CN211364920U - Unmanned aerial vehicle's receive and releases undercarriage - Google Patents

Abstract

The utility model discloses a unmanned aerial vehicle's receive and release undercarriage, including steering mechanism, pillar, actuator, buffer gear, mechanism, joint Assembly. A steering wheel of the steering mechanism is fixedly connected with a steering wheel disc, the steering wheel disc is fixedly connected with an adapter, the adapter is inserted into a bearing, the bearing is installed in a bearing seat, and an installation seat is respectively connected with a steering wheel clamping piece and the bearing seat and is used for installing a front frame shaft and an actuating shaft; the strut is a hollow round rod and is fixedly connected with the steering mechanism and the buffer mechanism, and a sliding groove is formed in the strut to limit the buffer mechanism to move; the actuator adopts a worm gear type electric push rod; the buffer column is connected with the mechanism wheel; the wheel mechanism comprises a wheel fork, a wheel shaft and a wheel; the preceding frame of joint Assembly connects articulated steering mechanism and the preceding frame of fixed connection unmanned aerial vehicle, and the back frame connects articulated actuator and fixed connection unmanned aerial vehicle back frame. The utility model discloses an electric drive, mechanical auto-lock mode, light in weight, the part is few, and the structure is reliable.

Description

Unmanned aerial vehicle's receive and releases undercarriage

Technical Field

The utility model relates to an unmanned aerial vehicle undercarriage design field is a receive and release undercarriage particularly.

Background

In the field of fixed wing drones, the approach of rollout and take-off and landing is still the mainstream. According to statistics, the whole flight phase of unmanned aerial vehicle, more than 50% of safety accidents come from take-off and landing phases, and the undercarriage with excellent performance is the important guarantee that unmanned aerial vehicle safely flies and equipment is intact. Unmanned aerial vehicle's airspeed usually is no longer than 0.3 mach, and an important factor that restricts this type of unmanned aerial vehicle airspeed is that the undercarriage does not receive and release, and flight in-process resistance is too big, still causes unmanned aerial vehicle energy consumption too fast simultaneously, and whole journey shortens etc. bad consequence. Because unmanned aerial vehicle light in weight, the space size is little, it is very difficult to install an undercarriage that possesses the bearing function, turns to the function, receive and release the function.

At present, the retractable landing gear at home and abroad is mostly in a hydraulic driving mode, although the mode is mature in equipment and technology, the oil cylinder needs to be controlled through a motor control hydraulic pump, the retraction and the extension of the landing gear are controlled through the oil cylinder, so that the quality is increased, the reliability is reduced, the oil cylinder with high sealing performance and high precision requirement is needed, the maintenance cost at the later stage is increased, and the retractable landing gear is difficult to apply to a small unmanned aerial vehicle.

SUMMERY OF THE UTILITY MODEL

The utility model provides a to above-mentioned problem, a unmanned aerial vehicle's undercarriage scheme that receive and releases is proposed. The steering mechanism and the electric push rod of the steering engine direct-connected strut are used as a retraction and extension driving retraction mechanism, a solid spring type buffer column and the like, and compared with the traditional hydraulic retraction and extension undercarriage, the retraction and extension undercarriage scheme has the advantages of light weight, simplicity in operation, easiness in control, low maintenance cost and the like. In order to realize the purpose of the utility model, the specific technical details are as follows:

the utility model provides a small-size unmanned aerial vehicle's receive and release undercarriage, includes steering mechanism, pillar, actuator, buffer gear, mechanism, joint Assembly. The steering mechanism, the support column, the buffer mechanism and the turbine mechanism are connected in sequence, a formed assembly is hinged with the joint assembly on the front frame, and the actuator is hinged with the mounting seat of the steering mechanism and the joint assembly on the rear frame.

Preferably, steering mechanism includes the steering wheel as steering drive, connect the steering wheel with the steering wheel pivot, link to each other with the steering wheel and be used for the adaptor of connecting the pillar, entangle the bearing of adaptor and restriction direction, the bearing frame of installation bearing, the steering wheel fastener of connecting steering wheel and mount pad, the mount pad as the main carrier of installation steering mechanism, preceding frame axle, the back frame axle, the mount pad lower part is connected with the bearing frame, the side is connected with the steering wheel fastener, head and upper portion articulate preceding frame axle and back frame axle respectively, adaptor lower part disc face and mount pad lower surface contact, ground load transmission when shutting down the unmanned aerial vehicle and take off and land for the mount pad.

