Ground automated assembly system and method for a helicopter lifting system

Abstract

The application particularly relates to a ground automatic assembly system and method of a helicopter lifting system, which comprises a working platform, a posture adjusting module for adjusting a component to be assembled of the helicopter lifting system, a detection module for detecting feature data of the component to be assembled and determining an actual posture, and a centralized control module for controlling the working platform to be in an open state, hoisting a main speed reducer to a posture adjusting tool position, controlling the working platform to be in a closed state, hoisting an automatic tilt device to a first target installation position above the main speed reducer, aligning the automatic tilt device with an installation position of the main speed reducer based on a first posture, hoisting a main hub to a second target installation position above the main speed reducer, aligning the main hub with the installation position of the main speed reducer based on a second posture, controlling the working platform to be in the open state, and hoisting the helicopter lifting system away from a current assembly station by using a gantry crane. Therefore, the problems of low ground assembly efficiency and precision of the lifting system, and inability to meet assembly requirements are solved.

Description

Technical Field

[0001] This application relates to the field of automated assembly, and in particular to a ground-based automated assembly system and method for a helicopter lift system. Background Technology

[0002] The lift system is a core component of a helicopter, used to change the direction of propulsion, transmit engine power, and generate lift. It mainly consists of three core components: the main gearbox, the swashplate, and the main rotor hub (with the rotor already installed). The main rotor hub and swashplate are mounted on the main gearbox. The ball joint center hole of the swashplate is connected to the precision-machined mating surface of the main gearbox's output shaft via a fitting method. The main rotor hub is connected to the main gearbox via a precision-geared spline. The fit tolerance between the swashplate and the main rotor hub and the main gearbox is generally H8 / f7, requiring high assembly precision.

[0003] In related technologies, during the ground assembly process, the main gearbox, automatic swashplate and main rotor hub of the lift system are usually assembled in the assembly station, and then the assembled lift system is transferred to the helicopter final assembly station.

[0004] However, the current ground assembly of the lift system still has the following problems:

[0005] (1) The automatic tilter and main rotor hub are heavy, and it is difficult to accurately adjust their position and attitude by coordinating manual and position control cranes, which makes it difficult to align the automatic tilter with the main reducer.

[0006] (2) The automatic tilter and main rotor hub components have irregular shapes and multiple connection points with the main reducer. In the combination of manual and position control crane, the minimum adjustment amount is too large, which can easily cause the automatic tilter and main rotor hub to collide with the main reducer, resulting in assembly damage.

[0007] (3) The assembly process mainly relies on manual observation, multiple adjustments and trial assembly to complete. There is a lack of effective measurement-assisted assembly methods, and it relies on repeated comparisons and debugging of analog quantity transmission, resulting in low assembly efficiency and long assembly cycle. Summary of the Invention

[0008] This application provides a ground-based automated assembly system and method for helicopter lift systems to solve the problems of low efficiency and low precision in ground assembly of helicopter lift systems in related technologies, which cannot meet the production efficiency and helicopter assembly requirements.

[0009] The first aspect of this application provides a ground-based automated assembly system for a helicopter lift system, comprising:

[0010] The work platform includes an open state and a closed state;

[0011] The attitude adjustment module is used to adjust the components to be assembled in the helicopter's lift system, including the main gearbox, automatic swashplate, and main rotor hub.

[0012] The detection module detects the feature data of the component to be assembled and determines the actual pose of the component to be assembled based on the feature data; and

[0013] The centralized control module is used to control the working platform to be in the open state, and to hoist the main reducer to the attitude adjustment fixture position through the attitude adjustment module. It also controls the working platform to be in the closed state, and hoists the automatic tilter to the first target installation position above the main reducer through the attitude adjustment module. Based on the first attitude detected by the detection component, it aligns the automatic tilter with the installation position of the main reducer. The module then hoists the main rotor hub to the second target installation position above the main reducer, aligns the main rotor hub with the installation position of the main reducer based on the second attitude detected by the detection component, and controls the working platform to be in the open state. Finally, it uses the attitude adjustment module to load the helicopter lift system and leave the current assembly station.

