Door actuation device, aircraft and method for opening a door

Abstract

The application 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 pose adjusting module and a monitoring module. The pose adjusting module and the monitoring module are both installed on the base. The opening module and the actuating module are arranged on the pose 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. The pose adjusting module adjusts the pose of the opening module and the actuating module according to the pose adjusting information, so that the opening module is aligned with a handle of the cabin door, and the actuating module can act on a door body of the cabin door. When the opening module is connected with the handle, the opening module is separated from the handle after driving the handle to rotate to an unlocked position. The actuating module applies an 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 of cabin door test, in particular to a cabin door actuating device, an aircraft and a cabin door opening method. BACKGROUND

[0002] The normal inflation and throwing of the aircraft emergency slide package is the key to ensure the smooth escape of passengers in special situations. Before the flight of the aircraft, the slide throwing test needs to be carried out. Under normal circumstances, the slide package will be inflated and opened quickly and completed throwing when the cabin door is opened. It is found in the test process that the slide package cannot be normally thrown due to the failure of the cabin door to open smoothly, but is inflated and unfolded into the cabin, which may cause injury to personnel. SUMMARY

[0003] The present application provides a cabin door actuating device, an aircraft and a cabin door opening method, which can replace manual contact and opening of the cabin door, thereby avoiding the problem that the slide package cannot be normally thrown due to the failure of the cabin door to open smoothly and is inflated and unfolded into the cabin, causing injury to personnel.

[0004] To achieve the above purpose, in a first aspect, the present application provides a cabin door actuating device, comprising a base, an opening module, an actuating module, a pose adjustment module and a monitoring module, the pose adjustment module and the monitoring module are installed on the base, and the opening module and the actuating module are arranged on the pose adjustment module.

[0005] The monitoring module measures the cabin door position information of the cabin door, the first position information of the opening module and the second position information of the actuating module to obtain pose adjustment information and transmit the pose adjustment information to the pose adjustment module.

[0006] The pose adjustment module adjusts the pose of the opening module and the actuating module according to the pose adjustment information, so that the opening module is aligned with the handle of the cabin door, and the actuating module can act on the door body of the cabin door.

[0007] When the monitoring module detects that the opening module is connected with the handle, the pose adjustment module can control the opening module to drive the handle to rotate to an unlocked position, and then the monitoring module controls the opening module to separate from the handle, and the pose 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 pose adjustment module can control the actuating module to apply an actuating force to the cabin door to open the cabin door when the opening module separates from the handle.

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

[0010] fuselage;

[0011] a hatch connected to the fuselage, capable of separating the internal space of the fuselage and the external environment when the hatch is closed;

[0012] The hatch actuating device according to any one of the technical solutions described above, wherein the base of the hatch actuating device is arranged in the internal space of the fuselage and close to the hatch.

[0013] In a third aspect, the present application further provides a hatch opening method, which is executed by the hatch actuating device according to any one of the technical solutions described above, and the hatch opening method comprises the following steps:

[0014] measuring the hatch position information of the hatch, the first position information of the opening module and the second position information of the actuating module to obtain pose adjustment information and transmit the pose adjustment information to the pose adjustment module;

[0015] adjusting the pose of the opening module and the actuating module according to the pose adjustment information, so as to align the opening module with the handle of the hatch and enable the actuating module to act on the door body of the hatch;

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

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

[0018] The monitoring module measures the hatch position information of the hatch, the first position information of the opening module and the second position information of the actuating module to obtain pose adjustment information and transmit the pose adjustment information to the pose adjustment module, so as to determine the relative position relationship between the hatch, the opening module and the actuating module, and then adjust the pose of the opening module and the actuating module by the pose adjustment module, so as to ensure that the opening module can be accurately connected with the handle and the actuating module can act on the door body of the hatch. Subsequently, the opening module drives the handle of the hatch to rotate, so as to rotate the handle from the locking position or a position between the locking position and the unlocking position to the unlocking position and then separate from the handle, and the actuating module applies an actuating force to impact the door body of the hatch to open the hatch. In this way, when the hatch cannot be smoothly opened, the slide bag can be inflated and unfolded into the cabin to avoid injuring people, and the automatic opening of the hatch can be realized by the hatch actuating device. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 is a system framework diagram of a cabin door actuating device in the embodiments of the present application;

