electric contacts of the first trigger mechanism 61 are electrically connected to the first outlet valve 521-1 to open the first outlet valve 521-1 through the first trigger mechanism 61 to pass the heavy suspension liquid into the first counterweight bin 531. It should be noted that the first counterweight bin 531 into which the heavy suspension liquid is passed after the first trigger mechanism 61 is triggered is located at the high point of the inclined surface to increase the gravitational force at the high point of the inclined surface to achieve balance of the balance foot 5. When the low point of the inclined surface to which the balance medium 63 is biased is the second trigger mechanism 62, the electric contacts at the top and bottom ends of the second trigger mechanism 62 are electrically connected through the balance medium 63, and the electric contacts of the second trigger mechanism 62 are electrically connected to the second outlet valve 521-2 to open the second outlet valve 521-2 through the second trigger mechanism 62 to pass the heavy suspension liquid into the second counterweight bin 532. It should be noted that the second counterweight bin 532 into which the heavy suspension liquid is passed after the second trigger mechanism 62 is triggered is located at the high point of the inclined surface to increase the gravitational force at the high point of the inclined surface to achieve balance of the balance foot 5. The first trigger mechanism 61 and the first counterweight bin 531 and the second trigger mechanism 62 and the second counterweight bin 532 are arranged in a cross manner. When the helicopter is on an inclined surface, if the first trigger mechanism 61 is the low point of the inclined surface, then the first counterweight bin 531 is the high point of the inclined surface; if the second trigger mechanism 62 is the low point of the inclined surface, then the second counterweight bin 532 is the high point of the inclined surface.

[0046] It should be noted that the balance medium 63 is a conductive fluid, and the conductive fluid is arranged horizontally. When the helicopter lands on an inclined surface, the conductive fluid is also arranged in an inclined manner in the housing of the balance device 6, and the inclination angle of the conductive fluid in the housing is equal to the inclination angle of the helicopter landing on the inclined surface. When the inclination angle of the conductive fluid is greater than 5°, the electric contacts of the first trigger mechanism 61 or the second trigger mechanism 62 on one side are completely covered. When the angle of the helicopter landing on the inclined surface is less than 5°, the balance device 6 cannot be started.

[0047] Specifically, the balancing device 6 is provided with a first circuit system, which includes a power supply, a trigger switch, a trigger mechanism, a first outlet valve 521-1 and a second outlet valve 521-2 as shown in Figure 11 The trigger switch includes a pressing plate 533, a reset spring 535 and a first pressure sensor 536, and is opened when the helicopter lands on the ground. The trigger mechanism includes a first trigger mechanism 61, a second trigger mechanism 62 and a balancing medium 63, and the first trigger mechanism 61 is electrically connected with the first outlet valve 521-1, and the second trigger mechanism 62 is electrically connected with the second outlet valve 521-2. The trigger mechanism is arranged in parallel, and two open circuits are formed in the first circuit system through the trigger mechanism, so as to open the outlet valve by connecting one of the open circuits of the first circuit system through the balancing medium 63.

[0048] Working principle:

[0049] The balancing foot device detects the tilting state of the unmanned helicopter through the balancing device 6. When the helicopter lands on an inclined ground, the balancing medium 63 is biased to the low point of the inclined surface in the shell due to gravity, and the corresponding first trigger mechanism 61 or second trigger mechanism 62 is triggered. If the balancing medium is a conductive fluid, it will cover the electric contact to form a conductive path, open the corresponding outlet valve of the counterweight box 52, and distribute the counterweight medium to the counterweight bin at the high point of the inclined surface to increase the gravity at the high point to balance the fuselage.

[0050] Embodiment 2:

[0051] Please refer to Figures 12-13Different from the embodiment 1, the shell of the balancing device 6 is made of a magnetic isolation material. The first trigger mechanism 61 is an electromagnet, and the front end of the first trigger mechanism 61 is provided with a second pressure sensor 611, which is signal connected with the first outlet valve 521-1, so that the second pressure sensor 611 sends a signal to the first outlet valve 521-1 to open the valve. The second trigger mechanism 62 is an electromagnet, and the front end of the second trigger mechanism 62 is provided with a third pressure sensor 621, which is signal connected with the second outlet valve 521-2, so that the third pressure sensor 621 sends a signal to the second outlet valve 521-2 to open the valve. Specifically, the balancing medium 63 is a sliding magnet, which is slidingly connected in the shell of the balancing device 6, and the sliding end surface of the sliding magnet in the shell is wrapped with a wear-resistant layer to reduce the wear of the sliding magnet caused by long-time sliding friction. It should be noted that the electromagnets of the first trigger mechanism 61 and the second trigger mechanism 62 are made of non-magnetic material, and the electromagnets of the first trigger mechanism 61 and the second trigger mechanism 62 are oppositely arranged, and the magnetism of the opposite ends of the two electromagnets is different, so that the electromagnets cannot attract the sliding magnet when not powered. The magnetism of the two ends of the sliding magnet of the balancing medium 63 is different from the magnetism of the opposite end close to the first trigger mechanism 61 or the second trigger mechanism 62, so that the first trigger mechanism 61 or the second trigger mechanism 62 attracts the sliding magnet after being powered. When the helicopter lands on an inclined surface, the sliding magnet slides towards the low point of the inclined surface, so that the electromagnet of the first trigger mechanism 61 or the second trigger mechanism 62 attracts the sliding magnet to collide with the corresponding second pressure sensor 611 or third pressure sensor 621.

