All-terrain vertical take-off and landing gear, aircraft and folding and unfolding method

Abstract

The invention provides an undercarriage of an all-terrain vertical take-off and landing device, an aircraft and a folding and unfolding method. The all-terrain vertical take-off and landing device landing gear comprises a supporting column, an actuating cylinder, a buffer, a connecting rod assembly and a skid, one end of the supporting column is hinged to one end of the buffer to form an axis L4, the other end of the supporting column is provided with an axis L1, one end of the actuating cylinder is hinged to the supporting column, the other end of the actuating cylinder is provided with an axis L2, and the axis L2 is connected with the axis L1. One end of the connecting rod assembly is hinged to the buffer, the other end of the connecting rod assembly is provided with an axis L3, the axis L1, the axis L2 and the axis L4 are parallel, the supporting column and the connecting rod assembly form double rocker arms of the undercarriage, and the end, away from the supporting column, of the buffer is hinged to the skid to form an axis L5. The complex terrain take-off and landing / emergency take-off and landing capacity of small and medium-sized vertical take-off and landing aircrafts is achieved, the requirements of task execution on the ground and the environment are lowered, and the aircraft task execution territorial range is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of vertical take-off and landing aircraft, and in particular to an all-terrain vertical take-off and landing device landing gear, an aircraft and a retracting and deploying method. Background Art

[0002] Vertical take-off and landing technology is an aviation technology that was developed from the demand for military aircraft in the 1950s. It also has broad market potential and development prospects in the future general aviation "low-altitude economy" fields such as urban transportation, medical transportation, logistics distribution, and tourism. Vertical take-off and landing aircraft can reduce or basically get rid of the dependence on runways. Only a small flat land is needed to take off and land vertically, which is convenient for aircraft to attack, transfer, camouflage and conceal flexibly, and is not easy to be discovered by the enemy, greatly improving the aircraft's battlefield survival rate. In addition, aircraft with vertical take-off and landing do not require special airports and runways, which greatly reduces the cost of use and maintenance. Vertical take-off and landing of aircraft has become an important direction for aviation development.

[0003] Existing vertical take-off and landing devices mostly use wheeled and skid-type structures, but they have high requirements for the flatness of the take-off and landing field, and high requirements for the stability of the ship deck when landing. In case of emergency, it is necessary to build a temporary apron or transfer the aircraft to other parking areas far away from the mission location, which seriously affects the real-time performance, regional and environmental adaptability of mission execution. In order to improve the landing capability of aircraft in complex terrain, through the research on the dynamic perception of the landing terrain of the all-terrain vertical take-off and landing device and the research on the adaptive control of the landing device, the complex terrain take-off and landing capability of small and medium-sized vertical take-off and landing aircraft is realized, the requirements for the ground and environment of mission execution are reduced, the regional scope of aircraft mission execution is expanded, and the requirements for emergency take-off and landing are met. It can be widely used in small and medium-sized vertical take-off and landing military and civilian aircraft, meet the application requirements of emergency rescue, emergency landing in complex terrain, and has high military and civilian value. Summary of the invention

[0004] The purpose of the present invention is to provide an all-terrain vertical take-off and landing device landing gear, an aircraft and a retraction and deployment method. Through the research on the dynamic perception of the landing terrain and the landing adaptive control of the all-terrain vertical take-off and landing device, the complex terrain take-off and landing / emergency take-off and landing capabilities of small and medium-sized vertical take-off and landing aircraft can be achieved, the requirements of mission execution on the ground and environment can be reduced, and the geographical scope of aircraft mission execution can be expanded.

[0005] The technical solution of the present invention is: an all-terrain vertical take-off and landing device landing gear, including a pillar, an actuator, a buffer, a connecting rod assembly and a skid, one end of the pillar is hinged to one end of the buffer to form an axis L4, the other end of the pillar is provided with an axis L1, one end of the actuator is hinged to the pillar, the other end of the actuator is provided with an axis L2, one end of the connecting rod assembly is hinged to the buffer, the other end of the connecting rod assembly is provided with an axis L3, the axis L1, axis L2 and axis L4 are parallel, the pillar and the connecting rod assembly form a double rocker arm of the landing gear, and the end of the buffer away from the pillar is hinged to the skid to form an axis L5.

[0006] Preferably, the all-terrain vertical take-off and landing device landing gear also includes a gas spring connected between the skid and the buffer.

