CN117944876B - Active and passive self-adaptive landing gear of carrier-based helicopter and application method thereof - Google Patents

Abstract

The present invention belongs to the technical field of helicopter landing gear, and specifically relates to an active and passive adaptive landing gear for shipborne helicopters and a method for using the same. The technical scheme is as follows: it includes a frame, two active legs, a passive leg, a gyroscope and three laser rangefinders, wherein the two active legs are symmetrically arranged on both sides of the front of the frame, and the passive leg is arranged at the rear of the frame; wherein the two laser rangefinders are symmetrically arranged on both sides of the front of the frame, and the other laser rangefinder is arranged at the rear of the frame; and the gyroscope is arranged in the middle of the frame. The present invention collects the attitude information of the ship deck and the helicopter fuselage, controls the motor to change the attitude of the active leg to actively adapt to the continuous changes in the pitch angle and roll angle of the ship deck, and at the same time, the passive leg can be passively adjusted according to the attitude of the deck plane to adapt to the continuous changes in the roll angle of the ship deck, so that the shipborne helicopter body remains level during landing and mooring to the ship deck.

Description

Active and passive adaptive landing gear for shipborne helicopter and use method thereof

Technical Field

The invention belongs to the technical field of helicopter landing gears, and in particular relates to an active and passive adaptive landing gear for a shipborne helicopter and a use method thereof.

Background technique

The sea surface conditions are complex and diverse, resulting in the constant changes in the pitch and roll angles of the ship's deck plane, which greatly reduces the safety and stability of the ship-borne helicopter during landing and mooring. Traditional helicopter landing gear is mainly divided into two categories: skid-type landing gear and wheeled landing gear. The most common landing gear is the skid-type landing gear, which has the advantages of simple design, light structure, and easy maintenance. At the same time, for large and heavy-load helicopters, wheeled landing gear is relatively more practical and convenient. However, due to the fixed structure of the above two types of landing gear, they cannot be actively adjusted in real time according to the landing terrain and environment, resulting in high requirements for the take-off and landing site for these two types of landing gear. They cannot be used on ship decks with constantly changing pitch and roll angles, and can only be used on relatively flat land and ship decks with less shaking.

Summary of the invention

The present invention provides an active and passive adaptive landing gear for a shipborne helicopter and a method for using the same. The gear collects attitude information of a ship deck and a helicopter fuselage, controls a motor to change the attitude of an active leg so as to actively adapt to the continuously changing pitch angle and roll angle of the ship deck, and at the same time, the passive leg can be passively adjusted according to the attitude of the deck plane so as to adapt to the continuously changing roll angle of the ship deck, thereby keeping the body of the shipborne helicopter level during landing and mooring to the ship deck.

The technical solution of the present invention is as follows:

An active and passive adaptive landing gear for a shipborne helicopter comprises a frame, two active legs, a passive leg, a gyroscope and three laser rangefinders, wherein the two active legs are symmetrically arranged on both sides of the front of the frame, and the passive leg is arranged at the rear of the frame; wherein the two laser rangefinders are symmetrically arranged on both sides of the front of the frame, and another laser rangefinder is arranged at the rear of the frame; and the gyroscope is arranged in the middle of the frame.

Furthermore, in the active and passive adaptive landing gear of the shipborne helicopter, the active leg includes a motor screw slide, a slide fixing plate, a swing arm hinge, an upper swing arm, a lower swing arm, a leg shock absorber, a slider connecting hinge and a ground foot. The motor screw slide is fastened to the frame through the slide fixing plate, the swing arm hinge is fastened to the frame, the two ends of the upper swing arm and the lower swing arm are respectively hinged to the swing arm hinge and the ground foot through bearings, one end of the leg shock absorber is hinged to the upper swing arm through a bearing, and the other end is hinged to the slider connecting hinge through a bearing, and the slider connecting hinge is fastened to the slider of the motor screw slide.

Furthermore, the active and passive adaptive landing gear of the shipborne helicopter, the landing foot includes a foot bracket, a foot rocker arm, a foot hinge, a caster and a foot shock absorber, one side of the foot bracket is hinged to the upper swing arm and the lower swing arm through a bearing, and the other side is hinged to one end of the foot rocker arm through a bearing, the other end of the foot rocker arm is hinged to the foot hinge through a bearing, the caster is hinged to the foot hinge through a bearing, one end of the foot shock absorber is hinged to the foot bracket through a bearing, and the other end is hinged to the foot hinge through a bearing.

Furthermore, in the active and passive adaptive landing gear of the shipborne helicopter, there are a total of 6 slide fixing plates, and each active leg is fastened to the frame through 3 slide fixing plates.

