Collapsible landing gear for an aerial device, aerial device

Abstract

The application provides a foldable landing gear of a flight device and the flight device, comprising a fuselage assembly, two groups of driving assemblies and two groups of supporting assemblies; the two groups of driving assemblies are arranged on the two sides of the central plane of the fuselage assembly, and the two groups of driving assemblies are in one-to-one transmission connection with the two groups of supporting assemblies, and are used for driving the supporting assemblies to act between a folding state and a supporting state; the driving assembly comprises a driving unit, a driving arm, a connecting rod, a rocker and a rocker support; the driving arm, the connecting rod and the rocker all have opposite first ends and second ends; the driving unit is fixed to the fuselage assembly, and the output shaft of the driving unit is fixedly connected with the first end of the driving arm; the second end of the driving arm is hingedly connected with the first end of the connecting rod, and the second end of the connecting rod is hingedly connected with the middle part of the rocker; the first end of the rocker is hingedly connected to the fuselage assembly through the rocker support, and the second end of the rocker is fixedly connected with the supporting assembly. In this way, the application can solve or improve the problems of unstable transmission and poor reliability of the landing gear in the related art.

Description

Technical Field

[0001] This application relates to the field of flight equipment technology, specifically to foldable landing gear and flight equipment. Background Technology

[0002] Multi-rotor drones, as a flight device with multiple application scenarios, have been widely used in aerial surveying and mapping, environmental monitoring, security inspection, agricultural and forestry plant protection, low-altitude logistics and other fields. In order to adapt to complex operating environments, requirements have been put forward for the landing gear to be foldable, lightweight, highly reliable and integrated with rotor protection.

[0003] Among existing foldable landing gears, such as the multi-rotor UAV landing gear disclosed in patent document CN206704520U, a four-set independent landing gear structure is used, corresponding to the four rotors and distributed under each arm. Each landing gear set includes a servo motor, a landing gear main rod, a rotor protection device, and a floating dual-rocker structure. This solution uses a servo motor to drive the dual rockers, which in turn rotate the landing gear main rod around the connecting shaft on the arm, thus achieving the retraction and extension of the landing gear.

[0004] However, this related technology uses a floating dual rocker structure without fixed support, which lacks closed-loop constraints, making it prone to swaying during movement and resulting in poor transmission reliability. Summary of the Invention

[0005] This application provides a foldable landing gear for flight equipment and flight equipment, which can solve or improve the problems of unstable landing gear transmission and poor reliability in related technologies.

[0006] In a first aspect, this application provides a foldable landing gear for a flight device, including a fuselage assembly, two sets of drive assemblies, and two sets of support assemblies; The two sets of drive components are disposed on both sides of the central plane of the body component. The two sets of drive components are connected to the two sets of support components in a one-to-one manner, and are used to drive the support components to move between the folded state and the supported state. The drive assembly includes a drive unit, an active arm, a connecting rod, a rocker arm, and a rocker arm support; The active arm, the connecting rod, and the rocker arm each have a first end and a second end; The drive unit is fixed to the body assembly, and the output shaft of the drive unit is fixedly connected to the first end of the active arm; The second end of the active arm is hinged to the first end of the connecting rod, and the second end of the connecting rod is hinged to the middle of the rocker arm; The first end of the rocker arm is hinged to the body assembly via the rocker arm support, and the second end of the rocker arm is fixedly connected to the support assembly.

[0007] Beneficial effects: In the technical solution provided in this application, the drive unit, active arm, connecting rod, rocker arm, rocker arm support, and fuselage hinge point of the drive assembly together constitute a closed crank-rocker-connecting rod mechanism. That is, the hinged connections of each component form a closed-loop transmission chain. The closed-loop transmission chain can constrain the relative positions of each kinematic pair, thereby improving the stability of the transmission. In addition, the rigid components are hinged together without flexible connection links, so that no loosening or swaying occurs in each component during movement, which also improves the reliability of the transmission.

[0008] Therefore, the technical solution provided in this application has reliable transmission constraints of the closed rigid linkage mechanism, and no slack or shaking in power transmission. As a result, the drive component drives the support component to switch between folding and support states with good stability and high consistency of action on both sides.

[0009] In one alternative embodiment, the two sets of drive components and support components are arranged symmetrically on both sides of the central plane of the fuselage component, with the center of gravity axis of the fuselage component as the center.

[0010] Beneficial effects: In this embodiment, the two sets of drive components and support components are arranged symmetrically on both sides of the central plane of the fuselage component with the center of gravity axis as the center. The symmetrical arrangement ensures that the mass distribution on both sides of the landing gear is balanced, and the overall center of gravity of the landing gear falls on the center of gravity axis of the fuselage component, so as not to generate a unilateral bias torque. When the flight equipment is in flight, the support components on both sides move synchronously to avoid disturbances such as fuselage yaw and roll caused by unilateral mass or motion differences.

[0011] In one optional implementation, the active arm is capable of rotating a full circle; and each time the active arm rotates once, it drives the rocker arm to swing back and forth via the connecting rod, thereby driving the support assembly to complete one reciprocating switch between the folded state and the supported state.

