CN113665797A - Electrical and pneumatic heterogeneous redundant undercarriage retractable actuator cylinder of unmanned aerial vehicle and working method - Google Patents
Electrical and pneumatic heterogeneous redundant undercarriage retractable actuator cylinder of unmanned aerial vehicle and working method Download PDFInfo
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- CN113665797A CN113665797A CN202111006177.9A CN202111006177A CN113665797A CN 113665797 A CN113665797 A CN 113665797A CN 202111006177 A CN202111006177 A CN 202111006177A CN 113665797 A CN113665797 A CN 113665797A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/22—Operating mechanisms fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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Abstract
The invention discloses an electric and pneumatic heterogeneous redundant unmanned aerial vehicle undercarriage retracting actuator cylinder and a working method, belongs to the technical field of aircraft undercarriages, and aims to provide an electric unit as a main working channel and a pneumatic unit as an emergency auxiliary channel. Under the normal operating condition, the controller receives the instruction and then controls the motor to rotate, the motor drives the push rod to move according to the instruction required direction through the transmission assembly, so that the undercarriage is driven to move, until the undercarriage reaches the target position, the motor is controlled to stop rotating, and the undercarriage is locked in place. When the electric unit breaks down, the flying pipe computer starts an emergency discharge source, the electromagnetic valve is switched on, the gas cylinder outputs high-pressure gas, the pneumatic motor starts to work, and the pneumatic motor drives the push rod to move through the transmission assembly, so that the undercarriage is driven to move. The device can drive the undercarriage to move through the pneumatic unit when the electric unit fails, and effectively solves the problems of large volume, low efficiency, poor maintainability, low reliability of the electric actuating cylinder and the like of the hydraulic actuating cylinder.
Description
Technical Field
The invention belongs to the technical field of aircraft landing gears, and relates to an electric and pneumatic heterogeneous redundant landing gear retractable actuating cylinder of an unmanned aerial vehicle and a working method.
Background
The undercarriage retractable actuator cylinder is an important component of the undercarriage of the unmanned aerial vehicle, and the working reliability of the undercarriage retractable actuator cylinder directly influences the realization and flight performance of safe take-off, sliding and landing of the unmanned aerial vehicle.
The existing unmanned aerial vehicle landing gear mainly adopts a retraction system which takes single hydraulic pressure or electric power as a retraction power source and takes a hydraulic pressure or an electric actuating cylinder as a main actuating element. Although the hydraulic retraction system is mature in technology, the hydraulic retraction system is large in element mass, high in energy consumption, low in efficiency, complex in pipeline and long in overhaul and maintenance time. Compared with a hydraulic retraction system, the electric retraction system has the advantages of compact structure, small mass, convenience in overhauling and maintenance, high working efficiency and the like, but the locking device is complex in mechanism, multiple in structural parts, more in fault points and low in reliability.
The existing hydraulic and electric retractable actuating cylinders of the landing gear of the unmanned aerial vehicle have certain limitations, and the improvement of the take-off reliability and the landing performance of the unmanned aerial vehicle is seriously influenced.
Disclosure of Invention
The invention aims to overcome the defect that hydraulic and electric retractable actuating cylinders of an unmanned aerial vehicle undercarriage have certain limitations in the prior art, and provides an electric and gas heterogeneous redundant retractable actuating cylinder of the unmanned aerial vehicle undercarriage.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
an electricity and gas heterogeneous redundant unmanned aerial vehicle undercarriage retracting actuator cylinder comprises an electric unit and a pneumatic unit;
the electric unit comprises a case, a controller, a motor, a pneumatic motor and a transmission assembly are installed in the case, a first electric connector and a push rod are further installed on the case, an in-place switch is installed on the push rod, the first electric connector is electrically connected with the controller, and the push rod is connected with an external unmanned aerial vehicle undercarriage;
the pneumatic unit comprises a gas cylinder, an electromagnetic valve and a second electric connector, the second electric connector and the electromagnetic valve are installed on one side of the gas cylinder, the gas cylinder is connected with the pneumatic motor through a pipeline, and the electromagnetic valve is electrically connected with the second electric connector;
the first electric connector, the in-place switch and the motor are respectively and electrically connected with the controller; the first electric connector is electrically connected with an external working power supply and an emergency discharge source, and the second electric connector is electrically connected with an external emergency discharge source; the pneumatic motor and the motor are respectively connected with the input end of the transmission assembly, and the output end of the transmission assembly is connected with the push rod.
