WO2018095333A1 - Safe aid-landing and rescue system for airplane undercarriage breakdown - Google Patents

Safe aid-landing and rescue system for airplane undercarriage breakdown Download PDF

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Publication number
WO2018095333A1
WO2018095333A1 PCT/CN2017/112385 CN2017112385W WO2018095333A1 WO 2018095333 A1 WO2018095333 A1 WO 2018095333A1 CN 2017112385 W CN2017112385 W CN 2017112385W WO 2018095333 A1 WO2018095333 A1 WO 2018095333A1
Authority
WO
WIPO (PCT)
Prior art keywords
aircraft
hydraulic cylinder
landing
vehicle
lifting
Prior art date
Application number
PCT/CN2017/112385
Other languages
French (fr)
Chinese (zh)
Inventor
蓝宁
Original Assignee
蓝宁
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 蓝宁 filed Critical 蓝宁
Publication of WO2018095333A1 publication Critical patent/WO2018095333A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • B64F1/0297—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables adjustable to align with aircraft trajectory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/21—Self-controlled or adjusted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/914—Height Control System

Definitions

  • the present invention relates to the field of emergency rescue technology for a faulted aircraft. Specifically, the present invention relates to a self-contained positioning system, a tray height adjustable, a more versatile, and a simple structure for safety assistance of an aircraft landing gear failure. Drop the rescue system.
  • the present invention provides a self-contained positioning system, a tray height adjustable, a more versatile, and a simple structure for a safety landing aid system for aircraft landing gear failure, which includes Following, consigning an aircraft assisted landing vehicle for landing a faulty aircraft, and a forced landing platform system for carrying the faulty aircraft, the forced landing platform system being disposed on the aircraft assisted descending vehicle, wherein: the aircraft assisted descending vehicle is provided with a control system for transmitting data processing, signal reception and control commands, and a positioning system for monitoring flight information of a faulty aircraft in a forced landing, the control system being controlled by the main control circuit board and the aircraft assisted vehicle a unit, a control unit of the landing platform system, and a positioning system connection, wherein the positioning system feeds back the detected faulty aircraft flight information to the control system, and the control system performs processing according to the received faulty aircraft flight information, and Control the aircraft to assist in descending and forced
  • the platform-lowering system synchronizes the aircraft that are forced to descend, and
  • the landing platform system includes a carrying platform, a shockproof buffer layer and at least one first electromagnetic chuck, the carrying platform is disposed on a frame of the aircraft assisted vehicle, the first electromagnetic chuck And the anti-shock buffer layer is disposed on the carrying platform, the first electromagnetic chuck is provided with a first sensor, and the first sensor and the first electromagnetic chuck are connected to the control system through the main control circuit board.
  • the shock-proof buffer layer is provided with a resilient and pressure-controllable buffer structure for buffering the impact force of the landing plane of the faulty aircraft on the load-bearing platform in the vertical direction.
  • the shock-proof buffer layer is made of a rubber material having high impact resistance, wear resistance and heat resistance, and is used for increasing the friction of the faulty aircraft and the load-bearing platform in the horizontal direction.
  • the aircraft descending vehicle is further provided with a lifting tray system
  • the lifting tray system includes a lifting mechanism, a tray device and a lifting control system
  • the lifting mechanism is longitudinally arranged to assist the aircraft.
  • the tray device is mounted on the lifting mechanism
  • the lifting control system is connected to the control system through the main control circuit board, so that the lifting height and the lifting speed of the lifting mechanism are adaptively and intelligently controlled by the control system, and the tray device is realized. Intelligently controlled lifting and lifting action on the faulty aircraft.
  • the tray device adopts a second electromagnetic chuck, and the second electromagnetic chuck is provided with a second sensor, and the second sensor and the second electromagnetic chuck pass through the main control circuit board. Connected to the control system.
  • the lifting mechanism is longitudinally disposed on a frame of an aircraft assisted vehicle, and the carrying platform is disposed at a top of a passenger compartment of the aircraft assisting vehicle, and the carrying platform is provided with
  • the electromagnetic chuck has a shape-sized gap, and the lifting mechanism with the tray device is located directly below the notch, so that the tray device can be accommodated in the aircraft assisting vehicle through the carrying platform during the descending process.
  • the lifting mechanism includes an outer cylinder, a multi-stage telescopic hydraulic cylinder and a driving mechanism, and the outer cylinder is provided with a multi-stage telescopic hydraulic cylinder, and the multi-stage telescopic hydraulic cylinder Cylinder including a first-stage hydraulic cylinder placed in the outer cylinder, a secondary hydraulic cylinder disposed in the inner chamber of the first-stage hydraulic cylinder, an N+1-stage hydraulic cylinder disposed in the inner cavity of the N-stage hydraulic cylinder, N is
  • the driving mechanism includes a hydraulic pump, a driving motor and a fuel tank, the outer cylinder is provided with an oil inlet hole, the driving motor drives a hydraulic pump, and the hydraulic pump is connected to the oil tank through a pipeline.
  • the oil tank is connected to the oil inlet through the oil supply pipeline; between the inner wall of the outer cylinder and the outer wall of the first hydraulic cylinder, between the inner wall of the first hydraulic cylinder and the outer wall of the secondary hydraulic cylinder.... ..
  • the first-stage hydraulic cylinder and the second-stage hydraulic cylinder ...
  • the lower part of the N+1-class hydraulic cylinder is uniform.
  • There are oil holes in opposite positions, and the lower part of each stage hydraulic cylinder is provided with a limit key, the upper part of the outer cylinder tube and the first stage, the second stage...
  • the upper part of the N-stage hydraulic cylinder is provided with a limited position groove.
  • the limit groove provided on the upper part of the outer cylinder tube is matched with the limit button of the lower part of the first stage hydraulic cylinder, and the limit groove provided on the upper part of the first stage hydraulic cylinder
  • the limit button on the lower part of the secondary hydraulic cylinder is adapted...
  • the limit groove provided in the upper part of the N-stage hydraulic cylinder is matched with the limit button on the lower part of the N+1-stage hydraulic cylinder.
  • the outer cylinder, the first hydraulic cylinder, the secondary hydraulic cylinder, and the like, the upper portion of the N-stage hydraulic cylinder are provided with a guide seal protection mechanism.
  • the aircraft assisted vehicle includes a wheel, a suspension system, a frame, a carriage, a power drive system, a locomotive control system, a speed regulator, a steering controller, and a brake controller, and the wheel adopts
  • the air tire includes a front wheel set and a rear wheel set, wherein a wheel diameter of the front wheel set is smaller than a rear wheel set wheel diameter; and the suspension system adopts a multi-mode automobile electronically controlled suspension controlled by a prior art single-chip microcomputer.
  • the suspension system is provided with means for adjusting the height of the vehicle body;
  • the power drive system may be configured with one or more engines, the engine adopting an electric motor; the power drive system, the speed regulator, the steering controller and the brake The controllers are all connected to the locomotive control system.
  • the infrared speedometer 41 is used for realizing the flight speed of the faulty aircraft landing and landing
  • the infrared range finder 42 is used for monitoring the height of the faulted aircraft and the distance from the ground.
  • the azimuth tracker 43 scans the two locations of the faulty aircraft in a certain interval between the forced landings by scanning the positioning indicator on the faulty aircraft fuselage, that is, the target point A and the target point B, according to the target point A and the target.
  • the longitude and latitude of the two flight waypoints of point B can determine the actual dynamic route of the faulty aircraft.
  • the flight information of the faulty aircraft falling in the air is accurately and dynamically monitored, and the positioning system 4 sends the height information, the speed information and the position information of the monitored landing aircraft to the control system 6,
  • the control system 6 issues an instruction to the aircraft assisted descending vehicle according to the altitude information, the speed information and the azimuth information of the landing aircraft, so that the aircraft assisted vehicle 1 maintains the state of following the flight with the forced landing aircraft, and realizes the landing of the faulty aircraft and assists the aircraft.
  • the horizontal impulse of the car is zero.
  • the first electromagnetic chuck 22 is disposed on the carrying platform of the forced landing platform system of the present invention, and the electromagnetic effect generated by the electromagnetic principle is forced to be firmly adsorbed to the belly of the aircraft carrying the platform 21, thereby avoiding the assistance of the aircraft.
  • the obstacle-stopping aircraft is slid forward relative to the carrying platform 21 due to the inertia and the carrying platform 21, thereby ensuring the stability and safety of the faulty aircraft during the entire forced landing process.
  • the load-bearing platform of the forced landing platform system of the present invention is provided with a shock-proof buffer layer with a flexible and pressure-controllable buffer structure, which can effectively buffer the impact force of the faulted aircraft landing raft on the load-bearing platform 21, and avoid the failure to land the aircraft.
  • the landing raft causes damage due to the deformation of the abdomen of the aircraft due to the large impact force;
  • the shock absorbing layer 23 is made of rubber with high impact resistance, wear resistance and heat resistance, which can further increase the faulty aircraft and the load bearing platform 21
  • the friction in the horizontal direction prevents the obstacle from escaping the frictional sliding of the aircraft due to the rigid contact between the inertia and the load bearing platform 21, and the paint scraping off the abdomen of the aircraft machine causes damage to the faulty aircraft.
  • the lifting tray system of the present invention adopts a multi-stage telescopic hydraulic cylinder lifting lifting tray device 32, and adopts an electromagnetic suction cup to accurately capture a low-altitude flight landing aircraft, and uses an electromagnetic suction cup to firmly absorb the faulty aircraft belly. Live, not only can emergency rescue of faulty aircraft of different heights and models, but also the attitude of the fuselage landing plane can be adjusted, so that the faulty aircraft follows the lifting tray device 32 to maintain the normal attitude and slowly and smoothly land to the bearing.
  • the faulty aircraft is prevented from falling too quickly to the load-bearing platform 21 of the forced-down system 2, thereby buffering the impact force of the faulty aircraft landing landing on the vertical direction of the load-bearing platform 21, and buffering the load-bearing platform 21 The role of pressure.
  • the suspension system of the aircraft descending vehicle 1 of the present invention adopts the multi-mode automobile electronically controlled suspension system controlled by the prior art single-chip microcomputer, so that the vehicle has a fast response speed and accurate control throughout the driving process.
  • the utility model has the advantages of stable operation performance, and the suspension system is provided with a device for adjusting the height of the vehicle body, so that the height of the body of the aircraft assisted vehicle 1 is adjusted within the range of 1.2 to 1.8 meters, so as to correspond to the height of the ground of the aircraft landing on the ground of the faulty aircraft.
  • the aircraft was forced to land and land when it was adapted to different aircraft types.
  • the elevating tray system 2 of the present invention employs a multi-stage telescopic hydraulic cylinder 312, an upper portion of the outer cylinder 311 of the multi-stage telescopic hydraulic cylinder 312, a first hydraulic cylinder 3121, and an upper portion of the secondary hydraulic cylinder 3122.
  • the guide sealing guard is arranged to reduce the friction coefficient, and the smoothness of the hydraulic cylinders of all stages under the ultra-high load is ensured.
  • the multi-stage telescopic hydraulic cylinder 312 of the lifting mechanism 31 of the lifting tray system 2 is hydraulically controlled at various levels.
  • the lifting speed and the lifting height of the cylinder can be realized by controlling the throttle valve to control the supply of hydraulic oil or the oil returning speed by the lifting control system 33, and the degree of intelligence is high.
  • the control system 6 of the present invention employs an M CU microprocessor provided for data processing, signal reception, and control command transmission, and passes through a main control circuit board and each control system unit (locomotive control system 14, first)
  • the electromagnetic chuck 22, the first sensor 24, the second electromagnetic chuck 322, the second sensor 323, the lifting control system 33, and the positioning system 4) are connected to realize adaptive artificial intelligence automatic control, and the degree of intelligence is high.
  • FIG. 1 is a schematic structural view of a safety assisted rescue system according to the present invention.
  • FIG. 2 is a schematic cross-sectional structural view of a forced landing platform system of the present invention
  • FIG. 3 is a schematic structural view of a multi-stage telescopic hydraulic cylinder of the present invention.
  • FIG. 4 is a schematic diagram of a control system frame of the present invention.
  • FIG. 5 is a schematic structural view of the lift tray system of the present invention in a contracted state.