[0012] Beneficial effects: In this embodiment, the active arm rotates continuously 360°, the connecting rod is a rigid rod, and the rocker arm hinge point is fixed, forming a crank-rocker-connecting rod mechanism. The inherent motion characteristics of this mechanism are: continuous rotation as input and finite-angle reciprocating oscillation as output; one rotation of the active arm corresponds to one reciprocating oscillation of the rocker arm, corresponding to one reciprocating motion between unfolding and folding of the support assembly. During the continuous rotation of the active arm, the motion trajectory of the hinge point between the connecting rod and the rocker arm is fixed, with no sudden force changes or dead-point interference, ensuring smooth and continuous power transmission throughout the entire process.

[0013] Therefore, the foldable landing gear provided in this application, because the two sets of crank-rocker-linkage mechanisms are centrally symmetrical about the center of gravity of the fuselage assembly, can achieve synchronous movement of the two drive components as long as the rotational speed of the two drive units is consistent and the output is stable. The positional changes and inertial forces of the two support components always remain centrally symmetrical, and no unilateral eccentric torque will be generated. The active arm can rotate 360° continuously, and the movement process is smooth and shock-free, driving the support components to switch attitudes smoothly without sudden displacement, avoiding the introduction of fuselage attitude disturbances, and effectively maintaining the flight stability of the flight equipment.

[0014] In one alternative implementation, the support assembly includes a support guard arm; The supporting protective arm includes a main bearing section and auxiliary envelope sections connected to both ends of the main bearing section; The main support section is used to support the flight equipment, and the main support section and the auxiliary envelope section together form an envelope structure for covering the rotor of the flight equipment.

[0015] Beneficial effects: The support and protective arm comprises a main bearing section and auxiliary envelope sections connected to both ends of the main bearing section. The main bearing section provides support, and together with the auxiliary envelope sections, they form an envelope structure that covers the rotor. Taking a quadcopter as an example, each support and protective arm can form a semi-circular structure covering two rotors. Two support and protective arms, positioned opposite each other, can form an approximately complete ring envelope, completely enclosing the rotors. In the supported state, the main bearing section contacts the ground, resulting in uniform force distribution and stable contact, providing reliable support. In the folded state, the main bearing section and auxiliary envelope sections combine to form a semi-circular or arc-shaped profile, with a profile dimension larger than the rotor, effectively enclosing the rotor and providing physical protection, reducing the risk of impact from foreign objects. It should be noted that this design uses only two support and protective arms, which are centrally symmetrical about the center of gravity axis of the fuselage component. This ensures that the mass distribution and aerodynamic drag remain centrally symmetrical when folded or unfolded, eliminating eccentric moments and aerodynamic interference, and improving the overall stability of the aircraft's center of gravity and flight attitude.

[0016] In one optional implementation, the supporting protective arm is a two-dimensional truss lattice structure; The support assembly also includes a connecting seat, which is fixedly connected to the second end of the support protective arm and the rocker arm, respectively.

[0017] Beneficial effects: The support and protective arm adopts a two-dimensional truss lattice structure. While ensuring structural strength, impact resistance, and maintaining stable support for the main load-bearing section and complete envelopment of the rotor by the auxiliary envelope section, it reduces its own weight, achieving lightweight design. This lightweight design reduces the load on the end of the rocker arm, decreases wear on the drive component transmission pairs, resulting in smoother movement and improved transmission stability and consistency. Simultaneously, the lightweight, centrally symmetrical support component has minimal impact on the overall center of gravity and a balanced distribution of inertial forces when folded or unfolded, avoiding eccentric moments and attitude disturbances, thus enhancing flight stability. The lattice structure does not disrupt the contour continuity, ensuring a complete envelope after folding and reliable rotor protection. Connecting seats are fixedly connected to the support and protective arm and the second end of the rocker arm, enabling modular assembly, facilitating disassembly and maintenance, and ensuring smooth and reliable force transmission, improving transmission connection stability.

[0018] In one alternative embodiment, the fuselage assembly includes a base plate having opposing first and second sides, the rocker arm support being disposed on the first side of the base plate, and the drive unit being disposed on the second side of the base plate.

[0019] Beneficial effects: The base plate, serving as the mounting foundation for fuselage components, is thin and lightweight, reducing the overall weight of the aircraft and facilitating lightweight design. Installation space is available on both sides of the base plate, with the rocker arm support located on the first side and the drive unit on the second side, achieving spatial separation between the hinge and drive components, avoiding motion interference, and ensuring smooth movement of the crank-rocker-linkage mechanism. Furthermore, the reaction force generated by the drive components during operation is concentrated on the base plate, which is close to the center and lower part of the fuselage, resulting in concentrated and centrally symmetrical force, reducing the likelihood of off-center torque. As the main load-bearing component of the fuselage assembly, the base plate has a low center of gravity, further enhancing overall stability. Combined with the complete envelope structure formed by the folded support and protective arms, the overall center of gravity remains centered, and the inertial force distribution is balanced, reducing attitude disturbances and further improving flight stability.

[0020] In one alternative embodiment, the fuselage assembly further includes a central partition, a cover plate, and multiple arms; The base plate, the partition plate, and the cover plate are spaced apart, and the cover plate and the base plate are fixedly connected to the plurality of machine arms; The rocker arm support is fixed to one side of the base plate near the middle partition, and the drive unit is fixed to the other side of the base plate.

[0021] Beneficial effects: The base plate, central partition, and cover plate are arranged in a layered, spaced layout and are integrally connected to each arm, forming the overall load-bearing frame. As the core foundation of the fuselage, they provide a stable and reliable mounting base for the drive and support components. The layered structure creates independent installation and storage spaces, facilitating the arrangement of internal components, wiring, and assembly and maintenance. Simultaneously, this layout concentrates the weight of each component in the central area of ​​the fuselage, ensuring a centered and balanced center of gravity. Combined with the rotor envelope protection structure supporting the protective arms and the optimized drive transmission structure, this ensures smooth and stable transmission of the drive components and effectively balances inertial forces during motion, further enhancing the overall flight stability.