[0021] Figure 2 is a perspective view of a cabin door actuating device in the embodiments of the present application;

[0022] Figure 3 is a perspective view of an opening module in a cabin door actuating device in the embodiments of the present application;

[0023] Figure 4 is an enlarged view of A in Figure 3

[0024] Figure 5 is a perspective view of an actuating module in a cabin door actuating device in the embodiments of the present application;

[0025] Figure 6 is a perspective view of a monitoring module in a cabin door actuating device in the embodiments of the present application;

[0026] Figure 7 is a perspective view of a base in a cabin door actuating device in the embodiments of the present application;

[0027] Figure 8 is a perspective view of another cabin door actuating device in the embodiments of the present application.

[0028] The main reference signs in the drawings of the present application are explained as follows:

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

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

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

[0032] ​4-position adjustment module; 41-first moving assembly; 411-first driving module; 412-guide; 413-moving piece; 4131-second sliding groove; 42-second moving assembly; 43-connecting piece; 431-first sliding groove; 44-universal wheel;

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

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall 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", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the 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 particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0036] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0037] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication between the two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] The present application provides a hatch actuating device, an aircraft and a hatch opening method, which will be described in detail below. It should be noted that the description order of the following embodiments is not limited as the preferred order of the embodiments of the present application. Moreover, in the following embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0039] The aircraft emergency slide package can be normally inflated and thrown to ensure the smooth escape of passengers in special situations. Before the flight of the aircraft, the slide throwing test needs to be carried out, and under normal circumstances, the slide package will be inflated and opened quickly and complete the throwing. In the test process, it is found that due to the failure of the aircraft cabin door to open smoothly, the slide package cannot be normally thrown, but is inflated and unfolded into the cabin, which may cause personnel injury. Therefore, the cabin door actuator can open the cabin door and is used to support the safe completion of the slide package throwing test device. The cabin door actuator is mainly applied to the movement execution process of the aircraft cabin door, and can be used for the movement execution of different types of cabin doors, including boarding doors, service doors, emergency doors, etc.

[0040] Referring to Figure 1 and Figure 2 The cabin door actuator provided by the application comprises a base 1, an opening module 2, an actuating module 3, a pose adjustment module 4 and a monitoring module 5. The pose adjustment module 4 and the monitoring module 5 are installed on the base 1, the opening module 2 and the actuating module 3 are arranged on the pose adjustment module 4, the monitoring module 5 measures the cabin 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 pose adjustment information and transmit the pose adjustment information to the pose adjustment module 4, and the pose adjustment module 4 adjusts the pose of the opening module 2 and the actuating module 3 according to the pose adjustment information, so that the opening module 2 is aligned with the handle of the cabin door, and the actuating module 3 can act on the door body of the cabin door. When the monitoring module 5 detects that the opening module 2 is connected with the handle, the pose adjustment module 4 can control the opening module 2 to drive the handle to rotate to an unlocked position, and then control the opening module 2 to separate from the handle and retreat to an installed position. When the monitoring module 5 detects that the opening module 2 separates from the handle and retreats to the installed position, the pose adjustment module 4 can control the actuating module 3 to apply an actuating force to the cabin door when the opening module 2 separates from the handle to open the cabin door.

[0041] In the technical solution, the monitoring module 5 measures the cabin 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 pose adjustment information and transmit the pose adjustment information to the pose adjustment module 4. The relative positional relationship between the cabin door, the opening module 2, and the actuating module 3 can be determined through the monitoring module 5. Then, the pose of the opening module 2 and the actuating module 3 is adjusted through the pose adjustment module 4 to ensure that the opening module 2 can be accurately connected with the handle and the actuating module 3 can act on the door body of the cabin door. Then, the opening module 2 drives the handle of the cabin door to rotate, so that the handle is separated from the handle after rotating from the locking position or a position between the locking position and the unlocking position to the unlocking position, and the actuating module 3 applies the actuating force to impact the door body of the cabin door to open the cabin door. Thus, the slide bag can be prevented from being inflated and unfolded into the cabin to cause injury to the personnel when the cabin door cannot be smoothly opened. At the same time, the automatic opening of the cabin door can be realized through the cabin door actuating device.

