An adaptive balancing hoist for aircraft door assembly and disassembly

Abstract

This invention discloses an adaptive balancing lifting device for aircraft door assembly and disassembly, belonging to the field of lifting device technology. It includes a lifting frame, lifting components, and a clamping assembly. The clamping assembly is equipped with a flexible component containing magnetofluid and a corresponding excitation component, which can adapt to the curved surface of the door and actively harden to provide reliable clamping. The lifting device also integrates a multi-degree-of-freedom angle adjustment component and a vision-feedback-based active balancing system. Before handling, the clamping angle can be adjusted to align the door using the longitudinal and lateral adjustment components. During handling, a vision camera detects the door's attitude in real time, and the control system drives independent lifting components on both sides for dynamic leveling. Micro-vibrations are absorbed by adjusting the magnetofluid state, achieving adaptive flexible gripping, precise attitude adjustment, and stable anti-sway handling of irregular doors, significantly improving the safety, accuracy, and efficiency of assembly and disassembly operations.

Description

Technical Field

[0001] This invention relates to the field of lifting equipment technology, specifically an adaptive balancing lifting equipment for the disassembly and assembly of aircraft cabin doors. Background Technology

[0002] In aircraft maintenance and repair, the disassembly and assembly of cabin doors is a critical and extremely challenging operation. Cabin doors are typically large, heavy, and have complex curved surfaces, which places extremely stringent demands on tools and operational precision during disassembly and assembly. However, traditional lifting tools have gradually revealed significant limitations and inadequacies in such tasks.

[0003] Traditional rigid lifting tools or general-purpose clamps often fail to fully conform to the complex, irregular curved surfaces of hatches, easily leading to localized contact or uneven stress. This mismatch can not only cause the hatch to sway or shift during lifting, increasing operational risks, but also create stress concentrations at the contact points, causing compression or scratches to the protective coating on the hatch surface. In some cases, it can even cause micro-damage to the internal composite structure or metal skin, affecting its structural integrity and fatigue life. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive balancing hoist for the aircraft door assembly and disassembly process, in order to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: comprising a lifting plate, a lifting component, and a clamping assembly, wherein the lifting plate is connected to the lifting component;

[0006] The clamping assembly includes a clamping frame and a clamping plate, which are connected by a telescopic member. Both the clamping frame and the clamping plate are provided with flexible clamping members.

[0007] The clamping frame is connected to the lifting component.

[0008] The flexible clamping component includes a flexible element and a back plate. An adsorption element is provided on one side of the flexible element, and the other side of the flexible element is disposed on the back plate. The back plate is mounted on the clamping frame and clamping plate via an elastic element. The elastic element is a spring, a spring plate, etc., and the adsorption element is an electromagnetic chuck, a chuck connected to a negative pressure system, etc.

[0009] The clamping distance is adjustable through the cooperation of the clamping frame, clamping plate, and intermediate telescopic component to accommodate hatches of different thicknesses. Flexible clamping components are installed on both the clamping frame and the clamping plate, replacing traditional rigid clamps and providing a basis for protecting the hatch surface and adapting to curved surfaces.

[0010] The flexible component and the back plate are connected by an elastic component to form a buffer structure. Its adsorption component (electromagnetic chuck or negative pressure chuck) provides a stable adsorption force, while the elastic component (spring or elastic plate) gives the clamping surface a certain degree of compliance, which initially improves the adaptability and damage prevention capability of clamping.

[0011] The flexible component is filled with fluid, and a force measuring element is provided on the flexible component. The force measuring element is electrically connected to the control system, and the flexible component is a flexible liquid bladder.

[0012] The flexible liquid bladder is filled with fluid and integrates force measuring elements, enabling it not only to passively deform but also to actively sense the clamping force and feed it back to the control system. This achieves force sensing and closed-loop control during the clamping process, significantly improving the accuracy and safety of clamping.

[0013] The fluid is a magnetofluid, and a first excitation assembly is provided on the back plate. The first excitation assembly is electrically connected to the control system. The first excitation assembly consists of multiple sets of coils, multiple sets of electromagnets, etc., with each set of coils or electromagnets corresponding to the magnetofluid in each chamber. The force measuring elements are pressure sensors, strain gauges, etc.

