Multi-rotor flight vehicle undercarriage based on Stewart six-degree-of-freedom parallel mechanism

Abstract

The invention relates to a multi-rotor flight vehicle undercarriage based on a Stewart six-degree-of-freedom parallel mechanism. The multi-rotor flight vehicle undercarriage comprises the parallel mechanism, supporting claws, a fixing base, supporting columns and damping springs. The supporting claws are symmetrically arranged on the outer sides of the lower end of the parallel mechanism. The fixing base is located at the center of the lower portion of the parallel mechanism. One end of each supporting column is fixed to an installation column of the fixing base, and the other end of each supporting column is fixed to a reinforcing rib on the lower portion of the inclined part of the corresponding supporting claw. Each damping spring is wound on the corresponding supporting column in a sleeving mode. According to the multi-rotor flight vehicle undercarriage based on the Stewart six-degree-of-freedom parallel mechanism, the dual damping effects of pneumatic damping and spring damping are achieved, the parallel mechanism in a six-degree-of-freedom mode is adopted, the carrying capacity is high, and the final motion precision is high; the damage caused by vibration during landing to an airplane body is reduced, the safety of carrying objects or personnel is ensured; moreover, the radial length of the multi-rotor flight vehicle undercarriage is adjustable, so that the multi-rotor flight vehicle undercarriage is applicable to landing of different types of multi-rotor flight vehicles on different landforms and landing site spaces, and the application range is wider.

Description

technical field [0001] The invention relates to the field of aircraft, specifically a multi-rotor aircraft landing gear based on a Stewart six-degree-of-freedom parallel mechanism. Background technique [0002] Aircraft is an instrumental flying object manufactured by humans, capable of flying off the ground, flying in space and controlled by humans in the atmosphere or in space outside the atmosphere (space). Aircraft are divided into aircraft, spacecraft, rockets, missiles and guided weapons UAV is also a kind of aircraft. UAV is an unmanned aircraft controlled by radio remote control equipment and its own program control device. From a technical point of view, it can be divided into unmanned helicopters, unmanned fixed-wing aircraft, and unmanned aircraft. Multi-rotor aircraft, unmanned airships and unmanned parawing aircraft, etc.; can be divided into military and civilian use according to the application field, and military drones are divided into reconnaissance aircraf...

AI Technical Summary

Problems solved by technology

[0003] Multi-rotor UAV is a kind of UAV. Multi-rotor UAV has the advantages of compact structure, small size, strong popularity, flexible movement and stable flight. It is widely used in civilian and military applications, and is very popular among the public. Welcome; but at present, multi-rotor aircraft are also facing the two major problems of shock absorption and endurance. Endurance determines the flight time and stability of the aircraft, while shock absorption directly determines the stability and safety of the multi-rotor aircraft when it lands. Indirectly affect the quality of the multi-rotor aircraft itself and the safety of objects or personnel

There are also some technologies that have proposed solutions to the vibration damping problem of aircraft. For example, the Chinese patent No. 201510270375.4 discloses a kind of aircraft damping tripod. The sleeve and the inner shaft pass through the oil seal to form an internal sealing structure. Under the action of the resistance grease, the spring makes the expansion and contraction of the inner shaft play a buffering and shock-absorbing effect; the Chinese patent No. 201410012150.4 discloses a shock-absorbing device for an unmanned aerial vehicle, and the shock-absorbing effect is achieved by setting a shock-absorbing ball; However, the above technologies all have problems such as ineffective shock absorption.

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