Penetrating type undercarriage and unmanned aerial vehicle

Abstract

The through type undercarriage comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body is provided with a machine body, a machine frame, a foot stool assembly, a supporting arm and a rotor wing, and the rotor wing is connected to the machine frame through the supporting arm; the foot stool assembly comprises an upper sliding rail, a lower pressing rod and a locking clamp, the upper sliding rail extends up and down to be arranged in a lower penetrating hole in the center of a rotor wing of the unmanned aerial vehicle body, the lower pressing rod is slidably connected to the upper sliding rail, the lower end of the lower pressing rod can move and stretch out and draw back up and down below the rotor wing, and the locking clamp is arranged on the upper sliding rail. And the locking clamp can lock and fix the lower pressing rod or loosen the lower pressing rod. An upper sliding rail is arranged in a lower penetrating hole in the center of a rotor wing, a lower pressing rod is connected to the upper sliding rail in a sliding mode, a locking clamp is arranged to lock and fix the lower pressing rod or loosen the lower pressing rod, and an undercarriage structure is formed. The lower pressing rod can slide up and down in the lower penetrating hole of the rotor wing, extends outwards, extends downwards and supports the fixed length, the internal contraction range is wide, the height of the unmanned aerial vehicle is small when the lower pressing rod is contracted inwards, and the height of the unmanned aerial vehicle is large when the lower pressing rod is contracted outwards.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle with inclined legs arranged on a landing gear. Background Art

[0002] With the development of drone technology, its application scope is becoming more and more extensive. For example, photography, which is commonly used by ordinary people, is done by equipping a rotary-wing drone with a camera, remotely controlling the drone to cruise and take pictures at the same time through a mobile phone. For example, for building inspection and maintenance, it is necessary to equip the rotary-wing drone with a probe arm, and even equip the front end of the probe arm with a suction cup structure, so that it can be fixed on the surface of the building by extension and adsorption to perform inspection operations.

[0003] The general drones on the market include a body, a frame, a tripod, a support arm and a rotor, etc., and are equipped with a control system and a power supply. The drone can be remotely controlled by a remote control or a mobile phone to take off, then cruise and perform operations, and land when the operation is completed or the power supply needs to be replaced.

[0004] For example, in the Chinese patent document "Compressed air landing UAV landing mechanism and UAV, announcement number CN219313065U", the landing gear includes a closed component and at least three tripod components, and the at least three tripod components are evenly distributed around the UAV body. For another example, in the Chinese patent document "Compression rod landing UAV landing mechanism and UAV, announcement number CN219884123U", the tripod assembly includes a down-press rod and a locking clamp, the down-press rod can be arranged below the UAV body to slide up and down, the locking clamp is arranged on the periphery of the down-press rod, and the locking clamp can lock and fix the down-press rod or release the down-press rod.

[0005] As mentioned above, the UAV landing gear is generally separately provided with a horizontal bar or an inclined rod arm structure to connect to the UAV body. Therefore, the landing gear tripod extends downward from the bottom of the UAV frame through the arm structure, resulting in a relatively high overall height of the UAV and a relatively short downward length. Utility Model Content

[0006] The purpose of the utility model is to provide a UAV in view of the above-mentioned problem, wherein a down-pressure rod is slidably connected at the center of the rotor to form a landing gear structure, which has a fixed length of outward extension and support and a wide inward retraction range. When the down-pressure rod is retracted inwardly, the height of the UAV is smaller, and when the down-pressure rod is lowered outwardly, the height is higher.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is:

[0008] The unmanned aerial vehicle comprises an unmanned aerial vehicle body, which is equipped with a body, a frame, a tripod assembly, a support arm and a rotor, wherein the rotor is connected to the frame through the support arm; the tripod assembly comprises an upper slide rail, a lower pressure rod and a locking clamp, wherein the upper slide rail extends up and down and is arranged at a lower through hole at the center of the rotor of the unmanned aerial vehicle body, the lower pressure rod is slidably connected to the upper slide rail, the lower end of the lower pressure rod can move up and down and retract below the rotor, the locking clamp is arranged on the upper slide rail, and the locking clamp can lock and fix the lower pressure rod or release the lower pressure rod.

[0009] The upper slide rail is provided with a sliding cavity penetrating the lower end thereof, the sliding cavity is slidably connected with a pressing rod, and the lower end of the pressing rod passes through the lower end of the upper slide rail and extends outwards. In this way, the pressing rod is slidably connected with the upper slide rail.

