CN204623827U - Landing gear for a rotary-wing unmanned aerial vehicle - Google Patents

Abstract

A rotor unmanned aerial vehicle undercarriage relates to a rotor unmanned aerial vehicle. The device comprises a buffer cylinder, a ratchet mechanism and a pawl control circuit; the upper end of an outer cover of a buffer cylinder is externally connected with an unmanned aerial vehicle steering engine outer cover, the lower end of the outer cover of the buffer cylinder is connected with a sleeve of a ratchet mechanism, the ratchet mechanism is provided with a sleeve, a sleeve outer cover, a ratchet bar, a pawl and a pawl return spring, a pawl support is arranged on the sleeve, a ratchet bar sliding rail is arranged in the sleeve, a contact switch is arranged in the sleeve, the sleeve outer cover is in threaded connection with the lower end of the sleeve, the ratchet bar extends into the sleeve and is in sliding fit with the ratchet bar sliding rail, a ratchet bar support is arranged at the lower end of the ratchet bar and is used for being in contact with the ground, ribs are arranged on two sides; one end of the pawl return spring is connected with the pawl support, and the other end of the pawl return spring is connected with the pawl; the pawl control circuit is provided with a battery, a contact switch and an electromagnet; on the contact switch sleeve inner wall, the electro-magnet was located between ratchet structure's sleeve and the pawl.

Description

Landing gear for a rotary-wing unmanned aerial vehicle

technical field

The utility model relates to a rotary-wing unmanned aerial vehicle, in particular to a landing gear of a rotary-wing unmanned aerial vehicle which can adapt to terrain.

Background technique

In recent years, drone technology has developed by leaps and bounds. Due to its low cost, good maneuverability, strong survivability, and no risk of casualties, UAVs occupy an extremely important position in modern military warfare and have a very broad prospect in the civilian field. The current UAVs mainly include fixed-wing UAVs and rotary-wing UAVs. Compared with fixed-wing drones, rotary-wing drones have the advantages of simple structure, flexible control, vertical take-off and landing, hovering or inverted flight, etc., and are widely used in aerial photography and police applications.

At present, the landing gear of the rotor UAV is basically fixed, and the landing gear of a small number of rotor UAVs can be moved up and down synchronously or put down (Chinese patent CN201410033875.1), to meet the requirements of aerial photography. This kind of landing gear has good adaptability on flat ground, but it will be subject to great restrictions in the field with complex terrain, ranging from damaging the propeller to damaging personal safety.

Contents of the invention

The purpose of this utility model is to provide a kind of rotor drone landing gear that can automatically adjust the height of each landing gear according to the terrain, so that the drone fuselage maintains a horizontal posture.

In order to solve the above technical problems, the utility model adopts the following technical solutions:

Rotor UAV landing gear, including buffer cylinder, ratchet mechanism and pawl control circuit;

The upper end of the cover of the buffer cylinder is externally connected to the cover of the UAV steering gear, and the lower end of the cover of the buffer cylinder is connected with the sleeve of the ratchet mechanism. The ratchet structure is provided with a sleeve, a sleeve cover, a ratchet rack, a pawl, and a pawl return spring. There is a ratchet support on the sleeve, a ratchet bar slide rail is provided in the sleeve, a contact switch is provided in the sleeve, the sleeve outer cover is screwed to the lower end of the sleeve, the ratchet bar extends into the sleeve and is connected with the ratchet The slide rail is slidingly matched, the lower end of the ratchet bar is provided with a ratchet rack support, and the ratchet rack support is used to contact the ground. The lower end is matched with the ratchet of the ratchet rack, one end of the pawl return spring is connected with the pawl support, and the other end of the pawl return spring is connected with the pawl;

The pawl control circuit is provided with a battery, a contact switch and an electromagnet; the battery is arranged in the drone body, the contact switch sleeve is on the inner wall, and the electromagnet is arranged between the sleeve and the pawl of the ratchet structure.

The utility model has the following outstanding advantages:

During use, a plurality of UAV landing gears are installed on the body of the rotor UAV for use. Take four landing gears as an example below to illustrate the working principle.

1. After the four-rotor UAV takes off, the ratchet racks of the four landing gears are all at the lower limit of the ratchet mechanism sleeve. At this time, the pawl control circuit is disconnected, the electromagnet has no suction, and the pawl is released by the tension of the spring. Stay away from ratchet bars.

