CN210653623U

CN210653623U - Vibration reduction structure of unmanned helicopter undercarriage

Info

Publication number: CN210653623U
Application number: CN201921148399.2U
Authority: CN
Inventors: 汤兴华; 李超
Original assignee: Grapefruit Aviation Intelligent Technology (nanjing) Co Ltd
Current assignee: Grapefruit Aviation Intelligent Technology (nanjing) Co Ltd
Priority date: 2019-07-20
Filing date: 2019-07-20
Publication date: 2020-06-02
Anticipated expiration: 2029-07-20

Abstract

The utility model discloses an unmanned helicopter undercarriage damping structure uses in unmanned helicopter field, and its technical scheme main points are: the undercarriage comprises a machine body, an undercarriage and a vibration damping piece arranged on the undercarriage, wherein two groups of fixing plates are arranged on the undercarriage; damping piece: the device comprises a first rotating shaft, a second rotating shaft, a first supporting block and a second supporting block, wherein the first rotating shaft is rotatably connected to a fixing plate, the first supporting block is rotatably connected to the fixing plate through the first rotating shaft, the second rotating shaft is rotatably connected to the first supporting block, the second supporting block is rotatably connected to the first supporting block through the second rotating shaft, and the second supporting block is connected to the bottom of a machine body; has the technical effects that: the possibility of resonance between the undercarriage and the machine body when the machine body descends is reduced, and the vibration damping piece plays a vibration damping effect on the machine body, so that the machine body is stable.

Description

Vibration reduction structure of unmanned helicopter undercarriage

Technical Field

The utility model relates to an unmanned helicopter field, in particular to unmanned helicopter undercarriage damping structure.

Background

An unmanned helicopter is a vertical take-off and landing unmanned aircraft flying by radio ground remote control or autonomous control, belongs to a rotor aircraft in structural form, and belongs to a vertical take-off and landing aircraft in function. In recent decades, along with the research progress of composite materials, power systems, sensors, especially flight control and other technologies, unmanned helicopters have been rapidly developed and are becoming the focus of people's attention. Landing of the corresponding drone helicopter is an important issue.

When the unmanned helicopter lands, the unmanned helicopter swings greatly to drive the undercarriage to resonate, and the self weight of the undercarriage drives the helicopter to vibrate to make the vibration amplitude of the helicopter large, so that the unmanned helicopter is unstable.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an unmanned helicopter undercarriage damping structure, its advantage: a plurality of supporting blocks which are rotatably connected are adopted between the undercarriage body and the undercarriage body to realize the movement allowance, and the possibility of resonance of the undercarriage body and the undercarriage body is reduced.

The above technical purpose of the present invention can be achieved by the following technical solutions: a vibration damping structure of an undercarriage of an unmanned helicopter comprises the undercarriage and a vibration damping piece arranged on the undercarriage, wherein the undercarriage is fixed at the bottom of a machine body through the vibration damping piece, and two groups of fixing plates are arranged on the undercarriage;

damping piece: the novel bearing support device is characterized by comprising a first rotating shaft, a second rotating shaft, a first supporting block and a second supporting block, wherein the second supporting block is connected to the bottom of the machine body, the first rotating shaft is rotatably connected to a fixing plate, a third groove for accommodating the first supporting block is formed in one side, facing the machine body, of the fixing plate, the first supporting block is rotatably connected to the fixing plate through the first rotating shaft, a fourth groove is formed in one end of the first supporting block, the fourth groove is rotatably connected with the second rotating shaft, and the second rotating shaft is rotatably connected with the second supporting block.

Through the technical scheme, when the organism descends, the organism supports downwards and presses the second supporting block, the first supporting block of second supporting block downward movement drive swings in first pivot, the swing of first supporting block drives the undercarriage swing, make the organism have unnecessary allowance for movement when descending, reduced undercarriage and organism resonant possibility, reduced the vibration range of undercarriage simultaneously, make the undercarriage obtain the buffering to the reaction force of organism, thereby guaranteed the stability of organism.

The utility model discloses further set up to: the first groove matched with the connecting block fixedly connected with the bottom of the machine body is formed in one side, facing the machine body, of the second supporting block, the connecting block is inserted into the first groove, bolts penetrate through the groove walls on the two sides of the first groove and the connecting block at the same time, and first nuts are connected to the bolts in a threaded mode.

