CN216834259U

CN216834259U - Terrain self-adaptive unmanned aerial vehicle undercarriage based on SMA (shape memory alloy) locking and releasing device

Info

Publication number: CN216834259U
Application number: CN202123050451.0U
Authority: CN
Inventors: 宋小科; 章方才; 张瑞珍
Original assignee: East China Jiaotong University
Current assignee: East China Jiaotong University
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2022-06-28
Anticipated expiration: 2031-12-07

Abstract

The utility model provides a topography self-adaptation unmanned aerial vehicle undercarriage based on SMA locking release, this undercarriage have shrink when many rotor unmanned aerial vehicle normal flight and the ability that the landing expanded two kinds of operating condition down conversion. The size of whole undercarriage is adjustable, can supply not unidimensional unmanned aerial vehicle to use. The landing gear is provided with a locking function of the landing gear supporting column during normal flight by the SMA locking and releasing device, the landing gear supporting column is released under the auxiliary action of the cylindrical helical compression spring, the whole unlocking process is high in speed, small in impact and low in power consumption, and the landing gear can be repeatedly used. When falling to the ground, the cylinder helical compression spring in the bracing piece with ground contact earlier provides shock-absorbing function under the extension state, reduces impact and vibrations that receive when unmanned aerial vehicle falls to the ground, until other bracing pieces and ground contact, unmanned aerial vehicle accomplishes the descending task, realizes that unmanned aerial vehicle steadily descends under various topography circumstances, greatly reduces the unnecessary loss.

Description

Terrain self-adaptive unmanned aerial vehicle undercarriage based on SMA (shape memory alloy) locking and releasing device

Technical Field

The utility model relates to an unmanned aerial vehicle undercarriage structure technical field, concretely relates to many rotor unmanned aerial vehicle topography self-adaptation undercarriage can be used to on the aircrafts such as many rotor unmanned aerial vehicle, helicopter.

Background

Landing gear is an important device for supporting an aircraft for movement while taxiing on the ground. At present, the unmanned aerial vehicle undercarriage is mostly fixed bolster and wheel and constitutes, or is the fixed undercarriage of skid formula. With the development of unmanned aerial vehicle market in recent years, the change of future operation form variety, undercarriage as one of unmanned aerial vehicle's important part, its weight, buffer capacity, mounting means and structural strength etc. all have more rigorous technical requirement, and traditional fixed unmanned aerial vehicle undercarriage has been difficult to satisfy the task of landing of special topography, often takes place to turn on one's side the scheduling problem because of the unevenness on ground, produces adverse effect to the process of taking off and land, more probably causes huge economic loss when serious.

At present, the most common landing gear structure form of the multi-rotor unmanned aerial vehicle is generally a vertical rod with a certain radian, or a straight rod or an inclined rod is adopted to be directly contacted with the ground, the external dimensions of the landing gear are fixed during production, and the landing gear is difficult to meet the requirements of unmanned aerial vehicles with different dimensions. The fixed structure landing gear neglects the defect of poor performance on the basis of simple structure, and during the relatively rough landing process, the landing gear without the damping device is easy to bend and deform due to impact force generated with the ground during landing to generate large vibration, so that the machine body is laterally turned, and equipment damage is caused. Based on the above, aiming at the application requirements, a terrain adaptive unmanned aerial vehicle landing gear structure based on an SMA locking and releasing device is provided to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a SMA locking release topography self-adaptation unmanned aerial vehicle undercarriage, undercarriage need have the ability of converting under two kinds of operating condition of unmanned aerial vehicle normal flight and landing. The landing gear locks when unmanned aerial vehicle carries out normal flight task, whole external dimension when having reduced unmanned aerial vehicle flight, reduces air resistance, and SMA locking release mechanism unblock, the synchronous steady expansion of landing gear pillar during the landing. Wholly adopt SMA locking release mechanism to be the locking release device of undercarriage, adopt SMA as the flexible of power supply control spiral arm, through the rotation of bayonet lock, the bullet of bracing piece is opened under cylindrical helical compression spring's supplementary control, and cylindrical helical compression spring undertakes shock attenuation work simultaneously, realizes unmanned aerial vehicle at the subaerial steady descending of unevenness, satisfying the target requirement that can be better.

