Aircraft door step difference debugging method, device, equipment and medium

Abstract

The present application discloses a method, device, equipment and medium for debugging the step difference of aircraft cabin doors, and relates to the technical field of aircraft cabin door debugging. The method comprises decomposing the retracting and releasing mechanism of the aircraft cabin door into a first four-bar linkage mechanism and a second four-bar linkage mechanism; based on the first four-bar linkage mechanism, establishing a first angle model between the first angle and the third angle; establishing a second angle model between the fourth angle and the third angle, and a third angle model between the fifth angle and the fourth angle; based on the second four-bar linkage mechanism, establishing a fourth angle model between the second angle and the fifth angle; constructing a fifth angle model between the first angle and the second angle; and based on the fifth angle model between the first angle and the second angle, performing step difference debugging on the target aircraft cabin door. The above technical solution is not likely to cause related operational errors, and thus is not likely to cause related quality and safety accidents.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft cabin door debugging, and in particular to an aircraft cabin door step difference debugging method, device, equipment and medium. Background Art

[0002] The step adjustment between the aircraft door and the fuselage surface after the aircraft door and other active parts are in place has always been a key process in aircraft assembly and debugging. With the continuous increase in the demand for aircraft surface step difference, the step requirements between the door and the fuselage skin after the door and other active parts are in place are also increasing. Therefore, the requirements and accuracy of the door step adjustment are becoming more and more stringent, and the frequency of adjustment and the difficulty of operation are also increasing exponentially. The door of a certain type of aircraft is driven by a multi-link mechanism, and the door opens and closes as the actuator is retracted. The adjustment of the length of the actuator after it is retracted directly affects the step value between the aircraft door and the fuselage skin.

[0003] In the prior art, the step difference adjustment of aircraft cabin doors is a "trial and error" method of manually adjusting the length of the actuator: that is, first adjust the length of the actuator a small amount, check the step difference between the cabin door and the fuselage skin, then compare the measured step difference value with the step difference requirement, and then repeatedly adjust the length of the actuator until the step difference meets the requirement. This process depends entirely on the operator's experience and repeated operations to adjust the step difference between the cabin door and the fuselage skin. Therefore, when debugging the step difference of the aircraft cabin door, the step difference debugging of the aircraft cabin door is not accurate enough, which is easy to cause operating errors, and then easily lead to quality and safety accidents. Summary of the invention

[0004] The main purpose of this application is to provide a method, device, equipment and medium for debugging the step difference of aircraft cabin doors, aiming to solve the technical problem in the prior art that the step difference debugging of aircraft cabin doors is not accurate enough, which easily leads to operational errors and thus easily causes quality and safety accidents.

[0005] To achieve the above-mentioned purpose, the first aspect of the present application provides a method for debugging an aircraft door step difference, the method comprising:

[0006] Decomposing the retractable and extending mechanism of the aircraft cabin door into a first four-bar linkage and a second four-bar linkage;

[0007] Based on the first four-bar linkage, a first angle model between the first angle and the third angle is established; wherein the first angle is the angle between the first link and the fourth link, and the third angle is the angle between the third link and the fourth link;

[0008] Based on the first angle model and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage, a second angle model between the fourth angle and the third angle, and a third angle model between the fifth angle and the fourth angle are established; wherein the fourth angle is the angle between the eighth link and the first link, the fifth angle is the angle between the fifth link and the eighth link, and the eighth link and the fifth link are both links in the second four-bar linkage;

[0009] Based on the second four-bar linkage, a fourth angle model between the second angle and the fifth angle is established; wherein the second angle is the angle between the fifth link and the seventh link;

[0010] Based on the first angle model, the second angle model, the third angle model and the fourth angle model, a fifth angle model between the first angle and the second angle is constructed; wherein the first angle is used to characterize the length of the actuator in the aircraft door, and the second angle is used to characterize the state of the door in the aircraft door;

[0011] Based on a fifth angle model between the first angle and the second angle, a step difference adjustment is performed on the cabin door of the target aircraft.

[0012] Optionally, establishing a first angle model between the first angle and the third angle based on the first four-bar linkage includes:

[0013] Projecting the first four-bar linkage into a coordinate system;

[0014] Based on the first four-bar linkage projected in the coordinate system, construct a first composite link model of each link in the first four-bar linkage;

[0015] Based on the first composite connecting rod model, a first angle model between the first angle and the third angle is established.

[0016] Optionally, constructing a first composite link model of each link in the first four-bar linkage based on the first four-bar linkage projected in the coordinate system includes:

[0017] constructing a first complex vector model based on the first four-bar linkage projected in the coordinate system;

[0018] Based on the Euler formula and the first complex vector model, a first composite link model of each link in the first four-bar linkage is constructed.

