Technical Field

Mechanics

Background Art

[0001 ] Below we discuss twelve examples of inventions that were found by international search, all the items in the previous inventions are different from the present invention, both in terms of shape and external structure and in terms of design and internal structure.

The inventive element of the present invention (when the first telescopic leg is fully retracted, the leg lock key is activated) is completely unique and is not available in any of the previous inventions.

All previous technical knowledge items perform automatic landing, for this purpose, distance sensor, force sensor, infrared sensor, camera, processor, controller, etc., and motors with robotic or articulated or cylindrical bases, used to control While the present invention can perform automatic landing at different levels without using any sensor, camera, processor, controller and without using a motor in its legs.

[0002] A product: DARPA Robotic Landing Gear System (DARPA) designed for helicopters, which consists of four joint legs that have force-sensitive contact sensors that use their sensors to determine the right time and the right angle for joint legs for Landing is used in sloping areas.

Source: ww.darpa , i i/ news-events/gQI 5T)9 10

[0003] Article: Mission Adaptive Landing Gear Design for Near Space Travel Probe.

It was conducted by the Key Laboratory of Basic Science of Nanjing University of Aeronautics and Astronautics, China in 2016.

Source: www.extrica.com/article/17078

The adaptive landing gear legs are composed of four legs together with actuation cylinders and oil shock absorbers that can adjust the angles of the main legs with respect to uneven ground, this adjustment is made by the infrared distance sensor and determining the vertical distance of each leg from the ground, and based on the returned data from the controller's infrared sensor, it gives the cylinder an order to adjust the bases.

1

SUBSTITUTE SHEET (RULE 26) [0004] Invention: Adaptive landing gear assembly for rotary wing aircraft. Registered with the registration number: US10689098 on the date: 06/23/2020.

In this invention, the four pistons that are the base of the landing gear are controlled by a sensor and a controller, the controller moves the pistons according to the sensor data so that the helicopter can land on the sloping ground.

[0005] Invention: adaptive landing gear.

It was registered with registration number US20070221783 on 09/27/2007. This invention consists of four hydraulic pistons as the base of the landing gear and a number of sensors and sensors that are connected with the pistons, and the controller adjusts the hydraulic piston for landing on the sloped ground by the data of the sensors.

[0006] Invention: Ground level adaptive landing device for vertical takeoff and landing of flying vehicles.

It was registered with registration number KR102077969 on 09/17/2019.

This invention consists of four legs for landing the drone, and the weight sensors are located on each leg. It is formed with the ability to rotate, which allows the frame to move. The frame changes its shape due to the data sent by the sensors from the weight placed on each base to the controller by means of rotatable arms and creates the possibility of landing in uneven areas.

[0007] Invention: Self-adaptive landing gear with complex terrain for an aircraft with vertical takeoff and landing capability and its landing method.

It was registered with registration number CN111470035 on 04/30/2020. This invention consists of four articulated bases and it measures the height of the landing ground and controls the articulated bases by scanning the detector and the camera located under the helicopter and the load sensors installed on the bases so that can land on uneven surfaces.

[0008] Invention: Rotorcraft with adaptive landing gear for take-off and landing in complex terrains and control method.

It was registered with registration number CN11206138 on 08/28/2020. This invention uses the laser range finder and the data sent to the controller to set the landing legs that can be changed ninety degrees and can be bent and straightened so that they can land on the uneven ground.

[0009] Invention: A type of adaptive landing gear system for vertical takeoff and landing of a UAV based on a multi-leg structure.

Registered with registration number CN109573007 on 12/26/2018. This invention includes four articulated bases that adjust the articulated bases for landing in uneven areas by means of sensors, controller and intelligent processing system.

[0010] Invention: adaptive landing gear.

2

SUBSTITUTE SHEET (RULE 26) It was registered with registration number US4702438 on 07/16/1985. This invention consists of an airplane shock absorber piston, which has built-in the ability to recharge the piston gas, and does not need to supply the shock absorber piston gas from an external source to land and take off again.

[001 1 ] Invention: Adaptive infrastructure of a carrier-based helicopter warship simulation system.

Registered with registration number CN109094817 on 08/29/2018. The invention consists of four articulated legs that are sent by a dimensional force sensor and a laser range sensor to the articulated legs controller to adjust the articulated legs for landing on rough terrain.

[0012] Invention: Self-adaptive landing device for a multi-rotor plane.

Registered with registration number CN1 10834722 on 08/17/2018. This invention is for the landing of unmanned aerial vehicles in rough areas, which consists of four articulated legs and force sensors are placed on each leg, and by sending data from the sensors to the controller^ the controller adjusts the articulated legs for landing.)

[0013] Invention: four-legged helicopter undercarriage with the ability to take off, land and walk on the ground.

It was registered with registration number CN1 1 1959749 on 07/16/2020. This invention consists of four articulated bases, and these bases are connected to a large drive cylinder and a small drive cylinder, and the control system, which includes a controller, a laser distance sensor, and a displacement sensor, and the task of controlling the articulated bases for landing It is responsible for uneven areas.

