Six-degree-of-freedom assembling and transferring device for nose landing gear of airplane

Abstract

The invention provides a six-degree-of-freedom assembling and transferring device for a nose landing gear of an airplane, which comprises an omnidirectional transfer trolley, a floating mechanism, a six-degree-of-freedom posture adjusting mechanism and a control cabinet, and is characterized in that the omnidirectional transfer trolley is used for realizing three-degree-of-freedom movement on a plane; the floating mechanism is mounted on the omni-directional transfer trolley, so that the six-degree-of-freedom posture adjusting mechanism is in a flexible state; the six-degree-of-freedom posture adjusting mechanism is mounted above the floating mechanism, is used for adjusting the posture of the nose landing gear in the mounting process, and can finely adjust the posture of the aircraft landing gear in a plurality of degree-of-freedom ranges; and the control cabinet is used for controlling the omni-directional transfer trolley, the floating mechanism and the six-degree-of-freedom posture adjusting mechanism to accurately adjust the position of the nose landing gear. The six-degree-of-freedom assembling and transferring device for the nose landing gear of the airplane has the beneficial effects that the problems that in the adjusting process of the nose landing gear and a transferring trolley, the moving precision is low, and the moving space is limited are solved.

Description

Technical Field

[0001] The invention belongs to the field of aircraft assembly and transportation, and in particular relates to a six-degree-of-freedom assembly and transportation device for an aircraft front landing gear. Background Art

[0002] With the rapid development of the domestic aerospace manufacturing industry, the aviation industry and the aerospace industry have put forward higher requirements for the automation level of production, transportation, assembly, and testing of key components such as aircraft landing gear and engines, as well as assembly costs and assembly reliability. As a key component of the aircraft, the front landing gear's transportation and assembly efficiency and assembly accuracy directly affect the aircraft's production capacity and the reliability of the aircraft's taxiing and landing. Due to the large size and weight of the aircraft's front landing gear, auxiliary equipment is usually required during the ground assembly process. Due to the high assembly accuracy, large weight and size, and the limitations of the connecting mechanism during the assembly process; the assembly adjustment equipment structure is more complicated. The existing auxiliary equipment has low assembly accuracy and assembly efficiency of the landing gear, and the existing components are greatly limited during the assembly process, which is not conducive to the assembly of the landing gear. Patent: An assembly and transfer device for the front landing gear of an aircraft, the lower end of the translation mechanism is slidably connected to the upper end of the omnidirectional transfer vehicle omnidirectional transfer vehicle 1, the power supply control component is located on one side of the translation mechanism, the other side of the translation mechanism is slidably connected to one end of the lifting mechanism, the other end of the lifting mechanism is hinged to the first side of the support frame, a towing mechanism for connecting the towed component is provided on the support frame, and the translation mechanism, the lifting mechanism, the towing mechanism and the omnidirectional transfer vehicle omnidirectional transfer vehicle 1 are all signal-connected to the power supply control component. Patent: An assembly test vehicle for the front landing gear of an aircraft, using an air floating platform to realize the movement of the front landing gear along the X-axis and the Y-axis and the rotation around the Z-axis; using four vertical servo electric cylinders to realize the movement of the front landing gear along the Z-axis and the rotation around the X-axis and the Y-axis; using a horizontal servo electric cylinder to realize the rotation of the pillar of the front landing gear along the wheel axle. The test vehicle can move and turn in the factory, transport the front landing gear from the assembly station to the jig installation position, realize the movement of the front landing gear in the three axial directions of X-axis, Y-axis and Z-axis and the rotation around the three axes, realize the micro-adjustment of the pitch attitude of the front landing gear, that is, realize the rotation of the support of the front landing gear along the wheel axle. The patent discloses a front landing gear assembly test vehicle for an aircraft, which mainly includes a front chassis and a rear chassis, a longitudinally through-containing cavity is defined on the front chassis, and a plurality of omnidirectional wheels are respectively installed at the bottom of the front chassis and the rear chassis, and the omnidirectional wheels are connected to the wheel axle motor through a transmission shaft, and the wheel axle motor is fixed on the chassis and electrically connected to the control unit; a support frame is placed in the accommodating cavity, and three electric cylinders are hinged on the chassis, and the electric cylinders are electrically connected to the control unit; a wheel axle positioning fixture, and the wheel axle positioning fixture is fixedly connected to the support frame.

[0003] The shortcomings of the above prior art are: 1. The existing front landing gear installation equipment mainly realizes 6-DOF adjustment through the posture adjustment installation mechanism and the transfer vehicle. During the implementation process, the transfer vehicle has low movement accuracy and limited movement space; 2. The existing technology uses a parallel mechanism to adjust the posture of the front landing gear. The parallel mechanism has a large body and a small adjustment range. The single-axis movement is mainly achieved through multiple sets of legs. Therefore, the direct adjustability is poor and cannot meet the adjustment needs of a larger range.