Preferably, the transmission assembly comprises a gear, a worm gear and a ball screw pair;
the output end of the gear is connected with a worm gear, the other end of the worm gear is connected with a ball screw pair, and the other end of the ball screw pair is connected with a push rod;
the input end of the gear is respectively connected with the motor and the pneumatic motor.
Preferably, the pneumatic unit further comprises a constant pressure valve installed at one end of the solenoid valve;
the air inlet of the pneumatic motor is arranged on the side edge of the first electric connector, and the air inlet of the pneumatic motor is connected with the air outlet of the constant pressure valve through an air hose.
Preferably, a processor and a driver are arranged in the controller, the driver is used for controlling the rotating speed of the motor, the processor is provided with seven speed steps, and the voltages corresponding to the seven speed steps are respectively as follows: -4.5V, -3V, -1.5V, 0V, +1.5V, +3V and + 4.5V.
Preferably, four in-place switches are provided, and 2 in-place switches are respectively installed at the starting position and the ending position of the push rod.
Preferably, MC nylon buffer rings are respectively arranged at two ends of the push rod.
Preferably, the motor is a brushless dc motor.
A working method of an undercarriage retractable actuator cylinder of an unmanned aerial vehicle based on the electricity and gas heterogeneous redundancy comprises the following steps:
under normal conditions, after receiving a retraction/extension command, the controller controls the motor to rotate, the motor drives the transmission assembly to move, and the transmission assembly drives the push rod to move, so that the retraction or extension action of the undercarriage is realized;
when the electric unit fails, the electromagnetic valve is powered on by the emergency discharge source, the high-pressure gas output by the gas cylinder drives the pneumatic motor to rotate, the pneumatic motor drives the transmission assembly to move, and the transmission assembly drives the push rod to move, so that the landing gear is lowered.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses an electricity and gas heterogeneous redundant unmanned aerial vehicle undercarriage retracting actuator cylinder which comprises an electric unit and a pneumatic unit, wherein the electric unit is used as a main working channel, the pneumatic unit is used as an emergency auxiliary channel, under the normal working condition, a controller controls a motor to rotate, the motor drives a push rod to move according to the direction required by an instruction through a transmission assembly, so that an undercarriage is driven to move, until the undercarriage reaches a target position, a brushless motor is controlled to stop rotating, and the undercarriage is locked in place. When the electric unit breaks down, the flying pipe computer starts the emergency discharge source, the second electric connector supplies power to the pneumatic unit, the pneumatic motor starts to work, and the pneumatic motor drives the push rod to move through the transmission assembly, so that the undercarriage is driven to move. The device can drive the undercarriage to move through the pneumatic unit when the electric unit fails, and effectively solves the problems of large volume, low efficiency, poor maintainability, low reliability of the electric actuating cylinder and the like of the hydraulic actuating cylinder. The electric and gas heterogeneous redundant undercarriage retractable actuator cylinder of the unmanned aerial vehicle has the functions of normal retraction and emergency retraction in case of failure; the locking function at any position after power failure is realized; the non-similar redundancy design composed of electric and pneumatic components is adopted, so that the reliability of the actuating cylinder is improved by 20 percent compared with the prior dual-redundancy electric retractable actuating cylinder.
Furthermore, the gas cylinder is provided with an electromagnetic valve which is respectively and electrically connected with the second electric connector. The gas cylinder is powered on, the pneumatic motor is driven by high-pressure gas to drive the undercarriage to move, and the lowering action is completed.
Further, the pneumatic unit also comprises a constant pressure valve which is arranged at the outlet of the gas cylinder; the air inlet of air motor is seted up to first electric connector's side, and air motor's air inlet is connected with the gas outlet of constant pressure valve to make the gas pressure who gets into air motor stable, ensure its normal work.
Furthermore, four in-place switches are arranged, 2 push rods are respectively arranged at the two ends of the starting position and the ending position of each push rod, the reliability of the in-place state is guaranteed, and MC nylon buffer rings are respectively arranged at the two ends of each push rod and used for preventing the actuator from being damaged by large impact force generated by over-stroke operation.
