Horizontal tail flexible installation equipment and control method

Abstract

The invention relates to the technical field of horizontal empennage flexible installation equipment, in particular to horizontal empennage flexible installation equipment and a control method.The equipment comprises a chassis frame, a wheat wheel driving system, a main control system, a protection safety system, a man-machine interaction system, a power system, a first-stage folding large arm frame, a first-stage supporting arm, a second-stage folding small arm frame and a second-stage supporting arm; a pitching supporting arm, a lower connecting rod, an upper connecting rod, a pitching frame, a transverse moving frame, a rotary platform, a flexible platform and a connecting tool are included. The mounting height, distance and pitching angle of the flexible mounting equipment for the horizontal empennage are adjusted to meet the use requirements under different working conditions, the transportation and assembly functions of the aircraft horizontal empennage are achieved, the automation degree of production is improved, a large amount of labor force is saved, the labor intensity is relieved, the aircraft body transfer time is shortened, and the production efficiency is improved. And the production line efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of horizontal tail flexible installation equipment, and in particular to a horizontal tail flexible installation equipment and a control method. Background Art

[0002] At present, the installation of horizontal tail wing of a specific series of aircraft models usually adopts traditional hoisting, relying on aerial suspension and manual installation, including adjusting direction and braking, which also rely entirely on manpower. Due to the heavy weight and long length of the horizontal tail wing, daily operation requires professional crane technicians to cooperate with a large number of manpower and is time-consuming. Safety also requires manual control, which poses great risks. On the other hand, the existing suspension method is greatly affected by the space environment and it is difficult to meet the use requirements under different working conditions.

[0003] At present, there is an urgent need for a time-saving and labor-saving intelligent flexible installation equipment to change the existing operation mode, fully reduce the labor intensity of operators and the requirements for the site, and greatly improve the goal of operating efficiency. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a horizontal tail flexible installation device and a control method. The horizontal tail flexible installation device realizes the installation function of the aircraft tail, improves the degree of automation of production, saves a lot of labor, reduces labor intensity, shortens the time of body transfer, and improves the efficiency of the production line.

[0005] The technical problem to be solved by the present invention is achieved by adopting the following technical solutions:

[0006] A horizontal tail flexible installation device, comprising:

[0007] The chassis frame has a McLennan drive system arranged around the bottom, on which a main control system, a protection safety system connected to the main control system, a human-computer interaction system and a power supply system are arranged, and the main control system includes a main processor and an IO signal module;

[0008] A primary folding boom frame, the bottom end of which is hinged to the chassis frame;

[0009] A primary support arm, the bottom end of which is hinged and slidably connected to the chassis frame, and the upper end of which is hinged to the middle end of the primary folding boom frame;

[0010] A secondary folding small arm frame, the bottom end of which is hinged to the upper end of the primary folding large arm frame;

[0011] A secondary support arm, the bottom end of which is hinged and slidably connected to the primary folding arm frame, and the upper end of which is hinged to the secondary folding arm frame;

[0012] A pitching support arm, one end of which is hinged and slidably connected to the primary folding boom frame;

[0013] A lower connecting rod, one end of which is hinged to the pitch support arm;

[0014] An upper connecting rod, one end of which is hinged to the secondary folding arm frame, and the other end of which is hinged to the pitching support arm;

[0015] A pitch frame, respectively hinged to the secondary folding arm frame and the lower connecting rod;

[0016] A transverse frame, fixedly mounted on the pitch frame;

[0017] A rotary platform is fixedly mounted on the transverse movement frame;

[0018] A flexible platform, fixedly mounted on the rotary platform;

[0019] The connecting tool is fixedly installed on the flexible platform.

[0020] As a further improvement of the present invention, a driving frame is provided on the chassis frame, and a first push plate, a first screw rod, a first driving gear, a first reduction motor, and a first linear slide rail are provided on the driving frame. The first push plate is connected to the first screw rod and is slidably installed on the first linear slide rail. The first screw rod is connected to the first reduction motor through the first driving gear, and the bottom end of the primary support arm is hinged to the first push plate.

[0021] As a further improvement of the present invention, the first-level folding boom frame includes a boom frame body, a second linear slide rail, a second reduction motor, a second push plate, and a second screw rod. The bottom end of the boom frame body is hinged to the chassis frame, the upper end is hinged to the second-level folding arm frame, and the middle end is hinged to the upper end of the first-level support arm. The second linear slide rail, the second reduction motor and the second screw rod are installed on the boom frame body. The second push plate is slidably installed on the second linear slide rail and connected to the second screw rod. The second reduction motor is connected to the second screw rod. One end of the secondary support arm is hinged to the second push plate.

[0022] As a further improvement of the present invention, the secondary folding forearm frame includes a forearm frame body, a third screw rod, a third push plate, a third reduction motor, and a third linear slide rail. One end of the forearm frame body is hinged to the upper end of the large arm frame body, and the other end is hinged to the pitch frame. The third screw rod, the third reduction motor and the third linear slide rail are installed on the forearm frame body. The third screw rod is connected to the third reduction motor. The third push plate is connected to the third screw rod and is slidably installed on the third linear slide rail. One end of the pitch support arm is hinged to the third push plate.

