On-wing hair changing equipment and on-wing hair changing control method

Abstract

The invention relates to on-wing hair changing equipment and an on-wing hair changing control method. The on-wing hair changing equipment comprises a transverse connecting mechanism and an operating handle, wherein the operating handle is detachably arranged on the transverse connecting mechanism; a first unit body and a second unit body; and the control unit is arranged on the transverse connecting mechanism, the operation handle is in wireless communication connection with the control unit, and the operation handle controls the first unit body and the second unit body to act through the control unit so as to achieve transfer and six-degree-of-freedom posture adjustment of the civil aero-engine. According to the on-wing hair changing equipment and the on-wing hair changing control method, the working efficiency of on-wing hair changing can be improved, and the safety of personnel and equipment is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft engine replacement operations, and in particular to an on-wing engine replacement control method for an on-wing engine replacement device. Background Art

[0002] In the field of aviation engines, in order to ensure the continued airworthiness and safe operation of aircraft, on-wing engine replacement is required when an engine failure occurs or reaches restricted use conditions. Due to the large weight and volume of the engine, the complex external layout, and the small on-wing installation space, the engine replacement cycle is long and the operation is difficult. At present, the conventional on-wing engine replacement process is to use a set of guide tooling (including ratchet wrenches, tension scales, support frames and other components) to tighten or loosen the tooling chain through the ratchet wrench to achieve the lifting and lowering of the engine. According to actual conditions, on-wing engine replacement using guide tooling requires at least 8 people to work together to complete. The efficiency of on-wing engine replacement is low, the reliability is poor, and there are safety hazards.

[0003] In this context, how to provide an intelligent on-wing engine replacement equipment for civil aviation engines based on AGV (Automated Guided Vehicle) is an urgent problem to be solved. Summary of the invention

[0004] In view of the above problems in the prior art, the present invention proposes an on-wing engine replacement device and an on-wing engine replacement control method, which can improve the work efficiency of on-wing engine replacement and ensure the safety of personnel and equipment.

[0005] Specifically, the present invention proposes an on-wing engine replacement device, which is applicable to civil aviation engines and includes:

[0006] A transverse connection mechanism and an operating handle, wherein the operating handle is detachably arranged on the transverse connection mechanism;

[0007] A first unit body, one end of which is slidably connected with one end of the transverse connection mechanism, the first unit body comprises a first unit body support, a first pedal, a first driving mechanism, a second driving mechanism, a first lifting mechanism and a second lifting mechanism, the first driving mechanism and the second driving mechanism are arranged at two ends of the unit body support, a first driving steering wheel is arranged at the bottom of the first driving mechanism, and a second driving steering wheel is arranged at the bottom of the second driving mechanism; two ends of the first pedal are respectively connected to two ends of the first unit body support through the first lifting mechanism and the second lifting mechanism;

[0008] The second unit body has one end connected with the other end of the transverse connection mechanism in a sliding manner. The second unit body includes a second unit body support, a second pedal, a third driving mechanism, a fourth driving mechanism, a third lifting mechanism and a fourth lifting mechanism. The third driving mechanism and the fourth driving mechanism are arranged at two ends of the second unit body support. A third driving steering wheel is arranged at the bottom of the third driving mechanism, and a fourth driving steering wheel is arranged at the bottom of the fourth driving mechanism. The two ends of the second pedal are respectively connected to the two ends of the second unit body support through the third lifting mechanism and the fourth lifting mechanism. A plurality of adapter connectors are arranged on the first pedal and the second pedal, which are suitable for being fixed with the engine bracket. The engine bracket is used to support the civil aviation engine.

[0009] a control unit, which is arranged on the transverse connection mechanism, the operating handle is wirelessly connected to the control unit, the operating handle controls the first drive mechanism to the fourth drive mechanism to move through the control unit to achieve the transfer of the civil aircraft engine, and the control unit is also used to control the first lifting mechanism to the fourth lifting mechanism to move to achieve six-degree-of-freedom attitude adjustment of the civil aircraft engine;

[0010] The sensor assembly includes a plurality of contact sensors and non-contact displacement sensors, wherein the contact sensors and non-contact displacement sensors are arranged on the transverse connection mechanism, the first unit body and the second unit body, and are used for sensing obstacles, parameter calibration or position calibration; the control unit obtains monitoring data based on the sensor assembly to perform parameter calibration, position calibration or adjust the transfer path of the on-wing engine replacement equipment.

[0011] According to one embodiment of the present invention, the first to fourth lifting mechanisms are completely identical in structure and all include a long support and a short support. The long support and the short support are rotatably connected to each other, and the angle between the long support and the short support is adjusted to adjust the end height of the corresponding first pedal or second pedal.

[0012] According to an embodiment of the present invention, the adapter connector can move along the length direction of the first pedal or the second pedal and be fixed, and the first pedal and the second pedal are connected to the engine bracket through the adapter connector.

[0013] According to one embodiment of the present invention, the transverse connection mechanism includes a mechanism body and a plurality of sets of universal wheels arranged at the bottom of the mechanism body.