[0022] In one optional embodiment, the cover plate, the base plate, and the plurality of machine arms are provided with corresponding connection holes, and the cover plate, the base plate, and the plurality of machine arms are connected by fasteners inserted into the connection holes.

[0023] Beneficial effects: The base plate, cover plate and arm are fastened together by fasteners through corresponding connection holes. This connection method is convenient for disassembly and assembly, and facilitates the inspection and maintenance of internal components. At the same time, the standardized hole assembly can ensure that the installation position of each group of arms is consistent, so that the weight and stress distribution of the whole machine in mass production are consistent.

[0024] In one alternative embodiment, the arm is provided with a insertion slot that engages with the edge of the central partition.

[0025] Beneficial effects: The arms are equipped with interlocking slots, into which the edge of the central partition can be snapped for positioning. This ensures precise assembly and convenient operation, enabling rapid assembly of the fuselage frame and significantly improving assembly efficiency. The interlocking mechanism enhances the overall connection between the arms and the central partition, stabilizing the overall fuselage structure and providing structural support for the stable operation of drive and support components, ensuring smooth and stable transmission. Simultaneously, this limiting structure ensures uniform installation positions for all arms, resulting in a more balanced distribution of forces and weight across the entire aircraft, maintaining a stable center of gravity, and further improving overall flight stability.

[0026] In one alternative embodiment, the fuselage assembly further includes a battery and a computing board, the battery and the computing board being distributed in the spaces on opposite sides of the central partition.

[0027] Beneficial effects: The battery and computing board are respectively distributed on both sides of the central partition, which allows for the orderly and partitioned arrangement of components, facilitating wiring and subsequent maintenance. Their installation position is close to the fuselage's center of gravity axis, further optimizing the overall weight distribution and making the fuselage's center of gravity more centrally balanced, effectively reducing eccentric torque during flight. This arrangement does not occupy the movement space of the drive components, avoiding motion interference with the crank-rocker-connecting rod mechanism, ensuring smooth operation and stable transmission performance.

[0028] Secondly, this application provides a flight device, including a rotor assembly, a controller, and a foldable landing gear; The foldable landing gear is any of the foldable landing gear described above; the rotor assembly is mounted on the arm of the fuselage assembly; The controller is electrically connected to the drive unit of the foldable landing gear and is used to control the operation of the drive unit to drive the support assembly to switch between the folded state and the supported state, and can control the support assembly to stay in any intermediate state between the folded state and the supported state.

[0029] Beneficial effects: This flight equipment is equipped with the aforementioned optimized foldable landing gear. This landing gear has good transmission performance, operates smoothly without jamming, and can effectively ensure the stability of the drive transmission. The derivation process of this beneficial effect is largely similar to the derivation process of the beneficial effects brought by the aforementioned foldable landing gear, and will not be repeated here. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the flight equipment in the embodiments of this application; Figure 2 This is a schematic diagram of the driving component in the embodiment of this application; Figure 3 This is a schematic diagram of the installation of the drive component on the flight equipment according to the embodiments of this application; Figure 4 This is a schematic diagram of the supporting components in the embodiments of this application; Figure 5 This is an exploded schematic diagram of the fuselage assembly and rotor assembly in the embodiments of this application; Figure 6 This is a bottom-view schematic diagram of the flight equipment in the embodiments of this application; Figure 7 This is a schematic diagram of the support component in the folded state according to the embodiments of this application; Figure 8 This is a schematic diagram of the support component in the support state according to the embodiments of this application; Figure 9 This is a schematic diagram of the assembly of the fuselage components and drive components in the embodiments of this application.

[0032] 11. Fuselage assembly; 111. Base plate; 112. Central partition; 1121. Protruding positioning part; 113. Cover plate; 114. Battery; 115. Computing board; 116. Arm; 1161. Connecting hole; 1162. Insertion slot; 1163. Support protrusion; 12. Drive assembly; 121. Drive unit; 122. Active arm; 123. Link; 124. Joystick; 125. Joystick support; 13. Support assembly; 131. Main bearing section; 132. Auxiliary envelope section; 133. Connecting seat; 14. Rotor assembly; 141. Motor; 142. Rotor; 143. Propeller cap. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, 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. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] like Figures 1 to 8 As shown, an embodiment of this application provides a foldable landing gear for a flight device, including a fuselage assembly 11, two sets of drive assemblies 12 and two sets of support assemblies 13.

[0038] In this embodiment, two sets of drive components 12 are connected to two sets of support components 13 in a one-to-one transmission connection, used to drive the support components 13 to move between the folded state and the supported state. The drive components 12 drive the support components 13 to swing in conjunction, causing the support components 13 to fold and retract towards the rotor assembly 14, as shown below. Figure 7 As shown, in the folded state, it can adapt to the flight conditions of flight equipment. The retracted structure can reduce wind resistance and minimize airflow interference to the aircraft. When the drive assembly 12 drives the support assembly 13 in the supported state, as... Figure 8 As shown, the lower end of the support component 13 swings to the outer side of the fuselage bottom surface to form a stable support fulcrum, and the overall structure has load-bearing capacity.

