Landing gear supporting leg and unmanned aerial vehicle

Abstract

The landing gear supporting leg comprises an unmanned aerial vehicle body, and the unmanned aerial vehicle body is provided with a landing gear; the undercarriage comprises at least three foot stool assemblies, and the at least three foot stool assemblies are uniformly distributed in the circumferential direction of the unmanned aerial vehicle body; the foot stand assembly comprises a lower pressing rod and a supporting foot pad, the upper end of the lower pressing rod extends upwards to be connected to the unmanned aerial vehicle body, the lower end of the lower pressing rod extends downwards, the radial width of the supporting foot pad is larger than that of the lower pressing rod, the upper end of the supporting foot pad is of a tip structure gradually contracting from bottom to top, and the surface of the tip structure is a conical surface or a pyramid inclined surface. A mounting hole is formed in the center of the top face of the upper end of the supporting foot pad so that the supporting foot pad can be mounted at the lower end of the lower pressing rod. The upper end of the supporting foot pad is of a tip structure, the surface of the supporting foot pad inclines to enable acting force to deflect, riprap or soil piles can be pulled out with small acting force, and the riprap or the soil piles are clamped by large stones to act on the inclined surface to deflect and pulled out from empty places.

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 utility model patent "Compressed air landing UAV landing mechanism and UAV, announcement number CN219313065U", the buffer pad is connected to the lower end of the lower pressure rod by bolts or bonding, which plays a buffering role. For another example, in the Chinese utility model patent "Compression rod landing UAV landing mechanism and UAV, announcement number CN219884123U", the buffer pad is connected to the lower end of the lower pressure rod by bolts or bonding, which plays a buffering role.

[0005] As mentioned above, the downward pressure rod of the UAV tripod is generally provided with a foot pad for buffering. Therefore, the foot pad protrudes radially outward from the downward pressure rod and adopts a cylindrical structure. Since the top surface of the foot pad is flat, when the UAV is used for landing and parking at a construction site or in the field, it is inserted into a pile of rocks or dirt. The dirt or rock pile is vertically pressed on the top surface of the flat foot pad. Then taking off requires a large force to pull out the rocks or dirt pile. Utility Model Content

[0006] The purpose of the invention of the utility model is to provide a drone in view of the above-mentioned problem, wherein the upper end of the foot pad is a pointed structure, and the surface is inclined so that the force is biased, and a smaller force is required to pull out the rocks or soil piles.

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

[0008] A drone includes a drone body, and the drone body is equipped with a landing gear; the landing gear includes at least three tripod assemblies, and the at least three tripod assemblies are evenly distributed around the drone body; the tripod assembly includes a push rod and a foot pad, the upper end of the push rod extends upward to connect to the drone body, and the lower end of the push rod extends downward, the radial width of the foot pad is greater than the push rod, the upper end of the foot pad is a tip structure that gradually shrinks from bottom to top, and its surface is a cone or a pyramid slope, and a mounting hole is provided at the center of the upper end top surface of the foot pad to be mounted on the lower end of the push rod. Among them, the angle d1 between the upper end cone or pyramid slope of the foot pad and the plane is 45°-80°. In this way, the upper end of the foot pad is a tip structure, and the surface is inclined so that the force is biased, and a small force is required to pull out the rocks or mud piles, and when it is stuck by a large stone, it acts on the inclined surface to deflect it and pull it out from an empty place.

[0009] Based on the above scheme, in an improved scheme, in order to increase the landing area, the lower end of the foot pad of the drone is a tip structure that gradually shrinks from top to bottom, and its surface is a cone or pyramid slope. Among them, the angle d2 between the cone or pyramid slope at the lower end of the foot pad and the plane is 45°-80°. In this way, the lower end of the foot pad is a tip structure, which is conducive to landing and stopping and inserting into the mud pile, and has a larger landing contact area after the stop is stable.

