Undercarriage folding and unfolding and cabin door opening and closing actuation system

Abstract

The invention relates to an undercarriage folding and unfolding and cabin door opening and closing actuation system, and belongs to the technical field of aircraft undercarriage control equipment. Comprising an undercarriage folding and unfolding actuator, two cabin door folding and unfolding actuating cylinders and two self-sealing joints, the undercarriage folding and unfolding actuator is axially and horizontally arranged; the two cabin door folding and unfolding actuating cylinders are symmetrically arranged on the two sides of the undercarriage folding and unfolding actuator. The two cabin door folding and unfolding actuating cylinders are parallel to the axial direction of the undercarriage folding and unfolding actuator; each cabin door folding and unfolding actuating cylinder is connected with an undercarriage folding and unfolding actuator through a self-sealing joint; the two cabin door retracting and releasing actuating cylinders are divided into a first cabin door retracting and releasing actuating cylinder and a second cabin door retracting and releasing actuating cylinder according to left and right positions; the first cabin door retraction actuating cylinder is positioned on the left side; the second cabin door retraction actuating cylinder is positioned on the right side; correspondingly, the self-sealing joint is divided into a first self-sealing joint and a second self-sealing joint; the problems that an undercarriage folding and unfolding system adopting a local hydraulic source is multiple in hydraulic pipeline and low in integration level or cannot control opening and closing of a cabin door at the same time are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft landing gear control equipment, and relates to a landing gear retraction and extension and cabin door opening and closing actuation system. Background Art

[0002] The landing gear retraction and door opening and closing actuation system is crucial to the flight safety of aircraft, especially manned aircraft, which requires higher reliability. With the development of electromechanical hydraulic control technology, electric-driven actuation systems have emerged, but most of them use local hydraulic sources to provide hydraulic energy for the landing gear actuator cylinder or the door actuator cylinder respectively. Each actuator cylinder needs a pair of hydraulic pipelines to connect, and there are still problems such as many pipelines and low integration.

[0003] Chinese patent CN104340359A discloses a hydraulic device for automatically retracting and extending the landing gear of a UAV. Although an electric drive solution is adopted to improve efficiency, it does not have a redundant configuration and has low reliability. According to its schematic diagram, an open oil tank is adopted, and a long hydraulic pipeline is required between the energy device and the three landing gear actuators. There is still a problem of difficulty in repairing oil leakage, low integration, and no door actuator function. It is mostly used for retracting and extending the landing gear of small UAVs, and is not suitable for retracting and extending the landing gear of manned or medium and large aircraft.

[0004] Chinese patent CN118163941A discloses a redundancy emergency retraction and extension system for landing gear and a control method thereof, which adopts a redundancy scheme of electric hydraulic + accumulator emergency hydraulic control of hydraulic actuators powered by a motor-driven separate hydraulic pump and a battery-driven pure electric actuator, and has high reliability. However, it does not introduce the decoupling method of controlling the retraction and extension of the landing gear by the hydraulic actuator and the pure electric actuator. There is a risk of mechanical jamming of the pure electric actuator, which may cause the entire retraction and extension function to fail and the aircraft cannot land normally.

[0005] Chinese patent CN118220474A discloses a distributed dual-redundant aircraft landing gear retraction and extension energy device, which uses a dual-redundant motor pump to provide hydraulic energy and controls the movement of the landing gear retraction and extension cylinder through hydraulic pipelines, with high reliability. However, the energy device can only control the retraction and extension of a single landing gear actuator cylinder and cannot be used for the opening and closing control of the cabin door. Summary of the invention

[0006] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose a landing gear retraction and door opening and closing actuation system, which solves the problems of the landing gear retraction and extension system using a local hydraulic source having too many hydraulic pipelines, low integration, or being unable to control the opening and closing of the door.

[0007] The solution of the present invention is:

[0008] A landing gear retraction and door opening and closing actuation system, comprising a landing gear retraction and extension actuator, two door retraction and extension actuator cylinders and two self-sealing joints;

[0009] Among them, the landing gear retraction and extension actuator is placed axially horizontally; the two door retraction and extension actuators are symmetrically arranged on both sides of the landing gear retraction and extension actuator; the two door retraction and extension actuators are parallel to the axis of the landing gear retraction and extension actuator; each door retraction and extension actuator is connected to the landing gear retraction and extension actuator through a self-sealing joint; the two door retraction and extension actuators are divided into the first door retraction and extension actuator and the second door retraction and extension actuator according to the left and right positions; the first door retraction and extension actuator is located on the left; the second door retraction and extension actuator is located on the right; correspondingly, the self-sealing joint is divided into the first self-sealing joint and the second self-sealing joint.

[0010] In the above-mentioned landing gear retraction and door opening and closing actuation system, the landing gear retraction actuator includes a first motor pump, a second motor pump, a first oil filter, a second oil filter, a first non-return valve, a second non-return valve, a first electromagnetic isolation valve, a second electromagnetic isolation valve, a third electromagnetic isolation valve, a fourth electromagnetic isolation valve, a fifth electromagnetic isolation valve, a sixth electromagnetic isolation valve, a pressurized oil tank, a low-pressure safety valve, a filling valve, a high-pressure safety valve, an emergency lowering damping valve, a balance valve, a balance valve control port damping valve, a displacement sensor and a landing gear retraction actuator cylinder;

[0011] Among them, the inlet and outlet of the first motor pump are connected with the P and T ports of the third electromagnetic isolation valve; the inlet and outlet of the second motor pump are connected with the P and T ports of the fourth electromagnetic isolation valve; at the same time, the A and B ports of the third electromagnetic isolation valve are respectively connected with the A and B ports of the fourth electromagnetic isolation valve; the internal leakage oil ports of the first motor pump and the second motor pump are respectively connected with the boost oil tank through the first oil filter and the second oil filter; the A and B ports of the third electromagnetic isolation valve and the fourth electromagnetic isolation valve are correspondingly connected with the A and B ports of the first electromagnetic isolation valve, the fifth electromagnetic isolation valve and the sixth electromagnetic isolation valve; the P port of the first electromagnetic isolation valve is connected with the upper cavity of the landing gear retraction and extension cylinder; the T port of the first electromagnetic isolation valve is connected with the lower cavity of the landing gear retraction and extension cylinder through the balancing valve; the balancing valve control oil port is connected with the upper cavity of the landing gear retraction and extension cylinder through the balancing valve control port damping valve; at the same time, the upper cavity, The lower chamber is connected to the emergency lowering damping valve through the A, T, P, and B ports of the second electromagnetic isolation valve in sequence; the T and P ports of the second electromagnetic isolation valve are connected to the booster tank; one end of the first check valve and the second check valve are respectively connected to the inlet and outlet of the first motor pump and the second motor pump; the other end of the first check valve and the second check valve is connected to the booster tank; one end of the low-pressure safety valve and the filling valve are connected to the booster tank, and the other end of the low-pressure safety valve and the filling valve is an external interface; the high-pressure safety valve is connected to the oil inlet and outlet of the first motor pump and the second motor pump; the P and T ports of the fifth electromagnetic isolation valve are respectively connected to the upper and lower chambers of the first door retraction and extension cylinder through the first self-sealing joint; the P and T ports of the sixth electromagnetic isolation valve are respectively connected to the upper and lower chambers of the second door retraction and extension cylinder through the second self-sealing joint; the displacement sensor is installed in the landing gear retraction and extension cylinder through a threaded connection.

[0012] In the above-mentioned landing gear retraction and door opening and closing actuation system, after receiving the command, the actuation system opens and closes the corresponding electromagnetic isolation valve in a time sequence; drives the motor pump to rotate and pump out high-pressure oil; controls the output flow rate and direction by controlling the speed and direction of the motor pump, thereby realizing the landing gear retraction and door opening and closing control.

