Landing and falling rod locking device and unmanned aerial vehicle

Abstract

The utility model discloses a landing lever locking device and an unmanned aerial vehicle. The landing lever locking device comprises an unmanned aerial vehicle body. The foot stool assembly comprises a sliding rail seat, a lifting rod and a locking device, and the lifting rod is connected to the sliding rail seat in a sliding mode. The lock catch device comprises a lock box, a sliding block and a driver, the lock box is provided with a vertically-through box lock hole, the sliding block can be connected into the lock cavity in a left-right sliding mode, the sliding block is provided with a vertically-through lock catch hole, the lock catch hole comprises a sliding lock hole and a fastening hole communicated with the sliding lock hole, at least one clamping section is arranged on the side wall of the fastening hole, and the output end of the driver is connected to the sliding block. And the inner wall of the fastening hole is matched with the outer wall of the lifting rod. The lock box is arranged on the unmanned aerial vehicle body, the rising and falling rod is slidably connected to the lock box lock hole and the sliding lock hole, the inner wall of the fastening hole is matched with the outer wall of the rising and falling rod, and the sliding block can be inserted into the rising and falling rod in the radial direction under the driving condition of the driver and is inserted into and clamped to the outer wall of the rising and falling rod through the clamping section. The purpose of clamping the lifting rod can be achieved only by driving the sliding block to move rightwards through the driver.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle configured with a landing gear lock device. Background Art

[0002] With the development of unmanned aerial vehicle technology, its application scope is becoming more and more extensive; for example, photography commonly used by ordinary people, a camera is configured on a rotary-wing unmanned aerial vehicle, and the unmanned aerial vehicle is remotely controlled by a mobile phone or the like to cruise and shoot at the same time; for example, for building inspection and maintenance, etc., a telescopic arm needs to be configured on the rotary-wing unmanned aerial vehicle, and even a suction cup structure is configured at the front end of the telescopic arm to extend and adsorb and fix on the building surface for inspection operations.

[0003] Generally, market unmanned aerial vehicles include a fuselage, a frame, a landing gear, a support arm, a rotor, etc., and are configured with a control system and a power source. The unmanned aerial vehicle can be remotely controlled by a remote control or a mobile phone or the like to take off, then cruise in the air for operation or cruise to a preset position for landing operation, and return and land when the operation is completed or the power source needs to be replaced.

[0004] For example, in the Chinese patent document "Landing unmanned aerial vehicle landing gear mechanism and unmanned aerial vehicle, publication number CN219884123U", the landing gear assembly includes a landing rod and a locking clip. The landing rod can be arranged to slide up and down below the unmanned aerial vehicle body, and the locking clip is arranged around the landing rod, and the locking clip can lock and fix the landing rod or release the landing rod.

[0005] As described above, the up-and-down sliding landing rod is generally clamped on the outer wall of the landing rod by the locking clip pressing. However, generally, the locking clip adopts an electromagnetic fixture, which requires continuous power consumption to clamp the landing rod. Summary of the Utility Model

[0006] The invention purpose of the utility model is to provide an unmanned aerial vehicle in view of the above problems. The clamping section is inserted and sleeved on the outer wall of the landing rod, and only the driver needs to drive the slider to move right to clamp the landing rod.

[0007] To achieve the above object, the technical solution adopted by the utility model is:

[0008] The drone includes a drone body, and the drone body is configured with a leg assembly for landing; the leg assembly includes a slide rail seat, a landing leg and a locking device. The slide rail seat extends vertically on the drone body. The landing leg is slidably connected to the slide rail seat, and the lower end of the landing leg can move up and down and telescopically under the drone body. The locking device includes a lock box, a slider and a driver. A lock cavity is provided in the lock box. The lock box is provided with a box lock hole that penetrates up and down. The box lock hole is in the middle of the lock cavity. The slider is slidably connected left and right in the lock cavity. The slider is provided with a locking hole that penetrates up and down. The locking hole includes a sliding lock hole and a fastening hole communicating therewith, and the fastening hole is on the left side of the sliding lock hole. At least one clamping section is provided on the side wall of the fastening hole, and the clamping section extends circumferentially. The width of the fastening hole is smaller than that of the sliding lock hole. The driver is arranged on the lock box, and the output end of the driver is connected to the slider. The slider can move left to the position where the sliding lock hole coincides with the center line of the box lock hole or move right to the position where the fastening hole coincides with the center line of the box lock hole under the drive of the driver. The lock box is arranged on the drone body or the slide rail seat. The box lock hole and the sliding lock hole are slidably connected to the landing leg, and the inner wall of the fastening hole is adapted to the outer wall of the landing leg so that the slider can be radially inserted into the landing leg.

[0009] Among them, the drone body is configured with a frame, a support arm and a rotor. The rotor is connected to the frame through the support arm. The slide rail seat extends vertically at the center of the rotor of the drone body, and the lock box is arranged on the rotor; among them, the rotor is axially hollow to form a lower through hole, the slide rail seat is arranged in the lower through hole, and the slide rail seat is provided with a downward through sliding hole, and the landing leg is slidably connected in the sliding hole.

[0010] As described above, the lock box is arranged on the drone body, the landing leg is slidably connected to the lock hole and the sliding lock hole of the lock box, the inner wall of the fastening hole is adapted to the outer wall of the landing leg, and the slider can be radially inserted into the landing leg under the drive of the driver. By inserting the clamping section into and sleeving on the outer wall of the landing leg, the purpose of clamping the landing leg can be achieved only by driving the slider to move right by the driver.

