A foldable landing shock absorber and a drone

Abstract

This application relates to a folding landing shock absorption device and a drone, belonging to the field of rotorcraft drone technology. It includes: an aircraft frame with four rotor arms; two sets of lifting and folding frames, each set including shock-absorbing legs symmetrically arranged on both sides; a rotor protection mechanism, with main parachute frames symmetrically arranged on both sides folded or unfolded by a traction mechanism; and an unlocking trigger mechanism that controls the traction mechanism to unfold the main parachute frames, branch parachute frames, and folding protective skin in the folded state, forming protection for the rotor. This invention can provide circumferential wrapping and vertical shielding for the rotor blades and rotor motor, overcoming the shortcomings of traditional protective covers that penetrate vertically and expose most of the blades. Furthermore, the folding or unfolding of the rotor protection mechanism does not require manual intervention, achieving fully automatic protection of "protection upon landing and retraction upon takeoff," ensuring reliable protection of the blades even when not in flight.

Description

Technical Field

[0001] This invention relates to the field of rotary-wing unmanned aerial vehicle (UAV) technology, specifically to a foldable take-off and landing shock absorption device and a UAV. Background Technology

[0002] Rotary-wing drones are unmanned aerial vehicles that rely on the rotation of multiple horizontal rotors to generate lift, enabling them to take off and land vertically, hover in the air, and control their flight. Based on the number of rotors, they can be divided into various configurations such as quadcopter, hexacopter, and octagonal. Due to their compact structure, flexible operation, and ability to take off and land vertically, these types of drones have been widely adopted in many industries such as aerial photography, agricultural plant protection, power line inspection, logistics distribution, and emergency rescue.

[0003] However, the most vulnerable part of a rotary-wing drone is usually its propeller blades. The blades are generally made of thin engineering plastics or carbon fiber materials. When rotating at high speed, they are very easy to break, chip, or deform if they hit an obstacle. Even when not in flight, bumps during transportation, squeezing during storage, or accidental rollover during landing can cause deformation or dynamic imbalance of the blades, which in turn affects flight stability and creates safety hazards.

[0004] In response, the prior art discloses a multi-layer propeller structure agricultural drone with a fully protective shell, as disclosed in CN107128485B. This drone includes at least three rotor systems, each comprising a protective shell with a circular channel. A rotor mounting arm is located within the protective shell along the diameter of the circular channel. One end of each rotor mounting arm is connected to the protective shell, and the other end extends outward beyond the shell. A power system is mounted on the rotor mounting arm. The at least three rotor systems are interconnected through the protective shell to form a body, creating an enclosed cavity at the center of the body. A fuselage is located within this cavity, comprising an upper carbon plate and a lower carbon plate connected by a first pipe clamp. A pesticide tank is located below the lower carbon plate, and a spraying system connected to the pesticide tank is mounted on the fuselage. This device improves spraying efficiency while ensuring safety and is suitable for widespread use.

[0005] While the aforementioned devices offer some protection to the rotor during flight, they still have significant drawbacks in use: 1. The aforementioned devices and existing blade protection mechanisms are typically designed to prevent blade collisions during flight. This type of blade protection structure needs to protect the blades without affecting lift; therefore, it is usually a sparsely arranged ring-shaped structure with through-channels at the top and bottom, leaving most of the rotor exposed to the fuselage and highly susceptible to damage during transport, storage, or accidental collisions. 2. Existing integrated rotor protection covers typically require manual disassembly and assembly, meaning they must be removed before takeoff and reinstalled during transport and storage. This type of disassembly and assembly structure is prone to loss or forgetting to install, and it cannot automatically form protection after the drone lands, exposing the blades to impact risks after landing and during transport and storage, resulting in blade protection failure. Summary of the Invention

[0006] Therefore, it is necessary to provide a foldable take-off and landing shock absorption device and a drone to address the shortcomings of existing technologies.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A foldable landing shock absorption device and a drone, comprising: The aircraft frame has four rotor arms, each rotor arm has a rotor motor at its end, a rotor blade is mounted on the upper part of the rotor motor, and a lower support arm is also provided below the rotor arm; Two sets of lifting and folding frames are symmetrically arranged on both sides of the aircraft frame. Each set of lifting and folding frames includes shock-absorbing legs symmetrically arranged on both sides. The shock-absorbing legs move towards or away from each other under the lifting drive to achieve storage or unfolding. The rotor protection mechanism includes a circular guide frame fixedly mounted on the rotor arm. Two main parachute frames are symmetrically arranged around the circular guide frame's axis. Several branch parachute frames are positioned between the two main parachute frames. Adjacent main parachute frames and branch parachute frames, as well as each branch parachute frame, are connected by folding protective skins. The branch parachute frames and folding protective skins move synchronously with the deployment or folding of the main parachute frames, forming protection for the rotor blades and rotor motor when fully deployed. The symmetrically arranged main parachute frames on both sides are folded or deployed by a traction mechanism. The mechanism also includes… An unlocking trigger mechanism is located at the bottom of the aircraft frame and works in conjunction with the shock-absorbing outriggers in the deployed state. After the aircraft lands, the drone's own weight pushes the unlocking trigger mechanism to work, which in turn controls the traction mechanism to deploy the main parachute frame, branch parachute frames, and folded protective skin, thus protecting the rotor.