[0023] As a further improvement of the present invention, a primary linear slide rail, a fourth screw rod and a fourth reduction motor are arranged on the transverse movement frame, a primary transverse movement platform connected to the fourth screw rod is slidably installed on the primary linear slide rail, a secondary linear slide rail is arranged on the primary transverse movement platform, a secondary transverse movement platform is arranged on the secondary linear slide rail, a limiting pin is fixedly installed on the lower side of the secondary transverse movement platform, a limiting groove is arranged on the side of the primary transverse movement platform, the limiting pin is slidably fitted in the limiting groove, and the fourth reduction motor is connected to the fourth screw rod.

[0024] As a further improvement of the present invention, the rotating platform includes a rotating table fixedly mounted on the secondary transverse platform, a rotating bearing arranged on the rotating table, a platform base plate connected to the rotating bearing, and a fifth reduction motor mounted on the platform base plate, and the fifth reduction motor is connected to a second driving gear meshing with the rotating table.

[0025] As a further improvement of the present invention, the flexible platform includes a first adjustment disk fixedly mounted on the platform substrate, a central axis arranged on the first adjustment disk, and a second adjustment disk connected to the central axis through a joint bearing, a spring is connected between the first adjustment disk and the second adjustment disk, a first adjustment shaft, a second adjustment shaft, and a third adjustment shaft are distributed on the first adjustment disk, and the bottom ends of the first adjustment shaft, the second adjustment shaft, and the third adjustment shaft are all connected with adjustment nuts, and the bottom of the second adjustment disk is provided with three adjustment seats that cooperate with the first adjustment shaft, the second adjustment shaft, and the third adjustment shaft.

[0026] As a further improvement of the present invention, the connecting tooling includes a tooling center disk fixedly mounted on the second adjustment disk, and a first connecting arm, a second connecting arm, and a third connecting arm correspondingly fixedly mounted on the tooling center disk, and the first connecting arm, the second connecting arm, and the third connecting arm are all provided with supporting wheel groups and connecting fingers.

[0027] As a further improvement of the present invention, the McIlroy drive system includes a hydraulic buffer fixedly mounted on the bottom of the chassis frame and a sixth reduction motor, a swing arm connected to the sixth reduction motor, a McIlroy connected to the swing arm and a first swing arm, a second swing arm connected to the first swing arm, and the second swing arm is connected to the hydraulic buffer.

[0028] A control method for a horizontal tail flexible installation device is used to control the above-mentioned horizontal tail flexible installation device, comprising the following steps:

[0029] S1: The main processor in the main control system sends an IO control signal to the IO signal module in the main control system through the Modbus communication interface, and the IO signal module sends an IO feedback signal to the Modbus communication interface of the main processor;

[0030] S2: The main processor sends motion instructions to the servo driver through the CAN bus interface to achieve various motion controls;

[0031] S3: The main processor communicates with the power battery pack BMS system through the RS485 bus interface to receive power battery feedback information. The power battery pack BMS system interacts with the on-board intelligent charger through the Can bus interface to achieve charging information exchange;

[0032] S4: The main processor communicates with the touch screen through the RS232 communication interface. According to the set communication protocol, the touch screen sends manual operation information to the main processor, and the main processor sends the status information that needs to be displayed on the touch screen interface to the touch screen, thereby realizing the human-computer interaction function between the touch screen and the main processor;

[0033] S5: The main processor sends a voice command to the voice module through the Modbus communication interface according to the set communication protocol, and the voice module controls the speaker to emit a specified sound according to the received voice command;

[0034] S6: The main processor collects displacement sensor and pressure sensor data through the Modbus communication interface and converts them into program data through the main processor main control module, and participates in the instruction control of the program;

[0035] S7: The IO signal module collects signals from limit sensors, buttons, and laser obstacle avoidance sensors through the digital input interface in the module;

[0036] S8: The IO signal module sends control signals to the indicator light, the sound and light alarm, and the laser obstacle avoidance sensor through the digital output interface in the module.

[0037] The beneficial effects of the present invention are:

[0038] The present invention provides a flexible installation device for a horizontal tail. By switching between the folding and straightening states of the first-level folding arm, the second-level folding arm, the first-level support arm, the second-level support arm and the pitch frame hinged on the chassis frame, the tooling platform can be adjusted in height, extension length and pitch angle, thereby realizing the adjustment of the installation height, distance and pitch angle of the flexible installation device for the horizontal tail (i.e., the position and angle adjustment in space), meeting the use requirements under different working conditions, and realizing the installation of the horizontal tail. In addition, in order to ensure the convenience and smoothness during the installation process, the rotating platform design and the flexible platform design are adopted to increase the adjustment freedom of the tooling platform; the installation and insertion process adopts the manual + electric two-level lateral movement platform design, with initial electric feeding and manual operation at the end, avoiding the risk of electric hard insertion and damage to the workpiece. The tooling platform adopts three independent connecting arms, which can be locally rotated and swung respectively, increasing the convenience of the tooling in the process of connecting the workpiece; the entire equipment realizes the transportation and assembly function of the horizontal tail of the aircraft, improves the degree of automation of production, and saves a lot of labor compared with the original method, reduces labor intensity, shortens the time of body transportation, and improves the efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0040] Figure 1 It is a front view structural schematic diagram of the horizontal tail flexible installation device of the present invention;