[0010] The sliding cavity runs through the upper end of the upper slide rail, and a plug is provided at the upper end of the upper slide rail. The sliding cavity is a stepped hole structure with a large upper end and a small lower end. A sliding section is provided at the upper end of the lower pressure rod, and the outer diameter of the sliding section is adapted to the inner diameter of the upper end of the sliding cavity, and the inner diameter of the lower end of the sliding cavity is adapted to the outer diameter of the lower pressure rod. The upper end of the sliding cavity of the upper slide rail is large and the lower end is small, forming an axial limit structure to limit the extension and downward extension length of the lower pressure rod; the double radial limit ensures the stability of the upper and lower sliding of the lower pressure rod, and improves the landing stability of the UAV.

[0011] The locking clamp is an electromagnetic clamp, and the locking clamp is electrically connected to the drone body, so that the lower pressure rod can be fixed or released.

[0012] The rotor includes a propeller, a motor and a bracket. The bracket is mounted on the outer end of the bracket arm, the motor is mounted on the bracket, and the propeller is connected to the transmission shaft of the motor. The motor is axially hollow to form a through hole I, the bracket is vertically hollow to form a through hole II, and the outer end of the bracket arm is provided with a radially penetrating through hole III, and the through hole I, through hole II and through hole III are on a concentric axis, and the upper slide rail extends vertically and is arranged on the through hole I, through hole II and through hole III. In this way, the upper slide rail arrangement is realized.

[0013] The bracket is provided with a clamp part, and a fastening part is provided on the clamp part. The fastening part is provided with a bolt set. The outer end of the bracket arm is inserted into the clamp part, and the clamp part is clamped on the outer end of the bracket arm when the bolt set is tightened. The clamp part is C-shaped or U-shaped, and its open end extends outward to form the fastening part. In this way, the bracket arm and the bracket are fixed.

[0014] The rear end of the motor is provided with a receiving portion, the bracket is provided with a hanging portion, and the hanging portion is bolted to the receiving portion. In this way, the motor and the bracket are fixed.

[0015] As mentioned above, an upper slide rail is arranged in the lower through hole at the center of the rotor, a lower pressure rod is slidably connected to the upper slide rail, and a locking clip is arranged to lock and fix the lower pressure rod or release the lower pressure rod to form a landing gear structure. The lower pressure rod can slide up and down in the lower through hole of the rotor, extend outward and support a fixed length, and have a wide range of internal retraction. The height of the drone is small when the lower pressure rod is retracted inward, and the height of the lower pressure rod is high when it is lowered outward.

[0016] Based on the above solution, in an improved solution, the tripod assembly further includes a buffer pad, which is arranged at the lower end of the downward pressure rod and can play a buffering role.

[0017] Based on the above solution, in an improved solution, the locking clamp is equipped with a sensor, which is electrically connected to the drone body, and is arranged on the upper slide rail to detect the contraction information of the down-pressure rod; wherein the sensor is a proximity sensor or a distance sensor. In this way, after the sensor detects the contraction and sliding of all the down-pressure rods, all the locking clamps are controlled to lock and fix the corresponding down-pressure rods respectively to complete the landing support, so that the drone can land relatively smoothly (even horizontally) on uneven and irregular ground.

[0018] Based on the above scheme, in an improved scheme, a horizontally extending concave-convex groove I is provided on the vertical side wall surface (the side wall surface passing through the vertical direction) of the mounting portion, and a concave-convex groove II is provided on the contact surface of the receiving portion with the mounting portion, and the concave-convex groove II and the concave-convex groove I form a matching mortise and tenon structure, and the concave-convex groove I and the concave-convex groove II are slidably connected. Among them, the concave-convex groove I is a protrusion, and the concave-convex groove II is a groove. In this way, the concave-convex groove I and the concave-convex groove II are used to form a matching mortise and tenon structure between the motor and the bracket, which can be slidably connected horizontally or obliquely, and a limiting structure is formed in the vertical direction to improve the connection stability.

[0019] Due to the adoption of the above technical solution, the utility model has the following beneficial effects:

[0020] 1. The drone of the utility model has an upper slide rail arranged in a lower through hole at the center of the rotor, a lower pressure rod is slidably connected to the upper slide rail, and a locking clip is arranged to lock and fix the lower pressure rod or release the lower pressure rod to form a landing gear structure. The lower pressure rod can slide up and down in the lower through hole of the rotor, extend outward and support a fixed length, and have a wide range of internal contraction. When the drone retracts the lower pressure rod, the height is small, and when it is extended outward, the height of the drone is high.

[0021] 2. After the sensor detects that all the downward pressure rods (at least 3 can form a triangle to support the drone) are retracted and slid, all the locking clips are controlled to lock and fix the corresponding downward pressure rods to complete the landing support, so that the drone can land relatively smoothly (even horizontally) on uneven and irregular ground.

