CN109866917A - A kind of bionic leg undercarriage - Google Patents
A kind of bionic leg undercarriage Download PDFInfo
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- CN109866917A CN109866917A CN201711265816.7A CN201711265816A CN109866917A CN 109866917 A CN109866917 A CN 109866917A CN 201711265816 A CN201711265816 A CN 201711265816A CN 109866917 A CN109866917 A CN 109866917A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 27
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 210000002414 leg Anatomy 0.000 claims description 31
- 210000002303 tibia Anatomy 0.000 claims description 10
- 230000003139 buffering effect Effects 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000013016 damping Methods 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 239000011159 matrix material Substances 0.000 abstract description 2
- 230000009466 transformation Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of bionic leg undercarriages, which is characterized in that including control system, bionical leg mechanism, landform identifying system and drive system；Wherein, bionical leg mechanism includes four bionic legs, and each bionic leg configuration is identical, independent driving, Collaborative Control；Four bionic legs, which are packed up, after taking off is affixed on fuselage two sides；It frees landing gear control system 3 and Systems of Control for Helicopter is integrated, and sharing position posture monitoring system 2, including GPS, IMU module；The present invention controls leg articulation by terrain information identification and itself attitude monitoring to realize that complicated landform is adaptively landed；Simultaneously by base articulation, it can also realize that ground is slowly walked, to have autonomous discrepancy hangar ability.Accordingly, with respect to conventional Take-off and Landing frame, bionic leg undercarriage has used for reference bionic theory, and intelligence degree is higher, has better work transformation matrix ability.
Description
Technical field
The invention belongs to helicopter landing gear design fields, disclose a kind of bionic leg undercarriage.
Background technique
Undercarriage is an important component of helicopter, and main function is when helicopter ground is parked and slided
It plays a supportive role；There is " ground when absorbing the energy of rate of descent generation when also acting as landing simultaneously, preventing ground from driving
The effects of resonance ".The undercarriage form that helicopter generally uses at present includes that cunning lifts up formula and two kinds of wheel formula.
Wheel undercarriage is made of oleo-pneumatic shock absorber and inflated rubber wheel, and nose-gear has steering capability, and master rises and falls
Frame wheel has brake gear, as shown in Figure 1a.Cunning sticks up formula undercarriage and is welded by more joints according to certain shapes, by knot
Structure flexible deformation absorbs the energy that lands, as shown in Figure 1 b.The shortcomings that both conventional Take-off and Landing framves, has: when landing, it is desirable that have heavily fortified point
Gu, flat and stable ground, can not land on non-smooth-riding surface.When entering and leaving hangar or ground moving, need to pass through trailer
Etc. external force delivery, do not have ground autonomous ability.Non-retractable design form is mostly used, flight course resistance is big, and
Influence aesthetics.
Summary of the invention
In order to solve the problems, such as helicopter complicated landform landing, a kind of bionic leg undercarriage is proposed.
Technical solution
Detailed description of the invention
Fig. 1 a and Fig. 1 b are the wheeled and sliding structure chart for sticking up formula undercarriage of the prior art.
Fig. 2 is that the present invention applies appearance schematic diagram.
Fig. 3 is concrete structure schematic diagram of the present invention.
Wherein, fuselage 1, posture monitoring system 2, control system 3, base joint 4, base pitch 5, femoral joint 6, meropodium 7, shin joint
8, tibia 9, landform identifying system 10, arthrodia 11, foot 12.
Beneficial effect
The present invention controls leg articulation by terrain information identification and itself attitude monitoring to realize complicated landform
It is adaptive to land；Simultaneously by base articulation, it can also realize that ground is slowly walked, to have autonomous discrepancy hangar energy
Power.Accordingly, with respect to conventional Take-off and Landing frame, bionic leg undercarriage has used for reference bionic theory, and intelligence degree is higher, has more
Good work transformation matrix ability.
