Auxiliary device for relieving landing load of water surface aircraft and control method of auxiliary device

Abstract

The invention discloses an auxiliary device for relieving the dampening load of a water surface aircraft and a control method of the auxiliary device. Belongs to the technical field of landing of seaplane and comprises a telescopic rod assembly, a lifting assembly, a water sledge assembly and a steering assembly which are connected with one another. The water sledge assembly is connected with the lifting assembly through a hinge, the lifting assembly is connected with a telescopic rod of the telescopic rod assembly, the telescopic rod of the telescopic rod assembly is connected with the steering assembly, and the steering assembly is fixed to the bottom of the seaplane. Through coordinated control of the components, stable landing of the seaplane is achieved, and the impact force is effectively reduced; the device is provided with a high-precision sensor, ECU redundancy design and an intelligent control algorithm, and the dampening safety and the system robustness are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of seaplane landing, and relates to a device for reducing the load during the seaplane landing process; in particular, it relates to a water-borne aircraft landing load reduction auxiliary device and a control method thereof. Background Art

[0002] During the landing of traditional seaplanes, the large impact force can easily cause damage to the seaplane structure and endanger the safety of passengers. The existing landing load reduction technology mainly relies on passive buffer structures, which are difficult to cope with the complex and changeable water surface environment, and have low control accuracy, making it difficult to ensure a smooth landing. Summary of the invention

[0003] In view of the above problems, the present invention provides a water-landing load mitigation auxiliary device for a surface aircraft and a control method thereof.

[0004] The technical solution of the present invention is as follows: a water surface aircraft landing load reduction auxiliary device according to the present invention comprises a retractable rod assembly (1), a lifting assembly (2), a water ski assembly (3) and a steering assembly (4) which are connected to each other; The retractable rod assembly (1) comprises two connected telescopic rods, one end of which is connected to the steering assembly (4) and the other end of which is connected to the lifting assembly (2). The other end of the lifting assembly (2) is connected to the water ski assembly (3); An electric motor is arranged in the retractable rod assembly (1) and is connected to the ECU via a wire.

[0005] Furthermore, the lifting assembly (2) comprises a damping system (201), a steering pump (202), a second node clamp (203), a steering rod (204) and a steering rod (205); The middle end of the damping system (201) is fixedly connected to the upper end of the steering pump (202) via bolts, and the bottom end is hingedly connected to the steering post (205) via fixed fastening bolts; The lower end of the steering pump (202) is hinged to one end of a steering rod (204); The node clamp 2 (203) is hingedly connected to the steering rod (205) via bolts and springs; The steering rod (205) is respectively hinged to the damping system (201) and the steering rod (204) through bolts, and is fixedly connected to the water ski assembly (3).

[0006] Furthermore, the damping system (201) comprises an extension tube (20101), a node rod (20102) and a node clamp 1 (20103); The extension tube (20101) is connected to the node rod (20102) via an air piston (20104) arranged thereon, and the node clamp 1 (20103) is connected to the node rod (20102) via a spring wound thereon and an oil piston (20105) in the middle; An oil seal 1 (20106) is arranged at the lower middle portion of the node clamp 1 (20103).

[0007] Furthermore, a controller is arranged in the damping system (201) and is connected to the ECU via wires.

[0008] Furthermore, the steering pump (202) comprises a steering pump housing (20201), a pump cap (20202), a pump piston (20204), a second oil seal (20206), and a pump steering rod (20207); The steering pump housing (2201) is fixedly connected to the pump cap (20202); The pump piston (20204) is connected to the steering pump housing (20201) and the pump cap (20202) via an arranged balance spring (20203); The pump steering rod (20207) and the pump piston (20204) are hingedly connected via a connector (20205) and a second oil seal (20206) thereon.

[0009] Furthermore, a controller is arranged in the steering pump (202), and is connected to the ECU via a wire.

[0010] Furthermore, the steering rod (204) comprises a Y-shaped upper pull rod (20401) and an X-shaped lower pull rod (20402); The Y-shaped upper pull rod (20401) and the X-shaped lower pull rod (20402) are hingedly connected via an oil seal and fastening bolts; The Y-shaped upper pull rod (20401) is used to connect and fix the various parts of the entire device, and the X-shaped lower pull rod (20402) is used to connect the Y-shaped upper pull rod (20401) with other components.