[0039] like Figure 2 and Figure 3As shown, the drive assembly 12 includes a drive unit 121, an active arm 122, a connecting rod 123, a rocker arm 124, and a rocker arm support 125. The active arm 122, the connecting rod 123, and the rocker arm 124 each have a first end and a second end. The drive unit 121 is fixed to the body assembly 11. The output shaft of the drive unit 121 is fixedly connected to the first end of the active arm 122. The second end of the active arm 122 is hinged to the first end of the connecting rod 123. The second end of the connecting rod 123 is hinged to the middle of the rocker arm 124. The first end of the rocker arm 124 is hinged to the body assembly 11 through the rocker arm support 125. The second end of the rocker arm 124 is fixedly connected to the support assembly 13.

[0040] In this embodiment, the output end of the drive unit 121, the active arm 122, the connecting rod 123, the rocker arm 124, the rocker arm support 125, and the fixed reference of the machine body together form a closed transmission circuit, which is constructed as a closed-loop crank-rocker four-bar transmission structure.

[0041] This closed-loop crank-rocker four-bar linkage uses the body assembly 11 and rocker support 125 as the fixed frame of the mechanism, providing the hinge mounting base for the entire transmission structure. The closed-loop crank-rocker four-bar linkage relies on this fixed frame to complete the swinging and rotating movements. The drive arm 122 is the crank component of the mechanism, with its first end fixedly mounted on the output shaft of the drive unit 121. Driven by the drive unit 121, it performs a rotary swing and serves as the power input end of the closed-loop mechanism. The connecting rod 123 is a transitional transmission component, with both ends hinged to the second end of the drive arm 122 and the middle of the rocker 124, respectively. It receives the power from the drive arm 122 and transmits the power in reverse direction to the rocker 124, achieving a transition in motion posture.

[0042] The rocker arm 124 is a rocker arm component of a closed-loop crank-rocker four-bar linkage mechanism. The first end of the rocker arm 124 is hinged to the rocker arm support 125, and this hinge point is used as the swing fulcrum. The middle part of the rocker arm 124 receives the transmission power from the connecting rod 123, and the second end serves as the power output end, which is fixedly connected to the support assembly 13, ultimately driving the landing gear to complete the folding and support actions.

[0043] The power path of this closed-loop crank-rocker four-bar linkage is as follows: fixed reference body → drive unit 121 → active arm 122 → connecting rod 123 → rocker arm 124 → rocker arm support 125 → return to the reference body. Each component is connected by hinges in sequence without any disconnected segmented structure. Each kinematic pair restricts each other and forms a complete closed-loop linkage 123 transmission circuit.

[0044] In this embodiment, the drive unit 121, the active arm 122, the connecting rod 123, the rocker arm 124, the rocker arm support 125, and the hinge point of the fuselage together constitute a closed crank-rocker four-bar linkage structure. That is, the hinged connections of each component form a closed-loop transmission chain. The closed-loop transmission chain can constrain the relative positions of each kinematic pair, thus improving the stability of the transmission. In addition, the rigid components are hinged together without flexible connecting links, so that no loosening or wobbling will occur in each component during the movement, which also improves the reliability of the transmission.

[0045] In a further embodiment, the two sets of drive components 12 and support components 13 are arranged symmetrically on both sides of the central plane of the fuselage component 11, with the center axis of gravity of the fuselage component 11 as the center. It should be noted that the central plane of the fuselage component 11 is a longitudinally symmetrical reference plane formed by cutting the fuselage of the flight equipment along its length. This plane runs through the nose, middle and tail of the fuselage, dividing the fuselage component 11 into two equal parts with basically the same volume, shape and structure, and serves as the reference reference plane for the left and right symmetry of the fuselage component 11.

[0046] Each set of drive components 12 is connected to a set of support components 13. The two sets of support components 13 are centrally symmetrical about the center of gravity of the fuselage component 11 in terms of shape, component mass and size, actual movement trajectory and telescopic folding stroke. In this embodiment, the mass of the components on the left and right sides of the landing gear is evenly distributed, and the overall weight of the aircraft will not be biased to one side. The overall center of gravity of the landing gear after assembly can be accurately located at the center of gravity of the fuselage, thus structurally avoiding the bias torque caused by unilateral weight imbalance.

[0047] When the flight equipment is in flight operation, two sets of drive components 12, arranged symmetrically around the center axis of the fuselage component 11, synchronously output power, driving the support components 13 on both sides to synchronously complete the folding and unfolding support actions. The movement rhythm and amplitude of the components on both sides are consistent. This effectively eliminates the force deviation caused by uneven weight distribution and misalignment of movement of components on one side, avoids attitude disturbances such as yaw, roll, etc., and ensures stable and controllable attitude during flight.

[0048] In summary, in this embodiment, the two sets of drive components 12 are centrally symmetrical about the center of gravity of the fuselage component 11, and the mass, structure, and stroke of the two sets of support components 13 can also be centrally symmetrical. The centrally symmetrical arrangement ensures a balanced mass distribution on both sides of the landing gear, and the overall center of gravity of the landing gear falls on the center of gravity of the fuselage, preventing unilateral bias torque. When the flight equipment is in flight, the support components 13 on both sides move synchronously, avoiding disturbances such as fuselage yaw and roll caused by unilateral mass or motion differences.

[0049] Meanwhile, the closed rigid linkage 123 mechanism has reliable transmission constraints, and the power transmission is free from slack and wobbling. The drive assembly 12 drives the support assembly 13 to switch between folding and support states with good stability, and the movements on both sides are highly consistent.

