Vertical take-off and landing aircraft assembling device and method

Abstract

The invention provides a vertical take-off and landing aircraft assembling device and method. The embodiment of the invention provides a vertical take-off and landing aircraft assembling device. The vertical take-off and landing aircraft assembling device comprises a first platform, a clamping assembly and a moving assembly. The clamping assembly is arranged on the first platform and comprises two clamping pieces. The clamping piece comprises a clamping part and an adjusting part, the clamping part is rotatably connected to the adjusting part, and the adjusting part can move relative to the first platform in the second direction. The moving assembly can drive the first platform to move in the space. The embodiment of the invention further provides a vertical take-off and landing aircraft assembly method which comprises the following steps that the assembly device is provided and moved to the position below the tail structure of the vertical take-off and landing aircraft. The tail structure is lifted with a support. And the tail structure is clamped on the assembling device. The clamping piece abuts against and clamps the left wing face and the right wing face of the V-shaped empennage. And the tail structure moves to a butt joint position of a fuselage structure of the vertical take-off and landing aircraft. And the tail structure and a fuselage structure of the vertical take-off and landing aircraft are installed.

Description

Technical Field

[0001] The present application relates to the field of vertical take-off and landing aircraft assembly, and particularly to a vertical take-off and landing aircraft assembly device and an assembly method. Background Art

[0002] A vertical take-off and landing aircraft (VTOL) is an aircraft that can take off and land directly in the vertical direction without relying on a runway. This type of aircraft combines the flexibility of a helicopter and the high-speed performance of a fixed-wing aircraft, and has developed rapidly in recent years due to technological progress and market demand. For a vertical take-off and landing aircraft with a V-tail, in the traditional installation process, a hoisting method is usually used for installation, but this method has problems such as limited accuracy, high labor intensity, low efficiency, and potential safety hazards.

[0003] The hoisting accuracy is limited by the accuracy of the hoisting equipment and the experience of the operator, and it is difficult to achieve high-precision accurate alignment during the adjustment process. In addition, the labor intensity of high-altitude operations is high, and the operator needs to maintain high-precision operations for a long time, resulting in low efficiency. At the same time, there may be risks of object collision and falling during the hoisting process, posing a threat to the safety of the operator and equipment. Summary of the Invention

[0004] In order to solve the problems of limited installation accuracy, low efficiency, and potential safety hazards in the installation of the tail structure of a vertical take-off and landing aircraft, the embodiments of the present application provide a vertical take-off and landing aircraft assembly device and an assembly method with high installation accuracy, high installation efficiency, and low potential safety hazards.

[0005] The embodiments of the present application provide a vertical take-off and landing aircraft assembly device for transporting and assembling the tail structure of a vertical take-off and landing aircraft. The vertical take-off and landing aircraft assembly device includes a first platform, a clamping assembly, and a moving assembly. The clamping assembly is arranged on the first platform. The clamping assembly includes two clamping members arranged at intervals in a first direction. The two clamping members can clamp the tail structure. The clamping member can move relative to the first platform in the first direction to adjust the distance between the two clamping members in the first direction. The clamping member includes a clamping portion and an adjusting portion. The clamping portion is rotatably connected to the adjusting portion. Along a second direction, the adjusting portion can move relative to the first platform to adjust the posture of the clamping member. The second direction intersects with the first direction. The moving assembly can drive the first platform to move in space.

[0006] It can be understood that the clamping member can clamp the tail structure of the vertical takeoff and landing aircraft well. On this basis, the first platform can adjust its position driven by the moving component, thereby driving the position adjustment of the clamping component connected to the first platform, and then can align with the tail structure for clamping, or can drive the tail structure to adjust its position after clamping so that the tail structure is aligned with other parts of the vertical takeoff and landing aircraft to complete precise installation. Moreover, the position of the clamping member is adjustable in the first direction and the second direction, and the position can be adjusted according to the tail structures of different sizes, so as to be able to clamp the tail structures of different sizes well.

[0007] In one embodiment, the clamping component includes a slide rail and a driving component. The slide rail is connected to the first platform. The slide rail extends along the first direction. The clamping member is movably connected to the slide rail. The driving component is configured to drive the clamping member to move along the slide rail.

[0008] In one embodiment, the tail structure includes a V-shaped tail fin. A clamping surface is provided on the clamping portion. The clamping surfaces of the two clamping members are inclined to each other. The clamping surface is configured as the surface of the clamping portion close to the V-shaped tail fin. The clamping surfaces of the two clamping members respectively abut against the left and right wing surfaces of the V-shaped tail fin.

[0009] In one embodiment, a buffer member is provided on the clamping surface and / or the support member. The buffer member is made of a soft material.

[0010] In one embodiment, the buffer member includes an anti-slip structure, and the anti-slip structure is configured to increase the friction between the tail structure and the buffer member.

[0011] In one embodiment, the support member is a telescopic structure, and the support member can adjust its height in the second direction.

