Cabin door actuating device, aircraft and cabin door opening method

Abstract

The invention discloses a cabin door actuating device, an aircraft and a cabin door opening method. The cabin door actuating device comprises a base, an opening module, an actuating module, a position and posture adjusting module and a monitoring module, the position and posture adjusting module and the monitoring module are both installed on the base, and the opening module and the actuating module are arranged on the position and posture adjusting module. The monitoring module measures cabin door position information of the cabin door, first position information of the opening module and second position information of the actuating module so as to obtain pose adjusting information and transmit the pose adjusting information to the pose adjusting module, and the pose adjusting module adjusts the poses of the opening module and the actuating module according to the pose adjusting information. When the opening module is connected with the handle, the opening module drives the handle to rotate to an unlocking position and then to be separated from the handle, and the actuating module applies actuating force to the cabin door to open the cabin door when the opening module is separated from the handle.

Description

Technical Field

[0001] The present application relates to the technical field related to cabin door testing, and in particular to a cabin door actuating device, an aircraft and a cabin door opening method. Background Art

[0002] The key to ensuring that the aircraft emergency slide bag can be inflated and jettisoned normally is to ensure that passengers can escape smoothly in the event of special circumstances. Before the aircraft takes off, a slide jettisoning test needs to be carried out. Under normal circumstances, the slide bag will quickly inflate, open and jettison when the cabin door is opened. During the test, it was found that the aircraft cabin door could not be opened smoothly, resulting in the slide bag failing to jettison normally and inflating and unfolding into the cabin, which could cause personal injury. Summary of the invention

[0003] The present application provides a door actuating device, an aircraft and a door opening method, which can replace human hands to touch and open the door, thereby avoiding the problem of personal injury caused by the failure of the slide bag to be normally thrown into the cabin to inflate and unfold due to the failure of the door to open smoothly.

[0004] To achieve the above-mentioned purpose, in a first aspect, the present application provides a door actuation device, comprising a base, an opening module, an actuation module, a posture adjustment module and a monitoring module, wherein the posture adjustment module and the monitoring module are both installed on the base, and the opening module and the actuation module are arranged on the posture adjustment module;

[0005] The monitoring module measures the door position information of the door, the first position information of the opening module and the second position information of the actuating module to obtain the posture adjustment information and transmit it to the posture adjustment module;

[0006] The posture adjustment module adjusts the postures of the opening module and the actuation module according to the posture adjustment information, so that the opening module is aligned with the handle of the cabin door, and the actuation module can act on the door body of the cabin door;

[0007] When the monitoring module detects that the opening module is connected to the handle, the posture adjustment module can control the opening module to drive the handle to rotate to the unlocking position, and then the monitoring module controls the opening module to separate from the handle, and the posture adjustment module controls the opening module to retreat to a safe position;

[0008] When the monitoring module detects that the opening module retreats to the safe position, the posture adjustment module can control the actuation module to apply an actuation force to the hatch to open the hatch when the opening module is separated from the handle.

[0009] In a second aspect, the present application further provides an aircraft, comprising:

[0010] body;

[0011] A door connected to the fuselage, which can separate the interior space of the fuselage from the outside environment when the door is closed;

[0012] The door actuating device described in any of the above technical solutions has a base located in the internal space of the fuselage and close to the door.

[0013] In a third aspect, the present application further provides a method for opening a hatch door, which is performed by a hatch door actuating device recorded in any of the above technical solutions, and the hatch door opening method includes:

[0014] Measuring the door position information of the door, the first position information of the opening module and the second position information of the actuation module to obtain the posture adjustment information and transmit it to the posture adjustment module;

[0015] The posture adjustment module adjusts the postures of the opening module and the actuation module according to the posture adjustment information, so that the opening module is aligned with the handle of the cabin door, and the actuation module can act on the door body of the cabin door;

[0016] When the opening module is connected to the handle, the opening module drives the handle to rotate to the unlocking position and then separates from the handle. When the opening module is separated from the handle, the actuating module applies an actuating force to the door to push the door open.

