CN108016606B

CN108016606B - Unmanned aerial vehicle undercarriage and unmanned aerial vehicle

Info

Publication number: CN108016606B
Application number: CN201610932230.0A
Authority: CN
Inventors: 杜淼森; 赵自强; 王悦; 赵炳根
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2016-10-31
Filing date: 2016-10-31
Publication date: 2020-03-20
Anticipated expiration: 2036-10-31
Also published as: CN108016606A; WO2018077299A1

Abstract

The utility model relates to an unmanned aerial vehicle undercarriage and unmanned aerial vehicle, wherein, the unmanned aerial vehicle undercarriage is including landing gear body (2100) and the locking mechanism (2200) of holding in landing gear body that are used for setting up in the bottom of unmanned aerial vehicle (1000), guiding hole (2110) have been seted up to landing gear body's lateral wall, landing gear body's outer wall protrusion is formed with dog (2130), the dog is located the top of guiding hole at interval, locking mechanism includes locking piece (2210) and drives the actuating mechanism that the locking piece stretches out and retracts from the guiding hole. When unmanned aerial vehicle descends to the platform of taking off and landing, go on fixing a position to unmanned aerial vehicle through the dog of undercarriage body outer wall, fix a position down to unmanned aerial vehicle through the locking piece, improved unmanned aerial vehicle stability when berthing to the locking piece can be followed and stretch out and retract in the undercarriage body, can realize locking and unblock to unmanned aerial vehicle respectively.

Description

Unmanned aerial vehicle undercarriage and unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned air vehicle technique field specifically relates to an unmanned aerial vehicle undercarriage and unmanned aerial vehicle.

Background

At present, many unmanned aerial vehicles have been equipped with the undercarriage for landing adaptively on the platform of taking off and landing, in the correlation technique, it is steady inadequately when unmanned aerial vehicle descends, can't make stably berth on the platform of taking off and landing, in addition, because the positioning accuracy when descending to unmanned aerial vehicle requires higher, needs the zero deviation to descend, and the operation is comparatively complicated. And the cost is higher because an intelligent control system is required to be added frequently. In addition, present unmanned aerial vehicle take-off and landing platform can only adapt to the unmanned aerial vehicle of single model, unable multiple model of adaptation to a plurality of unmanned aerial vehicles can't berth simultaneously.

Disclosure of Invention

An object of this disclosure is to provide an unmanned aerial vehicle undercarriage to solve unmanned aerial vehicle and berth unstable problem when descending.

Another object of the present disclosure is to provide a drone to solve the problem of berthing unstably when landing.

In order to realize the above-mentioned purpose, the present disclosure provides an unmanned aerial vehicle undercarriage, including being used for setting up the undercarriage body in unmanned aerial vehicle's bottom and holding locking mechanism in the undercarriage body, the guiding hole has been seted up to the lateral wall of undercarriage body, the outer wall protrusion of undercarriage body is formed with the dog, the dog interval is located the top of guiding hole, locking mechanism includes locking piece and drive the locking piece is followed the actuating mechanism who stretches out and retract in the guiding hole.

Alternatively, the guide holes are arranged in three rows uniformly in the circumferential direction, and the stopper and the locking block are formed in the corresponding three rows, respectively.

Optionally, a guide groove is formed on the hole wall at the two ends of the guide hole, and a protrusion in sliding fit with the guide groove protrudes outwards from the two ends of the locking block.

Optionally, the driving mechanism comprises a rotatable central shaft, a first connecting rod fixedly connected to the central shaft, and a second connecting rod hinged to the locking block, the first connecting rod being hinged to the second connecting rod, and the locking block being at least partially received in the guide hole.

Optionally, the locking block comprises an upper base, a lower base and a fastening assembly for connecting the upper base and the lower base, and the second link is rotatably connected to the fastening assembly.

Optionally, the inner wall of the upper base body protrudes inwards to form a first platform, the inner wall of the lower base body protrudes inwards to form a second platform, the fastening assembly comprises a first mounting column and a second mounting column which are oppositely arranged on the first platform and the second platform and matched in an inserted manner, a mounting sleeve is formed at one end of the second connecting rod, and the mounting sleeve is sleeved on the peripheries of the first mounting column and the second mounting column and is formed between the first platform and the second platform.

Optionally, a first driving device for driving the central shaft to rotate is arranged above the central shaft.

Optionally, the locking mechanism further includes a torsion spring sleeved on the central shaft, and two ends of the torsion spring are respectively fixed to the landing gear body and the central shaft.

Alternatively, the thickness of the lock block is gradually reduced in a direction away from the center shaft such that the bottom surface of the lock block is formed in an arc shape.

Optionally, the bottom of the landing gear body is provided with a plug.

According to another aspect of the present disclosure, there is provided a drone, the bottom of which is provided with a drone undercarriage provided according to the first aspect of the present disclosure.

