Aero-engine mounting device

Abstract

The invention belongs to the technical field of aviation assembly automation, and discloses an aero-engine mounting device which comprises an omni-directional moving chassis, a first posture adjusting mechanism, a second posture adjusting mechanism and a clamping mechanism. The first posture adjusting mechanism is telescopically arranged on the omni-directional moving chassis in the first direction, and the first posture adjusting mechanism can pitch by a first preset angle around a first shaft and can roll by a second preset angle around a second shaft; the second posture adjusting mechanism comprises at least two driving modules and a plurality of rotating modules, the driving modules are arranged on the first posture adjusting mechanism, the rotating modules are arranged on the driving modules in a one-to-one correspondence mode, and at least part of the driving modules can drive the rotating modules to do reciprocating rectilinear motion in the second direction; the output ends of the other parts of the driving modules can drive the rotating module to do reciprocating rectilinear motion in the third direction; the rotating module can rotate around a third shaft by a third preset angle; the clamping mechanism is arranged on the rotating module, the bearing capacity, precision and maneuverability are improved, and six-degree-of-freedom posture adjustment and omni-directional movement are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation assembly automation, and particularly to an aviation engine installation device. Background Art

[0002] As the core power component of an aircraft, the installation of the entire aviation engine directly affects the performance and reliability of the aircraft. Currently, due to the characteristics of the aviation engine such as numerous parts, large size, heavy weight, and complex structure, its installation has problems such as difficult posture adjustment, high labor intensity, low installation accuracy, low installation efficiency, and low installation quality, and cannot meet the high-quality and high-efficiency assembly requirements of modern large aircraft manufacturing.

[0003] In the prior art, the installation operation of the aviation engine adopts the traditional manual installation mode, mainly relying on multiple workers to carry out manual collaborative operations by means of simple non-powered installation vehicles and visual observation by the naked eye. It has a large labor force, low precision, and low efficiency, and cannot meet the increasing mass production requirements, bringing great difficulties and challenges to the high-precision and high-efficiency manufacturing and maintenance of modern aircraft engines. There is also a mode in the prior art that uses auxiliary installation equipment for installation, but there are problems such as limited installation freedom, limited movement freedom of the installation equipment, and the installation equipment being too heavy due to its complex structure. As a result, the auxiliary installation equipment has problems such as poor stiffness, poor precision, and poor load-bearing capacity, affecting the installation of the aviation engine.

[0004] Therefore, there is an urgent need to design an aviation engine device to solve the above technical problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an aviation engine installation device, which can improve the load-bearing capacity, precision, and mobility, and can achieve six-degree-of-freedom posture adjustment and omnidirectional movement. At the same time, the structure is simplified, making it more convenient for operators to carry out operations.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] An aviation engine installation device, comprising:

[0008] An omnidirectional mobile chassis;

[0009] A first posture adjustment mechanism, which is telescopically arranged on the omnidirectional mobile chassis along a first direction. The first posture adjustment mechanism can pitch a first preset angle around a first axis and roll a second preset angle around a second axis;

[0010] The second posture adjustment mechanism includes at least two driving modules and several rotating modules. The above driving modules are arranged on the above first posture adjustment mechanism, and the above rotating modules are arranged on the above driving modules one by one. At least part of the above driving modules can drive the above rotating modules to perform reciprocating linear motion along the second direction, and the output ends of the remaining part of the above driving modules can drive the above rotating modules to perform reciprocating linear motion along the third direction; the above first direction, the above second direction, and the above third direction are perpendicular to each other in pairs;

[0011] The above rotating module can rotate by a third preset angle around the third axis, and the above first axis, the above second axis, and the above third axis are perpendicular to each other in pairs;

[0012] The clamping mechanism is arranged on the above rotating module, and the above clamping mechanism can load the aero-engine.

[0013] Optionally, one of the above rotating module and the above clamping mechanism is provided with a slide rail, and the other is provided with a slider. The above slide rail is slidably connected to the above slider, and the extending direction of the above slide rail is perpendicular to the motion direction of the above driving module connected to the above rotating module.