[0014] The present invention also provides an on-wing engine replacement control method, which is applicable to the above-mentioned on-wing engine replacement device. The on-wing engine replacement control method comprises the steps of:

[0015] S1, installing a civil aviation engine on the engine bracket;

[0016] S2, controlling the first to fourth drive mechanisms to move by the operating handle, moving the wing engine replacement device to the front end of the engine bracket, so that the wing engine replacement device coincides with the center line of the engine bracket;

[0017] S3, controlling the first drive mechanism to the fourth drive mechanism to move by the operating handle, so that the first unit body and the second unit body are brought closer, so that the plurality of adapter connectors are matched and fixed with the engine bracket;

[0018] S4, cooperatively controlling the first to fourth drive mechanisms to move by the operating handle, so that the on-wing engine replacement device reaches a specified position;

[0019] S5, performing parameter calibration and / or position calibration by using the contact sensor and the non-contact displacement sensor;

[0020] S6, cooperatively controlling the first lifting mechanism to the fourth lifting mechanism, and the first driving mechanism to the fourth driving mechanism through the operating handle to adjust the six-degree-of-freedom posture of the civil aircraft engine;

[0021] S7, complete the on-wing engine replacement operation.

[0022] According to one embodiment of the present invention, in steps S2 and S4, moving the on-wing hair replacement device includes:

[0023] Move along the X direction, and control the first to fourth driving steering wheels to move in the same direction as the X direction through the control unit, and control the first to fourth driving steering wheels to move at the same speed;

[0024] Move along the Z direction, and control the first to fourth driving steering wheels to move in the same direction as the Z direction through the control unit, and control the first to fourth driving steering wheels to move at the same speed;

[0025] Rotate around the Y direction, control the first to fourth driving steering wheels to rotate clockwise or counterclockwise along the Y direction by a set angle through a control unit, and control the first to fourth driving steering wheels to rotate at a set speed;

[0026] The X direction is the length direction of the first unit body and the second unit body; the Z direction is the length direction of the transverse connection mechanism; and the Y direction is perpendicular to the X direction and the Z direction.

[0027] According to one embodiment of the present invention, the process of moving the wing hair replacement device further includes:

[0028] The specific position of the obstacle is monitored by the sensor assembly, and the control unit adjusts the transfer path of the on-wing hair replacement device to avoid the obstacle based on the displacement data of the on-wing hair replacement device and the monitoring data of the sensor assembly.

[0029] According to one embodiment of the present invention, the process of adjusting the six-degree-of-freedom attitude of the civil aircraft engine includes:

[0030] The control unit decomposes the target spatial position and posture of the civil aircraft engine into the motion strokes of the first unit body and the second unit body along the three coordinate axes of X, Y and Z according to Jacobian matrix conversion;

[0031] Synchronously driving the first lifting mechanism to the fourth lifting mechanism and the first driving mechanism to the fourth driving mechanism through a control unit to make them move in linkage, so as to achieve precise adjustment of the six-degree-of-freedom attitude of the civil aircraft engine;

[0032] The aircraft heading is calibrated as the X-axis of the coordinate system, the aircraft vertical direction is the Y-axis of the coordinate system, the aircraft span direction is the Z-axis of the coordinate system, the rotation around the X-axis of the aircraft coordinate system is an angle of α, the rotation around the Y-axis of the aircraft coordinate system is an angle of β, and the rotation around the Z-axis of the aircraft coordinate system is an angle of γ.

[0033] According to one embodiment of the present invention, the first lifting mechanism to the fourth lifting mechanism are set to form horizontal angles ∠11, ∠12, ∠21, and ∠22 respectively;

[0034] The α angle roll attitude adjustment process includes:

[0035] The control unit synchronously controls the first lifting mechanism and the second lifting mechanism of the first unit body so that the horizontal angle ∠11=∠12;

[0036] Synchronously control the third lifting mechanism and the fourth lifting mechanism of the second right unit body to make the horizontal angle ∠21=∠22;

[0037] Adjusting the height difference between the first unit body and the second unit body to achieve the α-angle roll attitude adjustment of the civil aviation engine;

[0038] The β angle deflection attitude adjustment process includes:

[0039] The control unit synchronously controls the first to fourth driving steering wheels to rotate simultaneously in a clockwise or counterclockwise direction along the Y axis and to rotate at a set speed to achieve β angle deflection attitude adjustment of the civil aviation engine;

[0040] The γ angle pitch attitude adjustment process includes:

[0041] The control unit synchronously controls the first lifting mechanism of the first unit body and the third lifting mechanism of the second unit body so that the horizontal angle ∠11=∠21; and synchronously controls the second lifting mechanism of the first unit body and the fourth lifting mechanism of the second unit body so that the horizontal angle ∠12=∠22;

[0042] The horizontal inclination angle difference between the first unit body and the second unit body is adjusted to achieve the γ angle pitch attitude adjustment of the civil aviation engine.

[0043] According to one embodiment of the present invention, the process of adjusting the six-degree-of-freedom attitude of the civil aircraft engine further includes:

[0044] The control unit detects a safe force environment during the wing replacement process, wherein the sensor assembly includes a force sensor disposed on the adapter connector, and the force sensor is used to monitor torque in various directions and feed back to the control unit.