  • a safety assisted rescue system for aircraft landing gear failure of the present invention includes an aircraft assisted vehicle 1, a forced landing platform system 2, a lifting tray system 3, a positioning system 4, Power supply 5 and control system 6, aircraft assisted vehicle 1 for placing, carrying and transporting all of the mechanisms, devices and systems of the rescue system of the present invention, and on the airport runway in line with the speed and direction of the landing of the forced landing aircraft, The simulated landing state of the aircraft descending vehicle 1 and the forced landing aircraft is presented; the forced landing platform system 2 is used for carrying the forced landing aircraft and braking and decelerating on the airport runway, consuming the kinetic energy of the forced landing aircraft in the horizontal direction; Low-altitude capture of the landing aircraft that is about to land, and adjustment of the attitude of the landing plane of the failed aircraft, so that the faulty aircraft follows the forced landing platform system 2 to maintain a normal attitude and slowly and smoothly landed On the landing platform system 2, the buffering fault landing landing landing impact force on the forced landing platform system 2 in the vertical direction; the positioning
  • the aircraft assisted vehicle 1 is realized by a prior art structure, and the aircraft assisted vehicle 1 includes a frame 11, a suspension system disposed under the frame 11, two sets of wheels disposed on the suspension system, and is disposed on the frame. a carriage 13, a power drive system disposed on the frame 11 corresponding to the position of the wheel, a locomotive control system 14 for controlling the running state of the aircraft assisted vehicle 1 , a speed regulator, a steering controller, and a brake controller; 11 is a U-shaped frame structure with a mouth end facing upwards.
  • the frame 11 is made of high-strength aluminum alloy material, and other high-strength military and aerospace materials can be used.
  • the suspension system is controlled by a single-chip microcomputer of the prior art.
  • the suspension system is provided with a device for adjusting the height of the vehicle body, so that the aircraft assisted vehicle 1
  • the height of the car body is adjusted within the range of 1.2 to 1.8 meters to suit the height of the aircraft landing on the ground from different aircraft planes; Including the front wheel set 121 and the rear wheel set 122, the wheel diameter of the front wheel set 121 is smaller than the wheel diameter of the rear wheel set 122, so that the aircraft assisted vehicle 1 is balanced during the forward travel to ensure smooth running.
  • Both sets of wheels 12 use aviation tires; the compartment 13 can be dust-proof, rain-proof, and protect mechanical components and equipment devices disposed inside the cavity; the power drive system is used to provide driving power to the wheels to cause the aircraft to assist in descending vehicles.
  • the power drive system can be configured with one or more engines, which can be configured according to actual needs or the specific number of wheels.
  • the engine of the power drive system of the embodiment is preferably an electric motor;
  • the locomotive control system 14 of the running direction and the running speed is disposed in the cavity of the car 13.
  • the operation method is similar to that of the current high-speed railway locomotive.
  • the locomotive control system 14 is realized by the control circuit board, and the locomotive control system 14 is respectively disposed at The power drive system, speed regulator, and steering controller on the aircraft assisted vehicle 1 Brake controller is connected.
  • the forced landing platform system 2 is welded by high-strength alloy material or docked with high-strength bolts.
  • the forced landing platform system 2 includes a carrying platform 21, a first electromagnetic chuck 22, a shock-proof buffer layer 23 and a first sensor 24, wherein: [0030]
  • the carrying platform 21 is disposed at the top end of the frame 11 of the aircraft assisted vehicle 1 (the U-shaped mouth end of the top surface of the compartment 13), and the carrying platform 21 is provided with a notch 211 which is vertically penetrated, the notch 211 and the compartment 13
  • the upper surface of the forced landing platform 21 is provided with a receiving groove 212 made of a magnet material and having an upper end opening.
  • the receiving groove 21 2 is provided with a plurality of first electromagnetic chucks 22 and a shock-proof buffer layer 23, and
  • the first electromagnetic chuck 22 is provided with a first sensor 24, and the first electromagnetic chuck 22 is remotely controlled by a relay to turn on the power source and generate an electromagnetic effect.
  • the first electromagnetic chuck 22 is forced to drop to the aircraft platform carrying the platform 21.
  • the abdomen is firmly occluded, and the aircraft is prevented from decelerating on the runway, and the faulty aircraft is slid forward relative to the load bearing platform 21 due to inertia and the load bearing platform 21, thereby ensuring that the faulty aircraft is in the entire forced landing process.
  • the stability and safety of the shock-proof buffer layer 23 is designed to have a flexible and pressure-controlled buffer structure, which can be realized by buffering such as spring or airbag, which avoids forced The landing of the faulty aircraft is damaged by the deformation of the abdomen of the aircraft due to the large impact force;
  • the shock-absorbing cushion layer 23 is made of rubber or other composite material with high impact resistance, wear resistance and heat resistance, which can be The friction between the forced landing aircraft and the load bearing platform 21 in the horizontal direction is further increased.
  • the lifting tray system 3 includes a lifting mechanism 31, a tray device 32 and a lifting control system 33; the lifting mechanism 31 is disposed in a longitudinal position on the frame 11 and located in the cavity of the compartment 13 to ensure the aircraft assisted vehicle 1 Stationarity during running;
  • the lifting mechanism 31 of the embodiment of the present invention can employ a prior art column-sleeve type hydraulic cylinder.
  • the lifting mechanism 31 includes a base, an outer cylinder 311, a multi-stage telescopic hydraulic cylinder 312, a hydraulic pump, a driving motor and a fuel tank, and the base is used for fixing the sleeve type hydraulic cylinder to the frame 11, and the base is installed at Corresponding to the position directly under the notch 211 of the carrying platform 21, the base is fixedly connected with the frame by a bolt member, the outer cylinder tube 31 1 is longitudinally mounted on the base, and the outer cylinder tube 311 is provided with two oil inlet holes 3111.
  • the outer cylinder 311 is further provided with a multi-stage telescopic hydraulic cylinder 312 in a liquid-tight manner, and the multi-stage telescopic hydraulic cylinder 312 adopts a three-stage telescopic hydraulic cylinder, which comprises slidingly disposed in the outer cylinder tube 311 by a liquid sealing method.
  • the first stage hydraulic cylinder 3121 is a second stage hydraulic cylinder 3122 which is slidably disposed in the inner cavity of the first stage hydraulic cylinder 3121 by a liquid sealing method and a third stage which is slidably disposed in the inner cavity of the second stage hydraulic cylinder 3122 by a liquid sealing method.
  • the hydraulic cylinder 3123 The hydraulic cylinder 3123; the inner wall of the outer cylinder 311 and the outer wall of the first stage hydraulic cylinder 3121, the inner wall of the first stage hydraulic cylinder 3121 and the outer wall of the secondary hydraulic cylinder 3122, the inner wall of the secondary hydraulic cylinder 3122 and the third stage
  • the outer wall of the hydraulic cylinder 3123 exists between Oil gap, between the outer wall in order to avoid an inner wall 3121 of the outer cylinder 311 of the cylinder, a hydraulic cylinder 3121
  • the inner wall is in rigid contact with the outer wall of the secondary hydraulic cylinder 3122, the inner wall of the secondary hydraulic cylinder 3122 and the outer wall of the tertiary hydraulic cylinder 3123, so that the multistage telescopic hydraulic cylinder 312 is more stable during the expansion and contraction process;
  • the lower portion of the cylinder 3121, the secondary hydraulic cylinder 3122 and the third-stage hydraulic cylinder 3123 are provided with a plurality of oil-passing holes 3124 opposite in position, and the plurality of oil
  • the hydraulic pump, the drive motor and the oil tank are fixedly mounted on the frame 11 corresponding to the cavity of the compartment 13, and the hydraulic pump, the drive motor and the oil tank and the connecting line cooperate to form a multi-stage expansion and contraction for the lifting mechanism 31.
  • the hydraulic cylinder 312 provides a hydraulic power hydraulic station; the oil tank communicates with the oil inlet hole 3111 on the outer cylinder tube 311 through the oil supply line, a throttle valve is disposed on the oil supply line, and is disposed in the inner cavity of the vehicle compartment 13
  • a control box for placing a control drive motor, a hydraulic pump, a throttle valve, etc.
  • the lifting controller 33 is disposed in the control box, and the lifting speed and the lifting height of the hydraulic cylinders of the multi-stage telescopic hydraulic cylinder 312 of the lifting mechanism 31 are Both of them can be controlled by the lift controller 33 to control the throttle valve to control the supply of hydraulic oil or the oil return speed, and the degree of intelligence is high.
  • the tray device 32 is implemented by a prior art electromagnetic chuck structure.
  • the tray device 32 includes a tray base 321, a second electromagnetic chuck 322, and a second sensor 323.
  • the bottom end of the tray base 321 passes through a flange or a bolt member.
  • the connection mode is fixedly connected to the top end of the third-stage hydraulic cylinder 3123 of the lifting mechanism 31, or is integrally formed with the top end of the third-stage hydraulic cylinder 3123 of the lifting mechanism 31 by welding or the like, and the top end of the tray base 31 is
  • the lower surface of the second electromagnetic chuck 322 is fixedly connected, and the second electromagnetic chuck 322 is provided with a second sensor 323.
  • the notch 211 of the carrying platform 21 is adapted to the shape of the second electromagnetic chuck 322, and is carried in the lifting mechanism 31.
  • the second electromagnetic chuck 322 is moved up and down so that the second electromagnetic chuck 322 can protrude from the lower side of the notch 211 of the carrying platform 21 to the outside of the cavity of the compartment 13 or downward from the notch 211 of the carrying platform 21.
  • the height of the upper surface of the second electromagnetic chuck 322 is flush with the height of the upper surface of the carrying platform 21, so that the second electromagnetic chuck 322 and the carrying platform 21 together form a structurally complete platform. , carrying out the unloading of the faulty aircraft.
  • the positioning system 4 is disposed on the aircraft assisted vehicle 1 and includes an infrared speedometer 41, an infrared range finder 42 and an infrared position tracking device 43.
  • the infrared speedometer 41 is used for realizing the flight of the faulty aircraft landing and landing.
  • the speed, infrared range finder 42 is used to monitor the height of the faulted aircraft forced to descend from the ground.
  • the infrared position tracking device 43 scans the faulty aircraft on the fuselage to pick up the faulty aircraft within a certain interval between the forced landings.
  • the two flight waypoints namely the target point A and the target point B, can determine the actual dynamic route of the faulty aircraft according to the longitude and latitude of the two flight waypoints of the target point A and the target point B, so that the actual route can be determined according to the route ⁇ Dynamically monitoring and tracking the flight direction of the faulty aircraft in the air;
  • the positioning system 4 sends back the height information, speed information and position information of the monitored landing aircraft to the control system 6, and the control system 6 landed according to the forced landing aircraft ⁇ height information, speed information and position information are different for the assisted rescue system of the present invention Work instructions and control information;
  • the power source 5 is composed of a plurality of sets of high performance lithium battery packs, and other high performance batteries or other forms of power sources may be used.
  • the battery 5 is disposed in the battery compartment of the frame 11 near the rear position.
  • the control system 6 is disposed in the control cabin of the aircraft assisted vehicle 1 , and the control system 6 is respectively associated with the locomotive control system 14 , the first electromagnetic chuck 22 , the first sensor 24 , the second electromagnetic chuck 322 , the second sensor 323 ,
  • the lifting control system 33 and the positioning system 4 are connected by an electric line;
  • the control system 6 may be a main control circuit board provided with an MCU microprocessor or other circuit control system for data processing, signal receiving and control command transmission, and a main control circuit board. It is connected with each control system unit to realize adaptive artificial intelligence automatic control.
  • the control system 6 can also be connected to the operation control panel through the circuit board, or remotely connected to the remote controller through radio, and manual manual operation control or remote remote control can be implemented.
  • the infrared speedometer 41, the infrared range finder 42 and the infrared azimuth tracker 43 of the positioning system 4 transmit the flight speed information, the altitude information and the orientation information of the faulty aircraft that are actually monitored to the control system 6, and control
  • the system 6 issues a work command to the locomotive control system 14 based on the flight speed information and the position information of the aircraft, and the locomotive control system 14 controls the power drive system, the speed regulator, and the steering controller to adjust the speed and direction of the aircraft assisted vehicle 1 to travel.