Through the technical scheme, when unmanned aerial vehicle descends to the platform of taking off and landing, go on fixing a position unmanned aerial vehicle through the dog of undercarriage body outer wall, fix a position unmanned aerial vehicle down through the locking piece, improved unmanned aerial vehicle stability when berthing to the locking piece can be followed and stretch out and retract in the undercarriage body, can realize locking and the unblock to unmanned aerial vehicle respectively.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

figure 1 is a schematic structural view of a landing gear body in an unmanned aerial vehicle landing gear according to one embodiment of the present disclosure;

fig. 2 is a schematic structural view of a locking mechanism in a landing gear of an unmanned aerial vehicle according to one embodiment of the present disclosure;

FIG. 3 is a schematic structural view of a locking block in the embodiment shown in FIG. 2;

fig. 4 is a schematic structural diagram of a drone according to one embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an unmanned aerial vehicle take-off and landing platform according to one embodiment of the present disclosure;

fig. 6 is an exploded view of a support mechanism in a drone landing platform according to one embodiment of the present disclosure;

FIG. 7 is a schematic view of the internal structure of the lift sleeve of the support mechanism of FIG. 6;

FIG. 8 is a cross-sectional view of the support mechanism of FIG. 6 after assembly;

fig. 9 is a schematic diagram of a drone in cooperation with a take-off and landing platform according to one embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a takeoff and landing device of an unmanned aerial vehicle according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a takeoff and landing device of an unmanned aerial vehicle according to another embodiment of the present disclosure;

fig. 12 is an application scenario diagram of a take-off and landing device of an unmanned aerial vehicle according to an embodiment of the present disclosure.

Description of the reference numerals

1000 unmanned aerial vehicle 3313 first groove

2000 unmanned aerial vehicle undercarriage 2100 undercarriage body

2110 guide hole 2111 guide groove

2120 mounting plate 2200 locking mechanism

2210 locking block 2211 projection

2212 Upper base 2213 lower base

2214 first platform 2215 second platform

2216 first mounting post 2217 second mounting post

2220 torsion spring 2230 central shaft

2240 first link 2250 second link

2300 first driving device 2400 plug

3000 take-off and landing platform 3100 base

3110 socket 3120 protective cover

3200 upper platform 3210 direction locating part

3300 supporting mechanism 3310 lifting sleeve

3311 Ring-shaped Top Block 3312 guide Block

3320 lifting rod 3321 first key

3322 first locking rod 3323 second resilient member

3324 first steering wheel 3325 second steering wheel

3326 second locking lever 3330 first resilient member

3340 guide sleeve 3350 guide rod

4000 mounting frame 5000 base

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, without being stated to the contrary, the use of directional words such as "up and down" generally refers to the up and down of the drone in a steady flight condition and while landing, and "inside and outside" is with respect to the self-profile of the respective component.

The utility model provides an unmanned aerial vehicle undercarriage and with this undercarriage complex take off and land platform and take off and land device. As shown in fig. 1 and 2, the unmanned aerial vehicle landing gear 2000 that this disclosure provided includes landing gear body 2100 and the locking mechanism 2200 of accommodation in landing gear body 2100 that are used for setting up the bottom at unmanned aerial vehicle 1000, guiding hole 2110 has been seted up to the lateral wall of landing gear body 2100, the outer wall protrusion of landing gear body 2100 is formed with dog 2130, dog 2130 is located the top of guiding hole 2110 at interval, when unmanned aerial vehicle descends to the platform of taking off and landing, go on last location to unmanned aerial vehicle through dog 2130 of landing gear body 2100 outer wall, go on down the location to unmanned aerial vehicle through lock 2210 in locking mechanism 2200, stability when having improved unmanned aerial vehicle 1000 and berthing has utilized simple mechanical structure. The locking mechanism 2200 includes a lock block 2210 and a driving mechanism for driving the lock block 2210 to extend out of and retract into the guide hole 2110, and the unmanned aerial vehicle can be locked and unlocked by the extending and retracting actions of the lock block 2210.

Further, the guiding hole 2110 can be for the multiseriate that evenly arranges along circumference, and the locking piece 2210 forms into the multiseriate that corresponds for locking mechanism 2200 can be fixed a position unmanned aerial vehicle 1000 evenly along circumference, avoids unmanned aerial vehicle 1000 to berth the back and moves along radial, has improved overall structure's stability. Alternatively, in the disclosure, as shown in fig. 1 and fig. 2, the guide holes 2110 and the lock blocks 2210 may be arranged in three rows, respectively, so as to meet the requirement of circumferential positioning of the drone 1000, and the structure has high compactness, and avoid the problems of processing difficulty and mutual interference of components caused by too many rows.