[0050] In some alternative implementations, the active arm 122 can rotate a full circle; and each time the active arm 122 rotates, it drives the rocker arm 124 to swing back and forth via the connecting rod 123, thereby driving the support assembly 13 to complete one reciprocating switch between the folded state and the supported state.

[0051] In this embodiment, the active arm 122 rotates continuously 360°, the connecting rod 123 is a rigid rod, and the hinge point of the rocker arm 124 is fixed, forming a crank-rocker arm 124 mechanism. The inherent motion characteristics of this mechanism are: continuous rotation as input and reciprocating oscillation at a limited angle as output. One rotation of the active arm 122 corresponds to one reciprocating oscillation of the rocker arm 124, corresponding to one reciprocating motion between unfolding and folding of the support assembly 13. During the continuous rotation of the active arm 122, the motion trajectory of the hinge point between the connecting rod 123 and the rocker arm 124 is fixed, with no sudden force changes or dead-point interference, and the power transmission is smooth and continuous throughout. The swing range of the rocker arm 124 is limited to 0° to 90°. In the supported state, the rocker arm 124 is in a 90° vertical downward position, and in the folded state, the rocker arm 124 swings upward to a preset angle.

[0052] Therefore, the foldable landing gear provided in this embodiment, because the two sets of crank-rocker mechanisms 124 are centrally symmetrical about the center of gravity of the fuselage assembly 11, can achieve synchronous movement of the two drive units 121 as long as their rotation speeds are consistent and their outputs are stable. The position changes and inertial forces of the two support components 13 remain centrally symmetrical, and no unilateral eccentric torque is generated. The active arm 122 can rotate 360° continuously, and the movement process is smooth and shock-free, driving the support components 13 to switch attitudes smoothly without sudden displacement, avoiding the introduction of fuselage attitude disturbances, and effectively maintaining the flight stability of the flight equipment.

[0053] In some alternative implementations, such as Figure 4 As shown, the support assembly 13 includes a support and protective arm; the support and protective arm includes a main load-bearing section 131 and auxiliary envelope sections 132 connected to both ends of the main load-bearing section 131. In this embodiment, the main load-bearing section 131 is the core load-bearing support part, and its shape is not limited to a single structure. A straight structure or a streamlined shape can be selected, as long as the force is evenly distributed when in contact with the ground and can reliably support the weight of the entire machine. The auxiliary envelope sections 132 at both ends of the main load-bearing section 131 can adopt streamlined curved surfaces, arc surfaces, etc., and are arranged to fit the outer contour of the fuselage and the rotor 142.

[0054] Taking a quadcopter as an example, each support and protective arm can form a semi-circular structure covering two rotors 142. The two support and protective arms, positioned opposite each other, form an almost complete ring envelope, completely enclosing the rotors 142. In the supported state, the main bearing section 131 contacts the ground, experiencing uniform force and stable contact, providing reliable support. In the folded state, the main bearing section 131 and the auxiliary envelope section 132 combine to form a semi-circular or arc-shaped profile, with a profile size larger than the rotors 142, effectively enclosing them and providing physical protection, reducing the risk of impact from foreign objects. It should be noted that this design uses only two support and protective arms, which are centrally symmetrical about the center of gravity of the fuselage component 11. This ensures that the mass distribution and aerodynamic drag remain centrally symmetrical when folded or unfolded, eliminating eccentric moments and aerodynamic interference, and improving the overall stability of the aircraft's center of gravity and flight attitude.

[0055] In some alternative implementations, such as Figure 4 As shown, the support and protective arm is a two-dimensional truss lattice structure; the support assembly 13 also includes a connecting seat 133, which is fixedly connected to the second end of the support and protective arm and the rocker arm 124 respectively.

[0056] It should be noted that a "lattice" is a structural form composed of a number of nodes and members arranged in a regular pattern. Nodes are the points where members intersect and connect, and members connect in pairs, intersecting to form regular grid units. The two-dimensional truss lattice structure in this embodiment uses horizontal, vertical, and diagonal members that are intersected and connected to form a grid-like openwork truss system on the same plane. This two-dimensional truss lattice structure differs from existing three-dimensional spatial trusses in that it does not have members extending perpendicular to the plane, thus making the overall configuration of the supporting protective arm flat and regular, balancing structural strength and space utilization.

[0057] Moreover, the two-dimensional truss lattice structure abandons the solid monolithic design. The lattice members transmit forces to each other, combining lightweight and structural strength, which can effectively reduce its own weight. At the same time, it has good bending and impact resistance, and can evenly distribute the load when supported on the ground, making it less prone to deformation and damage, and suitable for landing gear bearing and protection conditions.

[0058] In this embodiment, the connecting seat 133 serves as a transition and fixing component. One end is securely connected to the end of the support and protective arm, and the other end is locked and fixed to the second end of the rocker arm 124. Specifically, conventional assembly methods such as flange connection, bolt tightening, welding fastening, and snap-fit ​​limiting can be used to achieve a rigid connection between the connecting seat 133 and the second end of the support and protective arm and the rocker arm 124.

