CN213705819U - Ground receiving and delivering machine vehicle capable of replacing aircraft landing gear - Google Patents

Abstract

The utility model provides a ground of fungible aircraft undercarriage meets and send machine car belongs to the flight machine field. The method specifically comprises the following steps: a lifting groove is formed in the upper surface of the vehicle body, a lifting plate is installed in the groove, and an intercepting hook is fixed to the top of the lifting plate; the bottom of the lifting plate is provided with a compression spring fixed in the groove, the flexible part connected with the lifting plate is driven by a driving motor, the lifting plate is pulled down into the groove by pulling down the flexible part, and the lifting plate is popped out by the spring so as to drive the interception hook to be clamped with and separated from the airplane; after the lifting plate is pulled down, the lifting plate is clamped by a clamp arranged on one side of the groove, and the clamp can horizontally move left and right; a buffer is arranged at the bottom of the vehicle body to buffer the vehicle body; the utility model does not need to assemble the landing gear on the plane, thereby saving a part of weight; the saved weight may also add to the payload of the aircraft, indirectly to the revenue for the airline.

Description

Ground receiving and delivering machine vehicle capable of replacing aircraft landing gear

Technical Field

The utility model relates to an aircraft landing gear design, machine control and computer vision perception field specifically are a ground of fungible aircraft undercarriage meets and send machine car.

Background

The landing gear of the airplane is used as the only part of the airplane contacting with the ground, and plays important roles of parking, sliding, taking off, landing and the like on the ground of the airplane. The landing gear only plays a role in the contact stage of the airplane and the ground, and when the airplane leaves the ground and enters the cruising stage, the landing gear needs to be retracted into a landing gear cabin, and the landing gear does not play any role in the stage, but brings extra load to the airplane. Landing gear, an essential and important subsystem of an aircraft, is a critical component that ensures proper operation of the aircraft, but it also presents negative problems for the aircraft.

The weight is equally divided, the self weight of the landing gear can bring 3-6% of oil consumption to the aircraft, and 3-6% of pollution gas emission can be brought to the aircraft. If this part of the fuel consumption can be saved, a large amount of expenses can be saved for the airline company. Taking southern airlines in china as an example, according to statistics in 2017, the oil cost of southern airlines all year around is 319 hundred million, accounting for 28.56% of the total cost. Roughly calculating, wherein the oil consumption cost caused by the self weight of the landing gear is about 9.57-19.54 billion. The landing gear also requires regular maintenance, with the same non-negligible expense.

Safety is also one of the important indicators in measuring landing gear systems. Statistically, 30% of aircraft crashes are caused by landing gear failure. Redundancy design is carried out on an undercarriage retraction system, a brake system, a turning system and the like, and a considerable part of resources are occupied in an airplane comprehensive control system. Due to the singular shape of the landing gear, great aerodynamic noise is also brought about during the takeoff and landing phases of the airplane.

In summary, in the present stage, the landing gear is integrated on the body of the aircraft as one of the self-contained subsystems of the aircraft, which not only maintains the normal navigation of the aircraft, but also brings negative problems of economy, environmental protection, safety and the like to the aircraft. How to develop a landing gear which is safer, more reliable, lighter, more convenient and more sound-reducing and noise-reducing is a main research direction for the design and development of the landing gear.

SUMMERY OF THE UTILITY MODEL

In order to realize functions such as aircraft ground parking, slide, take off and landing, solve negative problems such as power consumption, periodic maintenance expense loss that traditional undercarriage brought simultaneously, the utility model provides a machine car is met and sent off on ground of fungible aircraft undercarriage.

The ground pick-up robot vehicle comprises: the device comprises a vehicle body, a lifting plate, an interception hook, a lifting compression spring, a lifting driving motor, a lifting plate clamp, a sensor, a buffer, a chassis and wheels.

The upper surface of the body of the ground receiving and sending machine vehicle is an elliptical concave surface and is attached to the bottom of the body of the target airplane; four lifting mechanism grooves and a sensor groove are arranged on the oval concave surface;

the four lifting mechanism grooves are divided into two groups and are respectively symmetrically arranged at the front end and the rear end of the concave surface; each lifting mechanism groove is internally provided with a lifting plate, and a pair of interception hooks are fixedly arranged on the lifting plates; a pair of lifting compression springs are fixed at the bottom of each lifting plate and are arranged in the grooves of the lifting mechanism; meanwhile, a pair of lifting driving motors is fixed at the bottom of the groove of each lifting mechanism and used for driving a flexible component connected with the lifting plate; the lifting driving motor pulls the lifting plate back to the bottom of the groove of the lifting mechanism through the recovery flexible part; the lifting of the lifting plate is realized through the elasticity of the lifting compression spring.

