Driveable landing pole lock catch device and unmanned aerial vehicle

Abstract

The utility model discloses a kind of driveable lift lever lock catch device and unmanned aerial vehicle, including unmanned aerial vehicle body, unmanned aerial vehicle body configuration lift landing use lift component, lift component is arranged lift lever using following driveable lift lever lock catch device, and the lock box of this lock catch device is arranged in unmanned aerial vehicle body.The utility model's driveable lift lever lock catch device and unmanned aerial vehicle, with locking motor and drive motor cooperation sliding seat, utilize locking motor drive sliding seat to move to the right to the drive gear and lift lever separation position ensure lift lever free activity fall to low position, then utilize locking motor drive sliding seat to move to the left to the drive gear and lift lever engagement position to lock lift lever and realize landing, and then pass through drive motor drive lift lever up and down movement, realize after landing again adjust unmanned aerial vehicle level or height position.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a driveable landing bar locking device and an UAV. Background Technology

[0002] A typical drone on the market includes a fuselage, frame, tripod, tow arm, and rotor, and is equipped with a control system and power supply. It can be remotely controlled by a remote control or mobile phone to take off, then cruise in the air to work or cruise to a preset location to land and work on the ground. When the work is completed or the power supply needs to be replaced, it returns to home and lands.

[0003] For example, in the Chinese patent document "Landing Rod Locking Device and UAV, CN223116646U", a locking box is arranged on the UAV body, and the landing rod is slidably connected to the locking hole and sliding lock hole of the locking box. The inner wall of the locking hole is adapted to the outer wall of the landing rod. When driven by the driver, the slider can be radially inserted into the landing rod. The locking segment is inserted and locked onto the outer wall of the landing rod. The landing rod can be locked by simply driving the slider to move to the right.

[0004] As mentioned above, the locking device inserts into and locks onto the outer wall of the landing bar, which can lock the landing bar to land on the ground, but cannot drive the landing bar to adjust its height so as to adjust the drone's horizontal or vertical position. Utility Model Content

[0005] The purpose of this invention is to address the above-mentioned problems by providing a driveable landing bar locking device and a drone, which allows for adjustment of the drone's horizontal or vertical position after landing.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: The drone includes the drone body, which is equipped with a take-off and landing assembly. The take-off and landing assembly uses a driveable landing stick locking device to arrange the landing stick, and the locking box of the locking device is arranged in the drone body.

[0007] The drivable landing bar locking device includes: The drive motor is equipped with a drive gear that has a self-locking function. The motor is locked and equipped with a locking wheel. The lock box has a lock cavity inside and a through hole in the lock box, which is located in the middle of the lock cavity to allow the lifting bar to pass through. The slide block can slide left and right and is connected to the lock cavity. The slide block is provided with a lock hole that runs vertically through it so that the lifting rod can be inserted. The drive motor is mounted on the slide block, and a drive gear is arranged on the front and / or rear side of the left end of the lock hole. The axis of the drive gear extends to the left and right, and the drive gear can be engaged with the outer wall of the lifting rod. The locking motor is mounted on the lock box, and the locking wheel is connected to the slide. When driven by the locking motor, the slide can move to the left to the position where the drive gear engages with the landing bar or to the right to the position where the drive gear disengages from the landing bar.

[0008] The lock cavity extends to the right to form an opening. The slide block is slidably connected to the opening via a slide rail. The lock box is equipped with a cover, which closes to connect to the opening. The front and rear width of the slide block is adapted to the lock cavity. Slide rails are arranged on the front and rear side walls of the lock cavity and the front and rear side walls of the slide block. The slide block is inserted from the opening to achieve left and right sliding connection within the lock cavity.

[0009] A base is located at the right end of the lock box, and the locking motor is mounted on the base. The locking wheel is connected to the right end of the slide, with the locking wheel axis extending vertically to achieve the installation and transmission drive of the locking motor to the slide. Specifically, the locking motor is a servo motor, and the locking wheel is a rocker arm. The servo motor is located inside the lock cavity and on the right side of the slide. The rocker arm of the servo motor is connected to the slide. When the servo motor drives the rocker arm to rotate to the locked position, the slide can be pushed to the left by the rocker arm to the position where the drive gear engages with the landing gear. On the other hand, the rocker arm is hinged to the slide. When the servo motor drives the rocker arm to rotate to the movable position, the slide can be pushed to the right by the rocker arm to the position where the drive gear disengages from the landing gear.

