Aircraft main cabin door linkage pull rod mechanism debugging system and method based on motion simulation technology

Abstract

The invention provides an aircraft main cabin door linkage pull rod mechanism debugging system and method based on the motion simulation technology, and belongs to the technical field of aircraft debugging. The debugging system comprises a digital virtual motion simulation module, a digital model design module and a data analysis processing module; a digital virtual motion simulation module is used for carrying out folding and unfolding motion simulation on a main landing gear and a linkage cabin door, simulation data are imported into a data analysis and processing module, a fit clearance and a locking position are analyzed and processed, and whether the linkage pull rod mechanism with the length meets the requirement or not is determined; the length of the linkage pull rod mechanism is continuously adjusted in the forward direction and the reverse direction, and the forward adjustment range and the reverse adjustment range of the linkage pull rod mechanism are determined through motion simulation data results and data analysis processing. The debugging efficiency can be improved, the length adjustment accuracy is improved, and it is guaranteed that the aircraft take-off and landing system is smoothly and rapidly debugged.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft debugging, and in particular relates to a system and method for debugging an aircraft main landing gear door linkage rod mechanism based on motion simulation technology when the main landing gear and the door are connected through a linkage rod mechanism, so as to determine a suitable linkage rod mechanism length. Background Art

[0002] The aircraft landing gear retraction and extension system includes the landing gear retraction and extension system, the door retraction and extension system, the hydraulic control system, etc., among which the door retraction and extension system is mainly used to control the opening and closing of the aircraft landing gear door (linked door). The door retraction and extension system is realized through the landing gear door retraction and extension mechanism. The landing gear door retraction and extension mechanism is mainly divided into three categories: mechanical linkage pull rod mechanism (that is, the door and the landing gear are mechanically linked to achieve follow-up retraction and extension movement), hydraulic actuator drive mechanism (that is, the door is driven by the hydraulic actuator attachment to achieve retraction and extension), and mechanical linkage and hydraulic drive hybrid mechanism. Among them, the mechanical linkage pull rod mechanism has a simple structure, simple installation and connection method, small space occupation, high reliability, and a wide range of applications. The hydraulic actuator drive mechanism has a simple structural layout, and the door retraction and extension control is not related to the landing gear retraction and extension mechanism. The design of the mechanical linkage and hydraulic drive hybrid mechanism system is relatively complex and the reliability is not high.

[0003] At present, in the manufacturing process of aircraft, the main landing gear and the linkage door are generally connected by a simple and reliable mechanical linkage rod mechanism to achieve the follow-up retraction and extension of the door and the main landing gear. For the installation and debugging of the linkage rod mechanism, the traditional method relies more on manual repeated tests. By giving the initial random length of the linkage rod mechanism, the linkage rod mechanism is installed between the main landing gear and the linkage door, and the main landing gear and the linkage door are retracted and extended by the hydraulic drive device. It is checked whether there is insufficient clearance during the retraction and extension of the main landing gear and the linkage door, and whether the linkage door can be locked in the retracted position. By repeatedly adjusting the length of the linkage rod mechanism, the length of the linkage rod mechanism that finally meets the clearance inspection requirements and the linkage door locking requirements is determined. The traditional method has a long installation and debugging cycle, low efficiency, time-consuming and labor-intensive, and low accuracy. Another method is to analyze the rod retraction and extension data made in the test environment to give the approximate initial length of the linkage rod mechanism installed on the aircraft. Due to the difference between the test environment and the actual on-board environment, the accuracy of the rod length data given by this method is still not high, and the coordination cycle is relatively long. Summary of the invention

[0004] In view of the above reasons, in order to realize the efficient, rapid and accurate debugging of the aircraft cabin door linkage rod mechanism, the present invention proposes a debugging system and method of the aircraft main take-off cabin door linkage rod mechanism based on motion simulation technology and digital theoretical models of various components, so that the appropriate adjustment length range of the linkage rod mechanism can be determined before the aircraft is manufactured. The present invention can improve the debugging efficiency of the main landing gear cabin door linkage rod mechanism, improve the accuracy of the linkage rod mechanism length, and ensure that the debugging work of the aircraft take-off and landing system in the scientific research and production stage is carried out smoothly and quickly.

[0005] The specific technical solution adopted by the present invention is as follows:

[0006] A debugging system for a linkage pull rod mechanism of an aircraft main lift door based on motion simulation technology comprises a digital virtual motion simulation module, a digital model design module and a data analysis and processing module.

[0007] The digital virtual motion simulation module is used to construct a motion simulation model of the aircraft main landing gear and the linkage door, and to analyze the simulation results, and to generate simulation data information such as the motion trajectory and envelope of the moving parts according to the debugging test requirements.

