Collaborative lifting device for taking-off and landing component of unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle takeoff and landing component cooperative lifting device, which relates to the technical field of unmanned aerial vehicles, and comprises a fuselage main body, vehicle arms, takeoff and landing components, a traction piece, a guide mechanism and a collecting device, the multiple vehicle arms are distributed on the peripheral side of the vehicle body, one end of the inner side of each vehicle arm is fixedly connected with the vehicle body, and a flight power source is fixedly assembled at one end of the outer side of each vehicle arm. One end of the outer side of each vehicle arm and the central axis of the corresponding flight power source are provided with a landing channel which is arranged in a penetrating mode from top to bottom, and each landing component is arranged in the landing channel in a sliding and penetrating mode; the two ends of each arm are each provided with a guide mechanism, and each collecting device is fixedly installed at one end of the inner side of the corresponding arm. One end of each traction part is fixedly connected to the top of the landing part, each traction part is wound on the guide mechanism on the corresponding arm, and the other end of each traction part is connected to the collecting device. The technical problem of horizontal take-off and landing of the unmanned aerial vehicle in field complex terrains can be solved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a coordinated lifting device for the take-off and landing components of a UAV. Background Technology

[0002] As a high-tech device that has emerged in recent years, drones have been widely used in various industries. For example, operations such as power line inspection, forestry inspection, and agricultural fertilization and spraying often require take-off and landing in outdoor environments. These areas are mostly uneven and muddy, and some areas have abundant weeds and bushes. When drones take off and land in such areas, uneven placement can easily cause the gimbal and propellers to come into contact with protruding clods of soil, rocks, and other hard objects. During the gimbal's self-check, this can easily damage the motor and wear down the lens. Furthermore, if the weeds are too tall, the drone's rotors are easily scratched, causing damage or even breakage. Currently, there is no equipment specifically designed for drone take-off and landing in the field, so it is necessary to design a new drone take-off and landing device to meet practical usage needs. Summary of the Invention

[0003] This invention provides a coordinated lifting device for the take-off and landing components of a drone to solve the technical problem of horizontal take-off and landing of drones in complex terrain in the field.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A coordinated lifting and lowering device for unmanned aerial vehicle (UAV) take-off and landing components includes a fuselage body, arms, take-off and landing components, traction components, guide mechanisms, and condensers. Several arms are distributed around the periphery of the fuselage body. One inner end of each arm is fixedly connected to the fuselage body, and one outer end of each arm is fixedly fitted with a flight power source. A take-off and landing channel runs from top to bottom along the central axis of the outer end of each arm and the corresponding flight power source. Each take-off and landing component slides through the take-off and landing channel. A guide mechanism is installed at both ends of each arm, and each condenser is fixedly installed at one inner end of an arm. One end of each traction component is fixedly connected to the top of a take-off and landing component, and each traction component is wound around the guide mechanism on a corresponding arm. The other end of each traction component is connected to the condenser.

[0006] Further, the arm includes a fuselage connecting seat, a connecting pipe, and a flight power source connecting assembly; one end of the fuselage connecting seat is fixedly connected to the fuselage body, and the other end of the fuselage connecting seat is fixedly connected to one end of the connecting pipe; the other end of the connecting pipe is fixedly connected to the flight power source connecting seat; the landing passage is vertically formed on the flight power source connecting assembly; a flight power source is fixedly installed on both the upper and lower end faces of the flight power source connecting assembly, and a through channel is provided on the central axis of the flight power source, with the channels on the two flight power sources vertically aligned with the landing passage; The landing components slide and rise along the landing channel; the connecting tube is a hollow circular tube; one of the guide mechanisms is mounted on the fuselage connecting seat and is installed at one end of the connecting tube through the fuselage connecting seat; the other guide mechanism is mounted on the flight power source connecting assembly and is installed at the other end of the connecting tube through the flight power source connecting assembly; the traction member exits from the condenser, passes through one of the guide mechanisms, enters the connecting tube, passes through the other guide mechanism, extends upward along the landing components, exits the landing channel, and is fixedly connected to the top of the corresponding landing component.