[0014] The flexible liquid bladder is filled with magnetofluid, and a first excitation component is added to the back plate, allowing the hardness and softness of the flexible component to be precisely controlled in real time via a magnetic field. Combined with feedback from the force measuring element, the control system can dynamically adjust the "softness" and "rigidity" of the grip, achieving an optimal balance between firm grasping and vibration absorption.

[0015] A telescopic assembly and an angle adjustment assembly are sequentially connected between the lifting component and the clamping frame;

[0016] The telescopic assembly includes a fixed frame mounted on the telescopic rod of the lifting component and two sets of telescopic frames that can slide on the fixed frame. The angle adjustment assembly is mounted on the telescopic frame, and the clamping frame is mounted on the angle adjustment assembly. The lifting component consists of two sets of lifting cylinders, which are rotatably mounted on the lifting plate. The output end of the lifting cylinder is connected to the fixed frame.

[0017] By adding telescopic and angle adjustment components between the lifting component and the clamping frame, the clamping component can not only be raised and lowered, but also adjusted laterally and deflected in multiple dimensions, greatly expanding the range of adaptability of the spreader to the position and posture of the hatch space.

[0018] The telescopic frame and the fixed frame are connected by a telescopic hydraulic cylinder. The telescopic hydraulic cylinder is installed on the fixed frame, and the telescopic rod of the telescopic hydraulic cylinder is connected to the telescopic frame. The telescopic hydraulic cylinder drives the telescopic frame to slide on the fixed frame through the telescopic rod, so that the distance between the two sets of telescopic frames is sufficient to place the hatch.

[0019] By combining the fixed frame, sliding telescopic frame and telescopic cylinder, the distance between the two sets of clamping points can be flexibly adjusted to ensure that the spreader can stably accommodate and adapt to hatches of different widths, thus improving its versatility.

[0020] The angle adjustment assembly includes a lateral adjustment assembly and a longitudinal adjustment assembly. The longitudinal adjustment assembly is mounted on the telescopic frame, the lateral adjustment assembly is mounted on the longitudinal adjustment assembly, and the clamping frame is mounted on the lateral adjustment assembly.

[0021] To accommodate hatches at different angles, the clamping assembly is designed to be adjustable. The control system adjusts the angle of the clamping assembly by coordinating the longitudinal and lateral adjustment components.

[0022] The longitudinal adjustment assembly includes a longitudinal support, a rotating shaft, a rotating frame, and a longitudinal hydraulic cylinder. The longitudinal support is mounted on a telescopic frame, the rotating shaft is rotatably mounted on the telescopic frame, the rotating frame is mounted on the rotating shaft, the telescopic rod of the longitudinal hydraulic cylinder is connected to the rotating frame, the longitudinal hydraulic cylinder is mounted on the longitudinal support, and the lateral adjustment assembly is mounted on the rotating frame.

[0023] When the longitudinal adjustment component is working, the control system drives the rotating frame to rotate a certain angle through the longitudinal hydraulic cylinder. The rotating frame rotates a set angle on the rotating shaft, and the rotating frame drives the lateral adjustment component to rotate a set angle.

[0024] The lateral adjustment assembly includes a lateral frame and a lateral cylinder. The lateral frame is rotatably mounted on a rotating frame, and the telescopic rod of the lateral cylinder is connected to the lateral frame. The lateral cylinder is mounted on the lateral frame.

[0025] The clamping frame is mounted on the horizontal frame.

[0026] Once the longitudinal adjustment component is adjusted, the displacement sensor inside the longitudinal cylinder feeds the data back to the control system. The control system then uses the transverse cylinder to rotate the transverse frame by a set angle. The transverse frame then rotates the clamping frame by a set angle. The clamping frame then rotates the clamping plate, telescopic component, and two sets of flexible clamping components by a set angle. The two sets of flexible clamping components rotate by a set angle simultaneously to achieve the adjustment of the clamping angle.