[0022] 3. A matching mortise and tenon structure is formed between the motor and the bracket by using concave-convex groove I and concave-convex groove II, which can be slidably connected horizontally or obliquely, forming a limit structure in the vertical direction to improve the connection stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a side view structural schematic diagram of the UAV example 1 of the utility model, in which the lower pressure rod of the tripod assembly is in an extended state.

[0024] Figure 2 yes Figure 1 Schematic diagram of the top view structure.

[0025] Figure 3 yes Figure 1 A schematic diagram of the side view of the tripod assembly with the lower pressure rod in the retracted state.

[0026] Figure 4 yes Figure 1 Schematic diagram of the local structure of the support arm.

[0027] Figure 5 yes Figure 4 Another perspective structural diagram of .

[0028] Figure 6 yes Figure 1 Schematic diagram of the rotor motor side view structure.

[0029] Figure 7 yes Figure 6 Schematic diagram of the top view structure.

[0030] Figure 8 yes Figure 1 Schematic diagram of the bracket structure.

[0031] Fig. 9 yes Figure 8 Another perspective structural diagram of .

[0032] Fig.10 yes Figure 8 Another perspective structural diagram of .

[0033] Fig.11 yes Figure 1 Schematic diagram of the exploded structure of the tripod assembly.

[0034] Fig.12 yes Fig.11 Another perspective structural diagram of .

[0035] Fig.13 yes Figure 1 Schematic diagram of the internal connection structure of the tripod assembly.

[0036] Fig.14 It is a partial side view structural schematic diagram of UAV Example 2 of the utility model.

[0037] Fig.15 yes Fig.14 Schematic diagram of the bracket side view structure.

[0038] Fig.16 It is a partial side view structural schematic diagram of UAV Example 3 of the utility model.

[0039] In the accompanying drawings, 1 is a fuselage, 11 is a frame, 12 is a lower pressure rod, 13 is a support arm, 14 is a rotor motor, and 15 is a bracket. DETAILED DESCRIPTION

[0040] Example 1

[0041] See also Figure 1 and Figure 2 , it is defined that the drone body has a horizontal direction a and a longitudinal direction b, z is the vertical direction, ab is the horizontal direction, and the plane passing through z is the vertical plane.

[0042] See also Figure 1-Figure 13 The drone of the present embodiment 1 includes a drone body, which is configured with a body 1, a frame 11, a tripod assembly, a bracket 13 and a rotor. The rotor is connected to the frame 11 through the bracket 13. Each rotor is arranged with at most one tripod assembly. At least three tripod assemblies can form a landing gear, forming at least three support points, and these support points are evenly distributed around the drone body as much as possible. The tripod assembly 12 includes an upper slide rail 123, a lower pressure rod 12 and a locking clamp 125. The upper slide rail 123 extends up and down and is arranged at the lower through hole at the center of the rotor of the drone body. The lower pressure rod 12 is slidably connected to the upper slide rail 123. The lower end of the lower pressure rod 12 can move up and down and retract below the rotor. The locking clamp 125 is arranged on the upper slide rail 123, and the locking clamp 125 can lock and fix the lower pressure rod 12 or release the lower pressure rod 12.

[0043] The drone body includes a body 1, a frame 11, a landing gear, a support arm 13 and a rotor, etc. The rotor motor and the transmission shaft used have a solid structure or a hollow structure. The body 1 is equipped with a lithium battery pack and a circuit board of a controller, etc., which are connected and controlled to start and stop the rotor via standard cables. The drone body and its control are existing technologies and will not be repeated here. For example, the DJI drones on the market; for another example, the Chinese patent document "A crack detection drone, announcement number CN216509120U" takes a four-rotor drone to perform crack detection on a building as an example to illustrate. A probe arm and a crack detection mechanism are arranged on the human-machine body. The crack detection mechanism includes a mechanical working arm and a crack detector, etc., which can slide forward and backward and extend outward along the probe arm, and then realize crack detection through the crack detector. It is equipped with a landing gear for landing; for example, the Chinese patent document "Pressure rod type landing UAV landing mechanism and UAV, announcement number is CN219884123U", wherein the tripod assembly includes a lower pressure rod and a locking clamp, the lower pressure rod can be arranged below the UAV body so as to slide up and down, the locking clamp is arranged on the periphery of the lower pressure rod, and the locking clamp can lock and fix the lower pressure rod or release the lower pressure rod. The present application is to improve the landing gear structure of the existing UAV body. This embodiment takes the example of arranging four tripod assemblies in the hollow cavities (lower perforations) of four groups of dual-rotor motors of a quad-rotor UAV.