[0007] Furthermore, the flight power source connection assembly includes an upper motor connector, a lower motor connector, an arm connector, and a flexible pin; one end of the arm connector is provided with a horizontally arranged guide seat, wherein a guide mechanism is installed on the guide seat, and one end of the arm connector is fixedly connected to the connecting pipe, so that one end of the guide seat passes through the connecting pipe; the landing channel runs through the other end of the arm connector from top to bottom; the other end of the arm connector is provided with a threaded hole that runs horizontally through the landing channel, and the flexible pin is threadedly connected to the threaded hole, with the elastic extension end of the flexible pin extending into the landing channel and abutting against the landing component; the upper motor connector is fixed to the upper end face of the arm connector, and the lower motor connector is fixedly connected to the lower end face of the arm connector; both the upper and lower motor connectors have clearance holes corresponding to the landing channel positions, and both the upper and lower motor connectors are used to install the flight power source.

[0008] Furthermore, the condenser includes a condenser base, a housing, a take-up motor, a take-up reel, and a displacement sensor; the take-up motor has a locking function; the housing covers the condenser base to form a cavity structure; the take-up motor and the take-up reel are arranged within the cavity structure; the take-up reel is rotatably connected to the condenser base via a take-up shaft; a driven gear is fixed to one side of the take-up reel; the take-up motor is mounted on the condenser base, located on one side of the take-up reel; a driving gear is connected to the shaft of the take-up motor, and the driving gear is... The driven gear meshes with the housing, and a traction component outlet is provided on the side of the housing facing the main body of the fuselage. The traction component is wound around the take-up reel, and one end of the traction component extends from the traction component outlet and passes through the corresponding guide mechanism before connecting to the top of the corresponding landing component. The displacement sensor is arranged on one side of the traction component outlet, with the detection end of the displacement sensor facing the traction component outlet, and is used to detect the displacement of the traction component. Each take-up motor and each displacement sensor are electrically connected to the UAV's flight control system and are controlled by the flight control system.

[0009] Furthermore, the choke also includes a motor mounting bracket, a servo motor, and an eccentric wheel. The motor mounting bracket is slidably connected to the mounting base along the axial direction of the take-up reel. The take-up motor is fixedly connected to the motor mounting bracket. The outer circumference of the eccentric wheel abuts against one side of the motor mounting bracket. A return spring is provided between one side of the motor mounting bracket and the mounting base. The servo motor drives the eccentric wheel to rotate, and the elastic force of the return spring pushes the motor mounting bracket to slide back and forth along the axial direction of the take-up reel, so as to realize the engagement or disengagement of the driving gear and the driven gear.

[0010] As one of the preferred options, the traction component is a steel belt.

[0011] Furthermore, the lifting and lowering channel is a square through hole, the lifting and lowering component is a square rod, and a clamping block is fixedly connected to the top of the square rod by bolts. One end of the traction component is clamped and fixed to the top of the square rod by the clamping block.

[0012] As one of the preferred embodiments, the traction component is a multi-strand circuit harness, the landing component is an electric push rod with the telescopic end of the electric push rod facing downwards, the winding wheel is a conductive slip ring, the traction component is wound around the rotor of the conductive slip ring, the multi-strand circuit harness is electrically connected to the rotor terminal of the conductive slip ring, and the stator terminal of the conductive slip ring is electrically connected to the flight control system.

[0013] The control method for a coordinated lifting device for unmanned aerial vehicle (UAV) landing components, as described above, includes the following steps:

[0014] S1: After the UAV takes off, the flight system controls the chord to slowly tighten, pulling the landing component so that the landing component slides down relative to the corresponding arm to the lowest point;

[0015] S2: When the UAV executes a landing command, the command is issued by the aircraft control system or the ground remote control device. The UAV performs a vertical descent at the current position. The flight control system controls the chord to adjust to the free release state. After the landing component touches the ground, it will displace relative to the corresponding arm, thereby causing the corresponding chord to pull. When the pulling action causes the traction component to displace, the chord sends an electrical signal to the flight control system. When the flight control system receives the signal from the last chord, the flight control system controls all the chords to stop to fix the relative position of each landing component and the corresponding arm. At this time, the propeller rotation stops, and the landing action is completed.

