Engine lifting device suitable for on-wing engine changing and system of engine lifting device

Abstract

The invention relates to an engine lifting device and a system thereof. The engine lifting device comprises a mounting bracket, four lifting positioners and four process adapters, the mounting bracket is used for bearing an engine, the four lifting positioners are respectively arranged at one corner of the mounting bracket, and each lifting positioner is connected with the mounting bracket through one process adapter; each lifting positioner comprises a base module, a ram module and a stand column module. According to the engine lifting device and the system thereof, on-wing hair changing can be effectively achieved, the hair changing efficiency is improved, and safety is high.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft engine replacement operation, and in particular to an engine lifting device and a system thereof suitable for on-wing engine replacement. Background Art

[0002] In the field of aviation engines, in order to ensure the continued airworthiness and safe operation of aircraft, when an engine fails or reaches restricted use conditions, it is necessary to carry out on-wing engine replacement. Due to the large weight and volume of the engine, complex external layout, and small installation space, the engine replacement cycle is long and difficult.

[0003] In the existing technology, on-wing engine replacement requires the use of guiding tools, including thorn chains, tension scales and other tools, and the engine is raised and lowered by tightening or loosening the thorn chains with a wrench. According to research, it usually takes 8 people more than 6 hours to complete the on-wing engine replacement of an engine. The on-wing engine replacement process is highly dependent on the operator, has low work efficiency, poor reliability, and poses safety hazards. Summary of the invention

[0004] In view of the above problems in the prior art, the present invention proposes an engine lifting device and system suitable for on-wing engine replacement, which can effectively realize on-wing engine replacement, improve the efficiency of engine replacement and have high safety.

[0005] Specifically, the present invention proposes an engine lifting device suitable for on-wing engine replacement, comprising a mounting bracket, four lifting positioners and four process adapters, wherein the mounting bracket is used to carry the engine, the four lifting positioners include a main lifting positioner and three auxiliary lifting positioners, which are respectively arranged at a corner of the mounting bracket, and each lifting positioner is connected to the mounting bracket through one of the process adapters;

[0006] Wherein, each of the lifting positioners comprises:

[0007] A base module, comprising a base assembly, a first slide rail, a first motor and a motor fixing plate, wherein the first slide rail is fixedly arranged on the base assembly, the first motor is fixed on the motor fixing plate, and the first motor is used to drive the motor fixing plate to move along the first slide rail;

[0008] A ram module, comprising a mounting plate assembly, a ram moving assembly, a second slide rail, a second motor and a flexible connector, wherein the second slide rail is fixed to the ram moving assembly, the second motor is fixed to the mounting plate assembly, the second motor is used to drive the ram moving assembly to move along the length direction of the second slide rail, one end of the flexible connector is connected and fixed to the ram moving assembly, and the other end is connected and fixed to the process adapter;

[0009] The column module comprises a column assembly, a third slide rail, a third motor and a ball screw, wherein the bottom of the column assembly is fixed to the motor fixing plate, the ball screw cooperates with the mounting plate assembly, and the third motor is used to drive the ball screw to rotate, thereby driving the entire slide module to move along the length direction of the third slide rail through the mounting plate assembly;

[0010] The length directions of the first slide rail, the second slide rail and the third slide rail correspond to the X direction, the Y direction and the Z direction of the engine.

[0011] According to one embodiment of the present invention, the base module also includes a first meshing rack and a first slider, the first meshing rack is fixedly disposed on the base assembly, the first slider is fixedly disposed on the motor fixing plate, the first slider is slidably matched with the first slide rail, and the output end of the first motor is matched with the first meshing rack.

[0012] According to one embodiment of the present invention, the base module further includes a first limit block and a first displacement sensor arranged on the base assembly, the first limit block has an anti-collision sensor, and the first limit block and the first displacement sensor are combined to limit the displacement of the motor fixing plate.

[0013] According to one embodiment of the present invention, the slide module also includes a second meshing rack and a second slider, the second meshing rack is fixedly arranged on the slide moving assembly, the second slider is fixedly arranged on the mounting plate assembly, the second slider is slidably matched with the second slide rail, and the output end of the second motor is matched with the second meshing rack.

