CN114261524A - A kind of unmanned aerial vehicle landing gear and anti-fall energy storage method - Google Patents
A kind of unmanned aerial vehicle landing gear and anti-fall energy storage method Download PDFInfo
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- CN114261524A CN114261524A CN202111614549.6A CN202111614549A CN114261524A CN 114261524 A CN114261524 A CN 114261524A CN 202111614549 A CN202111614549 A CN 202111614549A CN 114261524 A CN114261524 A CN 114261524A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to an unmanned aerial vehicle undercarriage and an anti-falling energy storage method, wherein the unmanned aerial vehicle undercarriage comprises an undercarriage body, the undercarriage body is subjected to shock absorption after being folded/compressed, an energy storage device is arranged on the undercarriage body, the energy storage device is charged after the undercarriage body is folded/compressed, and the energy storage device is used for providing power when the undercarriage body is unfolded. Aim at can provide the energy storage outside the buffering through adopting energy memory in the stage of descending, converts descending stage unmanned aerial vehicle's gravitational potential energy into elastic potential energy and stores to the energy release that will store when taking off makes elastic potential energy convert ascending kinetic energy into, helps unmanned aerial vehicle's vertical take off, reduces the electric energy in stage power consumption and the decline stage of taking off.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle undercarriage and an anti-falling energy storage method.
Background
Unmanned aerial vehicle is called unmanned aerial vehicle for short, and unmanned aerial vehicle can be divided into a sliding take-off and landing mode and a vertical take-off and landing mode according to a take-off mode. The landing gear of the domestic vertical unmanned aerial vehicle mostly adopts a skid landing gear with two rods at two sides or four supporting columns as the landing gear, and the common structures can basically meet the requirements of the small vertical take-off and landing unmanned aerial vehicle on the take-off and landing performance, but have the defects of single structure, poor buffering performance and poor stability, and the unmanned aerial vehicle cannot be protected under special conditions during landing; the composite wing vertical take-off and landing unmanned aerial vehicle has large take-off weight, has higher requirements on the bearing of an undercarriage and the stability of the aircraft during landing, only depends on four rotors to finish landing during vertical landing, and has high possibility of abnormal landing in the landing stage, for example, the unmanned aerial vehicle inclines due to uneven power of the four rotors; vertical take-off and landing power systems such as rotor and motor lead to the descending speed too fast because battery power weakens, can't reach and set for the pulling force, and ordinary undercarriage can make unmanned aerial vehicle receive too big impact force, leads to the fuselage impaired or the cabin in precision instruments receive huge impact force and damage.
Unmanned aerial vehicle undercarriage on the market single function, special circumstances protection unmanned aerial vehicle when can't be directed against descending also can't get up the energy storage of decline in-process, reduces the unmanned aerial vehicle energy consumption. The energy that can be absorbed by conventional skid landing gear is limited only by its deformation.
Disclosure of Invention
In order to solve the problems of the traditional unmanned aerial vehicle undercarriage, the invention provides the unmanned aerial vehicle undercarriage and the anti-falling energy storage method, the undercarriage adopts an energy storage device to store energy except for providing buffering in a landing stage, converts the gravitational potential energy of the unmanned aerial vehicle in a descending stage into elastic potential energy and stores the elastic potential energy, and releases the stored energy in the take-off process, so that the elastic potential energy is converted into upward kinetic energy, the vertical take-off of the unmanned aerial vehicle is facilitated, and the power consumption in the take-off stage is reduced.
The technical scheme adopted by the invention is as follows: the utility model provides an unmanned aerial vehicle undercarriage, includes the undercarriage body, the shock attenuation behind the undercarriage body folding/compression, be provided with energy memory on the undercarriage body, the undercarriage body is folding/compress the back and is filled the ability to energy memory, energy memory provides power when being used for the undercarriage body to expand.
Preferably, the landing gear body comprises a connecting frame and a contact frame, the connecting frame is hinged to one end of the contact frame, the fixed end of a sliding rod is hinged to the contact frame, the sliding end of the sliding rod is arranged on the connecting frame, and the sliding end slides relative to the connecting frame; the energy storage device comprises a spring, the spring is arranged on the connecting frame, and the contact frame drives the sliding end to compress the spring after being close to the connecting frame.