[0011] Furthermore, the steering assembly (4) comprises a rotor motor (401), a driven gear (402) and a rotating gear (403); The rotating gear (403) and the driven gear (402) are meshed and connected; the rotating gear (403) is fixedly connected to the rotor motor (401) via an arranged support rod (404); and the driven gear (402) is connected to two telescopic rods of the retractable rod assembly (1).

[0012] Furthermore, it also includes a sensor assembly, an actuator and a communication module; The sensor assembly is connected to the ECU via a wire, and includes a water pressure sensor, an acceleration sensor, an ultrasonic sensor, and a laser rangefinder; The ECU includes a high-performance processor and a memory.

[0013] Furthermore, the control method of the water surface aircraft landing load mitigation auxiliary device has the following operating steps: Step (1): When the seaplane is preparing to land on the water, the sensor component monitors and obtains the aircraft's attitude data in real time, and transmits the data to the ECU for processing; Step (2): The ECU uses its high-performance processor to analyze the sensor data, calculate the optimal landing posture and load reduction strategy, and send the corresponding control signal to the actuator; Step (3): after receiving the control signal, the actuator accurately adjusts the position and angle of the water ski assembly (3), the retractable rod assembly (1) and the steering assembly (4) through the operation of the electric motor, the rotor motor (401) and the damping system (201) to ensure that the aircraft lands smoothly on the water and reduce the impact force; Step (4): The communication module continuously transmits key data to the ground control console throughout the process, allowing the operator to monitor the aircraft status in real time and make manual adjustments as needed; Step (5): During the landing process, the sensor assembly continuously monitors changes in the aircraft and environmental conditions and feeds updated data back to the ECU. The ECU dynamically adjusts the control signal based on this real-time data to ensure the smoothness and safety of the entire landing process.

[0014] The beneficial effects of the present invention are: 1. Significantly reduce the impact force of landing on water: This device effectively reduces the impact force of seaplanes landing on water through advanced damping systems and steering pump technology, thereby greatly protecting the structural safety of the aircraft; the reduction of such impact force is of great significance for extending the service life of aircraft and reducing maintenance costs; 2. Improve the accuracy of landing posture and load reduction method: The high-precision sensors and advanced control systems equipped in this device can monitor the key parameters of the aircraft such as posture, speed, and height from the water surface in real time, and calculate the optimal landing posture and load reduction method through intelligent algorithms; this high degree of accuracy and precision ensures that seaplanes can land safely and stably, and improves flight safety; 3. Enhance the adaptability of the system: This device can adapt to changes in different water conditions and meteorological conditions, such as waves, wind speed, wind direction, etc., and ensure that the aircraft can land safely in various environments by automatically adjusting the landing posture and load reduction method; 4. Reduce maintenance costs and extend service life: The device adopts a modular design, which is convenient for maintenance and replacement of parts; at the same time, by reducing the impact force and friction wear when hitting the water, the device can reduce the degree of damage to the aircraft structure, thereby extending its service life; it reduces maintenance costs and improves economic benefits; 5. Enhance adjustability: The adjustable components in the design allow the device to be adjusted more accurately to adapt to different working conditions and environments; 6. Improve sealing: The efficient sealing design effectively prevents the intrusion of external moisture and impurities, ensuring the normal operation of the system; 7. Improve space utilization: The compact design improves the space utilization of the device and reduces the occupation of the internal space of the aircraft; 8. High force transmission efficiency: Through the carefully designed components and overall structure, the force can be effectively distributed and absorbed during the transmission process, avoiding force loss and stress concentration; it not only improves the stability and safety of the system, but also ensures efficient operation under different conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the lifting assembly in the present invention; Figure 3 It is a structural schematic diagram of the damping system in the lifting assembly of the present invention; Figure 4 It is a structural schematic diagram of a steering pump in a lifting assembly of the present invention; Figure 5 It is a structural schematic diagram of a steering rod in a lifting assembly of the present invention; Figure 6 is a schematic structural diagram of a steering assembly of the present invention; Figure 7 It is a circuit schematic diagram of the present invention; Figure 8 It is an operation flow chart of the present invention; In the figure, 1 is a retractable rod assembly; 2 is a lifting assembly, 201 is a damping system, 20101 is an extension tube, 20102 is a node rod, 20103 is a node clamp 1, 20104 is an air piston, 20105 is an oil piston, and 20106 is an oil seal 1; 202 is the steering pump, 20201 is the steering pump housing, 20202 is the pump cap, 20203 is the balance spring, 20204 is the pump piston, 20205 is the connector, 20206 is the oil seal 2, 20207 is the pump steering rod; 203 is the node clamp 2, 204 is a steering rod, 20401 is a Y-type upper tie rod, and 20402 is an X-type lower tie rod; 205 is a steering column; 3. Water ski assembly; 4. Steering assembly, 401 is the rotor motor, 402 is the driven gear, 403 is the rotating gear, and 404 is the support rod. DETAILED DESCRIPTION

