CN103303472A - Free deflection lag-damping type nose landing gear of small unmanned air vehicle - Google Patents
Free deflection lag-damping type nose landing gear of small unmanned air vehicle Download PDFInfo
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- CN103303472A CN103303472A CN2013102539591A CN201310253959A CN103303472A CN 103303472 A CN103303472 A CN 103303472A CN 2013102539591 A CN2013102539591 A CN 2013102539591A CN 201310253959 A CN201310253959 A CN 201310253959A CN 103303472 A CN103303472 A CN 103303472A
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Abstract
The invention relates to a free deflection lag-damping type nose landing gear of a small unmanned air vehicle, and belongs to the field of small wheel-type take-off and landing nose landing gears in a differential brake steering manner. The free deflection lag-damping type nose landing gear comprises a landing gear connecting seat, a fixed support column, a rotary support column and an airplane wheel assembly, wherein the landing gear connecting seat is fixedly connected with the unmanned air vehicle; the fixed support column is fixedly connected with the landing gear connecting seat; the rotary support column is connected with a bearing of the fixed support column; the airplane wheel assembly is fixedly connected with the rotary support column; the landing gear further comprises a fixed shaft lathedog, a rotary shaft lathedog, a lag damper assembly and a centering mechanism; the fixed shaft lathedog is sheathed in an embedding manner and fixedly connected with the outer side of the lower end of the fixed support column; the rotary shaft lathedog is sheathed in an embedding manner and fixedly connected with the outer side of the upper end of the rotary support column; a first bearing pin connecting hole vertical to a rotary shaft of the fixed support column is formed in the outer wall of the lower end of the fixed support column; a second bearing pin connecting hole vertical to a rotary shaft of the fixed shaft lathedog is formed in the peripheral outer wall of the fixed shaft lathedog; and the outer wall of the rotary shaft lathedog is provided with a fork groove projecting outwards along the radial direction of the periphery. The free deflection lag-damping type nose landing gear is simple in structure, convenient to maintain and low in cost.
Description
Technical field
The invention belongs to the minitype wheeled landing unmanned plane nose-gear field based on differential brake steering mode, the free deflection that is specifically related to a kind of SUAV (small unmanned aerial vehicle) subtracts the pendulum-type nose-gear.
Background technology
Turn to correction control can eliminate or reduce the lateral deviation of the relative runway centerline that the factors such as aircraft is asymmetric because of the fuselage aerodynamic configuration in sliding race process, alighting gear setting accuracy error, crosswind disturbance, driftage landing cause to aircraft.It is fast that common Nose Wheel Steering correction mode has a response, do not produce the advantage of additional friction, aircraft is turned flexibly and reduces takeoff distance, can also have both two kinds of operating mode of asymmetric thrust and differential brake.Differential brake correction is that the brake gear that utilizes wheeled aircraft to carry is handled and turned to, the advance kinetic energy of its shortcoming when to be loss take off, the heating wearing and tearing of tire have been accelerated, yet consider that differential brake does not need the outer steering swivel system of plus, and be easier to realize, therefore in wheeled landing unmanned plane, use more.In addition, when the sliding race of aircraft reached certain speed, a kind of violent side on oscillation that departs from its center position can occur in front-wheel, so the design of the nose-gear of aircraft also must consider to subtract the pendulum problem.
The large aircraft nose-gear generally adopts the pressurized strut of handling Nose Wheel Steering to double as the mode of shimmy-damper, this manipulation shimmy-damper has had both manipulation and has turned to pressurized strut and subtract two kinds of functions of pendulum damper pressurized strut, by oil circuit control, just can realize that steering and free deflection subtract the switching between the pendulum function.
Yet the manipulation shimmy-damper of large aircraft nose-gear need to be equipped with complicated and heavy oil circuit and corresponding control system, and asymmetric thrust mode needs to adopt two driving engines to produce differential thrust, so these structures all are not suitable for SUAV (small unmanned aerial vehicle).