In order to realize the above functions, the utility model discloses a technical scheme as follows:

the utility model provides a topography self-adaptation unmanned aerial vehicle undercarriage based on SMA locking release, it is applicable in unmanned aerial vehicle at the subaerial descending task of certain bellied bumpiness, when carrying out the descending task, ground control personnel loosen the electric door, at this moment, SMA locking release unblock, the bracing piece is bounced completely, unmanned aerial vehicle descends perpendicularly under the action of gravity, because the unevenness on ground, four bracing pieces of unmanned aerial vehicle must have one and touch bellied ground at first, the inside cylinder spiral compression spring of bracing piece of ground connection at first receives the extrusion, the lower bracing piece begins to contract in the upper support pole, when the support arm that contacts ground at first has certain shrinkage, other bracing pieces also contact ground in succession, and contract like first root strut pole. The continuous slow down of whole in-process unmanned aerial vehicle's speed is until stopping, and the spring also because elastic potential energy is greater than organism gravity when compressing to the maximum, and the spring has the extension trend, realizes that unmanned aerial vehicle falls to the ground shock-absorbing function, satisfies the task that many topography steadily descended.

A terrain self-adaptive unmanned aerial vehicle landing gear based on an SMA locking and releasing device is structurally characterized in that the landing gear is shown in figure 1. The size of each connecting rod of the undercarriage can be adjusted along with the specific size of the unmanned aerial vehicle, and the undercarriage can be used on the unmanned aerial vehicles of various models. The SMA locking and releasing device is arranged in the upper support and is matched with a groove in the lower support rod as shown in figures 3 and 4. Undercarriage course of operation is as shown in fig. 2, and when unmanned aerial vehicle was when carrying out normal flight task, the shrink of topography self-adaptation undercarriage, when unmanned aerial vehicle will carry out the descending task, unmanned aerial vehicle topography self-adaptation undercarriage expandes, realizes the shock attenuation work when falling to the ground.

The utility model provides a topography self-adaptation unmanned aerial vehicle undercarriage based on SMA locking release, when unmanned aerial vehicle is when carrying out normal flight task, the bracing piece state of undercarriage is as shown in figure 3, and the lower support bar locks inside the upper support bar under SMA locking release's assistance, and the cylinder spiral compression spring that provides elasticity simultaneously is compressed, and SMA locking release's locking state is as shown in figure 5. When unmanned aerial vehicle carries out the descending task, the state of undercarriage bracing piece is as shown in fig. 4, and SMA locking release unblock is as shown in fig. 6, and the lower support bar pops open under the supplementary of cylinder spiral compression spring, and the boss of lower support bar top makes the lower support bar can not continue extension downwards when extending to certain length, and the spring also can not continue extension.

A terrain self-adaptive unmanned aerial vehicle landing gear based on an SMA locking and releasing device is characterized in that the SMA locking and releasing device is structurally characterized in that SMA wires of the SMA locking and releasing device act on a cantilever, and the position of a clamping pin is controlled through the cantilever so as to control the extension and retraction of a lower supporting rod of the landing gear. The whole SMA locking and releasing device is driven by two redundant SMA wires in parallel, so that the reliability of the locking state of the device is improved. When the device works, only the SMA shape memory alloy needs to be electrified by current, the electrifying temperature of the SMA wire rises, then the SMA wire contracts and deforms, the cantilever is pulled, the constraint of the cantilever on the clamping pin is removed, meanwhile, the clamping pin is bounced off under the assistance of the torsion spring, the constraint on the lower support rod is removed, the constraint of the cylindrical spiral compression spring is removed, the driving force during unlocking is provided, and the lower support rod is released. The SMA locking and releasing device can reduce unnecessary frictional resistance, further reduces the requirement on the restoring force of the SMA through the cantilever and the bayonet lock, can directly electrify and heat the SMA wire, and reduces the power requirement on a power supply, so that the whole device can be reused under the conditions of high releasing speed, small impact and low power.