[0044] The lower pressure rod adopts a slide rail connection structure that can slide up and down and telescope, which is an existing technology, and the present application applies it to the UAV. For example, a sliding track structure can be integrally arranged on the perforation under the rotor, and the sliding track structure can be a guide rail or a hole-shaped slide groove, that is, a guide rail adapted to the lower pressure rod is arranged so that the lower pressure rod slides up and down on the guide rail, or a slide groove adapted to the lower pressure rod is arranged so that the lower pressure rod slides up and down in the slide groove; at this time, the lower pressure rod can adopt a limit welding fixed position to align with the sliding track structure to achieve up and down sliding, and can also adopt a rotatable folding connection to align with the sliding track structure in a straight state for operation or bend for storage, which are all existing technologies. For another example, a slideway section can be arranged separately and then arranged on the perforation under the rotor to form a sliding track structure, such as the aforementioned sliding track structure is a guide rail or a slide groove, such as a telescopic rod structure, etc. This application takes "arranging a slide section separately and then arranging it on the lower perforation of the rotor to form a sliding track structure" as an example to illustrate that a sleeve-type upper slide rail and a sliding cavity (slide groove) are set to achieve a sliding connection, and other sliding track connection structures will not be described in detail.

[0045] Therefore, in this embodiment, the upper slide rail 123 is a sleeve rod, taking a circular sleeve rod as an example. The rotor is an existing technology, including a propeller 141, a motor 14 (rotor motor) and a bracket 15, the bracket 15 is installed at the outer end of the bracket 13, the motor 14 is installed on the bracket 15, and the propeller 141 is connected to the transmission shaft 140 of the motor 14. The lower through hole includes through holes I, II and III; the motor 14 and the transmission shaft 140 are axially hollow to form a through hole I, the bracket is vertically (the bracket is defined by the vertical arrangement orientation, and it also has a horizontal direction) hollow to form a through hole II 1541, the outer end of the bracket 13 is provided with a radially penetrating through hole III 131, and in the assembled state, the through hole I, the through hole II and the through hole III are on a concentric axis, and the upper slide rail 123 extends vertically and is arranged in the through hole I, the through hole II and the through hole III. In this way, the upper slide rail arrangement is realized. The upper slide rail 123 can be fixed by welding or bolting. The present application mainly uses the welding connection between the upper slide rail 123 and the bracket 15 as an example for explanation, and other connection structures are not described in detail here.

[0046] The upper slide rail 123 and the lower pressure rod 12 adopt an existing sliding connection structure, which can adopt a lower pressure rod sleeve placed in the upper slide rail inner cavity (hole-shaped slide groove), etc. The present application is explained by taking the lower pressure rod sleeve placed in the upper slide rail inner cavity (and the inner cavity runs through both ends of the upper slide rail) as an example: the upper slide rail 123 is provided with a sliding cavity running through its lower end, and the lower pressure rod 12 is slidably connected in the sliding cavity, and the lower end of the lower pressure rod 12 passes through the lower end of the upper slide rail 123 and extends outward, so that the lower pressure rod 12 is slidably connected with the upper slide rail 123. Among them, the upper slide rail, the lower pressure rod and other tripod component parts are made of the same existing materials as the drone body frame, such as carbon fiber plates, carbon fiber tubes, etc., or are made of conventional materials such as stainless steel and aluminum alloy, which will not be described in detail here.

[0047] The sliding cavity runs through the upper end of the upper slide rail, and the sliding cavity is a stepped hole structure with a large upper end and a small lower end. The upper end of the lower pressure rod 12 is provided with a sliding section 121, and the outer diameter of the sliding section 121 (for example, 2.5 cm) is adapted to the inner diameter of the upper end of the sliding cavity, and the inner diameter of the lower end of the sliding cavity is adapted to the outer diameter of the lower pressure rod 12 (for example, 2 cm). The upper end of the sliding cavity of the upper slide rail is large and the lower end is small, forming an axial limit structure to limit the outward extension and downward extension length of the lower pressure rod; at the same time, the double radial limit ensures the stability of the upper and lower sliding of the lower pressure rod, thereby improving the landing stability of the drone. In a preferred improved example, the upper end of the upper slide rail 123 is provided with a plug 124, which is fixed by bonding or threaded connection to play a role in limiting and sealing protection.

