CN113602485A - Driving device of unmanned aerial vehicle undercarriage - Google Patents
Driving device of unmanned aerial vehicle undercarriage Download PDFInfo
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- CN113602485A CN113602485A CN202110947795.7A CN202110947795A CN113602485A CN 113602485 A CN113602485 A CN 113602485A CN 202110947795 A CN202110947795 A CN 202110947795A CN 113602485 A CN113602485 A CN 113602485A
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- 238000013016 damping Methods 0.000 claims abstract description 76
- 230000035939 shock Effects 0.000 claims abstract description 45
- 238000010521 absorption reaction Methods 0.000 claims abstract description 32
- 238000005192 partition Methods 0.000 claims abstract description 22
- 238000007789 sealing Methods 0.000 claims abstract description 19
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 3
- 239000010962 carbon steel Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 10
- 230000003139 buffering effect Effects 0.000 abstract description 4
- 230000002195 synergetic effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/22—Operating mechanisms fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/50—Steerable undercarriages; Shimmy-damping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Actuator (AREA)
Abstract
The application relates to a driving device of an unmanned aerial vehicle undercarriage, the retraction, extension and steering actions of the unmanned aerial vehicle undercarriage are driven by the same hydraulic system, the structure is simple, the retraction, extension and steering sequence actions are controlled by a sequence valve, the retraction, extension and steering sequence actions are mutually independent and are not influenced, the reliability is high, the rodless cavities of the telescopic oil cylinders of three undercarriage are respectively connected to a first shunt and current collecting valve, the rod cavities of the telescopic oil cylinders of three undercarriage are respectively connected to a second shunt and current collecting valve, the telescopic synchronization of the telescopic oil cylinders of the three undercarriage is ensured by the equivalent shunting action of the first shunt and current collecting valves, the attitude of the undercarriage can be stably kept by the pressure maintaining action of the first hydraulic control one-way valve and the second hydraulic control one-way valve after the three undercarriage are retracted to a preset attitude, the damping shock-absorbing cylinder is used as a buffer device, and a damping spring, a sealing partition plate and pressure oil between the piston of the damping shock-absorbing cylinder and the sealing partition plate are utilized, the three have a synergistic effect, and play a good role in buffering and shock absorption.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a driving device of an unmanned aerial vehicle undercarriage.
Background
With the wide application of unmanned aerial vehicles in various social fields, the undercarriage matched with the unmanned aerial vehicles is also fully developed. The landing gear of the unmanned aerial vehicle is a take-off and landing device of the unmanned aerial vehicle, and the landing gear has the main functions of ensuring take-off, landing, running and parking of the unmanned aerial vehicle, absorbing impact and jumping energy generated during landing and ground motion and improving the take-off and landing performance of the unmanned aerial vehicle. At present, a driving device for retraction, extension and steering of an unmanned aerial vehicle undercarriage is mainly driven by an electric system, the electric system is easily limited by weight/power ratio, the cost is high, the weight is large particularly when multiple execution components are arranged, the hydraulic system technology is mature, the cost is low, and the execution components can share a power source. And the drive arrangement of unmanned aerial vehicle undercarriage among the prior art still has following technical problem:
1. the retraction synchronization degree of a plurality of unmanned aerial vehicle undercarriage is not high, the synchronous control is not accurate, the stability of landing and sliding of the unmanned aerial vehicle is insufficient, and potential safety hazards exist.
2. When unmanned aerial vehicle lands, the effect of the buffering energy-absorbing of the striking of unmanned aerial vehicle undercarriage and ground is relatively poor, beats easily when leading to unmanned aerial vehicle, and the security is not enough to current buffer structure is complicated, and is difficult to control.
3. The retraction and the steering of the undercarriage of the unmanned aerial vehicle are controlled by two systems in the prior art, the structure is complex, the cost is high, the complicated structure can cause inaccurate retraction and steering actions of the undercarriage of the unmanned aerial vehicle, the failure rate is high, and the reliability is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a driving device of an unmanned aerial vehicle undercarriage.
