An adaptive multi-purpose landing gear for a shipboard drone

Abstract

The utility model relates to shipboard unmanned plane technical field, concretely is a kind of shipboard unmanned plane self-adapting multipurpose landing gear, including the support module for fixed installation on landing platform, the foot stand module for being closely matched with support module and being used to connect at the bottom of unmanned plane;Foot stand module includes main shaft spare, the hydraulic module on the one end of main shaft spare, the annular module fixed relative to main shaft spare, the slider module sliding relative to main shaft spare, the multiple foot stands on the other end of main shaft spare and the multiple telescopic supports articulated with multiple foot stands;Telescopic support includes the upper support connecting rod of rotation connection, lower support connecting rod and middle foot stand connecting rod, and one end of upper support connecting rod is hinged with the one end of main shaft spare far from foot stand, one end of lower support connecting rod is hinged with slider module, and middle foot stand connecting rod is also hinged with foot stand.Slider module moves up, and telescopic support drives foot stand to unfold outward, and foot stand is coupled with support module;Slider module moves down, and foot stand is folded inward.

Description

Technical Field

[0001] This utility model relates to the field of shipborne unmanned aerial vehicle (UAV) technology, and in particular to an adaptive multi-purpose landing gear for shipborne UAVs. Background Technology

[0002] With the increasing frequency of marine economic and military activities, the application of unmanned aerial vehicles (UAVs) in maritime monitoring, reconnaissance, and logistics is deepening. The ability to safely and reliably recover them under complex sea conditions has become a key technological bottleneck restricting their effectiveness. Against this backdrop, the development of dedicated maritime landing platforms is crucial. Existing technological solutions mainly revolve around three approaches: rigid decks, flexible mesh recovery, and dynamic docking, each with significant limitations.

[0003] Specifically, while rigid deck platforms have a simple structure and low technical threshold, the violent relative motion between the platform and the drone under wave action places extreme demands on the precision and real-time performance of flight control. The success rate of recovery drops sharply as sea conditions worsen, and safety redundancy is insufficient. Flexible mesh recovery systems absorb impact energy through mesh deformation, improving tolerance to sea surface sway. However, their "aerial capture" mechanism places extremely stringent requirements on the drone's approach trajectory and positioning accuracy, posing inherent risks of capture failure and collision damage. Furthermore, the system deployment and reset process is cumbersome. Dynamic docking platforms, such as active compensation platforms based on unmanned surface vessels, represent the most advanced approach currently. Through active control, they can offset wave disturbances in real time, theoretically achieving "quasi-static" stable recovery. However, their highly complex technological integration results in high manufacturing costs and maintenance thresholds, hindering large-scale application.

[0004] In summary, existing technologies all have significant shortcomings, creating a technological trade-off dilemma: either sacrificing reliability for low cost and simplicity, or pursuing high performance at the expense of enormous costs. Therefore, there is an urgent need in this field for an innovative technological solution that can break through existing path dependence and achieve a substantial balance in core dimensions such as platform sea condition adaptability, damage risk during recovery, and system cost and complexity. Utility Model Content

[0005] The purpose of this invention is to solve the problems of poor fault tolerance and insufficient stability of existing shipborne UAV landing gear when descending in sea conditions.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: an adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles (UAVs), comprising a support module for fixed installation on a landing platform, and a foot module that can be tightly fitted with the support module and is connected to the bottom of the UAV; the foot module includes a main shaft, a hydraulic module disposed on one end of the main shaft, a ring module fixed relative to the main shaft, a slider module sliding relative to the main shaft, multiple feet disposed on the other end of the main shaft, and multiple retractable supports hinged to the multiple feet; the retractable supports include an upper support connecting rod, a lower support connecting rod, and a middle foot that are rotatably connected. The frame consists of a connecting rod, with one end of the upper connecting rod hinged to the end of the main shaft away from the foot, one end of the lower connecting rod hinged to the slider module, and the middle foot connecting rod also hinged to the foot. The main shaft includes an upper main support and a lower main support, with a lower sliding groove provided on the lower main support. The slider module is slidably mounted on the lower sliding groove of the main support and connected to the output end of the hydraulic module. The hydraulic module drives the slider module to move upward, causing the foot to unfold outward through the telescopic bracket, and the foot is coupled to the inner wall of the support module. The hydraulic module also drives the slider module to move downward, causing the foot to retract inward through the telescopic bracket.

