Auxiliary undercarriage for operation type flying mechanical arm

Abstract

The utility model discloses an operation type flying mechanical arm auxiliary undercarriage which comprises a six-degree-of-freedom mechanical arm, the six-degree-of-freedom mechanical arm comprises a first mechanical arm shaft and a small mechanical arm, the lower portion of the first mechanical arm shaft is of a fixed supporting structure, and the lower portion of the small mechanical arm is of a plane structure. A force sensor is mounted in the small arm of the mechanical arm; the adjustable rear support comprises a ball screw module, a sliding block module, rear supports and a driving motor, the rear supports are installed at the two ends of the sliding block module, and the sliding block module is driven by the driving motor and the ball screw module. According to the operation type flying mechanical arm, the periphery of the mechanical arm is not shielded during aerial operation, horizontal 360-degree omni-directional operation of the mechanical arm can be achieved, and the operation range and efficiency of the operation type flying mechanical arm are greatly improved; by changing the longitudinal position of the rear support, the stress conditions of the aircraft and the undercarriage under different working conditions are adjusted and improved.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft landing gears, in particular to an operational flight mechanical arm auxiliary landing gear. Background Art

[0002] Single-rotor flying manipulators are in great demand in wide-area unmanned scientific expeditions, collaborative handling, high-altitude inspection and maintenance operations, and military space. In scenarios such as floods, fires, and earthquakes where ground personnel cannot enter, robots are required to replace humans in carrying out related tasks due to the harshness and uncertainty of the environment. The flying manipulator is flexible and has the ability to hover and take off and land vertically. At the same time, it has excellent obstacle avoidance capabilities. It has a wider operating space than foot-type mobile robots and tracked mobile robots, and has better adaptability to unstructured outdoor environments. The landing gear is a device at the bottom of the aircraft that supports the aircraft during takeoff and landing or ground taxiing and is used for ground movement. It is the only component that supports the entire aircraft, so its reliability is very important.

[0003] The existing operational flying robot arm landing gear is mostly fixed landing gear or multi-arm / leg landing gear with complex structure, wherein: the fixed landing gear will affect the aerial operation range and efficiency of the robot arm; while the multi-arm / leg landing gear has a complex structure and is difficult to control, and has poor reliability. Therefore, the present invention proposes an auxiliary landing gear for an operational flying robot arm. Utility Model Content

[0004] The utility model aims to provide an operational flight mechanical arm auxiliary landing gear to solve the problems in the prior art.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an operational flight mechanical arm auxiliary landing gear, comprising:

[0006] A six-degree-of-freedom robotic arm, the six-degree-of-freedom robotic arm comprising a robotic arm axis and a robotic arm forearm, the lower part of the robotic arm axis is a fixed support structure, the lower part of the robotic arm forearm is a planar structure, and a force sensor is installed inside the robotic arm forearm;

[0007] The adjustable rear support comprises a ball screw module, a slider module, a rear bracket and a driving motor. The rear brackets are installed at both ends of the slider module, and the slider module is driven by the driving motor and the ball screw module.

[0008] Preferably, the adjustable rear support further comprises two slide rails, and both ends of the slider module are slidably mounted on the slide rails.

[0009] Preferably, the fixed support structure at the lower part of the one-axis of the robotic arm adopts a rubber structure; and the planar structure at the lower part of the forearm of the robotic arm adopts a rubber structure.

[0010] Preferably, a load is mounted on one end of the six-degree-of-freedom robotic arm.

[0011] Preferably, the six-degree-of-freedom mechanical arm is fixed to the bottom of the aircraft; and the adjustable rear support is installed on the bottom plate of the aircraft.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. Compared with the fixed landing gear: When the robot arm is operating in the air, there is no obstruction around it, and the robot arm can operate horizontally in 360° all directions, greatly improving the operating range and efficiency of the operational flying robot arm.

[0014] 2. Comparison with multi-arm / leg landing gear: This application only requires the use of a single operational flight mechanical arm as an auxiliary front support for the landing gear, supplemented by an adjustable rear support, and the structure and control are simpler and more reliable.

[0015] 3. This application also has the advantage of adaptive adjustment: by changing the longitudinal position of the rear bracket, the stress conditions of the aircraft and landing gear under different working conditions can be adjusted and improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 It is a structural schematic diagram of the utility model;

[0018] Figure 2 It is a schematic diagram of the front support of the landing gear of the utility model;

[0019] Figure 3 It is a schematic diagram of the rear support of the landing gear of the utility model;

[0020] Figure 4 It is a schematic diagram of the utility model aircraft landing on the ground;

[0021] Figure 5 It is a schematic diagram of the aircraft of the utility model landing on the ground with different loads.

[0022] In the figure: 1. Aircraft; 2. Six-degree-of-freedom robotic arm; 3. Adjustable rear support; 4. Load; 11. Aircraft bottom plate; 21. One axis of the robotic arm; 22. Robotic arm forearm; 31. Ball screw module; 32. Slider module; 33. Rear bracket; 34. Drive motor. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the utility model for which protection is claimed, but merely represents selected embodiments of the utility model.