  • the traveling direction of the aircraft assisted vehicle 1 is consistent with the flight direction of the faulty aircraft and is in the same line;
  • the aircraft assisted vehicle 1 maintains the state of simultaneous flight with the forced landing aircraft, that is, the two reach a state in which the zero speed difference is parallel in the same direction, and the airport commander directs the faulty aircraft to enter the forced landing procedure;
  • the second electromagnetic chuck 322 captures the faulty aircraft flying at low altitude, that is, the faulty aircraft belly contacts the second electromagnetic chuck 322, the second sensor 323 immediately sends a signal to the control system 6, and the control system 6 passes
  • the control relay remotely controls the second electromagnetic chuck 322 to be powered on and generates an electromagnetic effect, and the second electromagnetic chuck 322 firmly grasps the belly of the faulty aircraft, and adjusts the attitude of the aircraft that is forced to land in different landing attitudes, so as to make the aircraft fuselage as a whole maintain normal horizontal posture; inches with six pairs of lifting actuation system 33 control system sent down command, the hoist control system 33 at a suitable rate controls the lift mechanism gradually lowered by the multi-stage telescopic cylinder 31 driven by a second solenoid 312 chuck 322 , causing the faulty aircraft to follow the second electromagnetic chuck 322 to slowly and smoothly land on the carrying platform 21 of the aircraft assisted vehicle 1 to buffer and decompress the faulty aircraft landing carrying platform 21;
  • the first sensor 24 When the faulty aircraft landing carrying platform 21 (the faulty aircraft belly contacts the upper surface of the carrying platform 21), the first sensor 24 immediately sends a signal to the steering system 6, and the control system 6 is remotely controlled by the control relay The first electromagnetic chuck 22 is powered on and generates an electromagnetic effect. Under the action of the electromagnetic effect, the first electromagnetic chuck 22 is forced to be lowered to the belly of the aircraft carrying the platform 21, and the aircraft assisted descending vehicle 1 is avoided on the runway.
  • the faulty aircraft is generated relative to the carrying platform 21 due to the inertia and the carrying platform 21
  • the front sliding thereby ensuring the stability and safety of the faulty aircraft during the entire forced landing process; the same control system 6 issues a stop down command to the lift control system 33, and the lift control system 33 controls the throttle valve to cause the lift mechanism 31
  • the second electromagnetic chuck 322 on the multi-stage telescopic hydraulic cylinder 312 is stably stayed at a level with the height of the carrying platform 21 (ie, the second electromagnetic chuck 322 is located on the carrying platform 21 and is provided with a notch 221 adapted thereto).
  • the second electromagnetic chuck 322 is realized integrally with the carrying platform 21, and the faulty aircraft landing on the aircraft assisted vehicle 1 is loaded and checked.
  • the steering system 6 issues a braking command to the locomotive control system 14 of the aircraft assisting vehicle 1, and the locomotive control system 14 controls the braking controller to initiate the braking procedure.
  • the brake controller performs deceleration braking on the aircraft assisted vehicle 1, and the aircraft assisted vehicle 1 enters the deceleration braking program until the vehicle is completely stopped, and the faulty aircraft reaches the goal of complete landing.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Vehicle Body Suspensions (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

A safe aid-landing and rescue system for an airplane undercarriage breakdown. The system comprises an airplane aid-landing vehicle (1) consisting of wheels, a suspension system, a vehicle frame (11), a vehicle carriage (13), a power driving system and a vehicle control system (14), a forced landing platform system (2) for carrying a broken-down airplane, a tray apparatus (32) for adjusting the height and adjusting the posture of a broken-down airplane by lifting a hydraulic cylinder (312), a vehicle-mounted control system (6) and a positioning system (4). The system detects real-time flight information when a broken-down airplane forcedly lands by means of the positioning system (4), and feeds back detected real-time flight state information about the broken-down airplane to the control system (6), and the control system (6) controls, according to the flight state information about the broken-down airplane, the power driving system of the airplane aid-landing vehicle (1), a lifting tray system (3) and the forced landing platform system (2) so as to perform aid-landing and rescue work on the broken-down airplane, thereby effectively solving the problems, for example, that a broken-down airplane easily rolls over when landing due to the fact that the direction when the broken-down airplane forcedly lands and slides is difficult to control and that the posture of an airplane body when landing is difficult to control.

Description

用于飞机起落架故障的安全助降救援*** 技术领域  Safety assisted rescue system for aircraft landing gear failure
[0001] 本发明涉及一种故障飞机应急救援技术领域， 具体来说， 涉及一种自带定位系 统、 托盘高度可升降调节、 通用性更强、 结构简单的用于飞机起落架故障的安 全助降救援***。  [0001] The present invention relates to the field of emergency rescue technology for a faulted aircraft. Specifically, the present invention relates to a self-contained positioning system, a tray height adjustable, a more versatile, and a simple structure for safety assistance of an aircraft landing gear failure. Drop the rescue system.
背景技术  Background technique
[0002] 在现全世界每天统计出来在天上飞行的飞机有万次以上， 飞机发生故障的事故 率在为百万分之一。 但是， 这百万分之一的事故中高达 90%都是因飞机起落架 故障造成的事故。 由于飞机起落架的结构受起落的次数、 钢材的疲劳度、 液压 油密封、 轮毂等等因素***的影响， 容易发生故障。 尤其是在恶劣的大气环境 中， 机轮变形或起落架收放***失灵吋， 将导致起落架无法打幵的故障吋， 一 般只能靠飞机机腹沿机场内的跑道摩擦滑行， 通过与地面发生摩擦进行迫降， 为防止起火跑道上事先做好消防泡沫处理。 但因故障飞机迫降滑行吋的方向性 难以把握， 故障飞机迫降吋的着陆姿态难以控制， 而导致飞机在着陆吋容易发 生侧翻等问题， 加上飞机着陆吋都会产生巨大的冲击力与摩擦能量， 常常会造 成机毁人亡的巨大财产损失。  [0002] In the present world, there are more than 10,000 aircraft flying in the sky every day, and the accident rate of aircraft failure is one in a million. However, up to 90% of this one-thousandth of the accidents were caused by aircraft landing gear failures. Since the structure of the aircraft landing gear is affected by the number of times of landing, the fatigue of the steel, the hydraulic oil seal, the hub, etc., it is prone to failure. Especially in the harsh atmosphere, the deformation of the wheel or the failure of the landing gear retracting system will cause the landing gear to fail to smash. Generally, it can only be slid by the aircraft's belly along the runway in the airport, passing through the ground. Friction is forced to make a forced landing, in order to prevent fire fighting on the runway. However, due to the directionality of the faulty aircraft landing and landing, it is difficult to grasp the landing posture of the faulty aircraft, and the landing attitude of the aircraft is difficult to control, which causes the aircraft to roll over in the landing, and the impact of the aircraft landing will produce huge impact and friction energy. , often causing huge property damage caused by machine damage.
技术问题  technical problem
[0003] 针对以上的不足， 本发明提供了一种自带定位***、 托盘高度可升降调节、 通 用性更强、 结构简单的用于飞机起落架故障的安全助降救援***， 它包括用于 跟随、 托运迫降故障飞机的飞机助降车、 以及用于承载故障飞机的迫降平台系 统， 所述迫降平台***设置在飞机助降车上， 其特征在于： 所述飞机助降车上 设置有用于数据处理、 信号接收和控制命令发送的的操控***， 以及用于实吋 监测故障飞机在迫降吋的飞行信息的定位***， 所述操控***通过主控电路板 与所述飞机助降车的控制单元、 迫降平台***的控制单元以及定位***连接， 所述定位***将实吋监测到的故障飞机飞行信息反馈给所述操控***， 所述操 控***根据接收到的故障飞机飞行信息作出处理， 并控制所述飞机助降车和迫 降平台***对迫降故障飞机进行同步跟随， 进而对故障飞机实施安全助降救援 工作。 [0003] In view of the above deficiencies, the present invention provides a self-contained positioning system, a tray height adjustable, a more versatile, and a simple structure for a safety landing aid system for aircraft landing gear failure, which includes Following, consigning an aircraft assisted landing vehicle for landing a faulty aircraft, and a forced landing platform system for carrying the faulty aircraft, the forced landing platform system being disposed on the aircraft assisted descending vehicle, wherein: the aircraft assisted descending vehicle is provided with a control system for transmitting data processing, signal reception and control commands, and a positioning system for monitoring flight information of a faulty aircraft in a forced landing, the control system being controlled by the main control circuit board and the aircraft assisted vehicle a unit, a control unit of the landing platform system, and a positioning system connection, wherein the positioning system feeds back the detected faulty aircraft flight information to the control system, and the control system performs processing according to the received faulty aircraft flight information, and Control the aircraft to assist in descending and forced The platform-lowering system synchronizes the aircraft that are forced to descend, and then implements safety-assisted rescue work for the faulty aircraft.
问题的解决方案  Problem solution
技术解决方案  Technical solution
[0004] 为了进一步实现本发明， 所述迫降平台***包括承载平台、 防震缓冲层和至少 一个第一电磁吸盘， 所述承载平台设置在飞机助降车的车架上， 所述第一电磁 吸盘和防震缓冲层均设置在承载平台上， 所述第一电磁吸盘上设有第一传感器 ， 所述第一传感器和所述第一电磁吸盘均通过主控电路板与操控***连接。  [0004] In order to further implement the present invention, the landing platform system includes a carrying platform, a shockproof buffer layer and at least one first electromagnetic chuck, the carrying platform is disposed on a frame of the aircraft assisted vehicle, the first electromagnetic chuck And the anti-shock buffer layer is disposed on the carrying platform, the first electromagnetic chuck is provided with a first sensor, and the first sensor and the first electromagnetic chuck are connected to the control system through the main control circuit board.
[0005] 为了进一步实现本发明， 所述防震缓冲层设有弹性及压力可控的缓冲结构， 用 于缓冲故障飞机着陆吋对承载平台在竖直方向上的冲击力。  In order to further implement the present invention, the shock-proof buffer layer is provided with a resilient and pressure-controllable buffer structure for buffering the impact force of the landing plane of the faulty aircraft on the load-bearing platform in the vertical direction.
[0006] 为了进一步实现本发明， 所述防震缓冲层采用具有抗冲击性强、 耐磨、 耐热的 橡胶材料制成， 用于增大故障飞机与承载平台在水平方向上的摩擦。  In order to further implement the present invention, the shock-proof buffer layer is made of a rubber material having high impact resistance, wear resistance and heat resistance, and is used for increasing the friction of the faulty aircraft and the load-bearing platform in the horizontal direction.
[0007] 为了进一步实现本发明， 所述飞机助降车上还设置有升降托盘***， 所述升降 托盘***包括升降机构、 托盘装置和升降控制***， 所述升降机构呈纵向设置 在飞机助降车上， 所述托盘装置安装在升降机构上， 所述升降控制***通过主 控电路板与控制***连接， 以使得升降机构的升降高度和升降速度通过控制系 统进行自适应智能控制， 实现托盘装置对故障飞机进行可智能控制的升降托举 动作。  [0007] In order to further implement the present invention, the aircraft descending vehicle is further provided with a lifting tray system, the lifting tray system includes a lifting mechanism, a tray device and a lifting control system, and the lifting mechanism is longitudinally arranged to assist the aircraft. In the vehicle, the tray device is mounted on the lifting mechanism, and the lifting control system is connected to the control system through the main control circuit board, so that the lifting height and the lifting speed of the lifting mechanism are adaptively and intelligently controlled by the control system, and the tray device is realized. Intelligently controlled lifting and lifting action on the faulty aircraft.
[0008] 为了进一步实现本发明， 所述托盘装置采用第二电磁吸盘， 所述第二电磁吸盘 上设有第二传感器， 所述第二传感器和所述第二电磁吸盘均通过主控电路板与 所述操控***连接。  [0008] In order to further implement the present invention, the tray device adopts a second electromagnetic chuck, and the second electromagnetic chuck is provided with a second sensor, and the second sensor and the second electromagnetic chuck pass through the main control circuit board. Connected to the control system.
[0009] 为了进一步实现本发明， 所述升降机构呈纵向设置在飞机助降车的车架上， 所 述承载平台设置在飞机助降车的车厢顶部， 所述承载平台上幵设有与第二电磁 吸盘形状大小相适配的缺口， 所述安装有托盘装置的升降机构位于所述缺口的 正下方， 以使得托盘装置在下降的过程中可以通过所述承载平台而容纳于飞机 助降车车厢的空腔内。  [0009] In order to further implement the present invention, the lifting mechanism is longitudinally disposed on a frame of an aircraft assisted vehicle, and the carrying platform is disposed at a top of a passenger compartment of the aircraft assisting vehicle, and the carrying platform is provided with The electromagnetic chuck has a shape-sized gap, and the lifting mechanism with the tray device is located directly below the notch, so that the tray device can be accommodated in the aircraft assisting vehicle through the carrying platform during the descending process. Inside the cavity of the carriage.