[0017] One of the above technical solutions has the following advantages or beneficial effects:

[0018] The hatch door position information, the first position information of the opening module and the second position information of the actuating module of the hatch are measured by the monitoring module to obtain the posture adjustment information and transmit it to the posture adjustment module. The relative position relationship between the hatch door, the opening module and the actuating module can be determined by the monitoring module, and then the posture of the opening module and the actuating module is adjusted by the posture adjustment module to ensure that the opening module can be accurately connected to the handle and the actuating module can act on the door body of the hatch door. Then, the opening module first drives the handle of the hatch door to rotate, so that the handle is rotated from the locked position or the position between the locked position and the unlocked position to the unlocked position and then separated from the handle, and the actuating module applies the actuating force to hit the door body of the hatch door to open the hatch door. In this way, it can be avoided that when the hatch door cannot be opened smoothly, the slide bag will be inflated and unfolded into the cabin to cause injuries to personnel, and at the same time, the hatch door can be opened automatically by the above-mentioned hatch door actuating device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 : is a system framework diagram of a hatch door actuating device in an embodiment of the present application;

[0021] Figure 2 is a three-dimensional diagram of a hatch door actuating device in an embodiment of the present application;

[0022] Figure 3 is a three-dimensional diagram of an opening module in a hatch door actuating device according to an embodiment of the present application;

[0023] Figure 4 yes Figure 3 A magnified view of part A in FIG.

[0024] Figure 5 is a three-dimensional diagram of an actuation module in a door actuation device according to an embodiment of the present application;

[0025] Figure 6 is a three-dimensional diagram of a monitoring module in a door actuating device according to an embodiment of the present application;

[0026] Figure 7 is a three-dimensional diagram of a base in a door actuating device according to an embodiment of the present application;

[0027] Figure 8 It is a three-dimensional diagram of another door actuating device in an embodiment of the present application.

[0028] The main reference numerals in the drawings of this application specification are described as follows:

[0029] 1-base; 11-bottom plate; 12-support frame; 121-support vertical rod; 122-support diagonal rod; 123-support horizontal rod;

[0030] 2-opening module; 21-first driving member; 22-rocker arm; 221-first connecting part; 222-second connecting part; 223-fixed part; 23-adapter; 24-grip member; 241-body; 2411-locking groove; 242-locking part; 25-first mounting seat;

[0031] 3-actuation module; 31-second mounting seat; 32-actuator;

[0032] 4-position adjustment module; 41-first moving assembly; 411-first driving module; 412-guide member; 413-moving member; 4131-second slide slot; 42-second moving assembly; 43-connecting member; 431-first slide slot; 44-universal wheel;

[0033] 5-monitoring module; 51-third mounting seat; 52-camera; 53-rotating shaft. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0035] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0037] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] The present application provides a door actuating device, an aircraft, and a door opening method, which are described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0039] The ability of an aircraft emergency slide bag to be inflated and jettisoned normally is key to ensuring the smooth escape of passengers in the event of a special situation. A slide jettisoning test needs to be carried out before the aircraft takes off. Under normal circumstances, the slide bag will quickly inflate, open, and jettison. During the test, it was found that the aircraft's cabin door could not be opened smoothly, and the slide bag could not be jettisoned normally but inflated and unfolded into the cabin, which could cause personal injury. Therefore, the present application provides a cabin door actuator that can open the cabin door, which is used to support the safe completion of a slide bag jettisoning test device. The cabin door actuator is mainly used in the aircraft cabin door movement execution process, and can be used for the movement execution of different types of cabin doors, including boarding doors, service doors, emergency doors, etc.

[0040] Reference Figure 1 and Figure 2 The hatch door actuation device provided in the present application includes a base 1, an opening module 2, an actuation module 3, a posture adjustment module 4 and a monitoring module 5. The posture adjustment module 4 and the monitoring module 5 are both installed on the base 1. The opening module 2 and the actuation module 3 are arranged on the posture adjustment module 4. The monitoring module 5 measures the hatch door position information of the hatch, the first position information of the opening module 2 and the second position information of the actuation module 3 to obtain the posture adjustment information and transmit it to the posture adjustment module 4. The posture adjustment module 4 adjusts the posture of the opening module 2 and the actuation module 3 according to the posture adjustment information so that the opening module 2 is aligned with the hatch door handle and the actuation module 3 can act on the door body of the hatch door. When the monitoring module 5 detects that the opening module 2 is connected to the handle, the posture adjustment module 4 can control the opening module 2 to drive the handle to rotate to the unlocking position, and then control the opening module 2 to separate from the handle and return to the installation position. When the monitoring module 5 detects that the opening module 2 is separated from the handle and returns to the installation position, the posture adjustment module 4 can control the actuating module 3 to apply actuating force to the cabin door to open the cabin door when the opening module 2 is separated from the handle.

