CN208233348U - A kind of unmanned plane during flying steerable system - Google Patents
A kind of unmanned plane during flying steerable system Download PDFInfo
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- CN208233348U CN208233348U CN201820640082.XU CN201820640082U CN208233348U CN 208233348 U CN208233348 U CN 208233348U CN 201820640082 U CN201820640082 U CN 201820640082U CN 208233348 U CN208233348 U CN 208233348U
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Abstract
The utility model discloses a kind of unmanned plane during flying steerable systems, are related to air vehicle technique field, and the steerable system includes: the airborne sensor for acquiring unmanned plane during flying information；The unmanned plane during flying information is received, issues the flight control units for controlling signal, the output end communication connection of the input terminal of the flight control units and the airborne sensor after carrying out logical operation；The steering engine control unit of the control signal is received, the input terminal of the steering engine control unit and the output end of the flight control units communicate to connect；Nose wheel steering unit, the nose wheel steering unit include first harmonic decelerator steering engine, the first retarder, first connecting rod, the first rocker arm；Aileron movement manipulation unit；Elevator deflection control unit；Rudder kick manipulation unit.It is reasonable to have reached scientific arrangement, has met design requirement, it is adaptable convenient for construction and maintenance, the index request of maneuverability and stability is met, ensure that the good flight quality of aircraft.
Description
Technical field
The utility model belongs to air vehicle technique field more particularly to a kind of unmanned plane during flying steerable system.
Background technique
Aircraft flight steerable system is one of main component of aircraft, and whether its working performance is good, is directly affected
Can aeroplane performance normally play.Design UAV (hereinafter referred to as unmanned plane) mainly has two technology paths at present:
Brand-new design and with manned aircraft (hereinafter referred to as having man-machine) reequip.It the general process of brand-new design unmanned plane and has newly ground
Man-machine process is similar, and investment is huge, and the period is very long, and risk is also very high；And with have it is man-machine repack unmanned plane into, due to remaining
Aerodynamic configuration, structure, dynamical system and the part system of original machine, comparatively, period can be shorter, and risk is also smaller, the U.S.,
The states such as the former Soviet Union, which successfully change multiple model military secrets, is ground into target drone.In recent years, with the rise of unmanned plane upsurge, in civilian neck
Domain will have the man-machine favor for repacking unmanned plane into also increasingly by investor and user, according to disclosure, both at home and abroad by someone
The successful case that machine repacks unmanned plane into has had several models, is mainly used for Proof of Concept, aerial survey of taking photo by plane, shipping or army
With etc. purposes.
But present inventor during technical solution, has found the above-mentioned prior art extremely in realizing the embodiment of the present application
It has the following technical problems less:
In the prior art, using multistage connecting rod, rocker arm, constantly slow down to amplify torque, but the accumulative gap of bring is larger,
Deflection angle or system response often can not meet the requirement of flight control system；It is this using the straight line steering engine of screw-nut structure
Steering engine is since output end forms of motion is linear reciprocation, and stroke is limited, in actual use, in order to realize and motion of rudder form
Coordinate, must often increase connecting rod and rocker arm to realize the conversion of forms of motion, simultaneously because the self-locking performance of mechanical structure, for
Those require steering engine power-off backgear occasion still free to rotate and are not suitable for；Use output shaft for the steering engine of roller swivelling chute
Control to control surface deflection angle is realized with running wire, and essence is still using electric steering engine, and cable wire elasticity is larger, by temperature
Influence it is also larger, can not achieve and be precisely controlled, large and medium-sized unmanned aerial vehicle control system mostly do not used.
Summary of the invention
The embodiment of the present application solves in the prior art by providing a kind of unmanned plane during flying steerable system using large torque
Hydraulic sterring engine bring system composition is more complicated, the accuracy of manufacture requires high and assembly difficulty, hydraulic system failure to be not easy
Check and exclude and the technical issues of system delay, it is reasonable to have reached scientific arrangement, meet design requirement, convenient for construction with tie up
Shield, reduces the requirement to steering engine torque, reduces the technical effect of steering engine type selecting difficulty.
