Unmanned aerial vehicle undercarriage suitable for complex terrain environment

Abstract

The utility model belongs to the technical field of fire rescue, and particularly relates to an unmanned aerial vehicle undercarriage suitable for a complex terrain environment. The supporting arms are annularly arrayed at the bottom of the unmanned aerial vehicle chassis and rotationally connected with the unmanned aerial vehicle chassis; one end of the supporting part is rotationally connected with the supporting arm, and the other end is supported on the ground; the limiting mechanism is rotationally connected with the supporting arm and the supporting part, when external force acts on the bottom of the supporting part, the supporting part transmits the force to the supporting arm, the supporting arm rotates with the connecting point of the unmanned aerial vehicle chassis as the circle center to drive the limiting mechanism to move together, and the limiting mechanism generates pulling force on the supporting arm and the supporting part. The movable included angle between the supporting arm and the supporting part is limited. The unmanned aerial vehicle landing gear solves the problem that the existing unmanned aerial vehicle landing gear needs a sensor to control the parking, so that the parking efficiency is influenced, and a fire-fighting rescue task or a fire-fighting drill task cannot be effectively carried out.

Description

Technical Field

[0001] The utility model belongs to the technical field of fire fighting and rescue, and particularly relates to a landing gear of an unmanned aerial vehicle suitable for complex terrain environments. Background Art

[0002] The landing gear of an unmanned aerial vehicle is an important part of it, mainly used to support the stability of the unmanned aerial vehicle on the ground and provide necessary support during takeoff and landing. The design of the landing gear not only affects the control performance of the unmanned aerial vehicle, but also has a direct impact on its safety and reliability.

[0003] Currently, the published landing gear of a vertical takeoff and landing unmanned aerial vehicle applicable to multiple terrains with the application number 201520960617.8 includes a controller, a support frame and four support legs. The support legs are connected to the support frame, and a horizontal sensor is arranged on the support frame; a rotation mechanism, a telescopic mechanism, a pressure sensor and a distance sensor are arranged on the support legs. The controller is respectively connected to the rotation mechanism, the telescopic mechanism, the horizontal sensor, the pressure sensor and the distance sensor, and adjusts the rotation angle and the telescopic length of the support legs according to the parameters of the horizontal sensor, the pressure sensor and the distance sensor.

[0004] Although the existing landing gear can rely on sensors to stop on complex terrains, the data processing of the sensors and the response time of the controller affect the adjustment speed of the landing gear, so it cannot quickly adapt to complex terrains, and finally leads to the ineffective development of fire fighting and rescue tasks or fire fighting drill tasks. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a bionic multi-rotor unmanned aerial vehicle landing gear that can quickly adapt to complex terrains and finally complete fire fighting and rescue tasks or fire fighting drill tasks.

[0006] To achieve the above purpose, the utility model provides the following technical solutions:

[0007] A landing gear of an unmanned aerial vehicle suitable for complex terrain environments, comprising:

[0008] An unmanned aerial vehicle chassis;

[0009] Support arms, annularly arrayed at the bottom of the unmanned aerial vehicle chassis and rotatably connected to the unmanned aerial vehicle chassis;

[0010] A support part, one end of which is rotatably connected to the support arm and the other end of which supports on the ground;

[0011] The limiting mechanism is rotatably connected to the support arm and the support part respectively. When an external force acts on the bottom of the support part, the support part transmits the force to the support arm. The support arm rotates around the connection point of the drone chassis, driving the limiting mechanism to move together. The limiting mechanism generates tensile forces on the support arm and the support part respectively, restricting the movement angle between the support arm and the support part.

[0012] Furthermore, a connection support frame is provided between the support arm and the drone chassis. The top of the connection support frame is connected to the drone chassis, and a base coupling shaft is provided at the bottom of the connection support frame. The support arm and the limiting mechanism are respectively connected to the shaft of the base coupling shaft.

[0013] Furthermore, the limiting mechanism includes: a link mechanism, a first link, and a connecting rod. One end of the link mechanism is fixedly connected to the connecting rod, the other end of the link mechanism is connected to the support arm through a first connection hole, the rotating part of the link mechanism is hinged to one end of the first link, and the other end of the first link is rotatably connected to the inner side of the support part. The end of the connecting rod away from the link mechanism is fixedly connected to the shaft of the base coupling shaft.