The driving device of the unmanned aerial vehicle landing gear comprises a telescopic oil cylinder, a damping shock cylinder, a steering oil cylinder and a roller, wherein the roller is connected with a piston rod of the damping shock cylinder, the telescopic oil cylinder and the steering oil cylinder are driven by a hydraulic system, the damping shock cylinder is provided with a sliding sleeve ring, a sealing partition plate, a damping spring and a rotating seat, the damping spring is a carbon steel spiral spring, the piston rod of the damping shock cylinder is provided with an axial guide groove, the head part of the cylinder body of the damping shock cylinder is fixedly provided with a radial bulge which is in sliding fit with the guide groove, the end head of the piston rod of the telescopic oil cylinder is rotationally connected with the sliding sleeve ring, the sliding sleeve ring is sleeved on the circumference of the cylinder body of the damping shock cylinder in a sliding way, the rotating seat is fixed with the bottom of the cylinder body of the damping shock cylinder, the rotating seat and the steering oil cylinder are respectively fixed on a base, and the rotating seat is fixedly provided with a steering push rod, the steering push rod is rotatably connected with the end part of a piston rod of the steering oil cylinder, the two ends of the damping spring are respectively fixed on the bottom in the cylinder body of the damping shock absorption cylinder and the sealing partition plate, and the sealing partition plate is arranged in a rodless cavity of the damping shock absorption cylinder and can axially and hermetically slide along the inner wall of the rodless cavity.
A limiting boss is arranged between the sealing partition plate and the piston in the rodless cavity of the damping shock absorption cylinder, and the limiting boss is communicated with the rodless cavity oil hole of the damping shock absorption cylinder. And after fluid with certain pressure is input into a cavity between the sealing partition plate of the rodless cavity of the damping cylinder and the piston, the oil hole is sealed.
The hydraulic system is provided with a servo hydraulic pump driven by a servo motor, the inlet of the servo hydraulic pump is connected to an oil tank through a filter, the outlet of the servo hydraulic pump is respectively connected to an overflow valve and a sequence valve, one oil port of the sequence valve is connected to a P oil port of a first three-position four-way electromagnetic directional valve, the other oil port of the sequence valve is connected to a P oil port of a second three-position four-way electromagnetic directional valve, a T oil port, an A oil port and a B oil port of the first three-position four-way electromagnetic directional valve are respectively connected to the oil tank, a rodless cavity of a steering oil cylinder and a rod cavity of the steering oil cylinder, a T oil port, an A oil port and a B oil port of a second three-position four-way electromagnetic directional valve 6 are respectively connected to the oil tank, an oil inlet of a first hydraulic control one-way valve and an oil inlet of the second hydraulic control one-way valve, the oil outlet of the first hydraulic control one-way valve is respectively connected to the rodless cavity of a telescopic oil cylinder of three undercarriage through a first flow-splitting and-collecting valve, the oil outlets of the second hydraulic control one-way valves are respectively connected to rod cavities of the telescopic oil cylinders of the three landing gears through a second shunt and current collecting valve, rodless cavities of the telescopic oil cylinders of the three landing gears are all connected to the second unloading valve, and rod cavities of the telescopic oil cylinders of the three landing gears are all connected to the first unloading valve.
The three landing gears are respectively a landing gear in the middle of the front part and a left main landing gear and a right main landing gear at the rear part.
The steering oil cylinder pushes a steering rod to drive the front wheel to steer through the rotation of a cylinder body and a piston rod of a damping shock cylinder of the undercarriage in the middle of the front part, and the rotating wheels of the left main undercarriage and the right main undercarriage at the rear part are steering follow-up wheels to steer along with the steering of the front wheel.
The servo motor, the sequence valve, the first three-position four-way electromagnetic reversing valve, the second three-position four-way electromagnetic reversing valve, the first unloading valve and the second unloading valve are all controlled by the controller.
The sequence valve is a two-position four-way high-speed electromagnetic reversing valve.
The first unloading valve and the second unloading valve are both two-position two-way electromagnetic directional valves.
The first flow dividing and collecting valve and the second flow dividing and collecting valve are equivalent flow dividing and collecting valves.