[0019] Optionally, constructing a first complex vector model based on the first four-bar linkage projected in the coordinate system includes:

[0020] The first complex vector model is obtained through the following relationship:

[0021] L1*e i*ψ1 +L2*e i*σ1 =L3*e i*ψ3 +L4

[0022] Wherein, L1 represents the length of the first connecting rod, L2 represents the length of the second connecting rod, L3 represents the length of the third connecting rod, L4 represents the length of the fourth connecting rod, ψ1 represents the first angle, ψ3 represents the third angle, i represents the imaginary unit, and σ1 represents the first transition parameter;

[0023] The step of constructing a first composite link model of each link in the first four-bar linkage based on the Euler formula and the first complex vector model includes:

[0024] The expression of Euler's formula is as follows:

[0025] e i*θ =cosθ+i*sinθ

[0026] Among them, θ is the parameter in Euler's formula;

[0027] The first composite connecting rod model is established through the following relationship:

[0028] L1*cosψ1+L2*cosσ1=L4+L3*cosψ3

[0029] L1*sinψ1+L2*sinσ1=L3*sinψ3.

[0030] Optionally, establishing a first angle model between the first angle and the third angle based on the first composite connecting rod model includes:

[0031] The first angle model is established through the following relationship:

[0032]

[0033] Where A = L4-L1*cosψ1

[0034] B=-L1*sinψ1

[0035]

[0036] Optionally, the establishing of a second angle model between the fourth angle and the third angle, and a third angle model between the fifth angle and the fourth angle based on the first angle model and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage comprises:

[0037] The second angle model is established through the following relationship:

[0038]

[0039] Among them, ψ4 represents the fourth angle;

[0040] The third angle model is established through the following relationship:

[0041] ψ5=α-ψ1-ψ4

[0042] Wherein, ψ5 represents the fifth angle, and α represents the angle between the fourth connecting rod and the fifth connecting rod.

[0043] Optionally, establishing a fourth angle model between the second angle and the fifth angle based on the second four-bar linkage includes:

[0044] Projecting the second four-bar linkage into a coordinate system;

[0045] constructing a second complex vector model based on the second four-bar linkage projected in the coordinate system;

[0046] Based on the Euler formula and the second complex vector model, construct a second composite link model of each link in the second four-bar linkage;

[0047] Based on the second composite connecting rod model, a fourth angle model between the second angle and the fifth angle is established.

[0048] Optionally, constructing a second complex vector model based on the second four-bar linkage projected in the coordinate system includes:

[0049] The second complex vector model is established through the following relationship:

[0050] L8*e i*ψ5 +L6*e i*σ2 =L7*e i*ψ3 +L5

[0051] Wherein, L5 represents the length of the fifth connecting rod, L6 represents the length of the sixth connecting rod, L7 represents the length of the seventh connecting rod, L8 represents the length of the eighth connecting rod, and σ2 represents the second transition parameter;

[0052] Based on the Euler formula and the second complex vector model, a second composite link model of each link in the second four-bar linkage is constructed:

[0053] The expression of Euler's formula is as follows:

[0054] e i*θ =cosθ+i*sinθ

[0055] Among them, θ is the parameter in Euler's formula;

[0056] The second composite link model is obtained by the following relationship:

[0057] L8*cosψ5+L6*cosσ2=L5+L7*cosψ2

[0058] L8*sinψ5+L6*sinσ2=L7*sinψ2.

[0059] Optionally, establishing a fourth angle model between the second angle and the fifth angle based on the second composite connecting rod model includes:

[0060]

[0061] Where n = L5-L8*cosψ5

[0062] m=-L8*sinψ5

[0063]

[0064] Optionally, the step difference debugging of the target aircraft cabin door based on the fifth angle model between the first angle and the second angle includes:

[0065] Obtaining the length parameters of each connecting rod in the retractable and extending mechanism of the cabin door of the target aircraft and the angle parameters between the fourth connecting rod and the fifth connecting rod;

[0066] Based on the length parameters of each connecting rod in the retractable and extending mechanism of the target aircraft cabin door, the angle parameters between the fourth connecting rod and the fifth connecting rod, and the fifth angle model, the step difference debugging is performed on the target aircraft cabin door.

[0067] In a second aspect, a step difference debugging device for an aircraft cabin door is provided, the device comprising:

[0068] A decomposition module, used for decomposing the retractable and extending mechanism of the aircraft cabin door into a first four-bar linkage mechanism and a second four-bar linkage mechanism;

[0069] A first establishing module, used to establish a first angle model between a first angle and a third angle based on the first four-bar linkage; wherein the first angle is the angle between the first link and the fourth link, and the third angle is the angle between the third link and the fourth link;

[0070] A second establishing module is used to establish a second model of the angle between the fourth angle and the third angle, and a third model of the angle between the fifth angle and the fourth angle based on the first model of the angle and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage; wherein the fourth angle is the angle between the eighth link and the first link, the fifth angle is the angle between the fifth link and the eighth link, and the eighth link and the fifth link are both links in the second four-bar linkage;

[0071] A third establishing module is used to establish a fourth angle model between the second angle and the fifth angle based on the second four-bar linkage; wherein the second angle is the angle between the fifth link and the seventh link;

[0072] Constructing a model, for constructing a fifth angle model between the first angle and the second angle based on the first angle model, the second angle model, the third angle model and the fourth angle model; wherein the first angle is used to characterize the length of the actuator in the aircraft cabin door, and the second angle is used to characterize the state of the cabin door in the aircraft cabin door;

[0073] A debugging module is used to perform step difference debugging on a target aircraft door based on a fifth angle model between the first angle and the second angle.