[0010] 为了进一步实现本发明， 所述升降机构包括外缸筒、 多级伸缩式液压缸和驱动 机构， 所述外缸筒内设置有多级伸缩式液压缸， 所述多级伸缩式液压缸包括设 置在外缸筒内的一级液压缸、 设置在一级液压缸内腔里的二级液压缸 ......设置 在 N级液压缸内腔里的 N+1级液压缸， N为大于 1的整数； 所述驱动机构包括液压 泵、 驱动电机及油箱， 所述外缸筒上幵设有进油孔， 所述驱动电机驱动液压泵 ， 所述液压泵通过管路与油箱连接， 所述油箱通过供油管路与进油孔相连； 所 述外缸筒的内壁与一级液压缸的外壁之间、 一级液压缸的内壁与二级液压缸的 外壁之间 ...... N级液压缸的内壁与 N+1级液压缸的外壁之间均存在过油间隙， 一 级液压缸、 二级液压缸 ...... N+1级液压缸的下部均幵设有位置相对的过油孔， 各 级液压缸的下部均设置有限位键， 外缸筒的上部以及一级、 二级 ...... N级液压缸 的上部均设置有限位槽， 其中， 外缸筒上部设置的限位槽与一级液压缸下部的 限位键相适配， 一级液压缸上部设置的限位槽与二级液压缸下部的限位键相适 配 ...... N级液压缸上部设置的限位槽与 N+1级液压缸下部的限位键相适配。 [0010] In order to further implement the present invention, the lifting mechanism includes an outer cylinder, a multi-stage telescopic hydraulic cylinder and a driving mechanism, and the outer cylinder is provided with a multi-stage telescopic hydraulic cylinder, and the multi-stage telescopic hydraulic cylinder Cylinder including a first-stage hydraulic cylinder placed in the outer cylinder, a secondary hydraulic cylinder disposed in the inner chamber of the first-stage hydraulic cylinder, an N+1-stage hydraulic cylinder disposed in the inner cavity of the N-stage hydraulic cylinder, N is The driving mechanism includes a hydraulic pump, a driving motor and a fuel tank, the outer cylinder is provided with an oil inlet hole, the driving motor drives a hydraulic pump, and the hydraulic pump is connected to the oil tank through a pipeline. The oil tank is connected to the oil inlet through the oil supply pipeline; between the inner wall of the outer cylinder and the outer wall of the first hydraulic cylinder, between the inner wall of the first hydraulic cylinder and the outer wall of the secondary hydraulic cylinder.... .. There is an oil gap between the inner wall of the N-class hydraulic cylinder and the outer wall of the N+1 hydraulic cylinder. The first-stage hydraulic cylinder and the second-stage hydraulic cylinder... The lower part of the N+1-class hydraulic cylinder is uniform. There are oil holes in opposite positions, and the lower part of each stage hydraulic cylinder is provided with a limit key, the upper part of the outer cylinder tube and the first stage, the second stage... The upper part of the N-stage hydraulic cylinder is provided with a limited position groove. Wherein, the limit groove provided on the upper part of the outer cylinder tube is matched with the limit button of the lower part of the first stage hydraulic cylinder, and the limit groove provided on the upper part of the first stage hydraulic cylinder The limit button on the lower part of the secondary hydraulic cylinder is adapted... The limit groove provided in the upper part of the N-stage hydraulic cylinder is matched with the limit button on the lower part of the N+1-stage hydraulic cylinder.
[0011] 为了进一步实现本发明， 所述外缸筒、 一级液压缸、 二级液压缸 ...... N级液压 缸的上部均设置有导向密封防护机构。  [0011] In order to further implement the present invention, the outer cylinder, the first hydraulic cylinder, the secondary hydraulic cylinder, and the like, the upper portion of the N-stage hydraulic cylinder are provided with a guide seal protection mechanism.
[0012] 为了进一步实现本发明， 所述飞机助降车包括车轮、 悬挂***、 车架、 车厢、 动力驱动***、 机车控制***、 速度调节器、 转向控制器以及刹车控制器， 所 述车轮采用航空轮胎， 所述车轮包括前轮组与后轮组， 所述前轮组的车轮直径 小于后轮组车轮直径； 所述悬挂***采用现有技术的单片机控制的多工况汽车 电控悬架***， 所述悬挂***设置有可调节车身高度的装置； 所述动力驱动系 统可以配置一个或者多个发动机， 所述发动机采用电动马达； 所述动力驱动系 统、 速度调节器、 转向控制器以及刹车控制器均与机车控制***连接。  [0012] In order to further implement the present invention, the aircraft assisted vehicle includes a wheel, a suspension system, a frame, a carriage, a power drive system, a locomotive control system, a speed regulator, a steering controller, and a brake controller, and the wheel adopts The air tire includes a front wheel set and a rear wheel set, wherein a wheel diameter of the front wheel set is smaller than a rear wheel set wheel diameter; and the suspension system adopts a multi-mode automobile electronically controlled suspension controlled by a prior art single-chip microcomputer. System, the suspension system is provided with means for adjusting the height of the vehicle body; the power drive system may be configured with one or more engines, the engine adopting an electric motor; the power drive system, the speed regulator, the steering controller and the brake The controllers are all connected to the locomotive control system.
发明的有益效果  Advantageous effects of the invention
有益效果  Beneficial effect
[0013] 本发明的有益效果： [0013] Advantageous Effects of the Invention:
[0014] 1、 本发明的车载定位***， 红外线测速仪 41用于实吋监测故障飞机迫降降落 吋的飞行速度， 红外线测距仪 42用于实吋监测故障飞机迫降吋距离地面的高度 ， 红外线方位追踪仪 43通过扫描故障飞机机身上的定位标识， 拾取故障飞机在 迫降过程中的一定吋间间隔内的两个飞行航点， 即目标点 A和目标点 B， 根据目 标点 A和目标点 B这两个飞行航点的经度与纬度可确定故障飞机的实吋动态航线 ， 从而根据该航线准确实吋动态地监测追踪故障飞机在空中降落吋的飞行信息 ， 定位*** 4并将监测到的迫降飞机降落吋的高度信息、 速度信息和方位信息发 送反馈给操控*** 6， 操控*** 6根据迫降飞机降落吋的高度信息、 速度信息和 方位信息对飞机助降车发出指令， 以使得飞机助降车 1保持与迫降飞机同步跟随 的状态， 实现故障飞机着陆吋对飞机助降车的水平冲力为零。 [0014] 1. The vehicle positioning system of the present invention, the infrared speedometer 41 is used for realizing the flight speed of the faulty aircraft landing and landing, and the infrared range finder 42 is used for monitoring the height of the faulted aircraft and the distance from the ground. The azimuth tracker 43 scans the two locations of the faulty aircraft in a certain interval between the forced landings by scanning the positioning indicator on the faulty aircraft fuselage, that is, the target point A and the target point B, according to the target point A and the target. The longitude and latitude of the two flight waypoints of point B can determine the actual dynamic route of the faulty aircraft. Therefore, according to the route, the flight information of the faulty aircraft falling in the air is accurately and dynamically monitored, and the positioning system 4 sends the height information, the speed information and the position information of the monitored landing aircraft to the control system 6, The control system 6 issues an instruction to the aircraft assisted descending vehicle according to the altitude information, the speed information and the azimuth information of the landing aircraft, so that the aircraft assisted vehicle 1 maintains the state of following the flight with the forced landing aircraft, and realizes the landing of the faulty aircraft and assists the aircraft. The horizontal impulse of the car is zero.
[0015] 2、 本发明的迫降平台***的承载平台上设有第一电磁吸盘 22， 利用电磁原理 产生的电磁效应将迫降到承载平台 21的飞机机腹牢牢吸附住， 避免了因飞机助 降车 1在跑道上减速吋， 障迫降飞机因惯性与承载平台 21之间产生相对于承载平 台 21向前的滑动， 从而保证故障飞机在整个迫降过程中的平稳性与安全性。  [0015] 2. The first electromagnetic chuck 22 is disposed on the carrying platform of the forced landing platform system of the present invention, and the electromagnetic effect generated by the electromagnetic principle is forced to be firmly adsorbed to the belly of the aircraft carrying the platform 21, thereby avoiding the assistance of the aircraft. When the descending vehicle 1 is decelerated on the runway, the obstacle-stopping aircraft is slid forward relative to the carrying platform 21 due to the inertia and the carrying platform 21, thereby ensuring the stability and safety of the faulty aircraft during the entire forced landing process.
[0016] 3、 本发明的迫降平台***的承载平台上设有具有弹性及压力可控的缓冲结构 的防震缓冲层， 可以有效缓冲故障飞机着陆吋对承载平台 21的冲击力， 避免故 障迫降飞机着陆吋因产生较大的冲击力导致飞机机腹部位发生形变而造成损坏 ； 防震缓冲层 23采用具有抗冲击性强、 耐磨、 耐热的橡胶， 可以进一步增大故 障飞机与承载平台 21在水平方向上的摩擦， 以防止障迫降飞机因惯性与承载平 台 21之间产生刚性接触的摩擦滑动， 而刮掉飞机机腹部位的油漆对故障飞机造 成损坏。  [0016] 3. The load-bearing platform of the forced landing platform system of the present invention is provided with a shock-proof buffer layer with a flexible and pressure-controllable buffer structure, which can effectively buffer the impact force of the faulted aircraft landing raft on the load-bearing platform 21, and avoid the failure to land the aircraft. The landing raft causes damage due to the deformation of the abdomen of the aircraft due to the large impact force; the shock absorbing layer 23 is made of rubber with high impact resistance, wear resistance and heat resistance, which can further increase the faulty aircraft and the load bearing platform 21 The friction in the horizontal direction prevents the obstacle from escaping the frictional sliding of the aircraft due to the rigid contact between the inertia and the load bearing platform 21, and the paint scraping off the abdomen of the aircraft machine causes damage to the faulty aircraft.
[0017] 4、 本发明的升降托盘***采用多级伸缩式液压缸升降托举的托盘装置 32， 并 采用电磁吸盘准确捕获低空飞行的迫降故障飞机， 利用电磁吸盘将故障飞机机 腹牢牢吸附住， 不仅可以对处于不同高度、 不同型号的故障飞机实施紧急救援 ， 还可以对故障飞机着陆吋的机身姿态进行调整， 使得故障飞机跟随升降托盘 装置 32以保持正常姿态缓慢平稳地降落到承载平台 21上， 避免故障飞机过快地 降落到迫降*** 2的承载平台 21， 从而缓冲了故障飞机迫降着陆吋对承载平台 21 在竖直方向上产生的冲击力， 对承载平台 21起到缓冲减压的作用。  [0017] 4. The lifting tray system of the present invention adopts a multi-stage telescopic hydraulic cylinder lifting lifting tray device 32, and adopts an electromagnetic suction cup to accurately capture a low-altitude flight landing aircraft, and uses an electromagnetic suction cup to firmly absorb the faulty aircraft belly. Live, not only can emergency rescue of faulty aircraft of different heights and models, but also the attitude of the fuselage landing plane can be adjusted, so that the faulty aircraft follows the lifting tray device 32 to maintain the normal attitude and slowly and smoothly land to the bearing. On the platform 21, the faulty aircraft is prevented from falling too quickly to the load-bearing platform 21 of the forced-down system 2, thereby buffering the impact force of the faulty aircraft landing landing on the vertical direction of the load-bearing platform 21, and buffering the load-bearing platform 21 The role of pressure.