[0014] Optionally, the above driving module includes:

[0015] The first driving member is arranged on the above first posture adjustment mechanism;

[0016] The lead screw is arranged at the output end of the above first driving member, and the above first driving member can drive the above lead screw to rotate;

[0017] The first connecting seat is threadedly connected to the above lead screw. The above rotating module is arranged on the above first connecting seat, and the above first connecting seat can perform reciprocating linear motion along the axial direction of the above lead screw as the above lead screw rotates.

[0018] Optionally, the above rotating module includes a slewing bearing and a slewing base. The outer ring of the slewing bearing is connected to the above driving module, the inner ring of the slewing bearing is connected to the slewing base, and the above clamping mechanism is arranged on the above slewing base.

[0019] Optionally, the above first posture adjustment mechanism includes a mounting platform and two telescopic components arranged at intervals along the above third direction. The two above telescopic components are respectively hinged to both sides of the mounting platform along the above third direction. The above telescopic components are telescopic along the above first direction, and the telescopic length of the above telescopic components is adjustable, so that the mounting platform can roll by a second preset angle around the second axis, and the above telescopic components can pitch by a first preset angle along the above first axis. The above driving module is mounted on the mounting platform.

[0020] Optionally, a first hinge chain is hinged between at least one side of the mounting platform along the above third direction and the corresponding above telescopic component.

[0021] Optionally, the telescopic assembly includes a connection platform and two link structures oppositely arranged along the second direction. The connection platform is hinged to one side of the mounting platform along the third direction. One ends of the two link structures are both hinged to the omnidirectional mobile chassis, and the other ends are respectively hinged to both ends of the connection platform. The link structures are telescopic along the first direction, and the telescopic length of each link structure is adjustable, so that the first posture adjustment mechanism can pitch a first preset angle around the first axis.

[0022] Optionally, a second hinge chain is hinged between at least one of both ends of the connection platform and the corresponding link structure.

[0023] Optionally, the link structure includes:

[0024] A first rod, one end of which is hinged to the omnidirectional mobile chassis;

[0025] A second rod, hinged to the other end of the first rod, and one end of the second rod is hinged to the connection platform;

[0026] A second driving member, one end of which is connected to one end of the first rod, and the other end is connected to the other end of the second rod. The second driving member can drive the other end of the second rod to make a reciprocating linear motion towards one end of the first rod, so that one end of the second rod is telescopic along the first direction.

[0027] Optionally, the omnidirectional mobile chassis includes a frame body and four universal wheels. The four universal wheels are arranged at the four corners of the frame body. At least two of the four universal wheels are provided with driving structures, and the driving structures can drive the universal wheels to move omnidirectionally.

[0028] Advantages of the present invention:

[0029] The present invention provides an aeroengine installation device. By providing an omnidirectional mobile chassis, omnidirectional movement of the aeroengine installation device on the ground can be realized; by providing a first posture adjustment mechanism, reciprocating linear motion of the aeroengine in the first direction, pitching around the first axis and rolling around the second axis can be realized; and the second posture adjustment mechanism can realize reciprocating linear motion of the aeroengine in the second direction, reciprocating linear motion in the third direction and rotation around the third axis by providing at least two driving modules and rotating modules; furthermore, six-degree-of-freedom posture adjustment and omnidirectional movement of the aeroengine installation device can be realized, and the structure of six-degree-of-freedom posture adjustment is simplified, the weight of the aeroengine installation device is reduced, and it is more convenient for operators to install the aeroengine; and by using the aeroengine installation device to install the aeroengine, the load-bearing capacity is improved, at the same time, the error of manual installation is avoided, and the installation accuracy and mobility of the aeroengine are improved. Brief Description of the Drawings

[0030] Figure 1 is an axonometric view of the aeroengine mounting device provided by the specific embodiment of the present invention;

[0031] Figure 2 is a side view of the aeroengine mounting device provided by the specific embodiment of the present invention;

[0032] Figure 3 is a front view of the aeroengine mounting device provided by the specific embodiment of the present invention;

[0033] Figure 4 is an axonometric view of the aeroengine mounting device provided by the specific embodiment of the present invention with the clamping mechanism and the fixed platform hidden;

[0034] Figure 5 is an axonometric view of the aeroengine mounting device provided by the specific embodiment of the present invention with the clamping mechanism and the second posture adjustment mechanism hidden;

[0035] Figure 6 is an axonometric view of the drive module and the rotation module provided by the specific embodiment of the present invention;

[0036] Figure 7 is an exploded view of the drive module and the rotation module provided by the specific embodiment of the present invention.