[0014] According to one embodiment of the present invention, the slide module also includes a second limit block arranged on the slide moving assembly, and a second displacement sensor arranged on the mounting plate assembly, the second limit block has an anti-collision sensor, and the second limit block and the second displacement sensor are combined to limit the displacement of the slide moving assembly.

[0015] According to one embodiment of the present invention, the slide module also includes a screw limit block arranged on the slide moving assembly, and the screw limit block is a hollow structure, the outer side of which is fixedly connected to the mounting plate assembly, and the inner side of which is inserted into the ball screw and cooperates with the ball screw thread. The ball screw drives the slide moving assembly and the mounting plate assembly to move along the length direction of the third slide rail through the screw limit block.

[0016] According to an embodiment of the present invention, the ram module further comprises a force sensor, and the force sensor is arranged on the flexible connection member and is used to detect the tension borne by the flexible connection member.

[0017] According to one embodiment of the present invention, the column module further includes a third slider and a bearing, the third slider slidably cooperates with the third slide rail, the third slider is fixed to the mounting plate assembly, and the ball screw is fixed to the column assembly via the bearing.

[0018] According to one embodiment of the present invention, the column module also includes a third displacement sensor and a third limit block, the third displacement sensor is arranged on the column assembly, the third limit block is arranged on the mounting plate assembly, the third limit block has an anti-collision sensor, and the third limit block and the third displacement sensor are combined to limit the displacement of the slide module in the length direction of the third slide rail.

[0019] The present invention also provides an engine lifting system suitable for on-wing engine replacement, comprising an electronic control unit and the aforementioned engine lifting device, wherein the electronic control unit realizes 6-DOF adjustment of the engine's spatial posture through differential movement of four lifting positioners;

[0020] The adjustment process includes the electronic control unit solving the specified posture of the engine, decomposing the spatial position and posture of the specified posture into the movement stroke of each lifting positioner on the X / Y / Z axis, and synchronously driving the lifting positioner linkage through the electronic control unit to make the engine reach the specified position.

[0021] According to one embodiment of the present invention, the lifting methods of the engine include single-point movement, linear movement and non-linear movement;

[0022] The single-point movement means that the electronic control unit controls a certain lifting positioner to move along the X-axis, Y-axis or Z-axis according to actual needs;

[0023] The linear movement means that the electronic control unit performs linear synchronous control on the three auxiliary lift positioners and the lift main positioner, and the three-axis movement of the three auxiliary lift positioners is synchronized with the three-axis movement of the lift main positioner in a linear relationship so that the engine reaches the specified position at the set time;

[0024] The nonlinear movement means that the electronic control unit performs nonlinear synchronous control on the three auxiliary lift positioners and the lift main positioner, and the three-axis movement of the three auxiliary lift positioners is synchronized with the three-axis movement of the lift main positioner according to a nonlinear relationship so that the engine reaches the specified position at a set time;

[0025] The electronic control unit calculates nonlinear movement parameters, and the electronic control unit uses the nonlinear movement parameters to control the actions of the four lifting positioners. The nonlinear movement parameters are calculated according to the cam coupling quintuplets, and the formulas for calculating position, velocity and acceleration are:

[0026] Position: f(x) = a0 + a1×x + a2×x^2 + a3×x^3 + a4×x^4 + a5×x^5;

[0027] Speed: f'(x) = a1 + 2×a2×x + 3×a3×x^2 + 4×a4×x^3 + 5×a5×x^4;

[0028] Acceleration: f”(x) = 2×a2+6×a3×x+12×a4×x^2+20×a5×x^3;

[0029] Among them, x is time, f(x) is the position of a certain axis at a certain point in time, velocity is the first-order derivative, acceleration is the second-order derivative, and a0~a5 are nonlinear movement parameters.

[0030] According to one embodiment of the present invention, during the process of lifting the engine, the forces acting on the four flexible connectors should satisfy a force setting condition, and the force setting condition is that the deviation value range of the forces acting at the same time should satisfy -200kg to 200kg.