[0013] In the above-mentioned landing gear retraction and hatch door opening and closing actuation system, the first motor pump and the second motor pump form a redundant configuration; in normal working mode, the two motor pumps work at the same speed; when any one of them fails, the other works independently to ensure the energy needs of the system; the first oil filter and the second oil filter ensure the cleanliness of the hydraulic medium; the first electromagnetic isolation valve controls the on-off of the landing gear retraction actuator oil circuit; the second electromagnetic isolation valve bypasses the two main oil circuits when the power is off; the third electromagnetic isolation valve and the fourth electromagnetic isolation valve isolate the corresponding faulty motor pump; the fifth electromagnetic isolation valve and the sixth electromagnetic isolation valve are respectively used to control the on-off of the hatch door retraction actuator oil circuit;

[0014] The emergency lowering damping valve realizes the smooth lowering of the landing gear in the emergency mode; a balancing valve is arranged in the retraction chamber oil circuit to realize the smooth lowering of the landing gear in the electric mode, reduce the power consumption of the motor pump during the lowering process, and prevent the hydraulic oil from entering the motor pump in the emergency mode, so that the flow passes through the emergency lowering damping valve; the balancing valve control port damping valve realizes the reduction of the control oil pressure fluctuation and makes the balancing valve work smoothly; the landing gear retraction and extension actuator is built-in with a displacement sensor to realize the displacement closed-loop control of the retraction and extension of the landing gear; the first one-way valve and the second one-way valve realize the boost tank to replenish oil to the low-pressure side of the main line and prevent the high-pressure oil of the main line from entering the boost tank; the boost tank provides system back pressure and oil compensation; the low-pressure safety valve and the high-pressure safety valve respectively realize over-pressure protection of the low-pressure and high-pressure oil circuits; the filling valve realizes the replenishment and filling of the system.

[0015] In the above-mentioned landing gear retraction and hatch door opening and closing actuation system, the working modes of the actuation system include a normal working mode, a motor pump failure mode and a landing gear emergency lowering mode;

[0016] Before the actuation system works, the hydraulic oil is first filled through the filling valve; the oil leaked during the operation of the first motor pump and the second motor pump flows back to the boost tank through the first oil filter and the second oil filter; the oil in the boost tank replenishes the low-pressure oil circuit through the first check valve and the second check valve; when the oil pressure in the boost tank rises to the set value of the low-pressure safety valve, the low-pressure safety valve opens and discharges part of the oil to ensure the safety of the related components of the low-pressure oil circuit; when the pressure in any oil circuit from the oil inlet and outlet of the first motor pump and the second motor pump to the landing gear retraction and extension actuator and the first door retraction and extension actuator and the second door retraction and extension actuator rises to the set value of the high-pressure safety valve, the high-pressure safety valve opens, and the high-pressure oil flows to the other oil circuit to relieve the pressure to ensure the safety of the system; during the lowering of the landing gear in the electric mode, the damping valve at the control port of the balance valve reduces the pressure fluctuation of the control port of the balance valve, so that the valve core of the balance valve works more stably.

[0017] In the above-mentioned landing gear retraction and hatch door opening and closing actuation system, in normal mode, the first motor pump and the second motor pump operate at the same speed according to the controller instruction, and the operating speed is relatively low; the third electromagnetic isolation valve and the fourth electromagnetic isolation valve do not operate;

[0018] In normal mode, the process of executing the landing gear lowering command is:

[0019] The actuation system receives the door opening command; at this time, the first electromagnetic isolation valve is powered on, closing the oil circuit between the two chambers of the landing gear retraction and extension cylinder and the first motor pump and the second motor pump; the oil circuit between the two chambers of the first door retraction and extension cylinder and the second door retraction and extension cylinder and the first motor pump and the second motor pump is connected; the first motor pump and the second motor pump rotate forward at a constant speed under the drive of the retraction and extension controller, and the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve and the fourth electromagnetic isolation valve, then converges and divides through the fifth electromagnetic isolation valve and the sixth electromagnetic isolation valve, and then passes through the first self-sealing joint and the second self-sealing joint to enter The first hatch door retracting and extending actuator cylinder and the upper chamber of the second hatch door retracting and extending actuator cylinder push the piston rod to move downward to open the two hatches; the oil in the lower chamber of the hatch door retracting and extending actuator cylinder passes through the first self-sealing joint, the second self-sealing joint, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve in turn, and then flows through the third electromagnetic isolation valve and the fourth electromagnetic isolation valve, and flows back to the low-pressure oil port of the first motor pump and the second motor pump; when the piston rod of the hatch door retracting and extending actuator cylinder moves to the position, the position switch signal provided by it is fed back to the controller, and the hatch door is opened at this time, and then the first motor pump and the second motor pump stop, and the first electromagnetic isolation valve loses power;

[0020] After the hatch is opened, the actuation system receives the landing gear lowering command; at this time, the second electromagnetic isolation valve, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve are energized, closing the oil circuit between the two chambers of the first hatch door retraction and extension actuator cylinder and the second hatch door retraction and extension actuator cylinder and the first motor pump and the second motor pump; the oil circuit between the two chambers of the landing gear retraction and extension actuator cylinder and the first motor pump and the second motor pump is connected, and the landing gear retraction and extension actuator displacement closed-loop operation; the controller drives the first motor pump and the second motor pump to rotate forward according to the position information fed back in real time by the displacement sensor; the pressure oil pumped out of the high-pressure oil port is connected After converging through the third electromagnetic isolation valve and the fourth electromagnetic isolation valve, the oil enters the upper chamber of the landing gear retraction and extension actuator cylinder through the first electromagnetic isolation valve, pushing the piston rod downward to lower the landing gear; the oil in the lower chamber of the landing gear retraction and extension actuator cylinder passes through the balance valve and the first electromagnetic isolation valve in turn, and then flows back to the low-pressure oil ports of the first motor pump and the second motor pump through the third electromagnetic isolation valve and the fourth electromagnetic isolation valve; when the controller receives feedback that the landing gear is lowered into place, the first motor pump and the second motor pump stop rotating, and the second electromagnetic isolation valve, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve lose power.

[0021] In the above-mentioned landing gear retraction and door opening and closing actuation system, in normal mode, the process of executing the landing gear retraction command is as follows:

[0022] The actuation system receives the command to retract the landing gear, and the second electromagnetic isolation valve, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve are powered on; the controller drives the first motor pump and the second motor pump to rotate in the opposite direction according to the position information fed back in real time by the displacement sensor; the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve and the fourth electromagnetic isolation valve, and then passes through the first electromagnetic isolation valve and the balance valve in turn, and finally enters the lower chamber of the landing gear retraction and extension actuator cylinder, pushing the piston rod to move upward to retract the landing gear; the oil in the upper chamber of the landing gear retraction and extension actuator cylinder passes through the first electromagnetic isolation valve and then is diverted through the third electromagnetic isolation valve and the fourth electromagnetic isolation valve to flow back to the low-pressure oil port of the first motor pump and the second motor pump; when the controller receives feedback that the landing gear is retracted in place, the first motor pump and the second motor pump stop, and the second electromagnetic isolation valve, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve lose power;

[0023] After the landing gear is retracted, the actuation system receives the command to close the door; at this time, the first electromagnetic isolation valve is powered on, closing the oil circuit of the landing gear retraction and extension actuator, and the oil circuit of the door retraction and extension actuator is connected; the first motor pump and the second motor pump rotate in opposite directions at a constant speed under the drive of the retraction and extension controller, and the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve and the fourth electromagnetic isolation valve, then converges and divides through the fifth electromagnetic isolation valve and the sixth electromagnetic isolation valve, and then passes through the first self-sealing joint and the second self-sealing joint to enter the first door retraction and extension actuator and the second door retraction and extension actuator. The lower chamber of the cylinder pushes the piston rod to move upward; the left and right doors are closed; the oil in the upper chamber of the left and right door retracting and extending cylinder flows back to the low-pressure oil port of the first motor pump and the second motor pump through the first self-sealing joint, the second self-sealing joint, the fifth electromagnetic isolation valve, the sixth electromagnetic isolation valve, the third electromagnetic isolation valve, and the fourth electromagnetic isolation valve in turn; when the piston rod of the door retracting and extending cylinder moves into place, its own in-place switch in-place signal is fed back to the controller, and the door is closed at this time, and then the first motor pump and the second motor pump stop rotating, and the first electromagnetic isolation valve loses power.