[0027] A vision camera is installed on the lifting plate. The vision camera is electrically connected to the control system. The vision camera is used to detect the shape of the hatch and the degree of vibration or shaking of the hatch.

[0028] When the angle adjustment component is working, the control system flexibly adjusts the angles of the lateral adjustment component and the longitudinal adjustment component according to the data from the vision camera, so that the lateral adjustment component and the longitudinal adjustment component work together to adjust the angle of the clamping component, so that the clamping component can adapt to the hatch at different angles.

[0029] During the process of the spreader moving the hatch, the vision camera feeds back the hatch sway data to the control system in real time, and the control system compares the sway data with the set data.

[0030] When the detected sway data exceeds the set data, the following example, with the hatch being higher on the left and lower on the right, shows that the control system controls the left lifting component to extend and the right lifting component to retract, so that the lifting components on both sides drive the telescopic assembly and the hatch to be in a balanced state.

[0031] When the sway data does not exceed the set data, the control system adjusts the current of the first excitation component to change the viscosity or elastic modulus of the magnetofluid inside the flexible component, thereby making the flexible component exhibit different levels of softness and hardness to absorb minor vibrations and maintain the stability of the hatch.

[0032] The top of the lifting plate is equipped with lifting lugs, which are connected to a lifting system.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] 1. It enables adaptive flexible clamping of the hatch, avoiding damage. The flexible clamping component on the clamping assembly contains multiple independent flexible components (flexible liquid bladders), which are filled with magnetofluid. When in contact with the hatch, the flexible components deform freely under the pressure of the hatch surface, causing the back plate to float through the elastic components, ensuring that the liquid bladder fully conforms to various curved surfaces. The force measuring element in the cavity provides real-time feedback on the contact pressure distribution. Subsequently, the control system controls the first excitation component (such as multiple sets of electromagnetic coils) on the back plate to be energized according to the contact signal, generating a corresponding magnetic field. This causes the apparent viscosity or yield stress of the magnetofluid in each cavity to increase sharply, thereby instantly "solidifying" and locking the liquid bladder that has adapted to the shape, forming a rigid clamping surface that perfectly matches the curved surface of the hatch. This fundamentally solves the pain point of the difficulty in matching rigid clamps with complex curved surfaces. The working mode of first flexible contact and then rigid locking can ensure that the clamping surface and the hatch achieve maximum contact area, evenly distribute the load, and perfectly avoid scratches or indentations caused by stress concentration. It can also ultimately provide a stable and reliable rigid clamping force, achieving a unity of protection and reliability.

[0035] 2. Enables rapid and precise multi-degree-of-freedom adjustment of the clamping posture. This is achieved through the telescopic and angle adjustment components between the lifting component and the clamping assembly. The hydraulic cylinders in the telescopic assembly drive two sets of telescopic frames to move independently laterally to accommodate hatches of different widths. The angle adjustment component includes two angles: longitudinal adjustment (driven by a longitudinal hydraulic cylinder to rotate the rotating frame around an axis) and lateral adjustment (driven by a lateral hydraulic cylinder to rotate the lateral frame). The control system can coordinate and control these hydraulic cylinders, driving the entire clamping assembly on the lateral frame to perform precise rotational movements in the longitudinal and lateral directions. This provides flexible multi-degree-of-freedom posture adjustment capabilities. It can quickly and accurately align the clamping plane automatically with various installation angles of the hatch on the machine body, eliminating the need for repeated manual prying or padding, greatly simplifying the alignment process, improving the accuracy and efficiency of initial installation, and laying the foundation for subsequent smooth docking.