[0037] In the figures:

[0038] 10, omnidirectional mobile chassis; 11, frame body; 111, frame structure; 112, wheel mounting seat; 12, universal wheel; 13, drive structure;

[0039] 20, first posture adjustment mechanism; 21, mounting platform; 22, telescopic assembly; 221, connecting platform; 222, link structure; 2221, first rod; 2222, second rod; 2223, second driving member; 223, second articulated chain; 23, first articulated chain;

[0040] 30, second posture adjustment mechanism; 31, drive module; 311, first driving member; 312, lead screw; 313, first connecting seat; 3131, sliding block; 314, fixed seat; 3141, guide rail; 32, rotation module; 321, slewing bearing; 322, slewing seat; 323, slider; 324, second connecting seat; 33, fixed platform; 34, slide rail;

[0041] 40, clamping mechanism; 41, connecting frame; 42, roller. Specific Embodiment

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0043] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0044] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0045] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0046] Refer to the following Figures 1 to 7 The aircraft engine mounting device provided by the present invention is described.

[0047] It should be noted that, in this embodiment, Figure 1 The X direction is the second direction, which is also the extension direction of the second axis; Figure 1 The Y direction is the third direction, which is also the extension direction of the first axis; Figure 1 The Z direction is the first direction and also the extension direction of the third axis. Furthermore, the X, Y, and Z directions are perpendicular to each other. The following description will refer to the X, Y, and Z directions.

[0048] Please refer toFigures 1 to 4 , specifically, the aero-engine installation device includes an omnidirectional moving chassis 10, a first posture adjustment mechanism 20, a second posture adjustment mechanism 30, and a clamping mechanism 40. The first posture adjustment mechanism 20 is telescopically arranged on the omnidirectional moving chassis 10 along the Z direction. The second posture adjustment mechanism 30 is arranged on the first posture adjustment mechanism 20, and the clamping mechanism 40 is arranged on the second posture adjustment mechanism 30. Among them, the omnidirectional moving chassis 10 can drive the first posture adjustment mechanism 20, the second posture adjustment mechanism 30, and the clamping mechanism 40 to move 360° in all directions on the ground. The first posture adjustment mechanism 20 is telescopically arranged on the omnidirectional moving chassis 10 along the Z direction. The first posture adjustment mechanism 20 can pitch a first preset angle around the Y axis and roll a second preset angle around the X axis. The second posture adjustment mechanism 30 can drive the clamping mechanism 40 to make a reciprocating linear motion along the X direction and can rotate the clamping mechanism 40 a third preset angle around the Z axis. The clamping mechanism 40 is used to load the aero-engine.

[0049] Furthermore, the second posture adjustment mechanism 30 includes at least two driving modules 31 and several rotating modules 32. The driving modules 31 are arranged on the first posture adjustment mechanism 20, and the rotating modules 32 are arranged on the driving modules 31 in one-to-one correspondence. At least some of the driving modules 31 can drive the rotating modules 32 to make a reciprocating linear motion along the X direction, and the output ends of the remaining driving modules 31 can drive the rotating modules 32 to make a reciprocating linear motion along the Y direction. The rotating module 32 can rotate a third preset angle around the Z axis. The clamping mechanism 40 is arranged on the rotating module 32. The clamping mechanism 40 is used to load the aero-engine. So as to realize that the second posture adjustment mechanism 30 can drive the clamping mechanism 40 to make a reciprocating linear motion along the X direction, and can rotate the clamping mechanism 40 a third preset angle around the Z axis, and without setting multiple stacked and tightly pressed transmission structures, the six-degree-of-freedom posture adjustment and omnidirectional movement of the aero-engine installation device can be realized.