In order to position the lock block 2210 in the guide hole 2110 and to slidably fit the lock block 2210 in the guide hole 2110, as shown in fig. 1, guide grooves 2111 may be formed on hole walls at both ends of the guide hole 2110, and as shown in fig. 2, protrusions 2211 slidably fit the guide grooves 2111 are protruded outward at both ends of the lock block 2210. Thus, when the lock block 2210 slides in the guide hole 2110, the projection 2211 can be in contact fit with the guide groove 2111 only, and the reduction of the service life caused by the contact abrasion of the lock block 2210 and the guide hole 2110 can be avoided.

Further, as shown in fig. 2, the driving mechanism may include a rotatable center shaft 2230, a first link 2240 fixedly coupled to the center shaft 2230, and a second link 2250 hingedly coupled to a lock block 2210, wherein the first link 2240 and the second link 2250 are hingedly coupled to each other, and the lock block 2210 is at least partially received in the guide hole 2110. That is, a crank slider structure is formed between the driving mechanism, the lock block 2210 and the guide hole 2110, wherein the center shaft 2230 and the first link 2240 are cranks in the crank slider structure, the second link 2250 is a link in the crank slider structure, the lock block 2210 is a slider in the crank slider structure, and the guide hole 2110 is a frame in the crank slider structure, and thus the rotational motion of the center shaft 2230 is converted into the linear reciprocating motion of the lock block 2210, and the locking and unlocking functions of the lock block 2210 can be realized.

Specifically, as shown in fig. 3, the locking block 2210 may include an upper base 2212, a lower base 2213, and a fastening assembly for connecting the upper base 2212 and the lower base 2213, to which the second link 2250 is rotatably connected. The fastening assembly may be a screw connection, for example, a screw is used to connect the upper base 2212 and the lower base 2213 in the height direction, a gap is left between the upper base 2212 and the lower base 2213, and one end of the second link 2215 is sleeved on the screw in the gap. Alternatively, as shown in fig. 3, the inner wall of the upper base 2212 protrudes inward to form a first platform 2214, the inner wall of the lower base 2213 protrudes inward to form a second platform 2215, the fastening assembly includes a first mounting post 2216 and a second mounting post 2217 which are oppositely arranged on the first platform 2214 and the second platform 2215 and are inserted and matched, and one end of the second connecting rod 2250 is formed with a mounting sleeve which is sleeved on the outer peripheries of the first mounting post 2216 and the second mounting post 2217 and is formed between the first platform 2214 and the second platform 2215, so that the second connecting rod 2215 can rotate relative to the locking block 2210.

Further, as shown in fig. 4, a first driving device 2300 is disposed above the central shaft 2230 for driving the central shaft 2230 to rotate, and in this embodiment, the first driving device 2300 may be a first motor fixed to the bottom of the drone 1000 and accommodated in the landing gear body 2100. The first motor outputs rotary motion to drive the crank-slider structure.

Further, as shown in fig. 2 and 4, the locking mechanism 2200 further includes a torsion spring 2220 disposed around the central shaft 2230, and both ends of the torsion spring 2220 are fixed to the landing gear body 2100 and the central shaft 2230, respectively, so that during the rotation of the central shaft 2230, one end of the torsion spring 2220 fixed to the central shaft 2230 is under tension, so that the main body of the torsion spring 2220 tends to be expanded outward or contracted inward, and the torsion spring 2220 has different elastic forces in the two states. Specifically, in a state where the lock block 2210 is extended from the guide hole 2120, the elastic force of the torsion spring 2220 is smaller than that of the torsion spring 2220 in a state where the lock block 2210 is retracted from the guide hole 2120, that is, the torsion spring 2220 always has a tendency to drive the lock block 2210 outward. During extension and retraction of the locking block 2210 from the guide hole 2120, the torsion spring performs the stretching and restoring actions, and the specific operation process will be described in the following unmanned aerial vehicle landing and takeoff process.

Further, as shown in fig. 2 and 3, the thickness of the lock block 2210 is gradually reduced in a direction away from the center shaft 2230 and the bottom surface of the lock block 2210 is formed in an arc shape, so that, when the lock block 2210 is in contact with, for example, an upper platform 3200 as described below, the lock block 2210 is retracted inwardly by sliding guidance of the arc bottom surface during landing of the drone, and the specific operation thereof will also be described below during landing and takeoff of the drone.

Further, as shown in fig. 4, the bottom of the landing gear body 2100 may be provided with a plug 2400, and this plug 2400 is disposed at the lowest end of the landing gear body 2100, and after the unmanned aerial vehicle 1000 lands, the plug 2500 may be in plugging fit with the socket 3110 on the landing platform 3000. In order to detect the pressure condition when the plug 2400 contacts the landing platform 3000 (specifically, the socket 3110), a pressure sensor (not shown in the figure) may be integrated on the plug 2400 to ensure that the pressure range of the plug 2400 after plugging is within a reasonable range, ensure that the plug 2400 and the socket 3110 are connected normally, and avoid impact damage of parts.

