Unmanned aerial vehicle landing gear based on terrain self-adaption and unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle undercarriage based on terrain self-adaption and an unmanned aerial vehicle. The unmanned aerial vehicle undercarriage comprises a mounting frame, a first self-adaptive mechanism and at least one pair of second self-adaptive mechanisms. The first self-adaptive mechanism comprises a first connecting rod and a first frame. The second self-adaptive mechanism comprises two fourth connecting rods and two bionic mechanical legs. Each bionic mechanical leg is hinged to the ends of the two fourth connecting rods, then a second parallelogram-shaped frame is defined, and the plane where the second frame is located is perpendicular to the plane where the first frame is located. The bionic mechanical legs are used for making contact with the ground and supporting the unmanned aerial vehicle when the unmanned aerial vehicle lands, the height difference of the bionic mechanical legs in the front-back direction is subjected to self-adaptive compensation through the form change of the first frame, and the height difference of the bionic mechanical legs in the left-right direction is subjected to self-adaptive compensation through the form change of the second frame. Therefore, the unmanned aerial vehicle landing gear provided by the scheme can stably land in a complex terrain in which height differences exist in different directions at the same time.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to the field of UAV landing gear structure design technology, and particularly to a terrain-adaptive UAV landing gear and UAV. Background Technology

[0002] With the widespread application of drone technology in fields such as agricultural plant protection, power line inspection, mountain rescue, and terrain surveying, its operating environment is gradually extending to complex terrains such as rugged mountains, sloping slopes, and uneven ground. As the core component that contacts the ground, the landing gear not only needs to ensure the stability of the drone during takeoff and landing but also needs to effectively absorb ground impact energy to prevent damage to the fuselage and internal precision components. Therefore, the performance of the drone's landing gear directly determines the operational safety and mission reliability of the drone in complex environments.

[0003] Currently, most mainstream drone landing gear on the market is based on a rigid, fixed structure. While this type of landing gear is simple in structure and low in manufacturing cost, it can only adapt to flat, level terrain. However, in actual complex terrain operation scenarios, it exhibits significant performance deficiencies: firstly, the rigid structure lacks attitude adaptive adjustment capabilities and cannot cope with terrain height differences and tilt angles, leading to risks of drone tilting, tipping, or even failure to land during takeoff and landing. To address this, the industry has gradually conducted research on terrain-adaptive landing gear, mainly divided into two technical solutions: active control landing gear and passive control landing gear. Active control landing gear primarily relies on sensors to collect terrain data in real time, and then uses drive mechanisms such as motors and hydraulic actuators to adjust the landing gear attitude. While it can achieve a certain degree of terrain adaptation, it suffers from system complexity, high energy consumption, and response delays. Its electronic control modules and drive components are susceptible to harsh environments (such as low temperatures, humidity, and dust), leading to decreased measurement accuracy or control failure. Furthermore, the additional drive mechanism increases the weight and size of the landing gear, which is detrimental to improving the drone's endurance. Simultaneously, the cushioning performance of this type of landing gear relies primarily on independent damping components, lacking coordinated design with the attitude adjustment mechanism, resulting in limited impact energy absorption efficiency. For passively controlled landing gear, terrain adaptation is generally achieved through simplified structural design; however, existing passively controlled landing gear suffers from a narrow adaptation range, with most only able to compensate for height in a single direction, making it difficult to adapt to complex terrain. In addition, the cushioning structure of existing passively controlled landing gear often uses a single spring or rubber pad, resulting in limited cushioning performance. This makes the drone prone to swaying after landing due to terrain disturbances, affecting stable docking. Moreover, while existing technology has attempted to borrow from animal hind limb structures in landing gear leg design, current landing gear legs often use rigid hinge joints to simulate animal joints, resulting in insufficient flexibility and a tendency for stress concentration and poor impact resistance under impact loads. Summary of the Invention

[0004] To address the technical problem of poor stability caused by the inability of existing drone landing gear to adapt to complex terrain, this invention provides a terrain-adaptive drone landing gear and a drone.

[0005] This invention employs the following technical solution: a terrain-adaptive unmanned aerial vehicle (UAV) landing gear, comprising a mounting frame for mounting the UAV, an adaptive mechanism one, and at least one pair of adaptive mechanisms two. The adaptive mechanism one includes a connecting rod one and a frame one. The connecting rod one is fixedly mounted on the mounting frame. The frame one includes two connecting rods two and two connecting rods three, which are staggered and sequentially hinged end-to-end to form a parallelogram frame one. The middle portions of the two connecting rods three are respectively hinged to the connecting rod one along its length, and the shape of the frame one can be changed by rotating the connecting rods three. A pair of adaptive mechanisms two are symmetrically disposed on the two connecting rods two. The adaptive mechanism two includes two connecting rods four and two bionic mechanical legs. The two connecting rods four are sequentially arranged along the length of the connecting rod two, and the two bionic mechanical legs are disposed at both ends of the connecting rod two. The upper end of each bionic mechanical leg is hinged from top to bottom to the ends of the two connecting rods four, thereby forming a parallelogram frame two. The plane of the frame two is perpendicular to the plane of the frame one. The middle of connecting rod four is hinged to connecting rod two, and the shape of frame two can be changed by rotating connecting rod four. Multiple bionic mechanical legs are used to contact the ground and support the drone when it lands. The height difference of multiple bionic mechanical legs in the front-back and left-right directions is adaptively compensated by the shape changes of frame one and frame two.

[0006] As a further improvement of the present invention, the adaptive mechanism 1 also includes a pair of buffer components 1, which are symmetrically arranged with the connecting rod 1 as the axis of symmetry and along the length of the connecting rod 3; the middle part of the buffer component 1 is hinged to the middle part of the connecting rod 2 and the two ends are respectively hinged to the two connecting rods 3. The buffer component 1 is used to adaptively extend and retract when the two connecting rods 3 rotate to adapt to the shape change of the frame 1.