[0014] According to one embodiment of this application, the posture adjustment module includes:

[0015] The gantry crane has a position control mode and a torque control mode. In the position control mode, the main reducer is hoisted to the attitude adjustment fixture position, or the automatic tilter and the main propeller hub are hoisted to the main reducer. In the torque control mode, the automatic tilter is aligned with the installation position of the main reducer, or the main propeller hub is aligned with the installation position of the main reducer.

[0016] An attitude adjustment positioner is used to adjust the initial position of the main reducer. The attitude adjustment positioner is fixed to the main reducer through a main reducer fixing fixture.

[0017] According to one embodiment of this application, the gantry crane is connected and fixed to the automatic tilter or the main propeller hub via a flexible lifting fixture.

[0018] According to one embodiment of this application, the flexible lifting fixture has multiple lifting points.

[0019] According to one embodiment of this application, the detection module includes a laser tracker and a data processing unit, wherein,

[0020] The laser tracker is used to detect the spatial coordinates of multiple points on the outer contour of the main reducer output shaft, and the data processing unit is used to fit the spatial coordinates of the multiple points on the outer contour of the main reducer output shaft to obtain the axis of the main reducer output shaft.

[0021] According to one embodiment of this application, the laser tracker is used to detect the spatial coordinates of multiple points on the connecting end face of the automatic tilter, and the data processing unit fits the spatial coordinates of the multiple points on the connecting end face of the automatic tilter to obtain the normal of the connecting surface of the automatic tilter being coincident.

[0022] According to one embodiment of this application, the laser tracker is used to detect the spatial coordinates of multiple points on the main rotor hub connection end face, and the data processing unit fits the spatial coordinates of the multiple points on the main rotor hub connection end face to obtain the normal of the connection surface of the main rotor hub being coincident.

[0023] According to an embodiment of this application, a ground-based automated assembly system for a helicopter lift system includes a work platform, an attitude adjustment module for adjusting the components of the helicopter lift system to be assembled, a detection module for detecting the characteristic data of the components to be assembled and determining their actual attitude, and a centralized control module for controlling the work platform to hoist the main reducer to the attitude adjustment fixture position when the work platform is in the open state, and to hoist the automatic swashplate to the first target installation position above the main reducer when the work platform is in the closed state, align the automatic swashplate with the installation position of the main reducer based on the first attitude, hoist the main rotor hub to the second target installation position above the main reducer, align the main rotor hub with the installation position of the main reducer based on the second attitude, control the work platform to be in the open state, and use a gantry crane to hoist the helicopter lift system away from the current assembly station. This solves the problems of low efficiency and low precision in ground assembly of helicopter lift systems, which cannot meet assembly requirements. Based on a gantry crane with two working modes, position control and torque control, and a CNC positioner, combined with the high-precision automatic tilter, the measurement capability of the main rotor hub section normal and the output shaft axis of the main reducer, the high sensitivity, high precision attitude adjustment capability and automated assembly accuracy of the helicopter lift system are improved.

[0024] A second aspect of this application provides a ground-based automated assembly method for a helicopter lift system, characterized in that it employs a ground-based automated assembly system for a helicopter lift system as described in any of the above embodiments, wherein the method includes the following steps:

[0025] The working platform is controlled to be in the open state, and the gantry crane is controlled to switch to the position control working mode. The gantry crane is used to lift the main reducer to the position of the attitude adjustment fixture, and the main reducer is connected to the attitude adjustment positioner through the main reducer fixing fixture.

[0026] The working platform is controlled to be in the closed state, and the gantry crane is used to lift the automatic tilting device to the first target installation position above the main reducer. The normal attitude of the connection surface of the automatic tilting device in the suspended state is detected. Based on the normal attitude of the connection surface of the automatic tilting device, the output shaft axis of the main reducer is adjusted to coincide with the normal of the connection surface of the automatic tilting device through the attitude adjustment positioner.

[0027] Switch the gantry crane to torque control mode, align the automatic tilter with the main reducer's installation position, and switch the gantry crane to position control mode. Use the gantry crane to lift the main propeller hub to the second target installation position above the main reducer. Detect the normal attitude of the main propeller hub's connection surface in the suspended state, and based on the normal attitude of the main propeller hub's connection surface, adjust the output shaft axis of the main reducer to coincide with the normal of the main propeller hub's connection surface using the attitude adjustment positioner; and

[0028] Switch the gantry crane to the torque control working mode, align the installation positions of the main rotor hub and the main reducer to obtain the helicopter lift system, and control the working platform to be in the open state. Use the gantry crane to lift the helicopter lift system away from the current assembly station.