[0041] In this technical solution, the monitoring module 5 measures the door position information of the cabin door, the first position information of the opening module 2 and the second position information of the actuating module 3 to obtain the posture adjustment information and transmit it to the posture adjustment module 4. The relative position relationship between the cabin door, the opening module 2 and the actuating module 3 can be determined by the monitoring module 5, and then the posture of the opening module 2 and the actuating module 3 is adjusted by the posture adjustment module 4 to ensure that the opening module 2 can be accurately connected to the handle and the actuating module 3 can act on the door body of the cabin door. Subsequently, the opening module 2 first drives the handle of the cabin door to rotate, so that the handle is rotated from the locked position or the position between the locked position and the unlocked position to the unlocked position and then separated from the handle, and the actuating module 3 applies the actuating force to hit the door body of the cabin door to open the cabin door. In this way, it can be avoided that when the cabin door cannot be opened smoothly, the slide bag will be inflated and unfolded into the cabin to cause injuries to personnel, and at the same time, the cabin door can be opened automatically by the above-mentioned cabin door actuating device.

[0042] In other words, the opening module 2 drives the handle of the hatch to rotate accurately, and after the position of the handle of the hatch rotates to the unlocked position, the actuation module 3 acts to push or hit the hatch to actuate quickly. The monitoring module 5 can monitor the posture of the opening module 2 and the actuation module 3, measure the data of the hatch, and transmit instructions to the posture adjustment module 4 according to the posture state of the opening module 2 and the actuation module 3, and guide the posture adjustment module 4 to adjust the posture of each opening module 2 and the actuation module 3. The hatch actuation device can be used for emergency opening of the hatch, or for the slide of the hatch.

[0043] The monitoring module 5 is also used to monitor the third position information of the handle of the hatch, and determine the position of the handle according to the third position information. When the monitoring module 5 detects that the handle of the hatch is within the operating range of the opening module 2 (e.g., the gripping member 24), the posture adjustment module 4 adjusts the postures of the opening module 2 and the actuation module 3 according to the posture adjustment information, so that the opening module 2 and the handle of the hatch can be aligned and accurately connected.

[0044] In addition, the monitoring module 5 can measure the data of the hatch, including the angle detection of the hatch, the displacement detection of the hatch, the displacement detection of the handle, the position detection of the opening module 2, the detection of the movement parameters of the hatch, such as the force / torque and strain.

[0045] Reference Figure 3, the opening module 2 includes a first driving member 21, a rocker arm 22, an adapter 23 and a gripping member 24. The first driving member 21 is arranged on the posture adjustment module 4, one end of the rocker arm 22 is connected to the first driving member 21, and the other end is connected to the adapter 23, the side of the adapter 23 away from the rocker arm 22 is connected to the gripping member 24, the gripping member 24 is selectively connected or separated from the handle, and the extension direction of the adapter 23 is parallel to the rotation axis of the rocker arm 22. Thus, the rocker arm 22 is driven by the first driving member 21 to swing between the first position and the second position. It can be understood that the first position of the rocker arm 22 corresponds to the locking position of the handle, and the second position of the rocker arm 22 corresponds to the unlocking position of the handle. On the one hand, the adapter 23 is used to connect the gripping member 24 and the rocker arm 22, and on the other hand, the adapter 23 is used to make up the distance between the gripping member 24 and the handle so that the gripping member 24 can be smoothly connected to the handle. For example, the adapter 23 is a transfer shaft or a transfer rod. In order to reduce the load of the first driving member 21 , the adapter 23 may be a hollow structure.

[0046] In some embodiments, the rocker arm 22 and the adapter 23 may be an integrated structure, and the two are connected together to form a roughly L-shape. Figure 3 and Figure 4 As shown, the rocker arm 22 and the adapter 23 are fixed together through the first mounting seat 25, and the end of the rocker arm 22 away from the first driving member 21 is provided with a first connecting portion extending along the extension direction of the rocker arm 22, and the first connecting portion includes a plurality of first connecting portions 221 arranged at intervals, and the first mounting seat 25 can be connected to any first connecting portion 221 to adjust the installation position of the gripping member 24 on the rocker arm 22. That is, the posture adjustment of the gripping member 24 of the present application has two connection modes: adjustment through the posture adjustment module and manual adjustment.

[0047] For example, combined with Figure 3 and Figure 4 , the multiple first connection parts 221 are multiple first threaded holes. Based on this, a second connection part can also be set on the rocker arm 22, and the second connection part includes multiple second connection parts 222, and the multiple second connection parts 222 are arranged one by one with the multiple first connection parts 221, so as to increase the connection reliability between the first mounting seat 25 and the rocker arm 22, and prevent the first mounting seat 25 from shifting relative to the rocker arm 22. In addition, a positioning part 223 is arranged between each pair of correspondingly arranged first connection parts 221 and second connection parts 222, for example, the positioning part 223 is a positioning hole, and the adapter 23 passes through the first mounting seat 25 and is connected in the positioning hole. In other embodiments, the first connection part and the second connection part are both connection grooves opened along the extension direction of the rocker arm 22, so as to improve the adjustment accuracy when manually adjusting the connection position of the first mounting seat 25. Correspondingly, the above-mentioned positioning part is a positioning slide groove.