[0012] In one embodiment, a pressure detection device is provided on the clamping surface; and / or A quick release mechanism is provided on the clamping member; and / or The vertical takeoff and landing aircraft assembly device further includes a host computer, and the host computer is configured to control the moving component to drive the first platform to move.

[0013] In one embodiment, the clamping component further includes a support member. Along the third direction, the support member is spaced apart from one side of the clamping member, and the support member can support the tail structure.

[0014] The embodiment of the present application further provides a vertical takeoff and landing aircraft assembly method. The vertical takeoff and landing aircraft includes a tail structure, and the tail structure includes a V-shaped tail fin. The method includes the following steps: Provide an assembly device and move it below the tail structure of the vertical take-off and landing aircraft along the second direction; Use the support of the assembly device to lift the tail structure; Clamp the tail structure on the assembly device; the assembly device includes a clamping member that abuts against and clamps the left and right wing surfaces of the V-tail; Drive the tail structure to move through the assembly device until the tail structure moves to the docking position of the fuselage structure of the vertical take-off and landing aircraft; Install the tail structure on the fuselage structure of the vertical take-off and landing aircraft.

[0015] It can be understood that the assembly method of this vertical take-off and landing aircraft is simple in operation, improves the installation efficiency and can guarantee the accuracy, and can meet the installation accuracy of the vertical take-off and landing aircraft. At the same time, this method does not require manual high-precision operation, reduces high-altitude operations to reduce safety risks.

[0016] In one embodiment, the support can adjust its height in the second direction to adapt to the contour of the tail structure; and / or The clamping member adopts multi-point clamping, and the contact width of each clamping point does not exceed 100 mm; and the clamping member can be adjusted in angle to adapt to the inclination of the tail structure. The clamping member clamps at a position 100 - 300 mm above the connection between the V-tail and the fuselage structure of the vertical take-off and landing aircraft; the depth of the clamping member extending into the inner side of the V-tail does not exceed 50 mm to avoid interfering with the internal structure of the V-tail. Description of the Drawings

[0017] Figure 1 It is a three-dimensional schematic diagram of the vertical take-off and landing aircraft assembly device provided by an embodiment of the present application.

[0018] Figure 2 It is a rear view schematic diagram of the vertical take-off and landing aircraft assembly device provided by an embodiment of the present application.

[0019] Figure 3 It is a side view schematic diagram of the vertical take-off and landing aircraft assembly device provided by an embodiment of the present application.

[0020] Figure 4 It is a plan view schematic diagram of the buffer of the vertical take-off and landing aircraft assembly device provided by an embodiment of the present application.

[0021] Figure 5 It is a three-dimensional schematic diagram of the second adjustment component of the vertical take-off and landing aircraft assembly device provided by an embodiment of the present application.

[0022] Figure 6Front view schematic diagram of the moving component of the vertical take-off and landing aircraft assembly device provided by an embodiment of the present application.

[0023] Figure 7 Flow schematic diagram of the vertical take-off and landing aircraft assembly method provided by another embodiment of the present application.

[0024] Main element symbol description: 100, vertical take-off and landing aircraft assembly device; 1, first platform; 2, clamping component; 21, clamping member; 211, clamping part; 2110, clamping surface; 2111, buffer member; 2112, friction increasing structure; 212, adjusting part; 22, slide rail; 23, support member; 3, moving component; 31, first adjusting component; 32, second platform; 33, second adjusting component; 331, first slide rail; 332, second slide rail; 333, first slider; 334, second slider; 335, fifth platform; 34, third platform; 35, third adjusting component; 36, fourth platform; 37, fourth adjusting component; 38, rolling member; X, first direction; Z, second direction; Y, third direction.

[0025] The following specific embodiments will further illustrate the present application in conjunction with the above-mentioned drawings. Specific Embodiments

[0026] The following description will refer to the accompanying drawings to more comprehensively describe the content of the present application. The accompanying drawings show exemplary embodiments of the present application. However, the present application can be implemented in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided to make the present application thorough and complete, and to fully convey the scope of the present application to those skilled in the art. Similar reference numerals denote the same or similar components. The terms used herein are for the purpose of describing specific exemplary embodiments only and are not intended to limit the present application. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms as well. Additionally, when used herein, "comprises" and / or "comprising" and / or "has", integers, steps, operations, components and / or components, but does not exclude the presence or addition of one or more other features, regions, integers, steps, operations, components and / or their groups. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Moreover, unless clearly defined in the text, terms such as those defined in a general dictionary should be interpreted as having a meaning consistent with their meaning in the relevant art and the content of this application, and will not be interpreted as idealized or overly formal meanings.