[0031] The present invention provides an engine lifting device and system suitable for on-wing engine replacement, including four lifting positioners, each of which can adjust the ram moving assembly in its ram module to move on the X / Y / Z axis of the engine, and the ram moving assembly is connected to the process adapter through a flexible connector, and then the mounting bracket fixedly connected to the process adapter drives the engine disposed on the mounting bracket to move. Therefore, the lifting positioner replaces the manual tightening of the thorn chain with a wrench in the prior art, greatly improving the accuracy and work efficiency of the on-wing engine replacement process.

[0032] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as described. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with the description serve to explain the principle of the present invention.

[0034] In the attached figure:

[0035] Figure 1 A schematic structural diagram of an engine lifting device according to an embodiment of the present invention is shown.

[0036] Figure 2 A schematic structural diagram of a lifting positioner according to an embodiment of the present invention is shown.

[0037] Figure 3 A cross-sectional view of a lift positioner according to one embodiment of the present invention is shown.

[0038] Figure 4 A schematic diagram showing the structure of a base module of a lifting positioner according to an embodiment of the present invention Figure 1 .

[0039] Figure 5 A schematic diagram showing the structure of a base module of a lifting positioner according to an embodiment of the present invention Figure 2 .

[0040] Figure 6 A schematic diagram showing the structure of a ram module of a lift positioner according to an embodiment of the present invention Figure 1 .

[0041] Figure 7 A schematic diagram showing the structure of a ram module of a lift positioner according to an embodiment of the present invention Figure 2 .

[0042] Figure 8 The structural schematic diagram of the column module of the lifting positioner of one embodiment of the present invention is shown. The above figure includes the following figure numbers:

[0043] Engine lifting device 100

[0044] Mounting bracket 101

[0045] Lifting positioner 102

[0046] Lifting master positioner 1021

[0047] Lifting auxiliary positioner 1022

[0048] Process adapter 103

[0049] Base module 200

[0050] Base assembly 201

[0051] First slide rail 202

[0052] The first motor 203

[0053] Motor fixing plate 204

[0054] First meshing rack 205

[0055] First slider 206

[0056] Moving wheel 207

[0057] The first limit block 208

[0058] The first displacement sensor 209

[0059] Ram module 300

[0060] Mounting plate assembly 301

[0061] First horizontal board 3011

[0062] Second horizontal board 3012

[0063] Vertical board 3013

[0064] Ram moving assembly 302

[0065] Second slide rail 303

[0066] The second motor 304

[0067] Flexible connector 305

[0068] Second meshing rack 306

[0069] Second slider 307

[0070] The second limit block 308

[0071] The second displacement sensor 309

[0072] Screw limit block 310

[0073] Force Sensor 311

[0074] Column module 400

[0075] Column assembly 401

[0076] The third slide rail 402

[0077] The third motor 403

[0078] Ball Screw 404

[0079] The third slider 405

[0080] Bearing 406

[0081] The third displacement sensor 407

[0082] The third limit block 408 DETAILED DESCRIPTION

[0083] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0084] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually merely illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0085] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0086] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0087] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0088] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0089] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0090] Figure 1 A schematic structural diagram of an engine lifting device according to an embodiment of the present invention is shown. Figure 2 A schematic structural diagram of a lifting positioner according to an embodiment of the present invention is shown. Figure 3 A cross-sectional view of a lift positioner according to an embodiment of the present invention is shown. Figure 1 An engine lifting device 100 suitable for on-wing engine replacement includes a mounting bracket 101, four lifting positioners 102 and four process adapters 103. The mounting bracket 101 is used to carry the engine, and the four lifting positioners 102 include a main lifting positioner 1021 and three auxiliary lifting positioners 1022, which are respectively arranged at a corner of the mounting bracket 101. Each lifting positioner 102 is connected to the mounting bracket 101 through a process adapter 103.

[0091] For further reference, Figure 2 and Figure 3 Each lift positioner 102 includes a base module 200 , a ram module 300 and a column module 400 .

