Support structure for cargo drones and drones equipped with it

Abstract

This invention discloses a support device for a cargo drone and a drone incorporating it. The device includes a buffer swing arm, one end of which is hinged to the bottom of the drone's body, and the other end which is a free end that slides on a landing bearing surface. A telescopic cylinder is also included, with one end hinged to the bottom of the drone's body at a distance from the buffer swing arm, and the end of the telescopic cylinder away from the hinged end is open. A telescopic rod is also included, with one end hinged to the free end of the buffer swing arm at a distance from the free end, and the other end extending into the telescopic cylinder from the open side. A buffer cavity is formed between the end of the telescopic rod and the telescopic cylinder. A buffer element is disposed within the buffer cavity. In the buffered state, the telescopic rod simultaneously compresses both the buffer element and the buffer cavity. This invention reduces the initial deformation stroke of the drone support device during landing, compensates for the hysteresis of the spring response, and thus reduces the vertical undulation of the drone's body, achieving a smooth landing.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicles (UAVs), and specifically relates to a support device for a cargo UAV and a UAV having the same. Background Technology

[0002] A drone, or unmanned aerial vehicle, is an aircraft that does not carry a human pilot and is controlled by radio remote control equipment and its own program control device. Drones can fly autonomously or remotely and perform a variety of tasks, including but not limited to aerial reconnaissance, target tracking, and cargo transportation. A drone support refers to the support structure of a drone, which provides support and protection for the drone.

[0003] Cargo drones are widely used in cargo transportation, express delivery, multi-scenario rescue, and cargo handling. When a drone lands, it typically uses its bottom support frame to cushion the impact and protect the cargo. Existing frames generally use springs for this purpose, but these springs deform significantly in the initial stages of their travel, sometimes even compressing to their maximum stroke. This results in a lag in the spring's response, leading to substantial rebound during takeoff and landing. Consequently, the drone experiences significant undulation during landing, making a smooth landing difficult and damaging to both the drone's structure and the cargo, potentially causing fatigue cracks. However, replacing these springs with high-modulus springs would significantly improve the cushioning effect for heavier, centrally loaded cargo drones.

[0004] Therefore, improvements are needed to the support structure of drones. Utility Model Content

[0005] The embodiments of this application provide a support device for a cargo drone and a drone having the same, which can reduce the deformation stroke of the drone support device in the initial stage of landing, compensate for the hysteresis of the spring component, thereby reducing the vertical undulation of the drone body and achieving a smooth landing.

[0006] To address the aforementioned technical problems, embodiments of this application disclose the following technical solutions:

[0007] A support device for a cargo drone, comprising:

[0008] A buffer swing arm, one end of which is hinged to the bottom of the UAV body, and the other end is a free end that slides on the landing bearing surface;

[0009] A telescopic cylinder, one end of which is hinged to the bottom of the drone body at a distance from the buffer swing arm, and the end of the telescopic cylinder away from the hinged end is open;

[0010] A telescopic rod, one end of which is hinged to the rod of the buffer swing rod at a distance from the free end of the buffer swing rod, and the other end of which extends into the telescopic cylinder from the opening side of the telescopic cylinder, and a buffer cavity is formed between the end of the telescopic rod and the telescopic cylinder;

[0011] A buffer element, wherein the buffer element is disposed within the buffer cavity;

[0012] In the buffered state, the telescopic rod simultaneously compresses the buffer component and the buffer cavity.

[0013] In some specific embodiments, the telescopic cylinder is provided with an end plate on the open side, and the end plate has an movable opening through which the telescopic rod slides and seals.

[0014] A movable plug is provided at one end of the telescopic rod that extends into the telescopic cylinder, and a buffer cavity is formed between the movable plug and the end plate.

[0015] The movable plug has a through hole that connects the first buffer chamber and the second buffer chamber. In the buffered state, the gas in the first buffer chamber slowly flows into the second buffer chamber.

[0016] In some specific embodiments, a flow regulating mechanism is provided in the buffer cavity second corresponding to the through hole, and the flow regulating mechanism regulates the airflow of the through hole.

[0017] In some specific embodiments, the flow regulating mechanism includes an adjusting member and an elastic member, one end of the adjusting member extending at least partially into the through hole, and the other end being connected to the telescopic rod body via the elastic member.

[0018] In some specific embodiments, the adjusting member is a conical cylindrical structure, and the small end of the adjusting member extends into the through hole.

[0019] In some specific embodiments, the elastic element is a spring or a spring sheet.

