Intelligent undercarriage of unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicle accessories, and discloses an unmanned aerial vehicle intelligent undercarriage which comprises a landing rod, vertical rods and inserting rods, the vertical rods are vertically fixed to the two sides of the surface of the landing rod, sliding grooves are formed in the vertical rods, penetrating openings communicated with the sliding grooves and the outside are formed in the upper portions of the sliding grooves, the inserting rods are arranged on the upper portions of the vertical rods, and the inserting rods are arranged on the lower portions of the vertical rods. The inserting rod penetrates into the sliding groove through the penetrating opening, and a first permanent magnet is fixedly embedded into the vertical rod below the sliding groove. According to the technical scheme, the electromagnets capable of sliding up and down are arranged in the sliding grooves of the vertical rods, the permanent magnets are fixed to the bottoms of the vertical rods below the electromagnets and the bottoms of the inserting rods above the electromagnets, the permanent magnets and the electrified electromagnets can generate repulsive force, and the aim of buffering landing of the unmanned aerial vehicle is achieved through repulsive resistance; and in the falling process, the current of the electromagnet can be controlled according to the falling speed so as to change the magnetic force and the repulsive force, and the purpose of sufficient buffering during falling at different speeds is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of UAV accessories, in particular to an intelligent landing gear for UAVs. Background Technique

[0002] An unmanned aerial vehicle, abbreviated as "UAV", is an unpiloted aircraft controlled by radio remote control equipment and a self-prepared program control device. The landing gear of a UAV is an important part of the UAV, mainly undertaking the functions of support, buffering and protection. During the takeoff and landing of the UAV, the landing gear provides necessary support to ensure the stability of the UAV. At the same time, components such as its shock-absorbing struts can absorb the impact energy during landing, protect the fuselage and internal equipment, and improve the overall flight safety and reliability of the UAV.

[0003] Generally, the buffer structures such as the buffer struts of the UAV landing gear have a constant buffering force. However, when the UAV lands, it is controlled by different personnel or in different situations, and the landing speed is different. When the landing speed is too fast or too slow, there may be a situation where sufficient buffering cannot be achieved. Therefore, we propose an intelligent landing gear for UAVs. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an intelligent landing gear for UAVs. An electromagnet that can slide up and down is arranged in the chute of the vertical rod. Permanent magnets are fixed at the bottom of the vertical rod below it and at the bottom of the inserting rod above it. Both will generate repulsive forces with the energized electromagnet. The buffer purpose of the UAV landing is achieved by using the repulsive resistance. And during the landing process, the current of the electromagnet can be controlled according to the falling speed to change the magnitude of the magnetic force and the repulsive force, so as to meet the purpose of sufficient buffering when falling at different speeds, and solve the problems raised in the background technique.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: An intelligent landing gear for UAVs, including a landing rod, vertical rods and inserting rods. Vertical rods are vertically fixed on both sides of the surface of the landing rod. A chute is opened inside the vertical rod, and a through hole communicating the chute and the outside is arranged above the chute. An inserting rod is arranged above each vertical rod, and the inserting rod penetrates into the chute through the through hole; A first permanent magnet is embedded and fixed inside the vertical rod below the chute, and a second permanent magnet that can slide inside the chute is fixed at the bottom of the inserting rod. An electromagnet that can slide is arranged inside the chute between the first permanent magnet and the second permanent magnet. When the electromagnet is energized, it repels both the first permanent magnet and the second permanent magnet; A battery is embedded and fixed inside the landing rod. An inner cavity is arranged on the side of the battery, and a control circuit board is embedded and fixed in the inner cavity. The control circuit board includes a single-chip microcomputer and a speed measuring mechanism. The control circuit board is powered by connecting to the battery through a wire, and the control circuit board is also connected to the electromagnet through a wire.

[0006] By adopting the above technical solution, when the drone lands, sensors such as the GPS sensor, gyroscope, and accelerometer on the control circuit board cooperate to detect the landing speed of the drone in real time, and then increase or decrease the current of the electromagnet according to the magnitude of the speed in real time to change the magnetic force. Cooperating with the first permanent magnet and the second permanent magnet can obtain different magnitudes of buffer resistance, achieving the purpose of fully buffering drones with different landing speeds.

