CN103303472B - 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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- CN103303472B CN103303472B CN201310253959.1A CN201310253959A CN103303472B CN 103303472 B CN103303472 B CN 103303472B CN 201310253959 A CN201310253959 A CN 201310253959A CN 103303472 B CN103303472 B CN 103303472B
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- spring leaf
- driving lever
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- gear
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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 being specifically related to a kind of SUAV (small unmanned aerial vehicle) subtracts pendulum-type nose-gear.
Background technology
Correction is turned to control to eliminate or to reduce the lateral deviation of the relative runway centerline that aircraft causes because of factors such as fuselage aerodynamic configuration is asymmetric, alighting gear setting accuracy error, crosswind disturbance, driftage landings in sliding race process to aircraft.It is fast that common Nose Wheel Steering correction mode has response, do not produce the advantage of additional friction, aircraft can be made to turn flexibly and reduce takeoff distance, can also have both asymmetric thrust and differential brake two kinds of operating mode.Differential brake correction is that the brake gear utilizing wheeled aircraft to carry carries out manipulation and turns to, the advance kinetic energy of its shortcoming when to be loss take off, accelerate the heating wearing and tearing of tire, but consider that differential brake does not need the steering swivel system outside plus, and be easier to realize, therefore apply more in wheeled landing unmanned plane.In addition, when the sliding race of aircraft reaches certain speed, can there is a kind of violent side on oscillation departing from its center position in front-wheel, and therefore the nose-gear design of aircraft also must be considered to subtract pendulum problem.
Large aircraft nose-gear generally adopts the pressurized strut 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 pendulum damper pressurized strut two kinds of functions, by oil circuit control, just can realize steering and free deflection and subtract switching between pendulum function.
But the manipulation shimmy-damper of large aircraft nose-gear needs outfit complicated and heavy oil circuit and corresponding control system, but not asymmetric thrust mode needs again employing two driving engines to produce differential thrust, and therefore these structures are not all suitable for SUAV (small unmanned aerial vehicle).
In addition, need before UAV Landing to ensure that front-wheel can be in center position, this just requires that nose-gear has centering body.But existing cam-type centering body is contained in energy disperser inside, its complex structure, add the strut lengths of energy disperser, existing tapered bar formula centering body can cause front-wheel to deflect when running into lateral forces, center position when landing can not be ensured completely, and roller cam-type centering body can occupy larger space, aerodynamic drag during extra increase unmanned plane during flying.Therefore, said structure all cannot meet the requirement of SUAV (small unmanned aerial vehicle) to nose-gear centering body well.
Summary of the invention
In order to solve the existing minitype wheeled landing unmanned plane based on differential brake steering mode, its nose-gear both cannot use the manipulation shimmy-damper with heavy oil circuit and corresponding control system on large aircraft, also cannot use and subtract pendulum mode by the asymmetric thrust of two driving engines generation differential thrust, simultaneously, existing front-wheel centering body is not all 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 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 pendulum-type nose-gear and comprises alighting gear Connection Block, anchor post, swinging strut and wheel assemblies, alighting gear Connection Block and unmanned plane are connected, anchor post and alighting gear Connection Block are connected, swinging strut is connected with anchor post bearing, and wheel assemblies and swinging strut are connected; This nose-gear also comprises anchor shaft clip, S. A. clip, shimmy-damper assembly and centering body, and anchor shaft clip is nested and be fixed on the outside of anchor post lower end, and S. A. clip is nested and be fixed on the outside of swinging strut upper end; The lower end outer wall of anchor post has the first pinned connection hole perpendicular to anchor post S. A.; The outer circumferential walls of anchor shaft clip has the second pinned connection hole perpendicular to anchor shaft clip S. A.; The outer wall of S. A. clip is provided with circumferentially the fork slot of radially outward projection;
Described shimmy-damper assembly comprises piston type shimmy-damper, L-type lever body, shimmy-damper mount pad and the first bearing pin, and piston type shimmy-damper comprises cylinder body and piston rod; 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 pinned connection hole; 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 pinned connection hole; Driving lever bulb to embed in fork slot and with its sliding block joint;
Described centering body comprise multiple spring leaf to, spring leaf driving lever, L shape pedestal, spring leaf gear shaft, multiple adjustment pad and driving lever Connection Block, the minor face of L shape pedestal and the outer wall of anchor shaft clip are connected, the long limit of its L shape has gear shaft positioning groove, spring leaf gear shaft is parallel with swinging strut, and there is screw its lower end is connected by tightening screw and gear shaft positioning groove; Spring leaf is to comprising the identical spring leaf of two panels, and the two becomes splayed symmetry to place, and its one end is fixed on the sidewall of S. A. clip respectively, and the other end closes up and is pressed on the sidewall of multiple spring leaf gear shaft respectively; Driving lever Connection Block is placed along the radial direction of swinging strut, and its sidewall is connected with the sidewall thread of anchor shaft clip by adjustment screw; The upper end of its lower end and spring leaf driving lever is connected; The adjustment screw that multiple adjustment pad is enclosed within driving lever Connection Block is compressed by driving lever Connection Block; Spring leaf driving lever is parallel with swinging strut, and its lower end is inserted in the space that spring leaf pair and multiple spring leaf gear shaft formed jointly, and two panels spring leaf right with spring leaf respectively contacts.