[0041] Figure 2 It is a schematic diagram of the top view of the driving frame mechanism of the chassis frame in the horizontal tail flexible installation device of the present invention;

[0042] Figure 3 It is a top view structural diagram of the first-stage folding boom frame in the horizontal tail flexible installation equipment;

[0043] Figure 4 It is a front view structural schematic diagram of the secondary folding boom frame in the horizontal tail flexible installation equipment;

[0044] Figure 5 It is a structural schematic diagram of the lateral movement mechanism frame in the horizontal tail flexible installation device;

[0045] Figure 6 It is a schematic diagram of the structure of the rotary platform in the horizontal tail flexible installation equipment;

[0046] Figure 7 It is a schematic diagram of the structure of the flexible platform in the flexible installation equipment of the horizontal tail;

[0047] Figure 8 It is a structural schematic diagram of the connecting tooling in the horizontal tail flexible installation equipment;

[0048] Fig. 9 It is a structural schematic diagram of the McLennan drive system in the horizontal tail flexible installation equipment;

[0049] Fig.10 This is a schematic diagram of the electrical system layout in the horizontal tail flexible installation equipment;

[0050] Fig.11 Schematic diagram of the control method flow chart.

[0051] In the figure:

[0052] 1. chassis frame; 1-2. driving frame; 1-21. first push plate; 1-22. lead screw; 1-23. gear; 1-24. first reduction motor; 1-25. first linear guide rail;

[0053] 2. First-stage folding boom frame; 21. Boom frame body; 22. Second linear guide rail; 23. Second reduction motor; 24. Second push plate; 25. Second screw rod;

[0054] 3. First-level support arm;

[0055] 4. Secondary folding arm frame; 41. Arm frame body; 42. Third screw rod; 43. Third push plate; 44. Third reduction motor; 45. Third linear guide rail;

[0056] 5. Secondary support arm;

[0057] 6. Pitch arm;

[0058] 7. Lower connecting rod;

[0059] 8. Upper connecting rod;

[0060] 9. Power supply system;

[0061] 10. Pitch frame;

[0062] 11. Transverse movement frame; 111. Primary linear guide rail; 112. Primary transverse movement platform; 113. Secondary linear guide rail; 114. Secondary transverse movement platform; 115. Limit pin; 116. Limit groove; 117. Fourth lead screw; 118. Fourth reduction motor;

[0063] 12. Rotating platform; 121. Platform base plate; 122. Fifth reduction motor; 123. Rotating table; 124. Rotating bearing; 125. Driving gear;

[0064] 13. Flexible platform; 131. Adjusting nut; 132. First adjusting shaft; 133. Adjusting seat; 134. Second adjusting plate; 135. Spring; 136. First adjusting plate; 137. Joint bearing; 138. Center shaft; 139. Second adjusting shaft; 1310. Third adjusting shaft;

[0065] 14. Connecting tool; 141. Tool center plate; 142. First connecting arm; 143. Support wheel set; 144. Connecting finger; 145. Second connecting arm; 146. Third connecting arm;

[0066] 15. McWheel drive system; 151. Swing arm; 152. McWheel; 153. First swing arm; 154. Second swing arm; 155. Hydraulic buffer; 156. Sixth reduction motor;

[0067] 16. Main control system;

[0068] 17. Protection and safety system;

[0069] 18. Human-computer interaction system. DETAILED DESCRIPTION

[0070] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0071] like Figures 1 to 10 As shown, a horizontal tail flexible installation device includes a chassis frame 1, a first-level folding arm frame 2, a first-level support arm 3, a second-level folding arm frame 4, a second-level support arm 5, a pitch support arm 6, a lower connecting rod 7, an upper connecting rod 8, a pitch frame 10, a lateral frame 11, a rotating platform 12, a flexible platform 13, and a connecting tooling 14.

[0072] The first-level folding boom frames 2 are provided with two, and the bottom ends of the two first-level folding boom frames 2 are hinged on the chassis frame 1; the upper end of the first-level support arm 3 is hinged on the middle part of the first-level folding boom frame 2, and the bottom end is slidably and rotatably connected to the chassis frame 1; one end of the second-level folding arm frame 4 is rotatably connected to the upper ends of the two first-level folding boom frames 2, and the other end is rotatably connected to the pitch frame 10; the bottom end of the second-level support arm 5 is slidably and rotatably connected to the two first-level folding boom frames 2, and the upper end is rotatably connected to the second-level folding arm frame 4; One end of the pitch arm 6 is slidably and rotatably connected to the secondary folding arm frame 4, and the other end is rotatably connected to the lower connecting rod 7 and the upper connecting rod 8 respectively; the other end of the lower connecting rod 7 is rotatably connected to the pitch frame 10; the other end of the upper connecting rod 8 is rotatably connected to the secondary folding arm frame 4; the transverse frame 11 is fixedly installed on the pitch frame 10; the rotating platform 12 is fixedly installed on the transverse frame 11; the flexible platform 13 is fixedly installed on the rotating platform 12; the connecting tooling 14 is fixedly installed on the flexible platform 13.