[0045] The present invention provides an on-wing engine replacement device and an on-wing engine replacement control method, which controls a first unit body and a second unit body through a control unit to achieve the transportation and six-degree-of-freedom attitude adjustment of a civil aviation engine, thereby improving the work efficiency of on-wing engine replacement and ensuring the safety of personnel and equipment.

[0046] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are included to provide further explanation of the present invention, and are incorporated into and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with the description serve to explain the principle of the present invention.

[0048] In the attached figure:

[0049] Figure 1 A schematic structural diagram of an on-wing engine replacement device according to an embodiment of the present invention is shown.

[0050] Figure 2 The figure shows the use status of the on-wing engine replacement device according to one embodiment of the present invention.

[0051] Figure 3 yes Figure 2 Schematic diagram of the structure of the first unit body in .

[0052] Figure 4 yes Figure 3 Schematic diagram of the structure of the second lifting mechanism.

[0053] Figure 5 yes Figure 2Schematic diagram of the structure of the transverse connection mechanism.

[0054] Figure 6 The diagram shows the state in which the on-wing engine replacement device according to one embodiment of the present invention is adapted to the engine bracket. Figure 1 .

[0055] Figure 7 The diagram shows the state in which the on-wing engine replacement device according to one embodiment of the present invention is adapted to the engine bracket. Figure 2 .

[0056] Figure 8 A bottom view of an on-wing engine replacement device according to an embodiment of the present invention is shown.

[0057] Fig. 9 A schematic structural diagram of an on-wing engine replacement device according to an embodiment of the present invention is shown.

[0058] Fig.10 A flowchart of an on-wing engine replacement control method according to an embodiment of the present invention is shown.

[0059] Fig.11 A schematic diagram of coordinate system calibration of an on-wing engine replacement control method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0060] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0062] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0063] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0064] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0065] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0066] Figure 1 A schematic structural diagram of an on-wing engine replacement device according to an embodiment of the present invention is shown. Figure 2 The figure shows the use status of the on-wing engine replacement device according to one embodiment of the present invention. Figure 3 yes Figure 2 Schematic diagram of the structure of the first unit body in . Figure 8The bottom view of an on-wing engine replacement device according to an embodiment of the present invention is shown. As shown in the figure, the present invention provides an on-wing engine replacement device 100 suitable for civil aircraft engines. The on-wing engine replacement device 100 mainly includes a lateral connection mechanism 101, an operating handle 102, a first unit body 103, a second unit body 104, a control unit 105 and a sensor assembly.

[0067] The operating handle 102 is detachably arranged on the transverse connection mechanism 101, so that the operator can take it easily.

[0068] One end of the first unit body 103 is connected with one end of the transverse connection mechanism 101 in a sliding cooperation. The first unit body 103 includes a first unit body support 106, a first pedal 107, a first driving mechanism 108, a second driving mechanism 109, a first lifting mechanism 110 and a second lifting mechanism 112. The first driving mechanism 108 and the second driving mechanism 109 are arranged at both ends of the unit body support, a first driving steering wheel 113 is arranged at the bottom of the first driving mechanism 108, and a second driving steering wheel 114 is arranged at the bottom of the second driving mechanism 109; the two ends of the first pedal 107 are connected to the two ends of the first unit body support 106 through the first lifting mechanism 110 and the second lifting mechanism 112 respectively.

[0069] One end of the second unit body 104 is connected with the other end of the transverse connection mechanism 101 in a sliding cooperation. The second unit body 104 includes a second unit body support 115, a second pedal 115, a third driving mechanism 116, a fourth driving mechanism 117, a third lifting mechanism 118 and a fourth lifting mechanism 119. The third driving mechanism 116 and the fourth driving mechanism 117 are arranged at the two ends of the second unit body support 115, and the bottom of the third driving mechanism 116 is provided with a third driving steering wheel 120, and the bottom of the fourth driving mechanism 117 is provided with a fourth driving steering wheel 121. The two ends of the second pedal 115 are connected to the two ends of the second unit body support 115 through the third lifting mechanism 118 and the fourth lifting mechanism 119 respectively. A plurality of adapter connectors 135 are arranged on the first pedal 107 and the second pedal 115, which are suitable for being fixed with the engine bracket 200, and the engine bracket 200 is used to support the civil aviation engine.

[0070] The control unit 105 is disposed on the lateral connection mechanism 101. The operating handle 102 is wirelessly connected to the control unit 105, and the operating handle 102 controls the first drive mechanism 108 to the fourth drive mechanism 117 to move through the control unit 105 to achieve the transfer of the civil aircraft engine. The control unit 105 is also used to control the first lifting mechanism 110 to the fourth lifting mechanism 119 to achieve the six-degree-of-freedom attitude adjustment of the civil aircraft engine.

[0071] The sensor assembly includes a plurality of contact sensors and non-contact displacement sensors. The contact sensors and non-contact displacement sensors are arranged on the lateral connection mechanism 101, the first unit body 103 and the second unit body 104, and are used to sense obstacles, parameter calibration or position calibration. The control unit 105 obtains monitoring data based on the sensor assembly to perform parameter calibration, position calibration or adjust the transfer path of the on-wing engine replacement device 100.