[0004] 3. The existing front landing gear assembly and transfer device only has the function of moving along the Y-axis and Z-axis directions during installation, and the directional dragging function of the X-axis can only be completed by a mobile assembly test vehicle; due to the space limitation during the installation of the front landing gear, the mobile assembly test vehicle will be affected by the space to achieve the dragging of the X-axis, resulting in insufficient dragging distance, which does not meet the assembly requirements.

[0005] 4. The existing front landing gear assembly and transfer device installation mechanism has the function of rotating around the X-axis and Y-axis separately when installing the landing gear, and the directional rotation function around the Z-axis can only be completed by a mobile assembly test vehicle; due to the space limitation when installing the front landing gear, the rotation around the Z-axis of the mobile assembly test vehicle will be affected by the space, resulting in insufficient rotation distance, which does not meet the assembly requirements.

[0006] 5. In the prior art, after the front landing gear has completed the six-freedom positioning, since the six-freedom mechanism has no force unloading structure, the front landing gear cannot achieve smooth docking, and the landing gear mounting hole and the aircraft are stuck and blocked.

[0007] 6. During the positioning and assembly of the prior art, if the assembly and installation of the front landing gear needs to meet a certain angle, it is necessary to observe the angle in real time while adjusting the deflection angle, which increases the difficulty of adjusting the angle of the front landing gear and cannot automatically reach a precise position.

[0008] 7. When assembling the front landing gear, when it comes to dragging and swinging the front landing gear, the fixed position will also change. The existing assembly structure cannot adapt to the fixing requirements when achieving dragging and rotation during assembly, and cannot meet the requirements of assembly accuracy. Summary of the invention

[0009] In view of this, the present invention aims to propose a six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft, so as to solve the problems of low movement accuracy and limited movement space during the adjustment of the front landing gear and the transfer vehicle.

[0010] To achieve the above object, the technical solution of the present invention is achieved as follows: A six-degree-of-freedom assembly and transfer device for a front landing gear of an aircraft comprises an omnidirectional transfer vehicle, a floating mechanism, a six-degree-of-freedom attitude adjustment mechanism and a control cabinet. Omnidirectional transporter, used to achieve three degrees of freedom movement on a plane; The floating mechanism is installed on the omnidirectional transporter, which makes the six-degree-of-freedom attitude adjustment mechanism in a flexible state, ensuring smooth docking between the six-degree-of-freedom attitude adjustment mechanism and the front landing gear; The six-degree-of-freedom attitude adjustment mechanism is installed above the floating mechanism and is used to adjust the attitude of the front landing gear during the installation process. It can fine-tune the attitude of the aircraft landing gear within multiple degrees of freedom; The control cabinet is used to control the omnidirectional transfer vehicle, floating mechanism, and six-degree-of-freedom attitude adjustment mechanism to accurately adjust the position of the front landing gear.

[0011] Furthermore, the omnidirectional transport vehicle includes a frame and several wheel assemblies rotatably connected at the lower end thereof, the frame of the omnidirectional transport vehicle is connected by a torsion beam, the several wheel assemblies are arranged parallel to each other, the transmission shaft of the wheel is fixedly connected to the transmission shaft of the servo motor, and the omnidirectional mobile platform chassis can realize three degrees of freedom movement on the plane, including two horizontal movement components and one self-attitude rotation component. By adjusting the direction and speed of each wheel drive motor, a combined force is formed at a set angle to the ground fixed coordinate system, thereby realizing the omnidirectional movement of the entire wheel system.

[0012] Furthermore, the floating mechanism is a symmetrical structure, including a floating mechanism base, which is fixedly connected to the rear frame, with several plane bearings symmetrically installed on the top, a floating plate installed above the plane bearing, and a floating amount is provided between the floating plate and the floating mechanism base; a floating frame is installed in the middle of the floating plate, and symmetrical air springs are provided between the two; limit switches and guide copper sleeves are also symmetrically provided on both sides of the floating plate, a lift is installed under the floating plate, a guide pin is provided above the lift, the guide pin is located below the guide shaft sleeve and can limit the guide pin, and the lift signal is connected to the control cabinet.

[0013] Furthermore, the six-degree-of-freedom attitude adjustment mechanism includes a longitudinal moving unit, a yaw moving unit, a lateral moving unit, and a lifting moving unit which are arranged in sequence from bottom to top. The longitudinal moving unit is used to longitudinally adjust the components installed above it. A central rotating shaft is fixedly installed on the longitudinal moving drive device of the longitudinal moving unit, and the central rotating shaft is connected to the lateral moving unit after being movably sleeved with the lifting moving unit; when the six-degree-of-freedom attitude adjustment mechanism needs fine-tuning, the control cabinet drives the overall longitudinal movement above the longitudinal moving unit; the longitudinal moving mechanism driving device passively and synchronously moves around the rotation center to achieve the yaw angle; the lateral moving unit is used to drive the overall lateral movement installed above it, and the lifting moving unit is used to drive the overall vertical movement installed above it; a pitch moving unit is installed on one side of the lifting moving unit through a roll moving unit, and the pitch moving unit is used to install the front landing gear; the roll moving unit is used to drive the overall one side to follow the roll, and the pitch moving unit is used to drive the pitch adjustment of the front landing gear.