[0024] In the above-mentioned landing gear retraction and hatch door opening and closing actuation system, in the motor pump primary failure mode, one of the motor pumps fails and cannot work, and the other motor pump works at a high speed, and the third electromagnetic isolation valve or the fourth electromagnetic isolation valve corresponding to the failed motor pump is powered on to close its oil circuit;

[0025] In the first motor pump failure mode, the process of executing the landing gear lowering command is as follows:

[0026] The actuation system receives the door opening command, at which time the first solenoid isolation valve and the third solenoid isolation valve are energized, closing the landing gear retraction and extension actuator cylinder and the first motor pump oil circuit, and the first door retraction and extension actuator cylinder and the second door retraction and extension actuator cylinder are connected to the main oil circuit; the second motor pump rotates forward at a constant speed under the drive of the retraction and extension controller, and the pressure oil pumped out of the high-pressure oil port passes through the fourth solenoid isolation valve and then is diverted through the fifth solenoid isolation valve and the sixth solenoid isolation valve, and then passes through the first self-sealing joint and the second self-sealing joint to enter the first door retraction and extension actuator cylinder and the second door retraction and extension actuator cylinder. The upper chamber of the door retracting and releasing cylinder pushes the piston rod downward to open the left and right doors; the oil in the lower chamber of the first door retracting and releasing cylinder and the second door retracting and releasing cylinder successively passes through the first self-sealing joint, the second self-sealing joint, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve, and then flows back to the low-pressure oil port of the second motor pump through the fourth electromagnetic isolation valve; when the piston rod of the door retracting and releasing cylinder moves to the position, the position switch provided by it is fed back to the controller, and the left and right doors are opened at this time, and then the second motor pump stops, and the first electromagnetic isolation valve and the third electromagnetic isolation valve lose power;

[0027] After the hatch is opened, when the actuation system receives the command to lower the landing gear, the second electromagnetic isolation valve, the third electromagnetic isolation valve, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve are powered on; the first motor pump and the channels between the left and right hatch door retraction and extension cylinders and the main oil circuit are closed, and the landing gear retraction and extension cylinder oil circuit is connected; the controller drives the second motor pump to rotate forward according to the position information fed back in real time by the displacement sensor; the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve and the first electromagnetic isolation valve in turn into the upper chamber of the landing gear retraction and extension cylinder, pushing the piston rod to move downward to lower the landing gear, and the oil in the lower chamber of the landing gear retraction and extension cylinder passes through the balance valve, the first electromagnetic isolation valve, and the fourth electromagnetic isolation valve in turn to flow back to the low-pressure oil port of the second motor pump; when the controller receives feedback that the landing gear is lowered into place, the second motor pump stops, and the second electromagnetic isolation valve, the third electromagnetic isolation valve, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve lose power.

[0028] In the above-mentioned landing gear retraction and door opening and closing actuation system, in the first electromagnetic isolation valve failure mode, the process of executing the landing gear retraction command is as follows:

[0029] The actuation system receives the command to retract the landing gear, and the second electromagnetic isolation valve, the third electromagnetic isolation valve, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve are powered on. The controller drives the second motor pump to rotate in the opposite direction according to the position information fed back in real time by the displacement sensor; the pressure oil pumped out from the high-pressure oil port passes through the fourth electromagnetic isolation valve, the first electromagnetic isolation valve, and the balance valve in turn, and finally enters the lower chamber of the landing gear retraction and extension cylinder, pushing the piston rod to move upward to retract the landing gear; the oil in the upper chamber of the landing gear retraction and extension cylinder flows back to the low-pressure oil port of the second motor pump through the first electromagnetic isolation valve and the fourth electromagnetic isolation valve in turn; when the controller receives feedback that the landing gear is retracted in place, the second motor pump stops, and the second electromagnetic isolation valve, the third electromagnetic isolation valve, the fifth electromagnetic isolation valve, and the sixth electromagnetic isolation valve lose power;

[0030] After the landing gear is retracted, the actuation system receives the door closing command; at this time, the first electromagnetic isolation valve and the third electromagnetic isolation valve are powered on, closing the landing gear retraction and extension cylinder and the first motor pump oil circuit; the left and right door retraction and extension cylinders are connected to the main oil circuit; the second motor pump rotates in the opposite direction at a constant speed under the drive of the retraction and extension controller, and the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve and then flows through the fifth electromagnetic isolation valve and the sixth electromagnetic isolation valve, and then passes through the first self-sealing joint and the second self-sealing joint to enter the first door retraction and extension cylinder and the lower chamber of the second door retraction and extension cylinder, pushing the piston rod to move upward and closing the door; the oil in the upper chamber of the left and right door retraction and extension cylinders passes through the first self-sealing joint, the second self-sealing joint, the fifth electromagnetic isolation valve, the sixth electromagnetic isolation valve, and the fourth electromagnetic isolation valve in turn to flow back to the low-pressure oil port of the second motor pump; when the piston rod of the door retraction and extension cylinder moves to the position, the position switch signal provided by it is fed back to the controller, and then the second motor pump stops, and the first electromagnetic isolation valve and the third electromagnetic isolation valve lose power;

[0031] The operating mode of the second motor pump in the fault mode is the same as that of the first motor pump.

[0032] In the above-mentioned landing gear retraction and door opening and closing actuation system, the landing gear emergency lowering mode is:

[0033] When the electric mode fails, that is, both motor pumps are unable to work to control the lowering of the landing gear, the second electromagnetic isolation valve is in a power-off bypass state; the two chambers of the landing gear retraction and extension cylinder are connected, and the fifth and sixth electromagnetic isolation valves are powered on at the same time. The two-chamber bypass of the first door retraction and extension cylinder and the second door retraction and extension cylinder are in a follow-up state, and the landing gear can be emergency lowered by relying on its own weight and wind load, and the emergency lowering damping valve makes the landing gear lower smoothly.

[0034] The beneficial effects of the present invention compared with the prior art are:

[0035] (1) The main body of the present invention is a landing gear retraction and extension actuator that adopts an integrated electrostatic pressure solution, which can independently realize the displacement closed-loop control of landing gear retraction and extension; at the same time, the landing gear retraction and extension actuator serves as a local energy source to provide hydraulic energy for the left and right cabin door retraction and extension cylinders to control the opening and closing of the cabin doors; the present invention realizes a set of redundant energy time-sharing multiplexing to control the retraction and extension of the landing gear and the cabin door, thereby improving the energy utilization rate;

[0036] (2) The actuation system of the present invention has dual-redundancy electric drive operation and emergency operation modes, and has high reliability. Two motor pumps are integrated in the landing gear retraction and extension actuator. The two motor pumps can work simultaneously. When one of the motor pumps fails, the other motor pump can work independently to provide hydraulic energy for the system. The emergency lowering function of the landing gear is achieved by connecting an electromagnetic isolation valve in series between the two chambers of the landing gear retraction and extension actuator cylinder to cut off the power and bypass the electromagnetic isolation valve. When the system loses power, the two chambers of the landing gear retraction and extension actuator cylinder are connected through the electromagnetic isolation valve and the emergency lowering damping valve to form a closed oil circuit. The landing gear can be lowered in an emergency by relying on its own weight and wind load;

[0037] (3) The landing gear lowering of the present invention has a buffering function. The buffering function during normal lowering is achieved by a control algorithm to achieve a slow stop in place; the buffering function during emergency lowering is achieved by an emergency lowering damping valve, which is a mechanically adjustable damping valve that can adjust the damping size according to the actual load conditions, thereby ensuring the reliable lowering time of the landing gear and reducing its impact in place. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of the actuation system of the present invention.

[0039] Figure 2 It is a control schematic diagram of the actuation system of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the embodiments.

[0041] The present invention provides a landing gear retraction and door opening and closing actuation system, in which the left and right door retraction actuators are connected to the landing gear retraction actuator through a relatively short hydraulic pipeline with a self-sealing joint. The landing gear retraction actuator adopts an integrated electrostatic pressure solution, which can independently complete the retraction and extension of the landing gear according to the control command, and has an emergency lowering function; the landing gear retraction actuator also has the function of providing hydraulic energy for the left and right door retraction actuators to drive the door opening and closing by using local energy.

[0042] Landing gear retraction and hatch door opening and closing actuation systems, such as Figure 1As shown, it specifically includes a landing gear retracting actuator, two door retracting actuator cylinders 15 and two self-sealing joints 14. Among them, the landing gear retracting actuator is placed horizontally in the axial direction; the two door retracting actuator cylinders 15 are symmetrically arranged on both sides of the landing gear retracting actuator; the two door retracting actuator cylinders 15 are parallel to the axial direction of the landing gear retracting actuator; each door retracting actuator cylinder 15 is connected to the landing gear retracting actuator through a self-sealing joint 14; the two door retracting actuator cylinders 15 are divided into a first door retracting actuator cylinder 15-1 and a second door retracting actuator cylinder 15-2 according to the left and right positions; the first door retracting actuator cylinder 15-1 is located on the left; the second door retracting actuator cylinder 15-2 is located on the right; correspondingly, the self-sealing joint 14 is divided into a first self-sealing joint 14-1 and a second self-sealing joint 14-2.