In addition, need before the UAV Landing to guarantee that front-wheel can be in center position, this just requires nose-gear to have centering body.But existing cam-type centering body is contained in energy disperser inside, its complex structure, increased a column length of energy disperser, existing tapered bar formula centering body can cause front-wheel deflection when running into lateral forces, center position in the time of can not fully guaranteeing to land, and roller cam-type centering body can occupy than large space, the aerodynamic drag when additionally increasing unmanned plane during flying.Therefore, said structure all can't satisfy SUAV (small unmanned aerial vehicle) well to the requirement of nose-gear centering body.
Summary of the invention
In order to solve existing minitype wheeled landing unmanned plane based on differential brake steering mode, its nose-gear both can't use on the large aircraft manipulation shimmy-damper with heavy oil circuit and corresponding control system, also can't use the asymmetric thrust by two driving engines generation differential thrust to subtract the pendulum mode, simultaneously, existing front-wheel centering body all is not suitable for the technical matters of SUAV (small unmanned aerial vehicle) nose-gear, and the free deflection that the invention provides a kind of SUAV (small unmanned aerial vehicle) subtracts the pendulum-type nose-gear.
The technical scheme that technical solution problem of the present invention is taked is as follows:
The free deflection of SUAV (small unmanned aerial vehicle) subtracts the pendulum-type nose-gear and comprises alighting gear Connection Block, anchor post, swinging strut and wheel assembly, alighting gear Connection Block and unmanned plane are connected, anchor post and alighting gear Connection Block are connected, swinging strut is connected with the anchor post bearing, and wheel assembly and swinging strut are connected; This nose-gear also comprises anchor shaft clip, S. A. clip, shimmy-damper assembly and centering body, and the anchor shaft clip is nested and be fixed on the outside of anchor post lower end, and the S. A. clip is nested and be fixed on the outside of swinging strut upper end; Have the first bearing pin connecting bore perpendicular to the anchor post S. A. at the lower end of anchor post outer wall; Have the second bearing pin connecting bore perpendicular to anchor shaft clip S. A. on the outer circumferential walls of anchor shaft clip; The outer wall of S. A. clip is provided with along the circumference fork slot of projection radially outward;
Described shimmy-damper assembly comprises piston type shimmy-damper, L-type lever body, shimmy-damper mount pad and the first bearing pin, and the piston type shimmy-damper comprises cylinder body and piston rod; The L-type lever body comprises L-type driving lever, the second bearing pin, the 3rd bearing pin and driving lever bulb; One end of shimmy-damper mount pad and the lateral wall of piston type shimmy-damper are connected, and its other end is rotationally connected by the first bearing pin and the first bearing pin connecting bore; The stage casing of piston rod and cylinder body sliding block joint; One end of L-type driving lever is rotationally connected by the lower end of the second bearing pin and piston rod, and its other end and driving lever bulb are connected, and the turning point of L-type driving lever is rotationally connected by the 3rd bearing pin and the second bearing pin connecting bore; The driving lever bulb embed in the fork slot and with its sliding block joint;
Described centering body comprises that a plurality of spring leafs are to, spring leaf driving lever, L shaped pedestal, spring leaf gear shaft, a plurality of adjustment pad and driving lever Connection Block, the outer wall of the minor face of L shaped pedestal and anchor shaft clip is connected, have the gear shaft positioning groove on its L shaped long limit, the spring leaf gear shaft is parallel with swinging strut, and there is screw its lower end and is connected by tightening screw and gear shaft positioning groove; Spring leaf is to comprising two identical spring leafs, and the two becomes, and splayed is symmetrical places, and the one end is fixed on respectively on the sidewall of S. A. clip, and the other end closes up and is pressed in respectively on the sidewall of a plurality of spring leaf gear shafts; The driving lever Connection Block is along the radially placement of swinging strut, and its sidewall is connected with the sidewall thread of anchor shaft clip by adjusting screw; The upper end of its lower end and spring leaf driving lever is connected; A plurality of adjustment pads are enclosed within on the adjustment screw of the flexible Connection Block of driving lever and by the flexible Connection Block of driving lever and compress; The spring leaf driving lever is parallel with swinging strut, and its lower end is inserted in spring leaf pair and the common space that forms of a plurality of spring leaf gear shafts, and contacts with the right two plate spring sheets of spring leaf respectively.