[0048] This embodiment adopts a double rotor structure with rotors connected at both ends of the bracket vertically. The upper slide rail passes through the bracket from the upper rotor to the lower rotor. The locking clamp can be arranged at the lower end of the upper slide rail (protruding out of the lower rotor) or inside the lower rotor (may affect the motor design) or at the lower end of the bracket (less impact on the frame structure bracket). This application preferably arranges the locking clamp at the lower end of the bracket. A locking hole 1231 is opened at the lower end of the upper slide rail 123 corresponding to the lower end of the bracket (extending from the lower end of the bracket to the center). The size of the locking hole 1231 is adapted to or larger than the locking clamp 125. The locking clamp 125 is bonded to the upper slide rail or bolted to the bracket to be arranged at the locking hole at the lower end of the upper slide rail 123.

[0049] The locking clamp 125 is installed at the lower end of the upper slide rail 123 and can be fixed by welding, bolting or bonding. The locking clamp is an existing technology, and a linkage mechanical clamp (all the lower pressure rods are contracted to trigger the linkage clamping) can be used, and an electromagnetic clamp (magnetic electric clamp) can also be used. This application uses an electromagnetic clamp as an example for explanation: the locking clamp 125 is an electromagnetic clamp, and the locking clamp 125 is electrically connected to the drone body. In this way, the locking or releasing signal is output through the linkage control of the drone body for takeoff or landing, so that the lower pressure rod is fixed or released.

[0050] The bracket includes a frame 151 in a rectangular or regular hexagonal shape, and end plates are arranged at both vertical ends of the frame 151. A through hole II 1541 is opened on the end plate. The end plate can adopt a hollow structure to reduce weight. A clamping hole 1542 is opened on the end plate to cooperate with the lock hole 1251 and the bolt fixing locking clamp 125. A clamp part 152 is arranged on the side wall of the frame 151, and a fastening part 153 is arranged on the clamp part 152. The fastening part 153 is configured with a bolt kit (fastening hole 1531 and bolts placed therein, etc.), the outer end of the support arm 13 is passed through the clamp part 152, and the clamp part 152 is clamped on the outer end of the support arm when the bolt kit is tightened; wherein, the clamp part is C-shaped or U-shaped, and its open end extends outward to form a fastening part. As shown in the figure, the clamp part is integrally formed with the frame, the opening of the clamp part passes through the frame, and the frame and the clamp part are tightened and fixed on the support arm; of course, another clamp part can also be connected to the frame, in which case the frame does not need to have the aforementioned opening, which will not be described in detail here. In this way, the support arm and the bracket are fixed. In an improved example, in order to improve the connection stability, two clamp parts 152 are provided on the frame 151 to be fastened and connected on both sides of the penetration hole III131. In an improved example, in order to improve the stability of the clamp part, a reinforcing rib 155 is provided on the outer wall of the clamp part to connect to the frame.

[0051] The rear end of the motor 14 is provided with a receiving portion 142, and the vertical end of the bracket frame 151 is provided with a hanging portion 154, and the hanging portion 154 is bolted to the receiving portion 142. In actual use, the structure can be fixed with vertical bolts, and the end plate can be used as the hanging portion or the hanging portion can be a Z-shaped plate, which is connected to the receiving portion and the plate by bolts along the vertical thread; the structure can also be fixed with horizontal bolts, and the receiving portion is a square tube or plate protruding a certain length from the motor, and the hanging plate is a plate protruding a certain length from the frame, so that the receiving portion and the hanging portion can be stacked, and then connected to the receiving portion and the hanging portion by bolts along the horizontal thread; the present application adopts a horizontal bolt fixing structure, as shown in the figure, arranging the 4 corners protruding ear plates and sleeved on the outer periphery of the square receiving portion 142, and then fixing them with bolts in conjunction with the hanging holes 1543. In this way, the motor and the bracket are fixed.

[0052] The usage process is: when landing, the linkage locking control command is executed, the locking clip is locked and fixed, and each downward pressure rod forms a landing fulcrum and is fixed to support the drone body; when taking off, the linkage release command is executed, the locking clip releases the downward pressure rod, and the downward pressure rod extends outward under the action of gravity, and the landing gear can be released.

[0053] As mentioned above, an upper slide rail is arranged in the lower through hole at the center of the rotor, a lower pressure rod is slidably connected to the upper slide rail, and a locking clamp is arranged to lock and fix the lower pressure rod or release the lower pressure rod to form a landing gear structure. The lower pressure rod can slide up and down in the lower through hole of the rotor, extend outward and support a fixed length, and have a wide range of retraction inward. When the lower pressure rod is retracted inward, the height of the drone is smaller, and when it is extended outward, the height of the lower pressure rod is higher. With a hollow rotor structure, the lower pressure rod for landing support is passed through and installed in the lower through hole at the center of the rotor. There is no need to set up a landing connection arm separately. Reducing the landing connection arm can increase the load to a certain extent.