[0043] like Figure 2 As shown, the landing gear retraction and extension actuator includes a first motor pump 1-1, a second motor pump 1-2, a first oil filter 2-1, a second oil filter 2-2, a first non-return valve 3-1, a second non-return valve 3-2, a first electromagnetic isolation valve 4-1, a second electromagnetic isolation valve 4-2, a third electromagnetic isolation valve 4-3, a fourth electromagnetic isolation valve 4-4, a fifth electromagnetic isolation valve 4-5, a sixth electromagnetic isolation valve 4-6, a pressurized oil tank 5, a low-pressure safety valve 6, a filling valve 7, a high-pressure safety valve 8, an emergency lowering damping valve 9, a balance valve 10, a balance valve control port damping valve 11, a displacement sensor 12 and a landing gear retraction and extension actuator 13.

[0044] Among them, the inlet and outlet of the first motor pump 1-1 are connected to the P and T ports of the third electromagnetic isolation valve 4-3; the inlet and outlet of the second motor pump 1-2 are connected to the P and T ports of the fourth electromagnetic isolation valve 4-4; at the same time, the A and B ports of the third electromagnetic isolation valve 4-3 are respectively connected to the A and B ports of the fourth electromagnetic isolation valve 4-4; the internal leakage oil ports of the first motor pump 1-1 and the second motor pump 1-2 are respectively connected to the boost oil tank 5 through the first oil filter 2-1 and the second oil filter 2-2; the third electromagnetic isolation valve 4-3 and the fourth electromagnetic isolation valve The A and B ports of 4-4 are connected to the A and B ports of the first electromagnetic isolation valve 4-1, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 respectively; the P port of the first electromagnetic isolation valve 4-1 is connected to the upper cavity of the landing gear retraction and extension cylinder 13; the T port of the first electromagnetic isolation valve 4-1 is connected to the lower cavity of the landing gear retraction and extension cylinder 13 through the balance valve 10; the control oil port of the balance valve 10 is connected to the upper cavity of the landing gear retraction and extension cylinder 13 through the balance valve control port damping valve 11; at the same time, the upper cavity, The lower chamber is connected to the emergency lowering damping valve 9 through the A, T, P, and B ports of the second electromagnetic isolation valve 4-2 in sequence; the T and P ports of the second electromagnetic isolation valve 4-2 are both connected to the booster tank 5; one end of the first one-way valve 3-1 and the second one-way valve 3-2 are respectively connected to the inlet and outlet of the first motor pump 1-1 and the second motor pump 1-2; the other end of the first one-way valve 3-1 and the second one-way valve 3-2 are connected to the booster tank 5; one end of the low-pressure safety valve 6 and the filling valve 7 are connected to the booster tank 5, and the low-pressure safety valve 6 and the filling valve 7 are connected to the booster tank 5. The other end of the valve 7 is an external interface; the high-pressure safety valve 8 is connected to the oil inlet and outlet ports of the first motor pump 1-1 and the second motor pump 1-2; the P and T ports of the fifth electromagnetic isolation valve 4-5 are respectively connected to the upper and lower chambers of the first hatch door retraction and extension cylinder 15-1 through the first self-sealing joint 14-1; the P and T ports of the sixth electromagnetic isolation valve 4-6 are respectively connected to the upper and lower chambers of the second hatch door retraction and extension cylinder 15-2 through the second self-sealing joint 14-2; the displacement sensor 12 is installed in the landing gear retraction and extension cylinder 13 through a threaded connection.

[0045] After receiving the command, the actuation system opens and closes the corresponding electromagnetic isolation valve in a timing sequence; drives the motor pump to rotate and pump out high-pressure oil; controls the output flow rate and direction by controlling the speed and direction of the motor pump, thereby realizing the control of landing gear retraction and hatch door opening and closing.

[0046] The first motor pump 1-1 and the second motor pump 1-2 form a redundant configuration; in normal working mode, the two motor pumps work at the same speed; when any one of them fails, the other one works independently to ensure the energy needs of the system; the first oil filter 2-1 and the second oil filter 2-2 ensure the cleanliness of the hydraulic medium; the first solenoid isolation valve 4-1 controls the on-off of the landing gear retraction and extension actuator oil circuit; the second solenoid isolation valve 4-2 bypasses the two main oil circuits when the power is off; the third solenoid isolation valve 4-3 and the fourth solenoid isolation valve 4-4 isolate the corresponding faulty motor pump; the fifth solenoid isolation valve 4-5 and the sixth solenoid isolation valve 4-6 are respectively used to control the on-off of the door retraction and extension actuator oil circuit.

[0047] The emergency lowering damping valve 9 realizes the smooth lowering of the landing gear in the emergency mode; a balancing valve 10 is arranged in the retraction chamber oil circuit to realize the smooth lowering of the landing gear in the electric mode, reduce the power consumption of the motor pump during the lowering process, and prevent the hydraulic oil from entering the motor pump in the emergency mode, so that all the flow passes through the emergency lowering damping valve; the balancing valve control port damping valve 11 realizes the reduction of the control oil pressure fluctuation and makes the balancing valve work smoothly; the built-in displacement sensor 12 in the landing gear retraction and extension actuator realizes the displacement closed-loop control of the retraction and extension of the landing gear; the first one-way valve 3-1 and the second one-way valve 3-2 realize the boost tank to replenish oil to the low-pressure side of the main line and prevent the high-pressure oil of the main line from entering the boost tank; the boost tank 5 provides system back pressure and oil compensation; the low-pressure safety valve 6 and the high-pressure safety valve 8 respectively realize the overpressure protection of the low-pressure and high-pressure oil circuits; the filling valve 7 realizes the replenishment and filling of the system.

[0048] The working modes of the actuation system include normal working mode, motor pump failure mode and landing gear emergency lowering mode.

[0049] Before the actuation system works, hydraulic oil is first filled through the filling valve 7; the oil leaked during the operation of the first motor pump 1-1 and the second motor pump 1-2 flows back to the boost tank 5 through the first oil filter 2-1 and the second oil filter 2-2; the oil in the boost tank 5 is replenished to the low-pressure oil circuit through the first check valve 3-1 and the second check valve 3-2; when the oil pressure in the boost tank 5 rises to the set value of the low-pressure safety valve 6, the low-pressure safety valve 6 opens and discharges part of the oil to ensure the safety of the related components of the low-pressure oil circuit. ; When the pressure in any oil circuit from the oil inlet and outlet of the first motor pump 1-1 and the second motor pump 1-2 to the landing gear retraction actuator 13 and the first door retraction actuator 15-1 and the second door retraction actuator 15-2 rises to the set value of the high-pressure safety valve 8, the high-pressure safety valve 8 opens, and the high-pressure oil flows to the other oil circuit to relieve pressure, thereby ensuring system safety; During the electric mode landing gear lowering process, the balance valve control port damping valve 11 reduces the pressure fluctuation of the balance valve control port, so that the balance valve valve core can work more stably.

[0050] In normal mode, the first motor pump 1-1 and the second motor pump 1-2 operate at the same speed according to the controller instruction, and the operating speed is relatively low; the third electromagnetic isolation valve 4-3 and the fourth electromagnetic isolation valve 4-4 do not operate.

[0051] In normal mode, the process of executing the landing gear lowering command is:

[0052] The actuation system receives the door opening command; at this time, the first electromagnetic isolation valve 4-1 is powered on, closing the oil circuit between the two chambers of the landing gear retracting and extending actuator 13 and the first motor pump 1-1 and the second motor pump 1-2; the oil circuit between the two chambers of the first door retracting and extending actuator 15-1 and the second door retracting and extending actuator 15-2 and the first motor pump 1-1 and the second motor pump 1-2 is connected; the first motor pump 1-1 and the second motor pump 1-2 rotate forward at a constant speed under the drive of the retracting and extending controller, and the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve 4-3 and the fourth electromagnetic isolation valve 4-4, then converges and is divided through the fifth electromagnetic isolation valve 4-5 and the sixth electromagnetic isolation valve 4-6, and then passes through the first self-sealing joint 14-1 and the second self-sealing joint 14-2 The oil enters the upper chamber of the first door retracting and extending actuator 15-1 and the second door retracting and extending actuator 15-2 respectively, pushing the piston rod downward to open the two doors; the oil in the lower chamber of the door retracting and extending actuator passes through the first self-sealing joint 14-1, the second self-sealing joint 14-2, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 in turn, and then flows through the third electromagnetic isolation valve 4-3 and the fourth electromagnetic isolation valve 4-4, and flows back to the low-pressure oil port of the first motor pump 1-1 and the second motor pump 1-2; when the piston rod of the door retracting and extending actuator moves into position, its own position switch position signal is fed back to the controller, and the door is now opened, and then the first motor pump 1-1 and the second motor pump 1-2 stop, and the first electromagnetic isolation valve 4-1 loses power.