[0073] Furthermore, a driving frame 1-2 is provided on the chassis frame 1, and a first push plate 1-21, a first screw rod 1-22, a first driving gear 1-23, a first reduction motor 1-24, and a first linear slide rail 1-25 are provided on the driving frame 1-2. The first push plate 1-21 is connected to the first screw rod 1-22 and is slidably installed on the first linear slide rail 1-25. The first screw rod 1-22 is connected to the first reduction motor 1-24 through the first driving gear 1-23. The bottom end of the first-level support arm 3 is hinged to the first push plate 1-21. When the first screw rod 1-22 moves, it drives the first push plate 1-21 to move, and then can drive the first-level support arm 3 to move horizontally.

[0074] The bottom end of the boom frame body 21 is hinged to the chassis frame 1 through a pin, and the top end is hinged to the secondary folding arm frame 4 through a pin. The second linear guide rail 22, the second reduction motor 23 and the second screw rod 25 are installed on the boom frame body 21, the second push plate 24 is slidably installed on the second linear guide rail 22 and connected to the second screw rod 25, the second reduction motor 23 is connected to the second screw rod 25, and the bottom end of the secondary support arm 5 is hinged to the second push plate 24. When the second screw rod 25 moves, it drives the second push plate 24 to move, and then can drive the secondary support arm 5 to move, thereby changing the angle between the secondary folding arm frame 4 and the primary folding boom frame 2, so as to achieve the purpose of extending or contracting the secondary folding arm frame 4.

[0075] The secondary folding arm frame 4 includes an arm frame body 41, a third screw rod 42, a third push plate 43, a third reduction motor 44, and a third linear slide rail 45. One end of the arm frame body 41 is hinged to the upper end of the boom frame body 21, and the other end is hinged to the pitch frame 10. The third screw rod 42, the third reduction motor 44 and the third linear slide rail 45 are installed on the arm frame body 41. The third screw rod 42 is connected to the third reduction motor 44. The third push plate 43 is connected to the third screw rod 42 and is slidably installed on the third linear slide rail 45. One end of the pitch support arm 6 is hinged to the third push plate 43. When the third screw rod 42 moves, it drives the third push plate 43 to move, and then drives the pitch support arm 6 to move, so that the lower connecting rod 7 and the upper connecting rod 8 can swing. Under the action of the lower connecting rod 7, the pitch frame 10 swings with the hinge point of the secondary folding arm frame 4 as the center.

[0076] When the angle between the first-level support arm 3 and the first-level folding boom frame 2 is the largest, the installation height of the equipment is the shortest; when the angle between the first-level support arm 3 and the first-level folding boom frame 2 is the smallest, the installation height of the equipment is the highest; by switching the angle adjustment between the first-level support arm 3 and the first-level folding boom frame 2, the installation height of the equipment is highly adjustable within a region; when the angle between the second-level support arm 5 and the first-level folding boom frame 2 is the largest, the angle between the second-level folding arm frame 4 and the first-level folding boom frame 2 is the largest, and the equipment is in the maximum expansion state; when the angle between the second-level support arm 5 and the first-level folding boom frame 2 is the smallest, the angle between the second-level folding arm frame 4 and the first-level folding boom frame 2 is the smallest, and the equipment is in the contracted state; thereby realizing the height adjustment of the vehicle body of the equipment to meet the usage requirements under different working conditions.

[0077] It should be noted that when the pitch arm 6 extends forward, the pitch frame 10 flips upward so that the rotating platform 12 and the connecting tooling 14 face upward; when the pitch arm 6 retracts, the pitch frame 10 flips downward so that the rotating platform 12 and the connecting tooling 14 face forward and downward.

[0078] Furthermore, the transverse frame 11 is provided with a primary linear guide rail 111, a fourth screw rod 117 and a fourth reduction motor 118. A primary transverse platform 112 connected to the fourth screw rod 117 is slidably mounted on the primary linear guide rail 111. A secondary linear guide rail 113 is provided on the primary transverse platform 112. A secondary transverse platform 114 is provided on the secondary linear guide rail 113. A limit pin 115 is fixedly mounted on the lower side of the secondary transverse platform 114. A limit slot 116 is provided on the side of the primary transverse platform 112. The limit pin 115 is slidably engaged in the limit slot 116. The fourth reduction motor 118 is connected to the fourth screw rod 117. The limit pin 115 adopts a reset structure and can be retractably fixed at both ends of the limit slot 116. The secondary transverse platform 114 can be manually pushed to perform limited transverse movement.

[0079] In the above structure, the primary linear guide rail 111, the primary transverse platform 112, the fourth screw rod 117 and the fourth reduction motor 118 constitute a primary transverse mechanism; the secondary linear guide rail 113, the secondary transverse platform 114, the limit pin 115 and the limit groove 116 constitute a secondary transverse mechanism.