[0018] 5、 本发明的飞机助降车 1的悬挂***采用现有技术的单片机控制的多工况汽车 电控悬架***， 以使得车辆在整个行驶过程中具有响应速度快、 控制准确、 操 纵性能稳定的优点， 该悬挂***设置有可调节车身高度的装置， 以使得飞机助 降车 1的车身高度在 1.2~1.8米的范围内调整， 以对应故障飞机着陆吋机腹距离地 面的高度而适应不同机型故障飞机迫降着陆。 [0019] 6、 本发明的升降托盘*** 2采用多级伸缩式液压缸 312， 多级伸缩式液压缸 312 的外缸筒 311的上部、 一级液压缸 3121以及二级液压缸 3122的上部均设置有导向 密封防护件， 减小了摩擦系数， 保证了各级液压缸在超高负载下回落过程中的 平稳性， 升降托盘*** 2的升降机构 31的多级伸缩式液压缸 312各级液压缸的升 降速度与升降高度， 均可以通过升降控制*** 33控制节流阀来控制液压油的供 给或回油速度来实现， 智能化程度高。 [0018] 5. The suspension system of the aircraft descending vehicle 1 of the present invention adopts the multi-mode automobile electronically controlled suspension system controlled by the prior art single-chip microcomputer, so that the vehicle has a fast response speed and accurate control throughout the driving process. The utility model has the advantages of stable operation performance, and the suspension system is provided with a device for adjusting the height of the vehicle body, so that the height of the body of the aircraft assisted vehicle 1 is adjusted within the range of 1.2 to 1.8 meters, so as to correspond to the height of the ground of the aircraft landing on the ground of the faulty aircraft. The aircraft was forced to land and land when it was adapted to different aircraft types. [0019] 6. The elevating tray system 2 of the present invention employs a multi-stage telescopic hydraulic cylinder 312, an upper portion of the outer cylinder 311 of the multi-stage telescopic hydraulic cylinder 312, a first hydraulic cylinder 3121, and an upper portion of the secondary hydraulic cylinder 3122. The guide sealing guard is arranged to reduce the friction coefficient, and the smoothness of the hydraulic cylinders of all stages under the ultra-high load is ensured. The multi-stage telescopic hydraulic cylinder 312 of the lifting mechanism 31 of the lifting tray system 2 is hydraulically controlled at various levels. The lifting speed and the lifting height of the cylinder can be realized by controlling the throttle valve to control the supply of hydraulic oil or the oil returning speed by the lifting control system 33, and the degree of intelligence is high.
[0020] 7、 本发明的操控*** 6采用设有用于数据处理、 信号接收和控制命令发送的 M CU微处理器， 并通过主控电路板与各控制***单元 （机车控制*** 14、 第一电 磁吸盘 22、 第一传感器 24、 第二电磁吸盘 322、 第二传感器 323、 升降控制*** 3 3、 定位*** 4) 连接， 实现自适应的人工智能全自动控制， 智能化程度高。 对附图的简要说明 [0020] 7. The control system 6 of the present invention employs an M CU microprocessor provided for data processing, signal reception, and control command transmission, and passes through a main control circuit board and each control system unit (locomotive control system 14, first) The electromagnetic chuck 22, the first sensor 24, the second electromagnetic chuck 322, the second sensor 323, the lifting control system 33, and the positioning system 4) are connected to realize adaptive artificial intelligence automatic control, and the degree of intelligence is high. Brief description of the drawing
附图说明  DRAWINGS
[0021] 图 1为本发明的安全助降救援***的结构示意图；  1 is a schematic structural view of a safety assisted rescue system according to the present invention;
[0022] 图 2为本发明的迫降平台***的剖面结构示意图； 2 is a schematic cross-sectional structural view of a forced landing platform system of the present invention;
[0023] 图 3为本发明的多级伸缩式液压缸的结构示意图； 3 is a schematic structural view of a multi-stage telescopic hydraulic cylinder of the present invention;
[0024] 图 4为本发明的控制***框架示意图； 4 is a schematic diagram of a control system frame of the present invention;
[0025] 图 5为本发明的升降托盘***处于收缩状态的结构示意图。 [0025] FIG. 5 is a schematic structural view of the lift tray system of the present invention in a contracted state.
实施该发明的最佳实施例  BEST MODE FOR CARRYING OUT THE INVENTION
本发明的最佳实施方式  BEST MODE FOR CARRYING OUT THE INVENTION
[0026] 下面结合附图对本发明进行进一步阐述， 其中， 本发明的方向以图 1为标准。 The invention will be further clarified with reference to the accompanying drawings, wherein the orientation of the invention is based on FIG.
[0027] 如图 1至图 5所示， 本发明的一种用于飞机起落架故障的安全助降救援***包括 飞机助降车 1、 迫降平台*** 2、 升降托盘*** 3、 定位*** 4、 电源 5和操控*** 6， 飞机助降车 1用于放置、 承载与运输本发明救援***的全部机构、 装置与系 统， 并在机场跑道上以与迫降飞机即将着陆吋的速度和方向保持一致， 而呈现 飞机助降车 1与迫降飞机的同步跟随状态； 迫降平台*** 2用于承载迫降飞机并 在机场跑道上制动减速吋， 消耗迫降飞机在水平方向上的动能； 升降托盘*** 3 用于对即将着陆的迫降故障飞机进行低空捕获， 并对故障飞机着陆吋的机身姿 态进行调整， 使得故障飞机跟随迫降平台*** 2保持正常姿态缓慢平稳地降落到 迫降平台*** 2上， 缓冲故障飞机迫降着陆吋对迫降平台*** 2在竖直方向上产 生的冲击力； 定位*** 4用于监测迫降飞机的飞行高度、 飞行方向以及飞行速度 以及对故障飞机进行准确定位； 电源 5用于对飞机助降车 1以及飞机助降车 1上所 有用电设备***和装置部件进行供电； 控制*** 6用于接收信息、 处理数据和控 制飞机助降车 1以及飞机助降车 1所有设备***和装置部件的工作状态。 [0027] As shown in FIG. 1 to FIG. 5, a safety assisted rescue system for aircraft landing gear failure of the present invention includes an aircraft assisted vehicle 1, a forced landing platform system 2, a lifting tray system 3, a positioning system 4, Power supply 5 and control system 6, aircraft assisted vehicle 1 for placing, carrying and transporting all of the mechanisms, devices and systems of the rescue system of the present invention, and on the airport runway in line with the speed and direction of the landing of the forced landing aircraft, The simulated landing state of the aircraft descending vehicle 1 and the forced landing aircraft is presented; the forced landing platform system 2 is used for carrying the forced landing aircraft and braking and decelerating on the airport runway, consuming the kinetic energy of the forced landing aircraft in the horizontal direction; Low-altitude capture of the landing aircraft that is about to land, and adjustment of the attitude of the landing plane of the failed aircraft, so that the faulty aircraft follows the forced landing platform system 2 to maintain a normal attitude and slowly and smoothly landed On the landing platform system 2, the buffering fault landing landing landing impact force on the forced landing platform system 2 in the vertical direction; the positioning system 4 is used to monitor the flight height, flight direction and flight speed of the forced landing aircraft and accurate to the faulty aircraft Positioning; power supply 5 is used to power all the electrical equipment systems and equipment components on the aircraft assisted vehicle 1 and the aircraft assisted vehicle 1; the control system 6 is used to receive information, process data and control the aircraft assisted vehicle 1 and aircraft assistance Downshift 1 The working status of all equipment systems and equipment components.
[0028] 飞机助降车 1采用现有技术结构实现， 飞机助降车 1包括车架 11、 设置于车架 11 下面的悬挂***、 设置于悬挂***上的两组车轮、 设置在车架上的车厢 13、 设 置在车架 11上对应于车轮的位置的动力驱动***、 用于控制飞机助降车 1行驶状 态的机车控制*** 14、 速度调节器、 转向控制器和刹车控制器； 车架 11为 U型框 架式结构， 其幵口端朝上， 车架 11采用高强度铝合金材料， 也可采用其他高性 育^ 高强度的军工及航空材料； 悬挂***采用现有技术的单片机控制的多工况 汽车电控悬架***， 以使得车辆在整个行驶过程中具有响应速度快、 控制准确 、 操纵性能稳定的优点， 该悬挂***设置有可调节车身高度的装置， 以使得飞 机助降车 1的车身高度在 1.2~1.8米的范围内调整， 以适应不同机型飞机着陆吋机 腹距离地面的高度； 两组车轮包括前轮组 121和后轮组 122， 前轮组 121的车轮直 径比后轮组 122的车轮直径小， 以使得飞机助降车 1在向前行驶的过程中受力平 衡而保证行驶平稳， 两组车轮 12均采用航空轮胎； 车厢 13可以进行防尘、 防雨 ， 以及保护设置在其空腔内部的机械构件与设备装置； 动力驱动***用于为车 轮提供驱动动力而使得飞机助降车 1向前行驶， 动力驱动***可以配置一个或者 多个发动机， 具体可以根据实际需要或者车轮的具体数量配置， 本实施例的动 力驱动***的发动机优选为电动马达； 用于控制飞机助降车 1运行方向和运行速 度的机车控制*** 14设置在车厢 13的空腔内， 其操作方法与目前高铁机车的控 制***类似， 机车控制*** 14通过控制电路线路板实现， 机车控制*** 14分别 与设置在飞机助降车 1上的动力驱动***、 速度调节器、 转向控制器以及刹车控 制器连接。 [0028] The aircraft assisted vehicle 1 is realized by a prior art structure, and the aircraft assisted vehicle 1 includes a frame 11, a suspension system disposed under the frame 11, two sets of wheels disposed on the suspension system, and is disposed on the frame. a carriage 13, a power drive system disposed on the frame 11 corresponding to the position of the wheel, a locomotive control system 14 for controlling the running state of the aircraft assisted vehicle 1 , a speed regulator, a steering controller, and a brake controller; 11 is a U-shaped frame structure with a mouth end facing upwards. The frame 11 is made of high-strength aluminum alloy material, and other high-strength military and aerospace materials can be used. The suspension system is controlled by a single-chip microcomputer of the prior art. Working condition of the vehicle electronically controlled suspension system, so that the vehicle has the advantages of fast response speed, accurate control and stable steering performance throughout the driving process. The suspension system is provided with a device for adjusting the height of the vehicle body, so that the aircraft assisted vehicle 1 The height of the car body is adjusted within the range of 1.2 to 1.8 meters to suit the height of the aircraft landing on the ground from different aircraft planes; Including the front wheel set 121 and the rear wheel set 122, the wheel diameter of the front wheel set 121 is smaller than the wheel diameter of the rear wheel set 122, so that the aircraft assisted vehicle 1 is balanced during the forward travel to ensure smooth running. Both sets of wheels 12 use aviation tires; the compartment 13 can be dust-proof, rain-proof, and protect mechanical components and equipment devices disposed inside the cavity; the power drive system is used to provide driving power to the wheels to cause the aircraft to assist in descending vehicles. 1 driving forward, the power drive system can be configured with one or more engines, which can be configured according to actual needs or the specific number of wheels. The engine of the power drive system of the embodiment is preferably an electric motor; The locomotive control system 14 of the running direction and the running speed is disposed in the cavity of the car 13. The operation method is similar to that of the current high-speed railway locomotive. The locomotive control system 14 is realized by the control circuit board, and the locomotive control system 14 is respectively disposed at The power drive system, speed regulator, and steering controller on the aircraft assisted vehicle 1 Brake controller is connected.
[0029] 迫降平台*** 2采用高强度合金材料焊接或采用高强度螺栓对接而成， 迫降平 台*** 2包括承载平台 21、 第一电磁吸盘 22、 防震缓冲层 23和第一传感器 24， 其 中： [0030] 承载平台 21设置在飞机助降车 1的车架 11的顶端 （位于车厢 13顶面的 U型幵口端 ) ， 承载平台 21幵设有上下贯通的缺口 211， 缺口 211与车厢 13的空腔相连通； 迫降平台 21的上表面设置有用磁体材料制成且上端幵口的容纳槽 212， 容纳槽 21 2内设置有若干第一电磁吸盘 22和防震缓冲层 23， 且在每个第一电磁吸盘 22上设 置有第一传感器 24， 第一电磁吸盘 22通过继电器远程控制接通电源并产生电磁 效应， 在电磁效应的作用下第一电磁吸盘 22将迫降到承载平台 21的飞机机腹牢 牢吸附住， 避免了因飞机助降车 1在跑道上减速吋， 故障飞机因惯性与承载平台 21之间产生相对于承载平台 21向前的滑动， 从而保证故障飞机在整个迫降过程 中的平稳性与安全性； 防震缓冲层 23设计成具有弹性及压力可控的缓冲结构， 该缓冲结构可以用弹簧或者冲气囊等缓冲方式实现， 避免了迫降故障飞机着陆 吋因较大的冲击力对飞机机腹部位发生形变而造成损坏； 防震缓冲层 23采用具 有抗冲击性强、 耐磨、 耐热的橡胶或其它复合型材料制成， 其可以进一步增大 迫降故障飞机与承载平台 21之间在水平方向上的摩擦。 [0029] The forced landing platform system 2 is welded by high-strength alloy material or docked with high-strength bolts. The forced landing platform system 2 includes a carrying platform 21, a first electromagnetic chuck 22, a shock-proof buffer layer 23 and a first sensor 24, wherein: [0030] The carrying platform 21 is disposed at the top end of the frame 11 of the aircraft assisted vehicle 1 (the U-shaped mouth end of the top surface of the compartment 13), and the carrying platform 21 is provided with a notch 211 which is vertically penetrated, the notch 211 and the compartment 13 The upper surface of the forced landing platform 21 is provided with a receiving groove 212 made of a magnet material and having an upper end opening. The receiving groove 21 2 is provided with a plurality of first electromagnetic chucks 22 and a shock-proof buffer layer 23, and The first electromagnetic chuck 22 is provided with a first sensor 24, and the first electromagnetic chuck 22 is remotely controlled by a relay to turn on the power source and generate an electromagnetic effect. Under the electromagnetic effect, the first electromagnetic chuck 22 is forced to drop to the aircraft platform carrying the platform 21. The abdomen is firmly occluded, and the aircraft is prevented from decelerating on the runway, and the faulty aircraft is slid forward relative to the load bearing platform 21 due to inertia and the load bearing platform 21, thereby ensuring that the faulty aircraft is in the entire forced landing process. The stability and safety of the shock-proof buffer layer 23 is designed to have a flexible and pressure-controlled buffer structure, which can be realized by buffering such as spring or airbag, which avoids forced The landing of the faulty aircraft is damaged by the deformation of the abdomen of the aircraft due to the large impact force; the shock-absorbing cushion layer 23 is made of rubber or other composite material with high impact resistance, wear resistance and heat resistance, which can be The friction between the forced landing aircraft and the load bearing platform 21 in the horizontal direction is further increased.