Described anchor shaft clip and S. A. clip are respectively equipped with the limiting tooth cooperatively interacted.
The invention has the beneficial effects as follows: the free deflection of this SUAV (small unmanned aerial vehicle) subtracts pendulum-type nose-gear and adopts pretensioned spring sheet to produce front-wheel centering restoring force, adopt space shifting fork mechanism to be the straight reciprocating motion of shimmy-damper piston around the translating rotation of anchor shaft pillar by wheel assemblies.Even if under the differential brake of main wheel or other side interferences, front-wheel still can free deflection.When side interference makes front-wheel occur to deflect fast, shimmy-damper produces larger damping, consumes rapidly and swings energy, prevent shimmy generation.Before rise liftoff after, spring leaf makes front-wheel be returned to meta, front-wheel normal ground when ensure that UAV Landing.
Accompanying drawing explanation
Fig. 1 is the block diagram that the free deflection of SUAV (small unmanned aerial vehicle) of the present invention subtracts pendulum-type nose-gear;
Fig. 2 is the explosive view of part-structure in Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further details.
As shown in Figure 1 to Figure 2, the free deflection of SUAV (small unmanned aerial vehicle) of the present invention subtracts 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 assemblies 7 and alighting gear Connection Block 8, alighting gear Connection Block 8 and unmanned plane are connected, anchor post 5 and alighting gear Connection Block 8 are connected, swinging strut 6 is connected with anchor post 5 bearing, and wheel assemblies 7 and swinging strut 6 are connected.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.The lower end outer wall of anchor post 5 has the first pinned connection hole 5-1 perpendicular to anchor post 5 S. A..The outer circumferential walls of anchor shaft clip 1 has the second pinned connection hole 1-1 perpendicular to anchor shaft clip 1 S. A..The outer wall of S. A. clip 2 is provided with circumferentially the fork slot 2-1 of radially outward projection.
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 is the piston oil-cylinder utilizing orifice restriction principle to produce 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.One end of shimmy-damper mount pad 3-3 and the lateral wall of piston type shimmy-damper 3-1 are connected, and its other end is rotationally connected by the first bearing pin 3-4 and the first pinned connection hole 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 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 pinned connection hole 1-1.Driving lever bulb 3-2-4 to embed in fork slot 2-1 and with its sliding block joint.
Centering body 4 comprises the multiple spring leaf of bullet to 4-1, spring leaf driving lever 4-2, L shape pedestal 4-3, spring leaf gear shaft 4-4, multiple adjustment pad 4-5 and driving lever Connection Block 4-6, the minor face of L shape pedestal 4-3 and the outer wall of anchor shaft clip 1 are connected, the long limit of its L shape has gear shaft positioning groove 4-3-1, spring leaf gear shaft 4-4 is parallel with swinging strut 6, and there is screw its lower end is connected by tightening screw and gear shaft positioning groove 4-3-1.Spring leaf comprises the identical spring leaf of two panels to 4-1, and the two becomes splayed symmetry to place, and its one end is fixed on the sidewall of S. A. clip 2 respectively, and the other end closes up and is pressed in respectively on the sidewall of multiple spring leaf gear shaft 4-4.Driving lever Connection Block 4-6 places along the radial direction of swinging strut 6, and its sidewall is connected with the sidewall thread of anchor shaft clip 1 by adjustment screw.The upper end of its lower end and spring leaf driving lever 4-2 is connected.The adjustment screw that multiple adjustment pad 4-5 is enclosed within driving lever Connection Block 4-6 is compressed by driving lever Connection Block 4-6.Spring leaf driving lever 4-2 is parallel with swinging strut 6, and its lower end is inserted in the space that spring leaf formed jointly to 4-1 and multiple spring leaf gear shaft 4-4, and contacts with the two panels spring leaf 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 interacts, and plays the position limitation protection effect to swinging strut 6 limit anglec of rotation.
When the free deflection of embody rule SUAV (small unmanned aerial vehicle) of the present invention subtracts pendulum-type nose-gear, will suitably adjust position or the angle of centering body 4 according to the matching requirements of wheel assemblies.
When mounting spring sheet is to 4-1, answer keep-spring sheet to have enough preload pressures to 4-1 to spring leaf gear shaft 4-4, and by the quantity of adjustment spring leaf to 4-1, predetermincd tension is finely tuned.The quantity of required spring leaf is determined as follows: calculate the restoring moment that nose undercarriage system needs, this restoring moment is multiplied by certain safety factor, it is made to be enough to overcome shimmy-damper damping, the friction of axle system etc., thus draw the elastic force required for spring leaf, and then determine the quantity of spring leaf.
By quantity or the adjustment fixed position of spring leaf gear shaft 4-4 on gear shaft positioning groove 4-3-1 of adjustment adjustment pad 4-5, spring leaf driving lever 4-2 is contacted 4-1 just with spring leaf, and be not just subject to the preload pressure of both sides spring leaf under wheel assemblies 7 quiescent conditions entirely on the center.