[0016] S3: The ground-based remote control device issues a command for the aircraft to ascend or descend. Each of the aforementioned chords simultaneously pulls or releases the traction component to control the main body of the aircraft to make corresponding ascending and descending movements along the landing and take-off components, thereby adjusting the final altitude of the UAV off the ground.

[0017] S4: During takeoff, the flight control system controls the chord retractor to pull the traction component, raising the main body of the UAV to the highest point of one of the landing components. The propellers then rotate and start to perform the takeoff action. After flying to a specific altitude, the flight control system controls the flight system to control the other chord retractors to slowly retract, allowing the other landing components to slide to the lowest point and wait for the next landing.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1) During the continuous descent of the drone's main body, the landing gear components make contact with the ground first. After contacting the ground, the landing gear components will shift relative to the corresponding arm, thereby creating a pulling force on the corresponding chord. The pulling component of the chord is pulled and sends an electrical signal to the flight control system. Due to the unevenness of the complex terrain, the timing of contact between each landing gear component and the ground is different. When the flight control system receives the signal from the last chord, it controls all chords to stop, so as to fix the relative position of each landing gear component and the corresponding arm. This allows the drone to maintain a horizontal and suspended attitude during descent in different terrains, avoiding the drone rotor from scraping against weeds and bushes on the ground and avoiding the gimbal from touching the ground.

[0020] 2) The main body of the fuselage can be raised and lowered relative to the landing gear. After landing, the main body of the fuselage can be lowered to conceal the drone in the bushes. When taking off, the drone can be raised to get away from the bushes and take off without obstruction.

[0021] 3) After being guided by the guide mechanism, the traction component applies a nearly vertical downward force to the take-off and landing components. The take-off and landing components are located at the center of each flight power source, which can achieve the balance of the UAV's center of gravity, which is beneficial to the stability of flight control and effectively reduces the burden of flight control balance. The impact of the UAV's center of gravity on outward dispersion and the requirements for the strength of the main body are much lower than those of traditional take-off and landing methods such as locking levers.

[0022] 4) The landing and take-off components can use electric push rods, while the traction components use multi-strand circuit harnesses, and the take-up reel uses conductive slip rings. The electric push rods can allow the main body of the UAV to have a larger lifting and lowering adjustment space. The traction components are not only mechanically controlling the lifting and lowering of the landing and take-off components, but also electrical signal bridges that realize the electrical connection between the landing and take-off components and the UAV flight control system to achieve electronic control, automation and interconnection. Attached Figure Description

[0023] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

[0024] Figure 1 This is a perspective view of the overall structure of the present invention;

[0025] Figure 2 The three-dimensional representation of the arm portion in this invention Figure 1 ;

[0026] Figure 3 This is a cross-sectional view of the arm portion in this invention;

[0027] Figure 4 This is a perspective view of the arm portion of the present invention, omitting the condenser housing;

[0028] Figure 5 for Figure 4 A magnified view of a section at point A in the middle;

[0029] Attached image labels:

[0030] 1-Fuselage body, 2-Arm, 3-Landing and takeoff components, 4-Traction component, 5-Guide mechanism, 6-Cloister, 7-Flight power source, 21-Fuselage connector, 22-Connecting pipe, 23-Flight power source connector assembly, 231-Upper motor connector, 232-Lower motor connector, 233-Arm connector, 234-Elastic pin, 235-Guide seat, 31-Clamping block, 61-Cloister base, 62-Casing, 63-Take-up motor, 64-Take-up wheel, 65-Displacement sensor, 66-Motor mounting bracket, 67-Servo, 68-Eccentric wheel, 69-Reset spring. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0032] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a central component. When a component is described as "connected to" another component, it can be directly connected to the other component or may have a central component. When a component is described as "set on" another component, it can be directly set on the other component or may have a central component. When a component is described as "set in the middle," it is not simply set in the exact center, as long as it is not set within the area defined by both ends being in the middle. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] Example 1:

[0035] Reference Figures 1 to 5As shown, a collaborative lifting device for take-off and landing components of a UAV is applied to a rotary-wing UAV. It includes a fuselage body 1, arms 2, take-off and landing components 3, traction components 4, guide mechanisms 5, and a condenser 6. Several arms 2 are distributed around the periphery of the fuselage body 1. One inner end of each arm 2 is fixedly connected to the fuselage body 1, and one outer end of each arm 2 is fixedly fitted with a flight power source 7. A take-off and landing channel is provided along the central axis of the outer end of each arm 2 and its corresponding flight power source 7, running from top to bottom. Each take-off and landing component 3 slides through the take-off and landing channel. A guide mechanism 5 is installed at both ends of each arm 2, and each condenser 6 is fixedly installed at one inner end of an arm 2. One end of each traction component 4 is fixedly connected to the top of a take-off and landing component 2, and each traction component 4 is wound around the guide mechanism 5 on a corresponding arm 2. The other end of each traction component 4 is connected to the condenser 6. Specifically, the arm 2 includes a fuselage connecting seat 21, a connecting pipe 22, and a flight power source connecting assembly 23; one end of the fuselage connecting seat 21 is fixedly connected to the fuselage body 1, and the other end of the fuselage connecting seat 21 is fixedly connected to one end of the connecting pipe 2; the other end of the connecting pipe 22 is fixedly connected to the flight power source connecting seat 21; the landing passage is vertically opened on the flight power source connecting assembly 23; a flight power source 7 is fixedly installed on both the upper and lower end faces of the flight power source connecting assembly 23, the flight power source 7 is a hollow motor, and a through channel is provided on the central axis of the flight power source 7, the channels on the two flight power sources 7 are vertically aligned with the landing passage, forming a vertically penetrating structure. The structure includes a landing component 3 that is movably installed within the landing channel and slides up and down along the channel; the connecting pipe 22 is a hollow circular tube; one of the guide mechanisms 5 is mounted on the fuselage connecting seat 21 and is installed at one end of the connecting pipe 22 via the fuselage connecting seat 21; the other guide mechanism 5 is mounted on the flight power source connecting assembly 23 and is installed at the other end of the connecting pipe 22 via the flight power source connecting assembly 23; the traction member 4 exits from the condenser 6, passes through one of the guide mechanisms 5, enters the connecting pipe 22, passes through the other guide mechanism 5, extends upward along the landing component 3, exits the landing channel, and is fixedly connected to the top of the corresponding landing component 3.During the descent of the drone's main body 1, the landing gear 3 makes initial contact with the ground. After the landing gear 3 contacts the ground, the main body 1 continues to descend. Each landing gear 3 will displace relative to its corresponding arm 2, thereby creating a pulling force on the corresponding condenser 6. After being pulled, the condenser 6 sends an electrical signal to the flight control system. Due to the uneven terrain, the timing of contact between each landing gear and the ground is different. When the flight control system receives the signal from the last condenser 6, it controls all condensers 6 to stop, thereby fixing the relative position of each landing gear 3 and its corresponding arm 2. This fixes the descent altitude of the drone's main body 1, allowing the drone to maintain a horizontal and suspended attitude during descents in different terrains, preventing the drone rotor from scraping against weeds and bushes on the ground, and preventing the gimbal from touching the ground.

