Foldable undercarriage device and unmanned aerial vehicle

Abstract

The utility model discloses a foldable undercarriage device and an unmanned aerial vehicle. A plurality of folding holes are formed in the circumferential edge of the mounting base; the power driving part is mounted at the bottom of the mounting base; the rotating disc is connected with the output end of the power driving part; the folding executing mechanisms are arranged in the circumferential direction of the mounting base, and one end of each first rocker is hinged to the bottom of the mounting base; the two ends of the first connecting rod are connected to the rotating disc and the first rocker through universal hinge structures correspondingly. The second connecting rod is hinged to one side of the first rocker away from the first connecting rod; the two ends of the supporting assemblies are hinged to the ends, away from the first rocker, of the second connecting rods and the connecting lugs at the bottom of the mounting base correspondingly, and the supporting assemblies are close to the corresponding folding holes. According to the device, part of the supporting assemblies are folded to the position above the mounting base in the flying and launching stages, so that the supporting assemblies are contracted into a theoretical appearance envelope of an unmanned aerial vehicle body or a skin on the side face of the unmanned aerial vehicle body, and extra aerodynamic resistance brought by a fixed undercarriage and shielding interference on the task view are effectively eliminated.

Description

Technical Field

[0001] This application relates to the field of drone landing gear technology, and more particularly to a foldable landing gear device and a drone. Background Technology

[0002] With the rapid development of drone technology, vertical takeoff and landing (VTOL) drones are being used more and more extensively in various fields, and the requirements for their comprehensive performance are constantly increasing. As an important component of drones, the landing gear's design directly affects mission execution efficiency and airframe safety. Traditional VTOL drones mostly use fixed landing gear, which can meet basic takeoff and landing requirements, but in complex mission scenarios, its inherent defects are gradually becoming a technical bottleneck.

[0003] During mission execution, the fixed landing gear continuously occupies the space under the fuselage, severely obstructing the pod's field of vision. This inevitably creates blind spots in reconnaissance and monitoring missions, preventing the UAV from acquiring comprehensive and accurate target information and significantly limiting the quality and effectiveness of mission execution. For example, in patent application number 202110683909.1, which describes a vertical take-off and landing UAV, the fixed strut landing gear inevitably creates blind spots during reconnaissance and monitoring missions. If the fixed strut landing gear is removed for recovery, the aircraft will be subjected to direct impact upon landing. Due to the lack of support and cushioning, it is prone to tipping over, causing uncontrollable damage to the airframe structure and internal equipment. This results in high maintenance costs, extended maintenance cycles, and seriously affects the UAV's reusability and overall service life. Utility Model Content

[0004] This application provides a foldable landing gear device and a drone, which solves the technical problem in the prior art where existing fixed landing gear has blind spots in reconnaissance and monitoring missions, thus limiting the quality and effectiveness of mission execution.

[0005] In a first aspect, embodiments of this application provide a foldable landing gear device, including a mounting base, a power drive component, a rotating disk, and multiple sets of folding actuators; the top of the mounting base is provided with an adapter interface for docking with the fuselage of a drone, and multiple folding holes are provided along its circumferential edge; the power drive component is mounted on the bottom of the mounting base; the rotating disk is connected to the output end of the power drive component; the multiple sets of folding actuators are arranged along the circumference of the mounting base, and each set of folding actuators includes: a first rocker arm, one end of which is hinged to the bottom of the mounting base; a first connecting rod, both ends of which are respectively connected to the rotating disk and the first rocker arm through a universal hinge structure; a second connecting rod, which is hinged to the side of the first rocker arm away from the first connecting rod; and a support assembly, both ends of which are respectively hinged to the connecting lugs at the end of the second connecting rod away from the first rocker arm and the bottom of the mounting base, and the movement trajectory of the support assembly is aligned with the axis of the corresponding folding hole.