[0011] Based on the foregoing solution, in an improved solution, the latch device further includes an elastic member. The elastic member is disposed in the lock cavity, connected to the slider, and under the action of its restoring force, the elastic member can push the slider to move rightward to the position where the center lines of the fastening hole and the box lock hole coincide. Wherein, the driver is a servo motor, the servo motor is disposed in the lock cavity, and the rocker arm of the servo motor is connected to the slider; when the servo motor drives the rocker arm to rotate to the active position, the slider can be pushed by the rocker arm to move leftward to the position where the center lines of the sliding lock hole and the box lock hole coincide; when the servo motor drives the rocker arm to rotate to the fastening position, the slider can be pushed by the elastic member to move rightward to the position where the center lines of the fastening hole and the box lock hole coincide, or can be pushed by the elastic member and the rocker arm to move rightward to the position where the center lines of the fastening hole and the box lock hole coincide. The lock cavity includes a sliding cavity, a spring cavity and a device cavity. The width of the sliding cavity is adapted to the slider. The box lock hole is in the middle of the sliding cavity. The left side of the sliding cavity communicates with the spring cavity, and the elastic member is disposed in the spring cavity. The right side of the sliding cavity communicates with the device cavity, and the servo motor is disposed in the device cavity; the sizes of the sliding cavity, the spring cavity and the device cavity can be respectively designed adaptively, which is beneficial to lightweight. The device cavity penetrates rightward through the lock box to form an opening, and the lock box is provided with a box cover, and the box cover is connected to cover the opening of the lock box; by opening the opening, it is convenient to disassemble and assemble one by one. Thus, after the driver drives the slider to move rightward and insert the sleeve on the landing rod, the slider is subjected to the restoring force of the elastic member acting rightward, which can clamp the slider and prevent it from moving leftward and retreating.

[0012] Based on the foregoing solution, in an improved solution, the end face of the inner side wall of the fastening hole near the sliding lock hole end is a guiding inclined surface. The protruding height of the guiding inclined surface decreases as it approaches the sliding lock hole, and at least one clamping section is arranged in sequence along the axis. Wherein, the clamping section is a groove, and the cross section of the groove is triangular, trapezoidal, circular or elliptical. The guiding inclined surface is formed by intercepting the inner side wall of the fastening hole by an oblique line or an arc extending in the up and down direction. Thus, a guiding structure is formed by the guiding inclined surface, which is convenient for the clamping section to be inserted and sleeved on the outer wall of the landing rod.

[0013] Based on the foregoing solution, in an improved solution, the latch device further includes a trigger. The driver is configured with a controller, the trigger is electrically connected to the controller, and the trigger is disposed on the lock box or the slide rail base. Wherein, the trigger is a travel switch, the travel switch is disposed on the slide rail base, and a cylindrical groove is provided on the outer wall of the top end of the landing rod. The travel switch faces the cylindrical groove when the landing rod is in the lowest position so that it is triggered as the landing rod moves upward. Thus, by using the trigger to respectively detect the movement of each landing rod, after each landing rod touches the bottom and moves upward, the driver is triggered to drive the slider to move rightward, and then the landing rod is fastened to realize landing.

[0014] Due to the adoption of the above technical solution, the utility model has the following beneficial effects:

[0015] 1. For the drone of the present utility model, the lock box is arranged on the drone body. The landing gear rod is slidably connected to the lock hole and the sliding lock hole of the lock box. The inner wall of the fastening hole is adapted to the outer wall of the landing gear rod. The slider can be radially inserted into the landing gear rod under the drive of the driver, and the clamping section is inserted and sleeved on the outer wall of the landing gear rod. Just driving the slider to move right by the driver can achieve the purpose of clamping the landing gear rod.

[0016] 2. After the driver drives the slider to move right and insert it into the landing gear rod, the slider is acted on by the restoring force of the elastic member to the right, which can clamp the slider and prevent it from moving left and retracting.

[0017] 3. Each landing gear rod is detected by the trigger for movement. After each landing gear rod touches the ground and moves up, it triggers the driver to drive the slider to move right, and then clamps the landing gear rod to achieve landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic side view structure diagram of the state where the landing gear rod of Drone Example 1 of the present utility model moves up. Figure 2 It is Figure 1 a schematic structure diagram of the rotor and leg assembly. Figure 3 It is Figure 2 a schematic structure diagram from another perspective. Figure 4 It is Figure 2 an exploded view of the leg assembly. Figure 5 It is Figure 4 a schematic structure diagram of the ring seat. Figure 6 It is Figure 4 a schematic structure diagram of the upper seat. Figure 7 It is Figure 4 a schematic structure diagram of the lower seat. Figure 8 It is Figure 4 a schematic structure diagram of the locking device. Figure 9 It is Figure 8 a schematic structure diagram from another perspective. Figure 10 It is Figure 8 a schematic structure diagram from yet another perspective. Figure 11 It is Figure 8 a schematic internal structure diagram of the lock box. Figure 12 It is Figure 8 a schematic internal structure diagram of the slider. Figure 13 It is Figure 8 a schematic internal structure diagram of the box cover. Figure 14 It is Figure 4 a schematic structure diagram of the support. Figure 15 It is Figure 14 a schematic structure diagram from another perspective. Figure 16 It is Figure 4 a schematic connection structure diagram of the ring seat, lower seat, support and locking device. Figure 17 It is Figure 4 a schematic structure diagram of the protective shell. Figure 18 It is Figure 17Another perspective structural schematic diagram. Figure 19 is Figure 17 the connection structure schematic diagram. Figure 20 is Figure 2 the power motor structure schematic diagram. Figure 21 is Figure 20 Another perspective structural schematic diagram. Figure 22 is Figure 2 the lower slide rail seat structure schematic diagram. Figure 23 is Figure 22 Another perspective structural schematic diagram. Figure 24 is Figure 2 the upper slide rail seat structure schematic diagram. Figure 25 is Figure 24 Another perspective structural schematic diagram. Figure 26 is Figure 2 the internal structure schematic diagram of the upper slide rail seat. Figure 27 is Figure 2 the plug structure schematic diagram. Figure 28 is Figure 2 the lifting rod structure schematic diagram. Figure 29 is Figure 4 the connection structure schematic diagram of the lifting rod and the locking device. Figure 30 is Figure 2 the exploded view of the support arm. Figure 31 is Figure 30 Another perspective structural schematic diagram.