Terrain self-adaptation unmanned aerial vehicle undercarriage, its adjustable installation mechanism is shown in figure 7, is connected through the I shape connecting rod between two poles around the installation, has beaten the through-hole between two poles of I shape, in order to realize the use on different overall dimension, only needs to correspond the mounted position of I shape connecting rod pair and can realize. The whole device is fixed by using bolts, and is simple and stable to mount.

Compared with the prior art, the utility model has the following advantages:

1. terrain self-adaptation unmanned aerial vehicle undercarriage can realize landing steadily on rugged ground, and furthest's reduction undercarriage receives the deformation when ground strikes.

2. The basic frame size of topography self-adaptation undercarriage is unchangeable, when being applied to not unidimensional unmanned aerial vehicle, only needs the length between the adjustment each connecting rod, just can adapt to not unidimensional unmanned aerial vehicle, and the assembly is simple, its use cost of greatly reduced.

3, the SMA locking and releasing device is more focused on the design of small size, large bearing capacity and short unlocking time, and the SMA locking and releasing device is arranged on the landing gear strut, so that the large bearing capacity can be provided, short-time and synchronous unlocking can be realized during unlocking, and the SMA locking and releasing device can be repeatedly used.

Drawings

FIG. 1: the utility model discloses in a topography self-adaptation unmanned aerial vehicle undercarriage schematic diagram based on SMA locking release mechanism, this undercarriage contains four bracing pieces. In fig. 1, a machine body; 2. a support bar; 3. an upper connecting rod; 4. an installation mechanism; 5. a lower connecting rod.

FIG. 2: the utility model discloses in a topography self-adaptation unmanned aerial vehicle undercarriage motion process schematic diagram based on SMA locking release mechanism. The figure shows two states of the landing gear in two states of flight and landing of the unmanned aerial vehicle.

FIG. 3: bracing piece state schematic diagram when unmanned aerial vehicle normally flies. In FIG. 3, 201. lower support bar; 202. an upper support rod; SMA lock release 203; 204. the cylindrical helical compression spring.

FIG. 4: bracing piece state schematic diagram when unmanned aerial vehicle descends.

FIG. 5: and the SMA locking and releasing device is in a locking state schematic diagram. In FIG. 5, 201. lower support bar; 202. an upper support rod; 205. a torsion spring; 206. a spring; 207, SMA wire; 208. a bayonet lock; 209. and (4) rotating the arm.

FIG. 6: and an SMA locking and releasing device is in an unlocking state schematic diagram.

FIG. 7 is a schematic view of: the structure of the adjustable installation mechanism is shown schematically. FIG. 7, 401. mounting the rear rod of the mechanism; 402. an I-shaped connecting rod; 403. a front rod is installed.

Detailed Description

It should be noted that, in the case of no conflict, features in the embodiments of the present application may be combined with each other, and the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

According to the utility model discloses topography self-adaptation unmanned aerial vehicle undercarriage based on SMA locking release, as shown in fig. 1, include: the device comprises a machine body 1, a support rod 2, an upper connecting rod 3, an installation mechanism 4 and a lower connecting rod 5. The machine body 1 is connected with the mounting mechanisms 4 through the supporting rods 2, the two machine bodies are connected through the lower connecting rod 5, and the two mounting mechanisms are connected through the upper connecting rod 3. Wherein the length between each connecting rod is adjustable.

As shown in fig. 2, the adaptive unmanned aerial vehicle landing gear has two states during normal flight and landing. When the unmanned aerial vehicle performs a normal flight mission, the support rods 2 of the landing gear are retracted, as shown in fig. 3, the lower support rod 201 is in a locked state under the action of the SMA locking and releasing device 202, the lower support rod 201 is retracted into the upper support rod 203, and at this time, the cylindrical helical compression spring 204 is in a compressed state. The locking state of the SMA locking release device is shown in fig. 5, the SMA wire 207 acts on the radial arm 209, the radial arm 209 presses the detent 208, the detent 208 is matched with the groove of the lower support rod 201, and the support rod is in a contraction state.