[0008] Preferably, each group of lifting and folding frames further includes a lifting seat, and the shock-absorbing legs on both sides are pivotally mounted at the bottom of the lifting seat. A lead screw seat and a slide rod seat are respectively installed on both sides of the lifting seat. The lead screw seat and the slide rod seat are respectively provided with slots for inserting the lead screw and the slide rod. The lead screw and the slide rod are fixedly and rotatably mounted on the aircraft frame, and the rotation of the lead screw is driven by a micro motor that is fixedly connected to the lead screw on the same axis. The micro motor is fixedly mounted on the equipment mounting platform at the bottom of the aircraft frame. The equipment mounting platform is provided with a vertically penetrating lifting groove. The shock-absorbing outriggers are lifted and installed in the lifting groove. A limit block is also provided on the inner side of the lifting groove. A limit slide groove is provided on the side of the shock-absorbing outriggers. Through the limiting cooperation between the limit block and the limit slide groove, the shock-absorbing outriggers on both sides move closer to each other during the lifting process and separate and unfold to each other during the descent process.

[0009] Preferably, the traction mechanism that drives the main parachute frame to unfold or fold includes a control line turntable that is rotatably mounted on a fixed axis within the aircraft frame. The control line turntable has an upper turntable and a lower turntable with the same diameter on its upper and lower sides, respectively. Each of the upper and lower turntables has four sets of rope grooves. Independent upper traction ropes are wound and wound in the four sets of rope grooves on the upper turntable. The upper traction ropes pass through the upper rope channels opened on the aircraft frame and the rotating arm and are connected to the main parachute frames on both sides respectively. The lower turntable has four sets of rope grooves with independent lower pull ropes wound around it. The lower pull ropes pass through the lower rope channels opened on the aircraft frame and the lower support arm and are connected to the main parachute frames on both sides respectively. The upper and lower pull ropes are wound in opposite directions on the upper and lower turntables. The outlet of the upper rope channel is located on the side of the rotating arm closer to the aircraft frame, and the outlet of the lower rope channel is located on the side of the lower support arm away from the aircraft frame. This allows the control turntable to simultaneously perform winding and unwinding movements on the main parachute frame during rotation, so as to realize the unfolding or folding operation of the main parachute frame. When the triggering mechanism is triggered by the shock-absorbing outriggers, the control dial rotates to unfold the main umbrella frame, branch umbrella frames, and folded protective skin, which are in a folded state, thus forming a protective state for the rotor.

[0010] Preferably, the rotor motors are rotatably mounted on the lower support arm with a fixed axis at the bottom. One-way ratchet drive wheels are fixedly mounted on the lower drive shafts of two sets of rotor motors that are spaced apart. Driven wheels are sleeved on the outside of the drive wheels. Driven wheel grooves are opened on the outer edge of the driven wheels. Two sets of driven wheel grooves are correspondingly provided in the middle of the control line turntable. Two sets of transmission belts are embedded in the drive wheel grooves and driven wheel grooves on the same side, so that the rotor motors provide power for the rotation of the control line turntable. The control line turntable is fixed-axis rotatably installed in the positioning hole opened at the bottom of the aircraft frame. A reset torsion spring is also sleeved on the outside of the control line turntable's shaft. The rotor motor drives the control line turntable to rotate, simultaneously storing energy in the reset torsion spring and performing the folding operation of the main parachute frame. The two sets of rotor motors that mount the drive wheel are configured as follows: When the rotor motor rotates in the forward direction, the driven wheel does not rotate synchronously with the driving wheel. At this time, the rotation of the rotor motor drives the device to generate lift, which, together with the other two sets of rotor motors, drives the entire device to take off and land. When the rotor motor rotates in the opposite direction, the driven wheel rotates synchronously with the driving wheel. At this time, the rotor motor drives the control line turntable to rotate and store energy until the main parachute frame is completely transformed from the unfolded state to the folded state and then stops. The control line turntable is also equipped with a limit locking mechanism, so as to maintain the energy storage lock state of the control line turntable after the rotor motor stops running.

[0011] Preferably, the limiting locking mechanism is a lifting limiting plate installed inside the aircraft frame. The limiting lifting plate is equipped with a pair of limiting claws via a torsion spring shaft. The limiting claws cooperate with the limiting slots opened on the upper turntable. The limiting lifting plate moves up and down under the drive of an electromagnet. When the limiting lifting plate descends, the limiting claws cooperate with the limiting slots. At this time, the control turntable performs a unidirectional rotational motion with energy storage. When the limiting lifting plate rises, the limiting claws disengage from the limiting slots, and the unidirectional rotation state of the control turntable is released.

