Undercarriage buffer system based on magnetorheological fluid and unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to an undercarriage buffer system and an unmanned aerial vehicle. The undercarriage buffering system based on the magnetorheological fluid comprises a controller, an MRF buffering unit, a magnetic field generating device, a monitoring device and a power source. The controller is electrically connected with the magnetic field generating device, the monitoring device and the power source. The MRF buffer unit comprises a cylinder body and a piston arranged on the cylinder body in a sliding and penetrating mode, an upper cavity is formed in the cylinder body, a lower cavity is formed in the piston, the upper cavity is filled with air, the lower cavity is filled with magnetorheological fluid, and the magnetic field generating device is arranged on the inner wall of the piston; the monitoring device comprises a landing speed and impact force monitoring module and a magnetic field intensity monitoring module; according to the system, the buffering effect can be controlled by dynamically adjusting the magnetic field intensity when the unmanned aerial vehicle faces different landing environments and impact strengths, so that the landing stability and impact resistance of the unmanned aerial vehicle in various environments are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a landing gear buffer system and a UAV. Background Art

[0002] With the widespread use of drones in military, civilian, and logistics applications, landing stability and impact resistance have become crucial factors affecting a drone's overall performance. Traditional drone landing gear typically utilizes springs or hydraulic systems for cushioning, but these systems exhibit significant limitations when dealing with varying landing environments and impact intensities. Their damping force is often fixed and lacks intelligent adjustment based on real-time environmental changes, resulting in insufficient landing safety in complex or unexpected situations.

[0003] Magnetorheological fluid (MRF) is a smart material that can instantly change its rheological properties under the influence of an applied magnetic field. In recent years, MRF technology has been gradually applied in automotive suspensions, shock absorbers, and other fields, achieving remarkable results. However, its application in drone landing gear cushioning systems has not yet been fully developed and utilized. Utility Model Content

[0004] The technical problem to be solved by the present invention is to provide a landing gear buffer system and a UAV. The landing gear buffer system can control the buffering effect by dynamically adjusting the magnetic field strength when the UAV faces different landing environments and impact intensities, thereby improving the landing stability and impact resistance of the UAV in various environments.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] In the first aspect, the utility model provides a landing gear buffer system based on magnetorheological fluid, including: a controller, an MRF buffer unit, a magnetic field generating device, a monitoring device and a power supply; the controller is electrically connected to the magnetic field generating device, the monitoring device and the power supply respectively; the MRF buffer unit includes a cylinder body and a piston slidingly arranged on the cylinder body, the cylinder body has an upper chamber, the piston has a lower chamber, the upper chamber is filled with air, the lower chamber is filled with magnetorheological fluid, and the magnetic field generating device is arranged on the inner wall of the piston; the monitoring device includes a landing speed and impact force monitoring module and a magnetic field strength monitoring module electrically connected to the controller respectively.

[0007] When the drone lands, the controller controls the output of the power supply according to the landing speed and landing impact force obtained by the monitoring device, so that the magnetic field generating device generates a magnetic field. The magnetic field acts on the magnetorheological fluid and changes the damping force of the magnetorheological fluid, so that the piston slides adaptively in the cylinder. Then, the controller further controls the output of the power supply according to the magnetic field strength obtained by the monitoring device, so that the magnetic field generated by the magnetic field generating device is further adjusted to synchronize the damping force of the magnetorheological fluid with the current state of the drone when landing. When the drone faces different landing environments and impact intensities, the magnetic field strength can be dynamically adjusted to control the buffering effect, thereby improving the landing stability and impact resistance of the drone in various environments.

[0008] Optionally, the magnetic field generating device is an electromagnetic coil, which can generate a magnetic field after being energized, and has a simple structure and low implementation cost.

[0009] Optionally, the landing speed and impact force monitoring module uses an acceleration sensor, and the magnetic field strength monitoring module uses a magnetic field sensor. The acceleration sensor can monitor the landing speed and landing impact force of the drone, and the magnetic field sensor can monitor the magnetic field strength generated by the electromagnetic coil.

[0010] Optionally, the electromagnetic coil is arranged around the inner wall of the piston close to one end of the cylinder body, and the electromagnetic coil can better change the damping force of the magnetorheological fluid when generating a magnetic field.