[0042] In other words, the opening module 2 drives the handle of the cabin door to rotate accurately. After the position of the handle of the cabin door is rotated to the unlocking position, the actuating module 3 acts to push or impact the cabin door to act quickly. The monitoring module 5 can realize the pose monitoring of the opening module 2 and the actuating module 3, and the data measurement of the cabin door. According to the pose state of the opening module 2 and the actuating module 3, the pose adjustment module 4 is instructed to adjust the pose of the opening module 2 and the actuating module 3. The cabin door actuating device can be used for emergency opening of the cabin door or application in the slide deployment of the cabin door.

[0043] The monitoring module 5 is further configured to monitor third position information of the handle of the cabin door and determine the position of the handle according to the third position information. When the monitoring module 5 detects that the handle of the cabin door is located in the operating range of the opening module 2 (for example, the gripping piece 24), the pose adjustment module 4 adjusts the pose of the opening module 2 and the actuating module 3 according to the pose adjustment information, so that the opening module 2 can be aligned with and accurately connected with the handle of the cabin door.

[0044] In addition, the monitoring module 5 can measure the data of the cabin door. The data measurement specifically includes the angle detection of the cabin door, the displacement detection of the cabin door, the displacement detection of the handle, the position detection of the opening module 2, the force / torque, strain, and other motion parameters of the cabin door.

[0045] Reference Figure 3The opening module 2 comprises 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 position adjusting module 4. One end of the rocker arm 22 is connected with the first driving member 21, and the other end is connected with the adapter 23. The adapter 23 is connected with the gripping member 24 at a side away from the rocker arm 22. The gripping member 24 is selectively connected with or separated from the handle. The extending direction of the adapter 23 is parallel to the rotation axis of the rocker arm 22. Thus, the rocker arm 22 is swung between the first position and the second position by the first driving member 21. It can be understood that the first position of the rocker arm 22 corresponds to the locked position of the handle, and the second position of the rocker arm 22 corresponds to the unlocked position of the handle. On the one hand, the adapter 23 is used to connect the gripping member 24 and the rocker arm 22. On the other hand, the adapter 23 is used to make up the spacing between the gripping member 24 and the handle so that the gripping member 24 can be smoothly connected with the handle. For example, the adapter 23 is an adapter shaft or an adapter rod. In order to reduce the load of the first driving member 21, the adapter 23 can be a hollow structure.

[0046] In some embodiments, the rocker arm 22 and the adapter 23 can be an integrated structure, and the two are connected together to be substantially L-shaped. In other embodiments, as shown in Figure 3 and Figure 4 , the rocker arm 22 and the adapter 23 are fixed together through a first mounting seat 25. The end of the rocker arm 22 away from the first driving member 21 is provided with a first connecting part extending along the extending direction of the rocker arm 22. The first connecting part comprises a plurality of first connecting parts 221 arranged at intervals. The first mounting seat 25 can be connected with any one of the first connecting parts 221 to adjust the mounting position of the gripping member 24 on the rocker arm 22. That is, the position adjustment of the gripping member 24 of the present application has two connection modes of adjustment through the position adjusting module and manual adjustment.

[0047] For example, in combination with Figure 3 and Figure 4 , the plurality of first connecting parts 221 are a plurality of first threaded holes. Based on this, a second connecting part can also be arranged on the rocker arm 22. The second connecting part comprises a plurality of second connecting parts 222 arranged one by one corresponding to the plurality of first connecting parts 221 to increase the connection reliability between the first mounting seat 25 and the rocker arm 22, and prevent the first mounting seat 25 from being displaced relative to the rocker arm 22. In addition, a positioning part 223 is arranged between each pair of corresponding first connecting parts 221 and second connecting parts 222. For example, the positioning part 223 is a positioning hole, and the adapter 23 penetrates through the first mounting seat 25 and is connected in the positioning hole. In other embodiments, the first connecting part and the second connecting part are both connecting grooves arranged along the extending direction of the rocker arm 22, so as to improve the adjustment accuracy of the first mounting seat 25 when manually adjusting the connecting position of the first mounting seat 25. Correspondingly, the above-mentioned positioning part is a positioning sliding groove.