[0010] Based on the above scheme, in an improved scheme, in order to land horizontally on uneven and irregular ground, the landing gear of the drone also includes a closed component; the tripod component also includes a pneumatic cylinder and a piston, the pneumatic cylinder is arranged on the drone body and extends downward, the upper end of the lower pressure rod is slidably connected to the air cavity of the pneumatic cylinder through the piston so that it can be retracted, and the lower end of the lower pressure rod extends downward, and the pneumatic cylinder is provided with a venting nozzle connected to the air cavity; the closed component is connected to the air cavity through the venting nozzle so that the air cavity can be inlet or outlet, and the closed component can close the air cavity when the lower pressure rod is retracted a certain distance. Among them, the pneumatic cylinder and the lower pressure rod constitute a gas spring support structure, and the retracted position of the lower pressure rod is adjusted to close the air cavity. The lower pressure rod continues to retract under the action of the drone's own weight, and the drone has a light weight. Even if the air cavity is connected to the outside world (the filling pressure is the same as the outside world), the air cavity can have buffering and supporting performance after being filled with gas under pressure. Preferably, the closed component includes a ventilation switch and a sensor, the air cavity is connected to the outside through the ventilation nozzle and the ventilation switch, the ventilation switch and the sensor can be electrically connected to the drone body, and the sensor is arranged on each pneumatic cylinder to detect the contraction information of the lower pressure rod; wherein, the ventilation switch is an electrically controlled air valve, and the sensor is a proximity sensor or a distance sensor. After the sensor detects that all the lower pressure rods have contracted a certain distance, all ventilation switches are controlled to close the closed air cavity, and as the lower pressure rod continues to contract, the gas in the air cavity is compressed to support the drone body to complete the landing support. In this way, the pressure rod is slidably connected to the pneumatic cylinder through the piston to form a gas spring support structure. The pressure rod can be extended and retracted up and down, and the lower end of the pressure rod extends outward; after the UAV body takes off, the ventilation switch opens the air cavity, and the pressure rod extends outward under the action of gravity; when the UAV lands, the lower end of the pressure rod gradually approaches the ground, and then each pressure rod contacts the ground directly below it. After all the pressure rods shrink a certain distance, the ventilation switch closes the closed air cavity, and the pressure rod continues to shrink as the UAV continues to land. The gas in the air cavity is pressurized to support the UAV to complete the landing support and achieve horizontal landing on uneven and irregular ground.

[0011] Based on the above solution, in an improved solution, the tripod assembly further includes a crossbar, the outer end of the crossbar is connected to the pneumatic cylinder, and the inner end of the crossbar is arranged on the drone body. In this way, the landing support point spacing of the landing gear is expanded outwards through the crossbar.

[0012] Due to the adoption of the above technical solution, the utility model has the following beneficial effects:

[0013] 1. The UAV of the utility model has a pointed structure at the upper end of the foot pad, and the surface is inclined so that the force is biased, and a small force is needed to pull out the rocks or mud piles. When a large rock is stuck, the inclined surface is used to deflect it and pull it out from an empty place.

[0014] 2. The lower end of the foot pad is pointed, which is convenient for inserting into the mud pile when landing and stopping, and has a larger landing contact area after the machine stops stably.

[0015] 3. Each downward pressure rod forms a landing fulcrum, which approaches and touches the ground directly below it vertically and is fixed by a closed air cavity. The gas in the air cavity is compressed to support the drone and also has a buffering performance, so that it can land safely on uneven and irregular ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a side view structural schematic diagram of the UAV example 1 of the utility model.

[0017] Figure 2 yes Figure 1 Schematic diagram of the internal structure of the foot pad.

[0018] Figure 3 yes Figure 1 Schematic diagram of the three-dimensional structure of the foot pad.

[0019] Figure 4 It is a side view structural schematic diagram of UAV Example 2 of the utility model.

[0020] Figure 5 yes Figure 4 Schematic diagram of the top view structure.

[0021] Figure 6 yes Figure 4 A schematic diagram of the partial top view of the tripod assembly.

[0022] Figure 7 yes Figure 4 Schematic diagram of the landing state structure.

[0023] Figure 8 It is a side view of UAV Example 3 of the utility model.

[0024] Fig. 9 It is a partial side view of UAV example 4 of the utility model.

[0025] Fig.10 It is a partial side view of UAV example 5 of the utility model.

[0026] Fig.11 It is a partial side view of UAV example 6 of the utility model.

[0027] Fig.12 It is a partial side view of the UAV example 7 of the utility model.

[0028] In the accompanying drawings, 1 is a machine body, 12 is a tripod assembly, and 125 is a foot pad. DETAILED DESCRIPTION

[0029] Example 1

[0030] See also Figure 1 , Figure 4 and Figure 5 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 circumferential surface, and the normal surface of ab passing through z is the vertical surface.