[0007] Preferably, the hydraulic module includes a hydraulic shaft, an outer hydraulic telescopic rod sleeved outside the hydraulic shaft, and an inner hydraulic telescopic rod slidably connected inside the outer hydraulic telescopic rod. One end of the inner hydraulic telescopic rod is located inside the outer hydraulic telescopic rod, and the other end is connected to the slider module. The outer hydraulic telescopic rod passes through the annular module and is connected to the connecting disc.

[0008] Preferably, the annular module includes a ring tube fixing ring, a hydraulic telescopic rod outer rod limiter for fixing the hydraulic telescopic rod outer rod, and a main support upper limiter.

[0009] Preferably, the upper support connecting rod is provided with an outer hollow sleeve at its end, the lower support connecting rod is provided with an inner rotating shaft at its end, and the middle leg connecting rod is provided with a middle hollow sleeve at its end; the two ends of the inner rotating shaft pass through the two ends of the middle hollow sleeve and abut against the two ends of the outer hollow sleeve.

[0010] Preferably, the tripod module is rotatably connected to the housing via a main shaft; the housing is equipped with a rotary motor that drives the tripod module to rotate.

[0011] Preferably, a left cover and a right cover are hinged to both sides of the outer shell, and the left cover and the right cover are opened and closed by corresponding drive motors; when the stand module is retracted and rotated to a horizontal state, the left cover and the right cover are closed, so that the front end of the outer shell forms a streamlined cone-shaped structure.

[0012] Preferably, the tripod module integrates a female charging interface, the upper and lower parts of the main support are hollow structures, and the interior is equipped with a charging circuit for connecting the female charging interface to the inside of the drone; the support module is equipped with a male charging interface that can be connected to the female charging interface.

[0013] Preferably, the support module is also equipped with a moving motor and a threaded column for driving the charging interface to lift and lower.

[0014] Preferably, the slider module is equipped with a spring and a spring support. The spring provides an outward force when the legs are extended to prevent the lower support link from folding inward.

[0015] Compared with the prior art, the advantages and positive effects of this utility model are as follows: The hydraulic module drives the slider module to slide precisely within the groove of the main shaft. A multi-stage linkage mechanism converts linear motion into radial expansion and contraction of the landing gear. This allows the landing gear to smoothly expand from a contracted state (approximately 55mm in diameter) to a working state (approximately 780mm in diameter) after docking with the support module. This significant dimensional change (more than 14 times) creates a large margin of error, allowing the UAV to land by simply roughly aligning the contracted landing gear with the opening (800mm in diameter) of the support module. This greatly reduces the extreme dependence on the precision of UAV flight control, effectively overcomes docking difficulties caused by wave swaying, and significantly improves the success rate of recovery.

[0016] It provides a stable and reliable "mortise and tenon" rigid hold: when the tripod is fully extended, its outer wall forms a large-area, tight fit with the inner wall of the support module. This contact method, based on mechanical coupling, generates enormous static friction and a mechanical interlocking effect under the drone's own weight, achieving a rigid connection similar to a mortise and tenon structure. This design fundamentally avoids the capture risks of flexible net-type recovery and the hard collisions of rigid platforms, ensuring the drone's parking stability in turbulent sea conditions and effectively preventing slippage and capsizing.

[0017] The tripod module can rotate as a whole and retract into a streamlined housing. Combined with closable left and right covers, it forms a conical front end with minimal air resistance during cruise. This integrated drag-reduction design significantly improves the drone's cruise speed and endurance. Simultaneously, the entire system is primarily mechanically driven, featuring a simple and reliable structure that avoids the need for costly dynamic compensation systems. This significantly reduces manufacturing costs and maintenance barriers, facilitating large-scale deployment and application.

[0018] By integrating charging circuitry within the hollow structure of the main shaft and providing a docking charging interface, this invention automatically completes the physical circuit connection while achieving stable landing, providing the drone with autonomous charging capabilities. This not only extends the drone's continuous operating time but also reduces human intervention, achieving full automation of tasks such as inspection and logistics, making it particularly suitable for long-term maritime monitoring missions.