[0050] It should be noted that the first preset angle is the preset pitching angle of the first posture adjustment mechanism 20 around the Y axis; the second preset angle is the rolling angle of the first posture adjustment mechanism 20 around the X axis; the third preset angle is the rotating angle of the second posture adjustment mechanism 30 around the Z axis. In this embodiment, the first preset angle is ±10°, the second preset angle is ±10°, and the third preset angle is ±15°. And the maximum telescopic length of the first posture adjustment mechanism 20 along the Z direction in this embodiment is 500 mm, the moving length of the second posture adjustment mechanism 30 along the X direction is ±100 mm, and the moving length of the second posture adjustment mechanism 30 along the X direction is ±100 mm. In other embodiments, the above-mentioned various preset angles, telescopic lengths, and displacement lengths can be adjusted according to actual needs, and no specific limitations are made here.

[0051] In the aero-engine installation device of this embodiment, by setting the omnidirectional moving chassis 10, the omnidirectional movement of the aero-engine installation device on the ground can be realized; by setting the first posture adjustment mechanism 20, the reciprocating linear motion of the aero-engine in the Z direction, the pitching around the Y axis, and the rolling around the X axis can be realized; and the second posture adjustment mechanism 30 can realize the reciprocating linear motion of the aero-engine in the X direction, the reciprocating linear motion in the Y direction, and the rotation around the Z axis by setting at least two driving modules 31 and rotating modules 32; furthermore, the six-degree-of-freedom posture adjustment and omnidirectional movement of the aero-engine installation device can be realized, and the structure of the six-degree-of-freedom posture adjustment is simplified, the weight of the aero-engine installation device is reduced, and it is more convenient for operators to install the aero-engine; and when using this aero-engine installation device to install the aero-engine, the bearing capacity is improved, at the same time, the error of manual installation is avoided, and the installation accuracy and mobility of the aero-engine are improved.

[0052] Please refer to Figures 1 to 3 , in this embodiment, the omnidirectional moving chassis 10 includes a frame body 11 and four universal wheels 12. The four universal wheels 12 are arranged at the four corners of the frame body 11. At least two of the four universal wheels 12 are provided with driving structures 13, and the driving structures 13 can drive the universal wheels 12 to move omnidirectionally, thereby realizing the omnidirectional movement of the omnidirectional moving chassis.

[0053] Specifically, the universal wheel 12 provided with a driving mechanism is a driving steering wheel, which can realize the omnidirectional driving of the universal wheel 12. Specifically, a rotating wheel is provided between the universal wheel 12 and the frame body 11 to realize the rotational connection of the universal wheel 12 to the frame body 11; and the driving structure 13 includes a first motor and a second motor. The output end of the first motor is connected to the center of the universal wheel 12, and the first motor can drive the universal wheel 12 to rotate. The output end of the second motor is drivingly connected to the rotating wheel to realize the driving of the rotating wheel, and further realize the rotation of the direction of the universal wheel 12.

[0054] Exemplarily, in this embodiment, two of the four universal wheels 12 are driving steering wheels, and the two driving steering wheels are arranged diagonally to better promote the movement of the omnidirectional moving chassis 10.

[0055] Furthermore, the frame body 11 includes a frame structure 111 and wheel mounting seats 112. The wheel mounting seats 112 are arranged at the four corners of the frame structure 111 for mounting the universal wheels 12; the frame structure 111 is used to support other structures of the aero-engine installation device.

[0056] Specifically, the frame structure 111 includes two chassis brackets and several strengthening connecting pieces. The wheel mounting seats 112 are arranged at both ends of the chassis brackets, and several strengthening connecting pieces are arranged at intervals between the two chassis brackets to improve the strength of the frame structure 111. And the first posture adjustment mechanism 20 is arranged on the chassis brackets.

[0057] Please refer to Figure 3 and Figure 5 In this embodiment, the first posture adjustment mechanism 20 includes a mounting platform 21 and two telescopic components 22 arranged at intervals along the Y direction. The two telescopic components 22 are respectively hinged to both sides of the mounting platform 21 along the Y direction. The telescopic components 22 are telescopable along the Z direction, and the telescopic length of the telescopic components 22 is adjustable, so that the mounting platform 21 can roll around the X axis by a second preset angle, and the telescopic components 22 can pitch around the Y axis by a first preset angle. The driving module 31 is mounted on the mounting platform 21. During operation, by telescoping the two telescopic components 22 along the Z direction respectively, the mounting platform 21 can be raised or lowered, and further, the telescopic movement of the driving module 31 and the clamping mechanism 40 along the Z direction can be realized. Moreover, by adjusting the telescopic lengths of the two telescopic components 22 to different lengths, the rolling of the mounting platform 21 around the X axis can be realized, and further, the rolling of the driving module 31 and the clamping mechanism 40 around the X axis can be realized.