The utility model embodiment provides a kind of unmanned plane during flying steerable system, and the steerable system includes: acquisition nothing
The airborne sensor of man-machine flight information；The unmanned plane during flying information is received, issues control signal after carrying out logical operation
The output end of flight control units, the input terminal of the flight control units and the airborne sensor communicates to connect；Receive institute
The steering engine control unit of control signal is stated, the input terminal of the steering engine control unit and the output end of the flight control units are logical
Letter connection；Nose wheel steering unit, the nose wheel steering unit include first harmonic decelerator steering engine, the first deceleration
Device, first connecting rod, the first rocker arm, wherein the first harmonic decelerator steering engine, the first retarder, first connecting rod, the first rocker arm
It is sequentially connected；Aileron movement manipulation unit, the aileron movement manipulation unit include second harmonic retarder steering engine, the second deceleration
Device, second connecting rod, the second rocker arm, wherein the second harmonic retarder steering engine, the second retarder, second connecting rod, the second rocker arm
It is sequentially connected；Elevator deflection control unit, the elevator deflection control unit include third harmonic retarder steering engine, third
Retarder, third connecting rod, third rocker arm, wherein the third harmonic retarder steering engine, third retarder, third connecting rod, third
Rocker arm is sequentially connected；Rudder kick manipulation unit, the rudder kick manipulation unit include the 4th harmonic speed reducer steering engine,
4th retarder, wherein the 4th harmonic speed reducer steering engine is connect with the 4th retarder；Wherein, the steering engine control
Unit is according to the control information to the nose wheel steering unit, aileron movement manipulation unit, elevator deflection control list
Member, rudder kick manipulation unit are controlled.
Preferably, the steerable system further include: deflection sensor, the deflection sensor and the nose wheel steering
Unit connection.
Preferably, the steerable system further include: ear is pitched in front-wheel steer, one end of front-wheel steer fork ear and it is described before
Take turns one end connection of steering unit；Control linkage, the control linkage respectively with the aileron movement manipulation unit, lifting
Rudder kick manipulation unit, front-wheel steer fork ear connection；Primary control surface, the primary control surface and the control linkage or cable wire connect
It connects.
Preferably, the steerable system further include: the nose wheel steering unit, aileron movement manipulation unit, lifting
The transmission ratio of rudder kick manipulation unit is identical.
Preferably, the first retarder, the second retarder, third retarder, the 4th retarder are respectively to the first harmonic
Retarder steering engine, second harmonic retarder steering engine, third harmonic retarder steering engine, the 4th harmonic speed reducer steering engine carry out slow down and
Amplify torque.
Preferably, first retarder, the second retarder, third retarder, the 4th retarder are integral aluminum alloy
Or steel construction, and be primary speed-down.
Preferably, first retarder, the second retarder, third retarder, the 4th retarder include an output shaft,
And first retarder, the second retarder, third retarder, the 4th retarder and the output shaft mechanical interface be flower
Key.
Preferably, the output shaft is double rocker arms or single rocker arm form.
Said one or multiple technical solutions in the utility model embodiment at least have following one or more technologies
Effect:
1, in a kind of unmanned plane during flying steerable system provided by the embodiment of the utility model, the steerable system includes: to adopt
Collect the airborne sensor of unmanned plane during flying information；The unmanned plane during flying information is received, issues control letter after carrying out logical operation
Number flight control units, the output end of the input terminal of the flight control units and the airborne sensor communicates to connect；It connects
Receive the steering engine control unit of the control signal, the output of the input terminal and the flight control units of the steering engine control unit
End communication connection；Nose wheel steering unit, the nose wheel steering unit include first harmonic decelerator steering engine, first subtract
Fast device, first connecting rod, the first rocker arm, wherein the first harmonic decelerator steering engine, the first retarder, first connecting rod, first shake
Arm is sequentially connected；Aileron movement manipulation unit, the aileron movement manipulation unit include second harmonic retarder steering engine, second subtract
Fast device, second connecting rod, the second rocker arm, wherein the second harmonic retarder steering engine, the second retarder, second connecting rod, second shake
Arm is sequentially connected；Elevator deflection control unit, the elevator deflection control unit include third harmonic retarder steering engine,
Three retarders, third connecting rod, third rocker arm, wherein the third harmonic retarder steering engine, third retarder, third connecting rod,
Three rocker arms are sequentially connected；Rudder kick manipulation unit, the rudder kick manipulation unit include the 4th harmonic speed reducer rudder
Machine, the 4th retarder, wherein the 4th harmonic speed reducer steering engine is connect with the 4th retarder；Wherein, the steering engine control
Unit processed is according to the control information to the nose wheel steering unit, aileron movement manipulation unit, elevator deflection control
Unit, rudder kick manipulation unit are controlled.Solve in the prior art because accumulative gap is larger, cause deflection angle or
System responds the requirement that control system is not achieved, and forms more complicated, manufacture essence using high-torque hydraulic steering engine bring system
The technical issues of requiring high and assembly difficulty, hydraulic system failure to be not easy inspection and exclusion and system delay is spent, is reached
Scientific arrangement is reasonable, meets design requirement, convenient for construction and maintenance, reduces the requirement to steering engine torque, reduces steering engine choosing
The technical effect of type difficulty.
2, the utility model embodiment passes through deflection sensor, the deflection sensor and the nose wheel steering unit
Connection.The technical effect for cooperating control surface deflection pneumatically to be rectified a deviation in unmanned plane high speed slide is reached.