[0080] It should be noted that the installation process of the workpiece insertion shaft is realized through the high-precision servo drive system transverse movement drive of the first-level transverse movement mechanism and the manual drive of the second-level transverse movement mechanism.

[0081] Furthermore, the rotating platform 12 includes a rotating table 123 fixedly mounted on the secondary transverse platform 114, a rotating bearing 124 arranged on the rotating table 123, a platform base plate 121 connected to the rotating bearing 124, and a fifth reduction motor 122 mounted on the platform base plate 121, and the fifth reduction motor 122 is connected to a second driving gear 125 meshingly connected to the rotating table 123.

[0082] In the above structure, the fifth reduction motor 122 is driven by the second driving gear 125 to drive the rotary table 123 fixed on the rotary support 124 to perform circular motion, thereby realizing the rotation adjustment of the workpiece.

[0083] It should be noted that the horizontal adjustment of the X-axis of the workpiece is achieved by the rotation drive of the high-precision servo drive system of the rotary platform 12.

[0084] Furthermore, the flexible platform 13 includes a first adjustment disk 136 fixedly mounted on the platform substrate 121, a central axis 138 arranged on the first adjustment disk 136, and a second adjustment disk 134 connected to the central axis 138 through a joint bearing 137, a spring 135 is connected between the first adjustment disk 136 and the second adjustment disk 134, a first adjustment shaft 132, a second adjustment shaft 139, and a third adjustment shaft 1310 are distributed on the first adjustment disk 136, and the bottom ends of the first adjustment shaft 132, the second adjustment shaft 139, and the third adjustment shaft 1310 are all connected with an adjusting nut 131, and three adjustment seats 133 cooperating with the first adjustment shaft 132, the second adjustment shaft 139, and the third adjustment shaft 1310 are arranged at the bottom of the second adjustment disk 134.

[0085] In the above structure, the first adjusting shaft 132, the second adjusting shaft 139, and the third adjusting shaft 1310 are distributed on the first adjusting disk 136 in a circular triangle shape. By adjusting the adjusting nut 131, the three adjusting shafts can be extended and retracted to adjust the gap size between the three adjusting shafts and the adjusting seat 133; the springs 135 are provided in five groups, which are evenly distributed between the first adjusting disk 136 and the second adjusting disk 134, and play the role of elastic buffering and auxiliary support of the second adjusting disk 134; the adjusting seat 133 is installed on the second adjusting disk 134 corresponding to the adjusting shaft on the first adjusting disk 136, ensuring that the three adjusting shafts are always in the recess of the adjusting seat 133, limiting the movement range of the second adjusting disk 134 with the joint bearing 137 as the center of the circle; the freedom range of the second adjusting disk 134 is released by adjusting the extension length of the adjusting shaft, and the springs 135 perform shock absorption and buffering, thereby realizing the flexible and adjustable function of multiple degrees of freedom.

[0086] Furthermore, the connecting tooling 14 includes a tooling center disk 141 fixedly mounted on the second adjustment disk 134, and a first connecting arm 142, a second connecting arm 145, and a third connecting arm 146 correspondingly fixedly mounted on the tooling center disk 141; the first connecting arm 142, the second connecting arm 145, and the third connecting arm 146 are all provided with a supporting wheel group 143 and a connecting finger 144.

[0087] In the above structure, the first connecting arm 142, the second connecting arm 145 and the third connecting arm 146 are installed on the tooling center plate 141 in a slot-type matching manner, and the three connecting arms can swing at an angle within a certain range; each connecting arm is provided with a telescopic and rotating connecting finger 144 and a floating supporting wheel group 143 above. The connecting finger 144 is used to connect the three connecting points of the horizontal tail respectively; the supporting wheel group 143 is used to assist in supporting the surface of the horizontal tail.

[0088] It should be noted that, through the independent adjustment of the three connecting arms and the combination of different angles, the diversified applicability of the connection points can be achieved; the telescopic and rotating design of the connecting fingers 144 allows the installation fitting surface to match the shape of the workpiece.

[0089] Furthermore, four wheat wheel drive systems 15 are arranged at the four corners of the bottom of the chassis frame 1, and the chassis frame 1 is correspondingly provided with a main control system 16, a protection safety system 17, a human-computer interaction system 18 and a power supply system 9, and the main control system 16 is respectively connected to the protection safety system 17, the human-computer interaction system 18 and the power supply system 9. In addition, a two-dimensional code positioning probe is also arranged on the chassis frame 1, and the two-dimensional code positioning probe is connected to the main control system 16.

[0090] The four wheat wheel drive systems 15 each include a hydraulic buffer 155 fixedly mounted at the bottom of the chassis frame 1 and a sixth reduction motor 156, a swing arm 151 connected to the sixth reduction motor 156, a wheat wheel 152 connected to the swing arm 151 and a first swing arm 153, a second swing arm 154 connected to the first swing arm 153, and the second swing arm 154 is connected to the hydraulic buffer 155.