[0019] In the drawings, 1, the body; 2, the frame; 3, the support arm; 30, the ring seat; 301, the through-arm hole; 302, the fixed-arm hole; 30d, the ring hole d; 31, the support plate; 32, the support seat; 33, the counterweight block; 331, the weight block; 332, the heavy block; 4, the locking device; 41, the lock box; 411, the device cavity; 412, the sliding cavity; 413, the spring cavity; 41a, the box lock hole; 41b, the box hole b; 41c, the box hole c; 41e, the box hole e; 41g, the box hole g; 42, the spring; 43, the slider; 43a, the sliding lock hole; 43a’, the fastening hole; 431, the positioning hole; 44, the servo; 44f, the servo hole f; 45, the box cover; 45e, the cover hole e; 45f, the cover hole f; 46, the upper seat; 46a, the upper lock hole; 46b, the upper hole b; 46c, the upper hole c; 46d, the upper hole d; 461, the lower seat; 461a, the lower lock hole; 47, the support; 47a, the support lock hole; 47c, the support hole c; 47d, the support hole d; 48, the protective shell; 48h, the shell hole h; 48g, the shell hole g; 481, the connecting rod; 481h, the rod hole h; 5, the rotor; 51, the power motor; 511, the motor seat; 512, the hook groove; 52, the lower slide rail seat; 521, the lower rail threaded hole; 52a, the lower rail lock hole; 6, the lifting rod; 61, the plug; 7, the travel switch; 71, the upper slide rail seat; 711, the switch seat; 712, the switch groove; 713, the upper rail threaded hole; 71a, the upper rail lock hole. Detailed implementation mode

[0020] Embodiment 1

[0021] Refer to Figure 1 , it is defined that the drone body has a vertical direction z, the corresponding landing gear moves up and down, and the axial direction, and the vertical plane is defined by z; the horizontal plane is a, corresponding to left and right, front and back, circumferential, and radial directions.

[0022] Refer to Figures 1 - 31 , the drone of this Embodiment 1 includes a drone body, and the drone body is configured with a tripod assembly for landing; the tripod assembly includes a slide rail seat, a landing gear 6 and a locking device. The slide rail seat extends up and down on the drone body. The landing gear 6 is slidably connected to the slide rail seat, and the lower end of the landing gear 6 can move up and down and telescopically below the drone body; the locking device includes a lock box 41, a slider 43 and a driver. A lock cavity is provided in the lock box 41. The lock box 41 is provided with a box lock hole 41a that penetrates up and down. The box lock hole 41a is in the middle of the lock cavity. The slider 43 is slidably connected left and right in the lock cavity. The slider 43 is provided with a lock hole that penetrates up and down. The lock hole includes a sliding lock hole 43a and a fastening hole 43a' communicated with it, and the fastening hole 43a' is on the left side of the sliding lock hole 43a. At least 1 clamping section is provided on the side wall of the fastening hole 43a', and the clamping section extends circumferentially. The width of the fastening hole is smaller than that of the sliding lock hole. The driver is arranged on the lock box 41, and the output end of the driver is connected to the slider 43. The slider 43 can move left to the position where the sliding lock hole coincides with the center line of the box lock hole (active position) or move right to the position where the fastening hole coincides with the center line of the box lock hole (fastening position) under the drive of the driver; the lock box 41 is arranged on the drone body or the slide rail seat. The box lock hole 41a and the sliding lock hole 43a are slidably connected with the landing gear 6, and the inner wall of the fastening hole 43a' is adapted to the outer wall of the landing gear 6 so that the slider can be radially inserted into the landing gear (the shape and size are adapted for mortise and tenon connection).

[0023] Among them, taking a rotary-wing unmanned aerial vehicle (UAV) as an example, the UAV body includes a fuselage 1, a frame 2, landing gears, a support arm 3, rotors 5, etc. The power motors and drive shafts used have a solid structure or a hollow structure. Inside the fuselage 1, there are a lithium battery pack and a circuit board of a controller, etc. The rotors are connected and controlled to start and stop via standard cables. The UAV body and its control are both existing technologies and will not be elaborated here. For example, DJI UAVs on the market. Another example is the Chinese patent document "Landing UAV Landing Gear Mechanism and UAV, Publication Number CN219884123U", in which the leg assembly includes a landing rod and a locking clip. The landing rod is arranged below the UAV body so as to be able to slide up and down, and the locking clip is arranged around the landing rod, and the locking clip can lock and fix the landing rod or loosen the landing rod; the locking device of the present application can be used to replace the locking clip to achieve this. The present application improves the landing gear structure of the existing UAV body. In this embodiment, taking the example that 4 leg assemblies are respectively arranged in the cavities (lower through holes) of 4 groups of dual-power motors of a quadrotor UAV for illustration.