3, the utility model embodiment is whole by the first retarder, the second retarder, third retarder, the 4th retarder
Body formula aluminium alloy or steel construction, and be primary speed-down, further reach amplification output torque, can realize power as required, pass
When the variation of dynamic ratio, deflection angle avoids, the accuracy of manufacture more complicated using high-torque hydraulic steering engine bring system composition
Seek the high technical effect that inspection and exclusion and system delay are not easy with assembly difficulty, hydraulic system failure.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and being implemented in accordance with the contents of the specification, and in order to allow above and other purpose, feature of the utility model
It can be more clearly understood with advantage, it is special below to lift specific embodiment of the present utility model.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of one of the utility model embodiment unmanned plane during flying steerable system；
Fig. 2 is the knot of nose wheel steering unit in one of the utility model embodiment unmanned plane during flying steerable system
Structure schematic diagram；
Fig. 3 is the knot of aileron movement manipulation unit in one of the utility model embodiment unmanned plane during flying steerable system
Structure schematic diagram；
Fig. 4 is elevator deflection control unit in one of the utility model embodiment unmanned plane during flying steerable system
Structural schematic diagram；
Fig. 5 is rudder kick manipulation unit in one of the utility model embodiment unmanned plane during flying steerable system
Structural schematic diagram；
Fig. 6 is another structural schematic diagram in one of the utility model embodiment unmanned plane during flying steerable system
Fig. 7 is another structural schematic diagram in one of the utility model embodiment unmanned plane during flying steerable system.
Description of symbols: 1- airborne sensor, 2- flight control units, 3- steering engine control unit, 4- front-wheel steer behaviour
Vertical unit, 41- first harmonic decelerator steering engine, the first retarder of 42-, 43- first connecting rod, the first rocker arm of 44-, 45- deflection pass
Sensor, 46- front-wheel, 47- fourth link, 5- aileron movement manipulation unit, 51- second harmonic retarder steering engine, 52- second slow down
Device, 53- second connecting rod, the second rocker arm of 54-, 55- port aileron, 56- starboard aileron, 6- elevator deflection control unit, 61- third
Harmonic speed reducer steering engine, 62- third retarder, 63- third connecting rod, 64- third rocker arm, 65- shaft, 66- elevator, the side 7-
To rudder kick manipulation unit, the 4th harmonic speed reducer steering engine of 71-, the 4th retarder of 72-, 73- output rocker arm, 74- rudder behaviour
Vertical cable wire, 75- rudder rotary shaft.
Specific embodiment
The utility model embodiment provides a kind of unmanned plane during flying steerable system, solves in the prior art because between accumulative
Gap is larger, causes deflection angle or system to respond the requirement that control system is not achieved, using high-torque hydraulic steering engine bring system
System composition is more complicated, accuracy of manufacture requirement is high and assembly difficulty, hydraulic system failure are not easy inspection and excludes and system
The technical issues of delay.
The technical scheme in the embodiment of the utility model, overall structure are as follows: the airborne biography of acquisition unmanned plane during flying information
Sensor；The unmanned plane during flying information is received, issues the flight control units for controlling signal, the flight after carrying out logical operation
The output end of the input terminal of control unit and the airborne sensor communicates to connect；The steering engine control for receiving the control signal is single
Member, the input terminal of the steering engine control unit and the output end of the flight control units communicate to connect；Nose wheel steering list
Member, the nose wheel steering unit include first harmonic decelerator steering engine, the first retarder, first connecting rod, the first rocker arm,
In, the first harmonic decelerator steering engine, the first retarder, first connecting rod, the first rocker arm are sequentially connected；Aileron movement manipulation is single
Member, the aileron movement manipulation unit include second harmonic retarder steering engine, the second retarder, second connecting rod, the second rocker arm,
In, the second harmonic retarder steering engine, the second retarder, second connecting rod, the second rocker arm are sequentially connected；Elevator deflection control
Unit, the elevator deflection control unit include that third harmonic retarder steering engine, third retarder, third connecting rod, third are shaken
Arm, wherein the third harmonic retarder steering engine, third retarder, third connecting rod, third rocker arm are sequentially connected；Rudder is inclined
Turn manipulation unit, the rudder kick manipulation unit includes the 4th harmonic speed reducer steering engine, the 4th retarder, wherein described
4th harmonic speed reducer steering engine is connect with the 4th retarder；Wherein, the steering engine control unit is according to the control information
To the nose wheel steering unit, aileron movement manipulation unit, elevator deflection control unit, rudder kick manipulation unit
It is controlled.It is reasonable to have reached scientific arrangement, has met design requirement, convenient for construction and maintenance, has reduced and steering engine torque is wanted
It asks, reduces the technical effect of steering engine type selecting difficulty.