And a clamp clamping groove is formed in one side of the groove of the lifting mechanism and used for installing a pair of clamp guide rails, two ends of the lifting plate clamp are clamped on the clamp guide rails respectively and are horizontally moved to the lifting plate along the clamp guide rails to clamp the lifting plate, and then the lifting plate is limited to move up and down.

The sensor groove is positioned behind the front end lifting mechanism groove, an ultrasonic distance sensor is arranged at the center position in the groove, and two radar vision sensors are symmetrically arranged on two sides of the ultrasonic distance sensor;

the bottom of the elliptic concave surface of the vehicle body is fixed with the chassis through four buffers, and each buffer comprises a buffer strut and a buffer piston rod movably connected with the buffer strut; the buffer strut is connected with the bottom of the elliptic concave surface, and a buffer piston rod is connected with the chassis; the wheel shaft and the wheels are fixed on the front and the back of the chassis.

Compared with the prior art, the utility model, following advantage has:

(1) the utility model relates to a ground receiving and delivering machine vehicle which can replace an aircraft landing gear, which saves fuel consumption and cost for airliners; after the aircraft is picked up and sent by the mechanical vehicle, the landing gear does not need to be assembled on the aircraft, so that a considerable part of weight is saved; the saved weight may also add to the payload of the aircraft, indirectly to the revenue for the airline.

(2) The utility model relates to a ground receiving and delivering machine vehicle which can replace an aircraft landing gear, and reduces the emission of polluting gas; the traditional airplane ground running mode is that a main engine of an airplane is used for driving, and the main engine of the airplane burns fuel oil, can discharge pollutant gases such as CO, NOx, HC and the like, and is harmful to the environment; and when the aircraft slides on the taxiway at a low speed, more pollutant gas is discharged, and the local receiving and delivering machine vehicle can use clean energy, so that the consumption of fuel oil is reduced, and the emission of the pollutant gas is reduced.

Drawings

FIG. 1 is an axial view of the lift plate of the ground pick-up truck of the present invention in a lowered position;

fig. 2 is an exploded axial view of the ground pick-up vehicle of the present invention;

fig. 3 is an exploded front view of the ground pick-up vehicle of the present invention;

fig. 4 is an exploded right side view of the ground pick-up vehicle of the present invention;

FIG. 5 is a front view of the lift plate of the ground pick-up truck of the present invention in a lowered position;

FIG. 6 is a right side view of the lifting plate of the ground pick-up robot of the present invention in a lowered position;

FIG. 7 is a top view of the lift plate of the ground pick-up truck of the present invention in a lowered position;

FIG. 8 is a bottom view of the lift plate of the ground pick-up truck of the present invention in a lowered position;

fig. 9 is a perspective view of the lifting plate of the ground pick-up robot of the present invention in a raised state.

In the figure:

1-a vehicle body; 2-lifting plate; 3-intercepting hook; 4-lifter plate fixture; 5-a first ultrasonic distance sensor; 6-a first radar vision sensor; 7-a second radar vision sensor; 8-a second ultrasonic distance sensor; 9-a third radar vision sensor; 10-a wheel; 11-a bumper post; 12-a damper piston rod; 13-a chassis; 14-an axle; 15-fixture guide rails; 16-a lifting compression spring; 17-a brake device; 18-vehicle cabin; 19-a clamp slot; and 20, a lifting driving motor.

Detailed Description

To facilitate understanding and practicing the invention for those skilled in the art, the invention is described in further detail and with reference to the accompanying drawings.

The utility model relates to a ground of fungible aircraft undercarriage meets and send machine vehicle, as shown in figure 1 and figure 2, include: the device comprises a vehicle body 1, a lifting plate 2, an intercepting hook 3, a lifting plate clamp 4, a first ultrasonic distance sensor 5, a first radar vision sensor 6, a second radar vision sensor 7, a second ultrasonic distance sensor 8, a third radar vision sensor 9, a wheel 10, a buffer support column 11, a buffer piston rod 12, a chassis 13, a wheel shaft 14, a clamp guide rail 15, a lifting compression spring 16, a brake device 17, a vehicle cabin 18, a clamp clamping groove 19 and a lifting driving motor 20.

Wherein the damper strut 11 and the damper piston rod 12 constitute a damper.