The working method of the electric and pneumatic heterogeneous redundant undercarriage retractable actuating cylinder of the unmanned aerial vehicle comprises electric redundancy and pneumatic redundancy which are not similar. The retractable actuator cylinder adopts a master-slave cold backup working mode in which the electric unit is used as a main channel and the pneumatic unit is used as a backup channel, the electric unit finishes the retraction and extension functions of the undercarriage under a normal condition, and the pneumatic unit realizes an emergency extension function under a fault condition.
Drawings
FIG. 1 is a functional block diagram of an electric and pneumatic heterogeneous redundant undercarriage retractable actuator cylinder of an unmanned aerial vehicle;
FIG. 2 is a schematic structural diagram of an electric and pneumatic heterogeneous redundant undercarriage retraction actuator of an unmanned aerial vehicle;
wherein: 1-a first electrical connector 1; 2-a second electrical connector; 3-a gas hose; 4-a gas cylinder; 5-an electromagnetic valve; 6-constant pressure valve; 7-a push rod; 8-a controller; 9-a motor; 10-a pneumatic motor; 11-a gear; 12-a worm gear; 13-a ball screw pair; 14-a go-to-position switch; 15-case.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
example 1
An electric and pneumatic heterogeneous redundant undercarriage retraction actuator of an unmanned aerial vehicle, as shown in fig. 2, comprises an electric unit and a pneumatic unit;
the electric unit comprises a case 15, a controller 8, a motor 9, a pneumatic motor 10 and a transmission assembly are installed in the case 15, a first electric connector 1, a push rod 7 and an in-place switch 14 are further installed on the case 15, the controller 8 is electrically connected with the motor 9, and the push rod 7 is connected with an external unmanned aerial vehicle undercarriage;
the pneumatic unit comprises a gas cylinder 4, an electromagnetic valve 5, a constant pressure valve 6 and a second electric connector 2, the second electric connector 2 is installed on one side of the gas cylinder 4, the constant pressure valve 6 is connected with the pneumatic motor 10 through a gas hose 3, and the electromagnetic valve 5 is electrically connected with the second electric connector 2;
the first electric connector 1, the in-place switch 14 and the motor 9 are respectively and electrically connected with the controller 8; the first electric connector 1 is electrically connected with an external working power supply and an emergency discharge source, and the second electric connector 2 is electrically connected with an external emergency discharge source; the pneumatic motor 10 and the motor 9 are respectively connected with the input end of the transmission component, and the output end of the transmission component is connected with the push rod 7.
Example 2
The procedure of example 1 was repeated except for the following points.
The pneumatic unit also comprises a constant pressure valve 6, and the constant pressure valve 6 is arranged at one end of the electromagnetic valve 5;
the side of the first electric connector 1 is provided with an air inlet of an air motor 10, and the air inlet of the air motor 10 is connected with an air outlet of the constant pressure valve 6 through an air hose 3.
Example 3
The procedure of example 1 was repeated except for the following points.
The transmission assembly comprises a gear 11, a worm gear 12 and a ball screw pair 13; the output end of the gear 11 is connected with a worm gear 12, the other end of the worm gear 12 is connected with a ball screw pair 13, and the other end of the ball screw pair 13 is connected with the push rod 7; the input ends of the gear 11 are connected with the electric motor 9 and the air motor 10 respectively. The position switch 14 is provided with four, and 2 push rods 7 are respectively arranged at the two ends of the initial stroke and the final stroke. MC nylon buffer rings are respectively arranged at two ends of the push rod 14. The motor 9 is a brushless dc motor.
Example 4
Referring to fig. 1, the function of the electric and pneumatic heterogeneous redundant unmanned aerial vehicle undercarriage retractable actuator cylinder is composed of an electric component, a pneumatic component and an actuating mechanism. Wherein, the electric component is composed of a controller 8 (including a processor, a driver, a power supply converter and a relay) and a motor 9; the pneumatic assembly consists of a gas cylinder 4, an electromagnetic valve 5, a constant pressure valve 6 and a pneumatic motor 10; the actuating mechanism consists of a gear 11, a worm gear 12, a ball screw pair 13, a push rod 7 and a position switch 14.