[0036] 3. Enables active dynamic balancing and anti-sway control during transport. A vision camera, acting as a feedback sensor, monitors images of the hatch edges or feature points in real time, calculating their swing angle or displacement. When the detected sway data exceeds a set threshold, the control system considers it an unbalanced state (e.g., left higher than right) and immediately issues a command to retract the left lifting cylinder and simultaneously extend the right lifting cylinder. Through active differential adjustment of the height of the two lifting points, the hatch quickly returns to a horizontal balance state, transforming traditional passive lifting into active stabilization control. This effectively suppresses large-scale hatch swaying caused by starting, stopping, or external interference, significantly improving the stability and safety of the transport process, reducing collision risks, lessening the burden on operators, and making movement operations in confined hangar environments more reliable. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 This is a schematic diagram of the clamping plate in this invention;

[0039] Figure 3 This is a schematic diagram of the longitudinal support structure in this invention;

[0040] Figure 4 This is a schematic diagram of the rotating frame in this invention;

[0041] Figure 5 This is a schematic diagram of the telescopic frame in this invention;

[0042] Figure 6 This is a schematic diagram of the structure of the first excitation component in this invention.

[0043] In the diagram: 1. Lifting plate; 2. Lifting component; 3. Clamping assembly; 31. Clamping frame; 32. Clamping plate; 33. Telescopic component; 34. Flexible clamping component; 35. Flexible component; 36. Back plate; 37. Adsorption component; 38. First excitation assembly; 4. Telescopic assembly; 41. Fixed frame; 42. Telescopic frame; 5. Angle adjustment assembly; 51. Lateral adjustment assembly; 511. Lateral frame; 512. Lateral cylinder; 52. Longitudinal adjustment assembly; 521. Longitudinal support; 522. Rotating shaft; 523. Rotating frame; 524. Longitudinal cylinder. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Example: Figures 1-6 As shown, the present invention provides a technical solution for an adaptive balancing hoist for the disassembly and assembly of an aircraft cabin door, including a lifting plate 1, a lifting component 2, and a clamping assembly 3. The lifting plate 1 is connected to the lifting component 2. The clamping assembly 3 includes a clamping frame 31 and a clamping plate 32, which are connected by a telescopic component 33. Both the clamping frame 31 and the clamping plate 32 are provided with flexible clamping components 34. The clamping frame 31 is connected to the lifting component 2. A vision camera (not shown in the figure) is provided on the lifting plate 1. The vision camera is electrically connected to the control system. The vision camera is used to detect the shape of the cabin door and the degree of vibration or swaying of the cabin door. A lifting lug is provided on the top of the lifting plate 1, and the lifting lug is connected to a hoisting system (not shown in the figure).

[0046] The flexible clamping component 34 includes a flexible component 35 and a back plate 36. An adsorption component 37 is provided on one side of the flexible component 35, and the other side of the flexible component 35 is disposed on the back plate 36. The back plate 36 is mounted on the clamping frame 31 and the clamping plate 32 via an elastic component (not shown in the figure). The elastic component can be a spring, a spring plate, etc., and the adsorption component 37 can be an electromagnetic chuck, a chuck connected to a negative pressure system, etc.

[0047] The operator uses the lifting component 2, the telescopic component 4 and the angle adjustment component 5 to move the flexible clamping components 34 on the clamping frame 31 and the clamping plate 32 to both sides of the hatch. Then, the operator controls the telescopic component 33 to work through the control system. The telescopic rod of the telescopic component 33 pulls the clamping plate 32 down to the set position. The flexible clamping components 34 on the clamping plate 32 move accordingly so that the flexible clamping components 34 on the clamping frame 31 and the clamping plate 32 come into contact with the surface of the hatch.

[0048] When the two sets of flexible clamping members 34 come into contact with the sides of the hatch, the hatch will squeeze the flexible member 35, causing the flexible member 35 to deform to adapt to the surface of the hatch; the force measuring element in the flexible member 35 feeds back the pressure data to the control system, and the control system controls the first excitation assembly 38 on the clamping frame 31 and the clamping plate 32 to work, so that the two sets of first excitation assemblies 38 are energized to generate a magnetic field. The magnetic field of the first excitation assembly 38 hardens the magnetofluid in the flexible member 35, so as to facilitate the clamping of the hatch.

[0049] When the first excitation assembly 38 on the clamping frame 31 and the clamping plate 32 is energized, the control system further clamps the hatch door through the telescopic member 33 to ensure reliable clamping of the hatch door.

