阅读说明：本技术 一种仿生腿起落架系统 (Bionic leg undercarriage system ) 是由 任佳 刘小川 王计真 牟让科 于 2018-08-17 设计创作，主要内容包括：本发明公开了一种仿生腿起落架系统,包括若干条仿生腿机构,每条仿生腿机构包括至少两个关节；所述仿生腿机构通过基关节连接于机架上；所述仿生腿机构的每个关节处均设置有独立的关节驱动装置。本发明的起落架系统颠覆了传统起落架的设计理念,增强了直升机的智能化水平；腿部结构设计具有普遍性和通用性,腿的尺寸根据直升机的尺寸和承载能力确定,适用于各型号的直升机；本发明结构紧凑,控制容易,具有小体积、高承载的优点,适用于直升机的野外复杂地形使用。(The invention discloses a bionic leg undercarriage system which comprises a plurality of bionic leg mechanisms, wherein each bionic leg mechanism comprises at least two joints; the bionic leg mechanism is connected to the rack through a base joint; each joint of the bionic leg mechanism is provided with an independent joint driving device. The landing gear system of the invention subverts the design concept of the traditional landing gear and enhances the intelligent level of the helicopter; the leg structure design has universality and universality, the size of the leg is determined according to the size and the bearing capacity of the helicopter, and the leg structure is suitable for helicopters of various models; the invention has the advantages of compact structure, easy control, small volume and high bearing capacity, and is suitable for being used in the field of complex terrains of helicopters.)

1. A biomimetic leg landing gear system, comprising: comprises a plurality of bionic leg mechanisms, each bionic leg mechanism comprises at least two joints; the bionic leg mechanism is connected to the rack through a base joint; and each joint of the bionic leg mechanism is provided with a joint driving device for independently driving the joint to move.

2. A biomimetic leg landing gear system according to claim 1, wherein: the joint driving device comprises a power system and a plurality of connecting rod mechanisms forming the bionic leg mechanism, and the power system is connected to a crank of the connecting rod mechanisms through a transmission shaft.

3. A biomimetic leg landing gear system according to claim 2, wherein: the joint driving device is arranged on the frame.

4. A biomimetic leg landing gear system according to claim 2, wherein: the power system adopts an electric steering engine.

5. A biomimetic leg landing gear system according to claim 2, wherein: the output end of the transmission shaft adopts a square shaft, a T-shaped shaft or a D-shaped shaft.

6. A biomimetic leg landing gear system according to claim 2, wherein: the link mechanism adopts a structure of combining a four-bar linkage mechanism and a parallelogram link mechanism.

7. A biomimetic leg landing gear system according to claim 1, wherein: the bionic leg mechanisms are even in number.

8. A biomimetic leg landing gear system according to claim 1, wherein: the number of the bionic leg mechanisms is more than or equal to 4.

9. A biomimetic leg landing gear system according to claim 1, wherein: each bionic leg mechanism is connected with one base joint or a plurality of bionic leg mechanisms are connected with one base joint.

Technical Field

The invention relates to the field of helicopter undercarriage design, in particular to a bionic leg undercarriage system.

Background

At present, helicopter landing gears generally adopt a skid type structure and a wheel type structure, and because two conventional landing gears have structural characteristic limitations, the helicopter is required to take off and land only on firm, flat and stable ground (at least a half-paved runway), the helicopter also does not have the capability of autonomous ground movement, and a non-retractable design form is adopted mostly, so that the resistance in the flight process is large. The landing gear based on the bionic leg structure can overcome the defects, so that the helicopter has better complex terrain adaptability, the landing, the parking and the walking on irregular ground are realized, and the landing gear can be retracted to the bottom of the belly in the flying process, so that the flying resistance is reduced. Therefore, the bionic leg structure has wide application prospect in military and civil fields.

The bionic leg mechanism is used as a key component of the landing gear, and the form and the structure of the bionic leg mechanism are very important for realizing the function. At present, the bionic leg is mainly used in the field of robots, and in the robots, the leg parts adopt two forms of serial mechanisms and parallel structures. The tandem type structure adopts a pure rotary joint combination and direct drive mode, although the mechanism is simple and easy to control, the problem of insufficient output load force exists, and due to the adoption of the design mode of the open chain mechanism, the problems of large flexibility, poor stability and large control error exist, so that the tandem type structure is only suitable for small ground crawling robots. The parallel structure has larger output load force and better rigidity and stability, but has the problems of larger structural weight and incapability of being folded because of complex structure, and is only suitable for large ground walking robots because of lower load ratio. As a landing gear system of a helicopter, the self weight and the load capacity are strictly limited, and the two common forms are not suitable for a leg mechanism of a bionic leg landing gear of the helicopter.

Therefore, the leg structure of the bionic leg undercarriage is disclosed aiming at the application scene and the structural characteristics of the bionic leg undercarriage of the helicopter. The landing gear system adopts a mode of supporting a plurality of legs, driving a single leg by adopting a multi-link mechanism, independently controlling each leg and independently controlling each joint to compensate each other. The form has larger load capacity and more compact structure, and meets the application scene requirements of the helicopter landing gear.