[0054] Example 2

[0055] Based on the aforementioned embodiment 1, this embodiment 2 is improved. The drone of this embodiment 2 is arranged with a landing sensing structure to land smoothly on uneven ground, as follows.

[0056] See also Figure 1-Figure 13 In this embodiment 2, the electromagnetic clamp of the drone is equipped with a sensor. The electromagnetic clamp and the sensor are electrically connected to the drone body. The sensor is arranged on the upper slide rail to detect the contraction information of the lower pressure rod; wherein the sensor is a proximity sensor or a distance sensor.

[0057] The electromagnetic clamp, proximity sensor and distance sensor are all existing technologies, which are connected to the controller of the drone body through standard cables and will not be described in detail here; for example, in the Chinese patent document "Electromagnetic Clamping Device, Announcement No. CN200963761", the moving iron and the fixed iron are attracted to clamp the lower pressure rod placed between the moving iron and the fixed iron, and the contact surface of the moving iron and the fixed iron can be set to an arc-shaped structure to increase the contact surface and improve the clamping effect; for example, in the Chinese patent document "Electromagnetic Clamping Device, Announcement No. CN205600748U", the upper clamping piece and the lower clamping piece are approached to clamp the lower pressure rod placed therebetween, and the contact surface of the upper clamping piece and the lower clamping piece can be set to an arc-shaped structure to increase the contact surface and improve the clamping effect, wherein the photoelectric proximity sensor and the photoelectric induction sensor are equivalent to the sensor of this application.

[0058] The sensor can be installed and arranged on the upper slide rail by bolt connection or bonding; for example, the proximity sensor is set at a position 5 cm higher than the natural hanging position of the lower pressure rod and radially aligned with the center of the sliding cavity. When each proximity sensor detects object information, it transmits the detected lower pressure rod contraction signal (lower pressure rod contraction information) to the controller. When each lower pressure rod is detected, the controller issues a locking command, and each electromagnetic clamp is electrically clamped; for another example, the distance sensor is set at a position 5 cm higher than the natural hanging position of the lower pressure rod and radially aligned with the center of the sliding cavity. Each distance sensor detects distance information (lower pressure rod contraction information) and transmits it to the controller in real time. The controller identifies the distance information and compares it with the preset value. When each real-time distance value is less than the preset value, the controller issues a locking command, and each electromagnetic clamp is electrically clamped; for another example, the distance sensor is set in the sliding cavity and axially aligned with the lower pressure rod. When each distance sensor detects distance information, it transmits it to the controller in real time. The controller identifies the distance information and compares it with the preset value. When each real-time distance value is less than the preset value, the controller issues a locking command, and each electromagnetic clamp is electrically clamped.

[0059] In this way, after the sensors detect that all the lower pressure rods have retracted and slid, they control all the locking clips to lock and fix the corresponding lower pressure rods to complete the landing support. Similarly, the sensors can also limit the drop. When the lower pressure rod retracts to the maximum height limit position, such as 5 cm below the top position, it is judged that the current position is difficult to land safely, and then the landing is stopped and the landing position is changed; at the initial position, the lower pressure rod is in a fully extended state, and at the top position, the lower pressure rod is in a zero extended state.

[0060] In actual use, the detection of all the downward pressure rods by the sensor means detecting at least 3 downward pressure rods that can form a triangle to support the drone; for example, this embodiment has a total of 4 downward pressure rods, and only 3 of them can support the drone within a certain weight range. Therefore, it can be set that within the load range, when it is retracted to the maximum height limit position, even if only 3 are detected, forced landing can be achieved at this time.

[0061] Assume that the drone lands on a stepped ground 100 with two high and low surfaces (the high and low surfaces have a height difference, for example, a 10 cm height difference), and the drone gradually approaches and contacts the stepped ground; when the drone is in the air at the beginning, the four downward pressure rods are in a fully extended state; as the drone falls, the lower end of the downward pressure rod directly above the high surface first contacts the stepped ground; then the drone continues to fall, and the downward pressure rod directly above the high surface gradually slides upward and retracts due to the downward force of the corresponding upper slide rail, and when the drone continues to fall a certain distance (such as a 10 cm height difference), the lower end of the downward pressure rod directly above the low surface contacts the stepped ground; then the drone continues to fall, and each downward pressure rod gradually slides upward and retracts due to the downward force of the corresponding upper slide rail, until the downward pressure rod directly above the low surface retracts to a preset position, triggering a linkage locking operation, and then each locking clamp respectively locks and fixes the corresponding downward pressure rod to complete the landing support. For example, the pressure rod directly above the high table first triggers the sensor to send the pressure rod contraction information, and the pressure rod directly above the low table triggers the sensor to send the pressure rod contraction information. After receiving the pressure rod contraction information sent later, the controller triggers the linked clamping operation and sends a control signal to control the clamping of each locking clamp, and then each locking clamp performs the clamping action.