[0050] The flexible component 35 is filled with fluid, and a force measuring element is provided on the flexible component 35. The force measuring element is electrically connected to the control system. The flexible component 35 is a flexible liquid bladder. The fluid is a magnetofluid. A first excitation assembly 38 is provided on the back plate 36. The first excitation assembly 38 is electrically connected to the control system. The first excitation assembly 38 consists of multiple sets of coils, multiple sets of electromagnets, etc., and the force measuring element consists of pressure sensors, strain gauges, etc.

[0051] A telescopic assembly 4 and an angle adjustment assembly 5 are sequentially connected between the lifting component 2 and the clamping frame 31;

[0052] The telescopic assembly 4 includes a fixed frame 41 mounted on the telescopic rod of the lifting component 2 and two sets of telescopic frames 42 that can slide on the fixed frame 41. Angle adjustment assembly 5 is mounted on the telescopic frame 42, and clamping frame 31 is mounted on the angle adjustment assembly 5. The lifting component 2 consists of two sets of lifting cylinders, which are rotatably mounted on the lifting plate 1. The output end of the lifting cylinder is connected to the fixed frame 41.

[0053] The telescopic frame 42 and the fixed frame 41 are connected by a telescopic hydraulic cylinder. The telescopic hydraulic cylinder is installed on the fixed frame 41, and the telescopic rod of the telescopic hydraulic cylinder is connected to the telescopic frame 42. The telescopic hydraulic cylinder drives the telescopic frame 42 to slide on the fixed frame 41 through the telescopic rod, so that the distance between the two sets of telescopic frames 42 is sufficient to place the hatch.

[0054] The angle adjustment assembly 5 includes a lateral adjustment assembly 51 and a longitudinal adjustment assembly 52. ​​The longitudinal adjustment assembly 52 is mounted on the telescopic frame 42, and the lateral adjustment assembly 51 is mounted on the longitudinal adjustment assembly 52. ​​To accommodate hatches with different angles, the angle of the clamping assembly 3 is adjustable. The control system adjusts the angle of the clamping assembly 3 through the cooperation of the longitudinal adjustment assembly 52 and the lateral adjustment assembly 51. The longitudinal adjustment assembly 52 includes a longitudinal support 521, a rotating shaft 522, a rotating frame 523, and a longitudinal hydraulic cylinder 524. The longitudinal support 521 is mounted on the telescopic frame 42. On the telescopic frame 42, the rotating shaft 522 is rotatably mounted on the telescopic frame 42, the rotating frame 523 is set on the rotating shaft 522, the telescopic rod of the longitudinal cylinder 524 is connected to the rotating frame 523, the longitudinal cylinder 524 is set on the longitudinal support 521, and the lateral adjustment component 51 is mounted on the rotating frame 523. When the longitudinal adjustment component 52 is working, the control system drives the rotating frame 523 to rotate a certain angle through the longitudinal cylinder 524. The rotating frame 523 rotates a set angle on the rotating shaft 522, and the rotating frame 523 drives the lateral adjustment component 51 to rotate a set angle.

[0055] The lateral adjustment assembly 51 includes a lateral frame 511 and a lateral cylinder 512. The lateral frame 511 is rotatably mounted on a rotating frame 523. The telescopic rod of the lateral cylinder 512 is connected to the lateral frame 511. The lateral cylinder 512 is mounted on the lateral frame 511. The clamping frame 31 is disposed on the lateral frame 511.

[0056] After the longitudinal adjustment component 52 is adjusted, the displacement sensor in the longitudinal cylinder 524 feeds the data back to the control system. The control system drives the transverse frame 511 to rotate by a set angle through the transverse cylinder 512. The transverse frame 511 drives the clamping frame 31 to rotate by a set angle. The clamping frame 31 drives the clamping plate 32, the telescopic member 33 and the two sets of flexible clamping members 34 to rotate synchronously by a set angle. The two sets of flexible clamping members 34 rotate synchronously by a set angle to achieve the adjustment of the clamping angle.