Furthermore, in the active and passive adaptive landing gear of the shipborne helicopter, the passive leg comprises a support, a body hinge, a connecting rod, a left buffer, a left swing arm, a left rear foot seat steel pipe, a left ball head support foot, a right buffer, a right swing arm, a right rear foot seat steel pipe and a right ball head support foot, the support and the body hinge are tightly connected to the frame, and the middle part of the connecting rod is hinged to the body hinge through a bearing; one end of the left swing arm is hinged to the left side of the support through a bearing, and the other end of the left swing arm is tightly connected to the left rear foot seat steel pipe, and a left ball head support foot is arranged under the left rear foot seat steel pipe; one end of the right swing arm is hinged to the right side of the support through a bearing, and the other end of the right swing arm is tightly connected to the right rear foot seat steel pipe, and a right ball head support foot is arranged under the right rear foot seat steel pipe; one end of the left buffer is hinged to the left end of the body hinge through a bearing, and the other end is hinged to the left swing arm through a bearing, and one end of the right buffer is hinged to the right end of the body hinge through a bearing, and the other end is hinged to the right swing arm through a bearing.

Furthermore, the active and passive adaptive landing gear of the shipborne helicopter, the left buffer, the left swing arm, the left rear foot seat steel pipe, the left ball head support foot and the right buffer, the right swing arm, the right rear foot seat steel pipe, the right ball head support foot are symmetrically arranged about the middle plane of the frame.

Furthermore, in the active and passive adaptive landing gear of the shipborne helicopter, the gyroscope and the laser rangefinder transmit data to a host computer, and the host computer controls the motor of the motor screw slide to execute an action through a slave computer.

The method of using the above-mentioned active and passive adaptive landing gear of the shipborne helicopter includes the following methods:

Step 1: When the shipborne helicopter lands on the ship deck, three laser rangefinders detect three measuring points on the ship deck, obtain the distances in the vertical direction between the three laser rangefinders and the three measuring points, and upload the measurement information to the host computer; the host computer calculates the pitch angle and roll angle of the ship deck plane, derives the angle that the active leg needs to be adjusted, and sends it to the slave computer to control the motor rotation of the motor screw slide to complete the adjustment of the active leg posture; during the landing of the shipborne helicopter on the ship deck, this step is continuously executed until the distance measured by the laser rangefinder exceeds the threshold;

Step 2, when the shipborne helicopter is moored to the ship deck, the pitch and roll angle changes of the shipborne helicopter fuselage are detected by the gyroscope. During the gyroscope detection process, the shipborne helicopter and its landing gear are regarded as rigid bodies. At this time, the change values of the pitch and roll angles of the shipborne helicopter fuselage are the change values of the pitch and roll angles of the ship deck plane; the gyroscope uploads the information of the pitch and roll angle changes to the upper computer, and the upper computer derives the angle that the active leg needs to be adjusted, and sends it to the lower computer to control the rotation of the motor of the motor screw slide to complete the adjustment of the active leg posture, so that the fuselage of the shipborne helicopter is always kept horizontal during the process of being moored to the ship deck; during the process of the shipborne helicopter being moored to the ship deck, this step is continuously executed until the shipborne helicopter leaves the ship deck.

Furthermore, in the method of using the active and passive adaptive landing gear of the shipborne helicopter, the posture of the passive leg is completely dependent on the roll angle of the ship deck, and when the roll angle of the ship deck is determined, the posture of the passive leg is determined.

The beneficial effects of the present invention are:

1. The present invention can realize the landing and mooring of a shipboard helicopter on a ship deck in complex sea conditions, and can adjust the posture of the active legs of the landing gear in real time according to the pitch angle and roll angle of the ship deck to adapt to the current ship deck, thereby maintaining the balance of the shipboard helicopter during the landing and mooring process of the ship deck.

2. The present invention adopts a multi-stage buffer, which can effectively reduce the impact and vibration of a shipborne helicopter during landing on a ship deck.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 is a schematic diagram of the active and passive adaptive landing gear of a shipborne helicopter;

Fig. 2 is a schematic diagram of a framework;

Figure 3 is a schematic diagram of the active leg;

Figure 4 is a schematic diagram of the foot landing;

Figure 5 is a schematic diagram of the passive leg.

