Landing gear installation equipment

Abstract

The present invention discloses a landing gear installation device, which includes an omnidirectional chassis, a landing gear attitude adjustment mechanism and a control system arranged on the upper end face of the omnidirectional chassis. A battery compartment is arranged on the omnidirectional chassis, and the control system controls the actions of the omnidirectional chassis and the landing gear attitude adjustment mechanism. The battery compartment provides power for the device. Among them: the landing gear attitude adjustment mechanism includes a front-back adjustment component, a left-right adjustment component, a vertical and pitch adjustment component, and a flip adjustment component. The flip adjustment component is connected with a landing gear connector at the front end of the omnidirectional chassis; a spring shock-absorbing towing rod is connected to the rear end of the omnidirectional chassis, and an obstacle avoidance component is also configured on the outside of the omnidirectional chassis. The present invention adopts an omnidirectional mobile chassis, a high-precision control system, etc., which can meet the multi-degree-of-freedom adjustment requirements during the loading and unloading of the landing gear to a certain extent, thereby improving the efficiency and quality of the landing gear installation operation. Moreover, the device itself is convenient for disassembly and assembly, and has a convenient structure, with good practical significance.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft landing gear auxiliary equipment, and particularly relates to a landing gear installation device. Background Art

[0002] The currently common landing gear installation devices mainly have the following problems: difficult equipment movement, poor positioning accuracy, large equipment volume, and low operation efficiency. When installing the landing gear, multiple workers are required to move the equipment. It is necessary to move the equipment repeatedly many times to achieve the preliminary positioning of the equipment; after repeated manual adjustments, the alignment and installation of the landing gear are realized. This makes the landing gear installation a relatively heavy, time-consuming, labor-intensive, and costly task, which affects the aircraft support efficiency to a certain extent. Summary of the Invention

[0003] The purpose of the present invention is to provide a landing gear installation device, which solves the problems of the relatively complex process and inconvenient disassembly and assembly of the current aircraft landing gear.

[0004] The technical solution adopted by the present invention is as follows:

[0005] The landing gear installation device includes an omnidirectional chassis, a landing gear posture adjustment mechanism and a control system arranged on the upper end face of the omnidirectional chassis. A battery compartment is arranged on the omnidirectional chassis, and the control system controls the actions of the omnidirectional chassis and the landing gear posture adjustment mechanism. The battery compartment provides power for the device; wherein:

[0006] The landing gear posture adjustment mechanism includes a front-back adjustment component, a left-right adjustment component, a vertical and pitch adjustment component, and a flipping adjustment component. The flipping adjustment component is connected with a landing gear connecting head at the front end of the omnidirectional chassis;

[0007] A spring shock-absorbing towing rod is connected to the rear end of the omnidirectional chassis, and an obstacle avoidance component is also configured on the outside of the omnidirectional chassis.

[0008] The characteristics of the present invention also lie in:

[0009] The front-back adjustment component includes a front-back adjustment driving motor connected to the omnidirectional chassis. The front-back adjustment driving motor is connected to a front-back adjustment plate through a lead screw. The front-back adjustment plate is provided with front-back adjustment guide rails; the front-back adjustment driving motor controls the movement of the adjustment plate on the front-back adjustment guide rails, thereby driving the left-right adjustment component, the vertical and pitch adjustment component, the flipping adjustment component, and the landing gear connecting head to act.

[0010] The left-right adjustment component includes a left-right adjustment driving motor. The left-right adjustment driving motor is connected to a left-right adjustment seat through a lead screw. The upper plane of the front-back adjustment plate is provided with left-right adjustment guide rails; the left-right adjustment driving motor controls the sliding of the left-right adjustment seat on the left-right adjustment guide rails, thereby driving the vertical and pitch adjustment component, the flipping adjustment component, and the landing gear connecting head to act.