Preferably, a locking structure is arranged at the spring, the locking structure comprises a limiting rod and a limiting block, the limiting rod is arranged on the unmanned aerial vehicle connected with the undercarriage body, and the limiting block is arranged on the sliding end; the limiting rod comprises a rod body and a rod sleeve, the rod body is arranged in the rod sleeve, one end of the rod body extends out of the rod sleeve, a first inclined surface is arranged at one end of the rod body extending out of the rod sleeve, and the first inclined surface faces the direction of the limiting block; an elastic part is arranged at one end of the rod body in the rod sleeve, and the other end of the elastic part is connected with a motor; the limiting block is provided with a second inclined surface, the second inclined surface faces the direction of the limiting rod, and the second inclined surface is matched with the first inclined surface.
Preferably, the included angle between the extension lines of the connecting frame and the contact frame is 30-45 degrees; the energy storage device further comprises a gas cylinder, the gas cylinder is arranged at one end of the connecting frame, which is hinged to the contact frame, the gas inlet of the gas cylinder is connected with an engine of the unmanned aerial vehicle through a compressor, and the gas outlet of the gas cylinder faces the ground direction.
Preferably, the air inlet of the air bottle is further connected with the sliding end through an air inlet pipe, and the air bottle slides relative to the connecting frame through the sliding end to realize inflation.
An unmanned aerial vehicle undercarriage comprises an undercarriage body, wherein the undercarriage body is subjected to shock absorption after being folded/compressed, an energy storage device is arranged on the undercarriage body, the energy storage device is charged after the undercarriage body is folded/compressed, and the energy storage device is used for providing power when the undercarriage body is unfolded; the landing gear body is provided with an air bag, and the folding/compressing distance of the landing gear body provides space for the expansion of the air bag.
Preferably, the landing gear body comprises a connecting frame and a contact frame, and the air bag is arranged at the connecting frame; the connecting frame is hinged with one end of the contact frame, the fixed end of a sliding rod is hinged on the contact frame, the sliding end of the sliding rod is arranged on the connecting frame, and the sliding end slides relative to the connecting frame; the energy storage device comprises a spring, the spring is arranged on the connecting frame, and the contact frame drives the sliding end to compress the spring after being close to the connecting frame.
Preferably, a locking structure is arranged at the spring, the locking structure comprises a limiting rod and a limiting block, the limiting rod is arranged on the unmanned aerial vehicle connected with the undercarriage body, and the limiting block is arranged on the sliding end; the limiting rod comprises a rod body and a rod sleeve, the rod body is arranged in the rod sleeve, one end of the rod body extends out of the rod sleeve, a first inclined surface is arranged at one end of the rod body extending out of the rod sleeve, and the first inclined surface faces the direction of the limiting block; an elastic part is arranged at one end of the rod body in the rod sleeve, and the other end of the elastic part is connected with a motor; the limiting block is provided with a second inclined surface, the second inclined surface faces the direction of the limiting rod, and the second inclined surface is matched with the first inclined surface.
Preferably, the included angle between the extension lines of the connecting frame and the contact frame is 30-45 degrees; the energy storage device further comprises a gas cylinder, the gas cylinder is arranged at one end of the connecting frame, which is hinged with the contact frame, the gas inlet of the gas cylinder is connected with an engine of the unmanned aerial vehicle through a compressor, and the gas outlet of the gas cylinder faces the ground direction; the air inlet of the air bottle is connected with the sliding end through an air inlet pipe, and the air bottle slides relative to the connecting frame through the sliding end to realize inflation.
An anti-falling energy storage method of an unmanned aerial vehicle undercarriage comprises the following steps:
normal state landing: after the landing gear body touches the ground, the propeller of the unmanned aerial vehicle is powered off, the landing gear body starts to be folded/compressed, and the energy of the deformation of the landing gear body is stored in the folding/compressing process; meanwhile, waste gas discharged by an engine of the unmanned aerial vehicle is compressed by a compressor and then is filled into a gas cylinder arranged on the undercarriage body for storage; when the unmanned aerial vehicle takes off, the energy stored by folding/compressing the landing gear body is released together with the gas stored in the gas cylinder, so as to provide auxiliary power for the take-off of the unmanned aerial vehicle;
and (3) falling of the fault state: after the landing gear body touches the ground, the propeller of the unmanned aerial vehicle is powered off, the landing gear body starts to be folded/compressed, in the folding/compressing process, on one hand, the energy of the deformation of the landing gear body is stored, on the other hand, the unmanned aerial vehicle controller controls the air bag to be unfolded, and the air bag is unfolded in the folding/compressing process of the landing gear body; meanwhile, waste gas discharged by an engine of the unmanned aerial vehicle is compressed by a compressor and then is filled into a gas cylinder arranged on the undercarriage body for storage; when unmanned aerial vehicle takes off, the energy of undercarriage body folding/compression storage releases together with the gas of storage in the gas cylinder, provides helping hand for unmanned aerial vehicle's taking off.