Referring to fig. 2, the structure of the electric and pneumatic heterogeneous redundant unmanned aerial vehicle undercarriage retractable actuator cylinder is composed of an electric unit and a pneumatic unit. Wherein, the pneumatic unit consists of a gas cylinder 4, an electromagnetic valve 5 and a constant pressure valve 6; the electric unit comprises a push rod 7, a controller 8, a motor 9, a pneumatic motor 10, a gear 11, a worm gear 12, a ball screw 13, a position switch 14 and the like.
The electric unit is connected with a working power supply, an emergency discharge source and a retraction/release instruction through a first electric connector 1, and is connected with a gas hose 3 through a pneumatic interface; the pneumatic unit is connected with an emergency discharge power supply through a second electric connector 2 and is connected with a gas hose 3 through a pneumatic interface. The electric component and the pneumatic component form electric parallel redundancy, the executing mechanism adopts a double-shaft input mode and a single-shaft output mode, and the output forces of the motor 9 and the pneumatic motor 10 can independently drive the undercarriage to move through the transmission component. Under normal conditions, the motor 9 drives the gear 11 to rotate in the forward direction, and the pneumatic motor 10 is driven by the gear 11 to move in the reverse direction; in case of failure, the pneumatic motor 10 drives the gear 11 to rotate in the forward direction, and the motor 9 is driven by the gear 11 to move in the reverse direction.
Example 5
A working method of an undercarriage retractable actuator cylinder of an unmanned aerial vehicle based on the electricity and gas heterogeneous redundancy comprises the following steps:
under normal conditions, the controller 8 detects the type of the command (put down/put up) after being powered on; the state of the in-place switch 14 is checked again; if the state of the in-place switch 14 is not in place, the in-place switch is connected with the controller, and a processor in the controller detects whether the switch is in place; the controller 8 controls the motor 9 to drive the undercarriage to move according to the direction required by the instruction, and if the switch state is in place, the controller 8 controls the motor 9 to stop rotating, and the undercarriage is in place and locked. When the motor 9 drives the undercarriage to move down and breaks down, the flying pipe computer starts an emergency discharge source, the electromagnetic valve 5 is electrified to open the gas cylinder 4, the high-pressure gas in the gas cylinder 4 drives the pneumatic motor 10 to drive the executing mechanism to move, and the undercarriage is moved down. When the pneumatic motor 10 works, the motor 9 is driven by the gear 11 to rotate at a high speed, and becomes a generator. In order to prevent the pumping voltage generated by power generation from damaging components in the electric unit, an electromagnetic relay is added between the driver and the motor, and in the emergency release process, the connection line between the three-phase winding of the motor and the driver is disconnected, so that the power generated by the motor 9 is prevented from being fed back to a working power supply bus, and the product safety is ensured.
Example 6
The electric unit realizes the functions of normal retraction/extension, movement speed regulation, stop control and the like of the landing gear. The controller is internally provided with a power supply conversion circuit, a driver, an electromagnetic relay and a solid-state relay. The power conversion circuit converts the 28V working power supply voltage into +3.3V, + -15V, + -12V power through DC/DC, and respectively supplies power for the processor, the driver and the electromagnetic relay. The processor detects the receiving and releasing instruction signal and the in-place state signal to generate a rotating speed instruction signal. The driver detects the signal state and the rotating speed of the motor HALL and completes the functions of motor reversing and rotating speed closed-loop control according to the rotating speed instruction signal. The electromagnetic relay is used for switching on/off the physical connection between the three-phase winding of the motor and the three-phase bridge of the driver; the solid-state relay is used for disconnecting the +/-12V power supply of the electromagnetic relay. The motor converts electrical energy into rotational mechanical energy.
In order to realize the smooth acceleration and deceleration of the motor, the forward and reverse rotation speeds of the motor are divided into 3 grades of low speed, medium speed and high speed. The processor sets 3 forward rotation speed steps corresponding to voltages of +1.5V (low speed), +3V (medium speed) and +4.5V (high speed); reversing 3 speed gears, and corresponding voltages are-1.5V (low speed), -3V (medium speed), -4.5V (high speed); the stall voltage is 0V.
