Concentric dual output shaft drive mechanism, landing gear and aircraft

Abstract

The application provides a concentric double-output shaft driving mechanism, a landing gear and an aircraft, and relates to the technical field of the aircraft.The concentric double-output shaft driving mechanism is provided with a first driving device, a first speed reducer and a first output shaft which are sequentially connected in transmission, a second driving device, a second speed reducer and a second output shaft which are sequentially connected in transmission, and the first output shaft is coaxial with the second output shaft, the first driving device and the second driving device can be controlled and debugged respectively, the synchronism of the first output shaft and the second output shaft can be ensured, and the synchronism problem caused by the assembly precision difference can be avoided.The landing gear is provided with a first arm support and a first output shaft which are connected in transmission, and a second arm support and a second output shaft which are connected in transmission, the first arm support and the second arm support can be arranged symmetrically, and the integration and the compactness of the equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to a concentric dual-output shaft drive mechanism, landing gear, and aircraft. Background Technology

[0002] To achieve automatic landing gear retraction and extension, and given the limitations of the aircraft's dimensions, a single electric motor has traditionally driven the retraction and extension of both booms. However, due to differences in component dimensions, the transmission between the two booms inevitably exhibits synchronization discrepancies, affecting the synchronicity of their retraction and extension. Furthermore, a spatial layout employing a single motor with dual-axis output presents significant challenges, resulting in poor landing gear integration. Summary of the Invention

[0003] The purpose of this invention is to provide a concentric dual-output shaft drive mechanism, landing gear, and aircraft to alleviate the technical problems of poor dual-axis output synchronization and low integration in the prior art.

[0004] In a first aspect, the concentric dual-output shaft drive mechanism provided by the present invention includes: a first driving device, a second driving device, a first output shaft, a second output shaft, a first reducer, and a second reducer;

[0005] The first driving device, the first reducer, and the first output shaft are sequentially connected in a driving transmission connection; the second driving device, the second reducer, and the second output shaft are sequentially connected in a driving transmission connection.

[0006] The first output shaft is coaxial with the second output shaft.

[0007] In conjunction with the first aspect, the present invention provides a first possible implementation of the first aspect, wherein the first driving device includes: a first stepper motor and a first worm gear connected to the drive shaft of the first stepper motor;

[0008] The second driving device includes: a second stepper motor and a second worm gear connected to the drive shaft of the second stepper motor;

[0009] The first worm gear is connected to the first reducer, and the second worm gear is connected to the second reducer.

[0010] In conjunction with the first possible implementation of the first aspect, the present invention provides a second possible implementation of the first aspect, wherein the first reducer includes: a first worm gear and a first reduction gear set connected to the first worm gear, the first worm meshes with the first worm gear, and the first reduction gear set is drively connected to the first output shaft;

[0011] The second reducer includes: a second worm gear and a second reduction gear set connected to the second worm gear, the second worm meshing with the second worm gear, and the second reduction gear set being drivenly connected to the second output shaft.

[0012] In a second aspect, the landing gear provided by the present invention includes: a first boom, a second boom, and a concentric dual output shaft drive mechanism as described in the first aspect, wherein the first boom is drivenly connected to the first output shaft, and the second boom is drivenly connected to the second output shaft.

[0013] In conjunction with the second aspect, the present invention provides a first possible implementation of the second aspect, wherein the first boom and the second boom are respectively hinged to the mounting frame, the first boom is connected to the first output shaft via a first universal joint, and the second boom is connected to the second output shaft via a second universal joint.

[0014] In conjunction with the first possible implementation of the second aspect, the present invention provides a second possible implementation of the second aspect, wherein the first boom includes: a first link, a first support arm, and a second link;

[0015] One end of the first connecting rod is hinged to the mounting bracket around a first hinge axis. The first hinge axis is connected to the first output shaft via a first universal joint. The other end of the first connecting rod is hinged to the first support arm around a second hinge axis. One end of the second connecting rod is hinged to the first support arm around a third hinge axis. The other end of the second connecting rod is hinged to the mounting bracket around a fourth hinge axis.

[0016] The axes of the first hinge shaft, the second hinge shaft, the third hinge shaft, and the fourth hinge shaft are parallel, and the first connecting rod, the first support arm, the second connecting rod, and the mounting bracket form a four-bar linkage.