Specific embodiment
Technical solution of the present invention embodiment is described in detail with reference to the accompanying drawings of the specification.
Bionic leg undercarriage is made of control system, bionical leg mechanism, landform identifying system and four major part of drive system.
Bionical leg mechanism is made of base pitch, meropodium, tibia, foot and relevant connection joint.The connecting joint of base pitch and fuselage has one
The connecting joint of rotational freedom, meropodium and base pitch has a rotational freedom, and the connecting joint of meropodium and tibia has one to turn
Dynamic freedom degree installs the arthrodia with buffering between foot and tibia.The freedom degree direction ginseng of three cradle heads
See Fig. 3, cradle head is driven using servo motor；Arthrodia is made of hydraulic damping and spring, to realize buffering and energy consumption；
Force snesor is installed in vola, for identification plantar grade state and ground surface material hardness.
Identifying system includes helicopter monitoring position, fuselage attitude monitoring, landform altitude information monitoring and landing state prison
Four subelements are controlled, helicopter monitoring position is realized by GPS mode, and fuselage attitude monitoring is real by IMU fuselage inertia module
Existing, landform altitude information is scanned by three-dimensional laser radar to be realized, landing state monitoring is realized by analysis vola load data.
Control system receives the position data of identifying system, fuselage attitude data, terrain data and vola load data, and by control
After algorithm decision, select reasonable landing site, and drive joint adaptation to the ground depth displacement, realize non-smooth-riding surface safety
Land.Drive system integrates servo motor driving, planetary gear and locking mechanism, is installed on base joint and shin joint.Bionic leg
The total arrangement of undercarriage is four leg configurations, and each list leg configuration is identical, but independent driving, Collaborative Control；Four legs are received after taking off
It rises and is affixed on fuselage two sides.Bionic leg and helicopter share power source, and control system and Systems of Control for Helicopter are integrated, and share
GPS, IMU module.
When the present apparatus works, helicopter flies to setting target touchdown area according to GPS capturing information.Control system is given
Instruction, helicopter are slowly drop to according to ground safe altitude (10m or so), into floating state；Landform identifying system is opened, real
When dynamic scan earth's surface information, judge that surface geology constitutes (soil, sandstone, meadow etc.), and identify earth's surface elevation information；Control
System is deduced according to landform, geological information and selects suitable landing position.Control system provides landing instruction, and bionic leg is released
Expansion is put, control system gives drive system instruction, drives articulation set angle, realize each leg foot end drop point site, height
Degree agrees with substantially with landform altitude；Control system assigns instruction, and helicopter drive (rotor rotational) slowly declines again, simultaneously
IMU module monitors fuselage posture in real time, and landform identifying system continues dynamic monitoring earth's surface information, and finely tune again according to information with
Correct bionic leg posture；Helicopter drops to four leg foot ends all contact ground, and it is equal that sufficient side pressure force snesor perceives four leg pressure
Reach threshold value, control system judgement enters settling landing state, and control system gives dynamical system and drive system instruction, rotor
It stops rotating, drive system locks joint；Helicopter realizes safe landing.
Claims (6)
1. a kind of bionic leg undercarriage, which is characterized in that including control system, bionical leg mechanism, landform identifying system and driving
System；Wherein, bionical leg mechanism includes four bionic legs, and each bionic leg configuration is identical, independent driving, Collaborative Control；After taking off
Four bionic legs, which are packed up, is affixed on fuselage two sides；It frees landing gear control system (3) and Systems of Control for Helicopter is integrated, and shared position
Set posture monitoring system (2), including GPS, IMU module；
Wherein, bionic leg includes base pitch (5), meropodium (7), tibia (9), foot (12), and base pitch (5) and fuselage (1) pass through Ji Guan
(4) connection is saved, base joint (4) have a rotational freedom, and meropodium (7) is connect with base pitch (5) by femoral joint (6), femoral joint
(6) have a rotational freedom, meropodium (7) is connect with tibia (9) by shin joint (8), shin joint (8) have one it is rotatably mounted
Degree installs the arthrodia (11) with buffering between foot (12) and tibia (9)；Cradle head is driven using servo motor
It is dynamic；Arthrodia (11) is made of hydraulic damping and spring, realizes buffering and energy consumption；Vola is equipped with pressure sensor, is used for
Identify plantar grade state and ground surface material hardness.