[0011] In the second aspect, the utility model also provides a landing gear buffer system based on magnetorheological fluid, including: an MRF buffer unit and a magnetic field generating device, wherein the magnetic field generating device is arranged on the MRF buffer unit; the MRF buffer unit includes a cylinder body and a piston sliding through the cylinder body, the cylinder body has an upper chamber, the piston has a lower chamber, the upper chamber is filled with air, and the lower chamber is filled with magnetorheological fluid; the magnetic field generating device includes an electromagnetic coil, a permanent magnet, and a cutting coil, the permanent magnet is arranged on the end of the piston close to the cylinder body, the cutting coil is arranged on the inner wall of the cylinder body away from the piston, and the electromagnetic coil is electrically connected to the cutting coil and is arranged on the inner wall of the piston.

[0012] During landing, the piston slides into the cylinder due to the impact of the drone. The cutting coil cuts the magnetic field of the permanent magnet, generating an electric current. This current then reaches the electromagnetic coil, generating a magnetic field. Since the magnitude of the magnetic field is controlled by the magnitude of the current, which is affected by the piston's sliding speed and distance, the magnitude of the magnetic field is determined by the magnitude of the impact force during landing. This magnetic field then influences the damping force of the magnetorheological fluid, adaptively adjusting the sliding resistance between the cylinder and piston. This allows the drone to dynamically adjust the magnetic field strength to control the cushioning effect in response to varying landing environments and impact intensities, effectively ensuring landing stability and shock resistance.

[0013] Optionally, the electromagnetic coil is arranged around the inner wall of the piston close to one end of the cylinder body, and the electromagnetic coil can better change the damping force of the magnetorheological fluid when generating a magnetic field.

[0014] Optionally, the permanent magnet is annular, and the annular permanent magnet can provide a more uniform magnetic field, so that the cutting coil can generate an induced current by cutting the magnetic field.

[0015] In a third aspect, the present invention further provides a drone, which adopts the magnetorheological fluid-based landing gear buffer system as described in any one of the first aspect or the second aspect, so that the drone has better landing stability and impact resistance.

[0016] In summary, the present invention has at least the following beneficial technical effects:

[0017] 1. The two aforementioned landing gear cushioning systems based on magnetorheological fluid (MRF) can control the damping force of the MRF through the intensity of the magnetic field, thereby adapting the sliding resistance between the cylinder and piston to the landing impact force experienced by the UAV. This allows the UAV to control the cushioning effect in response to different landing environments and impact intensities, thereby improving the UAV's landing stability and impact resistance in various environments.

[0018] 2. After installing any of the above-mentioned magnetorheological fluid-based landing gear cushioning systems on a drone, the drone's landing stability and impact resistance can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the cross-sectional structure of Example 1.

[0020] Figure 2 This is the control principle diagram of Example 1.

[0021] Figure 3 This is a schematic diagram of the cross-sectional structure of Example 2.

[0022] Explanation of the accompanying symbols: 1. Controller; 2. Power supply; 3. Cylinder; 31. Upper chamber; 4. Piston; 41. Lower chamber; 5. Electromagnetic coil; 6. Acceleration sensor; 7. Magnetic field sensor; 8. Permanent magnet; 9. Cutting coil. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] The terms used in the following embodiments of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, the singular expressions "a", "an", "said", "above", "the", and "this" are intended to include plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present invention refers to and includes any or all possible combinations of one or more of the listed items. The term "exemplary" means "serving as an example, embodiment, or illustration", and any embodiment described herein as "exemplary" is not necessarily to be construed as superior to or better than other embodiments. The terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or to implicitly indicate the number of the indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, unless otherwise specified, "multiple" means two or more.

[0025] This embodiment provides a landing gear cushioning system based on magnetorheological fluid.

[0026] Example 1

[0027] refer to Figure 1 and Figure 2 A magnetorheological fluid-based landing gear cushioning system includes a controller 1, an MRF cushioning unit, a magnetic field generator, a monitoring device, and a power supply 2 for powering the controller 1, the magnetic field generator, and the monitoring device. The magnetic field generator is mounted on the MRF cushioning unit, the controller 1 is electrically connected to the magnetic field generator, and the monitoring device and the power supply 2 are electrically connected to the controller 1.