[0012] Preferably, a pair of blocking rods are also fixedly installed on the control line turntable, and a telescopic cooperation rod is telescopically provided on the aircraft frame. When the control line turntable is in the energy storage state, the telescopic cooperation rod blocks the blocking rods, thereby limiting the control line turntable from resetting under the torque of the reset torsion spring. The telescopic cooperation rod moves up and down under the drive of the unlocking trigger mechanism. The telescopic linkage is configured as follows: When the limit locking mechanism releases the one-way locking state of the control turntable, the telescopic linkage rod cooperates with the blocking rod to prevent the control turntable from resetting; After the lifting and folding frame unfolds and the aircraft lands, the drone's own weight drives the unlocking trigger mechanism to work. The unlocking trigger mechanism pushes the telescopic connecting rod down, thereby releasing the limit on the blocking rod. At this time, the control line turntable, which is in a charged state, is reset and rotated under the action of the reset torsion spring. The rotation of the control line turntable then forms a protective state for the rotor.

[0013] Preferably, the unlocking trigger mechanism includes four sets of telescopic piston cylinders fixedly installed at the bottom of the aircraft frame. Each telescopic piston cylinder has a pumping piston that is raised and lowered. The pumping piston cooperates with the telescopic outriggers that are movably installed on the shock-absorbing outriggers. The telescopic outriggers push the pumping piston to move up and down. Two sets of telescopic piston cylinders on the same side are connected to the same main telescopic piston cylinder through pipes. The main telescopic piston cylinder has a lifting piston that is raised and lowered. The lifting piston is fixedly connected to the telescopic connecting rod. When the telescopic outrigger pushes the pumping piston upward, gas enters the main telescopic piston cylinder above the lifting piston, thereby pushing the lifting piston and the telescopic connecting rod downward, thus releasing the limiting obstruction of the blocking rod.

[0014] Preferably, the annular guide frame has an annular groove, and a guide slider is fixedly installed on the side of the main parachute frame near the annular guide frame. The guide slider is embedded in the annular groove. Connecting sliders are fixedly connected to the upper and lower ends of the main parachute frame away from the annular guide frame. The connecting sliders on the upper and lower sides are respectively movably engaged with the upper rotating shaft engagement ring and the lower fixed engagement ring. The upper rotating shaft engagement ring is movably inserted into the upper drive shaft of the rotor motor through a bearing, and the lower fixed engagement ring is fixedly installed on the outside of the rotor motor body.

[0015] Preferably, the annular guide frame is further provided with an arc-shaped wire-passing groove, and the upper pull rope and the lower pull rope are passed through the arc-shaped wire-passing groove after entering the annular guide frame.

[0016] Preferably, a control module is installed inside the aircraft frame, which is used to coordinate the command actions of the rotor motor, the micro motor and the limit lifting plate.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This invention employs a rib-type folding protective mechanism consisting of a main umbrella frame, branch umbrella frames, and a folding protective skin. When the rotor protection mechanism is fully deployed, the folding protective skin can circumferentially wrap around and shield the rotor blades and rotor motor, overcoming the shortcomings of traditional protective covers that penetrate vertically and expose most of the blades. This provides comprehensive and enclosed physical protection for the rotor in transportation, storage, and accidental collision scenarios, significantly reducing the risk of blade damage.

[0018] This invention utilizes an unlocking trigger mechanism located at the bottom of the aircraft, which works in conjunction with the shock-absorbing outriggers. After the drone lands, its own weight automatically triggers the unlocking mechanism, driving the control line turntable to rotate under the action of a reset torsion spring. This causes the main parachute, branch parachute, and folded protective skin, which are in a folded state, to automatically unfold and form protection. Before takeoff, the rotor motor rotates in the opposite direction, driving the control line turntable to store energy via a transmission belt and simultaneously completing the automatic folding of the protective mechanism. The entire process requires no manual intervention, completely avoiding the problem of lost or forgotten installation of the protective cover. It achieves fully automatic protection of "protection upon landing and retraction upon takeoff," ensuring that the propeller blades are always reliably protected when not in flight. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of the rotor protection mechanism and lifting folding frame of the present invention in their unfolded state; Figure 2 This is a three-dimensional schematic diagram of the rotor protection mechanism and lifting folding frame of the present invention in their folded state; Figure 3 This is a cross-sectional schematic diagram of the main telescopic piston cylinder connection structure of the present invention; Figure 4 This is a schematic diagram of a partial connection structure of the control turntable of the present invention; Figure 5 This is a schematic diagram of the blocking rod of the present invention being blocked and limited by the telescopic cooperation rod; Figure 6 This is a cross-sectional view of the limiting groove and limiting claw in the engagement state of the present invention; Figure 7 This is a schematic diagram of the overall structure of the rotary arm of the present invention.