[0011] The vertical and pitch adjustment assembly includes four vertical adjustment electric cylinders. There are extension plates at the bottom of the left and right adjustment seats. The bottoms of the four vertical adjustment electric cylinders are connected to the extension plates of the left and right adjustment seats. The upper ends of the four vertical adjustment electric cylinders are hinged with a vertical adjustment seat. The four vertical adjustment electric cylinders are controlled integrally or independently by a control system. The flipping adjustment assembly is connected to the vertical adjustment seat.

[0012] The flipping adjustment assembly includes a flipping reduction gear connected between the vertical and pitch adjustment assembly and the landing gear connection head. The flipping reduction gear is connected with a flipping drive motor.

[0013] The omnidirectional chassis includes a vehicle frame. A spring shock-absorbing towing bar is connected to the vehicle frame. Four omnidirectional wheel systems are connected inside the vehicle frame through a spring suspension mechanism. The vehicle frame is also provided with manual towing wheels corresponding to each omnidirectional wheel system. A vehicle body covering shell is arranged on the periphery of the vehicle frame.

[0014] Each omnidirectional wheel system includes Mecanum wheels. Each Mecanum wheel is connected with a servo motor through a reduction gear.

[0015] The obstacle avoidance assembly includes a laser obstacle avoidance instrument and a collision avoidance sensor.

[0016] The control system includes a control box arranged on the omnidirectional chassis. A control panel and a warning light are arranged on the upper part of the control box.

[0017] The beneficial effects of the present invention are as follows: The landing gear installation equipment of the present invention adopts a multi-degree-of-freedom adjustment system, which can realize multi-degree-of-freedom adjustment in three-dimensional space (translation in the X direction, translation in the Y direction, translation in the Z direction, pitch in the X, Y, and Z directions, and flipping in the X axis), meeting the multi-degree-of-freedom adjustment requirements during the loading and unloading of the landing gear;

[0018] Adopting an omnidirectional moving chassis, it has a 360° free movement and adjustment function in the plane during the loading and unloading of the landing gear;

[0019] Adopting automatic control with high control precision, realizing the automation of the installation and disassembly of the landing gear;

[0020] The equipment has functions of self-propelling, being towed, and random transfer. It has no cab and does not require professional drivers, meeting the random matching requirements. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of the landing gear installation equipment of the present invention;

[0022] Figure 2 is a schematic overall layout diagram of the landing gear installation equipment of the present invention;

[0023] Figure 3 is a schematic structural diagram of the omnidirectional chassis in the landing gear installation equipment of the present invention;

[0024] Figure 4 It is a schematic structural diagram of the landing gear attitude adjustment mechanism in the landing gear installation equipment of the present invention;

[0025] Figure 5 It is an external schematic diagram of the control system in the landing gear installation equipment of the present invention;

[0026] Figure 6 It is a schematic diagram of the overall vehicle control framework in the landing gear installation equipment of the present invention;

[0027] Figure 7 It is a schematic layout diagram of the control panel in the landing gear installation equipment of the present invention;

[0028] Figure 8 It is a schematic diagram of the landing gear installation equipment of the present invention in a vertically connected state with the landing gear;

[0029] Figure 9 It is a schematic diagram of the landing gear installation equipment of the present invention in a horizontally connected state with the landing gear;

[0030] Figure 10 It is a schematic diagram of the landing gear installation equipment of the present invention sending the landing gear into the landing gear bay;

[0031] Figure 11 It is a schematic diagram of the landing gear installation state in the landing gear installation equipment of the present invention.