2. When the quadrotor UAV lands on uneven ground, the four landing gears land one after another. When any one of the landing gears lands, the ratchet bar it belongs to will slide upwards after touching the ground, and make its contact The switch is closed. The specific working process is as follows:

(1) When the first three landing gears have touched the ground and the fourth landing gear has not touched the ground, the ratchet racks of the first three landing gears slide upwards to different heights relative to the sleeves, and the ratchets in the ratchet control circuit are controlled by three contacts. The switch has been closed, and another contact switch is in an open state. Since the control circuit is a series circuit, the control circuit is still in an open circuit state.

(2) When the fourth landing gear touches the ground, the ratchet bar of the fourth landing gear slides upwards, thereby triggering the contact switch. So far, all four contact switches are closed, the pawl control circuit is connected, and the electromagnet will attract The pawl of iron material keeps the relative position of the ratchet bar and the sleeve unchanged. At this time, all four landing gears are in contact with the ground, while the UAV fuselage maintains a horizontal posture.

(3) After the four landing gears have landed, the UAV will have a certain effect on the ground due to the effect of inertia. At this time, the piston rod of the buffer cylinder will shrink into the cylinder to buffer and absorb this part of the force. Avoid the effect of hard collision between the drone and the ground.

The utility model has the following beneficial effects:

When the rotor UAV lands on uneven ground, the ratchet structure of each landing gear will adjust the length of the landing gear according to different grounds, so as to ensure that the fuselage structure can always remain level and avoid unsafe factors caused by the tilt of the fuselage; After the ratchet structures of each landing gear are positioned, the buffer cylinder will help absorb the impact force on the ground after the UAV lands, and play a certain buffering effect on the UAV fuselage, thereby avoiding hard contact with the quadrotor UAV. Damage caused by parts.

Description of drawings

Fig. 1 is a structural schematic diagram of an embodiment of the utility model installed on a quadrotor UAV.

Fig. 2 is a schematic structural view of an embodiment of the utility model.

Fig. 3 is a cross-sectional structure diagram of an embodiment of the utility model.

Fig. 4 is a schematic diagram of the structure of the ratchet rack of the embodiment of the utility model.

Fig. 5 is a schematic circuit diagram of the pawl control circuit of the present invention.

Detailed ways

The following embodiments will describe the utility model in detail in conjunction with the accompanying drawings.

Referring to Figures 1-5, the four rotor UAVs are respectively installed under the four steering gear housings 1 of the quadrotor UAV for landing and landing. Each rotor drone landing gear includes a buffer cylinder 3, a ratchet mechanism and a pawl control circuit.

The upper end of the outer cover 3 of the buffer cylinder 3 is externally connected to the outer cover of the steering gear of the unmanned aerial vehicle, and the lower end of the outer cover 3 of the buffer cylinder 3 is connected with the sleeve of the ratchet mechanism. 5. Pawl return spring 8, pawl support 41 on sleeve 4, ratchet bar slide rail 42 inside sleeve 4, contact switch 10 inside sleeve 4, sleeve cover 6 and sleeve 4 The lower end is screwed, the ratchet bar 7 extends into the sleeve 4 and slides with the ratchet bar slide rail 42, the lower end of the ratchet bar 7 is provided with a ratchet bar support 72, and the ratchet bar support 72 is used to connect with the ground Contact, the two sides of the ratchet bar 7 are provided with ribs 73, the upper end of the pawl 5 is hinged with the pawl support 41, the lower end of the pawl 5 is matched with the ratchet 71 of the ratchet bar 7, and one end of the pawl return spring 8 is connected with the pawl The support 41 is connected, and the other end of the pawl return spring 8 is connected with the pawl 5 .

The ratchet control circuit is provided with battery 11, contact switch 10 and electromagnet 9; Between claws 5.

Mark 31 is the piston rod of buffer cylinder 3.

When the rib 73 is in contact with the sleeve cover 6, the ratchet bar 7 is in the lower limit position, and just cannot touch the contact switch 10. Described ratchet 5 is ferrous material, and its rotating shaft is connected on the ratchet support 41, and has a small hole at the back, between the small hole at the back of ratchet 5 and the small hole at the back of ratchet support 41 There is a spring 8 connected between them. When the control circuit is not connected, the spring 8 will pull up the ratchet 5 so that it will not touch the ratchet bar 7.