[0048] Among them, continue to refer to Figure 3 The gripping member 24 includes a body 241 and a locking portion 242. The body 241 has a locking slot 2411. The locking portion 242 is rotatably connected to the notch of the locking slot 2411. The locking portion 242 is rotated to the notch to lock the handle in the locking slot 2411. The locking portion 242 is rotated out of the notch to unlock the handle from the locking slot 2411, so that the handle can be disengaged or released from the locking slot 2411. In other words, the gripping member 24 is a hook lock. Based on this, the gripping member 24 also includes an inclination sensor and a motor provided on the locking portion 242. The inclination sensor is used to detect the rotation angle of the locking portion 242 to ensure that when the locking portion 242 is rotated out of the notch, the handle can be smoothly disengaged or released from the locking slot 2411. It can be understood that the above-mentioned body 241 and the locking portion 242 are rotatably connected to the notch of the locking slot 2411 through a pin shaft, and the inclination sensor is provided on the pin shaft.

[0049] The monitoring module 5 further includes a control unit, and the control unit is electrically connected to the motor so as to drive the pin shaft to rotate through the motor, thereby driving the locking portion 242 to rotate.

[0050] In other embodiments, the gripper 24 is a robot arm.

[0051] In some embodiments of the present application, the posture adjustment module 4 includes a first moving component 41 and a second moving component 42. The second moving component 42, the actuating module 3 and the monitoring module 5 are all connected to the first moving component 41, and move along the first direction Z driven by the first moving component 41. The opening module 2 is arranged on the second moving component 42, and can move along the second direction X driven by the second moving component 42. The second direction X is perpendicular to the first direction Z, thereby realizing the position adjustment of the above-mentioned opening module 2, the actuating module 3 and the monitoring module 5 in the first direction Z, and the position adjustment of the opening module 2 in the second direction X.

[0052] Based on the above embodiment, the first moving component 41 includes a first driving module 411, a guide member 412 and a moving member 413. The guide member 412 is arranged on the base 1 and extends along the first direction Z. The moving member 413 is arranged on the guide member 412 and is connected to the first driving module 411. Driven by the first driving module 411, the moving member 413 can move along the first direction Z relative to the guide member 412. The opening module 2, the actuating module 3 and the monitoring module 5 are arranged on the moving member 413. The first driving module 411 drives the opening module 2, the actuating module 3 and the monitoring module 5 to move along the first direction Z through the moving member 413 to realize automatic adjustment of the positions of the actuating module 3 and the monitoring module 5 in the first direction Z.

[0053] For example, the first driving module 411 includes a driving motor and a first transmission structure, wherein the first transmission structure is a screw nut structure, a gear rack structure, or realizes the movement of the moving member 413 along the first direction Z by means of rollers and flexible traction ropes.

[0054] Alternatively, the first movable component includes a plurality of threaded holes provided on the guide member and spaced apart along the first direction Z, and a plurality of threaded holes provided on the movable member and spaced apart along the first direction Z. The threaded holes on the guide member and the threaded holes on the movable member can be matched arbitrarily and threadedly connected together by fastening screws to achieve adjustment of the relative positions of the two in the first direction Z.

[0055] Please continue to refer to Figure 1 The posture adjustment module 4 includes two groups of first moving components 41 and a connecting member 43. The two groups of first moving components 41 are arranged at intervals along the second direction X. The connecting member 43 is connected between two moving components 413 in the two groups of first moving components 41. The opening module 2 is slidably matched on the connecting member 43 along the second direction X. The actuation module 3 is arranged on the moving component 413 of one group of the first moving components 41 in the two groups of first moving components 41. The monitoring module 5 is arranged on the moving component 413 of the other group of the first moving components 41 in the two groups of first moving components 41. It can be understood that the above two moving components 413 are columnar structures, and are connected with the connecting member 43 to form a U-shaped structure. A mechanism is provided on each side wall of the U-shaped structure to ensure the structural balance of the entire hatch door actuation device. At the same time, since the connecting member 43 is connected between the two moving members 413 in the two groups of first moving components 41, the opening module 2 slides on the connecting member 43 along the second direction X, thereby enabling the position adjustment of the opening module 2 in the first direction Z, and the connecting member 43 is respectively connected between the two moving members 413 in the two groups of first moving components 41 on both sides of the second direction, which can ensure the stable connection of the connecting member 43 and further ensure the stable installation of the opening module 2.