Through the technical scheme, an operator inserts the connecting block into the first groove on the second supporting block, penetrates the bolt through the groove wall and the connecting block which simultaneously penetrate through the first groove, is connected to the bolt through the first nut in a threaded manner, and the first nut is abutted against the outer wall of the first groove, so that the bolt and the nut fix the second supporting block on the connecting block at the bottom of the machine body, the vibration damping piece is fixed at the bottom of the machine body, and the machine body is more stable; on the other hand, the second supporting block is fixed and detachable through bolts, and the second supporting block is convenient to replace and maintain.

The utility model discloses further set up to: a second groove is formed in one side, far away from the second supporting block, of the first supporting block, a third rotating shaft is connected in the second groove in a rotating mode, a rubber cylinder is sleeved on the third rotating shaft, and the rubber cylinder is abutted to the bottom of the third groove.

Through above-mentioned technical scheme, the organism is when aerial, and the undercarriage hangs in the air, and the one end that first supporting shoe is close to the second supporting shoe is mentioned by the second supporting shoe, and the rubber cylinder of connection on first supporting shoe contradicts in the third recess to the possibility that rocks of undercarriage produced the influence to the stability of flight when reducing unmanned aerial vehicle flight.

The utility model discloses further set up to: the improved structure of the machine body comprises a machine body and is characterized in that a first fixing ring is fixedly connected to the second supporting block, a guide groove is formed in one side, facing the first fixing ring, of the second supporting block, a sliding block is connected to the guide groove in a sliding mode, a second fixing ring is fixedly connected to the sliding block, the first fixing ring and the second fixing ring are wrapped on two sides of a connecting shaft fixedly connected with the bottom of the machine body, a threaded rod penetrates through the groove walls of the sliding block and the guide groove, and second nuts are connected to two ends of the threaded rod in.

Through the technical scheme, operating personnel slides the slider in the guide way, it contradicts with first solid fixed ring to the solid fixed ring of second on the slider, and the connecting axle of the solid fixed ring locking bottom of the body of first and second, the guide way plays the effect of direction to the slider, at this moment, pass guide way and slider simultaneously with the threaded rod, the second nut is screwed on at the both sides of threaded rod, make the slider fix in the spout, thereby with second fixed ring fixed connection on the second supporting shoe, can fix the second supporting shoe on the organism more firmly, thereby install the bottom of organism with the damping piece, reduce the undercarriage vibration and cause the possibility of influence to the organism.

The utility model discloses further set up to: the side wall of the first supporting block is provided with a limiting groove, the two side groove walls opposite to the third groove are respectively and fixedly connected with a limiting rod, and the limiting rods are connected in the limiting groove in a sliding mode.

Through above-mentioned technical scheme, when first supporting block rotated around first pivot, the gag lever post slided in the spacing groove, the spacing groove played spacing effect to the gag lever post plays spacing effect to first supporting block, make first supporting block can only swing in small interval, consequently restriction undercarriage along with the range of first supporting block vibration, thereby reduce undercarriage and organism resonant's range, reduce the influence of undercarriage vibration to the organism flight.

The utility model discloses further set up to: and a plurality of groups of sleeves are arranged at the bottom of the third groove, and a plurality of groups of damping springs are arranged in the sleeves.

Through the technical scheme, the sleeve pipe plays the direction to damping spring, spacing effect, make damping spring move along sheathed tube length direction, when first supporting shoe rotates along with first pivot, the bottom and the damping spring of first supporting shoe are contradicted, damping spring is because elasticity resumes, the effect of buffering has been played to the pressure that supports that comes from first supporting shoe, thereby reduce the effect that first supporting shoe wobbling range reached the damping, make the range of the undercarriage vibration of being connected with the fixed block reduce, further reduce the influence of undercarriage vibration to organism stability.

The utility model discloses further set up to: two symmetrically-arranged fixing holes are formed in the bottom of the second supporting block, and the second rotating shaft penetrates through one of the fixing holes.