[0020] In the diagram: 1. Aircraft frame, 2. Rotary arm, 3. Rotor motor, 4. Propeller blade, 5. Shock-absorbing outrigger, 6. Circular guide frame, 7. Main parachute frame, 8. Branch parachute frame, 9. Folding protective skin, 10. Lifting seat, 11. Lead screw seat, 12. Slide rod seat, 13. Lead screw, 14. Slide rod, 15. Equipment mounting platform, 16. Lifting groove, 17. Limiting groove, 18. Control turntable, 19. Upper turntable, 20. Lower turntable, 21. Upper cable channel, 22. Lower support arm, 23. Lower cable channel, 24. Drive wheel, 25. Driven wheel, 26. Transmission belt, 27. Limiting lifting plate, 28. Limiting claw, 29. Limiting groove, 30. Blocking rod, 31. Telescopic mating rod, 32. Telescopic piston cylinder, 33. Telescopic outrigger, 34. Main telescopic piston cylinder, 35. Circular groove, 36. Upper rotating shaft mating ring, 37. Lower fixed mating ring, 38. Arc-shaped cable threading groove. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0022] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0023] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0027] Please see Figures 1-7 The present invention provides the following technical solution: The aircraft frame 1 in this application has a rectangular or X-shaped layout and four rotor arms 2. Each rotor arm 2 has a rotor motor 3 at its end. The output shaft of the rotor motor 3 is divided into upper and lower sections. The upper section extends upward through the rotor arm 2 and is equipped with blades 4. The lower section extends downward and is connected to the lower support arm 22 through a rotating shaft. The lower support arm 22 is fixedly installed at the bottom of the rotor arm 2 and is used to support the lower drive shaft of the rotor motor 3 and related transmission components.

[0028] The bottom of the aircraft frame 1 is provided with an equipment mounting platform 15. The equipment mounting platform 15 has two sets of lifting slots 16 on the left and right sides. Each set of lifting slots 16 consists of two slots, which are symmetrically distributed on the left and right sides of the aircraft frame 1. Each set of lifting slots 16 is provided with a set of lifting folding frames.

[0029] The lifting and folding frame includes a lifting base 10, a lead screw 13, a slide rod 14, a lead screw seat 11, a slide rod seat 12, and two symmetrically arranged shock-absorbing legs 5. The lead screw 13 and the slide rod 14 are arranged parallel to each other in the vertical direction. The upper and lower ends of the lead screw 13 are rotatably mounted on the aircraft frame 1 via bearings. The slide rod 14 is also fixedly mounted on the aircraft frame 1. A micro motor is coaxially fixedly connected to the lower end of the lead screw 13. The micro motor is fixedly mounted on the equipment mounting platform 15 and is used to drive the lead screw 13 to rotate forward or backward. The lead screw seat 11 and the slide rod seat... The 12 are fixedly installed on both sides of the lifting seat 10. The threaded hole on the lead screw seat 11 engages with the lead screw 13, and the light hole on the slide rod seat 12 slides with the slide rod 14. When the micro motor drives the lead screw 13 to rotate, the lead screw seat 11 drives the lifting seat 10 to move up and down in the vertical direction. In this way, the shock-absorbing legs 5 can be stored or deployed. When the aircraft is in flight, the shock-absorbing legs 5 are stored to reduce the risk of collision with objects. When the aircraft is preparing to land or is in an idle state, the shock-absorbing legs 5 are deployed.

[0030] Two shock-absorbing legs 5 are mounted on the bottom of the lifting seat 10 via a pivot. The two shock-absorbing legs 5 are symmetrically arranged on the left and right sides of the lifting seat 10 and can swing towards or away from each other around the pivot. A telescopic leg 33 is slidably sleeved inside the lower end of the shock-absorbing leg 5. The telescopic leg 33 can elastically extend and retract within the shock-absorbing leg 5 to form a primary buffer structure and also serve as the push trigger mechanism for the unlocking trigger mechanism. A limit groove 17 is provided on the side wall of the shock-absorbing leg 5. A limit block is provided at the corresponding position on the inner side wall of the lifting groove 16 on the equipment mounting platform 15. The limit block is embedded in the limit groove 17. When the lifting seat 10 drives the shock-absorbing leg 5 to rise, the limit block slides relative to each other along the limit groove 17, forcing the two shock-absorbing legs 5 to gradually move closer to the middle. When the lifting seat 10 drives the shock-absorbing leg 5 to descend, the limit block drives the two shock-absorbing legs 5 to gradually separate and unfold to the sides.

[0031] A rotor protection mechanism is provided on the outside of each rotor motor 3. The rotor protection mechanism includes a circular guide frame 6, two main parachute frames 7, several branch parachute frames 8, and a folding protective skin 9. The circular guide frame 6 is fixedly installed on the rotor arm 2 and surrounds the rotor motor 3. It can protect the blades 4 during flight. The upper surface of the circular guide frame 6 is provided with an annular groove 35, and an arc-shaped wire groove 38 is also provided inside it.

[0032] Two main umbrella frames 7 are C-shaped and symmetrically arranged on both sides of the circular guide frame 6. A guide slider is fixedly installed at the end of each main umbrella frame 7 near the circular guide frame 6. The guide slider is embedded in the circular groove 35 and can slide along the circular groove 35. Several branch umbrella frames 8 are hinged between the two main umbrella frames 7. The branch umbrella frames 8 are evenly arranged in the circumference. Adjacent main umbrella frames 7 and branch umbrella frames 8, as well as adjacent branch umbrella frames 8, are connected by folding protective skins 9. The folding protective skins 9 are made of flexible material and can be unfolded to form an umbrella-shaped protective cover as the main umbrella frames 7 and branch umbrella frames 8 are unfolded, and can be folded up as they are folded.