[0057] When the angle adjustment component 5 is working, the control system flexibly adjusts the angles of the lateral adjustment component 51 and the longitudinal adjustment component 52 according to the data from the vision camera, so that the lateral adjustment component 51 and the longitudinal adjustment component 52 cooperate to adjust the angle of the clamping component 3, so that the clamping component 3 can adapt to the hatch at different angles.

[0058] During the process of the spreader moving the hatch, the vision camera feeds back the hatch sway data to the control system in real time, and the control system compares the sway data with the set data.

[0059] When the detected sway data exceeds the set data, the following example, with the left side of the hatch higher than the right side, is used to control the left lifting component 2 to extend and the right lifting component 2 to retract. The lifting components 2 on both sides drive the telescopic assembly 4 and the hatch to be in a balanced state.

[0060] When the shaking data does not exceed the set data, the control system adjusts the current of the first excitation component 38 to change the viscosity or elastic modulus of the magnetofluid in the flexible part 35, so that the flexible part 35 as a whole exhibits different softness and hardness to absorb minor vibrations and maintain the stability of the hatch.

[0061] Working principle: Workers connect the lifting system via the lifting lugs on the top of the lifting platform 1. First, a vision camera installed on the lifting platform 1 detects the shape and spatial position of the hatch to be disassembled and sends the data back to the control system. Based on this data, the control system drives the telescopic cylinders in the telescopic assembly 4 to operate, causing the two sets of telescopic frames 42 to slide on the fixed frame 41 and adjust to a distance suitable for the width of the hatch.

[0062] While the telescopic frame 42 slides, the control system controls the angle adjustment component 5 to work. First, it controls the longitudinal cylinder 524 of the longitudinal adjustment component 52 to move, driving the rotating frame 523 and the lateral adjustment component 51 installed on it to adjust the longitudinal angle around the rotating shaft 522. Then, it controls the lateral cylinder 512 of the lateral adjustment component 51 to move, driving the lateral frame 511 and the clamping component 3 fixed on it to adjust the lateral angle, so that the posture of the clamping component 3 is adaptively matched with the angle of the door to be clamped.

[0063] After the clamping assembly 3 has been adjusted, the control system controls the two sets of lifting components 2 to work synchronously, driving the entire clamping mechanism to descend, so that the flexible clamping component 34 on the clamping frame 31 contacts one side of the hatch surface. Then, the control system controls the telescopic component 33 to work, and its telescopic rod pulls the clamping plate 32 to move until the flexible clamping component 34 on the clamping plate 32 contacts the other side of the hatch surface.

[0064] When the two sets of flexible clamping members 34 come into contact with the sides of the hatch, the hatch surface presses against the flexible members 35, forcing the magnetofluid within the flexible members 35 to flow, causing the shape of the flexible members 35 to adaptively conform to the irregular surface of the hatch. At this time, the force measuring element within the flexible members 35 feeds back the contact pressure data to the control system in real time. The control system then controls the first excitation assembly 38 mounted on the back plate 36 to generate a magnetic field. The magnetic field of the first excitation assembly 38 acts on the magnetofluid, causing its apparent viscosity or elastic modulus to increase sharply, i.e., "hardening," thereby locking the conformed shape and forming an initial clamping of the hatch. Subsequently, the control system further controls the telescopic member 33 to apply a greater clamping force, so that the hatch is reliably fixed. Afterward, the personnel use the hoisting system to lift and move the hatch.

[0065] During the hoisting of the hatch, a vision camera continuously monitors the degree of vibration or swaying. The monitoring data is fed back to the control system in real time, which compares it with a preset stability threshold. If the hatch is detected to be tilted or swaying, such as the left side being higher than the right side and exceeding the allowable range, the control system will adjust the extension and retraction of the lifting components 2 on both sides, such as retracting the left side and extending the right side, to restore the hatch to a horizontal and balanced state by adjusting the height difference of the hoisting points. If the swaying is within the allowable range, the control system will dynamically adjust the current of the first excitation component 38 to continuously change the physical state of the magnetofluid, so that the flexible component 35 exhibits different levels of softness and hardness, in order to actively absorb and dampen minor vibrations and maintain the stability of the hatch.