[0052] Specifically, the balancing device 6 is provided with a second circuit system, and different from the embodiment 1, the trigger mechanism includes the first trigger mechanism 61, the second trigger mechanism 62 and the balancing medium 63, and the first trigger mechanism 61 and the second trigger mechanism 62 are oppositely arranged electromagnets with different magnetism, and the balancing medium 63 is a sliding magnet. Two open circuits are formed in the second circuit system by the trigger mechanism, so that the balancing medium 63 collides with the second pressure sensor 611 or the third pressure sensor 621 to connect one of the open circuits of the second circuit system to open the outlet valve.

[0053] Working principle:

[0054] The balancing foot device detects the inclination state of the unmanned helicopter through the balancing device 6. When the helicopter lands on an inclined surface, the balancing medium 63 in the shell is biased towards the low point of the inclined surface due to gravity, triggering the corresponding first trigger mechanism 61 or second trigger mechanism 62. The balancing medium is a sliding magnet, which triggers the pressure sensor and controls the opening of the outlet valve to realize the distribution of the counterweight. At the same time, the pressing plate 533 is pressed to touch the first pressure sensor 536, starting the counterweight adjusting system.

[0055] The above description is merely exemplary of the disclosure and the application made use of the principles of the technology. It is to be understood that the application is not limited in scope to the described technical features, and that the application's scope is encompassed with any variations of the above technical features that possess similarly pertinent characteristics. For example, the above technical features are interchangeable with other technical features disclosed herein (but not limited to) that have similar functions.

Claims

1. A balancing foot device for an unmanned helicopter, comprising a housing (1), a fuselage (2), wings (3), a tail fin (4), and balancing feet (5); characterized in that: It also includes a balancing device (6); the balancing foot (5) includes a frame (51), fixed foot poles (511), a balancing base frame (53) and a counterweight box (52); the upper end of the frame (51) is detachably connected to the fuselage (2), and the lower end extends to both sides to form an arched structure; the fixed foot poles (511) are set on both sides of the lower end of the frame (51) to support the ground; the counterweight box (52) is installed on the frame (51) to store the counterweight medium; the balancing base frame (53) is fixedly sleeved on the fixed foot poles (511) to support and stabilize the unmanned helicopter when it contacts and lands on the ground; The balancing device (6) is detachably mounted on one side of the balancing base (53) to detect the tilt state of the unmanned helicopter and adjust the distribution of the counterweight medium. The balancing device (6) distributes the counterweight medium to the corresponding side of the balancing base frame (53) through the counterweight box (52) to increase the gravity effect at the high point of the inclined surface.

2. The balancing foot device for an unmanned helicopter according to claim 1, characterized in that: The balancing base (53) includes a base, a first counterweight chamber (531), a second counterweight chamber (532), and a compression plate (533); the base is fixedly sleeved on the fixed foot rod (511); the first counterweight chamber (531) and the second counterweight chamber (532) are respectively located on both sides of the base for receiving counterweight media; the compression plate (533) is installed at the lower end of the base for contacting the ground and triggering counterweight distribution during landing.

3. The balancing foot device for an unmanned helicopter according to claim 2, characterized in that: An extrusion chamber (534) is provided between the extrusion plate (533) and the base. A reset spring (535) and a first pressure sensor (536) are installed in the extrusion chamber (534). When the extrusion plate (533) is subjected to ground pressure, the reset spring (535) is compressed, and the extrusion plate (533) touches the first pressure sensor (536), triggering the counterweight distribution.

4. The balancing foot device for an unmanned helicopter according to claim 1, characterized in that: The balancing device (6) includes a housing, a first triggering mechanism (61), a second triggering mechanism (62), and a balancing medium (63); the housing is a closed structure; the first triggering mechanism (61) and the second triggering mechanism (62) are respectively located at both ends of the inner cavity of the housing; the balancing medium (63) is located inside the housing and is used to trigger the first triggering mechanism (61) or the second triggering mechanism (62) according to the tilt state of the unmanned helicopter; wherein, the first triggering mechanism (61) and the second triggering mechanism (62) are electrically connected to the outlet valve of the counterweight box (52) to control the distribution of the counterweight medium.

5. A balancing foot device for an unmanned helicopter according to claim 4, characterized in that: The balancing medium (63) is a conductive fluid; when the unmanned helicopter tilts, the conductive fluid covers the electrical contacts of the first trigger mechanism (61) or the second trigger mechanism (62) to form a conductive path to open the corresponding outlet valve.

6. The balancing foot device for an unmanned helicopter according to claim 4, characterized in that: The balancing medium (63) is a sliding magnet; when the unmanned helicopter tilts, the sliding magnet slides to the lowest point of the tilt surface, triggering the second pressure sensor (611) or the third pressure sensor (621) to open the corresponding outlet valve.

7. A balancing foot device for an unmanned helicopter according to claim 1, characterized in that: The counterweight box (52) has a counterweight outlet (521) and a counterweight inlet (522) symmetrically arranged at its front and rear ends. The counterweight outlet (521) and the counterweight inlet (522) are respectively connected to the first counterweight compartment (531) and the second counterweight compartment (532) through connecting pipes.

8. A balancing foot device for an unmanned helicopter according to claim 7, characterized in that: The counterweight outlet (521) is equipped with a first outlet valve (521-1) and a second outlet valve (521-2), and the counterweight inlet (522) is equipped with a first inlet valve (522-1) and a second inlet valve (522-2), which are used to control the entry and exit of the counterweight medium, respectively.

9. A balancing foot device for an unmanned helicopter according to claim 1, characterized in that: The counterweight medium is a heavy suspension containing a stabilizer to reduce sedimentation.

10. A balancing foot device for an unmanned helicopter according to claim 5 or 6, characterized in that: When the balancing medium (63) is a sliding magnet, the housing is made of a magnetically shielding material; when the balancing medium (63) is a conductive fluid, the housing is made of an insulating material.

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