[0074] In a third aspect, the present application provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the embodiment.

[0075] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and a processor executes the computer program to implement the method described in the embodiment.

[0076] Through the above technical solution, the present application has at least the following beneficial effects:

[0077] The embodiments of the present application propose a method, device, equipment and medium for debugging the step difference of an aircraft door. The method first decomposes the retracting and extending mechanism of the aircraft door into a first four-bar linkage and a second four-bar linkage; then, based on the first four-bar linkage, establishes a first angle model between the first angle and the third angle; wherein the first angle is the angle between the first link and the fourth link, and the third angle is the angle between the third link and the fourth link; then, based on the first angle model and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage, establishes a second angle model between the fourth angle and the third angle, and a third angle model between the fifth angle and the fourth angle; wherein the fourth angle is the angle between the eighth link and the first link, The fifth angle is the angle between the fifth link and the eighth link, and the eighth link and the fifth link are both links in the second four-bar linkage; then, based on the second four-bar linkage, a fourth angle model between the second angle and the fifth angle is established; wherein, the second angle is the angle between the fifth link and the seventh link; then, based on the first angle model, the second angle model, the third angle model and the fourth angle model, a fifth angle model between the first angle and the second angle is constructed; wherein, the first angle is used to characterize the length of the actuator in the aircraft cabin door, and the second angle is used to characterize the state of the cabin door in the aircraft cabin door; finally, based on the fifth angle model between the first angle and the second angle, the target aircraft cabin door is step-difference debugged. That is, when the target aircraft cabin door is step-difference debugged, since the retractable mechanism of the target aircraft cabin door is a double four-bar linkage, the retractable mechanism of the target aircraft cabin door is first decomposed into a first four-bar linkage and a second four-bar linkage. Then, based on the spatial position relationship between the first four-bar linkage, the second four-bar linkage and each link in the coordinate system, a first angle model that can reflect the change relationship between the first angle and the third angle, a second angle model that can reflect the change relationship between the fourth angle and the third angle, a third angle model that can reflect the change relationship between the fifth angle and the fourth angle, and a fourth angle model that can reflect the angle between the second angle and the fifth angle are constructed. Then, by calculating the first angle model, the second angle model, the third angle model and the fourth angle model, a fifth angle model that can reflect the angle between the first angle and the second angle is finally constructed. Since the change of the first angle can reflect the length of the actuator in the aircraft cabin door, the change of the second angle can reflect the state of the cabin door in the target aircraft cabin door. Therefore, through the relationship between the first angle and the second angle, the relationship between the actuator length and the cabin door state of the target aircraft is established. Therefore, it is only necessary to calculate the required length of the actuator when the cabin door in the target aircraft is debugged to the final position, and then the actuator length calculated by the theory is used to guide the actual cabin door step debugging process.In this way, compared with the step difference debugging of the target aircraft cabin door based on the operator's experience, the step difference debugging of the target aircraft cabin door through this method is more accurate; based on the more accurate step difference debugging results of the target aircraft cabin door, it is not easy to cause related operational errors, and thus it is not easy to cause related quality and safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 A schematic diagram of the computer device structure of the hardware operating environment involved in the embodiments of the present application;

[0079] Figure 2 This is a flow chart of a method for debugging an aircraft door step difference according to an embodiment of the present application;

[0080] Figure 3 This is a simplified overall structural diagram of a double four-bar linkage provided in an embodiment of the present application;

[0081] Figure 4 A schematic diagram of a first four-bar linkage provided in an embodiment of the present application located in a coordinate system;

[0082] Figure 5 A schematic diagram of a second four-bar linkage provided in an embodiment of the present application located in a coordinate system;

[0083] Figure 6 A flowchart of a specific execution method of step S11 of the present application;

[0084] Figure 7 A flowchart of a specific execution method of step S13 of the present application;

[0085] Figure 8 A flowchart of a specific execution method of step S15 of the present application;

[0086] Fig. 9 This is a schematic diagram of the changes of the double four-bar linkage during the step difference debugging of the aircraft cabin door in the embodiment of the present application;

[0087] Fig.10 Schematic diagram of an aircraft door step difference debugging device according to an embodiment of the present application.

[0088] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0089] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0090] The step adjustment between the aircraft door and the fuselage surface after the aircraft door and other active parts are in place has always been a key process in aircraft assembly and debugging. With the continuous increase in the demand for aircraft surface step difference, the step requirements between the door and the fuselage skin after the door and other active parts are in place are also increasing. Therefore, the requirements and accuracy of the door step adjustment are becoming more and more stringent, and the frequency of adjustment and the difficulty of operation are also increasing exponentially. The door of a certain type of aircraft is driven by a multi-link mechanism, and the door opens and closes as the actuator is retracted. The adjustment of the length of the actuator after it is retracted directly affects the step value between the aircraft door and the fuselage skin.