[0017] In conjunction with the first possible implementation of the second aspect, the present invention provides a third possible implementation of the second aspect, wherein the second boom includes: a third link, a second support arm, and a fourth link;

[0018] One end of the third link is hinged to the mounting bracket around the fifth hinge axis, the fifth hinge axis is connected to the second output shaft via the second universal joint, the other end of the third link is hinged to the second support arm around the sixth hinge axis, one end of the fourth link is hinged to the second support arm around the seventh hinge axis, and the other end of the fourth link is hinged to the mounting bracket around the eighth hinge axis.

[0019] The axes of the fifth, sixth, seventh, and eighth hinge axes are parallel, and the third link, the second support arm, the fourth link, and the mounting bracket form a four-bar linkage.

[0020] In conjunction with the third possible implementation of the second aspect, the present invention provides a fourth possible implementation of the second aspect, wherein the mounting bracket includes: a hinge seat and a connecting rod fastener, the hinge seat and the connecting rod fastener being used to connect to the aircraft fuselage respectively;

[0021] The first connecting rod is hinged to the hinge seat around the first hinge axis, the third connecting rod is hinged to the hinge seat around the fifth hinge axis, the second connecting rod is hinged to the connecting rod fixing member around the fourth hinge axis, and the fourth connecting rod is hinged to the connecting rod fixing member around the eighth hinge axis.

[0022] In conjunction with the third possible implementation of the second aspect, the present invention provides a fifth possible implementation of the second aspect, wherein the first link and the third link are symmetrical with respect to the central plane, the second link and the fourth link are symmetrical with respect to the central plane, and the first support arm and the second support arm are symmetrical with respect to the central plane;

[0023] The angle bisectors of the angles between the axis of the first hinge axis and the axis of the fifth hinge axis, the angle bisectors of the angles between the axis of the second hinge axis and the axis of the sixth hinge axis, the angle bisectors of the angles between the axis of the third hinge axis and the axis of the seventh hinge axis, and the angle bisectors of the angles between the axis of the fourth hinge axis and the axis of the eighth hinge axis are all located on the central plane.

[0024] Thirdly, the aircraft provided by the present invention is equipped with the landing gear described in the second aspect.

[0025] The embodiments of the present invention bring the following beneficial effects: By employing a first driving device, a first reducer, and a first output shaft sequentially connected in a transmission manner, and a second driving device, a second reducer, and a second output shaft sequentially connected in a transmission manner, with the first and second output shafts coaxial, the first and second driving devices can be controlled and adjusted independently. This ensures the synchronization of the first and second output shafts and avoids synchronization problems caused by differences in assembly precision. Furthermore, the coaxiality of the first and second output shafts achieves a symmetrical layout and power output, which is beneficial for improving the integration and structural compactness of equipment using a concentric dual-output shaft drive mechanism.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 A cross-sectional view of the concentric dual-output shaft drive mechanism provided in an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the first driving device, the second driving device, the first output shaft, the first reducer, and the second reducer of the concentric dual output shaft drive mechanism provided in an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of the first driving device, the first output shaft, and the first reducer of the concentric dual output shaft drive mechanism provided in an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the first driving device, the second driving device, the second output shaft, the first reducer, and the second reducer of the concentric dual output shaft drive mechanism provided in an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the second driving device, the second output shaft, and the second reducer of the concentric dual output shaft drive mechanism provided in an embodiment of the present invention;

[0033] Figure 6 A schematic diagram of the landing gear provided for an embodiment of the present invention. Figure 1 ;

[0034] Figure 7 A schematic diagram of the landing gear provided for an embodiment of the present invention. Figure 2 ;

[0035] Figure 8 A schematic diagram of the landing gear provided for an embodiment of the present invention. Figure 3 .