[0092] Figure 4A schematic diagram showing the structure of a base module of a lifting positioner according to an embodiment of the present invention Figure 1 . Figure 5 A schematic diagram showing the structure of a base module of a lifting positioner according to an embodiment of the present invention Figure 2 As shown in the figure, the base module 200 includes a base assembly 201, a first slide rail 202, a first motor 203 and a motor fixing plate 204. The first slide rail 202 is fixedly arranged on the base assembly 201. The first motor 203 is fixed on the motor fixing plate 204. The first motor 203 is used to drive the motor fixing plate 204 to move along the first slide rail 202. It should be noted that Figure 5 The motor fixing plate 204 is removed to facilitate observation of the internal structure.

[0093] Figure 6 A schematic diagram showing the structure of a ram module of a lift positioner according to an embodiment of the present invention Figure 1 . Figure 7 A schematic diagram showing the structure of a ram module of a lift positioner according to an embodiment of the present invention Figure 2 As shown in the figure, the ram module 300 includes a mounting plate assembly 301, a ram moving assembly 302, a second slide rail 303, a second motor 304 and a flexible connector 305. The second slide rail 303 is fixed to the ram moving assembly 302. The second motor 304 is fixed to the mounting plate assembly 301. The second motor 304 is used to drive the ram moving assembly 302 to move along the length direction of the second slide rail 303. One end of the flexible connector 305 is connected and fixed to the ram moving assembly 302, and the other end is connected and fixed to the process adapter 103.

[0094] Figure 8 The structure diagram of the column module of the lifting positioner according to one embodiment of the present invention is shown. Figure 3 As shown, the column module 400 includes a column assembly 401, a third slide rail 402 in the vertical direction, a third motor 403 and a ball screw 404. The bottom of the column assembly 401 is fixed on the motor fixing plate 204, that is, the entire column module 400 can move on the first slide rail 202 following the motor fixing plate 204. The ball screw 404 is arranged in the vertical direction and is threadedly matched with the mounting plate assembly 301. The third motor 403 is used to drive the ball screw 404 to rotate, and the ball screw 404 drives the entire ram module 300 to move along the length direction of the third slide rail 402 through the mounting plate assembly 301.

[0095] The length directions of the first slide rail 202, the second slide rail 303 and the third slide rail 402 correspond to the X direction, Y direction and Z direction of the engine. The heading of the aircraft is the X direction of the coordinate system, the vertical direction of the aircraft is the Y direction of the coordinate system, and the span direction of the aircraft is the Z direction of the coordinate system, which is consistent with the X / Y / X axis direction of the engine. It is easy to understand that the lifting positioner 102 controls the ram moving assembly 302 in the ram module 300 to move in the X / Y / X axis direction through the first motor 203, the second motor 304 and the third motor 403. The flexible connector 305 is used to connect the ram moving assembly 302 and the process adapter 103. Therefore, the lifting positioner 102 can cause the process adapter 103 to be displaced through the ram moving assembly 302, and the synchronous operation of the four lifting positioners 102 can drive the engine set on the mounting bracket 101 to adjust the posture to reach the installation position. Since the lifting positioner 102 is driven by a motor, it can replace the complicated method of manually tightening the thorn chain with a wrench to lift the engine in the prior art, which greatly saves manpower, improves the work efficiency of the on-wing engine replacement process, and reduces safety hazards.

[0096] Preferably, reference Figure 5 , the base module 200 also includes a first meshing rack 205 and a first slider 206. The first meshing rack 205 is fixedly arranged on the base assembly 201, and its length direction is consistent with the first slide rail 202. The first slider 206 is fixedly arranged on the motor fixing plate 204, and the first slider 206 is slidably matched with the first slide rail 202. The output end of the first motor 203 cooperates with the first meshing rack 205, and the first motor 203 is started. The first motor 203 moves along the length direction of the first meshing rack 205 under the action of the first meshing rack 205, and then drives the motor fixing plate 204 to move along the first slide rail 202 under the cooperation of the first slider 206 and the first slide rail 202. In this embodiment, two parallel first slide rails 202 and four first sliders 206 are arranged to ensure that the motor fixing plate 204 moves smoothly on the X axis. More preferably, a moving wheel 207 is provided on one side of the bottom of the base assembly 201 to facilitate moving the entire lifting positioner 102 to a designated location.