[0091] In the prior art, the step difference debugging of aircraft cabin doors is a "trial and error" method of manually adjusting the length of the actuator: that is, first adjust the length of the actuator a small amount, check the step difference between the cabin door and the fuselage skin, then compare the measured step difference value with the step difference requirement, and then repeatedly adjust the length of the actuator until the step difference meets the requirement. This process depends entirely on the operator's experience and repeated operations to adjust the step difference between the cabin door and the fuselage skin. There is a huge workload and high labor intensity. It depends entirely on the operator's skills and experience, which is very easy to cause operational errors and thus cause quality and safety accidents. In summary, when debugging the step difference of the aircraft cabin door, the step difference debugging of the aircraft cabin door is not accurate enough, which can easily cause operational errors and thus easily cause quality and safety accidents.

[0092] In order to solve the above-mentioned technical problems, the present application provides an aircraft cabin door step difference debugging method, device, equipment and medium. Before introducing the specific technical solution of the present application, the hardware operating environment involved in the embodiment of the present application is first introduced.

[0093] Reference Figure 1 , Figure 1 A schematic diagram of the computer device structure of the hardware operating environment involved in the embodiment of the present application.

[0094] like Figure 1As shown, the computer device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0095] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the computer device, and may include more or less components than shown in the figure, or combine some components, or arrange the components differently.

[0096] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and an electronic program.

[0097] exist Figure 1 In the computer device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the computer device of the present invention can be set in the computer device, and the computer device calls the aircraft cabin door step difference debugging device stored in the memory 1005 through the processor 1001, and executes the aircraft cabin door step difference debugging method provided in the embodiment of the present application.

[0098] Reference Figure 2 Based on the hardware environment of the aforementioned embodiment, an embodiment of the present application provides an aircraft cabin door step difference debugging method, the method comprising:

[0099] S10: Decomposing the retractable and extending mechanism of the aircraft cabin door into a first four-bar linkage and a second four-bar linkage.

[0100] In the specific implementation process, the retraction and extension of the aircraft cabin door is mainly completed by the retraction and extension mechanism. The main research object of this application is the aircraft cabin door with a double four-bar linkage mechanism, such as Figure 3 As shown, Figure 3 The overall simplified structural diagram of the double four-bar linkage provided in the embodiment of the present application. In order to facilitate the study of the double four-bar linkage, the present application first decomposes the double four-bar linkage of the aircraft cabin door into a first four-bar linkage and a second four-bar linkage, such as Figure 4-Figure 5 .in, Figure 4 This is a schematic diagram of the first four-bar linkage provided in an embodiment of the present application in a coordinate system. Figure 5 A schematic diagram of the second four-bar linkage provided in the embodiment of the present application in a coordinate system. The first four-bar linkage is connected to the actuator, and the first four-bar linkage includes a first link, a second link, a third link, and a fourth link; the second four-bar linkage is connected to the cabin door, and the second four-bar linkage includes a fifth link, a sixth link, a seventh link, and an eighth link.

[0101] S11: Based on the first four-bar linkage, a first angle model between the first angle and the third angle is established; wherein the first angle is the angle between the first link and the fourth link, and the third angle is the angle between the third link and the fourth link.

[0102] In the specific implementation process, the first angle model represents a model of the angle relationship between the first angle and the third angle. Figure 6 As shown, the following steps are included:

[0103] S111: Firstly project the first four-bar linkage into a coordinate system.

[0104] In the specific implementation process, Figure 4 As shown, a coordinate system is constructed in a conventional manner, and then the first four-bar linkage is projected in the coordinate system in a conventional manner.

[0105] S112: Then, based on the first four-bar linkage projected in the coordinate system, a first composite link model of each link in the first four-bar linkage is constructed.

[0106] In the specific implementation process, a first complex vector model is first constructed based on the first four-bar linkage projected in the coordinate system; then a first composite link model of each link in the first four-bar linkage is constructed based on the Euler formula and the first complex vector model.

[0107] Specifically, the first complex vector model is obtained through the following relationship:

[0108] L1*e i*ψ1 +L2*e i*σ1 =L3*e i*ψ3+L4

[0109] Wherein, L1 represents the length of the first connecting rod, L2 represents the length of the second connecting rod, L3 represents the length of the third connecting rod, L4 represents the length of the fourth connecting rod, ψ1 represents the first angle, ψ3 represents the third angle, i represents the imaginary unit, and σ1 represents the first transition parameter.

[0110] The expression of Euler's formula is as follows:

[0111] e i*θ =cosθ+i*sinθ

[0112] Among them, θ is the parameter in Euler's formula.

[0113] The first composite connecting rod model is established through the following relationship:

[0114] L1*cosψ1+L2*cosσ1=L4+L3*cosψ3

[0115] L1*sinψ1+L2*sinσ1=L3*sinψ3.

[0116] S113: Based on the first composite connecting rod model, a first angle model between the first angle and the third angle is established.

[0117] In the specific implementation process, the first angle model is established through the following relationship:

[0118]

[0119] Where A = L4-L1*cosψ1

[0120] B=-L1*sinψ1

[0121]

[0122] S12: Based on the first angle model and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage, a second angle model between the fourth angle and the third angle, and a third angle model between the fifth angle and the fourth angle are established; wherein the fourth angle is the angle between the eighth link and the first link, the fifth angle is the angle between the fifth link and the eighth link, and the eighth link and the fifth link are both links in the second four-bar linkage.