[0007] As a further improvement of the present invention, the buffer assembly 1 includes at least a pair of telescopic rods 1, wherein the telescopic end of one telescopic rod 1 is hinged to the middle of the connecting rod 2, and the fixed end is hinged to the upper connecting rod 3; the fixed end of the other telescopic rod 1 is hinged to the middle of the connecting rod 2, and the telescopic end is hinged to the lower connecting rod 3; the two telescopic rods 1 are used to form a V-shaped buffer assembly 1 with an opening facing the connecting rod 1.

[0008] As a further improvement of the present invention, a buffer spring is fitted on each telescopic rod, one end of which is fixedly connected to the fixed end of the telescopic rod, and the other end is fixedly connected to the telescopic end of the telescopic rod.

[0009] As a further improvement of the present invention, the adaptive mechanism 2 also includes at least one pair of buffer components 2, which are symmetrically arranged with the connecting rod 2 as the axis of symmetry and along the thickness direction of the connecting rod 2; one end of the buffer component 2 is hinged to the outer side wall of the connecting rod 2, and the other end of the buffer component 2 is hinged to the end of the connecting rod 4. The buffer component 2 is used to adaptively extend and retract when the two connecting rods 4 rotate to adapt to the shape change of the frame 2.

[0010] As a further improvement of the present invention, the second buffer assembly includes a second telescopic rod, which is a damping telescopic rod; the fixed end of the second telescopic rod is hinged to the outside of the second connecting rod, and the telescopic end of the second telescopic rod is hinged to the end of the fourth connecting rod; the two second buffer assemblies are used to form an upward-opening V-shaped structure.

[0011] As a further improvement of the present invention, the bionic mechanical leg includes a connecting rod five and a supporting foot. One end of the connecting rod five is hinged to the hinge point between the bionic mechanical leg and the lower connecting rod four. The supporting foot is rotatably mounted on the other end of the connecting rod five. Multiple buffer components three are provided on the connecting rod five near the supporting foot, spaced apart around the connecting rod five. The buffer components three are used to buffer the connection between the connecting rod five and the supporting foot. Each buffer component three includes a guide rod, a connecting rod six, a buffer spring two, and an elastic band one. The guide rod is fixedly mounted on the bottom of the connecting rod five and has a mounting bracket with a through hole. The connecting rod six passes through the through hole from the upper end and extends into the lower part of the mounting bracket. The buffer spring two is sleeved on the outside of the connecting rod six, with one end fixed to the upper end of the connecting rod six and the other end fixed to the mounting bracket. One end of the elastic band one is fixedly connected to the lower end of the connecting rod six, and the other end is attached to the outside of the guide rod and extends to be fixedly connected to the upper end of the supporting foot.

[0012] As a further improvement of the present invention, the bionic mechanical leg also includes an elastic band 2, one end of which is fixedly connected to the upper end of the connecting rod 5, and the other end of which is attached to the outside of the connecting rod 5 and extends to connect with the support foot.

[0013] As a further improvement of the present invention, the drone landing gear also includes a locking mechanism for locking or unlocking the connecting rod three.

[0014] The present invention also provides a drone, which includes a drone body and a terrain-adaptive drone landing gear as described above, wherein the drone body is detachably mounted on top of the mounting frame.

[0015] The technical solution provided by this invention has the following beneficial effects: (1) The terrain-adaptive UAV landing gear provided in this solution can simultaneously adjust the height difference of multiple bionic mechanical legs in the front-back and left-right directions by setting up two independently adjustable frames. The adjustment of the two is independent of each other, so that the terrain-adaptive UAV landing gear provided in this solution can land stably in complex terrains with height differences in different directions at the same time. Moreover, it does not require too much energy consumption in the process of adapting to the terrain, which takes into account the flexibility of the UAV landing gear when landing and its own endurance, thus greatly improving its practicality. In addition, by setting up two parallelogram structures, frames one and two, the bionic mechanical legs can make adaptive adjustments according to the specific terrain when landing (such as handling complex terrains with height differences in multiple directions at the same time). This allows the UAV to not only land stably with four bionic mechanical legs, but also to provide stable support for the UAV after landing.

[0016] (2) The terrain-adaptive UAV landing gear provided by this solution can buffer and absorb the impact stress on the UAV landing gear when it lands through bionic mechanical legs, avoiding the stress concentration problem at the joints of the traditional rigid linkage structure, reducing the risk of wear and breakage of the UAV landing gear under frequent impacts, and improving the structural durability of the UAV landing gear.

[0017] (3) The terrain-adaptive UAV landing gear provided by this solution, by setting buffer component one and buffer component two, can not only provide stable elastic support for the parallelogram structure frame one and frame two, but also absorb impact energy during the take-off and landing of the UAV through the extension and retraction of telescopic rod one and telescopic rod two and the elastic deformation of buffer spring one, so that the impact load on the fuselage is significantly reduced, the service life of the UAV is extended, and at the same time, it can also avoid damage to some sensors and batteries and other precision components inside the UAV due to impact, thus effectively solving the problem of insufficient impact buffer performance of existing landing gear.

[0018] (4) The terrain-adaptive UAV landing gear provided by this solution has a clever structural design, which means that it does not need to rely excessively on electronic drive components such as sensors and motors at each stage of use. It achieves complex terrain adaptation only through the natural balance of mechanical structure and force, which not only ensures reliability in harsh environments, but also takes into account take-off and landing stability and impact resistance through multi-level buffering and locking mechanisms. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the terrain-adaptive UAV landing gear provided in Embodiment 1 of the present invention.

[0020] Figure 2This is a schematic diagram of the terrain-adaptive UAV landing gear provided in Embodiment 1 of the present invention from another perspective.