Through above-mentioned technical scheme, two fixed orifices are symmetrical to be set up on the second supporting shoe, and the second pivot rotates and passes one of them fixed orifices during the use, and the tie point of organism and damping piece all can be connected through the second supporting shoe, and on the other hand, when a fixed orifices on the second supporting shoe damaged, the second supporting shoe can overturn, utilizes another fixed orifices fixed organism, can improve the rate of utilization of second supporting shoe.

The utility model discloses further set up to: and one side of the second supporting block, which faces the undercarriage, is fixedly connected with a rubber block.

Through the technical scheme, when the second supporting block slides downwards, the rubber block has a buffering effect on the downward pressure of the second supporting block, so that the possibility that the second supporting block directly collides with the undercarriage is reduced, and the second supporting block and the undercarriage are protected; on the other hand, the elasticity of rubber slab can reduce the range of second supporting shoe and the activity of first supporting shoe to reduce the vibration range of first supporting shoe and undercarriage, reduce the possibility that undercarriage vibration produces the influence to organism stability.

The utility model discloses further set up to: the landing gear on the both sides of organism is last fixedly connected with balancing pole respectively, the balancing pole is parallel with the fuselage, the both ends of balancing pole are the arc, when unmanned aerial vehicle descends, the balancing pole slides on ground.

Through the technical scheme: when the unmanned aerial vehicle vertically lands, the bottom of the balancing rod is in contact with the ground and swings on the ground, and the arcs on the two sides of the balancing rod can buffer the impact of the ground on the unmanned aerial vehicle, so that the possibility of collision between the unmanned aerial vehicle and the ground during landing is reduced; on the other hand, the balancing pole is connected with two undercarriage to pass through the undercarriage to the damping piece with the impact of unmanned aerial vehicle landing ground to the slider, thereby the range of vibration when buffering organism descends.

The utility model discloses further set up to: the balance rods on the two sides of the machine body are connected with pulleys, the pulleys are positioned at one end, close to the head of the machine body, of the balance rods, and when the machine body is lifted from the tail, the pulleys are abutted against the ground.

Through the technical scheme: an operator can grasp the undercarriage from the tail part to lift the unmanned aerial vehicle body, when the unmanned aerial vehicle needs to be moved, the unmanned aerial vehicle is subjected to rolling friction on the ground by virtue of the pulley, compared with the unmanned aerial vehicle which is directly subjected to friction with the ground by virtue of the bottom of the balancing pole, the rolling friction between the pulley and the ground is more labor-saving, and the unmanned aerial vehicle is convenient to move by the operator; on the other hand, the operator lifts unmanned aerial vehicle from the afterbody, and unmanned aerial vehicle relies on the pulley of organism both sides and the head of organism to stabilize subaerial, consequently makes things convenient for the inspection maintenance.

To sum up, the utility model discloses following beneficial effect has:

1. when the machine body descends, the first supporting block rotates through the first rotating shaft, the second supporting block rotates through the second rotating shaft, the moving allowance between the machine body and the undercarriage is realized, the possibility of resonance between the undercarriage and the machine body when the machine body descends is reduced, and the vibration damping piece plays a vibration damping effect on the machine body, so that the machine body is stable;

2. when first supporting block rotated around first pivot, the gag lever post slided in the spacing groove, and the gag lever post plays spacing effect to first supporting block for first supporting block can only swing in small interval, further reduces the influence of the swing by a wide margin of first supporting block to organism stability.

Drawings

Fig. 1 is a schematic view of the entire structure of embodiment 1.

Fig. 2 is an enlarged view of a portion a in fig. 1.

FIG. 3 is a schematic view of the entire structure of embodiment 2.

Fig. 4 is an enlarged view of a portion B in fig. 3.

FIG. 5 is a schematic view showing the connection between the position-restricting lever and the position-restricting groove in embodiment 2.