In addition, this disclosure still provides an unmanned aerial vehicle, and this unmanned aerial vehicle 1000's bottom is provided with foretell unmanned aerial vehicle undercarriage 2000. Specifically, the top of the landing gear body 2100 may be externally protruded with a mounting plate 2120 at intervals, a mounting hole is opened on the mounting plate 2120 to fix the landing gear body 2100 on the unmanned aerial vehicle 1000 by a fastener, and the locking mechanism 2200 is formed in the landing gear body 2100 and may be fixed at the bottom of the unmanned aerial vehicle 1000 by the first driving device 2300.

As shown in fig. 5, the present disclosure provides an unmanned aerial vehicle take-off and landing platform comprising a base 3100, an upper platform 3200, and a support mechanism 3300 supporting the upper platform 3200 above the base 3100 at intervals, the support mechanism 3300 being retractable in height such that the upper platform 3200 has: in the first working position, the support mechanism 3300 is in an upward extending state; and a second working position, in which the support mechanism 3300 is in a downwardly retracted state. After unmanned aerial vehicle descends to take-off and landing platform 3000, can lock on the upper mounting plate, because the upper mounting plate has two operating position, can highly go up position control, can make the unmanned aerial vehicle undercarriage arrange the platform of taking off and landing in steadily. Specifically, when the unmanned aerial vehicle lands, firstly, the unmanned aerial vehicle undercarriage 2000 is locked on the upper platform 3200, and is located at the first working position, the upper platform 3200 is further pressed downwards, the upper platform 3200 moves towards the second working position, and the unmanned aerial vehicle undercarriage 2000 is closer to the base 3100, so that the unmanned aerial vehicle undercarriage 2000 has higher stability.

In order to enable the upper stage 3200 to stably form two working positions, the support mechanism 3300 has a limiting structure such that the support mechanism 3000 is limited at the first working position or the second working position.

Specifically, the supporting mechanism 3300 may include a first sleeve assembly, as shown in fig. 5, which may include a lifting sleeve 3310 fixed on the base 3100 and a lifting rod 3320 fixed on the upper platform 3200, the lifting sleeve 3310 and the lifting rod 3320 being slidably engaged, the position limiting structure including an upper locking structure and a lower locking structure provided on an inner wall of the lifting sleeve 3310 and spaced up and down, the lifting rod 3320 locking the upper locking structure to position the upper platform 3200 at the first working position; the lift bar 3320 is latched to the lower latching structure such that the upper deck 3200 is positioned in the second operating position.

More specifically, as shown in fig. 6, the first sleeve assembly further includes a first elastic member 3330, the first elastic member 3330 is disposed in the lifting sleeve 3310, and both ends of the first elastic member 3330 respectively elastically abut against the bottom of the lifting rod 3320 and the base 3100, and in the first working position, the first elastic member 3330 abuts against the lifting rod 3320 on the upper locking structure; when the lift bar 3320 is pressed downward, the lift bar 3320 is unlocked from the upper latch structure and rotated to enter the second working position; in the second working position, the first elastic member 3330 pushes the lifting rod 3320 against the lower locking structure; when the lift bar 3320 is pressed downward, the lift bar 3320 is unlocked from the lower catch structure and rotated to enter the first working position. It should be noted here that the first elastic member 3330 always has a tendency to stretch towards two ends, that is, two ends can always abut against the bottom of the lifting rod 3320 and the base 3100, and the first elastic member 3330 can be a compression spring.

Further, as shown in fig. 7, the upper locking structure includes an annular top block 3311 protruding inward from the inner wall of the lifting sleeve 3310, the lower locking structure includes guide blocks 3312 protruding inward from the inner wall of the lifting sleeve 3310 at intervals, the guide blocks 3312 are formed below the annular top block 3311, a first groove 3313 is formed between two adjacent guide blocks 3312, a first key 3321 slidably fitted to the first groove 3313 protrudes from the outer wall of the lifting rod 3320, and in the first working position, the first key 3321 is accommodated in the first groove 3313 and the top portion abuts against the bottom end of the annular top block 3311; in moving from the first working position to the second working position, the first key 3321 first slides down to disengage from the first slot 3313 and is able to rotate with the lift pin 3320 when disengaged, and then enters the second working position under the pressure of the first resilient member 3330, wherein the driving force for the rotation of the lift pin 3320 may come from the engagement of the misaligned serrations described below, for example; in the second working position, the top of the first key 3321 abuts against the bottom end of the guide block 3312; in moving from the second working position to the first working position, the first key 3321 first slides downward and rotates with the lifter 3320, and then enters the first working position under the pressure of the first elastic member 3330, and similarly, here the driving force for the rotation of the lifter 3320 comes from the engagement of the misaligned serrations, for example, as described below.