Detailed ways

As shown in Figures 1-5, an active and passive adaptive landing gear for a shipborne helicopter includes a frame 1, two active legs 2, a passive leg 3, a gyroscope 5 and three laser rangefinders 4, wherein the two active legs 2 are symmetrically arranged on both sides of the front of the frame 1, and the passive leg 3 is arranged at the rear of the frame 1; wherein two laser rangefinders 4 are symmetrically arranged on both sides of the front of the frame 1, and another laser rangefinder 4 is arranged at the rear of the frame 1; the gyroscope 5 is arranged in the middle of the frame 1, and can accurately measure the current pitch angle and roll angle of the shipborne helicopter body.

The active leg 2 includes a motor screw slide 7, a slide fixing plate 6, a swing arm hinge 8, an upper swing arm 9, a lower swing arm 10, a leg shock absorber 12, a slider connecting hinge 11 and a ground foot 13. The motor screw slide 7 is fastened to the frame 1 through the slide fixing plate 6, the swing arm hinge 8 is fastened to the frame 1, the two ends of the upper swing arm 9 and the lower swing arm 10 are respectively hinged to the swing arm hinge 8 and the ground foot 13 through bearings, one end of the leg shock absorber 12 is hinged to the upper swing arm 9 through a bearing, and the other end is hinged to the slider connecting hinge 11 through a bearing, and the slider connecting hinge 11 is fastened to the slider of the motor screw slide 7; the leg shock absorber 12 is used to buffer the reaction force generated by the ground foot 13 on the active leg 2 during the landing or mooring of the ship-borne helicopter, thereby improving the safety and stability of the landing gear.

The landing foot 13 includes a foot support 14, a foot rocker arm 15, a foot hinge 16, a caster 18 and a foot shock absorber 17. One side of the foot support 14 is hinged to the upper swing arm 9 and the lower swing arm 10 through a bearing, and the other side is hinged to one end of the foot rocker arm 15 through a bearing. The other end of the foot rocker arm 15 is hinged to the foot hinge 16 through a bearing. The caster 18 is hinged to the foot hinge 16 through a bearing. One end of the foot shock absorber 17 is hinged to the foot support 14 through a bearing, and the other end is hinged to the foot hinge 16 through a bearing. There are 6 slide fixing plates 6 in total, and each active leg 2 is fastened to the frame 1 through 3 slide fixing plates 6; the foot shock absorber 17 can buffer the reaction force on the caster 18 during the landing or mooring process of the ship-borne helicopter. The caster 18 is hinged to the foot hinge 16 to facilitate the movement of the landing gear.

The passive leg 3 includes a support 19, a body hinge 20, a connecting rod 21, a left buffer 25, a left swing arm 22, a left rear foot seat steel pipe 23, a left ball head support foot 24, a right buffer 29, a right swing arm 26, a right rear foot seat steel pipe 27 and a right ball head support foot 28. The support 19 and the body hinge 20 are fastened to the frame 1, and the middle part of the connecting rod 21 is hinged to the body hinge 20 through a bearing; one end of the left swing arm 22 is hinged to the left side of the support 19 through a bearing, and the other end of the left swing arm 22 is fastened to the left rear foot seat steel pipe 23, and a left ball head support foot 24 is provided under the left rear foot seat steel pipe 23; one end of the right swing arm 26 is hinged to the support The right side of 19 is hinged by a bearing, the other end of the right swing arm 26 is tightly connected to the right rear foot seat steel pipe 27, and a right ball head support foot 28 is arranged under the right rear foot seat steel pipe 27; one end of the left buffer 25 is hinged to the left end of the body hinge 20 by a bearing, and the other end is hinged to the left swing arm 22 by a bearing, one end of the right buffer 29 is hinged to the right end of the body hinge 20 by a bearing, and the other end is hinged to the right swing arm 26 by a bearing; the left buffer 25, the left swing arm 22, the left rear foot seat steel pipe 23, the left ball head support foot 24 and the right buffer 29, the right swing arm 26, the right rear foot seat steel pipe 27, and the right ball head support foot 28 are symmetrically arranged about the middle surface of the frame 1.

The gyroscope 5 and the laser rangefinder 4 transmit data to the upper computer, and the upper computer controls the motor of the motor screw slide 7 to perform actions through the lower computer.

In order to ensure that the shipborne helicopter maintains a horizontal state during the landing and mooring deck process, the postures of the active leg 2 and the passive leg 3 can be adjusted so that the plane formed by the four lowest points of the two landing feet 13, the left ball head support foot 24 and the right ball head support foot 28 are consistent with the pitch angle and roll angle of the plane of the landing and mooring deck of the shipborne helicopter, thereby making the body of the shipborne helicopter level (the pitch angle and roll angle measured by the gyroscope 5 are both 0°).