[0021] Figure 3 This is an enlarged schematic diagram of frame one mounted on the mounting bracket in Embodiment 1 of the present invention.

[0022] Figure 4 This is a schematic diagram of the structure of frame one mounted on connecting rod one in Embodiment 1 of the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of frame two mounted on connecting rod two in Embodiment 1 of the present invention.

[0024] Figure 6 This is an enlarged schematic diagram of the bionic mechanical leg in Embodiment 1 of the present invention.

[0025] Figure 7 This is a schematic diagram of the structure of the UAV provided in Embodiment 2 of the present invention.

[0026] The diagram is labeled as follows: 1. Mounting bracket; 21. Connecting rod one; 22. Frame one; 221. Connecting rod two; 222. Connecting rod three; 23. Buffer assembly one; 231. Telescopic rod one; 232. Buffer spring one; 31. Connecting rod four; 32. Bionic mechanical leg; 321. Mounting rod; 322. Connecting rod five; 323. Support foot; 324. Buffer assembly three; 325. Guide rod; 326. Connecting rod six; 327. Buffer spring two; 328. Elastic band one; 329. Elastic band two; 33. Frame two; 34. Buffer assembly two. Detailed Implementation

[0027] The present invention will now be further described in conjunction with specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0028] In the description of this invention, it should be noted that directional terms such as "center," "lateral," "longitudinal," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific scope of protection of this invention. The terms "first," "second," etc., in the specification and claims of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. The terms "comprising" and "having," and any variations thereof, in the specification and claims of this invention, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0029] Example 1 This embodiment provides a terrain-adaptive unmanned aerial vehicle (UAV) landing gear. Please refer to [reference needed]. Figure 1 and Figure 2The system includes a mounting frame 1, an adaptive mechanism 1, and at least one pair of adaptive mechanisms 2. The mounting frame 1 is used to mount the drone. The mounting frame 1 and the drone can be detachably connected, allowing the drone landing gear to be adapted to various drones without requiring significant modifications for specific models. This lowers the application threshold of the drone landing gear and improves its practicality. The adaptive mechanism 1 includes connecting rod 1 21 and a frame 22. Connecting rod 1 21 is fixedly mounted on the mounting frame 1 along its vertical direction. The frame 22 includes two connecting rods 221 and two connecting rods 322. The two connecting rods 221 and two connecting rods 322 are staggered and sequentially hinged end-to-end to form a parallelogram structure for the frame 22. The two connecting rods 221 are sequentially arranged along the length of connecting rod 21, and the middle of each connecting rod 221 is hinged to connecting rod 21. Rotating the connecting rods 322 adjusts the shape of the parallelogram, thereby changing the shape of the frame 22. A pair of adaptive mechanisms 2 are symmetrically arranged on the adaptive mechanism 2 with the connecting rod 1 21 as the axis of symmetry. Each adaptive mechanism 2 may include two connecting rods 4 31 and two bionic mechanical legs 32. Multiple bionic mechanical legs 32 are used to contact the ground and support the UAV when it lands. The two connecting rods 4 31 are arranged sequentially along the length direction of the connecting rod 2 221, and the axial direction of each connecting rod 4 31 is oriented towards the thickness direction of the connecting rod 2 221, and the middle part of each connecting rod 4 31 is hinged to the connecting rod 2 221. The two bionic mechanical legs 32 are symmetrically arranged on both sides of the connecting rod 2 221 with the connecting rod 2 221 as the axis of symmetry and along the thickness direction of the connecting rod 2 221. The upper end of each bionic mechanical leg 32 is hinged to the ends of the two connecting rods 4 31 from top to bottom, so that the upper ends of the two bionic mechanical legs 32 and the two connecting rods 4 31 can form a parallelogram-shaped frame 2 33. The plane containing the second frame 33 is perpendicular to the plane containing the first frame 22, allowing the multiple bionic mechanical legs 32 to adapt to different terrains through changes in their shape. The shape of the first frame 22 can be changed by rotating the two connecting rods 322, and the shape of the second frame 33 can be changed by rotating the connecting rod 41.In this design, the upper ends of multiple bionic mechanical legs 32 are connected to two connecting rods 31 to form a frame 33. The frame 33 is then mounted on the connecting rod 221. Both the first frame 22 and the second frame 33 are parallelogram structures with adjustable corners. This allows the multiple bionic mechanical legs 32 to contact the ground during drone landing and to compensate for the height difference in the front-to-back direction by changing the shape of the first frame 22. Simultaneously, it can also compensate for the height difference in the left-to-right direction by changing the shape of the second frame 33. Therefore, the drone landing gear provided by this design can adapt to different terrains, thus broadening the application scenarios for drones equipped with this landing gear. It can be applied to take-off and landing needs in fields with complex terrain, such as agricultural plant protection, power line inspection, mountain rescue, and terrain surveying. It is also suitable for scenarios requiring emergency landings or where there are no flat ground surfaces in the field.