[0123] In a specific implementation process, the relationship between the fourth angle and the third angle can be reflected through the second angle model, and the relationship between the fifth angle and the fourth angle can be reflected through the third angle model.

[0124] Specifically, the second angle model is established through the following relationship:

[0125]

[0126] Here, ψ4 represents the fourth angle.

[0127] The third angle model is established through the following relationship:

[0128] ψ5=α-ψ1-ψ4

[0129] Wherein, ψ5 represents the fifth angle, and α represents the angle between the fourth connecting rod and the fifth connecting rod.

[0130] S13: Based on the second four-bar linkage, a fourth angle model between the second angle and the fifth angle is established; wherein the second angle is the angle between the fifth link and the seventh link.

[0131] Specifically, Figure 7 As shown, the following steps are included:

[0132] S131: Projecting the second four-bar linkage into a coordinate system.

[0133] In the specific implementation process, Figure 5 As shown, a coordinate system is constructed in a conventional manner, and then the second four-bar linkage is projected in the coordinate system in a conventional manner.

[0134] S132: Constructing a second complex vector model based on the second four-bar linkage projected in the coordinate system.

[0135] In the specific implementation process, the second complex vector model is established through the following relationship:

[0136] L8*e i*ψ5 +L6*e i*σ2 =L7*e i*ψ3 +L5

[0137] Wherein, L5 represents the length of the fifth connecting rod, L6 represents the length of the sixth connecting rod, L7 represents the length of the seventh connecting rod, L8 represents the length of the eighth connecting rod, and σ2 represents the second transition parameter.

[0138] S133: Based on the Euler formula and the second complex vector model, construct a second composite link model of each link in the second four-bar linkage.

[0139] In the specific implementation process, the expression of Euler's formula is as follows:

[0140] e i*θ =cosθ+i*sinθ

[0141] Among them, θ is the parameter in Euler's formula;

[0142] The second composite link model is obtained by the following relationship:

[0143] L8*cosψ5+L6*cosσ2=L5+L7*cosψ2

[0144] L8*sinψ5+L6*sinσ2=L7*sinψ2.

[0145] S134: Based on the second composite connecting rod model, a fourth angle model between the second angle and the fifth angle is established.

[0146] In the specific implementation process, the relationship between the second angle and the fifth angle can be expressed by the fourth angle model. Specifically, the fourth angle model is obtained by the following relationship:

[0147]

[0148] Where n = L5-L8*cosψ5

[0149] m=-L8*sinψ5

[0150]

[0151] S14: Based on the first angle model, the second angle model, the third angle model and the fourth angle model, a fifth angle model between the first angle and the second angle is constructed; wherein the first angle is used to characterize the length of the actuator in the aircraft door, and the second angle is used to characterize the state of the door in the aircraft door.

[0152] In the specific implementation process, the fifth angle model that can reflect the relationship between the first angle and the second angle can be obtained by combining the relationship between the first angle model, the second angle model, the third angle model and the fourth angle model. Based on the first angle model, the second angle model, the third angle model and the fourth angle model, the fifth angle model can be obtained in a conventional manner. The specific expression of the fifth angle model will not be described here. Those skilled in the art can know it through the first angle model, the second angle model, the third angle model and the fourth angle model. Since the first angle can represent the length of the actuator in the aircraft cabin door, and the second angle can represent the state of the cabin door in the aircraft cabin door, the relationship between the first angle and the second angle can be used to know the relationship between the length of the actuator and the state of the aircraft cabin door.

[0153] S15: Based on a fifth angle model between the first angle and the second angle, performing step difference debugging on the target aircraft door.

[0154] Specifically, Figure 8 As shown, step S15 includes the following steps:

[0155] S151: Obtain the length parameters of each connecting rod in the retractable and extending mechanism of the cabin door of the target aircraft and the angle parameters between the fourth connecting rod and the fifth connecting rod.

[0156] In the specific implementation process, the fifth angle model of the relationship between the first angle and the second angle in the double four-bar linkage can be established by the above steps S10-S14. When the step difference of the cabin door of the target aircraft needs to be debugged, the length of each link in the double four-bar linkage, that is, the length of the first link, the length of the second link, the length of the third link, the length of the fourth link, the length of the fifth link, the length of the sixth link, the length of the seventh link, and the length of the eighth link, is first obtained in a conventional manner. And the angle between the fourth link and the fifth link, the above parameters are fixed during the step difference debugging process of the cabin door of the target aircraft.

[0157] S152: Based on the length parameters of each connecting rod in the retractable and extending mechanism of the cabin door of the target aircraft, the angle parameters between the fourth connecting rod and the fifth connecting rod, and the fifth angle model, the step difference debugging is performed on the cabin door of the target aircraft.

