An embedded electric drive heading stabilization type skid landing device and its working method

Abstract

The present invention discloses an embedded electrically driven heading stabilization type skid landing device and its working method, comprising an outer cylinder, an upper torque arm, a lower torque arm, a support, a skid, a guide wheel, an upper end cover, a piston rod, a rocker arm, a mounting plate, a friction plate, a load sensor, a buffer, a skid pitch buffer and an actuator module. The present invention specifically provides an embedded electrically driven heading stabilization type skid landing device and its working method. When the aircraft's taxiing direction deviates, the system controls the brushless motor to drive the rocker arm connecting rod mechanism to press the friction plate down to the road surface to generate pressure, thereby changing the bonding force between the single-sided landing device and the road surface, causing the fuselage to be subjected to a yaw moment, thereby correcting the aircraft's taxiing direction and enhancing the aircraft's taxiing heading stability. The load sensor can measure the pressure of the friction plate on the road surface and provide feedback. The friction plate is made of heat-resistant composite material, and specific patterns are processed on its bottom to provide additional lateral force and reduce the aircraft's tail swing phenomenon.

Description

Technical Field

[0001] The present invention relates to the technical field of hypersonic aircraft taxiing and landing, and in particular to a skid landing device with an embedded electric drive heading stabilization and a working method thereof. Background Art

[0002] Landing gear is primarily categorized as wheeled or skid-type. Traditional aircraft often utilize wheeled landing gear, offering stable landings and easy rollouts, but these are subject to challenges such as complex structure, heavy weight, and space requirements. Skid-type landing gear, on the other hand, offers simplicity, light weight, low cost, reliable performance, and a compact footprint. Some hypersonic aircraft utilize skid-type landing gear to mitigate design constraints on landing gear retraction space and structural weight. These gears utilize friction between the skid and the road surface for deceleration and braking. The US X-15A previously employed a skid-type landing system and conducted flight tests. However, for hypersonic aircraft using skid-type landing gear, traditional skid-type landing gear suffers from directional instability. Published patents for skid-type landing gear also exhibit issues such as uncompactness and poor directional stability. Furthermore, most rely on hydraulic systems for actuation. Fully electric landing gear systems, which replace hydraulic systems with electrical systems, offer advantages in many respects. Therefore, fully electric directional stabilization skid-type landing gear holds significant research value. Summary of the Invention

[0003] In view of the above situation, in order to overcome the defects of the prior art, the present invention proposes an embedded electrically driven heading stabilization type skid landing device and its working method in response to the landing stability requirements of hypersonic aircraft landing with a skid landing device.

[0004] The technical solution adopted by the present invention is as follows: an embedded electric drive heading stabilization type skid landing device, including an outer cylinder, an upper torque arm, a lower torque arm, a support, a skid, a guide wheel, an upper end cover, a piston rod, a rocker arm, a mounting plate, a friction plate, a load sensor, a buffer, a skid pitch buffer and an actuator module;

[0005] The upper end of the piston rod is coaxially connected to the outer cylinder, and the piston rod is slidably arranged in the outer cylinder;

[0006] The upper torque arm is hinged to the outer cylinder, the lower torque arm is hinged to the piston rod, and the upper torque arm is hinged to the lower torque arm;

[0007] The support is connected to the lower end of the piston rod, and the two sides of the middle part of the slide are hinged to the lower part of the support. The support 4 provides the slide with pitch freedom to adapt to different road surface conditions;

[0008] The guide wheels are fixedly arranged at both ends of the rear portion of the slide;

[0009] Both ends of the slide pitch buffer are hinged to the support and the slide respectively;

[0010] The slider pitch buffer includes a slider pitch buffer piston rod and a slider pitch buffer outer cylinder, the slider pitch buffer outer cylinder is hinged to the slider, the slider pitch buffer piston rod is coaxially connected to the slider pitch buffer outer cylinder, and the slider pitch buffer piston rod is slidably arranged in the slider pitch buffer outer cylinder, and the slider pitch buffer piston rod is hinged to the support;

[0011] The upper end cover is fixedly arranged on the upper end of the outer cylinder;

[0012] The upper end of the rocker arm is hinged to the support, and the mounting plate is hinged to the lower end of the rocker arm;

[0013] The upper surface of the friction plate and the lower surface of the mounting plate are fixedly connected by screws;

[0014] The actuator module is integrated inside the piston rod, which can save space;

[0015] The load sensor is fixed in the outer cylinder, and the upper end load sensor includes a first load sensor and a second load sensor. The first load sensor is fixed on the buffer, and the buffer is fixed between the first load sensor and the actuating cylinder module. The second load sensor is on the actuating cylinder module.