[0059] This design, with the support and protective arm employing a two-dimensional truss lattice structure, reduces its weight while ensuring structural strength, impact resistance, and maintaining stable support for the main load-bearing section 131 and complete envelopment of the rotor 142 by the auxiliary envelope section 132. The lightweight design reduces the load on the end of the rocker arm 124, decreases wear on the transmission pair of the drive assembly 12, resulting in smoother movement and improved transmission stability and consistency. Simultaneously, the lightweight, centrally symmetrical support assembly 13 has minimal impact on the overall center of gravity and a balanced distribution of inertial forces when folded or unfolded, avoiding eccentric moments and attitude disturbances, thus enhancing flight stability. The lattice structure does not disrupt the continuity of the contour, ensuring a complete envelope after folding and reliable protection of the rotor 142. Furthermore, the connecting seat 133 is fixedly connected to the support and protective arm and the second end of the rocker arm 124, enabling modular assembly, facilitating disassembly and maintenance, and ensuring stable and reliable force transmission, thus improving transmission connection stability.

[0060] In some alternative implementations, such as Figure 3 and Figure 5 As shown, the body assembly 11 includes a base plate 111, which has a first side and a second side opposite to each other. A rocker arm support 125 is disposed on the first side of the base plate 111, and a drive unit 121 is disposed on the second side of the base plate 111.

[0061] In this embodiment, the substrate 111 is the basic support plate of the fuselage assembly 11. The substrate 111 can be made of carbon fiber composite material, which is lightweight and has high strength. The substrate 111 can be a solid plate structure. The outline of the substrate 111 can be adapted to the internal space of the fuselage to be made into a rectangular or circular outline or other shapes. The substrate 111 is divided into two opposing plate areas, a first side and a second side, with different installation stations on both sides, and the spaces are separated from each other.

[0062] The first side panel has a reserved assembly position for fixing and installing the rocker arm support 125, providing a support base for the hinged swing of the rocker arm 124; the second side panel has a fixing structure for installing the drive unit 121, realizing the positioning and installation of the power component.

[0063] Specifically, the connection between the base plate 111 and the rocker arm support 125 can be a rigid fastening connection, such as bolt locking, riveting, welding, or integral casting. The rocker arm support 125 is fixedly positioned against the first side plate of the base plate 111, and its position does not shift after connection. It serves as a stable hinge fulcrum for the rocker arm 124 to swing, and the force can be smoothly transmitted to the base plate 111.

[0064] The drive unit 121 is fixedly mounted on the second side of the base plate 111, and can be connected by flange bolts, clamps, screws, or other connection structures. After assembly, the housing of the drive unit 121 is firmly connected to the base plate 111, and no shaking or displacement will occur during operation, thus ensuring the positional accuracy of the output shaft transmission.

[0065] In this embodiment, the base plate 111 serves as the mounting foundation for the fuselage assembly 11. Its plate-like structure reduces its thickness and weight, thereby decreasing the overall weight and facilitating lightweight design. Mounting space is provided on both sides of the base plate 111. The rocker arm support 125 is located on the first side of the base plate 111, and the drive unit 121 is located on the second side, achieving spatial separation between the hinge and the drive unit, avoiding motion interference, and ensuring smooth movement of the crank-rocker 124 mechanism. Furthermore, the reaction force generated by the drive assembly 12 during operation is concentrated on the base plate 111. Since the base plate 111 is close to the fuselage center, the force is concentrated and symmetrical, making it less prone to off-center torque. Combined with the complete envelope structure formed after the support and protective arm is folded, the center of gravity of the entire aircraft remains centered, and the inertial force distribution is balanced, reducing attitude disturbances and further improving flight stability.

[0066] In some alternative implementations, such as Figure 5 and Figure 9 As shown, the fuselage assembly 11 also includes a central partition 112, a cover plate 113, and multiple robotic arms 116. The base plate 111, the central partition 112, and the cover plate 113 are spaced apart, and the cover plate 113, the base plate 111, and the multiple robotic arms 116 are fixedly connected. A rocker arm support 125 is fixed to one side of the base plate 111 near the central partition 112, and a drive unit 121 is fixed to the other side of the base plate 111.

[0067] The central partition 112 is a flat, rigid partition component sandwiched between the base plate 111 and the cover plate 113. The central partition 112 is used to divide the internal space of the fuselage into layers, creating mounting chambers for installing different types of components. At the same time, the central partition 112 can also act as a skeletal support, improving the overall structural rigidity and distributing the loads generated during flight and takeoff and landing.

[0068] The cover plate 113 has a plate-like structure and is used to seal the internal cavity of the machine body to protect the internal transmission and drive components and electronic devices. The rocker arm support 125 is mounted on the side of the substrate 111 facing the middle partition 112, located in the inner region of the interlayer; the drive unit 121 is mounted on the outer side of the substrate 111 away from the middle partition 112, and the partitions are arranged in separate sections without interfering with each other.

[0069] In this embodiment, the base plate 111, the partition plate 112, and the cover plate 113 are arranged in a layered layout and are fixedly connected to each arm 116 to form the overall load-bearing frame, serving as the core foundation of the fuselage and providing a stable and reliable installation base for the drive assembly 12 and the support assembly 13. The layered structure can divide the space into independent installation and housing areas, facilitating the arrangement of internal components, wiring, and assembly and maintenance operations; at the same time, this layout can concentrate the weight of each component in the central area of ​​the fuselage, making the center of gravity of the whole aircraft regular and centered. Combined with the rotor 142 enveloping protection structure of the support and protection arm, and the optimized drive transmission structure, it not only ensures the smooth and stable transmission of the drive assembly 12, but also effectively balances the inertial forces during the movement process, further improving the flight stability of the whole aircraft.