[0033] The main parachute frame 7 is equipped with connecting sliders at both the upper and lower ends near the rotor motor 3. The upper connecting slider is movably connected to the upper rotating shaft mating ring 36, which is sleeved on the upper drive shaft of the rotor motor 3 through a bearing and can rotate freely around the upper drive shaft. The lower connecting slider is movably connected to the lower fixed mating ring 37, which is fixedly fitted on the outside of the rotor motor 3 housing. This structure ensures that the upper and lower ends of the main parachute frame 7 are stably guided and supported when sliding open or folding.

[0034] The traction mechanism is used to drive the main parachute 7 to unfold or fold. The core component of the traction mechanism is the control line turntable 18. The control line turntable 18 is fixedly and rotatably installed in the positioning hole opened in the center of the bottom of the aircraft frame 1. A reset torsion spring is sleeved on the rotating shaft of the control line turntable 18. One end of the reset torsion spring is fixed on the control line turntable 18, and the other end is fixed on the aircraft frame 1. It is used to drive the control line turntable 18 to rotate in the opposite direction to reset when released.

[0035] An upper turntable 19 is fixed to the upper side of the control turntable 18, and a lower turntable 20 is fixed to the lower side. The upper turntable 19 and the lower turntable 20 have the same diameter and are coaxially fixedly connected. They rotate synchronously with the control turntable 18. The upper surface of the upper turntable 19 has four sets of rope grooves evenly distributed around its circumference. Each set of rope grooves independently winds an upper pull rope. Similarly, the lower surface of the lower turntable 20 has four sets of rope grooves evenly distributed around its circumference. Each set of rope grooves independently winds a lower pull rope. The upper pull rope and the lower pull rope are wound in opposite directions on the upper turntable 19 and the lower turntable 20.

[0036] The aircraft frame 1 and the rotating arm 2 are provided with an upper cable channel 21. The upper cable channel 21 extends from the control cable turntable 18 to the side of each rotating arm 2 closest to the aircraft frame 1, and finally passes through the arc-shaped cable groove 38 in the circular guide frame 6, and then connects to the connection point on the corresponding main parachute frame 7. Similarly, the aircraft frame 1 and the lower support arm 22 are provided with a lower cable channel 23. The lower cable channel 23 extends from the control cable turntable 18 to the side of each lower support arm 22 away from the aircraft frame 1, and passes through the arc-shaped cable groove 38 in the circular guide frame 6, and connects to another connection point on the corresponding main parachute frame 7. Since the main parachute frames 7 on both sides need to be pulled separately, the upper pull cable and the lower pull cable are separated into two strands at the end near the main parachute frame 7, and each strand is connected to the main parachute frame 7.

[0037] Since the upper and lower traction cables are wound in opposite directions, when the control dial 18 rotates in the forward direction, the upper traction cable is wound up and the lower traction cable is unwound, thereby pulling the main parachute frame 7 towards the side closer to the aircraft frame 1, causing the main parachute frame 7 to fold and close. When the control dial 18 rotates in the reverse direction, the lower traction cable is wound up and the upper traction cable is unwound, thereby pulling the main parachute frame 7 away from the aircraft frame 1, causing the main parachute frame 7 to unfold.

[0038] On the lower drive shafts of the two sets of spaced rotor motors 3, each is fixedly mounted a drive wheel 24 with a one-way ratchet structure. A driven wheel 25 is fitted around the drive wheel 24. The driven wheel 25 and the drive wheel 24 are engaged by a one-way pawl. When the rotor motor 3 rotates in the forward direction, i.e. in the direction of generating lift, the drive wheel 24 idles and does not drive the driven wheel 25 to rotate. When the rotor motor 3 rotates in the reverse direction, the drive wheel 24 drives the driven wheel 25 to rotate synchronously through the pawl. The outer edge of the driven wheel 25 is provided with a drive wheel groove. The center of the control line turntable 18 is provided with two sets of driven wheel grooves. Each set of driven wheel grooves is connected to the corresponding drive wheel groove by a transmission belt 26. Thus, when the rotor motor 3 rotates in the reverse direction, the power is transmitted to the control line turntable 18 through the drive wheel 24, the driven wheel 25, and the transmission belt 26, driving the control line turntable 18 to rotate and store energy.