The invention has the following beneficial effects:
1) the energy storage device is adopted, energy is stored while the undercarriage is folded/compressed for damping, the gravitational potential energy of the unmanned aerial vehicle in the descending stage is converted into elastic potential energy and stored, and the stored energy is released during takeoff, so that the elastic potential energy is converted into upward kinetic energy, the vertical takeoff of the unmanned aerial vehicle is facilitated, and the power consumption in the takeoff stage is reduced; the problem of insufficient shock absorption of the traditional undercarriage is solved, and the unmanned aerial vehicle and the undercarriage of the unmanned aerial vehicle can be effectively protected from being damaged in the case that the unmanned aerial vehicle is out of control and lands again;
2) the energy storage device adopts elastic energy storage and gas cylinder energy storage, stores elastic potential energy through the spring, stores waste gas exhausted by an engine of the unmanned aerial vehicle through the gas cylinder, provides power assistance when the unmanned aerial vehicle takes off, reduces the battery carrying capacity of the unmanned aerial vehicle, lightens the negative effect of the unmanned aerial vehicle carrying landing gear, and enables the single taking off and landing to totally save energy 0.3441 wh;
3) the landing gear can be suitable for low-altitude running, uneven ground and landing (the landing gears on two sides can independently absorb shock and buffer), and has a good buffering effect on heavy landing; the energy of the spring and the compressed air stored in the air bottle are utilized to provide power assistance during takeoff, the front undercarriage utilizes the reaction force of compressed air injection, the rear undercarriage utilizes the energy stored in the spring to provide upward force, the instantaneous power of a motor during takeoff is reduced, and the energy consumption is reduced while the stable takeoff of the airplane is ensured;
4) because the propeller is always in a working state in the descending process of the common vertical take-off and landing unmanned aerial vehicle, the propeller does not stop until the unmanned aerial vehicle lands on the ground; the power-off mechanism can timely power off the propeller when the undercarriage contacts the ground, the spring on the undercarriage provides buffer force, the distance between the unmanned aerial vehicle and the ground is 0.7m, and the energy consumption of the propeller during the period can be reduced in the process of completely landing the unmanned aerial vehicle to the ground.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial enlarged view;
FIG. 3 is a schematic view of a connection structure of the landing gear and the unmanned aerial vehicle;
in the figure: 1-a landing gear body; 2-a locking structure; 3-a gas cylinder; 11-a connecting frame; 12-a contact frame; 13-a slide bar; 14-a spring; 15-fixed end; 16-a sliding end; 21-a limiting rod; 22-a limiting block; 211-rod body; 212-a rod sleeve; 213-a first bevel; 221-second slope.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention
The unmanned aerial vehicle related to the invention is an unmanned aerial vehicle capable of taking off and landing vertically, and the system can be applied to rotor unmanned aerial vehicles and composite wing unmanned aerial vehicles capable of taking off and landing vertically.
Example one
As shown in fig. 1-3, an unmanned aerial vehicle undercarriage comprises an undercarriage body 1, the undercarriage body 1 is subjected to damping after being folded/compressed, an energy storage device is arranged on the undercarriage body 1, the energy storage device is charged after the undercarriage body 1 is folded/compressed, and the energy storage device is used for providing power when the undercarriage body 1 is unfolded. It can be understood that, at the in-process of undercarriage body 1 folding/compression, can fill energy storage device through its mechanical motion to guarantee when unmanned aerial vehicle takes off, the energy of storage can be used for the helping hand power when unmanned aerial vehicle takes off, thereby reaches the purpose that reduces the power consumption.