The working process of the driving device of the unmanned aerial vehicle undercarriage comprises the following steps:
in the landing process of the unmanned aerial vehicle:
the servo hydraulic pump is driven by a servo motor to start, a controller controls a valve core of a sequence valve to be in a right position, a first unloading valve to be in an open state and a second unloading valve to be in a stop state, the sequence valve is communicated with a P oil port of a second three-position four-way electromagnetic directional valve, the P oil port of the second three-position four-way electromagnetic directional valve is communicated with an A oil port of the second three-position four-way electromagnetic directional valve, pressure oil respectively enters rodless cavities of telescopic oil cylinders of three undercarriage of the unmanned aerial vehicle from the A oil port through a first hydraulic control one-way valve and a first shunting and collecting valve in an equal flow manner to enable piston rods of the pressure oil to extend out, the piston rods push damping cylinders to move through sliding sleeve rings, the three undercarriage of the unmanned aerial vehicle synchronously extend out to a preset attitude position and keep the attitude position, in the process, pressure oil originally existing in rod cavities of telescopic oil cylinders of the three landing gears is discharged through the first unloading valve. The damping cylinder moves to rotate integrally with the rotating seat, the steering oil cylinder and the base.
After the extension state is finished, the controller controls a valve core of the sequence valve to be in a left position, the sequence valve is communicated with a P oil port of the first three-position four-way electromagnetic directional valve, the P oil port and a T oil port of the first three-position four-way electromagnetic directional valve are respectively communicated with an A oil port and a B oil port of the first three-position four-way electromagnetic directional valve, pressure oil enters a rodless cavity of the steering oil cylinder from the A oil port, the extension amount of the steering oil cylinder is controlled according to the instruction of the controller, a piston rod of the steering oil cylinder pushes a steering push rod to push a damping shock absorption cylinder body to rotate through a rotating seat, the piston rod of the damping shock absorption cylinder is provided with an axial guide groove, a radial bulge is arranged at the head of the damping shock absorption cylinder body and is in sliding fit with the guide groove, the unmanned aerial vehicle is enabled to realize steering in the sliding stage after landing, and the pressure oil which is originally existing in a rod cavity of the steering oil cylinder passes through the B oil port and the first three-position four-way electromagnetic directional valve in the process, And the T oil port is discharged to the oil tank. And the oil port P and the oil port T of the first three-position four-way electromagnetic directional valve can also be respectively communicated with the oil port B and the oil port A of the first three-position four-way electromagnetic directional valve, so that a piston rod of the steering oil cylinder retracts, and steering can be realized.
After the unmanned aerial vehicle runs and takes off:
the servo hydraulic pump is started under the driving of a servo motor, a controller controls a valve core of a sequence valve to be in a right position, a first unloading valve to be in a stop state and a second unloading valve to be in an open state, the sequence valve is communicated with a P oil port of a second three-position four-way electromagnetic directional valve, the P oil port of the second three-position four-way electromagnetic directional valve is communicated with a B oil port of the second three-position four-way electromagnetic directional valve, pressure oil respectively enters rod cavities of telescopic oil cylinders of three undercarriage of the unmanned aerial vehicle from the B oil port through a second hydraulic control one-way valve and a second shunt and current collecting valve in an equal flow manner to enable piston rods of the rod cavities to retract, the piston rods push damping cylinders to move through sliding sleeve rings, the three undercarriage of the unmanned aerial vehicle is driven to retract to a preset attitude position synchronously, and the attitude position is kept, in the process, pressure oil originally existing in rodless cavities of telescopic oil cylinders of the three landing gears is discharged through the second unloading valve. The damping cylinder moves to rotate integrally with the rotating seat, the steering oil cylinder and the base.
Compared with the prior art, the technical scheme of the invention has the following technical effects:
1. the unmanned aerial vehicle undercarriage of this application receive and releases and turn to the action by same hydraulic system drive, simple structure utilizes sequence valve control to receive and releases and turn to the sequence action, and both mutual independence do not influence each other, and the reliability is high.
2. The rodless cavities of the telescopic oil cylinders of the three landing gears are respectively connected to the first flow dividing and collecting valve, and the rod cavities of the telescopic oil cylinders of the three landing gears are respectively connected to the second flow dividing and collecting valve.
3. Through the pressure maintaining effect of the first hydraulic control one-way valve and the second hydraulic control one-way valve, the three landing gears can stably maintain the postures of the landing gears after being retracted to the preset postures.
4. The damping shock absorption cylinder is designed as a buffer device, the structure is simple, the performance is reliable, pressure oil liquid between a piston and a sealing partition plate of the damping shock absorption cylinder is utilized, and the damping shock absorption cylinder, the sealing partition plate and the piston act in a synergistic mode to play a good role in buffering shock absorption and absorbing instantaneous bounce energy of the unmanned aerial vehicle during landing. And can rationally set up the volume control pretightning force of filling into the pressure fluid between piston and the sealed partition in advance through unmanned aerial vehicle's weight and landing environment to realize that the damping size of damping jar is nimble adjustable.