[0020] In some specific embodiments, a fixing block is provided on the telescopic rod body for fixing the elastic element.

[0021] In some specific embodiments, a fixed base is also included, which is disposed at the bottom of the drone body, and the telescopic cylinder and the buffer swing arm are both hinged to the fixed base.

[0022] In some specific embodiments, the fixed base is an L-shaped plate structure, and the telescopic cylinder and the buffer swing rod are respectively hinged to the two free ends of the fixed base.

[0023] In some specific embodiments, a roller is provided on the free end of the buffer swing arm.

[0024] A drone has the aforementioned support device, and at least two sets of the support device are symmetrically arranged on both sides of the drone.

[0025] One of the above technical solutions has the following advantages or beneficial effects:

[0026] In this technical solution, a buffer swing arm rotates around the hinge to provide downward buffering space for the UAV. In the buffered state, the telescopic arm simultaneously compresses the buffer component and the first buffer chamber. Compression of the buffer component provides a buffering effect, while compression of the first buffer chamber rapidly compresses the gas within it, further providing a buffering effect, thus providing dual buffering. Furthermore, due to the buffering effect of the compressed gas in the first buffer chamber, large deformation of the buffer component is prevented during landing, compensating for the lag in the response of the spring component and reducing the deformation stroke of the buffer component in the very short initial stage of landing. This reduces the vertical undulation of the UAV body, achieving a smooth landing. During landing, the compressed air is rapidly discharged from the gap between the telescopic arm and the telescopic cylinder to the outside of the first buffer chamber, and the buffer component then performs normal telescopic buffering. Through this mechanical-pneumatic dual buffering system, drag is provided in the initial stage of landing, shortening the deformation response time. Attached Figure Description

[0027] Figure 1 This is a front view of the drone including the support device according to this utility model;

[0028] Figure 2 This is a three-dimensional schematic diagram of a drone including a support device according to the present invention;

[0029] Figure 3 This is a cross-sectional view of the UAV including the support device of this utility model;

[0030] Figure 4 This is an enlarged schematic diagram of part A of the support device of this utility model.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1-Buffer swing arm, 2-Telescopic cylinder, 21-Buffer chamber one, 22-Buffer chamber two, 230-Moving port, 231-Sealing ring, 3-Telescopic rod, 31-Moving plug, 310-Through hole, 4-Buffer component, 5-End plate, 6-Adjusting component, 7-Elastic component, 8-Fixing block, 9-Fixing seat, 10-Roller, 100-UAV. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] Cargo drones are widely used in cargo transportation, express delivery, multi-scenario rescue, and cargo handling. When a drone lands, it typically uses its bottom support to cushion the impact and protect the cargo.

[0035] Existing support structures typically use springs to cushion and relieve stress. However, the springs deform significantly in the initial stage of their travel, sometimes even compressing to their maximum stroke. This results in a lag in the actual response of the springs, leading to a large rebound during takeoff and landing. Consequently, the unmanned aircraft experiences significant undulations during landing, making it difficult to achieve a smooth landing. This is detrimental to the structure of the UAV 100 and the cargo it carries, and can even cause fatigue cracks in the aircraft. However, if the springs are replaced with high-elasticity modulus springs, the cushioning effect will be significantly reduced for the heavier, center-carrying UAV 100.

[0036] To address the aforementioned shortcomings, a support device for cargo drones is proposed, such as... Figures 1 to 4 As shown, it includes:

[0037] A buffer swing arm 1 is a rod structure. One end of the buffer swing arm 1 is hinged to the bottom of the UAV 100 body via a hinge connector, and the other end is a free end that slides on the landing bearing surface. In the free state, the buffer swing arm 1 is inclined to the ground. When the UAV 100 lands on the ground, the free end of the buffer swing arm 1 contacts the ground first, and the hinge connector of the buffer swing arm 1 rotates, thereby providing a buffer space for the UAV to move downward. The hinge connector can be a hinge or a hinge shaft.

[0038] The telescopic cylinder 2 is hinged at one end to the buffer swing rod 1 at the bottom of the UAV 100 body via a second hinge. The second hinge is a hinge or a hinge shaft. The end of the telescopic cylinder 2 away from the hinge end is open. The telescopic cylinder 2 is a cylindrical structure with one end open and the other end closed. Its inner cavity is used to install the buffer 4 and the telescopic rod 3.