[0024] The rotor is an existing technology, including a propeller, a power motor 51 and a support 47. The support is installed at the outer end of the support arm 3, the power motor is installed on the support, and the propeller is connected to the drive shaft of the power motor. The power motor and the drive shaft are axially hollow to form a lower through hole, and the support 47 is vertically penetrated with a locking hole 47a. As Figure 1 shown, taking the example that 1 rotor is respectively connected to the fixed surfaces on the top side and the bottom side of the lock box for illustration; of course, for a single-rotor structure, it can be connected to the top side or the bottom side of the lock box.

[0025] The landing rod adopts a sliding rail connection structure that can slide up and down telescopically, which is an existing technology, and the present application applies it to the UAV. For example, a sliding rail structure can be integrally provided on the lower through hole of the rotor. The sliding rail structure can be a guide rail or a hole-shaped chute, that is, arranging a guide rail adapted to the landing rod so that the landing rod slides up and down on the guide rail, or arranging a chute adapted to the landing rod so that the landing rod slides up and down in the chute; at this time, the landing rod can be fixed in position by limit welding to align with the sliding rail structure to achieve up and down sliding, and can also adopt a rotatable and foldable connection to work in an extended state by aligning with the sliding rail structure or be bent and stored, which are all existing technologies. Another example is that a slideway section can be arranged separately and then arranged on the lower through hole of the rotor to form a sliding rail structure. As described above, the sliding rail structure is a guide rail or a chute, such as a telescopic rod structure, etc. The present application takes "arranging a slideway section separately and then arranging it on the lower through hole of the rotor to form a sliding rail structure" as an example for illustration, and a sleeve-type slide rail seat and a sliding cavity (chute) are provided to achieve sliding connection, and other sliding rail connection structures will not be elaborated. Therefore, in this embodiment, the slide rail seat includes an upper slide rail seat 71 and a lower slide rail seat 52, which is a sleeve structure, taking a circular sleeve as an example.

[0026] The rotor 5 is connected to the lock box 41 through a support. The back of the support 47 faces the lock box 41. Four hooks are provided on the front of the support 47. The hooks are in an L-shaped structure. The hooks on the I side of the support 47 face each other. The hooks on the II side of the support 47 face the I side of the support. The rotor 5 is configured with a motor base 511. The lower through hole is arranged in the middle of the motor base 511. Four hook grooves 512 are provided at the bottom of the motor base 511. Each hook groove is respectively adapted to the hook so that the hook is hung in the hook groove (the shape and size are adapted for mortise and tenon connection). In this way, the different hook orientations are horizontally limited to each other, improving the connection stability.

[0027] The upper slide rail base 71 is threadedly connected to the top end of the motor base 511 through the upper rail threaded hole 713. An upper rail lock hole 71a for sliding connection is axially opened therein. The inner diameter of the upper rail lock hole is adapted to the outer diameter of the landing rod 12 (for example, 2 cm); similarly, the lower rotor is reversed, the inner diameter of the lower rail lock hole is adapted to the outer diameter of the landing rod (for example, 2 cm), and the lower slide rail base 52 is threadedly connected to the top end of the motor base 511 through the lower rail threaded hole 521 to complete the installation of the slide rail base.

[0028] The lock box 41 is connected to the support arm 3 through a support. The support arm 3 is on the left or right side of the lock box 41. As Figure 8 shown, taking the example of arranging on the left side of the lock box (in the horizontal direction, there are left and right sides and front and back sides, and in the vertical direction, there are top and bottom sides in the state of this attached drawing of the lock device), taking the connection of the lock box between the upper seat and the lower seat and the connection of the support on the outer sides of the upper seat and the lower seat as an example. The support includes a ring seat 30, an upper seat 46 and a lower seat 461. The I side (right end) of the upper seat 46 is connected to the top side of the lock box 41. The I side (right end) of the lower seat 461 is connected to the bottom side of the lock box 41. At least two ring seats 30 are sleeved on the outer end of the support arm 3. At least two ring seats 30 are connected between the II side (left end) of the upper seat 46 and the II side (left end) of the lower seat 461. In this embodiment, the bolt connection is taken as an example for the connection of the lock device, the support arm and the rotor. Specifically, as follows.

[0029] The driver is an existing component, which can be an electric push rod, arranged on the left or right side of the lock cavity, and the push rod expands and contracts to drive the slider to move left and right; it can be a servo motor, the servo motor is arranged on the left, middle or right side of the lock cavity, the rocker arm of the servo motor is connected to the slider, and driving the rocker arm to rotate to push the slider to move left and right. For example, when the servo motor is in the middle position of the lock cavity, it rotates forward and backward to push the slider to move left and right. In this embodiment, the servo motor is arranged on the right side of the lock cavity as an example for illustration.