[0031] 升降托盘*** 3包括升降机构 31、 托盘装置 32和升降控*** 33; 升降机构 31呈 纵向设置在车架 11上的中心位置并位于车厢 13的空腔内， 以保证飞机助降车 1在 行驶过程中的平稳性； 本发明实施例的升降机构 31可采用现有技术的立柱套筒 式液压缸。  [0031] The lifting tray system 3 includes a lifting mechanism 31, a tray device 32 and a lifting control system 33; the lifting mechanism 31 is disposed in a longitudinal position on the frame 11 and located in the cavity of the compartment 13 to ensure the aircraft assisted vehicle 1 Stationarity during running; The lifting mechanism 31 of the embodiment of the present invention can employ a prior art column-sleeve type hydraulic cylinder.
[0032] 升降机构 31包括底座、 外缸筒 311、 多级伸缩式液压缸 312、 液压泵、 驱动电机 和油箱， 底座用于将套筒式液压缸固定安装在车架 11上， 底座安装在对应于承 载平台 21的缺口 211正下方的位置， 底座采用螺栓件与车架固定连接， 外缸筒 31 1呈纵向安装在底座上， 外缸筒 311上幵设有两个进油孔 3111， 外缸筒 311内还采 用液密封方式滑设有多级伸缩式液压缸 312， 多级伸缩式液压缸 312采用三级伸 缩式液压缸， 其包括采用液密封方式滑设在外缸筒 311内的第一级液压缸 3121、 采用液密封方式滑设在第一级液压缸 3121内腔里的第二级液压缸 3122和采用液 密封方式滑设在第二级液压缸 3122内腔里的第三级液压缸 3123; 外缸筒 311的内 壁与一级液压缸 3121的外壁之间、 一级液压缸 3121的内壁与二级液压缸 3122的 外壁之间、 二级液压缸 3122的内壁与三级液压缸 3123的外壁之间均存在过油间 隙， 以避免外缸筒 311的内壁与一级液压缸 3121的外壁之间、 一级液压缸 3121的 内壁与二级液压缸 3122的外壁之间、 二级液压缸 3122的内壁与三级液压缸 3123 的外壁之间刚性接触， 使得多级伸缩式液压缸 312在伸缩过程中更加平稳； 一级 液压缸 3121、 二级液压缸 3122以及三级液压缸 3123的下部均幵设有位置相对的 多个过油孔 3124， 多个过油孔 3124在一级液压缸 3121、 二级液压缸 3122以及三 级液压缸 3123上均沿各级液压缸的周向均匀布置， 这样， 各级各级液压缸的底 部与底座的顶端面之间配合形成一个压力腔； 各级液压缸的下部均设置有两个 限位键， 外缸筒 311的上部、 一级液压缸 3121以及二级液压缸 3122的上部均设置 有限位槽， 其中， 外缸筒 311的上部设置的限位槽与一级液压缸 3121下部的限位 键相适配， 一级液压缸 3121上部设置的限位槽与二级液压缸 3122下部的限位键 相适配， 二级液压缸 3122上部设置的限位槽与三级液压缸 3123下部的限位键相 适配； 外缸筒 311的上部、 一级液压缸 3121以及二级液压缸 3122的上部均设置有 导向密封防护件， 减小了摩擦系数， 保证了各级液压缸在超低负载下回落过程 中的平稳性。 [0032] The lifting mechanism 31 includes a base, an outer cylinder 311, a multi-stage telescopic hydraulic cylinder 312, a hydraulic pump, a driving motor and a fuel tank, and the base is used for fixing the sleeve type hydraulic cylinder to the frame 11, and the base is installed at Corresponding to the position directly under the notch 211 of the carrying platform 21, the base is fixedly connected with the frame by a bolt member, the outer cylinder tube 31 1 is longitudinally mounted on the base, and the outer cylinder tube 311 is provided with two oil inlet holes 3111. The outer cylinder 311 is further provided with a multi-stage telescopic hydraulic cylinder 312 in a liquid-tight manner, and the multi-stage telescopic hydraulic cylinder 312 adopts a three-stage telescopic hydraulic cylinder, which comprises slidingly disposed in the outer cylinder tube 311 by a liquid sealing method. The first stage hydraulic cylinder 3121 is a second stage hydraulic cylinder 3122 which is slidably disposed in the inner cavity of the first stage hydraulic cylinder 3121 by a liquid sealing method and a third stage which is slidably disposed in the inner cavity of the second stage hydraulic cylinder 3122 by a liquid sealing method. The hydraulic cylinder 3123; the inner wall of the outer cylinder 311 and the outer wall of the first stage hydraulic cylinder 3121, the inner wall of the first stage hydraulic cylinder 3121 and the outer wall of the secondary hydraulic cylinder 3122, the inner wall of the secondary hydraulic cylinder 3122 and the third stage The outer wall of the hydraulic cylinder 3123 exists between Oil gap, between the outer wall in order to avoid an inner wall 3121 of the outer cylinder 311 of the cylinder, a hydraulic cylinder 3121 The inner wall is in rigid contact with the outer wall of the secondary hydraulic cylinder 3122, the inner wall of the secondary hydraulic cylinder 3122 and the outer wall of the tertiary hydraulic cylinder 3123, so that the multistage telescopic hydraulic cylinder 312 is more stable during the expansion and contraction process; The lower portion of the cylinder 3121, the secondary hydraulic cylinder 3122 and the third-stage hydraulic cylinder 3123 are provided with a plurality of oil-passing holes 3124 opposite in position, and the plurality of oil-passing holes 3124 are in the first-stage hydraulic cylinder 3121, the secondary hydraulic cylinder 3122 and the third The hydraulic cylinders 3123 are evenly arranged along the circumferential direction of the hydraulic cylinders of each stage, so that a pressure chamber is formed between the bottoms of the hydraulic cylinders of each stage and the top end surface of the base; the lower part of the hydraulic cylinders of each stage are provided with two The limit button, the upper portion of the outer cylinder 311, the first hydraulic cylinder 3121 and the upper portion of the secondary hydraulic cylinder 3122 are all provided with a limit groove, wherein the upper limit groove of the outer cylinder 311 and the first stage hydraulic cylinder 3121 The lower limit button is adapted, the limit groove provided on the upper part of the first stage hydraulic cylinder 3121 is matched with the limit button on the lower part of the second stage hydraulic cylinder 3122, and the limit groove and the third stage hydraulic pressure are arranged on the upper part of the second stage hydraulic cylinder 3122 Limit button on the lower part of the cylinder 3123 The upper part of the outer cylinder 311, the first hydraulic cylinder 3121 and the upper part of the secondary hydraulic cylinder 3122 are provided with a guiding sealing guard, which reduces the friction coefficient and ensures the return process of the hydraulic cylinders under various ultra-low loads. The stability in the middle.
[0033] 液压泵、 驱动电机和油箱均固定安装在车架 11上对应于车厢 13的空腔的位置， 液压泵、 驱动电机和油箱和连接管线相互配合形成一个给升降机构 31的多级伸 缩式液压缸 312提供液压动力的液压站； 油箱通过供油管路与外缸筒 311上的进 油孔 3111相连通， 在供油管路上设有节流阀， 并在车厢 13的内腔设置有用于放 置控制驱动电机、 液压泵、 节流阀等的控制箱， 升降控制器 33设置在控制箱内 ， 升降机构 31的多级伸缩式液压缸 312各级液压缸的升降速度与升降高度， 均可 以通过升降控制器 33控制节流阀来控制液压油的供给或回油速度来实现， 智能 化程度高。  [0033] The hydraulic pump, the drive motor and the oil tank are fixedly mounted on the frame 11 corresponding to the cavity of the compartment 13, and the hydraulic pump, the drive motor and the oil tank and the connecting line cooperate to form a multi-stage expansion and contraction for the lifting mechanism 31. The hydraulic cylinder 312 provides a hydraulic power hydraulic station; the oil tank communicates with the oil inlet hole 3111 on the outer cylinder tube 311 through the oil supply line, a throttle valve is disposed on the oil supply line, and is disposed in the inner cavity of the vehicle compartment 13 There is a control box for placing a control drive motor, a hydraulic pump, a throttle valve, etc., and the lifting controller 33 is disposed in the control box, and the lifting speed and the lifting height of the hydraulic cylinders of the multi-stage telescopic hydraulic cylinder 312 of the lifting mechanism 31 are Both of them can be controlled by the lift controller 33 to control the throttle valve to control the supply of hydraulic oil or the oil return speed, and the degree of intelligence is high.
[0034] 托盘装置 32采用现有技术的电磁吸盘结构实现， 托盘装置 32包括托盘基座 321 、 第二电磁吸盘 322和第二传感器 323， 托盘基座 321的底端通过法兰或者螺栓件 等连接方式与升降机构 31的第三级液压缸 3123的顶端固定连接， 或者以焊接等 连接方式与升降机构 31的第三级液压缸 3123的顶端形成一体式结构， 托盘基座 3 21的顶端与第二电磁吸盘 322的下表面固定连接， 第二电磁吸盘 322上设有第二 传感器 323。  [0034] The tray device 32 is implemented by a prior art electromagnetic chuck structure. The tray device 32 includes a tray base 321, a second electromagnetic chuck 322, and a second sensor 323. The bottom end of the tray base 321 passes through a flange or a bolt member. The connection mode is fixedly connected to the top end of the third-stage hydraulic cylinder 3123 of the lifting mechanism 31, or is integrally formed with the top end of the third-stage hydraulic cylinder 3123 of the lifting mechanism 31 by welding or the like, and the top end of the tray base 31 is The lower surface of the second electromagnetic chuck 322 is fixedly connected, and the second electromagnetic chuck 322 is provided with a second sensor 323.
[0035] 承载平台 21的缺口 211与第二电磁吸盘 322的形状大小相适配， 在升降机构 31带 动第二电磁吸盘 322升降的过程中， 以使得第二电磁吸盘 322可以从承载平台 21 的缺口 211下方朝上伸出车厢 13的容腔外， 或者从承载平台 21的缺口 211的上方 朝下收缩放置扎起车厢 13的容腔内， 还可以让第二电磁吸盘 322上表面的高度与 承载平台 21上表面的高度齐平， 使第二电磁吸盘 322与承载平台 21共同一个结构 完整的平台， 对故障飞机进行駄载。 [0035] The notch 211 of the carrying platform 21 is adapted to the shape of the second electromagnetic chuck 322, and is carried in the lifting mechanism 31. The second electromagnetic chuck 322 is moved up and down so that the second electromagnetic chuck 322 can protrude from the lower side of the notch 211 of the carrying platform 21 to the outside of the cavity of the compartment 13 or downward from the notch 211 of the carrying platform 21. The height of the upper surface of the second electromagnetic chuck 322 is flush with the height of the upper surface of the carrying platform 21, so that the second electromagnetic chuck 322 and the carrying platform 21 together form a structurally complete platform. , carrying out the unloading of the faulty aircraft.