[0036] Icons: 001 - First driving device; 101 - First stepper motor; 102 - First worm gear; 002 - Second driving device; 201 - Second stepper motor; 202 - Second worm gear; 003 - First output shaft; 301 - First output gear; 004 - Second output shaft; 401 - Second output gear; 005 - First reducer; 501 - First worm gear; 502 - First reduction gear set; 5021 - First gear; 5022 - Second gear; 5023 - Third gear; 5024 - Fourth gear; 5025 - Fifth gear; 006 - Second reducer; 601 - Second worm gear; 602 - Second reduction gear set; 6021 - Sixth gear; 6022 - Seventh gear; 6023-Eighth gear; 6024-Ninth gear; 6025-Tenth gear; 007-First boom; 701-First connecting rod; 702-First support arm; 703-Second connecting rod; 008-Second boom; 801-Third connecting rod; 802-Second support arm; 803-Fourth connecting rod; 009-Mounting bracket; 901-First hinge shaft; 902-Second hinge shaft; 903-Third hinge shaft; 904-Fourth hinge shaft; 905-Fifth hinge shaft; 906-Sixth hinge shaft; 907-Seventh hinge shaft; 908-Eighth hinge shaft; 910-Hinge seat; 920-Connecting rod fixing component; 010-First universal joint; 011-Second universal joint. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Physical quantities in formulas, unless otherwise specified, should be understood as basic quantities in the International System of Units (SI), or derived quantities derived from basic quantities through mathematical operations such as multiplication, division, differentiation, or integration.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] like Figure 1 As shown, the concentric dual-output shaft drive mechanism provided in this embodiment of the invention includes: a first drive device 001, a second drive device 002, a first output shaft 003, a second output shaft 004, a first reducer 005, and a second reducer 006; the first drive device 001, the first reducer 005, and the first output shaft 003 are sequentially connected in a driving manner, and the second drive device 002, the second reducer 006, and the second output shaft 004 are sequentially connected in a driving manner; the first output shaft 003 and the second output shaft 004 are coaxial.

[0041] The first driving device 001 and the second driving device 002 can be controlled and adjusted independently. The synchronization of the first output shaft 003 and the second output shaft 004 no longer depends on the consistency of the assembly precision of the first reducer 005 and the second reducer 006, making it easier to ensure that the first output shaft 003 and the second output shaft 004 rotate synchronously. In addition, since the first output shaft 003 and the second output shaft 004 are coaxial, the equipment using the concentric dual output shaft drive mechanism can more easily achieve layout and power output, which is beneficial to improving the integration and structural compactness of the equipment.

[0042] like Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment of the invention, the first driving device 001 includes: a first stepper motor 101 and a first worm gear 102 connected to the drive shaft of the first stepper motor 101; the first worm gear 102 drives a first-stage reduction through transmission with a first reducer 005, and further reduction is achieved through the first reducer 005, which on the one hand improves the control accuracy of the rotational speed and angle of the first output shaft 003, and on the other hand can increase the driving torque of the first output shaft 003. Figure 1 , Figure 4 and Figure 5 As shown, the second driving device 002 includes: a second stepper motor 201 and a second worm gear 202 connected to the drive shaft of the second stepper motor 201; the second worm gear 202 drives the second reducer 006 to achieve first-stage reduction, and the second reducer 006 achieves further reduction, which improves the control accuracy of the speed and angle of the second output shaft 004 on the one hand, and improves the driving torque of the second output shaft 004 on the other hand.

[0043] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the first reducer 005 includes: a first worm gear 501 and a first reduction gear set 502 connected to the first worm gear 501, a first worm 102 meshing with the first worm gear 501, and the first reduction gear set 502 being drivenly connected to the first output shaft 003; the second reducer 006 includes: a second worm gear 601 and a second reduction gear set 602 connected to the second worm gear 601, a second worm 202 meshing with the second worm gear 601, and the second reduction gear set 602 being drivenly connected to the second output shaft 004.

[0044] Specifically, the first reduction gear set 502 includes: a first gear 5021, a second gear 5022, a third gear 5023, a fourth gear 5024, and a fifth gear 5025. The first gear 5021 is coaxially connected to the first worm gear 501, the second gear 5022 is coaxially connected to the third gear 5023, the fourth gear 5024 is coaxially connected to the fifth gear 5025, the first output gear 301 is connected to the first output shaft 003, the first worm 102 meshes with the first worm gear 501, the first gear 5021 meshes with the second gear 5022, the third gear 5023 meshes with the fourth gear 5024, and the fifth gear 5025 meshes with the first output gear 301. Among them, the number of teeth of the second gear 5022 is greater than the number of teeth of the first gear 5021, the number of teeth of the fourth gear 5024 is greater than the number of teeth of the third gear 5023, and the number of teeth of the first output gear 301 is greater than the number of teeth of the fifth gear 5025, thus forming a four-stage reduction transmission from the first stepper motor 101 to the first output shaft 003. In addition, the second reduction gear set 602 includes: a sixth gear 6021, a seventh gear 6022, an eighth gear 6023, a ninth gear 6024, and a tenth gear 6025. The second worm gear 601 is coaxially connected to the sixth gear 6021, the seventh gear 6022 is coaxially connected to the eighth gear 6023, and the ninth gear 6024 is coaxially connected to the tenth gear 6025. The second output shaft 004 is connected to the second output gear 401. The second worm 202 meshes with the second worm gear 601, the sixth gear 6021 meshes with the seventh gear 6022, the eighth gear 6023 meshes with the ninth gear 6024, and the tenth gear 6025 meshes with the second output gear 401. Among them, the number of teeth of the seventh gear 6022 is greater than the number of teeth of the sixth gear 6021, the number of teeth of the ninth gear 6024 is greater than the number of teeth of the eighth gear 6023, and the number of teeth of the second output gear 401 is greater than the number of teeth of the tenth gear 6025, thus forming a four-stage reduction transmission from the second stepper motor 201 to the second output shaft 004.