[0030] Specifically: When the drone approaches complex terrain (such as rugged mountains, sloping slopes, and areas with many obstacles and potholes), the four bionic mechanical legs 32 can contact the ground successively or simultaneously, and trigger adaptive mechanisms one and two for adaptive adjustment after contact. If the terrain where the drone lands has a height difference in the front-to-back direction (such as a slope that is higher in the front and lower in the back), the two connecting rods 221 can rotate around their hinge points with connecting rod 21 under the influence of the difference in reaction force of the bionic mechanical legs 32 contacting the ground. This causes the shape of the parallelogram-shaped frame 22 to change accordingly, thereby compensating for the height difference of the drone in the front-to-back direction and ensuring that the drone fuselage remains relatively horizontal in the front-to-back direction during landing. If the terrain where the UAV lands has a height difference in the left and right directions (e.g., left higher than right), the two connecting rods 31 can rotate around their hinge point with connecting rod 221 under the influence of the difference in reaction force when their respective connected bionic mechanical legs 32 contact the ground. This causes the shape of the parallelogram-shaped frame 33 to change accordingly, thereby compensating for the height difference of the UAV in the left and right directions and ensuring that the UAV fuselage remains relatively horizontal in the left and right directions during landing. In this solution, by setting independently adjustable frames 22 and 33, the height difference of multiple bionic mechanical legs 32 in the front-back and left-right directions can be adjusted simultaneously. The adjustment of the two is independent of each other, so that the terrain-adaptive UAV landing gear provided by this solution can land stably in complex terrains with height differences in different directions at the same time. Moreover, it does not require excessive energy consumption during terrain adaptation, taking into account the flexibility of the UAV landing gear during landing and its own endurance, thus greatly improving its practicality. Furthermore, by setting up two parallelogram-shaped frames, Frame 1 22 and Frame 2 33, the bionic mechanical legs 32 can adaptively adjust according to the specific terrain during landing (such as handling complex terrain with multiple height differences at the same time), thus enabling the UAV to not only land stably with the four bionic mechanical legs 32, but also to provide stable support for the UAV after landing.

[0031] In this plan, please refer to Figure 3 and Figure 4The length direction of connecting rod 21 can be defined as vertical, the thickness direction as horizontal, and the width direction as front-back. Mounting frame 1 can be a hollow cuboid, and connecting rod 21 can also be a hollow cuboid structure. The width of connecting rod 21 can be less than the width of mounting frame 1. The upper end of connecting rod 21 can pass through the bottom of mounting frame 1 and extend into it. Connecting rod 21 can be vertically mounted on mounting frame 1 along its length. In the vertical direction, the upper connecting rod 221 can be inserted into the hollow connecting rod 21 along the front-back direction, and its middle part can be hinged to the upper part of connecting rod 21. The lower connecting rod 221 can be inserted into the hollow connecting rod 21 along the front-back direction, and its middle part can be hinged to the lower part of connecting rod 21. This allows each connecting rod 221 to rotate around its hinge point with connecting rod 21. The two connecting rods 221 are vertically separated by the bottom of the mounting bracket 1. In this design, inserting connecting rod 221 into the hollow structure of connecting rod 21 further ensures the stability of connecting rod 221 during rotation. The two connecting rods 222 are symmetrically arranged about connecting rod 21 along its front-rear direction. The upper end of the connecting rod 222 located in front of connecting rod 21 connects to the end of the connecting rod 221 above it, and the lower end connects to the end of the connecting rod 221 below it. The connection method between the connecting rod 222 located behind connecting rod 221 and the two connecting rods 221 is the same as that of the connecting rod 222 in front. This allows the two connecting rods 221 and the two connecting rods 222 to be alternately arranged and hinged end-to-end to form a parallelogram-shaped frame 22. A pair of adaptive mechanisms can be symmetrically arranged on two connecting rods 221 along the front-back direction with the connecting rod 21 as the axis of symmetry. Since the two adaptive mechanisms are identical in structure, the following description uses the structure of one adaptive mechanism located in front of the connecting rod 21 as an example: Please refer to... Figure 5The adaptive mechanism 2 may include two connecting rods 221 and two bionic mechanical legs 32. Each connecting rod 221 may have two mounting holes along its thickness direction, arranged sequentially along its vertical direction. Both connecting rods 31 are arranged in the left-right direction, each extending from one side of the connecting rod 221 through a corresponding mounting hole into the other side, and its middle portion may be hinged to the connecting rod 221, allowing the connecting rod 31 to rotate around its hinge point with the connecting rod 221. Two bionic mechanical legs 32 can be symmetrically arranged in the left-right direction with the connecting rod 221 as the axis of symmetry. The upper end of the bionic mechanical leg 32 on the left is hinged to the left end of the two connecting rods 31 from top to bottom, and the upper end of the bionic mechanical leg 32 on the right is hinged to the right end of the two connecting rods 31 from top to bottom. This allows the upper ends of the two connecting rods 31 and the two bionic mechanical legs 32 to form a parallelogram frame 33, and the frame 33 can change shape by using the hinge point between the two connecting rods 222 and the connecting rod 221 as the axis of rotation.

[0032] The adaptive mechanism 1 may further include a pair of buffer components 23. The pair of buffer components 23 can be symmetrically arranged along the length of the connecting rod 222, with the connecting rod as the axis of symmetry. The middle part of the buffer component 23 is hinged to the middle part of the connecting rod 221, and the two ends of the buffer component 23 are respectively hinged to the two connecting rods 221. The buffer component 23 can be used to support the frame 22 and can also adapt to the shape changes of the frame 22 when the UAV lands by self-adapting its extension and contraction. At the same time, it absorbs the impact energy generated when the two connecting rods 221 rotate through adaptive extension and contraction, thereby achieving the purpose of buffering the movement of the adaptive mechanism 1 and improving the stability of the UAV during landing.

[0033] Please refer to Figures 2 to 4The buffer assembly 23 may include at least one pair of telescopic rods 231. For one telescopic rod 231, its telescopic end is hinged to the middle of the connecting rod 221, and its fixed end is hinged to the upper connecting rod 222. For the other telescopic rod 231, its fixed end is hinged to the middle of the connecting rod 221, and its hinged end is hinged to the lower connecting rod 222. The hinge points of the two telescopic rods 231 at the middle of the connecting rod 221 may be located at the same point. The two telescopic rods 231 can form a V-shaped buffer assembly 23 with an opening facing the connecting rod 21. The V-shaped buffer assembly 23 can not only support the frame 22 when the UAV is flying, but also automatically adapt to the shape change of the frame 22 by its own extension and retraction. It absorbs the impact energy generated when the shape of the frame 22 changes through this extension and retraction operation, thereby achieving the purpose of buffering the movement of the frame 22.