[0048] In combination with the above-mentionedFigure 3 The gripping member 24 comprises a body 241 and a locking portion 242, the body 241 is provided with a locking groove 2411, and the locking portion 242 is rotationally connected to the groove opening of the locking groove 2411. The locking portion 242 is rotated to the groove opening to lock the handle in the locking groove 2411, and the locking portion 242 is rotated out of the groove opening to unlock the handle from the locking groove 2411, so that the handle can be pulled out of or released from the locking groove 2411. In other words, the gripping member 24 is a hook lock. Based on this, the gripping member 24 further comprises 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, and ensure that when the locking portion 242 is rotated out of the groove opening, the handle can be smoothly pulled out of or released from the locking groove 2411. It can be understood that the above-mentioned body 241 and the locking portion 242 are rotationally connected to the groove opening of the locking groove 2411 through a pin shaft, and the inclination sensor is arranged on the pin shaft.

[0049] The control unit and the motor are electrically connected, so as to drive the pin shaft to rotate, and then drive the locking portion 242 to rotate.

[0050] In other embodiments, the gripping member 24 is a mechanical hand.

[0051] In some embodiments of the present application, the position adjusting module 4 comprises a first moving assembly 41 and a second moving assembly 42, the second moving assembly 42, the actuating module 3 and the monitoring module 5 are connected with the first moving assembly 41 and move along the first direction Z under the driving of the first moving assembly 41, and the opening module 2 is arranged on the second moving assembly 42 and can move along the second direction X under the driving of the second moving assembly 42, the second direction X is perpendicular to the first direction Z, so as to realize the position adjustment of the opening module 2, the actuating module 3 and the monitoring module 5 along the first direction Z, and the position adjustment of the opening module 2 along the second direction X.

[0052] Based on the above-mentioned embodiments, the first moving assembly 41 comprises a first driving module 411, a guide 412 and a moving piece 413, the guide 412 is arranged on the base 1 and extends along the first direction Z, the moving piece 413 is arranged on the guide 412 and connected with the first driving module 411, and can move along the first direction Z relative to the guide 412 under the driving of the first driving module 411, the opening module 2, the actuating module 3 and the monitoring module 5 are arranged on the moving piece 413, and 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 piece 413, so as to realize the automatic adjustment of the positions of the actuating module 3 and the monitoring module 5 along the first direction Z.

[0053] For example, the first driving module 411 comprises a driving motor and a first transmission structure, wherein the first transmission structure is a screw nut structure, a gear and rack structure or a structure realized by a roller and a flexible traction rope to realize the movement of the moving part 413 in the first direction Z.

[0054] Alternatively, the first moving assembly comprises a plurality of threaded holes arranged on the guide part and spaced apart in the first direction Z, and a plurality of threaded holes arranged on the moving part and spaced apart in the first direction Z, the threaded holes on the guide part and the threaded holes on the moving part can be arbitrarily matched and connected together by a fastening screw in a threaded manner to realize the adjustment of the relative position of the two in the first direction Z.

[0055] Please continue to refer to Figure 1 The pose adjustment module 4 comprises two groups of first moving assemblies 41 and a connecting part 43, the two groups of first moving assemblies 41 are arranged spaced apart in the second direction X, the connecting part 43 is connected between two moving parts 413 in the two groups of first moving assemblies 41, the opening module 2 is slidingly fitted on the connecting part 43 in the second direction X, the actuating module 3 is arranged on the moving part 413 of one of the two groups of first moving assemblies 41, and the monitoring module 5 is arranged on the moving part 413 of the other group of first moving assemblies 41. It can be understood that the above two moving parts 413 are in a columnar structure and are connected with the connecting part 43 to form a U-shaped structure, and each side wall of the U-shaped structure is provided with a mechanism to ensure the structural balance of the entire cabin door actuating device. At the same time, since the connecting part 43 is connected between the two moving parts 413 in the two groups of first moving assemblies 41, the opening module 2 is slidingly fitted on the connecting part 43 in the second direction X, thereby realizing the position adjustment of the opening module 2 in the first direction Z, and the connecting part 43 is connected between the two moving parts 413 in the two groups of first moving assemblies 41 on both sides of the second direction, which can ensure the stable connection of the connecting part 43, and further ensure the stable installation of the opening module 2.