[0032] In the figure, 1. Spring shock-absorbing towing bar, 2. Control panel, 3. Control box, 4. Lifting ring, 5. Laser obstacle avoidance sensor, 6. Front and rear adjustment plates, 7. Left and right adjustment drive motors, 8. Battery compartment, 9. Left and right adjustment guide rails, 10. Front and rear adjustment guide rails, 11. Anti-collision sensor, 12. Omnidirectional wheel system, 13. Vertical adjustment electric cylinder, 14. Tipping drive motor, 15. Landing gear connector, 16. Manual towing wheel, 17. Vertical adjustment seat, 18. Left and right adjustment seats, 19. Front and rear adjustment drive motors, 20 Warning light, 21. Servo motor, 22. Spring suspension mechanism. 23. Vehicle body covering housing, 24. Reduction mechanism, 25. Mecanum wheel, 26. Frame, 27. Tipping reduction gearbox. Detailed implementation manners

[0033] The landing gear installation equipment of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0034] The landing gear installation equipment of the present invention has a completely new design of the landing gear installation equipment structure, optimizes the control system, adopts an omnidirectional wheel chassis and corresponding adjustment mechanisms, realizes the automation of the landing gear installation process, and belongs to general-purpose aircraft maintenance and support equipment.

[0035] As Figure 1 and Figure 2As shown in the figure, according to the requirements of landing gear installation operations, the overall plan of the landing gear installation equipment of the present invention is to set a landing gear attitude adjustment system on an omnidirectional chassis to meet the installation of the landing gear. The attitude adjustment system has translational degrees of freedom in the X, Y, and Z directions and rotational degrees of freedom about the X-axis and Z-axis, and through adjustment, pitch adjustment of the plane formed by any two of the XYZ axes can be achieved (the X direction is the aircraft heading, the Y direction is the horizontal direction perpendicular to the heading, and the Z direction is the vertical direction perpendicular to the heading).

[0036] The landing gear installation equipment of the present invention designs an automated landing gear installation equipment with an omnidirectional movement and an attitude adjustment system with three coordinate axes of X / Y / Z according to the requirements of aircraft landing gear loading and unloading operations. It mainly consists of an omnidirectional chassis, a landing gear attitude adjustment system, a control system, etc.

[0037] As Figure 3 shown in the figure, the omnidirectional chassis of the present invention is composed of a spring-damped towing bar 1, four Mecanum wheels 25, and a frame 26. There is a vehicle body covering shell 23 outside the frame 26. The spring-damped towing bar 1 is used for manual towing in some cases. Four Mecanum wheels 25 are connected to the inside of the frame 26 through a spring suspension mechanism 22, which can provide a certain amount of shock absorption for the equipment body. Each Mecanum wheel 25 is connected to a servo motor 21 through a speed reducer 24, and then its movement in the horizontal direction at different angles and distances is controlled through the control system. A manual towing wheel 16 is installed at each frame 26 near the Mecanum wheel 25. The manual towing wheel 16 is a retractable structure. In the case where it is not necessary to control the Mecanum wheel 25 through the control system to move the equipment, in order to protect the Mecanum wheel 25, a wrench or the like can be used to retract the manual towing wheel 16. After the manual towing wheel 16 is lowered, its height is lower than that of the Mecanum wheel 25. Therefore, the equipment moves through the four manual towing wheels 16.

[0038] As Figure 4 shown in the figure, the landing gear attitude adjustment mechanism mainly consists of a front-back adjustment component, a left-right adjustment component, a vertical adjustment component, and a flipping adjustment component; the flipping adjustment component is connected to the landing gear connector 15. The functional principles of the front-back adjustment component and the left-right adjustment component are similar, and both adopt a lead screw guide rail mechanism. The lead screw is driven by a front-back adjustment drive motor 19 and a left-right adjustment drive motor 7. The front-back adjustment drive motor 19 and the left-right adjustment drive motor 7 are servo motors and are controlled by the control system. The front-back adjustment drive motor 19 is connected to a front-back adjustment plate 6 through a lead screw. A front-back adjustment guide rail 10 in the front-back direction is arranged at the lower position of the front-back adjustment plate 6; the front-back adjustment drive motor 19 drives the front-back adjustment plate 6 to move on the front-back adjustment guide rail 10 through the lead screw. It should be noted that here the front-back adjustment component is the lowest part of the landing gear attitude adjustment mechanism, and through front-back adjustment, it can drive other components to move back and forth together.