[0007] Preferably, the gas spring is arranged close to one side of the connecting rod assembly.

[0008] Preferably, the actuator cylinder has a length adjustment freedom, and the freedom is an axial telescopic adjustment starting from the axis L2.

[0009] The present invention further provides an aircraft, comprising a fuselage and a plurality of the above-mentioned all-terrain vertical take-off and landing device landing gears, wherein the fuselage has a symmetry plane, and the plurality of the all-terrain vertical take-off and landing device landing gears are arranged in a triangular or rectangular manner on the fuselage, and when arranged in a triangular manner, the axes L1, L2 and L3 on the landing gears at the front end of the fuselage are perpendicular to the symmetry plane and are hinged to the fuselage, and the axes L1, L2 and L3 on the landing gears at the rear end of the fuselage are parallel to the symmetry plane and are hinged to the fuselage, and the landing gears at the rear end are arranged bilaterally symmetrically along the symmetry plane; In a rectangular arrangement, the axes L1, L2 and L3 on the landing gear at the front and rear ends of the fuselage are all parallel to the symmetry plane and hinged to the fuselage, and the landing gears are arranged bilaterally symmetrically along the symmetry plane.

[0010] The present invention also provides a method for retracting and extending an aircraft landing gear, which is performed using the above-mentioned aircraft, comprising: Landing gear retraction method: The actuator is started to push the strut, so that the strut rotates relative to the fuselage around the axis L1, and one end of the strut forming the axis L4 rises and drives the buffer to rotate; the connecting rod assembly rotates relative to the fuselage around the axis L3, so that the buffer is folded relative to the strut and the connecting rod assembly until the landing gear is lifted into the fuselage as a whole; Landing gear lowering method: Start the actuator to pull back the strut, causing it to rotate in the opposite direction relative to the fuselage around the axis L1. One end of the strut forming the axis L4 drops and drives the buffer to rotate in the opposite direction. The connecting rod assembly rotates in the opposite direction relative to the fuselage around the axis L3, causing the buffer to expand relative to the strut and the connecting rod assembly until the skid of the landing gear lands.

[0011] Preferably, when the slide lands, its lower end contacts the ground first, and then the slide rotates around the axis L5, driving the gas spring to compress until the slide lands completely.

[0012] Preferably, if a slope appears during the landing of the slide, the slide continues to rotate around the axis L5 to adaptively adjust, driving the gas spring to further compress until the slide completely lands.

[0013] Preferably, the retracting and extending method further includes a landing gear landing adjustment method: When the heading of the fuselage is perpendicular to the slope of the ground, the aircraft adjusts its lateral position to adapt to the ground inclination angle for landing; at this time, the landing gear on the side below the slope is deployed to form a fully lowered state and locked, and the landing gear on the side above the slope adjusts the vertical direction of the buffer and the skid through the strut and connecting rod assembly and locks its lowered height; When the heading of the fuselage is parallel to the slope of the ground, the aircraft adjusts its heading to adapt to the ground inclination angle for landing; at this time, the landing gear at the front and rear ends of the side below the slope are fully lowered and locked, and the landing gear at the front and rear ends of the side above the slope adjust the vertical direction of the buffer and the skid through the strut and connecting rod assembly and lock its lowered height.

[0014] Preferably, the lowering height of the landing gear is locked by a locking mechanism built into the actuator cylinder, so that the left and right landing gears are respectively locked in different lowering posture positions and land simultaneously.

