Front wheel steering mechanism for miniature ship-borne fixed-wing unmanned aerial vehicle

Abstract

The invention provides a front wheel steering mechanism for a miniature ship-borne fixed-wing unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle rotation mechanisms, the front wheel steering mechanism comprises a front wheel assembly, a front starting mounting frame assembly is mounted above the front wheel assembly, a front starting steering engine assembly is mounted on the side wall of the front starting mounting frame assembly, and the front wheel assembly comprises a damping column body; a shock absorption column is fixedly installed on an output shaft of the shock absorption column body, the lower end of the shock absorption column body is fixedly connected with a front supporting frame, and a front lifting tire is installed below the front supporting frame, so that output of a front lifting steering engine is more efficient, and front wheel steering is correspondingly faster. The rotation output of the front steering engine drives the front wheel to rotate through the front rocker arm, the two ball head connecting rods and the steering engine rocker arm, accurate control over front wheel steering during autonomous take-off and landing of the unmanned aerial vehicle is guaranteed, meanwhile, it is guaranteed that front wheel steering can be manually and remotely controlled, and compared with a single-connecting-rod front wheel steering mechanism, the front wheel steering mechanism is simple in structure, high in precision, high in torsion resistance and high in efficiency, and can be widely applied to the field of unmanned aerial vehicles. The maintenance is convenient.

Description

Technical Field

[0001] The invention belongs to the technical field of the rotation mechanism of unmanned aerial vehicles, and more specifically, particularly relates to a front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle. Background Art

[0002] The front-wheel steering system of a shipborne fixed-wing unmanned aerial vehicle is particularly important for the taxiing, takeoff and landing processes of the unmanned aerial vehicle, and is a key component to ensure the stable control of the direction during the taxiing, takeoff and landing of the unmanned aerial vehicle on the ship deck. The front-wheel steering mechanism must ensure that the unmanned aerial vehicle taxis stably in a straight line as specified on the ship deck. Most of the front-wheel steering mechanisms of micro shipborne fixed-wing unmanned aerial vehicles adopt single-link front-wheel steering control. The single-link front-wheel steering control has insufficient accuracy and torsional resistance. In order to improve the accuracy, torsional resistance and reliability of the front-wheel steering mechanism of the unmanned aerial vehicle, on the basis of ensuring the simple structure of the front-wheel steering mechanism and not increasing its weight, a double-link front-wheel steering control structure is proposed.

[0003] The design of the double-link front-wheel steering control realizes the steering of the front wheel by driving a steering gear rocker arm, a double-ball head link and a front landing gear rocker arm through a steering gear, and has the advantages of simple structure, high accuracy, strong torsional resistance, high efficiency and easy maintenance. However, there are two deficiencies in the design of the single-link front-wheel steering mechanism:

[0004] (1) Insufficient accuracy: The insufficient accuracy of the single-link front-wheel steering mechanism is due to the dead band of the steering gear and the play between the link and the rocker arm.

[0005] (2) Insufficient torsional resistance: The single-link front-wheel steering mechanism realizes the steering of the front wheel by driving a steering gear rocker arm, a single link and a front landing gear rocker arm through a steering gear. Since the connection mode of the steering gear rocker arm, the single link and the front landing gear rocker arm is not stable enough, and the single link is used to output the drive of the steering gear, it is possible that the torsional resistance is insufficient, resulting in the failure of the entire steering mechanism. Summary of the Invention

[0006] In order to solve the above technical problems, the invention provides a front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle to overcome the problems of insufficient single-link front-wheel steering control.

[0007] A front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle, comprising a front-wheel assembly. Above the front-wheel assembly, a front landing gear mounting frame assembly is installed. On the side wall of the front landing gear mounting frame assembly, a front landing gear servo assembly is installed. The front-wheel assembly includes a shock-absorbing cylinder body. The output shaft of the shock-absorbing cylinder body is fixedly installed with a shock-absorbing support column. The lower end of the shock-absorbing cylinder body is fixedly connected to the front support frame. Below the front support frame, a front landing gear tire is installed. The front landing gear mounting frame assembly includes two front landing gear support frames. Between the two front landing gear support frames, two front landing gear steering bearings are installed. The two front landing gear steering bearings are sleeved on the surface of the shock-absorbing support column. The front landing gear servo assembly includes a servo motor. Above the servo motor, a servo motor rocker arm is installed. On the side of the servo motor rocker arm, a front landing gear rocker arm is installed. The servo motor is installed on the side of the front landing gear support frame. The front landing gear rocker arm is installed on the top of the shock-absorbing support column.

[0008] Preferably, a connecting frame is fixedly installed on the surface of the front support frame. Below the connecting frame, a front-wheel fork frame is provided. The front landing gear tire is installed between the two ends of the front-wheel fork frame. A rotating shaft frame is rotatably installed between the top of the front-wheel fork frame and the connecting frame. An axle frame is installed between the output shaft below the front support frame and the front-wheel fork frame.