The whole body 1 of the ground receiving and conveying machine vehicle is a cuboid which is symmetrically designed in the front and back direction, the upper surface of the cuboid is an elliptical concave surface which can be attached to the bottom of a target aircraft body, and the elliptical concave surface is designed to be high in the front and low in the back and can provide a certain takeoff elevation angle for the aircraft.

Five grooves are arranged on the elliptic concave surface of the vehicle body 1, namely four large lifting mechanism grooves and a small sensor groove. Each lifting mechanism groove is symmetrical along the length direction of the concave surface, the four lifting mechanism grooves are divided into two groups, and one group is respectively arranged at the front end and the rear end of the elliptic concave surface; each lifting mechanism groove is internally provided with a lifting plate 2, the lifting plate 2 and the bottom of the lifting mechanism groove have the same size, and a pair of intercepting hooks 3 are fixedly arranged on the lifting plate 2.

Further, the interception hook 3 is an arch-shaped body with a semicircular gap, the gap is upward, and the bottom surface is fixed on the lifting plate 2; the gap is connected with the captured device of the target airplane in a clamping manner, so that fixation is realized.

As shown in fig. 2, a pair of lifting compression springs 16 are fixed at the bottom of each lifting plate 2 and are arranged in the lifting mechanism groove; meanwhile, a pair of lifting driving motors 20 are fixed at the bottom of the groove of the lifting mechanism and used for driving a flexible component connected with the lifting plate 2.

The method specifically comprises the following steps: each lifting driving motor 20 is respectively connected with a flexible part, one end of each flexible part is connected with an opening at the bottom of the lifting plate 2, the other end of each flexible part is fixed on a rotating shaft of the lifting driving motor 20, all the lifting driving motors 20 work simultaneously to synchronously recover the flexible parts, so that the lifting plates 2 are driven to descend simultaneously and are recovered into a groove of the lifter; at the same time, the lifting of the lifting plate 2 is achieved by the lifting compression spring 16.

The flexible member may be a rope, wire or chain;

and a clamp clamping groove 19 is formed in one side of the groove of the lifting mechanism, a pair of clamp guide rails 15 are installed in the clamp clamping groove, two ends of the lifting plate clamp 4 are clamped on the clamp guide rails 15 respectively, and when the lifting plate 2 descends into the groove of the lifting machine, the lifting plate clamp 4 extends out of the lifting plate 2 along the clamp guide rails 15 to clamp the lifting plate 2, so that the lifting plate 2 is limited to move up and down.

The sensor groove is located behind the front end lifting mechanism groove, a first ultrasonic distance sensor 5 and two first radar vision sensors 6 which are bilaterally symmetrical to the first ultrasonic distance sensor 5 are arranged in the sensor groove at the center, and the first ultrasonic distance sensor 5 and the first radar vision sensors 6 are respectively used for detecting the height of the target aircraft relative to the oval concave surface and the position of a captured device corresponding to the intercepting hook 3. Two second radar vision sensors 7 and a second ultrasonic distance sensor 8 are respectively arranged at the front end and the rear end of the vehicle body 1 and used for detecting and capturing the position of the target aircraft. The left and right sides of the vehicle body 1 are respectively provided with two third radar vision sensors 9 for detecting the road condition information around the vehicle body 1.

As shown in fig. 3, the bottom of the elliptical concave surface of the vehicle body 1 is fixed with the chassis 13 through four symmetrically placed buffers, and the four buffers are grouped in pairs and evenly distributed above the four wheels 10 of the vehicle body; each buffer comprises a buffer support 11 and a buffer piston rod 12 movably connected with the buffer support, the buffer plays a main role in shock absorption and buffering, the buffer support 11 is connected with the bottom of the elliptic concave surface, and the buffer piston rod 12 is connected with the chassis 13. Two wheel shafts 14 are fixed at the front and the rear of the chassis 13, and each wheel shaft is respectively connected with two wheels 10; the chassis 13 is assembled with four wheels 10 by means of two axles 14 fixed back and forth. The wheel 10 also takes over a part of the shock absorption and cushioning effect and is provided with a brake device 17 on the inner side thereof to provide a braking function for the machine vehicle.

An integrated power device is packaged in the chassis 13 to drive the ground receiving and conveying machine vehicle to slide, turn and brake.

As shown in fig. 4, a cabin 18 is provided at the bottom of the elliptical concave surface of the vehicle body 1, and an integrated control device is packaged in the cabin 18 to control the opening of each sensor for detection, and drive the lifting drive motor 20 and the extension and contraction of the lifting plate fixture 4.