The landing gear body 1 comprises a connecting frame 11 and a contact frame 12, wherein one end of the connecting frame 11 is hinged with one end of the contact frame 12, a fixed end 15 of a sliding rod 13 is hinged on the contact frame 12, and the sliding rod 13 is arranged in the middle of the contact frame 12 or on one side close to the hinged position; the sliding end 16 of the sliding rod 13 is arranged on the connecting frame 11, and the sliding end 16 slides relative to the connecting frame 11; the energy storage device comprises a spring 14, the spring 14 is arranged on the connecting frame 11, and the contact frame 12 drives the sliding end 16 to compress the spring 14 after approaching the connecting frame 11. When the unmanned aerial vehicle descends, the contact frame 12 touches the ground, and at this moment, the contact frame 12 gradually approaches the connecting frame 11 due to being folded or compressed, and compresses the spring 14, so that the length of the spring 14 is compressed to the shortest distance, and the state of energy storage is achieved.
In order to ensure that the unmanned aerial vehicle is always in a relatively stable state in the landing process and does not jump due to the compression of the spring 14, a locking structure 2 is arranged at the spring 14, as shown in fig. 2, the locking structure comprises a limiting rod 21 and a limiting block 22, the limiting rod 21 is arranged on the unmanned aerial vehicle connected with the landing gear body 1, and the limiting block 22 is arranged on the sliding end 16; the limiting rod 21 comprises a rod body 211 and a rod sleeve 212, the rod body 211 is arranged in the rod sleeve 212, one end of the rod body 211 extends out of the rod sleeve 212, a first inclined plane 213 is arranged at one end of the rod body 211 extending out of the rod sleeve 212, and the first inclined plane faces the direction of the limiting block 22; an elastic piece is arranged at one end of the rod body 211 in the rod sleeve 212, and the other end of the elastic piece is connected with a motor; the limiting block 22 is provided with a second inclined surface 221, the second inclined surface faces the direction of the limiting rod 21, and the second inclined surface 221 is matched with the first inclined surface 213. After the spring 14 is gradually compressed, the second inclined surface 221 is in contact with the first inclined surface 213, the rod body 211 is upwards extruded due to the action of the inclined surfaces, and finally the limiting block 22 passes through; when unmanned aerial vehicle takes off, the action of controller control motor in the unmanned aerial vehicle for the action end of motor drives elastic component and body of rod 211 upward movement, thereby makes body of rod 211 carry out the unblock to stopper 22, removes the restriction to spring 14, makes spring 14 provide helping hand power to unmanned aerial vehicle's taking off.
The included angle between the extension lines of the connecting frame 11 and the contact frame 12 is 30-45 degrees, and the arrangement of the included angle can meet the use requirement of most unmanned aerial vehicle body lengths; energy memory still includes gas cylinder 3, gas cylinder 3 sets up in link 11 and contact frame 12 articulated one end, as shown in fig. 1, and link 11 is "L" shape setting, and the minor face of link 11 is articulated with contact frame 12, and gas cylinder 3 sets up on the minor face of link 11, as shown in fig. 1, the air inlet of gas cylinder 3 passes through the compressor and is connected with unmanned aerial vehicle's engine, the gas outlet of gas cylinder 3 is towards the ground direction. The gas cylinder 3 is a gas storage and exhaust integrated gas cylinder, when the landing gear body 1 is compressed, the gas outlet of the gas cylinder 3 is opposite to the ground and is in a vertical state with the ground, so that power assistance is provided when the unmanned aerial vehicle takes off; in the process that unmanned aerial vehicle descends, gas cylinder 3 also can exhaust to descending for unmanned aerial vehicle provides the cushion effect.
The air inlet of the air bottle 3 is also connected with a sliding end 16 through an air inlet pipe, and the air bottle 3 slides relative to the connecting frame 11 through the sliding end 16 to realize inflation. The sliding end 16 inflates the gas cylinder 3 similarly to the inflator, i.e. as the sliding end 16 slides along the connecting frame 11, the gas cylinder 3 can be inflated to store energy. When the sliding end 16 compresses the spring 14, external air can be sucked in, and when the sliding end 16 moves away from the spring 14, air can be filled into the gas cylinder 3 through the one-way valve; therefore, the gas cylinder 3 can be continuously inflated through the action of the sliding end 16 every time, so that the gas cylinder 3 not only has gas from an engine, but also has air from the outside, and the use requirement of the gas cylinder 3 is met.