Reference numerals: 1. a landing gear; 2. a vibration damping member; 201. a first rotating shaft; 202. a second rotating shaft; 203. a first support block; 204. a second support block; 3. a fixing plate; 4. connecting blocks; 5. a third rotating shaft; 6. a first groove; 7. a bolt; 8. a second groove; 9. a rubber cylinder; 10. a third groove; 11. a sleeve; 12. a limiting groove; 13. a limiting rod; 14. a damping spring; 15. a fixing hole; 16. a rubber block; 17. a body; 18. a fourth groove; 19. a first retaining ring; 20. a second retaining ring; 21. a connecting shaft; 22. a guide groove; 23. a threaded rod; 24. a first nut; 25. a second nut; 26. a slider; 27. a pulley; 28. a balance bar.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Example 1: a vibration damping structure of an unmanned helicopter landing gear comprises two sets of landing gears 1 and two sets of vibration damping parts 2 arranged on the landing gears 1, wherein the landing gears 1 are connected with a machine body 17 through the vibration damping parts 2, the landing gears 1 are perpendicular to the machine body 17 and are fixedly connected to two sets of fixing plates 3, each vibration damping part 2 comprises a first rotating shaft 201, a second rotating shaft 202, a first supporting block 203 and a second supporting block 204, one side, facing the machine body 17, of each fixing plate 3 is provided with a third groove 10 for accommodating the first supporting block 203, the first rotating shaft 201 is rotatably connected to the fixing plate 3, the first supporting block 203 is rotatably connected to the third groove 10 through the first rotating shaft 201, one side, close to the second supporting block 204, of the first supporting block 204 is provided with a fourth groove 18, the fourth groove 18 is rotatably connected with the second rotating shaft 202, the second supporting block 204 is rotatably connected to the first supporting block 203 through the second rotating shaft 202, the top of the second supporting block 204 is provided with a first groove 6 matched with the connecting block 4 fixedly connected with the machine body 17, a bolt 7 penetrates through the first groove 6 and the connecting block 4, and a first nut 24 is connected to the bolt 7 through a thread. When the body 17 is lowered, the vibration damping member 2 makes the landing gear 1 realize an excessive movement margin through the rotation of the first support block 203 and the second support block 204, thereby reducing the possibility that the vibration of the landing gear 1 affects the body 17.

As shown in fig. 2, a rubber block 16 is fixedly connected to a side of the second support block 204 facing the landing gear 1, and the rubber block 16 acts as a buffer for the downward pressing force of the second support block 204, so as to reduce the possibility that the second support block 204 hits the landing gear 1, thereby protecting the second support block 204. The second groove 8 is formed in one end, far away from the second supporting block 204, of the first supporting block 203, the third rotating shaft 5 is connected to the second groove 8 in a rotating mode, the rubber cylinder 9 is sleeved on the third rotating shaft 5, and the inner diameter of the rubber cylinder 9 is larger than the diameter of the fifth rotating shaft 5, so that the rubber cylinder 9 has sliding allowance in the third rotating shaft 5. When the aircraft body 17 is in the air, the undercarriage 1 is hung in the air, one end of the first supporting block 203, which is close to the second supporting block 204, is lifted by the second supporting block 204, and the rubber cylinder 9 rotatably connected to the first supporting block 203 is abutted to the bottom of the third groove 10, so that the vibration amplitude of the undercarriage 1 during the flight of the aircraft body 17 is reduced, and the possibility that the undercarriage 1 affects the stability of the aircraft body 17 is reduced.

As shown in fig. 1, a balance bar 28 is fixedly connected to the landing gear 1 on both sides of the body 17, the balance bar 28 is parallel to the body 17, and both sides of the balance bar 28 are arc-shaped, when the body 17 lands vertically, the bottom of the balance bar 28 collides with the ground, the smooth arc surface on the balance bar 27 enables the body 17 to swing back and forth when vibrating, compared with the contact between the arc surface of the balance bar 28 and the ground, the arc surface is in contact with the ground at a right angle, and the balance bar 27 can relieve the reaction force of the body 17 facing the body 17 when the body 17 lands, thereby relieving the vibration amplitude when the body 17 lands. The balancing rods 28 on the two sides of the machine body 17 are respectively connected with the pulleys 27 on one side close to the head of the machine body 17, when an operator lifts the machine body 17 from the tail and drags the machine body 17, the two pulleys 28 roll on the ground, and compared with the direct friction between the machine body 17 and the ground, the operator drags the machine body 17 more labor-saving. When the head of the body 17 and the two pulleys 28 are abutted against the ground, the body 17 can be stabilized on the ground, which is convenient for an operator to check the bottom of the body 17.