[0029] According to one embodiment of this application, detecting the feature data of the component to be assembled and determining the actual pose of the component to be assembled based on the feature data includes:

[0030] The spatial coordinates of multiple points on the outer contour of the main reducer output shaft are detected, and the output shaft axis of the main reducer is obtained by fitting the spatial coordinates of multiple points on the outer contour of the main reducer output shaft using the data processing unit.

[0031] According to one embodiment of this application, using the gantry crane to lift the helicopter lift system away from the current assembly station includes:

[0032] In the position control mode, the main reducer is hoisted to the attitude adjustment fixture position, or the automatic tilter and the main propeller hub are hoisted to the main reducer. In the torque control mode, the automatic tilter is aligned with the installation position of the main reducer, or the main propeller hub is aligned with the installation position of the main reducer.

[0033] The initial position of the main reducer is adjusted, and the attitude adjustment positioner is fixed to the main reducer through the main reducer fixing fixture.

[0034] The ground-based automated assembly method for a helicopter lift system according to an embodiment of this application includes a work platform, an attitude adjustment module for adjusting the components of the helicopter lift system to be assembled, a detection module for detecting the characteristic data of the components to be assembled and determining their actual attitude, and a centralized control module for controlling the work platform to be in an open state, hoisting the main reducer to the attitude adjustment fixture position, and when the work platform is in a closed state, hoisting the automatic swashplate to a first target installation position above the main reducer, aligning the automatic swashplate with the main reducer installation position based on the first attitude, hoisting the main rotor hub to a second target installation position above the main reducer, aligning the main rotor hub with the main reducer installation position based on the second attitude, controlling the work platform to be in an open state, and using a gantry crane to hoist the helicopter lift system away from the current assembly station. This solves the problems of low efficiency and low precision in ground assembly of helicopter lift systems, which cannot meet assembly requirements. Based on a gantry crane with two working modes, position control and torque control, and a CNC positioner, combined with the high-precision automatic tilter, the measurement capability of the main rotor hub section normal and the output shaft axis of the main reducer, the high sensitivity, high precision attitude adjustment capability and automated assembly accuracy of the helicopter lift system are improved.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0036] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0037] Figure 1 This is a block diagram of a ground-based automated assembly system for a helicopter lift system according to an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of a helicopter lift system according to an embodiment of this application;

[0039] Figure 3 This is a schematic diagram of the functional modules of a ground-based automated assembly system for a helicopter lift system according to an embodiment of this application;

[0040] Figure 4 This is a schematic diagram of the structure and equipment of a ground-based automated assembly system for a helicopter lift system according to an embodiment of this application;

[0041] Figure 5 This is a schematic diagram illustrating different states during the system assembly process according to an embodiment of this application;

[0042] Figure 6A flowchart illustrating a ground-based automated assembly method for a helicopter lift system according to an embodiment of this application;

[0043] Figure 7 This is a flowchart of a ground-based automated assembly method for a helicopter lift system according to an embodiment of this application. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0045] The following describes, with reference to the accompanying drawings, an automated ground assembly system and method for a helicopter lift system according to embodiments of this application. Addressing the problems of low efficiency and low precision in ground assembly of helicopter lift systems mentioned in the background art, which fail to meet production efficiency and helicopter assembly requirements, this application provides an automated ground assembly system for a helicopter lift system. This system includes a work platform, an attitude adjustment module for adjusting the components of the helicopter lift system to be assembled, a detection module for detecting the characteristic data of the components to be assembled and determining their actual attitude, and a centralized control module that, when the work platform is in the open state, hoists the main reducer to the attitude adjustment fixture position; when the work platform is in the closed state, hoists the automatic swashplate to a first target installation position above the main reducer, aligns the automatic swashplate with the main reducer's installation position based on the first attitude, hoists the main rotor hub to a second target installation position above the main reducer, aligns the main rotor hub with the main reducer's installation position based on the second attitude, controls the work platform to be in the open state, and uses a gantry crane to hoist the helicopter lift system away from the current assembly station. This solves the problems of low efficiency and low precision in ground assembly of helicopter lift systems, which cannot meet assembly requirements. Based on a gantry crane with two working modes, position control and torque control, and a CNC positioner, combined with the high-precision automatic tilter, the measurement capability of the main rotor hub section normal and the output shaft axis of the main reducer, the high sensitivity, high precision attitude adjustment capability and automated assembly accuracy of the helicopter lift system are improved.