As shown in fig. 4, the state of the support bar 2 is shown for the adaptive drone landing gear when performing a landing mission. When the unmanned aerial vehicle executes a landing task, a ground operator only needs to open the electric door of the SMA locking and releasing device 202, the unlocking state of the SMA locking and releasing device is shown in fig. 6, the SMA wire 207 is heated and contracted, the spiral arm 209 is pulled back into the groove, the bayonet 208 rotates under the action of the torsion spring 205, the locking state of the SMA locking and releasing device on the lower support rod 201 is released, under the combined action of the cylindrical spiral compression spring 204, the lower support rod synchronously bounces, because the boss is arranged at the upper end of the lower support rod 201, the boss is blocked by the lower end of the upper support rod 203, so that the lower support rod 201 cannot continue to extend downwards, the spring cannot continue to extend, the whole unlocking process is short in time, and the unlocking speed is high.

The utility model provides a connecting rod size of self-adaptation unmanned aerial vehicle undercarriage is adjustable to satisfy different unmanned aerial vehicle's use, wherein installation mechanism 4's regulation is as shown in figure 7. The two ends of the mounting mechanism are connected through an I-shaped connecting rod 402, the I-shaped connecting rod is provided with a through hole, the mounting position of the bolt can be adjusted according to different size requirements and requirements, and the mounting mechanism is simple and convenient.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a topography self-adaptation unmanned aerial vehicle undercarriage based on SMA locking release, includes organism (1), bracing piece (2), upper connecting rod (3), installation mechanism (4) and lower connecting rod (5), its characterized in that: the machine body (1) is connected with the installation mechanism (4) through the supporting rod (2), the machine body (1) is connected through the lower connecting rod (5), the installation mechanism (4) is connected through the upper connecting rod (3), the lengths of the upper connecting rod (3) and the lower connecting rod (5) can be adjusted, and the length of the installation mechanism (4) can be adjusted.

2. The terrain adaptive unmanned aerial vehicle landing gear based on SMA locking and releasing device of claim 1, wherein: bracing piece (2) comprise last bracing piece (202) and lower support bar (201), the upper end of lower support bar (201) is provided with a cylinder spiral compression spring (204), the upper end of cylinder spiral compression spring (204) links to each other with the inside recess of last bracing piece (202), it has SMA locking release device (203) to go up bracing piece (202) internally mounted, the boss type is set to the upper end of lower support bar (201), be provided with two recesses on the boss, locking and unlocking state through SMA locking release device (203), with the cooperation of cylinder spiral compression spring (204), the shrink and the expansion of control lower support bar (201).

3. The terrain adaptive unmanned aerial vehicle landing gear based on the SMA locking and releasing device as claimed in claim 1, wherein: installation mechanism (4) comprise installation mechanism front rod (403), installation mechanism back rod (401) and I-shaped connecting rod (402), and this I-shaped connecting rod (402) is provided with evenly distributed's through-hole, through the through-hole cooperation with installation mechanism front rod (403) and installation mechanism back rod (401), through threaded connection, adjusts installation mechanism size, satisfies different unmanned aerial vehicle user demands.

4. The terrain adaptive unmanned aerial vehicle landing gear based on the SMA locking and releasing device as claimed in claim 1, wherein: the connection among the machine body (1), the supporting rod (2), the upper connecting rod (3), the mounting mechanism (4) and the lower connecting rod (5) is threaded.

5. The terrain adaptive unmanned aerial vehicle landing gear based on the SMA locking and releasing device as claimed in claim 2, wherein: the SMA locking and releasing device (203) is provided with two supporting rods and is arranged at the inner upper end of the upper supporting rod (202), the SMA locking and releasing device (203) comprises a torsion spring (205), a spring (206), an SMA wire (207), a clamping pin (208) and a spiral arm (209), the spiral arm (209) is pulled by the SMA wire (207) through electric heating deformation, the clamping pin (208) releases the locking of the lower supporting rod (201) under the action of the torsion spring (205), and the lower supporting rod (201) is unfolded under the combined action of a cylindrical spiral compression spring (204).