[0039] A telescopic rod 3 is provided, one end of which is hinged to the free end of the buffer swing rod 1 via a hinge three. The hinge three is either a hinge or a hinge shaft. The other end of the telescopic rod 3 extends into the telescopic cylinder 2 from the opening side. A buffer cavity 21 is formed between the end of the telescopic rod 3 and the telescopic cylinder 2. The telescopic rod 3 is spaced apart from the inner wall of the telescopic cylinder 2 so that air in the buffer cavity 21 can be discharged when the buffer cavity 21 is compressed by the telescopic rod 3.

[0040] The buffer 4 is disposed within the buffer cavity 21; preferably, the buffer 4 is a spring. It is understood that the buffer 4 adopts the spring commonly used in the buffer mechanism of UAVs in the prior art, which does not need to be elaborated.

[0041] In the buffered state, the telescopic rod 3 simultaneously compresses the buffer member 4 and the buffer cavity 21; in the free state or the rebound state, the telescopic rod 3 is displaced by the reset of the buffer member 4, and the buffer cavity 21 returns to its original volume.

[0042] When the UAV 100 lands, the buffer lever 1 rotates around the hinge to provide downward buffer space for the UAV 100. In the buffered state, the telescopic lever 3 simultaneously compresses the buffer component 4 and the buffer chamber 31. The compression of the buffer component 4 provides a buffering effect, and the compression of the buffer chamber 31 causes the gas inside the buffer chamber 31 to be rapidly compressed, further providing a buffering effect, thus providing double buffering. Moreover, due to the buffering effect of the compressed gas in the buffer chamber 31, it can prevent the buffer component 4 from generating a large deformation at the moment of landing, compensate for the lag in the response of the spring component, reduce the deformation stroke of the buffer component 4 in the very short time at the beginning of landing, and thus reduce the vertical undulation of the UAV body, achieving a smooth landing. During the landing process, the compressed air is quickly discharged from the outside of the buffer chamber 31 through the gap between the telescopic lever 3 and the telescopic cylinder 2, and the buffer component 4 then performs normal telescopic buffering. Through the mechanical-pneumatic dual buffering system, drag is provided at the beginning of landing, shortening the deformation response time and compensating for the lag in the response of the spring component at the moment of landing.

[0043] This innovative system combines mechanical and pneumatic buffering mechanisms. When the drone lands, the kinetic energy of the swing arm 1 is transferred to the buffer chamber 1 via the telescopic rod 3. Simultaneously, the compressed air within the chamber generates pneumatic drag. This synergistic effect provides a progressive buffering force instantly upon landing impact, significantly reducing the response delay inherent in traditional single-buffer systems. This synergistic effect enables the rapid establishment of a nonlinear buffer drag curve within 0.1-0.3 seconds of landing. Experimental data shows that this system reduces the deformation response time of traditional buffer devices from 0.5 seconds to 0.3 seconds, a reduction of 40%, thus shortening the deformation response time by approximately 40%.

[0044] In some specific embodiments, the telescopic cylinder 2 is provided with an end plate 5 on the open side, and the end plate 5 is provided with an movable opening 230 for the telescopic rod 3 to slide and seal through.

[0045] The telescopic rod 3 is provided with a movable plug 31 at one end that extends into the telescopic cylinder 2. The movable plug 31 and the end plate 5 form a second buffer cavity 22. The end plate 5 is used to guide the telescopic rod 3's telescopic movement and also to close the telescopic cylinder 2 to form a first buffer cavity 21 and a second buffer cavity 22.

[0046] The movable plug 31 has a through hole 310 that connects the buffer cavity 1 21 and the buffer cavity 22. In the buffered state, the gas in the buffer cavity 1 21 flows slowly into the buffer cavity 22.

[0047] Since buffer chamber 1 21 and buffer chamber 2 22 are formed, when the UAV lands, the movable plug 31 and the telescopic rod 3 displace and compress buffer chamber 1 21. Air enters buffer chamber 2 22 through the through hole 310. Since the cross-sectional area of ​​the through hole 310 is smaller than the cross-sectional area of ​​the telescopic cylinder 2, the airflow speed from buffer chamber 1 21 to buffer chamber 2 22 slows down. The movable plug 31 and the telescopic rod 3 are slowed down by the resistance of the compressed gas in buffer chamber 1 21, which plays a role in rapid buffering and greatly shortens the buffer response time.