Described anchor shaft clip and S. A. clip are respectively equipped with the limiting tooth that cooperatively interacts.
The invention has the beneficial effects as follows: the free deflection of this SUAV (small unmanned aerial vehicle) subtracts the pendulum-type nose-gear and adopts the pretensioned spring sheet to produce front-wheel centering restoring force, adopts the space shifting fork mechanism wheel assembly to be converted into the straight reciprocating motion of shimmy-damper piston around the rotation of anchor shaft pillar.Even under the differential brake of main wheel or other side interferences, but front-wheel free deflection still.When side interference made front-wheel that quick deflection occur, shimmy-damper produced larger damping, consumed rapidly and swung energy, prevented shimmy generation.Before rise liftoff after, spring leaf makes front-wheel be returned to meta, the normal ground connection of front-wheel when having guaranteed UAV Landing.
Description of drawings
Fig. 1 is the block diagram that the free deflection of SUAV (small unmanned aerial vehicle) of the present invention subtracts the pendulum-type nose-gear;
Fig. 2 is the explosive view of part-structure among Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further details.
Extremely shown in Figure 2 such as Fig. 1, the free deflection of SUAV (small unmanned aerial vehicle) of the present invention subtracts the pendulum-type nose-gear and comprises anchor shaft clip 1, S. A. clip 2, shimmy-damper assembly 3, centering body 4, anchor post 5, swinging strut 6, wheel assembly 7 and alighting gear Connection Block 8, alighting gear Connection Block 8 is connected with unmanned plane, anchor post 5 is connected with alighting gear Connection Block 8, swinging strut 6 is connected with anchor post 5 bearings, and wheel assembly 7 is connected with swinging strut 6.Anchor shaft clip 1 is nested and be fixed on the outside of anchor post 5 lower ends, and S. A. clip 2 is nested and be fixed on the outside of swinging strut 6 upper ends.Have the first bearing pin connecting bore 5-1 perpendicular to anchor post 5 S. A.s at the lower end of anchor post 5 outer wall.Have the second bearing pin connecting bore 1-1 perpendicular to anchor shaft clip 1 S. A. on the outer circumferential walls of anchor shaft clip 1.The outer wall of S. A. clip 2 is provided with along the circumference fork slot 2-1 of projection radially outward.
Described shimmy-damper assembly 3 comprises piston type shimmy-damper 3-1, L-type lever body 3-2, shimmy-damper mount pad 3-3 and the first bearing pin 3-4.Piston type shimmy-damper 3-1 utilizes the orifice restriction principle to produce the piston oil-cylinder of damping, and it comprises cylinder body 3-1-1 and piston rod 3-1-2.L-type lever body 3-2 comprises L-type driving lever 3-2-1, the second bearing pin 3-2-2, the 3rd bearing pin 3-2-3 and driving lever bulb 3-2-4.The lateral wall of the end of shimmy-damper mount pad 3-3 and piston type shimmy-damper 3-1 is connected, and its other end is rotationally connected by the first bearing pin 3-4 and the first bearing pin connecting bore 5-1.The stage casing of piston rod 3-1-2 and cylinder body 3-1-1 sliding block joint.The end of L-type driving lever 3-2-1 is rotationally connected by the lower end of the second bearing pin 3-2-2 and piston rod 3-1-2, and its other end and driving lever bulb 3-2-4 are connected, and the turning point of L-type driving lever 3-2-1 is rotationally connected by the 3rd bearing pin 3-2-3 and the second bearing pin connecting bore 1-1.Driving lever bulb 3-2-4 embed in the fork slot 2-1 and with its sliding block joint.