As shown in fig. 5 to 9, when the target aircraft lands, the ground pick-up vehicle works as follows:

firstly, when a airport tower receives pre-landing information of a target airplane, the tower sends an instruction to start an integrated power device and drive a ground receiving and conveying machine vehicle to start to move;

the integrated control device firstly starts a third radar vision sensor, continuously detects road condition and surrounding environment information, feeds the detected information back to the integrated control device in real time, controls the ground pick-up and delivery machine vehicle by the integrated control device, drives to a specified airport runway position according to a preset track route, and waits for a target airplane to land;

after the target airplane reaches a preset position, the integrated control device starts a second radar vision sensor and a second ultrasonic distance sensor to continuously detect the target airplane; and sending an instruction to the integrated power device until the feedback information is received, and controlling the ground pick-up and delivery machine vehicle to adjust the self pose.

When the target airplane descends to a designated height, the ground receiving and sending robot vehicle starts to run at the same speed as the target airplane and the pose is finely adjusted continuously; meanwhile, the integrated control device starts the first ultrasonic distance sensor and the first radar vision sensor to detect the height of the target aircraft relative to the elliptic concave surface of the vehicle body and the position of the captured device corresponding to the intercepting hook in real time.

When the height of the target airplane is lowered to the height which can be captured by the intercepting hook, and the ground receiving and sending robot car detects the captured device on the target airplane, the integrated control device controls the four lifting plate clamps to horizontally retract; and under the elastic force action of the lifting compression springs, the four lifting plates are simultaneously and rapidly lifted from the grooves of the lifting mechanism to drive the interception hooks to be clamped with the captured device at the bottom of the target airplane to complete capture, the ground receiving and conveying machine car closes the integrated power device, and the loaded target airplane slides to a specified position to successfully realize airplane landing.

When the target aircraft takes off, the ground receiving and sending machine vehicle works as follows:

firstly, an airport tower transmits a take-off instruction of a target airplane, and a ground receiving and delivering machine vehicle bearing the target airplane is driven to move by an integrated power device;

the integrated control device firstly starts a third radar vision sensor, continuously detects road condition and surrounding environment information, feeds the detected information back to the integrated control device in real time, controls the ground transfer machine vehicle to carry a target airplane, drives to a starting point of a specified airport runway according to a preset track route, and waits for the target airplane to run and take off;

after the target airplane reaches a preset position, starting a main engine to start accelerated running, when the running speed is about to reach a take-off speed, controlling a lifting driving motor to work by an integrated control device, pulling a lifting plate to descend through a flexible part, driving an interception hook to be separated from a captured device of the target airplane, hiding the interception hook in a groove of a lifting mechanism, and stretching the target airplane to take off; meanwhile, the integrated control device controls the four lifting plate clamps to horizontally extend out of the clamp clamping grooves to clamp the lifting plates to prevent the lifting plates from bouncing;

the ground receiving and delivering machine vehicle is braked and decelerated to a certain speed, and the integrated power device is started to drive the machine vehicle to slide to a specified position, so that the takeoff process of the airplane is realized.

Ground pick-up and delivery machine car possess following function:

1) the function of supporting the running: the ground receiving and delivering machine vehicle can support the target airplane to run on the ground after grabbing the target airplane, a traditional undercarriage is not needed, and the ground receiving and delivering machine vehicle can realize the function of running and turning by means of differential rotation of wheels.

2) Buffering shock-absorbing function: the ground receiving and delivering machine vehicle realizes the buffer shock absorption when the target aircraft lands and contacts the ground by means of a buffer consisting of wheels, a buffer strut and a buffer piston rod. With reference to conventional landing gears, the bumpers may be of different kinds: mechanical spring type, oil liquid type, oil gas type, and the like. The buffer takes up the vast majority of the buffering energy. The aeronautical tire is used as the wheel, and when the tire deforms, a part of buffering energy can be absorbed.

3) The active navigation function: the integrated control device on the ground receiving and conveying machine vehicle can be controlled to run according to a preset track, and meanwhile, the track inspection is realized by the aid of the third radar vision sensor, and the travelling route is accurately controlled.

4) The active seeking function: the second radar vision sensor and the second ultrasonic distance sensor 8 on the ground pick-up and delivery machine vehicle can detect and capture the position of the target airplane, and when the attitude position of the target airplane changes, the ground pick-up and delivery machine vehicle can make corresponding attitude and position adjustment in time.