[0091] It should be noted that through the control strategy of independent drive of four wheels and the combination of different rotations of the four wheels, the vehicle can achieve omnidirectional movement such as straight moving, lateral movement, oblique moving, turning, S-bend, fan-shaped moving, and rotation; high-precision servo drive, precise steering control, and independently developed multiple posture movement technologies, straight moving, lateral movement, rotation, and turning. During the movement, the wheels are always guaranteed to move along the driving tangent direction, and the vehicle is kept from moving during the driving posture adjustment process.

[0092] The main control system 16 includes a main processor and an IO signal module. The communication between the main processor and the IO signal module adopts Modbus communication mode, and data transmission and reception are completed according to a set communication format.

[0093] The main processor adopts the motion control card with ARM core, which has the advantages of processing speed and solving ability, and is responsible for solving the motion control model and various data bus protocols; it adopts the embedded development board, which has the advantages of stability and intuitive design, and is responsible for human-computer interaction, control logic and functional protection; it includes the main control module and RS485 communication interface, RS232 communication interface, Can bus communication interface, etc.

[0094] The IO signal module includes a Modbus communication interface, a digital input interface, a digital output interface, and an analog input interface. It is responsible for the acquisition of the system electrical signal and the realization of the output circuit. Its advantages are stable signals and flexible configuration. The architecture of the main processor and the IO signal module has strong collaboration capabilities and mutual verification, which improves the security, stability and flexibility of the system.

[0095] The protection safety system 17 includes a braking module, system safety, anti-misoperation design, electrical safety, laser obstacle avoidance safety protection and voice broadcast.

[0096] The human-computer interaction system 18 includes a remote controller, control buttons, a touch screen and a remote auxiliary emergency stop terminal.

[0097] The power supply system 9 is used for battery status estimation, fault diagnosis and protection.

[0098] The installation process of a horizontal tail flexible installation device in this embodiment is as follows:

[0099] Step 1: Take out the horizontal tail: connect the connecting finger 144 to the upper wing surface suspension point of the horizontal tail, and control the composite movement of the primary folding arm frame 2 and the secondary folding arm frame 4 through the main control system 16 to realize the vertical lifting of the horizontal tail, and complete the removal of the horizontal tail from the tooling;

[0100] Step 2: Change the pallet: The taken out horizontal tail is controlled by the main control system 16 to make a composite movement of the primary folding boom frame 2 and the secondary folding arm frame 4 to realize the vertical descent of the horizontal tail, and is placed vertically on the tooling. The connecting finger 144 is removed, and the connecting finger 144 is connected to the suspension point of the lower wing surface of the horizontal tail. The primary folding boom frame 2 and the secondary folding arm frame 4 are controlled by the main control system 16 to make a composite movement to realize the vertical lifting of the horizontal tail, and the horizontal tail is taken out again from the tooling;

[0101] Step 3: Install the main shaft: control the slewing platform 12 to rotate the horizontal tail through the main control system 16, so that the installation hole of the horizontal tail main shaft is flush with the end surface of the equipment, control the pitch arm 6 through the main control system 16 to realize the vertical flipping of the horizontal tail, control the composite movement of the primary folding boom frame 2 and the secondary folding arm frame 4 through the main control system 16, realize the vertical descent of the horizontal tail to meet the predetermined height of the main shaft, and install the main shaft;

[0102] Step 4: Spindle insertion: The main control system 16 controls the composite movement of the primary folding arm frame 2 and the secondary folding arm frame 4 to realize the vertical rise of the horizontal stabilizer. The main control system 16 controls the pitch arm 6 to realize the vertical flipping of the horizontal stabilizer to a predetermined height and angle. The servo mechanism then controls the horizontal movement of the transverse frame 11 to complete the spindle insertion; that is, the docking of the horizontal stabilizer is completed.

[0103] The flexible installation equipment for the horizontal tail wing can switch between the folding and straightening states of the chassis frame 1, the first-level folding arm frame 2, the second-level folding arm frame 4, the first-level support arm 3 and the second-level support arm 5, so that the extension length and height of the connecting tool 14 can be adjusted steplessly, thereby realizing the adjustment of the installation height and penetration distance of the flexible installation equipment for the horizontal tail wing to meet the use requirements under different working conditions; by switching between the folding and straightening states of the pitch frame 10, the upper connecting rod 8, the lower connecting rod 7 and the pitch support arm 6, the pitch angle of the connecting tool 14 can be adjusted, thereby realizing the adjustment of the pitch angle of the horizontal tail on the flexible installation equipment for the horizontal tail wing to meet the use requirements under different working conditions; by switching the relative angle rotation between the rotating table plate 123, the platform base plate 121 and the rotating support, the direction of the horizontal tail plug shaft on the connecting tool 14 can be adjusted from 0° to 360°, thereby meeting the use requirements under different working conditions. By switching the relative flexible rotation and swing angles between the first adjustment disk 136, the second adjustment disk 134, the adjustment seat 133, the first adjustment shaft 132, the second adjustment shaft 139, the third adjustment shaft 1310, the spring 135 and the joint bearing 137, the horizontal tail plug shaft on the connecting fixture 14 is open to multiple degrees of freedom and can be freely adjusted, which is convenient for use during the installation process. By switching the relative angle rotation between the secondary lateral platform, the platform base plate 121 and the slewing support, the connection fixture 14 can be adjusted 360° relative to the equipment to meet the use requirements under different working conditions. The transportation and assembly function of the horizontal tail of the aircraft is realized, and the degree of automation of production is improved. Compared with the original method, it saves a lot of labor, reduces labor intensity, shortens the time of body transportation, and improves the efficiency of the production line.