[0008] The digital model design module is used to adjust the length of the linkage pull rod mechanism and study the influence of the linkage pull rod mechanism with different lengths on the linkage retraction and extension between the main landing gear and the cabin door.

[0009] The data analysis and processing module is used to process the data information of the digital virtual motion simulation module, including a mechanism freedom analysis component and a simulation result analysis component, and has a calculation geometry model function and a data analysis function, and is used to analyze whether the matching clearance between the main landing gear and the linkage door and the linkage pull rod mechanism meets the requirements during the retraction and extension process and the retracted position of the main landing gear and the linkage door, and whether the center point of the linkage door lock ring can be within the locking range of the door locking mechanism in the retracted position.

[0010] After the digital model design module determines the length of the linkage pull rod mechanism, it uses the digital virtual motion simulation module to simulate the retraction and extension motion of the main landing gear and the linkage door, imports the simulation data into the data analysis and processing module, and analyzes and processes the matching clearance and the locking position to determine whether the linkage pull rod mechanism at this length meets the requirements; the digital model design module continuously adjusts the length of the linkage pull rod mechanism in the forward and reverse directions, and determines the forward and reverse adjustment range of the linkage pull rod mechanism through the motion simulation data results of the digital virtual motion simulation module and the data analysis and processing of the data analysis and processing module.

[0011] A method for debugging an aircraft main lift door linkage rod mechanism based on motion simulation technology is implemented based on the above debugging system. The debugging method comprises the following steps:

[0012] S01: Aircraft main landing gear and linkage door status analysis

[0013] For the aircraft main landing gear and landing gear door retracting and extending mechanism, analyze its component modules, determine the driving components, transmission components and execution components in the landing gear door retracting and extending mechanism, and analyze the specific driving mode, motion path and motion target of the landing gear door retracting and extending mechanism. For the determined driving components, transmission components and execution components, analyze the motion transmission mode between each component, that is, determine the type of motion pair.

[0014] S02: Construct the main landing gear and linkage door motion simulation model

[0015] According to the state analysis of the aircraft main landing gear and linkage door motion mechanism in S01, the motion simulation model is constructed. The linkage pull rod mechanism debugging system is adjusted to the digital virtual motion simulation module, the driving components, transmission components and execution components in the motion mechanism are divided, and corresponding kinematic pairs are added between each component. When the mechanism freedom degree analysis component inside the digital virtual motion simulation module indicates that the current motion mechanism freedom degree is 0, it indicates that the motion simulation model of the aircraft main landing gear and linkage door has a motion state.

[0016] S03: Length adjustment of linkage pull rod mechanism

[0017] Switch the linkage rod mechanism debugging system to the digital model design module, and adjust the length l of the linkage rod mechanism in the motion simulation model established in S02 in this module: during the first debugging, set the initial length to l0, execute S04 and S05 to perform motion simulation and make result judgment, then return to this step, and start from l0 to make positive extension adjustment or reverse shortening adjustment, and the adjustment amount increases in sequence, each time by 0.5mm. The adjusted linkage rod mechanism length l is:

[0018] Linkage rod mechanism extends positively to adjust the length:

[0019] l i =l0+i0.5

[0020] Linkage rod mechanism reverse shortening adjustment length:

[0021] l j =l0-j0.5

[0022] Where i represents the number of positive adjustments made, and j represents the number of negative adjustments made.

[0023] S04: Main landing gear and linked door motion simulation

[0024] Switch the linkage pull rod mechanism debugging system to the digital virtual motion simulation module, perform motion simulation on the main landing gear and linkage door based on the main landing gear and linkage door motion simulation model constructed by the digital virtual motion simulation module in S02 and the linkage pull rod mechanism length adjusted by the digital model design module in S03, and generate the component envelope data packets required by the data analysis and processing module using the simulation result analysis component in the digital virtual motion simulation module.

[0025] S05: Data analysis and processing module processes data and determines whether it meets the requirements

[0026] S05.1: Import the envelope data packets of each component generated by the digital virtual motion simulation module in S04 into the data analysis and processing module, and use the module to establish a relative coordinate system.

[0027] Since the center point of the linkage door lock ring moves on a circle with the door rotation axis as the center axis and the distance from the center point of the lock ring to the door rotation axis as the radius, the center point of the linkage door lock ring is set to P = (x, y, z), and the locking range of the linkage door lock ring center point P in the door locking mechanism is an arc

[0028] S05.2: The data analysis and processing module analyzes and processes the envelope data of each component of the digital virtual motion simulation module to determine whether the minimum matching clearance of the main landing gear and the linkage door during the follow-up retraction and extension process meets the requirements when the motion simulation is performed with the current linkage pull rod mechanism length. If it does not meet the requirements, the length cannot be continued in the direction corresponding to the current linkage pull rod mechanism length. Specifically:

[0029] S05.2.1: Execute the computational geometry model function in the data analysis and processing module, analyze and process the spatial model envelope data of the main landing gear, linkage door, and linkage pull rod mechanism at time t, and generate corresponding geometry model data.