[0048] When the drone rebounds or is in a free state, the buffer component 4 in buffer chamber 1 21 resets, pushing the movable plug 31 and the telescopic rod 3 to move away from buffer chamber 1. At this time, buffer chamber 1 increases in size, and buffer chamber 22 decreases in size. At this time, the air in buffer chamber 22 enters buffer chamber 1 21 through the through hole 310. Similarly, since the cross-sectional area of ​​the through hole 310 is smaller than the cross-sectional area of ​​the telescopic cylinder 2, the airflow speed from buffer chamber 22 to buffer chamber 1 21 slows down. The movable plug 31 and the telescopic rod 3 are slowed down by the resistance of the compressed gas in buffer chamber 22, which plays a role in suppressing the rapid reset of buffer component 4 and suppressing the rapid rebound of the drone, greatly reducing high-frequency vibration, and thus achieving a smooth landing effect.

[0049] It is understandable that the movable port 230 and the telescopic rod 3 can be sealed or a movable gap can be maintained. The movable plug 31 and the inner wall of the telescopic cylinder 2 can be slidably sealed or a movable gap can be maintained.

[0050] Preferably, a sealing ring 231 is provided at the movable opening 230 so that the buffer cavity 22 forms a sealed cavity, preventing water or impurities from entering the interior of the telescopic cylinder 2.

[0051] Preferably, the movable plug 31 is slidably sealed to the inner wall of the telescopic cylinder 2, so that buffer chamber one and buffer chamber two can exchange airflow only through the through hole 310. For example, the movable plug 31 is a rubber piston.

[0052] A sealing end plate 5 and a movable plug 31 are added to form a second buffer chamber 22. The movable plug has a through hole 310 to allow gas to flow slowly between the two chambers. Technical effect: Gradual buffering is achieved by utilizing the pressure difference, avoiding instantaneous impact and significantly improving deformation response efficiency.

[0053] An end plate 5 and a movable plug 31 are added to form a second buffer chamber 22. The movable plug 31 has a through hole 310, creating a controllable gas flow channel between the first buffer chamber 21 and the second buffer chamber 22. This structure achieves a gradual buffering effect through the pressure difference between the two chambers: when the system is impacted by an external force, the movable plug 31 will displace with the pressure change, and the throttling effect of the through hole 310 will limit the gas flow velocity, thereby converting the instantaneous impact energy into a smooth buffering process. The technical advantages are: an adaptive buffering mechanism driven by pressure difference; effective absorption of impact energy through fluid damping effect; and avoidance of mechanical damage caused by rigid collisions.

[0054] In some specific embodiments, a flow regulating mechanism is provided in the second buffer chamber 22 corresponding to the through hole 310. The flow regulating mechanism regulates the airflow through the through hole 310. The flow regulating mechanism can adaptively adjust the gas convection velocity in the first buffer chamber 21 and the second buffer chamber 22, thereby adjusting the buffering capacity.

[0055] In some specific embodiments, the flow regulating mechanism includes an adjusting member 6 and an elastic member 7. One end of the adjusting member 6 extends at least partially into the through hole 310, and the other end is connected to the telescopic rod 3 via the elastic member 7.

[0056] The flow regulation mechanism mainly consists of a conical adjusting element 6 and an elastic element 7. Its core function is to automatically adjust the flow cross-sectional area of ​​the through-hole 310 by sensing the magnitude of the external impact force. Specifically, when the system is subjected to a large impact, the gas in the buffer chamber 21 is rapidly compressed within an extreme time. Due to the high pressure in the buffer chamber 21, the conical adjusting element 6 compresses the elastic element 7, increasing the flow area. During reset, the conical adjusting element 6 will displace with the cooperation of the elastic element, thereby reducing the effective flow area of ​​the through-hole. This dynamic adjustment mechanism can accurately match the buffering requirements under different landing speeds, ensuring that ideal linear buffering characteristics are maintained throughout the entire buffering process, effectively avoiding the problem of sudden changes in buffering force that occurs in traditional fixed damping systems under varying operating conditions.

[0057] Specifically, the adjusting member 6 has a conical cylindrical structure, and the small end of the adjusting member 6 extends into the through hole 310.

[0058] In some specific embodiments, the elastic element 7 is a spring or a spring sheet. It only needs to provide elastic restoring capability.

[0059] In some specific embodiments, a fixing block 8 is provided on the telescopic rod 3 for fixing the elastic element 7. The fixing block 8 can be a block structure or a ring structure.

[0060] In some specific embodiments, a fixed base 9 is also included, which is disposed at the bottom of the drone 100 body, and the telescopic cylinder 2 and the buffer swing arm 1 are both hinged to the fixed base 9. The fixed base 9, the buffer swing arm 1, the telescopic cylinder 2 and the telescopic rod 3 form a four-bar linkage, which can form an independent module, facilitating direct assembly and disassembly with the drone.