[0027] It can be understood that currently, the V-shaped tail structure of a vertical takeoff and landing aircraft is usually installed by hoisting. Specifically, the V-tail can be lifted by a bridge crane, and workers can manually dock and fix the V-tail with the fuselage on the operating platform. In this way, the installation of the V-tail can be achieved. However, this installation method relies on manual operation for docking, and it is difficult to guarantee the accuracy, making it difficult to meet the requirements of high-precision installation for vertical takeoff and landing aircraft. Moreover, the V-tail is large in volume and heavy in weight, and manual operation is time-consuming and laborious, with a high labor intensity. The hoisting and docking processes take a long time, affecting production efficiency. At the same time, there are certain safety risks in working at heights. Therefore, the inventor of this application came up with the idea of designing an assembly device and an assembly method for a vertical takeoff and landing aircraft to solve the above problems.

[0028] As Figures 1 to 3 shown, an embodiment of this application provides a vertical takeoff and landing aircraft assembly device 100 for transporting and assembling the tail structure of a vertical takeoff and landing aircraft. The vertical takeoff and landing aircraft assembly device 100 includes a first platform 1, a clamping assembly 2, and a moving assembly 3.

[0029] For the convenience of subsequent reading, the first direction X, the second direction Z, and the third direction Y are introduced in this application to describe the embodiments of this application. The first direction X, the second direction Z, and the third direction Y can be three non-parallel straight-line directions in space; further, the first direction X, the second direction Z, and the third direction Y can be three mutually perpendicular directions in a three-dimensional coordinate system (three-dimensional Cartesian coordinate system). In subsequent embodiments, the first direction X is taken as the X-axis direction of the coordinate axis of the three-dimensional coordinate system, the second direction Z is taken as the Z-axis direction of the coordinate axis of the three-dimensional coordinate system, and the third direction Y is taken as the Y-axis direction of the coordinate axis of the three-dimensional coordinate system as an example for description.

[0030] The clamping assembly 2 is arranged on the first platform 1. The clamping assembly 2 includes two clamping members 21 spaced along the first direction X, and the two clamping members 21 can clamp the tail structure. The clamping member 21 can move relative to the first platform 1 along the first direction X to adjust the distance between the two clamping members 21 in the first direction X. The clamping member 21 includes a clamping portion 211 and an adjusting portion 212. The clamping portion 211 is rotatably connected to the adjusting portion 212. Along the second direction Z, the adjusting portion 212 can move relative to the first platform 1 to adjust the attitude of the clamping member 21. The moving assembly 3 can drive the first platform 1 to move in space.

[0031] In this embodiment, the tail structure is V-shaped, and the clamping member 21 can be arranged corresponding to the V-shaped tail structure. Along the first direction X, tail fins are respectively arranged on two opposite sides of the tail structure, and the tail fins are inclined relative to the tail structure. In the present application, the two clamping members 21 are arranged at intervals along the first direction X, which can well support the wing surfaces of the left and right inclined tail fins of the tail structure, and at the same time, the tail structure is located between the two clamping members 21 to be clamped by the two clamping members 21. At the same time, at least two clamping points can be arranged on the surface of each clamping member 21, and the contact width of each clamping point does not exceed 100 mm, so as to reduce the influence on the surface of the tail structure and ensure that the tail structure is firmly fixed. When clamping, the surface of the tail structure can be attached to the surface of the clamping member 21 to ensure good clamping.

[0032] A telescopic device can be arranged inside the clamping member 21. Specifically, a telescopic arm design can be adopted, so that the clamping member 21 can move along the second direction Z to adjust the height of the clamping member 21, thereby adjusting the position where the clamping member 21 can clamp the tail structure, and the adjustment range can be 500 mm to 2000 mm. That is, the adjusting part 212 can adopt a multi-section telescopic arm structure, so that the adjusting part 212 can move relative to the first platform 1 along the second direction Z. The setting of the telescopic device enables the clamping member 21 to adjust the height according to the tail structure of different heights to adapt to tail structures of different sizes. At the same time, if necessary, after clamping the tail structure, the clamping member 21 can also drive the tail structure to adjust the position in the second direction Z.

[0033] The two clamping members 21 can also move along the first direction X to adjust the distance between the two clamping members 21 in the first direction X, so as to adjust the opening and closing range of the clamping assembly 2 to adapt to tail structures of different sizes. The two clamping members 21 mainly clamp the position 100 - 300 mm above the connection between the V-tail and the fuselage, avoiding key structures and sensitive components. And when clamping, the depth that the clamping member 21 extends into the inner side of the V-tail does not exceed 50 mm, so as to reduce the influence on the surface of the tail structure.

[0034] In this embodiment, the clamping part 211 is used to contact and clamp the tail structure. It can be connected to the adjusting part 212 through a rotating shaft so that the clamping part 211 is rotatably connected to the adjusting part 212. The clamping part 211 can rotate relative to the adjusting part 212 around a rotation axis, and the direction of the rotation axis is parallel to the third direction Y. The clamping part 211 can rotate relative to the adjusting part 212 within a range of ±15°, so as to be able to adjust to a suitable angle before clamping the tail structure so as to be able to fit the surface of the tail structure as much as possible, thereby ensuring good clamping. At the same time, after clamping, it can also drive the tail structure to adjust the angle according to the position where the tail structure is installed as needed.