[0158] In the specific implementation process, the various parameters obtained in step S151 are input into the fifth angle model to obtain a relationship between the first angle and the second angle. The first angle can reflect the length of the actuator in the aircraft door, and the second angle can reflect the state of the door in the aircraft door. Therefore, through the relationship between the first angle and the second angle, the relationship between the actuator length and the state of the aircraft door can be known. Then, based on the quantified relationship between the actuator length and the state of the aircraft door, the target aircraft door is step-adjusted. Specifically, Fig. 9 As shown, Fig. 9 The schematic diagram of the changes of the double four-bar linkage during the aircraft cabin door step difference debugging process in the embodiment of the present application. When the cabin door step difference required value is given, the length of the actuator that needs to be adjusted under the existing step difference conditions can be calculated through mathematical models and formulas to guide the actual operation process. Only two adjustments are required to adjust the cabin door step difference to meet the technical requirements. A large number of repeated debugging processes are avoided, the labor intensity and the operator's skills and experience requirements are significantly reduced, so that the cabin door step difference debugging process meets the requirements of fast, efficient, concise, accurate, low skill requirements and low quality risks.

[0159] In order to verify the effectiveness of this debugging method, a specific example is listed below.

[0160] In this example, L1 is 280.5mm, L2 is 260mm, L3 is 440mm, L4 is 137.809mm, L5 is 487.607mm, L6 is 545mm, L7 is 450mm, α=140°, according to the formula:

[0161]

[0162]

[0163] ψ5=α-ψ1-ψ4

[0164]

[0165] in:

[0166] A=L4-L1*cosψ1

[0167] B=-L1*sinψ1

[0168]

[0169] a=L5-L8*cosψ5

[0170] b=-L8*sinψ5

[0171]

[0172] Through calculation and analysis, the linear numerical relationship between the door step difference L and the actuator length ΔM is obtained, as shown in Table 1.

[0173] Table 1 Linear numerical relationship between door step difference L and actuator length ΔM

[0174] Serial number Step difference L(mm) ψ1(°) ψ2(°) Δψ1(°) ΔM(mm) 1 0.0 37.2110 7.9678 / / 2 0.1 37.2157 7.9727 0.0047 0.0230 3 0.2 37.2205 7.9776 0.0048 0.0235 4 0.3 37.2253 7.9825 0.0048 0.0235 5 0.4 37.2301 7.9875 0.0048 0.0235 6 0.5 37.2349 7.9924 0.0048 0.0235 7 0.6 37.2396 7.9973 0.0047 0.0230 8 0.7 37.2444 8.0022 0.0048 0.0235 9 0.8 37.2492 8.0071 0.0048 0.0235 10 0.9 37.2539 8.0120 0.0047 0.0230 11 1.0 37.2587 8.0169 0.0048 0.0235 12 1.1 37.2635 8.0219 0.0048 0.0235 13 1.2 37.2683 8.0268 0.0048 0.0235 14 1.3 37.2730 8.0317 0.0047 0.0230 15 1.4 37.2778 8.0366 0.0048 0.0235 16 1.5 37.2826 8.0415 0.0048 0.0235

[0175] The calculation results show that when the hatch step difference changes by 0.1mm, the corresponding change in the length of the actuator is approximately 0.0235mm. In the actual hatch step difference debugging process, the contraction of the actuator length can be quickly calculated based on the step difference change value, which effectively guides and simplifies the hatch step difference debugging process. For example, when the difference between the initial step difference value and the required step difference value is 1.5mm, the adjustment amount of the actuator length is The length of the actuator can be directly adjusted according to the calculated result (0.3525mm), thereby completing the door step adjustment work.

[0176] In summary, when the target aircraft cabin door is debugged with a step difference, since the retractable mechanism of the target aircraft cabin door is a double four-bar linkage, the retractable mechanism of the target aircraft cabin door is first decomposed into a first four-bar linkage and a second four-bar linkage. Then, based on the spatial position relationship between the first four-bar linkage, the second four-bar linkage and each link in the coordinate system, a first angle model that can reflect the change relationship between the first angle and the third angle, a second angle model that can reflect the change relationship between the fourth angle and the third angle, a third angle model that can reflect the change relationship between the fifth angle and the fourth angle, and a fourth angle model that can reflect the angle between the second angle and the fifth angle are constructed. Then, by calculating the first angle model, the second angle model, the third angle model and the fourth angle model, a fifth angle model that can reflect the angle between the first angle and the second angle is finally constructed. Since the change of the first angle can reflect the length of the actuator in the aircraft cabin door, the change of the second angle can reflect the state of the cabin door in the target aircraft cabin door. Therefore, through the relationship between the first angle and the second angle, the relationship between the actuator length and the cabin door state of the target aircraft is established. Therefore, it is only necessary to calculate the required length of the actuator when the cabin door in the target aircraft is debugged to the final position, and then use the actuator length calculated by the theory to guide the actual cabin door step difference debugging process. In this way, compared with the step difference debugging of the cabin door of the target aircraft based on the operator's experience, the step difference debugging of the cabin door of the target aircraft through this method is more accurate; based on the more accurate step difference debugging results of the cabin door of the target aircraft, it is not easy to cause related operating errors, and thus it is not easy to cause related quality and safety accidents.