The method comprises the following operation steps: when the aircraft body 17 is in the air, the undercarriage 1 is hung in the air, the aircraft body 17 lifts the second supporting block 204 through the connecting block 4, one end of the first supporting block 203, which is close to the second supporting block 204, is driven to move upwards, so that the first supporting block 203 swings in the second groove 8 through the first rotating shaft 201, the undercarriage 1 pulls the fixing plate 3 downwards under the action of gravity, and the rubber cylinder 9 on the other end of the first supporting block 203 is abutted against the bottom of the third groove 10, and therefore the possibility that the vibration of the undercarriage 1 in the air affects the flight stability is reduced.

When the body 17 descends, the body 17 vibrates due to collision with the ground, and the second support block 204 connected with the connection block 4 at the bottom of the body 17 vibrates up and down, so that the first support block 203 rotatably connected with the second support block 204 rotates in the third groove 10 through the first rotating shaft 201, resonance between the body 17 and the landing gear 1 is converted into the movement allowance of the first support block 203 and the second support block 204 through the vibration reduction part 2, and the resonance amplitude of the landing gear 1 and the body 17 is reduced. Meanwhile, when the stabilizer bar 28 at the bottom of the body 17 is in contact with the ground, since both sides of the stabilizer bar 28 are arc-shaped, the stabilizer bar 28 may vibrate on the ground through the arc-shaped portion when in contact with the ground, thereby alleviating the impact collision of the body 17 against the body 17 when the body 17 falls.

Example 2: the utility model provides an unmanned helicopter undercarriage damping structure, with embodiment 1 difference lie in, as figure 3 and figure 4, the welding has first solid fixed ring 19 (as figure 5) on the second supporting shoe 204, first solid fixed ring 19 semicircular in shape, guide way 22 has been seted up towards first solid fixed ring 19's one side to second supporting shoe 204, sliding connection has slider 26 in the guide way 22, the welding has semicircular solid fixed ring 20 in one side that second supporting shoe 204 was kept away from to slider 26, when first solid fixed ring 19 and second solid fixed ring 20 inconsistent and hug closely on the connecting axle 21 with organism 17 fixed connection, threaded rod 23 wears to be equipped with on slider 26 and the guide way 22. When the damping part 2 is installed, the operator slides the slider 26, so that the slider 26 slides towards the first fixing ring 19 along the guide groove 22, until the second fixing ring 20 is abutted against the first fixing ring 19 and the second fixing ring 20 lock the connecting shaft 21, at the moment, the threaded rod 23 passes through the guide groove 22 and the slider 26, the second nuts 25 are screwed at the two ends of the threaded rod 23 until the two second nuts 25 are abutted against the second supporting block 204, so that the second fixing ring 20 is fixedly connected to the second supporting block 204, and meanwhile, the second supporting block 204 is connected to the bottom of the body 17, so that the damping part 2 and the undercarriage 1 are fixed on the body 17.

As shown in fig. 5, two sets of sleeves 11 are respectively connected to one end of each of the four third grooves 10, which is far from the second support block 204, damping springs 14 are welded in the two sets of sleeves 11, and when the damping springs 14 are supported by the first support block 203, the damping springs 14 upwards abut against the first support block 203 due to elastic recovery of the damping springs, so that the vibration of the first support block 203 is buffered, and the amplitude of the vibration of the landing gear 1 driven by the first support block 203 is reduced. In practical use, rubber pads can be arranged in the four third grooves 10 instead of the sleeve 11 and the damping springs 14, so that the first supporting block 203 can be damped.

As shown in fig. 5, two side walls of the first supporting block 203 are respectively provided with a limiting groove 12, two side walls of the third groove 10 facing the first supporting block 203 are respectively and fixedly connected with a limiting rod 13, the limiting rod 13 slides in the limiting groove 12, and the limiting rod 13 and the limiting groove 12 keep a vertical state. When the organism descends, first supporting block 203 rotates through first pivot 201, at this moment, gag lever post 13 slides in spacing groove 12, gag lever post 13 plays spacing effect to first supporting block 203, thereby make first supporting block 203 can only remove in small interval, reduce the possibility of first supporting block 203 large amplitude swing, thereby reduce the relative vibration range with organism 17 of undercarriage 1, it is more stable when making organism 17 descend.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.