Example two
The undercarriage of the unmanned aerial vehicle is different from the undercarriage body 1 in that the undercarriage body 1 is folded/compressed and then subjected to shock absorption, an energy storage device is arranged on the undercarriage body 1, the energy storage device is charged after the undercarriage body 1 is folded/compressed, and the energy storage device is used for providing power when the undercarriage body 1 is unfolded; an air bag is arranged on the landing gear body 1, and the folding/compressing distance of the landing gear body 1 provides space for the expansion of the air bag. Combine together undercarriage body 1 and gasbag in this embodiment, when unmanned aerial vehicle trouble descends, the folding/compression distance between link 11 and the contact frame 12 can provide the space for the expansion of gasbag, guarantees when unmanned aerial vehicle contacts to the ground that the gasbag is in the state that expandes completely.
The landing gear body 1 comprises a connecting frame 11 and a contact frame 12, and the air bag is arranged at the connecting frame 11; the connecting frame 11 is hinged with one end of the contact frame 12, the fixed end 15 of the sliding rod 13 is hinged on the contact frame 12, the sliding end 16 of the sliding rod 13 is arranged on the connecting frame 11, and the sliding end 16 slides relative to the connecting frame 11; the energy storage device comprises a spring 14, the spring 14 is arranged on the connecting frame 11, and the contact frame 12 drives the sliding end 16 to compress the spring 14 after approaching the connecting frame 11.
A locking structure 2 is arranged at the spring 14, the locking structure comprises a limiting rod 21 and a limiting block 22, the limiting rod 21 is arranged on the unmanned aerial vehicle connected with the landing gear body 1, and the limiting block 22 is arranged on the sliding end 16; the limiting rod 21 comprises a rod body 211 and a rod sleeve 212, the rod body 211 is arranged in the rod sleeve 212, one end of the rod body 211 extends out of the rod sleeve 212, a first inclined plane 213 is arranged at one end of the rod body 211 extending out of the rod sleeve 212, and the first inclined plane faces the direction of the limiting block 22; a spring is arranged at one end of the rod body 211 in the rod sleeve 212, and the other end of the spring is connected with a motor; the limiting block 22 is provided with a second inclined surface 221, the second inclined surface faces the direction of the limiting rod 21, and the second inclined surface 221 is matched with the first inclined surface 213.
The included angle between the extension lines of the connecting frame 11 and the contact frame 12 is 30-45 degrees; the energy storage device further comprises a gas cylinder 3, the gas cylinder 3 is arranged at one end of the connecting frame 11, which is hinged with the contact frame 12, the gas inlet of the gas cylinder 3 is connected with an engine of the unmanned aerial vehicle through a compressor, and the gas outlet of the gas cylinder 3 faces the ground direction; the air inlet of the air bottle 3 is also connected with a sliding end 16 through an air inlet pipe, and the air bottle 3 slides relative to the connecting frame 11 through the sliding end 16 to realize inflation.
In the embodiment, the takeoff weight of the unmanned aerial vehicle is 85kg, when the unmanned aerial vehicle lands, the general falling speed is 2-3m/s, and the unmanned aerial vehicle is regarded as heavy landing when the falling speed exceeds 3 m/s. The farthest distance between the connecting frame 11 and the contact frame 12 is not less than 0.7 m.
When the unmanned aerial vehicle lands, after the landing gear body 1 touches the ground, the power supply of the motor is cut off to enable the rotor wing to not work, so that partial electric energy is saved, the landing gear body 1 collects unmanned power energy, gravitational potential energy and gas cylinder 3 stored energy while landing, and provides buffer for the landing of the unmanned aerial vehicle, so that the landing time of the unmanned aerial vehicle is 0.23s, and space and time are provided for the expansion of a gas bag (the expansion time of the gas bag sold in the market is generally 0.2-0.6s, the gas bag provided by the invention comprises a controller, a sensor, a gas bag body, a pressure reducing module and an inflator, the sensor can detect the descending speed, if the descending speed exceeds 3m/s when the landing gear body 1 touches the ground, the gas bag device is excited, at the moment, the pressure reducing module comprises a pressure sensor and an air release valve, and the advantage is that the unmanned aerial vehicle cannot bounce when the gas bag is opened), so that the energy can be saved 0.3441wh by single landing.