[0039] A limit locking mechanism is provided on the control line turntable 18 to maintain the position of the control line turntable 18 after energy storage is completed. The limit locking mechanism includes a limit lifting plate 27, a limit claw 28, and an electromagnet. The limit lifting plate 27 is vertically slidably mounted inside the aircraft frame 1. The limit lifting plate 27 itself is connected to the aircraft frame through a traction spring. The traction spring causes the limit lifting plate 27 to move upward without external force, thereby disengaging the limit claw 28 from the limit groove 29. Correspondingly, an electromagnet is also fixedly connected to the aircraft frame 1. When the electromagnet is energized... The limiting lifting plate 27 is lowered by magnetic adsorption. A pair of limiting claws 28 are installed on the upper end of the limiting lifting plate 27 via a torsion spring shaft. The two limiting claws 28 are symmetrically arranged and can swing around the shaft. The upper surface of the upper turntable 19 is provided with a limiting groove 29 that cooperates with the limiting claws 28. When the limiting lifting plate 27 is lowered, the limiting claws 28 are locked into the limiting groove 29 under the action of the torsion spring. At this time, the control turntable 18 can only rotate in one direction, that is, the energy storage direction, and the reverse rotation is prevented. When the limiting lifting plate 27 is raised, the limiting claws 28 are disengaged from the limiting groove 29, and the one-way lock is released.

[0040] A pair of blocking rods 30 are also fixedly installed on the control line turntable 18. The two blocking rods 30 extend radially outward. A telescopic coupling rod 31 is slidably installed on the aircraft frame 1 in the vertical direction. The telescopic coupling rod 31 is connected to the unlocking trigger mechanism. The telescopic coupling rod 31 can extend or retract. When the control line turntable 18 is in the energy storage state, the blocking rods 30 are blocked by the telescopic coupling rod 31 to prevent the control line turntable 18 from resetting and rotating under the action of the reset torsion spring. When the telescopic coupling rod 31 moves downward, its lower end retracts, releasing the obstruction of the blocking rods 30.

[0041] The significance of locking the control line turntable 18 by combining the limiting lifting plate 27 and the telescopic connecting rod 31 is as follows: The limiting lifting plate 27 is responsible for limiting and locking the control line turntable 18 when it is storing energy, because after the rotor motor 3 stores energy in the control line turntable 18, it still needs to perform forward rotation to drive the entire device for takeoff and landing. The telescopic connecting rod 31 is driven by an unlocking trigger mechanism, which releases the limiting of the blocking rod 30 immediately after the aircraft lands. The sequence and process of its actions are as follows: In the energy storage state, the drone is located on the ground, the telescopic linkage 31 is in the retracted state, the blocking rod 30 is released from the limit, and the limit lifting plate 27 maintains the limit on the control line turntable 18. At this time, it can complete the energy storage of the control line turntable 18, and the main parachute 7 changes from the unfolded state to the folded state. After takeoff, once the entire drone device leaves the ground, the telescopic linkage 31 extends upward and remains in obstruction of the blocking rod 30. At this time, the limit lifting plate 27 releases its restriction on the control line turntable 18. Upon landing again, the telescopic linkage 31 retracts downward, thereby releasing the obstruction of the blocking rod 30. At this time, the power-accumulated control line turntable 18 rotates and resets under the push of the torsion spring. The main parachute frame 7 changes from a folded state to an unfolded state, thereby realizing the automatic landing protection operation for the rotor motor 3 and the blade 4.

[0042] The unlocking trigger mechanism is located at the bottom of the aircraft frame 1 and includes four sets of telescopic piston cylinders 32 and two sets of main telescopic piston cylinders 34. Each set of telescopic piston cylinders 32 has a pumping piston slidably installed inside, with the upper end of the pumping piston extending out of the telescopic piston cylinder 32. Each telescopic piston cylinder 32 corresponds to a telescopic leg 33 on a shock-absorbing leg 5. When the shock-absorbing leg 5 is deployed and touches the ground under pressure, the telescopic leg 33 retracts upward and pushes the pumping piston, causing the pumping piston to move upward within the telescopic piston cylinder 32. The cavities of the two sets of telescopic piston cylinders 32 on the same side are connected in parallel to the upper cavity of the same main telescopic piston cylinder 34 through pipes. A lifting piston is slidably installed inside the main telescopic piston cylinder 34, with the lower end of the lifting piston fixedly connected to the telescopic coupling rod 31. When the pumping piston moves upward, gas enters the upper cavity of the main telescopic piston cylinder 34, pushing the lifting piston and the telescopic coupling rod 31 downward.

[0043] The aircraft frame 1 is also equipped with a control module, which is electrically connected to the electromagnets of the rotor motor 3, the micro motor and the limit lifting plate 27, and is used to coordinate the command actions of each component.

[0044] How to use this device: When there is no external obstruction, the control line turntable 18, under the action of the reset torsion spring connected to it, keeps the main parachute frame 7 in a fully deployed state, thereby protecting the rotor blades 4 and the rotor motor 3. When a flight mission is required, since the rotor motor 3 and rotor blades 4 are in a folded protective skin 9, the corresponding rotor motor 3 rotates in the opposite direction, thereby driving the control line turntable 18 to overcome the torque of the reset torsion spring and store energy. During this process, the rotation of the control line turntable 18 causes the main parachute frame 7, branch parachute frames 8, and folded protective skin 9 to fold. At this time, the limit lifting plate 27 maintains a one-way lock on the control line turntable 18. When the main parachute frame 7 is fully folded, the corresponding rotor motor 3 stops rotating in the opposite direction and is then... The four sets of rotor motors 3 work together to take off and perform the mission. After the aircraft takes off, the telescopic linkage 31 rises to replace the limit lifting plate 27 to lock the control line turntable 18. At this time, the electromagnet is de-energized. When the UAV lands, the telescopic outriggers 33 move upward under the weight of the UAV. This process buffers the UAV during its descent and, through the telescopic outriggers 33, pushes the unlocking trigger mechanism to work. The unlocking trigger mechanism drives the telescopic linkage 31 to retract, thereby releasing the control line turntable 18 from its limit. At this time, the reset torsion spring sleeved on the outside of the control line turntable 18 releases its stored energy, ultimately pulling the folded rotor protection mechanism to fully unfold, thus realizing a complete folding and unfolding process.