[0053] After the hatch is opened, the actuation system receives the command to lower the landing gear; at this time, the second electromagnetic isolation valve 4-2, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 are powered on, closing the oil circuit between the two chambers of the first hatch door retraction and extension actuator cylinder 15-1 and the second hatch door retraction and extension actuator cylinder 15-2 and the first motor pump 1-1, the second motor pump 1-2; the two chambers of the landing gear retraction and extension actuator cylinder 13 are connected to the oil circuit between the first motor pump 1-1 and the second motor pump 1-2, and the landing gear retraction and extension actuator displacement closed-loop operation; the controller drives the first motor pump 1-1 and the second motor pump 1-2 to rotate forward according to the position information fed back in real time by the displacement sensor 12; the pressure oil pumped out of the high-pressure oil port passes through the second The three electromagnetic isolation valves 4-3 and the fourth electromagnetic isolation valve 4-4 converge and then enter the upper chamber of the landing gear retraction and extension cylinder 13 through the first electromagnetic isolation valve 4-1, pushing the piston rod to move downward to lower the landing gear; the oil in the lower chamber of the landing gear retraction and extension cylinder passes through the balance valve 10 and the first electromagnetic isolation valve 4-1 in turn, and then flows back to the low-pressure oil ports of the first motor pump 1-1 and the second motor pump 1-2 through the third electromagnetic isolation valve 4-3 and the fourth electromagnetic isolation valve 4-4; when the controller receives feedback that the landing gear is lowered into place, the first motor pump 1-1 and the second motor pump 1-2 stop rotating, and the second electromagnetic isolation valve 4-2, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 lose power.

[0054] In normal mode, the process of executing the command to retract the landing gear is as follows:

[0055] The actuation system receives the landing gear retraction command, and the second electromagnetic isolation valve 4-2, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 are powered on; the controller drives the first motor pump 1-1 and the second motor pump 1-2 to rotate in the opposite direction according to the position information fed back in real time by the displacement sensor 12; the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve 4-3 and the fourth electromagnetic isolation valve 4-4, and then passes through the first electromagnetic isolation valve 4-1 and the balance valve 10 in turn, and finally enters the lower chamber of the landing gear retraction and extension cylinder, pushing the piston rod to move upward to retract the landing gear; the oil in the upper chamber of the landing gear retraction and extension cylinder passes through the first electromagnetic isolation valve 4-1 and then diverts through the third electromagnetic isolation valve 4-3 and the fourth electromagnetic isolation valve 4-4 to flow back to the low-pressure oil ports of the first motor pump 1-1 and the second motor pump 1-2; when the controller receives feedback that the landing gear is retracted in place, the first motor pump 1-1 and the second motor pump 1-2 stop rotating, and the second electromagnetic isolation valve 4-2, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 lose power.

[0056] After the landing gear is retracted, the actuation system receives the door closing command; at this time, the first electromagnetic isolation valve 4-1 is powered on, closing the landing gear retraction and extension actuator oil circuit, and the door retraction and extension actuator oil circuit is connected; the first motor pump 1-1 and the second motor pump 1-2 rotate in the opposite direction at a constant speed under the drive of the retraction and extension controller, and the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve 4-3 and the fourth electromagnetic isolation valve 4-4, then converges and divides through the fifth electromagnetic isolation valve 4-5 and the sixth electromagnetic isolation valve 4-6, and then passes through the first self-sealing joint 14-1 and the second self-sealing joint 14-2 to enter the first door retraction and extension actuator 15-1 and the second door retraction and extension actuator 15 -2's lower chamber pushes the piston rod to move upward; closes the left and right doors; the oil in the upper chamber of the left and right door retracting and extending cylinder flows back to the low-pressure oil port of the first motor pump 1-1 and the second motor pump 1-2 through the first self-sealing joint 14-1, the second self-sealing joint 14-2, the fifth electromagnetic isolation valve 4-5, the sixth electromagnetic isolation valve 4-6, the third electromagnetic isolation valve 4-3, and the fourth electromagnetic isolation valve 4-4 in turn; when the piston rod of the door retracting and extending cylinder moves into position, its own in-position switch in-position signal is fed back to the controller, at which time the door is closed, and then the first motor pump 1-1 and the second motor pump 1-2 stop rotating, and the first electromagnetic isolation valve 4-1 loses power.

[0057] In the motor pump primary failure mode, one of the motor pumps fails and cannot work, and the other motor pump works at a high speed. The third electromagnetic isolation valve 4-3 or the fourth electromagnetic isolation valve 4-4 corresponding to the failed motor pump is powered on to close its oil circuit.

[0058] The present invention is described in the case where the first motor pump 1 - 1 is in a fault state.

[0059] In the first motor pump 1-1 fault mode, the process of executing the landing gear lowering command is as follows:

[0060] The actuation system receives the door opening command. At this time, the first electromagnetic isolation valve 4-1 and the third electromagnetic isolation valve 4-3 are powered on, closing the landing gear retraction actuator cylinder and the first motor pump 1-1 oil circuit, and the first door retraction actuator cylinder 15-1 and the second door retraction actuator cylinder 15-2 are connected to the main oil circuit; the second motor pump 1-2 rotates forward at a constant speed under the drive of the retraction controller, and the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve 4-4 and then is diverted through the fifth electromagnetic isolation valve 4-5 and the sixth electromagnetic isolation valve 4-6, and then passes through the first self-sealing joint 14-1 and the second self-sealing joint 14-2 to enter the first door retraction actuator cylinder 15-1 and the second door retraction actuator cylinder. The upper chamber of 15-2 pushes the piston rod to move downward to open the left and right doors; the oil in the lower chambers of the first door retracting and extending actuator 15-1 and the second door retracting and extending actuator 15-2 successively passes through the first self-sealing joint 14-1, the second self-sealing joint 14-2 and the fifth electromagnetic isolation valve 4-5, the sixth electromagnetic isolation valve 4-6, and then flows back to the low-pressure oil port of the second motor pump 1-2 through the fourth electromagnetic isolation valve 4-4; when the piston rod of the door retracting and extending actuator moves to the position, its own position switch position signal is fed back to the controller, at this time, the left and right doors are opened, and then the second motor pump 1-2 stops, and the first electromagnetic isolation valve 4-1 and the third electromagnetic isolation valve 4-3 lose power.

[0061] After the hatch is opened, when the actuating system receives the landing gear lowering command, the second electromagnetic isolation valve 4-2, the third electromagnetic isolation valve 4-3, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 are powered on; the first motor pump 1-1 and the channels between the left and right hatch door retraction and extension actuators and the main oil circuit are closed, and the landing gear retraction and extension actuator oil circuit is connected; the controller drives the second motor pump 1-2 to rotate forward according to the position information fed back in real time by the displacement sensor 12; the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve 4-4, the first and second electromagnetic isolation valves 4-5 and 4-6 in turn. An electromagnetic isolation valve 4-1 enters the upper chamber of the landing gear retraction and extension cylinder 13, pushing the piston rod to move downward to lower the landing gear. The oil in the lower chamber of the landing gear retraction and extension cylinder 13 passes through the balance valve 10 in turn, and the first electromagnetic isolation valve 4-1 and the fourth electromagnetic isolation valve 4-4 flow back to the low-pressure oil port of the second motor pump 1-2; when the controller receives feedback that the landing gear is lowered into place, the second motor pump 1-2 stops, and the second electromagnetic isolation valve 4-2, the third electromagnetic isolation valve 4-3, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 lose power.

[0062] In the fault mode of the first electromagnetic isolation valve 4-1, the process of executing the command to retract the landing gear is as follows:

[0063] The actuation system receives the landing gear retraction command, and the second electromagnetic isolation valve 4-2, the third electromagnetic isolation valve 4-3, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 are powered on. The controller drives the second motor pump 1-2 to rotate in the opposite direction according to the position information fed back in real time by the displacement sensor 12; the pressure oil pumped out from the high-pressure oil port passes through the fourth electromagnetic isolation valve 4-4, the first electromagnetic isolation valve 4-1, and the balance valve 10 in turn, and finally enters the lower chamber of the landing gear retraction and extension actuator 13, pushing the piston rod to move upward to retract the landing gear; the oil in the upper chamber of the landing gear retraction and extension actuator 13 flows back to the low-pressure oil port of the second motor pump 1-2 through the first electromagnetic isolation valve 4-1 and the fourth electromagnetic isolation valve 4-4 in turn; when the controller receives feedback that the landing gear is retracted in place, the second motor pump 1-2 stops, and the second electromagnetic isolation valve 4-2, the third electromagnetic isolation valve 4-3, the fifth electromagnetic isolation valve 4-5, and the sixth electromagnetic isolation valve 4-6 lose power.