[0031] See also Figure 1-Figure 3 The drone of this embodiment 1 includes a drone body, and the drone body is equipped with a landing gear; the landing gear includes at least three tripod assemblies 12, and the at least three tripod assemblies 12 are evenly distributed around the drone body. The tripod assembly includes a down-pressing rod '124' (this embodiment 1 defines the down-pressing rod as the down-pressing rod '124' to distinguish it from the following embodiments) and a foot pad 125, the upper end of the down-pressing rod '124' extends upward to connect to the drone body, and the lower end of the down-pressing rod '124' extends downward, the radial width (maximum width) of the foot pad 125 is greater than the down-pressing rod '124', the upper end of the foot pad 125 is a tip structure that gradually shrinks from bottom to top, and its surface is a conical surface or a pyramidal inclined surface, and a mounting hole 1250 is provided at the center of the upper end top surface of the foot pad 125 to be mounted on the lower end of the down-pressing rod '124'.

[0032] The width of the drone's down rod '124' is generally small, and the middle section of the foot pad 125 radially protrudes outward from the down rod '124' by a certain thickness, such as 10mm or 20mm, so as to have a larger landing contact area. The lower end of the down rod '124' is threaded or bonded to the mounting hole (blind hole) 1250, and the top surface of the foot pad (the farthest to the outer edge) radially protrudes outward by a certain thickness, such as 2mm or 5mm, so as to have better strength and fixing effect. The tip surface 1251 of the upper end of the support pad 125 can be a conical surface (conical surface), in which case the upper and lower base surfaces are circular, and the angle d1 between the vertical section line of the cone surface and the plane is 45°-80°, such as 60° or 75°, etc.; the tip surface 1251 of the upper end can also be a triangular pyramid side surface (pyramid slope), in which case the upper and lower base surfaces are regular triangles facing each other, and the angle d1 between the slope and the plane is 45°-80°, such as 60° or 75°, etc.; the tip surface 1251 of the upper end can also be a pentagonal pyramid side surface (pyramid slope), in which case the upper and lower base surfaces are regular pentagons facing each other, and the angle d1 between the slope and the plane is 45°-80°, such as 60° or 75°, etc., etc., the following description takes the conical surface as an example, and the support pad is made of existing silicone or rubber, which will not be explained in detail here.

[0033] The drone body includes a body 1, a frame 11, a landing gear, a support arm 13 and a rotor 14, etc. The body 1 is equipped with a lithium battery pack and a circuit board of a controller, etc. The rotor 14 is connected and controlled to start and stop via a standard cable. The drone body and its control are existing technologies and will not be repeated here; for example, the DJI drone on the market; for another example, the Chinese patent document "A crack detection drone, announcement number CN216509120U" takes the crack detection scheme of a building by a quad-rotor drone as an example to illustrate that a probe arm and a crack detection mechanism are arranged on the drone body. The crack detection mechanism includes a mechanical working arm and a crack detector, etc., which can slide back and forth and extend outward along the probe arm, and then realize crack detection through the crack detector, and it is equipped with a landing gear for landing. This application improves the landing gear structure of the existing drone body, and takes the example of a quad-rotor drone with four tripod assemblies and a conical surface on the tip of the upper end of the foot pad as an example.

[0034] As mentioned above, the upper end of the support pad is a pointed structure, and the surface of the upper tip is inclined so that the force is biased. Compared with a cylindrical structure, a smaller force is required to pull out rocks or piles of mud; moreover, when stuck by a large rock, the force acts on the inclined surface to deflect it and pull it out from an empty space; moreover, it has a certain buffering effect.

[0035] Example 2

[0036] This embodiment 2 is an improvement on embodiment 1. For other matters not fully explained, please refer to the aforementioned embodiment 1.

[0037] See also Figure 1-Figure 3 In this embodiment 2, in order to increase the landing area, the lower end of the foot pad 125 of the drone is a tip structure that gradually shrinks from top to bottom, and its surface is a cone or a pyramid slope.

[0038] Among them, the tip surface 1252 of the lower end of the support pad 125 can be a conical surface (conical surface), in which case the upper and lower bases are circular, and the angle d2 between the vertical section line of the cone and the plane is 45°-80°, such as 60° or 75°, etc.; the tip surface 1252 of the lower end can also be a triangular pyramid side surface (pyramid slope), in which case the upper and lower bases are regular triangles facing each other, and the angle d2 between the slope and the plane is 45°-80°, such as 60° or 75°, etc.; the tip surface 1251 of the lower end can also be a pentagonal pyramid side surface (pyramid slope), in which case the upper and lower bases are regular pentagons facing each other, and the angle d1 between the slope and the plane is 45°-80°, such as 60° or 75°, etc., etc., the following description takes the conical surface as an example, and the support pad is made of existing silicone or rubber, which will not be explained one by one here.