[0019] The springs and spring supports on the slider module continuously provide outward preload to the linkage mechanism during the deployment of the tripod. This design ensures a smooth and stable deployment process and effectively resists the reverse inertial force generated by the ship's rolling motion, preventing the tripod from accidentally retracting before locking, thus improving the system's adaptability and reliability in complex sea conditions. Attached Figure Description

[0020] Figure 1 A three-dimensional structural diagram of an adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles is provided for this utility model. Figure 2 This is a schematic diagram of the tripod module of this utility model after it is retracted into the outer shell. Figure 1 ; Figure 3 This is a schematic diagram of the tripod module of this utility model after it is retracted into the outer shell. Figure 2 ; Figure 4 This is a schematic diagram of the retracted state of the tripod module of this utility model; Figure 5 This is a schematic diagram of the unfolded state of the tripod module of this utility model; Figure 6 This is a schematic diagram of the slider module of this utility model; Figure 7 This is a schematic diagram of the annular module of this utility model; Figure 8 This is a schematic diagram of the support module and the autonomous charging module of this utility model; Figure 9 This is a schematic diagram of the structure of the telescopic bracket of this utility model; Figure 10 for Figure 9 The enlarged diagram at point A shows the connection method of the upper support link, the lower support link, and the middle leg link; Figure 11 for Figure 10 A cross-sectional schematic diagram.

[0021] Explanation of reference numerals in the attached diagram: 1. Support module; 11. Male charging interface; 12. QR code area; 13. Moving module; 14. Moving motor; 15. Threaded column; 16. Lower support frame; 17. Upper support frame; 2. Leg module; 21. Main shaft; 211. Irregular rod; 212. First support rod; 213. Motor connecting rod; 214. Upper part of main support; 215. Lower part of main support; 216. Lower slide groove of main support; 217. Female charging interface; 218. Charging plug; 22. Hydraulic module; 221. Hydraulic shaft; 222. Inner rod of hydraulic telescopic rod; 223. Outer rod of hydraulic telescopic rod; 23. Bushing; 24. Connecting disc; 25. Ring module; 251. Ring tube fixing ring; 252. Outer rod limiter of hydraulic telescopic rod; 253. Upper limiter of main support; 26. Telescopic support; 261. Upper support connecting rod; 2611 2612 Outer hollow sleeve; 262 Curved surface; 262 Lower support connecting rod; 2621 Inner rotating shaft; 2622 Frustum protrusion; 263 Middle leg connecting rod; 2631 Middle hollow sleeve; 27 Slider module; 271 Lower support connecting rod fixing ring; 272 Hydraulic telescopic rod inner rod joint; 273 Lower support connecting rod limiter; 274 Spring limiter; 275 Slider track auxiliary device; 27 6. Spring; 277. Spring support; 28. Bottom connector; 29. ​​Footplate; 3. Shell; 31. UAV interface; 32. First drive motor; 33. First rotating rod; 331. Second rotating rod; 34. First rotating motor; 341. Output shaft one; 35. Wiring hole; 36. Second drive motor; 37. Second rotating motor; 371. Output shaft two; 38. Connecting shaft; 4. Left cover; 5. Right cover. Detailed Implementation

[0022] To address the problems in the background technology, this invention introduces a novel drone-adaptive landing gear designed for sea landing by incorporating the concept of mortise and tenon joints. This invention employs a mechanical coupling design, aiming to meet the requirements of sea landing while considering advantages such as drag reduction during drone navigation, compatibility with multiple drones, easy disassembly, small size, and the ability to carry autonomous charging equipment. It perfectly solves the pain points of current drone sea landing platforms, such as the safety redundancy issues of rigid landing, the capture problems of mesh structures, and the high cost of dynamic docking platforms.

[0023] This invention discloses an adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles (UAVs). Based on a mortise and tenon structure, it comprises two parts: a landing gear module and a support module. The support module is used for fixing or mounting to the landing platform. The landing gear module connects to the bottom of the UAV via an interface on the outer shell. During cruise, to reduce air resistance, a motor retracts the landing gear module into the outer shell, closing the covers on both sides of the shell and achieving a streamlined design.