[0014] Furthermore, through a second connection hole provided on the support arm, the support arm is hinged to a second link. A turntable is provided between the second link and the base coupling shaft. The turntable is rotatably arranged on the shaft of the base coupling shaft. An extension rod body is arranged outward along the arc surface of the turntable, and the end of the extension rod body away from the turntable is rotatably connected to the second link.

[0015] Furthermore, a limiting rod is provided on the turntable surface near the extension rod body for restricting the second link.

[0016] Furthermore, the support part includes a support rod and a telescopic leg. The top of the support rod is connected to the support arm, and the telescopic leg is slidably connected to the support rod through a sliding groove provided inside the support rod.

[0017] Furthermore, through a connection hole provided on the support rod, the first link is connected to the support rod.

[0018] Furthermore, the drone chassis is provided with a plurality of bolt holes for connecting to the connection support frame.

[0019] Furthermore, a spring is provided in the sliding groove for restricting the telescopic leg.

[0020] Furthermore, the support arm is an inverted U-shaped triangular arm structure, and the three corners are respectively connected to the drone chassis, the support part, and the limiting mechanism, and the arm body is provided with weight-reducing holes.

[0021] Compared with the prior art, the beneficial effects of the present utility model are:

[0022] The utility model enables the drone to park on complex terrain by installing landing gears on the drone chassis. Specifically, it is divided into three parts: a support arm, a support part, and a limiting mechanism. The support arms are annularly arrayed at the bottom of the drone chassis and are rotatably connected to the chassis. The two ends of the support part are respectively rotatably connected to the support arm and supported on the ground, while the two ends of the limiting mechanism are respectively rotatably connected to the support arm and the support part. Such a design can ensure that when the support part touches the ground, the support part transmits the force to the support arm, and the support arm can rotate around the connection point of the drone chassis, driving the limiting mechanism to move together. The limiting mechanism generates tensile forces on the support arm and the support part respectively, restricting the movement angle between the support arm and the support part, avoiding excessive inclination during takeoff / landing or the stationary state, and finally enabling the drone to stay stably on the ground, thus changing the problem of low efficiency of the traditional method of adjusting the landing gear by relying on sensors and enabling the effective implementation of fire rescue tasks or fire drill tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is an overall view of the bottom of the drone and the landing gear of the present utility model;

[0024] Figure 2 is a front view of the bottom of the drone and the landing gear of the present utility model;

[0025] Figure 3 is an overall view of a single landing gear of the present utility model;

[0026] Figure 4 is a partial view of a single landing gear of the present utility model;

[0027] Figure 5 is a connection diagram of the second connecting rod and the connecting rod body of the present utility model.

[0028] In the figure: 10, connecting support frame; 100, first connection hole; 101, second connection hole; 11, link mechanism; 12, first connecting rod; 13, second connecting rod; 14, support arm; 15, connecting rod; 16, base shaft; 17, turntable; 170, limiting rod; 171, connecting rod body; 2, support part; 20, support rod; 21, telescopic leg; 3, drone chassis; 4, limiting mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] In order to make the technical means, creative features, achieved purposes and effects realized by the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments. However, the following embodiments are only the preferred embodiments of the present utility model and not all of them. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative labor all fall within the protection scope of the present utility model. The experimental methods in the following embodiments are all conventional methods unless otherwise specified. The materials, reagents, etc. used in the following embodiments can all be obtained from commercial channels unless otherwise specified.