[0006] In conjunction with the first aspect, in one possible implementation, the support assembly includes a tension spring, a connecting rod base, a second rocker arm, and a third rocker arm; both the second and third rocker arms are L-shaped structures; one end of the second rocker arm is hinged to the side of the connecting lug near the mounting base, and the other end is hinged to the top of the connecting rod base; one end of the third rocker arm is hinged to the side of the connecting lug away from the mounting base, and the other end is connected to the bottom of the connecting rod base; the end of the second connecting rod away from the first rocker arm is hinged to the turning point of the L-shaped structure of the third rocker arm; the tension spring is disposed between the second and third rocker arms to provide a self-locking force when the support assembly is unfolded or folded; the second rocker arm, the connecting rod base, the connecting lug, and the third rocker arm together constitute a four-bar linkage.

[0007] In conjunction with the first aspect, in one possible implementation, the connecting rod foot is an L-shaped structure.

[0008] In conjunction with the first aspect, in one possible implementation, the support assembly further includes a base; the base is disposed at the bottom of the connecting rod foot.

[0009] In conjunction with the first aspect, in one possible implementation, the connecting lug has an L-shaped structure; the end of the first rocker away from the second link is hinged to the connecting lug; in the unfolded state, the second rocker, the link foot, the third rocker, and the connecting lug together constitute a four-bar linkage.

[0010] In conjunction with the first aspect, in one possible implementation, the universal joint structure is a rod end spherical bearing.

[0011] In conjunction with the first aspect, in one possible implementation, the power drive component is a servo motor; the bottom of the mounting base is provided with a boss, and the boss is fixedly connected to the servo motor.

[0012] In conjunction with the first aspect, in one possible implementation, the power drive component is provided with a slot, and the bottom of the mounting base is provided with a boss corresponding to the slot.

[0013] Secondly, embodiments of this application provide a drone, including the foldable landing gear device described in the first aspect or any possible implementation of the first aspect.

[0014] One or more technical solutions provided in the embodiments of this application have at least the following technical effects:

[0015] The foldable landing gear device of this application embodiment has the following core power transmission path: the power drive unit drives the rotating disk to rotate horizontally, and the rotational motion is converted into the reciprocating swing of the first rocker arm in the vertical plane through the first connecting rod. The first rocker arm, as a key power transfer and amplification mechanism, increases the proportion of power acting on the support assembly. The swing of the first rocker arm drives the movement of the second connecting rod hinged to it, which in turn drives the support assembly to rotate around the hinge point between itself and the connecting lug on the mounting base, realizing a reliable transition between the unfolded state (the support assembly extends vertically downward to form a stable landing support) and the folded state (the support assembly retracts upward and at least partially passes through the folding hole, and finally compactly folds up above the mounting base). This device effectively eliminates the additional aerodynamic drag and obstruction of mission visibility (especially pod visibility) caused by fixed landing gear by folding and retracting some support components above the mounting base during flight and launch phases, allowing them to retract within the theoretical shape envelope of the UAV fuselage or into the skin of the fuselage side. This significantly reduces flight power consumption, increases endurance, and ensures a clear and uninterrupted mission view, thereby improving mission accuracy. During landing and recovery, the support components quickly deploy to form a stable landing support, greatly improving landing stability and recovery safety, reducing the risk of UAV damage and repair costs. Overall, this foldable landing gear device enables multiple reliable uses of the UAV, reduces total life cycle costs, reduces preparation time, enhances flight stability, and comprehensively improves the product's flight success rate and mission success rate. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the foldable landing gear device provided in the embodiment of this application in the unfolded state;

[0018] Figure 2 A schematic diagram of the foldable landing gear device provided in the embodiment of this application in the folded state;

[0019] Figure 3 This is a schematic diagram of the mounting base provided in an embodiment of this application.