[0024] like Figure 1As shown, the diagram illustrates a support module 1, a landing gear module 2, a housing 3, a left cover 4, and a right cover 5. The support module 1 is fixedly mounted on the landing platform. During drone landing, the support module 1 and the landing gear module 2 are tightly fitted together. The landing gear module 2 is connected to the bottom of the drone via the housing 3. The housing 3 houses the retracted landing gear module 2. The left cover 4 and right cover 5 are hinged to opposite sides of the housing 3. When the drone needs to land, the left cover 4 and right cover 5 open to release the landing gear module 2 from the housing 3. When the drone needs to take off, the left cover 4 and right cover 5 close the landing gear module 2 inside the housing 3 after it rotates in. The left cover 4 and right cover 5 close after the landing gear module 2 is retracted into the housing 3, allowing it to perform flight missions alongside the drone. The landing gear module 2 is rotatably connected to the housing 3. Because this invention requires the landing gear module 2 to rotate, the design of the housing 3 is adjusted based on the rotation radius of the landing gear module 2, minimizing the size of the housing 3 while achieving rotation. In addition, to reduce air resistance during flight, the outer shell 3 underwent drag reduction treatment, specifically in two aspects: First, the rotating end of the outer shell 3 was designed with a 60° conical angle. The left cover 4 and right cover 5 also adopted a conical pointed angle design, working in conjunction with the outer shell 3 to achieve drag reduction during flight.

[0025] Figure 2 , Figure 3 This is a schematic diagram showing the tripod module 2 retracted into the outer shell 3. The outer shell 3 is equipped with a UAV interface 31, a wiring hole 35, a first rotary motor 34, and a second rotary motor 37. The right cover 5 is rotatably connected to the outer shell 3 via a first drive motor 32 and a first rotating rod 33. The first drive motor 32 is fixed to the upper middle of the outer shell 3, and its output shaft passes through two protrusions on the outer shell 3. A protrusion with a through hole on the right cover 5 is also penetrated by the output shaft of the first drive motor 32, and this protrusion is located between the two protrusions on the outer shell 3. The first rotating rod 33 serves as a follower shaft connecting one end of the right cover 5 to the outer shell 3. The second drive motor 36 is installed in the upper middle of the outer shell 3. The rotatable connection between the outer shell 3 and the left cover 4 is the same as the connection between the outer shell 3 and the right cover 5. The output end of the second drive motor 36 passes through the corresponding protrusions of the outer shell 3 and the left cover 4. The second rotating rod 331 serves as a follower shaft connecting one end of the left cover 4 to the outer shell 3. The first rotary motor 34 and the second rotary motor 37 are mounted on the housing 3, and the output shaft 341 of the first rotary motor 34 and the output shaft 371 of the second rotary motor 37 are synchronously driven by the connecting shaft 38. When the first rotary motor 34 and the second rotary motor 37 rotate in opposite directions at the same time, the tripod module 2 can be lowered or retrieved.

[0026] Figure 4 , 5The diagram shows the folded and unfolded states of the tripod module 2. The main shaft 21 of the tripod module 2 has two irregularly shaped rods 211. Each rod 211 includes a first support rod 212 and a motor connecting rod 213. One end of each rod 211 is connected to the ring module 25, and the other end is connected to the first rotary motor 34 and the second rotary motor 37. (See reference here.) Figure 3 In the main spindle 21, the first support rod 212 and the motor connecting rod 213 of the irregular rod 211 on one side of the main spindle 21 are respectively connected to the two sides of the first rotary motor 34; the first support rod 212 and the motor connecting rod 213 of the irregular rod 211 on the other side of the main spindle 21 are respectively connected to the two sides of the second rotary motor 37; so that the first rotary motor 34 and the second rotary motor 37 rotate with the bracket module 2; two bushings 23 are integrally formed on the main spindle 21, and the two bushings 23 respectively realize the connection between the output shaft 1 341 and the connecting shaft 38, and the connection between the connecting shaft 38 and the output shaft 2 371. The main spindle component 21 also includes an upper main support 214 and a lower main support 215. The lower main support 215 is provided with multiple sliding grooves 216 that cooperate with the slider module 27 and has a charging interface 217 at the end. The upper main support 214 has a charging plug 218 at the end. Two bushings 23 are integrally formed on the top of the main spindle component 21, which are sequentially fitted onto the upper main support 214, the connecting disc 24, the ring module 25, and the slider module 27. The telescopic support 26 includes an upper support connecting rod 261, a lower support connecting rod 262, a middle leg connecting rod 263, a bottom connector 28 located at the lower part of the lower main support 215, and multiple legs 29 connected to the bottom connector 28 at one end.