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Embodiment one
The present embodiment provides a kind of unmanned plane during flying steerable systems, referring to FIG. 1, the steerable system includes:
Acquire the airborne sensor 1 of unmanned plane during flying information；
Specifically, the airborne sensor 1 is used to acquire the information of the unmanned plane, and then send a signal to described
The input terminal of flight control units 2, the output end of the airborne sensor 1 and the flight control units 2 communicates to connect, described
Airborne sensor 1 includes inertial navigation, navigation attitude, GPS antenna, total static pressure receptor, total Air Temperature sensor, front-wheel deflection sensor
Deng, the airborne sensor 1 according to current posture perception and designed control rate, sent to the flight control units 2
Signal, and then control command is issued from the flight control units 2 to steering engine control unit 3.
The unmanned plane during flying information is received, issues the flight control units 2 for controlling signal after carrying out logical operation, it is described
The output end of the input terminal of flight control units 2 and the airborne sensor 1 communicates to connect
Specifically, the output end of the input terminal of the flight control units 2 and the airborne sensor 1 communicates to connect,
The output end of the flight control units 2 and the input terminal of the steering engine control unit 3 communicate to connect, and the flight control is single
Member 2 is the flight control management computer for controlling the unmanned plane, is flight control system " brain ", mainly completes the machine
The acquisition of 1 signal of set sensor, synthesis realize that navigational parameter resolves, control law resolves and the logical operations such as flight management decision,
Control signal is formed, the movement and movement of unmanned plane are controlled；
The steering engine control unit 3 of the control signal is received, the input terminal of the steering engine control unit 3 and the flight are controlled
The output end of unit 2 processed communicates to connect
Specifically, the steering engine control unit 3 is steering engine controller, the input terminal of the steering engine control unit 3 and institute
The output end communication connection of flight control units 2 is stated, therefore, the steering engine control unit 3 receives the flight control units 2 and sends out
Control instruction out is concentrated according to the control instruction and realizes being precisely controlled to steering engine deflection angle and speed etc..
Nose wheel steering unit 4, the nose wheel steering unit 4 include first harmonic decelerator steering engine 41, first
Retarder 42, first connecting rod 43, the first Rocker arm 44, wherein the first harmonic decelerator steering engine 41, the first retarder 42,
One connecting rod 43, the first Rocker arm 44 are sequentially connected；
The steerable system further include: deflection sensor 45, the deflection sensor 45 and the nose wheel steering list
Member 4 connects.
Specifically, as shown in Fig. 2, will have it is man-machine be changed to unmanned plane when, the access of the nose wheel steering unit 4
Point cancels original machine elasticity control stick on original machine steering fork ear rocker arm, is changed to hard rod type, and install the deflection sensor 45 additional；
The nose wheel steering unit 4 is connected by the first harmonic decelerator steering engine 41, first retarder 42, described first
Bar 43, first Rocker arm 44 composition, and the first harmonic decelerator steering engine 41, the first retarder 42, first connecting rod 43,
First Rocker arm 44, fourth link 47, front-wheel steer fork ear 8 are sequentially connected, by the nose wheel steering unit 4 to described
Front-wheel 46 is controlled.
Aileron movement manipulation unit 5, the aileron movement manipulation unit 5 include second harmonic retarder steering engine 51, second
Retarder 52, second connecting rod 53, the second Rocker arm 54, wherein the second harmonic retarder steering engine 51, the second retarder 52,
Two connecting rods 53, the second Rocker arm 54, port aileron 55, starboard aileron 56 are sequentially connected；
Specifically, as shown in figure 3, the access point of the aileron movement manipulation unit 5 under original machine control stick first
At a cross-tie, the port aileron 55 is connected with starboard aileron 56 by original machine connecting rod, and the aileron movement manipulation unit 5 is by institute
State second harmonic retarder steering engine 51, the second retarder 52, second connecting rod 53, the second Rocker arm 54 composition, wherein described second
Harmonic speed reducer steering engine 51, the second retarder 52, second connecting rod 53, the second Rocker arm 54 are sequentially connected, and pass through the aileron movement
Manipulation unit 5 controls the port aileron 55 and starboard aileron 56.
Elevator deflection control unit 6, the elevator deflection control unit 6 include third harmonic retarder steering engine 61,
Third retarder 62, third connecting rod 63, third rocker arm 64, wherein the third harmonic retarder steering engine 61, third retarder
62, third connecting rod 63, third rocker arm 64 are sequentially connected；
Specifically, as shown in figure 4, the access point of the elevator deflection control unit 6 is in original machine control stick and torsion
Pipe joint, the elevator deflection control unit 6 pass throughThe triangle on bolt access original machine elevator control torque tube top
At the hole of shape attachment base, the elevator deflection control unit 6 is by the third harmonic retarder steering engine 61, third retarder
62, third connecting rod 63, third rocker arm 64 form, and the third rocker arm 64 is connected by shaft 65 and original machine aileron control connecting tube
It connecing, wherein the third harmonic retarder steering engine 61, third retarder 62, third connecting rod 63, third rocker arm 64 are sequentially connected,
The elevator 66 is manipulated by the elevator deflection control unit 6.