[0030] The spatial geometric model of the main landing gear is:

[0031] F(f 1x (t),f 1y (t),f 1z (t))=0

[0032] In the formula, f 1x (t), f 1y (t), f 1z (t) are functions for calculating the spatial geometric models of the main landing gear in the x-axis, y-axis, and z-axis directions at time t.

[0033] The spatial geometric model of the linkage door is:

[0034] G(f 2x (t),f 2y (t),f 2z (t))=0

[0035] In the formula, f 2x (t), f 2y (t), f 2z (t) are functions for calculating the spatial geometric models of the linkage door in the x-axis, y-axis, and z-axis directions at time t.

[0036] The spatial geometric model of the linkage pull rod mechanism is:

[0037] H(f 3x (t),f 3y (t),f 3z (t))=0

[0038] In the formula, f 3x (t), f 3y (t), f 3z (t) are functions for calculating the spatial geometric models of the linkage pull-rod mechanism in the x-axis, y-axis, and z-axis directions at time t.

[0039] S05.2.2: Execute the data analysis function in the data analysis and processing module to calculate the matching relationship data packet Q(t) of the main landing gear, linkage door, and linkage pull rod mechanism geometric model at time t in S05.2.1.

[0040]

[0041] Where g1(*), g2(*), g3(*) are the functions for calculating the clearance between the spatial geometric models of the main landing gear, the linkage door and the linkage pull rod mechanism, respectively; δ1(t), δ2(t), δ3(t) are the clearances between the main landing gear, the linkage door and the linkage pull rod mechanism at time t, respectively.

[0042] S05.2.3: Execute the data analysis function in the data analysis processing module to calculate the minimum matching relationship data packet Q(t) in S05.2.2 during the entire retraction and release process min .

[0043] Q min =min{δ1(t),δ2(t),δ3(t)}

[0044] S05.2.4: Execute the data analysis function in the data analysis processing module, and convert the minimum coordination relationship data packet Q in S05.2.3 into minCompare, analyze and calculate with the requirements in the technical documents to generate a differentiated data package M.

[0045] M=g4(Q min ,K)={m1,m2,m3}

[0046] Where K = {k1, k2, k3}, K is the matching relationship data package specified in the technical documents, k1, k2, k3 are the mutual matching requirements between the main landing gear, linkage door and linkage pull rod mechanism specified in the technical documents, g4 (*) is the comparison simulation data package Q min and the function of the technical condition data packet K, m1, m2, and m3 are the simulation data packets Q min 3 comparison values ​​after comparison with the technical condition data package K.

[0047] S05.2.5: Execute the data analysis function within the data analysis processing module to analyze whether the differentiated data packet M meets the requirements.

[0048] If the differentiated data packets M all satisfy:

[0049] m n ≥1(n=1,2,3)

[0050] The length of the linkage rod mechanism in this state meets the requirements of the matching clearance, and the center point of the linkage door lock ring is determined according to S05.3.

[0051] If any m in the differentiated data packet M n satisfy:

[0052] m n <1(n=1,2,3)

[0053] The fitting clearance does not meet the requirements, indicating that the length of the linkage rod mechanism in this state does not meet the requirements, and the length of the linkage rod mechanism cannot be further adjusted in the corresponding direction of this state.

[0054] S05.3: When the matching clearance relationship in S05.2 is satisfied, when the main landing gear and the linkage door motion simulation model are in the retracted position, whether the center point P = (x, y, z) of the linkage door lock ring falls within the locking range of the door locking mechanism The judgment is made within. Specifically:

[0055] Execute the data analysis function in the data analysis processing module to analyze whether the center point P = (x, y, z) of the linkage door lock ring is within the locking range of the door locking mechanism

[0056] If the center point P of the linkage door lock ring satisfies:

[0057]

[0058] It shows that the center point P of the linkage door lock ring can fall within the locking range of the linkage door locking mechanism. If the length of the linkage rod mechanism in this state meets both the matching clearance judgment of S05.2 and the judgment requirement that the center point P of the linkage door lock ring is locked, then the length of the linkage rod mechanism in this state meets both the matching clearance judgment of S05.2 and the locking judgment requirement of the center point P of the linkage door lock ring.

[0059] If the center point P of the linkage door lock ring satisfies:

[0060]

[0061] This indicates that the center point P of the linkage door lock ring does not fall within the locking range of the linkage door locking mechanism. If the length of the linkage rod mechanism in this state only meets the matching clearance judgment of S05.2, but does not meet the judgment requirement of locking the center point P of the linkage door lock ring. Therefore, the length of the linkage rod mechanism in this state does not meet the requirements.