[0016] The specific technical solutions of the present invention are further described in detail below in conjunction with specific examples.

[0017] As shown in the figure, a water surface aircraft landing load mitigation auxiliary device according to the present invention comprises a retractable rod assembly 1, a lifting assembly 2, a water ski assembly 3 and a steering assembly 4 which are connected to each other in sequence; Furthermore, the retractable rod assembly 1 includes two telescopic rods, one end of which is connected to the steering assembly 4, and the other end of which is connected to the lifting assembly 2; The retractable rod assembly 1 has an internal electric motor connected to the ECU for controlling the extension and retraction of the telescopic rod.

[0018] Furthermore, the landing gear (lifting assembly) 2 includes a damping system 201, a steering pump 202, a node clamp 203, a steering rod 204 and a steering rod 205; The damping system 201 is fixedly connected to the steering pump 202 by bolts, and is hinged to the steering post 205 by fastening bolts; The steering pump 202 is hinged to the steering rod 204; The node clamp 203 is hinged to the steering rod 205 through bolts and springs; The steering rod 205 is hinged to the damping system 201 and the steering rod 204 through bolts, and is fixedly connected to the water ski assembly 3; The landing device (lifting assembly) 2 is used to adjust the up and down and front and back rotation of the water ski assembly 3.

[0019] Further, the damping system 201 includes an extension tube 20101, a node rod 20102, a node clamp 20103-, an air piston 20104, an oil piston 20105 and an oil seal 20106- in sequence; The extension tube 20101 is connected to the node rod 20102 via the air piston 20104, and the node clamp 1 20103 is connected to the node rod 20102 via the spring wound thereon and the oil piston 20105 in the middle; The oil seal 20106 is arranged at the middle and lower end of the node rod 20102; The damping system 201 has a built-in controller connected to the ECU for adjusting the up and down movement, and the springs therein can also play a certain shock-absorbing effect.

[0020] Furthermore, the steering pump 202 includes a steering pump housing 20201, a pump cap 20202, a balance spring 20203, a pump piston 20204, a connector 20205, an oil seal 20206 and a pump steering rod 20207 in sequence; The steering pump housing 20201 is fixedly connected to the pump cap 20202, the pump piston 20204 is connected to the steering pump housing 20201 and the pump cap 20202 via a balance spring 20203, and the pump steering rod 20207 is hinged to the pump piston 20204 via two connectors 20205 and the oil seal 20206 thereon; The steering pump 202 has a built-in controller connected to the ECU for controlling forward and backward movement.

[0021] Furthermore, the steering rod 204 includes a Y-shaped upper rod 20401 and an X-shaped lower rod 20402 in sequence; the Y-shaped upper rod 20401 and the X-shaped lower rod 20402 are hingedly connected by an oil seal and a fastening bolt; The Y-shaped upper pull rod 20401 is used to connect and fix the various parts of the entire device, providing a stable structural foundation. The X-shaped lower tie rod 20402 is used to connect the Y-shaped upper tie rod 20401 with other key components (such as the steering pump 202, the damping system 201, etc.) to transmit motion and force.