[0015] Compared with the related art, the present invention has the following beneficial effects: First, the landing gear is designed with a double rocker structure of a four-bar linkage, including struts, actuators, buffers and connecting rod assemblies, which can be folded and retracted to a horizontal state, and the buffers are cleverly combined with the skids. Through the balance adjustment of the buffers and other components, the landing gear provides the aircraft with a function of landing on complex terrain and a function of shock absorption on uneven terrain, so that the landing gear has both a buffering performance and an all-terrain take-off and landing function, solves the problem of unbalanced load distribution when landing on uneven ground, and improves the aircraft's adaptability to landing on complex terrain; Second, the present invention realizes the complex terrain take-off and landing / emergency take-off and landing capability of small and medium-sized vertical take-off and landing aircraft through the research on dynamic perception of landing terrain and adaptive landing control of all-terrain vertical take-off and landing equipment, reduces the requirements of mission execution on the ground and environment, and expands the geographical scope of aircraft mission execution. This technology can be applied to small and medium-sized vertical take-off and landing military and civilian aircraft, realizing emergency take-off and landing of aircraft in complex terrains such as mountains, Gobi, and beaches, and is used to perform special missions, emergency rescue and other tasks; 3. The landing gear provided by the present invention has a compact and ingenious structure, can fold the main structure to a nearly horizontal state, and can be adjusted through the skid and the gas spring thereon to adapt to take-off and landing on uneven terrain at different angles; Fourth, the landing gear provided by the present invention has good load-bearing performance, clear force transmission path, reasonable load distribution, and no single structural component will be overloaded. Through this four-link double rocker arm structure, it can be balanced and adjusted, and can better optimize the landing performance of the aircraft on complex terrain and the shock absorption performance on uneven terrain; 5. The clever combination of the buffer and the skid enables the landing gear to have both buffering performance and all-terrain take-off and landing functions, solving the problem of unbalanced load distribution when landing on uneven ground and improving the aircraft's adaptability to landing on complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the landing gear of the all-terrain vertical take-off and landing device provided by the present invention in a fully lowered load-bearing state; Figure 2 A schematic diagram of the landing gear of the all-terrain vertical take-off and landing device provided by the present invention in a semi-retracted upper load-bearing state; Figure 3 A schematic diagram of the landing gear of the all-terrain vertical take-off and landing device provided by the present invention being in the highest load-bearing position; Figure 4 A schematic diagram of the landing gear of the all-terrain vertical take-off and landing device provided by the present invention in a fully retracted state.

[0017] In the attached drawings: 1. support; 2. actuator; 3. connecting rod assembly; 4. buffer; 5. slide; 6. gas spring. DETAILED DESCRIPTION

[0018] The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict. For the convenience of description, if the words "upper", "lower", "left" and "right" appear in the following, they only indicate that the upper, lower, left and right directions are consistent with the drawings themselves, and do not limit the structure.

[0019] like Figure 1As shown, an all-terrain vertical take-off and landing device landing gear provided in this embodiment includes a strut 1, an actuator 2, a connecting rod assembly 3, a buffer 4, a skid 5 and a gas spring 6.

[0020] The landing gear of the present invention adopts a double rocker arm four-bar linkage design method, one end of the pillar 1 is hinged to one end of the buffer 4 to form an axis L4, the other end of the pillar 1 is provided with an axis L1, one end of the actuator 2 is hinged to the pillar 1, the other end of the actuator 2 is provided with an axis L2, one end of the connecting rod assembly 3 is hinged to the buffer 4, the other end of the connecting rod assembly 3 is provided with an axis L3, the axis L1, the axis L2 and the axis L4 are parallel, the pillar 1 and the connecting rod assembly 3 form a double rocker arm of the landing gear, and the end of the buffer 4 away from the pillar 1 is hinged to the slide 5 to form an axis L5. The gas spring 6 is connected between the slide 5 and the buffer 4 on the side close to the connecting rod assembly 3. The actuator 2 is an electric retractable actuator (purchased part), which can be extended and retracted to form a length adjustment freedom, and the freedom is the axis extension adjustment starting from the axis L2.

[0021] The present invention also provides an aircraft, comprising a fuselage and a plurality of the above-mentioned all-terrain vertical take-off and landing device landing gears, wherein the fuselage has a symmetry plane (the symmetry plane is a vertical symmetry plane connecting the front end and the rear end of the fuselage), and the plurality of the all-terrain vertical take-off and landing device landing gears are arranged in a triangular or rectangular shape on the fuselage.

[0022] When the landing gear is arranged in a triangle, one is arranged at the front end of the fuselage and two are arranged at the rear end. The axes L1, L2 and L3 on the landing gear at the front end of the fuselage are perpendicular to the symmetry plane and are hinged to the fuselage, and the axes L1, L2 and L3 on the landing gear at the rear end of the fuselage are parallel to the symmetry plane and are hinged to the fuselage, and the landing gear at the rear end is arranged symmetrically along the symmetry plane. The unfolding or folding direction of one landing gear at the front end is in the direction of the aircraft's travel, and the unfolding or folding directions of the two landing gears at the rear end are in the left and right directions of the fuselage.

[0023] When the landing gear is arranged in a rectangular shape, two are arranged at the front end of the fuselage and two are arranged at the rear end. The axes L1, L2 and L3 on the landing gear at the front end and the rear end of the fuselage are all parallel to the symmetry plane and are hinged to the fuselage, and the landing gears are arranged symmetrically along the symmetry plane. The deployment or folding direction of the four landing gears is in the left and right direction of the fuselage.