[0072] Preferably, the first unit body 103 and the second unit body 104 have the same structure and are symmetrically arranged on the transverse connection mechanism 101. The first lifting mechanism 110 to the fourth lifting mechanism 119 have the same structure. Figure 4 yes Figure 3 The structural diagram of the second lifting mechanism in FIG. Figure 3 and Figure 4 The second lifting mechanism 112 includes a long support 122 and a short support 123, and the long support 122 is rotatably connected with the short support 123. The angle between the long support 122 and the short support 123 is adjusted to adjust the end height of the corresponding first pedal 107. Similarly, the first lifting mechanism 110, the third lifting mechanism 118 or the fourth lifting mechanism 119 is adjusted to adjust the end height of the corresponding first pedal 107 / second pedal 115.

[0073] Specifically, a guide rail 124 and a support 125 are fixedly provided on the first unit body support 106 by bolts. In this embodiment, two parallel guide rails 124 and two supports 125 are provided at one end of the first unit body support 106. The second lifting mechanism 112 includes two long pillars 122, two short pillars 123 and a driving motor 126. The long pillars 122 and the short pillars 123 are rotatably connected through a rotating shaft 128. A pulley 127 is provided at the bottom end of the two long pillars 122, and the two long pillars 122 are respectively slidably matched with the two guide rails 124 through the pulley 127, so that the long pillars 122 can slide freely along the guide rails 124. The other end of the long pillar 122 is rotatably connected with the end of the first pedal 107. One end of the short pillar 123 is connected with the rotating shaft 128 provided on the long pillar 122. The other ends of the two short pillars 123 are respectively rotatably connected with the two supports 125 through a pin shaft. Furthermore, a driving motor 126 is provided on the short support 123. The driving motor 126 is used to drive the bottom end of the long support 122 to slide on the guide rail 124, so as to drive the end of the first pedal 107 to be lifted or lowered. It is easy to understand that the bottom end of the long support 122 of the second lifting mechanism 112 is connected to the guide rail 124 in a single degree of freedom, and the bottom end of the short support 123 is hingedly connected to the support 125. By sliding the bottom end of the long support 122 back and forth on the guide rail 124, the angle between the long support 122 and the short support 123 is changed, thereby adjusting the horizontal height of the top end of the long support 122, and then driving the end of the first pedal 107 to be lifted or lowered. In fact, a connecting rod 129 is provided at the end of the first pedal 107, and the top end of the long support 122 is rotatably connected to the connecting rod 129 via a ball bearing 130. The first pedal 107 and the first unit support 106 form a parallelogram mechanism through the second lifting mechanism 112, which is conducive to realizing the on-wing engine replacement attitude adjustment of civil aviation engines and has sufficient freedom margin.

[0074] Preferably, the second lifting mechanism 112 also includes a coupling 131, a trapezoidal screw 132, a trapezoidal nut 133 and a shaft flange 134. The driving motor 126 is connected to the trapezoidal screw 132 through the coupling 131, and the trapezoidal nut 133 is fixed to the long support 122 through the shaft flange 134. The trapezoidal nut 133 is arranged on the trapezoidal screw 132, and the two are threadedly matched. The driving motor 126 is started, and the trapezoidal screw 132 is driven to rotate through the coupling 131, so that the trapezoidal nut 133 drives the bottom end of the long support 122 to move on the guide rail 124. In other words, the rotational motion output by the driving motor 126 is converted into the linear motion of the trapezoidal nut 133, which drives the bottom end of the long support 122 to move on the guide rail 124 to adjust the height of the end of the first pedal 107. It is easy to understand that the control unit 105 adjusts the posture of the first pedal 107 by controlling the first lifting mechanism 110 and the second lifting mechanism 112 at both ends of the first unit body support 106, and adjusts the posture of the first pedal 107 and the second pedal 115 of the first unit body 103 and the second unit body 104, thereby adjusting the on-wing engine replacement posture of the civil aviation engine.

[0075] Preferably, a limit switch 144 is provided on the guide rail 124 to prevent the second lifting mechanism 112 from having a travel risk.

[0076] Preferably, reference Figure 3 , the adapter connector 135 can move and be fixed along the length direction of the first pedal 107 or the second pedal 115, and the first pedal 107 and the second pedal 115 are connected to the engine bracket 200 through the adapter connector 135. The pedal is connected to the engine bracket 200 through the adapter connector 135. In this example, two adapter connectors 135 are arranged on the first pedal 107 close to the engine bracket 200, and the adapter connector 135 is fixed with the lifting hole on the engine bracket 200 to transmit power for civil aviation engine transportation and on-wing replacement. The position of the adapter connector 135 on the first pedal 107 is adjustable to adapt to different models of engine brackets 200 and improve the versatility of on-wing replacement.

[0077] Figure 5 yes Figure 2 Schematic diagram of the structure of the transverse connection mechanism in FIG. The transverse connection mechanism 101 includes a mechanism body 136, universal wheels 137 and guide grooves 138. A plurality of sets of universal wheels 137 are provided at the bottom of the mechanism body 136. In this embodiment, three sets of universal wheels 137 are provided at the bottom of the mechanism body 136, and the three sets of universal wheels 137 are basically located at the three vertices of an equilateral triangle, so as to avoid the risk of the transverse connection mechanism 101 tipping over and enable independent operation. Furthermore, guide grooves 138 are provided at both ends of the mechanism body 136. Combined with Figure 3As shown, a slide rail assembly 139 is provided on the first unit body 103, and the slide rail assembly 139 is interactively connected with the guide groove 138. In this embodiment, four groups of guide grooves 138 are provided at one end of the mechanism body 136, and guide bearings are installed on the guide grooves 138. The slide rail assembly 139 is provided with four slide rails corresponding to the four groups of guide grooves 138, which are used to realize the assembly or disassembly of the transverse connection mechanism 101 with the first unit body 103 and the second unit body 104.