[0020] Icons: 1-Mounting base; 11-Folding hole; 12-Boss; 2-Power drive component; 3-Folding actuator; 31-First rocker arm; 32-First connecting rod; 33-Second connecting rod; 34-Support assembly; 341-Tension spring; 342-Connecting rod foot; 343-Second rocker arm; 344-Third rocker arm; 4-Rotating disk; 5-Connecting lug; 6-Universal hinge structure. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0023] This application provides a foldable landing gear device, such as... Figures 1 to 3As shown, the foldable landing gear device includes a mounting base 1, a power drive unit 2, a rotating disk 4, and multiple sets of folding actuators 3. The top of the mounting base 1 has an adapter interface for docking with the UAV fuselage, and multiple folding holes 11 are provided along its circumferential edge. The power drive unit 2 is mounted on the bottom of the mounting base 1. The rotating disk 4 is connected to the output end of the power drive unit 2. The multiple sets of folding actuators 3 are arranged circumferentially along the mounting base 1. Each set of folding actuators 3 includes a first rocker arm 31, a first connecting rod 32, a second connecting rod 33, and a support assembly 34. One end of the first rocker arm 31 is hinged to the bottom of the mounting base 1. Both ends of the first connecting rod 32 are connected to the rotating disk 4 and the first rocker arm 31 respectively via a universal joint structure 6. The second connecting rod 33 is hinged to the side of the first rocker arm 31 opposite to the first connecting rod 32. The two ends of the support assembly 34 are respectively hinged to the end of the second connecting rod 33 away from the first rocker arm 31 and the connecting lug 5 at the bottom of the mounting base 1, and the movement trajectory of the support assembly 34 is aligned with the axis of the corresponding folding hole 11. The power drive 2 drives the rotating disk 4 to rotate, converting the horizontal rotational motion of the rotating disk 4 into the swinging motion of the first rocker arm 31 in the vertical plane, which in turn drives the support assembly 34 to move between the unfolded and folded states via the second connecting rod 33. In the unfolded state, the support assembly 34 extends vertically downward to form a ground support. In the folded state, the support assembly 34 at least partially passes through the corresponding folding hole 11 and is folded up above the mounting base 1.

[0024] In one embodiment of this application, the folding actuator 3 is provided with three sets.

[0025] In this embodiment, the pod is located below the rotating disk 4, so the support assembly 34 is located above the pod after folding.

[0026] It should be noted that the core power transmission path of the foldable landing gear device in this embodiment is as follows: the power drive unit 2 drives the rotating disk 4 to rotate horizontally, and the rotational motion is converted into the reciprocating swing of the first rocker arm 31 in the vertical plane through the first connecting rod 32. The first rocker arm 31, as a key power transfer and amplification mechanism, increases the power ratio acting on the support assembly 34. The swing of the first rocker arm 31 drives the second connecting rod 33, which is hinged to it, to move, thereby driving the support assembly 34 to rotate around the hinge point between itself and the connecting lug 5 on the mounting base 1, realizing a reliable transition between the unfolded state (the support assembly 34 extends vertically downward to form a stable landing support) and the folded state (the support assembly 34 retracts upward and at least partially passes through the folding hole 11, and finally compactly folds up above the mounting base 1). This device effectively eliminates the additional aerodynamic drag and obstruction of mission visibility (especially pod visibility) caused by fixed landing gear by folding and retracting part of the support component 34 above the mounting base 1 during flight and launch phases, allowing it to retract within the theoretical outer envelope of the UAV's fuselage or into the skin of the fuselage side. This significantly reduces flight power consumption, increases endurance, and ensures a clear and uninterrupted mission view, thereby improving mission accuracy. During landing and recovery, the support component 34 quickly unfolds to form a stable landing support, greatly improving landing stability and recovery safety, reducing the risk of UAV damage and repair costs. Overall, this foldable landing gear device enables multiple reliable uses of the UAV, reduces total life cycle costs, reduces preparation time, enhances flight stability, and comprehensively improves the product's flight success rate and mission success rate.