In order to realize the rapid retraction and extension of the undercarriage, the time for keeping the motor in a high rotating speed state is as long as possible, so that the following speed control is carried out: outputting a low-speed instruction within 1s after the motor is started, outputting a medium-speed instruction within the next 1s, outputting a high-speed instruction within 2s before the switch is in place, outputting a medium-speed instruction within the next 1s, outputting a low-speed instruction within the last 1s, and outputting a stall instruction after the switch is in place.
The retraction/release in-place signals adopt a redundant design, each in-place state (retraction and release) has 2 signals, when any one of the 2 signals is effective, the signal is considered to be in place, and the motor 9 is controlled to stop rotating.
The electromagnetic relay selects a normally open contact, and the solid-state relay selects a normally closed contact. Under normal conditions, the contact of the solid-state relay is closed, a +/-12V power supply is output, the contact is closed after the electromagnetic relay is electrified, and the motor winding is switched on. Under the condition of a fault, the emergency discharge source is started, the electric contact on the solid-state relay is disconnected, the power-off contact on the electromagnetic relay is disconnected, and the motor winding is disconnected.
The pneumatic unit realizes the emergency lowering function of the undercarriage.
The air bottle 4 is a power source, stores 0.8L/15MPa high-pressure gas inside, can ensure 16s working time according to 5L/s flow, and can ensure that the pneumatic motor 10 drives the actuating mechanism to complete the landing gear lowering action. The electromagnetic valve is normally closed, and when the coil is not electrified, the gas discharge channel of the gas cylinder is closed. The constant pressure valve 6 (including a pressure gauge) converts high-pressure gas into low-pressure gas with constant pressure of 0.6MPa, and output pressure adjustment can be realized by adjusting a switch of the pressure gauge. The pneumatic motor 10 converts the pressure of the gas into mechanical energy of rotation.
After the emergency discharge source is started, the electromagnetic valve 5 is electrified and opened, high-pressure gas in the gas cylinder 4 flows through the electromagnetic valve, the pressure and the flow are regulated by the constant pressure valve 6 and then are output to the gas inlet of the pneumatic motor 10, the pneumatic motor 10 starts to rotate under the action of the air pressure to generate torque and rotating speed, and redundant gas is discharged through the gas outlet of the pneumatic motor 10. When the air pressure is lower than the driving air pressure of the air motor 10, the air motor 10 stops rotating.
The actuating mechanism converts the rotary motion of the motor 9 and the pneumatic motor 10 into the linear motion of the push rod, and simultaneously converts the high rotating speed and the small moment of the motor into the low speed and the large thrust to be transmitted to the push rod; the actuating mechanism provides a in-position state indicating signal and has an in-position locking function.
It should be noted that the actuating mechanism adopts a mechanical transmission mode of a primary bevel gear, a secondary straight gear, a worm gear, a ball screw pair and a push rod. The bevel gear and the straight gear adopt redundancy design, double-shaft input is realized through a motor output shaft and a pneumatic motor output shaft, after the motion coupling of the two-stage gears, a single shaft is output to the worm gear, and the worm gear sequentially transmits force to the ball screw pair and the push rod. In order to ensure the reliability of the locking of the actuator cylinder, a worm gear is arranged in the actuating mechanism, and the self-locking of the undercarriage retractable actuator cylinder at any position after power failure can be ensured by utilizing the reverse self-locking characteristic of the worm gear. In order to ensure the reliability of the in-place state, 2 in-place switches are respectively placed at the initial position and the final position of the stroke of the push rod by taking the zero position as a reference, the positions of the in-place switches are adjustable, and the adjustable distance is +/-3 mm. The in-place switch is a long-life microswitch. In order to ensure the safety of the operation of the actuating cylinder, MC nylon buffer rings are arranged at the starting limit position and the ending limit position of the push rod and are used for preventing the large impact force generated by over-stroke operation from damaging the actuator. The motor is a brushless direct current motor.