[0035] The moving component 3 can be an AGV (Automated Guided Vehicle) cart (automated guided transport vehicle) or other device capable of driving the first platform 1 to move, enabling the first platform 1 to move within the space. The moving component 3 can also drive the first platform 1 to move along the first direction X, the second direction Z, or the third direction Y to adjust the position of the first platform 1, thereby being able to adjust the position of the clamping component 2.

[0036] The moving component 3 can include a second platform 32 and rolling members 38. The second platform 32 can be connected to the first platform 1. The rolling members 38 can be selected as wheels, which are rotatably connected to the second platform 32. The second platform 32 can move by means of the rolling members 38, so that the first platform 1 connected to the second platform 32 can also move, realizing the movement of the first platform 1 within the space.

[0037] In other embodiments, a quick release mechanism can also be provided on the clamping member 21. Specifically, a pneumatic quick release device can be adopted, which can quickly release the tail structure in case of an emergency, improving the clamping safety.

[0038] It can be understood that the clamping member 21 can clamp the tail structure of the vertical takeoff and landing aircraft well. On this basis, the first platform 1 can adjust its position driven by the moving component 3, thereby driving the position of the clamping component 2 connected to the first platform 1 to be adjusted. Furthermore, it can align with the tail structure for clamping, or after clamping, it can drive the tail structure to adjust its position so that the tail structure is aligned with other parts of the vertical takeoff and landing aircraft to complete precise installation. And the position of the clamping member 21 is adjustable in the first direction X and the second direction Z, and can be adjusted according to the tail structures of different sizes to be able to clamp the tail structures of different sizes well.

[0039] In one embodiment, the clamping component 2 includes a slide rail 22 and a driving component. The slide rail 22 is connected to the first platform 1. The slide rail 22 extends along the first direction X. The clamping member 21 is movably connected to the slide rail 22. The driving component is configured to drive the clamping member 21 to move along the slide rail 22.

[0040] In this embodiment, the slide rail 22 is fixedly connected to the first platform 1. Along the first direction X, the clamping member 21 can move along the slide rail 22 to adjust the position of the clamping member 21 in the first direction X, thereby adjusting the distance between the two clamping members 21 in the first direction X. The driving component can be selected as a servo motor to be able to control the displacement of the clamping member 21 in the first direction X.

[0041] It can be understood that through the setting of the slide rail 22 and the driving component, the positions of the two clamping components 2 in the first direction X are adjustable, so that the distance between the two clamping members 21 in the first direction X is adjustable to adapt to the tail structures of different sizes.

[0042] Further combined with Figure 4 As shown, in one embodiment, a clamping surface 2110 is provided on the clamping portion 211. The clamping surface 2110 is the surface of the clamping portion 211 close to the tail structure. Along the first direction X, the clamping surfaces 2110 of the two clamping members 21 respectively abut against both sides of the tail structure, and the clamping surfaces 2110 of the two clamping members 21 are inclined to each other.

[0043] It can be understood that "abut against" means that at this time the clamping surface 2110 is in contact with the tail structure, and there is an interaction force between the two so that the clamping portion 211 can clamp the tail structure.

[0044] In this embodiment, the two clamping members 21 are inclined to each other, and the two clamping members 21 are generally distributed in a "V" shape. Along the first direction X, the surfaces of the two clamping members 21 on the adjacent side are set as the clamping surfaces 2110, and the two clamping surfaces 2110 are also inclined to each other to be generally distributed in a "V" shape, so as to be able to clamp the V-shaped tail structure well.

[0045] It can be understood that the inclined clamping surface 2110 can not only better fit the two sides of the tail structure which is also inclined, but also play a certain supporting role for the tail structure, so that better clamping can be achieved.

[0046] In other embodiments, a pressure detection device may also be provided on the clamping surface 2110 to be able to detect the pressure on the clamping surface 2110 during clamping, which is convenient for the operator to monitor the clamping process and makes the clamping process more reliable. The pressure detection device can be a pressure sensor, so that the clamping force of the clamping member 21 can be accurately adjusted within the range of 0 - 1000N.

[0047] In other embodiments, the vertical takeoff and landing aircraft assembly device 100 is also provided with a laser alignment system for detecting the installation position of the vertical takeoff and landing aircraft to ensure that the tail structure is completely aligned with the interface of the vertical takeoff and landing aircraft during the installation process.

[0048] In one embodiment, a buffer member 2111 is provided on the clamping surface 2110, and the buffer member 2111 is made of a soft material.

[0049] In this embodiment, the buffer member 2111 can be selected as a soft gasket, specifically, a material such as high-density polyurethane foam or soft rubber can be selected, with a thickness of 10mm to protect the surface of the tail structure. The buffer member 2111 can be integrally formed or separately formed with the clamping member 21.