[0036] 定位*** 4设置在飞机助降车 1上， 它包括红外线测速仪 41、 红外线测距仪 42和 红外线方位追踪仪 43， 红外线测速仪 41用于实吋监测故障飞机迫降降落吋的飞 行速度， 红外线测距仪 42用于实吋监测故障飞机迫降吋距离地面的高度， 红外 线方位追踪仪 43通过扫描故障飞机机身上的定位标识， 拾取故障飞机在迫降过 程中的一定吋间间隔内的两个飞行航点， 即目标点 A和目标点 B， 根据目标点 A 和目标点 B这两个飞行航点的经度与纬度可确定故障飞机的实吋动态航线， 从而 可根据该航线实吋动态地监测追踪故障飞机在空中降落吋的飞行方向； 定位系 统 4并将监测到的迫降飞机降落吋的高度信息、 速度信息和方位信息发送反馈给 操控*** 6， 操控*** 6根据迫降飞机降落吋的高度信息、 速度信息和方位信息 对本发明的助降救援***发出不同的控制信息和工作指令；  [0036] The positioning system 4 is disposed on the aircraft assisted vehicle 1 and includes an infrared speedometer 41, an infrared range finder 42 and an infrared position tracking device 43. The infrared speedometer 41 is used for realizing the flight of the faulty aircraft landing and landing. The speed, infrared range finder 42 is used to monitor the height of the faulted aircraft forced to descend from the ground. The infrared position tracking device 43 scans the faulty aircraft on the fuselage to pick up the faulty aircraft within a certain interval between the forced landings. The two flight waypoints, namely the target point A and the target point B, can determine the actual dynamic route of the faulty aircraft according to the longitude and latitude of the two flight waypoints of the target point A and the target point B, so that the actual route can be determined according to the route吋 Dynamically monitoring and tracking the flight direction of the faulty aircraft in the air; the positioning system 4 sends back the height information, speed information and position information of the monitored landing aircraft to the control system 6, and the control system 6 landed according to the forced landing aircraft高度 height information, speed information and position information are different for the assisted rescue system of the present invention Work instructions and control information;
[0037] 电源 5为多组高性能锂电池电池组组成， 也可以采用其他高性能电池或者其它 形式电源， 电池 5布置在车架 11的靠近后部位置的电池舱内。  [0037] The power source 5 is composed of a plurality of sets of high performance lithium battery packs, and other high performance batteries or other forms of power sources may be used. The battery 5 is disposed in the battery compartment of the frame 11 near the rear position.
[0038] 操控*** 6设置在飞机助降车 1的控制舱内， 操控*** 6分别与机车控制*** 14 、 第一电磁吸盘 22、 第一传感器 24、 第二电磁吸盘 322、 第二传感器 323、 升降 控制*** 33、 定位*** 4通过电线路连接； 操控*** 6可以是设有用于数据处理 、 信号接收和控制命令发送的 MCU微处理器或者其它电路控制***的主控电路 板， 主控电路板与各控制***单元连接， 实现自适应的人工智能全自动控制； 操控*** 6还可以通过电路板与操作控制面板连接， 或者通过无线电与遥控器远 程连接， 实行人工手动操作控制或者远程遥控控制。  [0038] The control system 6 is disposed in the control cabin of the aircraft assisted vehicle 1 , and the control system 6 is respectively associated with the locomotive control system 14 , the first electromagnetic chuck 22 , the first sensor 24 , the second electromagnetic chuck 322 , the second sensor 323 , The lifting control system 33 and the positioning system 4 are connected by an electric line; the control system 6 may be a main control circuit board provided with an MCU microprocessor or other circuit control system for data processing, signal receiving and control command transmission, and a main control circuit board. It is connected with each control system unit to realize adaptive artificial intelligence automatic control. The control system 6 can also be connected to the operation control panel through the circuit board, or remotely connected to the remote controller through radio, and manual manual operation control or remote remote control can be implemented.
[0039] 本发明的一种用于飞机起落架故障的安全助降救援***的工作原理和工作过程 如下：  [0039] The working principle and working process of a safety assisted rescue system for aircraft landing gear failure of the present invention are as follows:
[0040] 1) 当飞机在空中发生故障起落架不能正常打幵吋， 机场指挥人员按指令指挥 故障飞机进入迫降滑行程序， 飞机进入该***上空保持一定的高度和速度进行 飞行， 操控*** 6接收指令， 控制本发明的用于飞机起落架故障的安全助降救援 ***幵始通电启用， 准备对故障飞机实施救援； [0040] 1) When the aircraft fails to slam in the air, the airport commander commands the faulty aircraft to enter the forced landing taxi program, and the aircraft enters the system to maintain a certain height and speed. In flight, the control system 6 receives an instruction to control the safety assisted rescue system for the aircraft landing gear failure of the present invention to be energized and activated, and prepare to rescue the faulty aircraft;
[0041] 2) 定位*** 4的红外线测速仪 41、 红外线测距仪 42和红外线方位追踪仪 43将实 吋监测到的故障飞机的飞行速度信息、 高度信息和方位信息发送给操控*** 6， 操控*** 6根据飞机的飞行速度信息、 方位信息对机车控制*** 14发出工作指令 ， 机车控制*** 14控制动力驱动***、 速度调节器和转向控制器， 调整飞机助 降车 1的行驶的速度和方向， 直到飞机助降车 1与故障飞机的速度相等， 飞机助 降车 1的行驶方向与故障飞机的飞行方向保持一致并处于同一直线； 当飞故障机 的投影落入到飞机助降车 1的上方吋， 飞机助降车 1保持与迫降飞机同步跟随的 状态， 即两者达到零速差同方向上下并行的状态， 则机场指挥人员指挥故障飞 机进入迫降着陆程序；  [0041] 2) The infrared speedometer 41, the infrared range finder 42 and the infrared azimuth tracker 43 of the positioning system 4 transmit the flight speed information, the altitude information and the orientation information of the faulty aircraft that are actually monitored to the control system 6, and control The system 6 issues a work command to the locomotive control system 14 based on the flight speed information and the position information of the aircraft, and the locomotive control system 14 controls the power drive system, the speed regulator, and the steering controller to adjust the speed and direction of the aircraft assisted vehicle 1 to travel. Until the speed of the aircraft assisted vehicle 1 is equal to the speed of the faulty aircraft, the traveling direction of the aircraft assisted vehicle 1 is consistent with the flight direction of the faulty aircraft and is in the same line; when the projection of the flying faulty machine falls above the aircraft assisted vehicle 1吋, the aircraft assisted vehicle 1 maintains the state of simultaneous flight with the forced landing aircraft, that is, the two reach a state in which the zero speed difference is parallel in the same direction, and the airport commander directs the faulty aircraft to enter the forced landing procedure;
[0042] 3) 当故障飞机降落高度达到第二电磁吸盘 322上方 5米〜 10米吋， 操控*** 6对 升降控制*** 33发出上升指令， 升降控制*** 33通过控制升降机构 31的多级伸 缩式液压缸 312带动第二电磁吸盘 322上升到指定的目标位置；  [0042] 3) When the faulted aircraft landing height reaches 5 meters to 10 meters above the second electromagnetic chuck 322, the control system 6 issues a rising command to the lifting control system 33, and the lifting control system 33 controls the multi-stage telescopic type of the lifting mechanism 31. The hydraulic cylinder 312 drives the second electromagnetic chuck 322 to rise to a specified target position;
[0043] 4) 当第二电磁吸盘 322捕获到低空飞行的故障飞机， 即故障飞机机腹接触到第 二电磁吸盘 322吋， 第二传感器 323立即将信号发送给操控*** 6， 操控*** 6通 过控制继电器远程控制第二电磁吸盘 322接通电源并产生电磁效应， 第二电磁吸 盘 322牢牢吸附住故障飞机机腹， 并对不同着陆姿态迫降的飞机进行姿态调整， 以使得迫降飞机机身整体保持正常的水平姿态； 同吋操控*** 6对升降控制*** 33发出下降指令， 升降控制*** 33通过控制升降机构 31的多级伸缩式液压缸 312 带动第二电磁吸盘 322以合适的速度缓慢下降， 使得故障飞机跟随第二电磁吸盘 322缓慢平稳地降落到飞机助降车 1的承载平台 21上， 对故障飞机着陆承载平台 2 1起到缓冲减压的作用； [0043] 4) When the second electromagnetic chuck 322 captures the faulty aircraft flying at low altitude, that is, the faulty aircraft belly contacts the second electromagnetic chuck 322, the second sensor 323 immediately sends a signal to the control system 6, and the control system 6 passes The control relay remotely controls the second electromagnetic chuck 322 to be powered on and generates an electromagnetic effect, and the second electromagnetic chuck 322 firmly grasps the belly of the faulty aircraft, and adjusts the attitude of the aircraft that is forced to land in different landing attitudes, so as to make the aircraft fuselage as a whole maintain normal horizontal posture; inches with six pairs of lifting actuation system 33 control system sent down command, the hoist control system 33 at a suitable rate controls the lift mechanism gradually lowered by the multi-stage telescopic cylinder 31 driven by a second solenoid 312 chuck 322 , causing the faulty aircraft to follow the second electromagnetic chuck 322 to slowly and smoothly land on the carrying platform 21 of the aircraft assisted vehicle 1 to buffer and decompress the faulty aircraft landing carrying platform 21;
[0044] 5) 当故障飞机着陆承载平台 21上 （故障飞机机腹接触到承载平台 21的上表面 ) 吋， 第一传感器 24立即将信号发送给操控*** 6， 操控*** 6通过控制继电器 远程控制第一电磁吸盘 22接通电源并产生电磁效应， 在电磁效应的作用下第一 电磁吸盘 22将迫降到承载平台 21的飞机机腹牢牢吸附住， 避免了因飞机助降车 1 在跑道上减速吋， 故障飞机因惯性与承载平台 21之间产生相对于承载平台 21向 前的滑动， 从而保证故障飞机在整个迫降过程中的平稳性与安全性； 同吋操控 *** 6对升降控制*** 33发出停止下降指令， 升降控制*** 33通过控制节流阀， 使升降机构 31的多级伸缩式液压缸 312上的第二电磁吸盘 322稳定停留在与承载 平台 21高度平齐的地方 （即第二电磁吸盘 322位于承载平台 21上设有与其相适配 的缺口 221内） ， 实现第二电磁吸盘 322与承载平台 21形成一个整体， 对降落在 飞机助降车 1上的故障飞机进行駄载托运。 [0044] 5) When the faulty aircraft landing carrying platform 21 (the faulty aircraft belly contacts the upper surface of the carrying platform 21), the first sensor 24 immediately sends a signal to the steering system 6, and the control system 6 is remotely controlled by the control relay The first electromagnetic chuck 22 is powered on and generates an electromagnetic effect. Under the action of the electromagnetic effect, the first electromagnetic chuck 22 is forced to be lowered to the belly of the aircraft carrying the platform 21, and the aircraft assisted descending vehicle 1 is avoided on the runway. After the deceleration, the faulty aircraft is generated relative to the carrying platform 21 due to the inertia and the carrying platform 21 The front sliding, thereby ensuring the stability and safety of the faulty aircraft during the entire forced landing process; the same control system 6 issues a stop down command to the lift control system 33, and the lift control system 33 controls the throttle valve to cause the lift mechanism 31 The second electromagnetic chuck 322 on the multi-stage telescopic hydraulic cylinder 312 is stably stayed at a level with the height of the carrying platform 21 (ie, the second electromagnetic chuck 322 is located on the carrying platform 21 and is provided with a notch 221 adapted thereto). The second electromagnetic chuck 322 is realized integrally with the carrying platform 21, and the faulty aircraft landing on the aircraft assisted vehicle 1 is loaded and checked.
[0045] 6) 当迫降故障飞机稳定着陆在承载平台 21上吋， 操控*** 6对飞机助降车 1的 机车控制*** 14发出制动命令， 机车控制*** 14控制刹车控制器启动制动程序 ， 刹车控制器执行对飞机助降车 1进行减速制动， 飞机助降车 1进入减速制动程 序， 直到完全停止， 故障飞机达到完全降落的目的。  [0045] 6) When the forced landing aircraft is stably landed on the carrying platform 21, the steering system 6 issues a braking command to the locomotive control system 14 of the aircraft assisting vehicle 1, and the locomotive control system 14 controls the braking controller to initiate the braking procedure. The brake controller performs deceleration braking on the aircraft assisted vehicle 1, and the aircraft assisted vehicle 1 enters the deceleration braking program until the vehicle is completely stopped, and the faulty aircraft reaches the goal of complete landing.
[0046] 以上所述仅为本发明的较佳实施方式， 本发明并不局限于上述实施方式， 在实 施过程中可能存在局部微小的结构改动， 如果对本发明的各种改动或变型不脱 离本发明的精神和范围， 且属于本发明的权利要求和等同技术范围之内， 则本 发明也意图包含这些改动和变型。  The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and there may be local minor structural changes during the implementation, and various modifications or variations of the present invention are not departing from the present invention. The spirit and scope of the invention are intended to be included within the scope of the appended claims and the appended claims.