[0009] Preferably, front landing gear bearing frames are fixedly installed between the top and bottom of the two front landing gear support frames. The two front landing gear steering bearings are both inlaid in the front landing gear bearing frames. Installation gaskets are installed on both sides of the two front landing gear support frames. A servo motor support is installed on the side of the front landing gear support frame. On both the left and right sides of the servo motor, side mounting frames are fixedly installed. The servo motor is installed on the side of the servo motor support, and the side mounting frames are connected to the top of the servo motor support.

[0010] Preferably, a servo motor gear is installed between the servo motor and the servo motor rocker arm, and the servo motor gear is close to the side of the servo motor. Two ball head link rods are installed between the servo motor gear and the front landing gear rocker arm, and the two ball head link rods are both close to the two sides of the servo motor rocker arm. A cylindrical tube is rotatably installed between the lower part of each ball head link rod and the front landing gear rocker arm. A connecting sleeve is fixedly installed in the middle of the front landing gear rocker arm. The connecting sleeve is sleeved on the top of the shock-absorbing support column.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] Eliminating dead travel error: The double-link structure can effectively avoid the problem of insufficient steering accuracy caused by the dead travel of the servo motor and the slop between the link rod and the rocker arm in a single-link structure, making the front-wheel steering control more accurate and meeting the high-precision direction control requirements in scenarios such as the deck taxiing, takeoff, and landing of the unmanned aerial vehicle.

[0013] Precise control implementation method: The rotational output of the front landing gear servo drives the front wheels to rotate through the front landing gear rocker arm, two ball joint connecting rods, and the servo rocker arm. This transmission method ensures precise control of the front wheel steering during the autonomous takeoff and landing of the UAV, and at the same time, it can also achieve manual remote control of the front wheel steering, improving the accuracy and reliability of control.

[0014] Stable connection and transmission: In the single-link front wheel steering mechanism, the servo realizes front wheel steering by driving the servo rocker arm, single link, and front landing gear rocker arm. Its connection method is not stable enough, and the single-link output drive may cause the steering mechanism to fail due to insufficient torsional resistance. In the double-link structure of the present invention, due to the use of two ball joint connecting rods for transmission, the stability and torsional resistance of the transmission are increased, which can effectively avoid the problem of the steering mechanism failure caused by insufficient torsional resistance, and improve the reliability of the entire steering mechanism.

[0015] Efficient power transmission: The link mechanism transmission uses double ball joint connecting rods. Compared with the single link, it is beneficial for the output of the front landing gear servo to be more efficient, making the front wheel steering response faster. When the UAV needs to quickly adjust the direction (such as encountering sudden airflows, etc.), it can react in time, improving the handling performance of the UAV and its adaptability in complex environments.

[0016] Simple and lightweight structure: While improving the performance, it ensures that the front wheel steering mechanism has a simple structure and does not increase its weight, meeting the requirements of the micro carrier fixed-wing UAV for lightweight components, not burdening the overall weight of the UAV, and being beneficial to the flight performance of the UAV.

[0017] Easy to maintain: The structural design of the invention facilitates the installation, disassembly, and inspection of each component. During the daily maintenance and servicing of the UAV, the steering mechanism can be quickly maintained, reducing the maintenance time and cost, and improving the usage efficiency of the UAV. Brief Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the front wheel steering mechanism of the present invention;

[0019] Figure 2 is a schematic overall structural diagram of the front wheel assembly of the present invention;

[0020] Figure 3 is a schematic structural diagram of the connection between the servo and the front landing gear support frame of the present invention;

[0021] Figure 4 is a schematic overall structural diagram of the front landing gear mounting frame assembly of the present invention;

[0022] Figure 5 is a schematic structural diagram of the mounting gasket of the present invention;

[0023] Figure 6 is a schematic overall structural diagram of the front landing gear servo assembly of the present invention.

[0024] In the figure, the correspondence between the component names and the drawing numbers is as follows: 1. Front wheel assembly; 11. Shock-absorbing cylinder body; 12. Shock-absorbing strut; 13. Front support frame; 14. Connecting frame; 15. Rotating shaft frame; 16. Front wheel fork frame; 17. Shaft frame; 18. Front tire; 2. Front mounting frame assembly; 21. Front support frame; 22. Front bearing frame; 23. Front steering bearing; 24. Mounting gasket; 25. Servo support; 3. Front servo assembly; 31. Servo; 32. Servo gear; 33. Servo rocker arm; 34. Ball head connecting rod; 35. Cylindrical pipe; 36. Front rocker arm; 37. Connecting sleeve; 38. Side mounting frame. Detailed implementation manners