[0045] like Figure 1 and Figure 6As shown, the landing gear provided in this embodiment of the invention includes: a first boom 007, a second boom 008, and a concentric dual output shaft drive mechanism described in the above embodiment. The first boom 007 is drivenly connected to the first output shaft 003, and the second boom 008 is drivenly connected to the second output shaft 004.

[0046] In this embodiment, the first output shaft 003 drives the first boom 007 to swing to achieve retraction and extension, and the second output shaft 004 drives the second boom 008 to swing to achieve retraction and extension. By adjusting the first driving device 001 and the second driving device 002, the synchronization of the first boom 007 and the second boom 008 can be ensured.

[0047] like Figure 1 , Figure 6 , Figure 7 and Figure 8 As shown, in this embodiment of the invention, the first boom 007 and the second boom 008 are respectively hinged to the mounting frame 009. The first boom 007 is connected to the first output shaft 003 via the first universal joint 010, and the second boom 008 is connected to the second output shaft 004 via the second universal joint 011.

[0048] The first boom 007 can be extended and retracted along the first plane, and the hinge axis of the first boom 007 relative to the mounting frame 009 is perpendicular to the first plane. The second boom 008 can be extended and retracted along the second plane, and the hinge axis of the second boom 008 relative to the mounting frame 009 is perpendicular to the second plane.

[0049] Furthermore, the first boom 007 includes: a first link 701, a first support arm 702, and a second link 703; one end of the first link 701 is hinged to the mounting frame 009 around a first hinge shaft 901, the first hinge shaft 901 is connected to the first output shaft 003 via a first universal joint 010, the other end of the first link 701 is hinged to the first support arm 702 around a second hinge shaft 902, one end of the second link 703 is hinged to the first support arm 702 around a third hinge shaft 903, and the other end of the second link 703 is hinged to the mounting frame 009 around a fourth hinge shaft 904; the axes of the first hinge shaft 901, the second hinge shaft 902, the third hinge shaft 903, and the fourth hinge shaft 904 are parallel, and the first link 701, the first support arm 702, the second link 703, and the mounting frame 009 form a four-bar linkage mechanism.

[0050] The first hinge shaft 901 is connected to the first connecting rod 701. The mating point between the first hinge shaft 901 and the first connecting rod 701 is configured as a polygonal or keyed connection, thereby fixing the first connecting rod 701 circumferentially relative to the first hinge shaft 901. The first output shaft 003 has an included angle with the first hinge shaft 901, and the first universal joint 010 ensures smooth transmission between the first output shaft 003 and the first hinge shaft 901. See also Figure 7 In the retracted state, the first link 701 swings upward around the axis of the first hinge shaft 901. The first link 701 and the second link 703 become nearly parallel and swing synchronously. The first support arm 702 rises relative to the mounting frame 009. The angles between the first link 701 and the first support arm 702, and between the first support arm 702 and the second link 703, are reduced to their minimum, approaching zero. In the initially deployed state, the first link 701 and the second link 703 become nearly horizontal. The angles between the first link 701 and the first support arm 702, and between the first support arm 702 and the second link 703, are approximately 90 degrees. The first support arm 702 can be supported on the ground or the hangar floor. When the first link 701 further swings clockwise around the axis of the first hinge shaft 901, the position of the first support arm 702 relative to the mounting frame 009 decreases, thereby increasing the support height of the first boom 007.