[0070] In some alternative embodiments, the cover plate 113, the base plate 111, and the plurality of robotic arms 116 are provided with corresponding connection holes 1161, and the cover plate 113, the base plate 111, and the plurality of robotic arms 116 are connected by fasteners inserted into the connection holes 1161. The fasteners can be screws, pins, etc.

[0071] The cover plate 113, the base plate 111, and each of the robotic arms 116 are provided with interconnected and matching connection holes 1161 to ensure precise alignment of the holes during assembly. The number of connection holes 1161 can be two, three, four, or more. During assembly, fasteners are inserted sequentially into the aligned connection holes 1161, and the fasteners lock together the cover plate 113, the base plate 111, and the multiple robotic arms 116 into a single structure.

[0072] In this embodiment, the base plate 111, cover plate 113 and arm 116 are fastened together by fasteners through corresponding connection holes 1161. This connection method is convenient for disassembly and assembly, and facilitates the inspection and maintenance of internal components of the machine body. At the same time, the standardized hole assembly can ensure that the installation position of each group of arms 116 is consistent, so that the weight and force distribution of the whole machine in mass production are consistent.

[0073] In some alternative embodiments, the arm 116 is provided with a insertion slot 1162, which is inserted into the edge of the partition plate 112. A motor 141 is fixed to the end of the arm 116 away from the partition plate 112, and a rotor 142 is mounted on the output shaft of the motor 141. A propeller cap 143 is fixed to the top of the rotor 142 by a thread.

[0074] Specifically, the arm 116 is provided with a insertion slot 1162, the slot structure of which can be fitted with the edge of the partition plate 112. The partition plate 112 is a rectangular plate structure with four integrally formed protruding positioning parts 1121 at the four corners. During assembly, the protruding positioning parts 1121 are embedded into the corresponding insertion slots 1162 of the arm 116, and the insertion is limited by contour fitting. This allows for quick pre-assembly and positioning, effectively limiting the lateral displacement of components, evenly distributing the frame load, and improving the overall assembly fit and structural stability.

[0075] In this embodiment, the edge of the central partition 112 can be snapped into the insertion slot 1162 for positioning. This ensures precise positioning and convenient operation, enabling rapid assembly of the fuselage frame and effectively improving assembly efficiency. The insertion connection enhances the overall integrity of the connection between the arm 116 and the central partition 112, stabilizing the overall fuselage structure and providing structural support for the stable operation of the drive assembly 12 and support assembly 13, ensuring smooth and stable transmission. Simultaneously, this limiting structure ensures uniform installation positions for each arm 116, resulting in a more balanced distribution of force and weight across the entire aircraft, maintaining the fuselage's center of gravity, and further improving overall flight stability.

[0076] Meanwhile, a support protrusion 1163 is provided on the side of the arm 116 facing the substrate 111. The end face of the support protrusion 1163 abuts against the surface of the substrate 111, further supporting and limiting the arm 116 and improving the overall structural stability.

[0077] In some alternative embodiments, the fuselage assembly 11 also includes a battery 114 and a computing board 115, which are respectively distributed in the spaces on opposite sides of the partition 112.

[0078] In this embodiment, the partition 112 serves as a dividing carrier, with components arranged independently on both sides. A battery 114 is arranged on one side; specifically, the battery 114 can be fixed to the substrate 111 near the partition 112 using Velcro, or fixed to the partition 112 near the substrate 111 using Velcro. The other side of the partition 112 is used to arrange computing boards 115 for flight control, signal transmission, etc. The computing boards 115 can be fixed using screws, clips, adhesives, etc. This embodiment uses the partition to physically separate power supply components and electronic control components, avoiding tangled wiring and reducing electromagnetic interference. Simultaneously, the partitioned layout rationally utilizes the internal space of the fuselage, resulting in a neat structural arrangement that facilitates later inspection, disassembly, and maintenance.

[0079] Secondly, this application provides a flight device, including a rotor assembly 14, a controller, and a foldable landing gear. In this embodiment, the flight device can specifically be a drone used in fields such as aerial photography and mapping, environmental monitoring, security patrol, agricultural and forestry plant protection, and low-altitude logistics.

[0080] In this embodiment, the foldable landing gear of the flight equipment is the same as that in any of the above embodiments. Furthermore, in this embodiment, the rotor assembly 14 of the flight equipment is mounted on the arm 116 of the fuselage assembly 11. The controller is electrically connected to the drive unit 121 of the foldable landing gear and is used to control the operation of the drive unit 121 to drive the support assembly 13 to switch between a folded state and a supported state, and can control the support assembly 13 to remain in any intermediate state between the folded state and the supported state.

[0081] The flight equipment in this embodiment mainly consists of three parts: the rotor assembly 14, the controller, and the foldable landing gear. The foldable landing gear adopts the structure described in any of the previous embodiments, and has the ability to switch between folding for storage and unfolding for support. The rotor assembly 14 is correspondingly mounted on the arm 116 of the fuselage assembly 11, providing power for the equipment's flight.

[0082] The controller establishes an electrical connection with the landing gear drive unit 121 and can issue control commands to regulate the working state of the drive unit 121, thereby driving the support assembly 13 to switch movements and achieve flexible transitions between the folded state and the supported state. At the same time, the controller can precisely control the start, stop, and travel, allowing the support assembly 13 to be stably hovered at any intermediate position between the two extreme states, adapting to different working conditions.