[0027] The tripod module 2 includes a main spindle 21, a hydraulic module 22 located on the upper end of the main spindle 21, a ring module 25 fixed relative to the main spindle 21, a slider module 27 sliding relative to the main spindle 21, multiple tripods 29 located on the other end of the main spindle 21, and multiple telescopic supports 26 hinged to the multiple tripods 29. The hydraulic module 22 includes a hydraulic shaft 221, an outer hydraulic telescopic rod 223 sleeved outside the hydraulic shaft 221, and an inner hydraulic telescopic rod 222 slidably connected inside the outer hydraulic telescopic rod 223. One end of the inner hydraulic telescopic rod 222 is located inside the outer hydraulic telescopic rod 223, and the other end is connected to the slider module 27. One end of the outer hydraulic telescopic rod 223 sleeved on the hydraulic shaft 221 passes through the ring module 25 and is connected to the connecting disc 24.

[0028] Figure 6The diagram shows the slider module 27, which includes multiple lower support rod fixing rings 271, multiple hydraulic telescopic rod inner rod joints 272, multiple lower support rod limiters 273, multiple spring limiters 274, multiple slider track auxiliary devices 275, multiple springs 276, and multiple spring supports 277. The springs 276 and spring supports 277 on the slider module 27 provide an outward force when the legs 29 are deployed, preventing the lower support rods 262 from folding inward. The slider module 27 is connected and locked to the lower slide groove 216 of the main support 215. The lower support connecting rod fixing ring 271 is connected to the lower support connecting rod 262. The hydraulic telescopic rod inner rod joint 272 is connected to the hydraulic telescopic rod inner rod 222. Under hydraulic action, the tension on the hydraulic telescopic rod inner rod 222 is transmitted to the slider module 27. With the assistance of multiple slider track auxiliary devices 275, the slider module 27 has only two degrees of freedom, up and down, which has a good limiting effect on it. Multiple spring limiters 274, multiple springs 276, and multiple spring supports 277 together form the guiding structure of the lower support connecting rod 262. As the lower support connecting rod 262 gradually unfolds, the multiple spring supports 277, under the elastic force of the multiple springs 276, adhere to the lower support connecting rod 262, so that it only has the ability to push outward, preventing the legs 29 from self-intersecting. Multiple lower support linkage limiters 273 and spring supports 277 have similar functions. In addition, when the slider module 27 retracts, the lower support linkage limiters 273 can also be smoothly retracted along the groove, preventing the lower support linkage limiters 273 from twisting.

[0029] Figure 7 The diagram shows the circular module 25, which includes a ring tube fixing ring 251, a hydraulic telescopic rod outer rod limiter 252 for fixing the hydraulic telescopic rod outer rod 223, and a main support upper limiter 253. The tripod module 2 integrates a charging interface female 217. The upper part 214 and lower part 215 of the main support are hollow structures, internally housing a charging circuit for connecting the charging interface female 217 to the UAV. The support module 1 has a charging interface male 11 that can mate with the charging interface female 217.

[0030] Figure 8 This diagram shows the support module 1 and the autonomous charging module, including a male charging interface 11, a QR code area 12, a moving module 13, a moving motor 14, a threaded post 15, a lower support frame 16, and an upper support frame 17. The moving motor 14 and the threaded post 15 drive the male charging interface 11 to move up and down. The autonomous charging interface wiring is connected via a female charging interface 217, and the wires are connected to the charging plug 218 through the space in the middle of the main shaft 21. The top charging plug 218 provides external circuit access. The wiring holes 35 on the outer casing 3 are used for wiring.

[0031] Figure 9 The diagram shows the retractable support 26. Specifically, the retractable support 26 includes an upper support rod 261, a lower support rod 262, and a middle leg rod 263, all rotatably connected. One end of the upper support rod 261 is hinged to the end of the main shaft 21 away from the leg 29. One end of the lower support rod 262 is hinged to the slider module 27. The middle leg rod 263 is also hinged to the leg 29. A lower slide groove 216 is provided on the lower part 215 of the main support of the main shaft 21. The slider module 27 is slidably mounted on the lower slide groove 216 and connected to the output end of the hydraulic module 22. The hydraulic module 22 drives the slider module 27 to move upwards, causing the leg 29 to extend outwards via the retractable support 26, with the leg 29 coupled to the inner wall of the support module 1. The hydraulic module 22 also drives the slider module 27 to move downwards, causing the leg 29 to retract inwards via the retractable support 26.