[0046] Specifically, before introducing the embodiments of this application, let me first introduce the relevant system modules involved in the embodiments of this application, namely, the centralized control module, the attitude adjustment module, the detection module, the mobile work platform and the assembly personnel, specifically including the centralized control computer, the gantry crane, the flexible hoisting fixture, the attitude adjustment positioner, the main reducer fixing fixture, the attitude detection platform and the mobile work platform and other equipment.

[0047] The centralized control module mainly includes a centralized control computer, which is used to collect information from other modules, perform centralized control logic judgments, and thus control each moving device. The collected information sources include: the normal direction or axial direction of the assembly object after calculation by the data processing module; the current position and speed of the attitude adjustment positioner; the current working mode, position, speed, and load torque of the gantry crane; the operation instructions of the assembly personnel; and the instructions sent to each moving device, including the target position and speed of the attitude adjustment positioner, and the working mode, target position, speed, and target torque of the gantry crane.

[0048] The attitude adjustment module includes a gantry crane and an attitude adjustment positioner, used to adjust the components to be assembled in the lifting system. The gantry crane has two working modes: position control mode and torque control mode, used for transfer and installation alignment, respectively. The flexible lifting fixture has multiple lifting points and can be compatible with lifting two different assembly components: the automatic tilter and the main propeller hub. The attitude adjustment positioner is mainly used to adjust the initial attitude of the main reducer. The main reducer fixing fixture is used to fix the main reducer to the attitude adjustment positioner.

[0049] The detection module includes a laser tracker and a data processing module. After the laser tracker detects the characteristic data of the components to be assembled in the lift system, the data processing module estimates the actual pose of the components. Before formal assembly, the detection module dynamically detects the normal phase of the connection end face between the autoswashplate and the main rotor hub, as well as the axial direction of the output shaft of the main reducer, thereby assisting the attitude adjuster in adjusting the initial pose of the main reducer.

[0050] The movable work platform is used by assembly personnel to reach the assembly position, operate the assembly equipment and the assembly object. The movable function ensures that the work platform surface can be opened or closed according to the process, thereby opening or closing the movement path of the assembly object and the lifting system, which facilitates the removal of the assembled lifting system from the station and the movement of the lifting system components into the station.

[0051] Specifically, Figure 1 This is a flowchart illustrating a ground-based automated assembly system for a helicopter lift system, as provided in an embodiment of this application.

[0052] like Figure 1 As shown, the ground automated assembly system 10 of the helicopter lift system includes: a work platform 100, an attitude adjustment module 200, a detection module 300, and a central control module 400.

[0053] The system includes a work platform 100 with an open and closed state; an attitude adjustment module 200 for adjusting the components of the helicopter lift system to be assembled, including the main reducer, swashplate, and main rotor hub; a detection module 300 for detecting the feature data of the components to be assembled and determining their actual position and attitude based on the feature data; and a central control module 400 for controlling the work platform 100 to be in the open state, hoisting the main reducer to the attitude adjustment fixture position via the attitude adjustment module 200, controlling the work platform 100 to be in the closed state, hoisting the swashplate to the first target installation position above the main reducer via the attitude adjustment module 200, aligning the swashplate with the main reducer based on the first position detected by the detection module, hoisting the main rotor hub to the second target installation position above the main reducer via the attitude adjustment module 200, aligning the main rotor hub with the main reducer based on the second position detected by the detection module, and controlling the work platform 100 to be in the open state, using the attitude adjustment module 200 to hoist the helicopter lift system away from the current assembly station.

[0054] Specifically, in order to ensure the assembly accuracy of each component of the helicopter lift system, the embodiments of this application are designed as follows: Figure 2 and Figure 3 The ground-based automated assembly system shown primarily assembles three core components of the helicopter lift system: the main gearbox, the swashplate, and the main rotor hub (with the rotor already installed). The main rotor hub and swashplate are mounted on the main gearbox. The ball joint center hole of the swashplate is connected to the precision-machined mating surface of the main gearbox's output shaft via a fitting mechanism. The main rotor hub and main gearbox are connected via a precision-geared spline. Therefore, in this embodiment, during assembly, the attitude adjustment module 200 needs to align the normal lines of the mounting sections of the swashplate and main rotor hub with the axis of the main gearbox's output shaft, and ensure that all mounting positions are aligned.