[0039] As mentioned above, the lower end of the foot pad is a pointed structure, which is convenient for inserting into the mud pile when landing and stopping. Compared with the cylindrical structure, it has a larger landing contact area after the stop is stable.

[0040] Example 3

[0041] This embodiment 3 is an improved solution of embodiment 1 or 2. For other matters not fully explained, please refer to the aforementioned embodiments 1-2.

[0042] See also Figure 4-Figure 7 In the drone of the third embodiment, the landing gear further includes a closing component. The tripod component further includes a pneumatic cylinder 122 and a piston 1241. The pneumatic cylinder 122 is arranged on the drone body and extends downward. The upper end of the lower pressure rod 124 is slidably connected to the air cavity 1221 of the pneumatic cylinder 122 through the piston 1241 so that it can be extended and retracted, and the lower end of the lower pressure rod 124 extends downward. The pneumatic cylinder 122 is provided with a vent nozzle 123 connected to the air cavity; the closing component is connected to the air cavity 1221 through the vent nozzle 123 so that the air cavity can be inlet or outlet, and the closing component can close the air cavity when the lower pressure rod 124 is retracted a certain distance.

[0043] This application is explained by taking the pneumatic cylinder as an example of a component independent of the drone body. Of course, the pneumatic cylinder can also be integrated on the drone body, that is, the air cavity can be integrated on the drone body. In this case, the pneumatic cylinder is a pneumatic cylinder section that is part of the drone body, which will not be described here. The lower pressure rod needs to be telescopic and supported, and the air cavity needs to have a certain sealing performance. Therefore, it is slidably connected to the pneumatic cylinder through a piston, etc. to form a gas spring support structure, as described later; of course, a gas spring equipped with an air nozzle connected to the air cavity can also be directly used to replace the present application solution.

[0044] Therefore, the pneumatic cylinder 122 can be arranged in a fixed connection or a foldable connection, both of which are existing technologies. Among them, the fixed connection structure can be realized by existing welding or bolt connection, see Figure 4 , Figure 8 or Fig. 9 The foldable connection structure is realized by using existing foldable self-locking hinge components; for example, the foldable self-locking hinge commonly seen in daily life can be rotated at 0 degrees, 90 degrees and 180 degrees and self-locked, and connected between the frame (or support arm) and the pneumatic cylinder to realize the manual control of the pneumatic cylinder folding connection; for example, Fig.10 In the drone example 5 shown, the pneumatic cylinder is hinged on the frame chassis 101, and is provided with an angle plate 122 to limit the rotation angle, and is provided with a tension spring 126 to tighten, so that the pneumatic cylinder can be folded under the action of an external force, which is an existing technology; for example, Fig.11 In the drone example 6 shown, a triangular folding structure 127 is purchased on the market, and it is bolted between the pneumatic cylinder and the frame chassis 101 to achieve folding and articulation; for example, the Chinese invention patent application "A folding drone landing gear and its locking device, publication number CN108860576A" applies the foldable structure to this application, such as Fig.12 In the drone example 7 shown, the folding locking device 128 is connected to the frame base 101 or the support arm, and is connected to the pneumatic cylinder 122 through the folding rod 1281, so that the pneumatic cylinder can be stretched vertically downward for operation or bent and folded horizontally for storage; for example, the Chinese invention patent application "A drone landing gear and drone, publication number CN111532420A" applies its foldable structure to this application, and connects it to the frame to realize the electrically controlled folding connection of the pneumatic cylinder. This application mainly uses the welding connection between the pneumatic cylinder 122 and the frame 11 as an example for explanation, and other connection structures are not repeated here; accordingly, the following embodiments are described using the welding connection between the cross bar 121 and the frame 11 as an example, such as Figure 8 and Fig. 9 shown.

[0045] The upper end of the pneumatic cylinder 122 is directly welded to the four sides of the frame 11. The pneumatic cylinder 122 is arranged vertically downward to achieve fixed installation of the tripod assembly, for example, the pneumatic cylinder is fixed to the lower surface of the frame at the top of the body corresponding to the installation arm position.