When the SUAV (small unmanned aerial vehicle) being equipped with free deflection of the present invention and subtracting pendulum-type nose-gear is taken off or is landed, pretensioned spring sheet produces the centering restoring force of front-wheel wheel assemblies to 4-1, and wheel assemblies is the straight reciprocating motion of piston type shimmy-damper 3-1 piston around the convert rotational motion of anchor shaft pillar 5 by L-type lever body 3-2.Even if under the differential brake of main wheel or other side interferences, front component still can free deflection.When side interference makes front component occur to deflect fast, piston type shimmy-damper 3-1 produces larger damping, consumes rapidly and swings energy, prevent shimmy generation.Before rise liftoff after, spring leaf makes front component be returned to centering position to 4-1, front component normal ground when ensure that UAV Landing.
Claims (2)
1. the free deflection of SUAV (small unmanned aerial vehicle) subtracts pendulum-type nose-gear, comprise alighting gear Connection Block (8), anchor post (5), swinging strut (6) and wheel assemblies (7), alighting gear Connection Block (8) and unmanned plane are connected, anchor post (5) and alighting gear Connection Block (8) are connected, swinging strut (6) is connected with anchor post (5) bearing, and wheel assemblies (7) and swinging strut (6) are connected; 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; The lower end outer wall of anchor post (5) has the first pinned connection hole (5-1) perpendicular to anchor post (5) S. A.; The outer circumferential walls of anchor shaft clip (1) has the second pinned connection hole (1-1) perpendicular to anchor shaft clip (1) S. A.; The outer wall of S. A. clip (2) is provided with circumferentially the fork slot (2-1) of radially outward projection;
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); One end of shimmy-damper mount pad (3-3) and the lateral wall of piston type shimmy-damper (3-1) are connected, and its other end is rotationally connected by the first bearing pin (3-4) and the first pinned connection hole (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 pinned connection hole (1-1); Driving lever bulb (3-2-4) to embed in fork slot (2-1) and with its sliding block joint;
Described centering body (4) comprises multiple spring leaf to (4-1), spring leaf driving lever (4-2), L shape pedestal (4-3), spring leaf gear shaft (4-4), multiple adjustment pad (4-5) and driving lever Connection Block (4-6), the minor face of L shape pedestal (4-3) and the outer wall of anchor shaft clip (1) are connected, the long limit of its L shape has gear shaft positioning groove (4-3-1), spring leaf gear shaft (4-4) is parallel with swinging strut (6), and there is screw its lower end is connected by tightening screw and gear shaft positioning groove (4-3-1); Spring leaf comprises the identical spring leaf of two panels to (4-1), the two becomes splayed symmetry to place, its one end is fixed on the sidewall of S. A. clip (2) respectively, and the other end closes up and is pressed on the sidewall of multiple spring leaf gear shaft (4-4) respectively; Driving lever Connection Block (4-6) is placed along the radial direction of swinging strut (6), and its sidewall is connected with the sidewall thread of anchor shaft clip (1) by adjustment screw; The upper end of its lower end and spring leaf driving lever (4-2) is connected; The adjustment screw that multiple adjustment pad (4-5) is enclosed within driving lever Connection Block (4-6) is compressed by driving lever Connection Block (4-6); Spring leaf driving lever (4-2) is parallel with swinging strut (6), its lower end is inserted into spring leaf to (4-1) with in the common space formed of multiple spring leaf gear shaft (4-4), and contacts with the two panels spring leaf of spring leaf to (4-1) respectively.
2. the free deflection of SUAV (small unmanned aerial vehicle) as claimed in claim 1 subtracts pendulum-type nose-gear, it is characterized in that: described anchor shaft clip (1) and S. A. clip (2) are respectively equipped with the limiting tooth cooperatively interacted.
Priority Applications (1)
| 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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| Application Number | Priority Date | Filing Date | Title |
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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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| Publication Number | Publication Date |
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| CN103303472A CN103303472A (en) | 2013-09-18 |
| CN103303472B true CN103303472B (en) | 2015-06-10 |
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| CN201310253959.1A Expired - Fee Related 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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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104210652B (en) * | 2014-08-26 | 2017-06-23 | 中国直升机设计研究所 | A kind of attachment structure of undercarriage |
| CN104908929B (en) * | 2015-05-25 | 2017-01-25 | 东莞市超音速模型科技有限公司 | Air vehicle shock absorption foot stand |
| CN105197228B (en) * | 2015-10-30 | 2017-09-29 | 深圳市大疆创新科技有限公司 | Foot stool and unmanned vehicle |
| CN105947191B (en) * | 2016-05-19 | 2018-06-22 | 大理铂骏科技有限公司 | A kind of novel multi-rotor 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 |
| 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 |
| 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 |
| CN111976968B (en) * | 2020-08-24 | 2021-12-03 | 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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| GB580158A (en) * | 1944-06-13 | 1946-08-28 | Gustav Victor Lachmann | Improved tricycle undercarriage for aircraft |
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| CN103303472A (en) | 2013-09-18 |
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