[0010] The device is equipped with at least one drive motor and a drive gear. This can be a single drive motor with two drive gears, or two drive motors each with their own drive gear. Specifically, there are two drive motors, each equipped with one drive gear. The two drive gears are respectively located on the front and rear sides of the left end of the lock hole. The outer wall of the lock box has a fixing surface that allows it to be welded or bolted to an external application device. The limiting hole or the box hole of the external application device that passes through the landing bar is adapted to the landing bar. The limiting hole or the box hole is circular, square, or runway ring shaped. The external application device is the UAV body and can be fixed to the UAV body's support arm or its landing assembly support arm, etc.

[0011] The front and / or rear sidewalls of the landing boom are provided with axially extending drive grooves that can mesh with drive gears, enabling axial movement under the drive of a drive motor. These drive grooves are internally toothed, with the teeth extending through the end facing the drive gear. This forms a rack structure that engages with the drive gear to create a clutch mechanism. Engagement drives the landing boom up and down, while disengagement creates space that does not impede its downward movement. To reduce collisions with the inner walls of the limiting holes or housings, an internal tooth structure recessed into the surface is used for smoother movement.

[0012] As mentioned above, a locking motor and a drive motor are configured to work with a slide. The locking motor drives the slide to move to the right until the drive gear and landing stick are separated, ensuring that the landing stick can move freely and fall to the lowest position. Then, the locking motor drives the slide to move to the left until the drive gear and landing stick are engaged, locking the landing stick to achieve landing. Then, the drive motor drives the landing stick to move up and down, and after landing, the drone's horizontal or vertical position can be adjusted.

[0013] Based on the aforementioned solution, in an improved version, the drivable landing bar locking device further includes an elastic element. The elastic element is disposed within the locking cavity and connected to the slide block. Under its restoring force, the elastic element can push the slide block to the right until the drive gear and landing bar are separated. Thus, under the restoring action of the elastic element, the slide block moves to the right to the separation position, while preventing the slide block from moving back to the left. Specifically, a spring cavity communicating with the locking cavity is provided at the left end of the lock box, and a spring post is provided at the left end of the slide block. The elastic element connects the spring cavity and the spring post; the elastic element is a spring, enabling spring installation and increasing the rebound restoring force after compression.

[0014] Based on the aforementioned solution, in an improved solution, the drivable landing bar locking device further includes a trigger, the locking motor is equipped with a controller, the trigger is electrically connected to the controller, and the trigger is located in the lock box or an external application device; wherein the trigger is a light sensor, and the outer wall of the landing bar is provided with a color ring. As the landing bar moves upward, the color ring is aligned with the light sensor and thus triggers it. By detecting the movement of each landing bar separately, after each landing bar touches the bottom (contacts the ground) and moves upward, the trigger drives the sliding block to move and thus locks the landing bar, achieving landing support.

[0015] By adopting the above technical solution, this utility model has the following beneficial effects: This utility model discloses a drivable landing stick locking device and a drone. It is equipped with a locking motor and a drive motor working in conjunction with a slide block. The locking motor drives the slide block to move to the right until the drive gear disengages from the landing stick, ensuring the landing stick can freely descend to its lowest position. Then, the locking motor drives the slide block to move to the left until the drive gear engages with the landing stick, locking the landing stick and achieving landing. The drive motor then drives the landing stick up and down, allowing for adjustment of the drone's horizontal or vertical position after landing. Simultaneously, the drive gear moves left and right with the slide block, while its position remains fixed in the front-to-back direction. The drive gear engages and drives the landing stick, distributing the rotational force in the front-to-back direction, thus not affecting the left-to-right movement or locking of the slide block. Attached Figure Description