[0058] Please refer to Figure 2 Optionally, a first hinge chain 23 is hinged between at least one side of the mounting platform 21 along the Y direction and the corresponding telescopic component 22, so that when the telescopic lengths of the two telescopic components 22 are different and the mounting platform 21 is inclined, there is a certain compensation length, so that the mounting platform 21 can roll around the X axis with the different telescopic lengths of the two telescopic components 22.

[0059] Please refer to Figure 3 and Figure 5 Further, the telescopic component 22 includes a connecting platform 221 and two link structures 222 arranged oppositely along the X direction. The connecting platform 221 is hinged to one side of the mounting platform 21 along the Y direction. One ends of the two link structures 222 are both hinged to the omnidirectional mobile chassis 10, and the other ends are respectively hinged to both ends of the connecting platform 221. The link structures 222 are telescopable along the Z direction, and the telescopic length of each link structure 222 is adjustable, so that the first posture adjustment mechanism 20 can pitch around the Y axis by a first preset angle. During operation, by adjusting the telescopic lengths of the two link structures 222, the connecting platform 221 can be driven to telescopic along the Z direction, and further, the mounting platform 21 can be telescopic along the Z direction; and by adjusting the telescopic lengths of the two link structures 222 to different lengths, the connecting platform 221 presents an inclination in the X direction, thereby realizing the pitching of the mounting platform 21 around the Y axis by a first preset angle, and further, the mounting platform 21, the driving module 31, the clamping mechanism 40, etc. can be driven to pitch around the Y axis by a first preset angle.

[0060] Optionally, a second articulated chain 223 is hinged between at least one of the two ends of the connecting platform 221 and the corresponding link structure 222, so that when the telescopic lengths of the two link structures 222 are different, there is a certain compensation length when the connecting platform 221 is inclined, so that the connecting platform 221 can pitch around the Y-axis with the different telescopic lengths of the two link structures 222.

[0061] Furthermore, the link structure 222 is a Scott-Russell linkage mechanism driven by an EHA (Electro-Hydrostatic Actuator) drive unit, which has a simple structure, high reliability, high precision, high efficiency, and good installation and maintenance performance.

[0062] Specifically, the link structure 222 includes a first rod 2221, a second rod 2222, and a second driving member 2223. One end of the first rod 2221 is hinged to the omnidirectional mobile chassis 10; the second rod 2222 is hinged to the other end of the first rod 2221, and one end of the second rod 2222 is hinged to the connecting platform 221; one end of the second driving member 2223 is connected to one end of the first rod 2221, and the other end is connected to the other end of the second rod 2222. The second driving member 2223 can drive the other end of the second rod 2222 to perform a reciprocating linear motion towards one end of the first rod 2221, so that one end of the second rod 2222 can be telescopic along the first direction. During operation, the second driving member 2223 drives the other end of the second rod 2222 to perform a reciprocating linear motion towards one end of the first rod 2221, so that one end of the second rod 2222 is telescopic along the Z direction, thereby realizing the telescopic movement of the connecting platform 221 along the Z direction.

[0063] Optionally, the first rod 2221 and the omnidirectional mobile chassis 10, the second rod 2222 and the first rod 2221, and the second rod 2222 and the connecting platform 221 are all glued by pins.

[0064] It should be noted that the second driving member 2223 is the EHA drive unit. The displacement and rotation of the first posture adjustment mechanism 20 are realized by the EHA drive unit, and are carried out by the three-closed-loop control method of the EHA drive unit, so that the movement of the first posture adjustment mechanism 20 is more stable and accurate. The implementation manner of the specific three-closed-loop control method is common general knowledge in the art and will not be elaborated here.