[0032] The spring 276 and spring support 277 of the slider module 27 are used to assist the extension direction of the telescopic bracket 26 and prevent the telescopic bracket 26 from folding inward. The slider module 27 is also an integrated component between the telescopic bracket 26 and the inner rod 222 of the hydraulic telescopic rod. The inner rod 222 of the hydraulic telescopic rod drives the slider module 27 to move by applying pressure, and the slider module 27 drives the telescopic bracket 26 to the next movement. The inner wall of the slider module 27 has a slider track auxiliary device 275 for sliding with the lower slide groove 216 of the main bracket 215. The lower slide groove 216 of the main bracket also limits the stroke of the slider module 27.

[0033] like Figure 10 , 11 As shown, the upper support connecting rod 261, the lower support connecting rod 262, and the middle leg connecting rod 263 are connected to the rotating shaft structure through sleeves; specifically, the end of the upper support connecting rod 261 is provided with an outer hollow sleeve 2611, the end of the lower support connecting rod 262 is provided with an inner rotating shaft 2621, and the end of the middle leg connecting rod 263 is provided with a middle hollow sleeve 2631; the two ends of the inner rotating shaft 2621 pass through the two ends of the middle hollow sleeve 2631 respectively and then abut against the two ends of the outer hollow sleeve 2611. Figure 10 for Figure 9 The enlarged schematic diagram at point A shows the connection method of the upper support link 261, the lower support link 262, and the middle leg link 263. The inner rotating shaft 2621, the middle hollow sleeve 2631, and the outer hollow sleeve 2611 are nested in sequence. The inner rotating shaft 2621 has frustum protrusions 2622 at both ends; the outer hollow sleeve 2611 has curved surfaces 2612 at both ends to engage the frustum protrusions 2622. This sequentially achieves the rotational connection between the upper support link 261, the lower support link 262, and the middle leg link 263.

[0034] This invention achieves mechanical connection through a combination of linkages and a hydraulic mechanism. The hydraulic structure enables the deployment and closure of the landing gear, while motors control the rotation of the landing gear module and the opening and closing of the left cover 4 and right cover 5. The left cover 4 and right cover 5 are hinged to both sides of the outer shell 3, and are driven to open and close by corresponding drive motors. When the landing gear module 2 is retracted and rotated to a horizontal position, the left cover 4 and right cover 5 close, forming a streamlined conical structure at the front end of the outer shell 3. The landing gear module 2 and support module 1 are the core components for landing. When the UAV needs to land on the sea surface, the landing gear module 2 rotates 90° clockwise from the outer shell 3 under the drive of the motors, changing from a horizontal to a vertical position. During descent, the entire landing gear module 2 is positioned as follows: Figure 3 , Figure 4 The folded state shown has a diameter of approximately 55mm, while the opening diameter of support module 1 is 800mm. This significantly increases the probability of the tripod module 2 entering support module 1 during landing on the sea surface, resulting in a high success rate of docking despite the swaying of the support module caused by sea waves. When the tripod module 2 enters support module 1, the hydraulic structure slowly expands the retractable bracket 26 until it contacts the surface of support module 1, thus securing the UAV under the combined force of the aircraft's weight and surface friction.

[0035] When retracted to the deployed state (during descent), it is suitable for sea states of 4-5 with wave heights of 1.5-2.5 meters. The lateral sway of support module 1 under wave action is ≤±200mm. The significant difference between the retracted diameter of tripod module 2 (55mm) and the open diameter of support module 1 (800mm) ensures a high docking success rate even under swaying conditions.

[0036] During drone cruise, the landing gear module 2 is fully retracted into the outer shell 3, and the left cover 4 and right cover 5 are closed, forming a streamlined conical structure with a 60° cone angle on the outer shell and a 45° cone angle on the left cover 4 and right cover 5 to reduce air resistance. The drone flight control system monitors the preset landing area in real time via GPS and an onboard image recognition module, identifying the QR code area 12 on the support module 1. After the drone enters landing mode, the flight control system sends a command to the first drive motor 32, which drives the right cover 5 to rotate outward by 90° via the first rotating rod 33; the second drive motor 36 and the second rotating rod 331 drive the left cover 4 to rotate outward by 90°, fully opening the lower part of the outer shell 3 to provide space for the landing gear module 2 to rotate.