Claims

1. The utility model provides an unmanned helicopter undercarriage damping structure which characterized in that: the undercarriage structure comprises an undercarriage (1) and a vibration damping piece (2) arranged on the undercarriage (1), wherein the undercarriage (1) is fixed at the bottom of a machine body (17) through the vibration damping piece (2), and two groups of fixing plates (3) are arranged on the undercarriage (1);

damping piece (2): including first pivot (201), second pivot (202), first supporting shoe (203) and second supporting shoe (204), the bottom at organism (17) is connected in second supporting shoe (204), first pivot (201) rotate to be connected on fixed plate (3), third recess (10) that hold first supporting shoe (203) are seted up towards one side of organism (17) in fixed plate (3), first supporting shoe (203) rotate through first pivot (201) and connect on fixed plate (3), fourth recess (18) have been seted up to the one end of first supporting shoe (203), fourth recess (18) internal rotation is connected with second pivot (202), it is connected with second supporting shoe (204) to rotate on second pivot (202).

2. The unmanned helicopter landing gear damping structure of claim 1, wherein: the first groove (6) matched with the connecting block (4) fixedly connected with the bottom of the machine body (17) is formed in one side, facing the machine body (17), of the second supporting block (204), the connecting block (4) is inserted into the first groove (6), bolts (7) penetrate through the groove walls on the two sides of the first groove (6) and the connecting block (4) simultaneously, and first nuts (24) are connected to the bolts (7) in a threaded mode.

3. The unmanned helicopter landing gear damping structure of claim 2, wherein: a second groove (8) is formed in one side, away from the second supporting block (204), of the first supporting block (203), a third rotating shaft (5) is connected to the second groove (8) in a rotating mode, a rubber cylinder (9) is sleeved on the third rotating shaft (5), and the rubber cylinder (9) is abutted to the bottom of the third groove (10).

4. The unmanned helicopter landing gear damping structure of claim 1, wherein: the improved structure is characterized in that a first fixing ring (19) is fixedly connected to the second supporting block (204), a guide groove (22) is formed in one side, facing the first fixing ring (19), of the second supporting block (204), a sliding block (26) is arranged in the guide groove (22), a second fixing ring (20) is fixedly connected to the sliding block (26), the first fixing ring (19) and the second fixing ring (20) are wrapped on two sides of a connecting shaft (21) fixedly connected to the bottom of the machine body (17), a threaded rod (23) is arranged on the sliding block (26) and the guide groove (22) in a penetrating mode, and second nuts (25) are connected to two ends of the threaded rod (23) in a threaded mode.

5. The unmanned helicopter landing gear damping structure of claim 4, wherein: limiting grooves (12) are formed in two side walls of the first supporting block (203), limiting rods (13) are fixedly connected to two side groove walls of the third groove (10) in a relative mode respectively, and the limiting rods (13) are connected into the limiting grooves (12) in a sliding mode.

6. The unmanned helicopter landing gear damping structure of claim 5, wherein: the bottom of the third groove (10) is provided with a plurality of groups of sleeves (11), and a plurality of groups of sleeves (11) are internally provided with damping springs (14).

7. The unmanned helicopter landing gear damping structure of claim 2, wherein: two symmetrically-arranged fixing holes (15) are formed in the bottom of the second supporting block (204), and the second rotating shaft (202) penetrates through one of the fixing holes (15).

8. The unmanned helicopter landing gear damping structure of claim 1, wherein: one side of the second supporting block (204) facing the undercarriage (1) is fixedly connected with a rubber block (16).

9. The unmanned helicopter landing gear damping structure of claim 1, wherein: respectively fixedly connected with stabilizer bar (28) on undercarriage (1) on organism (17) both sides, stabilizer bar (28) are parallel with organism (17), the both ends of stabilizer bar (28) are the arc, when unmanned aerial vehicle descends, stabilizer bar (28) slide subaerial.

10. The unmanned helicopter landing gear damping structure of claim 9, wherein: the balance rods (28) on the two sides of the machine body (17) are connected with pulleys (27), the pulleys (27) are positioned at one end, close to the head of the machine body (17), of the balance rods (28), and when the machine body (17) is lifted from the tail, the pulleys (27) are abutted to the ground.