CN216660294U - Undercarriage device and unmanned aerial vehicle - Google Patents

Abstract

The utility model provides an undercarriage device and unmanned aerial vehicle, undercarriage device includes: the sensor comprises an arched beam, a sensor assembly and a comparator, wherein the arched beam comprises a main beam part and two leg parts positioned on two sides of the main beam part; the sensor assembly is arranged on the arched beam and used for measuring deformation information of the arched beam; the comparator is connected with the sensor assembly and receives the deformation quantity information; and when the deformation amount of the arched beam is larger than a preset value, judging that the landing gear falls to the ground. The undercarriage device that this disclosure provided can judge whether the undercarriage falls to the ground.

Description

Undercarriage device and unmanned aerial vehicle

Technical Field

The utility model relates to an aircraft technical field particularly, relates to an undercarriage device and unmanned aerial vehicle.

Background

The unmanned aerial vehicle is an unmanned aerial vehicle operated by a radio remote control device and a self-contained program control device. Because of the characteristics of simple structure, low cost, good control capability and the like, the multi-rotor unmanned aerial vehicle can integrate various loads such as a GPS (global positioning system), a motion camera and the like to complete a relatively complex task, and is widely popularized in the mass market. The landing gear system is an important component system of the unmanned aerial vehicle, and is an important part for the unmanned aerial vehicle to independently complete landing and take-off.

However, in the prior art, the unmanned aerial vehicle relies on the hydraulic pressure signal as the undercarriage wheel load signal more, and the wheel load signal system is complex and high in cost, and does not meet the requirements of small and medium-sized unmanned aerial vehicles on low manufacturing cost and simple maintenance cost.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the present disclosure is to provide an undercarriage device and an unmanned aerial vehicle, which can determine whether an undercarriage falls to the ground.

According to an aspect of an embodiment of the present disclosure, there is provided a landing gear arrangement for an aircraft, the landing gear arrangement comprising:

the arched beam comprises a main beam part and two leg parts positioned on two sides of the main beam part;

the sensor assembly is arranged on the arched beam and used for measuring deformation information of the arched beam;

the comparator is connected with the sensor assembly and receives the deformation information; and when the deformation amount of the arched beam is larger than a preset value, judging that the landing gear falls to the ground.

In an exemplary embodiment of the present disclosure, the sensor assembly includes:

one end of the tension sensor is connected with the main beam part of the arched beam, and the other end of the tension sensor is connected with one leg part of the arched beam; the tension sensor is used for measuring deformation information of the leg part relative to the main beam part.

In an exemplary embodiment of the present disclosure, the sensor assembly further includes:

and the elastic piece is connected between the tension sensor and the main beam part or the leg part.

In an exemplary embodiment of the present disclosure, the sensor assembly further includes:

the adjusting rods are connected between the tension sensor and the main beam part or the leg parts, and are respectively connected with the elastic parts at two ends of the tension sensor; the length of the adjusting rod is adjustable.

In an exemplary embodiment of the present disclosure, the elastic member is a spring.

In an exemplary embodiment of the present disclosure, the sensor assembly includes a plurality of the tension sensors, and the tension sensors are respectively connected between the two leg portions and the main beam portion.

In an exemplary embodiment of the disclosure, the tension sensors respectively connected between the two leg portions and the main beam portion are symmetrically disposed with respect to the main beam portion.

In an exemplary embodiment of the present disclosure, the sensor assembly includes:

a distance sensor including a contact head abutting on the main beam portion; when the main beam part deforms to drive the contact head to stretch, the distance sensor outputs deformation information of the arched beam according to the stretching amount of the contact head.

In an exemplary embodiment of the disclosure, a roller is disposed on one end of the contact head contacting the main beam portion.

According to another aspect of the disclosed embodiments, there is provided a drone including the landing gear device described above.

The utility model provides an undercarriage device, undercarriage device when falling to the ground, the bow-shaped roof beam receives aircraft gravity and tire to the holding power influence of bow-shaped roof beam and produce and warp, acquires the deformation volume information of bow-shaped roof beam through the sensor subassembly, can judge whether the undercarriage falls to the ground according to deformation volume information through the comparator after that to realize judging the purpose that the undercarriage falls to the ground, undercarriage device manufacturing cost is lower with the maintenance cost.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It should be apparent that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived by those of ordinary skill in the art without inventive effort. In the drawings:

fig. 1 is a schematic diagram illustrating a floor force of an arched beam according to an embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a landing gear arrangement provided in an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a landing gear arrangement provided by another embodiment of the present disclosure;

fig. 4 is a schematic diagram of a resistive distance sensor according to an embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure. The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

Although relative terms, such as "upper" and "lower," may be used in this specification to describe one element of an icon relative to another, these terms are used in this specification for convenience only, e.g., in accordance with the orientation of the examples described in the figures. It will be appreciated that if the device of the icon were turned upside down, the element described as "upper" would become the element "lower". When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via another structure.