Preferably, the support rod body is a hollow circular tube, a sliding groove is formed in the support rod body, the limiting buffer mechanism can only do linear motion in the limiting buffer mechanism, a circular ring is arranged at the lower end of the support rod and used for traction, and the head disc is connected with an adapter of the steering mechanism through a bolt.

Preferably, the actuator is a pure electric linear push rod, the electric push rod in a worm gear form is adopted, an internal mechanical lock is arranged, the position of the undercarriage can be locked at any movement position, and a position signal sensor is arranged in the actuator to ensure that the undercarriage is in a normal retraction position. And meanwhile, when the device is put down, the actuator can act as an inclined strut to bear bending moment.

Preferably, the buffer mechanism comprises a buffer column, a spring, a first torsion arm and a second torsion arm, the upper end of the buffer column is inserted into the pillar, the cross section of the buffer column is matched with the sliding groove of the pillar, the lower end of the buffer column is cylindrical and inserted into the spring, the first torsion arm is hinged with the second torsion arm, the upper end and the lower end of the assembly are respectively hinged with the pillar and the wheel fork, the relative rotation of the upper structure and the lower structure is prevented, and meanwhile, the extension and retraction of the. The part of the buffer column and the strut which move relatively is coated with lubricating oil, so that the smooth linear motion is ensured. The upper end of the spring is propped against the lower end of the strut, and the lower end of the spring is propped against the machine wheel mechanism, so that the impact and the dustpan energy are absorbed. The upper part of the torque arm component is hinged with the lower end of the strut, and the lower part of the torque arm component is hinged with the turbine mechanism to play a role in transmitting torque.

Preferably, the wheel mechanism comprises a fork of the double-lug type, a wheel arranged in the middle of the fork, and an axle connecting the fork and the wheel. The wheels are solid rubber wheels or inflatable wheels, and play a role in absorbing impact and dustpan energy.

Preferably, the joint assembly comprises a lower base and 2 lugs, wherein the lugs clamp the bulkhead and are connected with the lower base.

The beneficial effect of this scheme:

1) the whole mechanism is a connecting rod sliding block mechanism, so that the mechanism is few, the structure is compact, and the maintenance cost is low;

2) the scheme adopts a pure electric linear push rod, realizes retraction and release movement, and has simple control and high reliability. At the same time, the device has an internal mechanical lock that can lock the landing gear in the stowed and lowered positions. An undercarriage position signal output device is arranged in the undercarriage, so that the undercarriage folding and unfolding position precision is ensured;

3) the steering mechanism designed by the scheme adopts a steering engine direct transmission mode, the steering action is correspondingly rapid, the structure is reliable, and the steering engine clamping piece is used for installation, so that the model of the steering engine is convenient to replace;

4) the force transmission route designed by the scheme is reasonable in arrangement, and the main stress parts bearing ground load are the mounting seat, the support column and the wheel fork, so that the structural reliability of the device is improved;

5) this use is novel can convenient installation in the little unmanned aerial vehicle of inner space, can realize bearing ground load simultaneously, turn to, receive and release the function such as, the quality that is lighter helps small-size unmanned aerial vehicle to pursue high speed, high when navigating, has stronger suitability.

Drawings

FIG. 1 is a schematic view of the operation state of the present invention

FIG. 2 is the general structure diagram of the present invention

FIG. 3 is a schematic view of the steering mechanism of the present invention

FIG. 4 is a schematic view of the pillar of the present invention and its cross-sectional shape

FIG. 5 is a schematic view of the buffering mechanism and the wheel mechanism of the present invention