[0016] The actuator module includes a brushless motor, a reducer, a coupling, a screw limiting slide rail, a nut sleeve, a screw and an ejector;

[0017] The brushless motor and the reducer are both fixed in the piston rod;

[0018] The reducer is connected to the brushless motor;

[0019] The second load sensor is fixed on the brushless motor;

[0020] The coupling connects the output shaft of the reducer and the screw, and the screw converts the rotational motion output by the reducer into linear motion through the coupling;

[0021] The nut sleeve is installed on the screw rod;

[0022] The ejector pin is connected to the lower end of the nut sleeve, and the ejector pin is located outside the screw rod;

[0023] The screw rod limiting slide rail is fixedly arranged in the piston rod, and the screw rod limiting slide rail is located outside the ejector pin;

[0024] The lower end of the ejector pin is hinged with a connecting rod, and the lower end of the connecting rod is hinged to the middle part of the rocker arm;

[0025] The actuator module controls the lowering or retraction of the mounting plate and the friction plate through the rocker arm and the connecting rod, and controls the pressure of the friction plate against the road surface according to the degree of aircraft yaw and feedback from the load sensor.

[0026] Furthermore, the friction plate is made of heat-resistant composite material and has specific patterns processed on the bottom to increase the lateral force during taxiing and prevent the aircraft from tailswinging during correction.

[0027] The present invention also discloses a method for operating a skid landing device with an embedded electric drive and heading stabilization, comprising the following steps:

[0028] When the aircraft lands, the skid contacts the pavement and is cushioned by the skid pitch buffer, and the aircraft rolls and brakes. If the aircraft's rolling direction is correct, the brushless motor does not start, the friction plate remains in the upper position, and is separated from the pavement. When the aircraft's rolling direction deviates, the brushless motor rotates, and the actuator module presses the friction plate down on the pavement through the rocker arm to generate pressure, thereby changing the bonding force between the unilateral landing device and the pavement, causing the fuselage to be subjected to a yaw moment, thereby correcting the aircraft's rolling direction. The heat-resistant composite friction plate with specific patterns on the bottom can provide additional lateral force to reduce the aircraft's tailswing phenomenon.

[0029] The beneficial effects achieved by the present invention using the above structure are as follows:

[0030] (1) Compared with the traditional hypersonic aircraft skid-type landing device, the present invention provides an embedded electric-driven landing device with directional stabilization, which can correct the aircraft's rolling direction and enhance the aircraft's directional stability during landing.

[0031] (2) Compared with the conventional skid-type landing device for hypersonic aircraft, the present invention can control the pressure between the friction plate and the road surface, and can control the aircraft's rolling deceleration rate;

[0032] (3) Compared with the traditional hypersonic aircraft skid landing device, the present invention uses a heat-resistant composite friction plate with special patterns to provide additional lateral force when the friction plate is lowered, which can prevent the aircraft from tailswinging during correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 Schematic diagram of the internal structure of the present invention;

[0036] Figure 3 This is a schematic structural diagram of the actuator module of the present invention;

[0037] Figure 4 This is a schematic structural diagram of the ejector pin of the actuator module of the present invention;

[0038] Figure 5 This is a schematic structural diagram of the nut sleeve and screw rod of the actuator module of the present invention;

[0039] Figure 6 It is a schematic structural diagram of the skid of the present invention;

[0040] Figure 7 Schematic diagram of the friction plate of the present invention;

[0041] Figure 8 Schematic diagram of the working state of the friction plate of the present invention.

[0042] Among them, 1. outer cylinder, 2. upper torque arm, 3. lower torque arm, 4. support, 5. slide, 6. guide wheel, 7. slide pitch buffer piston rod, 8. slide pitch buffer outer cylinder, 9. upper end cover, 10. piston rod, 11. rocker arm, 12. mounting plate, 13. friction plate, 14. load sensor, 15. buffer, 16. brushless motor, 17. reducer, 18. coupling, 19. screw limit slide rail, 20. nut sleeve, 21. screw, 22. ejector, 23. connecting rod. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0044] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the accompanying drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0045] An embedded electric drive heading stabilization type skid landing device includes an outer cylinder 1, an upper torque arm 2, a lower torque arm 3, a support 4, a skid 5, a guide wheel 6, an upper end cover 9, a piston rod 10, a rocker arm 11, a mounting plate 12, a friction plate 13, a load sensor 14, a buffer 15, a skid pitch buffer, and an actuator module;