The terms "a," "an," "the," and "at least one" are used to indicate the presence of one or more elements/components/parts/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first," "second," and the like are used merely as labels, and are not limiting on the number of their objects.

Embodiments of the present disclosure provide, first, a landing gear arrangement for an aircraft, as shown in fig. 2, the landing gear arrangement including: a bow beam 10, a sensor assembly 20 and a comparator, the bow beam 10 comprising a main beam portion 110 and two leg portions 120 located at both sides of the main beam portion 110; the sensor assembly 20 is arranged on the arched beam 10 and used for measuring deformation information of the arched beam 10; the comparator is connected with the sensor assembly and receives deformation quantity information; and when the deformation amount of the arched beam 10 is larger than a preset value, judging that the landing gear falls to the ground.

Middle-size and small-size unmanned aerial vehicle installs carbon fiber bow-shaped beam more as aircraft and landing shock attenuation equipment, and it reaches the effect of shock attenuation buffering through structure bending deformation, has simple structure, the effectual characteristics of shock attenuation. The bow beam 10 is stressed as shown in fig. 1, before the bow beam 10 is landed, the bow beam 10 is in an initial state TO because the weight of the airplane is not borne, and after the airplane is landed, the bow beam 10 is deformed into a dotted line state LA under the influence of the airplane weight and the supporting force of the tire on the bow beam 10. Therefore, the distance (for example, 30mm to 70mm) between the center point of the arched beam 10 and the tire mounting hole changes before and after the landing.

The landing gear device provided by the disclosure, landing gear is when falling to the ground, and bow-shaped beam 10 receives aircraft gravity and tire to bow-shaped beam 10's holding power influence and produce the deformation, acquires bow-shaped beam 10's deformation volume information through sensor assembly 20, can judge whether the landing gear falls to the ground according to deformation volume information through the comparator afterwards to realize judging whether the landing gear falls to the ground's purpose, landing gear device manufacturing cost is lower with maintenance cost.

In one embodiment of the present disclosure, as shown in fig. 2, the sensor assembly 20 includes: a tension sensor 211. One end of the tension sensor 211 is connected to the main beam portion 110 of the arched beam 10, and the other end is connected to one leg portion 120 of the arched beam 10; the tension sensor 211 is used to measure deformation information of the leg portion 120 with respect to the main beam portion 110.

Wherein, the one end of the tension sensor 211 is connected with the position of the leg part 120 for mounting the wheel, and the middle position of the other end main beam part 110 is connected, so that when the arched beam 10 is deformed, a larger deformation amount can be obtained, and the accuracy of the measured data is improved. When one end of the tension sensor 211 is directly connected with the main beam part 110 of the arched beam 10 and the other end is directly connected with one leg part 120 of the arched beam 10, the self-measurable deformation quantity of the tension sensor 211 is larger than the deformation quantity generated when the arched beam 10 falls on the ground, so as to accurately judge whether the landing gear falls on the ground. For example, the measurement value of the tension sensor 211 before landing is 50N, the measurement value of the tension sensor 211 after landing is 300N, and the comparator judges whether the aircraft lands.

Specifically, as shown in fig. 2, the sensor assembly 20 further includes: a resilient member 212. The elastic member 212 is connected between the tension sensor 211 and the main beam portion 110 or the leg portion 120, and the elastic member 212 is used for compensating the deformation amount of the tension sensor 211, for example, the distance between the center point of the arched beam 10 and the tire mounting hole may be changed by 30mm to 70mm before and after landing of the landing gear, but the tension sensor 211 is basically unchanged, so the deformation amount of the tension sensor 211 needs to be compensated. The tension sensor 211 judges the magnitude of deformation generated when the bow beam 10 falls on the ground through the change of the tension magnitude, thereby judging whether the landing gear falls on the ground or not.