[0022] Furthermore, the steering assembly 4 includes in sequence: a rotor motor 401, a driven gear 402, a rotating gear 403 and a support rod 404; The rotating gear 403 is fixedly connected to the rotor motor 401 through the support rod 404, and the driven gear 402 is connected to the two telescopic rods of the retractable rod assembly 1; The meshing of the rotating gear 403 and the driven gear 402 realizes the synchronous extension and retraction of the two telescopic rods, thereby ensuring the smooth turning of the water ski assembly 3 .

[0023] Further, the sensor assembly includes: a water pressure sensor, an acceleration sensor, an ultrasonic sensor and a laser rangefinder; The water pressure sensor is used to monitor the water pressure and generate a water pressure signal; the acceleration sensor is used to monitor the acceleration and generate an acceleration signal; the ultrasonic sensor is used to monitor the sea condition and generate a sea condition signal; and the laser rangefinder is used to monitor the distance and generate a signal.

[0024] When the surface aircraft is ready to land on the water, the ultrasonic sensor and laser rangefinder of the distance sensing system start working to jointly determine the distance between the surface aircraft and the water surface; at the same time, the acceleration sensor in the acceleration sensing system monitors the force state of the aircraft in real time, and the GPS module locates the position of the aircraft and transmits it to the ground control platform through the control system; the water pressure sensor in the pressure sensing system monitors the hydrodynamic load, and the gyroscope monitors the attitude of the aircraft. The above-mentioned sensing system is transmitted to the control system through the communication module, and the best landing attitude is calculated and instructions are generated based on the feedback information through the A / D converter and the ECU controller, and transmitted to the hydraulic system and steering system through the communication module; the steering system controls the operation of the motor according to the instructions; the hydraulic system controls the movement of the hydraulic rod through the movement of the piston, and transmits it to the hydraulic controller through the transmission device to ensure precise control and management of the hydraulic pressure.

[0025] In specific implementation, the seaplane landing and load reduction device includes the following components: a retractable rod assembly 1, a lifting assembly 2, a water ski assembly 3, a steering assembly 4, a sensor assembly, an electronic control unit (ECU), an actuator and a communication module; in order to further improve the flexibility and control accuracy of the system, more sensors can be integrated and a redundant design can be adopted, and the control can be optimized in combination with an artificial intelligence algorithm.

[0026] 1. Retractable rod assembly 1: The retractable rod assembly 1 includes two telescopic rods, each of which is driven by an electric motor and can be retracted in a range of 0.5 meters to 2 meters; one end of the telescopic rod is connected to the steering assembly 4, and the other end is connected to the lifting assembly 2; 2. Lifting component 2: The lifting assembly 2 includes a hydraulic cylinder system for adjusting the height of the water ski; The hydraulic cylinder realizes lifting operation by controlling the flow of hydraulic oil, and its control is completed by ECU.

[0027] 3. Water ski component 3: The water ski assembly 3 includes a pair of water skis, each of which is connected to the lifting assembly 2 via a hinge; The surface of the water ski is designed to be streamlined to reduce water resistance and enhance stability; 4. Steering assembly 4: The steering assembly 4 includes a rotating gear 403, a rotor motor 401, a driven gear 402 and a support rod 404; The rotating gear 403 is fixedly connected to the rotor motor 401 through the support rod 404, and the driven gear 402 is connected to the telescopic rod; The meshing of the rotating gear 403 and the driven gear 402 realizes the synchronous extension and retraction of the telescopic rod, ensuring the smooth turning of the water ski; 5. Sensor module: Including water pressure sensor, acceleration sensor, ultrasonic sensor and laser rangefinder; The water pressure sensor is used to monitor the water pressure and generate a water pressure signal; the acceleration sensor is used to monitor the acceleration and generate an acceleration signal; the ultrasonic sensor is used to monitor the sea condition and generate a sea condition signal; the laser rangefinder is used to monitor the distance and generate a signal; 6. Electronic Control Unit (ECU): The ECU is the core of the entire system, responsible for processing sensor data, executing control algorithms, and sending control signals to actuators; The ECU includes a high-performance processor and memory for fast processing and storage of data; To improve the reliability of the system, a dual ECU design can be used, with one serving as the main control unit and the other as a backup control unit; When the main control unit fails, the backup control unit can seamlessly take over the control tasks.