[0056] Based on the above embodiment, the connecting member 43 is provided with a first slide groove 431 extending along the second direction X, the opening module 2 is slidably matched in the first slide groove 431, and is transmission-connected to the second moving assembly 42 provided below the connecting member 43 through the first slide groove 431, the actuating module 3 is slidably matched on the moving member 413 in one of the two groups of first moving assemblies 41 along the first direction Z, and the monitoring module 5 is slidably matched on the moving member 413 in the other of the two groups of first moving assemblies 41 along the first direction Z. The monitoring module 5 and the actuating module 3 are arranged opposite to each other along the second direction X, so that the monitoring module 5 can collect the position information of the actuating module 3, the opening module 2 and the handle of the hatch.

[0057] Furthermore, the actuating module 3 can not only move along the first direction Z driven by the moving member 413 in one of the two sets of first moving components 41, but can also slide along the first direction Z on the moving member 413, for example, Figure 5 As shown, a second slide groove 4131 is provided on the moving member 413 along the first direction Z, and the actuating module 3 includes a second mounting seat 31 and an actuator 32. A plurality of threaded holes are provided on the second mounting seat 31, which can be pressed against the groove wall of the second slide groove 4131 by fastening screws to achieve relative fixation between the two. Similarly, the monitoring module 5 can not only move along the first direction Z driven by the moving member 413 in the other first moving assembly 41 of the two groups of first moving assemblies 41, but also slide on the moving member 413 along the first direction Z. For example, the moving member 413 is also provided with a second slide groove 4131. The monitoring module 5 includes a third mounting seat 51, and the third mounting seat 51 is slidably matched in the second slide groove 4131.

[0058] Alternatively, in some other embodiments, the actuation module 3 may further include a second mounting seat 31 and any one of a driving member such as a cylinder, a linear motor, a hydraulic cylinder, etc.

[0059] In other words, the moving member 413 is a moving plate, and the two moving plates are both provided with a second slide groove 4131 extending along the first direction Z, and the actuating module 3 and the monitoring module 5 are respectively slidably fitted in the corresponding second slide groove 4131 .

[0060] Combination Figure 2 and Figure 6 The monitoring module 5 includes a monitoring unit and a control unit. The monitoring unit includes a third mounting seat 51, a camera 52 and a rotating shaft 53. The third mounting seat 51 is arranged on the posture adjustment module 4 (for example, the moving member 413 of the first moving assembly 41). The rotating shaft 53 is rotatably connected to the camera 52 and the third mounting seat 51, so that the camera 52 can rotate around the central axis of the rotating shaft 53 to adjust the acquisition area of ​​the camera 52, so that the opening module 2, the actuating module 3 and the handle of the hatch are always located within the acquisition area of ​​the camera 52. The central axis of the rotating shaft 53 is parallel to the aforementioned first direction Z. For example, the rotating shaft 53 can be driven to rotate around its own central axis by a corresponding driving member.

[0061] It is understandable that the monitoring unit, the opening module 2, the actuating module 3 and the posture adjustment module 4 are all electrically connected to the control unit to achieve signal transmission between the modules. Specifically, the above-mentioned monitoring unit, the opening module 2, the actuating module 3 and the posture adjustment module 4 each have a corresponding driving element, each driving element is electrically connected to the control unit, and the camera 52 is also electrically connected to the control unit. The control unit controls the action of each driving element to achieve the posture adjustment of each component. The control unit determines the relative position relationship between the above-mentioned opening module 2, the actuating module 3 and the cabin door based on the image information collected by the camera 52, and sends a posture adjustment instruction to the posture adjustment module 4. The posture adjustment module 4 adjusts the posture of the opening module 2 and the actuating module 3 according to the posture adjustment instruction.

[0062] In some embodiments, the monitoring unit further includes a displacement sensor, which is used to detect the state of the hatch, namely the initial state of the handle, the complete rotation state of the handle, the rotation state of the lock pin of the precision actuation system, the rotation state of the precision actuation system, etc. The principle is that when the rotation reaches the corresponding state, the laser displacement sensor is blocked, which serves as a sign that each action is in place, and the next action can be executed.