[0016] Figure 1 This is a side view of example 1 of the UAV of this utility model. Figure 2 yes Figure 1 A schematic diagram of the locking device connecting the rotor structure. Figure 3 yes Figure 2 A schematic diagram of the locking device connecting the support arm structure. Figure 4 yes Figure 3 Another perspective of the exploded view. Figure 5 yes Figure 4 A schematic diagram of the lock box structure. Figure 6 yes Figure 5 Another perspective structural diagram. Figure 7 yes Figure 5 Another perspective structural diagram. Figure 8 yes Figure 5 Another perspective structural diagram. Figure 9 yes Figure 4 A schematic diagram of the slide structure. Figure 10 Yes, yes Figure 9 Another perspective structural diagram. Figure 11 yes Figure 9 Another perspective structural diagram. Figure 12 yes Figure 9 Another perspective structural diagram. Figure 13 yes Figure 4 A schematic diagram of the box lid structure. Figure 14 yes Figure 4 A schematic diagram of the servo motor structure. Figure 15 yes Figure 4 A schematic diagram of the drive motor structure. Figure 16 yes Figure 4 A schematic diagram of the spring structure. Figure 17 yes Figure 4 A schematic diagram of the structure of a light sensor. Figure 18 yes Figure 3 A schematic diagram of the locking device structure. Figure 19 yes Figure 18 Another perspective structural diagram. Figure 20 yes Figure 18 A partial side view of the engagement position of the drive gear and the landing bar. Figure 21 yes Figure 18 A partial top view. Figure 22 yes Figure 21 A structural diagram. Figure 23 yes Figure 22 Another perspective structural diagram. Figure 24 yes Figure 22 Another perspective structural diagram. Figure 25 yes Figure 3 A top view of the drive gear and landing bar in their separated positions.

[0017] Figure 26 This is a top view of the landing boom of Example 2 of this utility model of a drone.

[0018] Figure 27 This is a top view of the landing stick and slide block separation position in Example 3 of this utility model of a drone.

[0019] Figure 28 This is a top view of the landing stick of UAV Example 4 of this utility model.

[0020] Figure 29 This is a side view of the locking device connecting the landing support arm to the UAV Example 5 of this utility model.

[0021] In the attached diagram, 1 is the fuselage, 2 is the frame, 3 is the support arm, 4 is the rotor, 5 is the landing gear, and 6 is the locking device. Detailed Implementation

[0022] Example

[0023] As mentioned above, this application includes basic solutions and improved solutions, such as an improvement including an elastic element solution, etc. The feature combinations of each application instance can be combined according to actual needs. The following will use examples of preferred combinations of all features as examples to illustrate the application.

[0024] See Figures 1-25 The drone in this embodiment includes a drone body, which is equipped with a take-off and landing assembly. The take-off and landing assembly uses a drivable landing stick locking device 6 to arrange the landing stick, and the locking box 61 of the locking device 6 is arranged on the drone body.

[0025] Taking a rotary-wing drone as an example, the drone body includes a fuselage 1, a frame 2, landing gear, a support arm 3, and rotors 4. The power motor and drive shaft can be solid or hollow. The fuselage houses a lithium battery pack and a controller circuit board, which are connected and control the rotor's start and stop via standard cables. The drone body and its control system are existing technologies and will not be elaborated upon here; for example, DJI drones on the market. This application aims to improve the take-off and landing structure of existing drones, specifically the locking structure of the landing bar. This will be explained in detail below with reference to the accompanying drawings. For other details not covered herein, please refer to existing technologies, such as the Chinese patent document "Landing Bar Locking Device and Drone, CN223116646U," etc.

[0026] The locking device 6 includes: The drive motor 65 is equipped with a drive gear that has a self-locking function. The motor is locked and equipped with a locking wheel. Lock box 61, lock box 61 is provided with a lock cavity, lock box 61 is provided with a box hole 611 that runs vertically through the lock cavity, the box hole 611 is located in the middle of the lock cavity so that the lifting bar can be inserted. The slide 64 is slidably connected to the lock cavity. The slide 64 is provided with a vertically penetrating lock hole 641 so that the lifting rod can be inserted. The drive motor 65 is mounted on the slide block 64. A drive gear is arranged on the front and / or rear side of the left end of the lock hole 641. The axis of the drive gear extends to the left and right, and the drive gear can be engaged with the outer wall of the lifting rod. The locking motor is mounted on the lock box 61, and the locking wheel is connected to the slide 64. When driven by the locking motor, the slide 64 can move to the left to the position where the drive gear and the landing bar are engaged, or to the right to the position where the drive gear and the landing bar are disengaged.