[0039] The left and right adjustment drive motor 7 is connected to the left and right adjustment seat 18 through a lead screw, and is configured with left and right adjustment guide rails 9; the left and right adjustment guide rails 9 are arranged on the upper plane of the front and rear adjustment plate 6; the left and right adjustment drive motor 7 drives the left and right adjustment seat 18 to slide on the left and right adjustment guide rails 9. The left and right adjustment assembly drives through connection and then drives the vertical and pitching adjustment assembly, the flipping adjustment assembly, and the landing gear connector 15 to act. It can be understood that the vertical and pitching adjustment assembly, the flipping adjustment assembly, and the landing gear connector 15 are integrally connected to each other, and the whole is adjusted by the left and right adjustment assembly, aiming to enable the landing gear connector 15 to achieve left and right movement adjustment.

[0040] The vertical and pitching adjustment assembly uses four electric cylinders for lifting to achieve up and down adjustment of the Z axis and pitching adjustment in the X, Y, and Z planes. It includes four vertical adjustment electric cylinders 13. There is an extension plate at the bottom of the left and right adjustment seat 18. The bottoms of the four vertical adjustment electric cylinders 13 are connected to the extension plate of the left and right adjustment seat 18. The upper ends of the four vertical adjustment electric cylinders 13 are hinged with a vertical adjustment seat 17. The four vertical adjustment electric cylinders 13 are controlled as a whole or independently by the control system, and the flipping adjustment assembly is connected to the vertical adjustment seat 17.

[0041] The flipping adjustment assembly drives the flipping reduction gear 27 through the flipping drive motor 14, and the flipping reduction gear 27 drives the landing gear connector 15 to flip. The flipping drive motor 14 is equipped with a brake, and at the same time, the landing gear connector 15 is equipped with a mechanical brake.

[0042] As Figures 5 - 7 shown, the control system of the landing gear installation equipment of the present invention includes a control box 3. A remote controller is configured outside the equipment. It adopts a high-speed CAN bus control architecture and realizes the control of each drive shaft system motor and real-time monitoring of the state through the CANOPEN protocol. The electrical system adopts a method of separating strong and weak electricity and centralized packing of each module. The control panel 2 is arranged on the upper part of the control box 3 and is arranged at different positions according to functions. The layout of the control panel 2 is as Figure 7 shown. When the entire landing gear posture adjustment system performs precision fine-tuning, an electronic handwheel is used for adjustment to ensure the precision of the entire posture adjustment system.

[0043] As Figures 8 - 11 shown, the working process of the landing gear installation equipment of the present invention is as follows: By controlling the posture adjustment mechanism of the adjustment equipment, the equipment is connected to the landing gear; the landing gear posture adjustment system is adjusted to make the landing gear flip 90°, and the landing gear is sent into the landing gear compartment; the landing gear posture adjustment mechanism is adjusted to perform X / Y / Z axis adjustment for landing gear installation; after the installation is completed, the equipment is removed and placed at a designated position to complete the operation.

[0044] The landing gear installation equipment of the present invention: has the ability to move: during the landing gear installation operation, the equipment has the ability of omnidirectional movement and sends the landing gear below the landing gear compartment.

[0045] With multi-degree-of-freedom adjustment ability: During the landing gear installation operation, according to the position of the landing gear installation point in the landing gear bay, multi-degree-of-freedom adjustment of the landing gear attitude is carried out. Specifically as follows:

[0046] It has translational degrees of freedom in three directions of X, Y, and Z and rotational degrees of freedom about the X-axis and Z-axis. (The X direction is the aircraft heading, the Y direction is the horizontal direction perpendicular to the heading, and the Z direction is the vertical direction perpendicular to the heading).

[0047] With fine-tuning installation function: During the landing gear hole alignment operation, the equipment has a fine-tuning function.

[0048] With manual adjustment function.