[0051] Furthermore, the second boom 008 includes: a third link 801, a second support arm 802, and a fourth link 803; one end of the third link 801 is hinged to the mounting frame 009 around a fifth hinge axis 905, the fifth hinge axis 905 is connected to the second output shaft 004 via a second universal joint 011, the other end of the third link 801 is hinged to the second support arm 802 around a sixth hinge axis 906, one end of the fourth link 803 is hinged to the second support arm 802 around a seventh hinge axis 907, and the other end of the fourth link 803 is hinged to the mounting frame 009 around an eighth hinge axis 908; the axes of the fifth hinge axis 905, the sixth hinge axis 906, the seventh hinge axis 907, and the eighth hinge axis 908 are parallel, and the third link 801, the second support arm 802, the fourth link 803, and the mounting frame 009 form a four-bar linkage mechanism.

[0052] The fifth hinge shaft 905 is connected to the third link 801. The mating point between the fifth hinge shaft 905 and the third link 801 is configured as a polygonal or keyed connection, thereby fixing the third link 801 circumferentially relative to the fifth hinge shaft 905. The second output shaft 004 has an included angle with the fifth hinge shaft 905, and the second universal joint 011 ensures smooth transmission between the second output shaft 004 and the fifth hinge shaft 905. Similar to the first boom 007, the second boom 008 can also retract and extend, and its support height can be adjusted. By adjusting the first drive component 001 and the second drive component 002, the synchronicity difference caused by the difference in assembly precision can be compensated, thereby ensuring that the first boom 007 and the second boom 008 retract and extend synchronously.

[0053] Furthermore, the mounting bracket 009 includes: a hinge seat 910 and a connecting rod fixing member 920, which are used to connect the aircraft fuselage; a first connecting rod 701 is hinged to the hinge seat 910 around a first hinge axis 901, a third connecting rod 801 is hinged to the hinge seat 910 around a fifth hinge axis 905, a second connecting rod 703 is hinged to the connecting rod fixing member 920 around a fourth hinge axis 904, and a fourth connecting rod 803 is hinged to the connecting rod fixing member 920 around an eighth hinge axis 908.

[0054] In the assembled and used state, the hinge seat 910 and the connecting rod fixing member 920 are fixed relative to the aircraft fuselage. The positions of the hinge seat 910 and the connecting rod fixing member 920 are relatively fixed. The support height of the aircraft can be adjusted by the synchronous extension and retraction of the first arm 007 and the second arm 008.

[0055] like Figure 1 , Figure 6 , Figure 7 and Figure 8 As shown, the first link 701 and the third link 801 are symmetrical with respect to the central plane, the second link 703 and the fourth link 803 are symmetrical with respect to the central plane, and the first support arm 702 and the second support arm 802 are symmetrical with respect to the central plane. The angle bisectors of the angles between the axes of the first hinge axis 901 and the fifth hinge axis 905, the second hinge axis 902 and the sixth hinge axis 906, the third hinge axis 903 and the seventh hinge axis 907, and the fourth hinge axis 904 and the eighth hinge axis 908 are all located on the central plane.

[0056] The first stepper motor 101 and the second stepper motor 201 are coaxial, and the axes of the first stepper motor 101 and the second stepper motor 201 are both located on the central plane. The landing gear as a whole forms a symmetrical structure relative to the central plane, which not only makes it easy to realize the synchronous extension and retraction of the first boom 007 and the second boom 008, but also forms a stable support structure.