[0030] As Figures 1-4 , in this embodiment, it includes: a drone chassis 3, a support arm 14, a support part 2 and a limiting mechanism 4;

[0031] The support arms 14 are arranged in a circular array at the bottom of the drone chassis 3;

[0032] It should be noted that a connecting support frame 10 is provided between the support arm 14 and the drone chassis 3. The top of the connecting support frame 10 is fixed to the drone chassis 3. A base connecting shaft 16 is provided on the frame body at the bottom. A turntable 17 is rotatably provided on the shaft of the base connecting shaft 16. A connecting rod body 171 is arranged outward along the arc surface of the turntable 17. The end of the connecting rod body 171 away from the turntable 17 is rotatably connected to the second connecting rod 13. And a limiting rod 170 is provided on the turntable 17 surface near the connecting rod body 171. At the same time, the other end of the second connecting rod 13 is rotatably connected to the support arm 14 through a second connecting hole 101;

[0033] Specifically, when the support arm 14 moves upward under the action of force, it can drive the second connecting rod 13 hinged to it to move together. Since the second connecting rod 13 is connected to the connecting rod body 171, the turntable 17 can rotate around the base connecting shaft 16. At this time, due to the rotation of the turntable 17, the initially parallel state between the second connecting rod 13 and the connecting rod body 171 will start to change to an obtuse angle state and finally become an acute angle state. Finally, when the second connecting rod 13 contacts the limiting rod 170, it stops rotating;

[0034] The support part 2 includes a support rod 20 and a telescopic leg 21. The top of the support rod 20 is connected to the support arm 14. The telescopic leg 21 is slidably connected to the support rod 20 by arranging a sliding groove inside the support rod 20. And a spring is also arranged inside the sliding groove;

[0035] It should be noted that the support rod 20 is rotatably connected to the support arm 14;

[0036] Specifically, the telescopic leg 21 can slide in the support rod 20 through the sliding groove. And when the telescopic leg 21 reaches the specified height, due to the action of the spring, the telescopic leg 21 is maintained at this height. At the same time, the spring can also bear a certain load.

[0037] The limiting mechanism 4 includes: a link mechanism 11, a first link 12, and a connecting rod 15;

[0038] It should be noted that the link mechanism 11 is a double-link structure. One end is hinged to the support arm 14 through a first connection hole 100 provided in the connection support frame 10, and the other end is fixedly connected to the connecting rod 15. The end of the connecting rod 15 away from the link mechanism 11 is fixedly connected to the shaft of the base coupling 16. At the same time, the rotating part of the link mechanism 11 is hinged to one end of the first link 12, and the other end of the first link 12 is rotatably connected to the support rod 20;

[0039] Specifically, the upward or downward movement of the support arm 14 is completed under the combined action of the link mechanism 11 and the support part 2. The link mechanism 11 can move synchronously with the support arm 14, and the link mechanism 11 provides spatial constraints for the support arm 14, thereby restricting the movement range of the support arm 14 and ensuring that it moves within a preset angle range, thus avoiding excessive bending or stretching of the support rod 20 and the telescopic leg 21, and enhancing the stability and durability of the overall structure.

[0040] In this embodiment, the drone chassis 3 is provided with two rows of bolt holes, and each row is provided with 4 - 6 bolt hole reserved installation positions for cooperating with the connection support frame 10.

[0041] In this embodiment, the support arm 14 is an inverted U-shaped triangular arm body structure. A second connection hole 101 is provided at one bottom angle, the other first connection hole 100 is connected to the link mechanism 11, and the top angle is responsible for connecting to the support rod 20;

[0042] It should be noted that weight reduction holes are also provided on the arm body of the support arm 14 to reduce the overall weight.

[0043] Working principle:

[0044] When a drone with landing gear needs to be parked on a surface that is not level with the horizontal plane, for example, if the ground where a set of support arms 14 and support parts 2 are located is higher than that of other sets, at this time, the support parts 2 of the current set first come into contact with the ground. At this time, the current support parts 2 first receive an upward force, which then drives the support arms 14 to move together. The support arms 14 transmit the force to the second link 13, and the second link 13 causes the turntable 17 to rotate around the base shaft 16. When the support arms 14 rise to a certain height, since the link mechanism 11 provides spatial constraints for the support arms 14, the movement range of the support arms 14 is restricted. At the same time, as the turntable 17 rotates, the second link 13 and the connecting rod body 171 will gradually change from a parallel state to an obtuse state and finally to an acute state. When the second link 13 contacts the limit rod 170, the limit rod 17 causes the angle between the second link 13 and the connecting rod not to change anymore. At this time, the support arms 14 also stop rotating, and then the telescopic legs 21 also stop moving due to the action of the spring. Finally, when other sets come into contact with their respective ground and complete their respective movements, the drone parking is completed;

[0045] When a drone with landing gear is parked on a plane parallel to the horizontal plane, at this time, each group starts to rotate its respective support arms 14 simultaneously. When the second link 13 of each group is limited by its respective limit rod 170, the drone parking is completed.