[0024] In an embodiment of the utility model, an operational flight mechanical arm auxiliary landing gear comprises:

[0025] like Figure 1-2 ; A six-degree-of-freedom robotic arm 2, which is fixed at the bottom of the aircraft 1; the six-degree-of-freedom robotic arm 2 includes a robotic arm axis 21 and a robotic arm fork 22, the lower part of the robotic arm axis 21 is a fixed support structure, the lower part of the robotic arm fork 22 is a planar structure, and a force sensor is installed inside the robotic arm fork 22; the fixed support structure at the lower part of the robotic arm axis 21 adopts a rubber structure; the planar structure at the lower part of the robotic arm fork 22 adopts a rubber structure; rubber material is used to achieve a buffering and vibration reduction effect; a load 4 is installed at one end of the six-degree-of-freedom robotic arm 2.

[0026] like Figure 3 ; An adjustable rear support 3, wherein the adjustable rear support 3 is mounted on the aircraft floor 11; the adjustable rear support 3 comprises a ball screw module 31, a slider module 32, a rear bracket 33 and a drive motor 34, and rear brackets 33 are mounted at both ends of the slider module 32. The slider module 32 is driven by the drive motor 34 and the ball screw module 31. The adjustable rear support 3 also comprises two slide rails, and both ends of the slider module 32 are slidably mounted on the slide rails.

[0027] The six-degree-of-freedom mechanical arm 2 as the front support of the landing gear mainly includes a mechanical arm axis 21 that plays a major supporting role, wherein the lower part of the mechanical arm axis 21 is a fixed support structure, which is designed to be integrated with the mechanical arm axis and is located directly below the mechanical arm axis 21 to prevent the mechanical arm from failing due to torsion; a mechanical arm fork 22 that plays an auxiliary supporting role, the mechanical arm fork 22 is a special-shaped structure, wherein the lower part is a flat structure, which plays a front auxiliary supporting role when the aircraft lands, and the mechanical arm fork 2 2 contains a force sensor inside, and when the force on the mechanical arm forearm 22 exceeds the set threshold during landing, the adaptive adjustment mechanism is triggered; as an adjustable rear bracket supporting the rear part of the landing gear, it includes: a rear bracket 33 for supporting, the rear bracket 33 is fixedly connected to the slider module 32, and under the drive of the driving motor 34, the slider module 32 slides on the ball screw module 31, wherein the slider module 32 is connected to the slider in the ball screw module 31 through a connecting plate, so that the rear bracket can be adjusted in the longitudinal position of the aircraft.

[0028] like Figure 1-Figure 5 As shown, this embodiment provides a landing method of an operational flight mechanical arm assisted landing gear: in the first step, when the aircraft lands, the rear bracket 33 and the mechanical arm shaft 21 in the adjustable rear bracket 3 of the landing gear touch the ground first, and the rear bracket 33 and the mechanical arm shaft 21 in this step are fixedly connected to the aircraft without relative movement; in the second step, by controlling the movement of the second to fifth axes of the mechanical arm, the front auxiliary support mechanical arm arm 22 of the landing gear touches the ground, wherein there is an operational load 4 on the sixth axis and the load 4 is always kept above the six-degree-of-freedom mechanical arm 2, and the magnitude of the force detected by the internal force sensor of the mechanical arm arm 22 is kept within the set threshold range; in the third step, if the force detected by the internal force sensor of the mechanical arm arm 22 exceeds the set threshold, the longitudinal position adaptive adjustment mechanism of the rear bracket 33 is triggered, and through the driving action of the driving motor 34, the rear bracket 33 slides on the slider module 32 to change its position along the longitudinal direction of the aircraft, thereby achieving the purpose of adjusting and improving the force of the landing gear and better protecting the landing gear. The working conditions of the aircraft landing on the ground under different loads are shown in FIG. Figure 4-5 shown.

[0029] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An operational flight manipulator-assisted landing gear, characterized in that: include: A six-degree-of-freedom mechanical arm (2), the six-degree-of-freedom mechanical arm (2) comprising a mechanical arm axis (21) and a mechanical arm forearm (22), the lower part of the mechanical arm axis (21) being a fixed support structure, the lower part of the mechanical arm forearm (22) being a planar structure, and a force sensor being installed inside the mechanical arm forearm (22); An adjustable rear support (3), the adjustable rear support (3) comprising a ball screw module (31), a slider module (32), a rear bracket (33) and a drive motor (34), the rear brackets (33) being mounted at both ends of the slider module (32), and the slider module (32) being driven by the drive motor (34) and the ball screw module (31).

2. The operational flight manipulator-assisted landing gear according to claim 1, characterized in that: The adjustable rear support (3) further comprises two slide rails, and the two ends of the slider module (32) are slidably mounted on the slide rails.

3. The operational flight manipulator-assisted landing gear according to claim 1, characterized in that: The fixed support structure at the bottom of the first shaft (21) of the mechanical arm adopts a rubber structure; and the plane structure at the bottom of the forearm (22) of the mechanical arm adopts a rubber structure.

4. The operational flight manipulator-assisted landing gear according to claim 1, characterized in that: A load (4) is installed at one end of the six-degree-of-freedom mechanical arm (2).

5. The operational flight manipulator-assisted landing gear according to claim 1, characterized in that: The six-degree-of-freedom mechanical arm (2) is fixed to the bottom end of the aircraft (1); and the adjustable rear support (3) is installed on the bottom plate (11) of the aircraft.

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