[0062] S06: Determine the adjustment range of the linkage pull rod mechanism

[0063] The data analysis and processing module determines the maximum forward extension and the minimum reverse shortening length of the linkage pull rod mechanism:

[0064] When the motion simulation of the main landing gear and the linked door is performed according to the initial length l0 of the linked rod mechanism, after meeting the matching clearance judgment in S05.2 and the locking judgment requirements of the locking center point P of the linked door lock ring in S05.3, the system takes the initial length l0 of the linked rod mechanism as a reference, adjusts the length of the linked rod mechanism according to S03, and repeats S03, S04 and S05 in a cycle until the matching clearance judgment in S05.2 or the locking judgment of the locking center point P of the linked door lock ring in S05.3 does not meet the requirements when the motion simulation of the main landing gear and the linked door is performed.

[0065] When the positive extension length l of the linkage pull rod mechanism i When performing motion simulation, if the clearance of each component in S05.2 does not meet the requirements or the locking position determination of the center point of the linkage door lock ring in S05.3 does not meet the requirements, the maximum positive length l of the linkage pull rod mechanism at this time is output. max .

[0066] When the length l of the linkage pull rod mechanism is shortened in the reverse direction j When performing motion simulation, if the clearance of each component in S05.2 does not meet the requirements or the locking position determination of the center point of the linkage door lock ring in S05.3 does not meet the requirements, the reverse minimum length l of the linkage pull rod mechanism at this time is output. min .

[0067] The final adjustment range of the output linkage pull rod mechanism of the debugging system is lmin <l<l max .

[0068] The beneficial effects of the present invention are:

[0069] (1) The present invention innovatively applies digital virtual motion simulation technology and proposes a logical method for determining the length adjustment range of the linkage pull rod mechanism of the aircraft main lift door based on a theoretical digital model of components.

[0070] (2) The digital virtual motion simulation module in the present invention can efficiently and conveniently construct the motion simulation model of the aircraft main landing gear and linkage door digital model, and perform motion simulation analysis. The digital model design module in the present invention can quickly adjust the length of the linkage pull rod mechanism.

[0071] (3) The data analysis and processing module in the present invention can quickly and accurately determine the adjustment range of the linkage pull rod mechanism by designing a prescribed logical algorithm, thereby avoiding the time-consuming and labor-intensive manual repeated experiments, improving the debugging efficiency of the linkage pull rod mechanism, and improving the accuracy of the length adjustment range of the linkage pull rod mechanism.

[0072] (4) The present invention provides a method for debugging an aircraft main landing gear door linkage rod mechanism based on motion simulation technology, which achieves the debugging accuracy and efficiency of the mechanical linkage rod mechanism type in the door retracting and extending mechanism, and realizes high-quality and efficient assembly and debugging of the aircraft main landing gear door linkage rod mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0074] The technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments improved or adjusted by ordinary technicians in the field based on the embodiments of the present invention belong to the protection scope of the present invention.

[0075] This embodiment provides an aircraft main lift door linkage rod mechanism debugging system based on motion simulation technology, and the debugging system includes a digital virtual motion simulation module, a digital model design module and a data analysis and processing module.

[0076] The digital virtual motion simulation module is used to construct a motion simulation model of the aircraft main landing gear and the linkage door, and to analyze the simulation results, and to generate simulation data information such as the motion trajectory and envelope of the moving parts according to the debugging test requirements.

[0077] The digital model design module is used to adjust the length of the linkage pull rod mechanism and study the influence of the linkage pull rod mechanism with different lengths on the linkage retraction and extension between the main landing gear and the cabin door.

[0078] The data analysis and processing module is used to process the data information of the digital virtual motion simulation module, including a mechanism freedom analysis component and a simulation result analysis component, and has a calculation geometry model function and a data analysis function, and is used to analyze whether the matching clearance between the main landing gear and the linkage door and the linkage pull rod mechanism meets the requirements during the retraction and extension process and the retracted position of the main landing gear and the linkage door, and whether the center point of the linkage door lock ring can be within the locking range of the door locking mechanism in the retracted position.

[0079] This embodiment also provides a method for debugging the linkage rod mechanism of the aircraft main lift door based on motion simulation technology, which is implemented based on the above debugging system, and is described in detail in the attached drawings. Figure 1 , the specific implementation is as follows:

[0080] S01: Aircraft main landing gear and linkage door status analysis

[0081] For the aircraft main landing gear and landing gear door retracting and extending mechanism, analyze its component modules, determine the driving components, transmission components and execution components in the landing gear door retracting and extending mechanism, and analyze the specific driving mode, motion path and motion target of the landing gear door retracting and extending mechanism. For the determined driving components, transmission components and execution components, analyze the motion transmission mode between each component, that is, determine the type of motion pair.