[0046] Moreover, the pneumatic cylinder 122 and the lower pressure rod 124 adopt an existing piston sliding connection structure, which can adopt the lower pressure rod to cooperate with the piston to be upwardly sleeved and slidably connected to the inner cavity of the pneumatic cylinder (hole-shaped slide groove), and can also adopt the lower pressure rod to cooperate with the piston to be downwardly sleeved and slidably connected to the inner cavity of the pneumatic cylinder, etc. This application is explained by taking the lower pressure rod upwardly sleeved in the inner cavity of the pneumatic cylinder as an example. Among them, the pneumatic cylinder, piston, etc. are all existing components, and the pneumatic cylinder, lower pressure rod and other tripod assembly 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 function of the closing component is to be able to close the air cavity when the lower pressure rod is retracted to a preset closing position, and the preset closing position is higher than the initial position and lower than the top position, and can be slightly higher than the initial position, such as 1 cm higher than the initial position, or a median position, etc. In the present embodiment 3, the closing component adopts a ventilation switch, and the air cavity is connected to the outside through a ventilation nozzle (equipped with external threads or internal threads) and a ventilation switch, and is threadedly connected or adhesively fixed with a gasket. The ventilation switch is an existing technology, and a linkage mechanical switch (all the lower pressure rods are retracted to a predetermined position to trigger linkage closure) can be used, and an electrically controlled air valve equipped with a sensor can also be used. This application is explained by taking an electrically controlled air valve as an example: the electrically controlled air valve is an electromagnetic valve, which is equipped with a sensor, and the electromagnetic valve and the sensor are both electrically connected to the drone body, and the sensor is arranged on the pneumatic cylinder to detect the contraction information of the lower pressure rod; wherein the sensor is a proximity sensor or a distance sensor. The solenoid valve, proximity sensor and distance sensor are all existing technologies, connected to the controller of the drone body through standard cables, and will not be repeated here; for example, the Chinese patent application document "A natural gas energy-saving stove, publication number CN111998399A" and the Chinese patent application document "Washing table, publication number CN108071137A", in which the photoelectric proximity sensor and the photoelectric induction sensor are equivalent to the sensor of this application, can directly apply the solenoid valve and sensor connection scheme. The sensor can be installed and arranged on the pneumatic cylinder by bolt connection or bonding; for example, the proximity sensor is set at a position 5cm higher than the natural hanging position of the lower pressure rod (preset closed position) and radially aligned with the center of the air 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 (controller of the drone body). When each lower pressure rod is detected, the controller issues a closed air cavity instruction, and each solenoid valve is powered on and closed; for another example, the distance sensor is set at a position 5cm higher than the natural hanging position of the lower pressure rod (preset closed position) and radially aligned with the air cavity Center, each distance sensor detects the distance information (down-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 closed air cavity instruction, and each solenoid valve is powered to close. For another example, the distance sensor is set in the air cavity and axially aligned with the down-pressure rod. Each distance sensor detects the distance information and transmits it to the controller in real time. The controller identifies the distance information and compares it with the preset value (preset closed position). When each real-time distance value is less than the preset value, the controller issues a closed air cavity instruction, and each solenoid valve is powered to close. In this way, after the sensor detects that all the down-pressure rods have contracted a certain distance, all ventilation switches are controlled to close the closed air cavity. As the down-pressure rod continues to contract, the gas in the air cavity is compressed to support the drone body to complete the landing support.Similarly, the sensor can also limit the drop. When the lower pressure rod is retracted 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. When the air cavity is connected to the outside world, the lower pressure rod is in a fully extended state at the initial position, and in a zero extended state at the top position. The height of the lower pressure rod in the preset closed position is greater than the initial position and less than or equal to the maximum height limit position.

[0048] On the other hand, the air cavity ventilation switch is connected to the outside, and can be directly connected to the outside air. At this time, the air cavity is supported by the standard atmospheric pressure after being compressed; the buffer cavity can also be connected through the ventilation switch (the buffer box with the buffer cavity is connected through a connecting pipe, wherein the connecting pipe is small in volume relative to the air cavity or the buffer cavity and can be ignored), and the buffer cavity and the air cavity form a closed high-pressure cavity. At this time, the gas pressure in the high-pressure cavity is higher than the standard atmospheric pressure. Under the same weight of the drone, the gas in the air cavity is compressed and contracted to support the lower pressure rod of the drone. The contraction support distance will be less than the standard air pressure solution. This embodiment 3 is explained by taking the standard air pressure solution as an example to connect to the outside air.