[0028] The MRF buffer unit consists of a cylinder 3 and a piston 4, with the piston 4 slidingly inserted through the cylinder 3. The end of the cylinder 3 facing away from the piston 4 is used to connect to the drone body, while the end of the piston 4 facing away from the cylinder 3 (the end of the piston 4 extending from the cylinder 3) is used to connect to the drone's wheels. The cylinder 3 contains an upper chamber 31, and the piston 4 contains a lower chamber 41, with the upper chamber 31 communicating with the lower chamber 41. After the MRF buffer unit is installed, the cylinder 3 is positioned above the piston 4, and the upper chamber 31 is positioned above the lower chamber 41. The lower chamber 41 is filled with magnetorheological fluid, and the upper chamber 31 is filled with air, with the horizontal surface of the magnetorheological fluid in contact with the air.

[0029] The magnetorheological fluid is formed by dispersing magnetic particles (such as iron particles) in a carrier fluid. The cylinder 3 and piston 4 are made of carbon fiber composite material or titanium alloy to ensure sufficient support without increasing the overall weight of the drone.

[0030] refer to Figure 1 and Figure 2 The magnetic field generating device is an electromagnetic coil 5, which is fixedly connected to the inner wall of the piston 4 and electrically connected to the controller 1. Preferably, the electromagnetic coil 5 is fixedly connected to the inner wall of the piston 4 near one end of the cylinder 3.

[0031] Under the control of the controller 1, the power supply 2 can provide different currents to the electromagnetic coil 5. The electromagnetic coil 5 then generates a magnetic field of corresponding size according to the current. The magnetic field can control the arrangement of magnetic particles in the magnetorheological fluid and form a chain structure, thereby increasing the viscosity of the magnetorheological fluid and even solidifying the magnetorheological fluid into a solid-like state to achieve different damping forces. After the power is turned off, the magnetic field disappears and the magnetorheological fluid can return to its initial low viscosity state. By changing the rheological properties of the magnetorheological fluid, the sliding resistance between the cylinder 3 and the piston 4 can be adaptively changed, so that the drone can dynamically adjust the magnetic field strength to control the cushioning effect when facing different landing environments and impact intensities, thereby improving the landing stability and impact resistance of the drone in various environments.

[0032] refer to Figure 1 and Figure 2 The monitoring device includes a landing speed and impact force monitoring module and a magnetic field strength monitoring module, each electrically connected to the controller 1. The landing speed and impact force monitoring module uses an acceleration sensor 6, while the magnetic field strength monitoring module uses a magnetic field sensor 7. Both the acceleration sensor 6 and the magnetic field sensor 7 are mounted on the cylinder 3. The acceleration sensor 6 is used to monitor the drone's landing speed and landing impact force, while the magnetic field sensor 7 is used to monitor the current magnetic field strength of the electromagnetic coil 5 during landing. The controller 1 uses the information obtained by the acceleration sensor 6 and the magnetic field sensor 7 to control the output of the power supply 2 to the electromagnetic coil 5, thereby achieving control of the magnetorheological fluid.

[0033] It should be understood that after the landing gear cushioning system is installed on the drone, the drone and the landing gear cushioning system can share the same controller 1 and power supply 2. The controller 1 and power supply 2 can also be independently configured, which is not limited here. The acceleration sensor 6 can also be installed on the drone.

[0034] The implementation principle of Example 1 of the present application is as follows: after the landing gear buffer system is installed on the drone, when the drone lands, the controller 1 controls the output of the power supply 2 to the electromagnetic coil 5 based on the landing speed and landing impact force information obtained by the acceleration sensor 6. After the electromagnetic coil 5 works, the magnetic field sensor 7 obtains the magnetic field strength. The controller 1 further corrects the output current of the power supply 2 based on the landing speed, landing impact force information and magnetic field strength obtained by the acceleration sensor 6, thereby realizing the synchronization of the damping force of the magnetorheological fluid with the current state of the drone, and then causing the piston 4 to produce adaptive sliding in the cylinder 3 due to the landing impact force of the drone, thereby effectively ensuring the landing stability and impact resistance of the drone.

[0035] Example 2

[0036] refer to Figure 3 A landing gear buffer system based on magnetorheological fluid includes an MRF buffer unit and a magnetic field generating device, which is arranged on the MRF buffer unit.

[0037] Among them, the MRF buffer unit is consistent with the MRF buffer unit in Example 1 and will not be described again here.

[0038] The magnetic field generating device includes an electromagnetic coil 5, a permanent magnet 8, and a cutting coil 9. The permanent magnet 8 is fixedly connected to the end of the piston 4 near the cylinder 3, and the cutting coil 9 is fixedly connected to the middle of the inner wall of the cylinder 3 away from the piston 4. The electromagnetic coil 5 is electrically connected to the cutting coil 9, and the electromagnetic coil 5 is fixedly connected to the inner wall of the piston 4. Preferably, the electromagnetic coil 5 is fixedly connected to the inner wall of the piston 4 near the end of the cylinder 3.