[0082] S02: Construct the main landing gear and linkage door motion simulation model

[0083] According to the state analysis of the aircraft main landing gear and linkage door motion mechanism in S01, the motion simulation model is constructed. The linkage pull rod mechanism debugging system is adjusted to the digital virtual motion simulation module, the driving components, transmission components and execution components in the motion mechanism are divided, and corresponding kinematic pairs are added between each component. When the mechanism freedom degree analysis component inside the digital virtual motion simulation module indicates that the current motion mechanism freedom degree is 0, it indicates that the motion simulation model of the aircraft main landing gear and linkage door has a motion state.

[0084] S03: Length adjustment of linkage pull rod mechanism

[0085] Switch the linkage rod mechanism debugging system to the digital model design module, and adjust the length l of the linkage rod mechanism in the motion simulation model established in S02 in this module: during the first debugging, set the initial length to l0, and then start from l0 to make positive extension adjustment or reverse shortening adjustment, and the adjustment amount increases in sequence, each time by 0.5mm. The adjusted linkage rod mechanism length l is:

[0086] Linkage rod mechanism extends positively to adjust the length:

[0087] l i =l0+i0.5

[0088] Linkage rod mechanism reverse shortening adjustment length:

[0089] l j =l0-j0.5

[0090] Where i represents the number of positive adjustments made, and j represents the number of negative adjustments made.

[0091] S04: Main landing gear and linked door motion simulation

[0092] Switch the linkage pull rod mechanism debugging system to the digital virtual motion simulation module, perform motion simulation on the main landing gear and linkage door based on the main landing gear and linkage door motion simulation model constructed by the digital virtual motion simulation module in S02 and the linkage pull rod mechanism length adjusted by the digital model design module in S03, and generate the component envelope data packets required by the data analysis and processing module using the simulation result analysis component in the digital virtual motion simulation module.

[0093] S05: Data analysis and processing module processes data and determines whether it meets the requirements

[0094] S05.1: Import the envelope data packets of each component generated by the digital virtual motion simulation module in S04 into the data analysis and processing module, and use the module to establish a relative coordinate system.

[0095] Since the center point of the linkage door lock ring moves on a circle with the door rotation axis as the center axis and the distance from the center point of the lock ring to the door rotation axis as the radius, the center point of the linkage door lock ring is set to P = (x, y, z), and the locking range of the linkage door lock ring center point P in the door locking mechanism is an arc

[0096] S05.2: The data analysis and processing module analyzes and processes the envelope data of each component of the digital virtual motion simulation module, and determines the current length l of the linkage pull rod mechanism. i or j During motion simulation, the minimum clearance between the main landing gear and the linked door during retraction and extension.

[0097] S05.2.1: Execute the computational geometry model function in the data analysis and processing module, analyze and process the spatial model envelope data of the main landing gear, linkage door, and linkage pull rod mechanism at time t, and generate corresponding geometry model data.

[0098] The spatial geometric model of the main landing gear is:

[0099] F(f 1x (t),f 1y (t),f 1z (t))0

[0100] In the formula, f 1x (t), f 1y (t), f 1z (t) are functions for calculating the spatial geometric models of the main landing gear in the x-axis, y-axis, and z-axis directions at time t.

[0101] The spatial geometric model of the linkage door is:

[0102] G(f 2x (t),f 2y (t),f 2z (t))=0

[0103] In the formula, f 2x (t), f 2y (t), f 2z (t) are functions for calculating the spatial geometric models of the linkage door in the x-axis, y-axis, and z-axis directions at time t.

[0104] The spatial geometric model of the linkage pull rod mechanism is:

[0105] H(f 3x (t),f 3y (t),f 3z (t))0

[0106] In the formula, f 3x (t), f 3y (t), f 3z (t) are functions for calculating the spatial geometric models of the linkage pull-rod mechanism in the x-axis, y-axis, and z-axis directions at time t.

[0107] S05.2.2: Execute the data analysis function in the data analysis and processing module to calculate the matching relationship data packet Q(t) of the main landing gear, linkage door, and linkage pull rod mechanism geometric model at time t in S05.2.1.

[0108]

[0109] Where g1(*), g2(*), g3(*) are the functions for calculating the clearance between the spatial geometric models of the main landing gear, the linkage door and the linkage pull rod mechanism, respectively; δ1(t), δ2(t), δ3(t) are the clearances between the main landing gear, the linkage door and the linkage pull rod mechanism at time t, respectively.