[0083] For example, when the flight equipment flies over forests, densely built-up areas, or encounters sudden obstacles, the controller can switch the support component 13 to a folded state in real time, enveloping the outside of the rotor component 14 to form a physical barrier, preventing foreign objects such as branches and wires from impacting the rotor blades and effectively protecting the rotor component 14. When the flight environment returns to open, it can switch back to the supported state to resume low-drag flight mode. This on-demand switching capability gives the flight equipment the dual advantages of low-drag cruise and active protection, expanding the applicable scenarios of the flight equipment.

[0084] The state switching of support component 13 can also be automatically triggered by preset thresholds in the flight control system. For example, when the flight equipment detects that the distance to the obstacle in front is less than the safety threshold, it will automatically perform a folding operation; it can also be manually triggered by the operator through the remote control to achieve on-demand switching.

[0085] The flight equipment in this embodiment is equipped with the aforementioned optimized foldable landing gear. This landing gear has good transmission performance, operates smoothly without jamming, and can effectively ensure the stability of the drive transmission. At the same time, the symmetrical counterweight and reasonable layout of the landing gear can optimize the overall center of gravity distribution of the aircraft, which can improve the overall flight stability and operational safety.

[0086] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A foldable landing gear for flight equipment, characterized in that, It includes a fuselage assembly (11), two sets of drive assemblies (12) and two sets of support assemblies (13); Two sets of drive components (12) are disposed on both sides of the central plane of the body component (11). The two sets of drive components (12) are connected to the two sets of support components (13) in a one-to-one manner to drive the support components (13) to move between the folded state and the supported state. The drive assembly (12) includes a drive unit (121), an active arm (122), a connecting rod (123), a rocker arm (124), and a rocker arm support (125). The active arm (122), the connecting rod (123), and the rocker arm (124) each have a first end and a second end opposite to each other; The drive unit (121) is fixed to the body assembly (11), and the output shaft of the drive unit (121) is fixedly connected to the first end of the active arm (122); The second end of the active arm (122) is hinged to the first end of the connecting rod (123), and the second end of the connecting rod (123) is hinged to the middle of the rocker arm (124); The first end of the rocker arm (124) is hinged to the fuselage assembly (11) via the rocker arm support (125), and the second end of the rocker arm (124) is fixedly connected to the support assembly (13).

2. The foldable landing gear of the flight equipment according to claim 1, characterized in that, The two sets of drive components (12) and support components (13) are arranged symmetrically on both sides of the central plane of the fuselage component (11) with the center axis of gravity of the fuselage component (11) as the center.

3. The foldable landing gear of the flight equipment according to claim 1, characterized in that, The active arm (122) can rotate in a full circle; and each time the active arm (122) rotates once, the rocker arm (124) is driven to swing back and forth through the connecting rod (123), driving the support assembly (13) to complete one back-and-forth switch between the folded state and the supported state.

4. The foldable landing gear of the flight equipment according to claim 1, characterized in that, The support assembly (13) includes a support and protective arm; The support and protective arm includes a main bearing section (131) and auxiliary envelope sections (132) connected to both ends of the main bearing section (131). The main support section (131) is used to support the flight equipment, and the main support section (131) and the auxiliary envelope section (132) together form an envelope structure for covering the rotor (142) of the flight equipment.

5. The foldable landing gear of the flight equipment according to claim 4, characterized in that, The supporting protective arm is a two-dimensional truss lattice structure; The support assembly (13) also includes a connecting seat (133), which is fixedly connected to the second end of the support protective arm and the rocker arm (124).

6. The foldable landing gear of the flight equipment according to any one of claims 1 to 5, characterized in that, The fuselage assembly (11) includes a base plate (111) having a first side and a second side opposite to each other. The rocker arm support (125) is disposed on the first side of the base plate (111), and the drive unit (121) is disposed on the second side of the base plate (111).

7. The foldable landing gear of the flight equipment according to claim 6, characterized in that, The fuselage assembly (11) also includes a central partition (112), a cover plate (113), and multiple arms (116). The base plate (111), the partition plate (112) and the cover plate (113) are spaced apart, and the cover plate (113) and the base plate (111) are fixedly connected to the plurality of machine arms (116); The rocker arm support (125) is fixed to the side of the base plate (111) near the middle partition (112), and the drive unit (121) is fixed to the other side of the base plate (111).

8. The foldable landing gear of the flight equipment according to claim 7, characterized in that, The cover plate (113), the base plate (111), and the plurality of machine arms (116) are provided with corresponding connection holes (1161), and the cover plate (113), the base plate (111), and the plurality of machine arms (116) are connected by fasteners inserted into the connection holes (1161).

9. The foldable landing gear of the flight equipment according to claim 7, characterized in that, The arm (116) is provided with a plug-in slot (1162), which is plugged into the edge of the partition plate (112).

10. The foldable landing gear of the flight equipment according to claim 7, characterized in that, The fuselage assembly (11) also includes a battery (114) and a computing board (115), which are respectively distributed in the spaces on opposite sides of the partition (112).

11. A flight device, characterized in that, Includes rotor assembly (14), controller and foldable landing gear; The foldable landing gear is the foldable landing gear as described in any one of claims 1 to 10; The rotor assembly (14) is mounted on the arm (116) of the fuselage assembly (11); The controller is electrically connected to the drive unit (121) of the foldable landing gear and is used to control the operation of the drive unit (121) to drive the support assembly (13) to switch between the folded state and the support state, and can control the support assembly (13) to stay in any intermediate state between the folded state and the support state.

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