[0078] Preferably, the control unit 105 is arranged in the mechanism body 136. An accordion cover 140 is provided on the top of the mechanism body 136 to prevent foreign matter from entering the control unit 105. The control unit 105 provides power and related signal processing for the on-wing engine replacement device 100. The power supply can supply power to all driving mechanisms and lifting mechanisms of the first unit body 103 and the second unit body 104. The power supply can be an external power supply or a built-in battery to meet the engine replacement operation under different working conditions. The control unit 105 can collect the operation data in the on-wing engine replacement work and transmit it to an external device. The operation data includes data such as the transportation of civil aviation engines, on-wing engine replacement positioning, position calibration, parameter calibration, attitude adjustment, safety warning, obstacle identification and avoidance path. The control unit 105 is used to realize intelligent control and human-computer interaction in the on-wing engine replacement process.

[0079] Preferably, an emergency stop switch 141 and an operating indicator light 142 are provided on the mechanism body 136. The emergency stop switch 141 is used to implement emergency operation of the on-wing engine replacement device 100, and the operating indicator light 142 is used to indicate the operating state of the on-wing engine replacement device 100. As an example but not a limitation, the emergency stop switch 141 and the operating indicator light 142 may also be provided on the first unit body 103 and the second unit body 104.

[0080] Preferably, a sensor 143 is provided on the side of the transverse connection mechanism 101 to monitor surrounding obstacles or position positioning of the transverse connection mechanism 101. The sensor 143 may be a laser sensor 143.

[0081] Preferably, the operating handle 102 is designed on the left side of the horizontal connection mechanism 101, and adopts a convenient hanging design, which is convenient for operators to use. The operating handle 102 has a touch screen, which can display the operating status of the wing replacement device 100. The staff can realize the ground transfer and on-wing replacement of civil aircraft engines by operating the handle.

[0082] Fig.10 A flowchart of an on-wing engine replacement control method according to an embodiment of the present invention is shown. Figure 6 The diagram shows the state in which the on-wing engine replacement device according to one embodiment of the present invention is adapted to the engine bracket. Figure 1 . Figure 7The diagram shows the state in which the on-wing engine replacement device according to one embodiment of the present invention is adapted to the engine bracket. Figure 2 . Fig. 9 The schematic diagram of the structure of an on-wing transaxle device of an embodiment of the present invention is shown. As shown in the figure, the present invention also provides an on-wing transaxle control method, which is applicable to the above-mentioned on-wing transaxle device 100. The on-wing transaxle control method comprises the steps of:

[0083] S1, installing a civil aircraft engine on an engine bracket 200;

[0084] S2, the first drive mechanism 108 to the fourth drive mechanism 117 are controlled by the operating handle 102 to move the wing replacement device 100 to the front end of the engine bracket 200, so that the center line of the wing replacement device and the engine bracket 200 coincide. Figure 6 The on-wing engine replacement device 100 is moved to the front end of the engine bracket 200 , and the first unit body 103 and the second unit body 104 are arranged in parallel on both sides of the engine bracket 200 .

[0085] S3, the first drive mechanism 108 to the fourth drive mechanism 117 are controlled by the operating handle 102 to move the first unit body 103 and the second unit body 104 closer together, so that the multiple adapter connectors 135 are matched and fixed with the engine bracket 200. Figure 6 and Figure 7 The first unit body 103 and the second unit body 104 are brought close to each other, and the adapter connector 135 is aligned with the lifting hole of the engine bracket 200 and inserted into the lifting hole so that the two are matched and fixed.

[0086] S4, the first drive mechanism 108 to the fourth drive mechanism 117 are coordinated and controlled by the operating handle 102 to make the on-wing engine replacement device 100 reach a designated position. The designated position is usually a suitable position directly below the aircraft wing suspension to facilitate engine replacement operation.

[0087] S5, performing parameter calibration and / or position calibration through contact sensors and non-contact displacement sensors, including performing parameter calibration through non-contact displacement sensors on the first unit body 103 and the second unit body 104, and / or performing position calibration with corresponding limit blocks on the aircraft wing suspension through non-contact displacement sensors.

[0088] S6, cooperatively controlling the first lifting mechanism 110 to the fourth lifting mechanism 119 and the first driving mechanism 108 to the fourth driving mechanism 117 through the operating handle 102 to adjust the six-degree-of-freedom attitude of the civil aircraft engine;

[0089] S7, complete the on-wing engine replacement operation.