[0177] In another embodiment, if Fig.10 As shown, based on the same inventive concept as the above-mentioned embodiment, the embodiment of the present application further provides an engine thrust pin quick disassembly device, the device comprising:

[0178] A decomposition module, used for decomposing the retractable and extending mechanism of the aircraft cabin door into a first four-bar linkage mechanism and a second four-bar linkage mechanism;

[0179] A first establishing module, used to establish a first angle model between a first angle and a third angle based on the first four-bar linkage; wherein the first angle is the angle between the first link and the fourth link, and the third angle is the angle between the third link and the fourth link;

[0180] A second establishing module is used to establish a second model of the angle between the fourth angle and the third angle, and a third model of the angle between the fifth angle and the fourth angle based on the first model of the angle and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage; wherein the fourth angle is the angle between the eighth link and the first link, the fifth angle is the angle between the fifth link and the eighth link, and the eighth link and the fifth link are both links in the second four-bar linkage;

[0181] A third establishing module is used to establish a fourth angle model between the second angle and the fifth angle based on the second four-bar linkage; wherein the second angle is the angle between the fifth link and the seventh link;

[0182] Constructing a model, for constructing a fifth angle model between the first angle and the second angle based on the first angle model, the second angle model, the third angle model and the fourth angle model; wherein the first angle is used to characterize the length of the actuator in the aircraft cabin door, and the second angle is used to characterize the state of the cabin door in the aircraft cabin door;

[0183] A debugging module is used to perform step difference debugging on a target aircraft door based on a fifth angle model between the first angle and the second angle.

[0184] It should be noted that each module in the aircraft cabin door step difference debugging device in this embodiment corresponds one-to-one to each step in the aircraft cabin door step difference debugging method in the aforementioned embodiment. Therefore, the specific implementation method and technical effects achieved by this embodiment can refer to the implementation method of the aforementioned aircraft cabin door step difference debugging method, which will not be repeated here.

[0185] In addition, in one embodiment, the present application also provides a computer device, which includes a processor, a memory, and a computer program stored in the memory, and the computer program implements the method in the aforementioned embodiment when executed by the processor.

[0186] In addition, in one embodiment, the present application further provides a computer storage medium, on which a computer program is stored, and the computer program implements the method in the aforementioned embodiment when executed by a processor.

[0187] In some embodiments, the computer readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or various devices including one or any combination of the above memories. The computer may be various computing devices including intelligent terminals and servers.

[0188] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0189] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0190] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0191] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0192] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0193] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0194] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for debugging the step difference of an aircraft cabin door, characterized in that: The method comprises: Decomposing the retractable and extending mechanism of the aircraft cabin door into a first four-bar linkage and a second four-bar linkage; Based on the first four-bar linkage, a first angle model between the first angle and the third angle is established; wherein the first angle is the angle between the first link and the fourth link, and the third angle is the angle between the third link and the fourth link; Based on the first angle model and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage, a second angle model between the fourth angle and the third angle, and a third angle model between the fifth angle and the fourth angle are established; wherein the fourth angle is the angle between the eighth link and the first link, the fifth angle is the angle between the fifth link and the eighth link, and the eighth link and the fifth link are both links in the second four-bar linkage; Based on the second four-bar linkage, a fourth angle model between the second angle and the fifth angle is established; wherein the second angle is the angle between the fifth link and the seventh link; Based on the first angle model, the second angle model, the third angle model and the fourth angle model, a fifth angle model between the first angle and the second angle is constructed; wherein the first angle is used to characterize the length of the actuator in the aircraft door, and the second angle is used to characterize the state of the door in the aircraft door; Based on a fifth angle model between the first angle and the second angle, a step difference adjustment is performed on the cabin door of the target aircraft.

2. The aircraft door step difference debugging method according to claim 1, characterized in that: The method of establishing a first angle model between the first angle and the third angle based on the first four-bar linkage comprises: Projecting the first four-bar linkage into a coordinate system; Based on the first four-bar linkage projected in the coordinate system, construct a first composite link model of each link in the first four-bar linkage; Based on the first composite connecting rod model, a first angle model between the first angle and the third angle is established.

3. The aircraft door step difference debugging method according to claim 2, characterized in that: The step of constructing a first composite link model of each link in the first four-bar linkage based on the first four-bar linkage projected in the coordinate system includes: constructing a first complex vector model based on the first four-bar linkage projected in the coordinate system; Based on the Euler formula and the first complex vector model, a first composite link model of each link in the first four-bar linkage is constructed.

4. The aircraft door step difference debugging method according to claim 3, characterized in that: The step of constructing a first complex vector model based on the first four-bar linkage projected in the coordinate system includes: The first complex vector model is obtained through the following relationship: L1*e i*ψ1 +L2*e i*σ1 =L3*e i*ψ3 +L4 Wherein, L1 represents the length of the first connecting rod, L2 represents the length of the second connecting rod, L3 represents the length of the third connecting rod, L4 represents the length of the fourth connecting rod, ψ1 represents the first angle, ψ3 represents the third angle, i represents the imaginary unit, and σ1 represents the first transition parameter; The step of constructing a first composite link model of each link in the first four-bar linkage based on the Euler formula and the first complex vector model includes: The expression of Euler's formula is as follows: e i*θ =cosθ+i*sinθ Among them, θ is the parameter in Euler's formula; The first composite connecting rod model is established through the following relationship: L1*cosψ1+L2*cosσ1=L4+L3*cosψ3 L1*sinψ1+L2*sinσ1=L3*sinψ3.