[0045] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A foldable landing shock absorption device and a drone, characterized in that, include: The aircraft frame has four rotor arms, each rotor arm has a rotor motor at its end, a rotor blade is mounted on the upper part of the rotor motor, and a lower support arm is also provided below the rotor arm; Two sets of lifting and folding frames are symmetrically arranged on both sides of the aircraft frame. Each set of lifting and folding frames includes shock-absorbing legs symmetrically arranged on both sides. The shock-absorbing legs move towards or away from each other under the lifting drive to achieve storage or unfolding. The rotor protection mechanism includes a circular guide frame fixedly mounted on the rotor arm. Two main parachute frames are symmetrically arranged around the circular guide frame's axis. Several branch parachute frames are positioned between the two main parachute frames. Adjacent main parachute frames and branch parachute frames, as well as each branch parachute frame, are connected by folding protective skins. The branch parachute frames and folding protective skins move synchronously with the deployment or folding of the main parachute frames, forming protection for the rotor blades and rotor motor when fully deployed. The symmetrically arranged main parachute frames on both sides are folded or deployed by a traction mechanism. include, An unlocking trigger mechanism is located at the bottom of the aircraft frame and works in conjunction with the shock-absorbing outriggers in the deployed state. After the aircraft lands, the drone's own weight pushes the unlocking trigger mechanism to work, which in turn controls the traction mechanism to deploy the main parachute frame, branch parachute frames, and folded protective skin, thus protecting the rotor.

2. The foldable landing shock absorption device and UAV according to claim 1, characterized in that: Each set of lifting and folding frames also includes a lifting base and shock-absorbing legs on both sides, which are pivotally mounted on the bottom of the lifting base. A lead screw seat and a slide rod seat are respectively installed on both sides of the lifting base. The lead screw seat and the slide rod seat are respectively provided with slots for inserting the lead screw and the slide rod. The lead screw and the slide rod are fixedly and rotatably mounted on the aircraft frame and driven to rotate by a micro motor that is fixedly connected to the lead screw on the same axis. The micro motor is fixedly mounted on the equipment mounting platform at the bottom of the aircraft frame. The equipment mounting platform is provided with a vertically penetrating lifting groove. The shock-absorbing outriggers are lifted and installed in the lifting groove. A limit block is also provided on the inner side of the lifting groove. A limit slide groove is provided on the side of the shock-absorbing outriggers. Through the limiting cooperation between the limit block and the limit slide groove, the shock-absorbing outriggers on both sides move closer to each other during the lifting process and separate and unfold to each other during the descent process.

3. A foldable landing shock absorption device and a drone according to claim 1 or 2, characterized in that: The traction mechanism that drives the main parachute to unfold or fold includes a control line turntable that is rotatably mounted on a fixed axis within the aircraft frame. The upper and lower sides of the control line turntable are respectively provided with an upper turntable and a lower turntable of the same diameter. Each of the upper and lower turntables is provided with four sets of rope grooves. Independent upper traction ropes are wound and wound in the four sets of rope grooves of the upper turntable. The upper traction ropes pass through the upper rope channels opened on the aircraft frame and the rotor arm and are respectively connected to the main parachute on both sides. The lower turntable has four sets of rope grooves with independent lower pull ropes wound around it. The lower pull ropes pass through the lower rope channels opened on the aircraft frame and the lower support arm and are connected to the main parachute frames on both sides respectively. The upper and lower pull ropes are wound in opposite directions on the upper and lower turntables. The outlet of the upper rope channel is located on the side of the rotating arm closer to the aircraft frame, and the outlet of the lower rope channel is located on the side of the lower support arm away from the aircraft frame. This allows the control turntable to simultaneously perform winding and unwinding movements on the main parachute frame during rotation, so as to realize the unfolding or folding operation of the main parachute frame. When the triggering mechanism is triggered by the shock-absorbing outriggers, the control dial rotates to unfold the main umbrella frame, branch umbrella frames, and folded protective skin, which are in a folded state, thus forming a protective state for the rotor.