[0050] It can be understood that the setting of the buffer member 2111 makes the tail structure in flexible contact with the clamping surface 2110, and does not damage the surface of the tail structure during clamping, making the clamping better.

[0051] In one embodiment, the buffer member 2111 includes an anti-slip structure 2112 configured to increase the frictional force between the tail structure and the buffer member 2111.

[0052] In this embodiment, the anti-slip structure 2112 may be provided on the surface of the buffer member 2111 such that the tail structure contacts the anti-slip structure 2112 during clamping to increase the frictional force. The anti-slip structure 2112 may be a concavo-convex structure directly provided on the surface of the buffer member 2111, and any structure capable of increasing the frictional force is acceptable without further limitation herein.

[0053] It can be understood that the provision of the anti-slip structure 2112 makes it difficult for the clamping member 21 to slip when clamping the tail structure, increases the clamping stability, and makes the clamping more firm and reliable.

[0054] In one embodiment, the clamping assembly 2 further includes a support member 23. Along the third direction Y, the support member 23 is spaced apart from one side of the clamping member 21 and is capable of supporting the tail structure. A buffer member 2111 may also be provided on the support member 23.

[0055] In this embodiment, the tail structure includes a V-shaped tail fin and a bottom structure. The clamping member 21 clamps the wing surface of the V-shaped tail fin, and the support member 23 can support the bottom structure. The support surface of the support member 23 in contact with the tail structure may be set to an arc according to the shape of the tail structure to better fit the tail structure and provide good support. Similarly, the support member 23 may also be set as a telescopic structure that can move in the second direction Z to adjust its height. The surface of the support member 23 may use high-density foam or soft rubber material to adapt to the minute unevenness on the surface of the tail structure. The support member 23 can rotate relative to the first platform 1 to better fit the tail structure or adjust the position of the tail structure in a subsequent process for better installation.

[0056] It can be understood that since the tail structure is relatively large, to avoid instability when the two clamping members 21 clamp, the support member 23 can further support the tail structure to ensure the stability and reliability of the clamping assembly 2 during clamping.

[0057] In one embodiment, the moving assembly 3 includes a first adjustment assembly 31 and a second platform 32. The first adjustment assembly 31 is provided on the second platform 32 and is drivingly connected to the first platform 1 for driving the first platform 1 to move in the second direction Z.

[0058] In this embodiment, the first adjustment assembly 31 may select four hydraulic cylinders, which can function to move the first platform 1 in the second direction Z, enabling the first platform 1 to move up and down. The first adjustment assembly 31 may also select other devices as long as they can move the first platform 1 up and down without further limitation herein.

[0059] It can be understood that through the setting of the first adjustment component 31, the clamping component 2 can move in the second direction Z, and the position can be adjusted before clamping the tail structure so as to be adjusted to the position for clamping. At the same time, the position of the first platform 1 can also be adjusted after clamping so as to move the clamped tail structure to a suitable installation position.

[0060] Further in combination with Figure 5 As shown, in an embodiment, the moving component 3 further includes a second adjustment component 33. The second adjustment component 33 is disposed on the first platform 1, and the second adjustment component 33 is drivingly connected to the clamping component 2 for driving the clamping component 2 to move along the first direction X and the third direction Y.

[0061] In this embodiment, the second adjustment component 33 may include a first slide rail 331, a second slide rail 332, a first slider 333, a second slider 334 and a fifth platform 335. The clamping component 2 is connected to the fifth platform 335. The first slide rail 331 is connected to the fifth platform 335, and the first slide rail 331 can extend along the first direction X. The second slide rail 332 is connected to the first platform 1, and the second slide rail 332 can extend along the third direction Y.

[0062] Wherein, the first slider 333 is movably connected to the first slide rail 331, and the first slider 333 can move along the first slide rail 331, that is, the first slider 333 can move along the first direction X. The second slider 334 is movably connected to the second slide rail 332, and the second slider 334 can move along the second slide rail 332, that is, the second slider 334 can move along the third direction Y. The first slider 333 is connected to the second slider 334. When the second slider 334 moves along the third direction Y, it drives the first slider 333 and the first slide rail 331 to move, thereby driving the fifth platform 335 to move, and further driving the clamping component 2 to move along the third direction Y. When the first slider 333 moves relative to the first slide rail 331, the first slide rail 331 drives the fifth platform 335 to move along the first direction X, thereby driving the clamping component 2 to move, realizing the movement of the clamping component 2 in the first direction X and the third direction Y. The second adjustment component 33 can also be selected with other structures as long as it can realize the movement of the clamping component 2 in the first direction X and the third direction Y, and no more limitations are made here. The second adjustment component 33 can be driven by a motor to achieve high-precision adjustment in the first direction X and the third direction Y.