5. The aircraft door step difference debugging method according to claim 4, characterized in that: The step of establishing a first angle model between the first angle and the third angle based on the first composite connecting rod model includes: The first angle model is established through the following relationship: Where A = L4-L1*cosψ1 B=-L1*sinψ1 6. The aircraft door step difference debugging method according to claim 5, characterized in that: The method of establishing a second angle model between the fourth angle and the third angle and a third angle model between the fifth angle and the fourth angle based on the first angle model and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage comprises: The second angle model is established through the following relationship: Among them, ψ4 represents the fourth angle; The third angle model is established through the following relationship: ψ5=α-ψ1-ψ4 Wherein, ψ5 represents the fifth angle, and α represents the angle between the fourth connecting rod and the fifth connecting rod.

7. The aircraft door step difference debugging method according to claim 1, characterized in that: The method of establishing a fourth angle model between the second angle and the fifth angle based on the second four-bar linkage comprises: Projecting the second four-bar linkage into a coordinate system; constructing a second complex vector model based on the second four-bar linkage projected in the coordinate system; Based on the Euler formula and the second complex vector model, construct a second composite link model of each link in the second four-bar linkage; Based on the second composite connecting rod model, a fourth angle model between the second angle and the fifth angle is established.

8. The aircraft door step difference debugging method according to claim 7, characterized in that: The step of constructing a second complex vector model based on the second four-bar linkage projected in the coordinate system includes: The second complex vector model is established through the following relationship: <h2 style=";text-align:left;direction:ltr">L8*e<h2 style=";text-align:left;direction:ltr"> i*ψ5 <h2 style=";text-align:left;direction:ltr"> +L6*e<h2 style=";text-align:left;direction:ltr"> i*σ2 <h2 style=";text-align:left;direction:ltr"> =L7*e<h2 style=";text-align:left;direction:ltr"> i*ψ3 <h2 style=";text-align:left;direction:ltr"> +L5 Wherein, L5 represents the length of the fifth connecting rod, L6 represents the length of the sixth connecting rod, L7 represents the length of the seventh connecting rod, L8 represents the length of the eighth connecting rod, and σ2 represents the second transition parameter; Based on the Euler formula and the second complex vector model, a second composite link model of each link in the second four-bar linkage is constructed: The expression of Euler's formula is as follows: e i*θ =cosθ+i*sinθ Among them, θ is the parameter in Euler's formula; The second composite link model is obtained by the following relationship: L8*cosψ5+L6*cosσ2=L5+L7*cosψ2 L8*sinψ5+L6*sinσ2=L7*sinψ2.

9. The aircraft door step difference debugging method according to claim 8, characterized in that: The method of establishing a fourth angle model between the second angle and the fifth angle based on the second composite connecting rod model comprises: Where n = L5-L8*cosψ5 m=-L8*sinψ5 10. The aircraft door step difference debugging method according to any one of claims 1 to 9, characterized in that: The step difference debugging of the target aircraft cabin door based on the fifth angle model between the first angle and the second angle includes: Obtaining the length parameters of each connecting rod in the retractable and extending mechanism of the cabin door of the target aircraft and the angle parameters between the fourth connecting rod and the fifth connecting rod; Based on the length parameters of each connecting rod in the retractable and extending mechanism of the target aircraft cabin door, the angle parameters between the fourth connecting rod and the fifth connecting rod, and the fifth angle model, the step difference debugging is performed on the target aircraft cabin door.

11. An aircraft door step difference debugging device, characterized in that: The device comprises: A decomposition module, used for decomposing the retractable and extending mechanism of the aircraft cabin door into a first four-bar linkage mechanism and a second four-bar linkage mechanism; A first establishing module, used to establish a first angle model between a first angle and a third angle based on the first four-bar linkage; wherein the first angle is the angle between the first link and the fourth link, and the third angle is the angle between the third link and the fourth link; A second establishing module is used to establish a second model of the angle between the fourth angle and the third angle, and a third model of the angle between the fifth angle and the fourth angle based on the first model of the angle and the spatial position relationship between the links in the first four-bar linkage and the second four-bar linkage; wherein the fourth angle is the angle between the eighth link and the first link, the fifth angle is the angle between the fifth link and the eighth link, and the eighth link and the fifth link are both links in the second four-bar linkage; A third establishing module is used to establish a fourth angle model between the second angle and the fifth angle based on the second four-bar linkage; wherein the second angle is the angle between the fifth link and the seventh link; Constructing a model, for constructing a fifth angle model between the first angle and the second angle based on the first angle model, the second angle model, the third angle model and the fourth angle model; wherein the first angle is used to characterize the length of the actuator in the aircraft cabin door, and the second angle is used to characterize the state of the cabin door in the aircraft cabin door; A debugging module is used to perform step difference debugging on a target aircraft door based on a fifth angle model between the first angle and the second angle.

12. A computer device, characterized in that: The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 10.

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