[0037] The first rotary motor 34 and the second rotary motor 37 receive commands and drive the entire tripod module 2 to rotate 90° clockwise via the shaped rod 211, changing from a horizontally retracted state to a vertically ready state. With the assistance of image recognition, the UAV locates the QR code area 12 at the center of the support module 1, slowly descends to a height of 230mm above the support surface, and hovers. The hydraulic module 22 activates, driving the hydraulic shaft 221 to return oil, causing the inner rod 222 of the hydraulic telescopic rod to move upwards along the outer rod 223, driving the slider module 27 to slide upwards along the lower slide groove 216 of the main support. The spring 276, under the action of the spring limiter 274 and the spring support 277, applies pressure outwards to prevent the lower support connecting rod 262 from folding inwards. The upper support connecting rod 261, the middle tripod connecting rod 263, and the lower support connecting rod 262 gradually unfold under mechanical coupling, pushing the tripod 29 outwards. The upper support rod 261 connects to the connecting disc 24, the other end of the lower support rod 262 connects to the slider module 27, and the other end of the middle leg rod 263 connects to the leg 29. When the slider track auxiliary device 275 touches the top of the lower slide groove 216 of the main support, the hydraulic module 22 stops working, and the leg 29 fully extends to a diameter of approximately 780mm, tightly fitting against the inner wall of the support module 1.

[0038] As the drone sinks under the influence of gravity, friction and mechanical engagement occur between the tripod 29 and the supporting surface, forming a rigid mortise and tenon connection.

[0039] When extended to its retracted state, the system is suitable for sea states 3-5. Even under wave-like conditions, the system can stably retract the tripod, ensuring safe takeoff. After the UAV takeoff command is issued, the hollow hydraulic shaft 221 of the hydraulic module 22, used for hydraulic oil flow, injects hydraulic fluid from the hydraulic module 22 into the outer rod 223 of the hydraulic telescopic rod, driving the inner rod 222 of the hydraulic telescopic rod to move downwards. This causes the slider module 27 to move downwards along the lower slide groove 216 of the main support. During the downward movement of the slider module 27, the upper support connecting rod 261, the middle tripod connecting rod 263, and the lower support connecting rod 262 gradually retract under the action of the connecting rods, causing the tripod 29 to retract inwards. The spring 276 is gradually compressed to ensure a smooth and unobstructed retraction process. When the slider track auxiliary device 275 touches the bottom of the lower slide groove 216 of the main support, the hydraulic module 22 stops, and the tripod 29 is fully retracted to a diameter of 55mm, in a vertical position.

[0040] The first rotary motor 34 and the second rotary motor 37 reverse their positions, rotating the stand module 2 90° counterclockwise via the motor connecting rod 213 and the irregular rod 211, restoring it to a horizontal position and allowing it to retract into the outer casing 3. The first drive motor 32 drives the right cover 5 to rotate inward 90° via the first rotating rod 33; the second drive motor 36 and the second rotating rod 331 drive the left cover 4 to rotate inward 90°, closing the front end of the outer casing and restoring its streamlined shape.

[0041] Autonomous charging can operate in sea states below level 4, ensuring stable connection of the charging interface even under slight shaking. After the drone lands, the flight control system sends a "charging ready" signal. The drone connects its internal charging circuitry to the landing gear circuitry via the wiring hole 35, connecting to the charging plug 218. The moving motor 14 on the support module 1 starts, rotating the threaded column 15 and pushing the moving module 13 and the upper support frame 17 upwards. The male charging interface 11 rises with the upper support frame 17, aligning and physically connecting with the female charging interface 217 at the bottom of the landing gear module 2. After the charging interface is connected, the circuit is connected through the hollow pipe in the upper part 214 and lower part 215 of the main support. The pipe contains a spiral circuit to accommodate the length changes of the landing gear module 2 during deployment and retraction, ensuring circuit continuity. After charging is complete, the moving motor 14 reverses, driving the upper support frame 17 to descend, separating the male charging interface 11 from the female charging interface 217.

[0042] In summary, the adaptive multi-purpose landing gear for shipborne UAVs provided by this invention solves the problem of UAV recovery under complex sea conditions through the innovative structural design of the landing gear module 2. This landing gear module 2 utilizes a hydraulically driven multi-stage linkage structure to achieve the transformation of the landing gear 29 from a small-diameter (approximately 55mm) retracted state to a large-diameter (approximately 780mm) extended state, improving the success rate of docking on swaying platforms. After deployment, it fits tightly with the support module 1. This invention is primarily mechanical in structure, possessing advantages such as high reliability, strong adaptability, low cost, and easy maintenance. It is particularly suitable for the safe recovery and long-term operation of shipborne UAVs in harsh sea conditions.