[0036] The flight power source connection assembly 23 includes an upper motor connection seat 231, a lower motor connection seat 232, an arm connection seat 233, and a spring pin 234. One end of the arm connection seat 233 is provided with a laterally arranged guide seat 235, wherein a guide mechanism 5 is mounted on the guide seat 235. The guide mechanism 5 is a roller, and the roller is rotatably connected to the guide seat 235 via a rotating shaft. One end of the arm connection seat 233 is fixedly connected to the connecting pipe 22, so that one end of the guide seat 235 passes through the connecting pipe 22. The landing passage runs from top to bottom through the other end of the arm connection seat 233. The other end of the arm connection seat 233 has a laterally through-hole... The elastic pin 234 is threadedly connected to the threaded hole of the landing channel. The elastic extension end of the elastic pin 234 extends into the landing channel and abuts against the landing component 3. The elastic pin 234 can adjust the friction between the landing component 3 and the landing channel. The upper motor connecting seat 231 is fixed to the upper end face of the robotic arm connecting seat 233, and the lower motor connecting seat 232 is fixedly connected to the lower end face of the robotic arm connecting seat 233. Both the upper motor connecting seat 231 and the lower motor connecting seat 232 have clearance holes corresponding to the position of the landing channel. Both the upper motor connecting seat 231 and the lower motor connecting seat 232 are used to install the flight power source 7.

[0037] The traction component 4 is a steel belt; however, the traction belt can also be made of other tough materials in the form of a soft strip. The lifting channel is a square through hole, and the lifting component 3 is a square rod. A clamping block 31 is fixedly connected to the top of the square rod by bolts, and one end of the traction component 4 is clamped and fixed to the top of the square rod by the clamping block 31.

[0038] The condenser 6 includes a condenser base 61, a housing 62, a take-up motor 63, a take-up roller 64, and a displacement sensor 65. The take-up motor 63 has a locking function. The housing 62 covers the condenser base 61 to form a cavity structure. The take-up motor 63 and the take-up roller 64 are arranged within the cavity structure. The take-up roller 64 is rotatably connected to the condenser base 61 via a take-up shaft 66. A driven gear is fixed to one side of the take-up roller 64. Specifically, the upper end face of the condenser base has a pair of fixedly connected connecting ears. The two ends of the take-up shaft 66 are rotatably connected to the two connecting ears respectively. The take-up roller 64 and the take-up shaft 66 are connected by a key for transmission. The two ends of the take-up shaft 66 are limited by snap rings. The take-up roller 64 and the driven gear are designed as an integral part. The take-up motor 63 is mounted on the condenser base 61. On the upper side of the take-up reel 64, the take-up motor 63 has a drive gear connected to its shaft. The drive gear meshes with the driven gear. The housing 62 has a traction component outlet on the side facing the fuselage body 1. The traction component 4 is wound around the take-up reel 64. One end of the traction component 4 extends from the traction component outlet and passes through the corresponding guide mechanism 5 before connecting to the top of the corresponding landing component 3. The displacement sensor 65 is arranged on one side of the traction component outlet. The detection end of the displacement sensor 65 faces the traction component 4 outlet and is used to detect the displacement of the traction component 4. The installation position of the displacement sensor 65 can be selected to be fixed on the upper surface of the fuselage connecting seat 21. Each take-up motor and each displacement sensor are electrically connected to the UAV's flight control system and are controlled by the flight control system. In this embodiment, the release of the traction member 4 is achieved by the slow rotation of the winding motor 63 and the gravity of the lifting and lowering components. After the release of the traction member 4 is completed, the winding motor 63 also needs to rotate back a certain angle to tighten the traction member and avoid redundant length of the traction member.

[0039] Example 2:

[0040] Please refer to Figure 4 and Figure 5As shown, based on Embodiment 1, the choke 6 is equipped with a gear clutch function to realize three states of the take-up reel 64: free release, locking, and take-up. The choke 6 also includes a motor mounting bracket 66, a servo motor 67, and an eccentric wheel 68. The motor mounting bracket 66 is slidably connected to the mounting base 61 along the axial direction of the take-up reel 64. The take-up motor 63 is fixedly connected to the motor mounting bracket 66. The outer circumference of the eccentric wheel 68 abuts against one side of the motor mounting bracket 66. A return spring 69 is provided between one side of the motor mounting bracket 66 and the mounting base 61. The servo motor 67 drives the eccentric wheel 68 to rotate, and the elastic force of the return spring 69 pushes the motor mounting bracket 66 to slide back and forth along the axial direction of the take-up reel 64. Specifically, the take-up base 61 has a slide bar frame on the outer periphery of the take-up reel. The slide bar frame has two slide bars spaced parallel to each other along the axial direction of the take-up reel. The take-up reel 64 is located between the two slide bars. The motor mounting bracket 66 is slidably connected to the two slide bars. The return spring 69 is installed on the other side of the motor mounting bracket 66 between the slide bar frame and the slide bar frame. The servo motor 67 drives the eccentric wheel to rotate 90°. Through the outer periphery of the major diameter of the eccentric wheel 68, the servo motor 67 pushes the motor mounting bracket 66 and the take-up motor 63 to translate along the axial direction of the take-up reel 64, causing the drive gear to disengage from the driven gear. The servo motor 67 drives the eccentric wheel to rotate 90° in the opposite direction. The return spring 69 pushes the motor mounting bracket 66 and the take-up motor 63 to translate along the axial direction of the take-up reel 64 to reset, causing the drive gear to re-engage with the driven gear. In this embodiment, the traction member 4 can be released freely by the weight of the lifting and lowering components after the gear disengages, making the release efficiency of the traction member 4 faster. Moreover, the traction member 4 is always in a taut state during the release process, so there is no need to worry about the length redundancy of the traction member 4.

[0041] Example 3:

[0042] Based on Embodiment 1 or Embodiment 2, there is another alternative for the landing component 3. The landing component 3 can be an electric push rod with its telescopic end facing downwards, while the traction component uses a multi-strand wiring harness. The take-up reel uses a conductive slip ring from the prior art. The specific structure of the conductive slip ring can refer to the principle and structure of a conductive slip ring disclosed in Chinese Patent CN202322541096.X. It can transmit electrical signals while rotating. The multi-strand wiring harness is wound around the rotor of the electric slip ring and electrically connected to the rotor terminals of the electric slip ring. The stator terminals of the electric slip ring are electrically connected to the flight control system. The stator and driven gear of the electric slip ring are connected by a key and rotate coaxially with the take-up shaft 66, cooperating with the take-up motor to achieve the take-up and release actions. Based on Embodiments 1 and 2, Embodiment 3 allows the main body 1 of the UAV to have a larger lifting and lowering adjustment space through an electric push rod. In Embodiment 3, the pulling component is not only a part that mechanically controls the lifting and lowering of the take-off and landing components, but also an electrical signal bridge that realizes the electrical connection between the take-off and landing components and the UAV flight control system to achieve electronic control, automation and interconnection.

[0043] A control method for a UAV landing component coordinated lifting device based on the above three embodiments includes the following steps:

[0044] S1: After the UAV takes off, the flight system controls the condenser 6 to slowly tighten, pulling the landing component 3, so that the landing component 3 slides down relative to the corresponding arm 2 to the lowest point;

[0045] S2: When the UAV executes a landing command, the command is issued by the aircraft control system or the ground remote control device. The UAV performs a vertical descent at the current position. The flight control system controls the chord 6 to adjust to the free release state. After the landing component 3 touches the ground, it will displace relative to the corresponding arm 2, thereby causing the corresponding chord 6 to perform a pulling action. When the pulling action causes the traction component 4 to displace, the chord 6 sends an electrical signal to the flight control system. When the flight control system receives the signal from the last chord 6, the flight control system controls all the chords 6 to stop, so as to fix the relative position of each landing component 3 and the corresponding arm 2. At this time, the propeller rotation stops, and the landing action is completed.

[0046] S3: The ground-based remote control device issues a command for the aircraft to lift or lower. Each of the aforementioned condensers 6 simultaneously pulls or releases the traction component to control the main body 1 to make corresponding lifting and lowering movements along the landing component 3, thereby adjusting the final ground clearance of the UAV.

[0047] S4: During takeoff, the flight control system controls the chord retractor 6 to pull the traction component 4, causing the main body 1 of the UAV to rise to the highest point of one of the landing components 3. The propellers then rotate and start to perform the takeoff action. After flying to a specific altitude, the flight control system controls the flight system to control the other chord retractors 6 to slowly retract, allowing the other landing components 3 to slide to the lowest point and wait for the next landing.