[0046] like Figure 1 and Figure 6 As shown, the upper end of the piston rod 10 is coaxially connected to the outer cylinder 1, and the piston rod 10 is slidably arranged in the outer cylinder 1; the upper torque arm 2 is hinged to the outer cylinder 1, the lower torque arm 3 is hinged to the piston rod 10, and the upper torque arm 2 is hinged to the lower torque arm 3; the support 4 is connected to the lower end of the piston rod 10, and the two sides of the middle part of the slide 5 are hinged to the lower part of the support 4, and the support 4 provides the slide 5 with pitch freedom to adapt to different road surface conditions; the guide wheel 6 is fixed at both ends of the rear part of the slide 5, and is used to contact the slide rail when the landing gear is retracted to the upper position, so that the slide 5 rotates and approaches the piston rod 10 to reduce the retraction space; the two ends of the slide pitch buffer are respectively hinged to the support 4 and the slide 5; the slide pitch buffer It includes a slide pitch buffer piston rod 7 and a slide pitch buffer outer cylinder 8, the slide pitch buffer outer cylinder 8 is hinged to the slide 5, the slide pitch buffer piston rod 7 is coaxially connected to the slide pitch buffer outer cylinder 8, and the slide pitch buffer piston rod 7 is slidably arranged in the slide pitch buffer outer cylinder 8, the slide pitch buffer piston rod 7 is hinged to the support 4; the upper end cover 9 is fixed to the upper end of the outer cylinder 1, for fixing the outer cylinder 1 and the internal device of the buffer 15; the upper end of the rocker arm 11 is hinged to the support 4, and the mounting plate 12 is hinged to the lower end of the rocker arm 11; the upper surface of the friction plate 13 is fixedly connected to the lower surface of the mounting plate 12 by screws; the actuator module is integrated inside the piston rod 10, which can save space.

[0047] like Figure 2 As shown, the load sensor 14, the buffer 15 and the actuator module are arranged at the upper end of the piston rod 10 and inside the outer tube 1. The load sensor 14 is fixed in the outer tube 1. The upper end load sensor 14 includes a first load sensor and a second load sensor. The first load sensor is fixed on the buffer 15. The buffer 15 is fixed between the first load sensor and the actuator module to absorb the energy generated by the impact when the aircraft lands. The second load sensor is on the actuator module. The two load sensors 14 respectively collect the vertical loads on the slide 5 and the friction mechanism.

[0048] like Figure 3-5As shown, the actuator module includes a brushless motor 16, a reducer 17, a coupling 18, a screw limiting slide 19, a nut sleeve 20, a screw 21 and an ejector 22; the brushless motor 16 is fixed in the piston rod 10 and is controlled by the aircraft system as a drive for correction; the reducer 17 is fixed in the piston rod 10 and is connected to the brushless motor 16 to reduce the output speed of the brushless motor 16; the upper end of the coupling 18 is connected to the output shaft of the reducer 17, and the lower end is connected to the screw 21; the screw 21 is connected to the reducer 17 through the coupling 18 to reduce the speed. The rotary motion output by the actuator 17 is converted into linear motion; the upper part of the nut sleeve 20 is connected to the screw rod 21, and the lower part of the nut sleeve 20 is connected to the ejector 22; the upper end of the ejector 22 is fixed on the screw rod 21, and the lower end is hinged to the connecting rod 23, driving the rocker arm 11 and the connecting rod 23 mechanism; the screw rod limiting slide 19 limits the rotation of the nut sleeve 20 to ensure that the rotary motion is converted into linear motion; the brushless motor 16, reducer 17, coupling 18, screw rod 21, nut sleeve 20, ejector 22, and screw rod limiting slide 19 are integrated in the piston rod 10, further saving space.

[0049] like Figure 7 and Figure 8 As shown, the upper end of the connecting rod 23 is hinged to the ejector pin 22, and the lower end of the connecting rod 23 is hinged to the rocker arm 11; the friction plate 13 is fixed to the mounting plate 12 by screws, which is easy to replace after wear. The friction plate 13 adopts a heat-resistant composite material with a specific pattern on the bottom to increase the lateral force during the taxiing process and prevent the aircraft from tailswinging during correction.