Drawings
Embodiments of the invention are described in further detail below with reference to the attached drawing figures, wherein:
fig. 1 is a schematic structural view of a driving device of an unmanned aerial vehicle landing gear;
FIG. 2 is a hydraulic control system diagram of a drive device for an unmanned aerial vehicle landing gear of the present invention;
fig. 3 is a schematic structural view of a damping cylinder of the driving device of the landing gear of the unmanned aerial vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present invention, and it should be understood that the described embodiments are only exemplary and some specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principle of the present invention should fall within the protection scope of the present invention.
A driving device of an unmanned aerial vehicle undercarriage. As shown in fig. 1-3, the driving device of the landing gear of the unmanned aerial vehicle comprises a telescopic cylinder 9, a damping cylinder 11, a steering cylinder 5 and rollers 12, wherein the rollers 12 are connected with a piston rod of the damping cylinder 11, the telescopic cylinder 9 and the steering cylinder 5 are both driven by a hydraulic system, the damping cylinder 11 is provided with a slip ring 11-1, a sealing partition plate 11-3, a damping spring 11-2 and a rotating seat 11-4, the damping spring 11-2 is a carbon steel coil spring, the piston rod of the damping cylinder 11 is provided with an axial guide groove, the head of the damping cylinder 11 is fixedly provided with a radial protrusion 11-7 in sliding fit with the guide groove, the end of the piston rod of the telescopic cylinder 9 is rotatably connected with the slip ring 11-1, and the slip ring 11-1 is slidably sleeved on the circumference of the damping cylinder 11, the rotary seat 11-4 is fixed with the bottom of the damping shock absorption cylinder 11, the rotary seat 11-4 and the steering oil cylinder 5 are respectively fixed on the base 11-9, the rotary seat 11-4 is fixedly provided with a steering push rod 11-5, the steering push rod 11-5 is rotatably connected with the end part of the piston rod of the steering oil cylinder 5, two ends of a damping spring 11-2 are respectively fixed on the bottom of the cylinder body of the damping shock absorption cylinder 11 and a sealing partition plate 11-3, and the sealing partition plate 11-3 is arranged in a rodless cavity of the damping shock absorption cylinder 11 and can axially and hermetically slide along the inner wall of the rodless cavity.
A limit boss 11-6 is arranged between a seal partition plate 11-3 in a rodless cavity of the damping shock absorption cylinder 11 and the piston, and the limit boss 11-6 is communicated with an oilhole of the rodless cavity of the damping shock absorption cylinder 11. The rod cavity of the damping cylinder 11 is also provided with a limit step 11-8. Fluid with certain pressure is input into a cavity between a sealing partition plate 11-3 of a rodless cavity of the damping shock absorption cylinder 11 and the piston, and then the oil hole is sealed.
The hydraulic system is provided with a servo hydraulic pump 1 driven by a servo motor, the inlet of the servo hydraulic pump 1 is connected to an oil tank through a filter, the outlet of the servo hydraulic pump 1 is respectively connected to an overflow valve 2 and a sequence valve 3, one oil port of the sequence valve 3 is connected to a P oil port of a first three-position four-way electromagnetic directional valve 4, the other oil port of the sequence valve 3 is connected to a P oil port of a second three-position four-way electromagnetic directional valve 6, a T oil port, an A oil port and a B oil port of the first three-position four-way electromagnetic directional valve 4 are respectively connected to the oil tank, a rodless cavity of a steering oil cylinder 5 and a rod cavity of the steering oil cylinder 5, a T oil port, an A oil port and a B oil port of the second three-position four-way electromagnetic directional valve 6 are respectively connected to the oil tank, an oil inlet of a first hydraulic control one-way valve 7-1 and an oil inlet of a second hydraulic control one-way valve 7-2, the oil outlet of the first hydraulic control one-way valve 7-1 is respectively connected to three oil tanks through a first flow distribution and collection valve 8-1 The oil outlets of the second hydraulic control one-way valves 7-2 are respectively connected to rod cavities of the telescopic oil cylinders (9-1, 9-2 and 9-3) of the three undercarriages through second flow distribution and collection valves 8-2, the rod cavities of the telescopic oil cylinders (9-1, 9-2 and 9-3) of the three undercarriages are all connected to a second unloading valve 10-2, and the rod cavities of the telescopic oil cylinders (9-1, 9-2 and 9-3) of the three undercarriages are all connected to a first unloading valve 10-1.