[0097] Preferably, the base module 200 further includes a first limit block 208 and a first displacement sensor 209 disposed on the base assembly 201. The first limit block 208 has an anti-collision sensor, and the first limit block 208 and the first displacement sensor 209 are combined to limit the displacement of the motor fixing plate 204 to prevent the column module 400 from colliding when displacing on the X-axis, thereby preventing the engine from flipping or tilting, thereby affecting the lifting operation. Conventionally, at least two first limit blocks 208 and two first displacement sensors 209 are provided, and are respectively arranged on both sides of the length direction of the first slide rail 206 (engine X-axis).

[0098] Preferably, reference Figure 6 and Figure 7 , the ram module 300 also includes a second meshing rack 306 and a second slider 307. The second meshing rack 306 is fixedly arranged on the bottom surface of the ram moving assembly 302. The second slider 307 is fixedly arranged on the mounting plate assembly 301, and the second slider 307 is slidably matched with the second slide rail 303. The output end of the second motor 304 is matched with the second meshing rack 306. When the second motor 304 is started, under the action of the meshing rack and the cooperation of the second slider 307 and the second slide rail 303, the ram moving assembly 302 can move in the Y-axis direction. Specifically, the mounting plate assembly 301 is riveted or welded into one by the first transverse plate 3011, the second transverse plate 3012 and the vertical plate 3013. The second motor 304 is arranged at the bottom of the second transverse plate 3012, and the second slider 307 is arranged on the bottom surface of the first transverse plate 3011. The ram moving assembly 302 is penetrated on the vertical plate 3013.

[0099] Preferably, the ram module 300 further includes a second limit block 308 disposed on the ram moving assembly 302, and a second displacement sensor 309 disposed on the mounting plate assembly 301. The second limit block 308 has an anti-collision sensor, and the second limit block 308 and the second displacement sensor 309 are combined to limit the displacement of the ram moving assembly 302 to prevent the ram moving assembly 302 from colliding when displacing on the Y axis, thereby preventing the engine from flipping or tilting, thereby affecting the lifting operation. Conventionally, at least two second limit blocks 308 and two second displacement sensors 309 are provided, and are respectively arranged on both sides of the length direction of the second slide rail 303 (engine Y axis).

[0100] Preferably, the ram module 300 further includes a screw stopper 310 disposed on the ram moving assembly 302. The screw stopper 310 is a hollow structure, the outer side of which is fixedly connected to the mounting plate assembly 301, and the inner side of which penetrates the ball screw 404 and is threadedly engaged with the ball screw 404. The ball screw 404 drives the mounting plate assembly 301 and the ram moving assembly 302 to move along the length direction of the third slide rail 402 through the screw stopper 310.

[0101] Preferably, the ram module 300 further includes a force sensor 311, which is disposed on the flexible connector 305 and is used to detect the tension borne by the flexible connector 305. The use of the flexible connector 305 can avoid the rigid connection between the ram moving assembly 302 and the process adapter 103, and the tension value is obtained by the force sensor 311 to ensure that the tension of the four flexible connectors 305 is balanced.

[0102] refer to Figure 7 and Figure 3The column module 400 further includes a third slider 405 and a bearing 406. The third slider 405 is slidably matched with the third slide rail 402. The third slider 405 is fixed to the vertical plate 3013 of the mounting plate assembly 301. The ball screw 404 is fixed to the column assembly 401 through the bearing 406. The third slider 405 is slidably matched with the third slide rail 402 to ensure that the ram module 300 moves smoothly in the direction of the third slide rail 402.

[0103] Preferably, reference Figures 5 to 7 , the column module 400 also includes a third displacement sensor 407 and a third limit block 408. The third displacement sensor 407 is arranged on the column assembly 401, and the third limit block 408 is arranged on the mounting plate assembly 301. The third limit block 408 has an anti-collision sensor, and the third limit block 408 and the third displacement sensor 407 are combined to limit the displacement of the ram module 300 in the length direction of the third slide rail 402 to prevent the ram moving assembly 302 from colliding when it is displaced on the Z axis, avoiding the engine from flipping or tilting, thereby affecting the lifting operation. Conventionally, at least two third limit blocks 408 and two second displacement sensors 407 are set, and are respectively arranged on both sides of the length direction of the third slide rail 402 (engine Z axis).