[0110] S05.2.3: Execute the data analysis function in the data analysis processing module to calculate the minimum matching relationship data packet Q(t) in S05.2.2 during the entire retraction and release process min .

[0111] Q min =min{δ1(t),δ2(t),δ3(t)}

[0112] S05.2.4: Execute the data analysis function in the data analysis processing module, and convert the minimum coordination relationship data packet Q in S05.2.3 into min Compare, analyze and calculate with the requirements in the technical documents to generate a differentiated data package M.

[0113] M=g4(Q min ,K)={m1,m2,m3}

[0114] Where K = {k1, k2, k3}, K is the matching relationship data package specified in the technical documents, k1, k2, k3 are the mutual matching requirements between the main landing gear, linkage door and linkage pull rod mechanism specified in the technical documents, g4 (*) is the comparison simulation data package Q min and the function of the technical condition data packet K, m1, m2, and m3 are the simulation data packets Q min 3 comparison values ​​after comparison with the technical condition data package K.

[0115] S05.2.5: Execute the data analysis function within the data analysis processing module to analyze whether the differentiated data packet M meets the requirements.

[0116] If the differentiated data packets M all satisfy:

[0117] m n ≥1(n=1,2,3)

[0118] The length of the linkage rod mechanism in this state meets the requirements of the matching clearance, and the center point of the linkage door lock ring is determined according to S05.3.

[0119] If any m in the differentiated data packet M n satisfy:

[0120] m n <1(n=1,2,3)

[0121] The fitting clearance does not meet the requirements, indicating that the length of the linkage rod mechanism in this state does not meet the requirements, and the length of the linkage rod mechanism cannot be further adjusted in the corresponding direction of this state.

[0122] S05.3: When the matching clearance relationship in S05.2 is satisfied, when the main landing gear and the linkage door motion simulation model are in the retracted position, whether the center point P = (x, y, z) of the linkage door lock ring falls within the locking range of the door locking mechanism Make a judgment within.

[0123] Execute the data analysis function in the data analysis processing module to analyze whether the center point P = (x, y, z) of the linkage door lock ring is within the locking range of the door locking mechanism

[0124] If the center point P of the linkage door lock ring satisfies:

[0125]

[0126] It shows that the center point P of the linkage door lock ring can fall within the locking range of the linkage door locking mechanism. If the length of the linkage rod mechanism in this state meets both the matching clearance judgment of S05.2 and the judgment requirement of the linkage door lock ring center point P being locked.

[0127] If the center point P of the linkage door lock ring satisfies:

[0128]

[0129] This indicates that the center point P of the linkage door lock ring does not fall within the locking range of the linkage door locking mechanism. If the length of the linkage rod mechanism in this state only meets the matching clearance judgment of S05.2, but does not meet the judgment requirement of locking the center point P of the linkage door lock ring. Therefore, the length of the linkage rod mechanism in this state does not meet the requirements.

[0130] S06: Determine the adjustment range of the linkage pull rod mechanism

[0131] The data analysis and processing module determines the maximum forward extension and the minimum reverse shortening length of the linkage pull rod mechanism:

[0132] When the motion simulation of the main landing gear and the linked door is performed according to the initial length l0 of the linked rod mechanism, after meeting the matching clearance judgment in S05.2 and the locking judgment requirements of the locking center point P of the linked door lock ring in S05.3, the system takes the initial length l0 of the linked rod mechanism as a reference, adjusts the length of the linked rod mechanism according to S03, and repeats S03, S04 and S05 in a cycle until the matching clearance judgment in S05.2 or the locking judgment of the locking center point P of the linked door lock ring in S05.3 does not meet the requirements when the motion simulation of the main landing gear and the linked door is performed.

[0133] When the positive extension length l of the linkage pull rod mechanism iWhen performing motion simulation, if the clearance of each component in S05.2 does not meet the requirements or the locking position determination of the center point of the linkage door lock ring in S05.3 does not meet the requirements, the maximum positive length l of the linkage pull rod mechanism at this time is output. max .

[0134] When the length l of the linkage pull rod mechanism is shortened in the reverse direction j When performing motion simulation, if the clearance of each component in S05.2 does not meet the requirements or the locking position determination of the center point of the linkage door lock ring in S05.3 does not meet the requirements, the reverse minimum length l of the linkage pull rod mechanism at this time is output. min .

[0135] The final adjustment range of the output linkage pull rod mechanism of the debugging system is l min <l<l max .