[0056] Based on the above embodiment, the connecting part 43 is provided with a first sliding groove 431 extending in the second direction X, the opening module 2 is slidingly fitted in the first sliding groove 431, and the first sliding groove 431 is drivingly connected with the second moving assembly 42 arranged below the connecting part 43, the actuating module 3 is slidingly fitted on the moving part 413 in one of the two groups of first moving assemblies 41 in the first direction Z, and the monitoring module 5 is slidingly fitted on the moving part 413 in the other group of first moving assemblies 41 in the first direction Z. The monitoring module 5 and the actuating module 3 are arranged opposite to each other in the second direction X, which facilitates the monitoring module 5 to collect the position information of the actuating module 3, the opening module 2 and the handle of the cabin door.

[0057] And, the actuation module 3 can not only be moved along the first direction Z by the mobile piece 413 in one of the two groups of first mobile assemblies 41, but also be slid along the first direction Z on the mobile piece 413, for example, as shown in Figure 5 a second sliding groove 4131 is formed on the mobile piece 413 along the first direction Z, and the actuation module 3 includes a second mounting base 31 and an actuator 32. The second mounting base 31 is provided with a plurality of threaded holes, which can be pressed on the groove wall of the second sliding groove 4131 by fastening screws to realize the relative fixation therebetween. Similarly, the monitoring module 5 can not only be moved along the first direction Z by the mobile piece 413 in the other group of first mobile assemblies 41, but also be slid along the first direction Z on the mobile piece 413. For example, the mobile piece 413 is also provided with the second sliding groove 4131. The monitoring module 5 includes a third mounting base 51, which is slidably fitted in the second sliding groove 4131.

[0058] Alternatively, in some other embodiments, the actuation module 3 can also include the second mounting base 31 and any one of a pneumatic cylinder, a linear motor, a hydraulic cylinder, etc.

[0059] In other words, the mobile piece 413 is a mobile plate, and the two mobile plates are each provided with the second sliding groove 4131 extending along the first direction Z. The actuation module 3 and the monitoring module 5 are respectively slidably fitted in the corresponding second sliding grooves 4131.

[0060] In combination with Figure 2 and Figure 6 , the monitoring module 5 includes a monitoring unit and a control unit. The monitoring unit includes the third mounting base 51, a camera 52, and a rotating shaft 53. The third mounting base 51 is arranged on the pose adjustment module 4 (e.g., the mobile piece 413 of the first mobile assembly 41), and the rotating shaft 53 is rotatably connected to the camera 52 and the third mounting base 51, so that the camera 52 can rotate around the central axis of the rotating shaft 53 to adjust the collection area of the camera 52, so that the opening module 2, the actuation module 3, and the handle of the hatch door are always located in the collection 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 central axis by a corresponding driving member.

[0061] It can be understood that the monitoring unit, the opening module 2, the actuation module 3 and the pose adjustment module 4 are electrically connected with the control unit to realize signal transmission between the modules. Specifically, each of the monitoring unit, the opening module 2, the actuation module 3 and the pose adjustment module 4 has a corresponding driving element, each driving element is electrically connected with the control unit, and the camera 52 is also electrically connected with the control unit. The control unit controls the action of each driving element to realize the pose adjustment of each component. The control unit determines the relative position relationship between the opening module 2, the actuation module 3 and the hatch based on the image information collected by the camera 52, sends a pose adjustment instruction to the pose adjustment module 4, and the pose adjustment module 4 adjusts the pose of the opening module 2 and the actuation module 3 according to the pose adjustment instruction.

[0062] In some embodiments, the monitoring unit further includes a displacement sensor for detecting the state of the hatch, such as the initial state of the handle, the fully rotated state of the handle, the rotated state of the lock pin of the precision actuation system, the rotated-in-place state of the precision actuation system, etc. The principle is that when rotated to the corresponding state, the laser displacement sensor is blocked, serving as a sign of each action being in place, and the next action can be performed.