4. The foldable landing shock absorption device and UAV according to claim 3, characterized in that: The rotor motors are rotatably mounted on the lower support arm with a fixed shaft at the bottom. One-way ratchet drive wheels are fixedly mounted on the lower drive shafts of two sets of rotor motors that are spaced apart. Driven wheels are sleeved on the outside of the drive wheels. Driven wheel grooves are opened on the outer edge of the driven wheels. Two sets of driven wheel grooves are correspondingly arranged in the middle of the control line turntable. Two sets of transmission belts are embedded in the drive wheel grooves and driven wheel grooves on the same side, so that the rotor motors provide power for the rotation of the control line turntable. The control line turntable is fixed-axis rotatably installed in the positioning hole opened at the bottom of the aircraft frame. A reset torsion spring is also sleeved on the outside of the control line turntable's shaft. The rotor motor drives the control line turntable to rotate, simultaneously storing energy in the reset torsion spring and performing the folding operation of the main parachute frame. The two sets of rotor motors that mount the drive wheel are configured as follows: When the rotor motor rotates in the forward direction, the driven wheel does not rotate synchronously with the driving wheel. At this time, the rotation of the rotor motor drives the device to generate lift, which, together with the other two sets of rotor motors, drives the entire device to take off and land. When the rotor motor rotates in the opposite direction, the driven wheel rotates synchronously with the driving wheel. At this time, the rotor motor drives the control line turntable to rotate and store energy until the main parachute frame is completely transformed from the unfolded state to the folded state and then stops. The control line turntable is also equipped with a limit locking mechanism, so as to maintain the energy storage lock state of the control line turntable after the rotor motor stops running.

5. A foldable landing shock absorption device and a drone according to claim 4, characterized in that: The limiting locking mechanism is a lifting limiting plate installed inside the aircraft frame. The limiting lifting plate is equipped with a pair of limiting claws via a torsion spring shaft. The limiting claws cooperate with the limiting slots opened on the upper turntable. The limiting lifting plate moves up and down under the drive of an electromagnet. When the limiting lifting plate descends, the limiting claws cooperate with the limiting slots. At this time, the control line turntable performs a unidirectional rotational motion with energy storage. When the limiting lifting plate rises, the limiting claws disengage from the limiting slots, and the unidirectional rotation state of the control line turntable is released.

6. A foldable landing shock absorption device and a drone according to claim 5, characterized in that: A pair of blocking rods are also fixedly installed on the control line turntable. A telescopic cooperation rod is telescopically installed on the aircraft frame. When the control line turntable is in the energy storage state, the telescopic cooperation rod blocks the blocking rods, thereby limiting the control line turntable from resetting under the torque of the reset torsion spring. The telescopic cooperation rod moves up and down under the drive of the unlocking trigger mechanism. The telescopic linkage is configured as follows: When the limit locking mechanism releases the one-way locking state of the control turntable, the telescopic linkage rod cooperates with the blocking rod to prevent the control turntable from resetting. After the lifting and folding frame unfolds and the aircraft lands, the drone's own weight drives the unlocking trigger mechanism to work. The unlocking trigger mechanism pushes the telescopic connecting rod down, thereby releasing the limit on the blocking rod. At this time, the control line turntable, which is in a charged state, is reset and rotated under the action of the reset torsion spring. The rotation of the control line turntable then forms a protective state for the rotor.

7. A foldable landing shock absorption device and a drone according to claim 6, characterized in that: The unlocking trigger mechanism includes four sets of telescopic piston cylinders fixedly installed at the bottom of the aircraft frame. Each telescopic piston cylinder has a pumping piston that is raised and lowered. The pumping piston cooperates with the telescopic outriggers that are movably installed on the shock-absorbing outriggers. The telescopic outriggers push the pumping piston to move up and down. Two sets of telescopic piston cylinders on the same side are connected to the same main telescopic piston cylinder through pipes. The main telescopic piston cylinder has a lifting piston that is raised and lowered. The lifting piston is fixedly connected to the telescopic connecting rod. When the telescopic outrigger pushes the pumping piston upward, gas enters the main telescopic piston cylinder above the lifting piston, thereby pushing the lifting piston and the telescopic connecting rod downward, thus releasing the limiting obstruction of the blocking rod.

8. A foldable landing shock absorption device and a drone according to claim 7, characterized in that: The annular guide frame has an annular groove. A guide slider is fixedly installed on the side of the main parachute frame near the annular guide frame. The guide slider is embedded in the annular groove. Connecting sliders are fixedly connected to the upper and lower ends of the main parachute frame away from the annular guide frame. The connecting sliders on the upper and lower sides are respectively movably engaged with the upper rotating shaft engagement ring and the lower fixed engagement ring. The upper rotating shaft engagement ring is movably inserted into the upper drive shaft of the rotor motor through a bearing. The lower fixed engagement ring is fixedly installed on the outside of the rotor motor body.

9. A foldable landing shock absorption device and a drone according to claim 8, characterized in that: The circular guide frame is also provided with an arc-shaped wire-passing groove, and the upper pull rope and the lower pull rope are passed through the arc-shaped wire-passing groove after entering the circular guide frame.

10. A foldable landing shock absorption device and a drone according to claim 9, characterized in that: The aircraft frame is equipped with a control module, which is used to coordinate the command actions of the rotor motor, micro motor and limit lifting plate.

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