[0014] Furthermore, the longitudinal movement unit includes a longitudinal movement mounting plate, the lower part of which is fixedly connected to the floating plate, longitudinal movement guide rail sliders are symmetrically installed on both sides of the longitudinal movement mounting plate, a longitudinal movement drive device is installed in the middle, and the signal of the longitudinal electric cylinder longitudinal movement drive device is connected to the control cabinet.

[0015] Furthermore, the yaw movable unit includes a yaw movable mounting plate, the lower part of the yaw movable mounting plate is fixedly connected to a longitudinal movable driving device and a longitudinal movable guide rail slider, and the longitudinal movable driving device is used to drive the longitudinal movement of the yaw movable unit and its upper components; the yaw movable guide rail slider and the yaw movable driving device are respectively fixedly installed below the yaw movable mounting plate, and the yaw movable guide rail sliders are symmetrically arranged, the center of the yaw movable mounting plate passes through the central rotating shaft of the bearing sleeve, and the yaw electric cylinder signal is connected to the control cabinet.

[0016] Furthermore, the transverse moving unit includes a transverse moving plate, the lower part of which is fixedly connected to the yaw moving guide rail slider and the yaw moving drive device, and the yaw moving drive device and the longitudinal moving mechanism drive device are used together to adjust the yaw of the transverse moving unit and the components above it; the transverse moving drive device and the transverse moving guide rail slider are fixedly installed above the transverse moving plate, and the signal of the transverse moving drive device is connected to the control cabinet.

[0017] Furthermore, the lifting and moving unit includes a lifting and moving mounting plate, which is an L-shaped structure. The lower part of the lifting and moving mounting plate in the horizontal direction is fixedly connected to the transverse moving driving device, and the transverse moving driving device is used to drive the lifting and moving unit and its upper components to move laterally; a lifting and moving driving mounting seat is fixedly installed above the lifting and moving mounting plate, and the upper part of the lifting and moving driving mounting seat is connected to the lifting and moving plate through the lifting and moving driving device, and a lifting and moving guide rail slider is installed in the vertical direction of the lifting and moving mounting plate, and the lifting and moving plate is installed on the lifting and moving guide rail slider, so that the lifting and moving driving device can drive the lifting and moving plate to move up and down; the lifting and moving driving device signal is connected to the control cabinet.

[0018] Furthermore, the rolling movement unit includes a rolling movement driving device, which is fixedly connected to the vertical direction of the lifting and moving mounting plate and is connected to the control cabinet through a rolling reducer signal; one side of the rolling reducer is fixedly connected to the lifting and moving plate, so that the lifting and moving driving device can drive the components installed on the lifting and moving plate to move up and down; the other side is fixedly installed with the rolling moving plate, which is used to drive the rolling moving plate and the components above it to roll.

[0019] Furthermore, the pitch movement unit includes a pitch movement upper bracket and a pitch movement lower bracket, which are respectively installed above and below the side of the roll movement plate close to the front landing gear, and the front landing gear is installed between the pitch movement upper bracket and the pitch movement lower bracket; the pitch movement drive device is fixedly installed on the lifting and moving plate, and the movable axis of the pitch movement drive device passes through the mounting hole of the roll movement plate and is hinged to the pitch movement upper bracket, and the pitch movement drive device signal is connected to the control cabinet.

[0020] Compared with the prior art, the six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to the present invention has the following advantages: (1) The present invention is used for a six-degree-of-freedom assembly and transfer device for an aircraft front landing gear. The four sets of Mecanum wheels of the omnidirectional transfer vehicle are installed on the vehicle body, and the frame is connected by a torsion beam to ensure that the accuracy difference caused by the incomplete ground contact of the Mecanum wheels due to uneven ground is avoided, and at the same time, the change in the height of the vehicle body before and after the load is reduced, thereby improving the accuracy of the front landing gear.

[0021] (2) The present invention is used for a six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft. The support frame of the product can be linearly moved by a six-degree-of-freedom attitude adjustment mechanism and can be adjusted in all directions during the assembly process. The six-degree-of-freedom adjustment can be achieved when the vehicle body is stationary, thereby reducing the space restrictions on the vehicle body.

[0022] (3) The present invention is used for the six-degree-of-freedom assembly and transfer device of the front landing gear of the aircraft. A flexible floating mechanism is arranged at the end of the six-degree-of-freedom attitude adjustment mechanism. After the six-degree-of-freedom docking is completed, the flexible floating mechanism can make the six-degree-of-freedom mechanism in a flexible state. After the attitude adjustment is completed, the front landing gear can ensure a slight compensation movement in a horizontal state during installation, thereby ensuring the smoothness of the docking.

[0023] (4) The present invention is used for the six-degree-of-freedom assembly and transportation device of the front landing gear of an aircraft. After the vehicle body is moved into position, the six-degree-of-freedom attitude adjustment mechanism can realize the six-degree-of-freedom adjustment of the front landing gear.