[0090] Preferably, in steps S2 and S4, the on-wing hair replacement device 100 is moved, including:

[0091] Move along the X direction, and control the first driving steering wheel 113 to the fourth driving steering wheel 121 to move in the same direction as the X direction through the control unit 105, and control the first driving steering wheel 113 to the fourth driving steering wheel 121 to move at the same speed;

[0092] Move along the Z direction, and control the first driving steering wheel 113 to the fourth driving steering wheel 121 to move in the same direction as the Z direction through the control unit 105, and control the first driving steering wheel 113 to the fourth driving steering wheel 121 to move at the same speed;

[0093] Rotate around the Y direction, and control the first driving steering wheel 113 to the fourth driving steering wheel 121 to rotate clockwise or counterclockwise along the Y direction by a set angle through the control unit 105, and control the first driving steering wheel 113 to the fourth driving steering wheel 121 to rotate at a set speed;

[0094] Among them, reference Figure 6 , Figure 7 and Figure 2 , the X direction is the length direction of the first unit body 103 and the second unit body 104; the Z direction is the length direction of the horizontal connection mechanism 101, and the Y direction is perpendicular to the X direction and the Z direction.

[0095] Preferably, the wing replacement device 100 further includes the following steps during its movement:

[0096] The specific position of the obstacle is monitored by the sensor assembly, and the control unit 105 adjusts the transfer path of the on-wing hair replacement device 100 to avoid the obstacle based on the displacement data of the on-wing hair replacement device 100 and the monitoring data of the sensor assembly. For example, the on-wing hair replacement device 100 can detect whether it collides with an obstacle through a force sensor arranged on the on-wing hair replacement device 100, and transmit the data obtained by the force sensor to the control unit 105, and the control unit 105 controls the on-wing hair replacement device 100 to stop.

[0097] Preferably, the process of adjusting the six-degree-of-freedom attitude of the civil aviation engine includes:

[0098] The control unit 105 decomposes the target spatial position and posture of the civil aircraft engine into the motion strokes of the three coordinate axes X\Y\Z of the first unit body 103 and the second unit body 104 according to Jacobian matrix conversion;

[0099] The control unit 105 synchronously drives the first lifting mechanism 110 to the fourth lifting mechanism 119 and the first driving mechanism 108 to the fourth driving mechanism 117 to make them move in conjunction, so as to achieve precise adjustment of the six-degree-of-freedom attitude of the civil aviation engine;

[0100] Fig.11A schematic diagram of coordinate system calibration of an on-wing engine replacement control method according to an embodiment of the present invention is shown. As shown in the figure, the aircraft heading is calibrated as the coordinate system X-axis, the aircraft vertical direction is the coordinate system Y-axis, the aircraft span direction is the coordinate system Z-axis, the rotation around the aircraft coordinate system X-axis is an angle of α, the rotation around the aircraft coordinate system Y-axis is an angle of β, and the rotation around the aircraft coordinate system Z-axis is an angle of γ.

[0101] Preferably, reference Fig. 9 , the first lifting mechanism 110 to the fourth lifting mechanism 119 are set to form horizontal angles ∠11, ∠12, ∠21, and ∠22 respectively. Generally, the angle between the short support 123 of each lifting mechanism and the ground is defined as the respective horizontal angle.

[0102] The α angle roll attitude adjustment process includes:

[0103] The control unit 105 synchronously controls the first lifting mechanism 110 and the second lifting mechanism 112 of the first unit body 103 to make the horizontal angle ∠11=∠12;

[0104] Synchronously control the third lifting mechanism 118 and the fourth lifting mechanism 119 of the second right unit body to make the horizontal angle ∠21=∠22;

[0105] The height difference between the first unit body 103 and the second unit body 104 is adjusted so that the horizontal angle ∠11=∠12≠∠21=∠22, so as to achieve the α-angle rolling attitude adjustment of the civil aviation engine;

[0106] The β angle deflection attitude adjustment process includes:

[0107] The control unit 105 synchronously controls the first driving steering wheel 113 to the fourth driving steering wheel 121 to rotate clockwise or counterclockwise along the Y axis at the same time, and to rotate at a set speed to achieve β angle deflection attitude adjustment of the civil aviation engine;

[0108] The γ angle pitch attitude adjustment process includes:

[0109] The control unit 105 synchronously controls the first lifting mechanism 110 of the first unit body 103 and the third lifting mechanism 118 of the second unit body 104, so that the horizontal angle ∠11=∠21; synchronously controls the second lifting mechanism 112 of the first unit body 103 and the fourth lifting mechanism 119 of the second unit body 104, so that the horizontal angle ∠12=∠22;

[0110] The horizontal inclination angle difference between the first unit body 103 and the second unit body 104 is adjusted so that the horizontal angle ∠11=∠21≠∠12=∠22, so as to achieve the γ angle pitch attitude adjustment of the civil aviation engine.

[0111] Preferably, the process of adjusting the six-degree-of-freedom attitude of the civil aviation engine is:

[0112] The position adjustment of the civil aviation engine in the α, β, and γ angles is performed in advance by visually observing the touch screen interface of the operating handle 102, and after the angles are adjusted in place, the translation adjustment in the X, Y, and Z directions is performed;

[0113] When the adjusted engine attitude value and the theoretical attitude value are within the tolerance requirement range, the on-wing engine replacement device 100 feedbacks that the attitude adjustment is completed.