The three landing gears are respectively a landing gear in the middle of the front part and a left main landing gear and a right main landing gear at the rear part.
The steering oil cylinder 5 pushes a steering rod 11-5 to drive the front wheel to steer through the rotation of a cylinder body and a piston rod of a damping shock absorption cylinder 11 of the undercarriage in the middle of the front part, and the rotating wheels of the left main undercarriage and the right main undercarriage at the rear part are steering follow-up wheels which steer along with the steering of the front wheel.
The servo motor, the sequence valve 3, the first three-position four-way electromagnetic reversing valve 4, the second three-position four-way electromagnetic reversing valve 6, the first unloading valve 10-1 and the second unloading valve 10-2 are all controlled by a controller.
The sequence valve 3 is a two-position four-way high-speed electromagnetic reversing valve.
The first unloading valve 10-1 and the second unloading valve 10-2 are both two-position two-way electromagnetic directional valves.
The first flow dividing and collecting valve 8-1 and the second flow dividing and collecting valve 8-2 are equivalent flow dividing and collecting valves.
The working process of the driving device of the unmanned aerial vehicle undercarriage comprises the following steps:
in the landing process of the unmanned aerial vehicle:
the servo hydraulic pump 1 is started under the drive of a servo motor, a controller controls a valve core of a sequence valve 3 to be in a right position, a first unloading valve 10-1 to be in an open state, a second unloading valve 10-2 to be in a stop state, the sequence valve 3 is communicated with a P oil port of a second three-position four-way electromagnetic reversing valve 6, the P oil port of the second three-position four-way electromagnetic reversing valve 6 is communicated with an A oil port of the second three-position four-way electromagnetic reversing valve 6, pressure oil respectively enters rodless cavities of telescopic oil cylinders (9-1, 9-2 and 9-3) of three undercarriage of the unmanned aerial vehicle at equal flow from the A oil port through a first hydraulic control one-way valve 7-1 and a first shunting and collecting valve 8-1 to enable piston rods of the pressure oil to extend out, the piston rods push damping cylinders 11 to move through a sliding sleeve ring 11-1 to enable the three undercarriage of the unmanned aerial vehicle to synchronously extend out to a preset attitude position, and maintaining the attitude position, and in the process, pressure oil originally existing in rod cavities of telescopic oil cylinders (9-1, 9-2 and 9-3) of the three landing gears is discharged through a first unloading valve 10-1. The damping shock absorption cylinder 11 moves to rotate integrally with the rotating seat 11-4, the steering oil cylinder 5 and the base 11-9.
After the extension state is finished, the controller controls the valve core of the sequence valve 3 to be in the left position, the sequence valve 3 is communicated with the oil port P of the first three-position four-way electromagnetic directional valve 4, the oil port P and the oil port T of the first three-position four-way electromagnetic directional valve 4 are respectively communicated with the oil port A and the oil port B of the first three-position four-way electromagnetic directional valve 4, pressure oil enters the rodless cavity of the steering oil cylinder 5 from the oil port A, the extension amount of the steering oil cylinder 5 is controlled according to the instruction of the controller, the piston rod of the steering oil cylinder 5 pushes the steering push rod 11-5 to push the damping shock cylinder 11 to rotate through the rotating seat 11-4, the piston rod of the damping shock cylinder 11 is provided with an axial guide groove, the head of the damping shock cylinder 11 is provided with a radial bulge in sliding fit with the guide groove, the unmanned aerial vehicle is enabled to realize steering in the sliding stage after landing, and the pressure oil originally existing in the rod cavity of the steering oil cylinder 5 in the process passes through the oil port B and the oil port B of the first three-position four-way electromagnetic directional valve 4, And the T oil port is discharged to the oil tank. And the oil port P and the oil port T of the first three-position four-way electromagnetic directional valve 4 can also be respectively communicated with the oil port B and the oil port A of the first three-position four-way electromagnetic directional valve 4, so that a piston rod of the steering oil cylinder 5 is retracted, and steering can be realized.