[0034] A buffer spring 232 can be fitted onto the outer side of each telescopic rod 231. One end of the buffer spring 232 is fixed to the fixed end of the telescopic rod 231, and the other end is fixed to the telescopic end of the telescopic rod. By setting the buffer spring 232, not only can the support effect of the buffer assembly 23 on the frame 22 be enhanced, but the shock absorption characteristics of the buffer spring 232 can also be used to effectively and quickly absorb the impact energy generated by the shape change of the frame 22, thereby improving the support and buffering performance of the buffer assembly 23, and ultimately improving the stability of the UAV under different conditions.

[0035] In this plan, please refer to Figure 3 The buffer assembly 23 may include two pairs of telescopic rods 231, which are symmetrically arranged about the connecting rod 222 as an axis of symmetry in the left-right direction. A fixed rod 1 is provided on the connecting rod 222, and a fixed rod 2 is provided on the connecting rod 221. The fixed ends of the two upper telescopic rods 231 can be hinged to the two ends of the fixed rod 1 on the upper connecting rod 222, and the telescopic ends of the two lower telescopic rods 231 can be hinged to the two ends of the fixed rod 1 on the lower connecting rod 222. The telescopic ends of the two upper telescopic rods 231 and the fixed ends of the two lower telescopic rods 231 can be hinged to the two ends of the fixed rod 2. By setting two pairs of telescopic rods 231 and symmetrically designing them about the connecting rod 222 as an axis of symmetry in the left-right direction, the stability of the entire buffer assembly 23 in supporting the frame 22 and its buffering performance when the frame 22 undergoes shape changes can be further enhanced.

[0036] The adaptive mechanism may also include at least one pair of buffer components 234, please refer to Figure 5 A pair of buffer components 34 are symmetrically arranged along the thickness direction of connecting rod 221, with connecting rod 221 as the axis of symmetry. Taking the width direction of connecting rod 221 as a reference for the front-back direction, buffer components 34 and 23 can be respectively disposed on the outer and inner side walls of connecting rod 221. Specifically: buffer component 23 is disposed on the side wall of connecting rod 221 near connecting rod 221, and buffer component 34 is disposed on the side wall of connecting rod 221 opposite to buffer component 23. One end of buffer component 34 is hinged to the outer side wall of connecting rod 221, and the other end is connected to the end of connecting rod 31. Buffer component 34 is used to adaptively expand and contract when the two connecting rods 31 rotate to adapt to the shape changes of frame 33. Buffer component 34 may include a telescopic rod, which may be a damping telescopic rod. The fixed end of telescopic rod two can be hinged to the outside of connecting rod two 221, and the telescopic end of telescopic rod two can be hinged to the end of connecting rod four 31. Two buffer components two 34 can be used to form an upward-opening V-shaped structure, thereby further improving the stability of the buffer component two 34 in supporting frame two 33. When the length of one telescopic rod two increases, the length of the other telescopic rod two will decrease. Through the synergistic action of the two telescopic rods two, the frame two 33 is supported and buffered, improving its stability. When the shape of frame two 33 changes, the adaptive extension and retraction of the buffer component two 34 can adapt to the shape changes of frame two 33, and its damping characteristics absorb the impact energy generated by the shape changes of frame two 33, thus achieving the purpose of buffering the movement of frame two 33. The UAV landing gear of this solution uses two parallelogram-shaped frames 22 and 33, a bionic mechanical leg 32, a buffer assembly 23 and a buffer assembly 34. Through the synergistic effect of these structures, the weight of the UAV landing gear and the ground force can be balanced, thereby enabling the UAV to take off and land adaptively in complex road environments such as rugged, inclined, drop, undulating, and multi-obstacle environments, effectively meeting the take-off and landing requirements of UAVs in complex road environments.

[0037] The second buffer assembly 34 may also include two connecting frames, one of which is rotatably mounted on the second connecting rod 221, and the other is rotatably mounted on the end of the fourth connecting rod 31. The fixed end of the second telescopic rod can be fixedly mounted on the connecting frame located on the second connecting rod 221, and the telescopic end of the second telescopic rod can be fixedly mounted on the connecting frame located on the third connecting rod 222. By setting the connecting frames, the second telescopic rod can extend and retract simultaneously while rotating, improving the smoothness and stability of the second telescopic rod's operation. The purpose of setting the connecting frames is not only to facilitate the installation of the second buffer assembly 34, but also to serve as a transitional connector between multiple rods, thereby distributing the stress, improving the durability of the entire frame 33, preventing wear or breakage of the rods after long-term use, and also providing support to enhance the stability of the entire structure. In addition, the connecting frames allow the second buffer assembly 34 to rotate and extend simultaneously to adapt to the posture changes of the parallelogram structure of the frame 33, ensuring the coordination of movement. Furthermore, the rotating joint of the connecting frame can adopt a low-friction design (such as built-in bearings or lubrication structures) to reduce the relative motion resistance between the telescopic rod 2 and the connecting rod, enabling frame 2 33 to quickly respond to changes in terrain height differences and improving the adaptation speed and accuracy of the bionic mechanical leg to complex terrain. In this solution, the connecting frame can be made of CFRP material, and the telescopic rod 2 can adopt a commonly used mechanical damping structure. By setting buffer component 1 23 and buffer component 2 34, this solution can provide stable elastic support for the parallelogram structure frame 1 22 and frame 2 33, and absorb impact energy during the take-off and landing of the UAV through the extension and retraction of telescopic rod 1 231 and telescopic rod 2, as well as the elastic deformation of buffer spring 1 232. This significantly reduces the impact load on the fuselage, extends the service life of the UAV, and also avoids damage to some precision components such as sensors and batteries inside the UAV due to impact, thus effectively solving the problem of insufficient impact buffering performance of existing landing gear.