[0030] The lock cavity includes a sliding cavity 412 and an actuator cavity 411. The width of the sliding cavity 412 is adapted to the slider 43 (adapted in shape and size for sliding connection). The box lock hole 41a is located in the middle of the sliding cavity 412. The right side of the sliding cavity 412 communicates with the actuator cavity 411. The servo 44 is arranged in the actuator cavity 411 and is electrically connected to the UAV body controller. The size of the servo is larger than that of the slider, and the sizes of the sliding cavity and the actuator cavity can be designed adaptively, which is beneficial to lightweight. The actuator cavity 411 penetrates through the lock box to the right to form an opening. The lock box 41 is provided with a box cover 45, which is fixedly connected by bolts through the box hole e 41e and the cover hole e 45e. The box cover 45 is hermetically connected to the opening of the lock box 41. In this way, by opening the opening, a structure with one end open is formed, and the width gradually increases from the opening inward, so that the slider 43 and the servo 44 can be loaded one by one, which is convenient for disassembly and assembly one by one. In order to optimize the body shape, etc., the servo steering wheel is arranged in the actuator cavity and the bottom end of the servo is exposed. The servo can be placed on the lock box or the box cover. As shown in the figure, a first fixing groove 414 is opened on the opening end face of the lock box 41, and a position slot 452, a steering wheel cavity 451 and a second fixing groove 453 are opened on the box cover 45. The servo fixing seat (opened with a steering hole f) is inserted into the first fixing groove and the second fixing groove and one or both of them are arranged with bolts for fixing, and are fixedly connected by bolts through the cover hole f 45f and the steering hole f 44f. The steering wheel and its upper rocker arm rotate in the actuator cavity and the steering wheel cavity.

[0031] In the slider 43, at least one clamping section is arranged axially in sequence. The clamping section can be a protrusion or a groove. At this time, the shape and size of the outer wall of the landing rod are adapted to the inner wall of the fastening hole. The clamping section is a groove, and the cross section of the groove is triangular, trapezoidal, circular arc or elliptical. Taking the corrugated pipe as an example of the landing rod, at this time, as Figure 12 shown, 8 equally spaced circular grooves (groove holes are opened) are evenly arranged on the inner wall of the fastening hole, and a protrusion (original hole wall) is formed between two adjacent grooves, and it is adapted to the outer wall of the corrugated pipe for socket connection. Since the concave-convex mortise and tenon structure is used for clamping, the closest point of the overlapping area between the clamping section and the landing rod to the sliding lock hole minus the radius of the landing rod is equal to the length r1. Therefore, the optimal solution should be that the length of the fastening hole in the left-right direction is greater than the radius of the landing rod by a certain length r1, that is, the end of the clamping section close to the sliding lock hole extends beyond the overlapping area between the clamping section and the landing rod. Taking the cross section of the clamping section as a circular groove as an example, let the radius of the circle where the original hole wall (the convex wall surface formed between two grooves, corresponding to the inner concave ring bottom wall surface between two circular outer convex rings of the landing rod) is located, and the radius of the circle where the bottom wall of the groove (corresponding to the top wall surface of the circular outer convex ring of the landing rod) is located. Then, according to the Pythagorean theorem, r1 is obtained. For example, if r3 = 1 cm and r2 = 0.5 cm, then r1 = 0.87 cm.

[0032] The inner end of the support arm is connected to the frame through the ring seat 30, the support plate 31, and the support base 32. The support plate has a U-shaped splint structure, with clamping triangular protrusions (forming a V-shaped groove in the middle) opened on its inner wall surface and bottom end. An installation groove corresponding to the support base 32 is opened on the frame to cooperate with bolts for stable connection. Two support plates 31 are clamped on both sides of the support plate 32 and the two ring seats and bolted together. A counterweight 33 is also provided at the outer end of the support arm, which includes a counterweight block 331 and a weight block 332 to be sleeved and assist in adjusting the counterweight.

[0033] Among them, the servo motor and its connection and control with the UAV body are existing technologies, which are connected and controlled via standard cables and will not be elaborated here. The components of the tripod assembly such as the lock box, the slide rail seat, and the landing gear rod are all made of the same existing materials as the frame of the UAV body, such as carbon fiber plates, carbon fiber tubes, etc., or made of conventional materials such as stainless steel and aluminum alloy, and will not be further described here.

[0034] The ring seat 30 is provided with an arm-through hole 301 to sleeved the support arm 3, and is locked by a fixed-arm hole 302 in cooperation with bolts. It is installed on the upper seat 46 through the ring hole d 30d and the upper hole d 46d in cooperation with bolts to complete the installation of the upper seat; similarly, the lower seat 461 is installed. The upper seat 46 is provided with an upper lock hole 46a to pass through the landing gear rod, and is installed on the lock box 41 through the upper hole b 46b and the box hole b 41b in cooperation with bolts. It is installed on the upper side support 47 through the upper hole c 46c, the support hole c 47c, and the box hole c 41c in cooperation with bolts. Some of the box holes c 41c can be opened as avoidance blind holes according to needs, and then the motor seat groove is hung on the hook and limited and fixed in cooperation with bolts to complete the installation of the rotor; similarly, the lower side support and the rotor are installed. For a compact and lightweight design, the support 47 is provided with a support hole d 47d to vacate space for bolt connection, and hollow holes can be opened according to needs, such as a hollow hole is opened at the left end of the lower seat 461 relative to the upper seat 46.

[0035] In this way, the UAV body controls and outputs a fastening signal to each servo motor through linkage. Each servo motor acts to move each slider to the right, and then inserts and sleeves on each landing gear rod, thereby realizing the fixation of the landing gear rod. It can be applied to landing. By measuring the distance through a camera or the like configured on the UAV body, after landing to a certain height from the ground, a control signal is output to each servo motor. Each servo motor acts to drive the slider to move rightward, and then inserts and sleeves the landing gear rod to fix it, thereby realizing the landing support.