[0025] The following further describes the implementation manners of the present invention in detail with reference to the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0026] Please refer to Figures 1-6 , the present invention provides a front wheel steering mechanism for a micro carrier-based fixed-wing unmanned aerial vehicle, including a front wheel assembly 1. Above the front wheel assembly 1, a front mounting frame assembly 2 is installed. On the side wall of the front mounting frame assembly 2, a front servo assembly 3 is installed. The front wheel assembly 1 includes a shock-absorbing cylinder body 11. The output shaft of the shock-absorbing cylinder body 11 is fixedly installed with a shock-absorbing strut 12. The lower end of the shock-absorbing cylinder body 11 is fixedly connected to the front support frame 13. Below the front support frame 13, a front tire 18 is installed. The front mounting frame assembly 2 includes two front support frames 21. Between the two front support frames 21, two front steering bearings 23 are installed. The two front steering bearings 23 are sleeved on the surface of the shock-absorbing strut 12. The front servo assembly 3 includes a servo 31. Above the servo 31, a servo rocker arm 33 is installed. On the side of the servo rocker arm 33, a front rocker arm 36 is installed. The servo 31 is installed on the side of the front support frame 21. The front rocker arm 36 is installed on the top of the shock-absorbing strut 12.

[0027] A connecting frame 14 is fixedly installed on the surface of the front support frame 13. Below the connecting frame 14, a front wheel fork frame 16 is provided. The front tire 18 is installed between the two ends of the front wheel fork frame 16. A rotating shaft frame 15 is rotatably installed between the top of the front wheel fork frame 16 and the connecting frame 14. Between the output shaft below the front support frame 13 and the front wheel fork frame 16, a shaft frame 17 is installed.

[0028] Front bearing frames 22 are fixedly installed between the top and bottom of the two front support frames 21. The two front steering bearings 23 are both inlaid and installed in the front bearing frames 22. Mounting gaskets 24 are installed on both sides of the two front support frames 21. On the side of the front support frame 21, a servo support 25 is installed. On both the left and right sides of the servo 31, side mounting frames 38 are fixedly installed. The servo 31 is installed on the side of the servo support 25, and the side mounting frame 38 is connected to the top of the servo support 25.

[0029] A servo gear 32 is installed between the servo 31 and the servo rocker arm 33, and on the side of the servo gear 32 close to the servo 31, two ball head linkages 34 are installed between the servo gear 32 and the front landing gear rocker arm 36. Both of the two ball head linkages 34 are close to the two sides of the servo rocker arm 33. A cylindrical tube 35 is rotatably installed between the lower part of each ball head linkage 34 and the front landing gear rocker arm 36. A connecting sleeve 37 is fixedly installed in the middle of the front landing gear rocker arm 36, and the connecting sleeve 37 is sleeved on the top of the shock absorber strut 12.

[0030] A front wheel steering structure applicable to a micro carrier-based fixed-wing UAV includes a front landing gear servo assembly, a front landing gear mounting frame assembly, and a front landing gear assembly. The front landing gear servo assembly and the front landing gear mounting frame assembly are arranged in the front cabin of the fuselage. The front landing gear mounting frame assembly is fixedly connected to the airframe. The front landing gear servo assembly is installed on the front landing gear mounting frame assembly. The front landing gear assembly with a front wheel is connected to the mounting support of the landing gear through a bearing. The front landing gear servo assembly is connected to the front landing gear strut through a double rocker arm and a double linkage. By controlling and driving the front landing gear servo, the steering of the front wheel is controlled. The single-link mechanism is improved to a double-link mechanism. On the one hand, it avoids excessive empty travel of the landing gear. On the other hand, the double ball head linkages are adopted in the transmission of the linkage mechanism, which is beneficial to the more efficient output of the front landing gear servo and faster response of the front wheel steering. The rotational output of the front landing gear servo drives the rotation of the front wheel through the front landing gear rocker arm, two ball head linkages, and the servo rocker arm, ensuring the precise control of the front wheel steering during the autonomous takeoff and landing of the UAV, and also ensuring the ability to manually remotely control the front wheel steering. Compared with the single-link front wheel steering mechanism, the present invention has a simple structure, high precision, strong anti-torsion, high efficiency, and is convenient for maintenance. The front landing gear servo assembly includes a servo, a servo rocker arm, a ball head linkage, and a front landing gear rocker arm. The servo, the servo rocker arm, the ball head linkage, and the front landing gear rocker arm are installed on the front landing gear mounting frame assembly. The servo and the servo rocker arm are connected through a servo gear. The front landing gear rocker arm is connected to the servo rocker arm through two ball head linkages. The rotation of the servo rocker arm drives the rotation of the front landing gear rocker arm through two ball head linkages. The front landing gear mounting frame assembly includes a front landing gear bearing frame, front landing gear bearing frame mounting gaskets, a servo support, and front landing gear steering bearings. The front landing gear bearing frame is fixedly connected to the fuselage frame through the front and rear front landing gear bearing frame mounting gaskets. The servo support is connected to the front landing gear bearing frame. The upper and lower front landing gear steering bearings are embedded in the mounting holes of the front landing gear bearing frame. Through the above mutual connections, the entire front landing gear mounting frame assembly is fixedly connected to the airframe. The front landing gear assembly includes a shock absorber strut, a front landing gear bracket, and a front landing gear tire. The shock absorber strut is connected to the front landing gear bracket through a washer. The front landing gear bracket is connected to the front landing gear tire through a front wheel pin shaft. The entire front landing gear assembly is connected to the front landing gear bearing frame through the upper and lower front landing gear steering bearings and the shock absorber strut. The shock absorber strut is connected to the front landing gear rocker arm (the top of the shock absorber strut is square and is connected to the square hole of the front landing gear rocker arm).