[0039] In an optional embodiment of the present application, the permanent magnet can be an annular permanent magnet to improve the uniformity of the magnetic field distribution. The permanent magnet can also be replaced by an electromagnet.

[0040] The implementation principle of Example 2 of the present application is as follows: after the landing gear buffer system is installed on the drone, when the drone lands, the piston 4 slides into the cylinder 3 due to the impact force of the drone landing, and the cutting coil 9 cuts the magnetic field of the permanent magnet 8 to generate current. The magnitude of the current is controlled by the slip amount and slip speed of the piston 4. Then the current generated by the cutting coil 9 reaches the electromagnetic coil 5, and the electromagnetic coil 5 generates an adaptive magnetic field. Then the damping force of the magnetorheological fluid can be adaptively adjusted through the magnetic field, so that the sliding resistance between the cylinder 3 and the piston 4 can be adaptively changed, and then the drone can control the buffering effect by dynamically adjusting the magnetic field strength when facing different landing environments and impact intensities, so as to achieve the purpose of improving the landing stability and impact resistance of the drone in various environments.

[0041] This embodiment also provides a drone.

[0042] A drone includes the magnetorheological fluid-based landing gear cushioning system as described in Example 1 or Example 2.

[0043] The above embodiments are merely a detailed description of the technical solutions of the present invention. However, the description of the above embodiments is intended only to facilitate understanding of the present invention and should not be construed as limiting the present invention. Any changes or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present invention are intended to fall within the scope of protection of the present invention.

Claims

1. A landing gear cushioning system based on magnetorheological fluid, characterized in that: include: A controller (1), an MRF buffer unit, a magnetic field generating device, a monitoring device and a power supply (2); the controller (1) is electrically connected to the magnetic field generating device, the monitoring device and the power supply (2) respectively; the MRF buffer unit comprises a cylinder (3) and a piston (4) slidingly arranged on the cylinder (3); the cylinder (3) has an upper chamber (31), the piston (4) has a lower chamber (41), the upper chamber (31) is filled with air, and the lower chamber (41) is filled with magnetorheological fluid; the magnetic field generating device is arranged on the inner wall of the piston (4); the monitoring device comprises a landing speed and impact force monitoring module and a magnetic field intensity monitoring module, which are electrically connected to the controller (1) respectively.

2. The landing gear cushioning system based on magnetorheological fluid according to claim 1, characterized in that: The magnetic field generating device adopts an electromagnetic coil (5).

3. The landing gear cushioning system based on magnetorheological fluid according to claim 2, characterized in that: The landing speed and impact force monitoring module adopts an acceleration sensor (6), and the magnetic field intensity monitoring module adopts a magnetic field sensor (7).

4. The landing gear cushioning system based on magnetorheological fluid according to claim 2, characterized in that: The electromagnetic coil (5) is arranged around the inner wall of the piston (4) close to one end of the cylinder (3).

5. A landing gear cushioning system based on magnetorheological fluid, characterized in that: include: An MRF buffer unit and a magnetic field generating device, wherein the magnetic field generating device is arranged on the MRF buffer unit; The MRF buffer unit comprises a cylinder (3) and a piston (4) slidingly arranged on the cylinder (3), wherein the cylinder (3) has an upper chamber (31) and the piston (4) has a lower chamber (41), wherein the upper chamber (31) is filled with air and the lower chamber (41) is filled with magnetorheological fluid; the magnetic field generating device comprises an electromagnetic coil (5), a permanent magnet (8) and a cutting coil (9), wherein the permanent magnet (8) is arranged on an end of the piston (4) close to the cylinder (3), and the cutting coil (9) is arranged on an inner wall of the cylinder (3) away from the piston (4), and the electromagnetic coil (5) is electrically connected to the cutting coil (9) and is arranged on the inner wall of the piston (4).

6. The landing gear cushioning system based on magnetorheological fluid according to claim 5, characterized in that: The electromagnetic coil (5) is arranged around the inner wall of the piston (4) close to one end of the cylinder (3).

7. The landing gear cushioning system based on magnetorheological fluid according to claim 5, characterized in that: The permanent magnet (8) is in a ring shape.

8. A drone, characterized in that: A landing gear cushioning system based on magnetorheological fluid as described in any one of claims 1 to 7 is used.

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