[0050] like Figure 7 and Figure 8 As shown, when an aircraft lands, the skid 5 contacts the road surface, where it is cushioned and braked by the skid pitch buffer 15. If the aircraft is rolling in the correct direction, the brushless motor 16 is deactivated, and the friction plate 13 remains in the upper position, separated from the road surface. If the aircraft's rolling direction deviates, the brushless motor 16 rotates, and the actuator module presses the friction plate 13 down against the road surface via the rocker arm 11, generating pressure. This changes the binding force between the single-sided landing device and the road surface, applying a yaw moment to the fuselage and correcting the aircraft's rolling direction. The friction plate 13, made of a heat-resistant composite material with a specific pattern on its bottom, provides additional lateral force, mitigating tailswing.

[0051] When the aircraft is landing and rolling in the correct heading, the friction plate 13 mechanism remains in the upper position, as shown in FIG. Figure 7 As shown, when the heading deviates, the actuator module drives the ejector pin 22 downward, and the friction plate 13 is pressed down to the road surface through the rocker arm 11 connecting rod 23 mechanism to generate pressure, as shown in FIG. Figure 8 shown.

[0052] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0053] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A skid landing device with built-in electric drive and heading stabilization, characterized in that: It includes an outer cylinder, an upper torque arm, a lower torque arm, a support, a slide, a guide wheel, an upper end cover, a piston rod, a rocker arm, a mounting plate, a friction plate, a load sensor, a buffer, a slide pitch buffer and an actuator module; The upper end of the piston rod is coaxially connected to the outer cylinder, and the piston rod is slidably arranged in the outer cylinder; The upper torque arm is hinged to the outer cylinder, the lower torque arm is hinged to the piston rod, and the upper torque arm is hinged to the lower torque arm; The support is connected to the lower end of the piston rod, and both sides of the middle part of the slide are hinged to the lower part of the support; The guide wheels are fixedly arranged at both ends of the rear portion of the slide; Both ends of the slide pitch buffer are hinged to the support and the slide respectively; The slider pitch buffer includes a slider pitch buffer piston rod and a slider pitch buffer outer cylinder, the slider pitch buffer outer cylinder is hinged to the slider, the slider pitch buffer piston rod is coaxially connected to the slider pitch buffer outer cylinder, and the slider pitch buffer piston rod is slidably arranged in the slider pitch buffer outer cylinder, and the slider pitch buffer piston rod is hinged to the support; The upper end cover is fixedly arranged on the upper end of the outer cylinder; The upper end of the rocker arm is hinged to the support, and the mounting plate is hinged to the lower end of the rocker arm; The upper surface of the friction plate and the lower surface of the mounting plate are fixedly connected by screws; The actuator module is integrated inside the piston rod; The load sensor is fixed in the outer cylinder, and the upper end load sensor includes a first load sensor and a second load sensor. The first load sensor is fixed on the buffer, and the buffer is fixed between the first load sensor and the actuating cylinder module. The second load sensor is on the actuating cylinder module. The actuator module includes a brushless motor, a reducer, a coupling, a screw limiting slide rail, a nut sleeve, a screw and an ejector; The brushless motor and the reducer are both fixed in the piston rod; The reducer is connected to the brushless motor; The second load sensor is fixed on the brushless motor; The coupling connects the output shaft of the reducer and the screw, and the screw converts the rotational motion output by the reducer into linear motion through the coupling; The nut sleeve is installed on the screw rod; The ejector pin is connected to the lower end of the nut sleeve, and the ejector pin is located outside the screw rod; The screw rod limiting slide rail is fixedly arranged in the piston rod, and the screw rod limiting slide rail is located outside the ejector pin; The lower end of the ejector pin is hinged with a connecting rod, and the lower end of the connecting rod is hinged to the middle part of the rocker arm.

2. The embedded electric drive heading stabilization type ski landing device according to claim 1, characterized in that: The friction plate is made of heat-resistant composite material.

3. A method for operating the embedded electrically driven heading stabilization skid landing device according to claim 1, characterized in that: The specific process includes the following: When the aircraft lands, the skid contacts the pavement and is cushioned by the skid pitch buffer, and the aircraft rolls and brakes. If the aircraft's rolling direction is correct, the brushless motor does not start, the friction plate remains in the upper position, and is separated from the pavement. When the aircraft's rolling direction deviates, the brushless motor rotates, and the actuator module presses the friction plate down on the pavement through the rocker arm to generate pressure, thereby changing the bonding force between the unilateral landing device and the pavement, causing the fuselage to be subjected to a yaw moment, thereby correcting the aircraft's rolling direction. The heat-resistant composite friction plate with specific patterns on the bottom can provide additional lateral force to reduce the aircraft's tailswing phenomenon.

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