[0063] It can be understood that the setting of the second adjustment component 33 enables the clamping component 2 to move in the first direction X and the third direction Y. Before clamping the tail structure, the position of the clamping component 2 can be adjusted first to align with the tail structure for clamping. After clamping, it can also be moved to the installation position and then finely adjusted by the second adjustment component 33 so that the tail structure can be aligned with the fuselage for installation.

[0064] In other embodiments, the clamping assembly 2 may further include a position detection device, which can detect the position on the fuselage for installing the tail structure. After clamping the tail structure, the position of the clamping assembly 2 can be adjusted according to the detection result of the detection device to obtain a better installation effect.

[0065] As Figure 6 shown, in one embodiment, the moving assembly 3 further includes a third platform 34 and a third adjustment assembly 35. The third adjustment assembly 35 is disposed on the third platform 34, and the third adjustment assembly 35 is drivingly connected to the second platform 32 for driving the second platform 32 to move along the first direction X.

[0066] In this embodiment, the moving assembly 3 is not provided with the second adjustment assembly 33, but is provided with the third adjustment assembly 35, so that the moving assembly 3 can be set in one form according to needs. The third adjustment assembly 35 can be a motor, which can drive the second platform 32 to move accurately along the first direction X, and no more limitations are made here.

[0067] It can be understood that the third adjustment assembly 35 and the first adjustment assembly 31 enable the moving assembly 3 to drive the clamping assembly 2 to move in the first direction X and the second direction Z, so that the moving assembly 3 can be used as a four-degree-of-freedom platform and can be set according to different scenarios.

[0068] In one embodiment, the moving assembly 3 further includes a fourth platform 36 and a fourth adjustment assembly 37. The fourth adjustment assembly 37 is disposed on the fourth platform 36, and the fourth adjustment assembly 37 is drivingly connected to the third platform 34 for driving the third platform 34 to move along the third direction Y.

[0069] In this embodiment, in the case that the moving assembly 3 is not provided with the second adjustment assembly 33, the fourth adjustment assembly 37 is further provided so that the clamping assembly 2 can move along the third direction Y. The fourth adjustment assembly 37 can be a motor, which can drive the third platform 34 to move accurately along the third direction Y, and no more limitations are made here.

[0070] In other embodiments, the moving assembly 3 is not provided with the third adjustment assembly 35. The fourth adjustment assembly 37 is disposed on the fourth platform 36, and the fourth adjustment assembly 37 is drivingly connected to the second platform 32 for driving the second platform 32 to move along the third direction Y.

[0071] It can be understood that the settings of the third adjustment assembly 35 and the third platform 34, as well as the fourth adjustment assembly 37 and the fourth platform 36, can be split and used according to the usage scenario, so that the moving assembly 3 can be used as a four-degree-of-freedom platform, or all can be set at the same time to obtain six-degree-of-freedom adjustment.

[0072] In one embodiment, a slewing assembly is connected to the fourth platform 36, and the slewing assembly can drive the third platform 34 to perform a slewing motion.

[0073] In this embodiment, the slewing assembly can be selected as a motor or a crank-slider mechanism to drive the third platform 34 to perform a slewing motion. The slewing assembly can also be selected as other mechanisms that can drive the third platform 34 to perform a slewing motion, and no excessive restrictions are imposed here.

[0074] It can be understood that the setting of the slewing assembly enables the clamping assembly 2 to be further driven to slewing while being driven to translate, improving the adjustment range of the moving assembly 3, enabling the clamping assembly 2 to be better adjusted, and ensuring the accurate installation of the subsequent tail structure.

[0075] In other embodiments, the moving assembly 3 is provided with rolling elements 38. At this time, the rolling elements 38 are connected to the fourth platform 36 so that the rolling elements 38 can drive the fourth platform 36 to move under the action of an external force, thereby driving other platforms and the clamping assembly 2 to move.

[0076] In one embodiment, the vertical takeoff and landing aircraft assembly device 100 further includes a host computer, which is configured to control the moving assembly 3 to drive the first platform 1 to move.

[0077] In this embodiment, the host computer can adopt an electronic control unit (ECU) and a human-machine interface, so that an operator can control the moving assembly 3 to drive the first platform 1 to move through the host computer. Similarly, the host computer can also be electrically connected to the clamping member 21 to control the movement of the clamping member 21 in the first direction X and the second direction Z, and can also control the rotation angle of the clamping portion 211 relative to the adjusting portion 212. The host computer can integrate preset position memory, or can set the path planning of the vertical takeoff and landing aircraft assembly device 100 in the host computer in advance, further simplifying the installation process.

[0078] It can be understood that the setting of the host computer realizes automatic operation, reduces manual intervention, reduces labor intensity, and improves installation efficiency and safety.

[0079] Further in combination with Figure 7 As shown, the embodiment of the present application further provides a vertical takeoff and landing aircraft assembly method, including the following steps: S1: Provide an assembly device and move it to the lower part of the tail structure of the vertical takeoff and landing aircraft along the second direction Z.