[0027] The lock box 61 can be a one-piece molded box or a split box, as shown in the figure. The lock box adopts an opening structure on the top and right side walls, which, together with the top seat 32, achieves a stable fixation. The lock box 61 is equipped with a wire hole 615 that connects to the lock cavity. The top seat 32 and the base 31, together with the fixing bracket, are all existing technologies and will not be described in detail here.

[0028] The lock cavity extends to the right to form an opening. The slide 64 is slidably connected to the opening via a slide rail. The lock box 61 is equipped with a cover 63, which closes and connects to the opening. The front and rear width of the slide 64 is adapted to the lock cavity. Slide rails are arranged on the front and rear side walls of the lock cavity and the front and rear side walls of the slide. The slide rails include guide rails and slide grooves. Taking two guide rails and slide grooves as an example, the slide 64 is provided with guide rails 642, and the lock box 61 has a slide groove 612 inside the lock cavity. The slide is inserted from the opening to achieve left and right sliding connection to the lock cavity.

[0029] A base (locking base) 613 is provided at the right end of the lock box 61. The locking motor is located on the locking base 613. The locking wheel is connected to the right end of the slide. The locking wheel axis extends vertically to realize the installation of the locking motor and the transmission drive of the slide. Specifically, the locking motor is a servo motor 62, and the locking wheel is a rocker arm. The servo motor is located in the lock cavity and is on the right side of the slide. The rocker arm of the servo motor is connected to the slide. When the servo motor drives the rocker arm to rotate to the locked position, the slide can be pushed to the left by the rocker arm to the position where the drive gear and the landing stick are engaged. On the other hand, when only the servo motor is provided and the aforementioned spring is not provided, the rocker arm is hinged to the slide. When the servo motor drives the rocker arm to rotate to the movable position, the slide can be pushed to the right by the rocker arm to the position where the drive gear and the landing stick are separated.

[0030] The device is equipped with at least one drive motor and drive gear, preferably two drive gears. This can be a single drive motor with two drive gears, or two drive motors each with their own drive gears. The drive motors are self-locking motors, factory-configured with drive gears and possessing a self-locking function. The self-locking motors, the servos described below, and their connection and control with the UAV controller are all existing technologies and will not be elaborated upon here. Specifically, there are two self-locking motors, each equipped with one drive gear. The two drive gears are respectively arranged on the front and rear sides of the left end of the locking hole. As shown in the figure, a self-locking base 643 is provided on the left end of the slide to mount the self-locking motors. The outer wall of the locking box has a fixing surface that allows it to be welded or bolted to an external application device. The limiting hole or the box hole configured on the external application device that passes through the landing bar is adapted to the landing bar. The limiting hole or the box hole has a circular, square, or runway ring shape. Figure 1 The circular landing bar 5 shown is as follows: Figure 26 The semi-circular landing bar 51 shown is as follows: Figure 27 The runway circular landing bar 52 shown is as follows: Figure 28 The square landing bar 53 shown is equipped with rounded corners. Preferably, two drive gears are arranged on the front and rear sides to engage with the front and rear planes of the landing bar, resulting in better meshing contact between the drive gears and the landing bar (see the drive groove surface below). Compared to the ring gear structure arranged around the cylindrical surface as shown in Figure 1, the planar contact structure provides more stable drive. Here, the peripheral application device is the drone itself, which can be fixed to the drone's support arm, such as... Figure 1 As shown, it can be mounted on the support arm or fixed to the landing gear support arm of the drone body, such as... Figure 29 As shown, the base and the portion of the fixed seat protruding from the lock box are cut to form a locking device '6' and installed on the support arm, etc.