The elastic member 212 may be a spring, which has a small mass and a good elastic linearity. The two ends of the spring can be respectively connected with the arched beam 10 and the tension sensor 211 in a hanging mode by adopting a hook, so that the assembly and the disassembly are convenient. The elastic member 212 may also be a rubber member or other member having a certain elastic deformation capability, for example, and the disclosure is not limited thereto.

Specifically, as shown in fig. 2, the sensor assembly 20 further includes: an adjustment lever 213. The adjustment rod 213 is connected between the tension sensor 211 and the main beam 110 or the leg 120, and is connected to both ends of the tension sensor 211 together with the elastic member 212; the length of the adjustment lever 213 is adjustable.

For example, as shown in fig. 2, the adjusting rod 213 is connected between the tension sensor 211 and the main beam 110, and the elastic member 212 is connected between the tension sensor 211 and the leg 120; of course, the adjusting rod 213 may be connected between the tension sensor 211 and the leg 120, and the elastic member 212 may be connected between the tension sensor 211 and the main beam 110.

The adjusting rod 213 may be a bidirectional screw rod, and the length of the bidirectional screw rod can be adjusted by rotating the bidirectional screw rod in forward and reverse directions. The bidirectional screw is used for adjusting the preset tension of the spring by adjusting the distance between the tension sensor 211 and the central point of the arched beam 10, and the spring and the tension sensor 211 need to be tensioned, so that the falling caused by airflow disturbance received in the air and the error judgment of the initial landing stage of the airplane (if the spring is not tensioned, the deformation of the initial landing stage is smaller than the tension distance of the spring) are prevented.

The adjusting rod 213 can also be an alphabet rod with a limit, and the relative position of the alphabet rod can be adjusted by adjusting the limit, so that the length of the adjusting rod 213 can be adjusted. All technical solutions related to the change of the specific structure of the adjusting lever 213 to achieve the technical effect of length adjustment belong to the protection scope of the present disclosure.

Specifically, the sensor assembly 20 includes a plurality of tension sensors 211, and the tension sensors 211 are respectively connected between the two leg portions 120 and the main beam portion 110. As shown in fig. 2, a tension sensor 211 is connected between each of the two leg portions 120 and the main beam portion 110, and is used for measuring the shape and size of each of the two leg portions 120 when the aircraft lands, so as to improve the accuracy of the determination.

As shown in fig. 2, the tension sensors 211 respectively connected between the two leg portions 120 and the main beam portion 110 are symmetrically arranged relative to the main beam portion 110, so that the data measured by the two tension sensors 211 are the same or closer to each other, and the accuracy of judging whether the landing gear lands is improved.

When the sensor assembly 20 is installed, the airplane is jacked up, the arched beam 10 is suspended, the distance is adjusted through the bidirectional screw rods, the pretightening force of the tension sensor 211 is A, and the spring is slightly lengthened. And then the whole landing gear is grounded, at the moment, the tension sensor 211 is obviously higher than A, and the data B of the tension sensor 211 under the static state of the airplane is recorded. The data of the tension sensor 211 is transmitted to a comparator of a flight control system, and the airplane is judged to be in a takeoff state by judging that the difference value between the measured value C of the tension sensor 211 and the measured value A, B is within the threshold value range A; falls within the range of the B threshold. For example, A is 50N, and the threshold range of A is 50 +/-10N; for example, B is 300N, and the threshold range of B is 300 + -50N.

In another embodiment of the present disclosure, the sensor assembly 20 includes: a distance sensor 222. As shown in fig. 3, the distance sensor 222 includes a contact head 223, the contact head 223 abutting on the main beam portion 110; when the main beam portion 110 deforms to drive the contact head 223 to extend and retract, the distance sensor 222 outputs deformation amount information of the arched beam 10 according to the extension and retraction amount of the contact head 223.

Many installations carbon fiber bow-shaped roof beam of middle-size and small-size unmanned aerial vehicle reach the effect of shock attenuation buffering as aircraft and landing shock attenuation equipment through structure bending deformation, have simple structure, the effectual characteristics of shock attenuation. The bow beam 10 is stressed as shown in fig. 1, before the bow beam 10 is landed, the bow beam 10 is in an initial state TO because the weight of the airplane is not borne, and after the airplane is landed, the bow beam 10 is deformed into a dotted line state LA under the influence of the airplane weight and the supporting force of the tire on the bow beam 10. Therefore, the relative distance between the surface of the main beam section 110 of the arched beam 10 and the aircraft fuselage 221 varies by 5mm to 10mm before and after landing.