[0024] The present invention also provides a method for retracting and deploying the above-mentioned aircraft, comprising: Landing gear retraction method: The actuator 2 is started to push the support 1, so that the support 1 rotates relative to the fuselage around the axis L1, and one end of the support 1 forming the axis L4 rises and drives the buffer 4 to rotate. The connecting rod assembly 3 rotates relative to the fuselage around the axis L3, so that the buffer 4 folds relative to the support 1 and the connecting rod assembly 3. During the folding process, the sled 5 moves together with the buffer 4, and finally the landing gear is lifted as a whole into the landing gear compartment of the fuselage. When the landing gear is retracted, the gas spring 6 is in a free state, and the sled 5 is pushed to a certain angle by the gas spring 6.

[0025] Actuator 2 is locked at 194mm stroke, forming the half-retracted upper load position of the landing gear (such as Figure 2 The actuator 2 is locked at a stroke of 298 mm, forming the highest retracted load-bearing position of the landing gear (as shown in Figure 3 When the actuator 2 is fully extended, the landing gear is fully retracted into the landing gear compartment of the fuselage (as shown in Figure 4 As shown), the landing gear is not loaded.

[0026] Landing gear lowering method: The actuator 2 is started to pull back the support 1, so that the support 1 rotates in the opposite direction relative to the fuselage around the axis L1, and the end of the support 1 forming the axis L4 drops and drives the buffer 4 to rotate in the opposite direction; the connecting rod assembly 3 rotates in the opposite direction relative to the fuselage around the axis L3, so that the buffer 4 is deployed relative to the support 1 and the connecting rod assembly 3 until the skid 5 of the landing gear lands. When the skid 5 lands, its lower end touches the ground first, and then the skid 5 rotates around the axis L5, driving the gas spring 6 to compress until the skid 5 completely lands.

[0027] If a slope appears during the landing of the skid 5, the skid 5 continues to rotate around the axis L5 for adaptive adjustment, driving the gas spring 6 to further compress until the skid 5 completely lands. At this time, the buffer 4 bears the main ground load and compresses to achieve the buffering function, and the aircraft achieves landing on complex terrain.

[0028] Landing adjustment method for landing gear: When the heading of the fuselage is perpendicular to the slope of the ground, the aircraft adjusts its lateral position to adapt to the ground inclination angle for landing; at this time, the landing gear on the side below the slope is deployed to a fully lowered state and locked, and the landing gear on the side above the slope adjusts the vertical direction of the buffer 4 and the skid 5 through the strut 1 and the connecting rod assembly 3 and locks its lowered height.

[0029] When the heading of the fuselage is parallel to the slope of the ground, the aircraft adjusts its heading to adapt to the ground inclination angle for landing; at this time, the landing gear at the front and rear ends of the side below the slope is fully lowered and locked, and the landing gear at the front and rear ends of the side above the slope adjusts the vertical direction of the buffer 4 and the skid 5 through the strut 1 and the connecting rod assembly 3 and locks its lowered height.

[0030] The length of the actuator 2 can be adjusted, and a locking mechanism is provided therein, which can lock the extended position of the piston rod of the actuator 2. By adjusting the length of the actuator 2, the landing gear can be folded in different postures after being retracted. According to different landing scenes and various terrain requirements of the aircraft, the landing gears on both sides can be independently adjusted to adapt to the terrain take-off and landing requirements.

[0031] When the landing gear of the present invention performs a complex terrain landing, in order to keep the aircraft fuselage in a horizontal landing posture, the left and right landing gears need to be fixed at load-bearing positions at different heights. At this time, the locking mechanism built into the actuator cylinder 2 of the left and right landing gears locks the extended position of each piston rod, so that the left and right landing gears are locked in different lowered posture positions and land simultaneously.

[0032] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An all-terrain vertical take-off and landing device landing gear, comprising a support column (1), a skid (5) and an actuator (2), characterized in that: It also includes a buffer (4) and a connecting rod assembly (3), one end of the pillar (1) is hinged to one end of the buffer (4) to form an axis L4, the other end of the pillar (1) is provided with an axis L1, one end of the actuator (2) is hinged to the pillar (1), the other end of the actuator (2) is provided with an axis L2, one end of the connecting rod assembly (3) is hinged to the buffer (4), the other end of the connecting rod assembly (3) is provided with an axis L3, the axis L1, the axis L2 and the axis L4 are parallel, the pillar (1) and the connecting rod assembly (3) form a double rocker arm of the landing gear, and the end of the buffer (4) away from the pillar (1) is hinged to the skid (5) to form an axis L5.