[0057] The aircraft provided in this embodiment of the invention is equipped with the landing gear described in the above embodiments, and the aircraft has the technical effects of the landing gear described above, which will not be repeated here.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A landing gear, characterized in that, The utility model relates to a kind of arm support mechanism, including: First arm frame (007), second arm frame (008) and concentric double-output shaft driving mechanism, the concentric double-output shaft driving mechanism includes: first driving device (001), second driving device (002), first output shaft (003), second output shaft (004), first reducer (005) and second reducer (006); The first driving device (001), the first reducer (005) and the first output shaft (003) are sequentially connected, the second driving device (002), the second reducer (006) and the second output shaft (004) are sequentially connected;The first output shaft (003) is coaxial with the second output shaft (004); The first arm frame (007) is connected with the first output shaft (003), and the second arm frame (008) is connected with the second output shaft (004); The first arm frame (007) and the second arm frame (008) are respectively hinged to the mounting frame (009), the first arm frame (007) is connected with the first output shaft (003) by the first universal shaft (010), and the second arm frame (008) is connected with the second output shaft (004) by the second universal shaft (011); The first arm frame (007) includes: first connecting rod (701), first support arm (702) and second connecting rod (703);One end of the first connecting rod (701) is hinged to the mounting frame (009) around first hinge shaft (901), the first hinge shaft (901) is connected with the first output shaft (003) by the first universal shaft (010), the first output shaft (003) and the first hinge shaft (901) have an angle, the other end of the first connecting rod (701) is hinged to the first support arm (702) around second hinge shaft (902), one end of the second connecting rod (703) is hinged to the first support arm (702) around third hinge shaft (903), the other end of the second connecting rod (703) is hinged to the mounting frame (009) around fourth hinge shaft (904);The axis of the first hinge shaft (901), the second hinge shaft (902), the third hinge shaft (903) and the fourth hinge shaft (904) are parallel, and the first connecting rod (701), the first support arm (702), the second connecting rod (703) and the mounting frame (009) form a four-bar linkage mechanism. The second arm frame (008) comprises a third connecting rod (801), a second support arm (802) and a fourth connecting rod (803); one end of the third connecting rod (801) is hinged to the mounting frame (009) around a fifth hinge shaft (905), the fifth hinge shaft (905) is drivingly connected with the second output shaft (004) through a second universal shaft (011), the second output shaft (004) and the fifth hinge shaft (905) have an included angle, the other end of the third connecting rod (801) is hinged to the second support arm (802) around a sixth hinge shaft (906), one end of the fourth connecting rod (803) is hinged to the second support arm (802) around a seventh hinge shaft (907), and the other end of the fourth connecting rod (803) is hinged to the mounting frame (009) around an eighth hinge shaft (908); the axes of the fifth hinge shaft (905), the sixth hinge shaft (906), the seventh hinge shaft (907) and the eighth hinge shaft (908) are parallel, and the third connecting rod (801), the second support arm (802), the fourth connecting rod (803) and the mounting frame (009) form a four-connecting-rod mechanism.

2. The landing gear of claim 1, wherein, The mounting frame (009) comprises a hinge seat (910) and a connecting rod fixing piece (920), and the hinge seat (910) and the connecting rod fixing piece (920) are respectively used for connecting an aircraft fuselage; The first connecting rod (701) is hinged to the hinge seat (910) around a first hinge shaft (901), the third connecting rod (801) is hinged to the hinge seat (910) around the fifth hinge shaft (905), the second connecting rod (703) is hinged to the connecting rod fixing piece (920) around the fourth hinge shaft (904), and the fourth connecting rod (803) is hinged to the connecting rod fixing piece (920) around the eighth hinge shaft (908).

3. The landing gear of claim 1, wherein, The first connecting rod (701) and the third connecting rod (801) are symmetrical relative to a center plane, the second connecting rod (703) and the fourth connecting rod (803) are symmetrical relative to the center plane, and the first support arm (702) and the second support arm (802) are symmetrical relative to the center plane; An angle bisector of an included angle between an axis of the first hinge shaft (901) and an axis of the fifth hinge shaft (905), an angle bisector of an included angle between an axis of the second hinge shaft (902) and an axis of the sixth hinge shaft (906), an angle bisector of an included angle between an axis of the third hinge shaft (903) and an axis of the seventh hinge shaft (907), and an angle bisector of an included angle between an axis of the fourth hinge shaft (904) and an axis of the eighth hinge shaft (908) are all located on the center plane.

4. The landing gear of claim 1, wherein The first driving device (001) comprises a first stepping motor (101) and a first worm (102) connected to a driving shaft of the first stepping motor (101). The second driving device (002) comprises a second stepper motor (201) and a second worm (202) connected to a driving shaft of the second stepper motor (201); The first worm (102) is in transmission connection with the first speed reducer (005), and the second worm (202) is in transmission connection with the second speed reducer (006).

5. A landing gear as claimed in claim 4, characterised in that, The first speed reducer (005) comprises a first worm wheel (501) and a first speed reduction gear set (502) connected to the first worm wheel (501), the first worm (102) is in meshing connection with the first worm wheel (501), and the first speed reduction gear set (502) is in transmission connection with the first output shaft (003); The second speed reducer (006) comprises a second worm wheel (601) and a second speed reduction gear set (602) connected to the second worm wheel (601), the second worm (202) is in meshing connection with the second worm wheel (601), and the second speed reduction gear set (602) is in transmission connection with the second output shaft (004).

6. An aircraft, characterized in that The aircraft is configured with the landing gear according to any one of claims 1-5.

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