Figure 6 is a schematic view of the joint assembly of the present invention

In the figure: 1-a steering mechanism; 2-a pillar; 3, an actuator; 4-a buffer mechanism; 5-a mechanism; 6-front frame joint assembly; 7-a back frame joint assembly; 8-front frame; 9-rear frame; 101-a steering engine; 102-a rudder wheel; 103-an adaptor; 104-a bearing; 105-a bearing seat; 106-steering engine clamping piece; 107-mounting seat; 108 — front frame axis; 109-actuating shaft; 401-buffer column; 402-a spring; 403 — a first torque arm; 404 — a second torsion arm; 501, a wheel fork; 502-axle 503-wheel; 601-lower base; 602-ear.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 and 2, a retractable landing gear of a small unmanned aerial vehicle comprises a steering mechanism 1, a strut 2, an actuator 3, a buffer mechanism 4, a turbine mechanism 5, a front frame joint assembly 6 and a rear frame joint assembly 7. The steering mechanism 1 is used as a main mounting carrier and is fixedly connected with the upper end of a strut 2 through bolts, a front frame joint component 6 is hinged, an upper part is hinged with a telescopic end of an actuator 3, the lower end of the strut 2 is connected with a buffer mechanism 4, the buffer mechanism 4 is connected with a mechanism 5, and the steering mechanism 1 can rotate around a front frame 8. The other end of the actuator 3 is connected with a rear frame joint component 7, and the actuator 3 can rotate around a rear frame 9. The retraction and extension movement is completed by means of the extension and retraction of the actuator 3.

As shown in fig. 3, the steering mechanism 1 includes a steering engine 101, a rudder wheel 102, an adapter 103, a bearing 104, a bearing seat 105, a steering engine fastener 106, a mounting seat 107, a front frame shaft 108, and an actuating shaft 109, the mounting seat 107 is used as a main carrier, the side edge of the mounting seat is provided with the steering engine fastener 106, the lower part of the mounting seat is provided with the bearing seat 105, and the head part and the upper side part of the mounting seat are used for mounting the front frame shaft 108 and the actuating shaft 109. The steering engine 101 is installed in the steering engine clamping piece 106, the steering wheel 102 and the adapter piece 103 are sequentially connected, and the steering engine 101 rotates to drive the lower part to move so as to complete the steering function.

As shown in fig. 4, the upper end of the pillar 2 is connected to the adaptor 103 of the steering mechanism 1 to transfer the ground load upwards, the lower end is provided with a ring for ground dragging, the sliding groove in the ring limits the buffer mechanism 4 to move linearly, and the lower end is hinged to the torque arm assembly of the buffer mechanism 4.

As shown in fig. 5, the damping mechanism 4 includes a damping column 401, a spring 402, a first torsion arm hinge 403, and a second torsion arm 404 forming a torsion arm assembly. The shape of the upper end of the buffering column 401 is matched with the inner sliding groove of the supporting column 2, and lubricating oil is coated on the part which moves relatively, so that smooth linear motion is guaranteed. The upper end of the spring 402 abuts against the lower end of the strut 2 and the lower end abuts against the wheel mechanism 5. The upper part of the torque arm component is hinged with the lower end of the strut 2, and the lower part of the torque arm component is hinged with the turbine mechanism 5, so that the torque transmission effect is achieved. The wheel mechanism 5 includes a fork 501 of a double-lug type, a wheel 503 attached to the middle of the fork 501, and an axle 502 connecting the fork 501 and the wheel 503. The wheel 503 is a solid rubber wheel or an inflatable wheel, and plays a role of absorbing impact and dustpan energy together with the spring 402.

The specific implementation mode is as follows:

1) a retracted state: when the unmanned aerial vehicle flies in the air, the undercarriage is retracted in an undercarriage cabin of a machine body, the actuator 3 does not work, the position sensor on the actuator indicates that the telescopic rod is in the shortest retraction state and is mechanically self-locked, the steering engine 101 in the steering mechanism 1 is in the middle position, and wheels 503 of the undercarriage are positioned in a symmetrical plane of the machine body;

2) and (3) motion state: when the unmanned aerial vehicle needs to land and enter a field, the actuator 3 is electrified to work, the telescopic rod continuously extends, other mechanisms of the undercarriage rotate around the front frame 8, the actuator 3 rotates around the rear frame 9, meanwhile, the actuator 3 and the steering mechanism 1 rotate mutually until the position sensor indicates that the undercarriage is in a laying-down position, and the movement mode is opposite to that when the undercarriage needs to be folded;