[0061] In some specific embodiments, the fixed base 9 is an L-shaped plate structure, and the telescopic cylinder 2 and the buffer swing rod 1 are respectively hinged to the two free ends of the fixed base 9.

[0062] The L-shaped mounting base 9 is integrated with the main structure in an integrated design, and the modular L-shaped mounting base facilitates quick disassembly and maintenance.

[0063] In some specific embodiments, a roller 10 is provided on the free end of the buffer swing arm 1. At the same time, wear-resistant rollers 10 are added to the contact surface to significantly reduce the coefficient of motion friction, ensure smooth rotation of the buffer swing arm 1, and avoid motion jamming.

[0064] On the other hand, such as Figures 1 to 3As shown, a drone is provided, having the aforementioned support device, with at least two sets of the support device symmetrically arranged on both sides of the drone 100. The buffer swing arms 1 of the two sets of support devices form an "eight" shape structure. When the drone 100 lands, the two sets of support devices expand outward, thereby providing downward buffer displacement space for the drone 100. The technical effects of the drone have been discussed in conjunction with the aforementioned support device, and will not be repeated here.

[0065] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "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, an electrical connection, or a connection that allows for mutual communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically limited. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0066] The above steps are provided only to help understand the method, structure, and core ideas of this application. Those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims.

Claims

1. A support device for a cargo drone, characterized in that, include: A buffer swing arm (1) is provided, with one end of the buffer swing arm (1) hinged to the bottom of the body of the UAV (100) and the other end being a free end that slides on the landing bearing surface; Telescopic cylinder (2), one end of which is hinged to the bottom of the body of the UAV (100) at a distance from the buffer swing rod (1), and the end of the telescopic cylinder (2) away from the hinged end is open; Telescopic rod (3), one end of which is hinged to the free end of the buffer swing rod (1) at a distance from the free end of the buffer swing rod (1), and the other end extends into the telescopic cylinder from the opening side of the telescopic cylinder (2). A buffer cavity (21) is formed between the end of the telescopic rod (3) and the telescopic cylinder (2). A buffer (4) is disposed within the buffer cavity (21); In the buffered state, the telescopic rod (3) simultaneously compresses the buffer member (4) and the buffer cavity (21).

2. The support device for a cargo drone according to claim 1, characterized in that, The telescopic cylinder (2) has an end plate (5) on its open side, and the end plate (5) has an open port (230) through which the telescopic rod (3) slides and seals. The telescopic rod (3) is provided with a movable plug (31) at one end that extends into the telescopic cylinder (2), and a buffer cavity (22) is formed between the movable plug (31) and the end plate (5); The movable plug (31) has a through hole (310) that connects the buffer chamber one (21) and the buffer chamber two (22). In the buffer state, the gas in the buffer chamber one (21) flows slowly into the buffer chamber two (22).

3. The support device for a cargo drone according to claim 2, characterized in that, A flow regulating mechanism is provided in the buffer cavity (22) corresponding to the through hole (310), and the flow regulating mechanism regulates the airflow of the through hole (310).

4. The support device for a cargo drone according to claim 3, characterized in that, The flow regulation mechanism includes an adjusting member (6) and an elastic member (7). One end of the adjusting member (6) extends at least partially into the through hole (310), and the other end is connected to the telescopic rod (3) through the elastic member (7).

5. The support device for a cargo drone according to claim 4, characterized in that, The adjusting member (6) has a conical cylindrical structure, and the small end of the adjusting member (6) extends into the through hole (310); And / or, the elastic element (7) is a spring or a spring sheet.

6. The support device for a cargo drone according to claim 5, characterized in that, A fixing block (8) is provided on the telescopic rod (3) for fixing the elastic element (7).

7. The support device for a cargo drone according to claim 1, characterized in that, It also includes a fixed base (9), which is located at the bottom of the body of the UAV (100), and the telescopic cylinder (2) and the buffer swing arm (1) are both hinged to the fixed base (9).

8. The support device for a cargo drone according to claim 7, characterized in that, The fixed base (9) is an L-shaped plate structure, and the telescopic cylinder (2) and the buffer swing rod (1) are respectively hinged to the two free ends of the fixed base (9).

9. The support device for a cargo drone according to claim 1, characterized in that, A roller (10) is provided on the free end of the buffer rocker (1).

10. A drone, characterized in that, The device has a support structure as described in any one of claims 1 to 9, and at least two sets of the support structures are symmetrically arranged on both sides of the drone (100).

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