[0038] Please refer to Figure 6 The bionic mechanical leg 32 may further include a mounting rod 321, a connecting rod 322, and a support foot 323. The mounting rod 321 is rotatably mounted on the upper end of the connecting rod 322, and the support foot 323 is rotatably mounted on the lower end of the connecting rod 322. The support foot 323 may include a connecting section and a foot. The connecting section is rotatably mounted below the connecting rod 322 via a pivot. The foot can be bent outward from the bottom end of the connecting section to form an arc-shaped structure. The arc-shaped structure of the foot facilitates contact with the ground during landing, increases the contact area between the foot and the ground, and improves the stability of the bionic mechanical leg 32.

[0039] The two ends of the mounting rod 321 can be hinged to two connecting rods 4 31 respectively, so that the two mounting rods 321 and the two connecting rods 4 31 on the two bionic mechanical legs 32 can form a frame 2 33. Please refer to Figure 6Multiple buffer components 324 are provided on the side of the connecting rod 5 322 near the support foot 323, and the multiple buffer components 324 are spaced apart around the connecting rod 5 322. The number of buffer components 324 can be four, and the four buffer components 324 are symmetrically distributed around the connecting rod 5 322. The buffer component 324 may include a guide rod 325, a connecting rod 6 326, a buffer spring 2 327, and an elastic band 1 328. The guide rod 325 is a vertical rod with a cylindrical guide portion at its end. The upper end of the vertical rod of the guide rod 325 is fixedly installed at the bottom of the connecting rod 5 322, and the upper end of the guide rod 325 is provided with a mounting bracket 1 with a through hole. The connecting rod 6 326 passes through the through hole from the upper end and extends into the lower part of the mounting bracket 1. A second buffer spring 327 is sleeved on the outside of the connecting rod 326, with one end of the second buffer spring 327 fixedly connected to the connecting rod 326 and the other end fixedly mounted on the mounting bracket 1. The second buffer spring 327 allows the connecting rod 326 to be movably mounted on the mounting bracket 1. One end of an elastic band 328 is fixedly connected to the lower end of the connecting rod 326, and the other end of the elastic band 328 extends sequentially along the circumference of the vertical rod of the guide rod 325 and the cylindrical guide portion towards the connecting section and connects to the connecting section. This improves the stability of the foot rotating relative to the connecting rod 322. The stability of the connection between the connecting rod 322 and the support foot 323 can be improved by setting a buffer assembly 324. In this design, the hinge point between the bottom of the mounting rod 321 and the connecting rod 4 31, as well as the hinge point between the connecting rod 5 322 and the bottom of the mounting rod 321, can be located at the same hinge point, which can be analogous to the knee joint of the bionic mechanical leg 32. Furthermore, this design utilizes an elastic band 328, a buffer spring, and a guide rod 325 for spatial connection, allowing the connection between the connecting rod 322 and the foot to be analogous to the ankle joint of the bionic mechanical leg 32. The elastic band 328 can be considered a bionic ligament in the bionic mechanical leg 32. By setting the elastic band 328, it can both support the connection between the connecting rod 322 and the foot and constrain the ankle joint's degree of freedom, ensuring its stability. The bionic mechanical leg 32 also includes an elastic band 329. One end of the elastic band 329 is fixedly connected to the upper end of the connecting rod 322, and the other end of the elastic band 329 adheres to the outer side of the connecting rod 322 and extends to connect with the supporting foot 323. The elastic band 329 can be considered a tendon in the bionic mechanical leg 32, maintaining the posture of the entire bionic mechanical leg 32, transmitting force, and reducing vibrations during movement. In this design, both elastic band 328 and elastic band 329 can be made of flexible materials, such as nylon fiber, which is commonly used in existing technologies to make biomimetic ligaments and tendons. Mounting rod 321, connecting rod 326, and support leg 323 can all be made of aluminum alloy.By incorporating the bionic mechanical legs 32 described above, this solution can gradually reduce the impact stress on the UAV landing gear from the support foot 323 upwards during landing. This avoids the stress concentration problem at the joints of traditional rigid linkage structures, reduces the risk of wear and breakage of the UAV landing gear under frequent impacts, and improves the structural durability of the UAV landing gear.

[0040] The drone landing gear also includes a locking mechanism for locking or unlocking connecting rod 322. The locking mechanism can be a common locking device in existing technology, simply requiring only the ability to limit the rotation of connecting rod 322. For example, a motor can drive a cam to rotate forward, thus engaging connecting rod 322 against connecting rod 11, or the cam can be flipped to release it, allowing connecting rod 322 to rotate. In practical use, an infrared sensor can monitor the movement of connecting rod 322 located below. The infrared sensor can activate the locking mechanism after the drone lands and connecting rod 322 rotates and stabilizes under the action of the bionic mechanical leg 32, thereby clamping connecting rod 322 and securing the drone landing gear. The infrared sensor can also reactivate the locking mechanism after the drone takes off, causing the locking mechanism to lose its locking effect on connecting rod 322. Connecting rod 322 can return to a near-horizontal state under gravity. The following describes the state of the drone's landing gear in different situations: (I) Pre-Touch Preparation Stage: In this stage, the UAV landing gear is in a naturally drooping state under the influence of gravity. Frame 1 (22) and Frame 2 (33) maintain their initial parallelogram structures. Connecting rod 1 (21) limits excessive swaying of Frame 1 (22), ensuring that the landing gear does not generate additional wind resistance during UAV flight. All four bionic mechanical legs (32) are naturally drooping, with the knee and ankle joints maintaining slight tension due to their structural characteristics. The supporting feet (323) are parallel to the ground, preparing for touchdown. Buffer mechanisms 1 and 2 are under slight pressure, allowing Frame 1 (22) and Frame 2 (33) to maintain their initial shapes while also allowing for elastic deformation during UAV takeoff and landing.