EXAMPLE III
Based on the first embodiment and the second embodiment, the embodiment provides an anti-falling energy storage method for an unmanned aerial vehicle undercarriage, and the specific method comprises the following steps:
normal state landing: after the landing gear body 1 touches the ground, the propeller of the unmanned aerial vehicle is powered off, the landing gear body 1 starts to be folded/compressed, and the energy of deformation of the landing gear body 1 is stored in the folding/compressing process; meanwhile, waste gas discharged by an engine of the unmanned aerial vehicle is compressed by a compressor and then is filled into a gas cylinder 3 arranged on the undercarriage body 1 for storage; when the unmanned aerial vehicle takes off, the energy stored by folding/compressing the undercarriage body 1 and the gas stored in the gas cylinder 3 are released together, so that auxiliary power is provided for the take-off of the unmanned aerial vehicle; the energy of spring 14 release and the energy of gas cylinder 3 release are located the front end and the rear end of undercarriage body 1 respectively, the front end of assurance and the balance of rear end to provide the guarantee for unmanned aerial vehicle's steady take-off.
Fault status drop (re-landing): after the landing gear body 1 touches the ground, the propeller of the unmanned aerial vehicle is powered off, the landing gear body 1 starts to be folded/compressed, in the folding/compressing process, on one hand, the energy of the deformation of the landing gear body 1 is stored, on the other hand, the unmanned aerial vehicle controller controls the airbag to be unfolded, and the airbag is quickly unfolded and completed in the folding/compressing process of the landing gear body 1, so that the body of the unmanned aerial vehicle is protected from directly colliding with the ground, and the risk of damage caused by direct touch of the body of the unmanned aerial vehicle under the condition that the airbag cannot be completely unfolded can be effectively avoided; meanwhile, waste gas discharged by an engine of the unmanned aerial vehicle is compressed by a compressor and then is filled into a gas cylinder 3 arranged on the undercarriage body 1 for storage; when unmanned aerial vehicle takes off, the energy of undercarriage body 1 folding/compression storage is released together with the gas of storage in the gas cylinder 3, provides helping hand for unmanned aerial vehicle's taking off.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle undercarriage, its characterized in that: including undercarriage body (1), shock attenuation behind undercarriage body (1) folding/compression, be provided with energy memory on undercarriage body (1), energy memory is filled to energy memory after undercarriage body (1) folding/compression, energy memory provides power when being used for undercarriage body (1) to expand.
2. An unmanned landing gear according to claim 1, wherein: the landing gear body (1) comprises a connecting frame (11) and a contact frame (12), wherein one end of the connecting frame (11) is hinged with one end of the contact frame (12), a fixed end (15) of a sliding rod (13) is hinged on the contact frame (12), a sliding end (16) of the sliding rod (13) is arranged on the connecting frame (11), and the sliding end (16) slides relative to the connecting frame (11); the energy storage device comprises a spring (14), the spring (14) is arranged on the connecting frame (11), and the contact frame (12) drives the sliding end (16) to compress the spring (14) after being close to the connecting frame (11).
3. An unmanned landing gear according to claim 2, wherein: a locking structure (2) is arranged at the spring (14), the locking structure comprises a limiting rod (21) and a limiting block (22), the limiting rod (21) is arranged on an unmanned aerial vehicle connected with the undercarriage body (1), and the limiting block (22) is arranged on the sliding end (16); the limiting rod (21) comprises a rod body (211) and a rod sleeve (212), the rod body (211) is arranged in the rod sleeve (212), one end of the rod body (211) extends out of the rod sleeve (212), a first inclined plane (213) is arranged at one end of the rod body (211) extending out of the rod sleeve (212), and the first inclined plane faces the direction of the limiting block (22); an elastic piece is arranged at one end of the rod body (211) in the rod sleeve (212), and the other end of the elastic piece is connected with a motor; the limiting block (22) is provided with a second inclined surface (221), the second inclined surface faces the direction of the limiting rod (21), and the second inclined surface (221) is matched with the first inclined surface (213).
4. An unmanned landing gear according to claim 2, wherein: the included angle between the extension lines of the connecting frame (11) and the contact frame (12) is 30-45 degrees; energy memory still includes gas cylinder (3), gas cylinder (3) set up in link (11) and contact frame (12) articulated one end, the air inlet of gas cylinder (3) is passed through the compressor and is connected with unmanned aerial vehicle's engine, the gas outlet of gas cylinder (3) is towards the ground direction.
5. An unmanned landing gear according to claim 4, wherein: the air inlet of the air bottle (3) is also connected with a sliding end (16) through an air inlet pipe, and the air bottle (3) slides relative to the connecting frame (11) through the sliding end (16) to realize inflation.