[0114] Preferably, the process of adjusting the six-degree-of-freedom attitude of the civil aviation engine also includes:

[0115] The control unit 105 detects the safe force environment during the wing replacement process, wherein the sensor assembly includes a force sensor disposed on the adapter connector 135, and the force sensor is used to monitor the torque in each direction and feed back to the control unit 105. That is, during the attitude adjustment process, the control unit 105 monitors the torque of each axis and the values ​​of the three-dimensional force sensor in real time and feeds back to the control unit 105. When a sudden change occurs in a certain direction force and torque, the control unit 105 makes adjustments according to a predetermined algorithm to keep the forces on the first unit body 103 and the second unit body 104 balanced.

[0116] Preferably, after completing step S7, the first lifting mechanism 110 to the fourth lifting mechanism 119 are adjusted to fall back to the lowest point, and the on-wing hair replacement device 100 is transported away from the on-wing hair replacement station by operating the handle 102.

[0117] The present invention provides an on-wing engine replacement device and an on-wing engine replacement control method, which have the following functions:

[0118] a) Realize six-degree-of-freedom attitude adjustment during on-wing engine replacement of civil aviation engines;

[0119] b) To realize the free transportation of civil aviation engines on the ground;

[0120] c) Realize obstacle recognition and avoidance during ground transportation of civil aviation engines;

[0121] d) Provide safety warning during the on-wing engine replacement process to prevent collision;

[0122] e) Realize the collection and data transmission of aircraft engine on-wing replacement information;

[0123] f) Realize artificial intelligence control of the entire on-wing engine replacement process.

[0124] The present invention provides an on-wing engine replacement device and an on-wing engine replacement control method, the main features of which are as follows:

[0125] a) Replace the conventional guide tooling method to avoid collision with obstacles during the replacement process;

[0126] b) Adopting lifting mechanism to replace manual lifting operation, so as to improve the accuracy and work efficiency of on-wing engine replacement;

[0127] c) Four sets of lifting mechanisms to increase the flexibility of the engine replacement equipment and realize the six-degree-of-freedom attitude adjustment of civil aviation engines;

[0128] d) Arrange sensor components to realize obstacle recognition, alarm and avoidance during the transportation of civil aviation engines;

[0129] e) Design adaptable connectors to accommodate engine brackets of different specifications.

[0130] It will be apparent to those skilled in the art that various modifications and variations may be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention covers modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. An on-wing engine replacement device, applicable to civil aviation engines, comprising: A transverse connection mechanism and an operating handle, wherein the operating handle is detachably arranged on the transverse connection mechanism; A first unit body, one end of which is slidably connected with one end of the transverse connection mechanism, the first unit body comprises a first unit body support, a first pedal, a first driving mechanism, a second driving mechanism, a first lifting mechanism and a second lifting mechanism, the first driving mechanism and the second driving mechanism are arranged at two ends of the unit body support, a first driving steering wheel is arranged at the bottom of the first driving mechanism, and a second driving steering wheel is arranged at the bottom of the second driving mechanism; two ends of the first pedal are respectively connected to two ends of the first unit body support through the first lifting mechanism and the second lifting mechanism; The second unit body has one end connected with the other end of the transverse connection mechanism in a sliding manner. The second unit body includes a second unit body support, a second pedal, a third driving mechanism, a fourth driving mechanism, a third lifting mechanism and a fourth lifting mechanism. The third driving mechanism and the fourth driving mechanism are arranged at two ends of the second unit body support. A third driving steering wheel is arranged at the bottom of the third driving mechanism, and a fourth driving steering wheel is arranged at the bottom of the fourth driving mechanism. The two ends of the second pedal are respectively connected to the two ends of the second unit body support through the third lifting mechanism and the fourth lifting mechanism. A plurality of adapter connectors are arranged on the first pedal and the second pedal, which are suitable for being fixed with the engine bracket. The engine bracket is used to support the civil aviation engine. a control unit, which is arranged on the transverse connection mechanism, the operating handle is wirelessly connected to the control unit, the operating handle controls the first drive mechanism to the fourth drive mechanism to move through the control unit to achieve the transfer of the civil aircraft engine, and the control unit is also used to control the first lifting mechanism to the fourth lifting mechanism to move to achieve six-degree-of-freedom attitude adjustment of the civil aircraft engine; The sensor assembly includes a plurality of contact sensors and non-contact displacement sensors, wherein the contact sensors and non-contact displacement sensors are arranged on the transverse connection mechanism, the first unit body and the second unit body, and are used for sensing obstacles, parameter calibration or position calibration; the control unit obtains monitoring data based on the sensor assembly to perform parameter calibration, position calibration or adjust the transfer path of the on-wing engine replacement equipment.

2. The on-wing engine replacement device according to claim 1, characterized in that: The first to fourth lifting mechanisms have the same structure and all include a long support and a short support. The long support is rotatably connected to the short support. The angle between the long support and the short support is adjusted to adjust the end height of the corresponding first pedal or second pedal.

3. The on-wing engine replacement device according to claim 1, characterized in that: The adapter connector can move along the length direction of the first pedal or the second pedal and be fixed, and the first pedal and the second pedal are connected to the engine bracket through the adapter connector.