[0027] In this embodiment, the support assembly 34 includes a tension spring 341, a connecting rod foot 342, a second rocker arm 343, and a third rocker arm 344. Both the second rocker arm 343 and the third rocker arm 344 have an L-shaped structure. One end of the second rocker arm 343 is hinged to the side of the connecting lug 5 near the mounting base 1, and the other end is hinged to the top of the connecting rod foot 342. One end of the third rocker arm 344 is hinged to the side of the connecting lug 5 away from the mounting base 1, and the other end is connected to the bottom of the connecting rod foot 342. The end of the second connecting rod 33 away from the first rocker arm 31 is hinged to the turning point of the L-shaped structure of the third rocker arm 344. The tension spring 341 is disposed between the second rocker arm 343 and the third rocker arm 344 to provide a self-locking force when the support assembly 34 is unfolded or folded. The second rocker arm 343, the connecting rod foot 342, the third rocker arm 344, and the connecting lug 5 together constitute a four-bar linkage.

[0028] It should be noted that the support assembly 34 achieves motion transmission and self-locking through a four-bar linkage mechanism consisting of the second rocker 343, the connecting rod foot 342, the third rocker 344, and the connecting lug 5. The driving force of the second connecting rod 33 acts on the turning point of the L-shaped structure of the third rocker 344, pushing the third rocker 344 to rotate around the hinge point. At the same time, the tension spring 341 provides a bidirectional elastic preload between the second rocker 343 and the third rocker 344, so that the four-bar linkage mechanism locks instantaneously when unfolded or folded into place. The preload of the tension spring 341 in this application automatically triggers the mechanism to self-lock at the extreme positions of the support assembly 34 when unfolded (ground support) or folded (folded state), maintaining the state without additional power, which greatly improves the structural reliability.

[0029] In this embodiment, the connecting rod foot 342 has an L-shaped structure.

[0030] In this embodiment, the support assembly 34 further includes a base. The base is disposed at the bottom of the connecting rod foot 342.

[0031] This application increases the grounding area and optimizes the load distribution by combining the connecting rod foot 342 with the base, effectively improving landing stability and anti-tilt capability.

[0032] In this embodiment, the connecting lug 5 has an L-shaped structure. The end of the first rocker 31 furthest from the second connecting rod 33 is hinged to the connecting lug 5. In the unfolded state, the first rocker 31, the second connecting rod 33, the support assembly 34, and the connecting lug 5 form a quadrilateral structure. This quadrilateral structure forms a rigid support frame in the unfolded state, significantly improving impact resistance and stability.

[0033] In this embodiment, the universal hinge structure 6 is a rod end spherical bearing.

[0034] In this embodiment, the power drive component 2 is a servo motor. Specifically, a boss 12 is provided at the bottom of the mounting base 1, which is fixedly connected to the servo motor to ensure the stability of the servo motor during operation. The output end of the servo motor is connected to the rotating disk 4, thereby driving the rotating disk 4 to rotate and realize the corresponding function.

[0035] It should be noted that this application is not limited to the structural form described above. The power drive component 2 may also be provided with a slot, and the bottom of the mounting base 1 is provided with a boss 12 corresponding to the slot. During assembly, the slot and the boss 12 are fitted together, and the power drive component 2 can rotate around the axis of the boss 12 by means of a rotating support structure (e.g., a sliding bearing with self-lubricating function); at this time, the output end of the power drive component 2 is still connected to the rotating disk 4 and drives its rotation. This design can meet different usage requirements such as low friction and high flexibility.

[0036] This application provides an embodiment of a drone, including the aforementioned foldable landing gear device.

[0037] Example 1: The coaxial dual-rotor UAV is mounted onto the adapter interface at the top of the mounting base 1. Then, the support assembly 34 is folded up, and the UAV is loaded into the launch canister for launch. During the mission, the support assembly 34 remains folded, providing the pod with an unobstructed and clear view without affecting the lower pod's observation. After the mission, the support assembly 34 is deployed during recovery, guiding the coaxial dual-rotor UAV to land and be recovered on the fixed platform.