[0024] (5) The present invention is used for a six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft. The six-degree-of-freedom mechanism is composed of six degree-of-freedom mechanisms installed in sequence, so that movement in each direction can be achieved through only one or two groups of moving mechanisms. The movement is direct and the locking in the remaining directions can be guaranteed at the same time, thereby improving the efficiency of product assembly.

[0025] (6) The present invention is a six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft. The front landing gear is connected to the assembly and transfer device through a product support and fixing frame. During assembly, the front landing gear is fixedly mounted on a hinge. After the assembly and installation is completed, the assembly and transfer device can be moved in three directions. The front landing gear is separated from the product support and fixing frame. The structural design of the assembly and transfer device ensures that there is no interference between the entry and exit positions of the left, right and front landing gears when they are connected and disconnected. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 This is a schematic diagram of a six-degree-of-freedom assembly and transfer device for an aircraft front landing gear according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the omnidirectional transport vehicle according to an embodiment of the present invention; Figure 3 A schematic diagram of a floating mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a six-degree-of-freedom posture adjustment mechanism according to an embodiment of the present invention; Figure 5 A schematic diagram of the positional relationship among the longitudinal moving unit, the yaw moving unit and the central rotating shaft according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a longitudinal moving unit according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a yaw movement unit according to an embodiment of the present invention; Figure 8 A schematic diagram of a lateral movement unit according to an embodiment of the present invention; Fig. 9 This is a schematic diagram of a lifting and moving unit according to an embodiment of the present invention; Fig.10 A schematic diagram of a rolling movement unit according to an embodiment of the present invention; Fig.11 Schematic diagram of the pitch moving unit according to the embodiment of the present invention Figure 1 ; Fig.12 Schematic diagram of the pitch moving unit according to the embodiment of the present invention Figure 2 ; Fig.13 The figure is a schematic diagram of the installation of the pitch movement unit and the front landing gear according to an embodiment of the present invention.

[0028] Description of reference numerals: 1-omnidirectional transfer vehicle; 11-Mecanum wheel; 12-rear frame; 13-torsion beam; 14-front frame; 2-floating mechanism; 21-floating mechanism base; 22-floating plate; 23-limiting column; 24-No. 1 spring seat; 25-air spring; 26-No. 2 spring seat; 27-floating frame; 28-pin shaft; 29-guide copper sleeve; 210-plane bearing; 211-elevator; 3-six-degree-of-freedom posture adjustment mechanism; 31-longitudinal moving unit; 32-longitudinal moving unit; 311-longitudinal moving mounting plate; 312-longitudinal moving guide rail slider; 313-longitudinal moving drive mounting seat; 314-longitudinal moving drive device; 32-yaw moving unit; 321-yaw moving guide rail slider; 322-yaw moving drive device; 3 23-yaw moving mounting plate; 324-bearing; 33-lateral moving unit; 331-lateral moving plate; 332-lateral moving driving device; 333-lateral moving guide rail slider; 34-lifting moving unit; 341-lifting moving mounting plate; 342-lifting moving driving mounting seat; 343-lifting moving driving device; 344-lifting moving plate; 345-lifting moving guide rail slider; 35-roll moving unit; 351-roll reducer; 352-roll moving driving device; 353-roll moving plate; 36-pitch moving unit; 361-pitch moving driving device; 362-pitch moving upper bracket; 363-pitch moving lower bracket; 364-latch; 37-center shaft; 4-control cabinet; 5-front landing gear. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0032] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0033] A six-degree-of-freedom assembly and transfer device for an aircraft front landing gear, such as Figures 1 to 13 As shown, it includes an omnidirectional transport vehicle 1, a floating mechanism 2, a six-degree-of-freedom posture adjustment mechanism 3 and a control cabinet 4. The omnidirectional transporter 1 is used to realize the movement of three degrees of freedom on the plane; The floating mechanism 2 is installed on the omnidirectional transport vehicle 1, so that the six-degree-of-freedom attitude adjustment mechanism 3 is in a flexible state, ensuring smooth docking between the six-degree-of-freedom attitude adjustment mechanism 3 and the front landing gear 3; A six-degree-of-freedom attitude adjustment mechanism 3 is installed above the floating mechanism 2 and is used to install the front landing gear 5 for six-degree-of-freedom adjustment; The control cabinet 4 is used to control the coordination of the electrical components on the omnidirectional transfer vehicle 1 , the floating mechanism 2 , and the six-degree-of-freedom attitude adjustment mechanism 3 , and to precisely adjust the position of the front landing gear 5 .

[0034] The omnidirectional transport vehicle 1 includes a frame and several wheel assemblies rotatably connected at the lower end thereof. The frames of the omnidirectional transport vehicle 1 are connected by a torsion beam, and several wheel assemblies are arranged in parallel with each other. The transmission shafts of the wheels are fixedly connected to the transmission shafts of the servo motors. The omnidirectional mobile platform chassis can realize three degrees of freedom movement on the plane, including two horizontal movement components and one self-attitude rotation component. By adjusting the direction and speed of each wheel drive motor, a combined force at a certain angle to the ground fixed coordinate system is formed, thereby realizing the omnidirectional movement of the entire wheel system.