4. The on-wing engine replacement device according to claim 1, characterized in that: The transverse connection mechanism comprises a mechanism body and a plurality of sets of universal wheels arranged at the bottom of the mechanism body.

5. An on-wing engine replacement control method, applicable to the on-wing engine replacement device according to claim 1, characterized in that: The on-wing engine replacement control method comprises the steps of: S1, installing a civil aviation engine on the engine bracket; S2, controlling the first to fourth drive mechanisms to move by the operating handle, moving the wing engine replacement device to the front end of the engine bracket, so that the wing engine replacement device coincides with the center line of the engine bracket; S3, controlling the first drive mechanism to the fourth drive mechanism to move by the operating handle, so that the first unit body and the second unit body are brought closer together, so that the plurality of adapter connectors are matched and fixed with the engine bracket; S4, cooperatively controlling the first to fourth drive mechanisms to move by the operating handle, so that the on-wing engine replacement device reaches a specified position; S5, performing parameter calibration and / or position calibration by using the contact sensor and the non-contact displacement sensor; S6, cooperatively controlling the first lifting mechanism to the fourth lifting mechanism, and the first driving mechanism to the fourth driving mechanism through the operating handle to adjust the six-degree-of-freedom posture of the civil aircraft engine; S7, complete the on-wing engine replacement operation.

6. The on-wing engine replacement control method according to claim 5, characterized in that: In steps S2 and S4, the on-wing hair replacement device movement is implemented, including: Move along the X direction, and control the first to fourth driving steering wheels to move in the same direction as the X direction through the control unit, and control the first to fourth driving steering wheels to move at the same speed; Move along the Z direction, and control the first to fourth driving steering wheels to move in the same direction as the Z direction through the control unit, and control the first to fourth driving steering wheels to move at the same speed; Rotate around the Y direction, control the first to fourth driving steering wheels to rotate clockwise or counterclockwise along the Y direction by a set angle through a control unit, and control the first to fourth driving steering wheels to rotate at a set speed; The X direction is the length direction of the first unit body and the second unit body; the Z direction is the length direction of the transverse connection mechanism; and the Y direction is perpendicular to the X direction and the Z direction.

7. The on-wing engine replacement control method according to claim 6, characterized in that: The on-wing engine replacement equipment moving process also includes: The specific position of the obstacle is monitored by the sensor assembly, and the control unit adjusts the transfer path of the on-wing hair replacement device to avoid the obstacle based on the displacement data of the on-wing hair replacement device and the monitoring data of the sensor assembly.

8. The on-wing engine replacement control method according to claim 5, characterized in that: The process of adjusting the six-degree-of-freedom attitude of the civil aircraft engine includes: The control unit decomposes the target spatial position and posture of the civil aircraft engine into the motion strokes of the first unit body and the second unit body along the three coordinate axes of X, Y and Z according to Jacobian matrix conversion; Synchronously driving the first lifting mechanism to the fourth lifting mechanism and the first driving mechanism to the fourth driving mechanism through a control unit to make them move in linkage, so as to achieve precise adjustment of the six-degree-of-freedom attitude of the civil aircraft engine; The aircraft heading is calibrated as the X-axis of the coordinate system, the aircraft vertical direction is the Y-axis of the coordinate system, the aircraft span direction is the Z-axis of the coordinate system, the rotation around the X-axis of the aircraft coordinate system is an angle of α, the rotation around the Y-axis of the aircraft coordinate system is an angle of β, and the rotation around the Z-axis of the aircraft coordinate system is an angle of γ.

9. The on-wing engine replacement control method according to claim 8, characterized in that: The first lifting mechanism to the fourth lifting mechanism are set to form horizontal angles ∠11, ∠12, ∠21, and ∠22 respectively; The α angle roll attitude adjustment process includes: The control unit synchronously controls the first lifting mechanism and the second lifting mechanism of the first unit body so that the horizontal angle ∠11=∠12; Synchronously control the third lifting mechanism and the fourth lifting mechanism of the second right unit body to make the horizontal angle ∠21=∠22; Adjusting the height difference between the first unit body and the second unit body to achieve the α-angle roll attitude adjustment of the civil aviation engine; The β angle deflection attitude adjustment process includes: The control unit synchronously controls the first to fourth driving steering wheels to rotate simultaneously in a clockwise or counterclockwise direction along the Y axis and to rotate at a set speed to achieve β angle deflection attitude adjustment of the civil aviation engine; The γ angle pitch attitude adjustment process includes: The control unit synchronously controls the first lifting mechanism of the first unit body and the third lifting mechanism of the second unit body so that the horizontal angle ∠11=∠21; and synchronously controls the second lifting mechanism of the first unit body and the fourth lifting mechanism of the second unit body so that the horizontal angle ∠12=∠22; The horizontal inclination angle difference between the first unit body and the second unit body is adjusted to achieve the γ angle pitch attitude adjustment of the civil aviation engine.

10. The on-wing engine replacement control method according to claim 8, characterized in that: The process of adjusting the six-degree-of-freedom attitude of the civil aircraft engine also includes: The control unit detects a safe force environment during the wing replacement process, wherein the sensor assembly includes a force sensor disposed on the adapter connector, and the force sensor is used to monitor torque in various directions and feed back to the control unit.

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