[0136] The above-described embodiments merely express the implementation methods of the present invention, but they should not be understood as limiting the scope of the present invention. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A debugging system for the linkage rod mechanism of the aircraft main lift door based on motion simulation technology, characterized in that: The debugging system includes a digital virtual motion simulation module, a digital model design module and a data analysis and processing module; The digital virtual motion simulation module is used to construct a motion simulation model of the aircraft main landing gear and the linkage door, and to analyze the simulation results, and to generate simulation data information according to the debugging test requirements; The digital model design module is used to adjust the length of the linkage pull rod mechanism and study the influence of the linkage pull rod mechanism with different lengths on the linkage retraction and extension between the main landing gear and the cabin door; The data analysis and processing module is used to process the data information of the digital virtual motion simulation module, including a mechanism freedom analysis component and a simulation result analysis component, and has a calculation geometry model function and a data analysis function, and is used to analyze whether the matching clearance between the main landing gear and the linkage door and the linkage pull rod mechanism meets the requirements during the retraction and extension process and the retracted position of the main landing gear and the linkage door, and whether the center point of the linkage door lock ring can be within the locking range of the door locking mechanism in the retracted position.

2. A method for debugging an aircraft main lift door linkage rod mechanism based on motion simulation technology, implemented based on the debugging system of claim 1, characterized in that: The debugging method comprises the following steps: S01: Aircraft main landing gear and linkage door status analysis; S02: Construct the motion simulation model of the main landing gear and the linked door; S03: length adjustment of linkage pull rod mechanism; S04: Main landing gear and linked door motion simulation; S05: Data analysis and processing module processes the data and determines whether it meets the requirements; S06: Determine the adjustment range of the linkage pull rod mechanism.

3. The method for debugging the linkage rod mechanism of the aircraft main lift door based on motion simulation technology according to claim 2 is characterized in that: The S01 is specifically as follows: for the aircraft main landing gear and landing gear door retracting and extending mechanism, analyze the component modules thereof, determine the driving components, transmission components and execution components in the landing gear door retracting and extending mechanism, and analyze the specific driving mode, motion path and motion target of the landing gear door retracting and extending mechanism.

4. The method for debugging the linkage rod mechanism of the aircraft main lift door based on motion simulation technology according to claim 2 is characterized in that: The S02 is specifically: adjusting the linkage pull rod mechanism debugging system to the digital virtual motion simulation module, dividing the motion mechanism into driving components, transmission components and execution components, and adding corresponding motion pairs between each component. When the digital virtual motion simulation module prompts that the current degree of freedom of the motion mechanism is 0, it indicates that the motion simulation model of the aircraft main landing gear and the linkage door is in a motion state.

5. The method for debugging the linkage rod mechanism of the aircraft main lift door based on motion simulation technology according to claim 2 is characterized in that: The S03 is specifically: switching the linkage pull rod mechanism debugging system to the digital model design module, and adjusting the length l of the linkage pull rod mechanism in the motion simulation model established in S02 in the module: during the first debugging, the initial length is set to l0, and then S04 and S05 are executed to perform motion simulation and make result judgments, and then return to this step, and start from l0 to make positive extension adjustment or reverse shortening adjustment, and the adjustment amount increases successively, each time by 0.5mm, and the adjusted linkage pull rod mechanism length l is: Linkage pull rod mechanism positive extension adjustment length: l i ＝l0+i0.5 Linkage rod mechanism reverse shortening adjustment length: l j ＝l0-j0.5 Where i represents the number of positive adjustments made, and j represents the number of negative adjustments made.

6. The method for debugging the linkage rod mechanism of the aircraft main lift door based on motion simulation technology according to claim 2 is characterized in that: The S04 is specifically: switching the linkage rod mechanism debugging system to the digital virtual motion simulation module, performing motion simulation on the main landing gear and the linkage door according to the main landing gear and linkage door motion simulation model constructed in S02 and the linkage rod mechanism length adjusted in S03, and utilizing the simulation result analysis component in the digital virtual motion simulation module to generate the component envelope data packets required by the data analysis and processing module.