[0007] Optionally, the speed measuring mechanism is composed of chips of a GPS sensor, a gyroscope, and an accelerometer.

[0008] Optionally, rubber blocks are fixedly attached to both the upper outer ring surface and the lower outer ring surface of the electromagnet, and a plurality of rubber blocks are evenly arranged.

[0009] By adopting the above technical solution, when using the repulsive resistance for buffering, the rubber blocks can prevent the electromagnet from hitting the bottom of the chute or the second permanent magnet when the second permanent magnet or the electromagnet slides.

[0010] Optionally, a rubber pad is fixedly attached to the bottom surface of the landing rod, and the rubber pad is fixedly attached to the bottom surface of the landing rod by a fitting method.

[0011] By adopting the above technical solution, the rubber pad provides an anti-wear function when the landing rod lands.

[0012] Optionally, a charging port is provided on the surface of the landing rod on the side of the inner cavity, and the charging port is connected to the battery through a charging module on the control circuit board.

[0013] By adopting the above technical solution, the battery is charged through the charging port.

[0014] Optionally, a perforation is provided at the middle position of the first permanent magnet, and a wire passes through the first permanent magnet through the perforation.

[0015] Optionally, a connection hole is provided on the upper surface of the insertion rod, and the connection hole penetrates the surface of the insertion rod.

[0016] By adopting the above technical solution, during installation, the connecting bolt passes through the upper part of the insertion rod through the connection hole.

[0017] Compared with the prior art, the beneficial effects of the technical solution of the present application are as follows:

[0018] 1. In the technical solution of the present application, a slidable electromagnet up and down is provided in the chute of the vertical rod, and permanent magnets are fixedly attached to both the lower vertical rod and the bottom of the upper insertion rod. Both will generate a repulsive force with the energized electromagnet. The repulsive resistance is used to achieve the purpose of buffering the landing of the drone, and during the landing process, the current of the electromagnet can be controlled according to the falling speed to change the magnitude of the magnetic force and the repulsive force, meeting the purpose of full buffering when falling at different speeds.

[0019] 2. The technical solution of this application enables the electromagnet to be slidably placed in the chute and placed between the first permanent magnet and the second permanent magnet, which can ensure that while there is a repulsive force between the electromagnet and the first permanent magnet and the second permanent magnet, there is a greater buffer stroke to ensure the buffer effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, objects, and advantages of the present utility model will become more apparent:

[0021] Figure 1 It is a schematic diagram of the overall structure of the intelligent landing gear of the unmanned aerial vehicle of the present utility model;

[0022] Figure 2 It is a schematic diagram of the internal structure of the landing rod of the intelligent landing gear of the unmanned aerial vehicle of the present utility model;

[0023] Figure 3 It is a schematic diagram of the connection structure between the vertical rod and the insertion rod of the intelligent landing gear of the unmanned aerial vehicle of the present utility model.

[0024] In the figure: 1, landing rod; 11, battery; 12, inner cavity; 121, control circuit board; 13, wire; 14, rubber pad; 15, charging port; 2, vertical rod; 21, chute; 211, through hole; 212, electromagnet; 213, rubber block; 22, first permanent magnet; 221, perforation; 3, insertion rod; 31, second permanent magnet; 32, connection hole. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] Please refer to Figures 1-3 , the present utility model provides a technical solution: an intelligent landing gear for an unmanned aerial vehicle, including a landing rod 1, a vertical rod 2, and an insertion rod 3. Both ends of the landing rod 1 bend upward. On both sides of the surface of the landing rod 1, vertical rods 2 are fixedly arranged. A chute 21 is opened inside the vertical rod 2. Above the chute 21, there is a through hole 211 communicating the chute 21 with the outside. An insertion rod 3 is arranged above each vertical rod 2. The insertion rod 3 passes through the through hole 211 and into the chute 21. A connection hole 32 is opened on the upper surface of the insertion rod 3, and the connection hole 32 penetrates the surface of the insertion rod 3. During installation and use, at least two landing rods 1 are used for each unmanned aerial vehicle and placed on both sides below the unmanned aerial vehicle, so that the insertion rod 3 above the landing rod 1 is placed below the unmanned aerial vehicle. After the connecting bolt passes through the connection hole 32 and through the insertion rod 3, the insertion rod 3 is connected and locked below the unmanned aerial vehicle to achieve the installation of the insertion rod 3.