[0031] In one example, the front sidewall of the landing boom has an axially extending drive groove; in another example, the rear sidewall has an axially extending drive groove; and in yet another example, both the front and rear sidewalls of the landing boom have axially extending drive grooves. This drive groove can mesh with a drive gear, allowing it to move axially under the drive of a self-locking motor. Preferably, the drive groove is an internal tooth, specifically a spur or helical tooth, and this internal tooth extends through the end directly opposite the drive gear. This forms a rack structure, which, together with the drive gear, creates a clutch mechanism. When engaged, it drives the landing boom to move up and down; when disengaged, the space created does not affect the downward movement of the landing boom. To reduce collisions with the inner walls of the limiting holes or housing holes, an internal tooth structure recessed into the surface is used for smoother movement.

[0032] The drivable landing bar locking device also includes an elastic element, which is disposed in the locking cavity and connected to the slide. Under its restoring force, the elastic element can push the slide to the right to the position where the drive gear and the landing bar are separated. Thus, under the restoring action of the elastic element, the slide moves to the right to the separation position, while preventing the slide from moving back to the left. Specifically, the left end of the lock box 61 is provided with a spring cavity 614 communicating with the locking cavity, and the left end of the slide 64 is provided with a spring post 644. The elastic element is connected between the spring cavity and the spring post; the elastic element is a spring 66, which realizes spring installation and improves the rebound restoring force after being compressed.

[0033] The drivable landing stick locking device also includes a trigger 67. The locking motor is equipped with a controller, and the trigger 67 is electrically connected to the controller. The trigger is located in the lock box or an external application device. The trigger is a light sensor, and the outer wall of the landing stick is provided with a color ring, such as a black and white ring. As the landing stick moves upward, the color ring is aligned with the light sensor and thus triggers the sensor. By detecting the movement of each landing stick individually, after each landing stick touches the bottom (contacts the ground) and moves upward, the trigger drives the sliding block to move and lock the landing stick, thus achieving landing support. The trigger is existing technology and can be a light sensor, displacement sensor, or proximity sensor, etc., which will not be described in detail here. In the initial position, the landing stick is in a fully extended low position. For example, when the landing stick is retracted to 10cm from the bottom, the color ring is placed. The trigger detects that all landing sticks have retracted and slid, and then locks the corresponding landing stick to complete the landing support. Alternatively, when the landing stick is retracted to the maximum height limit position (landing height limit), as mentioned above, at the lowest locking position of 10cm, it is determined that the current position is difficult to land safely, and the landing is stopped and the landing position is changed. After landing stably at the lowest locked position, the altitude can be lowered further, for example, by another 5cm, and the fuselage will touch the ground when the altitude of the further descent is 8cm.

[0034] As described above, after the drone takes off, the servo drive slide is in the position where the drive gear is separated from the landing stick. The landing stick extends downward under the action of gravity, and is in the external landing gear state. When the drone lands, the lower end of the landing stick gradually approaches the ground. Then, each landing stick contacts the ground directly below it. After the trigger detects that all landing sticks (at least 3 can support) have retracted upward, all locking motors are controlled to drive and lock the corresponding landing sticks to complete the landing support. Then, all self-locking motor drive gears are controlled to rotate, causing the landing sticks to move up and down, further adjusting the drone's horizontal or vertical position. The locking motor and self-locking motor work with the slide. The locking motor drives the slide to move to the right until the drive gear is separated from the landing stick, ensuring that the landing stick can move freely to the lowest position. Then, the locking motor drives the slide to move to the left until the drive gear engages with the landing stick, locking the landing stick to achieve landing. Then, the self-locking motor drives the landing stick to move up and down, allowing the drone's horizontal or vertical position to be adjusted after landing, for example, if the drone's detection lens is blocked after landing and needs to be raised. Meanwhile, the drive gear moves left and right with the slide, while the position of the drive gear is fixed in the front and back direction. The drive gear meshes and drives the lifting rod, and the driving rotation force is distributed in the front and back direction, so it will not affect the left and right movement or locking of the slide.