Disclosure of Invention

Object of the Invention

The invention aims to provide a bionic leg landing gear system applied to a helicopter, which is different from the existing serial and parallel bionic leg structures, effectively overcomes the defects of the two structures, and has the characteristics of small mass, large bearing capacity and attractive and compact structure. The structure of the device is realized by combining a four-bar linkage mechanism and a parallelogram mechanism, and the device has the characteristics of stable motion attitude, flexible action, wide range of motion and strong terrain adaptability. The bionic leg undercarriage has the function of passive support of the traditional undercarriage, and can effectively solve the terrain self-adaption problem when the bionic leg undercarriage lands and walks and the undercarriage folding and unfolding problem in the flight process.

Technical solution of the invention

In order to achieve the purpose, the invention adopts the following technical scheme:

a bionic leg landing gear system comprises a plurality of bionic leg mechanisms, wherein each bionic leg mechanism comprises at least two joints; the bionic leg mechanism is connected to the rack through a base joint; and joint driving devices for independently driving the joints to move are arranged at the base joint and each joint of the bionic leg mechanism.

Preferably, the joint driving device comprises a power system and a plurality of connecting rod mechanisms forming the bionic leg mechanism, and the power system is connected to a crank of the connecting rod mechanisms through a transmission shaft. The movable connecting parts of the connecting rod mechanisms are connected through hinges, the rotating parts are connected through bearings to reduce friction, the bearings are placed in bearing covers, the outer rings of the bearings are in interference fit with the bearing covers, and the bearing covers are connected with the connecting rods through screws. The pin shaft passes through the bearing inner ring, and the bearing inner ring and the other connecting rod are pressed tightly through the shaft sleeve.

Preferably, the joint driving device is mounted on a frame below the body.

Preferably, the power system adopts an electric steering engine.

Preferably, the output end of the transmission shaft adopts a square shaft, a T-shaped shaft or a D-shaped shaft.

Preferably, the linkage mechanism adopts a structure combining a four-bar linkage mechanism and a parallelogram linkage mechanism.

Preferably, the number of the bionic leg mechanisms is even.

Preferably, the number of the bionic leg mechanisms is more than or equal to 4, and more preferably, the number of the bionic leg mechanisms is 6.

Preferably, each biomimetic leg mechanism is connected to one base joint or a plurality of biomimetic leg mechanisms are connected to one base joint.

THE ADVANTAGES OF THE PRESENT INVENTION

The invention has the advantages that:

(1) the design mode of the traditional undercarriage of the helicopter is overturned, the limitation of the traditional undercarriage is effectively overcome, and the intelligent level of the helicopter is effectively improved;

(2) the bionic leg undercarriage is characterized in that the advantages of a serial mechanism and a parallel mechanism are integrated, a joint driving device is installed on a rack below the abdomen, a connecting rod structure is adopted for driving force transmission, the rigidity and the bearing capacity of a leg are increased, the structural design of the leg is more compact, and the bionic leg undercarriage can be folded and retracted conveniently;

(3) compared with the traditional landing gear, the bionic leg landing gear has higher universality and replaceability, the number and the installation layout of the leg mechanisms can be selected according to the bearing requirements, the driving device is easy to disassemble and assemble, the bearing capacity of the bionic leg landing gear can be changed according to the weight change of a helicopter, and the redesign and disassembly and assembly of the leg structure are not needed;

(4) different from the design form that the driving device is directly arranged at the joint, the length of each connecting rod of the leg mechanism can be adjusted according to the bearing requirement, the dependence on the bearing capacity of the joint during landing is reduced, a low-power motor and a low-bearing speed reducer can be selected and used during model selection of the joint driving device, and the weight of the bionic leg undercarriage system is effectively reduced;

(5) the bionic leg landing gear has the characteristics of light weight, small volume and large bearing capacity, has an autonomous control function on the attitude of the landing gear, can control the attitude of the landing gear according to the terrain characteristics and the pose of a helicopter body, has terrain adaptivity, and meets the landing and parking requirements of the helicopter landing gear.

Drawings

FIG. 1 is a schematic view of a biomimetic leg mechanism in a biomimetic leg landing gear system of the present invention as deployed.

FIG. 2 is a schematic view of a bionic leg mechanism of the bionic leg landing gear system of the present invention during retraction.

FIG. 3 is a schematic diagram of the structure of a single biomimetic leg mechanism in a biomimetic leg landing gear system of the present invention.

Figure 4 is an elevation view of a single biomimetic leg mechanism in a biomimetic leg landing gear system of the present invention.

Figure 5 is a side view of a single biomimetic leg mechanism in a biomimetic leg landing gear system of the present invention.

In the drawings: 1-a rack, 2-a link mechanism, 3-a thigh joint, 4-a shank joint, 5-a lightening hole, 6-a bearing, 7-a pin shaft, an ABCD-four link mechanism, an EFGD-four link mechanism, an AB-drive crank, an EF-drive crank, a CD-rocker, a GD-rocker and a DGHI-parallelogram mechanism.