After the unmanned aerial vehicle runs and takes off:
the servo hydraulic pump 1 is started under the driving of a servo motor, a controller controls a valve core of a sequence valve 3 to be in a right position, a first unloading valve 10-1 to be in a stop state, a second unloading valve 10-2 to be in an open state, the sequence valve 3 is communicated with a P oil port of a second three-position four-way electromagnetic reversing valve 6, the P oil port of the second three-position four-way electromagnetic reversing valve 6 is communicated with a B oil port of the second three-position four-way electromagnetic reversing valve 6, pressure oil respectively enters rod cavities of telescopic oil cylinders (9-1, 9-2 and 9-3) of three undercarriage of an unmanned aerial vehicle at equal flow from the B oil port through a second hydraulic control one-way valve 7-2 and a second shunt and flow-collecting valve 8-2) of the unmanned aerial vehicle to enable piston rods of the pressure oil cylinders to retract, the piston rods push damping cylinders 11 to move through a sliding sleeve ring 11-1 to drive the three undercarriage of the unmanned aerial vehicle to synchronously retract to a preset attitude position, and maintaining the attitude position, and in the process, pressure oil originally existing in rodless cavities of telescopic oil cylinders (9-1, 9-2 and 9-3) of the three landing gears is discharged through a second unloading valve 10-2. The damping shock absorption cylinder 11 moves to rotate integrally with the rotating seat 11-4, the steering oil cylinder 5 and the base 11-9.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. the unmanned aerial vehicle undercarriage of this application receive and releases and turn to the action by same hydraulic system drive, simple structure utilizes sequence valve control to receive and releases and turn to the sequence action, and both mutual independence do not influence each other, and the reliability is high.
2. The rodless cavities of the telescopic oil cylinders of the three landing gears are respectively connected to the first flow dividing and collecting valve, and the rod cavities of the telescopic oil cylinders of the three landing gears are respectively connected to the second flow dividing and collecting valve.
3. Through the pressure maintaining effect of the first hydraulic control one-way valve and the second hydraulic control one-way valve, the three landing gears can stably maintain the postures of the landing gears after being retracted to the preset postures.
4. The damping shock absorption cylinder is designed as a buffer device, the structure is simple, the performance is reliable, pressure oil liquid between a piston and a sealing partition plate of the damping shock absorption cylinder is utilized, and the damping shock absorption cylinder, the sealing partition plate and the piston act in a synergistic mode to play a good role in buffering shock absorption and absorbing instantaneous bounce energy of the unmanned aerial vehicle during landing. And can rationally set up the volume control pretightning force of filling into the pressure fluid between piston and the sealed partition in advance through unmanned aerial vehicle's weight and landing environment to realize that the damping size of damping jar is nimble adjustable.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a drive arrangement of unmanned aerial vehicle undercarriage, includes telescopic cylinder (9), damping cushion cylinder (11), steering cylinder (5) and gyro wheel (12), gyro wheel (12) are connected with the piston rod of damping cushion cylinder (11), telescopic cylinder (9), steering cylinder (5) are driven by hydraulic system, its characterized in that: the damping shock absorption cylinder (11) is provided with a sliding sleeve ring (11-1), a sealing partition plate (11-3), a damping spring (11-2) and a rotating seat (11-4), the damping spring (11-2) is a carbon steel spiral spring, a piston rod of the damping shock absorption cylinder (11) is provided with an axial guide groove, a radial protrusion (11-7) is fixedly arranged at the head of the damping shock absorption cylinder (11) and is in sliding fit with the guide groove, the end of the piston rod of the telescopic oil cylinder (9) is rotatably connected with the sliding sleeve ring (11-1), the sliding sleeve ring (11-1) is sleeved on the circumference of the damping shock absorption cylinder (11) in a sliding mode, and the rotating seat (11-4) is fixed with the bottom of the damping shock absorption cylinder (11); the rotating seat (11-4) and the steering oil cylinder (5) are respectively fixed on the base (11-9) and can rotate as a whole; the steering push rod (11-5) is fixedly arranged on the rotating seat (11-4), the steering push rod (11-5) is rotatably connected with the end portion of a piston rod of the steering oil cylinder (5), two ends of a damping spring (11-2) are respectively fixed to the bottom of the cylinder body of the damping shock absorption cylinder (11) and a sealing partition plate (11-3), and the sealing partition plate (11-3) is arranged in a rodless cavity of the damping shock absorption cylinder (11) and can axially slide in a sealing mode along the inner wall of the rodless cavity.