Rudder kick manipulation unit 7, the rudder kick manipulation unit 7 include the 4th harmonic speed reducer steering engine 71,
4th retarder 72, wherein the 4th harmonic speed reducer steering engine 71 is connect with the 4th retarder 72；Wherein, the rudder
Machine control unit 3 is inclined to the nose wheel steering unit 4, aileron movement manipulation unit 5, elevator according to the control information
Turn manipulation unit 6, rudder kick manipulation unit 7 is controlled.
Specifically, being located at as shown in figure 5, the luggage compartment position of original machine is arranged in the rudder kick manipulation unit 7
Behind center of gravity, the rudder kick manipulation unit 7 is connect by cable wire with the primary control surface 10, the rudder kick behaviour
Vertical unit 7 is made of the 4th harmonic speed reducer steering engine 71 and the 4th retarder 72, and the 4th harmonic speed reducer
Steering engine 71 is connect with the 4th retarder 72, wherein the retarder 72 also has an output rocker arm 73, and the retarder is defeated
Rocker arm 73 is connect by original machine rudder control cable wire 74 with the rudder 76 out, meanwhile, further include on the rudder 76
There is a rudder rotary shaft 75；Wherein, the steering engine control unit 3 is according to the control information to the nose wheel steering list
Member 4, aileron movement manipulation unit 5, elevator deflection control unit 6, rudder kick manipulation unit 7 are controlled, that is, described
Nose wheel steering unit 4, aileron movement manipulation unit 5, elevator deflection control unit 6, rudder kick manipulation unit 7 are
According to given gear ratio relation, mechanical structure, the finger provided according to the flight control units 2 are accessed in original machine appropriate location
Signal is enabled to carry out control action to realize the deflection of rudder face.The meeting of the airborne sensor 1 Real-time Feedback aspect is to institute simultaneously
It states flight control units 2 to be resolved, is further sent out control instruction accordingly.
Ear 8 is pitched in front-wheel steer, and one end of the front-wheel steer fork ear 8 and one end of the nose wheel steering unit 4 connect
It connects；Control linkage 9, the control linkage 9 respectively with the aileron movement manipulation unit 5, elevator deflection control unit 6, preceding
Steering fork ear 8 is taken turns to connect；Primary control surface 10, the primary control surface 10 are connect with the control linkage 9 or cable wire.
Specifically, the input terminal of the nose wheel steering unit 4 and the output end of the steering engine control unit 3 connect
Connect, the nose wheel steering unit 4 by the control instruction of the steering engine control unit 3 to the front-wheel steer pitch ear 5 into
One step is controlled, and is concentrated and is realized being precisely controlled to steering engine deflection angle and speed etc., further, the control linkage 9
It is connect respectively with the aileron movement manipulation unit 5, elevator deflection control unit 6, front-wheel steer fork ear 8, by the lifting
Rudder kick manipulation unit 6, aileron movement manipulation unit 5, rudder kick manipulation unit 7 control each control linkage 9, pass through guarantor
The control linkage 9 of a part of original machine is stayed, space is open, and optional gear range is big, reduces the requirement to steering engine torque, reduces
Steering engine type selecting difficulty wherein, when repacking manned aircraft into UAV, at this point, can be in original machine steerable system
On the basis of, it removes pilot stick and pedal, the rocker arm, connecting rod and steering engine operating mechanism for installing redesign additional forms,
Mainly by the elevator deflection control unit 6, aileron movement manipulation unit 5, rudder kick manipulation unit 7, front-wheel steer
Manipulation unit 4 forms, and each unit keeps the transmission leverage of original machine constant as far as possible, calculates to reasonably select by design and newly grinds product
Access point, to meet transmission ratio, gearing factor and structure space installation requirement.Therefore, it is grasped described in the flight control system
The mechanical structure that ear 8 is original machine is pitched in vertical pole system 9, primary control surface 10, front-wheel steer.The primary control surface 10 and the control stick
It is 9 or cable wire connection, and the rudder kick manipulation unit 7 is connect by cable wire with the primary control surface 10, in the system
After system gives the predetermined posture of the unmanned plane, actual deflection angle of the unmanned plane in flight course is by described airborne
1 real-time monitoring of sensor, the primary control surface 10 adjust the unmanned plane according to predetermined posture and real-time deflection angle
It is whole.
Further, the steerable system further include: the nose wheel steering unit 4, aileron movement manipulation unit 5,
Elevator deflection control unit 6, transmission are identical.
Further, the first retarder 42, the second retarder 52, third retarder 62, the 4th retarder 72 are respectively to institute
State first harmonic decelerator steering engine 41, second harmonic retarder steering engine 51, third harmonic retarder steering engine 61, the 4th harmonic reduction
Device steering engine 71 is slowed down and is amplified torque.