[0028] VII. Executive Agency: The actuator includes an electric motor, a rotor motor 401 and a damping system 201; the electric motor drives the rotating gear 403 and the telescopic rod, the servo motor is used to adjust the angle of the steering assembly 4, and the damping system is used for lifting and lowering operations and shock absorption.

[0029] 8. Communication module: The communication module is used to realize data transmission between units within the system and communication with the external console; the communication module supports multiple communication protocols, such as CAN bus, RS-485 and wireless communication.

[0030] When the surface aircraft is about to land on the water, the sensor module monitors the aircraft's attitude, speed, distance, water surface conditions and other data in real time, and transmits the data to the ECU control center through the communication module after A / D conversion, data filtering and correction; the ECU calculates the best landing attitude and load reduction method based on the preset control algorithm and artificial intelligence optimization model, and generates a control signal; the control signal is transmitted to the decision module through the communication module, and the decision module adjusts the working status of each component according to the control signal; After the retracting rod assembly 1 receives the signal, the electric motor drives the retracting rod to retract synchronously, adjusting the horizontal position and angle of the water ski assembly 3 to adapt to the current water surface conditions and aircraft status; The steering pump 202 in the lifting assembly 2 adjusts the height of the water ski assembly 3 according to the control signal, so that the water ski can contact the water surface and provide stable support; The rotor motor 401 of the steering assembly 4 drives the rotating gear 403, which is meshed with the driven gear 402 to achieve synchronous rotation, and adjust the steering angle of the water ski assembly 3 to ensure that the aircraft can keep moving straight and avoid side slipping; During the landing process of the water-surface aircraft, the water ski assembly 3 contacts the water surface, providing buoyancy and support, while its streamlined design reduces water resistance and ensures a smooth landing. At the same time, the damping system 201 in the lifting assembly 2 starts to work, absorbing the impact force generated during the landing process and reducing the impact on the aircraft structure. The damping system 201 also provides additional stability support during the entire process. During the landing process, the sensor module continues to monitor the aircraft's status in real time, including attitude, speed, distance from the water surface, and water surface conditions. The ECU continuously adjusts the control signal based on the real-time data and optimizes the working status of each component to cope with changes in water surface conditions and adjustments to the aircraft's attitude, ensuring a smooth and safe landing process. After the surface aircraft lands on the water, the ECU outputs relevant instructions and the telescopic rod assembly shrinks according to the instructions and returns to its initial position to prepare for the next takeoff; the lifting assembly 2 adjusts the height of the water ski to a parking state to ensure the stability of the aircraft on the water surface; the steering assembly 4 returns to its initial position to ensure the straight-line stability of the aircraft on the water surface; the communication module transmits real-time data and key parameters during the landing process to the ground control console, so that the operator can monitor the aircraft status and make necessary adjustments; all data is also stored in the ECU for subsequent analysis and optimization of system performance.

Claims

1. A water-landing load mitigation auxiliary device for a water-surface aircraft, characterized in that: It comprises a retractable rod assembly (1), a lifting assembly (2), a water ski assembly (3) and a steering assembly (4) which are connected to each other; The retractable rod assembly (1) comprises two connected telescopic rods, one end of which is connected to the steering assembly (4) and the other end of which is connected to the lifting assembly (2). The other end of the lifting assembly (2) is connected to the water ski assembly (3); An electric motor is arranged in the retractable rod assembly (1) and is connected to the ECU via a wire.

2. The water landing load mitigation auxiliary device for a water surface aircraft according to claim 1, characterized in that: The lifting assembly (2) comprises a damping system (201), a steering pump (202), a second node clamp (203), a steering rod (204) and a steering rod (205); The middle end of the damping system (201) is fixedly connected to the upper end of the steering pump (202) via bolts, and the bottom end is hingedly connected to the steering post (205) via fixed fastening bolts; The lower end of the steering pump (202) is hinged to one end of a steering rod (204); The node clamp 2 (203) is hingedly connected to the steering rod (205) via bolts and springs; The steering rod (205) is respectively hinged to the damping system (201) and the steering rod (204) through bolts, and is fixedly connected to the water ski assembly (3).