[0031] The embodiments of the present invention are given by way of example and description, and are not exhaustive or limit the present invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better illustrate the principles of the present invention and its practical application, and to enable those of ordinary skill in the art to understand the present invention so as to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A front-wheel steering mechanism for a micro shipborne fixed-wing UAV, including a front-wheel assembly (1), characterized in that: Above the front wheel assembly (1), a front landing gear mounting frame assembly (2) is installed. On the side wall of the front landing gear mounting frame assembly (2), a front landing gear servo assembly (3) is installed. The front wheel assembly (1) includes a shock-absorbing cylinder body (11). The output shaft of the shock-absorbing cylinder body (11) is fixedly installed with a shock-absorbing support column (12). The lower end of the shock-absorbing cylinder body (11) is fixedly connected to the front support frame (13). Below the front support frame (13), a front landing gear tire (18) is installed. The front landing gear mounting frame assembly (2) includes two front landing gear support frames (21). Between the two front landing gear support frames (21), two front landing gear steering bearings (23) are installed. The two front landing gear steering bearings (23) are sleeved on the surface of the shock-absorbing support column (12). The front landing gear servo assembly (3) includes a servo (31). Above the servo (31), a servo rocker arm (33) is installed. On the side of the servo rocker arm (33), a front landing gear rocker arm (36) is installed. The servo (31) is installed on the side of the front landing gear support frame (21). The front landing gear rocker arm (36) is installed on the top of the shock-absorbing support column (12).

2. The front-wheel steering mechanism for a micro carrier-based fixed-wing UAV according to claim 1, characterized in that, On the surface of the front support frame (13), a connecting frame (14) is fixedly installed. Below the connecting frame (14), a front wheel fork frame (16) is provided.

3. The front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle according to claim 2, wherein, The front landing gear tire (18) is installed between the two ends of the front wheel fork frame (16). Between the top of the front wheel fork frame (16) and the connecting frame (14), a rotating shaft frame (15) is rotatably installed.

4. The front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle according to claim 3, characterized in that, Between the output shaft below the front support frame (13) and the front wheel fork frame (16), a shaft frame (17) is installed.

5. The front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle according to claim 4, characterized in that, Between the top and bottom of the two front landing gear support frames (21), front landing gear bearing frames (22) are fixedly installed. The two front landing gear steering bearings (23) are both inlaid in the front landing gear bearing frames (22).

6. The front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle according to claim 5, characterized in that, On both sides of the two front landing gear support frames (21), mounting gaskets (24) are installed. On the side of the front landing gear support frame (21), a servo support (25) is installed.

7. The front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, On both the left and right sides of the servo (31), side mounting frames (38) are fixedly installed. The servo (31) is installed on the side of the servo support (25), and the side mounting frames (38) are connected to the top of the servo support (25).

8. The front-wheel steering mechanism for a mini shipborne fixed-wing unmanned aerial vehicle according to claim 7, characterized in that, Between the servo (31) and the servo rocker arm (33), a servo gear (32) is installed, and the servo gear (32) is close to the side of the servo (31).

9. The front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle according to claim 8, characterized in that, Between the [text seems incomplete here, assuming it should be something like "the relevant part"] and the front landing gear rocker arm (36), two ball head linkages (34) are installed. The two ball head linkages (34) are both close to the two sides of the servo rocker arm (33). Between the lower part of each ball head linkage (34) and the front landing gear rocker arm (36), a cylindrical tube (35) is rotatably installed.

10. The front-wheel steering mechanism for a micro shipborne fixed-wing unmanned aerial vehicle according to claim 9, characterized in that, In the middle of the front landing gear rocker arm (36), a connecting sleeve (37) is fixedly installed. The connecting sleeve (37) is sleeved on the top of the shock-absorbing support column (12).

Images