[0041] (II) Ground Contact Adaptive Adjustment Phase: When the UAV approaches a complex terrain, the four bionic mechanical legs 32 can contact the ground sequentially or simultaneously, triggering the parallelogram structures of frame one 22 and frame two 33 respectively for adaptive adjustment based on the terrain. If there is a height difference in the front-to-back direction (e.g., a slope that is higher in the front and lower in the back), the two connecting rods two 221 on frame one 22 will rotate around their hinge points as axes under the influence of the terrain forces, causing the shape of frame one 22 to change to adapt to the different ground positions of the bionic mechanical legs 32. This compensates for the height difference of the bionic mechanical legs 32 in the front-to-back direction, ensuring that the entire UAV fuselage remains relatively horizontal in the front-to-back direction and preventing it from tipping over. If there is a height difference in the left and right directions in the terrain (such as a slope that is higher on the left and lower on the right), the two connecting rods 31 on frame 23 will rotate around the hinge point with connecting rod 221 under the influence of the terrain force difference. This causes the shape of frame 23 to change to adapt to the different ground positions of the bionic mechanical legs 32. This compensates for the height difference of the bionic mechanical legs 32 in the left and right directions, ensuring that the entire drone body remains relatively horizontal in the left and right directions and preventing it from tipping over.

[0042] Furthermore, during this phase, the bionic mechanical leg 32 in contact with the ground can adapt to small local protrusions or depressions (such as stones, shallow pits, etc.) through the ankle joint buffer component 324, based on the force applied to the supporting foot 323. This allows the bionic mechanical leg 32 to adaptively adjust to minor unevenness in the terrain, improving the accuracy of terrain adaptation and preventing excessive force on a single point of the supporting foot 323, which could lead to structural damage to the bionic mechanical leg 32. Moreover, at the moment of drone touchdown, the impact force from the ground can be transmitted to the drone's landing gear. The multi-stage buffering mechanism—the bionic mechanical leg 32 itself, buffer component 23, and buffer component 324—absorbs the impact force, thereby reducing the impact load on the drone's landing gear upon touchdown and improving its stability. Specifically: For the bionic mechanical leg 32, it can absorb energy through the following paths: (1) Ankle joint: the elastic band 328 (flexible material) stretches and deforms, and the buffer spring 327 is compressed, directly absorbing the vertical impact transmitted from the supporting foot 323; (2) Knee joint: the connecting rod 322 rotates slightly around the hinge point of the mounting rod 321, causing the outer elastic band 329 (high elastic modulus component) to stretch, further absorbing the combined impact in the horizontal and vertical directions; (3) The skeleton and flexible components work together: when the aluminum alloy mounting rod 321 and connecting rod 322 transmit stress, the deformation of the elastic band 328 and elastic band 329 can disperse the stress concentration, avoiding the rigid component from breaking due to impact. For the buffer component 23, as the frame 22 adjusts its posture, the two telescopic rods 231 extend and retract synchronously, and the two buffer springs absorb the impact energy generated by the rotation of the connecting rod 221 through stretching / compression deformation. For the second buffer component 34, as the frame 33 adjusts its posture, the two telescopic rods 2 adapt to the posture adjustment of the frame 33 based on the damping effect, while also weakening the lateral impact, thereby ensuring the stability of the frame 33 during the adjustment process.

[0043] (III) Attitude Locking Stage: Once the four bionic mechanical legs 32 are fully adapted to the terrain and the fuselage remains horizontal and stable, the locking mechanism 4 is activated. The drive component 42 drives the two cams 43 to move towards the connecting rod 221 via the rope 41, thereby clamping the connecting rod 221 and fixing it in place. This fixes the shape of the frame 22. The frame 33 is directly connected to the bionic mechanical legs 32, so its shape is also fixed after the bionic mechanical legs 32 are in position. Therefore, the locking mechanism 4 can lock the stable state of the UAV after it touches the ground, ensuring that even with slight disturbances in the terrain (such as wind or slight ground subsidence), the UAV landing gear will not shake, thus improving the stability of the UAV landing gear when it is parked on the ground.

[0044] (iv) Ground Reset Phase: In this phase, as the UAV prepares to take off, the lift gradually exceeds its own weight, and the ground's support force on the bionic mechanical leg 32 disappears. At this time, the locking mechanism 4 can be activated to unlock the landing gear. Under the action of gravity, the entire UAV landing gear, including frame 1 22 and frame 2 33, can return to its initial parallelogram structure. The bionic mechanical leg 32 also naturally droops, and the buffer components 1 23, 2 34, and 3 324 all return to their initial state (i.e., the state before touching the ground), thus preparing for the next takeoff and landing.

[0045] In summary, the UAV landing gear provided by this solution does not rely excessively on electronic drive components such as sensors and motors at any stage of use. It achieves adaptation to complex terrain only through the natural balance of mechanical structure and force, which not only ensures reliability in harsh environments, but also takes into account take-off and landing stability and impact resistance through multi-level buffering and locking mechanisms.

[0046] Example 2 This embodiment provides a drone based on Embodiment 1. Please refer to... Figure 7 It includes a drone landing gear as in Example 1 and a drone body, the drone body being detachably mounted on the upper end of the mounting frame, thereby forming a complete drone together with the drone landing gear.

[0047] The basic principles, main features, and advantages of this invention have been described above. Those skilled in the art should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made without departing from the spirit and scope of the invention, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection claimed by this invention is defined by the appended claims and their equivalents.