[0035] Specifically, the omnidirectional transporter 1 includes Mecanum wheels 11, a rear frame 12, a torsion beam 13, and a front frame 14. The front frame 14 and the rear frame 12 are connected by the torsion beam 13. The Mecanum wheels 11 are installed below the front frame 14 and the rear frame 12. The front frame 14 and the rear frame 12 can rotate around the torsion beam 13. When the road surface is uneven, the torsion beam 13 can make the wheel system always contact with the ground to ensure the reliability of the movement of the Mecanum wheels 11. The front frame 14 and the rear frame 12 ensure the accuracy difference caused by the incomplete ground contact of the Mecanum wheels 11 when the ground is uneven, and at the same time reduce the change in the height of the vehicle body before and after the load, thereby improving the accuracy of the front landing gear 5.

[0036] The floating mechanism 2 is a symmetrical structure, including a floating mechanism base 21, a floating plate 22, a limit column 23, a No. 1 spring seat 24, an air spring 25, a No. 2 spring seat 26, a floating frame 27, a pin 28, a guide copper sleeve 29, a plane bearing 210, and a lift 211. The floating mechanism base 21 is fixedly connected to the rear frame 12, and a plurality of plane bearings 210 are symmetrically installed on the upper side. The floating plate 22 is installed above the plane bearing 210, and a floating amount is provided between the floating plate 22 and the floating mechanism base 21; a floating frame 27 is installed in the middle of the floating plate 22, and the two There are symmetrical air springs 25 between the floating plate 22; preferably, there are two air springs 25, which are respectively installed on the floating plate 22 through the first spring seat 24 and the second spring seat 26; limit switches 23 and guide copper sleeves 29 are also symmetrically arranged on both sides of the floating plate 22, and preferably, the guide copper sleeve 29 is connected to the floating plate 22 through the shaft pin 28; a lift 211 is installed below the floating plate 22, and a guide pin is arranged above the lift 211, which is located below the guide shaft sleeve 29 and can limit the guide pin, and the signal of the lift 211 is connected to the control cabinet 4. Preferably, a lift limit switch is arranged on one side of the lift 211; in order to avoid the shaking of the six-degree-of-freedom posture adjustment mechanism 3 due to bumps during transportation, a lift limit switch is installed, and after the lift 211 returns to the initial position of the floating plate 22, the control cabinet 4 controls the lift 211 to lift, and the guide pin is inserted into the guide copper sleeve 29 for limiting. At the same time, in order to avoid damage caused by excessive movement of the air spring 25, a limit column 23 is installed to limit the movement of the air spring 25 within a certain range. After the installation of the floating mechanism 2 is completed, the vertical limit plate is finally fixed to the limit column by screws to limit the vertical movement of the floating plate 22. Due to the action of the air spring 25, the floating plate 22 will return to its initial position. The air spring 25 is installed above the floating frame 27 and lower than the mounting surface of the locating pin to facilitate the repair and maintenance of the air spring 25. The No. 1 spring seat 24 and the No. 2 spring seat 26 are adjustable structures to facilitate the adjustment of the preload of the air spring 25. The floating mechanism base 21 can be lifted manually or electrically using a lifting mechanism for repair and maintenance. The air spring 25 is a nitrogen spring.

[0037] The six-degree-of-freedom attitude adjustment mechanism 3 is installed on the floating mechanism 2, and is mainly used for adjusting the attitude of the front landing gear 5 during the installation process. It can fine-tune the attitude of the aircraft landing gear 5 within multiple degrees of freedom. The six-degree-of-freedom attitude adjustment mechanism 3 includes a longitudinal moving unit 31, a yaw moving unit 32, a lateral moving unit 33, and a lifting moving unit 34, which are arranged in sequence from bottom to top. The longitudinal moving unit 31 is used to longitudinally adjust the components installed above it. The central rotating shaft 37 is fixedly installed on the longitudinal moving drive device 314 of the longitudinal moving unit 31. The central rotating shaft 37 is movably connected to the lifting moving unit 34 and then connected to the lateral moving unit 33; when the six-degree-of-freedom attitude adjustment mechanism 3 needs to be fine-tuned, the control cabinet 4 controls the longitudinal moving drive device 314 to operate, driving the longitudinal moving unit 31 above The longitudinal movement mechanism driving device 314 can passively and synchronously move around the center of rotation to achieve the purpose of adjusting the yaw angle; the lateral movement unit 33 can drive the lateral movement of the entire installation above it, and the lifting and moving unit 34 can drive the vertical movement of the entire installation above it; the lifting and moving unit 34 is installed on one side of the pitch movement unit 36 ​​through the rolling movement unit 35, and the pitch movement unit 36 ​​is used to install the front landing gear 5; the rolling movement unit 35 is used to drive the entirety of one side to follow the rolling, and the pitch movement unit 36 ​​is used to drive the pitch adjustment of the front landing gear 5.