The frame 1 is composed of aluminum profiles, die-cast angle aluminum, connecting plates, T-nuts, bolts, etc.; since the frame 1 is directly and firmly connected to the body of the shipborne helicopter, the pitch angle and roll angle of the frame 1 are consistent with the pitch angle and roll angle of the body of the shipborne helicopter.

The degree of freedom of the active leg 2 is 1. When the motor of the motor screw slide 7 rotates to drive the slider of the motor screw slide 7 to move, the upper swing arm 9, the lower swing arm 10, and the leg shock absorber 12 have a unique movement corresponding to it; therefore, the posture of the active leg 2 can be controlled by controlling the rotation of the motor.

The degree of freedom of the grounding foot 13 is 0. The grounding foot 13 depends on the position of the foot support 14. When the positions of the upper swing arm 9 and the lower swing arm 10 are constant, and the pitch angle and roll angle of the ship deck are constant, the posture of the grounding foot 13 is constant.

The method of using the above-mentioned active and passive adaptive landing gear of the shipborne helicopter includes the following methods:

Step 1: When the shipborne helicopter lands on the ship deck, three laser rangefinders 4 detect three measuring points on the ship deck, obtain the distances in the vertical direction between the three laser rangefinders 4 and the three measuring points, and upload the measurement information to the host computer; the host computer calculates the pitch angle and roll angle of the ship deck plane, derives the angle that the active leg 2 needs to be adjusted, and sends it to the slave computer to control the motor rotation of the motor screw slide 7 to complete the adjustment of the active leg 2 posture; during the landing of the shipborne helicopter on the ship deck, this step is continuously executed until the distance measured by the laser rangefinder 4 exceeds the threshold;

Step 2, when the shipborne helicopter is moored to the ship deck, the pitch angle and roll angle changes of the shipborne helicopter fuselage are detected by the gyroscope 5. During the detection process of the gyroscope 5, the shipborne helicopter and its landing gear are regarded as rigid bodies. At this time, the change values of the pitch angle and roll angle of the shipborne helicopter fuselage are the change values of the pitch angle and roll angle of the ship deck plane; the gyroscope 5 uploads the information of the pitch angle and roll angle change to the upper computer, and the upper computer derives the angle that the active leg 2 needs to be adjusted, and sends it to the lower computer to control the motor rotation of the motor screw slide 7 to complete the adjustment of the posture of the active leg 2, so that the fuselage of the shipborne helicopter is always kept horizontal during the process of being moored to the ship deck; during the process of the shipborne helicopter being moored to the ship deck, this step is continuously executed until the shipborne helicopter leaves the ship deck.

The posture of the passive leg 3 is completely dependent on the roll angle of the ship deck. When the roll angle of the ship deck is determined, the posture of the passive leg 3 is determined.

According to the principle of mathematical geometry, a three-dimensional model of the ship deck plane under the landing gear coordinate system is established, and then the pitch angle and roll angle of the ship deck plane are obtained. The pitch angle and roll angle of the ship deck plane are the pitch angle and roll angle that the landing gear support plane (the center of the two active legs 2, the center of the line connecting the coupled passive legs 3, and the plane formed by three points) needs to achieve. Then, according to the mathematical geometric relationship, the ideal posture that the two active legs 2 centers need to achieve is calculated. Then, according to the formula established by the landing gear mechanical structure, the position that the active leg 2 needs to be in under the control of the slider and the lead screw of the motor lead screw slide 7 is deduced, that is, the angle that the slider and the lead screw of the motor lead screw slide 7 need to be displaced is obtained, and the angle that the motor needs to rotate is deduced accordingly. After that, according to the angle that the motor needs to rotate, the number of pulses that need to be input to the motor is obtained. After completing the calculation of the number of pulses, the program modification is automatically completed, and the program is sent to the lower computer, so as to realize the adjustment of the position of the active leg 2, and finally complete the entire closed-loop control. Due to many complex environmental conditions on the sea, the ship's deck attitude keeps changing before the ship-borne helicopter completes landing. The landing gear attitude needs to be modified in real time to continuously adapt to the changes in the deck attitude until the ship-borne helicopter completes landing.