[0046] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An undercarriage for an unmanned aerial vehicle suitable for complex terrain environments, characterized in that, Comprising: The UAV chassis (3); Support arms (14), arranged in an annular array at the bottom of the UAV chassis (3) and rotatably connected to the UAV chassis (3); A support part (2), with one end rotatably connected to the support arm (14) and the other end supported on the ground; A limiting mechanism (4), rotatably connected to the support arm (14) and the support part (2) respectively. When an external force acts on the bottom of the support part (2), the support arm (14) rotates around the connection point with the UAV chassis (3), driving the limiting mechanism (4) to move together. The limiting mechanism (4) limits the movement angle between the support arm (14) and the support part (2).

2. The landing gear of the unmanned aerial vehicle suitable for complex terrain environments according to claim 1, wherein: A connection support frame (10) is arranged between the support arm (14) and the UAV chassis (3). The top of the connection support frame (10) is connected to the UAV chassis (3), and a base connecting shaft (16) is arranged at the bottom of the connection support frame (10). The support arm (14) and the limiting mechanism (4) are respectively connected to the shaft of the base connecting shaft (16).

3. The landing gear of the unmanned aerial vehicle suitable for complex terrain environments according to claim 2, wherein: The limiting mechanism (4) includes: a link mechanism (11), a first link (12) and a connecting rod (15). One end of the link mechanism (11) is fixedly connected to the connecting rod (15), and the other end of the link mechanism (11) is connected to the support arm (14) through a first connection hole (100). The rotating part of the link mechanism (11) is hinged to one end of the first link (12), and the other end of the first link (12) is rotatably connected to the inner side of the support part (2). The end of the connecting rod (15) far from the link mechanism (11) is fixedly connected to the shaft of the base connecting shaft (16).

4. The landing gear of the unmanned aerial vehicle suitable for complex terrain environments according to claim 3, characterized in that: Through a second connection hole (101) arranged on the support arm (14), the support arm (14) is hinged to a second link (13). A turntable (17) is arranged between the second link (13) and the base connecting shaft (16). The turntable (17) is rotatably arranged on the shaft of the base connecting shaft (16). An connecting rod body (171) is arranged outward along the arc surface of the turntable (17). The end of the connecting rod body (171) far from the turntable (17) is rotatably connected to the second link (13).

5. The landing gear of the unmanned aerial vehicle suitable for complex terrain environments according to claim 4, wherein: A limiting rod (170) is arranged on the disk surface of the turntable (17) near the connecting rod body (171) for limiting the second link (13).

6. The landing gear of the unmanned aerial vehicle suitable for complex terrain environments according to claim 5, characterized in that: The support part (2) includes a support rod (20) and a telescopic leg (21). The top of the support rod (20) is connected to the support arm (14). The telescopic leg (21) is slidably connected to the support rod (20) through a sliding groove arranged inside the support rod (20).

7. The landing gear of the unmanned aerial vehicle suitable for complex terrain environments according to claim 6, wherein: The support rod (20) is connected to the first link (12) through a connection hole arranged thereon.

8. The landing gear of the unmanned aerial vehicle suitable for complex terrain environments according to claim 2, characterized in that: The UAV chassis (3) is provided with a plurality of bolt holes for connecting to the connection support frame (10).

9. The landing gear of the unmanned aerial vehicle suitable for complex terrain environments according to claim 6, characterized in that: A spring is arranged in the sliding groove for limiting the telescopic leg (21).

10. The undercarriage of the unmanned aerial vehicle suitable for complex terrain environments according to claim 1, characterized in that: The support arm (14) is an inverted U-shaped triangular arm body structure. The three corners are respectively connected to the UAV chassis (3), the support part (2) and the limiting mechanism (4), and the arm body is provided with weight-reducing holes.

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