[0104] The lifting positioner 102 is characterized by a compact structure, which facilitates the displacement control of the slide moving assembly 302 in the X / Y / Z axis direction and is also an important guarantee for lifting the engine.

[0105] The present invention also provides an engine lifting system suitable for on-wing engine replacement. The engine lifting system includes an electronic control unit and the aforementioned engine lifting device 100. The electronic control unit realizes the 6-degree-of-freedom adjustment of the engine's spatial attitude through the differential of four lifting positioners 102. It is easy to understand that the aircraft heading is the coordinate system X direction, the aircraft vertical direction is the coordinate system Y direction, the aircraft span direction is the coordinate system Z direction, the rotation around the aircraft coordinate system X axis is an angle α, the rotation around the aircraft coordinate system Y axis is an angle β, and the rotation around the aircraft coordinate system Z axis is an angle γ. The 6 degrees of freedom are the degrees of freedom of movement along the X / Y / Z axis direction and the degrees of freedom of rotation around the three axes. The adjustment process of the engine includes the electronic control unit solving the specified posture of the engine according to the Jacobian matrix conversion, decomposing the spatial position and attitude of the specified posture into the motion stroke of each lifting positioner 102 on the X / Y / Z axis, and the electronic control unit synchronously drives the lifting positioner 102 to link according to the motion stroke so that the engine reaches the specified position.

[0106] Preferably, the lifting methods of the engine include single-point movement, linear movement and non-linear movement, so as to achieve precise adjustment of the engine position and spatial posture.

[0107] Among them, single-point movement means that the electronic control unit controls a certain lifting positioner 102 to move along the X-axis, Y-axis or Z-axis according to actual needs. Single-point movement can include positioning operation, stop, emergency stop, brake release, reset zero point and other operations.

[0108] Linear movement refers to the electronic control unit performing linear synchronous control on the three auxiliary lift positioners 102 and the lift main positioner 1021. The three-axis movement of the three auxiliary lift positioners 102 is synchronized with the three-axis movement of the lift main positioner 1021 in a linear relationship so that the engine reaches the specified position at the set time.

[0109] Non-linear movement refers to the non-linear synchronous control of the three auxiliary lifting positioners 102 and the main lifting positioner 1021 by the electronic control unit. The three-axis movement of the three auxiliary lifting positioners 102 is synchronized with the three-axis movement of the main lifting positioner 1021 according to a non-linear relationship so that the engine reaches the specified position at the set time.

[0110] The control unit calculates the nonlinear movement parameters, and the electronic control unit uses the nonlinear movement parameters to control the actions of the four lifting positioners 102. The nonlinear movement parameters (cam synchronization coefficient) are calculated according to the cam coupling quintuple formula, and the formula for calculating position, speed and acceleration is:

[0111] Position: f(x) = a0 + a1×x + a2×x^2 + a3×x^3 + a4×x^4 + a5×x^5;

[0112] Speed: f'(x) = a1 + 2×a2×x + 3×a3×x^2 + 4×a4×x^3 + 5×a5×x^4;

[0113] Acceleration: f”(x) = 2×a2+6×a3×x+12×a4×x^2+20×a5×x^3;

[0114] Among them, x is time, f(x) is the position of a certain axis at a certain point in time, velocity is the first-order derivative, acceleration is the second-order derivative, and a0~a5 are the nonlinear motion parameters that need to be solved.

[0115] Preferably, during the process of lifting the engine, the forces on the four flexible connectors 305 should meet the force setting conditions, which are that the deviation value range of the forces at the same time should meet -200kg to 200kg. If the deviation value exceeds the range, the electronic control unit triggers a safety alarm.

[0116] Preferably, during the process of lifting the engine, if there is a possibility of collision of the lifting positioner 102 on any axis, the electronic control unit triggers a safety alarm.

[0117] Preferably, during the process of lifting the engine, Newtonian mechanics is decomposed in the X / Y / Z axis direction, and in each stationary process within the entire X, Y, and Z moving range of the lifting positioner 102, the force deviation value range of the four lifting positioners 102 should meet -200kg to 200kg. If this range is exceeded, the electronic control unit triggers a safety alarm.