[0026] A first permanent magnet 22 is fixedly embedded inside a vertical rod 2 below a sliding groove 21, and a second permanent magnet 31 which can slide inside the sliding groove 21 is fixedly attached to the bottom of an insertion rod 3. The size of the first permanent magnet 22 is larger than that of a through opening 211, which can prevent it from sliding out of the sliding groove 21 and maintain the connection between the insertion rod 3 and the vertical rod 2. An electromagnet 212 is slidably disposed inside the sliding groove 21 between the first permanent magnet 22 and the second permanent magnet 31. When the electromagnet 212 is energized, its two poles are located directly above and directly below. When the electromagnet 212 is energized, it repels both the first permanent magnet 22 and the second permanent magnet 31. Thus, when the drone lands, repulsive resistance is used to provide a buffering effect for the drone. When the landing speed of the drone is high, the energizing current of the electromagnet 212 increases to increase the repulsive resistance. Conversely, when the landing speed of the drone is low, the energizing current of the electromagnet 212 decreases to reduce the repulsive resistance, so that sufficient buffering effects can be provided to protect the drone at different landing speeds.

[0027] In addition, the electromagnet 212 is disposed between the first permanent magnet 22 and the second permanent magnet 31, having a larger buffering stroke to ensure the buffering effect. Rubber blocks 213 are fixedly attached to both the upper outer ring surface and the lower outer ring surface of the electromagnet 212. A plurality of rubber blocks 213 are evenly arranged. When buffering is performed using repulsive resistance during landing, the rubber blocks 213 can prevent the electromagnet 212 from hitting the bottom of the sliding groove 21 or the second permanent magnet 31 when the second permanent magnet 31 or the electromagnet 212 slides. Moreover, a rubber pad 14 is fixedly attached to the bottom surface of the landing rod 1 by a fitting method. When landing, the rubber pad 14 can prevent the landing rod 1 from being worn, improving the service life of the landing rod 1. When the rubber pad 14 is severely worn, it can be replaced.

[0028] A battery 11 is fixedly embedded inside the lifter rod 1, and an inner cavity 12 is provided on the side of the battery 11. A control circuit board 121 is fixedly embedded in the inner cavity 12. The surface of the control circuit board 121 includes a single-chip microcomputer. In order to achieve the purpose of speed measurement, a speed measurement mechanism is further included. The speed measurement mechanism can be composed of chips such as a GPS sensor, a gyroscope, and an accelerometer. The control circuit board 121 is powered by being connected to the battery 11 through a wire 13. The control circuit board 121 is also connected to the electromagnet 212 through the wire 13. In addition, a perforation 221 is provided at the middle position of the first permanent magnet 22, and the wire 13 passes through the first permanent magnet 22 through the perforation 221. When in use, the landing speed of the drone can be measured in real time by the cooperation of the GPS sensor, the gyroscope, and the accelerometer on the control circuit board 121, and then the single-chip microcomputer on the control circuit board 121 is used to control the energizing current of the electromagnet 212. There is no need to perform data connection with the drone, and different models of drones can be adapted for use. Structures such as the battery 11 can also be used to counterweight the lifter rod 1 to prevent the center of the drone and the landing gear as a whole from being too high after landing and being unstable. The structures such as the GPS sensor, the gyroscope, the accelerometer, and the single-chip microcomputer on the control circuit board 121 are all prior arts, and their working principles of mutual cooperation are also prior arts. Therefore, no further description will be made on them.

[0029] A charging port 15 is provided on the surface of the lifter rod 1 on the side of the inner cavity 12, and a charging module is further included on the control circuit board 121, so that the charging port 15 is connected to the battery 11 through the charging module on the control circuit board 121, and the drone can be charged by using the charging port 15. The structure and principle of the charging module are prior arts. Therefore, no further description will be made on them.