Centering body 4 comprises that a plurality of spring leafs of bullet are to 4-1, spring leaf driving lever 4-2, L shaped pedestal 4-3, spring leaf gear shaft 4-4, a plurality of adjustment pad 4-5 and driving lever Connection Block 4-6, the outer wall of the minor face of L shaped pedestal 4-3 and anchor shaft clip 1 is connected, have gear shaft positioning groove 4-3-1 on its L shaped long limit, spring leaf gear shaft 4-4 is parallel with swinging strut 6, and there is screw its lower end and is connected by tightening screw and gear shaft positioning groove 4-3-1.Spring leaf comprises two identical spring leafs to 4-1, and the two becomes, and splayed is symmetrical places, and the one end is fixed on respectively on the sidewall of S. A. clip 2, and the other end closes up and is pressed in respectively on the sidewall of a plurality of spring leaf gear shaft 4-4.Driving lever Connection Block 4-6 is along the radially placement of swinging strut 6, and its sidewall is connected with the sidewall thread of anchor shaft clip 1 by adjusting screw.The upper end of its lower end and spring leaf driving lever 4-2 is connected.A plurality of adjustment pad 4-5 are enclosed within on the adjustment screw of the flexible Connection Block 4-6 of driving lever and by the flexible Connection Block 4-6 of driving lever and compress.Spring leaf driving lever 4-2 is parallel with swinging strut 6, and its lower end is inserted into spring leaf in 4-1 and the common space that forms of a plurality of spring leaf gear shaft 4-4, and contacts with the two plate spring sheets of spring leaf to 4-1 respectively.
Anchor shaft clip 1 is provided with anchor shaft clip limiting tooth 1-2; S. A. clip 2 is provided with S. A. clip limiting tooth 2-2; anchor shaft clip limiting tooth 1-2 and S. A. clip limiting tooth 2-2 cooperatively interact, and play the position limitation protection effect to swinging strut 6 limit anglecs of rotation.
When the concrete free deflection of using SUAV (small unmanned aerial vehicle) of the present invention subtracts the pendulum-type nose-gear, will suitably adjust according to the matching requirements of wheel assembly position or the angle of centering body 4.
The mounting spring sheet answers the keep-spring sheet that 4-1 is had enough preload pressures to spring leaf gear shaft 4-4 during to 4-1, and by adjusting spring leaf the quantity of 4-1 is finely tuned predetermincd tension.The quantity of required spring leaf is determined as follows: calculate the restoring moment that the nose undercarriage system needs, this restoring moment be multiply by certain safety factor, make it be enough to overcome shimmy-damper damping, the friction of axle system etc., thereby draw the needed elastic force of spring leaf, and then the quantity of definite spring leaf.
By quantity or the fixed position of adjustment spring leaf gear shaft 4-4 on gear shaft positioning groove 4-3-1 of adjusting pad 4-5, spring leaf driving lever 4-2 is contacted 4-1 just with spring leaf, and under wheel assembly 7 quiescent conditions entirely on the center, just be not subject to the preload pressure of both sides spring leaf.
When the SUAV (small unmanned aerial vehicle) that is equipped with free deflection of the present invention and subtracts the pendulum-type nose-gear is taken off or is landed, the centering restoring force of turbine wheel assembly before the pretensioned spring sheet produces 4-1, L-type lever body 3-2 is converted into the wheel assembly straight reciprocating motion of piston type shimmy-damper 3-1 piston around rotatablely moving of anchor shaft pillar 5.Even under the differential brake of main wheel or other side interferences, but front component free deflection still.When side interference made front component that quick deflection occur, piston type shimmy-damper 3-1 produced larger damping, consumed rapidly and swung energy, prevented shimmy generation.Before rise liftoff after, spring leaf makes front component be returned to the centering position to 4-1, the normal ground connection of front component when having guaranteed UAV Landing.