[0062] As mentioned above, after the drone takes off, the locking clamp releases the lower pressure rod, and the lower pressure rod extends outward under the action of gravity, completing the external deployment of the landing gear; when the drone lands, the lower end of the lower pressure rod gradually approaches the ground, and then each lower pressure rod touches the ground directly below it. After the sensor detects that all the lower pressure rods (at least 3 can form a triangle to support the drone) are retracted and slid, all the locking clamps are controlled to lock and fix the corresponding lower pressure rods to complete the landing support. Each lower pressure rod forms a landing fulcrum that approaches and touches the ground directly below it vertically, and is fixed to support the drone body, so that it can land relatively smoothly (even horizontally) on uneven and irregular ground.

[0063] Example 3

[0064] The present embodiment 3 is improved on the basis of the aforementioned embodiment 1 or embodiment 2, and the rotor has a stable connection structure. For other matters not fully described, please refer to the aforementioned embodiment 1 and embodiment 2.

[0065] See also Fig.14 and Fig.15 In the drone of this embodiment 3, a horizontally or obliquely extending concave-convex groove I is provided on the vertical side wall surface (the side wall surface passing through the vertical direction) of the mounting portion 154, and a concave-convex groove II is provided on the contact surface of the receiving portion 142 with the mounting portion, and the concave-convex groove II and the concave-convex groove I form a matching mortise and tenon structure, and the concave-convex groove I is slidably connected with the concave-convex groove II.

[0066] Among them, the concave-convex groove II and the concave-convex groove I are respectively a concave groove and a convexity, which form a matching mortise and tenon structure with each other; as shown in the figure, this application uses the concave-convex groove I as a convexity and the concave-convex groove II as a concave groove for illustration.

[0067] Moreover, the cross section of the groove can be triangular, circular, elliptical or square, etc. As shown in the figure, the receiving part is a square structure, the inner end of the receiving part is provided with a horizontally extending groove with a square cross section, and the outer end thereof is provided with a threaded hole, the outer end of the hanging part is provided with a square protrusion with a cross section, and the inner end thereof is provided with a hanging hole, and is fixed by bolt connection. Of course, the above-mentioned groove is set to extend obliquely to achieve an oblique sliding connection, which is less effective than the above-mentioned horizontal sliding connection.

[0068] In this way, a matching mortise and tenon structure composed of the concave-convex groove I and the concave-convex groove II is used between the motor and the bracket, which can be slidably connected horizontally or obliquely, and a limiting structure is formed vertically to improve the connection stability.

[0069] Example 4

[0070] The difference between this embodiment 4 and the aforementioned embodiments 1-3 lies in the bracket and rotor structure. For details not fully described, please refer to the aforementioned embodiments 1-3.

[0071] See also Fig.16 , this embodiment 4 adopts a single rotor structure, which is arranged at the upper end of the bracket, and a protrusion is arranged at the upper end of the bracket, and no protrusion is arranged at the lower end of the bracket. As mentioned above, an upper slide rail is arranged at the lower through hole at the center of the rotor, a lower pressure rod is slidably connected to the upper slide rail, and a locking clamp is arranged to lock and fix the lower pressure rod or release the lower pressure rod to form a landing gear structure. For the specific working process and effect, please refer to the above embodiments 1-3.

[0072] Based on the above example, in an improved example, the tripod assembly also includes a buffer pad 122, which is made of silicone or rubber according to existing technology. The buffer pad 122 is bonded or threaded to the lower end of the lower pressure rod to play a buffering role.

[0073] It should be noted that the examples of the above embodiments can be preferably combined with one or more than two according to actual needs, and multiple examples use a set of drawings of combined technical features, which will not be described one by one here. The landing mechanism of the drone in the above embodiment is mainly used for drones, and it is also suitable for use in other equipment in the same / equivalent scenarios.

[0074] It should be noted that the orientation or position relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation.

[0075] The above description is a detailed description and illustration of the preferred feasible embodiments of the utility model, but these descriptions are not intended to limit the scope of protection required by the utility model. All equivalent changes or modified changes completed under the technical teachings suggested by the utility model should fall within the scope of patent protection covered by the utility model.

Claims

1. A through-type landing gear, comprising a footrest assembly, characterized in that: The tripod assembly includes an upper slide rail, a lower pressure rod and a locking clamp. The upper slide rail can extend up and down and is arranged in a lower through hole at the center of the rotor of the drone body. The lower pressure rod is slidably connected to the upper slide rail. The lower end of the lower pressure rod can move up and down and extend and retract below the rotor. The locking clamp is arranged on the upper slide rail, and the locking clamp can lock and fix the lower pressure rod or loosen the lower pressure rod.