6. An unmanned aerial vehicle undercarriage, its characterized in that: the foldable undercarriage comprises an undercarriage body (1), wherein the undercarriage body (1) is subjected to damping after being folded/compressed, an energy storage device is arranged on the undercarriage body (1), the undercarriage body (1) is subjected to energy charging after being folded/compressed, and the energy storage device is used for providing power when the undercarriage body (1) is unfolded; the landing gear body (1) is provided with an air bag, and the folding/compressing distance of the landing gear body (1) provides space for the expansion of the air bag.
7. An unmanned landing gear according to claim 6, wherein: the landing gear body (1) comprises a connecting frame (11) and a contact frame (12), and the air bag is arranged at the connecting frame (11); the connecting frame (11) is hinged with one end of the contact frame (12), the fixed end (15) of the sliding rod (13) is hinged on the contact frame (12), the sliding end (16) of the sliding rod (13) is arranged on the connecting frame (11), and the sliding end (16) slides relative to the connecting frame (11); the energy storage device comprises a spring (14), the spring (14) is arranged on the connecting frame (11), and the contact frame (12) drives the sliding end (16) to compress the spring (14) after being close to the connecting frame (11).
8. An unmanned landing gear according to claim 7, wherein: a locking structure (2) is arranged at the spring (14), the locking structure comprises a limiting rod (21) and a limiting block (22), the limiting rod (21) is arranged on an unmanned aerial vehicle connected with the undercarriage body (1), and the limiting block (22) is arranged on the sliding end (16); the limiting rod (21) comprises a rod body (211) and a rod sleeve (212), the rod body (211) is arranged in the rod sleeve (212), one end of the rod body (211) extends out of the rod sleeve (212), a first inclined plane (213) is arranged at one end of the rod body (211) extending out of the rod sleeve (212), and the first inclined plane faces the direction of the limiting block (22); an elastic piece is arranged at one end of the rod body (211) in the rod sleeve (212), and the other end of the elastic piece is connected with a motor; the limiting block (22) is provided with a second inclined surface (221), the second inclined surface faces the direction of the limiting rod (21), and the second inclined surface (221) is matched with the first inclined surface (213).
9. The unmanned landing gear of claim 8, wherein: the included angle between the extension lines of the connecting frame (11) and the contact frame (12) is 30-45 degrees; the energy storage device further comprises a gas cylinder (3), the gas cylinder (3) is arranged at one end of the connecting frame (11) hinged to the contact frame (12), a gas inlet of the gas cylinder (3) is connected with an engine of the unmanned aerial vehicle through a compressor, and a gas outlet of the gas cylinder (3) faces the ground direction; the air inlet of the air bottle (3) is also connected with a sliding end (16) through an air inlet pipe, and the air bottle (3) slides relative to the connecting frame (11) through the sliding end (16) to realize inflation.
10. The anti-falling energy storage method of the landing gear of the unmanned aerial vehicle is characterized by comprising the following steps:
normal state landing: after the landing gear body (1) touches the ground, the propeller of the unmanned aerial vehicle is powered off, the landing gear body (1) starts to be folded/compressed, and the energy of deformation of the landing gear body (1) is stored in the folding/compressing process; meanwhile, waste gas exhausted by an engine of the unmanned aerial vehicle is compressed by a compressor and then is filled into a gas cylinder (3) arranged on the undercarriage body (1) for storage; when the unmanned aerial vehicle takes off, the energy stored by folding/compressing the undercarriage body (1) and the gas stored in the gas cylinder (3) are released together, so that auxiliary power is provided for the taking off of the unmanned aerial vehicle;
and (3) falling of the fault state: after the landing gear body (1) touches the ground, the propeller of the unmanned aerial vehicle is powered off, the landing gear body (1) starts to be folded/compressed, in the folding/compressing process, on one hand, the energy of deformation of the landing gear body (1) is stored, on the other hand, the unmanned aerial vehicle controller controls the airbag to be unfolded, and the airbag is unfolded in the folding/compressing process of the landing gear body (1); meanwhile, waste gas exhausted by an engine of the unmanned aerial vehicle is compressed by a compressor and then is filled into a gas cylinder (3) arranged on the undercarriage body (1) for storage; when unmanned aerial vehicle takes off, the energy of undercarriage body (1) folding/compression storage releases together with the gas of storage in gas cylinder (3), provides helping hand for unmanned aerial vehicle's taking off.
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