2. a kind of bionic leg undercarriage according to claim 1, which is characterized in that the bionical leg mechanism and helicopter
Shared power source.
3. a kind of bionic leg undercarriage according to claim 1, which is characterized in that the landform identifying system identifies packet
It includes helicopter monitoring position, fuselage attitude monitoring, landform altitude information monitoring and landing state and monitors four subelements, helicopter
Monitoring position realizes that fuselage attitude monitoring is realized by IMU fuselage inertia module by GPS mode, and landform altitude information passes through
Three-dimensional laser radar scanning realizes that landing state monitoring is realized by analysis vola load data.
4. a kind of bionic leg undercarriage according to claim 3, which is characterized in that the landform identifying system identification
(10) it is connect with control system (3), and by the real-time input control system of terrain information (3)；Control system (3) and base joint (4),
Femoral joint (6) is connected with the servo motor of shin joint (8), to export articulation control signal；Base joint (4) connects fuselage
(1) it is connected base pitch (5) and tibia (7) with base pitch (5), femoral joint (6), shin joint (8) connect meropodium (7) and tibia (9), sliding
Joint (11) connects tibia (9) and foot (12), and force transducer for sole of foot is mounted on foot bottom end.
5. a kind of bionic leg undercarriage according to claim 1, which is characterized in that the control system (3) receives ground
Position data, fuselage attitude data, terrain data and the vola load data of shape identifying system, and pass through control algolithm decision
Afterwards, reasonable landing site is selected, and drives joint adaptation to the ground depth displacement, realizes the safe landing of non-smooth-riding surface.
6. a kind of bionic leg undercarriage according to claim 1, which is characterized in that the drive system integrates servo electricity
Machine driving, planetary gear and locking mechanism, are installed at base joint (4) and shin joint (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711265816.7A CN109866917A (en) | 2017-12-04 | 2017-12-04 | A kind of bionic leg undercarriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711265816.7A CN109866917A (en) | 2017-12-04 | 2017-12-04 | A kind of bionic leg undercarriage |
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| Publication Number | Publication Date |
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| CN109866917A true CN109866917A (en) | 2019-06-11 |
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| CN201711265816.7A Pending CN109866917A (en) | 2017-12-04 | 2017-12-04 | A kind of bionic leg undercarriage |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111470035A (en) * | 2020-04-30 | 2020-07-31 | 中国飞机强度研究所 | Complex terrain self-adaptive landing gear of vertical take-off and landing aircraft and landing method thereof |
| CN111470036A (en) * | 2020-04-30 | 2020-07-31 | 中国飞机强度研究所 | Anti single leg buffer structure and leg formula undercarriage that hit that weigh down |
| CN111824397A (en) * | 2020-04-30 | 2020-10-27 | 中国飞机强度研究所 | Flight control-landing gear control-terrain recognition multi-system fusion control system |
| CN111959749A (en) * | 2020-07-16 | 2020-11-20 | 南京航空航天大学 | Helicopter four-foot undercarriage with terrain self-adaptive take-off, landing and walking capabilities |