[0036] As described above, the lock box is arranged on the UAV body. The landing gear rod is slidably connected to the lock hole and the sliding lock hole of the lock box. The inner wall of the fastening hole is adapted to the outer wall of the landing gear rod. The slider can be radially inserted into the landing gear rod under the drive of the driver, and the clamping section is inserted and sleeved on the outer wall of the landing gear rod. Just driving the slider to move right by the driver can achieve the purpose of clamping the landing gear rod. The lock device adopts the circumferential concavity and convexity of the clamping section, which can improve the axial limit fixing effect and stability relative to the smooth wall surface, and there is no need for continuous power consumption for clamping. Both the support arm and the landing gear rod are detachable connection structures, which is convenient for transportation; the support arm realizes detachable connection through the protrusion of the support plate, and the connection stability is improved by axially limiting the support arm front and back; the landing gear rod realizes detachable connection through the plug and the foot pad.

[0037] Based on the foregoing example, in a preferred example, in order to protect the lock device, etc., a protective shell is designed, including two protective shells 48. The two protective shells are arranged opposite to each other on the front and back sides of the lock box. The fixed connecting rod is connected by bolts through the shell hole h 48h and the rod hole h 481h, and is fixedly connected to the front and back side walls of the lock box through the shell hole g 48g and the box hole g 41g by bolts. In this way, the lock device and the support arm are connected and wrapped by the protective shell, playing a protective role.

[0038] Embodiment 2

[0039] This Embodiment 2 is improved on the basis of the foregoing Embodiment 1. The clamping section has a guiding structure. For other unmentioned descriptions, please refer to the foregoing Embodiment 1.

[0040] See Figure 1 and Figure 31 , in the UAV of this Embodiment 2, the end face of the inner side wall of the fastening hole near the sliding lock hole end is a guiding inclined plane, and the protruding height of the guiding inclined plane decreases as it approaches the sliding lock hole. Among them, the guiding inclined plane is formed by the inner side wall of the fastening hole being intercepted by a slant line or an arc extending in the up and down direction. In this way, a guiding structure is formed by the guiding inclined plane, which is convenient for the clamping section to be inserted and sleeved on the outer wall of the landing gear rod.

[0041] Embodiment 3

[0042] Based on any one of the foregoing Embodiments 1-2, this Embodiment 3 has an elastic locking structure. For unmentioned descriptions, please refer to the foregoing Embodiments 1-2.

[0043] See Figures 1 - 31 , in this UAV of this Embodiment 3, the lock device further includes an elastic member. The elastic member is arranged in the lock cavity, the elastic member is connected to the slider, and the elastic member can push the slider to move right to the position where the center lines of the fastening hole and the box lock hole coincide under the action of its restoring force.

[0044] The lock cavity further includes a spring cavity 413. The left side of the sliding cavity 412 communicates with the spring cavity 413, and an elastic member (which can be a spring or a spring piece, etc.) is arranged in the spring cavity 413. The elastic member adopts a spring 42, and the size of the spring is smaller than that of the slider. The sizes of the sliding cavity, the spring cavity, and the device cavity can be designed adaptively, which is beneficial to lightweight design. By opening an opening, the spring 42, the slider 43, and the servo 44 can be loaded one by one, which is convenient for disassembly and assembly one by one. A spring groove 431 is opened on the left end face of the slider 43, and the width of the spring groove is the same as that of the spring cavity to sleeved the spring to play a limiting role. For example, the lock box can be a rectangular body, with fixing surfaces arranged on its upper and lower sides, etc., and a sliding cavity is opened inside it. Because it is relatively large compared to the support arm hole, it is difficult to be stuffed and tightened. Therefore, the left end of it is made thinner into a cylindrical column with a certain thickness, which adapts to the reduced width of the spring, and then it can be stuffed into the outer end of the support arm to achieve a compact and lightweight design.

[0045] When the servo drives the rocker arm to rotate to the active position, the slider 43 can be pushed by the rocker arm to move leftward to the position where the center lines of the sliding lock hole and the box lock hole coincide; when the servo drives the rocker arm to rotate to the fastening position, the slider 43 can be pushed by the elastic member to move rightward to the position where the center lines of the fastening hole and the box lock hole coincide, or can be pushed by the elastic member and the rocker arm to move rightward to the position where the center lines of the fastening hole and the box lock hole coincide.

[0046] In this way, after the driver drives the slider to move rightward and insert and sleeve it on the landing gear rod, the slider is acted on by the restoring force of the elastic member to the right, playing a locking role, which can clamp the slider to prevent it from moving leftward and retreating.

[0047] Embodiment 4

[0048] Based on any one of the foregoing Embodiments 1-3, this Embodiment 4 is improved. This drone in this Embodiment 4 is arranged with a landing induction structure to land stably on uneven ground, as follows.

[0049] See Figures 1 - 31 , the drone lock device in this Embodiment 4 further includes a trigger 7. The driver is configured with a controller (a controller can be configured separately and then connected to the drone body controller; or, directly connected to the drone body controller), the trigger 7 is electrically connected to the controller, and the trigger is arranged on the lock box or the slide rail base to detect the contraction information of the landing gear rod; wherein, the sensor is a proximity sensor or a distance sensor.