[0064] After the landing gear is retracted, the actuation system receives the door closing command; at this time, the first electromagnetic isolation valve 4-1 and the third electromagnetic isolation valve 4-3 are powered on, closing the landing gear retraction and extension actuator 13 and the first motor pump 1-1 oil circuit; the left and right door retraction and extension actuators are connected to the main oil circuit; the second motor pump 1-2 rotates in the opposite direction at a constant speed under the drive of the retraction and extension controller, and the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve 4-4 and then is diverted through the fifth electromagnetic isolation valve 4-5 and the sixth electromagnetic isolation valve 4-6, and then passes through the first self-sealing joint 14-1 and the second self-sealing joint 14-2 to enter the first door retraction and extension actuator. The cylinder 15-1 and the lower chamber of the second door retracting and extending cylinder 15-2 push the piston rod to move upward to close the door; the oil in the upper chamber of the left and right door retracting and extending cylinders flows back to the low-pressure oil port of the second motor pump 1-2 through the first self-sealing joint 14-1, the second self-sealing joint 14-2, the fifth electromagnetic isolation valve 4-5, the sixth electromagnetic isolation valve 4-6, and the fourth electromagnetic isolation valve 4-4 in turn; when the piston rod of the door retracting and extending cylinder moves into position, its own in-position switch in-position signal is fed back to the controller, and then the second motor pump 1-2 stops, and the first electromagnetic isolation valve 4-1 and the third electromagnetic isolation valve 4-3 lose power.

[0065] The working mode of the second motor pump 1 - 2 in the fault mode is the same as that of the first motor pump 1 - 1 .

[0066] The landing gear emergency lowering mode is:

[0067] When the electric mode fails, that is, both motor pumps are unable to control the lowering of the landing gear, the second electromagnetic isolation valve 4-2 is in a power-off bypass state; the two chambers of the landing gear retraction and extension cylinder are connected, and the fifth electromagnetic isolation valve 4-5 and the sixth electromagnetic isolation valve 4-6 are powered on at the same time, and the two-chamber bypass of the first door retraction and extension cylinder 15-1 and the second door retraction and extension cylinder 15-2 is in a follow-up state, and the landing gear can be emergency lowered by relying on its own weight and wind load, and the emergency lowering damping valve 9 makes the landing gear lowered smoothly.

[0068] The landing gear retraction and hatch door opening and closing actuation system described in the present invention is mainly a landing gear retraction and extension actuator adopting an integrated electrostatic pressure solution, which can independently realize the displacement closed-loop control retraction and extension of the landing gear; at the same time, the landing gear retraction and extension actuator acts as a local energy source to provide hydraulic energy for the left and right hatch door retraction and extension cylinders to control the opening and closing of the hatch door. The present invention realizes a set of redundant energy time-sharing multiplexing to control the retraction and extension of the landing gear and hatch door, thereby improving the utilization rate of energy.

[0069] The landing gear retraction and door opening and closing actuation system described in the present invention has dual-redundant electric drive operation and emergency working modes, and has high reliability. Two motor pumps are integrated in the landing gear retraction and extension actuator, and the two motor pumps can work at the same time. When one of the motor pumps fails, the other motor pump can work independently to provide hydraulic energy for the system. The emergency lowering function of the landing gear is achieved by connecting an electromagnetic isolation valve in series between the two chambers of the landing gear retraction and extension actuator cylinder to bypass the power failure. When the system loses power, the two chambers of the landing gear retraction and extension actuator cylinder are connected through the electromagnetic isolation valve and the emergency lowering damping valve to form a closed oil circuit. The landing gear can achieve emergency damping lowering by relying on its own weight and wind load.

[0070] The landing gear has a buffering function when it is lowered. The buffering function during normal lowering is achieved by a control algorithm to achieve a slow stop in place; the buffering function during emergency lowering is achieved by an emergency lowering damping valve connected in series in the emergency circuit. The emergency lowering damping valve is a mechanically adjustable damping valve that can adjust the damping size according to the actual load conditions, ensuring the reliable lowering time of the landing gear while also reducing its impact in place.

[0071] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A landing gear retraction and hatch door opening and closing actuation system, characterized in that: It comprises a landing gear retracting and extending actuator, two door retracting and extending actuator cylinders (15) and two self-sealing joints (14); The landing gear retracting and extending actuator is axially placed horizontally; two door retracting and extending actuator cylinders (15) are symmetrically arranged on both sides of the landing gear retracting and extending actuator; the two door retracting and extending actuator cylinders (15) are parallel to the axis of the landing gear retracting and extending actuator; each door retracting and extending actuator cylinder (15) is connected to the landing gear retracting and extending actuator via a self-sealing joint (14); the two door retracting and extending actuator cylinders (15) are divided into a first door retracting and extending actuator cylinder (15-1) and a second door retracting and extending actuator cylinder (15-2) according to the left and right positions; the first door retracting and extending actuator cylinder (15-1) is located on the left side; the second door retracting and extending actuator cylinder (15-2) is located on the right side; correspondingly, the self-sealing joint (14) is divided into a first self-sealing joint (14-1) and a second self-sealing joint (14-2).

2. A landing gear retraction and hatch door opening and closing actuation system according to claim 1, characterized in that: The landing gear retraction and extension actuator comprises a first motor pump (1-1), a second motor pump (1-2), a first oil filter (2-1), a second oil filter (2-2), a first non-return valve (3-1), a second non-return valve (3-2), a first electromagnetic isolation valve (4-1), a second electromagnetic isolation valve (4-2), a third electromagnetic isolation valve (4-3), a fourth electromagnetic isolation valve (4-4), a fifth electromagnetic isolation valve (4-5), a sixth electromagnetic isolation valve (4-6), a pressurized oil tank (5), a low-pressure safety valve (6), a filling valve (7), a high-pressure safety valve (8), an emergency lowering damping valve (9), a balancing valve (10), a balancing valve control port damping valve (11), a displacement sensor (12) and a landing gear retraction and extension actuator (13); The inlet and outlet of the first motor pump (1-1) are connected to the P and T ports of the third electromagnetic isolation valve (4-3); the inlet and outlet of the second motor pump (1-2) are connected to the P and T ports of the fourth electromagnetic isolation valve (4-4); at the same time, the A and B ports of the third electromagnetic isolation valve (4-3) are respectively connected to the A and B ports of the fourth electromagnetic isolation valve (4-4); the internal oil leakage ports of the first motor pump (1-1) and the second motor pump (1-2) are respectively connected to the boost oil tank (5) through the first oil filter (2-1) and the second oil filter (2-2); the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4 -4) are connected to the A and B ports of the first electromagnetic isolation valve (4-1), the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6) respectively; the P port of the first electromagnetic isolation valve (4-1) is connected to the upper chamber of the landing gear retraction and extension cylinder (13); the T port of the first electromagnetic isolation valve (4-1) is connected to the lower chamber of the landing gear retraction and extension cylinder (13) through the balance valve (10); the control oil port of the balance valve (10) is connected to the upper chamber of the landing gear retraction and extension cylinder (13) through the balance valve control port damping valve (11); at the same time, the upper chamber and lower chamber of the landing gear retraction and extension cylinder (13) are connected. The A, T, P and B ports of the second electromagnetic isolation valve (4-2) are connected to the emergency lowering damping valve (9) in sequence; the T and P ports of the second electromagnetic isolation valve (4-2) are both connected to the boosting oil tank (5); one end of the first check valve (3-1) and the second check valve (3-2) are respectively connected to the inlet and outlet of the first motor pump (1-1) and the second motor pump (1-2); the other end of the first check valve (3-1) and the second check valve (3-2) are connected to the boosting oil tank (5); one end of the low-pressure safety valve (6) and the filling valve (7) are connected to the boosting oil tank (5); the low-pressure safety valve (6) and the filling valve (7) are connected to the boosting oil tank (5); The other end of the filling valve (7) is an external interface; the high-pressure safety valve (8) is connected to the oil inlet and outlet ports of the first motor pump (1-1) and the second motor pump (1-2); the P and T ports of the fifth electromagnetic isolation valve (4-5) are respectively connected to the upper and lower chambers of the first door retracting and extending cylinder (15-1) through a first self-sealing joint (14-1); the P and T ports of the sixth electromagnetic isolation valve (4-6) are respectively connected to the upper and lower chambers of the second door retracting and extending cylinder (15-2) through a second self-sealing joint (14-2); and the displacement sensor (12) is installed in the landing gear retracting and extending cylinder (13) through a threaded connection.