Claims (7)

1. An active and passive adaptive landing gear for a shipborne helicopter, characterized in that it comprises a frame, two active legs, a passive leg, a gyroscope and three laser rangefinders, wherein the two active legs are symmetrically arranged on both sides of the front of the frame, and the passive leg is arranged at the rear of the frame; wherein the two laser rangefinders are symmetrically arranged on both sides of the front of the frame, and the other laser rangefinder is arranged at the rear of the frame; the gyroscope is arranged in the middle of the frame; the active leg comprises a motor screw slide, a slide fixing plate, a swing arm hinge, an upper swing arm, a lower swing arm, a leg shock absorber, a slider connecting hinge and a ground foot, the motor screw slide is fastened to the frame through a slide fixing plate, the swing arm hinge is fastened to the frame, the two ends of the upper swing arm and the lower swing arm are respectively hinged to the swing arm hinge and the ground foot through bearings, one end of the leg shock absorber is hinged to the upper swing arm through a bearing, and the other end is hinged to the slider connecting hinge through a bearing, and the slider connecting hinge is fastened to the slider of the motor screw slide. 2. The active and passive adaptive landing gear of a shipborne helicopter according to claim 1 is characterized in that the landing foot includes a foot bracket, a foot rocker arm, a foot hinge, a caster and a foot shock absorber, one side of the foot bracket is hinged to the upper swing arm and the lower swing arm through a bearing, and the other side is hinged to one end of the foot rocker arm through a bearing, the other end of the foot rocker arm is hinged to the foot hinge through a bearing, the caster is hinged to the foot hinge through a bearing, one end of the foot shock absorber is hinged to the foot bracket through a bearing, and the other end is hinged to the foot hinge through a bearing. 3. The active and passive adaptive landing gear for shipborne helicopters according to claim 1 is characterized in that there are 6 slide fixing plates in total, and each active leg is fastened to the frame through 3 slide fixing plates. 4. The active and passive adaptive landing gear of a shipborne helicopter according to claim 1 is characterized in that the passive leg comprises a support, a body hinge, a connecting rod, a left buffer, a left swing arm, a left rear foot seat steel pipe, a left ball head support foot, a right buffer, a right swing arm, a right rear foot seat steel pipe and a right ball head support foot, the support and the body hinge are fastened to the frame, the middle part of the connecting rod is hinged to the body hinge through a bearing; one end of the left swing arm is hinged to the left side of the support through a bearing, and the left swing arm is hinged to the left side of the support through a bearing. The other end of the arm is tightly connected to the steel pipe of the left rear foot seat, and a left ball head support foot is arranged under the steel pipe of the left rear foot seat; one end of the right swing arm is hinged to the right side of the support through a bearing, and the other end of the right swing arm is tightly connected to the steel pipe of the right rear foot seat, and a right ball head support foot is arranged under the steel pipe of the right rear foot seat; one end of the left buffer is hinged to the left end of the body hinge through a bearing, and the other end is hinged to the left swing arm through a bearing; one end of the right buffer is hinged to the right end of the body hinge through a bearing, and the other end is hinged to the right swing arm through a bearing. 5. The active and passive adaptive landing gear for shipborne helicopters according to claim 4 is characterized in that the left buffer, left swing arm, left rear foot seat steel pipe, left ball head support foot and the right buffer, right swing arm, right rear foot seat steel pipe, right ball head support foot are symmetrically arranged about the middle plane of the frame. 6. The active and passive adaptive landing gear for shipborne helicopters according to any one of claims 1-5 is characterized in that the gyroscope and laser rangefinder transmit data to a host computer, and the host computer controls the motor of the motor screw slide to execute an action through a slave computer. 7. The method for using the active and passive adaptive landing gear of a shipborne helicopter according to claim 6, characterized in that it comprises the following manners: Step 1: When the shipborne helicopter lands on the ship deck, three laser rangefinders detect three measuring points on the ship deck, obtain the distances in the vertical direction between the three laser rangefinders and the three measuring points, and upload the measurement information to the host computer; the host computer calculates the pitch angle and roll angle of the ship deck plane, derives the angle that the active leg needs to be adjusted, and sends it to the slave computer to control the motor rotation of the motor screw slide to complete the adjustment of the active leg posture; during the landing of the shipborne helicopter on the ship deck, this step is continuously executed until the distance measured by the laser rangefinder exceeds the threshold; Step 2, when the shipborne helicopter is moored to the ship deck, the pitch and roll angle changes of the shipborne helicopter fuselage are detected by the gyroscope. During the gyroscope detection process, the shipborne helicopter and its landing gear are regarded as rigid bodies. At this time, the change values of the pitch and roll angles of the shipborne helicopter fuselage are the change values of the pitch and roll angles of the ship deck plane; the gyroscope uploads the information of the pitch and roll angle changes to the upper computer, and the upper computer derives the angle that the active leg needs to be adjusted, and sends it to the lower computer to control the rotation of the motor of the motor screw slide to complete the adjustment of the active leg posture, so that the fuselage of the shipborne helicopter is always kept horizontal during the process of being moored to the ship deck; during the process of the shipborne helicopter being moored to the ship deck, this step is continuously executed until the shipborne helicopter leaves the ship deck.