2. The all-terrain vertical take-off and landing device landing gear according to claim 1, characterized in that: It also includes a gas spring (6) connected between the sliding sled (5) and the buffer (4).

3. The all-terrain vertical take-off and landing device landing gear according to claim 2, characterized in that: The gas spring (6) is arranged close to one side of the connecting rod assembly (3).

4. The all-terrain vertical take-off and landing device landing gear according to claim 1, characterized in that: The actuator (2) has a length adjustment freedom, which is an axial telescopic adjustment starting from the axis L2.

5. An aircraft, comprising a fuselage, the fuselage having a symmetric plane, characterized in that: It also includes a plurality of all-terrain vertical take-off and landing device landing gears as described in any one of claims 1 to 4, wherein the plurality of all-terrain vertical take-off and landing device landing gears are arranged in a triangular or rectangular manner on the fuselage, and when arranged in a triangular manner, the axes L1, L2 and L3 on the landing gears at the front end of the fuselage are perpendicular to the symmetry plane and are hinged to the fuselage, and the axes L1, L2 and L3 on the landing gears at the rear end of the fuselage are parallel to the symmetry plane and are hinged to the fuselage, and the landing gears at the rear end are arranged symmetrically along the symmetry plane. In a rectangular arrangement, the axes L1, L2 and L3 on the landing gear at the front and rear ends of the fuselage are all parallel to the symmetry plane and hinged to the fuselage, and the landing gears are arranged bilaterally symmetrically along the symmetry plane.

6. A method for retracting and extending an aircraft landing gear, using the aircraft as claimed in claim 5, characterized in that: include: Landing gear retraction method: The actuator (2) is started to push the support (1), so that the support (1) rotates relative to the fuselage around the axis L1, and one end of the support (1) forming the axis L4 rises and drives the buffer (4) to rotate; the connecting rod assembly (3) rotates relative to the fuselage around the axis L3, so that the buffer (4) is folded relative to the support (1) and the connecting rod assembly (3), until the landing gear is lifted into the fuselage as a whole; Landing gear lowering method: The actuator (2) is started to pull back the support (1), causing the support (1) to rotate in the opposite direction relative to the fuselage around the axis L1, and one end of the support (1) forming the axis L4 descends and drives the buffer (4) to rotate in the opposite direction; the connecting rod assembly (3) rotates in the opposite direction relative to the fuselage around the axis L3, causing the buffer (4) to unfold relative to the support (1) and the connecting rod assembly (3) until the skid (5) of the landing gear lands.

7. The method for retracting and releasing according to claim 6, characterized in that: When the slide (5) lands, its lower end first touches the ground, and then the slide (5) rotates around the axis L5, driving the gas spring (6) to compress until the slide (5) completely lands.

8. The method for retracting and releasing according to claim 7, characterized in that: If a slope appears during the landing process of the slide (5), the slide (5) continues to rotate around the axis L5 to adaptively adjust, driving the gas spring (6) to further compress until the slide (5) completely lands.

9. The method for retracting and releasing according to claim 6, characterized in that: Also includes landing gear adjustment method: When the heading of the fuselage is perpendicular to the slope of the ground, the aircraft adjusts its lateral orientation to adapt to the ground inclination angle for landing; at this time, the landing gear on the side below the slope is deployed to a fully lowered state and locked, and the landing gear on the side above the slope adjusts the vertical direction of the buffer (4) and the skid (5) through the support (1) and the connecting rod assembly (3) and locks its lowered height; When the heading of the fuselage is parallel to the slope of the ground, the aircraft adjusts its heading to adapt to the ground inclination angle for landing; at this time, the front and rear landing gears on the side below the slope are in a fully lowered state and locked, and the front and rear landing gears on the side above the slope adjust the vertical direction of the buffer (4) and the skid (5) through the support (1) and the connecting rod assembly (3) and lock their lowered height.

10. The method for retracting and releasing according to claim 9, characterized in that: The lowering height of the landing gear is locked by means of a locking mechanism built into the actuating cylinder (2), so that the left and right landing gears are respectively locked in different lowering posture positions and land simultaneously.

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