[0049] like Figure 7 As shown, the drone lands on a stepped floor 100 with two high and low surfaces (the high and low surfaces have a height difference, for example, 10 cm), and the drone gradually approaches and contacts the stepped floor 100; 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 floor 100; then the drone continues to fall, and the downward pressure rod directly above the high surface gradually slides upward and inward due to the downward force of the corresponding pneumatic cylinder, and the drone continues to fall. When the drone continues to fall for a certain distance (such as a height difference of 10 cm), the lower end of the downward pressure rod directly above the low surface touches the stepped ground 100; then the drone continues to fall, and each downward pressure rod gradually slides upward and retracts due to the downward pressure of the corresponding pneumatic cylinder, until the downward pressure rod directly above the low surface retracts to a preset position, triggering the linkage closed air cavity operation, and then each solenoid valve closes the closed air cavity respectively; then, as the drone continues to fall, the downward pressure rod continues to contract, and the gas in the air cavity is pressurized to support the drone body and complete the landing support. For example, the downward pressure rod directly above the high surface first triggers the sensor to send the downward pressure rod contraction information, and the downward pressure rod directly above the low surface later triggers the sensor to send the downward pressure rod contraction information. After receiving the downward pressure rod contraction information, the controller triggers the linkage closed air cavity operation and sends a control signal to control each solenoid valve to close, and then each solenoid valve performs the valve closing action.

[0050] As mentioned above, the down-pressure rod is slidably connected to the pneumatic cylinder through a piston to form a gas spring support structure. The down-pressure rod can be extended and retracted up and down, and the lower end of the down-pressure rod extends outward; after the UAV body takes off, the ventilation switch opens the air cavity, and the down-pressure rod extends outward under the action of gravity; when the UAV lands, the lower end of the down-pressure rod gradually approaches the ground, and then each down-pressure rod contacts the ground directly below it respectively. After all the down-pressure rods shrink a certain distance, the ventilation switch closes the closed air cavity, and the down-pressure rod continues to shrink as the UAV continues to land. The gas in the air cavity is pressurized to support the UAV to complete the landing support; each down-pressure rod forms a landing fulcrum that approaches and contacts the ground directly below it vertically, and the gas in the air cavity is pressurized to support the UAV body, thereby achieving horizontal landing on uneven and irregular ground.

[0051] Example 4

[0052] The difference between this embodiment 4 and the aforementioned embodiment 3 lies in the closed component structure. For other matters not fully described, please refer to embodiments 1-2.

[0053] See also Fig. 9 The closed assembly of the drone of this embodiment 4 adopts a connecting pipe 1231, and the air nozzles of at least three pneumatic cylinders are interconnected through the connecting pipe. Take the four tripod assemblies as an example for explanation, the air nozzles of the four pneumatic cylinders of the drone are interconnected through connecting pipes and connecting pipes such as tees, and the gas connecting pipes and their connections all adopt existing technologies. In this way, the air cavity and the connecting pipe constitute a closed cavity, and the closed cavity can use standard atmospheric pressure or higher pressure gas, wherein the volume of the connecting pipe is small and can be ignored relative to the air cavity.

[0054] At this time, when assembling the connecting pipe fittings to close the air cavity, the preset closed position is higher than the initial position and lower than the top position. The specific preset closed position can be determined according to the distance from the pressure of the air cavity gas (starting from the standard atmospheric pressure) to the retracted support distance of the lower pressure rod supporting the drone (which decreases as the air pressure in the air cavity increases, and increases as the weight of the drone increases), so as to obtain a better value for the balance of the extension and contraction of the lower pressure rod and the drop of its ground support point. For example, assuming that the air cavity gas is pressurized to the retracted support distance of the lower pressure rod supporting the drone is 5cm, the full extension length (full retracted length) is 30cm, two lower pressure rods A fall on the high step, and the other two lower pressure rods B fall on the ground step; if the preset closed position is set at the initial position, when landing, the actual downward exploration length of A (relative to the situation of stopping on the same plane, the downward exploration depth when stopping on the lower concave surface) is 5cm, and the actual retractable length of B is limited to 10m. If the step height difference is greater than or equal to 10cm, it will tilt or touch the bottom, which is different from the full extension length of 30c m difference is very large; if the preset position is set at 5cm higher than the initial position, when landing, the actual downward reach length of A is 10cm, the actual retracted length of B is 20cm, and the step height difference is greater than or equal to 20cm before it tilts or touches the bottom, which is slightly different from the full extended length of 30cm; if the preset position is set at 10cm higher than the initial position, when landing, the actual downward reach length of A is 15cm, the actual retracted length of B is 30cm, and the step height difference is greater than or equal to 30cm before it tilts or touches the bottom, which is the same as the full extended length of 30cm.