Claims

1. An adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles, characterized in that: The system includes a support module (1) for fixed installation on a landing platform, and a tripod module (2) for close contact with the support module (1) and connection to the bottom of the UAV. The tripod module (2) includes a main shaft (21), a hydraulic module (22) on one end of the main shaft (21), a ring module (25) fixed relative to the main shaft (21), a slider module (27) sliding relative to the main shaft (21), multiple tripods (29) on the other end of the main shaft (21), and multiple telescopic supports (26) hinged to the multiple tripods (29). The telescopic supports (26) include an upper support link (261), a lower support link (262), and a middle tripod link (263) rotatably connected. One end of the upper support link (261) is connected to a part of the main shaft (21) away from the tripod (29). The lower support connecting rod (262) is hinged to the slider module (27) at one end, and the middle leg connecting rod (263) is also hinged to the leg (29). The main shaft (21) includes the upper part (214) and the lower part (215) of the main support. The lower part (215) of the main support is provided with the lower part slide groove (216) of the main support. The slider module (27) is slidably set on the lower part slide groove (216) of the main support and connected to the output end of the hydraulic module (22). The hydraulic module (22) drives the slider module (27) to move upward, and drives the leg (29) to unfold outward through the telescopic bracket (26). The leg (29) is coupled to the inner wall of the support module (1). The hydraulic module (22) drives the slider module (27) to move downward, and drives the leg (29) to retract inward through the telescopic bracket (26).

2. The adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles according to claim 1, characterized in that: The hydraulic module (22) includes a hydraulic shaft (221), an outer hydraulic telescopic rod (223) sleeved outside the hydraulic shaft (221), and an inner hydraulic telescopic rod (222) slidably connected inside the outer hydraulic telescopic rod (223). One end of the inner hydraulic telescopic rod (222) is located inside the outer hydraulic telescopic rod (223), and the other end is connected to the slider module (27). The outer hydraulic telescopic rod (223) passes through the ring module (25) and is connected to the connecting disc (24).

3. The adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles according to claim 1, characterized in that: The ring module (25) includes a ring tube fixing ring (251), a hydraulic telescopic rod outer rod limiter (252) for fixing the hydraulic telescopic rod outer rod (223) and a main support upper limiter (253).

4. The adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles according to claim 1, characterized in that: The upper support connecting rod (261) is provided with an outer hollow sleeve (2611) at its end, the lower support connecting rod (262) is provided with an inner rotating shaft (2621) at its end, and the middle support connecting rod (263) is provided with a middle hollow sleeve (2631) at its end. The two ends of the inner rotating shaft (2621) pass through the two ends of the middle hollow sleeve (2631) and then abut against the two ends of the outer hollow sleeve (2611).

5. The adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles according to claim 1, characterized in that: The tripod module (2) is rotatably connected to the housing (3) via the main shaft (21); the housing (3) is equipped with a rotary motor that drives the tripod module (2) to rotate.

6. The adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles according to claim 5, characterized in that: The outer shell (3) is hinged to the left cover (4) and the right cover (5) on both sides respectively. The left cover (4) and the right cover (5) are driven to open and close by the corresponding drive motors. When the stand module (2) is retracted and rotated to a horizontal state, the left cover (4) and the right cover (5) close, so that the front end of the outer shell (3) forms a streamlined cone-shaped structure.

7. The adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles according to claim 1, characterized in that: The tripod module (2) integrates a female charging interface (217), the upper part (214) and the lower part (215) of the main support are hollow structures, and the internal parts are equipped with a charging circuit for connecting the female charging interface (217) to the inside of the drone; the support module (1) is equipped with a male charging interface (11) that can be connected to the female charging interface (217).

8. The adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles according to claim 7, characterized in that: The support module (1) is also equipped with a moving motor (14) and a threaded column (15) for driving the charging interface male (11) to lift.

9. The adaptive multi-purpose landing gear for shipborne unmanned aerial vehicles according to claim 1, characterized in that: The slider module (27) is provided with a spring (276) and a spring support (277). The spring (276) provides an outward force when the leg (29) is unfolded to prevent the lower support link (262) from folding inward.

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