Claims

1. A terrain-adaptive unmanned aerial vehicle (UAV) landing gear, characterized in that, It includes: Mounting bracket for mounting drones (1); The adaptive mechanism includes a connecting rod 1 (21) fixedly mounted on the mounting frame (1) and two connecting rods 2 (221) and two connecting rods 3 (222) that are staggered and sequentially hinged to form a parallelogram frame 1 (22); the middle parts of the two connecting rods 3 (222) are respectively hinged to the connecting rod 1 (21) along the length direction of the connecting rod 1 (21); At least one pair of adaptive mechanisms 2 are symmetrically arranged on two connecting rods 2 (221), and include two connecting rods 4 arranged sequentially along the length of the connecting rods 2 (221) and two bionic mechanical legs (32) arranged at both ends of the connecting rods 2 (221). The upper end of each bionic mechanical leg (32) is hinged to the ends of the two connecting rods 4 (31) from top to bottom, thereby forming a parallelogram frame 2 (33). The plane of the frame 2 (33) is perpendicular to the plane of the frame 1 (22). The middle part of the connecting rod 4 (31) is hinged to the corresponding connecting rod 2 (221). Multiple bionic mechanical legs (32) are used to contact the ground and support the UAV when it lands. The height difference of multiple bionic mechanical legs (32) in the front-back direction and the left-right direction is adaptively compensated by the shape changes of the frame 1 (22) and the frame 2 (33).

2. The terrain-adaptive UAV landing gear as described in claim 1, characterized in that, The adaptive mechanism also includes a pair of buffer components (23) arranged symmetrically along the length of the connecting rod (222) with the connecting rod (21) as the axis of symmetry. The buffer components (23) are hinged to the middle of the connecting rod (221) and the two connecting rods (222) are respectively hinged to the two connecting rods (222). The buffer components (23) are used to adaptively extend and retract when the two connecting rods (222) rotate to adapt to the shape change of the frame (22).

3. The terrain-adaptive UAV landing gear as described in claim 2, characterized in that, The buffer assembly 1 (23) includes at least one pair of telescopic rods 1 (231), wherein the telescopic end of one telescopic rod 1 (231) is hinged to the middle of the connecting rod 2 (221), and the fixed end is hinged to the upper connecting rod 3 (222); the fixed end of the other telescopic rod 1 (231) is hinged to the middle of the connecting rod 2 (221), and the telescopic end is hinged to the lower connecting rod 3 (222); the two telescopic rods 1 (231) are used to form a V-shaped buffer assembly 1 (23) with an opening facing the connecting rod 1 (21).

4. The terrain-adaptive UAV landing gear as described in claim 3, characterized in that, Each telescopic rod (231) is fitted with a buffer spring (232). One end of the buffer spring (232) is fixedly connected to the fixed end of the telescopic rod (231), and the other end is fixedly connected to the telescopic end of the telescopic rod (231).

5. The terrain-adaptive UAV landing gear as described in claim 1, characterized in that, The adaptive mechanism 2 further includes at least one pair of buffer components 2 (34) symmetrically arranged with the connecting rod 2 (221) as the axis of symmetry and along the thickness direction of the connecting rod 2 (221); one end of the buffer component 2 (34) is hinged to the outer wall of the connecting rod 2 (221), and the other end of the buffer component 2 (34) is hinged to the end of the connecting rod 4 (31). The buffer component 2 (34) is used to adaptively extend and retract when the two connecting rods 4 (31) rotate to adapt to the shape change of the frame 2 (33).

6. The terrain-adaptive UAV landing gear as described in claim 5, characterized in that, The second buffer assembly (34) includes a telescopic rod, which is a damping telescopic rod; the fixed end of the second telescopic rod is hinged to the outside of the second connecting rod (221), and the telescopic end of the second telescopic rod is hinged to the end of the fourth connecting rod (31); the two second buffer assemblies (34) are used to form an upward-opening V-shaped structure.

7. The terrain-adaptive UAV landing gear as described in claim 1, characterized in that, The bionic mechanical leg (32) includes a connecting rod five (322) and a supporting foot (323). One end of the connecting rod five (322) is hinged to the hinge point between the bionic mechanical leg (32) and the lower connecting rod four (31). The supporting foot (323) is rotatably mounted on the other end of the connecting rod five (322). Multiple buffer components three (324) are provided on the side of the connecting rod five (322) near the supporting foot (323). The multiple buffer components three (324) are spaced apart around the connecting rod five (322). The buffer components three (324) are used to buffer the connection between the connecting rod five (322) and the supporting foot (323). The buffer components three (324) include a guide rod (325) and a connecting rod six (323). 26) Buffer spring two (327) and elastic band one (328), the guide rod (325) is fixedly installed at the bottom of the connecting rod five (322), the guide rod (325) is provided with a mounting bracket (1) with a through hole, the connecting rod six (326) passes through the through hole from the upper end and extends into the lower part of the mounting bracket (1); the buffer spring two (327) is sleeved on the outside of the connecting rod six (326) and one end is fixed to the upper end of the connecting rod six (326), and the other end is fixed to the mounting bracket (1); one end of the elastic band one (328) is fixedly connected to the lower end of the connecting rod six (326), and the other end is attached to the outside of the guide rod (325) and extends to be fixedly connected to the upper end of the support foot (323).

8. The terrain-adaptive UAV landing gear as described in claim 7, characterized in that, The bionic mechanical leg (32) also includes an elastic band two (329), one end of which is fixedly connected to the upper end of the connecting rod five (322), and the other end of which is attached to the outside of the connecting rod five (322) and extends to connect with the support foot (323).

9. The terrain-adaptive UAV landing gear as described in claim 1, characterized in that, The drone landing gear also includes a locking mechanism (4), which is used to lock or release the connecting rod three (222).

10. A drone, characterized in that, It includes a drone body and a terrain-adaptive drone landing gear as described in any one of claims 1-9, wherein the drone body is detachably mounted on top of the mounting frame (1).

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