Further, the top of the first key 3321 and the bottom of the guide block 3312 are formed as slopes capable of sliding with each other, so that the first key 3321 tends to move upward along the slopes by the pushing of the first elastic member 3330 when moving from the first operating position to the second operating position or from the second operating position to the first operating position, and finally can be locked to the upper locking structure or the lower locking structure. Further, to limit the position of the first key 3321 in the second working position, one of the top of the first key 3321 and the bottom of the guide block 3312 is formed as a stepped surface to limit the sliding movement of the two and to be able to be unlocked by rotation, for example in the embodiment shown in fig. 7, the stepped surface is formed at the bottom of the guide block 3312 and the top of the first key 3321 abuts against a corner of the stepped structure in the second working position. In another embodiment not shown in the drawings, a step surface may be provided on the top of the first key 3321, and the bottom of the guide block 3312 may be formed as a flat surface to perform a locking function.

In order to achieve the above-mentioned rotation of the lift lever 3320, as shown in fig. 6 and 8, the lift lever 3320 may include a first steering wheel 3324 and a second steering wheel 3325 coaxially disposed from top to bottom, a first key 3321 is disposed on an outer circumference of the second steering wheel 3325, and the first steering wheel 3324 and the second steering wheel 3325 are formed with a staggered saw-tooth fit therebetween so that the second steering wheel 3325 can be rotated when the first steering wheel 3324 pushes the second steering wheel 3325 downward. By staggered serrations, it is meant that the corresponding serrations between the first 3324 and second 3325 steering wheels do not fully engage, i.e., the crests of one steering wheel do not abut the roots of the other steering wheel, whether in the first operating position, the second operating position, or during the transition between the two operating positions. Taking the process of switching from the first operating position to the second operating position as an example, the first steering wheel 3324 pushes the second steering wheel 3325 to move downward, and first the first key 3321 slides in the first slot 3313, and the staggered serrations have a tendency to slide relative to each other, thereby generating a radial component on the inclined surface, which tends to rotate the second steering wheel 3325, but the first slot 3313 is limited so that the second steering wheel 3325 does not rotate. When the second steering wheel 3325 descends to a position where the first key 3321 is separated from the first slot 3313, the rotation of the first key 3321 is not restricted by the first slot 3313, so that the first key 3321 can be pressed against the bottom of the guide block 3312 by the first elastic member 3330, and other similar processes, such as the conversion from the second working position to the first working position, are not described herein again.

Further, the lift lever 3320 includes a first locking lever 3322, a second elastic member 3323, the above-mentioned first steering wheel 3324, the above-mentioned second steering wheel 3325, and a second locking lever 3326 coaxially disposed from top to bottom, the second locking lever 3326 passes through the first steering wheel 3324 and the second steering wheel 3325 and is fixed to the first locking lever 3322, and both ends of the second elastic member 3323 elastically abut against the first locking lever 3322 and the first steering wheel 3324. In this way, the top of the first locking rod 3322 is the top of the lifting rod 3320, the bottom of the second locking rod 3326 is the bottom of the lifting rod 3320, and the total length of the lifting rod 3320 is not changed, but only the rotation action is generated by the cooperation of the two steering wheels during the up-and-down movement, so as to realize the locking and unlocking functions at the two working positions. Like the first resilient member 3330, the second resilient member 3323 may be a compression spring, which is secured at both ends against the first locking rod 3322 and the first steering wheel 3324, respectively. Further, in order to prevent the first steering wheel 3324 from rotating and thus affecting relative sliding with the second steering wheel 3325, a key groove fit in the height direction is formed between the first steering wheel 3324 and the second locking lever 3326.

Further, the fixed connection form of the second locking rod 3326 and the first locking rod 3322 may be a threaded connection, for example, in the embodiment shown in fig. 8, the bottom of the first locking rod 3322 is recessed inwards to form a blind hole, an inner wall of the blind hole is formed with an inner thread, and the outer periphery of the top of the second locking rod 3326 is formed with an outer thread matching with the inner thread.

In order to stably support the upper deck 3200, the first sleeve assemblies are uniformly arranged in the circumferential direction of the lifting deck 3000. In addition, the supporting mechanism 3300 further includes a second sleeve assembly for guiding the elevation of the upper stage 3200, the second sleeve assembly including a guide sleeve 3340 fixed on the base 3100, and a guide rod 3350 fixed on the upper stage 3200, the guide rod 3350 being slidably fitted with the guide sleeve 3340. That is, the second sleeve assembly plays a guiding role only when the upper stage 3200 moves up and down, so that the upper stage 3200 can stably move.