[0063] To ensure that the operation of the automatic equipment does not damage the test piece during the rapid opening of the hatch, the hatch automatic rapid opening device has a feedback adjustment function. The monitoring module 5 further includes an acquisition unit and an adjustment unit. The acquisition unit is used to acquire motion parameters in the opening process of the hatch, including the trajectory of the handle, the opening trajectory of the hatch and the stress of the hatch structural member. 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 the 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, to ensure the safety of the hatch structure.

[0064] For example, the trajectory of the handle and the opening trajectory of the hatch can be obtained by corresponding displacement sensors, and each displacement sensor is electrically connected with the control unit. The stress of the hatch structural member can be obtained by a corresponding force sensor, and the force sensor is electrically connected with the control unit.

[0065] The motion parameters can further include the states of the opening module 2, the actuating module 3 and the hatch door, specifically including but not limited to the initial state of the handle, the fully rotated state of the handle, the rotation state of the pin shaft 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 time of the locking and unlocking of the gripping piece 24 of the opening module 2. The actuating parameters of the actuating module 3 include the actuating time point, speed, stroke and direction of the actuating module 3.

[0066] The monitoring module 5 can also automatically test the opening module 2, the actuating module 3 and the pose adjustment module 4, including but not limited to the tests of mechanical structure integrity, electrical system connection state, sensor sensitivity, etc. The automatic testing function is realized through the built-in sensors and autonomous control algorithm to quickly detect and analyze the hatch door system. The device also has a data analysis function, which can comprehensively analyze and process the collected data. Through the application of big data technology and machine learning algorithm, the operation data of the hatch door system are deeply mined and analyzed, including fault frequency, maintenance time, working load and other data analysis.

[0067] Continuing to refer to Figure 2 and Figure 7 The base 1 includes a bottom plate 11 having a first surface and a second surface arranged along a first direction Z, and the first surface is provided with a support frame 12 on both sides in a second direction X. The pose adjustment module 4 includes a first moving assembly 41 and a second moving assembly 42 arranged on the support frame 12, and a plurality of universal wheels 44 arranged on the second surface of the bottom plate 11, realizing 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 carrying of the hatch actuating device.

[0068] For example, each support frame 12 includes a support vertical rod 121, a support inclined rod 122 connected to the outer side of the support vertical rod 121, and a support horizontal rod 123 connected to the bottom of the support inclined rod 122 and the bottom of the support vertical rod 121; the three constitute a triangular structure to ensure that the structural stability of the support frame 12 is good.

[0069] For example, as Figure 8As shown, the cabin door actuating device also provides another structural form, which has the same working principle as the above-mentioned cabin door actuating device, and only differs in the installation structure. The cabin door actuating device also comprises a base 1, an opening module 2, an actuating module 3, a pose adjustment module 4 and a monitoring module 5. The pose 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 pose adjustment module 4, the monitoring module 5 measures the cabin 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 pose adjustment information and transmit the pose adjustment information to the pose adjustment module 4, the pose adjustment module 4 adjusts the pose of the opening module 2 and the actuating module 3 according to the pose adjustment information, so that the opening module 2 is aligned with and connected to 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 to the handle, the opening module 2 separates from the handle after driving the handle to rotate to the unlocking position, and the actuating module 3 applies the actuating force to the cabin door to open the cabin door when the opening module 2 separates from the handle. For example, the pose adjustment module 4 comprises two, the opening module 2 is arranged on one of the two pose adjustment modules 4, and the actuating module 3 is arranged on the other of the two pose adjustment modules 4.

[0070] For example, as shown in the drawings, Figure 8 The opening module 2 is arranged on one of the two pose adjustment modules 4, and the pose adjustment module 4 comprises a longitudinal support rod and a transverse support frame connected to the longitudinal support rod, the transverse support frame is in sliding fit with the longitudinal support rod and can be fixed at any position of the longitudinal support rod by a fastener, and the end of the transverse support frame is connected with an end gripping member for clamping or gripping the handle of the cabin door. The actuating module 3 is arranged on the other of the two pose adjustment modules 4, and the pose adjustment module 4 comprises a mechanism mounting rack 47, and the actuating module 3 can be installed at any position of the mechanism mounting rack 47 by a fastener to realize the adjustment of the position.