In summary, according to the electricity and gas heterogeneous redundant undercarriage retractable actuating cylinder of the unmanned aerial vehicle, firstly, a retraction/lowering command is detected, the driving motor 9 drives the push rod 7 to do linear reciprocating motion, and the in-place state is judged through the in-place switch 14, so that in-place stopping is realized. When the electric unit is abnormal, the landing gear is put down through the pneumatic unit.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (8)
1. An electric and pneumatic heterogeneous redundant undercarriage retracting actuator cylinder of an unmanned aerial vehicle is characterized by comprising an electric unit and a pneumatic unit;
the electric unit comprises a case (15), a controller (8), a motor (9), a pneumatic motor (10) and a transmission assembly are installed in the case (15), a first electric connector (1) and a push rod (7) are further installed on the case (15), an in-place switch (14) is installed on the push rod (7), the first electric connector (1) is electrically connected with the controller (8), and the push rod (7) is connected with an external unmanned aerial vehicle undercarriage;
the pneumatic unit comprises a gas cylinder (4), an electromagnetic valve (5) and a second electric connector (2), the second electric connector (2) and the electromagnetic valve (5) are installed on one side of the gas cylinder (4), the gas cylinder (4) is connected with the pneumatic motor (10) through a pipeline, and the electromagnetic valve (5) is electrically connected with the second electric connector (2);
the first electric connector (1), the in-place switch (14) and the motor (9) are respectively and electrically connected with the controller (8); the first electric connector (1) is electrically connected with an external working power supply and an emergency discharge source, and the second electric connector (2) is electrically connected with an external emergency discharge source; the pneumatic motor (10) and the motor (9) are respectively connected with the input end of the transmission component, and the output end of the transmission component is connected with the push rod (7).
2. The electrically and pneumatically heterogeneous redundant unmanned aerial vehicle landing gear retraction actuator according to claim 1, wherein the transmission assembly comprises a gear (11), a worm gear (12) and a ball screw pair (13);
the output end of the gear (11) is connected with a worm gear (12), the other end of the worm gear (12) is connected with a ball screw pair (13), and the other end of the ball screw pair (13) is connected with the push rod (7);
the input end of the gear (11) is respectively connected with the motor (9) and the air motor (10).
3. The electrically and pneumatically heterogeneous redundant landing gear retractable actuator of an unmanned aerial vehicle according to claim 1, wherein the pneumatic unit further comprises a constant pressure valve (6), the constant pressure valve (6) being mounted at one end of the solenoid valve (5);
the side edge of the first electric connector (1) is provided with an air inlet of a pneumatic motor (10), and the air inlet of the pneumatic motor (10) is connected with an air outlet of the constant pressure valve (6) through an air hose (3).
4. The electrical and pneumatic heterogeneous redundant undercarriage retraction actuator of an unmanned aerial vehicle according to claim 1, wherein a processor and a driver are arranged in the controller (8), the driver is used for controlling the rotation speed of the motor (9), the processor is provided with seven speed gears, and the voltages corresponding to the seven speed gears are respectively: -4.5V, -3V, -1.5V, 0V, +1.5V, +3V and + 4.5V.
5. An electrically and pneumatically heterogeneous redundant landing gear retraction actuator for unmanned aerial vehicles according to claim 1, wherein there are four in-place switches (14) and 2 in-place switches (14) are provided for each of the starting and ending positions of the push rod (7).
6. The electrically and pneumatically heterogeneous redundant undercarriage retraction actuator of an unmanned aerial vehicle according to claim 1, wherein MC nylon buffer rings are placed at each end of the push rod (7).
7. An electrically and pneumatically heterogeneous redundant undercarriage retraction actuator of an unmanned aerial vehicle according to claim 1, wherein the motor (9) is a brushless dc motor.
8. An operation method of an electric and pneumatic heterogeneous redundant unmanned aerial vehicle undercarriage retraction actuator cylinder based on any one of claims 1 to 7 is characterized by comprising the following steps:
under normal conditions, after receiving a retraction/extension instruction, the controller (8) controls the motor (9) to rotate, the motor (9) drives the transmission assembly to move, and the transmission assembly drives the push rod (7) to move, so that the retraction or extension action of the undercarriage is realized;
when the electric unit fails, the electromagnetic valve (5) is powered on by the emergency discharge source, high-pressure gas output by the gas cylinder (4) drives the pneumatic motor (10) to rotate, the pneumatic motor (10) drives the transmission assembly to move, and the transmission assembly drives the push rod (7) to move, so that the landing gear is lowered.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115195998A (en) * | 2022-09-16 | 2022-10-18 | 成都纵横大鹏无人机科技有限公司 | Undercarriage winding and unwinding devices and aircraft |
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Application publication date: 20211119 |