[0035] As mentioned above, the aforementioned drone solution includes a locking device solution, which has a basic solution and an improved solution. For the combination of features of each application example, please refer to the above. In addition to the aforementioned drone application, the locking device can also be applied to other peripheral application devices with similar performance requirements, which will not be elaborated here.

[0036] It should be noted that the examples of the above embodiments can preferably be combined with one or more of each other according to actual needs, and the accompanying drawings of multiple examples adopt a set of combined technical features, which will not be described in detail here.

[0037] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and 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.

[0038] The above description is a detailed explanation and illustration of the preferred embodiments of the present utility model. However, these descriptions are not intended to limit the scope of protection claimed by the present utility model. All equivalent changes or modifications made under the technical teachings of the present utility model shall fall within the patent protection scope covered by the present utility model.

Claims

1. A drivable landing bar locking device, comprising: A drive motor, wherein the drive motor is equipped with a drive gear having a self-locking function; A locking motor, wherein the locking motor is equipped with a locking wheel; characterized in that it further includes: The lock box has a lock cavity inside and a through hole in the lock box, which is located in the middle of the lock cavity to allow the lifting rod to pass through. The slide block is slidably connected to the locking cavity in the left and right directions. The slide block is provided with a locking hole that runs vertically through it so that the lifting rod can be inserted. The drive motor is mounted on the slide block, and a drive gear is arranged on the front and / or rear side of the left end of the lock hole. The axis of the drive gear extends to the left and right, and the drive gear can be engaged with the outer wall of the lifting rod. The locking motor is mounted on the lock box, and the locking wheel is connected to the slide block. When driven by the locking motor, the slide block can move to the left to the position where the drive gear engages with the landing bar or to the right to the position where the drive gear separates from the landing bar.

2. The driveable landing lever lock catch device of claim 1, wherein: It also includes an elastic element, which is located in the locking cavity and connected to the slide. Under its restoring force, the elastic element can push the slide to the right to the position where the drive gear and the lifting rod are separated.

3. The driveable drop lever latch apparatus according to claim 1, wherein: The left end of the lock box is provided with a spring cavity that communicates with the lock chamber, and the left end of the slide is provided with a spring post. An elastic element is connected between the spring cavity and the spring post. The right end of the lock box is provided with a base, and the locking motor is located on the base. The locking wheel is connected to the right end of the slide. The lock chamber extends to the right to form an opening. The slide is slidably connected to the opening via a slide rail. The lock box is provided with a cover, which closes and connects to the opening.

4. The drive-on landing rod lock device of claim 1, wherein: The number of drive motors is two, and each drive motor is equipped with a drive gear. The two drive gears are respectively arranged on the front and rear sides of the left end of the lock hole. The outer wall of the lock box is provided with a fixing surface so that it can be welded or bolted to the peripheral application device. The limiting hole or the box hole configured on the peripheral application device is adapted to the landing bar. The limiting hole or the box hole is circular, square or runway ring shaped.

5. The powered landing lever lock catch device of claim 1, wherein: The locking motor is a servo motor, and the locking wheel is a rocker arm. The servo motor is located inside the locking cavity and is situated on the right side of the slide. The rocker arm of the servo motor is connected to the slide via a transmission. When the servo motor drives the rocker arm to rotate to the locked position, the slide can be pushed to the left by the rocker arm to the position where the drive gear engages with the landing gear. When the servo motor drives the rocker arm to rotate to the movable position, the slide can be pushed to the right by the rocker arm to the position where the drive gear disengages from the landing gear.

6. The powered drop lever lock catch device of claim 1, wherein: It also includes a trigger, the locking motor is equipped with a controller, the trigger is electrically connected to the controller, and the trigger is set in the lock box or peripheral application device; The trigger is a light sensor.

7. A drone comprising a drone body, the drone body configured with a landing assembly for take-off and landing, characterized in that: The landing assembly employs a locking device as described in any one of claims 1-6 to arrange the landing bar, and the locking box is arranged on the UAV body.

8. The drone of claim 7, wherein: The front and / or rear sidewalls of the boom are provided with axially extending drive grooves, which can mesh with drive gears so that they can move axially under the drive of a drive motor; wherein the drive grooves are internal teeth.

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