Further, the first sleeve member and the second sleeve member are respectively plural and are uniformly and alternately arranged along the circumferential direction, sufficient driving force is ensured to drive the upper platform 3200, the second sleeve member which is only in sliding fit is provided, the structural form of the first sleeve member is not required to be completely adopted, and the cost is greatly reduced.

Further, the upper platform 3200 and the base 3100 form a central hole for allowing the unmanned aircraft landing gear 2000 to pass through, the upper platform 3200 includes an edge portion and a guide stopper 3210, the guide stopper 3210 extends from the edge portion to the inside in an inclined manner, and an inner end of the guide stopper 3210 and the base 3100 are disposed at an interval in a height direction and form a sidewall of the central hole. That is, the drone landing gear 2000 passes through the central aperture described above and the locking block 2210 passes through the guide hole 2110 in the landing gear body 2100 so that it can cooperate with the stop 2130 to secure the drone 1000 to the upper platform 3200. The upper stage 3200 includes an edge portion and a guiding position-limiting member 3210, wherein the edge portion of the upper stage 3200 is an outer frame of the upper stage 3200. As shown in fig. 5, in the present embodiment, the guide stopper 3210 is a plate-shaped structure, and the locking form between the landing gear 2000 and the landing platform 3000 of the unmanned aerial vehicle is such that the guide stopper 3210 is clamped between a lock block 2210 and a block 2130 to position the unmanned aerial vehicle 1000 in height.

Further, direction locating part 3210 follows limit portion's leanin downwardly extending, and like this, unmanned aerial vehicle 1000 can carry out primary localization through this inclined plane structure when descending, and unmanned aerial vehicle undercarriage 2000 is under the effect of the direction locating part 3210 of slope, and the central zone of landing platform 3000 is landing to subsequent accurate positioning gradually. When the initial positioning, the unmanned aerial vehicle 1000 only needs to be located above the landing platform 3000 region, and the accurate positioning can be performed through the inclined guide limit part 3210. Further, as shown in fig. 5, the inner end of the guide stopper 3210 is spaced apart from the base 3100 in the height direction and is formed as a side wall of the above-described center hole, so that the unmanned aircraft landing gear 2000 is formed between the base 3100 and the upper deck 3200.

In order to ensure the overall uniformity of the take-off and landing platform 3000, and each part of the take-off and landing platform 3000 may receive uniform impact force when the unmanned aerial vehicle 1000 lands, the edge portion of the upper platform 3200 and the guide limit member 3210 in the present disclosure may be respectively of a regular polygon or circular ring-shaped centrosymmetric structure, for example, in fig. 5, the edge portion of the upper platform 3200 is formed into a regular hexagon, and the guide limit member 3210 is substantially circular ring-shaped.

Further, as shown in fig. 5, a socket 3110 corresponding to the position of the central hole may be further disposed on the base 3100, and the socket 3110 is disposed right below the central hole to be in plug-in fit with the plug 2400 on the landing gear body 2100. Specifically, the plug 2400 may be plugged into the socket 3110 in the second operating position, and the plug and the socket are disengaged in the first operating position. Further, a protective cover 3120 is provided at the outer circumference of the socket 3110, and the protective cover 3120 is provided at intervals at the outer circumference of the socket 3110 to prevent the socket 3110 from being damaged by an impact from an external device.

The landing and takeoff process of the drone 1000 in one embodiment of the present disclosure is briefly described below with reference to fig. 1 to 9.

In the flight state of the drone 1000, under the action of the torsion spring 2220, the locking block 2210 extends out of the landing gear body 2100.

After the unmanned aerial vehicle 1000 receives the landing instruction, the unmanned aerial vehicle is firstly initially positioned above the take-off and landing platform 3000, and specifically, initially positioned above the guide limit part 3210. The first motor is now in a relaxed state, i.e., the central shaft 2230 may be free from the first motor, and the lock block 2210 extends out of the landing gear body 2100 under the influence of the torsion spring 2220. Under the inclined plane guide effect of direction locating part 3210, unmanned aerial vehicle 1000 further descends until reaching the centre bore of upper mounting plate 3200, and when unmanned aerial vehicle 1000 passed in the centre bore under the effect of gravity or decline drive power, locking piece 3210 inwards retracted because of receiving the extrusion of centre bore inner wall, utilized the principle of crank slider structure, center pin 2230 took place to rotate, and torsion spring 2220 rotated and compressed along with center pin 2230 simultaneously. When unmanned aerial vehicle 1000 continues to descend to the locking piece 2210 and passes the centre bore, torsion spring 2220 return under the effect of elastic force, drives the center pin 2230 and rotates for locking piece 2210 stretches out once more, and platelike upper mounting 3210 locking is between locking piece 2210 and dog 2130, thereby has realized unmanned aerial vehicle's accurate positioning. At this time, the upper platform 3200 is located at the first working position, i.e. the first elastic member 3330 has sufficient elastic force to support the drone 1000, and specifically, the first elastic member 3330 locks the first key 3321 of the lifting rod 3320 on the annular top block 3311 in the guide sleeve 3310. When the downward driving force is continuously applied to the drone 1000, the drone 1000 together with the upper platform 3200 may further compress the first elastic member 3330 until the first key 3321 is disengaged from the first slot 3313, the second steering wheel 3325 in the lifting rod 3320 rotates, and the first key 3321 rotates by an angle, at which time the above-mentioned driving force is reduced, so that the first elastic member 3330 may bounce upward and abut the first key 3321 against the bottom of the guide block 3312. At this point, the upper platform 3200 is in the second operating position, and at this point, the plug 2400 is mated with the socket 3110. It should be noted that the initial positioning of the unmanned aerial vehicle 1000 may be performed by manual remote control, or may be performed by a positioning system of the unmanned aerial vehicle 1000 itself, which is not specifically limited herein, depending on the specific use environment.