[0071] In some embodiments of the present application, the present application also provides a flying vehicle comprising a fuselage, a cabin door and the above-mentioned cabin door actuating device, the cabin door is connected to the fuselage and can separate the internal space of the fuselage from the external environment when the cabin door is closed, and the base 1 of the cabin door actuating device is arranged in the internal space of the fuselage and close to the cabin door to open the cabin door. Since the cabin door actuating device in the flying vehicle has the same structure as the cabin door actuating device described in any of the above technical solutions, both 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 cabin door opening method, which is executed by the cabin door actuating device described in any of the technical solutions, and the cabin door opening method comprises the following steps: measuring cabin door position information of the cabin door, first position information of the opening module 2, and second position information of the actuating module 3 to obtain pose adjustment information and transmit the pose adjustment information to the pose adjustment module 4; the pose adjustment module 4 adjusts the pose of the opening module 2 and the actuating module 3 according to the pose adjustment information, so that the opening module 2 is aligned 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 is separated from the handle after driving the handle to rotate to an unlocked position, and the actuating module 3 applies an actuating force to the cabin door to push the cabin door open when the opening module 2 is separated from the handle.

[0073] Therefore, the relative positional relationship among the cabin door, the opening module 2, and the actuating module 3 can be determined by the monitoring module 5, and then the pose of the opening module 2 and the actuating module 3 is adjusted by the pose adjustment module 4, so as to ensure that the opening module 2 can be accurately connected with the handle, and the actuating module 3 can act on the door body of the cabin door. Then, the opening module 2 drives the handle of the cabin door to rotate, so as to rotate the handle from a locked position or a position between the locked position and the unlocked position to the unlocked position, and then the opening module 2 is separated from the handle, and the actuating module 3 applies an actuating force to the door body of the cabin door to open the cabin door. Therefore, when the cabin door cannot be smoothly opened, the slide bag will not be inflated and unfolded into the cabin to cause injury to the personnel, and the automatic opening of the cabin door can be realized by the cabin door actuating device.

[0074] In some embodiments of the present application, the image information captured by the monitoring module 5 can also be confirmed to determine whether the cabin 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 cabin door handle, the opening module 2, and the actuating module 3 is not within the shooting range of the monitoring module 5, the installation position of the moving part 413 in the second sliding groove 4131 needs to be adjusted separately.

[0075] In the description of the present specification, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0076] The above merely describes specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims. In addition, the principles and embodiments of the present application are described by applying specific examples in the specification, and the above description of the embodiments is only used to help understand the method and core idea of the present application, and the content of the specification should not be understood as limiting the present application.

Claims

1. A hatch 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 posture adjustment information and transmit the posture adjustment information 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 unlocked 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 retract to a safe position; When the monitoring module detects that the opening module has retreated to the safe position, the posture adjustment module can control the actuation module to apply an actuating force to the hatch to open the hatch when the opening module is separated from the handle.

2. The hatch 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 hatch door actuating device according to claim 2, characterized in that: The gripping member includes a body and a locking portion, wherein the body has a locking slot, and the locking portion is rotatably connected to the notch of the locking slot. The locking portion rotates to the notch to lock the handle in the locking slot, and the locking portion rotates out of the notch to unlock the handle from the locking slot.

4. The hatch 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 hatch 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 hatch 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. It 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 the two 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 group of the first moving components in the two groups of the first moving components, and the monitoring module is arranged on the moving member of the other group 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 movable assembly provided below the connecting member through the first slide groove, the actuating module is slidably fitted along the first direction on the movable member in one of the two groups of the first movable assemblies, and the monitoring module is slidably fitted along the first direction on the movable member in the other of the two groups of the first movable assemblies.

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 hatch door actuating device according to claim 1, characterized in that: The base includes a base 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 base plate.

11. The hatch 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 the opening process, wherein the motion parameters include a trajectory of the handle, an opening trajectory of the hatch, and stresses of structural components of the hatch; The adjusting unit adjusts the opening parameters of the opening module and the actuation parameters of the actuation module according to the motion parameters.

12. An aircraft, characterized in that: include: body; a door connected to the fuselage, capable of isolating 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 interior 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 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 unlocked 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 hatch to push the hatch open.

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