Further, first retarder 42, the second retarder 52, third retarder 62, the 4th retarder 72 are whole
Body formula aluminium alloy or steel construction, and be primary speed-down.
Further, first retarder 42, the second retarder 52, third retarder 62, the 4th retarder 72 wrap
Include an output shaft, and first retarder 42, the second retarder 52, third retarder 62, the 4th retarder 72 and described defeated
The mechanical interface of shaft is spline.
Further, the output shaft is double rocker arms or single rocker arm form.
Specifically, the nose wheel steering unit 4, the aileron movement manipulation unit 5, the lifting rudder kick are grasped
The composition of vertical unit 6 is similar, is made of harmonic speed reducer steering engine, retarder, connecting rod, rocker arm, and the rudder kick is grasped
Unit 7 is indulged due to the limitation of installation space, is made of harmonic speed reducer steering engine, retarder, the nose wheel steering unit 4,
Aileron movement manipulation unit 5, elevator deflection control unit 6, transmission ratio are identical, the nose wheel steering unit 4, described
Aileron movement manipulation unit 5, the reducer structure of the elevator deflection control unit 6 are the same, and mounting structure is the same.It is described
First retarder 42, the second retarder 52, third retarder 62, the 4th retarder 72 respectively to corresponding harmonic speed reducer into
Row slows down and amplification torque, and in other words, first retarder 42, the second retarder 52, third retarder the 62, the 4th slow down
Device 72 respectively to the first harmonic decelerator steering engine 41, second harmonic retarder steering engine 51, third harmonic retarder steering engine 61,
4th harmonic speed reducer steering engine 71 is slowed down and is amplified torque, and each retarder is integral aluminum alloy or steel construction, is
Primary speed-down.First retarder 42, the second retarder 52, third retarder 62, the 4th retarder 72 include an output
Axis, and the output shaft is double rocker arms or single rocker arm form, the mechanical interface of the output shaft and the retarder is spline.
Embodiment two
A kind of application method of unmanned plane during flying steerable system of the utility model is described in detail below, specifically such as
Under:
In the present embodiment, having man-machine is double hair three-bladed propellers, piston type kerosene engine, and body is that carbon fiber adds glass
The composite structure of the compositions such as fine cloth, take-off weight are 1300Kg to 2000Kg；Repack the manned aircraft into nobody
The flight control system to drive an airplane removes pilot stick and pedal that is, on the basis of original machine steerable system, installs weight additional
Newly-designed rocker arm, connecting rod and steering engine operating mechanism form.It is mainly manipulated by nose wheel steering unit 4, aileron movement single
Member 5, elevator deflection control unit 6, rudder kick manipulation unit 7 form, and each unit keeps the transmission leverage of original machine as far as possible
It is constant, the access point for reasonably selecting and newly grinding product is calculated, by design to meet transmission ratio, gearing factor and structure space installation
It is required that.The nose wheel steering unit 4, aileron movement manipulation unit 5, elevator deflection control unit 6, rudder kick behaviour
The reduction ratio of vertical unit 7 is identical, and the nose wheel steering unit 4, the aileron movement manipulation unit 5, the elevator are inclined
The reducer structure for turning manipulation unit 6 is the same, and mounting structure is the same.
Further, the unmanned plane remains man-machine part operating mechanism, and in space, open position access is new
The handle structure ground reduces system complexity and is conducive to construct, and as shown in Figure 6 and Figure 7, the aileron movement manipulation is single
Member 5, elevator deflection control unit 6 and the nose wheel steering unit 4 are arranged in original machine cockpit position, in center of gravity
Front, the rudder control unit 7 is arranged in original machine luggage compartment position, behind center of gravity；The aileron movement manipulation unit 5
Access point at first cross-tie under original machine control stick；The access point of the elevator deflection control unit 6 is in original
Machine control stick and torque tube joint access the hole of the triangle attachment base on original machine elevator control torque tube top by bolt
Place；The access point of the nose wheel steering unit 4 is cancelled original machine elasticity control stick, is changed on original machine steering fork ear rocker arm
Hard rod type, and install deflection sensor additional, cooperation control surface deflection is pneumatically rectified a deviation when high speed slide, and when low speed uses front-wheel inclined
Turn；The radius and original machine rudder mounting base of the output rocker arm 73 of retarder 72 described in the rudder kick manipulation unit 7
Deflection radius it is identical, retain original machine cable tension adjuster.
The nose wheel steering unit 4, aileron movement manipulation unit 5, elevator deflection control unit 6, rudder are inclined
Turning manipulation unit 7 is to access mechanical structure according to given gear ratio relation in original machine appropriate location, control according to the flight
The command signal that unit 2 provides carries out control action to realize the deflection of rudder face.The airborne sensor 1 can Real-time Feedback simultaneously
Aspect is resolved to the flight control units 2, is further sent out control instruction accordingly.