The sensor assembly 20 mainly includes a body 221 and a distance sensor 222, wherein the distance sensor 222 is a resistor type, and the principle is shown in fig. 4. The resistance between the 1 end and the 3 end is constant, the 2 point is driven to move by the change of the distance, and the resistance values between the 1 point and the 2 point and between the 2 point and the 3 point are changed. The landing gear is subject to the weight of the aircraft and the support force of its tires on the landing gear, which results in a change in the distance between the arched beam 10 of the landing gear and the fuselage 221. The distance sensor 222 is mounted on the fuselage 221, and when the aircraft is not landing, the contact head 223 is about 3mm away from the arched beam 10, and the distance sensor 222 can detect that the current stroke is the maximum stroke; after the aircraft lands, because the arched beam 10 deforms, the contact head 223 contacts with the arched beam 10 and generates an upward stroke, the distance sensor 222 detects that the current stroke is A, the flight control system sets the aircraft wheel load signal threshold value to be B, judges the value of A, and judges that the aircraft is in a landing state when A is larger than B; when A is less than B, the aircraft is in an un-landed state.

Wherein, a roller is disposed at the contact end of the contact head 223 and the main beam portion 110. Because the arched beam 10 deforms after the aircraft lands, and the contact head 223 contacts with the arched beam 10 and generates an upward stroke, transverse relative displacement can be generated between the contact head 223 and the arched beam 10, and a roller is arranged at the contact end of the contact head 223 and the main beam part 110, so that relative sliding between the contact head 223 and the arched beam 10 can be facilitated, and the contact head 223 is prevented from damaging the arched beam 10 made of carbon fiber.

Further, the distance sensor may be an infrared distance sensor fixed to the fuselage, and the infrared distance sensor is used to measure a change value of a relative distance between the surface of the main beam portion 110 of the arched beam 10 and the fuselage 221 of the aircraft, thereby determining whether the aircraft is in a landing state.

In addition, the material of the arched beam is not limited in the present disclosure, and may be formed of, for example, a carbon fiber material, a metal rubber composite material, or the like.

Embodiments of the present disclosure also provide an unmanned aerial vehicle, which includes an undercarriage device. The advantages of the unmanned aerial vehicle are discussed above in relation to the landing gear arrangement and will not be described in further detail herein.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A landing gear arrangement for an aircraft, comprising:

the arched beam comprises a main beam part and two leg parts positioned on two sides of the main beam part;

the sensor assembly is arranged on the arched beam and used for measuring deformation information of the arched beam;

the comparator is connected with the sensor assembly and receives the deformation information; and when the deformation amount of the arched beam is larger than a preset value, judging that the landing gear falls to the ground.

2. A landing gear arrangement according to claim 1, wherein the sensor assembly comprises:

one end of the tension sensor is connected with the main beam part of the arched beam, and the other end of the tension sensor is connected with one leg part of the arched beam; the tension sensor is used for measuring deformation information of the leg part relative to the main beam part.

3. The landing gear arrangement of claim 2, wherein the sensor assembly further comprises:

and the elastic piece is connected between the tension sensor and the main beam part or the leg part.

4. The landing gear arrangement of claim 3, wherein the sensor assembly further comprises:

the adjusting rods are connected between the tension sensor and the main beam part or the leg part, and are respectively connected with the elastic parts at two ends of the tension sensor; the length of the adjusting rod is adjustable.

5. A landing gear arrangement according to claim 3, wherein the resilient member is a spring.

6. A landing gear arrangement according to claim 3, wherein the sensor assembly includes a plurality of the tension sensors, the tension sensors being connected between each of the two leg portions and the main beam portion.

7. A landing gear arrangement according to claim 6, wherein the tension sensors respectively connected between the two leg portions and the main beam portion are symmetrically disposed with respect to the main beam portion.

8. A landing gear arrangement according to claim 1, wherein the sensor assembly comprises:

a distance sensor including a contact head abutting on the main beam portion; when the main beam part deforms to drive the contact head to stretch, the distance sensor outputs deformation information of the arched beam according to the stretching amount of the contact head.

9. A landing gear arrangement according to claim 8, wherein the contact head is provided with rollers at the end that contacts the main beam portion.

10. An unmanned aerial vehicle comprising a landing gear arrangement according to any of claims 1 to 9.

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