[0038] The longitudinal moving unit 31 includes a longitudinal moving mounting plate 311, a longitudinal moving guide rail slider 312, a longitudinal moving drive mounting seat 313 and a longitudinal moving drive device 314. The lower part of the longitudinal moving mounting plate 311 is fixedly connected to the floating plate 22. The longitudinal moving guide rail sliders 312 are symmetrically installed on both sides of the longitudinal moving mounting plate 311, and the longitudinal moving drive device 314 is installed in the middle. In one or more embodiments, the longitudinal moving drive device 314 is fixedly connected to the longitudinal moving mounting plate 311 through the longitudinal moving drive mounting seat 313; the longitudinal moving drive device 314 is a longitudinal electric cylinder, and the longitudinal electric cylinder signal is connected to the control cabinet 4. The longitudinal moving unit 31 is adjusted by the longitudinal moving drive device 314, and is guided by a linear guide rail. When the six-degree-of-freedom posture adjustment mechanism 3 needs to be fixed longitudinally, the electric cylinder does not need to move; when the six-degree-of-freedom posture adjustment mechanism 3 needs to be fine-tuned, the control cabinet 4 controls the longitudinal moving drive device 314 to move, and drives the overall longitudinal movement of the upper part of the longitudinal moving unit 31.

[0039] The yaw moving unit 32 includes a yaw moving guide rail slider 321, a yaw moving drive device 322, a yaw moving mounting plate 323, and a bearing 324. The yaw moving mounting plate 323 is fixedly connected to the longitudinal moving drive device 314 and the longitudinal moving guide rail slider 312 below. The longitudinal moving drive device 314 is used to drive the yaw moving unit 32 and its upper components to move longitudinally. The yaw moving guide rail slider 321 and the yaw moving drive device 322 are fixedly installed below the yaw moving mounting plate 323, and the yaw moving guide rail slider 321 is symmetrically arranged. The center of the yaw moving mounting plate 323 passes through the central rotating shaft 37 of the outer sleeve of the bearing 324. The guide rail of the yaw moving guide rail slider 321 is an arc guide rail. The yaw moving drive device 322 is a yaw electric cylinder. The yaw electric cylinder signal is connected to the control cabinet 4. The yaw moving unit 32 is synchronously driven by the yaw electric cylinder and rotates around the central rotating shaft 37 for adjustment. The central rotating shaft 37 adopts a high-strength bearing 324 as the rotation center and is guided by a high-precision arc guide rail. The longitudinal moving mechanism driving device 314 can passively and synchronously move around the rotation center to achieve the purpose of adjusting the yaw angle.

[0040] The transverse moving unit 33 includes a transverse moving plate 331, a transverse moving driving device 332 and a transverse moving guide slider 333. The transverse moving plate 331 is fixedly connected to the yaw moving guide slider 321 and the yaw moving driving device 322 at the bottom. The yaw moving driving device 322 and the longitudinal moving mechanism driving device 314 cooperate to adjust the yaw of the transverse moving unit 33 and its upper components. The transverse moving driving device 332 and the transverse moving guide slider 333 are fixedly installed above the transverse moving plate 331, and the signal of the transverse moving driving device 332 is connected to the control cabinet 4. The transverse moving driving device 332 is a transverse electric cylinder. The transverse moving unit 33 is mainly used for adjusting the transverse position during the installation of the front landing gear 5. The transverse moving driving device 332 is used for adjustment. The transverse moving unit 33 is guided by a high-precision linear guide.

[0041] The lifting and moving unit 34 includes a lifting and moving mounting plate 341, a lifting and moving driving mounting seat 342, a lifting and moving driving device 343, a lifting and moving plate 344 and a lifting and moving guide rail slider 345. The lifting and moving mounting plate 341 is an L-shaped structure. The lower part of the lifting and moving mounting plate 341 in the horizontal direction is fixedly connected to the lateral moving driving device 332. The lateral moving driving device 332 is used to drive the lifting and moving unit 34 and its upper parts to move horizontally. The lifting and moving driving mounting seat 342 is fixedly installed above the lifting and moving mounting plate 341. The upper part of the lifting and moving driving mounting seat 342 is connected to the lifting and moving plate 344 through the lifting and moving driving device 343. The lifting and moving guide rail slider 345 is installed in the vertical direction of the lifting and moving mounting plate 341. The lifting and moving plate 344 is installed on the lifting and moving guide rail slider 345, so that the lifting and moving driving device 343 can drive the lifting and moving plate 344 to move up and down. The lifting and moving driving device 343 signal is connected to the control cabinet 4. The lifting and moving driving device 343 is a lifting electric cylinder.