[0055] According to one embodiment of this application, the detection module 300 includes a laser tracker and a data processing unit. The laser tracker is used to detect the spatial coordinates of multiple points on the outer contour of the main reducer output shaft, and the data processing unit is used to fit the spatial coordinates of the multiple points on the outer contour of the main reducer output shaft to obtain the axis of the main reducer output shaft.

[0056] According to one embodiment of this application, a laser tracker is used to detect the spatial coordinates of multiple points on the connecting end face of the automatic tilter, and the connecting surface normal of the automatic tilter is obtained by fitting the spatial coordinates of multiple points on the connecting end face of the automatic tilter through a data processing unit.

[0057] According to one embodiment of this application, a laser tracker is used to detect the spatial coordinates of multiple points on the main rotor hub connection end face, and the connection surface normal of the main rotor hub is obtained by fitting the spatial coordinates of multiple points on the main rotor hub connection end face through a data processing unit.

[0058] Specifically, in this embodiment, the detection module 300 mainly includes a laser tracker and a data processing unit. The laser tracker detects the spatial coordinates of multiple points on the outer contour of the main reducer output shaft and uses the data processing unit to fit and obtain the axial direction; the laser tracker detects the spatial coordinates of multiple points on the connecting end face of the automatic swashplate or main propeller hub and uses the data processing unit to fit and obtain the normal direction of the end face.

[0059] Specifically, the attitude adjustment in this embodiment first uses a laser tracker to detect the spatial coordinates of multiple points on the end face of the auto-tilt unit or main rotor hub in a static suspension state, and estimates the normal direction of the end face based on a plane fitting algorithm. Then, based on the spatial symmetry of the end face feature points, the position of the end face's center of symmetry is estimated. Next, by detecting multiple points on the outer contour of the actual main reducer's output shaft, the spatial pose of the output shaft's axis is estimated based on spatial symmetry. The motion command value of the attitude adjuster is then calculated, causing the axis of the main reducer's output shaft to tend to coincide with the normal and center of symmetry of the auto-tilt unit or main rotor hub's end face. Finally, the estimation and adjustment of the output shaft's axis pose are iteratively performed until the attitude deviation and position deviation between the output shaft and the normal and center of symmetry of the auto-tilt unit or main rotor hub's end face are both less than a set threshold, thus completing the attitude adjustment of the main reducer before assembly.

[0060] According to one embodiment of this application, the attitude adjustment module 200 includes: a gantry crane, which has a position control mode and a torque control mode. In the position control mode, it hoists the main reducer to the attitude adjustment fixture position, or hoists the automatic tilter and the main propeller hub to the main reducer. In the torque control mode, it is used to align the automatic tilter with the installation position of the main reducer, or align the main propeller hub with the installation position of the main reducer; and an attitude adjustment positioner, which is used to adjust the initial attitude of the main reducer. The attitude adjustment positioner is fixed to the main reducer through the main reducer fixing fixture.

[0061] Specifically, such as Figure 4 As shown, the attitude adjustment module 200 of this application embodiment includes a gantry crane and an attitude adjustment positioner. It is the main device for adjusting the components to be assembled in the lifting system. The gantry crane has two working modes: position control mode and torque control mode, which are used to perform transfer and installation alignment, respectively. The gantry crane is connected and fixed to the automatic tilter or main propeller hub through a flexible lifting fixture. The flexible lifting fixture has multiple lifting points and can be compatible with lifting two different assembly components, the automatic tilter and the main propeller hub. The attitude adjustment positioner is mainly used to adjust the initial attitude of the main reducer and is fixed to the main reducer through the main reducer fixing fixture.

[0062] Specifically, such as Figure 5As shown in the embodiment of this application, a cable force sensor is added to the steel cable at the end of the gantry crane near the lifting point. By judging the current force on the sensor and the weight of the suspended object recorded in advance, the direction of the operating force of the automatic tilter or main rotor hub to be assembled by the assembly personnel can be obtained. Based on the direction and magnitude of the actual operating force, the movement direction and speed of the actual gantry crane winch motor are controlled, thereby realizing the rapid or slow extension or shortening of the suspension rope, so as to coordinate with the assembly personnel to accurately adjust the actual position and posture of the automatic tilter or main rotor hub.