[0038] Example 2: The VTOL UAV is installed onto the adapter interface at the top of the mounting base 1. After takeoff, the support assembly 34 is folded up, and the VTOL UAV quickly heads to the mission site. At this time, the working range of the belly load can reach 360°, improving the matching degree between the VTOL UAV and the load. After the mission is completed, the support assembly 34 is deployed during recovery, guiding the VTOL UAV to land and be recovered on the fixed platform.

[0039] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0040] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. A foldable landing gear device, characterized in that, It includes a mounting base (1), a power drive unit (2), a rotating disk (4), and multiple sets of folding actuators (3); The top of the mounting base (1) is provided with an adapter interface for docking with the drone body, and multiple folding holes (11) are provided on the circumferential edge; the power drive unit (2) is installed at the bottom of the mounting base (1); the rotating disk (4) is connected to the output end of the power drive unit (2); Multiple sets of the folding actuators (3) are arranged circumferentially along the mounting base (1), and each set of the folding actuators (3) includes: The first rocker arm (31) is hinged at one end to the bottom of the mounting base (1); The first connecting rod (32) is connected at both ends to the rotating disk (4) and the first rocker arm (31) respectively through a universal hinge structure (6); The second link (33) is hinged to the side of the first rocker arm (31) away from the first link (32); The support assembly (34) is hinged at both ends to the end of the second connecting rod (33) away from the first rocker arm (31) and the connecting lug (5) at the bottom of the mounting base (1), and the movement trajectory of the support assembly (34) is aligned with the axis of the corresponding folding hole (11).

2. The foldable landing gear device according to claim 1, characterized in that, The support assembly (34) includes a tension spring (341), a connecting rod foot (342), a second rocker arm (343), and a third rocker arm (344); Both the second rocker (343) and the third rocker (344) are L-shaped structures; One end of the second rocker arm (343) is hinged to the side of the connecting lug (5) near the mounting base (1), and the other end is hinged to the top of the connecting rod foot (342); One end of the third rocker arm (344) is hinged to the side of the connecting lug (5) away from the mounting base (1), and the other end is connected to the bottom of the connecting rod foot (342); The end of the second link (33) away from the first rocker (31) is hinged to the turning point of the L-shaped structure of the third rocker (344); The tension spring (341) is disposed between the second rocker arm (343) and the third rocker arm (344) to provide a self-locking force when the support assembly (34) is unfolded or folded; The second rocker (343), the connecting rod foot (342), the third rocker (344), and the connecting lug (5) together constitute a four-bar linkage mechanism.

3. The foldable landing gear device according to claim 2, characterized in that, The connecting rod foot (342) has an L-shaped structure.

4. The foldable landing gear device according to claim 3, characterized in that, The support assembly (34) also includes a base; The base is located at the bottom of the connecting rod foot (342).

5. The foldable landing gear device according to claim 1, characterized in that, The connecting ear piece (5) has an L-shaped structure; The end of the first rocker (31) away from the second link (33) is hinged to the connecting lug (5); in the unfolded state, the first rocker (31), the second link (33), the support assembly (34) and the connecting lug (5) form a quadrilateral structure.

6. The foldable landing gear device according to claim 1, characterized in that, The universal joint structure (6) is a rod end spherical bearing.

7. The foldable landing gear device according to claim 1, characterized in that, The power drive component (2) is a servo motor; The mounting base (1) has a boss (12) at its bottom, and the boss (12) is fixedly connected to the servo motor.

8. The foldable landing gear device according to claim 1, characterized in that, The power drive component is provided with a slot, and the bottom of the mounting base (1) is provided with a boss (12) corresponding to the slot.

9. A drone, characterized in that, Includes the foldable landing gear device as described in any one of claims 1-8.

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