2. The drive device of the landing gear of the unmanned aerial vehicle according to claim 1, wherein a limit boss (11-6) is arranged between a seal partition plate (11-3) and a piston in a rodless cavity of the damping shock cylinder (11), and the limit boss (11-6) is communicated with a rodless cavity oil hole of the damping shock cylinder (11).
3. The driving device of the landing gear of the unmanned aerial vehicle according to claim 1, wherein the hydraulic system comprises a servo hydraulic pump (1) driven by a servo motor, an inlet of the servo hydraulic pump (1) is connected to an oil tank through a filter, an outlet of the servo hydraulic pump (1) is respectively connected to an overflow valve (2) and a sequence valve (3), an oil port of the sequence valve (3) is connected to a P oil port of a first three-position four-way electromagnetic directional valve (4), another oil port of the sequence valve (3) is connected to a P oil port of a second three-position four-way electromagnetic directional valve (6), a T oil port, an A oil port and a B oil port of the first three-position four-way electromagnetic directional valve (4) are respectively connected to the oil tank, a rodless cavity of a steering cylinder (5), a rod cavity of the steering cylinder (5), and a T oil port, an oil port and a B oil port of the second three-position four-way electromagnetic directional valve (6) are respectively connected to the oil tank, An oil inlet of a first hydraulic control one-way valve (7-1) and an oil inlet of a second hydraulic control one-way valve (7-2), an oil outlet of the first hydraulic control one-way valve (7-1) is respectively connected to rodless cavities of telescopic oil cylinders (9-1, 9-2 and 9-3) of three landing gears through a first flow distributing and collecting valve (8-1), an oil outlet of the second hydraulic control one-way valve (7-2) is respectively connected to rod cavities of the telescopic oil cylinders (9-1, 9-2 and 9-3) of the three landing gears through a second flow distributing and collecting valve (8-2), rodless cavities of the telescopic oil cylinders (9-1, 9-2 and 9-3) of the three landing gears are respectively connected to a second unloading valve (10-2), and the telescopic oil cylinders (9-1, 9-2 and 9-3) of the three landing gears are respectively connected to the second unloading valve (10-2), and the telescopic oil cylinders (9-1, 9-2 and 9-2) of the three landing gears are respectively, 9-3) are connected to a first unloading valve (10-1).
4. A drive arrangement for an unmanned aircraft landing gear according to claim 3, the three landing gears being a front central landing gear and rear left and right main landing gears respectively.
5. The drive device of the landing gear of the unmanned aerial vehicle as claimed in claim 4, wherein the steering oil cylinder (5) pushes the steering rod (11-5) to drive the steering of the front wheel through the rotation of the cylinder body and the piston rod of the damping cylinder (11) of the landing gear in the middle of the front part, and the rotating wheels of the left main landing gear and the right main landing gear in the rear part are all steering follow-up wheels to follow the steering of the front wheel.
6. The drive device for the landing gear of the unmanned aerial vehicle according to claim 3, wherein the servo motor, the sequence valve (3), the first three-position four-way electromagnetic directional valve (4), the second three-position four-way electromagnetic directional valve (6), the first unloading valve (10-1), and the second unloading valve (10-2) are all controlled by a controller.
7. The drive of an unmanned landing gear according to claim 3, wherein the sequence valve (3) is a two-position four-way high-speed electromagnetic directional valve.
8. The drive device of the landing gear of the unmanned aerial vehicle according to claim 3, wherein the first unloading valve (10-1) and the second unloading valve (10-2) are both two-position two-way electromagnetic directional valves.
9. The drive arrangement for an unmanned landing gear according to claim 3, wherein the first flow dividing and collecting valve (8-1), the second flow dividing and collecting valve (8-2) are equal flow dividing and collecting valves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110947795.7A CN113602485A (en) | 2021-08-18 | 2021-08-18 | Driving device of unmanned aerial vehicle undercarriage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110947795.7A CN113602485A (en) | 2021-08-18 | 2021-08-18 | Driving device of unmanned aerial vehicle undercarriage |
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| CN113602485A true CN113602485A (en) | 2021-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110947795.7A Withdrawn CN113602485A (en) | 2021-08-18 | 2021-08-18 | Driving device of unmanned aerial vehicle undercarriage |
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| CN (1) | CN113602485A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115970192A (en) * | 2022-12-06 | 2023-04-18 | 国星农机装备(新昌)有限公司 | Forest fire prevention robot |
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Application publication date: 20211105 |