Said one or multiple technical solutions in the utility model embodiment at least have following one or more technologies
Effect:
1, in a kind of unmanned plane during flying steerable system provided by the embodiment of the utility model, the steerable system includes: to adopt
Collect the airborne sensor of unmanned plane during flying information；The unmanned plane during flying information is received, issues control letter after carrying out logical operation
Number flight control units, the output end of the input terminal of the flight control units and the airborne sensor communicates to connect；It connects
Receive the steering engine control unit of the control signal, the output of the input terminal and the flight control units of the steering engine control unit
End communication connection；Nose wheel steering unit, the nose wheel steering unit include first harmonic decelerator steering engine, first subtract
Fast device, first connecting rod, the first rocker arm, wherein the first harmonic decelerator steering engine, the first retarder, first connecting rod, first shake
Arm is sequentially connected；Aileron movement manipulation unit, the aileron movement manipulation unit include second harmonic retarder steering engine, second subtract
Fast device, second connecting rod, the second rocker arm, wherein the second harmonic retarder steering engine, the second retarder, second connecting rod, second shake
Arm is sequentially connected；Elevator deflection control unit, the elevator deflection control unit include third harmonic retarder steering engine,
Three retarders, third connecting rod, third rocker arm, wherein the third harmonic retarder steering engine, third retarder, third connecting rod,
Three rocker arms are sequentially connected；Rudder kick manipulation unit, the rudder kick manipulation unit include the 4th harmonic speed reducer rudder
Machine, the 4th retarder, wherein the 4th harmonic speed reducer steering engine is connect with the 4th retarder；Wherein, the steering engine control
Unit processed is according to the control information to the nose wheel steering unit, aileron movement manipulation unit, elevator deflection control
Unit, rudder kick manipulation unit are controlled.Solve in the prior art because accumulative gap is larger, cause deflection angle or
System responds the requirement that control system is not achieved, and forms more complicated, manufacture essence using high-torque hydraulic steering engine bring system
The technical issues of requiring high and assembly difficulty, hydraulic system failure to be not easy inspection and exclusion and system delay is spent, is reached
Scientific arrangement is reasonable, meets design requirement, convenient for construction and maintenance, reduces the requirement to steering engine torque, reduces steering engine choosing
The technical effect of type difficulty.
2, the utility model embodiment passes through deflection sensor, the deflection sensor and the nose wheel steering unit
Connection.The technical effect for cooperating control surface deflection pneumatically to be rectified a deviation in unmanned plane high speed slide is reached.
3, the utility model embodiment is whole by the first retarder, the second retarder, third retarder, the 4th retarder
Body formula aluminium alloy or steel construction, and be primary speed-down, further reach amplification output torque, can realize power as required, pass
When the variation of dynamic ratio, deflection angle avoids, the accuracy of manufacture more complicated using high-torque hydraulic steering engine bring system composition
Seek the high technical effect that inspection and exclusion and system delay are not easy with assembly difficulty, hydraulic system failure.
Although the preferred embodiment of the utility model has been described, once a person skilled in the art knows basic
Creative concept, then additional changes and modifications can be made to these embodiments.It is wrapped so the following claims are intended to be interpreted as
It includes preferred embodiment and falls into all change and modification of the scope of the utility model.
Obviously, those skilled in the art the utility model embodiment can be carried out various modification and variations without departing from
The spirit and scope of the utility model embodiment.In this way, if these modifications and variations of the utility model embodiment belong to this
Within the scope of utility model claims and its equivalent technologies, then the utility model is also intended to encompass these modification and variations and exists
It is interior.
Claims (8)
1. a kind of unmanned plane during flying steerable system, which is characterized in that the steerable system includes:
Acquire the airborne sensor of unmanned plane during flying information；
The unmanned plane during flying information is received, issues the flight control units for controlling signal, the flight after carrying out logical operation
The output end of the input terminal of control unit and the airborne sensor communicates to connect；
Receive the steering engine control unit of the control signal, the input terminal and the flight control units of the steering engine control unit
Output end communication connection；
Nose wheel steering unit, the nose wheel steering unit include first harmonic decelerator steering engine, the first retarder,
One connecting rod, the first rocker arm, wherein the first harmonic decelerator steering engine, the first retarder, first connecting rod, the first rocker arm are successively
Connection；
Aileron movement manipulation unit, the aileron movement manipulation unit include second harmonic retarder steering engine, the second retarder,
Two connecting rods, the second rocker arm, wherein the second harmonic retarder steering engine, the second retarder, second connecting rod, the second rocker arm are successively
Connection；
Elevator deflection control unit, the elevator deflection control unit include third harmonic retarder steering engine, third deceleration
Device, third connecting rod, third rocker arm, wherein the third harmonic retarder steering engine, third retarder, third connecting rod, third rocker arm
It is sequentially connected；
Rudder kick manipulation unit, the rudder kick manipulation unit include the 4th harmonic speed reducer steering engine, the 4th deceleration
Device, wherein the 4th harmonic speed reducer steering engine is connect with the 4th retarder；
Wherein, the steering engine control unit according to control information to the nose wheel steering unit, aileron movement manipulation unit,
Elevator deflection control unit, rudder kick manipulation unit are controlled.