[0042] The rolling movement unit 35 includes a rolling speed reducer 351, a rolling movement driving device 352 and a rolling movement plate 353. The rolling movement driving device 352 is fixedly connected to the vertical direction of the lifting and moving mounting plate 341, and is connected to the control cabinet 4 through the rolling speed reducer 351 signal; one side of the rolling speed reducer 351 is fixedly connected to the lifting and moving plate 344, so that the lifting and moving driving device 343 can drive the components installed on the lifting and moving plate 344 to move up and down; the other side is fixedly installed with the rolling movement plate 353, which is used to drive the rolling movement plate 353 and the components above it to roll. The rolling movement driving device 352 is a rolling electric cylinder, and the landing gear can follow the rolling movement unit 35 to roll.

[0043] The pitch movement unit 36 ​​includes a pitch movement driving device 361, a pitch movement upper bracket 362, a pitch movement lower bracket 363 and a latch 364. The pitch movement upper bracket 362 and the pitch movement lower bracket 363 are respectively mounted on the upper and lower sides of the rolling movement plate 353 near the front landing gear 5. The front landing gear 5 is mounted between the pitch movement upper bracket 362 and the pitch movement lower bracket 363. The pitch movement driving device 361 is fixedly mounted on the lifting and moving plate 344. The movable shaft of the pitch movement driving device 361 passes through the mounting hole of the rolling movement plate 353 and is hinged to the pitch movement upper bracket 362. The pitch movement driving device 361 is a telescopic electric cylinder, and the signal is connected to the control cabinet 4. Specifically, the pitch movement driving device 361 is fixed to the pitch movement upper bracket 362 by a front hinge shaft, so that the pitch movement upper bracket 362 can be adjusted with the rotation of the telescopic electric cylinder, and the pitch movement lower bracket 363 can be passively adjusted with the rotation of the front landing gear 5.

[0044] The working principle of a six-degree-of-freedom assembly and transfer device for an aircraft front landing gear is as follows: The front landing gear 5 is connected to the assembly and transfer device through the product support fixing frame. During assembly, the front landing gear 5 is fixedly mounted between the pitch movable upper bracket 362 and the pitch movable lower bracket 363. After the assembly and installation is completed, the control cabinet 4 controls the six-degree-of-freedom assembly and transfer device for the front landing gear of the aircraft according to actual needs. First, according to the set distance, the drive shaft of the servo motor in the omnidirectional transfer vehicle 1 is controlled. The omnidirectional mobile platform chassis can realize three degrees of freedom movement on the plane, including two horizontal movement components and one self-attitude rotation component. By adjusting the direction and speed of each wheel drive motor, a combined force is formed at a certain angle to the ground fixed coordinate system, thereby realizing the omnidirectional movement of the entire wheel system. The control cabinet 4 controls the operation of the elevator 211 of the floating mechanism 2, and the elevator 211 drives the overall structure above it to float flexibly in the vertical direction. After the elevator 211 reaches the set position, the control cabinet 4 controls the movement of the longitudinal movement drive device 314, and the longitudinal movement drive device 314 drives the overall structure above it to move longitudinally. The longitudinal movement mechanism drive device 314 can passively and synchronously move around the rotation center to achieve the purpose of adjusting the yaw angle; the lateral movement unit 33 can drive the overall lateral movement installed above it, and the lifting movement unit 34 can drive the overall vertical movement installed above it; the pitch movement unit 36 ​​is used to install the front landing gear 5; the roll movement unit 35 is used to drive the overall on one side to follow the roll, and the pitch movement unit 36 ​​is used to drive the pitch adjustment of the front landing gear 5.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-degree-of-freedom assembly and transfer device for an aircraft front landing gear, characterized in that: It includes an omnidirectional transport vehicle, a floating mechanism, a six-degree-of-freedom posture adjustment mechanism and a control cabinet. Omnidirectional transporter, used to achieve three degrees of freedom movement on a plane; The floating mechanism is installed on the omnidirectional transporter, which makes the six-degree-of-freedom attitude adjustment mechanism in a flexible state, ensuring smooth docking between the six-degree-of-freedom attitude adjustment mechanism and the front landing gear; The six-degree-of-freedom attitude adjustment mechanism is installed above the floating mechanism and is used to adjust the attitude of the front landing gear during the installation process. It can fine-tune the attitude of the aircraft landing gear within multiple degrees of freedom; The control cabinet is used to control the omnidirectional transfer vehicle, floating mechanism, and six-degree-of-freedom attitude adjustment mechanism to accurately adjust the position of the front landing gear.

2. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 1, characterized in that: The omnidirectional transfer vehicle includes a frame and several wheel assemblies rotatably connected at the lower end thereof. The frames of the omnidirectional transfer vehicle are connected by a torsion beam, and several wheel assemblies are arranged parallel to each other. The drive shafts of the wheels are fixedly connected to the drive shafts of the servo motors. The omnidirectional mobile platform chassis can realize three degrees of freedom of movement on the plane, including two horizontal motion components and one self-attitude rotation component. By adjusting the direction and speed of the driving motors of each wheel, a combined force is formed at a set angle to the fixed coordinate system on the ground, thereby realizing the all-round movement of the entire wheel system.

3. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 1, characterized in that: The floating mechanism is a symmetrical structure, including a floating mechanism base, which is fixedly connected to the rear frame, with several plane bearings symmetrically installed on the top, a floating plate installed above the plane bearing, and a floating amount is provided between the floating plate and the floating mechanism base; a floating frame is installed in the middle of the floating plate, and symmetrical air springs are provided between the two; limit switches and guide copper sleeves are also symmetrically provided on both sides of the floating plate, a lift is installed under the floating plate, a guide pin is provided above the lift, the guide pin is located below the guide shaft sleeve and can limit the guide pin, and the lift signal is connected to the control cabinet.

4. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 3, characterized in that: The six-degree-of-freedom attitude adjustment mechanism includes a longitudinal moving unit, a yaw moving unit, a lateral moving unit, and a lifting moving unit which are arranged in sequence from bottom to top. The longitudinal moving unit is used to longitudinally adjust the components installed above it. The central rotating shaft is fixedly installed on the longitudinal moving drive device of the longitudinal moving unit. The central rotating shaft is connected to the lateral moving unit after being movably sleeved with the lifting moving unit. When the six-degree-of-freedom attitude adjustment mechanism needs fine-tuning, the control cabinet drives the overall longitudinal movement above the longitudinal moving unit. The longitudinal moving mechanism driving device passively and synchronously moves around the rotation center to achieve the yaw angle. The lateral moving unit is used to drive the overall lateral movement installed above it, and the lifting moving unit is used to drive the overall vertical movement installed above it. A pitch moving unit is installed on one side of the lifting moving unit through a roll moving unit, and the pitch moving unit is used to install the front landing gear. The roll moving unit is used to drive the overall one side to follow the roll, and the pitch moving unit is used to drive the pitch adjustment of the front landing gear.

5. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 4, characterized in that: The longitudinal movement unit includes a longitudinal movement mounting plate, the lower part of which is fixedly connected to a floating plate, longitudinal movement guide rail sliders are symmetrically installed on both sides of the longitudinal movement mounting plate, a longitudinal movement drive device is installed in the middle, and the longitudinal electric cylinder longitudinal movement drive device signal is connected to a control cabinet.

6. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 5, characterized in that: The yaw mobile unit includes a yaw mobile mounting plate, the bottom of the yaw mobile mounting plate is fixedly connected to the longitudinal movement driving device and the longitudinal movement guide slider, the longitudinal movement driving device is used to drive the yaw mobile unit and the upper components to move longitudinally; the yaw mobile guide slider and the yaw mobile driving device are respectively fixedly installed below the yaw mobile mounting plate, and the yaw mobile guide sliders are symmetrically arranged, the center of the yaw mobile mounting plate passes through the central rotating shaft of the bearing sleeve, and the yaw electric cylinder signal is connected to the control cabinet.

7. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 6, characterized in that: The transverse moving unit includes a transverse moving plate, the lower part of which is fixedly connected to the yaw moving guide slider and the yaw moving drive device, and the yaw moving drive device and the longitudinal moving mechanism drive device are used together to adjust the yaw of the transverse moving unit and the components above it; the transverse moving drive device and the transverse moving guide slider are fixedly installed above the transverse moving plate, and the signal of the transverse moving drive device is connected to the control cabinet.

8. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 7, characterized in that: The lifting and moving unit includes a lifting and moving mounting plate, which is an L-shaped structure. The lower part of the lifting and moving mounting plate in the horizontal direction is fixedly connected to the transverse moving driving device, and the transverse moving driving device is used to drive the lifting and moving unit and its upper components to move laterally; a lifting and moving driving mounting seat is fixedly installed above the lifting and moving mounting plate, and the upper part of the lifting and moving driving mounting seat is connected to the lifting and moving plate through the lifting and moving driving device, and a lifting and moving guide rail slider is installed in the vertical direction of the lifting and moving mounting plate, and the lifting and moving plate is installed on the lifting and moving guide rail slider, so that the lifting and moving driving device can drive the lifting and moving plate to move up and down; the lifting and moving driving device signal is connected to the control cabinet.

9. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 8, characterized in that: The rolling movement unit includes a rolling movement driving device, which is fixedly connected to the vertical direction of the lifting and moving mounting plate and is connected to the control cabinet through a rolling reducer signal; one side of the rolling reducer is fixedly connected to the lifting and moving plate, so that the lifting and moving driving device can drive the components installed on the lifting and moving plate to move up and down; the other side is fixedly installed with the rolling moving plate, which is used to drive the rolling moving plate and the components above it to roll.

10. The six-degree-of-freedom assembly and transfer device for the front landing gear of an aircraft according to claim 9, characterized in that: The pitch movement unit includes a pitch movement upper bracket and a pitch movement lower bracket, which are respectively installed on the upper and lower sides of the roll movement plate close to the front landing gear, and the front landing gear is installed between the pitch movement upper bracket and the pitch movement lower bracket; the pitch movement drive device is fixedly installed on the lifting and moving plate, and the movable shaft of the pitch movement drive device passes through the mounting hole of the roll movement plate and is hinged to the pitch movement upper bracket, and the pitch movement drive device signal is connected to the control cabinet.

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