[0065] Please refer to Figure 4 、 Figure 6 and Figure 7, in this embodiment, the second posture adjustment mechanism 30 includes at least two driving modules 31 and several rotating modules 32. The driving modules 31 are arranged on the first posture adjustment mechanism 20, and the rotating modules 32 are arranged on the driving modules 31 in one-to-one correspondence. At least some of the driving modules 31 can drive the rotating modules 32 to perform reciprocating linear motion along the X direction, and the output ends of the remaining driving modules 31 can drive the rotating modules 32 to perform reciprocating linear motion along the Y direction; the rotating modules 32 can rotate by a third preset angle around the Z axis. During operation, if movement in the X direction is required, the corresponding driving module 31 can be driven; if movement in the Y direction is required, the corresponding driving module 31 can be driven; if rotation around the Z axis is required, the corresponding rotating module 32 can be driven.

[0066] Specifically, the driving module 31 includes a first driving member 311, a lead screw 312, and a first connecting seat 313. The first driving member 311 is arranged on the first posture adjustment mechanism 20; the lead screw 312 is arranged at the output end of the first driving member 311, and the first driving member 311 can drive the lead screw 312 to rotate; the first connecting seat 313 is threadedly connected to the lead screw 312, and the rotating module 32 is arranged on the first connecting seat 313. The first connecting seat 313 can perform reciprocating linear motion along the axial direction of the lead screw 312 as the lead screw 312 rotates. During operation, the first driving member 311 drives the lead screw 312 to rotate, driving the first connecting seat 313 to perform reciprocating linear motion along the axial direction of the lead screw 312, thereby driving the rotating module 32 to perform reciprocating linear motion, and further driving the clamping mechanism 40 to perform reciprocating linear motion.

[0067] Optionally, when the axial direction of the lead screw 312 of the driving module 31 is placed along the X direction, it can drive the corresponding rotating module 32 to perform reciprocating linear motion along the X direction. When the axial direction of the lead screw 312 of the driving module 31 is placed along the Y direction, it can drive the corresponding rotating module 32 to perform reciprocating linear motion along the Y direction. In this embodiment, the axial direction of the lead screw 312 of at least one driving module 31 is placed along the X direction, and the axial direction of the lead screw 312 of at least one driving module 31 is placed along the Y direction.

[0068] Specifically, there are four driving modules 31 and four corresponding rotating modules 32. Two driving modules 31 are both arranged to extend along the X direction and are spaced along the Y direction; the other two driving modules 31 are both arranged to extend along the Y direction and are spaced along the X direction; the rotating modules 32 are correspondingly arranged on each driving module 31; so as to drive the four sides of the clamping mechanism 40 simultaneously to ensure the smoothness of the driving of the clamping mechanism 40.

[0069] Furthermore, the driving module 31 also includes a fixed seat 314, which is arranged on the first posture adjustment mechanism 20, and the first driving member 311 and the screw 312 are both arranged on the fixed seat 314. One of the fixed seat 314 and the first connecting seat 313 is provided with a guide rail 3141, and the other is provided with a sliding block 3131 that is slidably connected to the guide rail 3141 to guide the movement of the first connecting seat 313.

[0070] For example, the fixing seat 314 in this embodiment is provided with a guide rail 3141 , and the first connecting seat 313 is provided with a sliding block 3131 , so as to achieve a sliding connection between the two.

[0071] Optionally, two guide rails 3141 and two sliding blocks 3131 are provided in a one-to-one correspondence, thereby better improving the movement stability of the first connecting seat 313 .

[0072] In order to further simplify the structure, optionally, one of the four driving modules 31 in this embodiment only includes a fixed seat 314, a guide rail 3141 and a slider 323, and the clamping mechanism 40 can be driven by the other three driving modules 31. This driving module 31 can move with the movement of the other three driving modules 31, further simplifying the structure.

[0073] It should be noted that the method of driving multiple drive modules in parallel adopts a fuzzy adaptive PID (i.e., proportional integral derivative) control algorithm. The motion speed is fed back by the encoder of the first drive member 311, and then fuzzy control is performed through a fuzzy controller to achieve that the output quantities such as displacement, speed, or torque between each first drive member 311 maintain a certain relative relationship according to the system requirements. During the control process, a multi-sensor feedback mechanism is adopted to coordinately control the control state of the first drive member 311 in parallel. By improving the coordinated motion accuracy between each first drive member 311, the end motion accuracy of the parallel mechanism is improved. A single motor controller and a multi-motor coordinated controller are formed into a composite controller to improve the motion accuracy of the second attitude adjustment mechanism 30. The specific implementation method of multiple drive modules in parallel is common knowledge in the field and will not be repeated here.