3. A landing gear retraction and hatch door opening and closing actuation system according to claim 2, characterized in that: After receiving the command, the actuation system opens and closes the corresponding electromagnetic isolation valve in a timing sequence; drives the motor pump to rotate and pump out high-pressure oil; controls the output flow rate and direction by controlling the speed and direction of the motor pump, thereby realizing the control of landing gear retraction and hatch door opening and closing.

4. A landing gear retracting and door opening and closing actuation system according to claim 3, characterized in that: The first motor pump (1-1) and the second motor pump (1-2) form a redundant configuration; in the normal working mode, the two motor pumps work at the same speed; when any one of them fails, the other works independently to ensure the energy needs of the system; the first oil filter (2-1) and the second oil filter (2-2) ensure the cleanliness of the hydraulic medium; the first electromagnetic isolation valve (4-1) controls the on-off of the landing gear retraction and extension actuator oil circuit; the second electromagnetic isolation valve (4-2) bypasses the two main oil circuits when the power is off; the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4) isolate the corresponding faulty motor pump; the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6) are respectively used to control the on-off of the door retraction and extension actuator oil circuit; The emergency lowering damping valve (9) realizes the stable lowering of the landing gear in the emergency mode; a balancing valve (10) is arranged in the oil circuit of the retraction chamber to realize the stable lowering of the landing gear in the electric mode, reduce the power consumption of the motor pump during the lowering process, and prevent the hydraulic oil from entering the motor pump in the emergency mode, so that the flow rate all passes through the emergency lowering damping valve; the balancing valve control port damping valve (11) realizes the reduction of the control oil pressure fluctuation, so that the balancing valve works smoothly; the displacement sensor (12) is built in the landing gear retraction and extension actuator, so as to realize the displacement closed-loop control of the retraction and extension of the landing gear; the first check valve (3-1) and the second check valve (3-2) realize the boosting oil tank to replenish the oil to the low-pressure side of the main circuit, and prevent the high-pressure oil of the main circuit from entering the boosting oil tank; the boosting oil tank (5) provides system back pressure and oil compensation; the low-pressure safety valve (6) and the high-pressure safety valve (8) respectively realize the overpressure protection of the low-pressure and high-pressure oil circuits; the filling valve (7) realizes the replenishment and filling of the system.

5. A landing gear retracting and door opening and closing actuation system according to claim 4, characterized in that: The working modes of the actuation system include normal working mode, motor pump failure mode and landing gear emergency lowering mode; Before the actuation system works, hydraulic oil is first added through the filling valve (7); the oil leaked during the operation of the first motor pump (1-1) and the second motor pump (1-2) flows back to the booster tank (5) through the first oil filter (2-1) and the second oil filter (2-2); the oil in the booster tank (5) is replenished to the low-pressure oil circuit through the first check valve (3-1) and the second check valve (3-2); when the oil pressure in the booster tank (5) rises to the set value of the low-pressure safety valve (6), the low-pressure safety valve (6) opens and discharges part of the oil to ensure that the low-pressure oil circuit is Component safety; when the pressure in any oil circuit from the oil inlet and outlet of the first motor pump (1-1) and the second motor pump (1-2) to the landing gear retraction and extension cylinder (13) and the first door retraction and extension cylinder (15-1) and the second door retraction and extension cylinder (15-2) increases to the set value of the high-pressure safety valve (8), the high-pressure safety valve (8) opens, and the high-pressure oil flows to the other oil circuit to relieve the pressure, thereby ensuring the safety of the system; during the electric mode landing gear lowering process, the balance valve control port damping valve (11) reduces the pressure fluctuation of the balance valve control port, so that the balance valve valve core works more stably.

6. A landing gear retracting and door opening and closing actuation system according to claim 5, characterized in that: In the normal mode, the first motor pump (1-1) and the second motor pump (1-2) operate at the same speed according to the controller instruction, and the operating speed is relatively low; the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4) are not in operation; In normal mode, the process of executing the landing gear lowering command is: The actuation system receives a command to open the hatch door; at this time, the first electromagnetic isolation valve (4-1) is powered on, closing the oil circuit between the two chambers of the landing gear retracting and extending actuator cylinder (13) and the first motor pump (1-1) and the second motor pump (1-2); the oil circuits between the two chambers of the first hatch door retracting and extending actuator cylinder (15-1) and the second hatch door retracting and extending actuator cylinder (15-2) and the first motor pump (1-1) and the second motor pump (1-2) are connected; the first motor pump (1-1) and the second motor pump (1-2) rotate forward at a constant speed under the drive of the retracting and extending controller, and the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4), then converges and is divided through the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6), and then passes through the first self-sealing joint (14-1) and the second self-sealing joint (14 -2) enter the upper chambers of the first hatch door retracting and extending cylinder (15-1) and the second hatch door retracting and extending cylinder (15-2) respectively, push the piston rod to move downward, and open the two hatches; the oil in the lower chamber of the hatch door retracting and extending cylinder passes through the first self-sealing joint (14-1), the second self-sealing joint (14-2), the fifth electromagnetic isolation valve (4-5), and the sixth electromagnetic isolation valve (4-6) in turn, and then flows through the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4), and flows back to the low-pressure oil ports of the first motor pump (1-1) and the second motor pump (1-2); when the piston rod of the hatch door retracting and extending cylinder moves to the position, the position switch provided by it is fed back to the controller, and the hatch is opened at this time, and then the first motor pump (1-1) and the second motor pump (1-2) stop rotating, and the first electromagnetic isolation valve (4-1) loses power; After the hatch door is opened, the actuation system receives a landing gear lowering instruction; at this time, the second electromagnetic isolation valve (4-2), the fifth electromagnetic isolation valve (4-5), and the sixth electromagnetic isolation valve (4-6) are powered on, closing the oil circuits between the two chambers of the first hatch door retracting and extending actuator cylinder (15-1) and the second hatch door retracting and extending actuator cylinder (15-2) and the first motor pump (1-1) and the second motor pump (1-2); the two chambers of the landing gear retracting and extending actuator cylinder (13) are connected to the oil circuits between the first motor pump (1-1) and the second motor pump (1-2), and the landing gear retracting and extending actuator operates in a displacement closed loop; the controller drives the first motor pump (1-1) and the second motor pump (1-2) to rotate in the forward direction according to the position information fed back in real time by the displacement sensor (12); the pressure oil pumped out of the high-pressure oil port is pumped out through the third electromagnetic valve (14 ... of the third electromagnetic valve (14); the pressure oil pumped out of the high-pressure oil port is pumped out After the magnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4) converge, the oil flows into the upper chamber of the landing gear retraction and extension cylinder (13) through the first electromagnetic isolation valve (4-1), pushing the piston rod to move downward to lower the landing gear; the oil in the lower chamber of the landing gear retraction and extension cylinder passes through the balance valve (10) and the first electromagnetic isolation valve (4-1) in sequence, and then flows back to the low-pressure oil ports of the first motor pump (1-1) and the second motor pump (1-2) through the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4); when the controller receives feedback that the landing gear is in place, the first motor pump (1-1) and the second motor pump (1-2) stop rotating, and the second electromagnetic isolation valve (4-2), the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6) lose power.