Summary of Invention

[0014] Title of the invention: Telescopic landing gear adapted to the ground with a key to activate the legs lock.

This invention is designed to solve the problem of drone and3 helicopter landing in uneven and sloping areas and landing on the variable deck slope during a storm, which is very difficult or even impossible for a helicopter with a simple landing gear. In this invention, four retractable telescopic legs are used as a landing gear. During landing on a sloping and uneven surface, each leg that reaches the ground starts to retract until the last leg reaches the ground. The first leg that is retract to the end contacts the key and activates the lock of all the legs and all the legs are fixed. At this moment, the landing is complete and each leg is suitable for the unevenness and the angle of the landing area. Previous inventions and technical know-how are all in the field of electronics and consist of sensors, processors, controllers, etc., which are all electronic, and they have used robotic, articulated, cylinder bases, etc., while this invention is a technical background in

3

SUBSTITUTE SHEET (RULE 26) mechanics and has provided his own solution without using the mentioned electronic components and has also used a telescopic base.

Technical Problem

[0015] UAVs and helicopters need a smooth and non-sloping ground for landing, and if it is not, in uneven areas such as mountains or sloping areas or decks that are shaken by turbulent sea waves and have a variable slope, they should land in these conditions. It is very difficult and difficult and sometimes impossible.

The landing of UAVs and helicopters is one of the most sensitive and difficult phases of flight, which sometimes have problems or accidents when landing on flat and non-sloping ground, because for landing, the landing gear (landing feet) must be level with the ground. They have been placed on the ground almost at the same time and slowly, otherwise the landing will be difficult.

The purpose of the present invention is that with a low cost and with a practical and far from complicated design, the plane and helicopter can easily land on any uneven and sloping surface (such as mountains and choppy decks during storms, etc.). Also, this invention helps the helicopter to make a safer and easier landing even on smooth surfaces, and if the helicopter is not level with the ground at the time of landing, the landing will take place without problems and safely.

Solution to the Problem

[0016] The present invention has four telescopic (sliding) legs [Fig.1 ] and each leg consists of four parts with the same height and four different diameters, and these four parts are telescopically (sliding) inside each other (11 ), as a result, the height of each telescopic base that is fully retracted is reduced to a third [Fig .3], and the telescopic base that is fully open is three times the height of the retracted base [Fig.2],

[0017] This landing gear, which is in the form of four telescopic legs [Fig.1 ], can land a helicopter or drone on any uneven and sloping surface up to a forty-degree slope [Fig.4], and this means four times the allowed landing slope, so that At the time of landing, each of these four telescopic legs is retracted according to the slope and roughness of the ground by the weight of the drone or helicopter [Fig.4], for this purpose, each telescopic leg has an electric lock (16) that can close the telescopic leg at the required moment, lock and then the telescopic legs can no longer be retracted or opened.

[0018] There is a roller chain (19) inside each base [Fig.2], the diameter of this chain is proportional to the diameter of the bases and it can easily move along the bases [Fig.3]. This chain is guided to the outside of the legs by folding each leg and goes into the vertical tube [Fig.3]. When the locks are activated, the locks hold the chain (17), as a result, the legs can no longer move

4

SUBSTITUTE SHEET (RULE 26) (collapse) and the foundations are fixed. The material of this roller chain (19) is metal, but plastic roller chains and carbon fiber can also be used to lighten the legs. Instead of a roller chain, you can use a belt or a thin flexible metal.

[0019] The electric lock (19) is a shaft type that, when activated, goes into the holes of the roller chain and locks the chain and the bases [Fig.3].

[0020] There is a key (15) at the top and end of each base, which is responsible for activating the electric locks (19). The key (15) is a micro switch type, but it can also be of other types such as a sensor key and a push key. In fact, each key (15) of each leg is connected to all the electric locks (19) of all the legs, and during the landing of each telescopic leg that is retracted to the end, it contacts the key (15) and all the electric locks (19) all four telescopic legs are activated. If, instead of one leg, two or more legs are retracted together and they touch the key at the same time, the lock of all the legs will be activated at the same time. On flat surfaces without a slope, all four legs may be folded at the same time when landing This condition is also done well.

[0021 ] Now, if the UAV or helicopter wants to land on an uneven or sloping surface (21 ), the drone or helicopter approaches the ground while all its telescopic legs are fully open, and due to the unevenness or slope (21 ) of the ground, at least one leg reaches the ground earlier than the other legs, and the weight of the helicopter pushes the leg and the telescopic leg starts to retracte. Here, the other legs also reach the ground, and the height of each leg is as needed to adapt to the ground, is retracted [Fig.4], when the first leg is fully retracted and reaches its end, it contacts the key (15) and all the legs are locked at the same time, here the landing is complete and the helicopter has simply descended on the roughness and the ramp [Fig.4],

[0022] There is a compression spring (12) on each base [Fig.1 ], these springs are responsible for keeping the telescopic base open and pushing the base outwards during the flight of the drone and helicopter. Also, these springs can act as shock absorbers, and if the UAV or helicopter cannot have a smooth landing, these springs can absorb a certain amount of impact.