[0050] The trigger is an existing component, which can be a displacement sensor, a travel switch, a proximity sensor, etc. In this embodiment, a travel switch (micro switch) is taken as an example, such as the Z-15GQ22-B micro switch of Yunu Company. A switch seat 711 and a stepped hole structure are formed by extending on the outer peripheral area at the upper end of the upper slide rail seat 71. A radially penetrating switch groove 712 is opened on the switch seat 711, and a travel switch 7 is bolted in the switch groove 712 to form an axial limit structure of the stepped hole, serving as the starting position of ascent and limiting the downward probing length of the landing rod. A cylindrical groove with a radially shrinking shape is opened at the upper end of the landing rod 6. The cylindrical groove radially shrinks to install and trigger the pulley-type travel switch by its lower convex wall surface. A plug 61 is arranged at the end of the landing rod 6 and is fixed by bonding or threaded connection, playing roles of triggering, limiting, and closed protection.

[0051] Among them, the travel switch, proximity sensor, distance sensor, etc. are all existing technologies, and can be realized by connecting to the controller of the UAV body through standard cables, which will not be elaborated here. For example, in the Chinese patent document "Electromagnetic clamping device, publication number CN205600748U", the upper clamping piece and the lower clamping piece approach to clamp the landing rod placed therebetween, and the photoelectric proximity sensor and the photoelectric induction sensor can be directly applied to the trigger (inductor) of this application.

[0052] In this way, by the trigger, the movement of each landing rod is detected respectively. After each landing rod touches the bottom and moves upward, it triggers the driver to drive the slider to move rightward, and then the socket sleeve clamps the landing rod tightly to achieve landing.

[0053] After detecting the contraction and sliding of all landing rods by the trigger, the servo is controlled to drive the slider to insert and fix the corresponding landing rods respectively to complete the landing support. Similarly, the trigger can also limit the height difference. When the landing rod contracts to the maximum limit height 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 landing rod is in the fully extended state, and at the top position, the landing rod is in the zero extended state.

[0054] In actual use, detecting all landing rods by the trigger means detecting at least 3 landing rods that can form a triangle to support the UAV; for example, there are 4 landing rods in this embodiment, and within a certain weight range, only 3 of them can also support, so it can be set that within the load range, when contracting to the maximum limit height position, even if only 3 are detected, forced landing can be carried out at this time.

[0055] Suppose the drone lands on a stepped ground with two high and low platforms (there is a height difference between the high and low platforms, for example, a 10 cm height difference). The drone gradually approaches and touches the stepped ground. When the drone is initially in the air, the four landing gear rods are in a fully extended state. As the drone descends, the lower end of the landing gear rod directly above the high platform first touches the stepped ground. Then the drone continues to descend. The landing gear rod directly above the high platform gradually slides inwards upwards due to the force on the corresponding slide rail seat, and when the drone continues to descend a certain distance (such as a 10 cm height difference), the lower end of the landing gear rod directly above the low platform touches the stepped ground. Then the drone continues to descend, and each landing gear rod gradually slides inwards upwards due to the force on the corresponding slide rail seat until the landing gear rod directly above the low platform retracts to a preset position and triggers the linkage fastening operation. Then each servo drives the slider to respectively insert and fix the corresponding landing gear rod to complete the landing support. Specifically, for example, the landing gear rod directly above the high platform first triggers the trigger to send the landing gear rod contraction information, and the landing gear rod directly above the low platform then triggers the trigger to send the landing gear rod contraction information. After the controller receives the later sent landing gear rod contraction information, it triggers the linkage clamping operation, sends a control signal to control each servo to drive the slider to move rightwards, and then each insert fixes the landing gear rod.

[0056] As described above, after the drone takes off, the servo drives the slider to move leftwards to pull out the landing gear rod, and the landing gear rod extends outwards under the action of gravity, thus completing the outward deployment of the landing gear. When the drone lands, the lower end of the landing gear rod gradually approaches the ground, and then each landing gear rod respectively touches the ground directly below it. After detecting the contraction and sliding of all landing gear rods (at least 3 of which can form a triangle to support the drone) through the trigger, it controls all drivers to respectively drive the slider to insert and fix the corresponding landing gear rod to complete the landing support. Each landing gear rod forms a landing fulcrum that vertically approaches and touches the ground directly below it and is fixed to support the drone body, and can land on uneven and irregular ground more smoothly (even horizontally).

[0057] For the drone in the foregoing Embodiments 1-4, it includes a landing gear rod locking device. Taking the drone as an external application device, the landing gear rod locking device is applied to the drone. For the various characteristic combination schemes of the landing gear rod locking device, please refer to the foregoing Embodiments 1-4. Among them, a fixing surface is provided on the outer side wall of the lock box so that it can be welded or bolted to the external application device. The box lock hole and the sliding lock hole can slidably connect with the landing gear rod of the external application device, and the inner wall of the fastening hole can be adapted to the outer wall of the landing gear rod so that the slider can be radially inserted into the landing gear rod, etc., and will not be elaborated here.

[0058] It should be noted that one or more than two of the above embodiments can be preferably combined according to actual needs. For the illustration of the drawings with a set of combined technical features for multiple embodiments, they will not be elaborated one by one here. The landing gear of the drone in the above embodiments is mainly applied to drones and is also applicable to other devices in the same / equivalent scenarios.

[0059] It should be noted that for the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation.

[0060] The above description is a detailed description and illustration of the preferred and feasible embodiments of the present invention, but these descriptions are not intended to limit the scope of protection required by the present invention. Any equivalent changes or modifications completed under the technical teachings prompted by the present invention shall fall within the scope of patent protection covered by the present invention.