[0074] Furthermore, the rotating module 32 includes a slewing bearing 321 and a slewing seat 322. The outer ring of the slewing bearing 321 is connected to the driving module 31, that is, its outer ring is connected to the first connecting seat 313, and the inner ring of the slewing bearing 321 is connected to the slewing seat 322. The clamping mechanism 40 is disposed on the slewing seat 322. This arrangement enables the rotating module 32 to rotate, thereby driving the clamping mechanism 40 to rotate about the Z axis.

[0075] Optionally, the rotating module 32 further includes a second connecting seat 324, and the second connecting seat 324 is connected to the outer ring of the first connecting seat 313 and the slewing bearing 321 to achieve the connection between the two.

[0076] Further, one of the rotating module 32 and the clamping mechanism 40 is provided with a slide rail 34, and the other is provided with a slide block 323. The slide rail 34 is slidably connected to the slide block 323, and the extending direction of the slide rail 34 is perpendicular to the moving direction of the driving module 31 connected to the rotating module 32. Such a setting enables the clamping mechanism 40 to move in the X direction or the Y direction under the drive of one driving module 31, and the clamping mechanism 40 on the other driving module 31 will also move in the X direction or the Y direction along with the slide rail 34, so as to avoid the situation that when the clamping mechanism 40 is driven by one driving module 31 in one direction, the clamping mechanism 40 is restricted from moving in this direction by the other driving module 31 in the other direction, resulting in the problem that the clamping mechanism 40 cannot move; and the reliability of the movement of the clamping mechanism 40 is improved.

[0077] Exemplarily, the slide block 323 is provided on the slewing base 322, and the slide rail 34 is provided on the clamping mechanism 40 to achieve the sliding connection between the two.

[0078] Still further, the second posture adjustment mechanism 30 further includes a fixed platform 33, and the fixed platform 33 is arranged on the rotating module 32, that is, the slide rail 34 is provided on the fixed platform 33, and the slide rail 34 is slidably connected to the slide block 323 to achieve the connection between the fixed platform 33 and the rotating module 32. The fixed platform 33 is used to install and fix the clamping mechanism 40.

[0079] Optionally, the fixed platform 33 is provided with mounting parts to mount the above-mentioned clamping mechanism 40. Specifically, there are multiple mounting parts, which are evenly distributed at various positions of the mounting platform 21 to fix the clamping mechanism 40.

[0080] Please refer to Figures 1 to 3 , in this embodiment, the clamping mechanism 40 includes a connecting frame 41 and a plurality of positioning and fixing parts. The positioning and fixing parts are arranged on the connecting frame 41. The connecting frame 41 is used to carry the engine, and the positioning and fixing parts are used to position and fix the engine.

[0081] Further, the clamping mechanism 40 is further provided with four rollers 42. The four rollers 42 are arranged at the four corners of the connecting frame 41, and the rollers 42 can move along the X direction. Such a setting can better dock the clamping mechanism 40 with the installation position, and thus facilitate the installation of the aeroengine.

[0082] The working process of the aeroengine installation device when installing the aeroengine will be described below.

[0083] During operation, first, the operator positions the aero-engine on the clamping mechanism 40, and then moves the aero-engine to the installation position through the omnidirectional mobile chassis 10. The first posture adjustment mechanism 20 and the second posture adjustment mechanism 30 are used to adjust the position of the aero-engine in the X, Y, and Z directions and the angles around the X, Y, and Z axes, so that the engine meets the installation position, thereby realizing the installation of the aero-engine.

[0084] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An aero-engine mounting device, characterized in that, Comprising: an omnidirectional moving chassis (10); a first posture adjusting mechanism (20), which is telescopically arranged on the omnidirectional moving chassis (10) along a first direction, and the first posture adjusting mechanism (20) can pitch a first preset angle around a first axis and roll a second preset angle around a second axis; a second posture adjusting mechanism (30), including at least two driving modules (31) and a plurality of rotating modules (32), the driving modules (31) are arranged on the first posture adjusting mechanism (20), the rotating modules (32) are arranged on the driving modules (31) one by one, at least part of the driving modules (31) can drive the rotating modules (32) to do reciprocating linear motion along a second direction, and the output ends of the remaining driving modules (31) can drive the rotating modules (32) to do reciprocating linear motion along a third direction; the first direction, the second direction and the third direction are perpendicular to each other in pairs; the rotating module (32) can rotate a third preset angle around a third axis, and the first axis, the second axis and the third axis are perpendicular to each other in pairs; a clamping mechanism (40), which is arranged on the rotating module (32), and the clamping mechanism (40) can load an aeroengine.