[0104] like Fig.11 As shown, a control method for a horizontal tail flexible installation device is used to control the above-mentioned horizontal tail flexible installation device, comprising the following steps:

[0105] S1: The main processor in the main control system 16 sends an IO control signal to the IO signal module in the main control system 16 through the Modbus communication interface, and the IO signal module sends an IO feedback signal to the Modbus communication interface of the main processor.

[0106] S2: The main processor sends motion instructions to the servo driver through the CAN bus interface to achieve various motion controls.

[0107] S3: The main processor communicates with the power battery pack BMS system through the RS485 bus interface to receive power battery feedback information. The power battery pack BMS system interacts with the on-board intelligent charger through the Can bus interface to achieve charging information exchange.

[0108] S4: The main processor communicates with the touch screen through the RS232 communication interface. According to the set communication protocol, the touch screen sends manual operation information to the main processor, and the main processor sends the status information that the touch screen interface needs to display to the touch screen, thereby realizing the human-computer interaction function between the touch screen and the main processor.

[0109] S5: The main processor sends a voice command to the voice module through the Modbus communication interface according to the set communication protocol, and the voice module controls the speaker to emit a specified sound according to the received voice command.

[0110] S6: The main processor collects displacement sensor and pressure sensor data through the Modbus communication interface and converts them into program data through the main processor main control module, and participates in the instruction control of the program.

[0111] S7: The IO signal module collects signals from limit sensors, buttons, and laser obstacle avoidance sensors through the digital input interface in the module.

[0112] S8: The IO signal module sends control signals to the indicator light, the sound and light alarm, and the laser obstacle avoidance sensor through the digital output interface in the module.

[0113] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A horizontal tail flexible installation device, characterized in that: include: A chassis frame (1) is provided with a wheat wheel drive system (15) around the bottom, and a main control system (16), a protection safety system (17) connected to the main control system (16), a human-machine interaction system (18) and a power supply system (9) are provided on the chassis frame (1), wherein the main control system (16) includes a main processor and an IO signal module; A primary folding boom frame (2), the bottom end of which is hinged on the chassis frame (1); A primary support arm (3), the bottom end of which is hinged and slidably connected to the chassis frame (1), and the upper end of which is hinged to the middle end of the primary folding boom frame (2); A secondary folding small arm frame (4), the bottom end of which is hinged to the upper end of the primary folding large arm frame (2); A secondary support arm (5), the bottom end of which is hinged and slidably connected to the primary folding arm frame (2), and the upper end of which is hinged to the secondary folding arm frame (4); A pitch support arm (6), one end of which is hinged and slidably connected to the primary folding boom frame (2); A lower connecting rod (7), one end of which is hinged to the pitch support arm (6); An upper connecting rod (8), one end of which is hinged to the secondary folding arm frame (4), and the other end of which is hinged to the pitching support arm (6); A pitch frame (10) is hinged to the secondary folding arm frame (4) and the lower connecting rod (7) respectively; A transverse movement frame (11) is fixedly mounted on the pitch frame (10); A rotary platform (12) is fixedly mounted on the transverse frame (11); A flexible platform (13) is fixedly mounted on the rotary platform (12); The connecting tool (14) is fixedly mounted on the flexible platform (13).

2. The horizontal tail flexible installation device according to claim 1, characterized in that: The chassis frame (1) is provided with a driving frame (1-2), and the driving frame (1-2) is provided with a first push plate (1-21), a first screw rod (1-22), a first driving gear (1-23), a first reduction motor (1-24), and a first linear slide rail (1-25); the first push plate (1-21) is connected to the first screw rod (1-22) and is slidably mounted on the first linear slide rail (1-25); the first screw rod (1-22) is connected to the first reduction motor (1-24) via the first driving gear (1-23); and the bottom end of the primary support arm (3) is hinged to the first push plate (1-21).

3. The horizontal tail flexible installation device according to claim 1, characterized in that: The first-stage folding boom frame (2) comprises a boom frame body (21), a second linear slide rail (22), a second reduction motor (23), a second push plate (24), and a second screw rod (25). The bottom end of the boom frame body (21) is hinged on the chassis frame (1), the upper end is hinged to the second-stage folding arm frame (4), and the middle end is hinged to the upper end of the first-stage support arm (3). The second linear slide rail (22), the second reduction motor (23) and the second screw rod (25) are installed on the boom frame body (21). The second push plate (24) is slidably installed on the second linear slide rail (22) and is connected to the second screw rod (25). The second reduction motor (23) is connected to the second screw rod (25). One end of the second-stage support arm (5) is hinged to the second push plate (24).