Claims (2)
1. the free deflection of SUAV (small unmanned aerial vehicle) subtracts the pendulum-type nose-gear, comprise alighting gear Connection Block (8), anchor post (5), swinging strut (6) and wheel assembly (7), alighting gear Connection Block (8) is connected with unmanned plane, anchor post (5) is connected with alighting gear Connection Block (8), swinging strut (6) is connected with anchor post (5) bearing, and wheel assembly (7) is connected with swinging strut (6); It is characterized in that: this nose-gear also comprises anchor shaft clip (1), S. A. clip (2), shimmy-damper assembly (3) and centering body (4), anchor shaft clip (1) is nested and be fixed on the outside of anchor post (5) lower end, and S. A. clip (2) is nested and be fixed on the outside of swinging strut (6) upper end; Have the first bearing pin connecting bore (5-1) perpendicular to anchor post (5) S. A. at the lower end outer wall of anchor post (5); Have the second bearing pin connecting bore (1-1) perpendicular to anchor shaft clip (1) S. A. on the outer circumferential walls of anchor shaft clip (1); The outer wall of S. A. clip (2) is provided with along the circumference fork slot of projection (2-1) radially outward;
Described shimmy-damper assembly (3) comprises piston type shimmy-damper (3-1), L-type lever body (3-2), shimmy-damper mount pad (3-3) and the first bearing pin (3-4), and piston type shimmy-damper (3-1) comprises cylinder body (3-1-1) and piston rod (3-1-2); L-type lever body (3-2) comprises L-type driving lever (3-2-1), the second bearing pin (3-2-2), the 3rd bearing pin (3-2-3) and driving lever bulb (3-2-4); The lateral wall of one end of shimmy-damper mount pad (3-3) and piston type shimmy-damper (3-1) is connected, and its other end is rotationally connected by the first bearing pin (3-4) and the first bearing pin connecting bore (5-1); The stage casing of piston rod (3-1-2) and cylinder body (3-1-1) sliding block joint; One end of L-type driving lever (3-2-1) is rotationally connected by the lower end of the second bearing pin (3-2-2) with piston rod (3-1-2), its other end and driving lever bulb (3-2-4) are connected, and the turning point of L-type driving lever (3-2-1) is rotationally connected by the 3rd bearing pin (3-2-3) and the second bearing pin connecting bore (1-1); Driving lever bulb (3-2-4) embed in the fork slot (2-1) and with its sliding block joint;
Described centering body (4) comprises that a plurality of spring leafs are to (4-1), spring leaf driving lever (4-2), L shaped pedestal (4-3), spring leaf gear shaft (4-4), a plurality of adjustment pad (4-5) and driving lever Connection Block (4-6), the outer wall of the minor face of L shaped pedestal (4-3) and anchor shaft clip (1) is connected, have gear shaft positioning groove (4-3-1) on its L shaped long limit, spring leaf gear shaft (4-4) is parallel with swinging strut (6), and there is screw its lower end and is connected by tightening screw and gear shaft positioning groove (4-3-1); Spring leaf comprises two identical spring leafs to (4-1), and the two becomes, and splayed is symmetrical places, and the one end is fixed on respectively on the sidewall of S. A. clip (2), and the other end closes up and is pressed in respectively on the sidewall of a plurality of spring leaf gear shafts (4-4); Driving lever Connection Block (4-6) is along the radially placement of swinging strut (6), and its sidewall is connected with the sidewall thread of anchor shaft clip (1) by adjusting screw; The upper end of its lower end and spring leaf driving lever (4-2) is connected; A plurality of adjustment pads (4-5) are enclosed within on the adjustment screw of the flexible Connection Block (4-6) of driving lever and by the flexible Connection Block (4-6) of driving lever and compress; Spring leaf driving lever (4-2) is parallel with swinging strut (6), and its lower end is inserted into spring leaf in (4-1) and the common space that forms of a plurality of spring leaf gear shafts (4-4), and contacts with the two plate spring sheets of spring leaf to (4-1) respectively.