5) Active capture and detach function: when the target airplane is about to land, the lifting plate fixture horizontally moves relative to the fixture guide rail and is retracted into the fixture clamping groove, the lifting compression spring in the maximum compression state drives the lifting plate to quickly lift, the interception hook is combined with the bottom of the body of the target airplane correspondingly by the capture device and locked, and the target airplane is successfully captured; when the target aircraft is about to take off, the lifting driving motor works, the flexible component connected with the bottom of the lifting plate is recovered, the lifting plate is pulled down, the interception hook naturally descends and is separated from the corresponding interception device at the bottom of the body of the target aircraft, the target aircraft successfully breaks away from the target aircraft, and the target aircraft can not be interfered when taking off normally. The lifting plate descends to the bottommost position, and the lifting plate clamping device extends out of the clamping groove of the clamping device to clamp the lifting plate.

Claims (8)

1. A ground-engaging robotic vehicle that can replace an aircraft landing gear, comprising: the device comprises a vehicle body, a lifting plate, an interception hook, a lifting compression spring, a lifting driving motor, a lifting plate clamp, a sensor, a buffer, a chassis and wheels;

the upper surface of the body of the ground receiving and sending machine vehicle is an elliptical concave surface and is attached to the bottom of the body of the target airplane; four lifting mechanism grooves and a sensor groove are arranged on the oval concave surface;

the four lifting mechanism grooves are divided into two groups and are respectively symmetrically arranged at the front end and the rear end of the concave surface; each lifting mechanism groove is internally provided with a lifting plate, and a pair of interception hooks are fixedly arranged on the lifting plates; a pair of lifting compression springs are fixed at the bottom of each lifting plate and are arranged in the grooves of the lifting mechanism; meanwhile, a pair of lifting driving motors is fixed at the bottom of the groove of each lifting mechanism and used for driving a flexible component connected with the lifting plate; the lifting driving motor pulls the lifting plate back to the bottom of the groove of the lifting mechanism through the recovery flexible part; the lifting of the lifting plate is realized through the elasticity of the lifting compression spring;

a clamp clamping groove is formed in one side of the groove of the lifting mechanism and used for installing a pair of clamp guide rails, two ends of the lifting plate clamp are clamped on the clamp guide rails respectively and are translated to the lifting plate along the clamp guide rails to clamp the lifting plate, and therefore the lifting plate is limited to move up and down;

the sensor groove is positioned behind the front end lifting mechanism groove, an ultrasonic distance sensor is arranged at the center position in the groove, and two radar vision sensors are symmetrically arranged on two sides of the ultrasonic distance sensor;

the bottom of the elliptic concave surface of the vehicle body is fixed with the chassis through four buffers, and each buffer comprises a buffer strut and a buffer piston rod movably connected with the buffer strut; the buffer strut is connected with the bottom of the elliptic concave surface, and a buffer piston rod is connected with the chassis; the wheel shaft and the wheels are fixed on the front and the back of the chassis.

2. The ground-based pick-up and delivery vehicle as claimed in claim 1, wherein the elliptical concave surface has a high front and a low rear to provide a take-off elevation for a target aircraft.

3. A ground-based pick-up trolley according to claim 1, characterised in that the catch hook is an arch with a semicircular notch, the notch facing upwards and the bottom being fixed to the lifting plate.

4. A ground-based pick-up and delivery vehicle as claimed in claim 1, wherein each lift drive motor is connected to a respective flexible member, one end of each flexible member being connected to an aperture in the bottom of the lift plate, the other end of each flexible member being secured to the shaft of the respective lift drive motor.

5. A ground-engaging robotic vehicle in the alternative to an aircraft landing gear according to claim 1, wherein said flexible member is a cable, wire or chain.

6. The ground pick-up robot vehicle capable of replacing an aircraft landing gear according to claim 1, wherein the front end and the rear end of the vehicle body are respectively provided with two radar vision sensors and one ultrasonic distance sensor, and the left end and the right end of the vehicle body are respectively provided with two radar vision sensors.

7. A ground-engaging vehicle in the alternative to an aircraft landing gear according to claim 1, wherein the chassis houses an integrated power unit for driving taxiing turns and brakes of the ground-engaging vehicle.

8. A ground pick-up and delivery robot car capable of replacing an aircraft landing gear according to claim 1, wherein a car cabin is arranged at the bottom of the elliptic concave surface of the car body, and an integrated control device is packaged in the car cabin and used for controlling and opening various sensors to detect and drive the lifting drive motor and the lifting plate clamp to extend and retract.

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