Detailed Description

The detailed description of the embodiments of the present invention is provided in conjunction with the summary of the invention and the accompanying drawings.

A biomimetic leg comprising 6 legs, each biomimetic leg comprising a 2-joint landing gear system is exemplified.

The bionic leg landing gear system comprises 6 same bionic leg mechanisms which are symmetrically distributed, each bionic leg mechanism is provided with 2 joints, each bionic leg mechanism comprises a thigh joint 3 and a shin joint 4, the thigh joint 3 is rotationally connected with the shin joint 4, the thigh joint 3 is rotationally connected to the rack 1, the thigh joint 3 is rotationally connected with the rack 1, and the shin joint is arranged at the rotational connection of the thigh joint 3 and the shin joint 4. Every 3 bionic leg mechanisms share one base joint, namely 2 base joints, the bionic leg undercarriage system has 14 joints, each joint is independently driven by one joint driving device, the bionic leg undercarriage system is controlled by 1 set of control system, and each joint can be independently controlled. Every 3 bionic leg mechanisms share one base joint, so that the landing gear system is symmetrically distributed, and the aircraft is more stable when landing.

The joint driving device for driving/controlling each joint of the bionic leg is positioned on a machine frame 1 below a machine body, is connected to a vertical plate of a left/right frame of the machine frame through a flange plate and is connected through hexagon socket head cap screws, the joint driving device comprises a power system and a plurality of connecting rod mechanisms 2 for forming the bionic leg mechanism, the power system is formed by designing and installing corresponding transmission shafts of electric steering engines, the output end of each transmission shaft adopts a square shaft, a T-shaped shaft or a D-shaped shaft, the transmission shafts are connected with crank connecting blocks, the central hole forms of the crank connecting blocks are matched with the output forms of the transmission shafts, and the bearing requirements of output torque are met.

The link mechanism 2 forming each bionic leg comprises two four-link mechanisms ABCD and EFGD and a parallelogram mechanism DGHI, wherein AB and EF are driving cranks, CD and GD are rocker arms, and the link forming the link mechanism 2 is a rigid link and has sufficient strength and rigidity and higher processing precision. A plurality of lightening holes 5 are formed in a connecting rod forming the strand section 3 to lighten the weight, the size of each connecting rod mechanism 2 is comprehensively determined according to the overall size of the helicopter and the bearing capacity requirement of the undercarriage, and the concrete process is as follows: determining the force of the feet of the bionic leg landing gear of the helicopter according to the load and landing conditions of the helicopter, then determining a torque output analytical formula at each joint, and solving the optimal solution of the length of each connecting rod by taking the minimum output torque at each joint as a target to obtain the size of the connecting rod. The movable connection of the link mechanisms is hinged, and in order to reduce the rotating friction force at the joint, the rotating parts are connected by adopting bearings 6. The bearing 6 is placed in a bearing cover, an outer ring of the bearing is in interference fit with the bearing cover, the bearing cover is connected with the connecting rod through a screw, the pin shaft 7 passes through a bearing inner ring, and the bearing inner ring and the other connecting rod are pressed through a shaft sleeve. In the rotating process, the bearing inner ring, the pin shaft 7 and the shaft sleeve are kept static, and the connecting rod drives the bearing outer ring to rotate through the bearing cover. When each connecting rod of the bionic leg landing gear is designed, the bearing capacity of the joint part is reduced, and the joint is required to be designed to be insensitive to installation errors, so that the requirement of fit tolerance is met, the stable work is ensured, and the rotation clamping stagnation phenomenon is avoided in the rotation process.

The bionic leg undercarriage of the helicopter can finish actions such as landing, walking and folding on various terrains, during actual work, firstly, lateral swing of a leg is realized through a hip joint of a single bionic leg mechanism, the overall posture of the bionic leg mechanism is adjusted, and then the adjustment of the position of a foot in the plane of the leg mechanism is realized through a base joint, so that the matching of the terrains is realized. The straight-line walking and landing attitude adjustment of the helicopter can be realized through the two joints of the leg. The common base joint of the three legs is used for steering the body when the landing gear is retracted/opened, namely the landing gear is fully retracted below the body and is rotated out of the body.

During actual work (including actions of landing, walking, folding and the like), the thigh joint of the single bionic leg mechanism realizes lateral swinging of the leg, the base joint realizes adjustment of the position of the foot in a plane of the leg mechanism in cooperation, and the base joint shared by the three legs realizes steering and retraction/opening actions of the undercarriage during walking.

The landing gear system of the invention subverts the design concept of the traditional landing gear and enhances the intelligent level of the helicopter; the leg structure design has universality and universality, the size of the leg is determined according to the size and the bearing capacity of the helicopter, and the leg structure is suitable for helicopters of various models; the invention has the advantages of compact structure, easy control, small volume and high bearing capacity, and is suitable for being used in the field of complex terrains of helicopters.