3. The water landing load mitigation auxiliary device for a water surface aircraft according to claim 2, characterized in that: The damping system (201) comprises an extension tube (20101), a node rod (20102) and a node clamp (20103); The extension tube (20101) is connected to the node rod (20102) via an air piston (20104) arranged thereon, and the node clamp 1 (20103) is connected to the node rod (20102) via a spring wound thereon and an oil piston (20105) in the middle; An oil seal 1 (20106) is arranged at the lower middle portion of the node clamp 1 (20103).

4. The water landing load mitigation auxiliary device for a water surface aircraft according to claim 3, characterized in that: A controller is also arranged in the damping system (201) and is connected to the ECU via wires.

5. The water landing load mitigation auxiliary device for a water surface aircraft according to claim 2, characterized in that: The steering pump (202) comprises a steering pump housing (20201), a pump cap (20202), a pump piston (20204), a second oil seal (20206), and a pump steering rod (20207); The steering pump housing (2201) is fixedly connected to the pump cap (20202); The pump piston (20204) is connected to the steering pump housing (20201) and the pump cap (20202) via an arranged balance spring (20203); The pump steering rod (20207) and the pump piston (20204) are hingedly connected via a connector (20205) and a second oil seal (20206) thereon.

6. The water landing load mitigation auxiliary device for a water surface aircraft according to claim 5, characterized in that: A controller is also arranged in the steering pump (202) and is connected to the ECU via a wire.

7. The water landing load mitigation auxiliary device for a water surface aircraft according to claim 2, characterized in that: The steering rod (204) comprises a Y-shaped upper pull rod (20401) and an X-shaped lower pull rod (20402); The Y-shaped upper pull rod (20401) and the X-shaped lower pull rod (20402) are hingedly connected via an oil seal and fastening bolts; The Y-shaped upper pull rod (20401) is used to connect and fix the various parts of the entire device, and the X-shaped lower pull rod (20402) is used to connect the Y-shaped upper pull rod (20401) with other components.

8. The water landing load mitigation auxiliary device for a water surface aircraft according to claim 1, characterized in that: The steering assembly (4) comprises a rotor motor (401), a driven gear (402) and a rotating gear (403); The rotating gear (403) and the driven gear (402) are meshed and connected; the rotating gear (403) is fixedly connected to the rotor motor (401) via an arranged support rod (404); and the driven gear (402) is connected to two telescopic rods of the retractable rod assembly (1).

9. The water landing load mitigation auxiliary device for a water surface aircraft according to claim 1, characterized in that: It also includes sensor components, actuators and communication modules; The sensor assembly is connected to the ECU via a wire, and includes a water pressure sensor, an acceleration sensor, an ultrasonic sensor, and a laser rangefinder; The ECU includes a high-performance processor and a memory.

10. A control method for a water surface aircraft landing load mitigation auxiliary device according to any one of claims 1 to 9, characterized in that: The operation steps are as follows: Step (1): When the seaplane is preparing to land on the water, the sensor component monitors and obtains the aircraft's attitude data in real time, and transmits the data to the ECU for processing; Step (2): The ECU uses its high-performance processor to analyze the sensor data, calculate the optimal landing posture and load reduction strategy, and send the corresponding control signal to the actuator; Step (3): after receiving the control signal, the actuator accurately adjusts the position and angle of the water ski assembly (3), the retractable rod assembly (1) and the steering assembly (4) through the operation of the electric motor, the rotor motor (401) and the damping system (201) to ensure that the aircraft lands smoothly on the water and reduce the impact force; Step (4): The communication module continuously transmits key data to the ground control console throughout the process, allowing the operator to monitor the aircraft status in real time and make manual adjustments as needed; Step (5): During the landing process, the sensor assembly continuously monitors changes in the aircraft and environmental conditions and feeds updated data back to the ECU. The ECU dynamically adjusts the control signal based on this real-time data to ensure the smoothness and safety of the entire landing process.

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