2. The through-type landing gear according to claim 1, characterized in that: The upper slide rail is provided with a sliding cavity passing through its lower end, and a lower pressure rod is slidably connected in the sliding cavity, and the lower end of the lower pressure rod passes through the lower end of the upper slide rail and extends outward; wherein, the sliding cavity passes through the upper end of the upper slide rail, and the sliding cavity is a stepped hole structure with a large upper end and a small lower end. A sliding section is provided at the upper end of the lower pressure rod, and the outer diameter of the sliding section is matched with the inner diameter of the upper end of the sliding cavity, and the inner diameter of the lower end of the sliding cavity is matched with the outer diameter of the lower pressure rod. A plug is provided at the upper end of the upper slide rail.

3. The through-type landing gear according to claim 1, characterized in that: The locking clamp is equipped with a sensor, and both the locking clamp and the sensor can be electrically connected to the drone body. The sensor is arranged on the upper slide rail to detect the contraction information of the lower pressure rod; wherein the locking clamp is an electromagnetic clamp, and the sensor is a proximity sensor or a distance sensor.

4. A drone, comprising a drone body, wherein the drone body is configured with a body, a frame, a tripod assembly, a support arm and a rotor, wherein the rotor is connected to the frame through the support arm; characterized in that: The tripod assembly includes an upper slide rail, a lower pressure rod and a locking clamp. The upper slide rail extends up and down and is arranged in a lower through hole at the center of the rotor of the drone body. The lower pressure rod is slidably connected to the upper slide rail. The lower end of the lower pressure rod can move up and down and extend and retract below the rotor. The locking clamp is arranged on the upper slide rail, and the locking clamp can lock and fix the lower pressure rod or loosen the lower pressure rod.

5. The drone according to claim 4, characterized in that: The upper slide rail is provided with a sliding cavity penetrating the lower end thereof, the sliding cavity is slidably connected with a lower pressing rod, and the lower end of the lower pressing rod passes through the lower end of the upper slide rail and extends outward.

6. The drone according to claim 5, characterized in that: The sliding cavity passes through the upper end of the upper sliding rail, and a plug is provided at the upper end of the upper sliding rail. The sliding cavity is a stepped hole structure with a large upper end and a small lower end. A sliding section is provided at the upper end of the lower pressure rod, and the outer diameter of the sliding section is matched with the inner diameter of the upper end of the sliding cavity, and the inner diameter of the lower end of the sliding cavity is matched with the outer diameter of the lower pressure rod.

7. The drone according to claim 4, characterized in that: The tripod assembly also includes a buffer pad, which is arranged at the lower end of the lower pressure rod; the locking clamp is equipped with a sensor, the locking clamp and the sensor are electrically connected to the drone body, and the sensor is arranged on the upper slide rail to detect the contraction information of the lower pressure rod; wherein the locking clamp is an electromagnetic clamp, and the sensor is a proximity sensor or a distance sensor.

8. The drone according to claim 4, characterized in that: The rotor includes a propeller, a motor and a bracket, the bracket is installed on the outer end of the bracket, the motor is installed on the bracket, and the propeller is connected to the transmission shaft of the motor; the motor is axially hollow to form a through hole I, the bracket is vertically hollow to form a through hole II, the outer end of the bracket is provided with a radially through through hole III, and the through hole I, through hole II and through hole III are on a concentric axis, and the upper slide rail extends vertically and is arranged in the through hole I, through hole II and through hole III.

9. The drone according to claim 8, characterized in that: The bracket is provided with a clamp portion, the clamp portion is provided with a fastening portion, the fastening portion is configured with a bolt kit, the outer end of the support arm is inserted into the clamp portion, and the clamp portion is clamped on the outer end of the support arm when the bolt kit is tightened; wherein the clamp portion is C-shaped or U-shaped, and its open end extends outward to form the fastening portion.

10. The drone according to claim 8, characterized in that: A receiving portion is provided at the rear end of the motor, a hanging portion is provided on the bracket, and the hanging portion is bolted to the receiving portion; wherein, a horizontally extending concave-convex groove I is provided on the vertical side wall surface of the hanging portion, and a concave-convex groove II is provided on the contact surface of the receiving portion with the hanging portion, and the concave-convex groove II and the concave-convex groove I form a matching mortise and tenon structure, and the concave-convex groove I is slidably connected with the concave-convex groove II; wherein, the concave-convex groove I is a protrusion, and the concave-convex groove II is a groove.

Images