3) a put-down state: when unmanned aerial vehicle descends, undercarriage contact ground reaches the angle of putting down as required, and actuator 3 is out of work, and position sensor above that indicates the telescopic link to be in the longest state of stretching out and mechanical auto-lock, and buffer gear 4 absorbs main impact energy with turbine mechanism 5, and steering wheel 101 work in steering mechanism 1 in unmanned aerial vehicle slides lets unmanned aerial vehicle turn to under the effect of its moment of torsion.

The above is only the preferred embodiment of the present invention, and is not intended to be limiting the present invention, it is obvious that the skilled person in the field of unmanned aerial vehicles can be right the present invention can be variously modified and modified without departing from the spirit and scope of the present invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (6)

1. A retractable landing gear of a small unmanned aerial vehicle is characterized by comprising a steering mechanism (1), a support column (2), an actuator (3), a buffer mechanism (4), a wheel mechanism (5), a front frame joint assembly (6) and a rear frame joint assembly (7); steering mechanism (1) fixed connection pillar (2) upper end, the flexible end of articulated preceding frame joint subassembly (6) and actuator (3), the articulated back frame joint subassembly (7) of the other end of actuator (3), buffer gear (4) are connected to pillar (2) lower extreme, buffer gear (4) fixed connection wheel mechanism (5), preceding frame joint subassembly (6) and back frame joint subassembly (7) are fixed connection unmanned aerial vehicle's preceding frame (8) and back frame (9) respectively.

2. The retractable landing gear of the small unmanned aerial vehicle as claimed in claim 1, wherein the steering mechanism (1) comprises a steering engine (101), a steering wheel (102), an adapter (103), a bearing (104), a bearing seat (105), a steering engine clamping piece (106), a mounting seat (107), a front frame shaft (108) and an actuating shaft (109), the steering engine (101) is fixedly connected with the steering wheel (102), one end of the adapter (103) contains the internal thread connected steering wheel (102), the other end of the adapter (103) is connected with a support column (2) through a bolt, the adapter (103) is inserted into the bearing seat (104) and is mounted in the bearing seat (105), the steering engine clamping piece (106) is connected with the steering engine (101) through the bolt, and the mounting seat (107) is connected with the steering engine clamping piece (106) and the bearing seat (105) through the bolt respectively and is used for.

3. The retractable landing gear of a small unmanned aerial vehicle as claimed in claim 1, wherein the body of the strut (2) is a hollow round rod, a sliding groove is formed in the inner part of the strut, the limiting buffer mechanism can only move linearly in the inner part of the strut, and a ring is arranged at the lower end of the strut (2) and used for traction.

4. The retractable landing gear of a small unmanned aerial vehicle as claimed in claim 1, wherein the actuator (3) is an electric push rod in the form of a worm gear, and is provided with an internal mechanical lock and a position signal sensor to ensure that the landing gear is in a normal retractable position, and the actuator (3) can play a role of a diagonal brace when in a down state.

5. The retractable landing gear of a small unmanned aerial vehicle according to claim 1, wherein the buffering mechanism (4) comprises a buffering column (401), a spring (402), a first torsion arm (403), and a second torsion arm (404), the upper end of the buffering column (401) is inserted into the strut (2), the cross-sectional shape of the buffering column is matched with the sliding groove of the strut (2), the lower end of the buffering column is a cylinder inserted into the spring (402), the first torsion arm (403) is hinged with the second torsion arm (404), and the upper end and the lower end of the assembly are respectively hinged with the strut (2) and the wheel fork (501), so that the relative rotation of the upper structure and the lower structure is prevented, and the spring expansion and contraction are not hindered.

6. The retractable landing gear of a small unmanned aerial vehicle as claimed in claim 1, wherein the wheel mechanism comprises a wheel fork (501), an axle (502) and a wheel (503), the axle (502) penetrates through the wheel fork (501) to be connected with the wheel (503) through a bolt, and the wheel (503) is a rubber solid wheel or a pneumatic wheel.

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