[0063] Furthermore, in addition to the three main modules—the centralized control module 400, the attitude adjustment module 200, and the detection module 300—the ground automated assembly system 10 for the helicopter lift system also includes several work platforms 100 for assembly personnel to reach the assembly position, operate the assembly equipment and the assembly object. The work platform 100 can open or close its surface according to the current process, thereby opening or closing the movement path between the assembly object and the lift system, facilitating the removal of the assembled lift system from the station and the movement of lift system components into the station.

[0064] In summary, as Figure 6 As shown, the assembly method and workflow of the helicopter lift system ground assembly system in this application embodiment are as follows:

[0065] Step S601: The work platform is opened, the gantry crane is switched to position control working mode, and the main reducer is hoisted to the position of the attitude adjustment fixture.

[0066] In step S602, the main reducer is connected to the attitude adjustment and positioning device through the main reducer fixing fixture;

[0067] Step S603: The work platform is closed, and the gantry crane lifts the automatic tilter to the installation position above the main reducer;

[0068] Step S604: Detect the normal attitude of the connecting surface of the automatic tilter under suspension, and adjust the output shaft axis of the main reducer to coincide with the normal of the connecting surface of the automatic tilter through the attitude adjustment positioner;

[0069] Step S605: The gantry crane switches to torque control mode, and the human-machine collaboration completes the alignment of the automatic tilter and the main reducer installation position, and the connection is completed manually.

[0070] Step S606: The gantry crane switches to position control working mode and lifts the main propeller hub to the installation position above the main reducer.

[0071] Step S607: Detect the normal attitude of the connecting surface of the main propeller hub under suspension, and adjust the output shaft axis of the main reducer to coincide with the normal of the connecting surface of the main propeller hub using the attitude adjustment positioner;

[0072] In step S608, the gantry crane switches to torque control mode, and the human-machine collaboration completes the alignment of the main propeller hub and the main reducer installation position, and the connection is completed manually.

[0073] In step S609, the work platform is opened, and the lifting system assembled by the gantry crane leaves the assembly station.

[0074] According to an embodiment of this application, a ground-based automated assembly system for a helicopter lift system includes a work platform, an attitude adjustment module for adjusting the components of the helicopter lift system to be assembled, a detection module for detecting the characteristic data of the components to be assembled and determining their actual attitude, and a centralized control module for controlling the work platform to hoist the main reducer to the attitude adjustment fixture position when the work platform is in the open state, and to hoist the automatic swashplate to the first target installation position above the main reducer when the work platform is in the closed state, align the automatic swashplate with the installation position of the main reducer based on the first attitude, hoist the main rotor hub to the second target installation position above the main reducer, align the main rotor hub with the installation position of the main reducer based on the second attitude, control the work platform to be in the open state, and use a gantry crane to hoist the helicopter lift system away from the current assembly station. This solves the problems of low efficiency and low precision in ground assembly of helicopter lift systems, which cannot meet assembly requirements. Based on a gantry crane with two working modes, position control and torque control, and a CNC positioner, combined with the high-precision automatic tilter, the measurement capability of the main rotor hub section normal and the output shaft axis of the main reducer, the high sensitivity, high precision attitude adjustment capability and automated assembly accuracy of the helicopter lift system are improved.

[0075] Next, with reference to the accompanying drawings, a ground-based automated assembly method for a helicopter lift system according to an embodiment of this application is described.

[0076] Figure 7 This is a flowchart of a ground-based automated assembly method for a helicopter lift system according to an embodiment of this application.

[0077] like Figure 7 As shown, the ground-based automated assembly method for the helicopter lift system employs any of the ground-based automated assembly systems for helicopter lift systems described in the above embodiments, wherein the method includes the following steps:

[0078] In step S701, the control work platform is in the open state, and the gantry crane is switched to the position control working mode. The gantry crane is used to lift the main reducer to the position of the attitude adjustment fixture, and the main reducer is connected to the attitude adjustment positioner through the main reducer fixing fixture.