[0063] To ensure that the operation of the automated equipment will not damage the test piece during the rapid opening of the hatch. The automated rapid opening device for the hatch has a feedback adjustment function, and the monitoring module 5 also includes an acquisition unit and an adjustment unit. The acquisition unit is used to obtain motion parameters during the hatch opening process, and the motion parameters include the trajectory of the handle, the opening trajectory of the hatch, and the stress of the hatch structure. The adjustment unit adjusts the opening parameters of the opening module and the actuation parameters of the actuation module according to the motion parameters. Specifically, the adjustment unit calculates the correction data of the opening module 2 and the actuation module 3 through real-time comparison of the trajectory and stress, and feeds back the correction data of the opening module 2 and the actuation module 3 to the control unit. The control unit adjusts the opening parameters of the opening module 2 according to the correction data of the opening module 2, and adjusts the actuation parameters of the actuation module 3 according to the correction data of the actuation module 3, so as to ensure the safety of the hatch structure.

[0064] For example, the handle trajectory and the door opening trajectory can be detected and obtained by corresponding displacement sensors, each of which is electrically connected to the control unit. The stress of the door structure can be detected and obtained by corresponding force sensors, which are electrically connected to the control unit.

[0065] The above-mentioned motion parameters may also include the states of the opening module 2, the actuation module 3 and the hatch, including but not limited to the initial state of the handle, the complete rotation state of the handle, the rotation state of the pin of the opening module 2, and the position state of the opening module 2. The opening parameters of the opening module 2 include the rotation angle and speed of the opening module 2, and the execution timing of the locking and releasing of the gripping member 24 of the opening module 2. The actuation parameters of the actuation module 3 include the actuation time point, speed, stroke, and direction of the actuation module 3.

[0066] Among them, the monitoring module 5 can also automatically perform various tests on the opening module 2, the actuation module 3 and the posture adjustment module 4, including but not limited to tests on mechanical structural integrity, electrical system connection status, sensor sensitivity, etc. The automatic testing function uses built-in sensors and autonomous control algorithms to achieve rapid detection and analysis of the hatch system. The device also has a data analysis function, which can comprehensively analyze and process the collected data. By applying big data technology and machine learning algorithms, the operating data of the hatch system is deeply mined and analyzed, including data analysis on fault frequency, maintenance time, workload, etc.

[0067] Continue to refer to Figure 2 and Figure 7 The base 1 includes a bottom plate 11, which has a first surface and a second surface arranged relative to each other along a first direction Z. The first surface is provided with a support frame 12 on both sides of the first surface in the second direction X. The posture adjustment module 4 includes a first moving component 41 and a second moving component 42 arranged on the support frame 12, and a plurality of universal wheels 44 arranged on the second surface of the bottom plate 11, so as to realize the movement of the device in any direction and the rotation around the first direction. At the same time, it is convenient to realize the transportation of the hatch door actuating device.

[0068] For example, each support frame 12 includes a support vertical rod 121, a support diagonal rod 122 connected to the outside of the support vertical rod 121, and a support cross rod 123 connected to the bottom of the support diagonal rod 122 and the bottom of the support vertical rod 121; the three form a triangular structure to ensure that the structural stability of the support frame 12 is better.

[0069] Among them, Figure 8As shown, the present application also provides another structural form of a hatch door actuation device, the working principle of which is the same as that of the above-mentioned hatch door actuation device, and the two differ only in the installation structure. The hatch door actuation device also includes a base 1, an opening module 2, an actuation module 3, a posture adjustment module 4 and a monitoring module 5. Among them, the posture adjustment module 4 and the monitoring module 5 are both installed on the base 1, the opening module 2 and the actuating module 3 are arranged on the posture adjustment module 4, the monitoring module 5 measures the door position information of the cabin door, the first position information of the opening module 2 and the second position information of the actuating module 3 to obtain the posture adjustment information and transmit it to the posture adjustment module 4, the posture adjustment module 4 adjusts the posture of the opening module 2 and the actuating module 3 according to the posture adjustment information, so that the opening module 2 is aligned and connected with the handle of the cabin door, and the actuating module 3 can act on the door body of the cabin door, when the opening module 2 is connected with the handle, the opening module 2 drives the handle to rotate to the unlocking position and then separates from the handle, and the actuating module 3 applies an actuating force to the cabin door when the opening module 2 is separated from the handle to open the cabin door. For example, the posture adjustment module 4 includes two, the opening module 2 is arranged on one of the two posture adjustment modules 4, and the actuating module 3 is arranged on the other of the two posture adjustment modules 4.