[0048] In step S2, the condenser 6 identifies the displacement of the traction member 4 through the displacement sensor 65, and transmits an electrical signal to the flight control system.

[0049] In step S3, when the main body 1 of the drone performs a lifting and lowering action along the landing and take-off component 3, the driving gear and driven gear inside the condenser 6 are always in a meshed state. The lifting and lowering action is achieved by the forward and reverse rotation of the condenser motor 63 to pull or release the traction component 4. During descent, the condenser motor 63 is in a released state, and the drone descends by its own weight. In embodiment three, based on the above lifting and lowering control, the main body 1 of the drone can also achieve lifting and lowering movement by means of an electric push rod.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of the technical solutions of the present invention.

Claims

1. A collaborative lifting device for the take-off and landing components of an unmanned aerial vehicle (UAV), characterized in that, The system includes a fuselage body, arms, landing gear components, traction components, guide mechanisms, and joists. Several arms are distributed around the periphery of the fuselage body. One inner end of each arm is fixedly connected to the fuselage body, and one outer end of each arm is fixedly fitted with a flight power source. A landing gear channel runs from top to bottom along the central axis of the outer end of each arm and its corresponding flight power source. Each landing gear component slides through the landing gear channel. A guide mechanism is installed at both ends of each arm, and each joist is fixedly installed at one inner end of an arm. One end of each traction component is fixedly connected to the top of a landing gear component, and each traction component is wound around the guide mechanism on a corresponding arm. The other end of each traction component is connected to the joist.

2. The UAV landing and takeoff component coordinated lifting device according to claim 1, characterized in that, The arm includes a fuselage connecting seat, a connecting pipe, and a flight power source connecting assembly; one end of the fuselage connecting seat is fixedly connected to the fuselage body, and the other end of the fuselage connecting seat is fixedly connected to one end of the connecting pipe; the other end of the connecting pipe is fixedly connected to the flight power source connecting seat; the landing passage is vertically formed on the flight power source connecting assembly; a flight power source is fixedly installed on both the upper and lower end faces of the flight power source connecting assembly, and a through channel is provided on the central axis of the flight power source, with the channels on the two flight power sources vertically aligned with the landing passage; the landing section... The components slide and rise along the landing channel; the connecting tube is a hollow circular tube; one of the guide mechanisms is installed on the fuselage connecting seat and is installed at one end of the connecting tube through the fuselage connecting seat; the other guide mechanism is installed on the flight power source connecting assembly and is installed at the other end of the connecting tube through the flight power source connecting assembly; the traction component exits from the condenser, passes through one of the guide mechanisms, enters the connecting tube, passes through the other guide mechanism, extends upward along the landing component, exits the landing channel, and is fixedly connected to the top of the corresponding landing component.

3. The UAV landing and takeoff component coordinated lifting device according to claim 2, characterized in that, The flight power source connection assembly includes an upper motor connector, a lower motor connector, an arm connector, and a flexible pin. One end of the arm connector has a laterally positioned guide seat, on which a guide mechanism is mounted. One end of the arm connector is fixedly connected to a connecting pipe, allowing one end of the guide seat to pass through the connecting pipe. The landing channel extends from top to bottom through the other end of the arm connector. The other end of the arm connector has a threaded hole extending laterally into the landing channel. The flexible pin is threadedly connected to the threaded hole, and its elastic extension end extends into the landing channel and abuts against the landing component. The upper motor connector is fixed to the upper end face of the arm connector, and the lower motor connector is fixedly connected to the lower end face of the arm connector. Both the upper and lower motor connectors have clearance holes corresponding to the landing channel positions. Both the upper and lower motor connectors are used to mount the flight power source.