[0118] The following is a brief description of the installation steps of the engine lifting system with reference to all the accompanying drawings:

[0119] a) Install the engine on the mounting bracket and secure it firmly;

[0120] b) Install the four process adapters to the designated positions at the four corners of the mounting bracket and ensure reliable connection;

[0121] c) Move a main lift positioner and three auxiliary lift positioners to the surrounding of the mounting bracket;

[0122] d) Adjust the positions of the lifting main positioner and the lifting auxiliary positioner so that they are reliably connected to the process adapter;

[0123] e) determining the current posture and the specified posture of the engine through the electronic control unit, and solving based on the current posture and the specified posture to obtain the motion stroke of each lifting positioner on the X / Y / Z axis;

[0124] f) The electronic control unit synchronously drives the lifting positioner linkage according to the movement stroke to make the engine reach the specified position.

[0125] The present invention provides an engine lifting device and system suitable for on-wing engine replacement, which are designed with four lifting positioners, each of which can adjust its slide moving assembly to move smoothly in the X / Y / Z axis direction of the engine. The slide moving assembly is connected to the process adapter through a flexible connector, and then the mounting bracket fixedly connected through the process adapter drives the engine set on the mounting bracket to produce displacement. The four lifting positioners are linked to achieve 6-degree-of-freedom adjustment of the engine. Displacement sensors, limit blocks and force sensors are also provided on the lifting positioners, which are used to avoid possible deflection, tilting, etc. of the engine during the engine replacement process, and to trigger safety warnings in time. Therefore, the present invention provides an engine lifting device and system suitable for on-wing engine replacement, which greatly improves the accuracy and work efficiency of the on-wing engine replacement process, and improves the safety of engine replacement.

[0126] It will be apparent to those skilled in the art that various modifications and variations may be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention covers modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. An engine lifting device suitable for on-wing engine replacement, comprising a mounting bracket, four lifting positioners and four process adapters, wherein the mounting bracket is used to carry the engine, the four lifting positioners include a main lifting positioner and three auxiliary lifting positioners, which are respectively arranged at a corner of the mounting bracket, and each lifting positioner is connected to the mounting bracket through one of the process adapters; in, Each of the lift positioners comprises: A base module, comprising a base assembly, a first slide rail, a first motor and a motor fixing plate, wherein the first slide rail is fixedly arranged on the base assembly, the first motor is fixed on the motor fixing plate, and the first motor is used to drive the motor fixing plate to move along the first slide rail; A ram module, comprising a mounting plate assembly, a ram moving assembly, a second slide rail, a second motor and a flexible connector, wherein the second slide rail is fixed to the ram moving assembly, the second motor is fixed to the mounting plate assembly, the second motor is used to drive the ram moving assembly to move along the length direction of the second slide rail, one end of the flexible connector is connected and fixed to the ram moving assembly, and the other end is connected and fixed to the process adapter; The column module comprises a column assembly, a third slide rail, a third motor and a ball screw, wherein the bottom of the column assembly is fixed to the motor fixing plate, the ball screw cooperates with the mounting plate assembly, and the third motor is used to drive the ball screw to rotate, thereby driving the entire slide module to move along the length direction of the third slide rail through the mounting plate assembly; The length directions of the first slide rail, the second slide rail and the third slide rail correspond to the X direction, the Y direction and the Z direction of the engine.

2. The engine lifting device according to claim 1, characterized in that: The base module also includes a first meshing rack and a first slider, the first meshing rack is fixedly disposed on the base assembly, the first slider is fixedly disposed on the motor fixing plate, the first slider is slidably matched with the first slide rail, and the output end of the first motor is matched with the first meshing rack.

3. The engine lifting device according to claim 2, characterized in that: The base module also includes a first limit block and a first displacement sensor arranged on the base assembly, the first limit block has an anti-collision sensor, and the first limit block and the first displacement sensor are combined to limit the displacement of the motor fixing plate.

4. The engine lifting device according to claim 3, characterized in that: The slide module also includes a second meshing rack and a second slider, the second meshing rack is fixedly arranged on the slide moving assembly, the second slider is fixedly arranged on the mounting plate assembly, the second slider is slidably matched with the second slide rail, and the output end of the second motor is matched with the second meshing rack.