Claims

权利要求书 Claim
[权利要求 1] 一种用于飞机起落架故障的安全助降救援***， 包括用于跟随、 托运 迫降故障飞机的飞机助降车、 以及用于承载故障飞机的迫降平台*** ， 所述迫降平台***设置在飞机助降车上， 其特征在于： 所述飞机助 降车上设置有用于数据处理、 信号接收和控制命令发送的的操控*** ， 以及用于实吋监测故障飞机在迫降吋的飞行信息的定位***， 所述 操控***通过主控电路板与所述飞机助降车的控制单元、 迫降平台系 统的控制单元以及定位***连接， 所述定位***将实吋监测到的故障 飞机飞行信息反馈给所述操控***， 所述操控***根据接收到的故障 飞机飞行信息作出处理， 并控制所述飞机助降车和迫降平台***对迫 降故障飞机进行同步跟随， 进而对故障飞机实施安全助降救援工作。  [Claim 1] A safety assisted rescue system for aircraft landing gear failure, comprising an aircraft assisted vehicle for following, consigning a forced landing aircraft, and a forced landing platform system for carrying a faulty aircraft, said forced landing platform The system is disposed on the aircraft assisted vehicle, and is characterized in that: the aircraft assisting vehicle is provided with a control system for data processing, signal receiving and control command transmission, and is used for realizing monitoring of the faulty aircraft in a forced landing. a positioning system for information, the control system is connected to the control unit of the aircraft assisted vehicle, the control unit of the forced landing platform system, and the positioning system through a main control circuit board, and the positioning system will accurately monitor the faulty aircraft flight information. Feedback to the control system, the control system is processed according to the received faulty aircraft flight information, and controls the aircraft assisted-down vehicle and the forced landing platform system to synchronously follow the forced-falling aircraft, thereby implementing safety assistance for the faulty aircraft. Rescue work.
[权利要求 2] 根据权利要求 1所述的用于飞机起落架故障的安全助降救援***， 其 特征在于： 所述迫降平台***包括承载平台、 防震缓冲层和至少一个 第一电磁吸盘， 所述承载平台设置在飞机助降车的车架上， 所述第一 电磁吸盘和防震缓冲层均设置在承载平台上， 所述第一电磁吸盘上设 有第一传感器， 所述第一传感器和所述第一电磁吸盘均通过主控电路 板与操控***连接。  [Claim 2] The safety assisted rescue system for aircraft landing gear failure according to claim 1, wherein: the forced landing platform system comprises a load bearing platform, a shockproof buffer layer and at least one first electromagnetic chuck, The first electromagnetic chuck and the anti-shock buffer layer are disposed on the carrying platform, and the first electromagnetic chuck is provided with a first sensor, the first sensor and The first electromagnetic chucks are connected to the control system through a main control circuit board.
[权利要求 3] 根据权利要求 2所述的用于飞机起落架故障的安全助降救援***， 其 特征在于： 所述防震缓冲层设有弹性及压力可控的缓冲结构， 用于缓 冲故障飞机着陆吋对承载平台在竖直方向上的冲击力。  [Claim 3] The safety assisted rescue system for aircraft landing gear failure according to claim 2, wherein: the shockproof buffer layer is provided with a resilient and pressure controllable buffer structure for buffering a faulty aircraft. The landing force exerts an impact on the platform in the vertical direction.
[权利要求 4] 根据权利要求 2所述的用于飞机起落架故障的安全助降救援***， 其 特征在于： 所述防震缓冲层采用具有抗冲击性强、 耐磨、 耐热的橡胶 材料制成， 用于增大故障飞机与承载平台在水平方向上的摩擦。  [Claim 4] The safety assisted rescue system for aircraft landing gear failure according to claim 2, wherein: the shockproof buffer layer is made of a rubber material having high impact resistance, wear resistance and heat resistance. In order to increase the friction between the faulty aircraft and the load bearing platform in the horizontal direction.
[权利要求 5] 根据权利要求 1所述的用于飞机起落架故障的安全助降救援***， 其 特征在于： 所述飞机助降车上还设置有升降托盘***， 所述升降托盘 ***包括升降机构、 托盘装置和升降控制***， 所述升降机构呈纵向 设置在飞机助降车上， 所述托盘装置安装在升降机构上， 所述升降控 制***通过主控电路板与控制***连接， 以使得升降机构的升降高度 和升降速度通过控制***进行自适应智能控制， 实现托盘装置对故障 飞机进行可智能控制的升降托举动作。 [Claim 5] The safety assisted rescue system for aircraft landing gear failure according to claim 1, wherein: the aircraft assisted vehicle is further provided with a lifting tray system, and the lifting tray system includes lifting a mechanism, a tray device and a lifting control system, wherein the lifting mechanism is longitudinally disposed on the aircraft assisting vehicle, the tray device is mounted on the lifting mechanism, and the lifting control system is connected to the control system through the main control circuit board, so that Lifting height of lifting mechanism And the lifting speed is adaptively and intelligently controlled by the control system, so that the pallet device can intelligently control the lifting and lifting action of the faulty aircraft.
[权利要求 6] 根据权利要求 5所述的用于飞机起落架故障的安全助降救援***， 其 特征在于： 所述托盘装置采用第二电磁吸盘， 所述第二电磁吸盘上设 有第二传感器， 所述第二传感器和所述第二电磁吸盘均通过主控电路 板与所述操控***连接。  [Claim 6] The safety assisted rescue system for aircraft landing gear failure according to claim 5, wherein: the tray device adopts a second electromagnetic chuck, and the second electromagnetic chuck has a second The sensor, the second sensor and the second electromagnetic chuck are both connected to the control system through a main control circuit board.
[权利要求 7] 根据权利要求 2和 5所述的用于飞机起落架故障的安全助降救援***， 其特征在于： 所述升降机构呈纵向设置在飞机助降车的车架上， 所述 承载平台设置在飞机助降车的车厢顶部， 所述承载平台上幵设有与第 二电磁吸盘形状大小相适配的缺口， 所述安装有托盘装置的升降机构 位于所述缺口的正下方， 以使得托盘装置在下降的过程中可以通过所 述承载平台而容纳于飞机助降车车厢的空腔内。  [Claim 7] The safety assisted rescue system for aircraft landing gear failure according to claims 2 and 5, wherein: the lifting mechanism is longitudinally disposed on a frame of the aircraft assisted vehicle, The carrying platform is disposed on the top of the compartment of the aircraft assisted vehicle, and the carrying platform is provided with a notch corresponding to the shape of the second electromagnetic chuck, and the lifting mechanism with the tray device is located directly below the notch. In order that the tray device can be accommodated in the cavity of the aircraft assisted vehicle compartment through the carrying platform during the lowering process.
[权利要求 8] 根据权利要求 5所述的用于飞机起落架故障的安全助降救援***， 其 特征在于： 所述升降机构包括外缸筒、 多级伸缩式液压缸和驱动机构 ， 所述外缸筒内设置有多级伸缩式液压缸， 所述多级伸缩式液压缸包 括设置在外缸筒内的一级液压缸、 设置在一级液压缸内腔里的二级液 压缸 ......设置在 N级液压缸内腔里的 N+1级液压缸， N为大于 1的整数 [Claim 8] The safety assisted rescue system for aircraft landing gear failure according to claim 5, wherein: the lifting mechanism comprises an outer cylinder, a multi-stage telescopic hydraulic cylinder and a driving mechanism, The outer cylinder is provided with a multi-stage telescopic hydraulic cylinder, and the multi-stage telescopic hydraulic cylinder comprises a first-stage hydraulic cylinder disposed in the outer cylinder, and a secondary hydraulic cylinder disposed in the inner chamber of the first-stage hydraulic cylinder... ...N+1 hydraulic cylinder set in the inner cavity of the N-stage hydraulic cylinder, N is an integer greater than 1.
； 所述驱动机构包括液压泵、 驱动电机及油箱， 所述外缸筒上幵设有 进油孔， 所述驱动电机驱动液压泵， 所述液压泵通过管路与油箱连接 ， 所述油箱通过供油管路与进油孔相连； 所述外缸筒的内壁与一级液 压缸的外壁之间、 一级液压缸的内壁与二级液压缸的外壁之间 ...... N 级液压缸的内壁与 N+1级液压缸的外壁之间均存在过油间隙， 一级液 压缸、 二级液压缸 ...... N+1级液压缸的下部均幵设有位置相对的过油 孔， 各级液压缸的下部均设置有限位键， 外缸筒的上部以及一级、 二 级 ...... N级液压缸的上部均设置有限位槽， 其中， 外缸筒上部设置的 限位槽与一级液压缸下部的限位键相适配， 一级液压缸上部设置的限 位槽与二级液压缸下部的限位键相适配 ...... N级液压缸上部设置的限 位槽与 N+1级液压缸下部的限位键相适配。 The driving mechanism includes a hydraulic pump, a driving motor and a fuel tank, the outer cylinder is provided with an oil inlet hole, the driving motor drives a hydraulic pump, and the hydraulic pump is connected to the oil tank through a pipeline, and the oil tank passes The oil supply line is connected to the oil inlet hole; between the inner wall of the outer cylinder tube and the outer wall of the first stage hydraulic cylinder, between the inner wall of the first stage hydraulic cylinder and the outer wall of the secondary hydraulic cylinder... There is an oil gap between the inner wall of the hydraulic cylinder and the outer wall of the N+1 hydraulic cylinder. The first hydraulic cylinder and the secondary hydraulic cylinder are all located at the lower part of the N+1 hydraulic cylinder. The oil hole, the lower part of each stage hydraulic cylinder is provided with a limit key, the upper part of the outer cylinder tube and the first stage, the second stage... The upper part of the N-class hydraulic cylinder is provided with a limited position groove, wherein the outer cylinder The limit groove provided on the upper part of the cylinder is matched with the limit button of the lower part of the first stage hydraulic cylinder, and the limit groove provided on the upper part of the first stage hydraulic cylinder is matched with the limit button of the lower part of the second stage hydraulic cylinder... The limit groove provided on the upper part of the N-stage hydraulic cylinder is matched with the limit button on the lower part of the N+1 -stage hydraulic cylinder.
[权利要求 9] 根据权利要求 8所述的用于飞机起落架故障的安全助降救援***， 其 特征在于： 所述外缸筒、 一级液压缸、 二级液压缸 ...... N级液压缸的 上部均设置有导向密封防护机构。 [Claim 9] The safety assisted rescue system for aircraft landing gear failure according to claim 8, wherein: the outer cylinder, the first hydraulic cylinder, the secondary hydraulic cylinder... The upper part of the N-stage hydraulic cylinder is provided with a guide seal protection mechanism.
[权利要求 10] 根据权利要求 1所述的用于飞机起落架故障的安全助降救援***， 其 特征在于： 所述飞机助降车包括车轮、 悬挂***、 车架、 车厢、 动力 驱动***、 机车控制***、 速度调节器、 转向控制器以及刹车控制器 ， 所述车轮采用航空轮胎， 所述车轮包括前轮组与后轮组， 所述前轮 组的车轮直径小于后轮组车轮直径； 所述悬挂***采用现有技术的单 片机控制的多工况汽车电控悬架***， 所述悬挂***设置有可调节车 身高度的装置； 所述动力驱动***可以配置一个或者多个发动机， 所 述发动机采用电动马达； 所述动力驱动***、 速度调节器、 转向控制 器以及刹车控制器均与机车控制***连接。  [Claim 10] The safety assisted rescue system for aircraft landing gear failure according to claim 1, wherein: the aircraft assisted vehicle includes a wheel, a suspension system, a frame, a carriage, a power drive system, a locomotive control system, a speed regulator, a steering controller, and a brake controller, wherein the wheel uses an aviation tire, the wheel includes a front wheel set and a rear wheel set, and a wheel diameter of the front wheel set is smaller than a rear wheel set wheel diameter; The suspension system adopts a multi-mode automotive electronically controlled suspension system controlled by a single-chip microcomputer of the prior art, and the suspension system is provided with a device capable of adjusting the height of the vehicle body; the power drive system may be configured with one or more engines, The engine employs an electric motor; the power drive system, the speed regulator, the steering controller, and the brake controller are all coupled to the locomotive control system.
PCT/CN2017/112385 2016-11-23 2017-11-22 Safe aid-landing and rescue system for airplane undercarriage breakdown WO2018095333A1 (en)

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