[0030] When in use, the insertion rod 3 is installed and connected below the drone through the connection hole 32 at the top of the insertion rod 3, achieving the purpose of installing the landing rods 1 on both sides below the drone. Before use, the battery 11 is charged through the charging port 15. When the drone lands, the GPS sensor, gyroscope, and accelerometer on the control circuit board 121 can measure the falling speed of the drone in real time. Furthermore, the energizing current of the electromagnet 212 can be adjusted according to the falling speed of the drone. When the falling speed of the drone is relatively fast, the energizing current of the electromagnet 212 is made larger, thus having a greater magnetic force, and there is a greater repulsive force between the lower first permanent magnet 22 and the upper second permanent magnet 31. As a result, when the landing rod 1 below the drone lands, a greater buffering resistance is provided, achieving sufficient buffering when the drone lands at a relatively fast speed. When the falling speed of the drone is relatively slow, the energizing current of the electromagnet 212 is made smaller, thus having a smaller magnetic force, and there is a smaller repulsive force between the lower first permanent magnet 22 and the upper second permanent magnet 31. As a result, when the landing rod 1 below the drone lands, a slightly smaller buffering resistance is provided, achieving sufficient buffering when the drone lands at a relatively slow speed.

Claims

1. An intelligent landing gear for a drone, comprising a landing rod (1), a vertical rod (2) and an insertion rod (3), characterized in that: On both sides of the surface of the lifting rod (1), vertical rods (2) are fixedly arranged. A chute (21) is formed inside the vertical rod (2), and a through hole (211) communicating the chute (21) with the outside is arranged above the chute (21). An insertion rod (3) is arranged above each vertical rod (2), and the insertion rod (3) penetrates into the chute (21) through the through hole (211). A first permanent magnet (22) is embedded and fixed inside the vertical rod (2) below the chute (21). A second permanent magnet (31) which can slide inside the chute (21) is fixed at the bottom of the insertion rod (3). An electromagnet (212) which can slide inside the chute (21) between the first permanent magnet (22) and the second permanent magnet (31). When the electromagnet (212) is energized, it repels both the first permanent magnet (22) and the second permanent magnet (31). A battery (11) is embedded and fixed inside the lifting rod (1). A cavity (12) is arranged on the side of the battery (11), and a control circuit board (121) is embedded and fixed inside the cavity (12). The control circuit board (121) includes a single-chip microcomputer and a speed measuring mechanism. The control circuit board (121) is powered by connecting to the battery (11) through a wire (13), and the control circuit board (121) is also connected to the electromagnet (212) through a wire (13).

2. The intelligent landing gear for unmanned aerial vehicle according to claim 1, wherein: The speed measuring mechanism is composed of chips of a GPS sensor, a gyroscope and an accelerometer.

3. The intelligent landing gear for a drone according to claim 1, wherein: Rubber blocks (213) are fixedly attached to both the upper outer surface and the lower outer surface of the electromagnet (212), and a plurality of rubber blocks (213) are evenly arranged.

4. The intelligent landing gear for a drone according to claim 1, wherein: A rubber pad (14) is fixed on the bottom surface of the lifting rod (1), and the rubber pad (14) is fixed on the bottom surface of the lifting rod (1) by a fitting method.

5. The intelligent landing gear for a drone according to claim 1, characterized in that: A charging port (15) is arranged on the surface of the lifting rod (1) on the side of the cavity (12), and the charging port (15) is connected to the battery (11) through a charging module on the control circuit board (121).

6. The intelligent landing gear for a drone according to claim 1, characterized in that: A through hole (221) is formed in the middle position of the first permanent magnet (22), and the wire (13) penetrates through the first permanent magnet (22) through the through hole (221).

7. The intelligent landing gear for unmanned aerial vehicle according to claim 1, wherein: A connection hole (32) is formed in the upper surface of the insertion rod (3), and the connection hole (32) penetrates through the surface of the insertion rod (3).

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