7. A landing gear retracting and door opening and closing actuation system according to claim 6, characterized in that: In normal mode, the process of executing the command to retract the landing gear is as follows: The actuation system receives a landing gear retraction command, and the second electromagnetic isolation valve (4-2), the fifth electromagnetic isolation valve (4-5), and the sixth electromagnetic isolation valve (4-6) are powered on; the controller drives the first motor pump (1-1) and the second motor pump (1-2) to rotate in the opposite direction according to the position information fed back in real time by the displacement sensor (12); the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4), and then passes through the first electromagnetic isolation valve (4-1) and the balance valve (10) in sequence, and finally enters the lower part of the landing gear retraction and extension actuator cylinder. The oil in the upper chamber of the landing gear retraction and extension cylinder passes through the first electromagnetic isolation valve (4-1) and then flows through the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4) back to the low-pressure oil ports of the first motor pump (1-1) and the second motor pump (1-2); when the controller receives feedback that the landing gear is retracted in place, the first motor pump (1-1) and the second motor pump (1-2) stop rotating, and the second electromagnetic isolation valve (4-2), the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6) lose power; After the landing gear is retracted, the actuation system receives a door closing command; at this time, the first electromagnetic isolation valve (4-1) is powered on, closing the landing gear retraction and extension actuator oil circuit, and the door retraction and extension actuator oil circuit is connected; the first motor pump (1-1) and the second motor pump (1-2) rotate in opposite directions at a constant speed under the drive of the retraction and extension controller, and the pressure oil pumped out of the high-pressure oil port passes through the third electromagnetic isolation valve (4-3) and the fourth electromagnetic isolation valve (4-4), then converges and then divides through the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6), and then passes through the first self-sealing joint (14-1) and the second self-sealing joint (14-2) to enter the first door retraction and extension actuator (15-1) and the second door retraction and extension actuator (15-2). 2), pushing the piston rod to move upward; closing the left and right doors; the oil in the upper chambers of the left and right door retracting and extending cylinders flows back to the low-pressure oil ports of the first motor pump (1-1) and the second motor pump (1-2) through the first self-sealing joint (14-1), the second self-sealing joint (14-2), the fifth electromagnetic isolation valve (4-5), the sixth electromagnetic isolation valve (4-6), the third electromagnetic isolation valve (4-3), and the fourth electromagnetic isolation valve (4-4) in sequence; when the piston rod of the door retracting and extending cylinder moves to the position, the position switch signal provided by it is fed back to the controller, and the door is closed at this time, and then the first motor pump (1-1) and the second motor pump (1-2) stop rotating, and the first electromagnetic isolation valve (4-1) loses power.

8. The landing gear retraction and hatch door opening and closing actuation system according to claim 5, characterized in that: In the motor pump primary failure mode, one of the motor pumps fails and cannot work, while the other motor pump works at a high speed, and the third electromagnetic isolation valve (4-3) or the fourth electromagnetic isolation valve (4-4) corresponding to the failed motor pump is powered on to close its oil circuit; In the first motor pump (1-1) failure mode, the process of executing the landing gear lowering command is as follows: The actuation system receives a door opening command, at which time the first electromagnetic isolation valve (4-1) and the third electromagnetic isolation valve (4-3) are powered on, closing the landing gear retracting and extending actuator cylinder and the first motor pump (1-1) oil circuit, and the first door retracting and extending actuator cylinder (15-1) and the second door retracting and extending actuator cylinder (15-2) are connected to the main oil circuit; the second motor pump (1-2) rotates forward at a constant speed under the drive of the retracting and extending controller, and the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve (4-4) and then is divided through the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6), and then passes through the first self-sealing joint (14-1) and the second self-sealing joint (14-2) to enter the first door retracting and extending actuator cylinder (15-1) and the second door retracting and extending actuator cylinder The upper chamber of the door retracting and releasing cylinder (15-2) pushes the piston rod to move downward to open the left and right doors; the oil in the lower chambers of the first door retracting and releasing cylinder (15-1) and the second door retracting and releasing cylinder (15-2) successively flows through the first self-sealing joint (14-1), the second self-sealing joint (14-2), the fifth electromagnetic isolation valve (4-5), and the sixth electromagnetic isolation valve (4-6) and then flows back to the low-pressure oil port of the second motor pump (1-2) through the fourth electromagnetic isolation valve (4-4); when the piston rod of the door retracting and releasing cylinder moves to the position, the position switch signal provided by it is fed back to the controller, at which time the left and right doors are opened, and then the second motor pump (1-2) stops, and the first electromagnetic isolation valve (4-1) and the third electromagnetic isolation valve (4-3) lose power; After the hatch door is opened, when the actuation system receives the landing gear lowering command, the second electromagnetic isolation valve (4-2), the third electromagnetic isolation valve (4-3), the fifth electromagnetic isolation valve (4-5), and the sixth electromagnetic isolation valve (4-6) are powered on; the first motor pump (1-1) and the passages between the left and right hatch door retraction and extension actuators and the main oil circuit are closed, and the landing gear retraction and extension actuator oil circuit is connected; the controller drives the second motor pump (1-2) to rotate in the forward direction according to the position information fed back in real time by the displacement sensor (12); the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve (4-4), the first electromagnetic isolation valve (4-5), and the sixth electromagnetic isolation valve (4-6) in sequence. The isolation valve (4-1) enters the upper chamber of the landing gear retraction and extension cylinder (13), pushing the piston rod to move downward to lower the landing gear, and the oil in the lower chamber of the landing gear retraction and extension cylinder (13) flows back to the low-pressure oil port of the second motor pump (1-2) through the balance valve (10), the first electromagnetic isolation valve (4-1) and the fourth electromagnetic isolation valve (4-4) in sequence; when the controller receives feedback that the landing gear is lowered into place, the second motor pump (1-2) stops rotating, and the second electromagnetic isolation valve (4-2), the third electromagnetic isolation valve (4-3), the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6) lose power.

9. A landing gear retracting and door opening and closing actuation system according to claim 8, characterized in that: In the failure mode of the first electromagnetic isolation valve (4-1), the process of executing the command to retract the landing gear is as follows: The actuation system receives a landing gear retraction command, and the second electromagnetic isolation valve (4-2), the third electromagnetic isolation valve (4-3), the fifth electromagnetic isolation valve (4-5), and the sixth electromagnetic isolation valve (4-6) are powered on. The controller drives the second motor pump (1-2) to rotate in the opposite direction according to the position information fed back in real time by the displacement sensor (12); the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve (4-4), the first electromagnetic isolation valve (4-1), the balance valve (10) in sequence, and finally enters the landing gear retraction and extension actuator cylinder ( The lower chamber of the landing gear retraction and extension actuator (13) pushes the piston rod to move upward to retract the landing gear; the oil in the upper chamber of the landing gear retraction and extension actuator (13) flows back to the low-pressure oil port of the second motor pump (1-2) through the first electromagnetic isolation valve (4-1) and the fourth electromagnetic isolation valve (4-4) in sequence; when the controller receives feedback that the landing gear is retracted in place, the second motor pump (1-2) stops rotating, and the second electromagnetic isolation valve (4-2), the third electromagnetic isolation valve (4-3), the fifth electromagnetic isolation valve (4-5), and the sixth electromagnetic isolation valve (4-6) lose power; After the landing gear is retracted into place, the actuation system receives a door closing command; at this time, the first electromagnetic isolation valve (4-1) and the third electromagnetic isolation valve (4-3) are powered on, closing the landing gear retraction and extension actuator cylinder (13) and the first motor pump (1-1) oil circuit; the left and right door retraction and extension actuator cylinders are connected to the main oil circuit; the second motor pump (1-2) rotates in the opposite direction at a constant speed under the drive of the retraction and extension controller, and the pressure oil pumped out of the high-pressure oil port passes through the fourth electromagnetic isolation valve (4-4) and then is divided through the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6), and then passes through the first self-sealing joint (14-1) and the second self-sealing joint (14-2) to enter the first door retraction and extension actuator cylinder (15-1) and the lower chamber of the second door retracting and extending actuator (15-2), pushing the piston rod to move upward to close the door; the oil in the upper chambers of the left and right door retracting and extending actuators flows back to the low-pressure oil port of the second motor pump (1-2) through the first self-sealing joint (14-1), the second self-sealing joint (14-2), the fifth electromagnetic isolation valve (4-5), the sixth electromagnetic isolation valve (4-6), and the fourth electromagnetic isolation valve (4-4) in sequence; when the piston rod of the door retracting and extending actuator moves to the position, the position switch provided by it is fed back to the controller, and then the second motor pump (1-2) stops, and the first electromagnetic isolation valve (4-1) and the third electromagnetic isolation valve (4-3) lose power; The working mode of the second motor pump (1-2) in the fault mode is the same as that of the first motor pump (1-1).

10. The landing gear retraction and hatch door opening and closing actuation system according to claim 5, characterized in that: The landing gear emergency lowering mode is: When the electric mode fails, that is, both motor pumps cannot work to control the landing gear to be lowered, the second electromagnetic isolation valve (4-2) is in a power-off bypass state; the two chambers of the landing gear retracting and extending cylinder are connected, and at the same time, the fifth electromagnetic isolation valve (4-5) and the sixth electromagnetic isolation valve (4-6) are powered on, and the two chambers of the first door retracting and extending cylinder (15-1) and the second door retracting and extending cylinder (15-2) are bypassed and in a follow-up state, and the landing gear can be emergency lowered by relying on its own weight and wind load, and the emergency lowering damping valve (9) can make the landing gear lower smoothly.

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