The takeoff process and the landing process of the drone 1000 are reverse operation processes, and only a simple description is given here. After the drone 1000 receives the takeoff signal, the drone 1000 first drives the upper platform 3200 to ascend, specifically, applies a downward driving force to the drone 1000, compresses the first elastic member 3330, so that the first key 3321 is disengaged from the lower locking structure, for example, the first key 3321 may be disengaged from a step corner at the bottom of the guide block 3312, the second steering wheel 3325 in the lifting rod 3320 rotates, the first key 3321 rotates by an angle, and at this time, the above driving force is reduced, so that the first elastic member 3330 may bounce upward and push the first key 3321 into the first groove 3313, the first elastic member 3330 further pushes up the first key 3321 upward, so that the first key 3321 abuts against the bottom of the annular top block 3311, that is, the first working position is reached, and the plug 2400 is disengaged from the socket 3110. Further, first motor starts, and drive center pin 2230 is rotatory, utilizes the principle of slider-crank structure, and lock block 2210 retracts, and locking structure 2200 is from the unblock on last platform 3200, and unmanned aerial vehicle can take off this moment. After the unmanned aerial vehicle takes off, first motor gets back to the relaxed state, and torsion spring 2220 resets and makes locking block 2210 stretch out, so far, accomplishes unmanned aerial vehicle's the overall process of descending and taking off.

In the above embodiment, the drone 1000 is first to raise the upper platform 3200 on takeoff, and then the drone landing gear 2000 is unlocked to free the drone 1000, in another embodiment, in emergency situations, the upper platform 3200 may not be raised first. Specifically, the locking block 2210 may be first controlled to retract, and then the drone 1000 may be controlled to take off directly in the docked state of the landing gear 2000 and the landing platform 3000.

As shown in fig. 10-12, the present disclosure also provides an unmanned aerial vehicle take-off and landing apparatus comprising a mounting frame 4000 of a trough type with an open top, and a plurality of take-off and landing platforms 3000 fixed in the mounting frame 4000, wherein the take-off and landing platforms 3000 may be the take-off and landing platforms 3000 described in detail above for cooperating with landing gear of a corresponding unmanned aerial vehicle 1000. The design can meet the requirements of takeoff and landing of a large number of unmanned aerial vehicles and the like, and unified protection and management are facilitated. Especially, when last platform 3200 can reciprocate, unmanned aerial vehicle 1000 can be parked simultaneously to two adjacent platforms 3000 that take off and land, through high staggered arrangement for two unmanned aerial vehicle 1000 can not influence each other. In addition, the landing platform 3000 includes base 3100 and the last platform 3200 of connection above base 3100, and unmanned aerial vehicle undercarriage 2000 can pass last platform 3200 and get into and spacing between last platform 3200 and base 3100, holds unmanned aerial vehicle undercarriage 2000 between last platform 3200 and base 3100, can improve the stability after unmanned aerial vehicle berths.

Further, at least one of these a plurality of take-off and landing platforms is different with other take-off and landing platform sizes, and this take-off and landing device can cooperate the unmanned aerial vehicle 1000 and the unmanned aerial vehicle undercarriage 2000 of multiple different models simultaneously like this.

Specifically, the lifting platform 3000 is fixed to the bottom surface of the mounting frame 4000 through the base 3100, and in order to stably support other components by the base 3100 and facilitate the mounting of the plurality of lifting platforms 3000, in one lifting platform 3000, the outer contour of the base 3100 may be the outer contour of the whole lifting platform 3000, so that when the lifting platform 3000 is mounted, only the cooperation between the plurality of bases 3100 needs to be considered, and interference is avoided. Further, the base 3100 may be fixed in the mounting frame 4000 in the form of bolts or snaps, and a specific fixing form thereof is not particularly limited herein.