[0080] In this embodiment, the vertical takeoff and landing aircraft assembly device 100 is moved to a predetermined position near the tail structure of the vertical takeoff and landing aircraft, and then the first platform 1 is moved along the second direction Z to the lower part of the tail structure through the first adjustment component 31. At this time, the tail structure is clamped by a hoisting device, and the hoisting device is signal-connected to the upper computer to control the operation of the hoisting device through the upper computer.

[0081] S2: Control the first platform 1 to move along the first direction X and / or the third direction Y until the tail structure is aligned with the clamping position of the first platform 1.

[0082] In this embodiment, the clamping position of the first platform 1 is the position where the two clamping members 21 and a support member 23 clamp and fix the tail structure. The position of the first platform 1 in the first direction X and the third direction Y or the first direction X or the third direction Y is adjusted through the second adjustment component 33 to realize the automatic alignment adjustment of the tail structure and the two clamping members 21 until the tail structure is aligned with the clamping position of the first platform 1.

[0083] S3: Control the first platform 1 to move towards the tail structure along the second direction Z until the support member 23 of the assembly device supports the tail structure.

[0084] In this embodiment, the position of the first platform 1 in the second direction Z is adjusted through the first adjustment component 31 until the tail structure is supported. When the clamping members 21 and the support member 23 support the tail structure, the upper computer can obtain the signal that the tail structure is supported through devices such as an industrial camera signal-connected thereto, and then control the above-mentioned hoisting device to release the tail structure through the upper computer, so as to realize the automatic operation of moving the tail structure from the hoisting device to the first platform 1.

[0085] S4: Clamp the tail structure on the assembly device. The assembly device includes a clamping member 21, and the clamping member 21 abuts against and clamps the left and right wing surfaces of the V-shaped tail.

[0086] In this embodiment, the position of the clamping member 21 in the first direction X is adjusted according to the size of the tail structure to adjust the opening and closing of the clamping assembly 2 until the positions of the two clamping members 21 can clamp the left and right wing surfaces of the V-shaped tail well. Control the clamping member 21 to clamp the tail structure with appropriate pressure to ensure firmness without deformation, so as to realize the clamping of the tail structure.

[0087] When the hoisting device releases the tail structure, the host computer controls the driving assembly connected to it by signal to act, so as to drive the two clamping members 21 to move along the slide rail 22, so as to realize the automatic clamping of the tail structure. In addition, the host computer is also connected to the pressure detection device by signal, so that when the clamping force monitored by the pressure detection device reaches the preset value, the host computer controls the driving assembly to stop working. At this time, the tail structure is firmly clamped by the two clamping members 21, so as to realize the automatic clamping operation of the tail structure and ensure that the clamping force is within a suitable range.

[0088] S5: Drive the tail structure to move along the second direction Z by the assembly device until the tail structure moves to the same height as the vertical takeoff and landing aircraft.

[0089] In this embodiment, the first platform 1 is controlled by the first adjustment assembly 31 to move along the second direction Z, so as to drive the clamped tail structure to also move along the second direction Z until it is at the same height as the structure to be installed on the vertical takeoff and landing aircraft.

[0090] S6: Control the first platform 1 to move along the first direction X and / or the third direction Y until the tail structure moves to the docking position of the fuselage structure of the vertical takeoff and landing aircraft.

[0091] In this embodiment, the first platform 1 is controlled by the second adjustment assembly 33 to move in the first direction X and the third direction Y so that the position of the tail structure in the first direction X and the third direction Y is adjusted. Using the laser alignment system, ensure that the docking position of the tail structure and the part to be installed on the vertical takeoff and landing aircraft is completely docked.

[0092] S7: Install the tail structure on the fuselage structure of the vertical takeoff and landing aircraft.

[0093] In this embodiment, after alignment, complete installation is carried out. After installation is completed, the clamping of the clamping member 21 is released, and the first platform 1 is controlled by the first adjustment assembly 31 to descend.

[0094] In one embodiment, the support member 23 is multi-segment supported, that is, the support member 23 can adjust its height in the second direction Z to adapt to the contour of the tail structure.

[0095] In this embodiment, the support member 23 is a telescopic structure so as to be able to adjust the height of the support member 23 in the second direction Z.

[0096] In one embodiment, the clamping member 21 adopts multi-point clamping, and the contact width of each clamping point does not exceed 100 mm. Moreover, the clamping member 21 can be adjusted in angle to adapt to the inclination of the tail structure. The clamping member 21 clamps at a position 100 - 300 mm above the connection between the V-shaped tail and the fuselage structure of the vertical takeoff and landing aircraft, avoiding key structures and sensitive parts. The depth that the clamping member 21 extends into the inner side of the V-shaped tail does not exceed 50 mm to avoid interfering with the internal structure of the V-shaped tail.