4. The horizontal tail flexible installation device according to claim 3, characterized in that: The secondary folding jib frame (4) comprises a jib frame body (41), a third screw rod (42), a third push plate (43), a third reduction motor (44), and a third linear slide rail (45); one end of the jib frame body (41) is hinged to the upper end of the large arm frame body (21), and the other end is hinged to the pitch frame (10); the third screw rod (42), the third reduction motor (44) and the third linear slide rail (45) are installed on the jib frame body (41); the third screw rod (42) is connected to the third reduction motor (44); the third push plate (43) is connected to the third screw rod (42) and is slidably installed on the third linear slide rail (45); one end of the pitch support arm (6) is hinged to the third push plate (43).

5. The horizontal tail flexible installation device according to claim 1, characterized in that: The transverse frame (11) is provided with a primary linear slide rail (111), a fourth screw rod (117) and a fourth reduction motor (118); a primary transverse platform (112) connected to the fourth screw rod (117) is slidably installed on the primary linear slide rail (111); a secondary linear slide rail (113) is provided on the primary transverse platform (112); a secondary transverse platform (114) is provided on the secondary linear slide rail (113); a limiting pin (115) is fixedly installed on the lower side of the secondary transverse platform (114); a limiting groove (116) is provided on the side of the primary transverse platform (112); the limiting pin (115) is slidably fitted in the limiting groove (116); and the fourth reduction motor (118) is connected to the fourth screw rod (117).

6. The horizontal tail flexible installation device according to claim 5, characterized in that: The rotating platform (12) includes a rotating table (123) fixedly mounted on the secondary transverse platform (114), a rotating bearing (124) arranged on the rotating table (123), a platform base plate (121) connected to the rotating bearing (124), and a fifth reduction motor (122) mounted on the platform base plate (121); the fifth reduction motor (122) is connected to a second driving gear (125) meshingly connected to the rotating table (123).

7. The horizontal tail flexible installation device according to claim 6, characterized in that: The flexible platform (13) comprises a first adjustment disk (136) fixedly mounted on the platform substrate (121), a central axis (138) arranged on the first adjustment disk (136), and a second adjustment disk (134) connected to the central axis (138) via a joint bearing (137); a spring (135) is connected between the first adjustment disk (136) and the second adjustment disk (134); a first adjustment shaft (132), a second adjustment shaft (139), and a third adjustment shaft (1310) are distributed on the first adjustment disk (136); the bottom ends of the first adjustment shaft (132), the second adjustment shaft (139), and the third adjustment shaft (1310) are all connected to an adjustment nut (131); and three adjustment seats (133) cooperating with the first adjustment shaft (132), the second adjustment shaft (139), and the third adjustment shaft (1310) are arranged at the bottom of the second adjustment disk (134).

8. The horizontal tail flexible installation device according to claim 7, characterized in that: The connecting tool (14) comprises a tool center disk (141) fixedly mounted on the second adjustment disk (134), a first connecting arm (142), a second connecting arm (145), and a third connecting arm (146) correspondingly fixedly mounted on the tool center disk (141); the first connecting arm (142), the second connecting arm (145), and the third connecting arm (146) are all provided with a supporting wheel group (143) and a connecting finger (144).

9. The horizontal tail flexible installation device according to claim 1, characterized in that: The wheat wheel driving system (15) comprises a hydraulic buffer (155) fixedly mounted on the bottom of the chassis frame (1) and a sixth reduction motor (156), a swing arm (151) connected to the sixth reduction motor (156), a wheat wheel (152) connected to the swing arm (151) and a first swing rod (153), a second swing rod (154) connected to the first swing rod (153), and the second swing rod (154) is connected to the hydraulic buffer (155).

10. A control method for a horizontal tail flexible installation device, characterized in that: Used to control a horizontal tail flexible installation device according to any one of claims 1 to 9, The following steps are involved: S1: The main processor in the main control system (16) sends an IO control signal to the IO signal module in the main control system (16) through the Modbus communication interface, and the IO signal module sends an IO feedback signal to the Modbus communication interface of the main processor; S2: The main processor sends motion instructions to the servo driver through the CAN bus interface to achieve various motion controls; S3: The main processor communicates with the power battery pack BMS system through the RS485 bus interface to receive power battery feedback information. The power battery pack BMS system interacts with the on-board intelligent charger through the Can bus interface to achieve charging information exchange; S4: The main processor communicates with the touch screen through the RS232 communication interface. According to the set communication protocol, the touch screen sends manual operation information to the main processor, and the main processor sends the status information that needs to be displayed on the touch screen interface to the touch screen, thereby realizing the human-computer interaction function between the touch screen and the main processor; S5: The main processor sends a voice command to the voice module through the Modbus communication interface according to the set communication protocol, and the voice module controls the speaker to emit a specified sound according to the received voice command; S6: The main processor collects displacement sensor and pressure sensor data through the Modbus communication interface and converts them into program data through the main processor main control module, and participates in the instruction control of the program; S7: The IO signal module collects signals from limit sensors, buttons, and laser obstacle avoidance sensors through the digital input interface in the module; S8: The IO signal module sends control signals to the indicator light, the sound and light alarm, and the laser obstacle avoidance sensor through the digital output interface in the module.

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