[0023] In addition to landing on uneven and sloping ground, the present invention is also effective for landing on flat ground. Since landing is one of the most difficult phases of flight, one of the challenges that pilots face when landing on a flat surface is to keep the helicopter level with the ground and smoothly and smoothly control the whole section, land the landing gear on the ground, otherwise, if the helicopter is not leveled with the ground and a part of the landing gear has reached the ground earlier, the other part of the landing gear must be placed on the ground slowly for the helicopter to land completely, otherwise, if the other part of the landing gear lands on the ground with acceleration, a force is applied to the helicopter in the opposite direction from the ground, and because the propellers are still rotating, the helicopter can lose its balance.

[0024] In this invention, if the helicopter is not completely aligned with the ground, there will be no problem, and each leg that is folded to the end will lock the rest of the legs, and each leg can

5

SUBSTITUTE SHEET (RULE 26) have a different height compared to the angle of the helicopter with the ground [Fig.4], The type that completes landing without the need to level the helicopter with the ground.

[0025] During the landing, the pilot can be informed by a light or a monitor installed in the cabin of the activation of the locks and the locking of the bases and end the landing operation, and in UAVs this process can be done automatically.

[0026] Also, when landing on high slopes or large unevenness, the pilot can be informed of the arrival of all four legs on the ground through four other lights or the monitor installed in the cabin through the sensor connected to the legs and know that if The legs are locked, all legs are on the ground and the landing is complete. This process in drones can be done automatically by the processor and controller.

[0027] In special circumstances, according to the discretion of the pilot, the electric locks can be activated earlier than the automatic locking of the legs, and this action can be done from the cockpit through a key connected to the locks.

[0028] The material of the landing gear bases for drones is made of carbon fiber, and for helicopters, it is made of light steel, but aluminum alloy or carbon fiber can be used to make it lighter.

[0029] After the helicopter takes off from the ground and during the flight, the telescopic legs can be folded inward, and this operation is done by the arm jack that is connected to each leg with the pilot's command, and before landing, with the pilot's command of the telescopic legs. They can be opened again by arm jack.

[0030] All four legs of the landing gear are connected to a frame (13) [Figi ], which can be easily installed in the place of the previous landing gear [Fig4] .

Advantageous Effects of Invention

[0031 ] The present invention;

A- It can land the helicopter or drone easily on uneven surfaces and sloping surfaces and decks with varying slopes.

B- It can land the helicopter or drone up to four times more than the allowed landing slope, it means 40-degree slope.

C- It is much more affordable and less expensive and more efficient than previous inventions.

D- It has less components and complexity than previous inventions, which can lead to better efficiency and smoother operation.

E- It can reduce the risk of hard landings by 80% And the springs in the bases can play the role of shock absorbers and prevent damage to the device to some extent.

6

SUBSTITUTE SHEET (RULE 26) F- It simplifies the landing process even on smooth and flat surfaces, and the helicopter or drone can land easily without needing to be leveled with the ground.

Brief Description of Drawings

[0032] [Fig .1 ] It shows a view of the legs of the landing gear.

[0033] [Fig.2] It shows a view of the base, electric lock and roller chain and how they are placed.

[0034] [Fig .3] A view of the base, the electric lock and the roller chain and how they are positioned shows that in this photo the base is retracted and made contact with the key and the electric lock is activated.

[0035] [Fig .4] It shows the UAV landed on a 40 degree slope by the landing gear of the present invention.

Description of Embodiments:

[0036] Fig. 1 It shows the telescopic base (11 ) with the compression spring (12) on it and shows the placement of these 4 landing gear bases. Both legs are connected by a tube (13). And the tubes are connected to each other by two rods (14).

[0037] Fig.2 The base of the landing gear shows that inside the base there is a roller chain (19) that can move along the base (11 ). At the bottom of the roller chain (19) there is a lever (18) which comes into contact with the key (15) when the base is folded Fig.3 and the electric lock (16) is activated and the lock tab (17) is inserted into the roller chain ( 19) goes and the base is locked.

[0038] Fig.4 It shows the drone (22) that has landed on the slope of the ground (21 ) and the legs (20) on the upper side of the ground are fully folded and the legs (12) on the lower side of the ground are completely open.

Best Mode for Carrying Out the Invention

[0039] This landing gear, which is the form of four telescopic legs, can replace the landing gear of any device that lands vertically on the ground, and it can be easily installed in the place of the previous landing gear.

Industrial Applicability

[0040] The present invention can be used to land any device that lands vertically on the ground.

SUBSTITUTE SHEET (RULE 26)