5. The engine lifting device according to claim 4, characterized in that: The slide module also includes a second limit block arranged on the slide moving assembly, and a second displacement sensor arranged on the mounting plate assembly, the second limit block has an anti-collision sensor, and the second limit block and the second displacement sensor are combined to limit the displacement of the slide moving assembly.

6. The engine lifting device according to claim 5, characterized in that: The slide module also includes a screw limit block arranged on the slide moving assembly. The screw limit block is a hollow structure, the outer side of which is fixedly connected to the mounting plate assembly, and the inner side of which passes through the ball screw and cooperates with the ball screw thread. The ball screw drives the slide moving assembly and the mounting plate assembly to move along the length direction of the third slide rail through the screw limit block.

7. The engine lifting device according to claim 5, characterized in that: The ram module further includes a force sensor, which is disposed on the flexible connector and is used to detect the tension borne by the flexible connector.

8. The engine lifting device according to claim 1, characterized in that: The column module also includes a third slider and a bearing. The third slider is slidably matched with the third slide rail. The third slider is fixed to the mounting plate assembly. The ball screw is fixed to the column assembly through the bearing.

9. The engine lifting device according to claim 8, characterized in that: The column module also includes a third displacement sensor and a third limit block. The third displacement sensor is arranged on the column assembly, and the third limit block is arranged on the mounting plate assembly. The third limit block has an anti-collision sensor. The third limit block and the third displacement sensor are combined to limit the displacement of the slide module in the length direction of the third slide rail.

10. An engine lifting system suitable for on-wing engine replacement, characterized in that: It comprises an electronic control unit and an engine lifting device as claimed in any one of claims 1 to 9, wherein the electronic control unit realizes 6-degree-of-freedom adjustment of the engine's spatial posture through differential movement of four lifting positioners; The adjustment process includes the electronic control unit solving the specified posture of the engine, decomposing the spatial position and posture of the specified posture into the movement stroke of each lifting positioner on the X / Y / Z axis, and synchronously driving the lifting positioner linkage through the electronic control unit to make the engine reach the specified position.

11. The engine lifting system according to claim 10, characterized in that: The lifting modes of the engine include single-point movement, linear movement and non-linear movement; The single-point movement means that the electronic control unit controls a certain lifting positioner to move along the X-axis, Y-axis or Z-axis according to actual needs; The linear movement means that the electronic control unit performs linear synchronous control on the three auxiliary lift positioners and the lift main positioner, and the three-axis movement of the three auxiliary lift positioners is synchronized with the three-axis movement of the lift main positioner in a linear relationship so that the engine reaches the specified position at the set time; The nonlinear movement means that the electronic control unit performs nonlinear synchronous control on the three auxiliary lift positioners and the lift main positioner, and the three-axis movement of the three auxiliary lift positioners is synchronized with the three-axis movement of the lift main positioner according to a nonlinear relationship so that the engine reaches the specified position at a set time; The electronic control unit calculates nonlinear movement parameters, and the electronic control unit uses the nonlinear movement parameters to control the actions of the four lifting positioners. The nonlinear movement parameters are calculated according to the cam coupling quintuplets, and the formulas for calculating position, velocity and acceleration are: Position: f(x) = a0 + a1×x + a2×x^2 + a3×x^3 + a4×x^4 + a5×x^5; Speed: f'(x) = a1 + 2×a2×x + 3×a3×x^2 + 4×a4×x^3 + 5×a5×x^4; Acceleration: f”(x) = 2×a2+6×a3×x+12×a4×x^2+20×a5×x^3; Among them, x is time, f(x) is the position of a certain axis at a certain point in time, velocity is the first-order derivative, acceleration is the second-order derivative, and a0~a5 are nonlinear movement parameters.

12. The engine lifting system according to claim 10, characterized in that: During the process of lifting the engine, the forces acting on the four flexible connectors should satisfy a force setting condition, and the force setting condition is that the deviation value range of the forces acting at the same time should satisfy -200kg to 200kg.

Images