[0066] After the hoisting operation is completed, the control system first de-energizes the first excitation component 38, causing the magnetic field to disappear and the magnetofluid to resume its flow state. Then, it controls the telescopic component 33 to release, moving the clamping plate 32 away from the hatch, thereby releasing the hatch.

[0067] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An adaptive balancing spreader for the disassembly and assembly of aircraft cabin doors, characterized in that: It includes a lifting plate (1), a lifting component (2) and a clamping assembly (3), wherein the lifting plate (1) is connected to the lifting component (2); The clamping assembly (3) includes a clamping frame (31) and a clamping plate (32). The clamping frame (31) and the clamping plate (32) are connected by a telescopic member (33). Both the clamping frame (31) and the clamping plate (32) are provided with flexible clamping members (34). The clamping frame (31) is connected to the lifting component (2); The flexible clamping member (34) includes a flexible member (35) and a back plate (36). The flexible member (35) is filled with fluid, and a force measuring element is provided on the flexible member (35). The force measuring element is electrically connected to the control system. The fluid is a magnetofluid, and a first excitation component (38) is provided on the back plate (36), which is electrically connected to the control system. When clamping the hatch, the control system energizes the first excitation component (38) to solidify the magnetofluid, thereby clamping the hatch; During the hoisting of the hatch, the control system adjusts the current of the first excitation component (38) according to the degree of shaking in order to change the hardness of the magnetic fluid and actively absorb vibration. The lifting component (2) and the clamping frame (31) are connected in sequence by a telescopic component (4) and an angle adjustment component (5). The telescopic assembly (4) includes a fixed frame (41) mounted on the telescopic rod of the lifting member (2) and two sets of telescopic frames (42) that can slide on the fixed frame (41). The angle adjustment assembly (5) is mounted on the telescopic frame (42), and the clamping frame (31) is mounted on the angle adjustment assembly (5).

2. The adaptive balancing hoist for aircraft door assembly / disassembly process according to claim 1, characterized in that: The flexible member (35) has an adsorption member (37) on one side and the flexible member (35) is disposed on the back plate (36) on the other side. The back plate (36) is disposed on the clamping frame (31) and the clamping plate (32) by means of an elastic member.

3. The adaptive balancing hoist for aircraft door assembly / disassembly process according to claim 1, characterized in that: The angle adjustment component (5) includes a lateral adjustment component (51) and a longitudinal adjustment component (52). The longitudinal adjustment component (52) is mounted on the telescopic frame (42), the lateral adjustment component (51) is mounted on the longitudinal adjustment component (52), and the clamping frame (31) is mounted on the lateral adjustment component (51).

4. The adaptive balancing hoist for the aircraft cabin door assembly / disassembly process according to claim 3, characterized in that: The longitudinal adjustment assembly (52) includes a longitudinal support (521), a rotating shaft (522), a rotating frame (523), and a longitudinal cylinder (524). The longitudinal support (521) is mounted on the telescopic frame (42). The rotating shaft (522) is rotatably mounted on the telescopic frame (42). The rotating frame (523) is mounted on the rotating shaft (522). The telescopic rod of the longitudinal cylinder (524) is connected to the rotating frame (523). The longitudinal cylinder (524) is mounted on the longitudinal support (521). The transverse adjustment assembly (51) is mounted on the rotating frame (523).

5. The adaptive balancing hoist for the aircraft cabin door assembly / disassembly process according to claim 4, characterized in that: The lateral adjustment assembly (51) includes a lateral frame (511) and a lateral cylinder (512). The lateral frame (511) is rotatably mounted on a rotating frame (523). The telescopic rod of the lateral cylinder (512) is connected to the lateral frame (511). The lateral cylinder (512) is mounted on the lateral frame (511). The clamping frame (31) is mounted on the transverse frame (511).

6. The adaptive balancing hoist for the aircraft cabin door assembly / disassembly process according to claim 1, characterized in that: A vision camera is installed on the lifting plate (1), and the vision camera is electrically connected to the control system.

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