[0079] In step S702, the control work platform is in the closed state, and the gantry crane is used to lift the automatic tilter to the first target installation position above the main reducer. The normal attitude of the connection surface of the automatic tilter in the suspended state is detected, and based on the normal attitude of the connection surface of the automatic tilter, the output shaft axis of the main reducer is adjusted to coincide with the normal of the connection surface of the automatic tilter through the attitude adjustment positioner.

[0080] In step S703, the gantry crane is switched to torque control mode, the automatic tilter is aligned with the installation position of the main reducer, and then switched to position control mode. The gantry crane is used to lift the main propeller hub to the second target installation position above the main reducer. The normal attitude of the main propeller hub's connecting surface is detected under suspension. Based on the normal attitude of the main propeller hub's connecting surface, the output shaft axis of the main reducer is adjusted to coincide with the normal of the main propeller hub's connecting surface using an attitude adjustment positioner.

[0081] In step S704, the gantry crane is switched to torque control mode, the installation positions of the main rotor hub and the main reducer are aligned to obtain the helicopter lift system, and the work platform is controlled to be in the open state. The gantry crane is used to lift the helicopter lift system away from the current assembly station.

[0082] According to one embodiment of this application, detecting feature data of a component to be assembled and determining the actual pose of the component to be assembled based on the feature data includes:

[0083] The spatial coordinates of multiple points on the outer contour of the main reducer output shaft are detected, and the output shaft axis of the main reducer is obtained by fitting the spatial coordinates of multiple points on the outer contour of the main reducer output shaft using the data processing unit.

[0084] According to one embodiment of this application, using a gantry crane to lift a helicopter lift system away from the current assembly station includes:

[0085] In position control mode, the main reducer is hoisted to the attitude adjustment fixture position, or the automatic swashplate and main propeller hub are hoisted to the main reducer. In torque control mode, the automatic swashplate is aligned with the installation position of the main reducer, or the main propeller hub is aligned with the installation position of the main reducer.

[0086] Adjust the initial position of the main reducer. The attitude adjustment positioner is fixed to the main reducer through the main reducer fixing fixture.

[0087] The ground-based automated assembly method for a helicopter lift system according to an embodiment of this application includes a work platform, an attitude adjustment module for adjusting the components of the helicopter lift system to be assembled, a detection module for detecting the characteristic data of the components to be assembled and determining their actual attitude, and a centralized control module for controlling the work platform to be in an open state, hoisting the main reducer to the attitude adjustment fixture position, and when the work platform is in a closed state, hoisting the automatic swashplate to a first target installation position above the main reducer, aligning the automatic swashplate with the main reducer installation position based on the first attitude, hoisting the main rotor hub to a second target installation position above the main reducer, aligning the main rotor hub with the main reducer installation position based on the second attitude, controlling the work platform to be in an open state, and using a gantry crane to hoist the helicopter lift system away from the current assembly station. This solves the problems of low efficiency and low precision in ground assembly of helicopter lift systems, which cannot meet assembly requirements. Based on a gantry crane with two working modes, position control and torque control, and a CNC positioner, combined with the high-precision automatic tilter, the measurement capability of the main rotor hub section normal and the output shaft axis of the main reducer, the high sensitivity, high precision attitude adjustment capability and automated assembly accuracy of the helicopter lift system are improved.

[0088] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A ground-based automated assembly system for a helicopter lift system, characterized in that, include: The work platform includes an open state and a closed state; The attitude adjustment module is used to adjust the components to be assembled in the helicopter's lift system, including the main gearbox, automatic swashplate, and main rotor hub. The detection component detects the feature data of the component to be assembled and determines the actual pose of the component to be assembled based on the feature data. as well as The centralized control module is used to control the working platform to be in the open state, and to hoist the main reducer to the attitude adjustment fixture position through the attitude adjustment module. It also controls the working platform to be in the closed state, and hoists the automatic tilter to the first target installation position above the main reducer through the attitude adjustment module. Based on the first attitude detected by the detection component, it aligns the automatic tilter with the installation position of the main reducer. Furthermore, it hoists the main rotor hub to the second target installation position above the main reducer through the attitude adjustment module, and aligns the main rotor hub with the installation position of the main reducer based on the second attitude detected by the detection component. Finally, it controls the working platform to be in the open state, and uses the attitude adjustment module to hoist the helicopter lift system away from the current assembly station. The attitude adjustment module includes: a gantry crane having a position control mode and a torque control mode; in the position control mode, the main reducer is hoisted to the attitude adjustment fixture position, or the automatic tilter and the main propeller hub are hoisted to the main reducer; in the torque control mode, the automatic tilter is aligned with the installation position of the main reducer, or the main propeller hub is aligned with the installation position of the main reducer; and an attitude adjustment locator for adjusting the initial attitude of the main reducer, the attitude adjustment locator being fixed to the main reducer via a main reducer fixing fixture.