[0049] The landing gear installation equipment of the present invention adopts an omnidirectional mobile chassis, a high-precision control system, etc., which can meet the multi-degree-of-freedom adjustment requirements during the loading and unloading of the landing gear to a certain extent, thereby improving the efficiency and quality of the landing gear installation operation. Moreover, the equipment itself is convenient for disassembly and assembly, has a simple structure, and has good practical significance.

Claims

1. Landing gear installation equipment, characterized in that, It includes an omnidirectional chassis, a landing gear attitude adjustment mechanism and a control system arranged on the upper end surface of the omnidirectional chassis. A battery compartment (8) is arranged on the omnidirectional chassis, and the control system controls the actions of the omnidirectional chassis and the landing gear attitude adjustment mechanism. The battery compartment (8) provides power for the equipment. Among them: The landing gear attitude adjustment mechanism includes a front-back adjustment component, a left-right adjustment component, a vertical and pitch adjustment component, and a flip adjustment component. The flip adjustment component is connected with a landing gear connector (15) at the front end of the omnidirectional chassis. The front-back adjustment component includes a front-back adjustment drive motor (19) connected to the omnidirectional chassis. The front-back adjustment drive motor (19) is connected to a front-back adjustment plate (6) through a lead screw. The front-back adjustment plate (6) is provided with a front-back adjustment guide rail (10). The front-back adjustment drive motor (19) drives the front-back adjustment plate (6) to move on the front-back adjustment guide rail (10), thereby driving the left-right adjustment component, the vertical and pitch adjustment component, the flip adjustment component, and the landing gear connector (15) to act. The left-right adjustment component includes a left-right adjustment drive motor (7). The left-right adjustment drive motor (7) is connected to a left-right adjustment seat (18) through a lead screw. The upper plane of the front-back adjustment plate (6) is provided with a left-right adjustment guide rail (9). The left-right adjustment drive motor (7) drives the left-right adjustment seat (18) to slide on the left-right adjustment guide rail (9), thereby driving the vertical and pitch adjustment component, the flip adjustment component, and the landing gear connector (15) to act. The vertical and pitch adjustment component includes four vertical adjustment electric cylinders (13). There is an extension plate at the bottom of the left-right adjustment seat (18). The bottoms of the four vertical adjustment electric cylinders (13) are connected to the extension plate of the left-right adjustment seat (18). The upper ends of the four vertical adjustment electric cylinders (13) are hinged to a vertical adjustment seat (17). The four vertical adjustment electric cylinders (13) are controlled integrally or independently by the control system. The flip adjustment component is connected to the vertical adjustment seat (17). The flip adjustment component includes a flip reduction gear (27) connected between the vertical and pitch adjustment component and the landing gear connector (15). The flip reduction gear (27) is connected with a flip drive motor (14). A spring shock-absorbing towing bar (1) is connected to the rear end of the omnidirectional chassis. An obstacle avoidance component is also configured on the outside of the omnidirectional chassis. The obstacle avoidance component includes a laser obstacle avoidance sensor (5) and a collision avoidance sensor (11).

2. The landing gear installation device according to claim 1, characterized in that The omnidirectional chassis includes a vehicle frame (26). The spring shock-absorbing towing bar (1) is connected to the vehicle frame (26). Four omnidirectional wheel systems (12) are connected in the vehicle frame (26) through a spring suspension mechanism (22). The vehicle frame (26) is also provided with a manual towing wheel (16) corresponding to each omnidirectional wheel system (12). A vehicle body covering shell (23) is arranged on the periphery of the vehicle frame (26).

3. The landing gear installation device according to claim 2, characterized in that, Each omnidirectional wheel system (12) includes a Mecanum wheel (25). Each Mecanum wheel (25) is connected with a servo motor (21) through a reduction gear (24).

4. The landing gear installation device according to claim 1, characterized in that, The control system includes a control box (3) disposed on the omnidirectional chassis, and a control panel (2) and a warning light (20) are provided on the upper part of the control box (3).

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