[0070] For example, Figure 8 As shown, the opening module 2 is arranged on one of the two posture adjustment modules 4. The posture adjustment structure 4 includes a longitudinal support rod and a transverse bracket connected to the longitudinal support rod. The transverse bracket is slidably matched with the longitudinal support rod and can be fixed at any position of the longitudinal support rod by fasteners. The end of the transverse bracket is connected to an end gripping piece for clamping or grasping the handle of the hatch. The actuation module 3 is arranged on the other of the two posture adjustment modules 4. The posture adjustment module 4 includes a mechanism mounting frame 47. The actuation module 3 can be mounted at any position of the mechanism mounting frame 47 by fasteners to achieve the adjustment of its position.

[0071] In some embodiments of the present application, the present application further provides an aircraft, which includes a fuselage, a door, and the above-mentioned door actuating device, wherein the door is connected to the fuselage, and when the door is closed, the internal space of the fuselage can be separated from the external environment, and the base 1 of the door actuating device is arranged in the internal space of the fuselage and close to the door, and is used to open the door. Since the door actuating device in the aircraft has the same structure as the door actuating device recorded in any of the above-mentioned technical solutions, the two can solve the same technical problems and achieve the same technical effects.

[0072] In some embodiments of the present application, the present application also provides a method for opening a hatch door, which is executed by the hatch door actuating device recorded in any of the above-mentioned technical solutions, and the method for opening the hatch door includes: measuring the hatch position information of the hatch door, the first position information of the opening module 2 and the second position information of the actuating module 3 to obtain the posture adjustment information and transmit it to the posture adjustment module 4; the posture adjustment module 4 adjusts the posture of the opening module 2 and the actuating module 3 according to the posture adjustment information to align the opening module 2 with the handle of the hatch door, and enables the actuating module 3 to act on the door body of the hatch door; when the opening module 2 is connected to the handle, the opening module 2 drives the handle to rotate to the unlocked position and then separates from the handle, and the actuating module 3 applies an actuating force to the hatch door to push the hatch door open when the opening module 2 is separated from the handle.

[0073] Therefore, the present application can determine the relative position relationship between the cabin door, the opening module 2 and the actuating module 3 through the monitoring module 5, and then adjust the posture of the opening module 2 and the actuating module 3 through the posture adjustment module 4 to ensure that the opening module 2 can be accurately connected to the handle, and can also ensure that the actuating module 3 can act on the door body of the cabin door. Then, the opening module 2 first drives the handle of the cabin door to rotate, so that the handle is rotated from the locked position or the position between the locked position and the unlocked position to the unlocked position and then separated from the handle, and then the actuating module 3 applies an actuating force to hit the door body of the cabin door to open the cabin door. In this way, it can be avoided that when the cabin door cannot be opened smoothly, the slide bag will be inflated and unfolded into the cabin to cause injuries to personnel, and at the same time, the cabin door can be opened automatically through the above-mentioned cabin door actuating device.

[0074] In some embodiments of the present application, it is also possible to confirm the image information captured by the monitoring module 5 to determine whether the door handle, the opening module 2 and the actuating module 3 are all within the shooting range of the monitoring module 5. If at least one of the door handle, the opening module 2 and the actuating module 3 is not within the shooting range of the monitoring module 5, it is necessary to adjust its installation position separately in the second slide groove 4131 of the moving part 413.

[0075] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0076] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims. In addition, the specification uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. The content of this specification should not be understood as a limitation on the present application.

Claims

1. A door actuating device, characterized in that: It includes a base, an opening module, an actuating module, a posture adjustment module and a monitoring module, wherein the posture adjustment module and the monitoring module are both installed on the base, and the opening module and the actuating module are arranged on the posture adjustment module; The monitoring module measures the door position information of the door, the first position information of the opening module and the second position information of the actuating module to obtain the posture adjustment information and transmit it to the posture adjustment module; The posture adjustment module adjusts the postures of the opening module and the actuation module according to the posture adjustment information, so that the opening module is aligned with the handle of the cabin door, and the actuation module can act on the door body of the cabin door; When the monitoring module detects that the opening module is connected to the handle, the posture adjustment module can control the opening module to drive the handle to rotate to the unlocking position, and then the monitoring module controls the opening module to separate from the handle, and the posture adjustment module controls the opening module to retreat to a safe position; When the monitoring module detects that the opening module retreats to the safe position, the posture adjustment module can control the actuation module to apply an actuation force to the hatch to open the hatch when the opening module is separated from the handle.

2. The door actuating device according to claim 1, characterized in that: The opening module includes a first driving member, a rocker arm, an adapter and a gripping member. The first driving member is arranged on the posture adjustment module. One end of the rocker arm is connected to the first driving member, and the other end is connected to the adapter. The side of the adapter facing away from the rocker arm is connected to the gripping member. The gripping member is selectively connected to or separated from the handle. The extension direction of the adapter is parallel to the rotation axis of the rocker arm.