2. The aeroengine installation device according to claim 1, characterized in that, One of the rotating module (32) and the clamping mechanism (40) is provided with a slide rail (34), and the other is provided with a slide block (323), the slide rail (34) is slidably connected to the slide block (323), and the extending direction of the slide rail (34) is perpendicular to the motion direction of the driving module (31) connected to the rotating module (32).

3. The aeroengine mounting device according to claim 1, wherein The driving module (31) includes: a first driving member (311), which is arranged on the first posture adjusting mechanism (20); a lead screw (312), which is arranged at the output end of the first driving member (311), and the first driving member (311) can drive the lead screw (312) to rotate; a first connecting seat (313), which is threadedly connected to the lead screw (312), the rotating module (32) is arranged on the first connecting seat (313), and the first connecting seat (313) can do reciprocating linear motion along the axial direction of the lead screw (312) as the lead screw (312) rotates.

4. The aero-engine mounting device according to claim 1, characterized in that The rotating module (32) includes a slewing bearing (321) and a slewing seat (322), the outer ring of the slewing bearing (321) is connected to the driving module (31), the inner ring of the slewing bearing (321) is connected to the slewing seat (322), and the clamping mechanism (40) is arranged on the slewing seat (322).

5. The aeroengine mounting device according to any one of claims 1-4, characterized in that, The first posture adjustment mechanism (20) includes a mounting platform (21) and two telescopic components (22) arranged at intervals along the third direction. The two telescopic components (22) are respectively hinged to both sides of the mounting platform (21) along the third direction. The telescopic components (22) are telescopic along the first direction, and the telescopic length of the telescopic components (22) is adjustable, so that the mounting platform (21) can roll around the second axis by a second preset angle, and the telescopic components (22) can pitch along the first axis by a first preset angle. The drive module (31) is mounted on the mounting platform (21).

6. The aeroengine mounting device according to claim 5, wherein, A first articulated chain (23) is hinged between at least one side of the mounting platform (21) along the third direction and the corresponding telescopic component (22).

7. The aeroengine mounting device according to claim 5, characterized in that, The telescopic component (22) includes a connecting platform (221) and two link structures (222) arranged oppositely along the second direction. The connecting platform (221) is hinged to one side of the mounting platform (21) along the third direction. One ends of the two link structures (222) are both hinged to the omnidirectional mobile chassis (10), and the other ends are respectively hinged to both ends of the connecting platform (221). The link structures (222) are telescopic along the first direction, and the telescopic length of each link structure (222) is adjustable, so that the first posture adjustment mechanism (20) can pitch along the first axis by a first preset angle.

8. The aeroengine mounting device according to claim 7, wherein, A second articulated chain (223) is hinged between at least one of the two ends of the connecting platform (221) and the corresponding link structure (222).

9. The aero-engine mounting device according to claim 7, wherein, The link structure (222) includes: A first rod (2221) with one end hinged to the omnidirectional mobile chassis (10); A second rod (2222) hinged to the other end of the first rod (2221), and one end of the second rod (2222) is hinged to the connecting platform (221); A second driving member (2223) with one end connected to one end of the first rod (2221) and the other end connected to the other end of the second rod (2222). The second driving member (2223) can drive the other end of the second rod (2222) to move in a reciprocating linear motion towards one end of the first rod (2221), so that one end of the second rod (2222) is telescopic along the first direction.

10. The aeroengine mounting device according to any one of claims 1-4, characterized in that, The omnidirectional mobile chassis (10) includes a frame body (11) and four omnidirectional wheels (12). The four omnidirectional wheels (12) are arranged at the four corners of the frame body (11). At least two of the four omnidirectional wheels (12) are provided with drive structures (13), and the drive structures (13) can drive the omnidirectional wheels (12) to move omnidirectionally.

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