| CN112455661A (en) * | 2020-11-10 | 2021-03-09 | 南京航空航天大学 | Unmanned aerial vehicle who possesses flexible configuration of modularization and perch contact |
| CN112550680A (en) * | 2020-12-14 | 2021-03-26 | 之江实验室 | Collapsible self-adaptation undercarriage of many rotor unmanned aerial vehicle |
| CN112977805A (en) * | 2021-04-19 | 2021-06-18 | 北京航空航天大学 | Landing device for micro-miniature flapping-wing aircraft |
| CN113353246A (en) * | 2021-07-03 | 2021-09-07 | 中国飞机强度研究所 | Self-adaptive landing control method for bionic leg landing gear of helicopter |
| CN114455069A (en) * | 2022-03-30 | 2022-05-10 | 河南大学 | Survey and drawing unmanned aerial vehicle is used in fortune research teaching |
| CN116161250A (en) * | 2023-04-04 | 2023-05-26 | 南京航空航天大学 | A hip-knee-driven bionic landing leg six-rotor UAV and its control method |
| US12060148B2 (en) | 2022-08-16 | 2024-08-13 | Honeywell International Inc. | Ground resonance detection and warning system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111470036A (en) * | 2020-04-30 | 2020-07-31 | 中国飞机强度研究所 | Anti single leg buffer structure and leg formula undercarriage that hit that weigh down |
| CN111824397A (en) * | 2020-04-30 | 2020-10-27 | 中国飞机强度研究所 | Flight control-landing gear control-terrain recognition multi-system fusion control system |
| CN111470035A (en) * | 2020-04-30 | 2020-07-31 | 中国飞机强度研究所 | Complex terrain self-adaptive landing gear of vertical take-off and landing aircraft and landing method thereof |
| CN111959749B (en) * | 2020-07-16 | 2022-04-19 | 南京航空航天大学 | Helicopter four-foot undercarriage with terrain self-adaptive take-off, landing and walking capabilities |
| CN111959749A (en) * | 2020-07-16 | 2020-11-20 | 南京航空航天大学 | Helicopter four-foot undercarriage with terrain self-adaptive take-off, landing and walking capabilities |
| CN112455661A (en) * | 2020-11-10 | 2021-03-09 | 南京航空航天大学 | Unmanned aerial vehicle who possesses flexible configuration of modularization and perch contact |
| CN112455661B (en) * | 2020-11-10 | 2022-06-10 | 南京航空航天大学 | Unmanned aerial vehicle who possesses flexible configuration of modularization and perch contact |
| CN112550680A (en) * | 2020-12-14 | 2021-03-26 | 之江实验室 | Collapsible self-adaptation undercarriage of many rotor unmanned aerial vehicle |
| CN112550680B (en) * | 2020-12-14 | 2022-05-24 | 之江实验室 | A foldable adaptive landing gear for a multi-rotor UAV |
| CN112977805A (en) * | 2021-04-19 | 2021-06-18 | 北京航空航天大学 | Landing device for micro-miniature flapping-wing aircraft |
| CN113353246A (en) * | 2021-07-03 | 2021-09-07 | 中国飞机强度研究所 | Self-adaptive landing control method for bionic leg landing gear of helicopter |
| CN113353246B (en) * | 2021-07-03 | 2024-01-30 | 中国飞机强度研究所 | Self-adaptive landing control method for bionic leg landing gear of helicopter |
| CN114455069A (en) * | 2022-03-30 | 2022-05-10 | 河南大学 | Survey and drawing unmanned aerial vehicle is used in fortune research teaching |
| CN114455069B (en) * | 2022-03-30 | 2024-03-26 | 河南大学 | survey and drawing unmanned aerial vehicle is used in operation research teaching |
| US12060148B2 (en) | 2022-08-16 | 2024-08-13 | Honeywell International Inc. | Ground resonance detection and warning system and method |
| CN116161250A (en) * | 2023-04-04 | 2023-05-26 | 南京航空航天大学 | A hip-knee-driven bionic landing leg six-rotor UAV and its control method |
| CN116161250B (en) * | 2023-04-04 | 2023-09-26 | 南京航空航天大学 | A hip and knee driveable bionic landing leg six-rotor UAV and its control method |
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Application publication date: 20190611 |