3. The door actuating device according to claim 2, characterized in that: The gripping member includes a body and a locking portion, wherein the body is provided with a locking groove, and the locking portion is rotatably connected to a notch of the locking groove. The locking portion is rotated to the notch to lock the handle in the locking groove, and the locking portion is rotated out of the notch to unlock the handle from the locking groove.

4. The door actuating device according to claim 2, characterized in that: The opening module also includes a mounting seat, a first connecting portion is provided on the rocker arm, the first connecting portion extends along the extension direction of the rocker arm, the mounting seat connects the first connecting portion and the adapter, and the mounting seat is selectively connected to any position of the first connecting portion in its extension direction.

5. The door actuating device according to claim 1, characterized in that: The posture adjustment module includes a first moving component and a second moving component. The second moving component, the actuation module and the monitoring module are all connected to the first moving component and can move along a first direction driven by the first moving component. The opening module is arranged on the second moving component and can move along a second direction driven by the second moving component. The second direction is perpendicular to the first direction.

6. The door actuating device according to claim 5, characterized in that: The first moving component includes a first driving module, a guide member and a moving member. The guide member is connected to the base and extends along the first direction. The moving member is arranged on the guide member and connected to the first driving module, and can move along the first direction relative to the guide member. The actuating module and the monitoring module are both arranged on the moving member. The first driving module drives the moving member to move along the first direction.

7. The hatch door actuating device according to claim 6, characterized in that: The posture adjustment module includes two groups of the first moving components and a connecting member, the two groups of the first moving components are arranged at intervals along the second direction, the connecting member is connected between two of the moving components in the two groups of the first moving components, the opening module is slidably fitted on the connecting member along the second direction, the actuating module is arranged on the moving member of one of the two groups of the first moving components, and the monitoring module is arranged on the moving member of the other of the two groups of the first moving components.

8. The hatch door actuating device according to claim 7, characterized in that: The connecting member is provided with a first slide groove extending along the second direction, the opening module is slidably fitted in the first slide groove, and is transmission-connected to the second moving component provided below the connecting member through the first slide groove, the actuating module is slidably fitted on the moving member in one of the two groups of the first moving components along the first direction, and the monitoring module is slidably fitted on the moving member in the other of the two groups of the first moving components along the first direction.

9. The hatch door actuating device according to claim 5, characterized in that: The monitoring module includes a monitoring unit, which includes a mounting seat, a camera and a rotating shaft. The mounting seat is arranged on the posture adjustment module, and the rotating shaft rotatably connects the camera and the mounting seat so that the camera can rotate around the central axis of the rotating shaft, and the central axis is parallel to the first direction.

10. The door actuating device according to claim 1, characterized in that: The base includes a bottom plate having a first surface and a second surface arranged relative to each other along a first direction, and support frames are provided on opposite sides of the first surface in the second direction. The posture adjustment module includes a first movable component and a second movable component arranged on the support frame, and a plurality of universal wheels arranged on the second surface of the bottom plate.

11. The door actuating device according to claim 1, characterized in that: The monitoring module also includes an acquisition unit and a calibration unit; The acquisition unit is used to acquire motion parameters of the hatch during opening, wherein the motion parameters include a trajectory of the handle, an opening trajectory of the hatch, and stress of a structural component of the hatch; The adjustment unit adjusts the opening parameter of the opening module and the actuation parameter of the actuation module according to the motion parameter.

12. An aircraft, characterized in that: include: body; A door connected to the fuselage, which can separate the interior space of the fuselage from the outside environment when the door is closed; The door actuating device according to any one of claims 1 to 11, wherein the base of the door actuating device is arranged in the internal space of the fuselage and close to the door.

13. A method for opening a hatch, characterized in that: The hatch door opening method is performed by the hatch door actuating device according to any one of claims 1 to 11, comprising: Measuring the door position information of the door, the first position information of the opening module and the second position information of the actuation module to obtain the posture adjustment information and transmit it to the posture adjustment module; The posture adjustment module adjusts the postures of the opening module and the actuation module according to the posture adjustment information, so that the opening module is aligned with the handle of the cabin door, and the actuation module can act on the door body of the cabin door; When the opening module is connected to the handle, the opening module drives the handle to rotate to the unlocking position and then separates from the handle. When the opening module is separated from the handle, the actuating module applies an actuating force to the door to push the door open.

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