4. The UAV landing and takeoff component coordinated lifting device according to claim 3, characterized in that, The condenser includes a condenser base, a housing, a take-up motor, a take-up reel, and a displacement sensor. The take-up motor has a locking function. The housing covers the condenser base to form a cavity structure. The take-up motor and the take-up reel are arranged within the cavity structure. The take-up reel is rotatably connected to the condenser base via a take-up shaft. A driven gear is fixed to one side of the take-up reel. The take-up motor is mounted on the condenser base, located on one side of the take-up reel. A driving gear is connected to the shaft of the take-up motor. The driving gear and the driven gear... The drive gear meshes with the main body of the fuselage and has a traction component outlet on the side of the housing facing the main body. The traction component is wound around the take-up reel, and one end of the traction component extends from the traction component outlet and passes through the corresponding guide mechanism before connecting to the top of the corresponding landing component. The displacement sensor is arranged on one side of the traction component outlet, with the detection end of the displacement sensor facing the traction component outlet, and is used to detect the displacement of the traction component. Each take-up motor and each displacement sensor are electrically connected to the UAV's flight control system and are controlled by the flight control system.

5. A collaborative lifting device for unmanned aerial vehicle (UAV) landing components according to claim 4, characterized in that, The condenser also includes a motor mounting bracket, a servo motor, and an eccentric wheel. The motor mounting bracket is slidably connected to the mounting base along the axial direction of the take-up reel. The take-up motor is fixedly connected to the motor mounting bracket. The outer circumference of the eccentric wheel abuts against one side of the motor mounting bracket. A return spring is provided between one side of the motor mounting bracket and the mounting base. The servo motor drives the eccentric wheel to rotate, and the elastic force of the return spring pushes the motor mounting bracket to slide back and forth along the axial direction of the take-up reel, so as to realize the engagement or disengagement of the driving gear and the driven gear.

6. A collaborative lifting device for unmanned aerial vehicle (UAV) landing components according to claim 5, characterized in that, The traction component is a steel belt.

7. A collaborative lifting device for unmanned aerial vehicle (UAV) landing components according to claim 6, characterized in that, The lifting and lowering channel is a square through hole, and the lifting and lowering component is a square rod. A clamping block is fixedly connected to the top of the square rod by bolts, and one end of the traction component is clamped and fixed to the top of the square rod by the clamping block.

8. A collaborative lifting device for unmanned aerial vehicle (UAV) landing components according to claim 5, characterized in that, The traction component is a multi-strand circuit harness, the landing component is an electric push rod with its telescopic end facing downwards, the winding wheel is a conductive slip ring, the traction component is wound around the rotor of the conductive slip ring, the multi-strand circuit harness is electrically connected to the rotor terminal of the conductive slip ring, and the stator terminal of the conductive slip ring is electrically connected to the flight control system.

9. A control method for a coordinated lifting device for unmanned aerial vehicle (UAV) landing components, based on the coordinated lifting device for UAV landing components described in claims 1-8, characterized in that... Includes the following steps: S1: After the UAV takes off, the flight system controls the chord to slowly tighten, pulling the landing component so that the landing component slides down relative to the corresponding arm to the lowest point; S2: When the UAV executes a landing command, the command is issued by the aircraft control system or the ground remote control device. The UAV performs a vertical descent at the current position. The flight control system controls the chord to adjust to the free release state. After the landing component touches the ground, it will displace relative to the corresponding arm, thereby causing the corresponding chord to pull. When the pulling action causes the traction component to displace, the chord sends an electrical signal to the flight control system. When the flight control system receives the signal from the last chord, the flight control system controls all the chords to stop to fix the relative position of each landing component and the corresponding arm. At this time, the propeller rotation stops, and the landing action is completed. S3: The ground-based remote control device issues a command for the aircraft to ascend or descend. Each of the aforementioned chords simultaneously pulls or releases the traction component to control the main body of the aircraft to make corresponding ascending and descending movements along the landing and take-off components, thereby adjusting the final altitude of the UAV off the ground. S4: During takeoff, the flight control system controls the chord retractor to pull the traction component, raising the main body of the UAV to the highest point of one of the landing components. The propellers then rotate and start to perform the takeoff action. After flying to a specific altitude, the flight control system controls the flight system to control the other chord retractors to slowly retract, allowing the other landing components to slide to the lowest point and wait for the next landing.

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