2. the free deflection of SUAV (small unmanned aerial vehicle) as claimed in claim 1 subtracts the pendulum-type nose-gear, it is characterized in that: described anchor shaft clip (1) is respectively equipped with the limiting tooth that cooperatively interacts with S. A. clip (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310253959.1A CN103303472B (en) | 2013-06-24 | 2013-06-24 | Free deflection lag-damping type nose landing gear of small unmanned air vehicle |
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| CN201310253959.1A CN103303472B (en) | 2013-06-24 | 2013-06-24 | Free deflection lag-damping type nose landing gear of small unmanned air vehicle |
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| CN103303472A true CN103303472A (en) | 2013-09-18 |
| CN103303472B CN103303472B (en) | 2015-06-10 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210652A (en) * | 2014-08-26 | 2014-12-17 | 中国直升机设计研究所 | Landing gear connecting structure |
| CN104908929A (en) * | 2015-05-25 | 2015-09-16 | 东莞市超音速模型科技有限公司 | Air vehicle shock absorption foot stand |
| CN105197228A (en) * | 2015-10-30 | 2015-12-30 | 深圳市大疆创新科技有限公司 | Undercarriage and unmanned aerial vehicle |
| CN105923148A (en) * | 2016-05-19 | 2016-09-07 | 安翔泰岳（镇江）航空科技有限公司 | Undercarriage damping device |
| CN105947191A (en) * | 2016-05-19 | 2016-09-21 | 郑琳琳 | Novel multi-rotor unmanned aerial vehicle |
| CN106218872A (en) * | 2016-07-26 | 2016-12-14 | 中国科学院长春光学精密机械与物理研究所 | A kind of turn to shimmy damping device for the all-electric of unmanned plane nose-gear |
| CN106275393A (en) * | 2016-08-31 | 2017-01-04 | 河南翱翔航空科技有限公司 | Unmanned plane nose-gear |
| CN109573014A (en) * | 2018-12-31 | 2019-04-05 | 江西冠通用飞机有限公司 | A kind of fixed wing aircraft connection undercarriage of safety and stability |
| CN111976968A (en) * | 2020-08-24 | 2020-11-24 | 中航飞机起落架有限责任公司 | Control circuit and control method for electric turning mechanism of front wheel of airplane |
| CN112389641A (en) * | 2020-10-30 | 2021-02-23 | 哈尔滨飞机工业集团有限责任公司 | Connecting rod transmission type front wheel turning anti-swing mechanism |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210652A (en) * | 2014-08-26 | 2014-12-17 | 中国直升机设计研究所 | Landing gear connecting structure |
| CN104908929A (en) * | 2015-05-25 | 2015-09-16 | 东莞市超音速模型科技有限公司 | Air vehicle shock absorption foot stand |
| CN105197228A (en) * | 2015-10-30 | 2015-12-30 | 深圳市大疆创新科技有限公司 | Undercarriage and unmanned aerial vehicle |
| CN105923148A (en) * | 2016-05-19 | 2016-09-07 | 安翔泰岳（镇江）航空科技有限公司 | Undercarriage damping device |
| CN105947191A (en) * | 2016-05-19 | 2016-09-21 | 郑琳琳 | Novel multi-rotor unmanned aerial vehicle |
| CN106218872A (en) * | 2016-07-26 | 2016-12-14 | 中国科学院长春光学精密机械与物理研究所 | A kind of turn to shimmy damping device for the all-electric of unmanned plane nose-gear |
| CN106218872B (en) * | 2016-07-26 | 2018-06-15 | 中国科学院长春光学精密机械与物理研究所 | A kind of all-electric steering shimmy damping device for unmanned plane nose-gear |
| CN106275393A (en) * | 2016-08-31 | 2017-01-04 | 河南翱翔航空科技有限公司 | Unmanned plane nose-gear |
| CN109573014A (en) * | 2018-12-31 | 2019-04-05 | 江西冠通用飞机有限公司 | A kind of fixed wing aircraft connection undercarriage of safety and stability |
| CN109573014B (en) * | 2018-12-31 | 2023-10-03 | 江西冠一通用飞机有限公司 | Safe and stable fixed wing aircraft connection landing gear |
| CN111976968A (en) * | 2020-08-24 | 2020-11-24 | 中航飞机起落架有限责任公司 | Control circuit and control method for electric turning mechanism of front wheel of airplane |
| CN112389641A (en) * | 2020-10-30 | 2021-02-23 | 哈尔滨飞机工业集团有限责任公司 | Connecting rod transmission type front wheel turning anti-swing mechanism |
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| CN103303472B (en) | 2015-06-10 |
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