2. steerable system as described in claim 1, which is characterized in that the steerable system further include:
Sensor is deflected, the deflection sensor is connect with the nose wheel steering unit.
3. steerable system as described in claim 1, which is characterized in that the steerable system further include:
Ear is pitched in front-wheel steer, and one end of the front-wheel steer fork ear is connect with one end of the nose wheel steering unit；
Control linkage, the control linkage respectively with the aileron movement manipulation unit, elevator deflection control unit, preceding rotation
To fork ear connection；
Primary control surface, the primary control surface are connect with the control linkage or cable wire.
4. steerable system as described in claim 1, which is characterized in that the steerable system further include:
The nose wheel steering unit, aileron movement manipulation unit, the transmission ratio of elevator deflection control unit are identical.
5. steerable system as described in claim 1, which is characterized in that the first retarder, the second retarder, third retarder,
4th retarder respectively to the first harmonic decelerator steering engine, second harmonic retarder steering engine, third harmonic retarder steering engine,
4th harmonic speed reducer steering engine is slowed down and is amplified torque.
6. steerable system as claimed in claim 5, which is characterized in that first retarder, the second retarder, third are slowed down
Device, the 4th retarder are integral aluminum alloy or steel construction, and are primary speed-down.
7. steerable system as claimed in claim 6, which is characterized in that first retarder, the second retarder, third are slowed down
Device, the 4th retarder include an output shaft, and first retarder, the second retarder, third retarder, the 4th retarder
Mechanical interface with the output shaft is spline.
8. steerable system as claimed in claim 7, which is characterized in that the output shaft is double rocker arms or single rocker arm form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820640082.XU CN208233348U (en) | 2018-05-02 | 2018-05-02 | A kind of unmanned plane during flying steerable system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820640082.XU CN208233348U (en) | 2018-05-02 | 2018-05-02 | A kind of unmanned plane during flying steerable system |
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| CN208233348U true CN208233348U (en) | 2018-12-14 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217383A (en) * | 2019-06-24 | 2019-09-10 | 陕西飞机工业（集团）有限公司 | A kind of aircraft foot manipulation Nose Wheel Steering rigid control system |
| CN110498061A (en) * | 2019-08-28 | 2019-11-26 | 中国科学院工程热物理研究所 | There is the man-machine method for changing unmanned plane based on rudder control system modification |
| CN110510144A (en) * | 2019-08-28 | 2019-11-29 | 中国科学院工程热物理研究所 | The method that fixation aerofoil profile someone's machine based on Aileron control system repacking changes unmanned plane |
| CN110641685A (en) * | 2019-11-11 | 2020-01-03 | 中国科学院工程热物理研究所 | Front wheel steering control mechanism |
| CN113772081A (en) * | 2021-09-28 | 2021-12-10 | 上海莘汭驱动技术有限公司 | High-performance steering engine of unmanned aerial vehicle |
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2018
- 2018-05-02 CN CN201820640082.XU patent/CN208233348U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217383A (en) * | 2019-06-24 | 2019-09-10 | 陕西飞机工业（集团）有限公司 | A kind of aircraft foot manipulation Nose Wheel Steering rigid control system |
| CN110217383B (en) * | 2019-06-24 | 2023-06-23 | 陕西飞机工业（集团）有限公司 | Hard steering system for steering front wheel by aircraft foot |
| CN110498061A (en) * | 2019-08-28 | 2019-11-26 | 中国科学院工程热物理研究所 | There is the man-machine method for changing unmanned plane based on rudder control system modification |
| CN110510144A (en) * | 2019-08-28 | 2019-11-29 | 中国科学院工程热物理研究所 | The method that fixation aerofoil profile someone's machine based on Aileron control system repacking changes unmanned plane |
| CN110641685A (en) * | 2019-11-11 | 2020-01-03 | 中国科学院工程热物理研究所 | Front wheel steering control mechanism |
| CN113772081A (en) * | 2021-09-28 | 2021-12-10 | 上海莘汭驱动技术有限公司 | High-performance steering engine of unmanned aerial vehicle |
| CN113772081B (en) * | 2021-09-28 | 2024-05-14 | 上海莘汭驱动技术有限公司 | High-performance unmanned aerial vehicle steering engine |
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