When the ratchet bar 7 is in the lower limit position, the ratchet bar 7 just cannot touch the contact switch 10, and when the ratchet bar 7 moves upwards, the contact switch 10 will be triggered to make it closed. The electromagnet 9 is installed between the sleeve 4 and the pawl 5 of the ratchet structure. After the electromagnet 9 is energized, the pawl 5 will be adsorbed, so that the pawl 5 can just fit the electromagnet 9, and the end of the pawl 5 It will be stuck in the middle of the ratchet 71 of the ratchet bar 7, so that the ratchet bar 7 cannot move upwards. The contact switch 10 on the four landing gears, the electromagnet 9 and the battery 11 installed on the fuselage of the quadrotor UAV are connected in series by wires to form a pawl control circuit. When the four contact switches 10 are all closed, the pawl 5 controls the circuit connection, and the four electromagnets 9 will have magnetism and attract the pawl 5 so that the ratchet bar 7 cannot move upward.

The working process of the present embodiment is as follows, referring to the ratchet control circuit of Fig. 5:

1. When the quadrotor drone is flying, the ratchet racks 7 of the four landing gears are all at the lower limit of the ratchet mechanism sleeve 4. At this time, the ratchet control circuit is disconnected, the electromagnet 9 has no suction, and the ratchet The pawl 5 is kept away from the ratchet bar 7 by the pulling force of the spring.

2. When the quadrotor UAV lands on uneven ground, the working process is as follows:

(1) When the first three landing gears have touched the ground and the fourth landing gear has not touched the ground, the ratchet racks 7 of the first three landing gears slide upwards to different heights relative to the sleeve 4, so that the ratchets in the ratchet control circuit Three contact switches 101, 102 and 103 are closed, and one contact switch 104 is in an open state. Since the control circuit is a series circuit, the control circuit is still in an open circuit state.

(2) When the fourth landing gear touches the ground, the ratchet bar 7 of the fourth landing gear slides upwards, so that the last contact switch 104 is closed, so far the four contact switches 10 are all closed, and the pawl control circuit is connected. The electromagnets 901, 902, 903 and 904 on the four implementation examples will be magnetic at the same time after being energized, so the pawl 5 of the iron material will be attracted to the electromagnet 9, and the end of the pawl 7 will be stuck on the ratchet The ratchet 71 on the bar 7, the relative positions of the four ratchet bars 7 and the sleeve 4 will remain unchanged. At this time, all four landing gears are in contact with the ground, and the fuselage of the drone remains horizontal.

(3) After the relative positions of the ratchet racks 7 of the four landing gears and the sleeve 4 remain unchanged, the UAV will have a certain effect on the ground due to the effect of inertia, and at this time the piston rod of the buffer cylinder will move towards the cylinder. The inner contraction absorbs this part of the force buffer, so as to avoid the hard collision between the drone and the ground.

Claims (1)

1. a rotor wing unmanned aerial vehicle alighting gear, is characterized in that, comprises bounce cylinder, ratchet device and ratchet control circuit;

The external steering engine for unmanned plane outer cover in outer cover upper end of bounce cylinder, the outer cover lower end of bounce cylinder and the sleeve connection of ratchet device, ratchet structure is provided with sleeve, sleeve outer cover, ratchet bar, ratchet, ratchet pull back spring, sleeve there is ratchet bearing, ratchet bar slide rail is provided with in sleeve, contact switch is provided with in sleeve, sleeve outer cover and sleeve lower end are spirally connected, ratchet bar to stretch in sleeve and with ratchet bar slide rail bearing fit, ratchet bar lower end is provided with ratchet bar bearing, ratchet bar bearing is used for and earth surface, ratchet bar both sides are provided with rib, ratchet upper end and ratchet bearing hinged, ratchet lower end coordinates with the ratchet of ratchet bar, ratchet pull back spring one end is connected with ratchet bearing, the ratchet pull back spring other end is connected with ratchet,

Ratchet control circuit is provided with battery, contact switch and electromagnet; Battery is located in unmanned aerial vehicle body, and on contact switch sleeve lining, electromagnet is located between the sleeve of ratchet structure and ratchet.