2. The system according to claim 1, characterized in that, The gantry crane is connected and fixed to the automatic tilter or the main propeller hub via flexible lifting fixtures.

3. The system according to claim 2, characterized in that, Flexible lifting fixtures have multiple lifting points.

4. The system according to claim 1, characterized in that, The detection component includes a laser tracker and a data processing unit, wherein, The laser tracker is used to detect the spatial coordinates of multiple points on the outer contour of the main reducer output shaft, and the data processing unit is used to fit the spatial coordinates of the multiple points on the outer contour of the main reducer output shaft to obtain the axis of the main reducer output shaft.

5. The system according to claim 4, characterized in that, The laser tracker is used to detect the spatial coordinates of multiple points on the connecting end face of the automatic tilter, and the data processing unit fits the spatial coordinates of the multiple points on the connecting end face of the automatic tilter to obtain the normal direction of the connecting surface of the automatic tilter.

6. The system according to claim 4, characterized in that, The laser tracker is used to detect the spatial coordinates of multiple points on the connecting end face of the main propeller hub, and the data processing unit fits the spatial coordinates of multiple points on the connecting end face of the main propeller hub to obtain the normal direction of the connecting surface of the main propeller hub.

7. A ground-based automated assembly method for a helicopter lift system, characterized in that, A ground-based automated assembly system for a helicopter lift system as described in any one of claims 4-6, wherein the method comprises the following steps: The work platform is controlled to be in the open state, and the gantry crane is controlled to switch to the position control mode. The gantry crane is used to lift the main reducer to the position of the attitude adjustment fixture, and the main reducer is connected to the attitude adjustment positioner through the main reducer fixing fixture. The working platform is controlled to be in the closed state, and the gantry crane is used to lift the automatic tilting device to the first target installation position above the main reducer. The normal attitude of the connection surface of the automatic tilting device in the suspended state is detected. Based on the normal attitude of the connection surface of the automatic tilting device, the output shaft axis of the main reducer is adjusted to coincide with the normal of the connection surface of the automatic tilting device through the attitude adjustment positioner. Switch the gantry crane to torque control mode, align the automatic tilter with the installation position of the main reducer, and switch the gantry crane to position control mode. Use the gantry crane to lift the main propeller hub to the second target installation position above the main reducer, and detect the normal attitude of the main propeller hub's connecting surface in the suspended state. Based on the normal attitude of the main propeller hub's connecting surface, adjust the output shaft axis of the main reducer to coincide with the normal of the main propeller hub's connecting surface using the attitude adjustment positioner; and Switch the gantry crane to the torque control mode, align the installation positions of the main rotor hub and the main reducer to obtain the helicopter lift system, and control the work platform to be in the open state. Use the gantry crane to lift the helicopter lift system away from the current assembly station.

8. The method according to claim 7, characterized in that, The step of detecting the feature data of the component to be assembled and determining the actual pose of the component to be assembled based on the feature data includes: The spatial coordinates of multiple points on the outer contour of the main reducer output shaft are detected, and the output shaft axis of the main reducer is obtained by fitting the spatial coordinates of multiple points on the outer contour of the main reducer output shaft using the data processing unit.

9. The method according to claim 7, characterized in that, Using the gantry crane to lift the helicopter lift system away from the current assembly station includes: In the position control mode, the main reducer is hoisted to the attitude adjustment fixture position, or the automatic tilter and the main propeller hub are hoisted to the main reducer. In the torque control mode, the automatic tilter is aligned with the installation position of the main reducer, or the main propeller hub is aligned with the installation position of the main reducer. The initial position of the main reducer is adjusted, and the attitude adjustment positioner is fixed to the main reducer through the main reducer fixing fixture.

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