7. The method for debugging the linkage rod mechanism of the aircraft main lift door based on motion simulation technology according to claim 2 is characterized in that: The S05 is specifically: S05.1: Import the results in S04 into the data analysis and processing module, and use the module to establish a relative coordinate system; Since the center point of the linkage door lock ring moves on a circle with the door rotation axis as the center axis and the distance from the center point of the lock ring to the door rotation axis as the radius, the center point of the linkage door lock ring is set to P = (x, y, z), and the locking range of the linkage door lock ring center point P in the door locking mechanism is an arc S05.2: The data analysis and processing module analyzes and processes the data of the digital virtual motion simulation module to determine whether the minimum matching clearance of the main landing gear and the linkage door during the follow-up retraction and extension process meets the requirements when the motion simulation is performed with the current linkage pull rod mechanism length. If it does not meet the requirements, the length cannot be continued in the direction corresponding to the current linkage pull rod mechanism length; S05.3: When the matching clearance relationship in S05.2 is satisfied, when the main landing gear and the linkage door motion simulation model are in the retracted position, whether the center point P = (x, y, z) of the linkage door lock ring falls within the locking range of the door locking mechanism To make a judgment within; specifically: Execute the data analysis function in the data analysis processing module to analyze whether the center point P = (x, y, z) of the linkage door lock ring is within the locking range of the door locking mechanism If the center point P of the linkage door lock ring satisfies: It shows that the center point P of the linkage door lock ring can fall within the locking range of the linkage door locking mechanism. In this state, the length of the linkage rod mechanism meets both the matching clearance judgment of S05.2 and the judgment requirement that the center point P of the linkage door lock ring is locked; If the center point P of the linkage door lock ring satisfies: This indicates that the center point P of the linkage door lock ring does not fall within the locking range of the linkage door locking mechanism. If the length of the linkage rod mechanism in this state only meets the matching clearance judgment of S05.2, but does not meet the judgment requirement of locking the center point P of the linkage door lock ring; therefore, the length of the linkage rod mechanism in this state does not meet the requirements.

8. The method for debugging the linkage rod mechanism of the aircraft main lift door based on motion simulation technology according to claim 7 is characterized in that: The S05.2 is specifically: S05.2.1: The data analysis and processing module analyzes and processes the data of the main landing gear, linkage door, and linkage pull rod mechanism at time t to generate corresponding geometric model data; The spatial geometric model of the main landing gear is: F(f 1x (t),f 1y (t),f 1z (t))=0 In the formula, f 1x (t), f 1y (t), f 1z (t) are functions for calculating the spatial geometric models of the main landing gear in the x-axis, y-axis, and z-axis directions at time t; The spatial geometric model of the linkage door is: G(f 2x (t),f 2y (t),f 2z (t))=0 In the formula, f 2x (t), f 2y (t), f 2z (t) are functions for calculating the spatial geometric models of the linkage door in the x-axis, y-axis, and z-axis directions at time t; The spatial geometric model of the linkage pull rod mechanism is: H(f 3x (t),f 3y (t),f 3z (t))=0 In the formula, f 3x (t), f 3y (t), f 3z (t) are functions for calculating the spatial geometric models of the linkage pull-rod mechanism in the x-axis, y-axis, and z-axis directions at time t; S05.2.2: Execute the data analysis and processing module to calculate the matching relationship data packet Q(t) of the geometric model of the main landing gear, linkage door, and linkage pull rod mechanism at time t in S05.2.1; Where, g1(*), g2(*), g3(*) are functions for calculating the clearance between the spatial geometric models of the main landing gear, linkage door and linkage pull rod mechanism, respectively; δ1(t), δ2(t), δ3(t) are the clearances between the main landing gear, linkage door and linkage pull rod mechanism at time t, respectively; S05.2.3: The data analysis and processing module calculates the minimum matching relationship data packet Q(t) in S05.2.2 during the entire retraction and release process min ; Q min =min{δ1(t),δ2(t),δ3(t)} S05.2.4: The data analysis and processing module sends the minimum matching relationship data packet Q in S05.2.3 min Compare and analyze the requirements in the technical documents to generate a differentiated data package M; M=g4(Q min ,K)={m1,m2,m3} Where K = {k1, k2, k3}, K is the matching relationship data package specified in the technical documents, k1, k2, k3 are the mutual matching requirements between the main landing gear, linkage door and linkage pull rod mechanism specified in the technical documents, g4 (*) is the comparison simulation data package Q min and the function of the technical condition data packet K, m1, m2, and m3 are the simulation data packets Q min 3 comparison values ​​after comparison with the technical condition data package K; S05.2.5: The data analysis and processing module analyzes whether the differentiated data packet M meets the requirements; If the differentiated data packets M all satisfy: m n ≥1(n=1,2,3) The length of the linkage rod mechanism in this state meets the requirements of the matching clearance, and the center point of the linkage door lock ring is determined according to S05.3; If any m in the differentiated data packet M n satisfy: m n <1(n=1,2,3) The fitting clearance does not meet the requirements, indicating that the length of the linkage rod mechanism in this state does not meet the requirements, and the length of the linkage rod mechanism cannot be further adjusted in the corresponding direction of this state.

9. The method for debugging the linkage rod mechanism of the aircraft main lift door based on motion simulation technology according to claim 2 is characterized in that: The S06 is specifically: Adjust the length of the linkage rod mechanism according to S03, and repeat S03, S04 and S05 in a loop until the main landing gear and linkage door motion simulation is performed, and S05 is judged to be unsatisfactory, and the maximum positive length l of the linkage rod mechanism is output. max and the reverse minimum length l min Finally, the adjustment range of the output linkage pull rod mechanism of the debugging system is l min <l<l max .

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