[0055] As mentioned above, in this embodiment 4, the closed component first closes the air cavity and then uses it to form a gas spring type support structure. The principle of its use is as follows: when preparing to take off, under the action of the gravity of the drone, the lower pressure rod shrinks, and the gas in the air cavity is compressed to support the drone; after the drone body takes off, the lower pressure rod extends outward under the action of its own gravity (the extension length is the maximum), and the gas pressure in the air cavity decreases; when the drone lands, the lower end of the lower pressure rod gradually approaches the ground, and then each lower pressure rod gradually contacts the ground directly below it and continues to shrink as the drone continues to land. After all the lower pressure rods shrink a certain distance, the gas in the air cavity is compressed to support the drone to complete the landing support; each lower pressure rod forms a landing fulcrum and vertically approaches and contacts the ground directly below it, and the gas in the air cavity is compressed to support the drone body, so as to achieve horizontal landing on uneven and irregular ground. Moreover, the air cavities of the gas spring type support structure are always connected to each other during the support process, and the fluid is automatically adjusted to a horizontal state.

[0056] Example 5

[0057] This embodiment 5 is an improved solution combining the features of embodiment 3 and embodiment 4. For other matters not fully explained, please refer to the aforementioned embodiments 1-2.

[0058] See also Figure 1-Figure 9In the drone of this embodiment 5, the closed component includes a ventilation switch, a sensor, and a connecting pipe. The air cavity is connected to the outside through the ventilation nozzle and the ventilation switch, and the air nozzles of at least three pneumatic cylinders are connected to each other through the connecting pipe. Specifically, at least three air nozzles are connected to each other through a connecting pipe, and the connecting pipe is connected to the outside through an electromagnetic valve. The electromagnetic valve and the sensor can be electrically connected to the drone body, and the sensor is arranged on each pneumatic cylinder to detect the contraction information of the lower pressure rod.

[0059] This embodiment 5 can be used according to the principle of embodiment 4, first adjust the air cavity pressure according to the weight of the drone and close the air cavity, and then use it, see embodiment 4 for details. Compared with embodiment 4, the electromagnetic valve can be used to connect to the outside in time, and the air cavity pressure can be adjusted in time according to the weight of the drone, so as to better adjust the landing drop balance of the lower pressure rod. At this time, the sensor is a distance sensor that can measure the distance, and the distance sensor can measure the contraction distance of the lower pressure rod to calculate and adjust the air cavity pressure accordingly.

[0060] This embodiment 5 can also be used according to the principle of embodiment 3, and the electromagnetic valve is closed immediately according to the induction of the sensor, and the air cavity and the connecting pipe are sealed. For details, see embodiment 3. Compared with embodiment 3, after multiple air cavities are connected, they are connected to the outside through the electromagnetic valve, which can reduce the use of electromagnetic valves, and can automatically adjust to a horizontal state by using fluid, solving the problem of slight deviation from the horizontal state caused by the time difference of each electromagnetic valve in executing the closing action in embodiment 3.

[0061] Example 6

[0062] The difference between this embodiment 6 and the aforementioned embodiments 1-5 lies in the connection structure between the tripod and the drone body. For other details not fully described, please refer to the aforementioned embodiments 1-5.

[0063] See also Figure 1-Figure 9 In this embodiment 6, the tripod assembly of the drone also includes a cross bar 121, the outer end of the cross bar is welded or bolted to the pneumatic cylinder 122, and the inner end of the cross bar is arranged on the drone body.

[0064] like Figure 1-Figure 7 As shown, in UAV Example 1, the crossbar 121 is an inclined bar arranged at an angle of 30° to the horizontal, and an extension section for installation is provided at the upper end of the inclined bar to arrange the pneumatic cylinder obliquely downward on the top frame of the fuselage.

[0065] like Figure 8-Figure 9 As shown, in the drone examples 2-4, the crossbar 121 is a straight bar arranged horizontally. At this time, the pneumatic cylinder needs to be arranged on the outer wall of the bottom of the body or on the base frame 101.

[0066] The crossbar structure and its arrangement angle can be arranged according to actual conditions, for example, a circular tube structure is used with an extension section arranged at its upper end, or a square tube structure with a rectangular cross section is used with a chamfer and no extension section arranged at its upper end.

[0067] In this way, the landing fulcrum spacing of the landing gear is expanded outwardly through the crossbar, thereby improving the fulcrum support stability.

[0068] Example 7

[0069] This embodiment 7 is a further improvement on the basis of embodiment 3 or 6. This embodiment 7 also has a fine-tuning structure to solve the problem of the drone body slightly tilting due to the ground sinking due to the landing vibration or the weight of the drone. For other unexplained details, please refer to the aforementioned embodiments 3 and 6.

[0070] Specifically, the tripod assembly of this embodiment 7 also includes an electric push rod, and the pneumatic cylinder is installed on the drone body through the electric push rod, so that the pneumatic cylinder can be pushed up and down by the electric push rod to achieve fine adjustment. Here, only the structure based on embodiment 6 is described, and no detailed description is given.