In one embodiment, as shown in fig. 10, the base 3100 may be formed in a regular hexagon, with the edges of the base 3100 of the plurality of landing platforms 3000 being arranged in close proximity to form a honeycomb structure. In the embodiment shown in fig. 11, the base 3100 is formed in a rectangular shape, and edges of the base 3100 of the plurality of the lifting platforms 3000 are closely arranged to form a matrix structure, and both of the structures can make the structure of the lifting device compact. In other embodiments, the base 3100 may have other shapes, such as a regular triangle. It should be noted that, since the landing platforms 3000 may have different sizes, the honeycomb structure may be an approximate honeycomb structure, and the matrix structure may be an approximate matrix structure, for example, in fig. 10, three sizes of landing platforms are provided in this embodiment, and the pedestals 3100 are formed into an approximate honeycomb structure.

Further, in order to improve space utilization, the large-sized landing platform 3000 is disposed at the center of the mounting frame 4000, and the small-sized landing platform 3000 is disposed at the outer periphery of the large-sized landing platform 3000, that is, the small-sized landing platform 3000 is disposed in a smaller area of the edge portion of the mounting frame 4000, for example, in the embodiment shown in fig. 10, the small-sized landing platforms are disposed in four corners of the mounting frame 4000.

Further, the bottom of the mounting frame 4000 is provided with a base 5000 to be mounted on an external platform through the base 5000, wherein the mounting platform may be a moving vehicle, a ship or a fixed base, etc. In other embodiments, a vehicle, vessel, or base may be used as base 5000.

The utility model also provides an electric automobile, this electric automobile's top is provided with foretell unmanned aerial vehicle take off and land device. As shown in fig. 12, the electric vehicle may serve as a base of the drone 1000, and multiple drones may provide a reconnaissance mission to the vehicle.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of the various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present invention, as long as the combination does not depart from the spirit of the present disclosure.

Claims

1. An unmanned aerial vehicle landing gear, comprising a landing gear body (2100) arranged at the bottom of an unmanned aerial vehicle (1000) and a locking mechanism (2200) accommodated in the landing gear body (2100), wherein a guide hole (2110) is formed in a side wall of the landing gear body (2100), a stop (2130) is formed on an outer wall of the landing gear body (2100) in a protruding manner, the stop (2130) is located above the guide hole (2110) at intervals, the locking mechanism (2200) comprises a locking block (2210) and a driving mechanism for driving the locking block (2210) to extend out of and retract into the guide hole (2110), the driving mechanism comprises a rotatable central shaft (2230), a first connecting rod (2240) fixedly connected to the central shaft (2230), and a second connecting rod (2250) hinged to the locking block (2210), and the first connecting rod (2240) is hinged to the second connecting rod (2250), the locking block (2210) is at least partially accommodated in the guide hole (2110), a first driving device (2300) for driving the central shaft (2230) to rotate is arranged above the central shaft (2230), the locking mechanism (2200) further comprises a torsion spring (2220) sleeved on the central shaft (2230), and two ends of the torsion spring (2220) are respectively fixed on the landing gear body (2100) and the central shaft (2230).

2. The unmanned landing gear of claim 1, wherein the guide holes (2110) are arranged in three rows uniformly arranged in the circumferential direction, and the block (2130) and the block lock 2210 are respectively formed in corresponding three rows.

3. The landing gear of claim 1, wherein the guide hole (2110) has guide grooves (2111) formed on the hole wall at both ends, and the lock block (2210) has protrusions (2211) protruding outwards at both ends for sliding engagement with the guide grooves (2111).

4. The unmanned landing gear of claim 1, wherein the lock block (2210) comprises an upper base (2212), a lower base (2213), and a fastening assembly for connecting the upper base (2212) and the lower base (2213), the second link (2250) being rotatably connected to the fastening assembly.

5. The drone landing gear of claim 4, wherein the upper base (2212) has a first platform (2214) protruding inward from an inner wall thereof, the lower base (2213) has a second platform (2215) protruding inward from an inner wall thereof, the fastening assembly comprises first and second plug-fit mounting posts (2216, 2217) disposed opposite the first and second platforms (2214, 2215), and the second link (2250) has a mounting sleeve formed at one end thereof, the mounting sleeve being fitted around the outer periphery of the first and second mounting posts (2216, 2217) and formed between the first and second platforms (2214, 2215).

6. The unmanned landing gear of claim 1, wherein the thickness of the lock block (2210) is tapered in a direction away from the central shaft (2230) such that a bottom surface of the lock block (2210) is shaped in an arc.

7. The unmanned landing gear of claim 1, wherein the landing gear body (2100) is provided with a plug (2400) at its bottom.

8. A drone, characterized in that the bottom of the drone (1000) is provided with a drone landing gear (2000) according to any one of claims 1 to 7.