Claims

1. A lifting rod locking device, characterized in that: It includes a lock box, a slider and a driver. A lock cavity is provided inside the lock box. The lock box is provided with a box lock hole that penetrates up and down. The box lock hole is in the middle of the lock cavity. The slider is slidably connected left and right inside the lock cavity. The slider is provided with a lock hole that penetrates up and down. The lock hole includes a sliding lock hole and a fastening hole communicating with it. And the fastening hole is on the left side of the sliding lock hole. At least one clamping section is provided on the side wall of the fastening hole, and the clamping section extends circumferentially. The width of the fastening hole is smaller than that of the sliding lock hole. The driver is provided on the lock box, and the output end of the driver is connected to the slider. The slider can move left to the position where the center lines of the sliding lock hole and the box lock hole coincide or move right to the position where the center lines of the fastening hole and the box lock hole coincide under the drive of the driver.

2. The lifting rod locking device according to claim 1, wherein: It further includes an elastic member. The elastic member is provided inside the lock cavity. The elastic member is connected to the slider. And the elastic member can push the slider right to the position where the center lines of the fastening hole and the box lock hole coincide under the action of its restoring force.

3. The lift rod locking device according to claim 2, characterized in that: The driver is a servo motor. The servo motor is provided inside the lock cavity. The rocker arm of the servo motor is connected to the slider. When the servo motor drives the rocker arm to rotate to the active position, the slider can be pushed left by the rocker arm to the position where the center lines of the sliding lock hole and the box lock hole coincide. When the servo motor drives the rocker arm to rotate to the fastening position, the slider can be pushed right by the elastic member to the position where the center lines of the fastening hole and the box lock hole coincide, or can be pushed right by the elastic member and the rocker arm to the position where the center lines of the fastening hole and the box lock hole coincide.

4. The lifting rod locking device according to claim 3, characterized in that: The lock cavity includes a sliding cavity, an elastic cavity and a device cavity. The width of the sliding cavity is adapted to the slider. The box lock hole is in the middle of the sliding cavity. The left side of the sliding cavity communicates with the elastic cavity. The elastic member is provided in the elastic cavity. The right side of the sliding cavity communicates with the device cavity. The servo motor is provided in the device cavity. Among them, the device cavity penetrates right through the lock box to form an opening. The lock box is equipped with a box cover, and the box cover is hermetically connected to the opening of the lock box.

5. The lifting rod locking device according to claim 1, characterized in that: The end face of the inner side wall of the fastening hole near the sliding lock hole end is a guiding inclined plane. The protruding height of this guiding inclined plane decreases as it approaches the sliding lock hole. At least one clamping section is arranged axially in sequence. Among them, the clamping section is a groove, and the cross section of this groove is triangular, trapezoidal, circular or elliptical. The guiding inclined plane is formed by intercepting the inner side wall of this fastening hole with an inclined line or an arc extending in the up and down direction.

6. The lifting rod locking device according to claim 1, characterized in that: It further includes a trigger. The driver is equipped with a controller. The trigger is electrically connected to the controller. The trigger is provided on the lock box or an external application device.

7. The lifting rod locking device according to claim 6, characterized in that: The trigger is a travel switch. Among them, the outer side wall of the lock box is provided with a fixing surface so that it can be welded or bolted to an external application device. The box lock hole and the sliding lock hole can slidably connect with the lifting rod of this external application device. And the inner wall of the fastening hole can be adapted to the outer wall of this lifting rod so that the slider can be radially inserted into the lifting rod.

8. A drone, comprising a drone body, and the drone body is configured with a leg assembly for landing; characterized in that: The tripod assembly includes a slide rail base, a lifting rod, and a locking device as described in any one of claims 1-7. The slide rail base is arranged to extend vertically on the UAV body. The lifting rod is slidably connected to the slide rail base, and the lower end of the lifting rod can move up and down telescopically below the UAV body. The lock box is arranged on the UAV body or the slide rail base. The box lock hole and the slide lock hole are slidably connected to the lifting rod, and the inner wall of the fastening hole is adapted to the outer wall of the lifting rod so that the slider can be radially inserted into the lifting rod.

9. The drone according to claim 8, characterized in that: The UAV body is configured with a frame, a support arm, and rotors. The rotors are connected to the frame through the support arm. The slide rail base is arranged to extend vertically at the center of the rotors of the UAV body. The lock box is arranged on the rotors. Among them, the rotors are axially hollow to form a lower through hole. The slide rail base is arranged in the lower through hole. The slide rail base is provided with a downwardly penetrating slide hole, and the lifting rod is slidably connected in the slide hole.

10. The drone according to claim 9, characterized in that: The lock box is connected to the support arm through a support seat. The support arm is on the left or right side of the lock box. The top side and / or the bottom side of the lock box is connected to the rotors. Among them, the rotors are connected to the lock box through a support. The back of the support faces the lock box. There are 4 hooks provided on the front of the support. The hooks on the two hooks on the I side of the support face each other. The hooks on the two hooks on the II side of the support face the I side of the support. The rotors are configured with a motor base. The lower through hole is arranged in the middle of the motor base. There are 4 hook grooves provided at the bottom of the motor base. Each hook groove is respectively adapted to the hook so that the hook is hung in the hook groove. Among them, the support seat includes an annular seat, an upper seat, and a lower seat. The I side of the upper seat is connected to the top side of the lock box. The I side of the lower seat is connected to the bottom side of the lock box. The support arm is sleeved with at least 2 annular seats. At least 2 annular seats are connected between the II side of the upper seat and the II side of the lower seat. Among them, a travel switch is arranged on the slide rail base. A cylindrical surface groove is provided on the outer wall of the top end of the lifting rod. The travel switch faces the cylindrical surface groove when the lifting rod is in the lowest position so that it is triggered as the lifting rod moves up.

Images