[0097] It can be understood that the assembly method of the vertical takeoff and landing aircraft of the present application is simple to operate, improves the installation efficiency and can guarantee the accuracy, and can meet the installation accuracy of the vertical takeoff and landing aircraft. At the same time, this method does not require manual high-precision operation, reduces high-altitude operations to reduce safety risks.

[0098] In addition, in the assembly method of the vertical takeoff and landing aircraft of the present application, the first platform 1 moves to the lifting position below the tail structure, the tail structure is loaded from the hoisting device onto the first platform 1, the alignment adjustment of the tail structure and the first platform 1, the clamping operation of the tail structure, and the alignment adjustment of the tail structure and the vertical takeoff and landing aircraft can be carried out automatically and continuously. The whole process can be controlled by a host computer without manual participation, reducing the labor cost while ensuring the operation accuracy.

[0099] In the above text, the specific embodiments of the present application have been described with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that various changes and substitutions can be made to the specific embodiments of the present application without departing from the spirit and scope of the present application. These changes and substitutions all fall within the scope defined by the present application.

Claims

1. A vertical take-off and landing aircraft assembly device, used for carrying and assembling the tail structure of a vertical take-off and landing aircraft, characterized in that: The vertical take-off and landing aircraft assembly device comprises: First platform; A clamping assembly, which is disposed on the first platform, the clamping assembly includes two clamping members spaced apart along a first direction, the two clamping members can clamp the tail structure; the clamping member can move relative to the first platform along the first direction to adjust the distance between the two clamping members in the first direction; The clamping member includes a clamping portion and an adjusting portion, the clamping portion is rotatably connected to the adjusting portion, and the adjusting portion can move relative to the first platform along a second direction to adjust the posture of the clamping member, and the second direction intersects with the first direction; A moving component can drive the first platform to move in space.

2. The vertical take-off and landing aircraft assembly device according to claim 1, characterized in that: The clamping assembly includes a slide rail and a driving assembly. The slide rail is connected to the first platform and extends along the first direction. The clamping member is movably connected to the slide rail. The driving assembly is configured to drive the clamping member to move along the slide rail.

3. The vertical take-off and landing aircraft assembly device according to claim 1, characterized in that: The tail structure includes a V-shaped tail wing, the clamping part is provided with a clamping surface, the clamping surfaces of the two clamping members are arranged obliquely to each other, the clamping surface is configured as the surface of the clamping part close to the V-shaped tail wing, and the clamping surfaces of the two clamping members respectively abut the left and right wing surfaces of the V-shaped tail wing.

4. The vertical take-off and landing aircraft assembly device according to claim 3, characterized in that: The clamping assembly further includes a support member, which is spaced apart and arranged on one side of the clamping member along a third direction, and the support member is capable of supporting the tail structure, and the third direction intersects with the first direction and the second direction.

5. The vertical take-off and landing aircraft assembly device according to claim 4, characterized in that: The clamping surface and / or the supporting member is provided with a buffer member, and the buffer member is made of a soft material.

6. The vertical take-off and landing aircraft assembly device according to claim 5, characterized in that: The buffer member includes a friction-increasing structure configured to increase friction between the tail structure and the buffer member.

7. The vertical take-off and landing aircraft assembly device according to claim 4, characterized in that: The support member is a telescopic structure, and the height of the support member can be adjusted in the second direction.

8. The vertical take-off and landing aircraft assembly device according to claim 4, characterized in that: A pressure detection device is provided on the clamping surface; and / or The clamping member is provided with a quick release mechanism; and / or The vertical take-off and landing aircraft assembly device also includes a host computer, and the host computer is configured to control the moving component to drive the first platform to move.

9. A method for assembling a vertical take-off and landing aircraft, the vertical take-off and landing aircraft comprising a tail structure, the tail structure comprising a V-shaped tail fin, characterized in that: The steps include: Providing an assembly device and moving it below the tail structure of the vertical take-off and landing aircraft along the second direction; Using the support member of the assembly device to lift the tail structure; The tail structure is clamped on the assembly device; the assembly device includes a clamping member, and the clamping member abuts against and clamps the left and right wing surfaces of the V-shaped tail; The tail structure is driven to move by an assembly device until the tail structure moves to a docking position of a fuselage structure of a vertical take-off and landing aircraft; The tail structure is mounted on the fuselage structure of the vertical take-off and landing aircraft.

10. The vertical take-off and landing aircraft assembly method according to claim 9, characterized in that: The support member can adjust its height in the second direction to adapt to the tail structure contour; and / or The clamping member adopts multi-point clamping, and the contact width of each clamping point does not exceed 100mm; and the clamping member can be adjusted in angle to adapt to the inclination of the tail structure, and the clamping member clamps the position 100-300mm above the connection between the V-shaped tail and the fuselage structure of the vertical take-off and landing aircraft; the depth of the clamping member extending into the inner side of the V-shaped tail does not exceed 50mm to avoid interfering with the internal structure of the V-shaped tail.

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