[0071] The tripod assembly of the drone also includes an electric push rod, which is electrically connected to the drone body, the outer end of the cross bar is connected to the fixed end of the electric push rod, and the movable end of the electric push rod is connected to the pneumatic cylinder. The electric push rod is arranged between the cross bar and the pneumatic cylinder, and the electric push rod is connected to the drone body controller through a standard cable. When fine-tuning, the horizontal performance is detected through the tilt sensor configured on the drone body, and the direction of tilt is detected, and then each electric push rod is controlled to achieve horizontality. The electric push rod and its connection control technology are existing technologies and will not be repeated here.

[0072] In this way, a micro electric push rod can be used to achieve fine-tuning to ensure that the drone is in a horizontal position after landing, so as to perform some operations that require it to be in a horizontal position.

[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 landing gear support leg, comprising a support leg pad, wherein the radial width of the support leg pad is greater than the downward pressure rod of the landing gear, and wherein: The upper end of the support foot pad is a pointed structure that gradually shrinks from bottom to top, and its surface is a conical surface or a pyramidal inclined surface. A mounting hole is provided at the center of the top surface of the upper end of the support foot pad so that it can be mounted on the lower end of the lower pressure rod.

2. The landing gear support leg according to claim 1, characterized in that: The lower end of the support pad is a tip structure that gradually shrinks from top to bottom, and its surface is a cone surface or a pyramid slope.

3. The landing gear support leg according to claim 2, characterized in that: The angle d1 between the upper conical surface or pyramidal inclined surface of the support pad and the plane is 45°-80°; the angle d2 between the lower conical surface or pyramidal inclined surface of the support pad and the plane is 45°-80°.

4. A drone, comprising a drone body, the drone body being provided with a landing gear; the landing gear comprising at least three tripod assemblies, the at least three tripod assemblies being evenly distributed in the circumferential direction of the drone body; the tripod assembly comprising a down-pressing rod and a foot pad, the upper end of the down-pressing rod extending upwardly to be connected to the drone body, and the lower end of the down-pressing rod extending downwardly, the radial width of the foot pad being greater than the down-pressing rod, characterized in that: The upper end of the support foot pad is a pointed structure that gradually shrinks from bottom to top, and its surface is a conical surface or a pyramidal inclined surface. A mounting hole is provided at the center of the top surface of the upper end of the support foot pad for mounting on the lower end of the lower pressure rod.

5. The drone according to claim 4, characterized in that: The lower end of the support pad is a tip structure that gradually shrinks from top to bottom, and its surface is a cone surface or a pyramid slope.

6. The drone according to claim 5, characterized in that: The angle d1 between the upper conical surface or pyramidal inclined surface of the support pad and the plane is 45°-80°; the angle d2 between the lower conical surface or pyramidal inclined surface of the support pad and the plane is 45°-80°.

7. The drone according to claim 4, characterized in that: The landing gear also includes a closing component; the tripod component also includes a pneumatic cylinder and a piston, the pneumatic cylinder is arranged on the UAV body and extends downward, the upper end of the down-pressure rod is slidably connected to the air cavity of the pneumatic cylinder through the piston so that it can be extended and retracted, and the lower end of the down-pressure rod extends downward, and the pneumatic cylinder is provided with a vent nozzle connected to the air cavity; the closing component is connected to the air cavity through the vent nozzle so that the air cavity can take in or out air, and the closing component can close the air cavity when the down-pressure rod is retracted a certain distance.

8. The drone according to claim 7, characterized in that: The sealing component includes a ventilation switch and a sensor. The air cavity is connected to the outside through the ventilation nozzle and the ventilation switch. The ventilation switch and the sensor can be electrically connected to the drone body. The sensor is arranged on each pneumatic cylinder to detect the contraction information of the lower pressure rod; wherein the ventilation switch is an electrically controlled air valve, and the sensor is a proximity sensor or a distance sensor.

9. The drone according to claim 7, characterized in that: The sealing assembly comprises a connecting pipe, and the air nozzles of at least three pneumatic cylinders are connected to each other through the connecting pipe.

10. The drone according to claim 7, characterized in that: The tripod assembly also includes a cross bar, the outer end of which is connected to the pneumatic cylinder, and the inner end of which is arranged on the drone body; wherein the tripod assembly also includes an electric push rod, which is electrically connected to the drone body and is arranged between the outer end of the cross bar and the pneumatic cylinder.

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